JPH06127659A - Transferring equipment - Google Patents
Transferring equipmentInfo
- Publication number
- JPH06127659A JPH06127659A JP27611192A JP27611192A JPH06127659A JP H06127659 A JPH06127659 A JP H06127659A JP 27611192 A JP27611192 A JP 27611192A JP 27611192 A JP27611192 A JP 27611192A JP H06127659 A JPH06127659 A JP H06127659A
- Authority
- JP
- Japan
- Prior art keywords
- conveyor
- distance
- carry
- interval
- setting
- 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.)
- Granted
Links
Landscapes
- Control Of Conveyors (AREA)
- Attitude Control For Articles On Conveyors (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、搬送物の間隔を一定値
にする搬送装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a conveying device that keeps the distance between conveyed objects constant.
【０００２】[0002]
【従来の技術】従来、この種の搬送物の間隔を一定値に
する搬送装置としては、たとえば搬送物を搬入する搬入
コンベヤと、この搬入コンベヤより高速で駆動される間
隔設定コンベヤとから構成されたものが知られている。2. Description of the Related Art Conventionally, as a transfer device for keeping the interval of this kind of goods constant, it is composed of, for example, a carry-in conveyor for carrying in the goods and an interval setting conveyor driven at a higher speed than the carry-in conveyor. Things are known.
【０００３】そして、この搬送装置は、搬入コンベヤに
より搬入された搬送物を、間隔設定コンベヤに移載する
際に、搬入コンベヤと間隔設定コンベヤとの速度差を利
用して、搬送物の間隔を一定の距離に保持するものであ
る。This transfer device utilizes the difference in speed between the carry-in conveyor and the interval setting conveyor to transfer the transfer of the transferred object carried by the carry-in conveyor to the interval setting conveyor so that the interval between the carried objects can be maintained. It is to keep a fixed distance.
【０００４】[0004]
【発明が解決しようとする課題】しかしながら、このよ
うに、搬入コンベヤと間隔設定コンベヤとの速度差を利
用して、間隔設定コンベヤにより搬送物を搬送し、搬入
コンベヤ上で搬送物を滑らせて、搬送物の間隔を設定す
る場合、搬送物の搬送方向の長さが長い場合には、次に
搬送される搬送物との間隔が長くなり、反対に搬送物の
搬送方向の長さが短い場合には、次に搬送される搬送物
との間隔が短くなり、搬送物間の距離を一定に保つこと
ができなくなる問題を有している。However, in this way, by utilizing the speed difference between the carry-in conveyor and the interval setting conveyor, the product is carried by the interval setting conveyor and the product is slid on the carry-in conveyor. When setting the interval of the conveyed items, if the length of the conveyed items in the conveying direction is long, the interval with the conveyed item to be conveyed next becomes long, and conversely, the length of the conveyed items in the conveying direction is short. In this case, there is a problem that the distance between the conveyed objects is reduced and the distance between the conveyed objects cannot be kept constant.
【０００５】本発明は、上記問題点に鑑みなされたもの
で、搬送物間の距離を一定に保つことができる搬送装置
を提供することを目的とする。SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and an object of the present invention is to provide a conveying device capable of keeping a constant distance between conveyed objects.
【０００６】[0006]
【課題を解決するための手段】請求項１記載の搬送装置
は、搬送物を搬入する搬入搬送手段と、この搬入搬送手
段により搬入された搬送物を所定の間隔に設定する間隔
設定搬送手段と、この間隔設定搬送手段により設定され
た搬送物の間隔を一定に保持して搬送する間隔保持搬送
手段と、前記搬入搬送手段および前記間隔設定搬送手段
の速度差に基づき搬送物間の間隔を所定距離に設定すべ
く前記搬入搬送手段の速度を制御する搬入搬送制御手段
と、前記間隔設定搬送手段上の搬送物間の距離を検出す
る間隔設定搬送上距離検出手段と、この間隔設定搬送上
距離検出手段で検出された搬送物間の距離に基づき前記
間隔設定搬送手段の速度を制御する間隔設定搬送制御手
段とを具備したものである。According to a first aspect of the present invention, there is provided a carrying device including a carrying-in carrying device for carrying a carried product, and an interval setting carrying device for setting a carried product carried by the carrying-in carrying device at a predetermined interval. A predetermined interval between the articles to be conveyed on the basis of the speed difference between the interval holding and conveying means for keeping the interval of the articles to be conveyed set by the interval setting and conveying means constant, and the carry-in conveying means and the interval setting conveying means. The carry-in / carrying control means for controlling the speed of the carry-in / carrying means to set the distance, the interval-setting carrying-up distance detecting means for detecting the distance between the carried objects on the interval-setting carrying means, and the interval-setting carrying-up distance Interval setting conveyance control means for controlling the speed of the interval setting conveyance means based on the distance between the conveyed objects detected by the detection means.
【０００７】請求項２記載の搬送装置は、搬送物を搬入
する搬入コンベヤと、この搬入コンベヤより高速で駆動
され、搬入コンベヤにより搬入された搬送物を所定の間
隔に設定する間隔設定コンベヤと、この間隔設定コンベ
ヤにより設定された搬送物の間隔を一定に保持して搬送
する間隔保持コンベヤと、前記搬入コンベヤおよび前記
間隔設定コンベヤ間に位置し、前記搬入コンベヤの速度
に基づき搬送物間の距離を検出する搬入コンベヤ距離検
出手段と、この搬入コンベヤ距離検出手段で検出された
距離に基づき搬送物間の間隔を所定距離に設定すべく前
記搬入コンベヤの速度を制御する搬入コンベヤ制御手段
と、前記間隔設定コンベヤ上に位置し前記間隔設定コン
ベヤ上の搬送物間の距離を検出する間隔設定コンベヤ上
距離検出手段と、搬送物が前記間隔保持コンベヤに乗り
移ったことを検出する乗移検出手段と、この乗移検出手
段で前の搬送物が前記間隔保持コンベヤに乗り移った後
に、前記間隔設定コンベヤ上距離検出手段で検出された
搬送物間の距離に基づき前記間隔設定コンベヤの速度を
制御する間隔設定コンベヤ制御手段とを具備したもので
ある。According to another aspect of the present invention, there is provided a carry-in conveyor for carrying in a carried article, and an interval setting conveyor which is driven at a higher speed than the carry-in conveyor and sets the carried article carried in by the carry-in conveyor at a predetermined interval. Located between the carry-in conveyor and the interval-setting conveyor, the interval-holding conveyor that holds the interval of the conveyed objects set by the interval-setting conveyor constant, and the distance between the conveyed objects based on the speed of the carry-in conveyor. A carry-in conveyor distance detecting means for detecting, a carry-in conveyor controlling means for controlling the speed of the carry-in conveyor so as to set the interval between the conveyed objects to a predetermined distance based on the distance detected by the carry-in conveyor distance detecting means, Interval setting conveyor distance detection means for detecting the distance between the articles on the interval setting conveyor, which is located on the interval setting conveyor, Transfer detection means for detecting that the transported material has transferred to the interval holding conveyor, and detection by the interval setting conveyor distance detection means after the previous transfer material has transferred to the interval holding conveyor by this transfer detection means Interval setting conveyor control means for controlling the speed of the interval setting conveyor based on the distance between the conveyed goods.
【０００８】請求項３記載の搬送装置は、搬入コンベヤ
制御手段および間隔設定コンベヤ制御手段は、搬入コン
ベヤおよび間隔設定コンベヤで搬送される搬送物と搬入
コンベヤおよび間隔設定コンベヤとの静止摩擦係数よ
り、変化させる加速度が大きい場合には、変化させる加
速度を静止摩擦係数より小さい所定値に設定するもので
ある。According to a third aspect of the present invention, in the carry-in conveyor control means and the interval setting conveyor control means, the static friction coefficient between the goods conveyed by the carry-in conveyor and the interval setting conveyor and the carry-in conveyor and the interval setting conveyor is determined by: When the acceleration to be changed is large, the acceleration to be changed is set to a predetermined value smaller than the static friction coefficient.
【０００９】[0009]
【作用】請求項１記載の搬送装置は、搬入搬送制御手段
で搬入搬送手段の速度を制御して、搬入搬送手段および
間隔設定搬送手段の速度差に基づき搬送物間の間隔を所
定距離に設定すべく搬入搬送手段の速度を制御し、間隔
設定搬送上距離検出手段で間隔設定搬送手段上の搬送物
間の距離を検出し、この間隔設定搬送上距離検出手段で
検出された搬送物間の距離に基づき間隔設定搬送手段の
速度を制御して、間隔保持搬送手段上の搬送物の間隔を
一定にする。In the carrying apparatus according to the present invention, the speed of the carry-in carrying means is controlled by the carry-in carrying control means, and the interval between the carried objects is set to a predetermined distance based on the speed difference between the carry-in carrying means and the interval setting carrying means. In order to do so, the speed of the carry-in / conveying means is controlled, the distance between the conveyed objects on the interval setting conveying upper distance detecting means is detected, and the distance between the conveyed objects detected by this interval setting conveying upper distance detecting means is increased. The speed of the interval setting conveying means is controlled on the basis of the distance to keep the interval of the conveyed objects on the interval holding conveying means constant.
【００１０】請求項２記載の搬送装置は、搬入コンベヤ
制御手段では搬入コンベヤ距離検出手段で検出された距
離に基づき搬送物間の間隔を所定距離に設定すべく搬入
コンベヤの速度を制御し、間隔設定コンベヤ上距離検出
手段で間隔設定コンベヤ上の搬送物間の距離を検出し、
乗移検出手段で前の搬送物が間隔保持コンベヤに乗り移
ったことを検出した後に、間隔設定コンベヤ上距離検出
手段で検出された搬送物間の距離に基づき間隔設定コン
ベヤ制御手段で間隔設定コンベヤの速度を制御して、間
隔保持コンベヤ上の搬送物の間隔を一定にする。According to a second aspect of the present invention, in the carry-in conveyor control means, the speed of the carry-in conveyor is controlled to set the interval between the articles to be a predetermined distance based on the distance detected by the carry-in conveyor distance detecting means. The distance between the conveyed objects on the interval setting conveyor is detected by the distance detection means on the setting conveyor,
After the transfer detection means detects that the previous conveyed object has transferred to the interval holding conveyor, the interval setting conveyor control means determines the interval setting conveyor based on the distance between the conveyed objects detected by the distance setting conveyor upper distance detection means. The speed is controlled to keep the load on the spacing conveyor constant.
【００１１】請求項３記載の搬送装置は、搬入コンベヤ
制御手段および間隔設定コンベヤ制御手段は、搬入コン
ベヤおよび間隔設定コンベヤで搬送される搬送物と搬入
コンベヤおよび間隔設定コンベヤとの静止摩擦係数よ
り、変化させる加速度が大きい場合には、変化させる加
速度を静止摩擦係数より小さい所定値に設定することに
より、スリップして搬送物間の距離が変化してしまうこ
とを防止し、間隔保持コンベヤ上の搬送物の間隔を一定
にする。According to a third aspect of the present invention, in the carry-in conveyor control means and the interval setting conveyor control means, the static friction coefficient between the goods conveyed by the carry-in conveyor and the interval setting conveyor and the carry-in conveyor and the interval setting conveyor is determined by: When the acceleration to be changed is large, by setting the acceleration to be changed to a predetermined value smaller than the static friction coefficient, it is possible to prevent slipping and change of the distance between the conveyed objects, and to prevent the distance between conveyors from being conveyed. Keep the distance between objects constant.
【００１２】[0012]
【実施例】以下、本発明の搬送装置の一実施例を図面を
参照して説明する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the carrying device of the present invention will be described below with reference to the drawings.
【００１３】図２に示すように、１はコンベヤ装置で、
このコンベヤ装置１は、搬送物Ｏが搬送され、合流用の
コンベヤ装置２、搬送用のコンベヤ装置３、間隔設定用
のコンベヤ装置４、分岐用のコンベヤ装置５、および、
分岐用のコンベヤ装置５および合流用のコンベヤ装置２
間に設けた搬送用のコンベヤ装置６から構成されてい
る。As shown in FIG. 2, 1 is a conveyor device,
In this conveyor device 1, a conveyed object O is conveyed, and a conveyor device 2 for confluence, a conveyor device 3 for conveyance, a conveyor device 4 for setting a gap, a conveyor device 5 for branching, and
Conveyor device 5 for branching and conveyor device 2 for merging
It is composed of a conveyor device 6 for transportation provided between them.
【００１４】そして、搬送物Ｏは、合流用のコンベヤ装
置２から、搬送用のコンベヤ装置３にて搬送され、間隔
設定用のコンベヤ装置４で搬送物Ｏ間の距離を所定距離
にし、分岐用のコンベヤ装置５で分岐される。Then, the conveyed products O are conveyed from the merging conveyor device 2 by the conveying conveyor device 3, and the interval setting conveyor device 4 sets the distance between the conveyed products O to a predetermined distance for branching. It is branched by the conveyor device 5.
【００１５】また、間隔設定用のコンベヤ装置４は、図
１に示すようになっている。すなわち、この間隔設定用
のコンベヤ装置４は、搬入搬送手段としての低速の搬入
コンベヤ10と、この搬入コンベヤ10の下流にアイドルロ
ーラ11を介して位置し、基本的には搬入コンベヤ10の速
度に比例しこの搬入コンベヤ10より高速の間隔設定搬送
手段としての間隔設定コンベヤ12と、この間隔設定コン
ベヤ12の下流に位置し、基本的には間隔設定コンベヤ12
と同速の間隔保持搬送手段としての間隔保持コンベヤ13
とから構成されている。なお、図３に示すように、搬入
コンベヤ10とアイドルローラ11との距離はａ1 で、アイ
ドルローラ11と間隔設定コンベヤ12との距離はａ2 に設
定されている。また、図６に示すように、間隔設定コン
ベヤ12と間隔保持コンベヤ13との距離はａ3 に設定され
ている。The conveyor device 4 for setting the interval is as shown in FIG. That is, the conveyor device 4 for setting the interval is located at a low-speed carry-in conveyor 10 as a carry-in / carrying means and downstream of the carry-in conveyor 10 via an idle roller 11, and is basically at the speed of the carry-in conveyor 10. The interval setting conveyor 12 serving as an interval setting conveying means which is proportional to and higher than the interval setting conveyor 12, and is located downstream of the interval setting conveyor 12 and is basically the interval setting conveyor 12
Interval-holding conveyor 13 as interval-holding and conveying means at the same speed as
It consists of and. As shown in FIG. 3, the distance between the carry-in conveyor 10 and the idle roller 11 is set to a1, and the distance between the idle roller 11 and the interval setting conveyor 12 is set to a2. As shown in FIG. 6, the distance between the interval setting conveyor 12 and the interval holding conveyor 13 is set to a3.
【００１６】そして、搬入コンベヤ10は搬入コンベヤ用
サーボモータ14にて駆動され、間隔設定コンベヤ12は同
様に間隔設定コンベヤ用サーボモータ15にて駆動され、
間隔保持コンベヤ13も同様に間隔保持コンベヤ用サーボ
モータ16にて駆動されている。The carry-in conveyor 10 is driven by the carry-in conveyor servo motor 14, and the interval setting conveyor 12 is likewise driven by the interval setting conveyor servo motor 15.
The spacing conveyor 13 is also driven by the spacing conveyor servomotor 16.
【００１７】さらに、搬入コンベヤ用サーボモータ14は
搬入搬送制御手段としての搬入コンベヤ制御手段17にて
制御され、間隔設定コンベヤ用サーボモータ15は間隔設
定搬送制御手段としての間隔設定コンベヤ制御手段18に
て制御され、間隔保持コンベヤ用サーボモータ16は間隔
保持コンベヤ制御手段19にて制御される。また、これら
搬入コンベヤ制御手段17、間隔設定コンベヤ制御手段1
8、および、間隔保持コンベヤ制御手段19は、ＣＰＵな
どの中央制御手段20に接続されている。Further, the carry-in conveyor servo motor 14 is controlled by the carry-in conveyor control means 17 as the carry-in transfer control means, and the interval setting conveyor servomotor 15 is provided in the interval setting conveyor control means 18 as the interval setting transfer control means. The servo motor 16 for the distance maintaining conveyor is controlled by the distance maintaining conveyor control means 19. Further, these carry-in conveyor control means 17 and interval setting conveyor control means 1
8 and the spacing conveyor control means 19 are connected to a central control means 20 such as a CPU.
【００１８】一方、搬入コンベヤ10と間隔設定コンベヤ
12との間には、搬送物Ｏが間隔設定コンベヤ12により搬
送される位置に、搬送コンベヤ距離検出手段としてのフ
ォトセンサなどの光学式の第１の距離センサ21が設けら
れている。そして、この第１の距離センサ21は、間隔設
定コンベヤ12からａ4 の距離に設けられている。On the other hand, the carry-in conveyor 10 and the interval setting conveyor
An optical first distance sensor 21 such as a photo sensor as a conveyor conveyer distance detecting means is provided at a position where the conveyed object O is conveyed by the interval setting conveyor 12 between the first and second conveyors 12. The first distance sensor 21 is provided at a distance a4 from the interval setting conveyor 12.
【００１９】また、間隔設定コンベヤ12上には、間隔設
定搬送上距離検出手段であり間隔設定コンベヤ上距離検
出手段であるフォトセンサなどの光学式の第２の距離セ
ンサ22が設けられている。Further, on the interval setting conveyor 12, there is provided an optical second distance sensor 22 such as a photo sensor which is an interval setting conveyance upper distance detecting means and an interval setting conveyor upper distance detecting means.
【００２０】さらに、間隔設定コンベヤ12と間隔保持コ
ンベヤ13との間には、搬送物Ｏが間隔設定コンベヤ12か
ら間隔保持コンベヤ13に乗り移り、間隔設定コンベヤ12
により搬送される位置に、乗移検出手段としてのフォト
センサなどの光学式の乗移センサ23が設けられている。
そして、この乗移センサ23の上流側の距離ａ5 の位置
に、第２の距離センサ22が位置している。Further, between the distance setting conveyor 12 and the distance maintaining conveyor 13, the transported object O is transferred from the distance setting conveyor 12 to the distance maintaining conveyor 13, and the distance setting conveyor 12
An optical transfer sensor 23 such as a photo sensor as a transfer detection unit is provided at a position conveyed by.
Then, the second distance sensor 22 is located at the position of the distance a5 on the upstream side of the transfer sensor 23.
【００２１】次に、上記実施例の動作について説明す
る。Next, the operation of the above embodiment will be described.
【００２２】まず、搬送物Ｏ間の定格間隙をＰr 〔mm〕
とし、搬送物Ｏの最大長をＬMAX 〔mm〕とし、搬送物Ｏ
の最小長ＬMIN 〔mm〕とし、搬送物Ｏの平均長Ｌ
STD 〔mm〕、１時間当たりの搬送物Ｏの搬送能力個数を
Ｑ〔Ｃ／Ｈ〕とし、１０ｍ秒に変化する速度である限界
下限速量をＧ〔ｍ／min 〕とする。なお、平均長ＬSTD
＝（ＬMAX ＋ＬMIN ）／２ではなく、全搬送物Ｏの長さ
および割合にて計算し、また、定格間隙Ｐr は、分岐用
のコンベヤ装置５が片分岐の場合には、図２に示す両分
岐の場合より短く設定できる。First, the rated gap between the conveyed goods O is Pr [mm].
And the maximum length of the transported object O is L MAX [mm], the transported object O
And the minimum length L MIN [mm]
STD [mm], the number of conveyance capabilities of the conveyed object O per hour is Q [C / H], and the lower limit speed limit that is a speed changing to 10 msec is G [m / min]. The average length L STD
= (L MAX + L MIN ) / 2, not the length and proportion of the total conveyed goods O. The rated gap Pr is shown in FIG. 2 when the branch conveyor device 5 is a single branch. It can be set shorter than the case of both branches shown.
【００２３】次に、搬入コンベヤ10および間隔設定コン
ベヤ12の標準的な速度の設定について説明する。Next, the standard speed setting of the carry-in conveyor 10 and the interval setting conveyor 12 will be described.
【００２４】搬入コンベヤ10の標準速度Ｖ1 〔ｍ／min
〕は、 Ｖ1 ＝｛Ｑ×ＬSTD ／（６０×１０００）｝×α 間隔設定コンベヤ12の標準速度Ｖ2 は、 Ｖ2 ＝｛Ｑ×（ＬSTD ＋Ｐ）／（６０×１０００）｝×
α により設定される。なお、αは安全係数で、１．０〜
１．２である。Standard speed of carry-in conveyor 10 V1 [m / min
], V1 = {Q × L STD / (60 × 1000)} × α The standard speed V2 of the interval setting conveyor 12 is V2 = {Q × (L STD + P) / (60 × 1000)} ×
It is set by α. Note that α is a safety factor and is 1.0 to
1.2.
【００２５】そして、通常時には、搬入コンベヤ制御手
段17により搬入コンベヤ10の速度を変化させるが、搬入
コンベヤ10および間隔設定コンベヤ12の速度差に発生す
る間隙Ｐが小さく、搬入コンベヤ10での時間当たりの加
減速量が搬送物Ｏと、搬入コンベヤ10のたとえば図示し
ないベルトの静止摩擦係数μなどにより設定される加減
速の限界を越える場合には、間隔設定コンベヤ制御手段
18により間隔設定コンベヤ12の速度を変化させる。Then, at normal times, the speed of the carry-in conveyor 10 is changed by the carry-in conveyor control means 17, but the gap P generated in the speed difference between the carry-in conveyor 10 and the interval setting conveyor 12 is small, and the time per hour at the carry-in conveyor 10 is small. If the amount of acceleration / deceleration exceeds the limit of acceleration / deceleration set by the conveyed object O and the static friction coefficient μ of the belt (not shown) of the carry-in conveyor 10, the interval setting conveyor control means
The speed of the interval setting conveyor 12 is changed by 18.
【００２６】なお、最小間隙ＰMIN は、 ＰMIN ＝ＬMIN ×（Ｖ2 ／Ｖ1 ）−ＬMIN により設定され、最大間隙ＰMAX は、 ＰMAX ＝ＬMAX ×（Ｖ2 ／Ｖ1 ）−ＬMAX により定まり、間隙Ｐは搬送物Ｏの長さにより変化す
る。The minimum gap P MIN is set by P MIN = L MIN × (V 2 / V 1) -L MIN , and the maximum gap P MAX is obtained by P MAX = L MAX × (V 2 / V 1) -L MAX The gap P changes depending on the length of the conveyed object O.
【００２７】また、搬入コンベヤ10の速度制御による間
隙制御、いわゆる第１次間隙制御については、第１の距
離センサ21を用いて行なう。The clearance control by the speed control of the carry-in conveyor 10, so-called primary clearance control, is performed by using the first distance sensor 21.
【００２８】まず、第１の距離センサ21のオフからオン
までの時間で計測される実測間隙は、搬入コンベヤ用サ
ーボモータ14のパルス数をＮ1 および１パルスの移動距
離をｒ1 〔mm〕とした場合、ｒ1 ×Ｎ1 にて算出され
る。First, the actually measured gap measured from the time when the first distance sensor 21 is turned off to the time when it is turned on is such that the number of pulses of the carry-in conveyor servomotor 14 is N1 and the moving distance of one pulse is r1 [mm]. In this case, it is calculated by r1 × N1.
【００２９】そして、この算出された間隙Ｐの距離を間
隔設定コンベヤ12上に換算すると、ｒ1 ×Ｎ1 ×（Ｖ2
／Ｖ1 ）にて算出される。Then, when the calculated distance of the gap P is converted on the gap setting conveyor 12, r1 × N1 × (V2
/ V1)
【００３０】なお、ここで計測された間隙Ｐは、先行の
搬送物Ｏにより発生した間隙であり、後続の搬送物Ｏの
長さが不明であるため、搬入コンベヤ用サーボモータ14
で先行の搬送物Ｏにより発生した間隙の不足分を制御す
る。なお、搬入コンベヤ用サーボモータ14では、先行の
搬送物Ｏに対して間隙制御を行なうため、間隙Ｐは定格
間隙Ｐr の１／２を目標として設定する。The gap P measured here is a gap generated by the preceding conveyed product O, and the length of the succeeded conveyed product O is unknown.
Controls the shortage of the gap generated by the preceding conveyed object O. Since the carry-in conveyor servomotor 14 controls the gap with respect to the preceding conveyed object O, the gap P is set to 1/2 of the rated gap Pr as a target.
【００３１】そして、不足間隙Ｐ1Sは、 Ｐ1S＝（Ｐr ／２）×（Ｖ1 ／Ｖ2 ）−（ｒ1 ／４）×
Ｎ1 により求められ、ｒ１／４の４は、中央制御手段20に図
示しない高速カウンタが用いられ、図４に示すように、
１パルスで４回のカウントを行なうために設定される数
である。The insufficient gap P1S is P1S = (Pr / 2) × (V1 / V2)-(r1 / 4) ×
The r1 / 4 obtained by N1 is a high-speed counter (not shown) used in the central control means 20, and as shown in FIG.
It is a number set to count four times with one pulse.
【００３２】また、速度制御可能な距離は、図３に示す
距離ａ4 であり、搬入コンベヤ10で搬送物Ｏがこの距離
ａ4 を移動する時間Ｔ1a〔ｍｓ〕は、 Ｔ1a＝ａ4 ／（Ｖ1 ／６０）＝６０ａ4 ／Ｖ1 であり、搬送物Ｏが間隔設定コンベヤ12にて不足間隙Ｐ
1Sを移動する時間Ｔ1b〔ｍｓ〕は、 Ｔ1b＝Ｐ1S／（Ｖ2 ／６０）＝６０Ｐ1S／Ｖ2 であり、速度制御時間Ｔ1 〔ｍｓ〕は、 Ｔ1 ＝Ｔ1a＋Ｔ1b＝（６０ａ4 ／Ｖ1 ）＋（６０Ｐ1S／
Ｖ2 ） により設定される。The speed controllable distance is the distance a4 shown in FIG. 3, and the time T1a [ms] during which the article O moves on the carry-in conveyor 10 by this distance a4 is T1a = a4 / (V1 / 60 ) = 60a4 / V1 and the conveyed object O has a shortage P in the interval setting conveyor 12
The time T1b [ms] for moving 1S is T1b = P1S / (V2 / 60) = 60P1S / V2, and the speed control time T1 [ms] is T1 = T1a + T1b = (60a4 / V1) + (60P1S /
It is set by V2).
【００３３】ここで、シーケンサで制御可能な最小単位
は１０ｍｓであり、また、加速時間＝減速時間にするた
めに、速度制御時間Ｔ1 を最小単位２０ｍｓにする必要
があるので、計算結果を２０ｍｓ単位で切り上げる必要
がある。Here, the minimum unit that can be controlled by the sequencer is 10 ms, and since the speed control time T1 must be set to the minimum unit of 20 ms in order to make the acceleration time = the deceleration time, the calculation result is in the unit of 20 ms. Need to round up.
【００３４】また、搬入コンベヤ10の搬入コンベヤ用サ
ーボモータ14の減速量Ｗ1 は、 Ｗ1 ＝Ｐ1S×６０／（Ｔ1 ／２）＝［｛（Ｐ／２）−ｒ
1 ×Ｎ1 ×（Ｖ2 ／Ｖ1 ）｝×１２０］／Ｔ1 であり、加減速回数Ｋ1 は、 Ｋ1 ＝Ｔ1 ／１０ により設定される。The deceleration amount W1 of the carry-in conveyor servomotor 14 of the carry-in conveyor 10 is W1 = P1S × 60 / (T1 / 2) = [{(P / 2) -r
1 × N1 × (V2 / V1)} × 120] / T1 and the number of acceleration / deceleration K1 is set by K1 = T1 / 10.
【００３５】そして、速度指令を行なう際には、減速指
令回数および加速指令回数をそれぞれ等しい回数にする
ため、それぞれＫ1 ／２に設定する。When the speed command is issued, the deceleration command count and the acceleration command count are set to K1 / 2 in order to make them equal.
【００３６】また、１回の加減速量〔ｍ／min 〕は、 Ｗ1 ／（Ｋ1 ／２）＝（２×Ｗ1 ）／Ｋ1 により設定される。The acceleration / deceleration amount [m / min] for one time is set by W1 / (K1 / 2) = (2.times.W1) / K1.
【００３７】したがって、図５に示すように、中央制御
手段20が第１の距離センサ21のオンを検出後に、１０ｍ
ｓ毎に搬入コンベヤ10の搬入コンベヤ用サーボモータ14
の（２×Ｗ1 ）／Ｋ1 〔ｍ／ｓ〕の速度を搬入コンベヤ
制御手段17によりＫ1 ／２回減速し、減速終了後に１０
ｍｓ毎に（２×Ｗ1 ）／Ｋ1 〔ｍ／ｓ〕の速度をＫ1／
２回加速し、搬送物Ｏ間の間隙Ｐを定格間隙Ｐr に近付
け、間隔設定コンベヤ12で搬送して第１次間隙制御を終
了する。Therefore, as shown in FIG. 5, 10 m after the central control means 20 detects that the first distance sensor 21 is turned on.
Servo motor 14 for carry-in conveyor of carry-in conveyor 10 every s
The speed of (2.times.W1) / K1 [m / s] is reduced by K1 / 2 times by the carry-in conveyor control means 17, and after deceleration is completed, 10
The speed of (2 × W1) / K1 [m / s] is set to K1 /
After accelerating twice, the gap P between the conveyed objects O is brought close to the rated gap Pr, and conveyed by the gap setting conveyor 12 to complete the primary gap control.
【００３８】ただし、最小長ＬMIN の搬送物Ｏの場合
で、（Ｗ1 ×２）／Ｋ1 〔ｍ／min 〕が、限界加減速量
Ｇを越える場合には、搬入コンベヤ10の速度を減速する
のみならず、間隔設定コンベヤ12の速度を限界加速量Ｇ
を越えない範囲で変化させる必要がある。なお、この速
度はシュミレーションなどにより設定する。However, in the case of the conveyed object O having the minimum length L MIN , when (W1 × 2) / K1 [m / min] exceeds the limit acceleration / deceleration amount G, the speed of the carry-in conveyor 10 is reduced. In addition, the speed of the interval setting conveyor 12 is set to the limit acceleration G
It is necessary to change within the range not exceeding. The speed is set by simulation or the like.
【００３９】さらに、間隔設定コンベヤ12の速度制御に
よる間隙制御、いわゆる第２次間隙制御については、第
２の距離センサ22を用いて行なう。Further, the second distance sensor 22 is used for the clearance control by the speed control of the interval setting conveyor 12, so-called secondary clearance control.
【００４０】まず、第２の距離センサ22のオフからオン
までの時間で計測される実測間隙は、間隔設定コンベヤ
用サーボモータ15のパルス数をＮ2 および１パルスの移
動距離をｒ2 〔mm〕とした場合、ｒ2 ×Ｎ2 にて算出さ
れる。First, the actually measured gap measured from the time when the second distance sensor 22 is turned off to the time when it is turned on is such that the number of pulses of the interval setting conveyor servomotor 15 is N2 and the moving distance of one pulse is r2 [mm]. In that case, r2 * N2 is calculated.
【００４１】そして、実測された間隙Ｐが定格間隙Ｐr
に対して大か小かによって制御方法が異なる。すなわ
ち、 ｒ2 ×Ｎ2 ＜Ｐr の場合には、減速制御を行ない、反対に、 ｒ2 ×Ｎ2 ＞Ｐr の場合には、加速制御を行なう。Then, the actually measured gap P is the rated gap Pr.
However, the control method differs depending on whether it is large or small. That is, when r2 x N2 <Pr, deceleration control is performed, and conversely, when r2 x N2> Pr, acceleration control is performed.
【００４２】そして、不足間隙Ｐ2Sは、 Ｐ2S＝Ｐr −ｒ2 ×Ｎ2 により求められる。The shortage gap P2S is obtained by P2S = Pr-r2 * N2.
【００４３】また、速度制御可能な距離は、図６に示す
距離ａ3 に定格間隙Ｐr を加えた距離である。The speed controllable distance is the distance a3 shown in FIG. 6 plus the rated gap Pr.
【００４４】そして、加減速時間Ｔ2 は、定格間隙Ｐr
に、距離ａ3 を標準速度Ｖ2 で移動する時間を加えたも
ので、 Ｔ2 ＝（Ｐr ＋１２０）／（Ｖ2 ／Ｖ1 ）＝６０×（Ｐ
r ＋１２０）／Ｖ2 であり、シーケンサで制御可能なＴ1 と同様に、最小単
位は１０ｍｓであり、また、加速時間＝減速時間にする
ために、速度制御時間Ｔ2 を最小単位２０ｍｓにする必
要があるので、計算結果を２０ｍｓ単位で切り上げる必
要がある。The acceleration / deceleration time T2 is equal to the rated gap Pr.
And the time required to move the distance a3 at the standard speed V2, T2 = (Pr + 120) / (V2 / V1) = 60 * (P
r +120) / V2, and the minimum unit is 10 ms like T1 which can be controlled by the sequencer, and the speed control time T2 needs to be the minimum unit 20 ms in order to make acceleration time = deceleration time. Therefore, it is necessary to round up the calculation result in units of 20 ms.
【００４５】また、間隔設定コンベヤ12の間隔設定コン
ベヤ用サーボモータ15の減速量Ｗ2は、 Ｗ2 ＝ＰS2×６０／（Ｔ2 ／２）＝［｛（Ｐr ／２）−
ｒ2 ×Ｎ2 ×ａ3 ｝×１２０］／Ｔ2 であり、加減速回数Ｋ2 は、 Ｋ2 ＝Ｔ2 ／１０ により設定される。Further, the deceleration amount W2 of the servo motor 15 for the interval setting conveyor of the interval setting conveyor 12 is: W2 = PS2 × 60 / (T2 / 2) = [{(Pr / 2)-
r2 * N2 * a3} * 120] / T2, and the number of acceleration / deceleration K2 is set by K2 = T2 / 10.
【００４６】そして、速度指令を行なう際には、減速指
令回数および加速指令回数をそれぞれ等しい回数にする
ため、それぞれＫ2 ／２に設定する。When the speed command is issued, the number of deceleration commands and the number of acceleration commands are set to K2 / 2 in order to make them equal.
【００４７】また、１回の加減速量〔ｍ／min 〕は、 Ｗ2 ／（Ｋ2 ／２）＝（２×Ｗ2 ）／Ｋ2 により設定される。The acceleration / deceleration amount [m / min] once is set by W2 / (K2 / 2) = (2.times.W2) / K2.
【００４８】したがって、図７に示すように、中央制御
手段20で乗移センサ23のオフを検出後に、１０ｍｓ毎に
間隔設定コンベヤ12の間隔設定コンベヤ用サーボモータ
15の（２×Ｗ2 ）／Ｋ2 〔ｍ／ｓ〕の速度を間隔設定コ
ンベヤ制御手段18でＫ2 ／２回減速し、減速終了後に１
０ｍｓ毎に（２×Ｗ2 ）／Ｋ2 〔ｍ／ｓ〕の速度をＫ2
／２回加速し、間隙を定格間隙Ｐr にし、第２次間隙制
御を終了する。Therefore, as shown in FIG. 7, after the central control means 20 detects that the transfer sensor 23 is turned off, the interval setting conveyor servomotor of the interval setting conveyor 12 is set every 10 ms.
The (2.times.W2) / K2 [m / s] speed of 15 is decelerated by K2 / 2 times by the interval setting conveyor control means 18, and after deceleration is completed, 1
The speed of (2 × W2) / K2 [m / s] is set to K2 every 0 ms.
/ 2 times, the gap is set to the rated gap Pr, and the secondary gap control is completed.
【００４９】ただし、最小長ＬMIN の搬送物Ｏの場合
で、（Ｗ2 ×２）／Ｋ2 〔ｍ／min 〕が、限界加減速量
Ｇを越える場合には、搬入コンベヤ10の速度を減速する
のみならず、間隔設定コンベヤ12の速度を限界加速量Ｇ
を越えない範囲で変化させる必要がある。なお、この速
度はシュミレーションなどにより設定する。However, in the case of the conveyed object O having the minimum length L MIN , when (W2 × 2) / K2 [m / min] exceeds the limit acceleration / deceleration amount G, the speed of the carry-in conveyor 10 is reduced. In addition, the speed of the interval setting conveyor 12 is set to the limit acceleration G
It is necessary to change within the range not exceeding. The speed is set by simulation or the like.
【００５０】次に、加速制御について説明する。Next, the acceleration control will be described.
【００５１】この加速制御とは、第２の距離センサ22に
て計測された間隙が定格間隙Ｐr より大きい場合に、間
隔設定コンベヤ12を標準速度Ｖ2 より加速し、先行の搬
送物Ｏに追い付かせるものである。In this acceleration control, when the gap measured by the second distance sensor 22 is larger than the rated gap Pr, the gap setting conveyor 12 is accelerated above the standard speed V2 to catch up with the preceding conveyed object O. It is a thing.
【００５２】そして、この加速制御には２つの方法があ
り、間隙が大きく加減速量が限界加減速量Ｇを越える場
合の第１の方式と、定格間隙Ｐr より大きいが間隙Ｐが
比較的小さく限界加減速量Ｇを越えない場合の第２の方
式とである。There are two methods for this acceleration control, the first method when the gap is large and the acceleration / deceleration amount exceeds the limit acceleration / deceleration amount G, and the rated gap Pr is larger but the gap P is relatively small. This is a second method when the limit acceleration / deceleration amount G is not exceeded.
【００５３】この第１の方式あるいは第２の方式のいず
れによるかは、次のように行なう。Whether the method is the first method or the second method is performed as follows.
【００５４】まず、定格間隙Ｐr に対応する定格時間を
越えた距離Ｐ0 は、 Ｐ0 ＝ａ3 ×Ｎ2 −Ｐr により算出し、定格間隙Ｐr に対応する定格時間を越え
た時間Ｔ0 は、 Ｔ0 ＝Ｐ0 ／（Ｖ2 ／６０）＝（６０×Ｐ0 ）／Ｖ2 により算出する。First, the distance P0 over the rated time corresponding to the rated gap Pr is calculated by P0 = a3 * N2-Pr, and the time T0 over the rated time corresponding to the rated gap Pr is T0 = P0 / It is calculated by (V2 / 60) = (60 * P0) / V2.
【００５５】そして、 ［｛（Ｔ2 −Ｔ0 ）／２０｝×Ｇ×（Ｔ2 −Ｔ0 ）］≦
（Ｖ2 ×Ｔ0 ）／（Ｐ0×６０） の場合には、第１の方式により制御を行ない、 ［｛（Ｔ2 −Ｔ0 ）／２０｝×Ｇ×（Ｔ2 −Ｔ0 ）］＞
（Ｖ2 ×Ｔ0 ）／（Ｐ0×６０） の場合には、第２の方式により制御を行なう。[{(T2-T0) / 20} * G * (T2-T0)] ≤
In the case of (V2 * T0) / (P0 * 60), control is performed by the first method, and [{(T2-T0) / 20} * G * (T2-T0)]>
In the case of (V2 * T0) / (P0 * 60), control is performed by the second method.
【００５６】ここで、まず第１の方式について説明す
る。The first method will be described first.
【００５７】現在の間隔設定コンベヤ12の速度をＶ2pと
し、制御開始時間を１０ｍｓで割って小数点以下を切り
捨てた加減速回数をＫとすると、 （Ｐ＋ａ3 ）／２＞（Ｖ2 ＋Ｖ2p）×Ｋ の時、加速し、 （Ｐ＋ａ3 ）／２≦（Ｖ2 ＋Ｖ2p）×Ｋ の時、減速する。If the current speed of the interval setting conveyor 12 is V2p, and the control start time is divided by 10 ms and the number of acceleration / deceleration rounded down to the decimal point is K, then (P + a3) / 2> (V2 + V2p) × K , Accelerate, and decelerate when (P + a3) / 2 ≦ (V2 + V2p) × K.
【００５８】なお、加速とは１０ｍｓ毎に限界加減速量
の速度を増加することで、減速とは１０ｍｓ毎に限界加
減速量の速度を減少することであり、図８に示すよう
に、中央制御手段20で乗移センサ23がオフになったこと
を検出し、定格時間を越えた時間Ｔ0 後に第２の距離セ
ンサ22がオンしたことを検出した後、Ｌx ≧Ｌy の制御
を行ない、間隙Ｐを定格間隙Ｐr に近付け、間隔保持コ
ンベヤ13にて搬送する。Incidentally, acceleration means increasing the speed of the limit acceleration / deceleration amount every 10 ms, and deceleration means decreasing the speed of the limit acceleration / deceleration amount every 10 ms. As shown in FIG. The control means 20 detects that the transfer sensor 23 is turned off, and after detecting that the second distance sensor 22 is turned on after a time T0 that exceeds the rated time, the control of Lx ≧ Ly is performed to set the gap. P is brought close to the rated gap Pr and is conveyed by the spacing conveyor 13.
【００５９】次に、第２の方式について説明する。Next, the second method will be described.
【００６０】この場合、 （Ｔ2 −Ｔ0 ）／２０＞Ｋ の時、加速し、 （Ｔ2 −Ｔ0 ）／２０≦Ｋ の時、減速する。In this case, acceleration is carried out when (T2-T0) / 20> K, and deceleration is carried out when (T2-T0) / 20≤K.
【００６１】この時の、加減速量Ｇ2 〔ｍ／min 〕は、 Ｔ0 ×Ｖ2p＝｛Ｗ2 ×（Ｔ2 −Ｔ0 ）｝／２ Ｗ2 ＝（Ｔ0 ×Ｖ2p×２）／（Ｔ2 −Ｔ0 ） Ｇ2 ＝Ｗ2 ／｛（Ｔ2 −Ｔ0 ）／２０｝＝（２０×Ｗ2
）／（Ｔ2 −Ｔ0 ） により算出し、図９に示すように、中央制御手段20で乗
移センサ23がオフになったことを検出し、定格時間を越
えた時間Ｔ0 後に第２の距離センサ22がオンしたことを
検出した後、間隔設定コンベヤ制御手段18により間隔設
定コンベヤ用サーボモータ15を制御し、間隙Ｐを定格間
隙Ｐr にして間隔保持コンベヤ13にて搬送する。At this time, the acceleration / deceleration amount G2 [m / min] is T0 * V2p = {W2 * (T2-T0)} / 2 W2 = (T0 * V2p * 2) / (T2-T0) G2 = W2 / {(T2-T0) / 20} = (20 * W2
) / (T2-T0), and as shown in FIG. 9, the central control means 20 detects that the transfer sensor 23 is turned off, and the second distance sensor is detected after a time T0 that exceeds the rated time. After it is detected that the switch 22 is turned on, the interval setting conveyor control means 18 controls the interval setting conveyor servomotor 15 to set the clearance P to the rated clearance Pr and convey the clearance maintaining conveyor 13.
【００６２】[0062]
【発明の効果】請求項１記載の搬送装置によれば、搬入
搬送制御手段で搬入搬送手段の速度を制御して、搬入搬
送手段および間隔設定搬送手段の速度差に基づき搬送物
間の間隔を所定距離に設定すべく搬入搬送手段の速度を
制御し、間隔設定搬送上距離検出手段で間隔設定搬送手
段上の搬送物間の距離を検出し、この間隔設定搬送上距
離検出手段で検出された搬送物間の距離に基づき間隔設
定搬送手段の速度を制御して、間隔保持搬送手段上の搬
送物の間隔を一定にできる。According to the carrying apparatus of the first aspect, the speed of the carry-in carrying means is controlled by the carry-in carrying control means, and the interval between the carried objects is set based on the speed difference between the carry-in carrying means and the interval setting carrying means. The speed of the carry-in / carrying means is controlled to set a predetermined distance, the distance between the conveyed objects on the distance setting conveying means is detected by the distance setting conveying upper distance detecting means, and the distance is detected by the distance setting conveying upper distance detecting means. By controlling the speed of the interval setting conveying means based on the distance between the conveyed objects, the intervals of the conveyed objects on the interval holding conveying means can be made constant.
【００６３】請求項２記載の搬送装置によれば、搬入コ
ンベヤ制御手段では搬入コンベヤ距離検出手段で検出さ
れた距離に基づき搬送物間の間隔を所定距離に設定すべ
く搬入コンベヤの速度を制御し、間隔設定コンベヤ上距
離検出手段で間隔設定コンベヤ上の搬送物間の距離を検
出し、乗移検出手段で前の搬送物が間隔保持コンベヤに
乗り移ったことを検出した後に、間隔設定コンベヤ上距
離検出手段で検出された搬送物間の距離に基づき間隔設
定コンベヤ制御手段で間隔設定コンベヤの速度を制御し
て、間隔保持コンベヤ上の搬送物の間隔を一定にでき
る。According to the carrying apparatus of the second aspect, the carry-in conveyor control means controls the speed of the carry-in conveyor to set the interval between the carried objects to a predetermined distance based on the distance detected by the carry-in conveyor distance detecting means. The distance between conveyors on the interval setting conveyor is detected by the distance detecting means on the interval setting conveyor, and the distance on the interval setting conveyor is detected after the transfer detecting means detects that the previous conveyed object has transferred to the interval holding conveyor. The speed of the interval setting conveyor can be controlled by the interval setting conveyor control means based on the distance between the objects detected by the detecting means, so that the interval of the objects on the interval holding conveyor can be made constant.
【００６４】請求項３記載の搬送装置によれば、搬入コ
ンベヤ制御手段および間隔設定コンベヤ制御手段は、搬
入コンベヤおよび間隔設定コンベヤで搬送される搬送物
と搬入コンベヤおよび間隔設定コンベヤとの静止摩擦係
数より、変化させる加速度が大きい場合には、変化させ
る加速度を静止摩擦係数より小さい所定値に設定するこ
とにより、スリップして搬送物間の距離が変化してしま
うことを防止し、間隔保持コンベヤ上の搬送物の間隔を
一定にできる。According to the third aspect of the present invention, the carry-in conveyor control means and the interval setting conveyor control means have the static friction coefficient between the carried object carried by the carry-in conveyor and the interval setting conveyor and the carry-in conveyor and the interval setting conveyor. When the acceleration to be changed is large, the acceleration to be changed is set to a predetermined value smaller than the coefficient of static friction to prevent slipping and change in the distance between conveyed objects. It is possible to make the interval of the conveyed articles constant.
【図１】本発明の搬送装置の一実施例を示すブロック図
である。FIG. 1 is a block diagram showing an embodiment of a carrying device of the present invention.
【図２】同上平面図である。FIG. 2 is a plan view of the same.
【図３】同上搬入コンベヤと間隔設定コンベヤとの接続
部分を示す拡大図である。FIG. 3 is an enlarged view showing a connecting portion between the carry-in conveyor and the interval setting conveyor.
【図４】同上パルスとカウンタの関係を示す波形図であ
る。FIG. 4 is a waveform diagram showing a relationship between a pulse and a counter.
【図５】同上第１次制御の速度指令を示すグラフであ
る。FIG. 5 is a graph showing a speed command for primary control of the same as above.
【図６】同上間隔設定コンベヤと間隔保持コンベヤとの
接続部分を示す拡大図である。FIG. 6 is an enlarged view showing a connection portion between the above interval setting conveyor and the interval holding conveyor.
【図７】同上第２次制御の速度指令を示すグラフであ
る。FIG. 7 is a graph showing a speed command for secondary control in the same as above.
【図８】同上第１の方式の速度指令を示すグラフであ
る。FIG. 8 is a graph showing a speed command of the first method of the above.
【図９】同上第２の方式の速度指令を示すグラフであ
る。FIG. 9 is a graph showing a speed command of the second method of the above.
10 搬入搬送手段としての搬入コンベヤ 12 間隔設定搬送手段としての間隔設定コンベヤ 13 間隔保持搬送手段としての間隔保持コンベヤ 17 搬入搬送制御手段としての搬入コンベヤ制御手段 18 間隔設定搬送制御手段としての間隔設定コンベヤ
制御手段 21 搬入コンベヤ距離検出手段としての第１の距離セ
ンサ 22 間隔設定搬送上距離検出手段である間隔設定コン
ベヤ上距離検出手段である第２の距離センサ 23 乗移検出手段としての乗移センサ Ｏ 搬送物10 Carry-in conveyor as carry-in / carrying means 12 Interval-setting conveyor as interval-setting / carrying means 13 Interval-holding conveyor as interval-holding / carrying means 17 Carry-in conveyor control means as carry-in / carrying control means 18 Interval-setting conveyor as interval-carrying / controlling means Control means 21 First distance sensor serving as carry-in conveyor distance detecting means 22 Interval setting Second distance sensor serving as interval setting conveyor upper distance detecting means Second distance sensor 23 Transfer sensor serving as transfer detecting means O Transported goods
Claims (3)
に設定する間隔設定搬送手段と、 この間隔設定搬送手段により設定された搬送物の間隔を
一定に保持して搬送する間隔保持搬送手段と、 前記搬入搬送手段および前記間隔設定搬送手段の速度差
に基づき搬送物間の間隔を所定距離に設定すべく前記搬
入搬送手段の速度を制御する搬入搬送制御手段と、 前記間隔設定搬送手段上の搬送物間の距離を検出する間
隔設定搬送上距離検出手段と、 この間隔設定搬送上距離検出手段で検出された搬送物間
の距離に基づき前記間隔設定搬送手段の速度を制御する
間隔設定搬送制御手段とを具備したことを特徴とする搬
送装置。1. A carry-in carrying means for carrying in a carried article, an interval setting carrying means for setting a carried object carried in by the carrying-in carrying means at a predetermined interval, and a carried object set by the interval setting carrying means. The speed of the carry-in and carry means is controlled so as to set the distance between the carried objects to a predetermined distance based on the speed difference between the carry-in-and-carry means and the interval-setting-and-carry means, which holds and carry the space at a constant interval. Based on the distance between the conveyed objects detected by the distance setting conveying upper distance detecting means for detecting the distance between the conveyed objects on the distance setting conveying means A conveyance apparatus comprising: an interval setting conveyance control means for controlling the speed of the interval setting conveyance means.
ヤにより搬入された搬送物を所定の間隔に設定する間隔
設定コンベヤと、 この間隔設定コンベヤにより設定された搬送物の間隔を
一定に保持して搬送する間隔保持コンベヤと、 前記搬入コンベヤおよび前記間隔設定コンベヤ間に位置
し、前記搬入コンベヤの速度に基づき搬送物間の距離を
検出する搬入コンベヤ距離検出手段と、 この搬入コンベヤ距離検出手段で検出された距離に基づ
き搬送物間の間隔を所定距離に設定すべく前記搬入コン
ベヤの速度を制御する搬入コンベヤ制御手段と、 前記間隔設定コンベヤ上に位置し前記間隔設定コンベヤ
上の搬送物間の距離を検出する間隔設定コンベヤ上距離
検出手段と、 搬送物が前記間隔保持コンベヤに乗り移ったことを検出
する乗移検出手段と、 この乗移検出手段で前の搬送物が前記間隔保持コンベヤ
に乗り移った後に、前記間隔設定コンベヤ上距離検出手
段で検出された搬送物間の距離に基づき前記間隔設定コ
ンベヤの速度を制御する間隔設定コンベヤ制御手段とを
具備したことを特徴とする搬送装置。2. A carry-in conveyor for carrying in a carried object, an interval setting conveyor which is driven at a higher speed than this carry-in conveyor, and sets a carried object carried in by the carry-in conveyor at a predetermined interval, and the interval setting conveyor. An interval conveyor that conveys the conveyed objects while keeping the interval constant, and a carry-in conveyor distance that is located between the carry-in conveyor and the interval setting conveyor and detects the distance between the carried objects based on the speed of the carry-in conveyor. A detection means, a carry-in conveyor control means for controlling the speed of the carry-in conveyor so as to set the distance between the conveyed objects to a predetermined distance based on the distance detected by the carry-in conveyor distance detection means, and a position on the distance setting conveyor. The interval setting conveyor distance detecting means for detecting the distance between the conveyed objects on the interval setting conveyor, Between the transfer detection means for detecting the transfer to the holding conveyor, and the transfer object detected by the distance setting conveyor upper distance detection means after the previous transfer object has transferred to the interval holding conveyor by this transfer detection means. And a distance setting conveyor control means for controlling the speed of the distance setting conveyor on the basis of the distance.
ンベヤ制御手段は、 搬入コンベヤおよび間隔設定コンベヤで搬送される搬送
物と搬入コンベヤおよび間隔設定コンベヤとの静止摩擦
係数より、変化させる加速度が大きい場合には、変化さ
せる加速度を静止摩擦係数より小さい所定値に設定する
ことを特徴とする請求項２記載の搬送装置。3. The carry-in conveyor control means and the interval setting conveyor control means, when the acceleration to be changed is larger than the coefficient of static friction between the goods conveyed by the carry-in conveyor and the interval setting conveyor and the carry-in conveyor and the interval setting conveyor. The transport apparatus according to claim 2, wherein the acceleration to be changed is set to a predetermined value smaller than the static friction coefficient.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP27611192A JP3222947B2 (en) | 1992-10-14 | 1992-10-14 | Transfer device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP27611192A JP3222947B2 (en) | 1992-10-14 | 1992-10-14 | Transfer device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH06127659A true JPH06127659A (en) | 1994-05-10 |
| JP3222947B2 JP3222947B2 (en) | 2001-10-29 |
Family
ID=17564952
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP27611192A Expired - Fee Related JP3222947B2 (en) | 1992-10-14 | 1992-10-14 | Transfer device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3222947B2 (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002354907A (en) * | 2001-06-04 | 2002-12-10 | Agri Techno Yazaki Kk | Conveying unit for sowing plant |
| JP2006036452A (en) * | 2004-07-27 | 2006-02-09 | Murata Mach Ltd | Conveyor system |
| WO2007055112A1 (en) * | 2005-11-09 | 2007-05-18 | Kabushiki Kaisha Yaskawa Denki | Arranged conveyer system |
| KR100960145B1 (en) * | 2009-05-08 | 2010-05-27 | 주식회사 인아텍 | Apparatus for transporting an item in conveyor system |
| JP2015089842A (en) * | 2013-11-06 | 2015-05-11 | オークラ輸送機株式会社 | Transport device |
| KR20170132118A (en) * | 2017-11-22 | 2017-12-01 | 주식회사 원익아이피에스 | Speed Buffer, In-Line Type Substrate Processing System and Controlling Method Therefor |
| KR20180084719A (en) * | 2018-07-18 | 2018-07-25 | 주식회사 원익아이피에스 | Speed Buffer, In-Line Type Substrate Processing System and Controlling Method Therefor |
| JP2018144957A (en) * | 2017-03-07 | 2018-09-20 | マツダ株式会社 | Conveyor |
| CN113086552A (en) * | 2020-01-08 | 2021-07-09 | 细美事有限公司 | Conveyor system and alignment method in conveyor system |
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-
1992
- 1992-10-14 JP JP27611192A patent/JP3222947B2/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002354907A (en) * | 2001-06-04 | 2002-12-10 | Agri Techno Yazaki Kk | Conveying unit for sowing plant |
| JP2006036452A (en) * | 2004-07-27 | 2006-02-09 | Murata Mach Ltd | Conveyor system |
| WO2007055112A1 (en) * | 2005-11-09 | 2007-05-18 | Kabushiki Kaisha Yaskawa Denki | Arranged conveyer system |
| US7681712B2 (en) | 2005-11-09 | 2010-03-23 | Kabushiki Kaisha Yaskawa Denki | Alignment conveyor apparatus |
| KR100960145B1 (en) * | 2009-05-08 | 2010-05-27 | 주식회사 인아텍 | Apparatus for transporting an item in conveyor system |
| JP2015089842A (en) * | 2013-11-06 | 2015-05-11 | オークラ輸送機株式会社 | Transport device |
| JP2018144957A (en) * | 2017-03-07 | 2018-09-20 | マツダ株式会社 | Conveyor |
| KR20170132118A (en) * | 2017-11-22 | 2017-12-01 | 주식회사 원익아이피에스 | Speed Buffer, In-Line Type Substrate Processing System and Controlling Method Therefor |
| KR20180084719A (en) * | 2018-07-18 | 2018-07-25 | 주식회사 원익아이피에스 | Speed Buffer, In-Line Type Substrate Processing System and Controlling Method Therefor |
| CN113086552A (en) * | 2020-01-08 | 2021-07-09 | 细美事有限公司 | Conveyor system and alignment method in conveyor system |
| KR20210089356A (en) * | 2020-01-08 | 2021-07-16 | 세메스 주식회사 | Conveyor system and alignment method in the conveyor system |
| US11501988B2 (en) | 2020-01-08 | 2022-11-15 | Semes Co., Ltd. | Conveyor system |
| CN113086552B (en) * | 2020-01-08 | 2023-03-07 | 细美事有限公司 | Conveyor system and alignment method in conveyor system |
| KR102508543B1 (en) * | 2022-05-27 | 2023-03-09 | 주식회사 펩텍시스템 | Conveyor Controller based on Non PLC |
| US11840406B1 (en) | 2022-05-27 | 2023-12-12 | Fabtech System Co., Ltd. | Non-PLC-based conveyor controller |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3222947B2 (en) | 2001-10-29 |
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