JP7052995B2 - Transport system, control device, control method and program - Google Patents

Description

The present invention relates to a transfer system, a control device, a control method and a program.

One of the gears is a rack gear. The rack gear is formed in a straight line and is provided with teeth, and the teeth of the pinion gear are meshed with the teeth of the rack gear. In this state, the rack gear is driven by the pinion gear and moves in the longitudinal direction of the rack gear itself.

Further, rack gears formed in two dimensions are known.
For example, Patent Document 1 describes a traveling body provided with an involute gear as a traveling wheel and traveling on a traveling plate composed of two-dimensional rack gears.
Further, Patent Document 2 describes a multi-directional drive device for driving a drive body composed of two-dimensional rack gears with gears (pinion gears) arranged in different rotation directions.
Further, Patent Document 3 describes the dimensions for constructing a two-dimensional toothed floor (two-dimensional rack gear).

Japanese Unexamined Patent Publication No. 10-267100 Japanese Unexamined Patent Publication No. 2011-196487 Japanese Unexamined Patent Publication No. 2017-08295

When constructing a transport system for transporting articles, it is preferable that the transport path can be flexibly assembled. Two-dimensional rack gears and pinion gears can be used to provide flexibility in the direction of transporting articles. Further, it is preferable to have flexibility in the range and timing of transporting the article.

An object of the present invention is to provide a transfer system, a control device, a control method and a program capable of solving the above-mentioned problems.

According to the first aspect of the present invention, the transport system includes a driven body, a plurality of transport units, and a control unit, and the driven body has square pyramidal teeth on the bottom surface of the driven body. The teeth located on the outer peripheral portion of the bottom teeth are provided with a chamfer-processed two-dimensional rack gear in which the corners of the slope forming the square cone are chamfered. , The first pinion gear and the second pinion gear that mesh with the two-dimensional rack gear to transmit power and rotate in different directions , the first stepping motor that rotates the first pinion gear, and the second pinion gear. The transport unit includes a second stepping motor to be rotated and a sensor for detecting the driven body on the transport unit itself, and the transport unit has a transport direction by the first pinion gear and a transport direction by the second pinion gear, respectively . The control unit receives a pulse signal input and rotates the first stepping motor by a rotation angle corresponding to the number of pulses, and the control unit has a pulse signal for the first motor driver and the first motor driver . And a first AND circuit that receives an input of an enable signal for switching whether or not the pulse signal is input to the first pinion gear and outputs the pulse signal to the first motor driver when the enable signal is active. , The second motor driver that receives the input of the pulse signal and rotates the second stepping motor by the rotation angle corresponding to the number of pulses, the pulse signal for the second motor driver, and the second pinion gear of the pulse signal. A second AND circuit that receives an input from an enable signal for switching the presence / absence of an input to the second motor driver and outputs the pulse signal to the second motor driver when the enable signal is active, and the first AND circuit common to the plurality of first AND circuits. The first microcontroller that outputs the pulse signal and the enable signal that is individual to each of the first AND circuits, the pulse signal that is common to the plurality of second AND circuits, and the enable signal that is individual to each of the second AND circuits. When the control unit determines that the driven unit on the receiving side does not have the driven body at the time of transferring the driven body between the two transport units, the control unit includes a second microcontroller that outputs the above. , These two transport units so that the transport direction and speed of the driven body in these two transport units are the same transport direction and speed. When the rotation of the first pinion gear and the second pinion gear is controlled and it is determined that the transport unit on the receiving side has the driven body, the driven unit of the transport unit on the delivery side is driven. The rotation of the first pinion gear and the second pinion gear of each of these two transport units is controlled so as to stop the body and move the driven body from the transport unit on the receiving side .

According to the second aspect of the present invention, the control device is provided with a square pyramid-shaped tooth downward on the bottom surface of the driven body, and a square pyramid is provided on the tooth located on the outer peripheral portion of the bottom surface tooth. The first pinion gear and the second pinion gear, which rotate in different directions, and the first pinion gear are rotated by engaging with a chamfer-processed two-dimensional rack gear in which the corners of the formed slope are chamfered to transmit power. A first stepping motor, a second stepping motor for rotating the second pinion gear, and a sensor for detecting the driven body on the transport unit itself are provided, and the transport direction by the first pinion gear and the said. A control device that controls a plurality of transport units arranged side by side in each of the transport directions by the second pinion gear , and the first stepping motor that rotates the first pinion gear in response to an input of a pulse signal is pulsed. Upon receiving an input of a first motor driver that rotates by a rotation angle corresponding to the number, a pulse signal to the first motor driver, and an enable signal for switching whether or not the pulse signal is input to the first pinion gear, the said The first AND circuit that outputs the pulse signal to the first motor driver when the enable signal is active, and the second stepping motor that receives the input of the pulse signal and rotates the second pinion gear are used as the number of pulses. Upon receiving an input of a second motor driver that rotates by a corresponding rotation angle, a pulse signal to the second motor driver, and an enable signal for switching whether or not the pulse signal is input to the second pinion gear, the enable signal is received. Outputs the second AND circuit that outputs the pulse signal to the second motor driver when is active, the pulse signal common to the plurality of first AND circuits, and the enable signal individually for each first AND circuit. A second microcontroller that outputs the pulse signal common to the plurality of second AND circuits and the enable signal individually for each second AND circuit is provided between the two transport units. If it is determined that the driven unit on the receiving side does not have the driven body at the time of delivery of the driven body, the transport directions and speeds of the driven bodies in these two transport units are the same. The rotation of the first pinion gear and the second pinion gear of each of these two transport units is set so as to be. When it is controlled and it is determined that the driven body is in the transport unit on the receiving side, the driven body of the transport unit on the delivery side is stopped and the driven body is moved from the transport unit on the receiving side. The rotation of the first pinion gear and the second pinion gear of each of these two transport units is controlled so as to be caused .

According to the third aspect of the present invention, in the control method, a quadrangular pyramid-shaped tooth is provided downward on the bottom surface of the driven body, and a quadrangular pyramid is provided on the tooth located on the outer peripheral portion of the bottom surface tooth. The first pinion gear and the second pinion gear, which rotate in different directions, and the first pinion gear are rotated by engaging with a chamfer-processed two-dimensional rack gear in which the corners of the formed slope are chamfered to transmit power. A first stepping motor, a second stepping motor for rotating the second pinion gear, and a sensor for detecting the driven body on the transport unit itself are provided, and the transport direction by the first pinion gear and the said. A control device that controls a plurality of transport units arranged side by side in each of the transport directions by the second pinion gear , and the first stepping motor that rotates the first pinion gear in response to an input of a pulse signal is pulsed. Upon receiving an input of a first motor driver that rotates by a rotation angle corresponding to the number, a pulse signal to the first motor driver, and an enable signal for switching whether or not the pulse signal is input to the first pinion gear, the said The first AND circuit that outputs the pulse signal to the first motor driver when the enable signal is active, and the second stepping motor that receives the input of the pulse signal and rotates the second pinion gear are used as the number of pulses. Upon receiving an input of a second motor driver that rotates by a corresponding rotation angle, a pulse signal to the second motor driver, and an enable signal for switching whether or not the pulse signal is input to the second pinion gear, the enable signal is received. Outputs the second AND circuit that outputs the pulse signal to the second motor driver when is active, the pulse signal common to the plurality of first AND circuits, and the enable signal individually for each first AND circuit. There are two control devices including a first microcontroller, a second microcontroller that outputs the pulse signal common to the plurality of second AND circuits, and the enable signal individually for each second AND circuit. If it is determined that the driven unit on the receiving side does not have the driven body at the time of delivery of the driven body between the transport units, the transport directions and speeds of the driven bodies in these two transport units are the same. The first pinion gear and the second pinion of each of these two transport units so as to be in direction and speed . When the rotation of the gear is controlled and it is determined that the transported unit on the receiving side has the driven body, the driven body of the transport unit on the delivery side is stopped, and the transported unit on the receiving side is the driven body. It involves controlling the rotation of the first pinion gear and the second pinion gear of each of these two transport units so as to move the drive body .

According to the fourth aspect of the present invention, the program is provided with a square pyramid-shaped tooth downward on the bottom surface of the driven body, and a square pyramid is formed on the tooth located on the outer peripheral portion of the bottom surface tooth. The first pinion gear and the second pinion gear, which rotate in different directions, and the first pinion gear are rotated by engaging with a chamfer-processed two-dimensional rack gear in which the corners of the slope are chamfered to transmit power. A first stepping motor, a second stepping motor for rotating the second pinion gear, and a sensor for detecting the driven body on the transport unit itself are provided, and the transport direction by the first pinion gear and the first step are provided. A control device that controls a plurality of transfer units arranged side by side in each of the transfer directions by the two pinion gears , and the first stepping motor that rotates the first pinion gear in response to the input of a pulse signal is subjected to the number of pulses. Upon receiving an input of a first motor driver that rotates by a rotation angle according to the above, a pulse signal to the first motor driver, and an enable signal for switching whether or not the pulse signal is input to the first pinion gear, the enable The first AND circuit that outputs the pulse signal to the first motor driver when the signal is active, and the second stepping motor that receives the input of the pulse signal and rotates the second pinion gear, depending on the number of pulses. The enable signal receives an input of a second motor driver that rotates by the rotation angle, a pulse signal to the second motor driver, and an enable signal for switching whether or not the pulse signal is input to the second pinion gear. When active, the second AND circuit that outputs the pulse signal to the second motor driver, the pulse signal common to the plurality of first AND circuits, and the enable signal individually for each first AND circuit are output. A computer including a first microcontroller, a second microcontroller that outputs the pulse signal common to the plurality of second AND circuits, and the enable signal individually for each second AND circuit . If it is determined that the driven unit on the receiving side does not have the driven body at the time of delivery of the driven body between the two transport units, the transport direction and speed of the driven body in these two transport units are the same. The first pinion gear of each of these two transport units so as to be the transport direction and speed of A. When the rotation of the second pinion gear is controlled and it is determined that the transport unit on the receiving side has the driven body, the driven body of the transport unit on the delivery side is stopped to stop the driven body on the receiving side. It is a program for controlling the rotation of the first pinion gear and the second pinion gear of each of these two transport units so as to move the driven body from the transport unit .

According to the present invention, the transport path can be flexibly configured.

It is a schematic block diagram which shows the functional structure of the transport system which concerns on embodiment of this invention. It is a figure which shows the whole structure of the drive device which concerns on the same embodiment. It is a figure which shows the outline of the outline example of the transport tray which concerns on the same embodiment. It is a figure which shows the structural example of the transport unit which concerns on the same embodiment by the perspective view. It is a figure which shows the example which looked at the inside of the transport unit which concerns on the same embodiment from the direction of the arrow V of FIG. It is a figure which shows the example which looked at the inside of the transport unit which concerns on the same embodiment from the direction of the arrow VI of FIG. It is a figure which shows the example of the meshing between the tooth of a plane gear and the tooth of a drive gear which concerns on the same embodiment. It is a figure which shows the 1st example which applied the transfer system which concerns on the same embodiment to the line of a factory. It is a figure which shows the 2nd example which applied the transfer system which concerns on the same embodiment to the line of a factory. It is a figure which shows the 1st example of the storage of the stored goods in the warehouse using the transport system which concerns on the same embodiment. It is a figure which shows the 2nd example of the storage of the stored goods in the warehouse using the transport system which concerns on the same embodiment. It is a figure which shows the 1st example which applied the transport system which concerns on the same embodiment to a restaurant. It is a figure which shows the 2nd example which applied the transport system which concerns on the same embodiment to a restaurant. It is a figure which shows the schematic structure in the transport unit arranged side by side in the same embodiment. It is a figure which shows the example of the hardware composition for the control of the drive motor in the control device which concerns on the same embodiment. It is a figure which shows the 1st example of the transfer of the transfer tray between the transfer units which concerns on the same embodiment. In the same embodiment, it is a figure which shows the example of the output signal from the microcontroller in the example of FIG. It is a figure which shows the 2nd example of the transfer of the transfer tray between the transfer units which concerns on the same embodiment. In the same embodiment, it is a figure which shows the example of the output signal from the microcontroller in the example of FIG. It is a figure which shows the 3rd example of the delivery of the transfer tray between the transfer units which concerns on the same embodiment. In the same embodiment, it is a figure which shows the example of the output signal from the microcontroller in the example of FIG. It is a figure which shows the 4th example of the transfer of the transfer tray between the transfer units which concerns on the same embodiment. In the same embodiment, it is a figure which shows the example of the output signal from the microcontroller in the example of FIG. It is a figure which shows the 5th example of the transfer of the transfer tray between the transfer units which concerns on the same embodiment. In the same embodiment, it is a figure which shows the example of the output signal from a microcontroller in the change from the state shown at the top in the example of FIG. 24 to the state shown second from the top. In the same embodiment, it is a figure which shows the example of the output signal from a microcontroller in the change from the state shown second from the top in the example of FIG. 24 to the state shown third from the top. In the same embodiment, it is a figure which shows the example of the output signal from a microcontroller in the change from the state shown 3rd from the top in the example of FIG. 24 to the state shown at the bottom. It is a figure which shows the sixth example of the delivery of the transfer tray between the transfer units which concerns on the same embodiment. In the same embodiment, it is a figure which shows the example of the output signal from the microcontroller in the example of FIG. 28. It is a figure which shows the example of the minimum structure of the transfer system which concerns on this invention. It is a figure which shows the example of the minimum structure of the control device which concerns on this invention.

Hereinafter, embodiments of the present invention will be described, but the following embodiments do not limit the invention according to the claims. Also, not all combinations of features described in the embodiments are essential to the means of solving the invention.
FIG. 1 is a schematic block diagram showing a functional configuration of a transport system according to an embodiment of the present invention. As shown in FIG. 1, the transfer system 100 includes a drive device 101 which is a main body of the transfer system, a control device 200, and a host system 300. The drive device 101 includes a transport tray 11 as a driven body and a plurality of transport units 20.

The transport system 100 is a system for transporting (moving) an object to be transported.
The drive device 101 executes the transfer of the transported object according to the control of the control device 200.
The transport tray 11 is configured so that the object to be transported can be placed on the upper surface thereof. The transport tray 11 transports the transported object by moving by driving the transport unit 20 with the transported object placed on it.

The transport unit 20 drives the transport tray 11.
The control device 200 controls the transport unit 20 to drive the transport tray 11.
The host system 300 functions as a user interface of the transport system 100. The host system 300 receives a user operation instructing the operation of the drive device 101, and notifies the control device 200 of an operation command based on the user operation. For example, the host system 300 designates a transfer unit 20 as a start point and a transfer unit 20 as an end point of the movement of the transfer tray 11 and instructs the control device 200 to move the transfer tray 11.

Further, the host system 300 displays various information regarding the operation of the drive device 101. For example, the transfer system 100 may include a sensor for detecting the position of the transfer tray 11, and the host system 300 may display the position of the transfer tray 11.
The host system 300 is configured by using a computer such as a personal computer (PC) or an EWS (Engineering Workstation), for example.

The control device 200 and the host system 300 may be integrally configured. In this case, the control device 200 is configured by using, for example, a personal computer or a computer such as EWS.
Alternatively, the control device 200 may be stored in the transport unit 20. For example, the transfer unit 20 provided in each control device 200 may be electrically connected by connecting beads or may be connected by communication. In this case, the control device 200 is configured by using a computer such as a microcomputer. Alternatively, the control device 200 may be configured as hardware dedicated to controlling the transport unit 20 by using an ASIC (Application Specific Integrated Circuit) or the like.

FIG. 2 is a diagram showing the overall configuration of the drive device 101.
As described above, the transport tray 11 has a storage portion 11A on the upper surface on which an object to be transported (not shown) can be placed. Further, on the lower surface of the transport tray 11, a flat gear 12 in which the teeth 12A are arranged in a predetermined direction is provided.

FIG. 3 is a diagram showing an outline of an outline example of the transport tray 11. FIG. 3A is a perspective view of the transport tray 11 viewed from diagonally above, and a perspective view of the tooth shape of a plane gear (two-dimensional rack gear) provided on the bottom surface of the transport tray 11. show. FIG. 3B shows the shape of the teeth of the plane gear provided on the bottom surface of the transport tray 11 as viewed from the bottom surface side of the transport tray 11.

As shown in FIG. 3A, the teeth 12A of the plane gear 12 are arranged in a matrix along the directions of the arrows (a) and (b) orthogonal to each other.
Further, the teeth 12A of the plane gear 12 are formed in a quadrangular pyramid shape having a small flat tooth tip 12B at the tip portion as a whole, and in particular, the teeth 12A'of the row located on the outer peripheral portion are shown in FIG. As shown in B), chamfer processing is performed by chamfering the corners of the slope forming the quadrangular pyramid.
This chamfer processing is performed to reduce the contact when the drive gears (Pinion gears) 13 and 14 mesh with each other, and chamfers the corners of the quadrangular pyramid slope centered on one corner of the tooth tip 12B. It is a process.

Further, the transfer tray 11 is transferred in the arrow (a) direction or the arrow (b) direction, which is a predetermined transfer direction, by a plurality of transfer units 20 having drive gears 13 and 14 having different rotation directions from each other.
In this embodiment, a horizontal transport surface is formed on the support plate 22 (see FIG. 5) of the transport unit 20 by the arrow (a) direction or the arrow (b) direction, which is a predetermined transport direction. The transport tray 11 is horizontally transported through this transport surface.

As shown in FIG. 2, a plurality of transport units 20 are arranged adjacent to each other in a matrix along a predetermined transport direction (arrow (a) and arrow (b) directions), and are provided in each of the transport units 20. The driven gears 13 and 14 mesh with the plane gear 12 on the transport tray 11 to transmit power, thereby transporting the transport tray 11 in the direction of the arrow (a) or the arrow (b). The drive gear 13 corresponds to the example of the first pinion gear. The drive gear 14 corresponds to the example of the second pinion gear.
Further, the drive gear 13 and the drive gear 14 can be operated at the same time, whereby the transport tray 11 can be transported in an oblique direction with respect to the arrows (a) and (b).

The specific configuration of the transport unit 20 described above will be described in detail with reference to FIGS. 4 to 6.
FIG. 4 is a perspective view showing a configuration example of the transport unit 20.
FIG. 5 is a diagram showing an example of the inside of the transport unit 20 viewed from the direction of the arrow V in FIG.
FIG. 6 is a diagram showing an example of the inside of the transport unit 20 viewed from the direction of the arrow VI in FIG.
Each transport unit 20 rotates around a pedestal 21 as a base, a support plate 22 horizontally provided on the pedestal 21 and having four openings 22A at each edge thereof, and rotation shafts 13A and 14A on the pedestal 21. It includes drive gears 13 and 14 that are freely supported, and drive mechanisms 23 and 24 that rotationally drive the drive gears 13 and 14, respectively.

The drive gears 13 are rotatably supported around a rotation shaft 13A along the arrow (b) direction, and two sets are arranged at intervals in the arrow (a) direction in the transport unit 20. .. Further, each set of drive gears 13 has a pair of small gears 13B, and the upper portion thereof is exposed from the opening 22A of the support plate 22 and meshes with the flat gear 12 of the transport tray 11 to engage the transport tray. 11 is transferred in the direction of the arrow (a).
Further, the drive mechanism 23 is arranged in the lower part of the transport unit 20 as shown in FIG. 5, and is a drive motor 25 and a conduction gear for transmitting the power of the drive motor 25 to the drive gear 13. It has 26, a pulley 27, and a belt 28.

On the other hand, the drive gears 14 are rotatably supported around the rotation shaft 14A along the arrow (a) direction, and two sets are arranged at intervals in the arrow (b) direction in the transport unit 20. ing. Further, each set of drive gears 14 has a pair of small gears 14B, and the upper portion thereof is exposed from the opening 22A of the support plate 22 and meshes with the flat gear 12 of the transport tray 11 to engage the transport tray. 11 is transferred in the direction of the arrow (b).
Further, the drive mechanism 24 is arranged directly under the support plate 22 as shown in FIG. 6, and is a drive motor 29 and a conduction gear for transmitting the power of the drive motor 29 to the drive gear 14. It has 30, a pulley 31, and a belt 32.

Then, in the transport unit 20 as described above, by selectively driving the drive mechanisms 23 and 24, either the drive gears 13 or 14 can be rotationally driven, whereby the drive gears 13 and 14 and the drive gears 13 and 14 and the drive gears 13 and 14 can be rotationally driven. The transport tray 11 on the support plate 22 can be transferred in the direction of the arrow (a) or the arrow (b) through the plane gear 12 that meshes with these.
Further, by driving the drive mechanisms 23 and 24 at the same time, the drive gears 13 and 14 can be rotationally driven at the same time. As a result, the transport tray 11 on the support plate 22 can be transferred in an oblique direction with respect to the arrows (a) and (b) through the drive gears 13 and 14 and the plane gear 12 that meshes with them.

FIG. 7 is a diagram showing an example of meshing between the teeth of the plane gear 12 and the teeth of the drive gear 13. The same applies to the meshing of the teeth of the plane gear 12 and the teeth of the drive gear 14.
In the transfer unit 20, as shown in FIG. 7, when the transfer tray 11 is transferred in the direction of the arrow (a) or the arrow (b) by the rotational drive of the drive gears 13 and 14, the flat teeth of the flat gear 12 are transferred. By sliding the tip (indicated by reference numeral 12B) with the upper surface of the support plate 22, the transport tray 11 is guided in the direction of the arrow (a) or the arrow (b).

Next, a usage example of the transport system 100 will be described with reference to FIGS. 8 to 13.
FIG. 8 is a diagram showing a first example in which the transfer system 100 is applied to a factory line. In the example of FIG. 8, eight transport units 20 form a line. Working robots 911 and 912 are arranged on this line.
Further, in FIG. 8, the flow of the transport tray 11 is indicated by an arrow. A work target (device to be assembled, etc.) is placed on the transport tray 11 and the transport tray 11 is moved. When the transport tray 11 comes near the work robot itself, each of the work robots 911 and 912 performs work such as attaching parts to the work target.

In the line shown in FIG. 8, the work robot 912 performs work before and after the work of the work robot 911. In the case of a general line, since the work target flows in one direction, a work robot 912 is required before and after the work robot 911, and the equipment cost for two work robots 912 is required. On the other hand, in the line shown in FIG. 8, the work target is moved to the vicinity of one work robot 912 at each of the two timings in which the work robot 912 performs the work, and the work robot 912 is made to perform the work. be able to. Therefore, in the line shown in FIG. 8, one working robot 912 is sufficient, and the equipment cost can be suppressed in this respect.

Further, in the line shown in FIG. 8, by changing the flow of the transport tray 11, it is possible to cope with the change in the number of work times and the work timing of the work robot without having to change the arrangement of the work robot. For example, when the work robot 911 performs work before and after the work of the work robot 912, the route of the transport tray 11 may be changed to a route that passes near the work robot in this order.

Further, in the line shown in FIG. 8, it is possible to cope with a case where the work count and work timing of the work robot differ depending on the product, such as when a plurality of products are assembled on one line.
Further, in the transport system 100, in that the transport tray 11 and the work target are moved by using gears, the speed and the stop position of the work target can be controlled more accurately than in the case where the work target is moved by using, for example, a roller. Further, by exciting the drive motors 25 and 29 even when the transport tray 11 is stopped, it is possible to prevent the position shift due to the reaction when the work target is loaded on the transport tray 11.
As described above, the transfer system 100 is suitable for use in a transfer system that requires accuracy, such as a production line constructed by arranging a work robot or the like.

FIG. 9 is a diagram showing a second example in which the transfer system 100 is applied to a factory line. In the example of FIG. 9, 10 transfer units 20 form a line. In this line, two workers and a work robot 913 are working together.
Further, in FIG. 9, the flow of the transport tray 11 is indicated by a solid line arrow, and the work range of the work robot 913 is indicated by a broken line arrow.

In the line of FIG. 9, the width of the line is widened by arranging two transfer units 20 in the width direction of the line. Further, when viewed from the upstream side (upper side of FIG. 8) to the downstream side of the line, the worker is located on the right side of the line, and the work robot 913 is located on the left side of the line.
In this way, the width of the line is wide and the worker and the work robot 913 are located on the opposite sides of the line so that the work range of the worker and the work range of the work robot 913 do not overlap. It has become. As a result, it is possible to avoid the danger of the human being colliding with the working robot 913, and in this respect, the safety of the worker can be ensured.

Since the transport unit 20 can freely move the transport tray 11 in a direction, the line shown in FIG. 9 can be constructed. In particular, the transport unit 20 moves the transport tray 11 (on which the work target is placed) between the operator and the work robot in the direction from upstream to downstream of the line (from top to bottom in FIG. 9). It can be moved not only in the direction) but also in the width direction of the line (left-right direction in FIG. 9). This makes it possible to widen the width of the line.

FIG. 10 is a diagram showing a first example of storing stored items in a warehouse using the transport system 100. FIG. 10 shows an example of arrangement of stored items in a state before taking out the article.
In the warehouse of FIG. 10, 30 transport units 20 are arranged in 5 rows × 6 columns. Of these, one transport tray 11 is located in each of the 23 transport units 20, and the stored items are placed in each transport tray 11.

At the time of taking out the stored items, the transport system 100 moves the transport tray 11 on which the stored items to be taken out are placed to the transport unit 20 in the lower right corner toward FIG. Hand over to the person). The more frequently taken out stored items may be arranged on the lower side of FIG. 10 (closer to the delivery place).
Here, it is assumed that there is a request to take out the stored items on which the transport tray 11 located in the area A11 is placed.

FIG. 11 is a diagram showing a second example of storing stored items in a warehouse using the transport system 100. FIG. 11 shows an example of arrangement of stored items in a state after the article is taken out from the state of FIG.
In the example of FIG. 11, in order to move the transport tray 11 in the area A11 on which the stored items to be taken out are placed along the solid line (white) arrow, first, the transport tray 11 in the movement path is broken line. It is moving along the arrow of.

As described above, in the warehouse using the transport system 100, when the transport tray 11 is moved, the transport tray 11 in the movement route may be moved to secure the movement route, and it is necessary to prepare a passage in advance. not. In this respect, in the warehouse using the transport system 100, many items can be stored by efficiently utilizing the space in the warehouse.
Since the transport unit 20 can freely move the transport tray 11 in a direction, the stored items of FIGS. 10 and 11 can be arranged. In particular, the transport unit 20 can move the transport tray 11 vertically and horizontally in FIGS. 10 and 11. As a result, it is possible to efficiently utilize the space in the warehouse to store a large number of items and secure a movement route when actually moving the transport tray 11.

FIG. 12 is a diagram showing a first example in which the transport system 100 is applied to a restaurant. In the example of FIG. 12, in a restaurant such as conveyor belt sushi, the transport units 20 are arranged between the kitchen and the audience seats in order to transport the food and drink from the kitchen to the audience seats and to collect the used tableware. Have been placed.
Further, in FIG. 12, an example of the flow of the transport tray 11 is shown by an arrow. The arrangement of the transport units 20 in row L11 is configured as a lane for serving food and drink from the kitchen to the audience seats. The arrangement of the transport units 20 in row L12 is configured as a lane for returning tableware and the like from the audience seats to the kitchen.

As described above, according to the transport system 100, lanes in multiple directions can be formed, and the transport system 100 can serve both food and drink and collect vacant tableware and the like.
Further, in the transport system 100, unlike the case of a general lane using a belt conveyor, the operation or stop can be controlled for each transport unit 20. Therefore, when the transports intersect, for example, when the transport tray 11 crosses the serving lane (row L11) when returning the tableware from the audience seats, one of the transport trays 11 is temporarily stopped for smooth operation. Can be transported to.
Further, since the transport system 100 transports individual seats and food and drink from the kitchen, it is possible to avoid mistakes in picking up the ordered product, unlike the case where the customer picks up the ordered product flowing through the lane.

FIG. 13 is a diagram showing a second example in which the transport system 100 is applied to a restaurant. The arrangement of the transport unit 20 in the example of FIG. 13 is the same as that of FIG. 12. In the example of FIG. 13, three types of transport trays 11 are used: a transport tray 11 that is larger than the case of FIG. 12, a transport tray 11 that has the same size as that of FIG. 12, and a transport tray 11 that is smaller than the case of FIG. This is different from the example of FIG.
In this way, in the transport system 100, transport trays 11 having different sizes can be mixed.

When the transport tray 11 extends beyond the width of one lane, such a transport tray 11 can be flowed by temporarily operating the two lanes of rows L11 and L12 in the same direction. For example, in the case of serving, the lane of row L12 is operated in the direction opposite to the normal direction (the same direction as row L11). When returning tableware, etc., the lane of row L11 is operated in the opposite direction to the normal direction (the same direction as row L12).

Further, the size of the transport tray 11 may be smaller than the size of the upper surface of the transport unit 20. Regarding the planar gear 12 of the transport tray 11, the length in the direction (a) of FIG. 2 is longer than the distance between the drive gears 13, and the length in the direction (b) is the distance between the drive gears 14. Should be longer than. As a result, the teeth of one or more drive gears 13 and the teeth of one or more drive gears 14 are always meshed with the teeth of the plane gear 12, and the transport tray 11 is placed in the direction (a) and (b). It can be moved in any direction.
Further, it is expected that the planar gear 12 can be mass-produced at low cost by injection molding or the like. Since the flat gear 12 can be mass-produced at low cost, for example, it is possible to replace all the trays on which the tableware plates are placed in the conventional conveyor belt sushi with the transport tray 11 and apply it to the transport system 100.

Next, control of the drive motor 25 and the drive motor 29 will be described with reference to FIGS. 14 and 15.
FIG. 14 is a diagram showing a schematic configuration of transport units 20 arranged side by side. In FIG. 14, a transport tray 11 and two transport units 20 (convey units 20-1 and 20-2) arranged side by side are shown.

FIG. 14 shows a configuration example of the inside of the transport unit 20 when the side surface of the transport unit 20 is viewed from the front side of the arrow (b) in FIG. 2, and for each transport unit 20, each part of the transport unit 20 is shown. One of the drive motors 25 and two drive gears 13 are shown. Further, two belts 28 for transmitting power from the drive motor 25 to each of the drive gears 13 are shown.
In FIG. 14, the two drive motors 25 are designated by reference numerals 25-1 and 25-2 to distinguish them. As described above, in FIGS. 14 and 15, hyphens (−) and serial numbers (1, 2, 3, ...) Are added to the codes of the drive motors 25 of the transport units 20 arranged side by side to drive them. Distinguish between motors 25.

Further, in FIG. 14, the four drive gears 13 are designated by reference numerals 13-11, 13-12, 13-21 and 13-22 to distinguish them. The distance L1 indicates the distance between the drive gears 13-11 and 13-12. The distance L2 indicates the distance between the drive gears 13-12 and 13-21. The distance L3 indicates the distance between the drive gears 13-21 and 13-22. When the transfer unit 20 of the same size is used, the distance L1 and the distance L3 are equal to each other.

In the example of FIG. 14, the length of the plane gear 12 in the direction of the arrow A may be longer than any of the distances L1, L2, and L3. As a result, at least one of the teeth of the drive gears 13-11, 13-12, 13-21, and 13-22 meshes with the teeth of the planar gear 12, and the transport tray 11 is moved in the direction of arrow A (or vice versa). Can be moved in the direction).

The drive motor 29, the drive gear 14, and the belt 32 are the same as those described with reference to FIG.
Further, in the following, a case where a stepping motor is used as the drive motors 25 and 29 will be described as an example. By using the stepping motors as the drive motors 25 and 29, it is possible to achieve high-precision phase synchronization (synchronization of rotation angles) with a plurality of drive motors.

FIG. 15 is a diagram showing a hardware configuration example for controlling a drive motor in the control device 200. In the configuration shown in FIG. 15, the control device 200 includes a microcontroller 201, an AND circuit 202 for each drive motor 25, and a motor driver IC 203.
The microcontroller 201 generates and outputs a pulse signal STEP common to each drive motor 25 and enable signals EN1, EN2, EN3, ... For each drive motor 25.

Each of the AND circuits 202 takes an AND of the pulse signal STEP and the enable signal (any of EN1, EN2, EN3, ...).
As a result, when the enable signal ENi (i = 1, 2, 3, ...) Is active (ON), the pulse signal STEP is supplied to the motor driver IC 203. In this case, the motor driver IC 203 rotates the drive motor 25-i by a rotation angle corresponding to the number of pulses in the pulse signal STEP. Therefore, the motor driver IC 203 rotates the drive motor 25-i at a rotation speed corresponding to the number of pulses per unit time in the pulse signal STEP.

On the other hand, when the enable signal ENi is inactive (OFF), the pulse signal STEP is not supplied to the motor driver IC 203. In this case, the motor driver IC 203 stops the drive motor 25-i.
By using the pulse signal STEP common to each drive motor 25, it is possible to achieve phase synchronization with high accuracy in these drive motors 25.

The control device 200 controls each of the drive motors 29 in the same manner as in the case of the drive motor 25. One microcontroller 201 can be used in common for the drive motor 25 and the drive motor 29. As a result, the pulse signal STEP common to the drive motor 25 and the drive motor 29 is used, and it is easy to synchronize the phases of the drive motor 25 and the drive motor 29.

By synchronizing the phases of the drive motor 25 and the drive motor 29 and rotating them at the same rotation speed, the transport tray 11 is tilted 45 degrees with respect to both the rotation axis of the drive motor 25 and the rotation axis of the drive motor 29. Can be moved in the direction of. That is, the transport tray 11 can be moved in a direction diagonally 45 degrees with respect to the direction in which the transport units 20 are arranged.
Further, the hardware cost of the control device 200 is small in that only one microcontroller 201 included in the control device 200 is required.

Alternatively, a microcontroller 201 different from the microcontroller 201 for the drive motor 25 may be used as the microcontroller 201 for the drive motor 29. In this case, the drive motor 25 and the drive motor 29 use different pulse signals STEP, and it is easy to rotate the drive motor 25 and the drive motor 29 at different rotation speeds.
For example, when the transport tray 11 is to be moved in a relatively complicated manner such as a circular motion, a microcontroller 201 different from the microcontroller 201 for the drive motor 25 may be used as the microcontroller 201 for the drive motor 29. .. As a result, the drive motor 25 and the drive motor 29 can be moved separately.

The control device 200 controls acceleration / deceleration of the drive motors 25 and 29 when operating the transport tray 11 on which the object to be transported is placed, and the drive motors 25 and 29 step out due to the weight of the object to be transported. To prevent. As will be described later, the control device 200 gradually increases the rotation speed when starting the drive motor 25 or 29. Further, the control device 200 gradually reduces the rotation speed when the drive motor 25 or 29 is stopped. In this way, the control device 200 controls the drive motors 25 and 29 so that the speed of the transport tray 11 does not change suddenly.

Here, consider a case where the planar gear 12 is applied to the drive gear 13 in both the transport unit 20 on the delivery side and the transport unit 20 on the receiving side to deliver the transport tray 11. In this case, if the drive gear 13 of the transport unit 20 on the side that delivers the transport tray 11 rotates at a constant speed and the drive gear 13 of the transport unit 20 on the side that receives the transport tray 11 is accelerating, these drive gears 13 The phases are not synchronized, and the drive motor 25 is burdened.

On the other hand, in the transport system 100, the drive motors 25 and the drive motors 29 rotate in synchronization with each other under the control of the control device 200. When the drive motors 25 and the drive motors 29 rotate in synchronization with each other, the drive gears 13 and the drive gears 14 rotate in synchronization with each other. Thereby, the load on the drive motors 25 and 29 can be reduced.
Further, the microcontroller 201 can control the drive motors 25 and 29 by a relatively simple process such as activating the enable signal for the operated drive motors 25 and 29.

Here, the operation of the transfer system 100 will be described by taking as an example the case where the transfer tray 11 is moved from the transfer unit 20-1 to the transfer unit 20-2 in the direction of the arrow A in FIG.
When the transfer tray 11 is moved from the transfer unit 20-1 to the transfer unit 20-2 in the direction of the arrow A in FIG. 14, the microcontroller 201 simultaneously activates the enable signals En1 and EN2 to activate the drive motor 25-1 and the drive motor 25-1. Rotate 25-2 at the same time.

At this time, the transport tray 11 moves by the distance L1 and the drive motors 25-1 and 25-2 are reached until the tip of the planar gear 12 located on the drive gear 13-12 is engaged with the drive gear 13-21. Complete the acceleration of.
When the drive motor 25-2 is started from the stopped state when the drive motor 25-1 is already rotating at a constant speed, the drive motor 25-is held until the tip of the planar gear 12 is engaged with the drive gear 13-21. Complete the acceleration of 2. As a result, the phases of the drive motors 25-1 and 25-2 can be synchronized.

After the tip of the plane gear 12 is engaged with the drive gear 13-21, the control device 200 rotates the drive motors 25-1 and 25-2 at a constant speed in synchronization with each other.
After the rear end of the planar gear 12 has passed the drive gear 13-12, the control device 200 decelerates the drive motors 25-1 and 25-2.
In this way, the control device 200 sets the transport unit 20-1 on the side that delivers the transport tray 11 and the transport unit 20-2 on the receiving side as one set, and drives these drive motors 25-1 and 25-2 at the same time. By doing so, the drive gears 13-11, 13-12, 13-21 and 13-22 can be synchronized. In particular, the drive gears 13-12 and 13-21 can be synchronized, and the transfer tray 11 can be smoothly transferred between the transfer units 20-1 and 20-2.

In this way, in order to perform control according to the position of the planar gear 12, a sensor for detecting the position of the planar gear 12 (or the position of the transport tray 11) is provided. An optical reflection sensor may be used as such a sensor, but the sensor is not limited to a specific type.
When an optical reflection sensor is used, for example, the light emitting portion and the light receiving portion of the optical reflection sensor are installed in a pair upward inside the transport unit 20. When the transport tray 11 rests on the optical reflection sensor, the light emitted by the light emitting unit is reflected by the transport tray 11. When the light receiving unit receives the reflected light, a current flows through the light receiving unit.

On the other hand, when the transport tray 11 is not applied to the optical reflection sensor, the light emitted by the light emitting unit is not reflected, and the light receiving unit does not receive this light. Therefore, no current flows through the light receiving portion.
In this way, the presence / absence of the transport tray 11 is converted into an electric signal depending on the presence / absence of the current in the light receiving unit, and the presence / absence of the transport tray 11 can be detected.
When it is desired to detect the position of the flat gear 12, only the portion of the flat gear 12 on the bottom surface may reflect light by applying paint to the bottom surface of the transport tray 11. Alternatively, a sensor such as an optical reflection sensor may detect the position of the conveyor tray 11, and the control device 200 may calculate the position of the planar gear based on the positional relationship between the conveyor tray 11 and the planar gear 12. ..
Alternatively, instead of the sensor-based method, the control device 200 determines the current position of the transfer tray 11 based on the initial position of the transfer tray 11 (or the initial position of the planar gear 12) and the rotation angles of the drive motors 25 and 29. (Or the current position of the planar gear 12) may be calculated.

By detecting the position of the transport tray 11 (or the position of the planar gear 12), the control device 200 can control the transport unit 20 so as to move the plurality of transport trays 11 without colliding with each other.
For example, when the control device 200 transfers the transport tray 11 between the two transport units 20, the transport tray 11 on the receiving side (a transport tray 11 different from the transport tray 11 to be delivered) is transferred to the transport unit 20 on the receiving side. Determine if there is. When it is determined that the transport unit 20 on the receiving side does not have the transport tray 11, the control device 200 synchronously operates the two transport units 20 for delivering the transport tray 11 as one set, and the transport tray 11 is operated. Can be handed over.
On the other hand, when it is determined that the transport unit 20 on the receiving side has the transport tray 11, the control device 200 stops the transport unit 20 on the side where the transport tray 11 is delivered, and causes the transport tray 11 in the transport unit 20 on the receiving side to stop. Move first. This makes it possible to prevent collisions between the transport trays 11.

Next, with reference to FIGS. 16 to 29, the control of the transport unit 20 by the control device 200 will be described with reference to an example of an output signal from the microcontroller 201.
FIG. 16 is a diagram showing a first example of delivery of the transfer tray 11 between the transfer units 20.
In FIG. 16, three transport units 20 are shown. TBn, TBn + 1, and TBn + 2 are designated in this order from the transport unit 20 on the left side of FIG. 16 to distinguish them.

FIG. 16 shows an example in chronological order in which the transport unit TBn and the transport unit TBn + 1 are set as one set (SET1) and the transport tray 11 is delivered from the transport unit TBn to the transport unit TBn + 1. The upper side of FIG. 16 shows the state in the past time.
In the state shown at the top of FIG. 16, the entire transport tray 11 is located above the transport unit TBn and does not cover the transport unit TBn + 1.
In the second state from the top of FIG. 16, the tip of the planar gear 12 reaches the drive gear 13 of the transport unit TBn + 1.
In the third state from the top of FIG. 16, the rear end of the planar gear 12 is disengaged from the drive gear 13 of the transport unit TBn.
In the state shown at the bottom of FIG. 16, the entire transport tray 11 is located on the transport unit TBn + 1, which is the target state for this delivery.

In FIG. 16, the time from the state shown at the top to the state shown second from the top is referred to as STEP1. In STEP 1, both the drive motors 25 of the transfer units TBn and TBn + 1 are started to increase the rotation speed.
In FIG. 16, the time from the state shown second from the top to the state shown third from the top is referred to as STEP2. In STEP2, both the drive motors 25 of the transfer units TBn and TBn + 1 are rotated at a constant speed.
In FIG. 16, the time from the state shown third from the top to the state shown at the bottom is referred to as STEP3. In STEP3, both the drive motors 25 of the transport units TBn and TBn + 1 are decelerated and stopped.

FIG. 17 is a diagram showing an example of an output signal from the microcontroller 201 in the example of FIG. The horizontal axis of the graph in FIG. 17 indicates time.
"Pulse number" indicates the number of pulses per unit time in the pulse signal STEP. As described above, this number of pulses indicates a command value of the rotation speed of the drive motor.
“Enable signal (TBn, Mx)” indicates the value of the enable signal for controlling the drive motor 25 of the transport unit TBn. Here, "Mx" indicates a drive motor whose rotation direction is in the x-axis direction. Here, the x-axis is the direction of the arrow (a) in FIG. 2, and Mx indicates the drive motor 25.
“Enable signal (TBn + 1, Mx)” indicates the value of the enable signal for controlling the drive motor 25 of the transport unit TBn + 1.

In FIG. 17, both the enable signal (TBn, Mx) and the enable signal (TBn + 1, Mx) are enabled in STEP1 to STEP3. As a result, the drive motor 25 of the transfer unit TBn and the drive motor 25 of the transfer unit TBn + 1 are controlled to be synchronized as one set.
In STEP 1, the number of pulses per unit time in the pulse signal STEP is increasing. As a result, the motor driver IC 203 increases the rotation speed of each drive motor 25 of the transport units TBn and TBn + 1.

In STEP 2, the number of pulses per unit time in the pulse signal STEP is constant. As a result, the motor driver IC 203 rotates the drive motors 25 of the transport units TBn and TBn + 1 at a constant speed.
In STEP 3, the number of pulses per unit time in the pulse signal STEP is reduced. As a result, the motor driver IC 203 reduces the rotation speeds of the drive motors 25 of the transport units TBn and TBn + 1.
As described above, the control device 200 determines whether or not the transport unit TBn + 1 has the transport tray 11, and if it is determined that the transport tray 11 does not exist, the control device 200 performs the processes of FIGS. 16 and 17.

FIG. 18 is a diagram showing a second example of delivery of the transfer tray 11 between the transfer units 20.
In FIG. 18, three transport units 20 are shown. As in the case of FIG. 16, the symbols TBn, TBn + 1, and TBn + 2 are added to distinguish them.
FIG. 18 shows an example of moving the transport tray 11 from the transport unit TBn to the transport unit TBn + 2. Here, after the transfer unit TBn and the transfer unit TBn + 1 are delivered as one set (SET1), the transfer unit TBn + 1 and the transfer unit TBn + 2 are delivered as one set (SET2). I do.

FIG. 19 is a diagram showing an example of an output signal from the microcontroller 201 in the example of FIG. The horizontal axis of the graph in FIG. 19 indicates time.
"Pulse number" indicates the number of pulses per unit time in the pulse signal STEP. “Enable signal (TBn, Mx)” indicates the value of the enable signal for controlling the drive motor 25 of the transport unit TBn. “Enable signal (TBn + 1, Mx)” indicates the value of the enable signal for controlling the drive motor 25 of the transport unit TBn + 1. “Enable signal (TBn + 2, Mx)” indicates the value of the enable signal for controlling the drive motor 25 of the transport unit TBn + 2.

In FIG. 19, first, the transfer units TBn and TBn + 1 are set as one set (SET1), and the enable signals for control of these two drive motors 25 are activated to transfer the transfer tray 11. Next, the transfer units TBn + 1 and TBn + 2 are set as one set (SET2), and the enable signals for control of these two drive motors 25 are activated to transfer the transfer tray 11. In each delivery, as in the case of FIG. 17, after starting the drive motor 25 in STEP 1 to increase the rotation speed, rotating the drive motor 25 at a constant speed in STEP 1, and decreasing the rotation speed of the drive motor in STEP 3. It is stopped.

The control device 200 determines whether or not the transfer tray 11 is present in the transfer unit TBn + 1, and if it is determined that the transfer tray 11 is not present, the control device 200 transfers the transfer tray 11 from the transfer unit TBn to the transfer unit TBn + 1. After that, the control device 200 determines whether or not the transfer tray 11 is present in the transfer unit TBn + 2, and if it is determined that the transfer tray 11 is not present, the control device 200 transfers the transfer tray 11 from the transfer unit TBn + 1 to the transfer unit TBn + 2. ..

FIG. 20 is a diagram showing a third example of delivery of the transfer tray 11 between the transfer units 20.
In FIG. 20, three transport units 20 (transport units TBn, TBn + 1, TBn + 2) are shown, and the transport tray 11 is moved from the transport unit TBn to the transport unit TBn + 2, as in the case of FIG. The same is true.
On the other hand, FIG. 20 shows that the setting of the set of transport units is different from that in FIG. In FIG. 18, the transfer units TBn and TBn + 1, and the transfer units TBn + 1 and TBn + 2 are each set as one set. On the other hand, in FIG. 20, three transport units TBn, TBn + 1 and TBn + 2 are regarded as one set (SET1).

FIG. 21 is a diagram showing an example of an output signal from the microcontroller 201 in the example of FIG. 20. The horizontal axis of the graph in FIG. 21 indicates time.
"Pulse number" indicates the number of pulses per unit time in the pulse signal STEP. “Enable signal (TBn, Mx)” indicates the value of the enable signal for controlling the drive motor 25 of the transport unit TBn. “Enable signal (TBn + 1, Mx)” indicates the value of the enable signal for controlling the drive motor 25 of the transport unit TBn + 1. “Enable signal (TBn + 2, Mx)” indicates the value of the enable signal for controlling the drive motor 25 of the transport unit TBn + 2.

In FIG. 21, the transfer units TBn, TBn + 1, and TBn + 2 are set as one set (SET1), and the enable signals for control of these three drive motors 25 are activated to transfer the transfer tray 11. In STEP 1, these three drive motors 25 are started to increase the rotation speed, in STEP 2, they are rotated at a constant speed, and in STEP 3, the rotation speed is decreased and stopped.
In a series of operations, the transport tray 11 reaches the transport unit TBn + 2 from the transport unit TBn via the transport unit TBn + 1.
The control device 200 determines whether or not the transfer trays 11 are present in the transfer units TBn + 1 and TBn + 2, and if it is determined that none of the transfer units 20 has the transfer tray 11, the processes of FIGS. 20 and 21 are performed. ..

FIG. 22 is a diagram showing a fourth example of delivery of the transfer tray 11 between the transfer units 20.
In FIG. 22, three transport units 20 (transport units TBn, TBn + 1, TBn + 2) are shown, and the transport tray 11 is delivered from the transport unit TBn to the transport unit TBn + 1, as in the case of FIG. The same is true. Further, STEP1, STEP2 and STEP3 are the same as in FIG. 16.

On the other hand, FIG. 22 is different from the case of FIG. 16 in that the transport tray 11 is further delivered from the transport unit TBn + 1 to the transport unit TBn + 2. A reference numeral P1 is attached to the transfer tray 11 transferred from the transfer unit TBn to the transfer unit TBn + 1, and a reference numeral P2 is attached to the transfer tray 11 transferred from the transfer unit TBn + 1 to the transfer unit TBn + 2 to distinguish between the two. Further, the transport units TBn and TBn + 1 related to the delivery of the transport tray P1 are set as one set (SET1), and the transport units TBn + 1 and TBn + 2 related to the delivery of the transport tray P2 are set as another set (SET2).

FIG. 23 is a diagram showing an example of an output signal from the microcontroller 201 in the example of FIG. 22. The horizontal axis of the graph in FIG. 23 indicates time.
"Pulse number" indicates the number of pulses per unit time in the pulse signal STEP. “Enable signal (TBn, Mx)” indicates the value of the enable signal for controlling the drive motor 25 of the transport unit TBn. “Enable signal (TBn + 1, Mx)” indicates the value of the enable signal for controlling the drive motor 25 of the transport unit TBn + 1. “Enable signal (TBn + 2, Mx)” indicates the value of the enable signal for controlling the drive motor 25 of the transport unit TBn + 2.

In FIG. 23, the enable signals for control of the three drive motors 25 of the transport units TBn, TBn + 1 and TBn + 2 are activated, and the two transport trays 11 are delivered at the same time. The output of the pulse signal STEP (pulse signal) is the same as in the case of FIG.
If the three transport units and the two transport trays have the same specifications and the two transport trays are moved at the same speed, the timing at which the tip of the planar gear 12 is applied to the drive gear 13 and after the planar gear 12 The timing at which the end is disengaged from the drive gear 13 is also the same. Therefore, the timings of STEP1 to STEP3 in the delivery of the transport tray P1 are the same in the delivery of the transport tray P2.
The control device 200 determines whether or not the transfer tray 11 is present in the transfer unit TBn + 2, and if it is determined that the transfer tray 11 is not present, the control device 200 performs the processes of FIGS. 22 and 23.

FIG. 24 is a diagram showing a fifth example of delivery of the transfer tray 11 between the transfer units 20. FIG. 24 shows an example of a process of changing the direction when the transport tray 11 reaches the corner of the lane.
In FIG. 24, five transport units 20 are shown. The three transport units 20 on the upper side are designated by TBn, TBn + 1, and TBn + 2 as in the case of FIG. 22 to distinguish them. Further, the two lower transport units 20 are designated by the reference numerals TBn + 3 and TBn + 4 in order from the right to distinguish them. Further, the two transport trays are designated by reference numerals P1 and P2 to distinguish them.

FIG. 24 shows an example of delivery of the transfer tray 11 between the transfer units 20 in chronological order. The upper side of FIG. 24 shows the state in the past time.
In the state shown at the top of FIG. 24, the transport tray P1 is located in the transport unit TBn, and the transport tray P2 is located in the transport unit TBn + 1. From this state, the transport tray P1 is delivered from the transport unit TBn to the transport unit TBn + 1, and the transport tray P1 is delivered from the transport unit TBn + 1 to the transport unit TBn + 2, which is the second state from the top of FIG. 24. In these deliveries, the transport units TBn and TBn + 1 are set as one set (SET1), and the transport units TBn + 1 and TBn + 2 are set as one set (SET2). These deliveries are the same as in the case of FIG. 22.

In the second state from the top of FIG. 24, the transport tray P1 is located in the transport unit TBn + 1, and the transport tray P2 is located in the transport unit TBn + 2. From this state, the transport tray P2 is delivered from the transport unit TBn + 2 to the transport unit TBn + 3, and is in the third state from the top. In this delivery, the transport units TBn + 2 and TBn + 3 are combined into one set (SET3).

In the third state from the top of FIG. 24, the transport tray P1 is located in the transport unit TBn + 1, and the transport tray P2 is located in the transport unit TBn + 3. From this state, the transport tray P1 is delivered from the transport unit TBn + 1 to the transport unit TBn + 2, and the transport tray P2 is delivered from the transport unit TBn + 3 to the transport unit TBn + 4, and the state shown at the bottom is shown. In this delivery, the transport units TBn + 1 and TBn + 2 are set as one set (SET4), and the transport units TBn + 3 and TBn + 4 are set as one set (SET5).
In the state shown at the bottom of FIG. 24, the transport tray P1 is located in the transport unit TBn + 2, and the transport tray P2 is located in the transport unit TBn + 4.

FIG. 25 is a diagram showing an example of an output signal from the microcontroller 201, which is a change from the state shown at the top in the example of FIG. 24 to the state shown second from the top. The horizontal axis of the graph in FIG. 25 indicates time.
The “number of pulses”, “enabled signal (TBn, Mx)”, “enabled signal (TBn + 1, Mx)”, and “enabled signal (TBn + 2, Mx)” are the same as in FIG. 23.

In FIG. 25, the rotation direction of the drive motor is further shown. "Rotation direction (TBn, Mx)" indicates the rotation direction of the drive motor 25 of the transport unit TBn. "Rotation direction (TBn + 1, Mx)" indicates the rotation direction of the drive motor 25 of the transfer unit TBn + 1. "Rotation direction (TBn + 2, Mx)" indicates the rotation direction of the drive motor 25 of the transfer unit TBn + 2.
The rotation direction of the drive motor is indicated by two values. When the value is high, it is in the plus (+) direction, and when the value is low, it is in the minus (−) direction. In FIGS. 25 to 27, the plus direction is the rotation direction for moving the transport tray 11 in the plus direction shown in FIG. 24. The minus direction is a rotation direction for moving the transport tray 11 in the minus direction shown in FIG. 24.
In the example of FIG. 25, all three drive motors rotate in the positive direction. This point is also the same as in the case of FIG. 23.

FIG. 26 is a diagram showing an example of an output signal from the microcontroller 201 in the change from the state shown second from the top to the state shown third from the top in the example of FIG. 24. The horizontal axis of the graph in FIG. 26 indicates time.
"Pulse number" indicates the number of pulses per unit time in the pulse signal STEP. Also in FIG. 26, the drive motor is started in STEP 1 to increase the rotation speed, the drive motor is rotated at a constant speed in STEP 2, and the rotation speed of the drive motor is decreased and stopped in STEP 3.

“Enable signal (TBn + 2, My)” indicates the value of the enable signal for controlling the drive motor 29 of the transport unit TBn + 2. Here, "My" indicates a drive motor whose rotation direction is in the y-axis direction. Here, the y-axis is the direction of the arrow (b) in FIG. 2, and My indicates the drive motor 29.
“Enable signal (TBn + 3, My)” indicates the value of the enable signal for controlling the drive motor 29 of the transport unit TBn + 3.
"Rotation direction (TBn + 2, My)" indicates the rotation direction of the drive motor 29 of the transfer unit TBn + 2. "Rotation direction (TBn + 3, My)" indicates the rotation direction of the drive motor 29 of the transfer unit TBn + 3. These rotation directions are in the minus direction according to the movement direction of the transport tray P2 in FIG. 24.

FIG. 27 is a diagram showing an example of an output signal from the microcontroller 201 in the change from the state shown third from the top to the state shown at the bottom in the example of FIG. 24. The horizontal axis of the graph in FIG. 27 indicates time.
"Pulse number" indicates the number of pulses per unit time in the pulse signal STEP. Also in FIG. 27, the drive motor is started in STEP 1 to increase the rotation speed, the drive motor is rotated at a constant speed in STEP 2, and the rotation speed of the drive motor is decreased and stopped in STEP 3.

“Enable signal (TBn + 1, Mx)” indicates the value of the enable signal for controlling the drive motor 25 of the transport unit TBn + 1. “Enable signal (TBn + 2, Mx)” indicates the value of the enable signal for controlling the drive motor 25 of the transport unit TBn + 2. “Enable signal (TBn + 3, Mx)” indicates the value of the enable signal for controlling the drive motor 25 of the transport unit TBn + 3. “Enable signal (TBn + 4, Mx)” indicates the value of the enable signal for controlling the drive motor 25 of the transport unit TBn + 4. These enable signals are active from STEP 1 to STEP 3.

The rotation direction (TBn + 1, Mx) indicates the rotation direction of the drive motor 25 of the transfer unit TBn + 1. The rotation direction (TBn + 2, Mx) indicates the rotation direction of the drive motor 25 of the transfer unit TBn + 2. These rotation directions are positive depending on the movement direction of the transport tray P1 in FIG. 24.
The rotation direction (TBn + 3, Mx) indicates the rotation direction of the drive motor 25 of the transfer unit TBn + 3. The rotation direction (TBn + 4, Mx) indicates the rotation direction of the drive motor 25 of the transfer unit TBn + 4. These rotation directions are negative depending on the movement direction of the transport tray P2 in FIG. 24.

FIG. 28 is a diagram showing a sixth example of delivery of the transfer tray 11 between the transfer units 20.
Also in FIG. 28, as in the case of FIG. 24, five transport units 20 (transport units TBn, TBn + 1, TBn + 2, TBn + 3 and TBn + 4) and two transport trays 11 (convey trays P1 and P2) are shown.
In FIG. 28, the transport tray P1 is not moved, but the transport tray P2 is slantedly moved from the transport unit TBn + 4 to the transport unit TBn + 2. This movement is performed by using the transport units TBn + 1, TBn + 2, TBn + 3 and TBn + 4 as one set (SET1).

FIG. 29 is a diagram showing an example of an output signal from the microcontroller 201 in the example of FIG. 28. The horizontal axis of the graph in FIG. 29 indicates time.
"Pulse number" indicates the number of pulses per unit time in the pulse signal STEP. Also in FIG. 29, the drive motor is started in STEP 1 to increase the rotation speed, the drive motor is rotated at a constant speed in STEP 2, and the rotation speed of the drive motor is decreased and stopped in STEP 3.

“Enable signal (TBn + 1, Mx)” indicates the value of the enable signal for controlling the drive motor 25 of the transport unit TBn + 1. “Enable signal (TBn + 1, My)” indicates the value of the enable signal for controlling the drive motor 29 of the transfer unit TBn + 1. “Enable signal (TBn + 2, Mx)” indicates the value of the enable signal for controlling the drive motor 25 of the transport unit TBn + 2. “Enable signal (TBn + 2, My)” indicates the value of the enable signal for controlling the drive motor 29 of the transport unit TBn + 2. “Enable signal (TBn + 3, Mx)” indicates the value of the enable signal for controlling the drive motor 25 of the transport unit TBn + 3. “Enable signal (TBn + 3, My)” indicates the value of the enable signal for controlling the drive motor 29 of the transport unit TBn + 3. “Enable signal (TBn + 4, Mx)” indicates the value of the enable signal for controlling the drive motor 25 of the transport unit TBn + 4. “Enable signal (TBn + 4, My)” indicates the value of the enable signal for controlling the drive motor 29 of the transport unit TBn + 4.
Since the transfer units TBn + 1 to TBn + 4 are set as one set and the transfer tray P2 is moved diagonally, the microcontroller 201 activates the enable signal for any of the drive motors 25 and 29 of these four transfer units 20. ing.

"Rotation direction (TBn + 1, Mx)" indicates the rotation direction of the drive motor 25 of the transfer unit TBn + 1. "Rotation direction (TBn + 1, My)" indicates the rotation direction of the drive motor 29 of the transfer unit TBn + 1. "Rotation direction (TBn + 2, Mx)" indicates the rotation direction of the drive motor 25 of the transfer unit TBn + 2. "Rotation direction (TBn + 2, My)" indicates the rotation direction of the drive motor 29 of the transfer unit TBn + 2. "Rotation direction (TBn + 3, Mx)" indicates the rotation direction of the drive motor 25 of the transfer unit TBn + 3. "Rotation direction (TBn + 3, My)" indicates the rotation direction of the drive motor 29 of the transfer unit TBn + 3. "Rotation direction (TBn + 4, Mx)" indicates the rotation direction of the drive motor 25 of the transfer unit TBn + 4. "Rotation direction (TBn + 4, My)" indicates the rotation direction of the drive motor 29 of the transfer unit TBn + 4.
In FIG. 28, since the transport tray P2 is moved in the positive direction for both the X-axis and the Y-axis, both of these rotation directions are positive.

As described above, the flat gear 12 is provided on the bottom surface of the transport tray 11 with the teeth facing downward. The drive gears 13 and 14 mesh with the plane gear 12 to transmit power, respectively. Further, the drive gears 13 and 14 have different rotation directions from each other. Further, a plurality of transport units 20 are arranged side by side in at least one of the rotation direction of the drive gear 13 and the rotation direction of the drive gear 14.

Thereby, in the transfer system 100, the range in which the article is conveyed can be set and changed by the combination of the transfer units 20. Further, since the operation and the stop can be switched in units of 20 transport units, it is easy to control the timing of transporting the article. For example, when transporting a plurality of articles, the operation and the stop can be switched in units of the transport unit 20 to control the order and timing of the transport so that the plurality of articles do not collide.
As described above, according to the transport system 100, it is possible to provide flexibility not only in the direction in which the article is transported but also in the range and timing at which the article is transported.

Further, the control device 200 has each of the two transport units 20 so that the transport directions and speeds of the transport trays 11 in the two adjacent transport units 20 among the plurality of transport units 20 are the same transport direction and speed. Controls the rotation of the drive gears 13 and 14.
This control can be performed by two adjacent transport units 20 with relatively simple control such that the rotation speed of the drive gear 13 and the rotation speed of the drive gear 14 are the same.
As described above, according to the transfer system 100, the control of the transfer unit 20 is relatively easy, and in this respect, the load of the control device 200 can be small.

Further, in the control device 200, a combination in which a plurality of transfer units 20 are arranged side by side in the rotation direction of the drive gear 13 is arranged in a plurality of arrangements in the rotation direction of the drive gear 14, and the transfer tray 11 in each transfer unit 20 is arranged. The rotation of the drive gear 13 and the drive gear 14 of each transfer unit 20 is controlled so that the transfer direction and speed are the same as the transfer direction and speed.
As described above, in the transfer system 100, a plurality of transfer units 20 are controlled as one set in the rotation direction of the drive gear 13 and the rotation direction of the drive gear 14 so as to have the same transfer direction and speed. 11 can be moved in an oblique direction.

Further, the control device 200 controls the rotation speed of the drive gear 13 of each transfer unit 20 and the rotation speed of the drive gear 14 to the same rotation speed, whereby the transfer tray 11 is controlled by the rotation direction of the drive gear 13 and the drive gear. The transport tray 11 can be moved at an angle of 45 degrees with respect to each of the rotation directions of 14.

Next, the minimum configuration of the present invention will be described with reference to FIGS. 30 and 31.
FIG. 30 is a diagram showing an example of the minimum configuration of the transport system according to the present invention. The transport system 500 shown in FIG. 30 includes a driven body 510 and a plurality of transport units 520. The driven body 510 includes a two-dimensional rack gear 511. Each of the transfer units 520 includes a first pinion gear 521 and a second pinion gear 522.

In such a configuration, the two-dimensional rack gear 511 is provided with teeth facing downward on the bottom surface of the driven body 510. The first pinion gear 521 and the second pinion gear 522 mesh with the two-dimensional rack gear 511 to transmit power, respectively. Further, the first pinion gear and the second pinion gear have different rotation directions from each other. A plurality of transfer units 520 are arranged side by side in at least one of the transfer direction by the first pinion gear 521 and the transfer direction by the second pinion gear 522.

Thereby, in the transfer system 500, the range in which the article is conveyed can be set and changed by the combination of the transfer units 520. Further, since the operation and the stop can be switched in units of the transport unit 520, it is easy to control the timing of transporting the article. As described above, according to the transport system 500, it is possible to provide flexibility not only in the direction in which the article is transported, but also in the range and timing at which the article is transported.

FIG. 31 is a diagram showing an example of the minimum configuration of the control device according to the present invention. In FIG. 31, the control device 600 is shown.

The control device 600 is a transport unit including a first pinion gear and a second pinion gear that transmit power by meshing with a two-dimensional rack gear having teeth downward on the bottom surface of the driven body and have different rotation directions from each other. Among the transport units arranged side by side in at least one of the transport direction by the first pinion gear and the transport direction by the second pinion gear, the transport directions of the driven bodies in the two adjacent transport units are the same. The rotation of the first pinion gear and the second pinion gear of each of the two transport units is controlled so as to be in the transport direction.
According to the control of the control device 600, the range in which the article is conveyed can be set and changed by the combination of the transfer units. Further, since the operation and the stop can be switched for each transport unit, it is easy to control the timing of transporting the article. As described above, according to the transport system, it is possible to have flexibility not only in the direction in which the article is transported but also in the range and timing at which the article is transported.

By recording a program for realizing all or part of the processing performed by the control device 200 on a computer-readable recording medium, and causing the computer system to read and execute the program recorded on the recording medium. Each part may be processed. The term "computer system" as used herein includes hardware such as an OS and peripheral devices.
Further, the "computer-readable recording medium" refers to a portable medium such as a flexible disk, a magneto-optical disk, a ROM, or a CD-ROM, and a storage device such as a hard disk built in a computer system. Further, the above-mentioned program may be for realizing a part of the above-mentioned functions, and may be further realized for realizing the above-mentioned functions in combination with a program already recorded in the computer system.

Although the embodiment of the present invention has been described in detail with reference to the drawings, the specific configuration is not limited to this embodiment, and the design and the like within a range not deviating from the gist of the present invention are also included.

11 Conveyance tray 12 Plane gear 13, 14 Drive gear 20 Conveyance unit 25, 29 Drive motor 100 Conveyance system 101 Drive device 200 Control device 201 Microcontroller 202 AND circuit 203 Motor driver IC
300 Upper system

Claims (6)

It is equipped with a driven body, a plurality of transport units, and a control unit .
The driven body is
A quadrangular pyramid-shaped tooth is provided downward on the bottom surface of the driven body, and the teeth located on the outer peripheral portion of the teeth on the bottom surface are chamfered by chamfering the corners of the slope forming the quadrangular pyramid . Equipped with two-dimensional rack gear,
Each of the transport units
The first pinion gear and the second pinion gear, which mesh with the two-dimensional rack gear to transmit power and have different rotation directions from each other ,
The first stepping motor that rotates the first pinion gear,
A second stepping motor that rotates the second pinion gear,
A sensor that detects the driven body on the transport unit itself,
Equipped with
A plurality of the transport units are arranged side by side in the transport direction by the first pinion gear and the transport direction by the second pinion gear .
The control unit
A first motor driver that receives the input of a pulse signal and rotates the first stepping motor by a rotation angle corresponding to the number of pulses.
Upon receiving an input of a pulse signal to the first motor driver and an enable signal for switching whether or not the pulse signal is input to the first pinion gear, the pulse signal is transmitted to the first motor when the enable signal is active. The first AND circuit that outputs to the driver and
A second motor driver that receives the input of a pulse signal and rotates the second stepping motor by a rotation angle corresponding to the number of pulses.
Upon receiving an input of a pulse signal to the second motor driver and an enable signal for switching whether or not the pulse signal is input to the second pinion gear, the pulse signal is transmitted to the second motor when the enable signal is active. The second AND circuit that outputs to the driver and
A first microcontroller that outputs the pulse signal common to the plurality of first AND circuits and the enable signal individually for each first AND circuit.
A second microcontroller that outputs the pulse signal common to the plurality of second AND circuits and the enable signal individually for each second AND circuit.
Equipped with
When the control unit determines that the driven unit on the receiving side does not have the driven body at the time of transferring the driven body between the two transport units, the control unit transfers the driven body between the two transport units. The rotation of the first pinion gear and the second pinion gear of each of these two transport units is controlled so that the directions and speeds are the same transport direction and speed, and the driven body is attached to the transport unit on the receiving side. When it is determined that there is, the first of each of these two transport units is stopped so as to stop the driven body of the transport unit on the delivery side and move the driven body from the transport unit on the receiving side. Controlling the rotation of the pinion gear and the second pinion gear,
Transport system. The control unit is used in each transport unit for each of a combination in which a plurality of the transport units are arranged side by side in the rotation direction of the first pinion gear and a combination in which a plurality of the transport units are arranged side by side in the rotation direction of the second pinion gear. The rotation of the first pinion gear and the second pinion gear of each transport unit is controlled so that the transport direction and speed of the driven body are the same in the transport direction and speed.
The transport system according to claim 1 . The control unit controls the rotation speed of the first pinion gear and the rotation speed of the second pinion gear of each transport unit to the same rotation speed.
The transport system according to claim 2 . Square cone-shaped teeth are provided downward on the bottom surface of the driven body, and the teeth located on the outer peripheral portion of the bottom surface teeth are chamfered by chamfering the corners of the slope forming the square cone. A first pinion gear and a second pinion gear that mesh with a dimensional rack gear to transmit power and rotate in different directions , a first stepping motor that rotates the first pinion gear, and a second pinion gear that rotates the second pinion gear. The two stepping motors and the sensor for detecting the driven body on the transport unit itself are provided, and a plurality of them are arranged side by side in the transport direction by the first pinion gear and the transport direction by the second pinion gear. A control device that controls the transport unit.
A first motor driver that rotates the first stepping motor that rotates the first pinion gear by receiving a pulse signal input by a rotation angle corresponding to the number of pulses.
Upon receiving an input of a pulse signal to the first motor driver and an enable signal for switching whether or not the pulse signal is input to the first pinion gear, the pulse signal is transmitted to the first motor when the enable signal is active. The first AND circuit that outputs to the driver and
A second motor driver that rotates the second stepping motor that rotates the second pinion gear by receiving a pulse signal input by a rotation angle corresponding to the number of pulses.
Upon receiving an input of a pulse signal to the second motor driver and an enable signal for switching whether or not the pulse signal is input to the second pinion gear, the pulse signal is transmitted to the second motor when the enable signal is active. The second AND circuit that outputs to the driver and
A first microcontroller that outputs the pulse signal common to the plurality of first AND circuits and the enable signal individually for each first AND circuit.
A second microcontroller that outputs the pulse signal common to the plurality of second AND circuits and the enable signal individually for each second AND circuit.
Equipped with
If it is determined that the driven unit on the receiving side does not have the driven body at the time of delivery of the driven body between the two transport units, the transport direction and speed of the driven body in these two transport units are the same. The rotation of the first pinion gear and the second pinion gear of each of these two transport units is controlled so as to be the transport direction and speed of the above, and it is determined that the transport unit on the receiving side has the driven body. In the case, the first pinion gear and the first pinion gear of each of these two transport units are stopped so as to stop the driven body of the transport unit on the delivery side and move the driven body from the transport unit on the receiving side. 2 Control the rotation of the pinion gear,
Control device. Square cone-shaped teeth are provided downward on the bottom surface of the driven body, and the teeth located on the outer peripheral portion of the bottom surface teeth are chamfered by chamfering the corners of the slope forming the square cone. A first pinion gear and a second pinion gear that mesh with a dimensional rack gear to transmit power and rotate in different directions , a first stepping motor that rotates the first pinion gear, and a second pinion gear that rotates the second pinion gear. The two stepping motors and the sensor for detecting the driven body on the transport unit itself are provided, and a plurality of them are arranged side by side in the transport direction by the first pinion gear and the transport direction by the second pinion gear. A control device that controls the transport unit.
A first motor driver that rotates the first stepping motor that rotates the first pinion gear by receiving a pulse signal input by a rotation angle corresponding to the number of pulses.
Upon receiving an input of a pulse signal to the first motor driver and an enable signal for switching whether or not the pulse signal is input to the first pinion gear, the pulse signal is transmitted to the first motor when the enable signal is active. The first AND circuit that outputs to the driver and
A second motor driver that rotates the second stepping motor that rotates the second pinion gear by receiving a pulse signal input by a rotation angle corresponding to the number of pulses.
Upon receiving an input of a pulse signal to the second motor driver and an enable signal for switching whether or not the pulse signal is input to the second pinion gear, the pulse signal is transmitted to the second motor when the enable signal is active. The second AND circuit that outputs to the driver and
A first microcontroller that outputs the pulse signal common to the plurality of first AND circuits and the enable signal individually for each first AND circuit.
A second microcontroller that outputs the pulse signal common to the plurality of second AND circuits and the enable signal individually for each second AND circuit.
The control device equipped with
If it is determined that the driven unit on the receiving side does not have the driven body at the time of delivery of the driven body between the two transport units, the transport direction and speed of the driven body in these two transport units are the same. The rotation of the first pinion gear and the second pinion gear of each of these two transport units is controlled so as to be the transport direction and speed of the above, and it is determined that the transport unit on the receiving side has the driven body. In the case, the first pinion gear and the first pinion gear of each of these two transport units are stopped so as to stop the driven body of the transport unit on the delivery side and move the driven body from the transport unit on the receiving side. 2 Control the rotation of the pinion gear,
Control method. Square cone-shaped teeth are provided downward on the bottom surface of the driven body, and the teeth located on the outer peripheral portion of the bottom surface teeth are chamfered by chamfering the corners of the slope forming the square cone. The first pinion gear and the second pinion gear, which mesh with the dimensional rack gear to transmit power and rotate in different directions , the first stepping motor that rotates the first pinion gear, and the second pinion gear are rotated. A second stepping motor and a sensor for detecting the driven body on the transport unit itself are provided, and a plurality of them are arranged side by side in the transport direction by the first pinion gear and the transport direction by the second pinion gear. A control device that controls the transport unit.
A first motor driver that rotates the first stepping motor that rotates the first pinion gear by receiving a pulse signal input by a rotation angle corresponding to the number of pulses.
Upon receiving an input of a pulse signal to the first motor driver and an enable signal for switching whether or not the pulse signal is input to the first pinion gear, the pulse signal is transmitted to the first motor when the enable signal is active. The first AND circuit that outputs to the driver and
A second motor driver that rotates the second stepping motor that rotates the second pinion gear by receiving a pulse signal input by a rotation angle corresponding to the number of pulses.
Upon receiving an input of a pulse signal to the second motor driver and an enable signal for switching whether or not the pulse signal is input to the second pinion gear, the pulse signal is transmitted to the second motor when the enable signal is active. The second AND circuit that outputs to the driver and
A first microcontroller that outputs the pulse signal common to the plurality of first AND circuits and the enable signal individually for each first AND circuit.
A second microcontroller that outputs the pulse signal common to the plurality of second AND circuits and the enable signal individually for each second AND circuit.
To the computer equipped with the control device
If it is determined that the driven unit on the receiving side does not have the driven body at the time of delivery of the driven body between the two transport units, the transport direction and speed of the driven body in these two transport units are the same. The rotation of the first pinion gear and the second pinion gear of each of these two transport units is controlled so as to be the transport direction and speed of the above, and it is determined that the transport unit on the receiving side has the driven body. In the case, the first pinion gear and the first pinion gear of each of these two transport units are stopped so as to stop the driven body of the transport unit on the delivery side and move the driven body from the transport unit on the receiving side. 2 A program to control the rotation of the pinion gear .

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