(19) United States
`(12) Patent Application Publication (10) Pub. N0.: US 2003/0075415 A1
`(43) Pub. Date:
`Apr. 24, 2003
`It0
`
`US 20030075415A1
`
`(54) HANGING CONVEYANCE EQUIPMENT AND
`LEARNING SYSTEM THEREFOR
`
`(57)
`
`ABSTRACT
`
`(75) IIlVeIlIOrI Kellji I110, Shiga (JP)
`
`corréspondenfe Address?
`Patr1ce_A- Klng
`Goodwln Procter LLP
`Counsellors at Law
`Seven Becker Farm Road
`Roseland, NJ 07068 (Us)
`_
`_
`(73) Asslgnee: Dalfuku Co" Ltd‘
`_
`(21) Appl' NO"
`.
`_
`(22) Flled'
`(30)
`
`10/274’458
`
`Oct' 18’ 2002
`Foreign Application Priority Data
`
`Oct. 19, 2001 (JP) .................................... .. 2001-321790
`
`Publication Classi?cation
`
`(51) Int. Cl.7 ................................................... .. B65G 17/42
`(52) US. Cl. .............. .. 198/3463; 198/4633; 198/4654
`
`Hanging conveyance equipment according to the present
`invention comprises a carriage, a number of Work supports
`and a Work hand. The carriage travels along a horizontal
`travelling path, Which has stop positions arranged along it.
`Each of the Work supports is ?xed beloW one of the stop
`positions. An amount of Work-lifting positioning and an
`amount of Work-lowering positioning are set for each of-the
`Work supports. The Work hand can hold a Work W hanging
`from it. The Work hand is supported by the carriage in such
`a manner that the Work hand can be positioned horizontally
`two-dimensionally With respect to the carriage. The Work
`hand can vertically move With respect to the carriage to load
`a Work onto or unload a Work from each of the Work
`supports. When the Work hand is loWered from the carriage
`in each of the stop positions to lift a Work from the
`associated Work support, the Work hand is positioned hori
`zontally two-dimensionally in accordance With the amount
`of Work-lifting Positioning for th? SHPPOYL When the Work
`hand is loWered from the carriage in each of the stop
`positions to loWer a Work onto the associated Work support,
`the Work hand is positioned horizontally two-dimensionally
`in accordance With the amount of Work-lowering positioning
`for the support.
`
`(A)
`
`SIV33
`
`SP2
`v
`
`4\____
`
`8P1
`V
`
`5
`
`8
`
`W
`
`1”
`
`2
`
`W
`
`W
`
`_!/V
`
`/
`
`3
`
`I /N3
`
`/’_"/3
`
`(B)
`
`
`I,’ \J g \\
`\
`W
`
`3
`
`\
`S
`2
`
`3
`
`W
`
`3
`
`\_
`\
`W
`
`Daifuku Exhibit 1042, Page 1 of 28
`
`

`
`Patent Application Publication Apr. 24, 2003 Sheet 1 0f 16
`
`US 2003/0075415 A1
`
`FIG. 1
`
`(A)
`
`(B)
`
`Daifuku Exhibit 1042, Page 2 of 28
`
`

`
`Patent Application Publication Apr. 24, 2003 Sheet 2 0f 16
`
`US 2003/0075415 A1
`
`FIG. 2
`
`Daifuku Exhibit 1042, Page 3 of 28
`
`

`
`Patent Application Publication Apr. 24, 2003 Sheet 3 0f 16
`
`US 2003/0075415 A1
`
`FIG. 3
`
`71
`
`12
`
`9
`
`12
`
`2\\
`
`2b l~~~
`18
`
`30 (33)
`
`7
`
`25b, 25c
`
`27a~27d -"
`
`I
`
`I
`
`I7
`/| -
`
`25b, 25c /_
`
`6
`
`29
`37
`
`----- --28a, 28d
`
`25a, 25a’
`
`8
`
`34
`
`-25a, 250‘
`
`W
`
`Daifuku Exhibit 1042, Page 4 of 28
`
`

`
`Patent Application Publication Apr. 24, 2003 Sheet 4 0f 16
`
`US 2003/0075415 A1
`
`FIG. 4
`
`FIG. 5
`
`25d
`
`32
`26 /
`
`€9
`
`33
`
`28d
`
`27d
`
`I
`I
`
`25a
`
`28a
`7
`
`27a
`
`Daifuku Exhibit 1042, Page 5 of 28
`
`

`
`Patent Application Publication Apr. 24, 2003 Sheet 5 0f 16
`
`US 2003/0075415 A1
`
`FIG. 6
`
`(A)
`
`7
`. f ,2
`5_\ I i
`K6
`
`(B)
`
`I +7
`|
`I: .- "Hm-'8
`f ,-
`Tl
`
`I
`
`34
`
`/
`
`Daifuku Exhibit 1042, Page 6 of 28
`
`

`
`Patent Application Publication Apr. 24, 2003 Sheet 6 0f 16
`
`US 2003/0075415 A1
`
`FIG. 7
`
`a“
`
`34
`
`5g
`
`OPEIIiATION/RECORDING/
`TRANSMISSION PROCESSOR
`
`Daifuku Exhibit 1042, Page 7 of 28
`
`

`
`Patent Application Publication Apr. 24, 2003 Sheet 7 0f 16
`
`US 2003/0075415 A1
`
`FIG. 8
`
`Daifuku Exhibit 1042, Page 8 of 28
`
`

`
`Patent Application Publication Apr. 24, 2003 Sheet 8 of 16
`
`US 2003/0075415 A1
`
`FIG. 9
`
`FIG.
`
`1 0
`
`
`
`Daifuku Exhibit 1042, Page 9 of 28
`
`Daifuku Exhibit 1042, Page 9 of 28
`
`

`
`Patent Application Publication Apr. 24, 2003 Sheet 9 0f 16
`
`US 2003/0075415 A1
`
`FIG. 77
`
`43 47
`
`4\5 g8
`
`47
`
`39
`
`I
`
`,
`
`g
`
`2
`a
`
`5
`
`44
`
`,~42
`
`41
`
`'
`
`
`P1 tjx46
`3
`in f
`|
`\
`36
`
`42“,
`
`I
`
`46
`
`-
`
`
`,n, ftj
`AL
`/ i
`36
`
`FIG. 12
`
`(B)
`
`I
`
`-
`
`41
`
`(A)
`
`47
`
`47b
`/
`
`,
`W
`
`/
`
`47a
`
`43
`
`46m /@
`|\ ,
`N468
`
`36:
`
`533
`
`Daifuku Exhibit 1042, Page 10 of 28
`
`

`
`Patent Application Publication Apr. 24, 2003 Sheet 10 0f 16
`
`US 2003/0075415 A1
`
`FIG. 73
`
`(A)
`
`(B)
`
`52
`
`(0) 52a 52
`
`I , I I
`
`1 ,1
`
`Daifuku Exhibit 1042, Page 11 of 28
`
`

`
`Patent Application Publication Apr. 24, 2003 Sheet 11 0f 16
`
`US 2003/0075415 A1
`
`FIG. 14
`
`I
`
`Start
`
`I
`
`81
`
`,
`
`SET FIRST .IIG 39 IN FIXED
`POSITION ON TARGET PORT 3
`
`s2
`
`,
`
`SET SECOND .IIG 40 IN FIXED
`POSITION ON FIRST .I IO 39
`$3
`I
`
`TAKE PICTURE OF MARKS 0N SHEET 53b
`mm CAMERA 4s. FIND REFERENCE
`POSITION DATA FROM TAKEN PICTURE,
`AND RECORD FOUND DATA
`
`,
`S8
`TAKE PICTURE OF MARKS ON SHEET 53b
`WITH CAMERA 45, FIND COMPARATIVE
`POSITION DATA FROM TAKEN PICTURE,
`AND FIND AMOUNTS OF DISPLACEMENT
`X AND 0 THROUGH COMPARISON
`OPERATION OF COMPARATIVE AND
`REFERENCE POSITION DATA
`
`I
`$9
`TRANSMIT AMOUNTS OF
`DISPLACEMENT X AND 0 TO
`CONVEYOR I AND RECORD THEM
`AS AMOUNTS OF POSITIONING
`
`S4
`
`,
`
`s10
`
`,
`
`REMOVE SECOND J IG 40 AND
`PINS 47 ON FIRST J IG 39
`$5
`I
`CAUSE WORK HAND 8 TO HOLD
`SECOND .] I G 40
`
`S6
`
`,
`
`STOP CONVEYOR I IN STOP
`POSITION FOR TARGET PORT 3
`$7
`I
`LOWER WORK HAND 8 FROM HOME
`POSITION AND PLACE SECOND
`.I IG 40 ON FIRST J I G 39
`
`RETURN EMPTY SECOND .] IG 40
`TO HOME POSITION
`
`s11
`
`,
`
`REMOVE .I IGS 39 AND 40
`
`FROM TARGET PORT 3
`
`,
`s12
`SET WORK W IN FIXED POSITION 0N
`TARGET PORT 3, LOWER WORK HAND 8,
`LEARN VERTICAL DISTANCE,
`AND RECORD LEARNED DISTANCE
`IN CONVEYOR I
`
`S13
`
`DOES LEARNING
`PROCESS NEED REPEATING
`FOR NEXT TARGETT
`
`Daifuku Exhibit 1042, Page 12 of 28
`
`

`
`Patent Application Publication Apr. 24, 2003 Sheet 12 0f 16
`
`US 2003/0075415 A1
`
`FIG. 75
`
`56
`
`OPERATION/RECORDING/
`TRANSMISSION PROCESSOR
`
`35
`
`58
`
`57
`
`.39
`
`59
`
`Daifuku Exhibit 1042, Page 13 of 28
`
`

`
`Patent Application Publication Apr. 24, 2003 Sheet 13 0f 16
`
`US 2003/0075415 A1
`
`FIG. 76
`
`(A)
`
`//////://////A"/¢A
`60 4N} I 63 {F
`“4
`58
`
`" 60
`
`‘
`
`Daifuku Exhibit 1042, Page 14 of 28
`
`

`
`Patent Application Publication Apr. 24, 2003 Sheet 14 0f 16
`
`US 2003/0075415 A1
`
`FIG. 7 7
`
`Start
`
`S20
`PERFORM LEARNING PROCESS OF FINDING
`AMOUNTS OF POSITIONING AND VERTICAL
`DISTANCE FOR WORK HAND 8 RELATIVE TO
`TENTATIVE PORT 57 AND RECORD THEM
`IN CONVEYOR I
`
`‘
`S21
`PREPARE LEARNING IIIORK TII HAvINI;
`NARK SHEET s3 STUCK IN PLACE ON
`woRK BOTTOM AND SET IIIORK TN
`IN FIXED POSITION ON TENTATIVE
`PORT 5T
`
`I
`822
`SETAFIRST JIG 39 IN FIXED
`POSITION ON TENTATIVE
`PORT 57
`
`823
`TAKE P'CTURE 0F MARKS 0" SHEET 53
`OF SET LEARNING WORK TI‘I WITH
`0mm 45, FIND REFERENCE
`POSITION DATA FROM TAKEN PIcTuRE.
`AND RECORD FOUND DATA
`
`824
`
`i
`
`CAUSE WORK HAND 8 To HOLD
`LEARNING woRK Tw AND REMOVE
`POSITIONING PINS 60 ON
`TENTATIVE PORT 57
`
`I
`825
`STOP CONVEYOR 1
`I" STOP POSITION
`
`‘
`S26
`POSITION, IN ACCORDANCE WITH
`LEARNED AND RECORDED DATA.
`woRK HAND a HOLDING
`LEARNING NoRK TN, LowER IIIORK HAND
`8 WITH WORK TN, AND PLAcE woRK
`TN 0N TENTATIVE PORT
`
`‘
`s2?
`TAKE PICTURE OF NIARKs ON SHEET 63
`0F LEARNING IIIORK TN ON TENTATIVE
`FORT 5T NITII mm 45 AND FIND
`COMPARATIVE POSITION DATA FROM
`TAKEN PICTURE
`
`S28
`
`7
`
`FIND AIIouNTs OF DIsPLAcEIAENT x
`AND 0 OF LEARNING WORK TN THROUGH
`COMPARISON OPERATION OF
`COMPARATIVE AND REFERENCE
`POSITION DATA
`
`I
`$29
`TRANsNIT ANDNNTs OF DIsPLAcENENT x
`AND 0 T0 CONVEYOR I AND menu
`THEM As AMOUNTS OF L0NERINI;
`CORRECTION AX AND A 6
`
`End
`
`Daifuku Exhibit 1042, Page 15 of 28
`
`

`
`Patent Application Publication Apr. 24, 2003 Sheet 15 0f 16
`
`US 2003/0075415 A1
`
`FIG. 78
`
`S30
`
`;
`
`CAUSE CONVEYOR I TO TRAVEL
`IN ACCORDANCE WITH WORKING
`COMMAND
`
`V
`
`S31
`
`HAS CONVEYOR I
`REACHED TARGET
`PORT 3?
`
`S32
`STOP CONVEYOR I IN STOP
`POSITION SPn FOR
`TARGET PORT
`
`SHOULD
`WORK w BE LIFTED
`0R LOWERED?
`
`S34
`
`M m 19 AND
`ACTIVATE LATE L W
`ANGULAR DRIVER 29 IN ACCORDANCE
`WITH LEARNED AND RECORDED
`AMOUNTS 0F PoslTllmlm;
`$35
`I
`ACTIVATE VERTICAL DRIVE UNIT 7 IN
`ACCORDANCE WITH LEARNED AND
`RECORDED VERTICAL DISTANCE TO
`LOWER EMPTY WORK HAND 8 TO
`WORK-HOLDING POSITION OVER
`
`TARGET POIIT3 ‘
`
`LOWER I NC OPERATION
`
`S38
`CALCULATE AMOUNTS OF LOWERING
`POSITIONING BY CORRECTING LEARNED
`IAND RECORDED AMOUNTS 0F posmomm;
`OWERING
`WITH RECORDED AMOUNTS OF L
`CORRECTION AX AND A 0 AND
`ACTIVATE LATERAL DRIVER 19 AND
`ANGULAR DRIVER 29 IN ACCORDANCE WITH
`mourns 0F LOWERING POSITIONING
`S39
`I
`
`ACTIVATE VERTICAL DRIVE UNIT 7 IN
`
`ACCORDANCE WITH LEARNED AND RECORDED
`VERTICAL DISTANCE TO LOWER WORK HAND
`8 HOLDING WORK W TO LOADING POSITION
`
`OVER TARGET PORT 3
`
`I
`540
`RELEASE WORK W FROM WORK
`HAND 8 AND RETURN EMPTY
`HAND 8 To HOME POSIT‘ON
`
`I
`S36
`CAUSE WORK HAND 8 To HOLD
`WORK W ON TARGET PORT 3 AND
`RETURN WORK "AND TO HOME
`POSITION
`‘
`837
`CAUSE CONVEYOR I TO TRAVEL
`IN ACCORDANCE WITH NEXT _>®
`WORKING COMMAND
`
`Daifuku Exhibit 1042, Page 16 of 28
`
`

`
`Patent Application Publication Apr. 24, 2003 Sheet 16 0f 16
`
`US 2003/0075415 A1
`
`FIG. 79
`
`Start
`
`CHOOSE REFERENCE CARRIAGE
`58 AND REFERENCE PORT 38
`
`$42
`
`,
`
`PERFORM LEARNING PROCESSES WITH
`REFERENCE CARRIAGE 58 FOR ALL
`PORTS 3 AND RECORD LEARNED DATA
`(AMOUNTS OF POSITIONING AND
`VERTICAL DISTANCES) FOR ALL
`PORTS 3
`
`s43
`
`,
`
`TRANSFER LEARNED DATA FOR ALL
`PORTS 3 TO ALL CARRIAGES 5 OTHER
`THAN REFERENCE CARRIAGE 58 AND
`RECORD THEM
`
`S44
`
`PERFORM LEARNING PROCESSES WITH
`
`ALL CARRIAGES 5 OTHER THAN
`
`REFERENCE CARRIAGE 55 FOR
`REFERENCE PORT 38 TO OBTAIN
`LEARNED DATA FOR THIS PORT 38
`
`S45
`PERFORM COMPARISON OPERATION OF LEARNED DATA
`OBTAINED FOR REFERENCE PORT 38 WITH EACH
`CARRIAGE 5 AND LEARNED DATA OBTAINED FOR THIS
`PORT 38 WITH REFERENCE CARRIAGE 5S, FIND
`DIFFERENTIAL DATA (DIFFERENTIAL DATA OF AMOUNTS
`OF POSITIONING AND DIFFERENTIAL DATA OF VERTICAL
`DISTANCE), AND RECORD THEM
`
`End
`
`Daifuku Exhibit 1042, Page 17 of 28
`
`

`
`US 2003/0075415 A1
`
`Apr. 24, 2003
`
`HANGING CONVEYANCE EQUIPMENT AND
`LEARNING SYSTEM THEREFOR
`
`FIELD OF THE INVENTION
`
`[0001] The present invention relates to hanging convey
`ance equipment and a learning system for learning operating
`conditions of the equipment in advance.
`
`PRIOR ART
`
`[0002] Japanese Unexamined Patent Publication No. H11
`349280 discloses conventional hanging conveyance equip
`ment. This equipment includes a carriage ?tted With a Work
`hand, Which can move vertically and be positioned horiZon
`tally tWo-dimensionally With respect to it. The Work hand
`can hold a Work and move vertically With the Work hanging
`from it. The carriage can run along a path, beloW Which a
`number of Work supports are arranged. The Work hand can
`load and unload each of the Work supports.
`[0003] In this type of hanging conveyance equipment, the
`carriage can be stopped accurately in the stop position set
`above each of the Work supports. HoWever, if the Work
`supports are installed or ?xed at different degrees of accu
`racy, the Work hand of the carriage in each of the stop
`positions is displaced With respect to the associated Work
`support laterally and/or angularly around a vertical axis.
`When a Work is loWered onto each the Work supports, and
`When the Work on each of the Work supports is lifted, the
`position of the Work hand may need to be highly precise. In
`this case, as disclosed in the foregoing publication, amounts
`of horiZontal tWo-dimensional positioning for the Work hand
`can be preset for each of the Work supports. When the Work
`hand is loWered from the carriage in the stop position for the
`Work support, the Work hand can be positioned horiZontally
`tWo-dimensionally With the associated amounts of position
`mg.
`[0004] Speci?cally, in Japanese Unexamined Patent Pub
`lication No. H11-349280, With the carriage in the stop
`position above each of the Work supports, the amounts of
`horiZontal tWo-dimensional displacement of the Work hand
`With respect to the Work support are detected. On the basis
`of the detected amounts, amounts of positioning for the Work
`hand are set for the Work support. Accordingly, both When
`the Work on each of the Work supports is lifted to be
`conveyed from it, and When a Work is loWered to be supplied
`to each the Work supports, the Work hand is positioned With
`respect to the carriage only on the basis of the associated
`amounts of positioning.
`[0005] In this type of hanging conveyance equipment, the
`Work hand is hung from the carriage by belts that can be
`extended and taken up. It is possible to lift the Work on each
`of the Work supports by loWering the empty Work hand to a
`position Where the hand can hold the Work. The loWered
`empty hand may be in a horiZontal position. It is possible to
`loWer a Work With the Work hand by loWering the hand to a
`position Where the load can be unloaded. The loWered Work
`hand holding the Work may be inclined because of various
`factors, such as a shift of the center of gravity of the Work,
`different amounts of extension of the belts, and loW produc
`ing accuracy of the head of the Work. The heads of all Works
`may be inclined uniformly and loW in producing accuracy
`accordingly. The inclination of the Work hand leads to
`horiZontal tWo-dimensional displacement of the hand With
`
`respect to the Work support. It is consequently impossible to
`loWer the Work accurately to a predetermined position on the
`Work support only by positioning the Work hand With the
`same amounts When the Work is lifted and When the Work is
`loWered.
`
`SUMMARY OF THE INVENTION
`
`[0006] The object of the present invention is to provide
`hanging conveyance equipment that can load and unload
`Works safely and accurately by solving the foregoing con
`ventional problem.
`
`[0007] According to a ?rst aspect of the present invention,
`hanging conveyance equipment is provided, Which com
`prises a carriage, a number of Work supports and a Work
`hand. The carriage travels along a horiZontal travelling path,
`Which has stop positions arranged along it. Each of the Work
`supports is ?xed beloW one of the stop positions. An amount
`of Work-lifting positioning and an amount of Work-lowering
`positioning are set for each of the Work supports. The Work
`hand can hold a Work hanging from it. The Work hand is
`supported by the carriage in such a manner that the Work
`hand can be positioned horiZontally tWo-dimensionally With
`respect to the carriage. The Work hand can vertically move
`With respect to the carriage to load a Work onto or unload a
`Work from each of the Work supports. When the Work hand
`is loWered from the carriage in each of the stop positions to
`lift a Work from the associated Work support, the Work hand
`is positioned horiZontally tWo-dimensionally in accordance
`With the amount of Work-lifting positioning for the support.
`When the Work hand is loWered from the carriage in each of
`the stop positions to loWer a Work onto the associated Work
`support, the Work hand is positioned horiZontally tWo
`dimensionally in accordance With the amount of Work
`loWering positioning for the support.
`
`[0008] The Work supports may be ?xed at loW or different
`degrees of accuracy With respect to the horiZontal travelling
`path, along Which the carriage travels. In such a case, When
`the Work hand is loWered to a position over each of the Work
`supports to load or unload the support, the hand might
`otherWise be displaced horiZontally tWo-dimensionally With
`respect to a ?xed position on the support. The displacement
`Would make it impossible to place a Work in the ?xed
`position on the Work support, or to normally lift a Work
`supported in the ?xed position.
`
`[0009] As stated already, an amount of Work-lifting posi
`tioning and an amount of Work-lowering positioning are set
`for each of the Work supports. When the Work hand is
`loWered from the carriage in each of the stop positions to lift
`a Work from the associated Work support, the Work hand is
`positioned horiZontally tWo-dimensionally in accordance
`With the amount of Work-lifting positioning for the support.
`When the Work hand is loWered from the carriage in each of
`the stop positions to loWer a Work onto the associated Work
`support, the Work hand is positioned horiZontally tWo
`dimensionally in accordance With the amount of Work
`loWering positioning for the support. There may be a case
`Where the empty Work hand is loWered to a position over one
`of the Work supports to lift a Work from the support, and
`Where the Work hand holding a Work is loWered to a
`horiZontally tWo-dimensionally different position over the
`same support. Even in this case, the Work hand can be
`loWered safely and securely or reliably.
`
`Daifuku Exhibit 1042, Page 18 of 28
`
`

`
`US 2003/0075415 A1
`
`Apr. 24, 2003
`
`[0010] After the empty Work hand is lowered, it can hold
`a Work and then be lifted Without problems. When the Work
`hand holding a Work is loWered so that the Work can be
`placed on each of the Work supports, the hand and Work may
`be inclined due to various factors as stated earlier. The
`inclination Would otherWise displace the Work horizontally
`tWo-dimensionally With respect to the Work support. HoW
`ever, the Work hand is positioned in accordance With the
`associated amount of Work-loWering positioning so that the
`inclined Work can be placed accurately in the ?xed position
`on the Work support.
`
`[0011] The amount of Work-loWering positioning for each
`of the Work supports may be the associated amount of
`Work-lifting positioning corrected With an amount of cor
`rection equivalent to the error betWeen the position of the
`Work hand holding a Work and loWered to a predetermined
`height over the Work support and the position of the hand
`loWered to the height Without holding a Work. This obviates
`the need to ?nd both the amount of Work-lifting positioning
`and the amount of Work-loWering positioning for each of the
`Work supports by a learning process or the like. Conse
`quently, the time and labor required for the learning process
`etc. are reduced, and it is easy to operate the conveyance
`equipment.
`[0012] The Work hand may be positioned With respect to
`the carriage in parallel With the horiZontal travelling path,
`laterally at right angles to the path and angularly around a
`vertical axis. In practice, hoWever, if the carriage can stop
`accurately in the stop positions, the Work hand does not need
`to be positioned in parallel With the travelling path. In other
`Words, practically, the Work hand may be positioned With
`respect to the carriage only laterally at right angles to the
`travelling path and angularly around the vertical axis. This
`simpli?es the structure of the Work hand positioner neces
`sary for the carriage and facilitates the positioning control.
`
`[0013] The hanging conveyance equipment needs to learn
`an amount of horiZontal tWo-dimensional displacement of
`the Work hand relative to each of the Work supports at the
`time When the carriage stops in the associated stop position.
`The learned amount of displacement is the basis for setting
`the associated amounts of Work-lifting positioning and
`Work-loWering positioning.
`
`[0014] According to a second aspect of the present inven
`tion, there is provided a learning system suitable for such
`learning. The learning system can be used With the hanging
`conveyance equipment to learn an amount of horiZontal
`tWo-dimensional displacement of the Work hand With
`respect to each of the Work supports at the time When the
`carriage is in the associated stop position. The learning
`system comprises a ?rst jig, a second jig and a means of
`displacement operation. The ?rst jig can be placed in the
`?xed positions on the Work supports and has a ?xed position
`on it. The second jig can be placed in the ?xed position on
`the ?rst jig and includes a held part for engaging With the
`Work hand to be held by it. One of the jigs includes a
`detected part. The other jig includes a detector for detecting
`the horiZontal tWo-dimensional position of the detected part
`to ?nd reference position data for the detected part With the
`second jig placed in the ?xed position on the ?rst jig and
`comparative position data for the detected part With the
`second jig held by the Work hand of the carriage in each the
`stop positions and loWered onto the ?rst jig. The means of
`
`displacement operation ?nds an amount of horiZontal tWo
`dimensional displacement of the Work hand With respect to
`each of the Work supports from the reference position data
`and the associated comparative position data.
`[0015] The learning system makes it possible to detect the
`necessary amounts of displacement accurately and easily
`only by means of the tWo jigs Without providing a special
`detected part and a special detector for learning on the Work
`hand and the existing Work supports.
`[0016] The amount of displacement for each of the Work
`supports is detected With the second jig held by the Work
`hand and placed on the ?rst jig set on the Work support.
`Consequently, in comparison With a case Where the displace
`ment of the Work hand Would otherWise be detected With the
`hand in its top (home) position over the Work support, the
`learning system makes the detection reliable even if, When
`the Work hand is loWered, it inclines due to different
`amounts of extension of the belts With Which the hand hangs.
`This makes it possible to detect amounts of displacement
`that can be used to set amounts of positioning ?t for loading
`and unloading operations, Which are performed by actually
`loWering the Work hand.
`[0017] In practice, as stated earlier, the Work hand does not
`need to be positioned in parallel With the horiZontal travel
`ling path if the carriage can stop accurately in the stop
`positions. Consequently, the amount of horiZontal tWo
`dimensional displacement of the Work hand found for each
`of the Work supports by the means of displacement operation
`(the operation/recording/transmission processor 56 in the
`embodiment of the invention) may consist of an amount of
`lateral displacement of the hand at right angles to the
`travelling path and an amount of angular displacement of the
`hand around a vertical axis.
`
`[0018] The detector may be an image pickup camera ?tted
`to the ?rst jig and facing upWard. The detected part may be
`a mark placed on the second jig near the held part and facing
`doWnWard. The ?rst jig to Which the camera is ?tted can be
`set on each of the Work supports. The second jig on Which
`the mark is placed can be held by the Work hand and
`vertically moved. In this case, as compared With a case
`Where the camera Would otherWise be ?tted to the second jig
`and Where the mark Would otherWise be placed on the ?rst
`jig, the Wiring betWeen the camera and the means of
`displacement operation is easy, and the camera is safe
`against damage. If the mark is placed on the second jig near
`the held part, Which can be held by the Work hand, the
`displacement detection is accurate. The ?rst jig to Which the
`camera is ?tted can be used for a process of learning
`amounts of Work-loWering correction, as stated in the
`embodiment of the invention.
`[0019] The ?rst jig may be ?tted With a number of
`removable positioning pins on its top. The second jig may be
`formed With positioning holes in its bottom, each of Which
`can engage With one of the pins. This improves the posi
`tional accuracy of the second jig in the detection of reference
`position data. HoWever, this exerts no in?uence on the
`position of the second jig When this jig is held by the Work
`hand and placed on the ?rst jig in the detection of compara
`tive position data. Consequently, the displacement detection
`is accurate.
`[0020] Before operating the hanging conveyance equip
`ment, it is necessary to ?nd the amounts of Work-loWering
`
`Daifuku Exhibit 1042, Page 19 of 28
`
`

`
`US 2003/0075415 A1
`
`Apr. 24, 2003
`
`positioning by means of a second learning system for ?nding
`an amount of horizontal tWo-dimensional displacement of
`the Work hand lowered With a Work.
`
`[0021] The horizontal travelling path may further have a
`tentative stop position set in it. The second learning system
`may include a tentative port for exclusive use With a learning
`process for ?nding an amount of Work-loWering correction.
`The tentative port is ?xed beloW the tentative stop position.
`The tentative port has a ?xed position set on it at the same
`height as the ?xed positions of the Work supports are set. A
`learning Work can be placed in this ?xed position and is
`?tted With a detected part on its bottom. The tentative port
`is ?tted With a second detector under its ?xed position for
`detecting the detected part of the learning Work. The second
`learning system may further include a second means of
`displacement operation for ?nding, from reference position
`data obtained by the second detector detecting the detected
`part of the learning Work placed in the ?xed position on the
`tentative port and comparative position data obtained by the
`second detector detecting the detected part of the learning
`Work held by the Work hand of the carriage in the tentative
`stop position, an amount of horiZontal tWo-dimensional
`displacement of the Work hand loWered With the learning
`Work.
`[0022] The second learning system makes it possible to
`easily and accurately perform the learning process for ?nd
`ing an amount of Work-loWering correction. The costs of this
`learning system can be reduced if it includes the ?rst jig
`?tted With the detector, Which may be an image pickup
`camera, for use With the learning process performed for each
`of the Work supports, as stated in the embodiment of the
`invention.
`[0023] Actual or practical hanging conveyance equipment
`according to the present invention includes a number of
`carriages 5 supported movably along a horiZontal path. This
`equipment also includes Work hands 8 each supported by
`one of the carriages 5 vertically and horiZontally movably
`With respect to it. The equipment further includes a number
`of Work supports 3 ?xed beloW the horiZontal path.
`
`[0024] According to a third aspect of the present inven
`tion, there is provided a learning method suitable for this
`hanging conveyance equipment. The learning method com
`prises the steps of:
`[0025] choosing a reference carriage 5S from the
`carriages 5 and a reference Work support 3S from the
`Work supports 3;
`[0026] performing a ?rst learning process for ?nding
`a ?rst amount of horiZontal tWo-dimensional posi
`tioning for the Work hand 8 of the reference carriage
`5S With respect to each of the Work supports 3;
`[0027] storing the ?rst amounts of positioning With
`respect to the Work supports 3 as uni?ed amounts of
`positioning in the carriages 5 other than the reference
`carriage 5S;
`[0028] performing a second learning process for ?nd
`ing a second amount of horiZontal tWo-dimensional
`positioning for the Work hand 8 of each carriage With
`respect to the reference Work support 3S;
`[0029] performing a comparison operation of the
`uni?ed and second amounts of positioning for each
`
`of the carriages 5 to ?nd an amount of correction
`exclusive to each of the carriages 5 and common to
`all of the Work supports 3; and
`
`[0030] correcting the uni?ed amount of positioning
`for each of the Work supports 3 With the amount of
`correction.
`
`[0031] The learning method obviates the need to perform
`learning processes for all of the carriages With respect to
`each of the Work supports. Even if the carriages differ in
`producing accuracy, the learning method makes it possible
`to very accurately set an amount of positioning for the Work
`hand of each of the carriages With respect to each of the Work
`supports.
`[0032] Other characteristics and/or features of the present
`invention Will be understood easily from the folloWing
`description of preferred embodiments of the invention With
`reference to the accompanying draWings.
`
`BRIEF DESCRIPTION OF THE DRAWINGS
`
`[0033] FIGS. 1A and 1B are a schematic side vieW and a
`schematic top plan respectively of hanging conveyance
`equipment embodying the present invention.
`
`[0034] FIG. 2 is a side vieW of a hanging conveyor of the
`conveyance equipment.
`[0035] FIG. 3 is a front vieW of the hanging conveyor.
`
`[0036] FIG. 4 is a top plan of main parts of the hanging
`conveyor, shoWing the positioner for the Work hand of the
`hanging conveyor.
`[0037] FIG. 5 is a top plan of main parts of the hanging
`conveyor, shoWing the vertical drive unit for the Work hand.
`
`[0038] FIG. 6A is a front vieW of the hanging conveyor
`loading or unloading a port of the conveyance equipment.
`FIG. 6B is a front vieW partially in vertical section of the
`port. FIGS. 6C and 6D are top plans of shifted Works.
`
`[0039] FIG. 7 is a side vieW of the hanging conveyor,
`shoWing the learning process for the detection of displace
`ment.
`
`[0040] FIG. 8 is a front vieW of the hanging conveyor,
`shoWing the learning process for the detection of displace
`ment.
`
`[0041] FIG. 9 is a top plan of the ?rst jig of the convey
`ance equipment.
`
`[0042] FIG. 10 is a side vieW of the ?rst jig.
`
`[0043] FIG. 11 is a front vieW partially in vertical section
`of the ?rst jig.
`
`[0044] FIG. 12A is an enlarged front vieW partially in
`vertical section of parts of the ?rst jig. FIG. 12B is an
`enlarged front vieW partially in vertical section of other parts
`of the ?rst jig.
`
`[0045] FIGS. 13A, 13B, 13C and 13D are a top plan, a
`side vieW partially in vertical section, a front vieW and a
`horiZontal section respectively of the second jig of the
`conveyance equipment.
`
`[0046] FIG. 14 is a ?oWchart of the learning process for
`the detection of displacement.
`
`Daifuku Exhibit 1042, Page 20 of 28
`
`

`
`US 2003/0075415 A1
`
`Apr. 24, 2003
`
`[0047] FIG. 15 is a side view of the hanging conveyor,
`showing the learning process for the detection of amounts of
`work-lowering correction.
`
`[0048] FIG. 16A is a side view in vertical section of part
`of the tentative port of the conveyance equipment. FIGS.
`16B and 16C are top plans of shifted learning works.
`
`[0049] FIG. 17 is a flowchart of the learning process for
`the detection of amounts of work-lowering correction.
`
`[0050] FIG. 18 is a flowchart of the control procedure
`during actual working, which uses the amounts of position-
`ing set for the work hand.
`
`[0051] FIG. 19 is a flowchart of the practical learning
`method used for all of the hanging conveyors of the con-
`veyance equipment.
`
`PREFERRED EMBODIMENTS OF THE
`INVENTION
`
`[0052] With reference to FIG. 1, hanging conveyance
`equipment embodying the present invention includes a num-
`ber of hanging conveyors 1, one of which is shown, and each
`of which takes the form of an electric car (railcar). The
`hanging conveyors 1 are supported by and self-propelled
`along a pair of parallel guide rails 2 (2a and 2b). The guide
`rails 2 extend horizontally through a travelling path, along
`which the hanging conveyors 1 travel. The travelling path
`extends horizontally in travelling directions VD (FIG. 4)
`over a floor and adjoins work treatment (processing) equip-
`ment 4. A number of ports (work tables or supports) 3 are
`arranged on the floor at
`intervals below and along the
`travelling path. Each of the hanging conveyors 1 can place
`an untreated work W on any selected port 3, from which an
`automatic transferrer (not shown) carries the work W into
`the treatment equipment 4. After treated in the treatment
`equipment 4, the work W is carried from it by an automatic
`transferrer (not shown) onto any selected port 3, from which
`the hanging conveyor 1 can convey the work to another
`place. While loading or unloading each port 3, the hanging
`conveyor 1 stops in the stop position SPn (SP1, SP2, SP3 or
`the like) set above the port 3.
`
`[0053] With reference to FIGS. 2-5, the hanging conveyor
`1 consists of a carriage 5, a lateral positioning slider 6, a
`vertical drive unit 7 and a square or rectangular work hand
`8. The carriage 5 includes a drive trolley 9, a driven trolley
`10 and a main body 11, which connects the trolleys together.
`The drive trolley 9 includes a pair of horizontal-axis drive
`wheels 12, a drive motor 13 and two pairs of vertical-axis
`stabilizing rollers 14. The driven trolley 10 includes a pair of
`horizontal-axis idle wheels 15 and two pairs of vertical-axis
`stabilizing rollers 16. Each of the guide rails 2 supports one
`of the drive wheels 12 and one of the idle wheels 15, with
`one pair of stabilizing rollers 14 and one pair of stabilizing
`rollers 16 in contact with the rail 2.
`
`[0054] The main body 11 of the carriage 5 is fitted with a
`pair of horizontal slide guides 17 on its underside, which
`extend at right angles to the guide rails 2. Th