JP2012224406A - Article transporting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an article transporting device capable of detecting extension of a lifting chain at an optional time point.SOLUTION: A rope-like body includes upper parts 141a, 142a extending downward from upper winding guide bodies and each having an end connected to a lifting body in a fixed state, and lower parts 141b, 142b extending upward from lower winding guide bodies and each having an end relatively movably connected to the lifting body, wherein energization means 20sp for energizing the ends of the lower parts 141b, 142b upward are arranged, and the lifting body is arranged with a distance measuring means 21 to measure a distance between the ends of the lower parts 141b, 142b and a reference part 20d of the lifting body.

Description

  The present invention relates to an elevating guide mast extending in the vertical direction, an elevating body for conveying articles guided by the elevating guide mast, and an upper end side of the elevating guide mast, both ends of which are connected to the elevating body. A loop-like cord that is wound around an upper winding guide provided on the lower end and a lower winding guide provided on the lower end side, and drives the hoist to move up and down, and winds the cord In addition, the present invention relates to an article conveying apparatus including an elevating drive unit that elevates and lowers the elevating body and a control unit that controls the operation of the elevating drive unit.

As such an article transport device, conventionally, an elevator body for transporting an article spans an upper sprocket that is connected to the elevator body at both ends and is provided on the upper end side of the elevator guide mast and a lower sprocket that is provided on the lower end side. There is known one configured to be driven up and down by a wound loop-shaped lifting chain.
In such an article conveying apparatus, the elevating chain extends downward from the upper sprocket and has an end connected to the elevating body in a fixed state, and the end extends relative to the elevating body from the lower sprocket. A lower part that is freely connected, and in order to prevent the looped lifting chain from slackening, the end of the lower part of the lifting chain is urged by a spring toward the end in the longitudinal direction. A tensioner is provided to apply tension to the chain. The tensioner absorbs the elongation of the lifting chain due to the elastic deformation of the spring when the lifting chain elongates due to secular change. However, if the elongation due to the secular change of the lifting chain exceeds an allowable amount, an appropriate tension cannot be maintained. Therefore, in order to detect that the elongation due to aging of the lifting chain has reached an allowable amount or more, the position of the specific part in the lower part of the lifting chain has a predetermined positional relationship with the reference part of the lifting body In some cases, a limit switch to be detected is provided on the lifting body (see, for example, Patent Document 1).

JP 2007-120593 A

However, the position of the limit switch is detected when the position of the specific part in the lower part of the lifting chain becomes a predetermined positional relationship with respect to the reference part of the lifting body as described above. For this reason, until the elongation of the elevating chain reaches an allowable amount, it is not known how much the elongation is. Therefore, it is difficult to assume in advance the replacement time of the lifting chain.
In addition, for example, in a configuration in which the lifting body is lifted and lowered by two lifting chains, when detecting that the lifting body is tilted from the horizontal posture due to the difference in elongation between the two lifting chains, either Until the extension of the lifting / lowering chain reaches an allowable amount, the inclination of the lifting / lowering body from the horizontal posture cannot be detected.

  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 apparatus capable of detecting the extension of the lifting chain at an arbitrary time.

An article conveying apparatus according to the present invention for solving the above-described problems includes an elevating guide mast extending in the vertical direction, and an elevating body for conveying an article that is guided and supported by the elevating guide mast and is movable up and down along the elevating guide mast. And both ends are connected to the upper and lower parts of the elevator body and wound between an upper winding guide body provided on the upper end side of the elevator guide mast and a lower winding guide body provided on the lower end side. A loop-like cord-like body for raising and lowering the elevator body, a raising / lowering drive means for driving the rope-like body to wind up and down, and an elevator drive for raising and lowering the elevator body Control means for controlling the operation of the means,
The first characteristic configuration is that the cord-like body extends downward from the upper winding guide body and has an upper portion connected to the lift body in a fixed state, and upward from the lower winding guide body. A lower portion that extends and is connected to the elevating body so that the end portion is relatively movable, and is provided with an urging means for urging the end portion of the lower portion upward. A distance measuring means for measuring a distance between the end portion and the reference portion of the lifting body is provided.

  That is, the upper portion of the loop-like cord-like body is connected to the lifting body in the fixed state and the end portion of the lower portion is biased upward. The extension in the longitudinal direction that occurs between the end of the part and the end of the lower part is absorbed by urging the end of the lower part upward by the urging means.

  Therefore, the distance between the end of the lower portion of the cord-like body biased upward and the reference portion of the lifting / lowering body changes as the loop-like cord-like body extends. Therefore, by measuring the distance between the end of the lower part of the cord-like body and the reference part of the lifting body, it is possible to know how much the loop-like cord-like body is stretched at any point in time. Can do.

  In short, according to the first characteristic configuration, the extension of the lifting chain can be detected at an arbitrary time point.

  The second feature configuration of the article transporting apparatus according to the present invention is, in addition to the first feature configuration, an empty time measured by the distance measuring means when an article to be transported is not placed on the lifting body. Based on the difference between the distance information and the actual load distance information measured by the distance measuring means when an article to be transported is placed on the lifting body, the transportation placed on the lifting body A weight calculating means for calculating the weight of the target article is provided.

That is, when an article to be transported is placed on the lifting body, the upper part of the body is pulled downward by a force proportional to the weight of the article, and accordingly, the lower part of the cable body is also an upper part of the cable body. Will be pulled to the side. Therefore, when the article to be transported is placed on the lifting body, the end of the lower part of the cord-like body moves downward by a distance proportional to the weight of the article against the upward biasing by the biasing means. become.
The distance measuring means detects the distance between the end of the lower part of the cord-like body that has moved as described above and the reference part of the lifting body, so that the article to be transported is placed on the lifting body. Based on the difference between the unloaded distance information measured by the distance measuring means when not and the actual distance information measured by the distance measuring means when the article to be conveyed is placed on the lifting body Thus, the weight of the article to be transported placed on the lifting body can be known.

  In short, according to the second feature configuration, in addition to the operational effects of the first feature configuration, it is possible to easily know the weight of the article to be transported placed on the lifting body based on the extension of the lifting chain. .

  According to a third characteristic configuration of the article transporting apparatus according to the present invention, in addition to the second characteristic configuration, the weight of the article to be transported, which is calculated by the weight calculating means, is set by the control means. When it is determined that the lifting / lowering body is smaller than the reference speed, the lifting / lowering speed changing process for controlling the operation of the lifting / lowering driving means is executed to move the lifting / lowering body at a higher speed than the reference speed.

That is, when it is determined that the weight of the article to be conveyed is smaller than the speed change set weight, the lifting body is moved up and down at a speed higher than the reference speed.
The energy consumed per unit time by the elevating driving means during the elevating movement of the article changes with the weight of the article to be transported and the elevating speed of the elevating body. When the weight of the article to be transported is small, the energy consumed by the lifting / lowering drive unit when the article is moved up and down is driven up and down when the article is moved up and down when the weight of the article to be transported is larger than that. It is less than the energy consumed per unit time by the means.
That is, if the lifting / lowering body is always moved up and down at a speed higher than the reference speed regardless of the weight of the article to be conveyed, there is a risk that the energy consumed per unit time by the lifting / lowering drive means during the lifting / lowering movement of the article may increase. According to the third characteristic configuration, the speed changing set weight is set, and the lifting body is moved up and down at a higher speed than the reference speed only when the weight of the article to be conveyed is smaller than the speed changing set weight. Therefore, it is possible to improve the conveyance efficiency of the article while avoiding an increase in energy consumed per unit time by the raising / lowering driving means when the article is moved up and down.

  In short, according to the third feature configuration, in addition to the operational effects of the second feature configuration, the conveyance efficiency of the article can be improved while avoiding an increase in energy consumed per unit time by the raising / lowering drive means when the article is moved up and down. Can be improved.

  According to a fourth feature configuration of the article transporting apparatus according to the present invention, in addition to the second or third feature configuration, an article weight information acquisition unit that acquires in advance weight information of the article to be transported is provided, and the control unit Is determined to be abnormal when the weight information of the article to be transported acquired by the article weight information acquiring means is different from the weight information of the article to be transported calculated by the weight calculating means. The point is that it is configured to do.

That is, the control means acquires the weight information of the article to be transported by the article weight information acquisition means, and is actually placed on the lifting body calculated by the weight information of the article to be transported and the weight calculating means. When the weight information of the article is different, the article placed on the lifting body is actually collapsed or it is an abnormal state where there is a possibility of trying to transport an article different from the intended article. Will be determined.
If the control means determines that such an abnormal state is present, it determines that the conveyance of the article should not be continued, for example, stops the lifting / lowering operation of the lifting body and causes an error to the operator. By performing control such as informing a message and prompting confirmation, it is possible to avoid conveyance of an article in an abnormal state.

  In short, according to the fourth feature configuration, in addition to the operational effects of the second or third feature configuration, it is appropriately determined that the article to be transported is in an abnormal state, and the conveyance of the article in the abnormal state is avoided. can do.

  A fifth characteristic configuration of the article transporting apparatus according to the present invention includes, in addition to any one of the first to fourth characteristic configurations, first distance information measured by the distance measuring means at the time of the first measurement, Wear elongation deformation amount calculating means is provided for calculating the wear elongation deformation amount of the cord-like body based on the second distance information measured by the distance measuring means during the second measurement after the set period has elapsed since one measurement. It is in the point.

That is, the first distance information measured by the distance measuring means when the distance measuring means performs the first measurement (for example, after the article conveying apparatus is installed and before the article conveying apparatus is first operated), and the first measurement. The second distance information measured by the distance measuring means at the second measurement after the elapse of a set period (for example, one month) from the hour is measured.
As an example, the first distance information and the second distance information are such that no article to be transported is placed on the lifting body and the lifting body is at the same lifting height during the first measurement and the second measurement. The distance information measured by the distance measuring means in the state (hereinafter referred to as distance information when the article is not placed) can be used.
Further, as another example of the first distance information and the second distance information, an article having the same weight (allowable placement weight or a specific weight less than that) is provided on the lifting body during the first measurement and the second measurement. It is possible to use distance information (hereinafter referred to as article placement distance information) measured by the distance measuring means in a state where the elevator body is placed and the elevator body is at the same elevation height.

  Then, based on the difference between the first distance information and the second distance information, calculating the wear elongation deformation amount of the cord-like body between the first measurement and the second measurement after the set period elapses. become.

In addition, the first distance information includes the article non-placement distance information and the article placement time distance information at the time of the first measurement (for example, after the installation of the article transport apparatus and before the article transport apparatus is first operated), The article non-placement distance as the first distance information using the article non-placement distance information and the article placement distance information at the time of the second measurement (after the set period from the first measurement) as the second distance information. Based on the difference between the information and the distance information when the article is placed, and the difference between the distance information when the article is not placed and the distance information when the article is placed as the second distance information, the first measurement time and after the set period has elapsed It is possible to calculate the wear elongation deformation amount of the cord-like body until the time of the second measurement.
That is, it is preferable that the first distance information and the second distance information are measured under the same conditions.

  When the wear elongation deformation amount calculation means measures distance information by the distance measurement means at the time of daily activation, the distance information measured on the previous day is set as the first distance information, and the distance information measured on the day is set as the second distance information. And

  Thus, the wear elongation deformation amount calculating means is based on the difference between the first distance information measured by the distance measuring means during the first measurement and the second distance information measured by the distance measuring means during the second measurement. Therefore, it is possible to calculate how much the measure-like body has worn and deformed between the first measurement time and the second measurement time. It is possible to derive the amount of wear elongation deformation due to aging of the body.

  In short, according to the fifth feature configuration, in addition to the operational effects of any of the first to fourth feature configurations, it is possible to derive the wear elongation deformation amount associated with the secular change of the cord-like body.

  A sixth characteristic configuration of the article transporting apparatus according to the present invention is a pair of coils wound around paths having different lengths and individually connected to the elevating body in addition to any of the first to fifth characteristic configurations. The distance measuring means is provided for each of the pair of cable-shaped bodies, and is calculated based on distance information of the distance measuring means for each of the pair of cable-shaped bodies. In addition, there is provided an inclination detecting means for detecting an inclination of the elevating body from a horizontal posture based on a difference in the extension amount of the respective cord-like bodies.

  That is, the distance measuring means provided for each of the cord-like bodies wound around the paths having different lengths connected to different places in plan view in the lifting body were measured. Based on the distance information, the amount of extension of each cord-like body is calculated, and the inclination from the horizontal posture of the lifting body is detected based on the difference in the amount of extension of each cord-like body. With a simple configuration in which ranging means is provided for each body, it is possible to easily detect the inclination of the lifting body from the horizontal posture.

  In short, according to the sixth feature configuration, in addition to the operational effects of any of the first to fifth feature configurations, the horizontal posture of the lifting body with a simple configuration in which ranging means is provided for each of the cord-like bodies. It is possible to easily detect the inclination from the angle.

Overall perspective view of automated warehouse Side view of stacker crane Diagram showing the configuration of the tensioner The figure which shows a raising / lowering body and the cord-like body connected to it Control block diagram of crane control device The figure which shows the raising / lowering speed pattern of the raising / lowering body in this invention

DESCRIPTION OF EMBODIMENTS Hereinafter, an embodiment will be described with reference to the drawings in the case where the article transporting apparatus of the present invention is applied to an automatic warehouse.
As shown in FIG. 1, the automatic warehouse automatically travels through two storage shelves 1 that are installed at an interval so that the article loading and unloading directions face each other, and a work path 2 that is formed between the storage shelves 1. A stacker crane 3 is provided, and each storage shelf 1 is provided with a large number of article storage portions 4 arranged in the vertical direction and the horizontal direction of the shelf.

  A traveling rail 5 is installed in the work path 2 along the longitudinal direction of the storage shelf 1, and a ground-side controller 7 that manages the operation of the stacker crane 3 and a pair of loading platforms 8 are disposed on one end side of the work path 2. And are provided. The ground-side controller 7 is configured to be able to communicate with a crane control device 30 (see FIG. 5) as control means for controlling the operation of the stacker crane 3.

  As shown in FIG. 2, the stacker crane 3 includes an elevating body 12 including an article transfer device 11 that transfers an article between a traveling carriage 10 that can travel along the traveling rail 5 and an article storage unit 4. And an elevating guide mast 13 that is erected on the traveling carriage 10 in the vertical direction and guides and supports the elevating body 12 for conveying articles so as to be movable up and down. A pair of elevating guide masts 13 are provided in the front-rear direction in the traveling direction of the traveling carriage 10.

The upper and lower ends of the pair of front and rear guide masts 13 are connected by an upper frame 15, and the upper frame 15 has a pair of left and right that regulates the swinging of the stacker crane 3 in the left and right direction as viewed in the traveling direction. The guide roller 15a is provided in a state where it abuts on both the left and right side surfaces of the guide rail 6.
In the following description, the traveling direction of the stacker crane 3 is referred to as the front-rear direction, and the ground-side controller 7 side (the side indicated by HP in FIGS. 1 and 2) in the front-rear direction is referred to as the HP side. The side facing the HP side (the side indicated by OP in FIGS. 1 and 2) is referred to as the OP side. Moreover, the direction orthogonal to the traveling direction of the stacker crane 3 in plan view is referred to as the left-right direction.

The traveling carriage 10 is provided with two front and rear traveling wheels 17 that can travel on the traveling rail 5. The two traveling wheels 17 are configured such that the traveling wheel 17 provided on the OP side of the traveling carriage 10 is a driving traveling wheel 17 a for propulsion driven by a traveling drive motor 18. The traveling wheel 17 provided in the is configured as a freely driven driven wheel 17b.
Therefore, the traveling vehicle 10 is configured to travel along the traveling rail 5 when the driving traveling wheel 17 a is rotationally driven by the traveling drive motor 18.

At the end of the traveling carriage 10 on the HP side, a traveling distance meter 18b that includes a laser projection part L1, a light receiving part J1, and a reflection plate 18c and that measures the traveling distance of the traveling carriage 10 is provided.
Further, on the traveling carriage 10, a lifting rangefinder 19 b that includes a laser projection unit L <b> 2, a light receiving unit J <b> 2, a reflection plate 19 c, and a reflection plate 19 d and that measures the lifting distance of the lifting body 12 is provided.

The elevating body 12 is supported by being suspended by a loop elevating chain 14. The elevating chain 14 includes an elevating chain 141 connected to the upper and lower ends of the OP side end of the elevating body 12, and the HP side of the elevating body 12. A pair with the raising / lowering chain 142 connected to the upper and lower sides of an edge part is provided.
The lifting chain 141 spans an upper sprocket 22 as an upper winding guide attached to the upper end side of the lifting guide mast 13 and a lower sprocket 25 as a lower winding guide attached to the lower end side of the lifting guide mast 13. Further, it is wound around a drive sprocket 19 s that is driven to rotate by a lifting drive motor 19.
The elevating chain 142 includes an upper sprocket 23 as an upper winding guide attached to the upper end side of the elevating guide mast 13, and a lower sprocket 27 as a lower winding guide attached to the lower end side of the elevating guide mast 13. Further, it is wound around a drive sprocket 19 s that is driven to rotate by a lifting drive motor 19.
The drive sprocket 19s is driven to rotate forward and backward by the lift drive motor 19 so that each of the lift chain 141 and the lift chain 142 moves in the longitudinal direction, and the lift body 12 moves up and down. Has been.

As shown in FIGS. 2 to 4, of the pair of elevating chains 14, a loop elevating chain 141 connected to the OP side end of the elevating body 12 extends downward from the upper sprocket 22, and elevates the elevating body 12. An upper portion 141a having an end portion fixedly connected thereto, and a lower portion 141b extending upward from the lower sprocket 25 and having an end portion connected to the elevating body 12 so as to be relatively movable.
Of the pair of lifting chains 14, a loop-like lifting chain 142 connected to the end of the lifting body 12 on the HP side extends downward from the upper sprocket 23 serving as an upper winding guide body and extends to the lifting body 12. An upper portion 142a having an end portion connected in a fixed state and a lower portion 142b extending upward from the lower sprocket 27 serving as a lower winding guide body and having an end portion connected to the elevating body 12 so as to be relatively movable. Yes.

  As shown in FIGS. 3 and 4, a fixing member 14u is connected to the end of the upper portion 141a of the lifting chain 141, and a female member is connected to the end of the fixing member 14u opposite to the lifting chain connection side. A threaded portion is provided. The female screw portion is fastened by a bolt to the upper fixing piece 20u of the cord-like body fixing portion 20F fixed to the upright 28, and is fixed in a state where it does not move relative to the upper fixing piece 20u. The

  A fixing member 14d is connected to an end portion of the lower portion 141b of the lifting chain 141, and the fixing member 14d passes through a through hole provided in the lower fixing piece 20d provided in the cord-like body attaching portion 20F. It is provided in the state. A female screw portion is provided at the end of the fixing member 14d opposite to the lifting chain connecting side, and the vertically moving piece 20y is fixed to the female screw portion with a nut. Then, between the lower fixed piece 20d and the vertically moving piece 20y, the downward fixed piece 20d and the vertically movable piece 20y are biased in a direction away from each other with the fixing member 14d passing through the hollow portion. A spring 20sp is provided as an urging means.

  The lower fixed piece 20d is provided with a distance sensor 21 as a distance measuring means for measuring the distance to the vertically moving piece 20y. The distance sensor 21 is configured by an optical distance meter such as a laser distance meter.

In the present embodiment, the vertically moving piece 20y corresponds to the end of the lower part of the cord-like body, and the lower fixed piece 20d corresponds to the reference part of the lifting body.
That is, a spring 20sp is provided as a biasing means for biasing the end of the lower portion 141b or 142b of the lifting chain 14 upward, and the end of the lower portion 141b or 142b and the reference of the lifting body 12 are provided on the lifting body 12. A distance sensor 21 is provided as distance measuring means for measuring the distance between the portions.
In addition, as shown in FIG. 4, the rope fixing part 20 is a pair of a rope fixing part 20 </ b> F provided on the lifting chain 141 side and a rope fixing part 20 </ b> R provided on the lifting chain 142 side. The cord-like body fastening portion 20R on the lifting chain 142 side is also configured in the same manner, and the description thereof is omitted.

  Further, the path around which the lifting / lowering chain 141 is wound and the path around which the lifting / lowering chain 142 is wound are paths having different lengths, and the lifting / lowering chain 141 wound along paths having different lengths as described above. The lift chain 142 is connected to the lift 12 separately, and the distance sensor 21 is provided for each of the lift chain 141 and the lift chain 142.

As shown in FIG. 2, the crane control device 30 as the control means calculates the travel position and travel speed of the travel carriage 10 based on the distance information from the travel range finder 18 a and calculates the travel drive motor 18. A travel control unit 30a that controls the operation, and a lift control unit that controls the operation of the lift drive motor 19 by calculating the lift position and the lift speed of the lift body 12 based on distance information from the lift range finder 19a. 30b, a distance calculation unit 30c for calculating the distance between the end of the lower part 141b or 142b of the lifting chain 14 and the reference part of the lifting body 12, and transfer control for controlling the movement of the article transfer device 11 30 d and a pattern generation unit 30 e that generates a traveling speed pattern of the traveling drive motor 18 and a lifting speed pattern of the lifting drive motor 19. The distance calculation unit 30c includes a weight calculation unit 30ca as a weight calculation unit, a wear elongation deformation calculation unit 30cb as a wear elongation deformation amount calculation unit, and an inclination detection unit 30cc as an inclination detection unit. Yes. Further, the crane control device 30 is provided with an article weight information acquisition unit 30f as article weight information acquisition means for acquiring in advance weight information of articles to be transported.
Each of these means is realized by a software program installed in a microcomputer included in the crane control device 30.

Next, control of the stacker crane 3 will be described based on the control block diagram shown in FIG.
The traveling control unit 30a in the crane control device 30 calculates the traveling speed of the traveling carriage 10 based on the detection information of the traveling rangefinder 18b, and the elevation control unit 30b detects the detection information of the elevation rangefinder 19b. Based on the above, the elevating speed of the elevating body 12 is calculated.
And the pattern production | generation part 30e in the crane control apparatus 30 produces | generates a driving | running pattern based on the present driving | running | working position information of the driving cart 10 from the driving control part 30a, and the driving | running | working stop position information from the ground side controller 7. FIG. Further, based on the current vertical position information of the lifting body 12 from the lifting control unit 30b and the lifting stop position information from the ground-side controller 7, the lifting pattern is generated to be the lifting speed pattern shown in FIG. The lift control unit 30b controls the operation of the lift drive motor 19 based on the lift speed pattern. In addition, in FIG. 6, the raising / lowering speed pattern when raising / lowering the raising / lowering body 12 is shown. When the elevating body 12 is lowered, only the direction of the elevating speed Vv is reversed, and the description thereof is omitted.

  Specifically, as shown in FIG. 6, the pattern generating unit 30e accelerates at an acceleration α1 until the ascending / descending speed of the elevating body 12 reaches a target set speed Vv_m as a reference speed, and then the target set speed Vv_m. The normal up-and-down pattern P1 that shifts to the constant speed up-and-down state that goes up and down and then slows down at the deceleration β1 is generated. And the raising / lowering control part 30b controls the action | operation of the raising / lowering drive motor 19 in order to raise / lower the raising / lowering body 12 with the raising / lowering pattern. At this time, the time required to raise and lower the elevating body 12 to the stop position based on the elevating stop position information is t1 [sec].

The distance calculation unit 30c is configured to receive distance measurement information from the distance sensor 21.
The weight calculation unit 30ca serving as a weight calculation unit included in the distance calculation unit 30c includes empty distance information measured by the distance sensor 21 when the article to be transported is not placed on the lift 12 and the lift 12 Based on the difference from the actual load distance information measured by the distance sensor 21 when the article to be transported is placed on the vehicle, the weight of the article to be transported placed on the elevating body 12 is calculated. .

  When the crane control device 30 determines that the weight of the article to be transported calculated by the weight calculation unit 30ca is smaller than the speed change set weight, the pattern generation unit 30e is indicated by a one-dot chain line in FIG. In addition, the vehicle is accelerated at an acceleration α2 larger than the acceleration α1 until the elevating speed of the elevating body 12 reaches a second target set speed Vv_m2 larger than the target set speed Vv_m, and then moves up and down at the second target set speed Vv_m2. A second elevating pattern P2 that shifts to a constant speed elevating state and then decelerates at a deceleration β2 greater than the deceleration β1 is generated. And the raising / lowering control part 30b performs the raising / lowering speed change process which controls the action | operation of the raising / lowering drive motor 19 in order to raise / lower the raising / lowering body 12 by the 2nd raising / lowering pattern P2. At this time, the time required to raise and lower the elevating body 12 to the stop position based on the elevating stop position information is t2 [sec] smaller than t1 [sec].

  In addition, the pattern generation unit 30e has a speed change second set weight in which the weight of the article to be transported, which is calculated by the weight calculation unit 30ca by the crane control device 30, is smaller than the speed change set weight. When it is determined that the speed is smaller, as shown by a two-dot chain line in FIG. 6, the acceleration α3 is increased to an acceleration α3 larger than the acceleration α2 until the lifting speed of the lifting body 12 reaches a third target setting speed Vv_m3 higher than the second target setting speed Vv_m2. Then, a third elevating pattern P3 is generated which shifts to a constant speed ascending / descending state where the object moves up and down at the third target set speed Vv_m3 and then decelerates at a deceleration β3 larger than the deceleration β2. And the raising / lowering control part 30b performs the raising / lowering speed change process which controls the action | operation of the raising / lowering drive motor 19 in order to raise / lower the raising / lowering body 12 by the 3rd raising / lowering pattern P3. At this time, the time required to raise and lower the elevating body 12 to the stop position based on the elevating stop position information is t3 [sec] smaller than t2 [sec].

  As described above, when the crane control device 30 determines that the weight of the article to be transported calculated by the weight calculation unit 30ca is smaller than the set weight for speed change, the crane control device 30 moves the lifting body 12 at a speed higher than the target set speed Vv_m. An elevating speed changing process for controlling the operation of the elevating drive motor 19 to perform the elevating operation is executed.

Furthermore, the crane control device 30 compares the weight information of the articles to be transported acquired by the article weight information acquisition unit 30f with the weight information of the articles to be transported calculated by the weight calculator 30ca, and If they are different, it is determined that the article to be conveyed is in an abnormal state in which there is a risk of collapse or misunderstanding, and the abnormality information is displayed on a monitor provided in the ground-side controller 7 and the operation of the lifting drive motor 19 is activated. Is configured to stop.
By knowing the abnormality information, the operator can recognize that there is an abnormality in the article to be conveyed, check the article to be conveyed, and correct the abnormality.
Note that the actual weight information of the article calculated by the weight calculation unit 30ca varies depending on the degree of moisture absorption when the article is hygroscopic, the bias of the center of gravity when the article is placed on the lifting body, and the like. There is a risk of doing. For this reason, the crane control device 30 sets a determination range having a predetermined width that does not affect the determination of the abnormal state, with respect to the weight information of the article to be conveyed acquired by the article weight information acquisition unit 30f, and calculates the weight. When the weight information of the actual article calculated by the section 30ca does not fall within the determination range, the weight information of the article to be transported acquired by the article weight information acquisition section 30f and the weight calculation section 30ca You may comprise so that it may discriminate | determine that the weight information of the articles | goods of conveyance object which differ is different.

  The wear elongation deformation calculation unit 30cb includes first distance information measured by the distance sensor 21 during the first measurement, and a second distance measured by the distance sensor 21 during the second measurement after the set period has elapsed since the first measurement. Based on the difference from the information, how much the lifting chain 14 is stretched during that period, that is, the wear elongation deformation amount of the lifting chain 14 is calculated.

Specifically, the distance measuring means includes first distance information measured by the distance measuring means at the time of the first measurement (for example, after the article conveying apparatus is installed and before the article conveying apparatus is first operated), and The second distance information measured by the distance measuring means at the second measurement after the elapse of a set period (for example, one month) from the first measurement is measured.
The first distance information and the second distance information are measured in the state where the article to be transported is not placed on the lifting body and the lifting body is at the same lifting height during the first measurement and the second measurement. It is comprised so that it may become distance information (henceforth distance information at the time of article | item non-mounting) measured by a distance means.
Then, the wear elongation deformation calculating unit 30cb calculates the wear elongation deformation amount of the lifting chain 14 based on the first distance information and the second distance information obtained as described above.

  When the set period elapses from the first measurement time, the second distance information is set as the first distance information, the measurement timer for the set period provided in the crane control device 30 is reset, and the measurement of the set period is newly started. When the set period elapses, the second distance information is measured by the distance sensor 21 at the time of the second measurement, and the wear elongation deformation amount of the lifting chain 14 is calculated based on the new first distance information and the second distance information. To do.

  Information on the amount of wear elongation deformation of the elevating chain 14 is sent to the ground-side controller 7, and when this amount of wear elongation deformation exceeds a predetermined value, it is determined that the aging deterioration of the elevating chain 14 has reached a limit, An inspection alarm or replacement alarm for the lifting chain 14 is displayed on the ground controller 7.

As described above, the inclination detecting unit 30cc is provided for each lifting chain calculated based on the distance information of the distance sensor 21 provided for each of the lifting chains 14 wound around the paths having different lengths. On the basis of the difference in the amount of extension 14, the inclination of the lifting body 12 from the horizontal posture is detected.
In the inclination detection process, the inclination detection unit 30cc respectively corresponds to the distance information of the distance sensor 21 about the elevating chains 141 and 142 as the elevating chains 14 wound around the paths having different lengths. Correction based on the length of the winding path is added, and the amount of extension of each of the lifting chains 141 and 142 is calculated. And the inclination detection part 30cc detects the inclination from the horizontal attitude | position of the raising / lowering body 12 based on the difference of each extension amount of the raising / lowering chain 141,142.

  Information related to the inclination of the lifting body 12 detected by the tilt detection process is sent to the ground-side controller 7, and when the inclination of the lifting body 12 from the horizontal posture exceeds a predetermined value, the ground-side controller 7. Is configured to display an alarm indicating that the inclination of the elevating body 12 exceeds a predetermined value.

[Another embodiment]
Next, another embodiment of the present invention will be described.
(1) In the above embodiment, the elevating chain 14 is illustrated as a loop-shaped measure body, and the upper sprockets 22 and 23 and the lower sprockets 25 and 27 are illustrated as upper and lower winding guide bodies. The upper pulley is not limited to such a configuration, and uses, for example, a wire as a loop-shaped measure and is provided on the upper end side of the lifting guide mast 13 as an upper winding guide body and a lower winding guide body. A lower pulley provided on the lower end side of the lifting guide mast 13 may be provided.

(2) In the above embodiment, the configuration in which the spring 20sp is used as the biasing means for biasing the end of the lower portion of the lifting chain 14 upward is illustrated, but the present invention is not limited to such a configuration. For example, it is also possible to use a leaf spring in which a central portion is bent and a restoring force is applied, or an urging means using hydraulic pressure or air pressure.

(3) In the above embodiment, when it is determined that the weight of the article to be transported calculated by the weight calculation unit 30ca in the crane control device 30 is smaller than the set weight for speed change, the speed change is determined. However, the present invention is not limited to such a configuration, and it is only determined that the weight is smaller than the speed setting weight. It may be configured as one stage, and may be configured to discriminate at any stage of three or more stages. Further, a speed calculated by applying a predetermined calculation formula to the weight of the article to be transported may be set as the lifting speed in the constant speed lifting state of the lifting body 12.

(4) In the above-described embodiment, as the ascending / descending speed changing process, each of acceleration, steady speed, and deceleration until reaching the steady speed according to the weight of the article to be transported calculated by the weight calculator 30ca. However, instead of such a configuration, only the target set speed Vv_m, the second target set speed Vv_m2, and the third target set speed Vv_m3 as steady speeds may be set to be different. Good.

(5) In the above embodiment, an abnormality occurs when the weight information of the article to be transported acquired by the article weight information acquisition unit 30f is different from the weight information of the article to be transported calculated by the weight calculator 30ca. The information is configured to be displayed on a monitor provided in the ground-side controller 7, but in addition to this display or instead of this display, an alarm sound by an alarm device or output of audio information from a speaker may be performed. . In addition, it is possible to notify the abnormality information to a wireless terminal (such as a mobile phone, a local PHS, or a wireless LAN terminal) carried by the operator.

  Further, in the above embodiment, when the weight information of the article to be transported acquired by the article weight information acquisition unit 30f and the weight information of the article to be transported calculated by the weight calculator 30ca are different, Although the configuration is such that the operation of the drive motor 19 is stopped, in place of such a configuration, the position where the operator can easily confirm the article to be transported (for example, the lowest position where the elevating body 12 can move in the vertical direction) Alternatively, the elevating body 12 may be moved to the home position HP).

(6) In the above embodiment, the lifting / lowering chain 14 is configured to connect two in total, one for each of the OP side end and the HP side end of the lifting body 12. For example, four lifting chains 14, one at each of the OP side end portions of the lifting body 12 in the left-right direction and one at each of the HP end portions of the lifting body 12 in the left-right direction, are not limited. May be configured to be connected. In this case, the distance sensors 21 can be provided separately for all the lifting chains 14 connected to the lifting body 12.

(7) In the above-described embodiment, the configuration in which the distance sensor 21 as the distance measuring means for measuring the distance between the lower fixed piece 20d and the vertically moving piece 20y is illustrated, but the configuration is limited to such a configuration. For example, a distance sensor 21 as a distance measuring unit may be provided on the vertically moving piece 20y in a downward direction so as to measure the distance to the lower fixed piece 20d.

(8) In the above embodiment, the distance sensor 21 is an optical distance meter such as a laser range finder. However, the present invention is not limited to such a configuration. For example, an ultrasonic distance meter. Various sensors for measuring the distance between the object and the like can be used.

(9) In the above embodiment, the first distance information and the second distance information are the same when the first object and the second object are not placed on the lifting body and the lifting body is the same during the first measurement and the second measurement. Distance information (distance information when the article is not placed) measured by the distance measuring means in a state where the height is at the height of the first and second distances based on the first distance information and the second distance information, and then a set period The wear elongation deformation amount of the cord-like body during the second measurement after the lapse was calculated.
However, the present invention is not limited to such a configuration. For example, the first distance information and the second distance information are set to the same weight (for example, allowable placement weight) at the time of the first measurement and the second measurement. Or the distance information (article placement distance information) measured by the distance measuring means in a state where an article of a specific weight or less is placed and the lifting body is at the same elevation height. You may comprise so that the wear elongation deformation amount of a cord-like body between the time of a 1st measurement and the time of the 2nd measurement after a set period may be calculated based on distance information and 2nd distance information.

  Further, the article non-placement distance information and the article placement distance information at the time of the first measurement are used as the first distance information, and the article non-placement distance information and the article placement distance information at the time of the second measurement. As the second distance information, the difference between the article non-placement distance information and the article placement distance information as the first distance information, and the article non-placement distance information and the article placement distance as the second distance information. You may comprise so that the wear elongation deformation amount of a cord-like body between the time of a 1st measurement and the time of the 2nd measurement after a set period may be calculated based on the difference with information.

(10) In the above embodiment, when the weight calculation unit 30ca calculates the weight of the article to be transported placed on the lifting body 12, it is based on the distance information measured by the single distance sensor 21. Although it comprised so that the weight of articles | goods might be calculated, it replaces with such a structure and each distance sensor 21 is based on the distance information measured with each distance sensor 21 corresponding to each of the several raising / lowering chain 14. FIG. It is also possible to calculate the weight information corresponding to, and calculate the weight of the article to be transported by averaging the weight information.

(11) In the above embodiment, the elevating speed changing process is configured to be executed both when the elevating body 12 is moved up and when the elevating body 12 is moved down. However, the present invention is not limited thereto, and the lifting speed changing process may be executed only when the lifting body 12 is raised or when the lifting body 12 is lowered.

12 Lifting body 13 Lifting guide mast 14 (141, 142) Cord-like bodies 141a, 142a Upper part 141b, 142b Lower part 19 Lifting drive means 20sp Energizing means 21 Distance measuring means 22, 23 Upper winding guide bodies 25, 27 Lower part Winding guide 30 Control means 30ca Weight calculation means 30cb Wear elongation deformation amount calculation means 30cc Inclination detection means 30f Article weight information acquisition unit

Claims (6)

Elevating guide mast along the vertical direction;
A lifting and lowering body for conveying an article that is guided and supported by the lifting and lowering guide mast and is movable up and down along the lifting and lowering guide mast;
Both ends are connected to the upper and lower parts of the lifting body and wound over an upper winding guide body provided on the upper end side of the lifting guide mast and a lower winding guide body provided on the lower end side, and A loop-like cord-like body that drives the lifting body up and down;
Elevating drive means for winding and driving the cord-like body and driving the elevating body up and down;
An article conveying apparatus provided with control means for controlling the operation of the elevating drive means to elevate and lower the elevating body,
The cord-like body extends downward from the upper winding guide and has an end connected to the lifting body in a fixed state, and extends upward from the lower winding guide and ends to the lifting body. A lower part to which the part is connected in a relatively movable manner,
A biasing means for biasing the end of the lower part upward;
An article conveying apparatus in which the elevating body is provided with distance measuring means for measuring a distance between an end of the lower part and a reference portion of the elevating body.   The unloaded distance information measured by the distance measuring means when no article to be transported is placed on the lifting body, and the distance measurement when the article to be transported is placed on the lifting body. The article conveyance according to claim 1, further comprising weight calculating means for calculating the weight of an article to be conveyed placed on the elevating body based on a difference from the actual load distance information measured by the means. apparatus.   When the control means determines that the weight of the article to be transported calculated by the weight calculation means is smaller than the set weight for speed change, the lifting / lowering is performed to move the lifting / lowering body at a higher speed than a reference speed. The article conveying apparatus according to claim 2, wherein the article conveying apparatus is configured to execute an ascending / descending speed changing process for controlling the operation of the driving means. Article weight information acquisition means for acquiring in advance weight information of the article to be conveyed is provided,
When the weight information of the article to be transported acquired by the article weight information acquiring means is different from the weight information of the article to be transported calculated by the weight calculating means, the control means is in an abnormal state. The article conveying apparatus according to claim 2 or 3, wherein the article conveying apparatus is configured to discriminate that it is present.   Based on the first distance information measured by the distance measuring means during the first measurement and the second distance information measured by the distance measuring means during the second measurement after the set period has elapsed since the first measurement time, The article conveyance device according to any one of claims 1 to 4, further comprising wear elongation deformation amount calculation means for calculating an abrasion elongation deformation amount of the cord-like body. Comprising a pair of cords wound around paths of different lengths and connected to the lifting body separately,
The distance measuring means is provided separately for each of the pair of cords,
Based on the difference in the amount of extension of each of the cords calculated based on the distance information of the ranging means for each of the pair of cords, the inclination of the lifting body from the horizontal posture is detected. The article conveying apparatus according to any one of claims 1 to 5, wherein an inclination detecting means is provided.

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