JPH04133903A - Conveying device - Google Patents
Conveying deviceInfo
- Publication number
- JPH04133903A JPH04133903A JP25273090A JP25273090A JPH04133903A JP H04133903 A JPH04133903 A JP H04133903A JP 25273090 A JP25273090 A JP 25273090A JP 25273090 A JP25273090 A JP 25273090A JP H04133903 A JPH04133903 A JP H04133903A
- Authority
- JP
- Japan
- Prior art keywords
- speed
- conveyor
- conveyors
- signal
- sorting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000009189 diving Effects 0.000 abstract 1
- 238000005303 weighing Methods 0.000 description 23
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 3
- 108010076504 Protein Sorting Signals Proteins 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- Control Of Conveyors (AREA)
Abstract
Description
【発明の詳細な説明】
く本発明の産業上の利用分野〉
本発明は物品を複数のコンベアで搬送する搬送装置に関
する。DETAILED DESCRIPTION OF THE INVENTION Industrial Application Field of the Present Invention The present invention relates to a conveying device for conveying articles using a plurality of conveyors.
〈従来技術〉
例えば、生産ライン上で製品の重量を計量し、その泪量
値に基づいて製品の選別を行ない選別結果に応じたライ
ンに製品を振分けるという作業を自動的に行なうために
、従来より第５図に示すように複数のコンベアで構成さ
れた重量選別機が用いられている。<Prior art> For example, in order to automatically perform the work of weighing products on a production line, sorting the products based on the weighing value, and distributing the products to the line according to the sorting results, BACKGROUND OF THE INVENTION Conventionally, a weight sorter has been used which is comprised of a plurality of conveyors as shown in FIG.
第５図において、１は物品を所定速度で搬送する助走コ
ンベアであり、制御装置２よりモータＭ１を定速で駆動
して、所定の搬送速度を得ている。In FIG. 5, reference numeral 1 denotes an approach conveyor that conveys articles at a predetermined speed, and a control device 2 drives a motor M1 at a constant speed to obtain a predetermined conveyance speed.
３は、助走コンベア１から搬入された物品Ｗを、搬送し
ている間に計量器４で計量でる計量コンベアであり、制
御１１装置５によりモータＭ２を定速で駆動して所定の
搬送速度を得ている。Reference numeral 3 denotes a weighing conveyor that weighs the article W carried in from the run-up conveyor 1 with a weighing device 4 while it is being conveyed, and a control 11 device 5 drives a motor M2 at a constant speed to maintain a predetermined conveyance speed. It has gained.
６は泪ｆｆｉコンベア３に対する物品の搬入を検知する
センサ、７は、センサ６からの信号を受け、物品ＷがＫ
ｉ量コンベア３に完全に搬入してから所定時間後、即ち
計量信号が安定Ｊるのに必要な時間経過後の計量値に応
じた選別信号を出力する選別回路である。6 is a sensor that detects the delivery of an article to the Yonffi conveyor 3; 7 is a sensor that receives a signal from the sensor 6, and the article W is transported to the K
This is a sorting circuit that outputs a sorting signal in accordance with the weighing value after a predetermined period of time has elapsed since the weight is completely conveyed to the i-quantity conveyor 3, that is, after the elapse of the time required for the weighing signal to become stable.
８は、計量コンベア３から搬出される物品を選別信号に
応じた経路に搬出する選別コンベアであり、選別信号に
応じて作動するガイド装置９により、搬入された物品Ｗ
の搬出位置を例えば３方向に振分けることができる。Reference numeral 8 denotes a sorting conveyor that carries out the articles carried out from the weighing conveyor 3 along a route according to a sorting signal, and a guide device 9 that operates according to the sorting signal moves the articles W carried in.
The unloading position can be divided into three directions, for example.
なお、この選別コンベア８も、他のコンベアと同様に制
御装置１０によりモータＭ３を定速駆動して、所定の搬
送速度を得ている。Note that this sorting conveyor 8 also drives the motor M3 at a constant speed by the control device 10 to obtain a predetermined conveyance speed, like the other conveyors.
各コンベアの駆動源であるモータＭ１、Ｍ２、Ｍ３は、
一般に長時間の連続運転に耐える誘導型のモータが用い
られ、各制御装置２．５．１０は、各モータＭ１、Ｍ２
、Ｍ３に対する商用電源の導通角を可変することでその
回転速度の可変制御が可能となっている。Motors M1, M2, and M3, which are the drive sources for each conveyor, are
In general, induction type motors that can withstand long-term continuous operation are used, and each control device 2.5.10 controls each motor M1, M2.
, M3, by varying the conduction angle of the commercial power supply to M3, it is possible to variably control the rotation speed thereof.
３つのコンベアは、計量コンベア３に与える振動をでき
る限り少なくして、目量コンベア３に物品が搬入されて
からＲ１量されるまでの時間を短縮できるように、各制
御装＠２．５．１０の調整により同一の搬送速度に設定
されている。Each of the three conveyors is equipped with a control device @2.5. in order to reduce the vibration given to the weighing conveyor 3 as much as possible and shorten the time from when the article is carried into the weighing conveyor 3 until it is weighed R1. The conveyance speed is set to be the same by the adjustment of 10.
したがって、助走コンベア１に搬入された物品は予め決
められた一定の速度で計量コンベア３に速度変化のない
状態で搬入され、その計量値に基づく選別がこの搬送中
に行なわれる。Therefore, the articles carried into the run-up conveyor 1 are carried into the weighing conveyor 3 at a predetermined constant speed without any speed change, and sorting based on the weight value is performed during this conveyance.
計量コンベア３から選別コンベア８に搬入された物品は
、選別信号に応じた搬出位置にガイドされ、図示しない
後続のラインに送られる。The articles carried from the weighing conveyor 3 to the sorting conveyor 8 are guided to a discharge position according to a sorting signal and sent to a subsequent line (not shown).
く解決すべき課題〉
しかしながら、この重量選別機のように複数のコンベア
を同速に制御する必要のある搬送装置では、物品の種類
を変える毎に、各コンベア毎の搬送速度をそれぞれ個別
に変更調整しなりればならないという煩わしさがあった
。However, in a conveyance device like this weight sorter that requires controlling multiple conveyors at the same speed, the conveyance speed of each conveyor must be changed individually each time the type of article changes. It was a hassle to have to make adjustments.
このため、同一の電源を３つのモータＭ１．Ｍ２、Ｍ３
に並列供給する方法も考えられるが、モータ個々の性能
（変速比を含めた）の違いや負荷となるコンベアの差が
大きい場合には有効でない。Therefore, the same power source is used for the three motors M1. M2, M3
A method of supplying the motors in parallel can also be considered, but this is not effective if there are large differences in the performance of individual motors (including speed ratios) or in cases where there are large differences in the conveyors serving as loads.
また、前記のように導通角を可変制御して搬送速度を可
変する方式では、搬送速度を遅くするために導通角を小
さくすると、各モータＭ１、Ｍ２、Ｍ３の１〜ルクが小
さくなってしまい、東予の大きな物品の搬送に支障をき
たづ゛という問題がある。Furthermore, in the method described above in which the conveyance speed is varied by variable control of the conduction angle, if the conduction angle is made small in order to slow down the conveyance speed, the 1 to 1 torque of each motor M1, M2, and M3 becomes small. However, there is a problem in that the transportation of large items by Toyo is being hindered.
本発明はこの課題を解決した搬送装置を提供することを
目的としている。An object of the present invention is to provide a conveyance device that solves this problem.
〈課題を解決するための手段〉
前記課題を解決するため、本発明の搬送装置は、モータ
の駆動により物品の搬送を行なう複数のコンベアと、
入力される信号に応じた周波数の電源で前記複数のコン
ベアのモータをそれぞれ駆動力る複数の駆動電源装置と
、
複数の駆動電源装置に対し、同一の速度指定信号を出力
する速度指定手段と、
複数の駆動電源装置に対して出力される同一の速度指定
信号のうち、少なくとも一つの駆動電源装置に入力され
る速度指定信号を補正し、速度指定信号に対する複数の
コンベアの搬送速度をほぼ致さＵる補正手段とを備えて
いる。<Means for Solving the Problems> In order to solve the above problems, the conveyance device of the present invention includes a plurality of conveyors that transport articles by driving a motor, and a power source with a frequency corresponding to an input signal to convey the plurality of conveyors. a plurality of drive power supply devices that respectively drive the motors of the conveyors; a speed specification means that outputs the same speed designation signal to the plurality of drive power supply devices; and a speed designation means that outputs the same speed designation signal to the plurality of drive power supply devices. The apparatus includes a correction means for correcting the speed designation signal inputted to at least one drive power supply device among the speed designation signals, and adjusting the conveying speed of the plurality of conveyors to approximately match the speed designation signal.
く作用〉
したがって、補正された速度指定信号を受りた駆動電源
装置に駆動されるコンベアは、仙の駆動電源装置で駆動
されたコンベアの搬送速度とばば同一の搬送速度となる
。Effect> Therefore, the conveyor driven by the drive power supply device that has received the corrected speed designation signal has the same conveyance speed as the conveyor driven by the other drive power supply device.
〈本発明の実施例〉 以下、図面に基づいて本発明の一実施例を説明リ−る。<Example of the present invention> Hereinafter, one embodiment of the present invention will be explained based on the drawings.
第１図は、−・実施例の搬送装置である重量選別機の構
成を示す図であり、前述した第５図のＭＡ成と同一のも
のについては同一符号を付して説明を省略する。FIG. 1 is a diagram showing the configuration of a weight sorter which is a conveyance device of an embodiment, and the same components as those in the MA structure in FIG. 5 described above are given the same reference numerals and explanations will be omitted.
この重量選別機では、各モータＭ １ 、Ｍ ２、Ｍ３
の駆動電源装置として、同一のインバータ（周波数変換
１）２０，２１．２２が用いられている。In this weight sorter, each motor M 1 , M 2 , M 3
The same inverter (frequency conversion 1) 20, 21, 22 is used as the drive power supply device.
各インバータ２０，２１．２２は、商用電源を直流に整
流して、この直流をスイッチングすることにより、入力
されるデータに対応した周波数で９０度位相の異なる交
流電流を、誘導型の各モータＭ１、Ｍ２、Ｍ３内の２つ
のコイルに供給するように構成されている。Each inverter 20, 21, 22 rectifies the commercial power supply into direct current and switches this direct current to supply an alternating current with a phase difference of 90 degrees at a frequency corresponding to the input data to each induction motor M1. , M2, and M3.
２３は、この重量選別機全体の搬送速度を指定する速度
指定手段であり、指定された速度データＳを出力する。Reference numeral 23 denotes a speed specifying means for specifying the transport speed of the entire weight sorting machine, and outputs specified speed data S.
２４．２５は、速度データＳを補正覆る補正回路であり
、モータＭ１、Ｍ２、Ｍ３が同一の駆動周波数で駆動さ
れたときのＨ１量コンベア３に対する助走コンベア１の
速度比αと、計量コンベア３に対する選別コンベア８の
速度比βにより、速度データＳを除算補正して、それぞ
れインバータ２０．２２に出力する（この速度比はほぼ
一定で、予めコンベア毎に測定しておく）。24.25 is a correction circuit that corrects the speed data S, and calculates the speed ratio α of the approach conveyor 1 to the H1 quantity conveyor 3 and the weighing conveyor 3 when the motors M1, M2, and M3 are driven at the same driving frequency. The speed data S is corrected by division according to the speed ratio β of the sorting conveyor 8 to the speed ratio β of the sorting conveyor 8, and is outputted to the inverters 20 and 22, respectively (this speed ratio is approximately constant and is measured for each conveyor in advance).
したがって、物品Ｗに応じた速度データＳが、速度指定
手段２３に設定されると、各インバータ２０．２１．２
２に対して、ツレ−ＦしＳ ／ ｔｙ、ｓ１Ｓ／β、の
速度データが設定される。Therefore, when the speed data S corresponding to the article W is set in the speed specifying means 23, each inverter 20.21.2
2, the speed data of the tree F, S/ty, s1S/β, is set.
このためモータＭ１、Ｍ２、Ｍ３の駆動周波数の比は、
Ｆｌ ： Ｆ２ ： Ｆ３−１／α：１：１／βとなり
、各コンベアの速度は、同一速度となる。Therefore, the ratio of the driving frequencies of motors M1, M2, and M3 is
Fl: F2: F3-1/α:1:1/β, and the speeds of each conveyor are the same.
この状態で、助走コンベア１に搬入された物品Ｗは、は
とんどショックのない状態で計量コンベア３に搬入され
るため、計量器４からの計量信号の振動は短時間で収束
する。In this state, the articles W carried onto the run-up conveyor 1 are carried onto the weighing conveyor 3 with almost no shock, so the vibrations of the weighing signal from the weighing device 4 converge in a short time.
計量コンベア３に対する物品の搬入はセンサ６で検知さ
れ、物品が計量コンベア３上に完全に搬入されてから計
量信号が安定するまでの時間が経過した後、この物品の
重量が選別回路７で選別され、重量値に対応した選別信
号が出力される。The loading of an article onto the weighing conveyor 3 is detected by a sensor 6, and after the time elapses from when the article is completely loaded onto the weighing conveyor 3 until the weighing signal becomes stable, the weight of the article is sorted by a sorting circuit 7. and a sorting signal corresponding to the weight value is output.
計量コンベア３からほとんどショックのない状態で選別
コンベア８に搬入された物品は、選別信号に従って駆動
されるガイド装置９により所定の搬出位置にガイドされ
、後続のライン（図示せず）へ搬出される。The articles conveyed from the weighing conveyor 3 to the sorting conveyor 8 with almost no shock are guided to a predetermined discharge position by a guide device 9 driven in accordance with a sorting signal, and then conveyed to a subsequent line (not shown). .
なお、物品の種類が変更され、異なる搬送速度で選別を
行なう場合、速度指定手段２３の速度データＳを変更指
定すれば、各コンベアの速度が斉に指定速度に変わる。Note that when the type of article is changed and sorting is performed at a different conveyance speed, by specifying a change in the speed data S of the speed specifying means 23, the speed of each conveyor is changed to the specified speed at the same time.
この制御はモータに対する駆動周波数の制御であるため
、搬送速度を遅く設定してもトルク低下はなく、安定し
た搬送が行なえる。Since this control is a control of the driving frequency of the motor, there is no decrease in torque even if the conveyance speed is set low, and stable conveyance can be performed.
く本発明の他の実施例〉
なお、前記実施例では、助走コンベア１、計量コンベア
３および選別コンベア８の３つのコンベアを同一搬送速
度にする場合について説明したが、計量コンベア３に与
える振動は、助走コンベア１との速度差に起因する方が
重大であるため、助走コンベア１と計量コンベア３だけ
を同一速度に制御するようにしてもよい。Other Embodiments of the Present Invention In the above embodiments, a case has been described in which three conveyors, the run-up conveyor 1, the weighing conveyor 3, and the sorting conveyor 8, are set at the same conveyance speed, but the vibration given to the weighing conveyor 3 is Since the speed difference between the run-up conveyor 1 and the run-up conveyor 1 is more important, only the run-up conveyor 1 and the weighing conveyor 3 may be controlled to have the same speed.
また、前記実施例では、モータを駆動するための駆動電
源装置として、インバータを用いていたが、駆動周波数
を入力信号に応じて変えられる駆動電源であればインバ
ータでなくともよく、例えばステッピングモータ用の駆
動電源でもよい（モータがステッピングモータの場合）
。Further, in the above embodiment, an inverter is used as a drive power supply device for driving the motor, but an inverter may not be used as long as it is a drive power supply that can change the drive frequency according to an input signal, for example, for a stepping motor. (If the motor is a stepping motor)
.
また、インバータは、通常かなり低い周波数よでの交流
電源をモータに対して供給できるが、第２図に示ずよう
に速度データが所定範囲から逸脱したことを判定器３０
で判定して、各インバータ２０．２１．２２の動作を停
止あるいは一定周波数に固定するように構成しておけば
、速度指定手段２３の故障等によるモータ焼け（低速）
や物品の倒れ等を未然に防止することができる。Furthermore, although an inverter can normally supply AC power at a fairly low frequency to the motor, as shown in FIG.
If the operation of each inverter 20, 21, and 22 is stopped or fixed at a constant frequency based on the determination, motor burnout (low speed) due to a failure of the speed specifying means 23, etc.
It is possible to prevent items from falling over.
また、前記実施例では、搬送速度を指定する信号として
、速度データを補正回路２４．２５に入力して、演算に
よって補正した速度データをインバータに設定するよう
にしていたが、第３図に示すように、指定速度に対応し
た周波数Ｆの信号を、補正手段としてのα分周器３１、
β分周器３２に入力し、その分周出力（補正出力）によ
ってインバータの駆動周波数を制御するようにしてもよ
い。Further, in the embodiment described above, speed data was inputted to the correction circuit 24, 25 as a signal specifying the conveyance speed, and the speed data corrected by calculation was set in the inverter. As shown in FIG.
The signal may be input to the β frequency divider 32, and the frequency division output (correction output) may be used to control the drive frequency of the inverter.
また、第４図に示すように、各コンベア毎の搬送速度に
対する駆動周波数の関係を、予め記憶しているメモリ回
路４０１４１．４２を補正手段としてそれぞれ設け、速
度データＳをアドレスとして各メモリ回路４０．４１．
４２から読出した周波数データを、インバータ２０１２
１．２２に設定するようにしてもよい。この方法は、各
コンベアの搬送速度が速度データに比例しない場合に特
に有効である。Further, as shown in FIG. 4, memory circuits 40141 and 42 are provided as correction means, each storing in advance the relationship between the driving frequency and the conveying speed for each conveyor, and each memory circuit 40141. .41.
The frequency data read from 42 is transferred to inverter 2012.
It may be set to 1.22. This method is particularly effective when the conveyance speed of each conveyor is not proportional to the speed data.
また、前記実施例では、本発明を重量選別機に適用して
いたが、複数のコンベアを等運搬送させる搬送装置であ
れば、本発明を同様に適用できる。Further, in the above embodiments, the present invention was applied to a weight sorter, but the present invention can be similarly applied to any conveying device that uses a plurality of conveyors for uniform conveyance.
く本発明の効果〉
本発明の搬送装置は、前記説明のように、複数のコンベ
アのモータを、周波数可変が可能な駆動電源装置でそれ
ぞれ駆動できるようにし、複数のコンベアの速度がほぼ
同じ速度となるように速度指定信号の補正を行なう補正
手段を有している。Effects of the Present Invention> As described above, the conveying device of the present invention enables the motors of a plurality of conveyors to be driven by drive power supplies capable of varying the frequency, so that the speeds of the plurality of conveyors are approximately the same. It has a correction means for correcting the speed designation signal so that the speed designation signal becomes as follows.
このため、同一の速度指定信号によって、複数のコンベ
アの搬送速度を、同一搬送速度のまま任意に変更するこ
とができ、物品変更の際に極めて容易に速度変更を行な
うことができる。Therefore, the conveyance speeds of a plurality of conveyors can be arbitrarily changed using the same speed designation signal while maintaining the same conveyance speed, and the speed can be changed extremely easily when changing articles.
また、電源周波数を変えてモータの速度を制御するよう
にしているため、低速搬送時にも搬送トルクの低下がな
く、寸法の長い物品や重量の大きな物品でも円滑に搬送
することができる。Furthermore, since the speed of the motor is controlled by changing the power supply frequency, there is no drop in transport torque even during low-speed transport, and even long or heavy items can be transported smoothly.
第１図は、本発明の一実施例の構成を示す図、第２図は
、本発明の他の実施例の要部の構成を示す図、第３図お
よび第４図は、本発明の他の実施例を説明するための要
部ブロック図である。
第５図は、従来装置の構成を示す図である。
１・・・・・・助走コンベア、３・・・・・・計量コン
ベア、４・・・・・・計量器、８・・・・・・選別コン
ベア、２０〜２１・・・・・・インバータ、２３・・・
・・・速度指定手段、２４〜２６・・・・・・補正回路
、ＭＬＭ２、Ｍ３・・・・・・モータ。
特許出願人 アンリツ株式会社FIG. 1 is a diagram showing the configuration of one embodiment of the present invention, FIG. 2 is a diagram showing the configuration of main parts of another embodiment of the present invention, and FIGS. 3 and 4 are diagrams showing the configuration of an embodiment of the present invention. FIG. 7 is a block diagram of main parts for explaining another embodiment. FIG. 5 is a diagram showing the configuration of a conventional device. 1... Run-up conveyor, 3... Weighing conveyor, 4... Measuring device, 8... Sorting conveyor, 20-21... Inverter , 23...
. . . Speed designation means, 24 to 26 . . . Correction circuit, MLM2, M3 . . . Motor. Patent applicant: Anritsu Corporation
Claims (1)
と、 入力される信号に応じた周波数の電源で前記複数のコン
ベアのモータをそれぞれ駆動する複数の駆動電源装置と
、 前記複数の駆動電源装置に対し、同一の速度指定信号を
出力する速度指定手段と、 前記複数の駆動電源装置に対して出力される前記同一の
速度指定信号のうち、少なくとも一つの駆動電源装置に
入力される速度指定信号を補正し、前記速度指定信号に
対する前記複数のコンベアの搬送速度をほぼ一致させる
補正手段とを備えたことを特徴とする搬送装置。[Scope of Claims] A plurality of conveyors that transport articles by driving a motor; a plurality of driving power supply devices that drive the motors of the plurality of conveyors, respectively, with a power source having a frequency according to an input signal; speed designation means for outputting the same speed designation signal to the plurality of drive power supply devices; and speed designation means for outputting the same speed designation signal to the plurality of drive power supply devices; 1. A conveyance apparatus comprising: a correction means for correcting a speed designation signal to substantially match the conveyance speeds of the plurality of conveyors with respect to the speed designation signal.
Priority Applications (8)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP25273090A JPH04133903A (en) | 1990-09-21 | 1990-09-21 | Conveying device |
| KR1019910700581A KR920701796A (en) | 1989-12-15 | 1990-12-15 | Inverter control article conveying measuring device |
| KR2019940700001U KR940002271Y1 (en) | 1989-12-15 | 1990-12-15 | Inverter-controlled apparatus for carrying and measuring articles |
| AU69023/91A AU631039B2 (en) | 1989-12-15 | 1990-12-15 | Inverter-controlled apparatus for carrying and measuring articles |
| US08/002,119 US5359154A (en) | 1989-12-15 | 1990-12-15 | Conveyor apparatus having plural conveyors with equalized conveying speeds controlled by an inverter means |
| EP91900320A EP0458974B1 (en) | 1989-12-15 | 1990-12-15 | Inverter-controlled apparatus for carrying and measuring articles |
| PCT/JP1990/001640 WO1991009463A1 (en) | 1989-12-15 | 1990-12-15 | Inverter-controlled apparatus for carrying and measuring articles |
| DE69026711T DE69026711T2 (en) | 1989-12-15 | 1990-12-15 | INVERTER-CONTROLLED DEVICE FOR TRANSPORTING AND MEASURING OBJECTS |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP25273090A JPH04133903A (en) | 1990-09-21 | 1990-09-21 | Conveying device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH04133903A true JPH04133903A (en) | 1992-05-07 |
Family
ID=17241466
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP25273090A Pending JPH04133903A (en) | 1989-12-15 | 1990-09-21 | Conveying device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH04133903A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004231359A (en) * | 2003-01-30 | 2004-08-19 | Shibuya Kogyo Co Ltd | Control system of conveyance means |
| JP2008178944A (en) * | 2007-01-24 | 2008-08-07 | Yamaha Motor Co Ltd | Component assembling device |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58224904A (en) * | 1982-06-24 | 1983-12-27 | Ckd Corp | Synchronization method of transfer device |
-
1990
- 1990-09-21 JP JP25273090A patent/JPH04133903A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58224904A (en) * | 1982-06-24 | 1983-12-27 | Ckd Corp | Synchronization method of transfer device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004231359A (en) * | 2003-01-30 | 2004-08-19 | Shibuya Kogyo Co Ltd | Control system of conveyance means |
| JP2008178944A (en) * | 2007-01-24 | 2008-08-07 | Yamaha Motor Co Ltd | Component assembling device |
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