JP2005154090A - Carrier transferring device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a carrier transferring device with simple structure, facilitating coiling/uncoiling of a rope connected to a carrier. <P>SOLUTION: The carrier transferring device has at least two fixed coiling devices 3, 4 arranged at prescribed intervals in a horizontal direction, and at least one moving coiling device 8 or 9 mounted on a moving truck 5 moving horizontally between the two fixed coiling devices 3, 4. While at least three ropes 2-1 to 2-8 connected to the carrier 1 are coiled/uncoiled by the fixed coiling devices 3, 4 and the moving coiling devices 8, 9, the carrier 1 is moved in a vertical direction and in the horizontal direction by horizontal movement of the moving truck 5. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a transporter transfer device that can freely move a transporter in the vertical direction and the horizontal direction by connecting at least three ropes to the transporter and winding and rewinding the rope with a winder. Is.

In an automatic warehouse, a stacker crane having a carrier that can be moved up and down is used to transfer a load to a target load storage position of a shelf or to transfer the load from the target load storage position. Such a stacker crane usually has a plurality of support columns erected in the vertical direction, and the transporter is configured to move up and down between the support columns, which causes a problem that the weight increases. There exists a wire crane described in the nonpatent literature 1 as what copes with this problem. In this wire crane, at least four ropes are connected to a carrying device, and the carrying device is freely moved in the vertical and horizontal directions by winding and rewinding with the four winding devices. Moreover, there exists a transfer apparatus described in patent document 1 as a similar technique.
JP-A-5-34246 1988 Academic Lecture Meeting of Precision Engineering Society Spring Meeting, P223-224

  In the apparatus having the configuration of Non-Patent Document 1, it is necessary to control the lengths of at least four ropes connected to the transporter while synchronizing them with four winding devices in order to transfer the transporter. In an actual device, the winding drive system and the rope are stretched, and it is difficult to perform precise control as calculated, and the rope may be loosened or excessively tensioned. For this reason, there is a problem that the transporter does not move smoothly and overload is applied to the drive device. The transfer device shown in Patent Document 1 also has the same problem because eight ropes are connected to the moving table and the moving table is moved by winding and rewinding the eight ropes.

  The present invention has been made in view of the above-described points, and an object of the present invention is to provide a transporter transfer device that eliminates the above-described problems, has a simple configuration, and can easily wind and rewind a rope connected to the transporter. And

  In order to solve the above-mentioned problem, the invention described in claim 1 is characterized in that at least two fixed winding devices arranged at a predetermined interval in the horizontal direction, and above or below the horizontal arrangement position of the fixed winding device. At least three ropes which are located at a predetermined distance and have at least one moving take-up device mounted on a moving carriage moving horizontally between the two fixed take-up devices and connected to a carrier The fixed take-up device and the moving take-up device are used for winding and rewinding, and when the movable carriage is moved in the horizontal direction, the carrier is moved in the vertical direction and the horizontal direction.

  The invention according to claim 2 is the transporter transfer device according to claim 1, wherein a combination of position control and torque control is adopted for winding / rewinding control of the fixed winding device and the moving winding device, It is characterized by balancing the applied tension.

  According to a third aspect of the present invention, there is provided a vertically movable carriage that moves in a horizontal direction at a position separated by a predetermined distance in the vertical direction, and at least two winding devices provided with a predetermined interval in either of the vertically movable carriages. At least one winding device is mounted on the other side, and at least three ropes connected to the carrying device are wound and rewound by the winding device mounted on the vertical movement carriage, and the horizontal movement carriage The portable device is configured to move in the vertical direction and the horizontal direction by moving in a direction.

  According to a fourth aspect of the present invention, in the transporter transferring device according to the third aspect, a combination of position control and torque control is adopted for winding / rewinding control of a plurality of winding devices, and the balance of tension applied to the ropes is adopted. It is characterized by having taken.

  According to a fifth aspect of the present invention, there are provided guide rails that are vertically provided with a predetermined interval in the horizontal direction, a movable carriage that runs between the guide rails and above the floor surface by a predetermined interval, and both guide rails. A horizontal drive take-up device that moves up and down along each of the above, a lifting drive take-up device provided in the vicinity of the upper ends of the both guide rails, and a transporter. At least one driven sheave is attached to the transporter and moved. At least two driven sheaves are attached to the carriage, at least one lifting drive rope is hung on the follower sheave of the transporter, and both ends thereof are respectively stretched in the traveling direction of the movable carriage via the driven sheave of the movable carriage. In addition, at least two horizontal drive ropes are connected to the transporter, and the other ends are wound and unwound by the horizontal drive winder, respectively, with the lifting drive winder. To, to connect one end of the at least one lifting rope to each of the two horizontal drive winding device, characterized in that the return winding-up the other end in the elevation drive take-up device.

  The invention according to claim 6 is the carrying device transfer device according to claim 5, wherein a plurality of driven sheaves are attached to the carrying device and the movable carriage, and a plurality of lifting drive ropes are hung on the plurality of driven sheaves of the carrying device. The both ends of the movable carriage are stretched in the traveling direction of the movable carriage via the driven sheave of the movable carriage, and are wound and unwound by a lifting drive winding device provided in the vicinity of the upper ends of both guide rails. One end of each of the horizontal driving ropes is connected to a carrying device, and the other end is wound and rewound by both horizontal driving winding devices.

  A seventh aspect of the present invention is the transporter transfer device according to the fifth or sixth aspect, wherein a combination of position control and torque control is employed for the winding / rewinding control of both the lift drive winding devices, and both horizontal A combination of position control and torque control is employed for winding / rewinding control of the drive winding device.

  The invention according to claim 8 is the transport device transfer device according to any one of claims 5 to 7, wherein each guide rail is vertically provided with a predetermined interval in a direction orthogonal to the traveling direction of the movable carriage. It consists of two guide rails installed upright.

  According to the ninth aspect of the present invention, there is provided a guide rail vertically provided with a predetermined interval in the horizontal direction, a movable carriage that runs between the guide rails and above the floor surface by a predetermined interval, and a guide rail. A horizontal drive winding device that moves up and down along each of the above, a counterweight that moves up and down along each of the guide rails, a lift drive sheave provided near the upper end of the guide rail, and a transporter. At least one driven sheave is installed, and at least two driven sheaves are attached to the movable carriage, and at least one lifting drive rope is hung on the driven sheave of the transporter, and both ends thereof are respectively connected to the movable sheave of the movable carriage. Connected to both counterweights via a driven sheave stretched in the traveling direction of the movable carriage and driven sheaves in the vicinity of the upper end portions of the lifting drive sheave and both guide rails, At least one end of at least two horizontal drive ropes is connected to the carrier, and the other end is wound and rewound by both horizontal drive take-up devices, so that at least one horizontal drive take-up device has at least one One end of the lifting rope is connected, and the other end is connected to both counterweights via a driven sheave provided near the upper end of the guide rail.

  A tenth aspect of the present invention is the transporter transfer device according to the ninth aspect, wherein a plurality of driven sheaves are attached to the transporter and the movable carriage, and a plurality of lifting drive ropes are hung on the plurality of driven sheaves of the transporter. The both ends of the movable carriage are stretched in the traveling direction of the movable carriage via the driven sheave of the movable carriage, and the elevating drive sheave provided near the upper end of the guide rail and the driven sheave provided near the upper end of the guide rail are provided. It is connected to both counterweights, and one end of each of the plurality of horizontal drive ropes is connected to the transporter, and the other end is wound and rewound by the horizontal drive winding device, respectively. To do.

  According to an eleventh aspect of the present invention, in the carrier transfer device according to the ninth or tenth aspect, a combination of position control and torque control is adopted for winding / rewinding control of both lifting drive sheaves, and the both horizontal driving A combination of position control and torque control is employed for winding / rewinding control of the winding device.

  A twelfth aspect of the present invention is the carrying device transfer device according to any one of the ninth to eleventh aspects, wherein each guide rail is provided vertically with a predetermined interval in a direction orthogonal to the traveling direction of the transfer carriage. It consists of two guide rails installed upright, and the counterweight and the horizontal drive take-up device move up and down along the two guide rails.

  According to the first aspect of the present invention, at least three ropes connected to the carrying device are wound and unwound by the fixed winding device and the moving winding device, and the moving cart is moved by the horizontal movement of the moving carriage. Since it comprised so that it might move to an up-down direction and a horizontal direction, it can support a carrying device with a rope with a simple structure, and can be moved to an up-down direction and a horizontal direction.

  According to the second aspect of the present invention, since the combination of position control and torque control is adopted for the winding / rewinding control of the fixed winding device and the moving winding device, the winding is performed at the speed specified by the position control.・ Other ropes are wound and unwound with a predetermined torque with respect to the rope to be unwound, so that excessive tension is not applied to the rope, and tension is applied to each rope in a well-balanced manner. Rewinding control becomes easy.

  According to the invention described in claim 3, at least three ropes connected to the carrying device are wound and rewound by the winding device mounted on the vertically moving carriage, and the carrying device is moved by the horizontal movement of the vertically moving carriage. Since the apparatus is configured to move in the vertical direction and the horizontal direction, it is possible to realize the vertical and horizontal transfer of the transporter with a simple configuration.

  According to the fourth aspect of the present invention, since the combination of position control and torque control is adopted for winding / rewinding control of a plurality of winding devices, other than the rope wound / rewinded by position control The rope is wound and unwound with a predetermined torque, so that the rope is tensioned in a balanced manner without excessive tension being applied to the rope, and the winding and unwinding control of the rope is facilitated.

  According to the fifth aspect of the present invention, the apparatus includes a guide rail, a movable carriage, a horizontal drive winding device, a lifting drive winding device, and a transporter, and includes at least one lifting drive rope and at least two. Since the portable device is configured to move in the vertical direction and the horizontal direction with the horizontal driving rope, the portable device can be supported by the rope with a simple configuration and transferred in the vertical direction and the horizontal direction.

  According to invention of Claim 6, since it comprised so that a carrying device might be moved to an up-down direction and a horizontal direction with a plurality of raising / lowering drive ropes and a plurality of horizontal drive ropes, Can be transported.

  According to the seventh aspect of the present invention, since the combination of position control and torque control is adopted for the winding / rewinding control of both the lifting drive winding device and the both horizontal driving winding device, excessive tension is applied to the rope. Without adding, tension is applied to each rope in a well-balanced manner, and the winding / rewinding control of the rope becomes easy.

  According to the invention described in claim 9, the guide rail, the movable carriage, the horizontal drive winding device, the counter weight, the lift drive sheave, and the transporter are provided, and at least one lift drive rope, Since the transporter is configured to move in the vertical direction and the horizontal direction with at least two horizontal drive ropes, the transporter can be supported by the rope and transported in the vertical direction and the horizontal direction with a simple configuration.

  According to invention of Claim 10, since it comprised so that a carrying device might be moved to an up-down direction and a horizontal direction with a plurality of raising / lowering drive ropes and a plurality of horizontal drive ropes, Can be transported.

  According to the eleventh aspect of the present invention, since the combination of position control and torque control is adopted for the winding / rewinding control of both the lifting drive winding device and the horizontal driving winding device, excessive tension is applied to the rope. Without adding, tension is applied to each rope in a well-balanced manner, and the winding / rewinding control of the rope becomes easy.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  1A and 1B are diagrams showing a configuration example of a transporter transferring apparatus according to the present invention, in which FIG. 1A is a side view and FIG. 1B is a front view (viewed from an arrow A). In FIG. 1, reference numeral 1 denotes a transporter, and four ropes 2-1 to 2-8 are connected to the transporter 1 at four corners on one side and a total of eight on both sides. Reference numerals 3 and 4 denote fixed winding devices arranged at predetermined intervals in the horizontal direction, and reference numeral 5 denotes a horizontal position at a predetermined interval above the horizontal arrangement position 6 of the fixed winding devices 3 and 4. It is a moving carriage that travels between the two fixed winding devices 3, 4 on the rail 7 arranged in the direction. Two winding devices 8 and 9 are mounted on the movable carriage 5. In addition, 10 and 10 are traveling wheels.

  The winding device 3 includes two winding drums 3-1 and 3-2, and the ropes 2-1 and 2-2 pass through the sheaves 3-3 and 3-4, respectively. It is designed to be wound and rewound at 3-2. The winding drums 3-1, 3-2 are driven by a motor 3-5. The winding device 4 also includes two winding drums 4-1 and 4-2, and the ropes 2-3 and 2-4 are respectively wound on the winding drum 4-1 via sheaves 4-3 and 4-4. 4-2 is wound up and rewound. The winding drums 4-1 and 4-2 are also driven by a motor 4-5 (not shown).

  The winding device 8 mounted on the movable carriage 5 includes winding drums 8-1 and 8-2, and the ropes 2-5 and 2-6 are wound through the sheaves 8-3 and 8-4, respectively. The drums 8-1 and 8-2 are wound and rewound. The winding drums 8-1 and 8-2 are driven by a motor 8-5. The winding device 9 also includes two winding drums 9-1 and 9-2, and the ropes 2-7 and 2-8 are respectively wound on the winding drum 9-1 via sheaves 9-3 and 9-4. 9-2 are wound and unwound. The winding drums 9-1 and 9-2 are also driven by a motor 9-5 (not shown).

  In the transport device having the above configuration, when the transport device 1 is to be moved in the vertical direction, the winding devices 3 and 4 and the winding devices 8 and 9 are used to wind up the eight ropes 2-1 to 2-8. This is done by rewinding. That is, by rewinding the ropes 2-1 to 2-4 with the winding devices 3 and 4 and winding the ropes 2-5 to 2-8 around the winding devices 8 and 9, the carrier 1 is raised, and vice versa. By winding the ropes 2-1 to 2-4 with the winding devices 3 and 4 and rewinding the ropes 2 to 5 to 8 with the winding devices 8 and 9, the transporter 1 descends.

  When moving the transporter 1 in the direction of arrow B (forward direction), the moving carriage 5 is moved in the direction of arrow B, and at the same time, the ropes 2-3 and 2-4 are wound up by the winding device 4, and the winding device 3 Rewind ropes 2-1, 2-2. When the transporter 1 is moved in the direction of arrow C (reverse direction), the moving carriage 5 is moved in the direction of arrow C, and at the same time, the ropes 2-1 and 2-2 are wound up by the winding device 3. 4 Rewind the ropes 2-3 and 2-4. Further, when the transporter 1 is moved obliquely upward as indicated by the arrow D, the moving carriage 5 is moved in the direction of the arrow B, and at the same time, the ropes 2-3 to 2 with the winding device 4 and the winding devices 8 and 9 are used. -8 is wound up and the ropes 2-1 and 2-2 are rewound by the winding device 3.

  As described above, by the winding / rewinding of the winding devices 3, 4, 8, 9 and the movement of the movable carriage 5 in the directions of arrows B and C, the transporter 1 moves in the vertical direction, the forward direction (arrow B direction), and the backward direction. The motors 3-5, 4-5, 8-5, and 9-5 that drive the winding devices 3, 4, 8, and 9 can move forward, backward, upward, and downward obliquely. When the eight ropes 2-1 to 2-8 are wound and rewound by the position control, the ropes 2-1 to 2-8 are loosened or excessively tensioned as described above. There is a problem that the transporter 1 does not move smoothly and overload is applied to a driving device constituted by motors 3-5, 4-5, 8-5, 9-5, and the like.

  Therefore, here, a combination of position control and torque control is used for the control of winding and unwinding of the ropes 2-1 to 2-8 by the winding devices 3, 4, 8, and 9, and the ropes 2-1 to 2-8 are used. The tension applied to the balance is balanced. For example, when the transporter 1 is moved in the direction of arrow D, the motors 4-5, 8-5, and 9-5 of the winding devices 4, 8, and 9 are positioned while the movable carriage 5 is advanced in the direction of arrow B. The motor 3-5 of the winding device 3 is controlled by torque control. As a result, the ropes 2-3 to 2-8 are wound by the driving force of the motors 4-5, 8-5 and 9-5, but the ropes 2-1 and 2- No. 2 is rewound following the winding speed of the ropes 2-3 to 2-8 in a state where tension is applied by a predetermined constant torque, and the ropes 2-1 to 2-8 are tensioned in a balanced manner. Will be added.

  In the above example, a total of eight ropes are connected to the four corners on both sides of the transporter 1, but the number of ropes is not limited to this, one on the upper side of the transporter 1, It is possible to move the transporter 1 in the two-dimensional plane, up and down and forward and backward, with a minimum of three at the lower corner of the transporter 1. However, in order to prevent the carrier 1 from swinging in the direction of arrow E, it is preferable to connect a total of eight ropes to the four corners on both sides of the carrier 1. Further, as shown in FIG. 1B, when the ropes 2-1 and 2-2 and the ropes 2-3 and 2-4 extending downward are crossed with each other, it is effective in preventing the shake in the direction of the arrow E. 2 may be arranged parallel to each other as shown in FIG.

  In the above example, the fixed winding devices 3 and 4 are installed on the ground or the floor, and the rail 7 having the movable carriage 5 disposed on the upper side is driven. May be installed on the ceiling surface, and the movable carriage 5 may be configured to travel on a rail laid on the floor surface. In the above example, the winding drums 3-1 and 3-2, the winding drums 4-1 and 4-2, and the winding drums 8-1 and 8-2 are each one motor 3-5 and 4-5. 8-5, 9-5, but each winding drum may be driven by a single motor.

  FIG. 3 shows that the three ropes 11, 12, 13 are connected to the carrying device 10, and the three ropes 11, 12, 13 are wound and unwound by the three winding devices 14, 15, 16. It is a figure which shows the structure of the control system in the case of moving 10. FIG. The winding device 14 includes a winding drum 14-1 and a motor 14-2, the winding device 15 includes a winding drum 15-1 and a motor 15-2, and the winding device 16 further includes a winding drum 16. -1 and a motor 16-2. The motors 14-2, 15-2, and 16-2 are operated by obtaining drive power from the inverters 17, 18, and 19, respectively. Each inverter 17, 18, 19 is operated by a control command from the control unit 20.

  In the control system configured as described above, the drums 14-1, 15-1, and 16-1 are rotated by the operation of the motors 14-2, 15-2, and 16-2, and the ropes 11, 12, and 13 are wound and rewound. The winding / rewinding amounts are detected by the encoders 21, 22, and 23 and fed back to the control unit 20. The control unit 20 instructs the inverters 17, 18, and 19 to issue a speed command or a torque command according to the moving direction of the transporter 10. For example, when winding the ropes 11 and 13 with the winding devices 14 and 16 and rewinding the rope 12 with the winding device 15, a speed command is given to the inverters 17 and 19 to position the motors 14-2 and 16-2. At the same time, a torque command is given to the inverter 18 to control the torque of the motor 15-2. As a result, the ropes 11 and 13 are wound around the winding drums 14-1 and 16-1 at the commanded speed, and the rope 12 follows the winding speed of the ropes 11 and 13, and the rope 12 is subjected to a constant torque. It is rewound while applying tension.

  4 and 5 are diagrams showing another configuration example of the transporter transfer device according to the present invention, FIG. 4 is a side view, and FIG. 5 is a front view (viewed in the direction of arrow A in FIG. 4). In FIG. 4, 30 is a carrying device, and four ropes 31-1 to 31-8 are connected to the carrying device 30 at four corners on one side and a total of eight on both sides. Reference numeral 32 denotes a lower moving carriage that runs on the lower rail 33, and 34 denotes an upper moving carriage that runs on the upper rail 35. Winding devices 36 and 37 and winding devices 38 and 39 are mounted on the lower moving carriage 32 with a predetermined interval in the traveling direction, and the upper moving carriage 34 has winding devices 40, 41, and 42 in the traveling direction. 43 is mounted. The lower moving carriage 32 is provided with traveling wheels 44, 44, and the upper moving carriage is provided with traveling wheels 45, 45.

  The winding device 36 includes a winding drum 36-1 and a motor 36-2, and the winding device 37 includes a winding drum 37-1 and a motor 37-2. The winding device 38 is composed of a winding drum 38-1 and a motor 38-2 (not shown), and the winding device 39 is also composed of a winding drum 39-1 and a motor 39-2 (not shown). . The winding device 40 includes a winding drum 40-1 and a motor 40-2, and the winding device 41 includes a winding drum 41-1 and a motor 41-2. The winding device 42 includes a winding drum 42-1 and a motor 42-2 (not shown), and the winding device 43 also includes a winding drum 43-1 and a motor 43-2 (not shown). .

  The ropes 31-1 and 31-2 are wound and rewound by winding drums 36-1 and 37-1, respectively. The ropes 31-5 and 31-6 are wound by the winding drum 40-1, respectively. It is designed to be wound and rewound at 41-1. Similarly, the ropes 31-3 and 31-4 are wound and rewound by the winding drums 38-1 and 39-1 respectively, and the ropes 31-7 and 31-8 are respectively wound by the winding drum 42-. 1 and 43-1 are wound and rewound.

  In the transporting device having the above-described configuration, the lower moving carriage 32 and the upper moving carriage 34 run on the lower rail 33 and the upper rail 35 in synchronization with each other, whereby the transporter 30 moves in the direction of arrow B (forward direction). ) And the arrow C direction (reverse direction). When raising the transporter 30, the ropes 31-5 to 31-8 are wound by the winding devices 40 to 43, and the ropes 31-1 to 31-4 are rewound by the winding devices 36 to 39. At this time, the motors 40-2 to 43-2 that drive the winding drums 40-1 to 43-1 of the winding devices 40 to 43 are controlled in position, and the winding drums 36-1 to 36-1 of the winding devices 36 to 39 are controlled. Motors 36-2 to 39-2 that drive 39-1 are set to torque control. Conversely, when lowering the transporter 30, the ropes 31-1 to 31-4 are wound by the winding devices 36 to 39 and the ropes 31-5 to 31-8 are rewound by the winding devices 40 to 43. . At this time, the motors 36-2 to 39-2 for driving the winding drums 36-1 to 39-1 of the winding devices 36 to 39 are controlled in position, and the winding drums 40-1 to 40-1 of the winding devices 40 to 43 are controlled. The motors 40-2 to 43-2 for driving 43-1 are set to torque control.

  In the above example, a total of eight ropes 31-1 to 31-8 are connected to the corners on both sides of the transporter 30, but the number of ropes is not limited to this, and 1 on the lowest side. A total of three ropes may be used, one for each of the book and the bottom.

  When the above-described transporter transfer device is used in an automatic warehouse, it is necessary to prevent the swing of the transporter 1 or the transporter 30 in the traveling direction (arrow B, C direction) and the reach in the reach direction with respect to the shelf. As countermeasures for this, for example, in the transport device having the configuration shown in FIGS. 4 and 5, the configuration of the rope in the traveling direction is as shown in FIG. 6, and the configuration of the rope in the reach direction is as shown in FIG. .

  In order to prevent the swing of the transporter 30 in the traveling direction (arrows A and B directions), in FIG. 6A, the ropes 31-1, 31-2 and the ropes 31-3, 31-4 are paired with the traveling direction pair. It is spreading. In FIG. 6B, the ropes 31-1, 31-2 and the ropes 31-3, 31-4 are crossed with each other in the traveling direction. In FIG. 6 (c), the ropes 31-1, 31-2 and the ropes 31-3, 31-4 are expanded in the traveling direction pair, and the ropes 31-5, 31-6 and the ropes 31-7, 31 are expanded. The upper part of -8 is extended to the traveling direction pair. 6D, the ropes 31-1, 31-2 and the ropes 31-3, 31-4 are crossed with each other in the traveling direction, and the ropes 31-5, 31-6 and the ropes 31-7, 31- 8 cross each other in the running direction. In FIG. 6 (e), the ropes 31-1, 31-2 and the ropes 31-3, 31-4 are expanded below the running direction, and the ropes 31-5 and 31-6 are parallel to each other. The upper part of −7, 31-8 is widened with respect to the traveling direction. 6 (f), the ropes 31-1, 31-2 and the ropes 31-3, 31-4 are crossed with each other by a traveling method, and the ropes 31-5 and 31-7 are parallel to each other. The upper part of −6, 31-8 is widened with respect to the traveling direction.

  In order to prevent the carry device 30 from swinging in the reach direction (arrow E), the ropes 31-1 and 31-3 and the ropes 31-2 and 31-4 cross each other in the reach direction in FIG. 7B, the ropes 31-1, 31-3 and the ropes 31-2, 31-4 are crossed with each other in the reach direction, and the ropes 31-5, 31-7 and the ropes 31-6, 31-8 cross each other in the reach direction.

  FIGS. 8 to 11 are diagrams showing another configuration example of the transport device according to the present invention. FIG. 8 is a side view, FIG. 9 is a front view (viewed in the direction of arrow A in FIG. 8), and FIG. FIG. 11 is a plan view of the transporter. 8 to 11, reference numeral 50 denotes a transporter. The transporter 50 is provided with two driven sheaves 51-1 to 51-4 on each side, two on each side, and driven sheaves 51-1 and 51-. 2 is hung up and down by a driving rope 52-1 and driven sheaves 51-3 and 51-4 are hung up and down by a driving rope 52-2. Further, one end of each of the horizontal driving ropes 53-1 to 53-4 is connected to the four corners of the lower end portion of the transporter 50.

  Reference numerals 54 and 55 are guide rails standing vertically in the horizontal direction on the floor or the ground by a predetermined distance (for example, the distance between both ends of the load storage rack). The guide rails 54 are shown in FIGS. As shown in the figure, two guide rails 54-1 and 54-2 are vertically provided with a predetermined interval, and similarly, the guide rail 55 is also provided with a predetermined interval to provide two guide rails 55-1. , 55-2 stand upright. A winding drum 56 winds and rewinds the horizontal driving ropes 53-1 and 53-3, and the winding drum 56 is driven to rotate by a horizontal drive motor 57. Further, the horizontal drive motor 57 can move up and down along the guide rail 54. A winding drum 58 winds and rewinds the horizontal driving ropes 53-2 and 53-4, and the winding drum 58 is rotationally driven by a horizontal driving motor 59. Further, the horizontal drive motor 59 can also move up and down along the guide rail 55.

  The take-up drum 56 and the horizontal drive motor 57 constitute a horizontal drive take-up device that moves up and down along the guide rails 54-1 and 54-2, and the take-up drum 58 and the horizontal drive motor 59 constitute the guide rail 55-. 1, the horizontal drive winding apparatus which moves up and down along 55-2 is comprised.

  Reference numeral 60 denotes a movable carriage having two wheels on each side and a total of four wheels 62 on both sides. The movable carriage 60 includes two rails laid in parallel near the upper end portion between the guide rails 54 and 55. 61, 61 is run on. The movable carriage 60 is provided with two driven sheaves 63-1 and 63-2 for hanging up and down driving ropes 52-1 so as to be rotatable at predetermined intervals, and for hanging up and down driving ropes 52-2. Two driven sheaves 63-3 and 63-4 are rotatably provided at predetermined intervals. 64-1, 64-2 are elevating drive sheaves for applying a driving force to the elevating drive ropes 52-1, 52-2. The elevating drive sheaves 64-1, 64-2 are respectively provided with elevating drive ropes 52-. 1, 52-2 are wound by, for example, one turn or multiple turns. The elevating drive sheaves 64-1, 64-2 are fixed to, for example, a ceiling or a column of a load storage shelf near the upper ends of the guide rails 54-1, 54-2, and are rotated by an elevating drive motor 66. The elevating drive sheaves 65-1 and 65-2 are also fixed to, for example, the ceiling of the guide rails 55-1 and 55-2 near the upper end of the guide rails 55-1 and 55-2 and are rotated by the elevating drive motor 67. .

  One end of two lifting ropes 68-1 and 68-2 is connected to the horizontal drive motor 57, and the other end of the lifting ropes 68-1 and 68-2 is a guide rail 54-1. It is connected to the counterweight 70 through a driven sheave 69 that is rotatably mounted near the upper end of 54-2. Further, one ends of the lifting drive ropes 52-1 and 52-2 wound around the lifting drive sheaves 64-1 and 64-2 are also connected to the counterweight 70 via the driven sheave 69.

  One end of two lifting ropes 72-1 and 72-2 is connected to the horizontal drive motor 59, and the other end of the lifting ropes 72-1 and 72-2 is a guide rail 55-1. It is connected to a counterweight 74 through a driven sheave 73 that is rotatably mounted near the upper end of 55-2. Further, one ends of the lifting drive ropes 52-1 and 52-2 wound around the lifting drive sheaves 65-1 and 65-2 are also connected to the counterweight 74 through the driven sheave 73.

  8 to 11, in order to move the transporter 50 horizontally, for example, in the right direction of FIG. 8, the horizontal drive ropes 53-1 and 51-3 are wound by the winding drum 56. At the same time, the horizontal driving ropes 53-2 and 53-4 are rewound by the winding drum 58. As a result, the transporter 50 moves in the right direction, and the moving carriage 60 also moves in the right direction on the rails 61 and 61 accordingly. When the transporter 50 is moved in the left direction, the horizontal driving ropes 53-2 and 53-4 are wound around the winding drum 58 and the horizontal driving ropes 53-1 and 53-3 are wound around the winding drum 56. Rewind with. As a result, the transporter 50 moves to the left, and the moving carriage 60 moves to the left on the rails 61 and 61 accordingly.

  When the take-up drum 56 or 58 is rotated in the take-up direction, the control of the horizontal drive motor 57 or 59 is speed control, and when the take-up drum 58 or 56 is rotated in the rewind direction, the horizontal drive motor 59 or 57 is controlled. The control is torque control. This balances the tension of the horizontal drive ropes 53-1 to 53-4, and does not apply excessive tension to the ropes 53-1 to 53-4, and the horizontal drive motors 57 and 59 are not overloaded. It becomes easy.

  When the transporter 50 is raised, the lifter drive sheaves 64-1 and 64-2 are rotated in the clockwise direction, and the lifter drive sheaves 65-1 and 65-2 are rotated in the counterclockwise direction so that the transporter 50 is lifted. Then, both counterweights 70 and 74 are lowered. In the case of lowering, the elevator drive sheaves 64-1 and 64-2 are rotated counterclockwise and the elevator drive sheaves 65-1 and 65-2 are rotated clockwise to lower the transporter 50. Both counterweights 70 and 74 rise. In this way, by combining the upward movement, the downward movement, and the horizontal movement of the transporter 50, the transporter 50 is connected to the guide rails 54 (54-1, 54-2) and the guide rails 55 (55-1, 55-2). Can be moved in any direction.

  In addition, although illustration is abbreviate | omitted, the loading / unloading mechanism, such as a fork, is provided in the transporter 50 by arranging a load storage shelf having a large number of load storage portions on both sides of the space between the guide rail 54 and the guide rail 55. Thus, it is possible to configure a so-called automatic warehouse that can store and withdraw a load in an arbitrary load storage portion of the load storage shelf using the transporter.

  In the third embodiment, four guide rails 54-1, 54-2, 55-1 and 55-2 are provided, and two follower sheaves 51-1 to 51-4 provided in the transporter 50 are provided with two guide rails. Although the example which hangs | hangs the raising / lowering drive ropes 52-1 and 52-2 and connects the four horizontal drive ropes 53-1 to 53-4 to the carrying device 50 was shown, it is not limited to this, For example, A follower sheave is provided with one follower sheave, and two follower sheaves are provided on the movable carriage. One lifting drive rope is hung on the follower sheave of the carryer, and both ends thereof are driven sheave, lift drive sheave, follower of the carriage. It may be configured to be moved up and down by connecting to both counterweights via a sheave, and horizontally moved by two horizontal drive ropes. In this case, two guide rails may be used.

  8 to 11, the counterweight 70, the elevator drive sheaves 64-1, 65-1, and the sheaves 69 and 73 are connected to both ends of the elevator drive ropes 52-1 and 52. 74, the horizontal drive ropes 53-1 to 53-4 are wound and rewound by the winding drums 56 and 58, and the horizontal drive motors 57 and 59 and the lifting ropes 68 and 72 are passed through the sheaves 69 and 73, respectively. Although connected to the weight 70, for example, as shown in FIG. 12, winding devices 75, 76 are provided near the upper ends of the guide rails 54, 55, and both ends of the lifting drive rope 52 are respectively wound up by the winding devices 75, 76. The hoisting ropes 68 and 72 may be wound and unwound by the winding devices 75 and 76, respectively. As a result, the lifting drive sheaves 64 and 65 and the counterweights 70 and 74 can be omitted.

  In the transport device shown in FIG. 12, when the take-up devices 75 and 76 are rotated in the take-up direction, the control of the drive motor is speed control, and when the take-up devices 75 and 76 are rotated in the rewind direction, the drive motor is controlled. Use torque control. When the take-up drums 56 and 58 are also rotated in the take-up direction, the control of the horizontal drive motors 57 and 59 is speed control, and when the take-up drums 56 and 58 are rotated in the rewind direction, the control of the horizontal drive motors 57 and 59 is torque controlled. And As a result, the tensions of the lifting drive ropes 52-1 and 52 and the horizontal drive ropes 53-1 to 4-4 are balanced, so that excessive tension is applied to the ropes, the drive motors of the winding devices 75 and 76, and the horizontal drive motors. 57 and 59 do not become overloaded, and control becomes easy.

  Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the technical idea described in the claims and the specification and drawings. Is possible.

It is a figure which shows the structural example of the carrier transfer apparatus which concerns on this invention. (Example 1) It is a figure which shows the structural example of the carrier transfer apparatus which concerns on this invention. (Example 1) It is a figure which shows the structure of the control system of the carrier transfer apparatus which concerns on this invention. It is a figure which shows the structural example of the carrier transfer apparatus which concerns on this invention. (Example 2) It is a figure which shows the structural example of the carrier transfer apparatus which concerns on this invention. (Example 2) It is a figure which shows the example of a rope structure of the running direction of the carrier transfer apparatus which concerns on this invention. It is a figure which shows the rope structural example of the reach direction of the carrier transfer apparatus which concerns on this invention. It is a figure which shows the structural example of the carrier transfer apparatus which concerns on this invention. Example 3 It is A arrow directional view of FIG. It is a B arrow view of FIG. It is a top view of the transporter of the transporter transfer apparatus of FIG. It is a figure which shows the structural example of the carrier transfer apparatus which concerns on this invention. (Example 4)

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Carryer 2 Rope 3 Winding device 4 Winding device 5 Moving cart 6 Horizontal arrangement position 7 Rail 8 Winding device 9 Winding device 10 Traveling wheel 11 Rope 12 Rope 13 Rope 14 Winding device 15 Winding device 16 Winding device DESCRIPTION OF SYMBOLS 17 Inverter 18 Inverter 19 Inverter 20 Control part 21 Encoder 22 Encoder 23 Encoder 30 Carryer 31 Rope 32 Lower moving cart 33 Lower rail 34 Upper moving cart 35 Upper rail 36 Winding device 37 Winding device 38 Winding device 39 Winding device 40 Winding device 41 Winding device 42 Winding device 43 Winding device 44 Traveling wheel 45 Traveling wheel 50 Carrying device 51 Sheave 52 Lifting drive rope 53 Horizontal drive rope 54 Guide rail 55 Guide rail 56 Winding drum 57 Horizontal drive motor 58 Winding drum 59 Horizontal drive motor 60 moving carriage 61 rail 62 wheel 63 sheave 64 lift drive sheave 65 lift drive sheave 66 lift drive motor 67 lift drive motor 68 lift rope 69 sheave 70 counterweight 72 lift rope 73 sheave 74 counterweight 75 winding device 76 winding apparatus

Claims (12)

  At least two fixed winding devices arranged at a predetermined interval in the horizontal direction, and two fixed winding devices positioned at a predetermined interval above or below the horizontal arrangement position of the fixed winding device. At least one moving winding device mounted on a moving carriage that moves horizontally between the devices, and winding at least three ropes connected to a carrier with the fixed winding device and the moving winding device; A transporter transporting apparatus, wherein the transporter is configured to move in the vertical direction and the horizontal direction by rewinding and moving in the horizontal direction of the movable carriage. In the carrier transfer device according to claim 1,
A carrier transporting device characterized in that a combination of position control and torque control is adopted for winding / rewinding control of the fixed winding device and the moving winding device to balance the tension applied to the rope.   A vertically movable carriage that moves in a horizontal direction at a predetermined distance in the vertical direction, at least two winding devices are mounted on either one of the vertical movable carriages with a predetermined interval, and at least one other is installed on the other And winding and rewinding at least three ropes connected to the carrying device by the winding device mounted on the vertically movable carriage, and moving the portable device by moving the vertically movable carriage horizontally. A transporter transporting device configured to move in a vertical direction and a horizontal direction. In the carrier transfer device according to claim 3,
A carrier transporting device characterized in that a combination of position control and torque control is adopted for winding / rewinding control of the plurality of winding devices to balance the tension applied to the rope. Vertically moving along guide rails that are vertically provided with a predetermined interval in the horizontal direction, a movable carriage that runs between the guide rails and above the floor surface by a predetermined interval, and both the guide rails A horizontal drive take-up device, an elevating drive take-up device provided near the upper ends of both guide rails, and a carrier;
At least one driven sheave is attached to the transporter, and at least two driven sheaves are attached to the movable carriage,
At least one lifting drive rope is hung on the follower sheave of the carrier, and both ends of the rope are stretched in the traveling direction of the moving carriage via the driven sheave of the moving carriage, and the lifting drive winding device Take up and rewind,
One end of at least two horizontal drive ropes is connected to the carrier, and the other end is wound and rewound by the horizontal drive winding device, respectively.
One of at least one lifting rope is connected to each of the both horizontal drive winding devices, and the other end is wound and rewound by the lifting drive winding device. In the carrier transfer device according to claim 5,
A plurality of driven sheaves are attached to the transporter and the moving carriage,
A plurality of lifting drive ropes are hung on a plurality of driven sheaves of the carrier, and both ends of the ropes are stretched in the traveling direction of the movable carriage via the driven sheaves of the movable carriage. Take up and rewind with a lifting drive take-up device provided in the vicinity of the part,
A transporter transporting device, wherein one end of each of a plurality of horizontal drive ropes is connected to the transporter, and the other end is wound and rewound by the both horizontal drive winders. In the carrier transfer device according to claim 5 or 6,
A combination of position control and torque control is used for the winding / rewinding control of the both lift drive winding devices, and a combination of position control and torque control is used for the winding / rewinding control of the both horizontal drive winding devices. Carrying device transfer device characterized by adopting. The transporter transfer device according to any one of claims 5 to 7,
Each of the guide rails is composed of two guide rails vertically arranged with a predetermined interval in a direction orthogonal to the traveling direction of the movable carriage. A guide rail standing vertically with a predetermined interval in the horizontal direction, a moving carriage traveling between the guide rails and above the floor surface by a predetermined interval, and a horizontal moving up and down along each of the guide rails A drive take-up device, a counterweight that moves up and down along each of the guide rails, a lifting drive sheave provided near the upper end of the guide rail, and a carrier;
At least one driven sheave is attached to the transporter, and at least two driven sheaves are attached to the movable carriage,
At least one lifting drive rope is hung on the driven sheave of the transporter, and both ends thereof are respectively stretched in the traveling direction of the moving carriage via the driven sheave of the moving carriage, and the lifting drive sheave and the both Connected to both counterweights via a driven sheave provided near the upper end of the guide rail,
One end of at least two horizontal drive ropes is connected to the carrier, and the other end is wound and rewound by the both horizontal drive winding devices,
One end of at least one lifting rope is connected to each of the both horizontal drive winding devices, and the other end is connected to both counterweights via a driven sheave provided near the upper end of the guide rail. A carrier transfer device characterized by the above. In the carrier transfer device according to claim 9,
A plurality of driven sheaves are attached to the transporter and the moving carriage,
A plurality of lifting drive ropes are hung on a plurality of driven sheaves of the transporter, and both ends thereof are stretched in the traveling direction of the movable carriage via the driven sheaves of the movable carriage, and the upper end of the guide rail Connected to both counterweights via an elevating drive sheave provided near and a driven sheave provided near the upper end of the guide rail,
A transporter transporting device, wherein one end of each of a plurality of horizontal drive ropes is connected to the transporter, and the other end is wound and unwound by the horizontal drive winder. In the carrier transfer device according to claim 9 or 10,
A combination of position control and torque control is adopted for the winding / rewinding control of the both lifting drive sheaves, and a combination of position control and torque control is adopted for the winding / rewinding control of the both horizontal drive winding devices. A carrier transfer device characterized by that. The transporter transfer device according to any one of claims 9 to 11,
Each of the guide rails is composed of two guide rails standing vertically with a predetermined interval in a direction orthogonal to the traveling direction of the movable carriage, and the counterweight and the horizontal drive winding device are the two A transporter transporting device characterized by moving vertically along a guide rail.

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