JP2009179433A - Article conveying device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an article conveying device capable of preventing the start of the movement of a moving body in a state that the moving body cannot be braked. <P>SOLUTION: The article conveying device includes a moving body for conveying articles which is movable by a driving means (M1), a braking means (B) freely switchable between a braking state for braking the movement of the moving body and a brake-releasing state, and a control means (7) for controlling the driving means and the braking means. The control means executes the processing for checking the braking state of controlling the driving means and the braking means at the timing for checking the braking state so as to set the braking means in a braking state and to drive the driving means. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention includes a moving body for conveying an article that can be moved by a driving means, a braking means that can be switched between a braking state for braking movement of the moving body and a braking release state, and the driving means and the braking means. The present invention relates to an article conveyance facility provided with a control means for controlling.

  In the article transport facility, a driving force is generated by a driving unit, and an article is transported by moving a moving body by the driving force (see, for example, Patent Document 1).

  Although not described in detail in Patent Document 1, the article transport facility is provided with braking means that can be switched between a braking state for braking the movement of the moving body and a braking release state, and moves the moving body. In some cases, the movement of the moving body is started by generating a driving force by the driving means in a state in which the braking means is in a brake released state and the moving body is not braked.

  And as an aspect which makes a braking means a braking state, when using an electric motor as a drive means like patent document 1, for example, when decelerating a movable body, an electric motor is maintained with a braking means maintained in a braking release state. In some cases, the operation is controlled to decelerate to a very low speed for preparation for stop, and then, when the moving body moves to the target stop position, the braking means is brought into a braking state to stop the moving body moving at a very low speed. .

  As described above, in the conventional article transport facility, when the moving body is moved, the control means starts the movement of the moving body in a state where the braking means is in a brake release state and the moving body is not braked. The braking means is put into a braking state when the moving body is decelerated or stopped, such as when the moving body moving at a slow speed is stopped or the moving body after the stop is stopped. Yes.

  In the article transport facility, a so-called negative brake urged to a braking state may be used as a braking means so that the moving body can be braked even during a power failure.

  In the case of using a negative brake as a braking means, the brake is applied regardless of the control means when the moving body is moved by an external force such as human power during maintenance work or when the inspection work or adjustment work of the braking means is performed. A compulsory release operation member that is detachable and attachable is provided so that the means can be forcedly released to a brake release state.

  As the braking means urged to the braking state, for example, there is a non-excited spring braking electromagnetic brake built in an electric motor as a driving means, and in an installation provided with such a negative brake, an electromagnetic coil of the electromagnetic brake The brake release as a forcible release operation member that can be attached to and detached from the electric motor so that it can be forcedly released into the brake release state mechanically against the biasing force of the brake spring without exciting the brake. There is one provided with a bolt (for example, see Patent Document 2).

JP 2007-62941 A (paragraph “0043” and FIG. 4) JP 2002-51498 A (paragraph “0011” and FIG. 1)

  However, in the conventional article transport facility, the braking means is brought into a braking state when the moving body is decelerated or stopped. For example, after the moving body is stopped, the moving body is moved next. In the case where the braking means breaks down before or when the negative braking force applied to the braking state is used as the braking means, the braking means is brought into the braking release state by the forced release operation member for maintenance of the equipment. If the user forgets to remove the forcible release operation member later, there is a possibility that the stopped moving body starts to be moved in a state where the braking means cannot properly brake the moving body.

  Therefore, when it is necessary to brake the moving body in order to decelerate or stop the moving body, the control unit cannot appropriately put the braking unit in the braking state, and the moving body starts after the moving body starts moving. The inconvenience that the movement of the camera cannot be appropriately controlled occurs.

  Thus, in the case of the conventional article transport facility, even if the braking means falls into a state where the moving body cannot be braked, there is a possibility that the movement of the stopped moving body is started without being discovered. There is a problem that the movement of the moving body cannot be appropriately controlled.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an article conveying facility that can prevent the moving body from starting to move in a state where the moving body cannot be braked.

  In order to achieve this object, an article transporting apparatus according to the present invention can be switched between a moving body for transporting an article that can be moved by a driving means, and a braking state and a brake releasing state for braking the movement of the moving body. Braking means, the driving means, and a control means for controlling the braking means. The first characteristic configuration is that the control means places the braking means in the braking state and drives the driving means. The braking state confirmation processing for controlling the driving means and the braking means to drive the means is configured to be executed at the braking state confirmation timing.

  That is, when the control unit executes the braking state confirmation process at the braking state confirmation timing, the driving unit and the braking unit are controlled so that the braking unit is brought into the braking state and the driving unit is driven.

  During the execution of the brake state confirmation process, as long as the braking means functions normally, the movement of the moving body is braked, and even if the driving force is generated by the driving means, the moving body does not move. Therefore, the movement monitoring means monitors the presence or absence of movement of the moving body during the execution of the braking state confirmation process, so that when the moving body moves, that is, the control means puts the braking means into the braking state. When the moving body is not braked in spite of controlling the braking means as described above, an abnormality that the braking means cannot properly brake the moving body occurs and the braking is performed to brake the moving body. The control means can determine that the braking means that should be in the state is not in the braking state.

  Therefore, by appropriately setting the braking state confirmation timing, it is possible to move the moving body after confirming in advance that the moving body can be properly braked by controlling the braking means to the braking state. When an abnormality has occurred and the moving body cannot be braked by the braking means, the driving means can be prevented from being driven.

  When the control means determines that the braking means is not in the braking state by executing the braking state confirmation process, the control means activates a notification means such as a buzzer or an alarm display. In addition, it is possible to alert the operator that some abnormality has occurred.

  Incidentally, as the movement monitoring means for monitoring whether or not the moving body has moved, the moving body is based on the detection information of the distance detecting means for detecting the distance between the reference position on the ground side where the moving body is installed and the moving body. The movement of the moving body may be monitored based on the detection information of the drive amount detection means for detecting the drive amount of the drive means. Further, for example, the movement of the moving body may be monitored based on the value of a control parameter indicating the driving state of the driving unit, such as a driving current when an electric motor is used as the driving unit.

  As described above, according to the first characteristic configuration of the present invention, an article conveying facility that can prevent the moving body from starting to move without being able to brake the moving body has been obtained.

  According to a second characteristic configuration of the article conveying facility according to the present invention, in the first characteristic configuration, the control unit controls the driving unit and the braking unit to operate the moving body and an operation pause state. It is configured to be switchable, and is configured so that the time when the operation state is switched from the operation suspension state to the operation state is the braking state confirmation timing.

  That is, since the control means automatically executes the braking state confirmation process when the operation state is switched from the operation suspension state to the operation state, a special operation for the operator to command the execution of the braking state confirmation process is performed. Even if the control is not performed, the brake state confirmation process is executed only by performing a switching operation for switching the control means to the operation state.

  Therefore, even if the operator is unaware of the possibility of occurrence of an abnormality in the braking means, the braking means can be appropriately set by simply switching the control means to the operating state so that the control means can operate the moving body. If there is an abnormality that cannot brake the moving object, it can be detected early without overlooking it.

  As described above, according to the second characteristic configuration of the present invention, the operator is relieved from the trouble of performing a special operation for designating the braking state confirmation timing, and an abnormality occurs at a relatively early stage. It becomes possible to discover that.

  According to a third characteristic configuration of the article conveying facility according to the present invention, in the first or second characteristic configuration, a manually operated command unit that commands an execution command to execute the braking state confirmation process is provided, and the control unit However, the time when the execution command is instructed by the command means is the timing for checking the braking state.

  That is, when the manually operated command means is commanded and an execution command is issued by the operator, the control means executes the braking state confirmation process. For example, the moving body is not carrying the article. If it is a time when the vehicle is stopped, the operator can issue an execution command at an arbitrary timing to check whether or not an abnormal situation has occurred in which the braking means cannot properly brake the moving body.

  As described above, according to the third characteristic configuration of the present invention, it is possible to obtain an article conveyance facility that is easy to use in that the brake state confirmation process can be executed as necessary.

  According to a fourth characteristic configuration of the article conveying facility according to the present invention, the braking means is attached to be in a forced release state in which the braking means is biased to the braking state and the braking means is forcibly operated from the braking state to the braking release state. A forcible release operation member that is freely and detachable is provided.

  In other words, by installing the forced release operation member, it is possible to change the braking means to a forced release state in which the braking means is forcibly operated from the braking state to the braking release state. Can be switched. If it is not necessary to bring the braking means into the forced release state, the braking means can be returned to the braking state by detaching the forced release operation member.

  Therefore, when the brake means biased to the braking state is used, for example, when the moving body is manually pushed and moved in the maintenance work, the braking means is in the brake released state without being controlled by the control means. Even when it is necessary to switch to, the braking means can be forcedly released as necessary.

  If the operator forgets to remove the forcible release operation member even though it is no longer necessary to set the braking means to the forcible release state and then the brake release state is not required, the operator may be left in the brake release state. However, when the braking state confirmation process is executed at the braking state confirmation timing, the control means determines that the forcible release operation member remains attached based on the presence or absence of movement of the moving body. It is possible to notify the operator that the brake means is left in the brake-released state by, for example, performing a notification operation on the notification means by the control means.

  Therefore, when the operator forgets to remove the forcible release operation member and is left in the brake release state, it is possible to prevent the start of the movement of the mobile body without being able to brake the mobile body.

  In particular, when the timing for switching from the operation stop state to the operation state is set as the brake state confirmation timing, the forced release operation member remains attached even if the execution of the brake state confirmation process is not manually instructed. Therefore, it is possible to reliably prevent the moving body from starting to move without being able to brake the moving body.

  Thus, according to the 4th characteristic structure of the present invention, it came to obtain the goods conveyance equipment which can prevent starting of a movement of a movable body with a brake means being made into a forced release state.

  According to a fifth characteristic configuration of the article conveying facility according to the present invention, the control means drives the driving means at a confirmation processing driving speed lower than the article conveying driving speed in the braking state confirmation processing. Therefore, the driving means is controlled.

  In other words, in the braking state confirmation process, the drive means is controlled to be driven at a confirmation processing driving speed that is lower than the article conveyance driving speed. Even if the moving body is moved by the driving means, the amount of movement can be made shorter than when the driving means is driven at the driving speed for conveying the article.

  That is, when the braking state confirmation process is executed in a state where the moving body cannot be braked by the braking means, the moving body moves because the moving body is allowed to move. However, since the driving means is driven at the driving speed for the confirmation processing in the braking state confirmation processing, the movement amount can be shortened as much as possible.

  As described above, according to the fifth characteristic configuration of the present invention, an article conveying facility that can prevent the occurrence of an unexpected situation by shortening the distance that the moving body moves by the braking state confirmation process as much as possible has been obtained.

  Hereinafter, an embodiment of an article conveyance facility of the present invention will be described based on the drawings. In the present embodiment, as shown in FIG. 1, the article transport facility is configured by an automatic warehouse facility provided with a stacker crane 3 that can travel on a travel path 2 formed between the article storage shelves 1. .

  The article storage shelves 1 are installed at an interval so that the article loading / unloading directions face each other. Each article storage shelf 1 has a plurality of a pair of front and rear support columns 1a standing in the left-right direction, and each pair of front and rear support columns 1a has a mounting support portion 1b extending in the left-right direction spaced in the vertical direction. A plurality are provided apart. A pair of front and rear support columns 1a and a pair of left and right mounting support portions 1b form one storage section 4, and a plurality of storage sections 4 are arranged side by side.

  A traveling rail 5 is provided on the floor surface side of the linear traveling path 2 formed between the article storage shelves 1, and a guide rail (not shown) is provided in the longitudinal direction of the article storage shelf 1 on the ceiling side. It is installed along. Then, on one end side of the traveling rail 5, a ground-side controller 7 that manages the operation of the stacker crane 3, and articles that are carried from the outside and stored in the automatic warehouse are temporarily placed. There is provided a loading table 8 for temporarily loading articles to be delivered and carried outside.

  A fence 13 is provided at an end side portion of the travel path 2 to partition the work space in which the article transport work by the stacker crane 3 is performed from the outside. The fence 13 is provided with a lockable maintenance door 14 for an operator to enter and exit the work space. The maintenance door 14 is opened and closed only when maintenance or the like of the stacker crane 3 is necessary, and is locked after being closed during normal operation.

  The stacker crane 3 is a pair of front and rear in the moving direction of a traveling carriage 10 as an article transporting movable body that can travel on the traveling rail 5 along the traveling path 2 and the traveling carriage 10 installed on the traveling carriage 10. The elevating mast 11 in the form of a square pillar and the elevating platform 12 that can elevate and lower the elevating path formed along these elevating masts 11 are configured.

  The traveling carriage 10 is guided to travel on the ground-side traveling rail 5 of the traveling path 2, and the upper frame (not shown) connecting the upper ends of the pair of lifting masts 11 is a guide on the ceiling side of the traveling path 2. When the traveling carriage 10 is self-propelled while being guided by the rail, it can be moved in the lateral direction of the storage shelf 1.

  The traveling carriage 10 is provided with a pair of front and rear traveling wheels 6 that can travel on the traveling rail 5, and a wheel on one end side in the vehicle body front-rear direction of the pair of traveling wheels serves as a traveling motor M <b> 1 as driving means. The driving wheel 6a for driving driven in this manner is configured, and the wheel on the other end side in the longitudinal direction of the vehicle body is configured as a freely driven wheel 6b.

  As described above, the traveling carriage 10 is configured to be movable by the driving force of the traveling motor M1 as a driving unit.

  The traveling motor M1 is a three-phase AC motor provided with a DC electromagnetic brake B (hereinafter referred to as a traveling brake B) as braking means. The travel motor M1 is provided with a rotary encoder 20 as drive amount detection means for detecting the rotation drive amount of the rotation drive shaft 15. The output of the rotary encoder 20 is input to a crane-side controller 21 provided in the traveling carriage 10 in a form in which the rotation direction of the rotary drive shaft 15 can be identified.

  As shown in FIG. 3, the traveling brake B is in a braking position pressed against the brake disc 16 by the brake disc 16 provided so as to be rotatable integrally with the rotational drive shaft 15 of the traveling motor M <b> 1 and the pressing spring 17. The armature 18 provided in a reciprocating manner along the axial direction of the rotary drive shaft 15 in the biased state and the armature 18 separated from the brake disk 16 against the elastic biasing force of the pressing spring 17. This is a non-excited spring brake type electromagnetic brake composed of a fixed iron core or the like provided with an electromagnet coil 19 that generates an electromagnetic force that slides along the axial direction of the rotary drive shaft 15.

  In the non-excited state where the exciting current is not applied to the electromagnet coil 19 provided on the fixed core, the traveling brace B is driven to rotate by the armature 18 being pressed against the brake disk 16 by the elastic biasing force of the pressing spring 17. In a braking state in which the rotational operation of the shaft 15 is braked and an excitation current flows through the electromagnet coil 19, the armature 18 is attracted to the fixed core side by the electromagnetic force generated by the excitation of the electromagnet coil 19, and the brake is applied. The travel brace B is held in a release position separated from the disk 16 and is in a brake release state in which the rotation operation of the rotary drive shaft 15 is allowed.

  Note that the maximum braking torque exhibited by the traveling brace B is sufficiently larger than the maximum driving torque of the traveling motor M1, and if the traveling brae B is in a braking state, the traveling motor M1 is rotationally driven. It can not be made to.

  As described above, the traveling brake B is switchable between the braking state in which the movement of the traveling carriage 10 is braked and the braking release state, and is biased to the braking state.

  Although illustration is omitted, the traveling carriage 10 is provided with an elevating mechanism including an elevating motor for moving the elevating platform 12 up and down, a winding drum, and the like. A winding operation and a feeding operation can be performed to move up and down along the lifting path. In addition, the elevator 12 has an article Q (more specifically, a pallet positioned at the bottom of the article Q, and a pallet positioned at the bottom of the article Q by moving a slide fork device as an article holding unit back and forth. There is provided a transfer device 9 capable of transferring a load loaded on the pallet.

  As shown in FIG. 2, the crane-side controller 21 provided in the traveling carriage 10 is connected to the ground-side controller 7 by an optical transmission device 22 so as to be communicable.

  The crane-side controller 21 performs processing to increase / decrease the pulse count value based on the output of the rotary encoder 20, and the pulse count value is set for each set communication cycle (for example, 1 [ms]) via the optical transmission device 22. Transmit to the ground controller 7. As a result, the ground-side controller 7 can determine the travel position of the travel cart 10 on the travel route 2 with reference to the travel origin position preset in the vicinity of the end of the travel route 2 on the ground-side controller 7 side. ing.

  In addition, the ground-side controller 7 transmits control commands such as a brake release command, a traveling speed command, and a lifting / lowering speed command to the crane-side controller 21 via the optical transmission device 22 for each set communication cycle. The crane-side controller 21 that has received the control controls the braking operation of the traveling brake B, the rotational drive of the traveling motor M1, and the lifting mechanism according to each control command.

  The ground controller 7 is supplied with power from the power source via the ground controller power switching device 23. The ground-side controller power switching device 23 is connected to a switching signal of an operation switch 24 as a key switch so that it can be input. The operation switch 24 is provided in the ground-side controller 7 (see FIG. 1), and as shown in FIG. 2, the operation switch 24 can be switched between a rest position and an operation position by an operation key 25 suitable for the key cylinder 24a. Yes.

  When the operation switch 24 is in the operation position, the ground-side controller power switching device 23 is in a supply-permitted state, power is supplied from the power source to the ground-side controller 7, and the ground-side controller 7 is connected to the stacker crane 3. A control command can be issued. When the operation switch 22 is in the rest position, the ground controller power switching device 23 is in a supply stop state, power is not supplied from the power source to the ground controller 7, and the ground controller 7 controls the stacker crane 3. Cannot command.

  When the control of the traveling system of the ground-side controller 7 is described, when the ground-side controller 7 issues a release command for releasing the traveling brake B, the crane-side controller 21 passes an excitation current for releasing the brake. When the traveling brake B is released and the ground-side controller 7 commands a speed command as the target driving speed of the traveling motor M, the crane-side controller 21 controls the current and frequency of the driving power for the traveling motor M. Thus, the traveling motor M is rotationally driven at the target rotational speed.

  Thus, the ground-side controller 7 is configured to control the travel motor M1 and the travel brake B, and corresponds to the control means of the present invention. The ground-side controller 7 can be switched by an operation switch 24 as a key switch between an operation state in which the traveling carriage 10 of the stacker crane 3 is operated and an operation suspension state by controlling the traveling motor M1 and the traveling brake B. It is configured.

  The operation key 25 cannot be removed when the operation switch 24 is in the operation position, and can be inserted / removed only when the operation switch 24 is in the rest position.

  As shown in FIG. 3, power from the power source is supplied to the stacker crane 3 via the stacker crane power switching device 26. The stacker crane power switching device 26 outputs power to a power supply rail (not shown) provided along the travel path 2, and the stacker crane 3 is provided by a current collector configured by a current collecting brush or the like provided in the traveling cart 10. It is configured to receive power from the power supply rail.

  An ON / OFF signal of the maintenance door switch 27 is input to the stacker crane power switching device 26. The maintenance door switch 27 is provided at a location where the maintenance door 14 is attached (see FIG. 1), and is configured by a limit switch that is turned on when the maintenance door 14 is closed and turned off when the maintenance door 14 is not closed.

  When the maintenance door 14 is in the closed state and the maintenance door switch 27 is on, the stacker crane power switching device 26 is allowed to be supplied, and power is supplied from the power source to the crane-side controller 21. 21 performs a control operation based on the control command of the ground controller 7. When the maintenance door 14 is not closed and the maintenance door switch 27 is off, the stacker crane power switching device 26 is in a supply stop state, and no power is supplied from the power source to the crane side controller 7. The controller 21 does not perform a control operation based on the control command from the ground controller 7.

  As illustrated in FIG. 1, the maintenance door 14 is provided with a maintenance door lock 28. The maintenance door lock 28 includes a key cylinder corresponding to the operation key 25 for the operation switch 24, and the maintenance door 14 can be unlocked and locked by the operation key 25.

  As shown in FIGS. 3 (a) and 3 (b), the traveling motor M1 is provided with a screw hole 31 for attaching a bolt, and as shown in FIG. During operation, a sealing bolt 32 for sealing the screw hole 31 is attached. While the traveling carriage 10 is stopped, the electromagnetic coil 19 of the traveling brake B is not energized, the traveling brake B is maintained in a braking state, and the traveling carriage 10 is caused to travel as described above. The armature 18 is slid in the direction of overcoming the urging force of the pressing spring and pulling it away from the brake disc 16 along the motor rotation axis direction (the direction toward the left in FIG. 3). Thus, the traveling brake B is maintained in the braking released state.

  As shown in FIG. 3B, when the traveling brake B is forcibly operated from the braking state to the braking release state during maintenance or the like, the sealing bolt 32 attached to the screw hole 31 is removed. Instead, a brake release bolt 30 as a forced release operation member is attached.

  A direction in which the brake releasing bolt 30 is screwed into the screw hole 31 so that the tip of the brake releasing bolt 30 is pressed against the armature 18 and overcomes the urging force of the pressing spring and is pulled away from the brake disk 16 along the motor rotation axis direction. It is possible to forcibly operate the traveling brake B to the brake released state by sliding it in the direction (toward the left side of FIG. 3). Then, by mounting the armature 18 in a state where it is separated from the brake disc 16 at the tip of the brake releasing bolt 30, it is possible to maintain the forced release state in which the brake release state is forcibly operated.

  As a case where the travel brake B is brought into a brake release state, for example, when maintenance work such as adjustment of the gap amount between the fixed iron core and the brake disk 16 is performed in order to cope with wear of the brake lining of the travel brake B. There is. The work procedure of the worker in such maintenance work will be described based on the flowchart of FIG.

  As shown in FIG. 4, first, in step # 1, the operation switch 24 is switched to the rest position with the operation key 25, and then the operation key 25 is removed from the key cylinder 24. In step # 2, the maintenance door 14 is unlocked with the operation key 25, and the maintenance door 14 is opened to enter the work space. In step # 3, the sealing bolt 32 attached to the traveling motor M1 is removed, and the brake releasing bolt 30 is attached instead, and the traveling brake B is brought into a brake release state.

  When the desired maintenance work is performed in step # 4 and the work is completed, the brake releasing bolt 30 is detached in step # 5 and the sealing bolt 32 is attached instead. In Step # 6, the maintenance space 14 is exited from the work space through the maintenance door 14, the maintenance door 14 is closed, and the operation key 25 is locked. In step # 7, the operation key 25 is inserted into the key cylinder 24a of the operation switch 24, and the operation switch 24 is switched to the operation position.

  In step # 7 in the above maintenance work procedure, when the operation switch 24 is switched to the operation position in order to switch the ground side controller 7 from the operation stop state to the operation state, electric power is supplied to the ground side controller 7 from the power source. The ground side controller 7 is activated, and crane control is executed by a microcomputer mounted on the ground side controller 7.

  Crane control is demonstrated based on the flowchart of FIG. As shown in FIG. 5, in crane control, first, a brake check process as a brake state confirmation process, which will be described later, is executed in step # A1, and when this process ends normally, the processes in steps # A2 and # A3 are performed. Is repeated, and the operation of the stacker crane 3 (more specifically, the operation of the traveling carriage 10, the lifting platform 12, and the transfer device 9) is controlled based on the conveyance command from the upper management computer, and the article conveyance process is repeated. .

  As described above, the ground-side controller 7 is configured to execute the braking state confirmation process when the operation state is switched from the operation suspension state to the operation state.

  The article conveyance process in step # A3 of crane control will be described based on the flowchart of FIG. As shown in FIG. 6, first, in step # B1, output of a brake release command is started in order to switch the traveling brake in the braking state to the braking release state. Thereafter, since the brake release command is continuously output until the process proceeds to step # B5, the travel brake B is maintained in the brake release state during the travel operation until the travel vehicle 10 reaches the target travel position. The

  In step # B2, a speed command corresponding to the target drive speed given by the traveling speed pattern is output. The traveling speed pattern is generated by a speed pattern generation process executed by the ground-side controller 7 before starting the traveling movement of the traveling carriage 10 after the conveyance command is issued.

  In the speed pattern generation process, from the target travel position (stop position when the travel movement for the article transport process is completed) corresponding to the target transport location specified for the article transport process by the previous transport command, The travel distance necessary to move the distance to the target travel position corresponding to the target transport location specified for the article transport process by the transport command, the travel upper limit speed Vmax for the article transport process set in advance, and the travel cart 10 A data table of speed command values to be output at each speed command output timing is created based on conditions such as acceleration performance and deceleration performance.

  For example, as shown in FIG. 8 (a), the traveling speed pattern generated in the article conveying process in which the traveling distance of the traveling carriage 10 is relatively long becomes a trapezoidal waveform speed pattern PL, and vice versa. In addition, the traveling speed pattern generated when the article transport process is such that the traveling distance of the traveling carriage 10 is relatively short is a triangular speed pattern PS. In any speed pattern, a speed pattern is generated in the vicinity of the target travel position in order to travel at the slow speed Vs for preparation for stop.

  Returning to FIG. 6 again, in step # B3, it is checked whether or not the pulse count of the rotary encoder 20 has changed, and it is confirmed that the traveling motor M1 is rotationally driven by the speed command commanded in step # B2. . If it is determined in step # B3 that the pulse count of the rotary encoder 20 has not changed, the process exits from the loop of step # B2, step # B3, and step # B4 to interrupt the output of the speed command, and step # B6 In step # B7, the output of the brake release command is terminated, and the encoder abnormality process including the process of notifying the notification means to notify the operator of the occurrence of abnormality is executed.

  Note that the threshold value for the determination in step # B3 may be a value corresponding to the speed command value commanded immediately before the determination process or a preset fixed value, and can be set as appropriate. Further, whether or not there is a change in the cumulative change amount of the pulse count value of the rotary encoder 20 over a predetermined period may be determined.

  A traveling carriage that is repeatedly discriminated based on the detection information of the rotary encoder 20 by repeatedly issuing the speed command sequentially while confirming the rotational drive of the traveling motor M1 by the loop of Step # B2, Step # B3, and Step # B4. When the ten travel positions reach the target travel position, the process exits this loop and proceeds to step # B5, and the output of the brake release command is terminated.

  The command value of the speed command and the presence / absence of the brake release command output in each of the article transport process related to the speed pattern PL for a relatively long travel distance and the article transport process related to the speed pattern PS for a relatively short travel distance The relationship is as shown in FIGS. 8 (a) and 8 (b).

  Next, a brake check process as a brake state confirmation process executed in the initial stage of crane control will be described based on the flowchart of FIG. As shown in FIG. 7, first, in step # C1, without outputting the brake release command, that is, with the travel brake B maintained in the braking state, the fine speed Vs is output as the travel brake check speed command. To start.

  As described above, the ground-side controller 7 is configured to control the traveling motor M1 and the traveling brake B so that the traveling brake B is brought into a braking state and the traveling motor M1 is driven. Further, in the brake check process, the ground controller 7 controls the travel motor M1 to drive the travel motor M1 at a drive speed for brake check processing that is lower than the drive speed in the article transport process. It is configured.

  In step # C2, it is checked whether or not the pulse count of the rotary encoder 20 has changed. Even if the speed command of the fine speed Vs commanded in step # C1 is commanded, it is braked by the travel brake B so that It is confirmed that the motor M1 is not rotationally driven.

  If it is determined in step # C2 that the pulse count of the rotary encoder 20 has changed, the output of the speed command for brake check is terminated in step # C5, and the brake abnormality is detected for the operator in step # C6. A brake abnormality process including a process of notifying the notification means to notify the occurrence is performed.

  The determination in step # C2 may determine whether or not there is a change in the accumulated change amount of the pulse count value of the rotary encoder 20 over a predetermined period.

  If it is confirmed in step # C2 that the traveling motor M1 is not rotationally driven, the process proceeds to step # C3 to check whether the set time T has elapsed. Until the set time T elapses, the loop of step # C2 and step # C3 is repeated, and it is determined in step # C2 that the traveling motor M1 is not rotationally driven over the set time T. If it repeats, it will pass through the loop of step # C2 and step # C3, and it will transfer to step # C4, the output of the speed command for brake checks will be complete | finished, and a brake check process will be complete | finished normally.

  Note that the speed command output of the brake check process is like a speed command pulse PT having a width of time T shown in FIG. 8A, and the brake release command output at the set time T is as shown in FIG. 8B. As shown in the bottom row, the state without command is maintained.

  As described above, in the transport facility of the present embodiment, the brake check process is executed when the ground-side controller 7 is switched from the operation stop state to the operation state, and the brake check process continues for the set time T. Then, it is confirmed that the traveling motor M1 is not rotationally driven even when the speed command of the fine speed Vs is instructed, and it is confirmed that the traveling brake B is surely in a braking state.

  Therefore, for example, during the maintenance work of the brake adjustment described above, the worker forgets to process the work in step # 5 of the maintenance work procedure shown in FIG. The brake torque of the traveling brake B is completely or sufficiently due to the fact that the bolt is still attached or the worker has processed according to the procedure, but a mechanical failure such as deterioration of the pressing spring has occurred. Even if it does not occur, the brake check process is executed when the ground controller 7 is switched to the operating state, so that the operation of the stacker crane is not controlled in such a state. In addition, the worker can notice the inconvenience of the traveling brake B.

[Another embodiment]
Hereinafter, other embodiments are listed.

(1) In the above embodiment, the control unit is exemplified to be configured so that the time when the control unit is switched from the operation stop state to the operation state is the braking state confirmation timing. The control unit may be configured so that the time for starting the movement of the moving body to convey the article is the braking state confirmation timing.

  In this case, all the times when starting the movement of the moving body may be the timing for checking the braking state, and when starting the movement of the moving body, at a rate of once per set number of times, or The timing for checking the braking state may be set once per set time.

(2) In the above embodiment, the control means is exemplified to be configured so that the time when the control means is switched from the operation stop state to the operation state is the brake state confirmation timing. A manually operated command means for instructing an execution command for executing the state confirmation processing is provided, and the control means is configured so that the time when the execution command is instructed by the command means is the brake state confirmation timing. It may be what has been done.

  For example, as shown in FIG. 9, the ground controller 7 as the control means exemplified in the above embodiment is provided with a brake check button 29 as a manually operated command means, and as shown in FIG. The controller 7 is configured to execute the above-described brake check process, assuming that the brake check command as the execution command is issued by the brake check button 29 as the brake check timing as the brake state confirmation timing. It may be.

  In this case, the ground-side controller 7 may be configured to automatically execute the brake check process when the operation state is switched from the operation suspension state to the operation state, as in the above embodiment. The ground controller 7 may be configured to execute the brake check process only when a brake check command is instructed by the brake check button 29.

(3) In the above embodiment, the control means is configured to check the braking state of the braking means based on the detection information of the driving amount detection means for detecting the driving amount of the driving means in the braking state confirmation process. However, the present invention is not limited to this. For example, a movement detection unit that detects the movement of the moving body is provided, and the control unit detects the braking unit based on the detection information of the movement detection unit in the braking state confirmation process. It may be configured to check the braking state.

  Note that the movement detection unit includes, for example, a distance measuring unit that measures a distance between the moving object and a reference position on the ground side, and whether or not the moving object has moved based on a time change of distance measurement information of the distance measuring unit. What is necessary is just to comprise by the discrimination means which discriminate | determines.

(4) In the above embodiment, the control means confirms whether or not the braking means is in the braking state based on the rotational drive amount of the rotational drive shaft of the electric motor as the driving means in the braking state confirmation process. However, instead of this, the braking means brakes the braking means based on the current characteristics when the driving power is supplied to the electric motor as the driving means in the braking state confirmation process. It may be configured to check whether or not it is in a state.

  In other words, the electric motor is driven to rotate when the braking means is in the braking release state and in the braking state, that is, when the rotation drive shaft of the electric motor is rotatable and when it is not rotatable. The rise characteristic of the drive current is different, so that the current detection means for detecting the drive current of the electric motor is provided, and the drive power is supplied to the drive means after the brake means is in a braking state. By configuring the control means to determine whether or not the braking means is in a braking state based on the detection information of the current detection means, it can be confirmed that the braking state of the braking means is normal.

(5) In the above embodiment, the moving body is exemplified as a stacker crane traveling carriage configured to be able to travel along a linear travel path with an end form. The moving body may be an article transport cart or the like that can travel along an endless or endless travel path including a straight portion and a curved portion. Further, the present invention may be applied by using a lifting / lowering platform of the stacker crane as a moving body and a lifting / lowering motor for driving the lifting / lowering platform as driving means.

(6) In the above embodiment, the brake means is exemplified as provided in the drive means, but the brake means may not be provided in the drive means. For example, the braking means brakes against the driving wheel for movement or the rotational driving shaft connected to the driving wheel, or the braking means is provided on the ground side with the braking contact body provided on the moving body. The movement of the moving body may be braked by the frictional force with the contact object (for example, the floor surface).

(7) In the above embodiment, the control means is exemplified by the ground side controller 7, but instead, for example, the control means is constituted by the ground side controller 7 and the crane side controller 21. It may be a thing.

  In other words, for example, the ground controller 7 is configured to issue a brake check command to the crane controller 21, assuming that the time when the ground controller 7 is switched from the operation suspension state to the operation state is the brake check timing. 21 may be configured to execute a brake check process as a brake state confirmation process based on the brake check command.

(8) In the above embodiment, the forcible release operation member is configured to be configured with the brake release bolt 30 that can maintain the forced release state by being fixed in a screwed state with respect to the screw hole 31, For example, it may be an operation member provided with a stop means capable of stopping the system stop portion provided in the braking means, and the specific configuration of the forcible release operation member can be changed as appropriate. is there.

(9) In the above embodiment, the operation switch 24 switches the ground-side controller power switching device 23 so that the ground-side controller 7 is brought into the operation state by intermittently supplying power to the ground-side controller 7 as the control means. Although what was comprised so that it might switch to a driving | operation stop state was illustrated, it is not restricted to this, For example, the power supply switch which interrupts supply of the electric power with respect to the ground side controller 7 is turned on, and the ground side controller 7 is starting In the state, the ground-side controller 7 may be configured to be switched between an operation state and an operation suspension state by an operation switch as a key switch.

  In this case, the operation switch is input by, for example, an online mode (operation state) for controlling the operation of the stacker crane 3 based on an article processing command instructed by a host management computer, and input means provided in the ground computer. The operation mode of the ground-side controller 7 may be switched to a manual mode (operation suspension state) in which the operation of the stacker crane 3 is controlled based on a manual operation command.

Plan view of an embodiment of an article conveying facility Control block diagram (A) Partial longitudinal sectional side view of the traveling motor during normal operation and (b) Partial longitudinal sectional side view of the traveling motor in a forced release state during maintenance. Maintenance procedure flowchart Crane control flowchart Flow chart of article conveyance processing Brake check process flowchart (A) Traveling speed pattern and (b) Brake release command output pattern Control block diagram in another embodiment Flow chart of crane control in another embodiment

Explanation of symbols

M1 Driving means B Braking means Vs Driving speed for confirmation processing 7 Control means 10 Moving body 29 Manual operating command means 30 Forced release operation member

Claims (5)

A movable body for conveying an article that is movable by a driving means;
Braking means switchable between a braking state for braking movement of the moving body and a braking release state;
An article conveying facility provided with a control means for controlling the driving means and the braking means,
The control means is configured to execute a braking state confirmation process for controlling the driving means and the braking means at a braking state confirmation timing so as to place the braking means in the braking state and drive the driving means. Goods transportation equipment.   When the control means is configured to be switchable between an operation state in which the driving body and the braking means are controlled to drive the moving body and an operation stop state, and is switched from the operation stop state to the operation state. The article conveying facility according to claim 1, wherein the timing is for checking the braking state. There is provided a manually operated command means for commanding an execution command for executing the braking state confirmation process,
3. The article transporting facility according to claim 1, wherein the control means is configured such that the time when the execution command is instructed by the command means is the braking state confirmation timing. The braking means is biased to the braking state;
The forcible release operation member that can be attached and detached is provided so as to be in a forced release state for forcibly operating the braking means from the brake state to the brake release state. The article conveying facility as described.   The control means is configured to control the driving means so as to drive the driving means at a driving speed for confirmation processing that is lower than a driving speed for conveying articles in the braking state confirmation processing. Item conveying equipment of any one of claim | item 1-4.

Images