JP2008007219A - Container positioning mechanism and control method using the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve work efficiency by accurately positioning and stopping containers in a predetermined position in a short time. <P>SOLUTION: This positioning mechanism 1 for containers 3 is provided with a position detection means 20 having first to third optical sensors S1, S2, S3 comprising light emitting devices for sending light beams to a direction orthogonal to the movement direction of a conveyor 10 and light receiving devices detecting the light beams; and with a positioning device 30 fixed to the conveyor 10 and positioning the container 3 in a grasp position M1. When a light non-receiving signal indicating blocking of a first light beam L1 by the container 3 is detected by the first optical sensor S1 and when signals indicating that second and third light beams L2, L3 pass through both ends of the container 3 are detected by the second and third optical sensors S2, S3, the container 3 is roughly positioned within a predetermined range, and while pressed by the positioning device 30, the container 3 is locked and positioned. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a container positioning mechanism used for earth and sand loading work and a control method using the same.

Conventionally, rough terrain vehicles, relays using backhoes, bulldozers or belt conveyors are used for horizontal transport of earth and sand in underground construction. On the other hand, the excavation work in the underground work is performed using a construction machine such as a backhoe or a clamshell or a continuous earthing device such as a vertical belt conveyor. Also, in construction work, in order to shorten the work period, the reverse floor construction method in which the floor work on the first floor is first performed and then the underground work and the ground work are performed in parallel may be employed. When excavating earth and sand generated by underground work in this reverse driving method, the underground work and ground work are carried out in parallel. Space will be limited. When working under such an empty head limit or working in a confined area with many obstacles, the work by the construction machine is greatly restricted, and the efficiency of carrying out sediment is greatly reduced. For such a situation, for example, Patent Document 1 proposes a earthing device for improving workability and saving labor.
Patent Document 1 provides a conveyance guide rail that continues from the underground part to a predetermined height above the ground, loads the excavated earth and sand in the underground part into a container, and holds the container so as to be movable along the conveyance guide rail. It is a lifting device that moves to the ground part along the conveyance guide rail after being gripped by a device, etc., and loads the earth and sand in the container onto the dump truck on the ground part, which improves the efficiency of sediment transport. is there. And it is set as the structure which enabled automatic operation of a series of work processes, such as conveyance start after stopping a container to a conveyance guide rail, stop, and loading to a dump truck.
JP 2004-331373 A

  However, in Patent Document 1, it is necessary to accurately arrange a container loaded with excavated earth and sand at a position where it can be gripped by a gripping device. As the arrangement method, for example, there is a method of placing a container on a conveyor and moving it horizontally to a gripping position. In this case, the conveyor is driven by manual operation, the container placed at the loading position is moved laterally, and the container is stopped at a predetermined position where the container is replaced by the gripping device described above. However, in the case of accurate positioning, it is necessary to perform time-consuming work such as inching the movement of the conveyor. As a result, there is a problem that work efficiency of the earthing work is lowered.

  The present invention has been made in view of the above-described problems. A container positioning mechanism for improving work efficiency by positioning a container at a predetermined position and stopping it with high accuracy in a short time, and a container positioning mechanism for the same. An object is to provide a control method used.

In order to achieve the above object, a container positioning mechanism according to the present invention is a conveyor positioning mechanism that moves a container laterally by a conveyor and stops it at a predetermined position, and a light beam in a direction orthogonal to the moving direction of the conveyor. The first to third optical sensors comprising a light emitting device for sending out light and a light receiving device for detecting light rays are provided, position detecting means for roughly positioning the container within a predetermined range, and rough detection by the position detecting means fixed to the conveyor. And a locking means for locking the positioned container while pressing it from both ends in the moving direction to position the container at a predetermined position, and in a state where the container is at the predetermined position, the first light sensor has the first light beam as the container. Place the second light sensor and third light sensor in the position where they are blocked by It is characterized in that arranged at a position passing through the ends of the.
Further, in the control method using the container positioning mechanism according to the present invention, the first to third lights comprising a light emitter that emits a light beam in a direction orthogonal to the moving direction of the conveyor and a light receiver that detects the light beam. A control method using a container positioning mechanism comprising a position detecting means having a sensor and a locking means fixed to the conveyor and positioning the container at a predetermined position, wherein the conveyor is started, The light sensor detects a non-light-receiving signal in which the first light beam is blocked by the container, and the second light sensor and the third light sensor pass the second and third light beams at both ends in the moving direction of the container. When the light reception signal is detected, the container is roughly positioned within a predetermined range, and is locked while being pressed from both sides of the container by the locking means. It is characterized in that as cause determined.
In the present invention, when the conveyor carrying the container is started and the first light of the first light sensor is blocked by the container, the non-light-receiving signal is detected, and the second light sensor and the third light sensor detect the second and second light signals. It is determined that the container has moved within a predetermined range when a light reception signal in which the third light beam has passed through both ends of the moving direction of the container is detected, and the movement of the container is stopped in a roughly positioned state. Then, after receiving the stop signal of the conveyor, the container can be moved while being pressed against both sides by the locking means, and can be positioned at a predetermined position.

Further, in the container positioning mechanism according to the present invention, the locking means includes an abutting portion that abuts the container on the upper end portion, and is disposed on the conveyor with a direction orthogonal to the moving direction of the conveyor as a rotation axis at a substantially intermediate portion. It is preferable that a rotation member supported rotatably and a rotation drive device that applies rotation drive to the rotation member are provided.
In the present invention, the rotation member is rotated by the rotation drive of the rotation drive device, and the position where the contact portion of the rotation member does not hit the container and the position where the contact portion engages with the container can be selectively switched. .

According to the container positioning mechanism and the control method using the same of the present invention, the container on the conveyor can be positioned and stopped at a predetermined position with high accuracy in a short time. For this reason, for example, when the earthing operation is performed using the earthing device that transfers the positioned container to the conveyance guide rail at the predetermined position and conveys the conveyance guide rail, the waiting time for the container positioning operation is eliminated, and the lifting operation is performed. The work efficiency of earth work can be improved.
Moreover, since the stop position of the container can be accurately positioned, it is possible to automate the container transfer operation from the conveyor to other transporting devices, thereby realizing a more efficient earthing operation.

Hereinafter, embodiments of a container positioning mechanism and a control method using the same according to the present invention will be described with reference to FIGS.
FIG. 1 is a view showing an overall outline of the earthing work state according to the embodiment of the present invention, FIG. 2 is a plan view showing the overall outline of the positioning mechanism, and FIG. 3 is a view taken along line AA of the positioning mechanism shown in FIG. 4A and 4B are diagrams showing the entire conveyor, wherein FIG. 4A is a plan view thereof, FIG. 4B is a side view thereof, FIG. 5 is a plan view showing a mounting state of the positioning device, and FIG. It is a figure which shows operation | movement, (a) is a side view of the state which locked the container on a conveyor in a holding position, (b) is a side view of the state which canceled the locked state, FIG. ) To (d) are operation explanatory views of a control method using a container positioning mechanism.

As shown in FIG. 1, the container positioning mechanism 1 according to the present embodiment uses an opening 5 continuous from the ground floor to the basement floor in a low-heading construction where the upper work space is limited. It is applied to the excavation work for excavation. In the present embodiment, the earth and sand excavated at the lowest floor R1 of the underground portion 6 is loaded into the box-shaped container 3 and then pumped up to the ground floor R2 and loaded onto the dump truck 4.
And this positioning mechanism 1 is provided in the excavation work floor of the lowest floor R1 of the underground part 6, The conveyance guide rail 40 extended from the lowest floor R1 to the ground floor R2 with the container 3 loaded with excavated earth and sand. It moves to the position which can be replaced by the earthing apparatus 2 provided with.

Here, a schematic configuration of the earthing device 2 will be described.
As shown in FIG. 1, the earthmoving device 2 has a conveyance guide rail 40 that conveys the container 3 from the lowest floor R1 through the opening 5 to the ground floor R2, and a conveyance guide rail 40 that is attached to the opening. 5 schematically includes a lift frame 41 that can be moved up and down together with the conveyance guide rail 40, and a lift drive mechanism 42 that provides a drive force for moving the lift frame 41 up and down. The conveyance guide rail 40 has a vertical conveyance path 40a arranged in the up-down direction and a horizontal conveyance path 40b arranged continuously in the substantially horizontal direction from the upper end portion of the vertical conveyance path 40a. And the earth and sand in the container 3 conveyed to the ground floor R2 is loaded on the dump truck 4 waiting under the horizontal conveyance path 40b.

  The earthing device 2 is provided with a gripping unit 43 that can reciprocate along the transport guide rail 40. The gripping unit 43 has gripping means (not shown) for detachably attaching the container 3, for example. The gripping means 43 grips the container 3 at a predetermined position of the conveyor 10 (described later) and moves the transport guide rail 40. Can be made.

  The elevating frame 41 can be moved up and down by a reaction force from a surrounding housing (for example, the lower surface of the floor slab of the ground floor R2) by the elevating drive mechanism 42. As a result, the earthing device 2 is in a state in which the horizontal conveying path 40b of the conveying guide rail 40 is arranged at a predetermined height of the ground floor R2 as shown in FIG. Although not shown in particular during the earthing work, the elevating frame 41 is arranged in a state where it is lowered in the direction of arrow H and stored in the underground portion 6.

Next, the positioning mechanism 1 disposed on the foundation of the lowest floor R1 disposed at the conveyance start position of the conveyance guide rail 40 (this position is referred to as “starting point”) will be described based on the drawings.
As shown in FIGS. 2 and 3, the positioning mechanism 1 includes a conveyor 10 that moves the container 3 in the direction of arrow E and moves the container 3 so that the container 3 is accurately positioned at the delivery position to the conveyance guide rail 40. , And position detecting means 20 for roughly positioning the container 3 moved laterally by the conveyor 10 within a predetermined range.
Here, as shown in FIGS. 2 and 3, a predetermined position where the container 3 is positioned with high accuracy by the conveyor 10 is defined as a gripping position M1, and a predetermined range where the position detection means 20 is roughly positioned is within a predetermined range. And
The conveyor 10 has its gripping position M1 substantially coincident with the starting point of the transport guide rail 40, and can transfer the container 3 by gripping the container 3 to the gripping unit 43 of the transport guide rail 40 at this position.

First, the detailed configuration of the position detection means 20 will be described.
As shown in FIG. 2, the position detection means 20 includes a combination of a light emitter 21 that sends out a light beam L in a direction orthogonal to the moving direction of the conveyor 10 and a light receiver 22 that detects the light beam L. Three sets of first to third optical sensors S1, S2, and S3 are provided to align the container 3 so as to be within the rough positioning range M2. Here, within the rough positioning range M2 is a range in which the positioning device 30 of the conveyor 10 described later can be positioned at the gripping position M1.

The optical sensors S1, S2, S3 are arranged so that the light emitter 21 and the light receiver 22 face each other with a predetermined distance D, and the light receiver 22 emits light beams L1, L2, L3 transmitted from the light emitter 21. It can receive light. The predetermined distance D between the light emitter 21 and the light receiver 22 described above is a range in which the light receiver 22 can reliably detect the light beams L1, L2, and L3 of the light emitter 21.
Of these photosensors S1, S2, and S3, the first photosensor S1 located at the center is used for confirming the arrangement of the container 3, and the second and third photosensors S2 and S3 located on both sides of the photosensor S1 are located in the container 3. It is used for position detection at both ends in the moving direction.

As shown in FIG. 3, two first and second containers 3 </ b> A and 3 </ b> B are arranged on the conveyor 10.
In the first light sensor S1, when the light beam L1 is blocked, the light receiving OFF (non-light receiving signal) in a state where the light reception is not confirmed by the light receiver 22 is detected. Then, in the second and third optical sensors S2 and S3, the light beams L2 and L3 pass through without being blocked by the container 3, and light reception ON (light reception) in a state where the light reception is confirmed by the light receivers 22 and 22 is received. Signal) is detected. These signals are transmitted to a control device (not shown), for example. Positioning control is performed so that the movement of the conveyor 10 is stopped when the signals that the light reception is turned off by the first light sensor S1 and the signals that the light reception is turned on by the second and third light sensors S2 and S3 are simultaneously confirmed. Detailed control method will be described later).

Next, the conveyor 10 will be described in detail.
As shown in FIGS. 4A and 4B, the conveyor 10 is disposed on both sides in the conveyor width direction, and the chain belts 11 and 11 that place and move the containers 3 are placed. And a guide motor 14 provided on both sides in the width direction to prevent the container 3 from falling, and a substantially central portion of the conveyor 10 in plan view. A positioning device 30 (locking means) is generally configured.

As shown in FIGS. 5, 6 (a) and 6 (b), the conveyor 10 is disposed on both sides of the moving direction of the container 3 (see FIG. 3) stopped at the gripping position M <b> 1, and extends in the width direction of the conveyor 10. The extended guide members 10a and 10a are fixed.
The positioning device 30 is provided with rotating members 32 and 32 fixed to the guide members 10a and 10a. The pair of rotating members 32, 32 have contact portions 32 a that contact the container 3 at their respective upper ends, and the direction perpendicular to the moving direction of the conveyor 10 is set as a rotation axis at a substantially intermediate portion of each rotating member 32. A rotation fulcrum 32b that is rotatably supported by the guide member 10a is provided. The rotating member 32 is formed to be bent in the shape of a hook when viewed from the side below the rotation fulcrum 32b, and a hydraulic or electric cylinder 31 (rotation drive device) that expands and contracts in the moving direction of the conveyor 10 at the lower end 32c. ) Is attached. The other end 31 b of each cylinder 31 of both the rotating members 32, 32 is fixed to a support member 10 b provided in the center width direction of the conveyor 10 via a connecting member 33.

Accordingly, the pair of rotating members 32 and 32 can rotate around the rotation fulcrum 32b by the expansion and contraction of the cylinders 31 and 31, respectively. That is, when the cylinder 31 is contracted, the contact portion 32a of the rotating member 32 rotates to a position below the container 3 on the conveyor 10, and the position at that time is the release position T2 (FIG. 6B). Reference). When the contact portion 32b is at the release position T2, the contact portion 32b is not in contact with the container 3.
Further, when the cylinder 31 is extended, the contact portion 32a contacts the side surface 10c of the guide member 10a to restrict the rotation of the rotating member 32. The contact position of the contact portion 32 at this time (this position is referred to as a locking position T1 (see FIG. 6A)) forms the gripping position M1 (see FIG. 3) of the container 3.
The locking position T1 and the release position T2 on the rotating member 32 can be selectively switched according to the state of the container 3.

Then, the positioning device 30 presses the container 3 with the contact portion 32a on the shifted side, with respect to the shift of the container 3 aligned with the rough positioning range M2 by the position detection unit 20 described above (shift with respect to the gripping position M1). It is possible to correct it by moving it while positioning it accurately at the gripping position M1.
As described above, the positioning device 30 is configured to move the container 3 by the rotational force of the rotating member 32, that is, the pressing force of the cylinder 31. Therefore, the cylinder 31 needs to have a pressing ability that can move the container 3 loaded with earth and sand.

Next, a control method using the above-described positioning mechanism 1 will be described with reference to FIG.
As shown in FIG. 2 and FIG. 7A, the first container 3A is arranged on the conveyor 10 on the moving direction start point side (left side of FIG. 7A), and at a substantially central position of the conveyor 10 with a predetermined interval. A second container 3B is arranged. At this position, earth and sand are loaded into the first container 3A by a loading machine such as a backhoe. At this time, the detection states of the optical sensors S1, S2, and S3 are such that the second container 3B is disposed at the center of the conveyor 10, and therefore the light reception is OFF by the first optical sensor, and the second and third optical sensors S2 and S3. The light reception is turned on. At this time, both rotating members 32 and 32 of the positioning device 30 are in the release position T2 (see FIG. 6B).

Then, the positioning control starts simultaneously with the start of movement of the conveyor 10 in the direction of arrow F. Immediately after the start of movement as shown in FIG. 7B, the light beam L2 from the second light sensor S2 is blocked by the first container 3A, and the light beam L3 from the third light sensor S3 is blocked by the second container 3B. Since the light receivers 22 of both the light sensors S2 and S3 cannot receive the light beams L2 and L3, the all-light sensors S1, S2 and S3 detect light reception OFF.
Further, although not shown in the drawing, when the first and second containers 3A and 3B move further than in FIG. 7B, the light beam L1 of the central first photosensor S1 blocked by the second container 3B is generated. It is confirmed that the light is received by the light receiver 22, and light reception ON is detected.

  Then, as shown in FIG. 2 and FIG. 7C, when the moving first container 3A moves to the approximate center of the conveyor 10, the light reception is turned off by the first light sensor, the second and third light sensors S2, In S3, it is detected that light reception is ON, and it is determined that the first container 3A has moved to the rough positioning range M2. As a result, the conveyor 10 is stopped in a state of being aligned in the rough positioning range M2, and a stop signal at this time is transmitted to, for example, a control device.

Then, as shown in FIG. 6, after receiving the stop signal of the conveyor 10, both cylinders 31 and 31 of the positioning device 30 of the conveyor 10 are extended, and the rotating members 32 and 32 are directed toward the first container 3A side. It rotates (see FIG. 7D). Then, the first container 3A is pressed so as to be sandwiched from both the upstream and downstream directions by the contact portions 32a and 32a of the rotating members 32 and 32, and the displacement with respect to the rough positioning range M2 is corrected and positioned at the gripping position M1. It will be.
As shown in FIG. 1, the first container 3A positioned at the gripping position M1 is transported by the transport guide rail 40 and moved to the ground floor R2, loaded with earth and sand on the dump truck 4, and again conveyed to the conveyor on the basement floor R1. Is placed at the center position. And earth and sand are loaded into the empty second container 3B by the loading means during the conveyance of the first container 3A. Thereafter, the conveyor 10 is moved in the direction opposite to the direction of the arrow F shown in FIG. 7A, and the coarse positioning by the position detection means 20 and the accurate positioning to the gripping position M1 by the positioning device 30 are performed by the container positioning control method described above. Positioning is performed.
Moreover, a series of processes from the start of the conveyor 10 to the positioning to the gripping position M1 can be operated by automatic control.

The earthing method using the positioning mechanism 1 that controls the positioning of the container 3 in this way and the earthing device 2 described above will be described.
As shown in FIG. 1, first, excavated earth and sand are loaded into an empty container 3 arranged at the moving direction end on the conveyor 10 by loading means such as a backhoe on the lowest floor R1. Next, the container 3 is moved and positioned by the position detection means 20 and the positioning device 30 of the conveyor 10 to the gripping position M1, that is, the starting position of the conveyance guide rail 40 (see FIG. 7). Thereafter, the container 3 is gripped by the gripping unit 43 of the transport guide rail 40 and transported along the transport guide rail 40 to the loading point of the ground floor R2. Then, the bottom of the container 3 is opened and the excavated earth and sand are loaded on the dump truck 3 that is waiting in advance. The empty container 3 is returned to the starting point of the lowest floor R1 along the conveyance guide rail 40.

In the container positioning mechanism and the control method using the same according to the present embodiment described above, the container 3 on the conveyor 10 can be positioned and stopped at the gripping position M1 in a short time and with high accuracy. Therefore, when the earthing operation is performed using the earthing device 2 that transfers the positioned container 3 to the conveyance guide rail 40 at the gripping position M1 and conveys it on the conveyance guide rail 40, the container 3 waits for the positioning operation. Time is lost and work efficiency of the earthing work can be improved.
In addition, since the stop position of the container 3 can be accurately positioned, it is possible to automate the delivery work of the container 3 from the conveyor 10 to another transporting device and the like, and a more efficient earthing work can be realized. .

The embodiments of the container positioning mechanism and the control method using the same according to the present invention have been described above. However, the present invention is not limited to the above-described embodiments, and may be changed as appropriate without departing from the scope of the present invention. Is possible.
For example, the configuration, shape, attachment position, etc. of the positioning device 30 according to the present embodiment are not limited. For example, the means for applying rotational driving to the rotating member 32 is not limited to the cylinder 32, and a rotational driving motor or the like may be used as rotational power. In short, it is only necessary that the container 3 roughly positioned in the rough positioning range M2 by the position detecting means 20 can be moved so as to come into contact with the both sides thereof to reach the gripping position M1.
Moreover, although the two containers 3 are arrange | positioned on the conveyor 10, even if it is the one container 3, it can position to the holding position M1 using the position detection means 20 and the positioning device 30. FIG.

It is a figure which shows the whole outline | summary of the earthing work state by embodiment of this invention. It is a top view which shows the whole outline | summary of a positioning mechanism. It is an AA arrow directional view of the positioning mechanism shown in FIG. It is a figure which shows the whole conveyor, Comprising: (a) is the top view, (b) is the side view. It is a top view which shows the attachment state of a positioning device. It is a figure which shows operation | movement of a positioning apparatus, Comprising: (a) is a side view of the state which locked the container on a conveyor in a holding position, (b) is a side view of the state which released the locked state . (A)-(d) is operation | movement explanatory drawing of the control method using the positioning mechanism of a container.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Positioning mechanism 2 Landing device 3, 3A, 3B Container 10 Conveyor 20 Position detection means 21 Light emitter 22 Light receiver 30 Positioning device (locking means)
31 cylinder (rotary drive)
32 Rotating member 32a Contact part M1 Gripping position (predetermined position)
M2 Coarse positioning range L, L1, L2, L3 Ray S1, S2, S3 Light sensor

Claims (3)

A conveyor positioning mechanism for horizontally moving containers by a conveyor and stopping the container at a predetermined position,
Position for roughly positioning the container within a predetermined range by providing first to third light sensors comprising a light emitter that sends light in a direction orthogonal to the moving direction of the conveyor and a light receiver that detects the light Detection means;
Locking means for locking the container, which is fixed to the conveyor and roughly positioned by the position detection means, while pressing the container from both ends in the moving direction and positioning the container at a predetermined position;
With
With the container in the predetermined position, the first light sensor is disposed at a position where the first light beam is blocked by the container, and the second light sensor and the third light sensor are disposed in the second and third light sensors. A container positioning mechanism characterized in that three light beams are arranged at positions passing through both ends in the moving direction of the container. The locking means is
A rotating member supported on the conveyor so as to be rotatable about a direction orthogonal to the moving direction of the conveyor at a substantially intermediate portion, with an abutting portion for abutting the container on an upper end portion;
A rotation drive device for applying rotation drive to the rotation member;
The container positioning mechanism according to claim 1, wherein the container positioning mechanism is provided. Position detecting means comprising first to third optical sensors comprising a light emitter for sending light in a direction orthogonal to the moving direction of the conveyor and a light receiver for detecting the light, and fixed to the conveyor And a control method using a container positioning mechanism comprising locking means for positioning the container at a predetermined position,
The conveyor is started, and the first light sensor detects a non-light-receiving signal in which the first light beam is blocked by the container, and the second and third light sensors detect the second and third light signals. The container is roughly positioned within a predetermined range when a light reception signal is detected when a light beam passes through both ends of the container in the moving direction;
A control method using a container positioning mechanism, wherein the container is locked while being pressed from both sides of the container and is positioned at the predetermined position.

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