JP2005231841A - Elevating article transfer device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prevent a situation that an elevating platform cannot be stopped in a target elevating position by secular change. <P>SOLUTION: A driving means is provided with a driving part 24 for moving a rope-like body 14 for suspending and supporting the elevating platform 12 equipped with a transfer part 11 capable of transferring an article along the longitudinal direction, and a braking part for braking the driving part 24. A control means is constituted so that the operation of the driving part 24 and the braking part is controlled based on detected information of a elevating position detection means 21 in order to elevate the elevating platform 12 in the target elevating position in the form that the elevating platform 12 is braked and stopped by the braking part in the commanded target elevating position. The control means is constituted so that amplitude detection can be carried out in order to detect amplitude as the difference between the elevating position and the lowermost position of the elevating platform 12 based on the detected information of the elevating position detection means 21 after the elevating platform 12 is braked and stopped in the target elevating position. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

The present invention relates to a lifting platform provided with a transfer section capable of transferring an article, a drive unit that moves and operates a cord-like body that supports the lifting platform in the longitudinal direction, and a braking unit that brakes the drive unit. Drive means, a lift position detection means for detecting the lift position on the lift path of the lift base, and a control means for controlling the operation of the drive means.
In the drive means based on the detection information of the lift position detection means, the control means is configured to raise and lower the lift platform to the target lift position in a form in which braking is stopped by the braking portion at the commanded target lift position. The present invention relates to a liftable article transfer device configured to control operations of the drive unit and the brake unit.

  In the lifting / lowering article transfer device as described above, the control means raises / lowers the lifting platform to the target lifting position in such a manner that braking is stopped by the braking portion at the commanded target lifting position in order to transfer the article. Therefore, the lifting platform is stopped at the target lifting position by performing lifting processing for article transfer that controls the operation of the driving unit and the braking unit in the driving unit based on the detection information of the lifting position detection unit. The article is transferred at the loading section.

  In such an elevating type article transfer device, conventionally, an elevating table is provided so as to be able to move up and down with respect to a traveling carriage that runs through a storage shelf provided with a plurality of article storage units. In the lifting process for mounting, when the lifting position by the lifting position detection means reaches the target lifting position, the operation of the drive unit is stopped and the braking unit is stopped to stop the lifting platform at the target lifting position. (For example, refer to Patent Document 1).

JP 2001-199506 A

In the above conventional lifting / lowering type article transfer device, even if braking is stopped by the braking portion, the lifting platform swings in the vertical direction due to the expansion and contraction of the rope-like body, and the extension of the rope-like body due to secular change. When it increases, the amount of amplitude in the vertical direction of the elevator after the braking is stopped by the braking unit also increases.
Therefore, when the elongation of the cord-like body increases due to secular change, the lifting position by the lifting position detection means reaches the target lifting position, so that even if the operation of the driving section is stopped and braking is stopped by the braking section, the braking section Depending on the timing at which braking is stopped at, the lifting platform may stop below or above the target lifting position, and the lifting platform may not be stopped at the target lifting position.

  By the way, regarding the factors that increase the amount of amplitude in the vertical direction of the elevator platform, in addition to the extension of the cord-like body due to secular change, for example, if the drive unit is equipped with a gear type reduction means, the gear in the gear type reduction means It is conceivable that the amount of bite changes with time.

  The present invention has been made paying attention to such a point, and an object thereof is to provide an article transfer device capable of preventing a situation in which the lifting platform cannot be stopped at the target lifting position due to aging. In the point.

In order to achieve this object, a first characteristic configuration of a lifting / lowering article transfer device according to the present invention includes a lifting platform provided with a transfer section capable of transferring an article, and supports the lifting platform in a suspended manner. A driving unit having a driving unit for moving the cord-like body in the longitudinal direction and a driving unit for braking the driving unit, and a detecting action on the lifting platform to detect a lifting position on the lifting path of the lifting platform Elevating position detecting means for controlling, and control means for controlling the operation of the driving means,
In the drive means based on the detection information of the lift position detection means, the control means is configured to raise and lower the lift platform to the target lift position in a form in which braking is stopped by the braking portion at the commanded target lift position. In the lifting and lowering article transfer device configured to control the operation of the driving unit and the braking unit,
Based on the detection information of the lift position detection means after the control means brakes the lift base to the target lift position, an amplitude that is the difference between the highest rise position and the lowest drop position of the lift base is obtained. The point is that the amplitude detection processing to be detected can be executed.

That is, the control means executes the amplitude detection process, and if the amplitude is large based on the amplitude detected in the amplitude detection process, the lifting platform is moved to the target lift position by the extension of the cords due to secular change. Therefore, it is determined that there is a possibility that it cannot be stopped, and it is possible to urge the maintenance work of the cord-like body.
Therefore, maintenance work can be performed before falling into a situation where the lifting platform cannot be stopped at the target lifting position due to secular change, and the lifting platform can be stopped at the target lifting position due to secular change. It has become possible to provide an article transfer device that can prevent the situation from being impossible.

  A second characteristic configuration of the lifting / lowering article transfer device according to the present invention is configured such that the control means performs the amplitude detection process in a no-load state where the article is not placed on the lifting platform. There is in point.

In other words, in the load state where the article is placed on the lifting platform, the amplitude detected by the amplitude detection process changes depending on the weight of the article. Therefore, the amplitude detection is performed in consideration of the weight of the article. It is necessary to determine whether maintenance work should be performed based on the amplitude detected in the processing.
Therefore, the control means determines whether maintenance work should be performed based on the amplitude detected in the amplitude detection processing without considering the weight of the article by performing the amplitude detection processing in the no-load state. Therefore, the determination can be easily performed.

  According to a third characteristic configuration of the lifting / lowering article transfer device according to the present invention, the control means moves the lifting / lowering position detecting means to lift / lower the lifting / lowering table to the target lifting / lowering position in order to transfer the article. Based on the detected information, an ascending / descending process for transferring the article for controlling the operation of the driving unit and the braking part in the driving means is performed, and the amplitude detecting process is executed following the ascending / descending process for transferring the article It is in the point comprised as follows.

That is, since the control means executes the amplitude detection process subsequent to the lifting process for transferring the article, the amplitude detecting process can be executed simply by transferring the article. The amplitude can be detected each time the image is transferred.
Therefore, in particular, the amplitude can be detected in the work of transferring the article without performing the work for executing the amplitude detection process, and the amplitude that gradually changes with the passage of time can be detected. Therefore, it is possible to accurately determine whether maintenance work should be performed.

  According to a fourth characteristic configuration of the liftable article transfer device according to the present invention, the control means is configured to determine that the detected amplitude is an abnormal state when the detected amplitude is greater than or equal to a set value for abnormality. It is in the point.

  In other words, in the amplitude detection process, the control means determines whether or not the maintenance work should be performed by determining whether or not the detected amplitude is equal to or greater than the set value for abnormality. Since the determination can be made based on the reference, the determination can be easily performed.

An example in which the liftable article transfer apparatus according to the present invention is applied to an article storage facility will be described with reference to the drawings.
As shown in FIG. 1, the article storage facility includes two storage shelves 1 that are installed at an interval so that the direction of putting in and out the articles is opposed to each other, and a work passage 2 that is formed between the storage shelves 1. A stacker crane 3 as a liftable article transfer device that automatically travels is provided, and each storage shelf 1 is provided with a large number of article storage units 4 arranged vertically and in multiple stages.

  A traveling rail 5 is installed in the work path 2 along the longitudinal direction of the storage shelf 1. One end of the work path 2 has a ground side controller 7 as a control means for managing the operation of the stacker crane 3, and A pair of loading platforms 8 are provided with the traveling rail 5 interposed therebetween.

As shown in FIG. 2, the stacker crane 3 is an electric type as a transfer unit that can move along a travel rail 5 and move horizontally along a travel rail 5 and a pallet P carrying an article 9. And a lifting platform 12 having a fork device 11.
The stacker crane 3 moves the pallet P placed on the loading table 8 to the article storage unit 4 by the horizontal movement of the traveling carriage 10, the raising / lowering of the lifting platform 12, and the operation of the fork device 11. The pallet P stored in the article storage unit 4 is configured to be transferred to the loading table 8.

A pair of front and rear elevating masts 13 for guiding and supporting the elevating platform 12 so as to be movable up and down are provided, and the elevating platform 12 is provided so as to be movable up and down relative to the traveling carriage 10.
The upper ends of the pair of front and rear lifting masts 13 are connected by an upper frame 15 that is guided along the guide rail 6.

The lifting platform 12 is wound around an upper driven pulley 16, a traveling cart driven pulley 17, a lifting platform driven pulley 18, and a driving pulley 19, and ends thereof are an upper surface side and a lower surface side of the lifting platform 12. Are suspended and supported by an elevating chain 14 as two cords connected to each other.
The upper side driven pulley 16 is provided at the front end portion and the rear end portion of the upper frame 15, and the traveling carriage side driven driven pulley 17 is provided at one end portion and the central portion of the traveling carriage 10. Reference numeral 18 denotes a central lower surface portion of the lifting platform 12, and a driving pulley 19 is provided to one end portion of the traveling carriage 10.

Further, an elevating electric motor 24 that is an inverter type motor for driving and rotating the drive pulley 19 is provided, and the elevating chain motor 14 is moved forward and backward by driving the drive pulley 19 forward and backward by the elevating electric motor 24. The elevator 12 is configured to move up and down by moving in the longitudinal direction.
The lifting electric motor 24 is provided with an electromagnetic brake 20 that brakes the lifting electric motor 24 and is driven by the lifting electric motor 24 that acts as a driving portion and the brake 20 that acts as a braking portion. Is configured.

As shown in FIG. 2, the lifting platform 12 is provided with a lifting platform-side rotary encoder 21 as a lifting position detection means.
Although not shown in the figure, the elevator base-side rotary encoder 21 is provided with a sprocket that is engaged with a chain laid in the vertical direction of the elevator mast 13 on the rotary shaft of the elevator base-side rotary encoder 21. When the sprocket is rotated by raising and lowering, the raising and lowering position on the raising and lowering path of the raising and lowering platform 12 is detected by detecting the lifting platform 12.

  The traveling carriage 10 is provided with two front and rear traveling wheels 23 that can travel on the traveling rail 5, and one of the two traveling wheels 23 on one end side in the longitudinal direction of the vehicle body is an inverter type motor. It is configured as a propulsion driving traveling wheel 23a driven by a certain traveling electric motor 25, and a wheel on the other end side in the longitudinal direction of the vehicle body is configured as a freely driven driven traveling wheel 23b.

Although not shown in FIG. 2, the vehicle body side rotary encoder 22 is provided on the traveling carriage 10.
A sprocket that meshes with a chain laid along the traveling rail 5 is attached to the rotating shaft of the vehicle body-side rotary encoder 22, and the sprocket is rotated by traveling of the traveling carriage 10, so that the traveling position of the traveling carriage 10 is changed. It is configured to detect.

As shown in FIG. 3, the ground-side controller 7 includes a communication controller 7a for communicating various information for operating the stacker crane 3, and horizontally moves the article for moving the traveling carriage 10 horizontally. Processing, lifting / lowering processing for moving an article for raising / lowering the lifting platform 12, and transfer processing for transferring an article for transferring an article 9 by the fork device 11 are performed.
The stacker crane 3 includes a traveling inverter 26 that operates the traveling electric motor 25 or the fork device 11, a lifting inverter 27 that operates the lifting electric motor 24, a lifting platform-side rotary encoder 21, and a vehicle body-side rotary encoder 22. An input / output device 28 capable of inputting / outputting detection information is provided.

The traveling inverter 26 outputs a current to the traveling electric motor 25 to operate the traveling electric motor 25, and outputs a current to the electric fork device 11 to output the fork device 11. It is configured to be switchable to a transfer state to be operated.
Further, the lift inverter 27 is configured to operate the lift electric motor 24 and the brake 20 by adjusting the output of current to the lift electric motor 24.

The travel inverter 26 is provided with a communication controller 26a, the elevator inverter 27 is also provided with a communication controller 27a, and the input / output device 28 is also provided with a communication controller 28a.
The communication controllers 26a, 27a, 28a on the stacker crane side, the communication controller 7a of the ground side controller 7, and the optical transmission device 29 constitute a communication network, so-called device net, and the ground side controller 7 is configured as a master and travels. The inverter 26, the lifting inverter 27, and the input / output device 28 are configured as slaves, and various types of information can be freely communicated through this communication network.
And the ground side controller 7 is comprised so that operation | movement of the stacker crane 3 may be managed, managing various information about the stacker crane 3 by communicating various information in this communication network.

The operation of the stacker crane 3 will be described. Basically, when the pallet P placed on the loading table 8 is transferred to the article storage unit 4 and when the pallet is stored in the article storage unit 4. In some cases, P is transferred to the loading table 8.
And the instruction | indication which transfers the article | item 9 is performed by a high-order computer, an artificial input, etc., and the ground side controller 7 is comprised so that the operation | movement of the stacker crane 3 may be managed based on the commanded information. ing.

When a case where the pallet P placed on the loading table 8 is transferred to the article storage unit 4 is described, first, when the transfer of the article 9 is instructed, the ground-side controller 7 applies to the loading table 8. The corresponding target stop position is set as the transfer stop position, and various information is communicated through the communication network, and the horizontal movement process and the lifting process are performed for the article transfer, and the lifting platform 12 is set to the transfer stop position. After the stop, the transfer process for transferring the article is performed, and the pallet P placed on the loading table 8 is received.
When the pallet P placed on the loading table 8 is picked up, the ground controller 7 then sets one article storage unit 4 out of the plurality of article storage units 4 as a transfer destination. The target stop position corresponding to the article storage unit 4 of the loading destination is set as the transfer stop position, and various items of information are communicated through the communication network while performing horizontal movement processing and lifting processing for transferring the articles. 12 is stopped at the transfer stop position, and then the fork device 11 is operated to wholesale the pallet P to the article storage unit 4 at the transfer destination.

  Incidentally, the target stop position is a position where the lifting platform 12 should be stopped in order to transfer the pallet P by the fork device 11, and is set for each of the loading table 8 and the plurality of article storage units 4. Yes.

  In addition, when the pallet P stored in the article storage unit 4 is transferred to the loading table 8, the pallet P mounted on the loading table 8 is transferred to the article storage unit 4. First, after moving to the transfer stop position corresponding to the article storage unit 4, the pallet P stored in the article storage unit 4 is picked up and then moved to the transfer stop position corresponding to the loading table 8. After that, the pallet P is wholesaled on the loading table 8.

Hereinafter, specific operations in the lifting process for article transfer, the horizontal movement process for article transfer, and the transfer process for article transfer will be described.
First, when explaining the lifting process for article transfer, since the ground-side controller 7 has set the stop position for transfer, the set stop position for transfer is set as the commanded target lift position, In order to raise and lower the elevator 12 to the transfer stop position in such a manner that braking is stopped by the brake 20 at the transfer stop position, the elevator motor 24 and the brake 20 of the elevator 20 are detected based on the detection information of the elevator encoder 21. It is configured to control operation.

  The ground controller 7 is configured to transmit speed command information to the lift inverter 27 in order to stop the lift platform 12 at the transfer stop position. The lift inverter 27 is connected to the ground controller 7 from the ground controller 7. The elevator 12 is configured to stop at the transfer stop position by adjusting the current value for the elevator motor 24 based on the speed command information.

More specifically, the ground controller 7 transmits speed command information such as ascending or descending to the lifting inverter 27, so that the lifting inverter 27 operates the lifting electric motor 24 to move up and down. The platform 12 is configured to be raised or lowered.
During the raising / lowering of the lifting platform 12, the input / output device 28 transmits the detection information of the lifting platform-side rotary encoder 21 to the ground-side controller 7, so that the ground-side controller 7 determines the lifting position of the lifting platform 12. Is configured to manage.

In this way, in the state in which the lifting platform 12 is lifted while managing the lifting position of the lifting platform 12, the ground controller 7 decelerates the lifting position of the lifting platform 12 before the transfer stop position. When it is determined that the elevator position has been reached, the elevator inverter 27 moves the elevator 12 up and down by transmitting speed command information for decelerating the elevator speed of the elevator platform 12 to the low speed for stopping. The elevating electric motor 24 is adjusted so that the speed becomes a low speed for stopping.
And if the ground side controller 7 discriminate | determines that the raising / lowering position of the raising / lowering stand 12 reached the transfer stop position in the state which is raising / lowering the raising / lowering stand 12 at the low speed for a stop, the raising / lowering stand 12 will be stopped. By transmitting the speed command information for the lifting / lowering inverter 27, the lifting / lowering inverter 26 stops the lifting / lowering electric motor 24 and operates the brake 20 to stop the lifting / lowering platform 12 at the transfer stop position. It is configured to let you.

  Next, the horizontal movement process for article transfer will be described. The ground-side controller 7 is configured to transmit speed command information to the travel inverter 26 in order to stop the travel carriage 10 at the transfer stop position. The traveling inverter 26 is configured to stop the traveling carriage 10 at the transfer stop position by adjusting the current value for the traveling electric motor 25 based on the speed command information from the ground controller 7. ing.

Since this horizontal movement process is the same as the operation of the lifting process except that the target for communicating the speed command information is different, a brief description will be added.
The ground side controller 7 is configured to horizontally move the traveling cart 10 while managing the traveling position of the traveling cart 10 based on the detection information of the vehicle body side rotary encoder 22 from the input / output device 28. In this state, when the traveling position of the traveling carriage 10 reaches the deceleration position, speed command information for decelerating the moving speed of the traveling carriage 10 to the low stop speed is transmitted from the ground controller 7 to the traveling inverter 26. Thus, the moving speed of the traveling carriage 10 is reduced to a low speed for stopping.
Further, when the traveling position of the traveling carriage 10 reaches the transfer stopping position in a state where the traveling carriage 10 is moved at a low speed for stopping, speed command information for stopping the traveling carriage 10 is transmitted to the ground side controller. 7 is transmitted to the traveling inverter 26 to stop the traveling carriage 10 at the transfer stop position.

  Next, a transfer process for transferring articles will be described. The ground-side controller 7 stops the elevator 12 at the transfer stop position, and then transfers the pallet P to the traveling inverter 26. It is comprised so that transfer command information may be transmitted, and the inverter 26 for driving | running | working is based on the transfer command information from the ground side controller 7, It is between the articles | goods storage part 4 in the fork apparatus 11, or with the load mounting base 8. It is configured to transfer the pallet P between them.

The ground-side controller 7 is used in the lifting / lowering process for transferring articles, such as when receiving a pallet P placed on the loading table 8 or when receiving a pallet P stored in the article storage unit 4. If there is no load on which the article 9 or the pallet P is not placed, the amplitude detection process is performed following the lifting / lowering process for transferring the article.
In other words, the ground-side controller 7 executes an amplitude detection process subsequent to the lifting process for transferring the article when in the no-load state, and in this amplitude detection process, the lifting / lowering table 12 is braked to the transfer stop position. Based on the detection information of the elevator table-side rotary encoder 21 after the operation, the amplitude, which is the difference between the highest position and the lowest position of the elevator table 12, is detected.

  In other words, the lifting inverter 27 receives the speed command information for stopping the lifting platform 12 from the ground controller 7 so as to stop the braking by applying the brake 20. As shown in FIG. 4, the input / output device 28 outputs the detection information of the elevator table side rotary encoder 21 after issuing a stop command for transmitting speed command information for stopping the elevator table 12 to the elevator inverter 27. , The amplitude W is detected from the highest rise position R2 and the lowest drop position R1.

And the ground side controller 7 is comprised so that it may discriminate | determine from an abnormal state if the detected amplitude is more than the setting value for abnormality in an amplitude detection process.
In this way, when the ground-side controller 7 determines that an abnormal state is detected in the amplitude detection process, the user is made to display the fact that the abnormal state is present on the display device. It is configured to encourage the need for maintenance.

Further, the ground-side controller 7 may be configured to determine the abnormal state while distinguishing between the sudden short-term abnormal state and the long-term abnormal state due to secular change as the abnormal state.
When the explanation is added, the ground side controller 7 stores the detected amplitude W every time the amplitude detection process is performed, and the amplitude and the number of times of the past set number of amplitudes as shown in FIG. Create a distribution map showing the relationship.
And the ground side controller 7 compares the amplitude W detected by the amplitude detection process performed this time with the distribution map about the amplitude for the past set number of times, and thereby the sudden short-term abnormal state and the long-term due to secular change. It is configured to discriminate the abnormal state while distinguishing from the abnormal state.

That is, the ground-side controller 7 compares the amplitude having the largest number of times with the amplitude W detected in the amplitude detection process performed this time in the distribution diagram of the amplitudes for the past set times, and the difference is short-term. If it is equal to or greater than the set value for abnormality, it is determined that it is a sudden short-term abnormal state.
Also, the ground controller 7 creates a distribution chart including the amplitude W detected in the amplitude detection process performed this time, and in the created distribution chart, the amplitude with the highest number of times is set for long-term abnormality. If it is greater than or equal to the value, it is determined that the state is a long-term abnormal state due to secular change.

[Another embodiment]
(1) In the above embodiment, the elevating chain motor 14 is moved in the longitudinal direction by operating the elevating electric motor 24 to drive the drive pulley 19 in the forward and reverse directions. 6, the elevating chain 14 is wound around a guide sprocket 30 provided on the upper frame 15 and a guide sprocket 31 provided on one elevating mast 13, and is wound on one end of the traveling carriage 10. It is also possible to implement the present invention by connecting to the drum 32 and rotating the winding drum 32 in the longitudinal direction by driving and rotating the take-up drum 32 in the forward / reverse direction by the lifting / lowering electric motor 24. .

(2) In the above embodiment, the lifting position of the lifting platform 12 is detected by the lifting platform side rotary encoder 21 and the traveling position of the traveling carriage 10 is detected by the vehicle body side rotary encoder 22. It is also possible to implement the configuration by detecting the lift position of the lift platform 12 and the travel position of the traveling carriage 10 using a distance meter or the like.

For example, as shown in FIG. 6, the traveling carriage 10 is projected by a lifting laser range finder 33 that projects beam light for distance measurement in the horizontal movement direction and the horizontal laser range finder 33. And a mirror 35 for irradiating the reflecting plate 34 installed on the lower surface of the lifting platform 12 by bending the path of the light beam vertically upward.
The lifting laser range finder 33 detects the distance between the reference position and the lifting platform 12 by using the position of the mirror 35 provided in the traveling carriage 10 as the reference position in the lifting direction. It is comprised so that the raising / lowering position of the stand 12 may be detected.

Further, as shown in FIG. 6, the traveling carriage 10 is provided with a horizontal laser range finder 36 that projects a beam light for distance measurement in the horizontal movement direction.
Then, the horizontal laser range finder 36 projects toward the reflecting plate 37 installed at the reference position with the end of the movement path of the stacker crane 3 as the reference position in the work path 2, and the reference position The travel position of the travel cart 10 is detected by detecting the distance between the travel cart 10 and the travel cart 10.

(3) In the above embodiment, the ground-side controller 7 manages the operation of the stacker crane 3 by directly communicating various information with the traveling inverter 26, the lifting inverter 27, and the like. On the side, as a control means, a crane-side controller for controlling the operation of the traveling inverter 26 and the lifting inverter 27 is provided, and the ground-side controller 7 is configured to execute commands to the crane-side controller. It is also possible.

(4) In the above embodiment, the traveling inverter 26 is configured to be switchable between the traveling state and the transfer state, whereby the inverter that operates the traveling electric motor 25 and the inverter that operates the fork device 11 are used for traveling. Although the inverter 26 is also used, it is possible to provide a traveling inverter that operates the traveling electric motor 25 and a transfer inverter that operates the fork device 11 separately.

(5) In the above embodiment, the detection information of the elevator base side rotary encoder 21 and the vehicle body side rotary encoder 22 is transmitted to the ground side controller 7 by the input / output device 27. A programmable controller having a communication controller or the like is provided as a slave, and the elevator base-side rotary encoder 21 and the vehicle body-side rotary encoder 22 are connected to the programmable controller to detect the elevator base-side rotary encoder 21 and the vehicle body-side rotary encoder 22. You may comprise so that information may be transmitted to the ground side controller 7 by a programmable controller.

(6) In the above embodiment, the ground-side controller 7 performs the amplitude detection process in the no-load state. However, the ground-side controller 7 is not only in the no-load state, but also the article 9 or the Even in the load state in which the pallet P is placed, it is also possible to configure and perform the amplitude detection process.
In this case, the ground-side controller 7 manages the amplitude detected in the amplitude detection process in the no-load state and the amplitude detected in the amplitude detection process in the load state in a state where they are in an abnormal state. It is configured to determine whether or not.

Schematic diagram of goods storage facility Side view of scutter crane Control block diagram of goods storage facility A grab showing the relationship between lift position and time by the rotary encoder on the lift platform Graph showing the relationship between frequency and amplitude Side view of a scutter crane in another embodiment

Explanation of symbols

DESCRIPTION OF SYMBOLS 7 Control means 11 Transfer part 12 Lifting stand 14 Cord-like body 20 Braking part in a drive means 21 Lifting position detection means 24 Drive part in a drive means

Claims (4)

Elevator with transfer part capable of transferring articles, drive unit for moving and moving the cord-like body supporting the elevator in the longitudinal direction, and drive with a brake part for braking the drive unit Means, a lift position detecting means for detecting the lift position on the lift path of the lift base, and a control means for controlling the operation of the drive means.
In the drive means based on the detection information of the lift position detection means, the control means is configured to raise and lower the lift platform to the target lift position in a form in which braking is stopped by the braking portion at the commanded target lift position. A liftable article transfer device configured to control the operation of the drive unit and the braking unit,
Based on the detection information of the lift position detection means after the control means brakes the lift base to the target lift position, an amplitude that is the difference between the highest rise position and the lowest drop position of the lift base is obtained. An elevating-type article transfer device configured to be able to execute amplitude detection processing to be detected.   2. The liftable article transfer device according to claim 1, wherein the control means is configured to perform the amplitude detection process in a no-load state in which the article is not placed on the lift base.   The control means is configured to move the lifting platform to the target lifting position in order to transfer the article, based on detection information of the lifting position detection means, based on detection information of the lifting position detection means. The lifting / lowering article according to claim 1, wherein the lifting / lowering process for transferring an article for controlling the operation is performed, and the amplitude detection process is executed following the lifting / lowering process for transferring the article. Transfer device.   The said control means is the raising / lowering type of any one of Claims 1-3 comprised so that it might discriminate | determine from an abnormal state if the detected amplitude is more than the setting value for abnormality in the said amplitude detection process. Article transfer device.

Images