CN102633211A - Stacker crane - Google Patents
Stacker crane Download PDFInfo
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- CN102633211A CN102633211A CN2012100311637A CN201210031163A CN102633211A CN 102633211 A CN102633211 A CN 102633211A CN 2012100311637 A CN2012100311637 A CN 2012100311637A CN 201210031163 A CN201210031163 A CN 201210031163A CN 102633211 A CN102633211 A CN 102633211A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0258—Weight of the article
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
- B65G2203/0283—Position of the load carrier
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Warehouses Or Storage Devices (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
Abstract
Provided is a stacker crane which correctly detects the weight of an object loaded on an object carrying device through effective utilization of an original structure. The end portion of an extension connecting rod mechanism (30) moving along the width direction of a vehicle is connected with an elevating stand (14) that is driven to elevate under the state of being guided by a column (13) vertically arranged on a moving vehicle. The end portion of an object carrying device (29) is connected with the top of the extension connecting rod mechanism. Through advancement and retreat of the extension connecting rod mechanism, the object carrying device is operated to advance and retreat between the retreat position of the elevating stand and the extending position outside. The stacker crane is provided with a bending amount detection mechanism (Q) and a bending amount obtaining mechanism. The bending amount detection mechanism is used for detecting the bending amount downward when the object carrying device is positioned in the retreat position. The bending amount obtaining mechanism is used for obtaining the bending amount detected by the bending amount detection mechanism when the object carrying device is positioned in the retreat position under the state of object carrying, which serves as the information of the weight of an object on the object carrying device.
Description
Technical field
The present invention relates to a kind of tower crane that constitutes as follows; It is provided with: the bay-lift, the article that under the state of quilt upright column guiding of establishing from the chassis of advancing, are driven up-down carry to be put body and bends and stretches connecting rod mechanism; Above-mentioned base end part and the above-mentioned bay-lift that bends and stretches connecting rod mechanism along the horizontal cross direction advance and retreat of car body links; And above-mentioned article carry the base end part and the above-mentioned top ends of bending and stretching connecting rod mechanism of putting body and link; Utilize above-mentioned advance and retreat action of bending and stretching connecting rod mechanism, above-mentioned article carry puts body in retracted position of returning to above-mentioned bay-lift side and quilt advance and retreat operation between the extrusion position that foreign side gives prominence to.
Background technology
Such tower crane is generally used for that the article storing frame that is provided with is arranged with horizontal direction along the vertical direction in a plurality of incorporating sections of taking in article and carries out taking in of article.
Promptly; Travel path is advanced and bay-lift goes up and down along setting through the up-down chassis; Article carry puts body in the article transfer position of on above-below direction and horizontal direction, arranging the incorporating section in the article storing frame that is provided with to the incorporating section of taking in article, carry out the outbound operation that the input work that the article of putting article warehouse-in portion in storage are taken in to the incorporating section and the article outbound that will be accommodated in the incorporating section are arrived article outbound portion to the article transfer position of article warehouse-in portion and to moving between the article transfer position of article outbound portion, being mainly used in.
In addition, when the article that are present in the article of article warehouse-in portion and are accommodated in the incorporating section in order carry and place article to carry to put body, at the height that leans on lower side than article; Make article carry putting body and be projected into extrusion position; Make bay-lift rise then, thus the processing of fishing for of fishing for article, in addition; To carry the article during that place article to carry to put body to incorporating section and the unloading of article outbound portion; Carry the height that the face of putting leans on upper side at article, make article carry putting body outstanding, handle thereby make bay-lift descend then carrying out article to incorporating section and article outbound portion to carry the unloading of putting the face unload items to extrusion position than incorporating section and article outbound portion.
In addition; Generally speaking; Mostly at the both sides equipment accepting rack perpendicular to the horizontal cross direction of the length direction of mobile space of tower crane; On bay-lift, possess rotating frame so constitute, the base end part and this rotating frame that bend and stretch connecting rod mechanism link, and utilize the rotation of rotating frame and can switch to and make article carry putting body to the state of the side-prominent usefulness of a side of the horizontal cross direction of the chassis of advancing with make its state to the side-prominent usefulness of the opposing party of the chassis of advancing.
In addition; The article that are accommodated in the incorporating section are on the horizontal cross direction of tower crane when longer; Make article carry putting body to revolve at retracted position and turn 90 degrees, the length direction that makes article makes tower crane advance for the attitude along the fore-and-aft direction (being the length direction of mobile space) of tower crane.
That is, the length direction that makes article makes the chassis of advancing advance for the attitude along the fore-and-aft direction of tower crane and makes bay-lift go up and down, and then, after article transfer position makes rotating frame revolve turning 90 degrees, makes article carry putting body being projected into extrusion position from retracted position.
As such article that tower crane transported, for example be the container of taking in the glass substrate that uses in Liquid Crystal Display (LCD) and the plasma display with range upon range of state (on above-below direction devices spaced apart and state arranged side by side).
In addition, in recent years, because glass substrate has the tendency of maximization, so the weight of taking in the container of glass substrate with range upon range of state has the heavy weight tendency that becomes 500Kg for example etc.
And the tower crane that the container of taking in glass substrate with range upon range of state is transported generally is equipped in the clean room of downflow system etc. (for example with reference to patent documentation 1).
As patent documentation 1 is disclosed; The tower crane that is equipped in the clean room constitutes; Advance chassis about (horizontal cross direction) both end sides have the wheel of advancing; Column is supported on the chassis of advancing with its bottom sometimes, and its upper end is that the mode of free state (not by the state of miscellaneous part supporting) is provided with.
Promptly; If the upper end that makes column is also by guide rail guiding supporting; Then owing to this guiding supporting produces dust; Even if, can't help the free state that the guide rail guiding supports thereby the upper end of column constitutes so expand to open and make article carry to put body to be projected into the extrusion position chassis of advancing also to be difficult for left and right sides crustal inclination as far as possible through the advance interval of the wheel of advancing that the left and right sides of chassis is equipped with of order.
Patent documentation 1: TOHKEMY 2009-184787 communique.
In tower crane, the weight that places article to carry to put the article of body detect is carried in expectation.
Promptly; Being supported on advance chassis and its upper end at column for example with its bottom is that the mode of free state is when being provided with; If order is carried the article put article and is carried that to put body outstanding from retracted position; Then advance chassis and column carries the projected direction of putting body to article and tilts, and this tilt quantity changes according to the size of Item Weight.
In addition; Put body and upload the state of the glove article article of ordering and carry and put body when retracted position is given prominence to not carrying at article; Sometimes advance chassis and column also can carry the projected direction of putting body to article owing to article carry the weight of putting body and bending and stretching connecting rod mechanism and tilt, but this tilt quantity is put body and uploaded when being equipped with article little than carrying at article certainly.
Carry out in this wise carrying the article place article to carry to put body when the discharged unloading in incorporating section is handled; Even if tilt also and to carry in the advance and retreat direction of putting body the tram that article is unloaded at the incorporating section at article for advance chassis and column carry the projected direction of putting body to article; Consideration decides article to carry to put the extrusion position of body, i.e. overhang from the retracted position to the extrusion position according to the weight of article; Therefore, the weight that places article to carry to put the article of body detect is carried in expectation.
In addition, when unloading processing, if carry in the advance and retreat direction of putting body from correct change in location at article with respect to the position of incorporating section unload items; Then fishing for when handling, the loading of article in article carry put body before, advance chassis and column do not carry the projected direction of putting body to article and tilt; Perhaps do not tilt significantly; So article carry the article put in the body and carried by article to position that tip side departs from and put body and carry and put than carrying the position of putting originally, its result is when carrying out ensuing unloading and handle; Article are departed from from correct position by discharged position biglyyer, and the fault of processing might take place correctly to unload.
Formation as the weight of detect carrying the article that place article to carry to put body; Carry the article put article carry put body when outstanding elongation state bend and stretch connecting rod mechanism downwards side bigger flexural deformation takes place; Given this; Consideration make article carry putting body from retracted position to the outstanding way of extrusion position, detect article and carry and puts the upper-lower position of body, thereby detect the weight of article with respect to bay-lift.
But; Under the situation of this formation; Making article carry putting body outstanding midway to extrusion position from retracted position; Elongation state bend and stretch connecting rod mechanism can because various vibration causes and up and down, about ground vibration brokenly, so article carry and put that body has with respect to bay-lift and the tendency of vibration, the bending and stretching connecting rod mechanism side flexural deformation significantly downwards of elongation state and become and lean on tip side offside in the lateral attitude of below more brokenly up and down, accompany with it; Article carry to be put body and also tilts significantly for leaning on tip side offside in the state of below more; Change significantly owing to the difference of the weight of article so the weight of article is carried the situation that applies of putting body for article, for above-mentioned reasons etc., be difficult to correctly detect the weight of article.
In addition; Being supported on advance chassis and its upper end at column with its bottom is that the mode of free state is when being provided with; To be supported on mode that advance chassis and its upper end be directed track guiding supporting with its bottom different when being provided with column; If order is carried the article put article and is carried that to put body outstanding from retracted position; Then advance chassis and column carries the projected direction of putting body to article and tilts, and puts that body is oriented to lean on the offside state in the below of tip side bevelled tendency considerably more thereby article carry, and changes significantly according to the weight of article so the weight of article is carried the situation that applies of putting body with respect to article; Owing to reason such as above-mentioned, be difficult to more correctly detect the weight of article.
Summary of the invention
The present invention In view of the foregoing proposes, and its purpose is to provide a kind of tower crane, can effectively utilize the formation that possessed originally and correctly detects and carry the weight that places article to carry to put the article of body.
Tower crane of the present invention constitutes; Be provided with to carry and put body and bend and stretch connecting rod mechanism at the bay-lift, the article that are driven up-down by state down from the upright column guiding of establishing of the chassis of advancing; Above-mentioned base end part and the above-mentioned bay-lift that bends and stretches connecting rod mechanism along the horizontal cross direction advance and retreat of car body links; And above-mentioned article carry the base end part and the above-mentioned top ends of bending and stretching connecting rod mechanism of putting body and link; Utilize above-mentioned advance and retreat action of bending and stretching connecting rod mechanism, above-mentioned article carry to be put body and between the retracted position that returns to above-mentioned bay-lift side and the extrusion position that is projected into foreign side, is operated by advance and retreat.In this tower crane; And then be provided with and detect the amount of bow testing agency that the above-mentioned article be positioned at above-mentioned retracted position carry the amount of bow of the side downwards of putting body, be provided with to carry when putting body and under article carrying state, being positioned at above-mentioned retracted position as carrying the amount of bow that places these article to carry the weight information of the article of putting body and obtain the amount of bow that above-mentioned amount of bow testing agency detected and obtain mechanism at above-mentioned article.
Promptly; Utilize amount of bow testing agency to detect to be positioned at the article of retracted position to carry the amount of bow of the side downwards of putting body, amount of bow obtains mechanism and carries to put at article and obtain amount of bow that amount of bow testing agency detected when body is positioned at retracted position under article carrying state as the weight information that carries the article that place article carrier then.
Promptly; Article carry the base end part of putting body and the top ends of bending and stretching connecting rod mechanism and link; So carrying, article put body with respect to bending and stretching connecting rod mechanism for supported (promptly only article carry the state that side's side of putting body is supported) by cantilever-shaped; With respect to bending and stretching connecting rod mechanism flexural deformation downwards, and its amount of bow increases and decreases according to the weight of article so owing to carry the weight of the article put.
And, utilize amount of bow testing agency to detect this amount of bow, amount of bow obtains mechanism carries to put at article and obtains amount of bow that amount of bow testing agency detected when body is positioned at retracted position as carrying the weight information that places article to carry to put the article of body.
Carry when putting body and being positioned at retracted position at article; Bend and stretch the state that connecting rod mechanism shortens for bending; Even if carry the weight place article to carry to put the article of body so effect has, also for before and after being difficult for and about ground bevelled state significantly, in addition; Because for not carrying out the state of flexor, institute thinks and is difficult for the state that vibrates up and down.
Thereby; The article that are positioned at retracted position carry put body since bend and stretch connecting rod mechanism front and back and about inclination and the bevelled situation is inhibited; And situation about vibrating up and down owing to bend and stretch the up-down vibration of connecting rod mechanism also is inhibited; So under article carrying state, be positioned at the amount of bow that the article of retracted position carry the side downwards of putting body the tendency of the variation of the weight that correctly shows article is arranged, so can correctly obtain amount of bow that the article of the variation of the weight that correctly shows article carry the side downwards of putting body as carrying the weight information that places article to carry to put the article of body.
In a word; According to formation of the present invention; A kind of tower crane can be provided, can effectively utilize article and carry the base end part of putting body and the formation that possessed originally that the top ends of bending and stretching connecting rod mechanism links, correctly detect and carry the weight that places article to carry to put the article of body.
In the embodiment of tower crane of the present invention, preferred above-mentioned amount of bow testing agency detects the laser ranging mechanism that above-mentioned article carry the upper-lower position of the detected portion of putting body and constitutes by being arranged at above-mentioned bay-lift.
That is, detect article and carry the upper-lower position of the detected portion of putting body as the laser ranging mechanism of amount of bow testing agency.
That is upper-lower position and the article that, article carried the detected portion when putting body and not carrying the glove article carry to be put difference that body carries the upper-lower position of the detected portion when having put article and carries the amount of bow of the side downwards of putting body as article and detect.
And; The amount of bow that article carry the side downwards of putting body detects with contactless state in laser ranging mechanism; So with for example carry the back side of putting body mounts strain gage as amount of bow testing agency situation and compare at article; Can to laser ranging mechanism service load, not carry the bending of putting body owing to article carry the bending of putting body so article can be detected chronically well.
And the upper-lower position that article carry the detected portion of putting body can precision detect well in laser ranging mechanism, so can detect the variation of carrying the amount of bow of putting body based on the article of the weight change of article accurately.
In a word,, a kind of tower crane can be provided, can detect article for a long time well and accurately and carry the amount of bow downwards of putting body according to above-mentioned formation.
In the embodiment of the tower crane of inventing,
Above-mentioned amount of bow obtains mechanism and preferably constitutes; Carry from above-mentioned article put body from above-mentioned extrusion position by retraction operation to the above-mentioned retracted position during passing through the measurement of setting-up time; Obtain the amount of bow that above-mentioned amount of bow testing agency is detected repeatedly with the sample interval of setting, the value that will obtain a plurality of averaging of sample intelligence processing of obtaining is set at and year places above-mentioned article to carry the cooresponding amount of bow of weight information of the article of putting body.
Promptly; If the article of article carrying state carry put body from extrusion position by retraction operation to retracted position; Then after from then on up to through in the Measuring Time of setting-up time; Amount of bow obtains mechanism and obtains the amount of bow that amount of bow testing agency is detected repeatedly with the sample interval of setting, and will handle and the value that obtains is set at and carry the cooresponding amount of bow of weight information that places article to carry to put the article of body a plurality of sample intelligence equalizations that obtain then.
So; Put body and finished by the Measuring Time of rollback operation to retracted position if carry from extrusion position from the article of article carrying state; Then try to achieve and carry the cooresponding amount of bow of weight information place article to carry to put the article of body; So with for example article carry put body from extrusion position by retraction operation to retracted position after the stable and amount of bow that will stablize of the standby amount of bow that detects up to amount of bow testing agency be set at the situation of the cooresponding amount of bow of weight information of carrying the article that place article to carry to put body and compare, can promptly set and carry the cooresponding amount of bow of weight information that places article to carry to put the article of body.
In a word,, a kind of tower crane can be provided, can promptly set and carry the cooresponding amount of bow of weight information place article to carry to put the article of body according to above-mentioned formation of the present invention.
In the embodiment of tower crane of the present invention, preferably constitute,
The above-mentioned chassis of advancing is set to advance along the article storing frame that the incorporating section that article are taken in is set,
Lifting action and the above-mentioned running control mechanism that bends and stretches the advance and retreat action of connecting rod mechanism of controlling advance action, the above-mentioned bay-lift of the above-mentioned chassis of advancing constitute; Making above-mentioned article carry in above-mentioned incorporating section putting body to be positioned under the state to the article transfer position of above-mentioned incorporating section in order to carry the article storing that places above-mentioned article to carry to put body, obtaining the above-mentioned amount of bow that mechanism obtains and set to make above-mentioned article carry putting body and give prominence to the above-mentioned extrusion position that moves based on above-mentioned amount of bow.
Promptly; The running control mechanism is making article carry in the incorporating section putting body to be positioned under the state to the article transfer position of incorporating section in order to carry the article storing that places article to carry to put body; Based on amount of bow obtain the amount of bow that mechanism obtains and set make article carry putting the extrusion position of the outstanding action of body, promptly from the overhang of retracted position up to extrusion position, make article carry and put body is projected into setting from retracted position extrusion position.
Promptly; When for example being supported on guide rail in the upper end of column; Carry at article and to put body when outstanding, the inclination of advance chassis and column is suppressed, thereby but since the weight of article bend and stretch connecting rod mechanism downwards the bending article carry and put body from retracted position under outstanding a certain amount of state; The weight of article big and bend and stretch connecting rod mechanism downwards the amount of bow of side become many more, the tendency that the overhang of article is not enough becomes big more.Thus; Through setting extrusion position from the big more mode of the overhang of retracted position so that the weight of article is bigger; Carrying out in the incorporating section, to carry the tram unload items on the advance and retreat direction of putting body by article with carrying the article place article to carry to put body when the discharged unloading in incorporating section is handled.
In addition; Being supported in advance chassis and its upper end at column for example with its bottom is that the mode of free state is when being provided with; If order is carried the article put article and is carried that to put body outstanding from retracted position; Then advance chassis and column carries the projected direction of putting body to article and tilts, and bigger this tilt quantity of the weight of article is big more, so give prominence under a certain amount of state from retracted position making article carry putting body; The weight of article is big and the tilt quantity of advance chassis and column is many, and the tendency of the overhang of article excessive (promptly greater than suitable amount) is big more.Thereby; Through setting extrusion position from the more little mode of the overhang of retracted position so that the weight of article is bigger; Article during to the discharged processing in incorporating section carrying out placing article to carry to put body with carrying can carry the tram unload items on the advance and retreat direction of putting body by article in the incorporating section.
In addition; Being supported in advance chassis and its upper end at column for example with its bottom is that the mode of free state is when being provided with; Lateral bending is bent downwards for the connecting rod mechanism that bends and stretches of elongation state owing to the weight of article; Because this bending; Make article carry putting body to change, still generally speaking, compare with this variable quantity from the position of the outstanding a certain amount of state of retracted position article down; Because weight, the article of article carry the weight of putting body and bending and stretching connecting rod mechanism; Thereby advance chassis and column carry the projected direction of putting body to article and tilt to make article carry putting the amount of body change in location of the article under outstanding a certain amount of state from retracted position bigger, are the mode of free state when column is set so be supported on the upper end of advance chassis and column in the bottom with column, need be with the weight of article big more order set extrusion position from the mode that the overhang of retracted position diminishes.
In a word, according to above-mentioned formation, a kind of tower crane can be provided, take in article the tram that can carry in the advance and retreat direction of putting body at the article of the incorporating section of article storing frame.
In the embodiment of tower crane of the present invention,
The both end sides that the preferred above-mentioned chassis of advancing constitutes in above-mentioned width over sides of car body direction has the wheel of advancing,
The mode that the following overhang bracket of above-mentioned column is a free state in above-mentioned advance chassis and upper end is provided with,
Above-mentioned running control mechanism is obtained the above-mentioned amount of bow that mechanism is obtained based on high more essential information and the above-mentioned amount of bow of setting from the few more mode of the overhang of above-mentioned retracted position of height with above-mentioned incorporating section, sets in order to carry the article storing that places above-mentioned article to carry to put body to make above-mentioned article carry in above-mentioned incorporating section in the above-mentioned article transfer position to above-mentioned incorporating section putting the above-mentioned extrusion position of the outstanding action of body.
Promptly; The running control mechanism is obtained the amount of bow that mechanism is obtained based on high more essential information and the amount of bow of setting from the few more mode of the overhang of retracted position of height with the incorporating section; Setting makes article carry in the incorporating section in the article transfer position to the incorporating section putting the extrusion position of the outstanding action of body in order to carry the article storing that places article to carry to put body, makes article carry putting body outstanding to extrusion position from retracted position.
That is, being supported on advance chassis and its upper end at column with its bottom is the mode of free state when being provided with, and carries that to put body outstanding from retracted position if the article of having put article are carried in order, and then advance chassis and column carry the projected direction of putting body to article and tilt.And; Carry under the projected direction bevelled state of putting body to article at advance chassis and column; Its upper end side of leaning on of column is carried the projected direction displacement of putting body to article more; If carry and put body from the outstanding certain overhang of retracted position so the article of the article put identical weight are carried in order, then article carry and put body and be positioned at the higher position, and the overhang of article becomes excessive (promptly greater than suitable amount).
Therefore; Obtain amount of bow that mechanism obtains based on amount of bow and set article from the few more mode of the overhang of retracted position and carry the extrusion position of putting body so that amount of bow is bigger; And based on the high more essential information of setting from the few more mode of the overhang of retracted position that then makes of height with the incorporating section; Set article from the few more mode of the overhang of retracted position and carry the extrusion position of putting body so that the height of incorporating section is high more, thereby can carry the proper position unload items in the advance and retreat direction of putting body at the article of incorporating section.
In a word,, a kind of tower crane can be provided, can carry in the advance and retreat direction of putting body right position at article for highly different incorporating sections and take in article according to above-mentioned formation.
In the embodiment of tower crane of the present invention,
Preferred above-mentioned bay-lift has rotating frame, and above-mentioned base end part and this rotating frame that bends and stretches connecting rod mechanism links,
The rotation that above-mentioned rotating frame is rotated operation is supported in and above-mentioned bay-lift bonded assembly supporting mass with CD-ROM drive motor,
Above-mentioned running control mechanism constitutes the action of the above-mentioned rotation of control with CD-ROM drive motor; Make and making above-mentioned article carry putting body when the left side of the above-mentioned chassis of advancing is outstanding; Make above-mentioned rotating frame rotate with position of rotation to the left; And making above-mentioned article carry putting body when the right side of the above-mentioned chassis of advancing is outstanding; Make above-mentioned rotating frame to the right with position of rotation rotation, and constitute, obtain above-mentioned amount of bow that mechanism obtains based on above-mentioned amount of bow and set above-mentioned left side and use position of rotation with position of rotation and above-mentioned right side.
Promptly; The running control mechanism constitutes the action of control rotation with CD-ROM drive motor; Make and making article carry putting body when the left side of the chassis of advancing is outstanding; The rotating frame that order and the base end part that bends and stretches connecting rod mechanism link is to the left with the position of rotation rotation, and puts body when the right side of the chassis of advancing is outstanding making article carry, and the rotating frame that makes and bend and stretch the base end part of connecting rod mechanism to link rotates with position of rotation to the right; So at the article storing chord position during in the left and right sides of the chassis of advancing, can both be to the incorporating section transfer article of these accepting racks.
But; If make article carry putting body outstanding to extrusion position from retracted position; Then owing to article, article carry the weight of putting body and bending and stretching connecting rod mechanism; Rotating frame becomes with respect to bay-lift and carries the state that the projected direction of putting body receives drawing to article, and the bay-lift that supporting receives the rotating frame of drawing in this wise might deform.
And; Carry at article and to put body and carry with article when the left side of the chassis of advancing is outstanding that to put body rotating frame when give prominence on the right side of the chassis of advancing be thereby that the deformation state of reversing sense bay-lift is different by the direction of drawing; In addition; Carry the weight of putting the article that body supports at the drawing gravitation that makes article carry putting body when extrusion position is outstanding, to act on rotating frame from retracted position according to article and change, change so the deflection of bay-lift carries the weight of putting the article that body supports according to article.
If bay-lift is out of shape in this wise; Then supporting rotation is with the attitude of the Supporting fixture of the body of CD-ROM drive motor, promptly this Supporting fixture and bay-lift bonded assembly attitude might change; Because the variation of the attitude of this Supporting fixture, subtle change might take place with the body of CD-ROM drive motor with respect to the phase place of the hand of rotation of the output shaft of bay-lift in rotation.And at body during with respect to the phase change of the hand of rotation of the output shaft of bay-lift, the variable quantity of its phase place changes according to being supported on the weight that article carry the article of putting body.
According to above-mentioned formation; The running control mechanism constitutes based on amount of bow and obtains the amount of bow that mechanism obtains and set the left side with using position of rotation in position of rotation and right side; So when making article carry putting body outstanding; Even if rotating with the body of the CD-ROM drive motor phase place with respect to the hand of rotation of the output shaft of bay-lift, the variation of carrying the weight of putting the article that body supports owing to article changes; Can be that position of rotation is used with position of rotation and right side in the left side also, can make article carry putting body outstanding to correct direction with the set positions that can offset this variation.
In a word; According to above-mentioned formation; A kind of tower crane can be provided, even if during in the left and right sides of the chassis of advancing, also can carry out the article transfer to the incorporating section of these accepting racks at the article storing chord position; And with article to carry the variation of the weight of putting the article that body supports irrelevant, can make article carry putting body outstanding towards correct direction.
Description of drawings
Fig. 1 is the summary birds-eye view of automated warehouse.
Fig. 2 is the front view in the warehouse of Fig. 1.
Fig. 3 is the lateral plan of tower crane.
Fig. 4 is the lateral plan that the shortening state of connecting rod mechanism is bent and stretched in expression.
Fig. 5 is the lateral plan that bends and stretches the elongation state of connecting rod mechanism.
Fig. 6 is the summary birds-eye view that the expression article carry the state of returning of putting body.
Fig. 7 is the summary birds-eye view that the expression article carry the outstanding state of putting body.
Fig. 8 is the vertical profile lateral plan of supporting construction of the rotating table of expression anticlockwise state.
Fig. 9 is the summary upward view of expression supporting construction.
Figure 10 is the block diagram that expression control constitutes.
Figure 11 is the block diagram of article.
Figure 12 is the diagram of circuit of expression control action.
Figure 13 is the diagram of circuit of expression control action.
Figure 14 is the figure of the detection data of expression amount of bow testing agency.
Figure 15 is the figure of relation of the weight of expression amount of bow and article.
Figure 16 unloads the summary front view of handling and fishing for the tower crane of processing.
Figure 17 is the summary birds-eye view that the expression article carry the rotary course of putting body.
Figure 18 is the summary front view of handling and fishing for the tower crane of processing that unloads before the revisal.
The specific embodiment
Based on description of drawings embodiment of the present invention.
Like Fig. 1 and shown in Figure 2, in automated warehouse, be provided with: article storing frame 2, to be equipped with a plurality of incorporating sections 1 of taking in article B with horizontal direction state arranged side by side along the vertical direction; With tower crane 5, in the mobile space 3 in the place ahead of article storing frame 2, move.Tower crane 5 carries out the outbound operation of the article B outbound that is accommodated in incorporating section 1 and the input work of in incorporating section 1, taking in article B.
In addition, diagram is omitted, and this automated warehouse is arranged in the clean room of downflow system.
A pair of article storing frame 2 between these article storing framves 2, forms above-mentioned mobile space 3 along these length directions of 2 with the mutual opposed state setting of front side separately in overlooking.
Each article storing frame 2 be included in the horizontal cross direction of frame (length direction of accepting rack 2 or mobile space 3 in overlooking) go up devices spaced apart ground found a pair of pillar 6 in the front and back of establishing (i.e. two pillars 6 of devices spaced apart ground configuration on perpendicular to the direction of the length direction of mobile space 3), with the state that sets up by a pair of pillar 6 supportings in front and back and devices spaced apart ground is provided with on the frame above-below direction year puts support 7.And each incorporating section 1 was put under the state at both ends of the horizontal cross direction of frame of supports articles B and is taken in article B utilizing carrying of pair of right and left put support in 7 years.
In this embodiment, article B is shown in figure 11, is that the article of taking in the tabular body of glass substrate etc. keep body 4.
In Figure 11, article keep body 4 to be configured to left front in figure, its front, are configured to see its left surface.Thereby article keep the back of body 4 and the part of right flank can't see.Article keep body 4 to comprise forming cancellate upper frame body 4a and lower frame body 4b, be disposed at two horizontal side edge parts and the posterior lateral margin portion of upper frame body 4a and lower frame body 4b and link a plurality of union body 4c of upper frame body 4a and lower frame body 4b, devices spaced apart and be provided with and link the opposed union body 4c of along continuous straight runs cable-shaped support 4d each other on above-below direction.
And; Article keep body 4 to constitute the tabular body that the tabular body of glass substrate etc. is taken out let-in glass substrate etc. through the opening of its front side is kept utilizing each support 4d to carry under the state of putting supporting and arranging on above-below direction devices spaced apart ground; In addition, constituting air can the inflow and outflow through top surface portion, lower face and four side surface part (front face, rear face and a left side and right side surface part) of article maintenance body 4.
As shown in Figure 1, be transported into the article warehouse-in 8A of portion of article B and be arranged at different positions to the article outbound 8B of portion that the outside transports article B in the position of the horizontal sidepiece separately that is adjacent to a pair of article storing frame 2 from the outside to article storing frame 2 from article storing frame 2.Article warehouse-in 8A of portion and the article outbound 8B of portion for example put the belt conveyor that transports that transports article B and constitute by carrying.
In addition; Owing to be so that prior art is not shown; But in article warehouse-in 8A of portion and the article outbound 8B of portion and tower crane between the position of article handing-over (being the handing-over of article); The article lifting unit that equipment makes article B go up and down, the article of stating after the formation carry puts the space that body 29 stretches into to the below of article B.
In addition; Like Fig. 1 and shown in Figure 2; Be arranged at a side's of a pair of article storing frame 2 back side to remaining in article processing facility (article handling part) 9 that article keep the tabular body of the glass substrate etc. of body 4 to carry out set processed, be used for that this article processing facility 9 is carried out article that being transported into of article B transport and be transported into the article that transport usefulness and carry the part that the portion of putting 10 is arranged at a pair of article storing frame 2 one sides' article storing frame 2.
These article carry the portion of putting 10 and are made up of undermost incorporating section 1 in the article storing frame 2, and article processing facility 9 is set to carry the portion's of putting 10 adjacency with these article.
That is, tower crane 5 constitutes article is carried supply and the recovery that the portion of putting 10 carries out article B.In addition, carry in the portion of putting 10 at article, though not shown, but be equipped with the article B that supplies with is limited in to the handing-over of the article processing facility 9 position limit device with the tram.
On this article processing facility 9, be equipped with the tabular body shifting apparatus of the tabular body of many glass substrates among the ground transfer article B etc.
Promptly; Supply with article B if carry the portion of putting 10 to article; The tabular body shifting apparatus that then is equipped on article processing facility 9 will be accommodated in article and keep more than ground of glass substrate of body 4 to take out and supply with to article processing facility 9; In addition, be through with glass substrate utilization based on the processed of article processing facility 9 is provided to the tabular body shifting apparatus of article processing facility 9 and is accommodated in article and keeps body 4.
On the ground board of the mobile space 3 between a pair of article storing frame 2, in order tower crane 5 channeling conducts to be provided with the track 11 of advancing of the pair of right and left of devices spaced apart on perpendicular to the horizontal cross direction of the length direction of mobile space 3.
And; Tower crane 5 is like Fig. 2 and shown in Figure 3, constitute have the chassis 12 of advancing of advancing along the track 11 of advancing, upright this chassis 12 and of advancing of being located at along column 13 go up and down bay-lift 14 freely and the article transfer device 15 that is installed on this bay-lift 14.
That is, to be supported on advance chassis 12 and its upper end with its bottom be that the mode of free state (promptly for example not being supported on the state of miscellaneous part supporting of the track etc. of frame) is provided with to column 13.For example; Even if utilize reinforcement the parts of the supporting of the column 13 of the chassis 12 of advancing to be come the upper end of supporting upright post 13; Because such strengthening part plays a role as the part of column 13, is free state so also be construed as the upper end under these circumstances.
Bay-lift 14 is as shown in Figure 3; Utilization is found a pair of column 13 in front and back of being located at the chassis 12 of advancing and is gone up and down to guide freely and support; And, utilize a pair of up-down of the both sides of the fore-and-aft direction (length direction of mobile space 3) that is linked to bay-lift 14 to be hung lower support with chain 17.
Go up and down to be reeled in the following manner respectively: extend to the top from bay-lift 14 with chain 17; Volume hangs over the induction sprocket 18 on the top of being located at column 13 and is directed and extension downwards then; Afterwards; Utilization be equipped on the chassis 12 of advancing front and back the end drive sprocket 20 and extend to the top, its top ends is connected with bay-lift 14.
Each drive sprocket 20 constitutes the up-down that utilizes servo-type and is driven to a direction and the direction opposite with it with electro-motor 21.
And, constitute two up-downs being provided with accordingly respectively through order and a pair of drive sprocket 20 with electro-motor 21 synchronously to a direction and the other direction driven in rotation opposite with it, make bay-lift 14 lifting actions.
As shown in Figure 3; On the chassis 12 of advancing, be provided with laser range finder 23; Its towards be arranged at bay-lift 14 below reflecting plate 22 along the laser of the up-down direction of bay-lift 14 projection range finding usefulness, detect the lifting position of bay-lift 14 of the up-down direction of bay-lift 14.
That is, the light that the range finding that this up-down utilizes reflecting plate 22 reflections to be throwed with laser range finder 23 is returned with laser and reception, thus detect the lifting position of the distance of reflecting plate 22 as the bay-lift 14 of the up-down direction of bay-lift 14.Projection light in this wise and the sensor of range finding usefulness that receives the light of reflection are called projection receive the light formula.
In addition, like Fig. 2 and shown in Figure 3, the chassis 12 of advancing constitutes the state that the state that is following devices spaced apart on the length direction of track 11 at the both ends of its horizontal cross direction respectively has a pair of wheel 24 of advancing.
In a pair of wheel 24 of advancing, a side the wheel 24 of advancing is constituted drive wheels 24a, the opposing party's the wheel 24 of advancing is constituted idle running driven wheel 24b freely.
The drive wheels 24a at both ends that is configured in the horizontal cross direction of the chassis 12 of advancing constitutes respectively by advancing of servo-type and drives to a direction and the direction opposite with it with electro-motor 25.
And; Constitute through order corresponding to about two of being provided with of drive wheels 24a advance with electro-motor 25 synchronously to a direction and opposite sense driven in rotation, make the chassis 12 of advancing follow into track 11 and advance to a direction and the direction (for example working direction and direction of retreat) opposite with it.
In addition; In this embodiment; As stated, illustration with two situation that constitute drive wheels 24a in four wheels 24 of advancing, but also can be with four wheels 24 of advancing constitute drive wheels 24a all; Also can implement in the following manner in addition, three that are about in four wheels 24 of advancing constitute drive wheels 24a.
Promptly; The chassis 12 of advancing constitutes; Through advancing positive and negatively along the setting travel path that forms by the track 11 of advancing, can be to the article transfer position of each incorporating section 1 of article storing frame 2, to the article transfer position of the article warehouse-in 8A of portion, to the article transfer position of the article outbound 8B of portion and be directed against the article transfer position that article carry the portion of putting 10 and move.
As shown in Figure 3; The chassis 12 of advancing is provided with advances with laser range finder 27; Its reflecting plate 26 towards an end that is arranged at the track 11 of advancing follows the light beam of the length direction projection range finding usefulness of track 11 into, detects the advanced positions of the direct of travel of the chassis 12 of advancing, i.e. advance position on the setting travel path of chassis 12.
This is advanced and constitutes with laser range finder 27, and plate 26 reflection that is reflected of the laser of the range finding usefulness of projection receives the light that returns, thus detect the chassis 12 of advancing on direct of travel distance and as the advanced positions of the chassis 12 of advancing.
That is, a pair of base end part that bends and stretches connecting rod mechanism 30 links with the rotating table 28 that is provided to bay-lift 14, tabular article carry the base end part of putting body 29 and this top ends of bending and stretching connecting rod mechanism 30 be positioned at this top ends above state under binding.
And, constitute and utilize the flexor bend and stretch connecting rod mechanism 30, article to carry to put body 29 between the retracted position of returning to the bay-lift side (with reference to Fig. 4, Fig. 6) and the extrusion position (with reference to Fig. 5, Fig. 7) that is projected into foreign side, to be operated by advance and retreat.
Rotating table 28 is like Fig. 8 and shown in Figure 9, and the rotation that constitutes the servo-type of the conduct rotation drive motor that utilizes the lower side that is arranged at rotating table 28 is used down axle center P0 spinning movement (i.e. rotation) with the action of electro-motor 31 around rotation.
Promptly; Constitute the rotation that utilizes rotating table 28; Can select to make article carry and put in overlooking, the advance outstanding state of side's side (for example left side) of horizontal cross direction of chassis 12 and make article carry putting the opposing party side (for example right side) the outstanding state of body 29 of body 29 to the chassis 12 of advancing; And then; Constitute the rotation that utilizes rotating table 28, can make article carry putting body 29 rotating to the front and back state orientation (with reference to Fig. 1) of its length direction (length direction of article B) along the fore-and-aft direction (length direction of mobile space 3) of tower crane 5.
In addition; In following record; The military order article carry the position of rotation of putting the rotating table 28 of body 29 when the left side of the chassis 12 of advancing is outstanding and are called the left side and use position of rotation SL, military order article to carry to put the position of rotation of the rotating table 28 of body 29 when give prominence on the right side of the chassis 12 of advancing to be called the right side to use position of rotation SR.At this, the right side of the chassis 12 of advancing and left side be in overlooking along the direction of the direction vertical with the length direction of mobile space, define for the purpose of simplifying the description.
In addition; Basically; Making article carry putting body 29 when the left side of the chassis 12 of advancing is outstanding, rotating table 28 revolves to the left from rotation reference position SK and turn 90 degrees, and puts body 29 when the right side of the chassis 12 of advancing is outstanding making article carry; Making rotating table 28 revolve to the right from rotation reference position SK turn 90 degrees; But of the back, carry at article and to put body 29 and upload under the state that is equipped with article B, make rotating table 28 use the angle of position of rotation SL rotation to the left and make rotating table 28 use the angle initialization of position of rotation SR rotation to be the anglec of rotation to the right from rotation reference position SK greater than 90 degree from rotation reference position SK; And its anglec of rotation is set at the weight of article B, and more greatly then this anglec of rotation is big more.Fig. 9 is a upward view, so the right side is plotted in the left side with position of rotation SR, the left side is plotted in the right side with position of rotation SL.
Bend and stretch connecting rod mechanism 30 and use the so-called selection compliance arm (SCARA:Selective Compliance Assembly Robot Arm or Selective Compliant Articulated Robot Arm) that puts together machines to constitute, its have base end part with respect to rotating table 28 around axle center P1 first about rotate the first arm 32 that links freely and around P2 rotation in axle center second about freely with second arm 33 of the top ends binding of this first arm 32.
And article carry the base end part of putting body 29 and link around the top ends that axle center P3 about in the of the 3rd rotates freely with second arm 33.
As shown in Figure 8, in order to make article carry putting body 29 to give prominence to action and to return action, be provided with advance and retreat with respect to the band reductor of the base end part of rotating table 28 swinging operation the first arms 33 at the lower side position of rotating table 28 with electro-motor 34.
That is, advance and retreat are supported on rotating table 28 with the body 34A of electro-motor 34, and advance and retreat link with the output shaft 34B and the first arm 32 of electro-motor 34.
In addition, omit detailed icon, for the action that makes the first arm 32 is associated with the action of second arm 33, hanger chain interlinked mechanism between the axial region of axle center P2 about the axial region and second of axle center P1 about in the of first.
And; Synchronously move with electro-motor 34 corresponding to a pair of advance and retreat that are provided with separately of a pair of the first arm 32 through order; Make a pair of the first arm 32 synchronously around P1 swing in axle center about in the of first; Accompany with it, through making second arm 33 around P2 swing in axle center about in the of second, as stated; Bend and stretch connecting rod mechanism 30 flexors, can make article carry putting body 29 at the retracted position that returns to the bay-lift side (with reference to Fig. 4, Fig. 6) be projected into advance and retreat operation between the extrusion position (with reference to Fig. 5, Fig. 7) of foreign side.
Like Fig. 8 and shown in Figure 9, it is tetragonal case shape that bay-lift 14 constitutes plan view shape, and rotation is used as Supporting fixture 35 supportings of the supporting mass that is supported on bay-lift 14 with electro-motor 31.
That is, rotation is supported frame 35 supportings with the body 31A of electro-motor 31, and rotation links with the output rotating part 31B and the rotating table 28 of electro-motor 31.
In addition, as shown in Figure 8, rotating table 28 utilizes rotation to be supported to bearing 36 with respect to bay-lift 14 rotations freely, and the first arm 32 that bends and stretches connecting rod mechanism 30 utilizes arm to be supported to respect to rotating table 28 swings freely with bearing 37.
The attitude of extending with on even keel with the Supporting fixture 35 of electro-motor 31 with respect to bay-lift 14 supporting rotation be disposed at the chassis 12 that is equivalent in the side wall portion of bay-lift 14 to advance rear side rear wall parts and rotate between the body 31A with electro-motor 31.
Shown in figure 10, be provided with rotation reference position detecting sensor 38, its position of rotation that detects rotating table 28 is positioned at the situation of rotation reference position SK.
Though not shown among this rotation reference position detecting sensor 38 Fig. 8, but utilize the sensor of projection reception light formula in the past to constitute.Promptly; This sensor have the light-projecting portion that is supported on bay-lift 14, with this light-projecting portion opposed and with from the state support of light-projecting portion devices spaced apart in the light accepting part of bay-lift 14; The light that the seized drafting board blocking that when the position of rotation of rotating table 28 is rotation reference position SK, utilizes between light-projecting portion and light accepting part ground to be supported on rotating table 28 is throwed, thus the position of rotation that detects rotating table 28 is rotation reference position SK.Also can replace such formation; Rotation reference position detecting sensor 38 can have light-projecting portion and the light accepting part that is fixed in bay-lift 14 and adjoins each other, and has the reflecting plate that will be fixed in rotating table 28 when position of rotation with rotating table 28 is rotation reference position SK from the light of light-projecting portion to the light accepting part reflection way.Rotation reference position detecting sensor 38 is not limited to this formation, can utilize other sensor in the past.
In addition; As shown in Figure 8, thus the rotation that rotation is provided with the position of rotation that detects the rotation amount detection rotating table 28 utilize rotation reference position detecting sensor 38 to detect the rotating table 28 behind the rotation reference position SK with electro-motor 31 is with rotary encoder 39.In addition, can utilize rotation to detect rotation reference position SK, and then detect the position of rotation of rotating table 28 with rotary encoder 39, thereby as rotation reference position detecting sensor 38.
In addition, shown in figure 10, be provided with detect article carry put body 29 be positioned at its advance and retreat direction retracted position return state detection sensor 40.
It is same with rotation reference position detecting sensor 38 that this returns state detection sensor 40, and the sensor that is received the light formula by projection constitutes.
Promptly; Return in the state detection sensor 40; Utilization is arranged at the light that the seized drafting board (perhaps reflecting plate) of the suitable position of the base end part of the first arm 32 that bends and stretches connecting rod mechanism 30 etc. will throw and blocks (perhaps reflection), carries and puts body 29 and be positioned at retracted position thereby the light-projecting portion and the light accepting part that are arranged at rotating table 28 detect article.Identical with rotation reference position detecting sensor 38, as returning state detection sensor 40, also can utilize other sensors in the past.
As shown in Figure 8; On advancing and retreat with electro-motor 34; To return state detection sensor 40 and detect the article that article carry behind the retracted position of putting body 29 and carry the overhang of putting body 29 in order to detect to utilize, be provided with detect advance and retreat with the advance and retreat of the rotation drive amount of the output shaft 34B of electro-motor 34 with rotary encoder 41.These advance and retreat also can be also used as with rotary encoder 41 returns state detection sensor 40.
These advance and retreat are carried the relation from the overhang of retracted position of putting body 29 with the detected value of rotary encoder 41 and article and are tried to achieve through preliminary evaluation, are stored in the storage part of running control mechanism H of the running of control tower crane 5.
Shown in figure 10; Running control mechanism H constitutes; Control the lifting action of the advance action and the bay-lift 14 of the chassis 12 of advancing in order to carry out above-mentioned input work and outbound operation; Make article transfer device 15 and article carry putting body 29 to the article transfer position of the incorporating section 1 of article storing frame 2, to the article transfer position of the article warehouse-in 8A of portion, move to the article transfer position of the article outbound 8B of portion and to the article transfer position that article carry the portion of putting 10; In addition; Under the state that makes article transfer device 15 after move article transfer position, in order to carry out the unloading processing (promptly surrendering processing) of fishing for processing (promptly receive and handle) and article B of article B, the move loading action of control article transfer device 15 and the lifting action of bay-lift 14.
Promptly; Running control mechanism H order is advanced and is made the chassis 12 of the advancing action of advancing with electro-motor 25 actions; Advance when becoming the article transfer position of direct of travel of the chassis 12 of advancing in utilization with laser range finder 27 detected advanced positions of advancing chassis 12; The action that order is advanced with electro-motor 25 stops, thereby makes article transfer device 15 be positioned at advancing the article transfer position of the direct of travel of chassis 12.
In addition; Running control mechanism H order is gone up and down and is made bay-lift 14 lifting actions with electro-motor 21 actions; If utilize the article transfer position that becomes the up-down direction of bay-lift 14 with the lifting position of laser range finder 23 detected bay-lifts 14; Then the order up-down stops with the action of electro-motor 21, thereby makes article transfer device 15 be positioned at the article transfer position of the up-down direction of bay-lift 14.
And; About the article transfer position that makes article transfer device 15 go up and down; It when fishing for the processing of article B the position of the height below making article carry putting body 29 to be positioned at leaning on than article B; In addition, when carrying out the processing of unload items B, be that the article that make article carry putting body 29 to be positioned at than the position of unload items B carry the position that the face of putting leans on the height of top.
Fish for that to handle be with the article B that puts the article warehouse-in 8A of portion in storage, be accommodated in the article B in the incorporating section 1 in the accepting rack 2 and be positioned at article B that article carry the portion of putting 10 and fish for article and carry the processing of putting on the body 29; Particularly; Make article carry and put body 29 more outstanding by the height of lower side to extrusion position than the article B that fishes for object; Then make the predefined target ascending amount of bay-lift 14 risings; Place article to carry to put body 29 thereby article B carried, make article carry afterwards putting body 29 to be return to retracted position.
It is to place article to carry to put the article B of body 28 to carry the portion's of putting 10 discharged processing to the incorporating section 1 and the article of the article outbound 8B of portion, accepting rack 2 with carrying that unloading is handled; Particularly; Carry the height of the face of putting above leaning at the article that carry the portion of putting 10 than the article outbound 8B of portion, incorporating section 1 and article; Make article carry putting body 29 outstanding to extrusion position; Then make bay-lift 14 descend, be unloaded to article and carry the face of putting, make article carry afterwards putting body 29 returning to retracted position thereby will carry the article B that places article to carry to put body 29 to predefined target.
If further explain; The control mechanism H that then turns round is at first making rotating table 28 be positioned under the state of rotation reference position SK control when carrying out input work and outbound operation and is advancing with electro-motor 25 and up-down with the action of electro-motor 21, moves to article transfer position to make article transfer device 15.
Then, based on rotation with the rotation of the detection information Control of rotary encoder 39 with the action of electro-motor 34 so that make rotating table 28 rotate with position of rotation SR with position of rotation SL or right side to the left, thereby the adjusting article carry the advance and retreat direction of putting body 29.
Afterwards, control the action of advance and retreat with the detection information of rotary encoder 41, make article carry and put the body 29 outstanding extrusion positions that move with electro-motor 34 based on advance and retreat.
And; When fishing for processing; Make the article that are positioned at article transfer position carry in the control advance and retreat with the action of electro-motor 34 and put body 29 outstanding actions to extrusion position; Make with electro-motor 21 with the detection information of laser range finder 23 based on going up and down and move, thereby make the setpoint distance of the aim parameter that bay-lift 14 risings are equivalent to rise, the article B that fishes for object is carried to put be supported on article and carry and put body 29; Then, control advance and retreat make article carry with the action of electro-motor 34 putting body 29 and return action.At this moment, return state detection sensor 40 and detect article and carry and put body 29 and be positioned at retracted position, then to make article carry putting the action of returning of body 29 to stop if utilizing.
In addition; When unloading processing; The control advance and retreat article that order is positioned at article transfer position with electro-motor 34 carry puts body 29 to the outstanding action of extrusion position, makes with electro-motor 21 with the detection information of laser range finder 23 based on going up and down afterwards and moves, thereby make the setpoint distance of the aim parameter that bay-lift 14 declines are equivalent to descend; The article B that fishes for object carried put the article that are supported on unloading position and carry the face of putting; Afterwards, control advance and retreat are with the action of electro-motor 34, make article carry putting body 29 returning action.At this moment, return state detection sensor 40 and detect article and carry and put body 29 and be positioned at retracted position, then to make article carry putting the action of body 29 to stop if utilizing.
As shown in Figure 4, in tower crane 5, be provided with and detect the article be positioned at retracted position and carry the Q of amount of bow testing agency of the amount of bow (amount of bending or deflection) of the side downwards of putting body 29.
And running control mechanism H constitutes, and carries when putting body 29 and being positioned at retracted position at article, obtains amount of bow that the Q of amount of bow testing agency detected as the weight information that carries the article B that places these article to carry to put body 29.
Promptly; In this embodiment; Amount of bow obtains the service firing control mechanism H of mechanism and constitutes, and said amount of bow obtains mechanism carries when putting body 29 and being positioned at retracted position at article, obtains amount of bow that the Q of amount of bow testing agency detected as the weight information that carries the article B that places these article to carry to put body 29.
The Q of amount of bow testing agency is arranged at bay-lift 14, constitutes with laser range finder 43 by detecting as the amount of bow of laser ranging mechanism, and it has the light reflector 42 of the detected portion of putting body 29 is carried in detection as article the light-projecting portion and the light accepting part of upper-lower position.And amount of bow detects the left side that is equipped in rotating table 28 with laser range finder 43 pair of right and left ground and carries the amount of bow of using when putting body 29 with position of rotation SL advance and retreat operation article and detect to advance and retreat with position of rotation SR with laser range finder with on the right side of rotating table 28 and operate article and carry when putting body 29 the amount of bow detection of use and use laser range finder.
This amount of bow detects and constitutes with laser range finder 43, utilizes reflecting body 42 reflections to use laser from the range finding of light-projecting portion projection, utilizes light accepting part to receive the light that returns, thereby detects the distance up to light reflector 42.
Promptly; Constitute to carry and put amount of bow when not carrying glove article B on the body 29 to detect difference that the distance that detected with laser range finder 43 and article B carry the distance that amount of bow detection when placing article to carry to put body 29 detected with laser range finder 43 be that the article of article carrying state carry the amount of bow of putting body 29 at article; In this embodiment; Running control mechanism H tries to achieve initial value R with distance that laser range finder 43 detected and stores beginning to fish for to detect based on amount of bow before handling; Then; Finish the back and detect the distance that is detected with laser range finder 43 based on amount of bow and try to achieve the actual measured value D that carries under the state of having put article B fishing for processing, with this initial value R and actual measured value D poor (R-D) as obtaining with the cooresponding amount of bow of weight information of the article B that year places article to carry to put body 29.
An example of relation of in Figure 15, representing the weight of amount of bow (R-D) and article B.
Shown in this illustrated view, the weight that can know amount of bow (R-D) and article B is the relation of direct ratio (relation that roughly promptly is directly proportional in fact) roughly.
In addition, in this embodiment, the weight of article B is set in about 190Kg to the scope of about 500Kg.
That is, it is about 190Kg that the article of not taking in the tabular body of glass substrate etc. keep the weight of body 4, and it is about 500Kg that the article of tabular body of having taken in the glass substrate etc. of maximum number keep the weight of body 4.
In addition; Also can implement in the following manner: replace to fish at every turn and all ask for initial value R when handling; When being provided with of equipment and during the startup of equipment; Carry at article and to put under the state that does not carry glove article B on the body 29, detect the distance that is detected with laser range finder 43 based on amount of bow and try to achieve initial value R, after use this initial value R.
If the processing of trying to achieve above-mentioned actual measured value D is described; Then shown in figure 14; Constitute; Running control mechanism H is when fishing for processing; The article of article carrying state carry put body 29 from extrusion position by retraction operation to retracted position during through the measurement of setting-up time (for example 400ms), obtain amount of bow times without number with the sample interval of setting (predetermined sampling time interval is 10ms for example) and detect the detection distance that is detected with laser range finder 43, the value that will obtain a plurality of sample intelligences (data) averaging processing of obtaining is set at actual measured value D.
Handle as equalization, in this embodiment, constitute and carry out following processing: try to achieve maxim and the aviation value of minimum value in the information of sampling in the setting-up time.
In addition, handle, also can replace such processing and use the processing in the past of the aviation value of asking for whole sample intelligences etc. as equalization.
If the processing of trying to achieve above-mentioned initial value R is described; Then constituting running control mechanism H is making rotating table 28 be positioned under the state of rotation reference position SK in order to fish for processing; Make article transfer device 15 to moving to the article transfer position of the article B that fishes for object; Then when making rotating table 28 rotate with position of rotation SR with position of rotation SL or right side to the left; In after this up to during through the measurement of setting-up time (for example 400ms); Sample interval (for example 10ms) to set is obtained the amount of bow that the Q of amount of bow testing agency is detected repeatedly, will handle and the value that obtains is stored as initial value R a plurality of sample intelligence equalizations that obtain.
Equalization when trying to achieve this initial value R is handled, and is identical when trying to achieve actual measured value D in this embodiment, constitutes the processing of the aviation value of maxim and minimum value in the information of asking for sampling in the setting-up time.
In addition, handle, can replace such processing and use the processing in the past of the aviation value etc. of the full detail of trying to achieve sampling as equalization.
And, fish for article when handling and carry extrusion position, the article from the retracted position to the extrusion position of putting body 29 to carry the height of the overhang of putting body 29 and article transfer position corresponding and be set at predefined different overhang.
In addition; Unload article when handling carry extrusion position, the article from the retracted position to the extrusion position of putting body 29 carry the overhang of putting body 29 constitute from value after the corresponding and predefined different overhang of height of article transfer position deducts correction E, said correction E is with corresponding and set corresponding to the amount of bow (R-D) of the weight information of the article B that year places article to carry to put body 29.
It is big more to be set at bigger this correction of amount of bow (R-D) E, and for example can implement in the following manner: (R-D) divides into a plurality of stages with amount of bow, sets the correction E in each stage.
The overhang that is redefined for different values corresponding to the height of article transfer position does; Do not put under the state of body 29 having article B to carry to place article to carry; Make tower crane 5 move experimentally; Measure and set to make article carry putting body 29 and be projected into the needed amount in appropriate location on its advance and retreat direction, such information is stored in the storage part of running control mechanism H as essential information.
Promptly; It is the mode of free state when being provided with that column 13 is supported on advance chassis 12 and its upper end with its bottom, and the article that do not carry the state of glove article B in order carry puts body 29 from retracted position when outstanding, and order is carried the article of having put article B and carried and put body 29 when retracted position is given prominence to; Like Figure 16 and shown in Figure 180; Advance chassis 12 and column 13 carries the projected direction of putting body 29 to article and tilts, and bigger this inclination of weight of amount article B becomes big more.
Thereby; Making article carry putting body 29 from retracted position under outstanding a certain amount of state; Advance chassis 12 and column 13 carries the projected direction of putting body 29 to article and tilts; So article carry put body 29 overhang under the state that does not carry glove article B; The height of article transfer position is got over Gao Zeyue has the tendency of excessive (promptly greater than suitable amount) that becomes, so the article will not carry the state of glove article B the time carry the overhang from retracted position of putting body 29 is stored in running control mechanism H as above-mentioned essential information storage part.
That is, in fishing for processing, article are carried and put body 29 and operate to extrusion position from retracted position with the overhang of trying to achieve based on essential information.
In addition; It is big more to carry advance the more greatly tilt quantity of column 13 of chassis 12 of the weight place article to carry to put the article B of body 29; So putting under body 29 state outstanding from retracted position to make article carry based on the definite overhang of reference information; The weight of article B is big, and the inclination of advance chassis 12 and column 13 is big more, and the overhang of article B has the tendency of excessive (greater than appropriate amount) that becomes more.
The mode that therefore, need become more little more greatly with the weight of article B is revised the overhang as above-mentioned essential information.Particularly, with setting correction E is set at overhang the value that deducts correction E from the overhang of essential information corresponding to the amount of bow (R-D) of carrying the weight information place article to carry to put the article B on the body 29 is corresponding.
That is, when carrying out carrying the portion's of putting 10 unloadings when carrying the processing of the article B that places article to carry to put body 29 to incorporating section 1 and article, iff makes article carry and puts the outstanding overhang corresponding to essential information of body; Then of Figure 18 (a); Article B is compared with setting tram J0 by discharged position J1, and it is excessive to carry the projected direction side of putting body 29 to article, then; When fishing for processing; If make article carry putting body 29 outstanding, then as Figure 17 (b) shown in, produce article and carry and put body 29 than carrying the unfavorable condition that glove article B is carried by the position of tip side in the position of putting originally with overhang corresponding to essential information.
Relative with it, if deduct correction E and article unloading handled carry the overhang of putting body 29 and revise from the overhang of essential information, said correction E is with corresponding and confirm corresponding to the amount of bow (R-D) of the weight information of the article B that year places article to carry to put body 29; And make article carry putting body 29 outstanding with this revised overhang; Then shown in Figure 16 (a), the position J1 of unload items B is near setting tram J0, then; When fishing for processing; If make article carry putting body 29 outstanding with the overhang corresponding to essential information, then shown in Figure 16 (b), article carry to be put body 29 and article B is carried to place originally should carry the position of putting.
Promptly; H is big more with amount of bow (R-D) based on the amount of bow that obtains (R-D) for the running control mechanism; Set article from the few more mode of the overhang of retracted position and carry the extrusion position of putting body 29; In addition, based on the high more essential information of confirming from the few more mode of the overhang of retracted position of the height of incorporating section 1, set article from the few more mode of the overhang of retracted position and carry the extrusion position of putting body 29 so that the height of incorporating section 1 is high more; Thereby, can the article that article B is discharged in incorporating section 1 be carried the setting tram J0 in the advance and retreat direction of putting body.
In addition, article carry the portion of putting 10 and are arranged on the undermost incorporating section 1 cooresponding height with the incorporating section 1 of arranging up and down, so use in the essential information and undermost incorporating section 1 cooresponding information.
In addition, unload when handling the left side with position of rotation SL or right side as stated with position of rotation SR, constitute and year place article to carry to put the weight of the article B of body 29 to set accordingly.
Promptly; If make article carry putting body 29 outstanding to extrusion position from retracted position; Then owing to article B, article carry the weight of putting body 29 and bending and stretching connecting rod mechanism 30; Rotating table 28 becomes with respect to bay-lift 14 and carries the state that the projected direction of putting body 29 receives drawing to article, might cause that supporting is in this wise by the distortion of the bay-lift 14 of the rotating table 28 of drawing.
And; Carry at article and to put body 29 and when the left side of the chassis 12 of advancing is outstanding, carry and put body 29 when give prominence on the right side of the chassis 12 of advancing with article; Rotating table 28 is different by the direction of drawing; So the deformation state of bay-lift 14 is different; In addition, make article carry putting body 29 acts on rotating table 28 when extrusion position is outstanding from retracted position drawing gravitation to carry the weight of putting the article B that body 29 supported and change, change so the deflection of bay-lift 14 carries the weight of putting the article that body 29 supported according to article according to article.
If explain; Then in this embodiment; As above with reference to Fig. 8 illustrated, the attitude of extending with on even keel with the Supporting fixture 35 of electro-motor 31 with respect to bay-lift 14 supporting rotation be configured in the chassis 12 that is equivalent in the sidewall of bay-lift 14 to advance rear side rear wall parts and rotate between the body 31A with electro-motor 31.
Therefore; Shown in dotted line among Fig. 9; Make article carry putting body 29 outstanding to the left side of the chassis 12 of advancing (so Fig. 9 is that upward view is on the right side); The integral body of bay-lift 14 deforms owing to accept supporting rotating table 28, and the side wall portion of supporting Supporting fixture 35 is overlooked medium dip, so Supporting fixture 35 becomes the arc of bulging to the left; Rotation changes to the front side of the residing chassis 12 of advancing of rotation reference position SK so article carry the projected direction of putting body 29 with the body 31A of electro-motor 31 (among Fig. 9 in the left side promptly around conter clockwise) rotation to the right.
In addition, because Fig. 9 is upward view, so in this Fig. 9, Supporting fixture 35 be the arc of bulging to the right, it is (anticlockwise direction) state of rotating to the left that the body 31A of electro-motor 31 is used in rotation.
Thereby; In that being carried, article B places article to carry to put under the state on the body 29; Make rotating table 28 shown in figure 17 with the angle of position of rotation SL rotation to the left, be set at the anglec of rotation greater than 90 degree from rotation reference position SK, and the weight of article B more greatly then this anglec of rotation set greatly more.
In addition, utilize experiment to wait in advance to try to achieve with the cooresponding anglec of rotation of the weight of article B and confirm.
In addition; Though not shown, with make article carry putting body 29 identical when the left side of the chassis 12 of advancing is outstanding, if make article carry putting body 29 outstanding to the right side of the chassis 12 of advancing; Then support rotating table 28 and the bulk deformation of bay-lift 14 owing to accepting; Supporting fixture 35 becomes the arc of bulging to the right as a result, and rotation is rotated with the body 31A of electro-motor 31 to the left, changes to the front side of the residing chassis 12 of advancing of rotation reference position SK so article carry the projected direction of putting body 29.
Thereby; In that being carried, article B places article to carry to put under the state on the body 29; Make rotating table 28 from rotation reference position SK to the right with the angle of position of rotation SR rotation, be set at the anglec of rotation greater than 90 degree, and the weight of article B more greatly then this anglec of rotation set greatly more.
In addition, utilize experiment to wait in advance to try to achieve with the cooresponding anglec of rotation of the weight of article B and confirm.
Like this; Running control mechanism H constitutes based on article and carries the amount of bow (R-D) of putting body 29 and set the left side with using position of rotation SR in position of rotation SL and right side; So when making article carry putting body 29 outstanding; Even if because article carry the weight change of putting the article B that body 29 supported, rotation is with the phase change with respect to the hand of rotation of the output shaft 31B of bay-lift 14 of the body 31 of CD-ROM drive motor 31, also can make article carry putting body 29 giving prominence to correct direction.
Then, based on the diagram of circuit of Figure 12 and Figure 13, handle and unload processing for fishing in the performed control action of running control mechanism H and describe.
At first, processing is fished in explanation with reference to Figure 12.
Carry and put body 29 at the order article of article transfer device 15 of the state that makes rotating table 28 be positioned at benchmark position of rotation SK to moving to the article transfer position of the article B that fishes for object; Make rotating table 28 rotate with position of rotation SR with position of rotation SL or right side to the left then, begin this then and fish for processing.
In addition, running control mechanism H carries out following processing: before fishing for processing, obtain the amount of bow detection and try to achieve above-mentioned initial value R with laser range finder 43 detected distances.
In addition, carrying out this left side of fishing for when handling is to make rotating table 28 to left or the right-hand position that turn 90 degrees of revolving from rotation reference position SK with position of rotation SL or right side with position of rotation SR.
At first, the beginning article carry the outstanding action (#1) of putting body 29, judge then that article carry to put body 29 and whether be projected into the extrusion position of confirming based on essential information (#2), proceed outstanding action and carry up to article and put body 29 and be positioned at extrusion position.
In #2; Put body 29 and be projected into extrusion position if judge that article carry; Then begin to make article carry and put body 29 to carry out vertical motion (#3), the aim parameter of setting (#4) that then judged whether to rise is proceeded vertical motion and is carried up to article and put body 29 aim parameter of setting that risen.
Put body 29 aim parameter of setting that risen if judge in #4 that article carry; Then begin article carry put body 29 return action (#5); Then, judge that article carry to put body 29 and whether returned to retracted position (#6), proceed to return action and carry up to article and put body 29 and return to retracted position.
Put body 29 and return to retracted position if judge in #6 that article carry; Then begin to obtain amount of bow and detect (#7) with the sampling (sampling) of the detection information of laser range finder 43 to set the sample interval; Then; Judge whether to have passed through setting-up time (#8), continue sampling up to the process setting-up time.
If in #8, judge and passed through setting-up time, then carry out trying to achieve the equalization processing (#9) of aviation value based on the information of sampling.
It is following processing that this equalization is handled: try to achieve the aviation value (perhaps in the past other equalization handle) of maxim and minimum value in the information of sampling in the setting-up time, will be stored as actual measured value D by the value that this equalization processing is tried to achieve.
Then, explain that with reference to Figure 13 unloading utilizes above-mentioned fishing for to handle and carry and place article to carry to put the unloading of the article B on the body 29 to handle.
In the state that makes rotating table 28 the be positioned at benchmark position of rotation SK article transfer device 15 of ordering is that article carry and put body 29 and move to the article transfer position that unloads processing; Make rotating table 28 rotate with position of rotation SR with position of rotation SL or right side to the left then, begin this unloading then and handle.
In addition, the left side during unloading is handled deduct actual measured value D with position of rotation SR based on initial value R with position of rotation SL or right side and the article of trying to achieve carry the amount of bow (R-D) of putting body 29 and the anglec of rotation that is set at spinning reference position SK greater than the position of 90 angles spent.
At first, carry out the extrusion position calculation process, it is tried to achieve the article that unload when handling and carries extrusion position, the article from retracted position to extrusion position of putting body 29 and carry the overhang (#11) of putting body 29.
This extrusion position calculation process be to overhang from the overhang the predefined essential information deducts the processing of correction E corresponding to the height of article transfer position, said correction E is with corresponding and confirm corresponding to the amount of bow (R-D) of the weight information that carries the article B that places article to carry to put body 29.
Then; The beginning article carry the outstanding action (#12) of putting body 29; Judge then that article carry and put the determined extrusion position of operation result (#13) whether body 29 has been projected into the extrusion position calculation process, proceed outstanding action and carry up to article and put body 29 and be projected into extrusion position.
In #13; Put body 29 and be positioned at extrusion position if judge that article carry; Then begin article and carry the down maneuver (#14) of putting body 29, the aim parameter (#15) that has then judged whether to descend and set is proceeded down maneuver and is carried up to article and put body 29 aim parameter of setting that descended.
Put body 29 aim parameter of setting that descended if judge in #15 that article carry; Then begin article carry put body 29 return action (#16); Then, judge that article carry to put body 29 and whether returned to retracted position (#17), proceed to return action and carry up to article and put body 29 and be positioned at retracted position.
[other embodiments]
Then, the other embodiment of giving an example.
(1) in the above-described embodiment, as amount of bow testing agency, illustration laser ranging mechanism, but other mechanisms of the strain gage that also can use the part of bending and stretching connecting rod mechanism 30 that for example is disposed at lower shaft and arm etc. and article to carry to put body 29 etc.
(2) in the above-described embodiment, illustration the upper end of column be the situation of free state, but also can implement with the mode of the upper end that utilizes the guide rail supporting upright post.
At this moment; Make article carry putting body from retracted position when extrusion position is outstanding; Advance chassis and column can not carry the projected direction of putting body to article and tilt, and obtains amount of bow that mechanism obtains based on amount of bow and sets order and carry the article that are equipped with article and carry and put the outstanding extrusion position of body so can only consider to bend and stretch the bending downwards of connecting rod mechanism yet.
(3) in the above-described embodiment; Article are carried the left side of putting the rotating frame under the state that body do not carry the glove article to be set at the spinning reference position with position of rotation and right side with position of rotation and to revolve the position that turn 90 degrees; But; Article carry put the state that does not carry the glove article on the body order article carry put body from retracted position when extrusion position is outstanding; Because bay-lift and rotation are with the distortion of the Supporting fixture of CD-ROM drive motor; Article carry the projected direction of putting body when correct direction departs from, and also can the left side under the state that does not carry the glove article be set at the position of spinning reference position rotation greater than 90 degree with position of rotation and right side with position of rotation, make article carry putting body outstanding to the correct direction of expectation.
(4) in the above-described embodiment, illustration the situation of article warehouse-in portion and article outbound portion is set respectively, but also can implement with the mode that setting is also used as the article warehouse-in portion of article warehouse-in portion and article outbound portion.
(5) in the above-described embodiment, illustration article keep the situation of body for the article of the tabular body that keeps glass substrate etc., but tower crane of the present invention can be applied to take in the automated warehouse of other various article.
(6) in the above-described embodiment, illustration the running control mechanism of running of control tower crane constitute the situation that amount of bow obtains mechanism, also can use special-purpose control setup to constitute but amount of bow obtains mechanism.
(7) in the above-described embodiment, illustration the incorporating section possess four layers accepting rack along the vertical direction, but up and down side by side the number of plies of incorporating section can carry out various changes.
(8) in the above-described embodiment; Illustration only set the situation of the correction that deducts from the overhang of essential information based on the amount of bow that is detected by amount of bow testing agency; But in the time need changing correction, also can implement with the mode of setting correction according to the height of amount of bow and incorporating section according to the height of incorporating section.
Description of reference numerals
1 incorporating section, 2 article storing framves, 8A article warehouse-in portion, 12 the advance wheel, 28 rotating frames, 29 article of chassis, 13 columns, 14 bay-lifts, 24 of advancing carries and puts body, 30 and bend and stretch connecting rod mechanism, 42 detected portion, 43 laser ranging mechanisms, Q amount of bow testing agency, H running control mechanism, amount of bow and obtain mechanism.
Claims (6)
1. tower crane has:
The bay-lift that is driven up-down by state down from the upright column guiding of establishing of the chassis of advancing,
Article carry put body,
With bend and stretch connecting rod mechanism,
At this; Above-mentioned base end part and the above-mentioned bay-lift that bends and stretches connecting rod mechanism along the horizontal cross direction advance and retreat of car body links; And above-mentioned article carry the base end part and the above-mentioned top ends of bending and stretching connecting rod mechanism of putting body and link; Utilize above-mentioned advance and retreat action of bending and stretching connecting rod mechanism, above-mentioned article carry to be put body and between the retracted position that returns to above-mentioned bay-lift side and the extrusion position that is projected into foreign side, is operated by advance and retreat
Said tower crane is characterised in that,
And then be provided with and detect the amount of bow testing agency that the above-mentioned article be positioned at above-mentioned retracted position carry the amount of bow of the side downwards of putting body,
Be provided with to carry when putting body and under article carrying state, being positioned at above-mentioned retracted position as carrying the amount of bow that places these article to carry the weight information of the article of putting body and obtain the amount of bow that above-mentioned amount of bow testing agency detected and obtain mechanism at above-mentioned article.
2. tower crane according to claim 1 is characterized in that,
Above-mentioned amount of bow testing agency detects the laser ranging mechanism that above-mentioned article carry the upper-lower position of the detected portion of putting body and constitutes by being arranged at above-mentioned bay-lift.
3. tower crane according to claim 1 and 2 is characterized in that,
Above-mentioned amount of bow obtains mechanism and constitutes; Carry from above-mentioned article put body from above-mentioned extrusion position by retraction operation to the above-mentioned retracted position during passing through the measurement of setting-up time; Obtain the amount of bow that above-mentioned amount of bow testing agency is detected repeatedly with the sample interval of setting, the value that will obtain a plurality of averaging of sample intelligence processing of obtaining is set at and year places above-mentioned article to carry the cooresponding amount of bow of weight information of the article of putting body.
4. tower crane according to claim 1 is characterized in that,
The above-mentioned chassis of advancing is set to advance along the article storing frame that is provided with the incorporating section that article are taken in,
Lifting action and the above-mentioned running control mechanism that bends and stretches the advance and retreat action of connecting rod mechanism of controlling advance action, the above-mentioned bay-lift of the above-mentioned chassis of advancing constitute; Making above-mentioned article carry in above-mentioned incorporating section putting body to be positioned under the state to the article transfer position of above-mentioned incorporating section in order to carry the article storing that places above-mentioned article to carry to put body, obtaining the above-mentioned amount of bow that mechanism obtains and set to make above-mentioned article carry putting body and give prominence to the above-mentioned extrusion position that moves based on above-mentioned amount of bow.
5. tower crane according to claim 4 is characterized in that,
The both end sides that the above-mentioned chassis of advancing constitutes in above-mentioned width over sides of car body direction has the wheel of advancing,
The mode that the following overhang bracket of above-mentioned column is a free state in above-mentioned advance chassis and upper end is provided with,
Above-mentioned running control mechanism is obtained the above-mentioned amount of bow that mechanism is obtained based on high more essential information and the above-mentioned amount of bow of setting from the few more mode of the overhang of above-mentioned retracted position of height with above-mentioned incorporating section, sets in order to carry the article storing that places above-mentioned article to carry to put body to make above-mentioned article carry in above-mentioned incorporating section in the above-mentioned article transfer position to above-mentioned incorporating section putting the above-mentioned extrusion position of the outstanding action of body.
6. according to claim 4 or 5 described tower cranes, it is characterized in that,
Above-mentioned bay-lift has rotating frame, and above-mentioned base end part and this rotating frame that bends and stretches connecting rod mechanism links,
The rotation that above-mentioned rotating frame is rotated operation is supported in and above-mentioned bay-lift bonded assembly supporting mass with CD-ROM drive motor,
Above-mentioned running control mechanism constitutes the action of the above-mentioned rotation of control with CD-ROM drive motor; Make and making above-mentioned article carry putting body when the left side of the above-mentioned chassis of advancing is outstanding; Make above-mentioned rotating frame rotate with position of rotation to the left; And making above-mentioned article carry putting body when the right side of the above-mentioned chassis of advancing is outstanding; Make above-mentioned rotating frame to the right with position of rotation rotation, and constitute, obtain above-mentioned amount of bow that mechanism obtains based on above-mentioned amount of bow and set above-mentioned left side and use position of rotation with position of rotation and above-mentioned right side.
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CN103539035A (en) * | 2013-11-08 | 2014-01-29 | 无锡中鼎物流设备有限公司 | Cantilever type lifting mechanism |
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JP5733580B2 (en) * | 2012-11-13 | 2015-06-10 | 株式会社ダイフク | Article conveying apparatus and article storage facility provided with the same |
JP6696406B2 (en) * | 2016-10-31 | 2020-05-20 | 株式会社ダイフク | Transfer machine |
JP6819224B2 (en) * | 2016-10-31 | 2021-01-27 | 株式会社ダイフク | Transport vehicle |
CN113371377A (en) * | 2021-06-16 | 2021-09-10 | 中船重工海为郑州高科技有限公司 | Intelligent cargo carrying platform |
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JP2012166899A (en) | 2012-09-06 |
CN102633211B (en) | 2015-09-23 |
KR20120093070A (en) | 2012-08-22 |
JP5590411B2 (en) | 2014-09-17 |
TW201236960A (en) | 2012-09-16 |
TWI564237B (en) | 2017-01-01 |
KR101876255B1 (en) | 2018-07-09 |
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