JPH0539117A - Load carrier equipment - Google Patents

Abstract

PURPOSE:To change the control procedure and control constant of a control means which judges the timing and direction for delivering a load to a traveling carriage without the need for man power. CONSTITUTION:A controller which controls a sorting conveyer which delivers a load to a sorting chute 4 and a light emitting/receiving device 40 which is connected with the controller are provided in each traveling carriage 1, and a light emitting/receiving device 50 which faces the light emitting/receiving device 40, and a system general control device which sets the control procedure and control constant of the controller and sends information to the controller through the light emitting/receiving device 50, 40 are provided on the ground side. Therefore, if information such as the control procedure and control constant are sent from the control device on the ground side, the controller changes the control procedure and control constant based on the information to change the control procedure and control constant of the controllers of all the traveling carriages 1 in the control device on the ground side, thus it is possible to make man power unnecessary.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a plurality of sorting positions (sorting shouts) which are set in advance on a route for carrying an object to be transported (cargo) mounted on a carriage on a certain route. The present invention relates to a load carrying facility that discharges laterally at any sorting position.

[0002]

2. Description of the Related Art As a conventional load carrying facility of this type, an actuator is provided which has a tray which can be tilted to the left and right on each truck, and which at each sorting position causes the tray to fall when the truck passes by. There is known a device in which a tray is installed and the to-be-conveyed object on the tray is discharged in the lateral direction when the tray falls.

[0003]

However, in the conventional load carrying equipment, since the object to be transferred is discharged by the fall of the tray, it is not suitable for the object to be transferred which is vulnerable to a shock, and noise is generated when the tray is overturned. There was a problem with it. In addition, there is a problem in that the mechanism is complicated and prone to failure, such as the need for means for returning the fallen tray.

To solve this problem, for example, Japanese Patent Publication Sho
The branching device of the sorting conveyor disclosed in Japanese Patent No. 53-10338 is invented. According to the present invention, each scale (saucepan) is provided with a roller portion including a motor roller and a free roller, and is laid at the sorting position on the motor roller. It is configured to feed power from a trolley bar through a current collector to sort the objects to be transported on the roller section without shock. Furthermore, the motor roller is equipped with a three-phase power supply and a trolley. -Bar-
The magnetic contactor is provided between the two to switch the phases of the power source, and the power is supplied through the trolley bar and the current collecting section so that the motor is driven in the forward or reverse direction. However, this invention also has a problem in that the cost is high because a current collector is provided in each scale, and it takes a lot of time and money to maintain each current collector that is worn. In addition, the motor roller drive controls the power supply to the power supply to the trolley bar, so that the ground side (fixed side)
Since it is carried out in the field, it is necessary to always grasp the positional relationship between the sorting position (trolley position) and the scale to supply power at a timely timing, and there is a problem that sorting control on the ground side becomes complicated. Further, when an abnormality occurs in the control device on the ground side, there is no choice but to cancel all the sorting work, resulting in a problem that work efficiency deteriorates.

The present invention solves the above problems,
The traveling vehicle is provided with control means for determining the timing and direction of delivering the conveyed objects, and the control device on the ground side is simplified to improve the overall work efficiency, and the information of the traveling vehicle control means (setting values etc.) The purpose of the present invention is to provide a load-carrying facility that can be changed without the need for human labor.

[0006]

In order to solve the above problems, the present invention provides a plurality of loaders provided along a fixed path, a plurality of sorting chutes provided on both sides of the fixed path, and A load carrying facility having a plurality of traveling carriages that travel on a fixed route, carry loads from a loader, and discharge the loads to a sorting chute, and discharge the loads to the sorting suits to the traveling carriages. A sorting conveyor, a control means for controlling the conveyor, and a first signal transmission means connected to the control means are provided, and the first side is provided on the ground side.
Second signal transmitting means facing the signal transmitting means and the control procedure and control constants of the traveling vehicle control means are set, and the information is sent to the traveling vehicle via the first and second signal transmitting means. Is provided with a control device for transmitting to the control means.

[0007]

With the above-mentioned structure, when the information of the control procedure and the control constant is transmitted from the control device on the ground side to the control means of the traveling vehicle via the first and second signal transmission means, the control means receives this information. Based on this, the control procedure and the control constant are changed. Therefore, the control procedure and control constants of the control means of all traveling vehicles are changed by the control device on the ground side, and it is not necessary to manually change the control procedure and control constants of the control means for each traveling vehicle. In addition, since the control means is distributed to the traveling vehicle side, it is not necessary to check the sorting positions of all traveling vehicles by the control device on the ground side and judge the sorting timing. Actual sorting control is unnecessary, and the control on the ground side is simple. Therefore, even if one traveling carriage fails, the sorting work can be continued.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view of essential parts of a load carrying facility showing an embodiment of the present invention.

In FIG. 1, reference numeral 1 denotes a sorting conveyor 3 which travels in a direction A in a state in which they are connected to each other on a certain travel route 5 and transports a load (object to be transported) 2 in a lateral direction to the traveling direction A. Is a traveling carriage provided on the upper surface, and the load 2 is moved by driving the sorting conveyor 3 on the traveling carriage 1.
It is opened to the left and right with respect to the direction, and is dispensed to a plurality of sorting shoes 4 provided along the traveling route.

First, the structure of the traveling route 5 will be described with reference to FIGS. 2 and 3. As shown in FIGS. 2 and 3, the base 6 is configured by connecting a pair of left and right base frames 7 with a connecting member 8 at predetermined intervals in the longitudinal direction, and the legs shown in FIG. 1 provided at predetermined intervals. It is installed on the floor via the body 9. A traveling rail 10 for guiding the traveling carriage 1 is arranged above the base 6 in a monorail type, and a plurality of positions in the lengthwise direction are provided upright at predetermined positions on the base 6 to form an inverted J-shaped rail support 11 Supported through.

Further, linear motors 12 are mounted on one side surface of the traveling rail 10, that is, at a plurality of positions on the side opposite to the connecting surface of the rail support 11, so that the linear motor 12 can be repositioned in the rail length direction. A protective rail 13 is provided on the other side surface, and four power supply rails 14 including three-phase AC power supply lines and ground lines are provided on the outer side surface of the protective rail 13. Further, a cover 15 surrounding both sides is provided continuously from the upper part of the base 6 to the upper part. Reference numeral 16 indicates a wiring duct.

Next, the structure of the traveling carriage 1 will be described with reference to FIGS. The traveling carriage 1 is provided with the traveling rail 10
The main body 17 guided by the main body 17 and the sorting conveyor 3 provided on the upper part of the main body 17. The main body 17 has a pair (a plurality) of C-shaped main body frames 18 in the traveling direction when viewed from the traveling direction, fixes the front and rear edges of the rectangular plate-shaped secondary conductor 19 to the inner surface of the vertical rod portion, and By fixing the front and rear edge portions of the plate 20 to the upper surface of the horizontal rod portion, both main body frames 18 are integrated with the secondary conductor 19 and the plate 20 at a predetermined interval in the traveling direction.

An upper bracket 21 is rotatably provided at an end portion of an upper horizontal rod portion of the main body frame 18, and a pair of left and right upper brackets 21 are abuttable on both side surfaces of an upper portion of the traveling rail 10. Roll-out prevention roller 22 and running rail 10
An upper roller 23 is provided which can come into contact with the upper surface of the.

A lower bracket 24 is rotatably provided at an end portion of a lower horizontal rod portion of the main body frame 18. The lower bracket 24 has a pair of right and left portions which can come into contact with both lower side surfaces of the traveling rail 10. Roll-out prevention roller 25 and running rail 10
And a lower roller 26 that can freely come into contact with the lower surface of the.

The sorting conveyor 3 provided on the upper portion of the main body 17 thus constructed is composed of a pair of front and rear frames 27 and a conveyor device 28 arranged between the frames 27. The conveyor device 28 transmits a drive pulley 29, a driven pulley 30, an endless belt 31 stretched between the pulleys 29, 30, a servo motor 32, and the rotation of the servo motor 32 to the drive pulley 29. It is composed of a transmission 33 and the like. 34 is a loader conveyor. This loader conveyor 34
The load 2 is carried in with the sorting conveyor 3 connected to.

A downward chassis 35 is arranged between the other ends of the frames 27 of the sorting conveyor 3, and
On the outer surface side of 35, as shown in FIG.
Each sorting suit 4 by the reflector 36 installed on the front of the
A pair of photoelectric type short detectors 37, 38 for detecting the position of
An optical transmitter / receiver 40 for exchanging signals with the loader control device 39 shown in FIG. 5 is provided, a control device 41 is further provided, and a servo amplifier 42 is provided.

Further, as shown in FIG. 4, the control device 41 of each traveling vehicle 1 relays MCF and MCR for transmitting a signal for normal rotation or reverse rotation of the servo motor 32 to the servo amplifier 42.
, Controller 43, Controller 43 and Relay M
A constant voltage power supply 44 for supplying power to the CF and MCR is provided. The relay MCF and MCR are controlled by the controller 19, the relay MCF is driven, and when the signal is transmitted to the servo amplifier 42, servo control is performed. When the relay MCR is driven and the signal is transmitted to the servo amplifier 42, the servo motor 32 rotates in the reverse direction and delivers the load 2 to the left.

The traveling carriages 1 configured as described above are connected to each other by the connecting device 45, and further, in the traveling carriage 1 group, at the upper end of the front part of the frame 27 of the sorting conveyor 3 of the succeeding traveling carriages 1, forward. A metal cover 46 (aluminum, etc.) is continuously provided toward the rear top end of the frame 27 of the sorting conveyor 3 of the preceding traveling carriage 1, and a soft resin cover can be placed on the metal cover 46. 47 (soft vinyl chloride, etc.) are arranged in series facing backward.

Further, as shown in the circuit configuration of FIG. 6, the traveling carriages 1 form a group of every five vehicles, and only the leading traveling carriage (hereinafter referred to as a parent carriage) 1A in the traveling direction A has The upper bracket 21 is provided with a current collector 48 that receives power from the power supply rail 14 such as for the servo motor 32 (see FIG. 3). Then, power is supplied from the parent trolley 1A to another traveling trolley (hereinafter referred to as a child trolley) 1B of the group via a wiring line 49.

In the above embodiment, the traveling carriage 1 travels on the traveling rail 10 at a predetermined speed by utilizing the attractive force and repulsive force of the magnet by the linear motor 12 and the secondary conductor 19. Then, in a state where power is supplied to the servo motor 32 from the power supply rail 14 via the current collector 48 or the wiring line 49, the controller 41 causes the servo motor to respond to the signal sent from the optical transceiver 40. By rotating 32 normally or reversely, the load 2 on the belt 31 can be discharged to the sorting chute 4. The load 2 is carried in from the loader conveyor 34 to the sorting conveyor 3.

During traveling, the metal cover 46
Since the space between the front and rear traveling carriages 1 is filled with the resin and the resin cover 47, it is possible to prevent the load 2 from falling off and dust from entering, and at that time, the strength of the overlapping portion is secured by the metal cover 46. You can

A control device on the ground side for transmitting and receiving signals to and from the control device 41 of the traveling vehicle 1 will be described. As shown in FIG. 5, the loader control device 39 includes the loading conveyor 34 for loading the load 2 on the traveling vehicle 1 and the loader conveyor 34.
Is a control device for controlling the load, and when the conveyor 34 is driven and the load 2 is mounted on the traveling carriage 1, a sorting command signal including sorting destination data of the load 2 (for example, a code of a store sorting the load 2) x is transmitted to the traveling carriage 1 via the optical transceiver 50.

The loader control device 39 is connected to a system control device 52 for controlling the entire equipment via a loader control device 51 as shown in FIG. A CRT 53 as a display unit and a keyboard 54 as an input unit are connected to the system control unit 52, and a system control panel 55 is provided.
Are configured. Further, the system integrated control device 52 includes a chute integrated monitoring device 57 that supervises a monitoring device 56 that monitors the sorting chute 4 for each zone, and a speed control device 59 that controls the speed of the traveling vehicle 1 via an inverter board 58. , The maintenance area controller 60 is connected, and the system integrated control device 52 inputs data such as sorting status and cargo congestion via the chute integrated monitoring device 57, and the traveling vehicle via the speed control device 59. The speed of the vehicle 1 is controlled, and the traveling carriage 1 in which an abnormality has occurred is stopped in the maintenance area via the maintenance area controller 60.

FIG. 8 shows a screen hierarchy diagram of the CRT 53 of the system integrated control unit 52 when the maintenance mode is selected. As shown in FIG. 8, the system integrated control device 52 is a CRT 53.
First, the menu screen is displayed, and when the maintenance item No. 20 is input from the keyboard 54, the maintenance screen is opened and the maintenance menu is displayed. Then N
When o.1 is input, the program change screen of traveling vehicle 1 is displayed. When No.2 is input, the memory rewriting screen is opened. When No.1 is input on this memory rewriting screen,
Display the layout change screen of the sorting chute 4, and click No.
When 2 is input, the traveling speed change screen of traveling carriage 1 is displayed. Then, the program of the traveling vehicle 1, the layout of the sorting chute 4, the layout of the traveling vehicle 1 which are newly formed by the program changing screen of the traveling vehicle 1, the layout changing screen of the sorting chute 4, and the traveling speed changing screen of the traveling vehicle 1. System speed control data
From 52, loader control device 51 via loader control device 39
Then, the loader control device 39 forms a sorting command signal x with the program of the traveling carriage 1, the layout of the sorting chute 4, and the traveling speed of the traveling carriage 1, together with the sorting destination data, and outputs the sorting command signal x. Traveling vehicle 1 via transceiver 50
Transmit to.

Below, the sorting command signal x is sent to the optical transmitter / receiver 40.
The configuration and operation of the controller 43 of the control device 41 that is input via the will be described based on the block diagram of FIG. This block is formed by the inputted program of the traveling carriage 1.

The first counter 61 is a shoe for detecting the reflecting plate 36 of the sorting shoe 4 provided on the right side in the traveling direction A.
Is a counter that receives a detection signal a of the detector 37 and a setting signal b from a setting device 62 described later to obtain a set value R. When the detection signal a is input, 1 is set from the set value R. When the result of the subtraction becomes 1 or less, the output signal C is output to the first pulse generator 63. First pulse generator
When the output signal C is input from the first counter 61, the 63 outputs an output signal e that delays the time T by the timing setting signal d from the setting unit 62 and turns on the relay MCF for a preset time M. The second counter 64 receives the detection signal f of the short detector 38 for detecting the reflector 36 of the sorting shoe 4 provided on the left side in the traveling direction A, and receives the setting signal g from the setting device 62. Is a counter which inputs 1 to the set value 1 and subtracts 1 from the set value L each time the detection signal f is input. When the result of the subtraction is 1 or less, the output signal h is set to the second pulse generator 65. Output to. Second pulse generator
Reference numeral 65 is an output signal j for inputting the output signal h from the second counter 64, delaying the time T by the timing setting signal d, and turning on the relay MCR for a preset time M.
Is output.

The setting unit 62 will be described according to the flowchart of FIG. First, loader controller 39 to optical transceiver 5
It is confirmed whether or not the layout data is included in the sorting command signal x input via 0, 40 (step-1). If the layout data is included, the layout data is shot according to the layout data. Change the code of the number and the sorting destination (step-2). Next, it is confirmed whether the traveling speed data is included in the sorting command signal x (step-
3) If the traveling speed data is included, the traveling speed data
The delay time T which is inversely proportional to
The delay time T is output to the pulse generators 63 and 65 as the timing setting signal d (step-5). Next, it is confirmed whether the sorting command signal x includes the sorting destination data (step-6). If it is not included, the processing ends. If it is included, the sorting destination data (code) is set. Shu based
Search for a number (step-7). When the shoe number is searched, it is confirmed whether the shot number corresponds to the sorting shoe 4 on the right side or the left side of the traveling direction A (step-8), and then the traveling number A The number of sorting suits 4 from the front is calculated (steps 9 and 10). For example, if the number of retrieved shorts is N and the arrangement of the sorting shorts 4 is an odd number on the right side in order from the front in the traveling direction A and an even number on the left side, it is determined whether the right number depends on whether the number is odd or even. The left side can be specified, the set value R is R = (N + 1) / 2, and the set value L is L
= N / 2 can be calculated. The set value R or the set value L is output to the first or second counter 61, 64 as the output signal b or the output signal g (steps-11, 12).

With the configuration of the controller 43, the controller 43 receives the sorting command signal x from the loader controller 39 via the optical transmitters / receivers 50, 40, and then the first and second
Delay time T of the pulse generators 63 and 65 of the
The set value R of 61 or the set value L of the second counter 64 is set, and the reflection plate 36 of the sorting shoe 4 is counted by the detection signal a or f of the optical chute detector 37 or 38, and the counter 61 or When the subtraction result of 64 becomes 1, the pulse generator 63 or 65 outputs one pulse of the pulse width M to the relay MCF or MCR with the delay time T. Then, the servomotor 32 rotates normally or reversely to operate the sorting conveyor 3 and sort the load 2 to the target sorting shoe 4. The delay time T becomes shorter as the traveling speed becomes faster, and the timing at which the servo motor 32 operates becomes faster,
Therefore, the loads 2 are accurately sorted according to the traveling speed.

As described above, the traveling carriage 1 is a loader control device.
Sorting target according to sorting command signal x from 39
It is possible to sort the cargo 2 into the tote 4, and according to the layout change of the sorting suit 4 and the change of traveling speed,
It is possible to change the setting of the controller 43 via the loader control device 39 by the system integrated control device 52 and to change the software of the controller 43 without manual labor. Furthermore, the loader control device on the ground side
It is not necessary to check the sorting position of all traveling carriages 1 at 39 and perform sorting control to judge sorting timing, the control on the ground side can be simplified, and the sorting control means is distributed to the traveling carriage 1 side. Therefore, the sorting work can be continued even if one traveling vehicle fails.

Although the traveling vehicle 1 is driven by the linear motor 12 in the embodiment, the traveling vehicle 1 may be driven by a method other than the linear motor system.

[0031]

As described above, according to the present invention, the information of the control procedure and the control constant is transmitted from the ground side control device to the control means of the traveling vehicle via the first and second signal transmission means. Based on this information, the control means can change the control procedure and the control constants by changing the control procedure and the control constants of the control means of all the traveling vehicles by the control device on the ground side. It is possible to eliminate the need to manually change the control procedure and control constants of the control means. In addition, since the control means is distributed to the traveling vehicle side, it is not necessary to check the sorting positions of all traveling vehicles by the control device on the ground side and judge the sorting timing. Actual sorting control is unnecessary, and the control on the ground side is simple. Therefore, the device on the ground side can be simply and inexpensively configured, and even if one device fails, the sorting work can be continued and the work efficiency can be improved.

[Brief description of drawings]

FIG. 1 is a partial perspective view of a load carrying facility showing an embodiment of the present invention.

FIG. 2 is a side view of a traveling carriage of the same cargo transport facility.

FIG. 3 is a partial cross-sectional front view of a traveling carriage of the same cargo transport facility.

FIG. 4 is a circuit diagram of a control device for the same cargo transportation facility.

FIG. 5 is a schematic diagram showing a partial configuration of the same cargo transportation facility.

FIG. 6 is a wiring diagram between traveling carriages of the same cargo transport facility.

FIG. 7 is an overall control configuration diagram of the same cargo transportation facility.

[Fig. 8] Fig. 8 is a screen hierarchy diagram of a system integrated control device of the same cargo transportation facility.

[Fig. 9] Control inside the traveling vehicle control device of the same cargo transport facility
It is a block diagram of LA.

[Fig. 10] Control inside the traveling vehicle control device of the same cargo transport facility
It is La's flow chart.

[Explanation of symbols]

 1 Traveling trolley 2 Cargo (object to be transported) 3 Sorting conveyor 4 Sorting shunt 5 Traveling route 9 Traveling rail (traveling route) 34 Loader conveyor 39 Loader control device 40, 50 Optical transceiver (signal transmission means) 41 Control device 43 Controller (control means) 52 System integrated control device (ground side control device)

Claims (1)

[Claims] 1. A plurality of loaders provided along a certain route, a plurality of sorting chutes provided along both sides of the certain route, and traveling on the certain route, loaded with loads from the loader to perform sorting. A load carrying facility comprising a plurality of traveling carriages for discharging a load to a chute, wherein each traveling carriage has a sorting conveyor for discharging a load to the sorting sheet, and a control means for controlling this conveyor, A first signal transmission means connected to the control means is provided, a second signal transmission means facing the first signal transmission means on the ground side, a control procedure and a control constant of the traveling vehicle control means. And a control device for transmitting the information to the control means of the traveling vehicle via the first and second signal transmission means.