JP2020111430A - Vertically conveying system - Google Patents

Abstract

To provide a vertically conveying system capable of easily adjusting a timing of detecting a load receiving deck.SOLUTION: The vertically conveying system 10 includes a vertically conveying device 12 for moving load receiving decks 36 for loading thereon conveying objects 11 in a vertical direction and a control part 41 for controlling the vertically conveying device 12; the vertically conveying device 12 includes driving mechanisms (31, 32, 33, 34, 35) for transmitting rotational driving force to thereby move the load receiving decks 36, and an encoder 51 for detecting a rotational position of the driving mechanism; and the control part 41 determines a position of the load receiving deck 36 as a rotational amount of the driving mechanism based on the rotational position detected by the encoder 51.SELECTED DRAWING: Figure 2

Description

The present disclosure relates to a vertical transport system that transports a transported object in the vertical direction.

Some vertical transport systems include a vertical transport machine that transports a transported object in the vertical direction, and two transfer machines provided at a carry-in port and a carry-out port of the vertical transport machine (for example, see Patent Document 1). ).

The vertical transporting machine transports the transported article in the vertical direction by moving the cargo receiving platform on which the transported article is placed in the vertical direction while maintaining the horizontal state. In both transfer machines, the one provided at the carry-in port transfers the carried product carried into the vertical carrier, and the one provided at the carry-out port carries the carried product carried out from the vertical carrier. In this vertical transport system, a transfer machine provided at the carry-in port transfers and carries in a conveyed product in synchronism with the movement of a load receiving table in the vertical transport machine, that is, a transfer machine provided at the carry-in port. By synchronizing the operation of (1) with the movement of the cargo receiving table, it is possible to efficiently convey the conveyed object in the vertical direction.

JP 2004-115269 A

In the vertical transport system, a proximity sensor is installed in the vertical transport machine in the vicinity of the carry-in port to detect when the loading platform reaches the loading start position, and the transfer machine transfers the transported material at the timing detected by the proximity sensor. By starting the operation, the operation of the transfer machine is synchronized with the movement of the loading tray.

Here, the vertical transport system uses a transfer machine in accordance with the size, etc. of the transported object to be transported in order to place the transported object at an appropriate position on the cargo receiving table when it is installed in the actual use site. It is necessary to adjust the timing of the start of the transfer of goods. Then, in the vertical transport system, the position at which the proximity sensor is provided determines the carry-in start position, that is, the timing of the start of the transfer by the transfer machine, so it is necessary to adjust the position of the proximity sensor. However, in the vertical transport system, in the vertical transport machine, the proximity sensor is provided in the vicinity of the load receiving table to be moved, and the work is performed in a narrow space, and the adjustment amount of the proximity sensor changes according to the moving speed of the load receiving table. Therefore, it is not easy to adjust the position of the proximity sensor.

The present disclosure has been made in view of the above circumstances, and an object of the present disclosure is to provide an up-and-down transport system that can easily adjust the timing of detecting a load receiving tray.

In order to achieve the above-mentioned object, the vertical transport system of the present disclosure includes a vertical transport machine that vertically moves a load receiving table on which a transported object is placed, and a control unit that controls the vertical transport machine. The carrier has a drive mechanism that moves the load receiving table by transmitting a rotational drive force, and an encoder that detects a rotational position of the drive mechanism, and the control unit has the rotational position detected by the encoder. The position of the load receiving base is obtained as the rotation amount of the drive mechanism based on the above.

The vertical transport system of the present disclosure configured in this manner can easily adjust the timing of detecting the load receiving tray.

It is an explanatory view showing the composition of the up-and-down conveyance system concerning this indication typically. It is a block diagram which shows the structure of the control system of an up-and-down conveyance system. It is a flowchart which shows the carrying-in process (carrying-in method) performed by the control part of an up-and-down conveyance system. It is the first half of the flowchart showing the carry-out process (carry-out method) executed by the control unit of the vertical transport system. It is a flow chart which shows expansion corresponding processing (expansion corresponding method) performed by the control part of an up-and-down conveyance system.

Hereinafter, the vertical transport system according to the first embodiment as an example of the vertical transport system according to the present disclosure will be described with reference to the drawings.

The vertical transport system 10 according to the first embodiment of the present disclosure will be described with reference to FIGS. 1 to 5. Note that, although FIG. 1 shows a state in which the six cargo receiving trays 36 are provided in the vertical transporting machine 12, the number of the cargo receiving trays 36 can be set appropriately.

As shown in FIG. 1, the vertical transport system 10 includes a vertical transport machine 12 that transports a transported article 11 in the vertical direction, and an upper transport port provided corresponding to an upper transport port 26, which will be described later, on the upper side of the vertical transport machine 12. A loading machine 13 and a lower transfer machine 14 provided corresponding to a lower transport port 24, which will be described later, on the lower side of the vertical transport machine 12 are provided. In the vertical transport system 10 according to the first exemplary embodiment, the lower transfer machine 14 transports the transported article 11 loaded into the lower transport port 24 of the vertical transporting machine 12, and the vertical transporting machine 12 transports the transported article 11 to the lower side. The transport object 24 is transported from the transport port 24 to the upper transport port 26, and the upper transfer machine 13 transports the transported product 11 carried out from the upper transport port 26. Therefore, in the vertical transport system 10 of the first embodiment, the lower transfer machine 14 functions as a carry-in transfer machine, and the upper transfer machine 13 functions as a carry-out transfer machine. The vertical transfer system 10 of the first embodiment is a so-called Z type in which the upper transfer machine 13 and the lower transfer machine 14 are located on the opposite sides of the vertical transfer machine 12 in between. The vertical transfer system 10 may be a so-called C type in which the upper transfer machine 13 and the lower transfer machine 14 are located on one side with respect to the vertical transfer machine 12, and may have other configurations. Well, it is not limited to the configuration of the first embodiment.

The up-and-down carrier 12 has a vertical body frame 21, and a carrier space 22 for vertically carrying the object 11 is formed inside the body frame 21. In the transfer space 22, the lower part is the lower transfer position 23, the lower transfer port 24 is provided in the body frame 21 correspondingly, and the upper part is the upper transfer position 25, and the upper transfer port is correspondingly provided in the body frame 21. 26 is provided.

In the main body frame 21, the outer belts 27 that make a pair on both sides in the width direction (the depth direction when viewed from the front of FIG. 1) in the transport space 22 and the inner sides that make a pair on both sides in the width direction on the inner sides of the both outer belts 27. And a belt 28. Each outer belt 27 includes two pulleys 27a and 27b provided on the main body frame 21 above the transport space 22, and three pulleys 27c, 27d and 27e provided on the main body frame 21 below the transport space 22. Is laid around in a substantially rectangular shape (so-called endless strip). Each inner belt 28 is substantially L-shaped on a pulley 28a provided on the main body frame 21 above the transport space 22 and three pulleys 28b, 28c, 28d provided on the main body frame 21 below the transport space 22. It is wound around the shape (so-called endless body). The respective pulleys (27a to 27e and 28a to 28d) are provided in pairs on both sides in the width direction corresponding to the outer belt 27 and the inner belt 28 that are wound around. The outer belts 27 and the inner belts 28 extend in the horizontal direction with the pulleys 27a and 27b and the pulleys 28c and 28d being parallel to each other, and between the pulleys 27a and 27e and the pulleys 28a and 28d. It is parallel and extends vertically.

The pulleys 27b and 28a are fixed to a common rotating shaft 31. A transmission pulley 32 is fixed to the rotating shaft 31, and a transmission belt 33 is wound around the transmission pulley 32 with a drive pulley 34. The drive pulley 34 can be rotationally driven by a motor 35 formed of, for example, a geared motor or a pulse motor. Therefore, when the motor 35 is rotationally driven, its rotational driving force can be transmitted to the pulleys 27b and 28a, and the both outer belts 27 and the inner belts 28 are synchronized with each other so that the pulleys (27a) described above are synchronized. To 27e and 28a to 28d) can be circulated in the same direction. In the first embodiment, the both outer belts 27 and the both inner belts 28 are wound around the respective pulleys, but both outer chains and both inner chains may be wound around the respective sprockets. The configuration may be used and is not limited to the configuration of the first embodiment.

In the main body frame 21, a plurality of load receiving bases 36 are attached at equal intervals across both outer belts 27 and both inner belts 28. Each of the load receiving trays 36 has a substantially rectangular plate shape when viewed in the up-down direction, and forms a portion on which the transported object 11 is placed on the rectangular upper surface thereof, and is flat without bending with respect to the load on the upper surface. While maintaining such a state, it is easily bent with respect to the load on the lower surface. When viewed from a position between the pulleys 27a and 28a to a position between the pulleys 27e and 28d, each of the cargo receiving bases 36 has its right end portions fixed to the pair of outer belts 27 in a front view of FIG. Both ends on the left side when viewed from the front are fixed to the pair of inner belts 28. When the outer belts 27 and the inner belts 28 are circulated, each of the load receiving bases 36 extends horizontally between the pulleys 27a and 28a and between the pulleys 27e and 28d in a flat state (horizontal direction). It is moved up and down while maintaining the state). In addition, when the outer belts 27 and the inner belts 28 are circulated, each of the load receiving trays 36 is in a flat state (vertical state) in which it extends in the up-down direction at a position from the pulleys 27b, 28a to the pulleys 27c, 28b. Is moved up and down. Then, each of the cargo receiving trays 36 bends along the pulleys 27b and 28a, the pulleys 27c and 28b, and the pulleys 27d and 28c, and goes through the horizontal state and the vertical state, so that the lower conveyance in the conveyance space 22 is performed. It circulates back and forth between position 23 and upper transport position 25.

As a result, the vertical transporter 12 can transport the transportable article 11 in the vertical direction by placing the transportable article 11 on each of the load receiving trays 36 that are moved in the vertical direction while maintaining the horizontal state. The up-and-down carrier 12 conveys the conveyed goods 11 upward by moving the respective cargo receiving trays 36 in the horizontal state upward, and conveys the conveyed articles 11 by moving the respective cargo receiving trays 36 in the horizontal state downward. The object 11 is conveyed downward. The conveying direction of the conveyed object 11, that is, the moving direction of each load receiving base 36 can be set by the circulation direction of the both outer belts 27 and the both inner belts 28, that is, the rotation direction of the motor 35. Therefore, the motor 35 functions as a drive mechanism that cooperates with the drive pulley 34, the transmission belt 33, the transmission pulley 32, and the rotary shaft 31 to transmit the rotational driving force and move the load receiving bases 36. The up-and-down carrier 12 can move each load receiving table 36 by driving the motor 35 (driving mechanism) to carry the conveyed object 11, and can stop each load receiving table 36 by stopping the motor 35 (driving mechanism). The conveyance of the conveyed object 11 can be stopped by stopping.

The upper side transfer machine 13 and the lower side transfer machine 14 transfer the conveyed goods 11 carried in to the lower conveyance mouth 24 or the upper side conveyance mouth 26, or the conveyed goods 11 carried out from there, respectively. The upper transfer device 13 and the lower transfer device 14 can be configured by a roller conveyor provided with a plurality of rollers arranged in the transfer direction, or a belt conveyor provided with an annular belt rotatably provided in the transfer direction. The upper transfer machine 13 and the lower transfer machine 14 are capable of being driven and stopped for transfer under the control of a control unit 41 (see FIG. 2) which will be described later. It is possible to transfer and stop it.

As shown in FIG. 2, the vertical transport system 10 includes a control unit 41 that comprehensively controls the operations of the vertical transport machine 12, the upper transfer machine 13, and the lower transfer machine 14. The control unit 41 is connected to the motor 35 of the vertical transport machine 12, the upper transfer machine 13 (driving mechanism thereof), and the lower transfer machine 14 (driving mechanism thereof), and a storage unit 44 whose operation will be described later. Alternatively, the conveyed article 11 can be smoothly conveyed by controlling according to the program stored in the internal memory 41a incorporated therein. The control unit 41 stores an operation unit 42 for making various settings relating to transportation, a display unit 43 for displaying various information, the position of each cargo receiving tray 36, and the presence or absence of the transported object 11 on each cargo receiving tray 36. The storage unit 44 is connected to. In the operation unit 42 of the first embodiment, the display unit 43 has a touch panel function and is configured integrally with the display unit 43.

In addition, the control unit 41 includes an encoder 51, a reference sensor 52, an upper side rush sensor 53, a lower side rush sensor 54, an extension detection sensor 55, and an upper side transfer device, which are provided in the vertical transporter 12, for controlling the transfer. The upper timing sensor 56 and the traffic jam sensor 57 provided in the machine 13 and the lower timing sensor 58 provided in the lower transfer machine 14 are connected. Each of the sensors (reference numerals 52 to 58) detects that the object (the load receiving table 36 or the transported object 11) of the respective sensor has reached the position where it is installed. For example, a photoelectric sensor or a proximity sensor. And the like.

The encoder 51 detects the rotational position of the drive mechanism provided in the vertical transporter 12. In the first embodiment, the encoder 51 detects the rotational position (rotational angle) of the motor 35, and sends a detection signal indicating this to the control unit 41. Output. The encoder 51 detects the rotational position of the motor 35 (driving mechanism) so that the control unit 41 can obtain the position of each load receiving base 36. The encoder 51 may be an absolute type or an increment type. However, the absolute type is used in the first embodiment. Thereby, the control unit 41 does not need to acquire and count all the output pulse signals, in other words, even if there is a pulse signal that cannot be counted, the control unit 41 outputs the pulse signal from the encoder 51 at a timing required. The rotational position of the motor 35 can be properly grasped by acquiring the detection signal of. For this reason, the control unit 41 can simplify the control required for the detection from the encoder 51, can detect the current rotational position even after the recovery from the power failure, and can broaden the control range.

The reference sensor 52 is provided for setting a reference for obtaining the position of each of the load receiving trays 36 in the vertical transporter 12. As shown in FIG. 1, the reference sensor 52 detects the load receiving base 36 that moves in a vertical state in the up-and-down carrier 12, and is attached to the main body frame 21 at a position from the pulleys 27b and 28a to the pulleys 27c and 28b. It is provided. For example, when the front end of the load receiving table 36 in the moving direction reaches the detection position, the reference sensor 52 outputs a detection signal indicating this to the control unit 41.

Since the reference sensor 52 detects the load receiving base 36 that moves from the pulleys 27b and 28a to the pulleys 27c and 28b, the load receiving base 36 can be detected stably. This is because the both outer belts 27 and the inner belts 28 are concentrated at the same position downward even if they are stretched, as will be described later, and the influence of the weight of the conveyed article 11 is also exerted. Since it is not received, there is almost no change in the passing position with respect to the main body frame 21.

In the first embodiment, one reference sensor 52 is provided at each of the upper portion and the lower portion of the pulleys 27b and 28a to the pulleys 27c and 28b. The reference sensor 52a on the upper part detects the load receiving base 36 that moves upward at the same position, that is, detects the load receiving base 36 at the same position when each of the load receiving bases 36 conveys the conveyed object 11 downward. Used for. Further, the lower reference sensor 52b detects the load receiving base 36 that moves downward at the same position, that is, detects the load receiving base 36 at the same position when each of the load receiving bases 36 conveys the conveyed object 11 upward. Used to do.

The upper-side rush sensor 53 is provided to detect that the conveyed product 11 has rushed into the upper-side conveying port 26. The upper thrust sensor 53 detects that the article 11 passes (reaches) through the upper transport port 26 in the vertical transporting machine 12, and is provided at the upper transport port 26 of the main body frame 21. When the transport object 11 moving from the transport space 22 to the outer side or from the outer side to the transport space 22 passes through the upper transport port 26 (detection position), the upper thrust sensor 53 outputs a detection signal indicating this to the control unit 41. ..

The lower-side rush sensor 54 is provided to detect that the conveyed product 11 has rushed into the lower-side conveying port 24. The lower thrust sensor 54 detects that the article 11 has passed (reached) through the lower transport port 24 in the vertical transport machine 12, and is provided at the lower transport port 24 of the main body frame 21. .. When the transported object 11 moving from the transport space 22 to the outside or from the outside to the transport space 22 passes through the lower transport port 24 (detection position), the lower rush sensor 54 sends a control signal to the control unit 41. Output.

The elongation detection sensor 55 is provided to detect the elongation generated on the outer belts 27 and the inner belts 28. The extension detection sensor 55 detects that the load receiving base 36 has passed (reached) near the pulleys 27d and 28c in the vertical transport machine 12, and is provided near the pulleys 27d and 28c of the main body frame 21. .. The extension detection sensor 55 outputs a detection signal indicating that, for example, when the front end of the load receiving table 36 in the moving direction reaches the detection position, to the control unit 41.

The upper timing sensor 56 is provided to determine the timing of starting the transfer by the upper transfer machine 13. The upper side timing sensor 56 detects that the conveyed article 11 has passed (reached) from the upper side transfer port 26 at the detection position set at a predetermined interval in the upper side transfer machine 13. It is provided at the detection position. When the transported object 11 moving toward the upper transport port 26 or away from the upper transport port 26 passes a detection position on the upper transfer machine 13, the upper timing sensor 56 outputs a detection signal indicating that. To 41.

The traffic jam sensor 57 is provided to detect that the conveyance of the conveyed article 11 is delayed in the upper transfer machine 13, that is, the congestion of the conveyed article 11 is occurring. The traffic jam sensor 57 determines whether or not the conveyance of the conveyed object 11 is delayed at a predetermined position on the upper side transfer machine 13 downstream of the upper side timing sensor 56 in the conveyance direction (on the side opposite to the vertical conveyance machine 12). To detect. When the congestion sensor 57 detects that the conveyance of the conveyed object 11 is delayed at a predetermined position, it outputs a detection signal indicating this to the control unit 41.

The lower timing sensor 58 is provided to determine the timing of starting the transfer by the lower transfer machine 14. The lower-side timing sensor 58 detects that the conveyed article 11 has passed (reached) from the lower-side transfer port 24 to the detection position set at a predetermined interval in the lower-side transfer machine 14. It is provided at the detection position on the machine 14. The lower timing sensor 58 detects when the conveyed object 11 moving toward the lower transfer port 24 or in the direction away from the lower transfer port 24 passes a detection position on the lower transfer machine 14, and indicates this. The signal is output to the control unit 41.

Next, in the vertical transport system 10, the operation of the control unit 41 based on the signals output from the encoder 51 and the sensors (reference numerals 52 to 58) will be described. As described above, the vertical transport system 10 according to the first exemplary embodiment is configured to transport the transported object 11 upward, and the lower transport port 24 of the vertical transport machine 12 serves as a carry-in port and the upper transport port 26. Is the exit. For this reason, when it passes through the lower transfer machine 14 to the up-and-down transfer machine 12 and from the up-down transfer machine 12 to the up-side transfer machine 13, the left side in the left-right direction when viewed from the front of FIG. Is the front side in the traveling direction of the conveyed product 11, and the upper side in the vertical direction in the vertical conveyor 12 is the front side in the traveling direction of the conveyed product 11. Therefore, as described above, the control unit 41 uses the lower reference sensor 52b of the reference sensors 52 (hereinafter, simply referred to as the reference sensor 52) to determine the position of each load receiving base 36.

First, in the up-and-down conveyor 12, as described above, each load receiving base 36 is circulated through the path formed by both outer belts 27 and both inner belts 28, and both outer belts 27 and both inner belts 28 are driven by the motor. It is circulated by the drive of 35 (driving mechanism). Therefore, in the up-and-down carrier 12, the rotation amount of the motor 35, which is the difference between the rotation positions of the motor 35 at the two positions of the start point and the end point of the movement amount, of the movement of the load receiving table 36 in the circulation path. It can be shown in quantity. Then, in the up-and-down carrier 12, basically, the relationship between the amount of rotation of the motor 35 and the amount of movement of the load receiving base 36 in the circulation path is not taken into consideration unless the expansion of both outer belts 27 and inner belts 28 described later is taken into consideration. It does not change from what was originally set.

When the reference sensor 52 detects the load receiving base 36 in the vertical transporting machine 12, the control unit 41 can grasp that the load receiving base 36 is present at the rotational position of the motor 35 detected by the encoder 51 at the time of detection. .. Therefore, the control unit 41 acquires the rotation amount of the motor 35 from the detection position of the reference sensor 52 on the basis of the detection signal from the encoder 51 to determine how the load receiving base 36 circulates. It is possible to grasp in real time whether or not it exists at a certain position. Then, the control unit 41 repeats this operation every time the reference sensor 52 detects the load receiving base 36, whereby the position of each load receiving base 36 can be obtained as the rotation amount of the motor 35, and these are appropriately stored. It is stored in the unit 44.

In the vertical transporter 12, the loading start position Pi is set in order to properly place the transported article 11 on the moving load receiving table 36. The carry-in start position Pi indicates the timing of starting the transfer by the lower transfer machine 14 for carrying in the conveyed product 11 at the position of the load receiving table 36, and the conveyed product targeted by the vertical conveyance system 10 is the conveyed product. It is set from the viewpoint that the largest transported object 11 out of 11 is properly placed on the cargo receiving table 36. The control unit 41 acquires in advance the amount of rotation of the motor 35 from the detection position of the reference sensor 52 to the carry-in start position Pi, and the load receiving base 36 detects the amount of rotation of the motor 35 based on the detection position of the reference sensor 52. It is grasped that the loading start position Pi has been reached.

Further, in the up-and-down carrier 12, a carry-in end position Pie is set, which indicates that the transported article 11 has been placed on the moving load receiving table 36. The carry-in end position Pie indicates the timing at which the transfer by the lower transfer machine 14 for carrying in the carried object 11 is ended by the position of the cargo receiving table 36, and the carrying target of the vertical carrying system 10 is the carrying. It is set from the viewpoint that the largest conveyed article 11 among the articles 11 is properly placed on the cargo receiving table 36. Similarly to the carry-in start position Pi, the control unit 41 recognizes that the load receiving table 36 has reached the carry-in end position Pie by the rotation amount of the motor 35 based on the detection position of the reference sensor 52.

Further, in the up-down carrier 12, a full stop position Ps is set to stop the load receiving table 36 when the upper transfer machine 13 is congested with the conveyed object 11, that is, when the unloading destination is full. The full stop position Ps is a position at which the cargo receiving tray 36 on which the conveyed object 11 is placed is stopped when the congestion sensor 57 detects that the conveyed object 11 is not conveyed by the upper transfer machine 13. The setting is made from the viewpoint of setting the carry-out standby state in which the carry-out of the conveyed object 11 in which the congestion is eliminated can be immediately started. The full stop position Ps of the first embodiment is the position where the load receiving base 36 is located between the pulleys 27a and 28a (27b), that is, the position where the load receiving base 36 has been transferred to the upper end in the vertical direction, and the load receiving position in the horizontal state is received. The article 11 is supposed to be placed on the table 36. Similarly to the carry-in start position Pi and the carry-in end position Pie, the control unit 41 recognizes that the load receiving base 36 has reached the full stop position Ps with the rotation amount of the motor 35 based on the detection position of the reference sensor 52.

In the lower transfer machine 14, the carry-in preparation position Pp is set in order to properly place the transported article 11 on the load receiving table 36. The carry-in preparation position Pp is set from the viewpoint that it is possible to appropriately place the transported object 11 on the load receiving table 36 by starting the transfer of the transported object 11 at the timing when the load receiving table 36 is set to the loading start position Pi. However, in the first embodiment, the position is detected by the lower timing sensor 58. In the lower transfer machine 14, the control unit 41 transfers the conveyed article 11 to the carry-in preparation position Pp or moves the conveyed article 11 from the carry-in preparation position Pp based on the detection of the lower side timing sensor 58 provided therein. Start transfer. Therefore, the lower timing sensor 58 functions as a carry-in preparation sensor that detects that the conveyed product 11 is located at the carry-in preparation position Pp.

Next, in the up-and-down transfer system 10, an operation when the transfer object 11 is transferred under the control of the control unit 41 will be described. In the vertical transport system 10, the lower transfer machine 14 transports the cargo cradle 36 of the vertical transport machine 12 in accordance with the movement of the cargo cradle 36 to the front side in the traveling direction in the process in which the cargo cradle 36 becomes horizontal via the pulleys 27d and 28c. By transferring the article 11 to the front side in the traveling direction, the article 11 is carried from the lower transfer machine 14 to the upper and lower conveyors 12. Further, in the vertical transport system 10, when the vertical transport machine 12 is driven, the upper transfer machine 13 is also driven so that the load receiving platform 36 of the vertical transport machine 12 passes from the horizontal state via the pulleys 27b and 28a to the vertical state. In the process of being in such a state, the transport object 11 is moved to the front side in the traveling direction of the load receiving table 36, and the transport object 11 is transferred to the front side in the traveling direction so that the upper transfer machine 13 can take over the transport object 11. The conveyed product 11 is carried out to the upper transfer machine 13. The control unit 41 transfers the cargo 11 by the lower transfer machine 14 provided in the lower transfer port 24 at the same timing as the movement of the load receiving base 36 of the upper and lower transporters 12 to carry in the transferred goods 11. The object 11 is efficiently conveyed upward.

The control unit 41 moves the conveyed article 11 on the lower transfer machine 14 to the carry-in preparation position Pp based on the detection by the lower timing sensor 58 provided on the lower transfer machine 14. Then, the control unit 41 prepares for the carry-in of the conveyed article 11 by the lower transfer machine 14 when any one of the load receiving trays 36 reaches the carry-in start position Pi when the conveyed article 11 exists at the carry-in preparation position Pp. The transfer from the position Pp is started. At this time, the control unit 41 conveys the lower side of the lower plunge sensor 54 from the start of the transfer by the lower transfer machine 14 until the corresponding loading tray 36 reaches the carry-in end position Pie. The detection signal indicating that the article 11 is present at the mouth 24 is invalidated. That is, the control unit 41 carries in the conveyed object 11 while the lower transfer device 14 is driven and the load receiving platform 36 reaches the carry-in end position Pie. Even if it is detected that the conveyed object 11 is present at the mouth 24, the carry-in operation is continued. Note that the control unit 41 can appropriately carry in the carried object 11 with a detection signal from the lower plunge sensor 54 during the carrying-in operation during the loading stage 36 from the loading start position Pi to the loading end position Pie. It may be used to confirm that there is.

In addition, when the transport object 11 has not been transferred to the carry-in preparation position Pp, the control unit 41 prepares to carry in the carry object 11 by the lower transfer machine 14 even if the load receiving table 36 reaches the carry-in start position Pi. The transfer from the position Pp does not start. In addition, the control unit 41 moves in the horizontal direction upward in the vertical direction according to the presence/absence of the operation of the lower transfer machine 14 based on the presence/absence of the transported object 11 at the carry-in preparation position Pp. At 36, it is determined that the conveyed article 11 is placed, and the fact that the conveyed article 11 is placed is stored in the storage unit 44 together with the position of each cargo receiving table 36. From this, the control unit 41 can also determine that the conveyed article 11 is not placed on each of the cargo receiving trays 36 that does not remember that the conveyed article 11 is placed.

In addition, the control unit 41 validates the detection signal from the lower plunge sensor 54 except when the loading platform 36 reaches the loading end position Pie after driving the lower transfer machine 14, and acquires the detection signal. Then, the operation of the vertical transport machine 12 is stopped. As a result, in the up-and-down conveyance system 10, the conveyed article 11 can be properly carried in, and the articles other than those carried in under the control including the conveyed article 11 other than during the carry-in operation are not included in the lower conveyance port. It is possible to prevent the entry from the inside of the vertical transport machine 12 from 24.

The control unit 41 also drives the upper transfer machine 13 while moving each of the load receiving trays 36 in the vertical transporting machine 12, so that the load receiving trays 36 of the load receiving trays 36 are loaded when the transported object 11 is loaded. The conveyed article 11 is carried out after passing the full stop position Ps, and when the conveyed article 11 is not placed, the cargo receiving table 36 simply passes the full stop position Ps. Then, the control unit 41 deletes, from the storage unit 44, information regarding the placement of the transported article 11 and the position of the loaded platform 36 with respect to the cargo receiving table 36 from which the transported object 11 is unloaded.

Further, when the congestion sensor 57 detects that the conveyance of the conveyed object 11 is delayed at a predetermined position on the upper transfer machine 13 (so-called congestion), the control unit 41 receives the cargo on which the conveyed object 11 is placed. The vertical carrier 12 is driven until the load receiving table 36 closest to the upper transport port 26 of the platform 36 reaches the full stop position Ps, and the operation of the vertical transport device 12 is stopped with the load receiving table 36 as the full stop position Ps. .. In this state, since the conveyed article 11 is placed on the load receiving table 36 in the horizontal state, the conveyed article 11 is in a stable state. As a result, in the up-and-down transport system 10, when the upper transfer machine 13 is congested with the transported object 11 during the unloading operation, it is possible to prevent the transported object 11 from overflowing by unloading a new transported object 11. it can.

Further, the control unit 41 starts measuring the amount of movement of the load receiving table 36 when the upper thrust sensor 53 detects the conveyed object 11 during the unloading operation. Then, when the upper timing sensor 56 detects the conveyed object 11 before the movement amount to be measured exceeds the predetermined movement threshold value, the control unit 41 appropriately carries out the upper transfer machine 13. If it is determined that the article 11 is present, the operation of unloading the article 11 is continued. Further, if the upper timing sensor 56 does not detect the conveyed object 11 until the movement amount to be measured exceeds the movement threshold value set to a predetermined value, the control unit 41 properly carries out the upper transfer machine 13. When it is determined that there is not, the driving of the vertical transport machine 12, the upper transfer machine 13, and the lower transfer machine 14 is stopped. In this case, since the conveyed article 11 cannot be properly transferred in the upper transfer machine 13 (so-called transfer failure), once the upper and lower transfer machines 12, the upper transfer machine 13, and the lower transfer machine 14 are stopped, It is possible to eliminate the cause of transfer failure. In this case, the control unit 41 informs the occurrence of the transfer failure on the display unit 43 and prompts the removal of the cause of the transfer failure. Then, when the operation for restarting is performed by the operation on the operation unit 42, the control unit 41 restarts the above-described operation for transfer. As a result, in the vertical transport system 10, when the unloading operation is performed, the upper transfer machine 13 does not transport the transported article 11 for proper unloading (transport failure), and unloads a new transported article 11. It is possible to promote the elimination of the cause of the transfer failure while preventing the occurrence of a new defect caused by the above.

In addition, the control unit 41 stops the operation of the up/down carrier 12 when the upper rush sensor 53 detects the conveyed object 11 while the congestion sensor 57 detects the congested object 11 in the upper transfer machine 13. To do. Here, as described above, when the traffic jam sensor 57 detects the traffic jam, the control unit 41 fully stops the cargo cradle 36 closest to the upper transport port 26 among the cargo cradle 36 on which the transported object 11 is placed. It operates so as to stop the operation of the vertical transporter 12 at the position Ps. For this reason, in the above-described scene, the conveyed article 11 from the cargo receiving table 36 that does not remember that the control section 41 has placed the conveyed article 11, that is, the conveyed article 11 whose position is not grasped by the control section 41 is conveyed upward. It has been transferred to the mouth 26. In such a case, for example, the storage unit 44 is erased by forcibly stopping the vertical transport system 10 due to a power failure or the like, or the worker manually puts the transported article 11 on the load receiving table 36. In addition, it is conceivable that the transported article 11 was placed on the load receiving table 36 other than the transfer by the lower transfer machine 14 under the control unit 41. As a result, in the vertical transport system 10, during the unloading operation, the transport object 11 is congested in the upper transfer machine 13, and the transport object 11 whose position is not grasped by the control unit 41 is placed on the load receiving table 36. Even if it is, the upper transfer machine 13 can be prevented from overflowing with the conveyed product 11 by carrying out a new conveyed product 11.

The control unit 41 uses the extension detection sensor 55 to detect the extension of each belt (27, 28). This is because it is conceivable that the outer belts 27 and the inner belts 28 of the vertical transporting machine 12 may stretch over time. In the up-and-down conveyor 12, when each belt (27, 28) is stretched, the stretch is concentrated downward due to the influence of gravity. Therefore, with the configuration described above, between the pulleys 27c, 28b and the pulleys 27d, 28c. It appears as a bending of each belt (27, 28). For this reason, in the up-and-down conveyor 12, as the belts (27, 28) extend, the positional relationship of the load receiving bases 36 with respect to the rotation amount of the motor 35 based on the reference sensor 52 changes. The accuracy of the carry-in and carry-out control based on the rotation amount of 35 may decrease.

In the initial state, the control unit 41 controls the rotation amount of the motor 35 (hereinafter, the initial rotation amount Re in the initial rotation amount Re when the load carrier 36 is moved from the detection position of the reference sensor 52 to the detection position of the extension detection sensor 55 in the vertical transporting machine 12). Is stored in the storage unit 44. The control unit 41, when operating the vertical transport device 12, rotates the motor 35 when moving the load carrier 36 from the detection position of the reference sensor 52 to the detection position of the extension detection sensor 55 (hereinafter, the current rotation amount Rn. Is calculated and compared with the initial rotation amount Re stored in the storage unit 44. When the difference rotation amount Rd, which is the difference between the current rotation amount Rn and the initial rotation amount Re, exceeds the preset elongation correction threshold Gr, the control unit 41 receives the loading start position Pi by the difference rotation amount Rd. The table 36 is moved to the downstream side (front side) in the moving direction for correction, and the corrected carry-in start position Pi is stored in the storage unit 44. Further, the control unit 41 similarly corrects the carry-in end position Pie. After that, the control unit 41 performs the above-described loading operation using the corrected loading start position Pi and loading end position Pie stored in the storage unit 44.

At this time, the control unit 41 also corrects the full stop position Ps by moving it to the downstream side in the moving direction of the load receiving platform 36 by the differential rotation amount Rd, and stores the corrected full stop position Ps in the storage unit 44. .. Then, the control unit 41 thereafter performs the above-described unloading operation using the corrected full stop position Ps stored in the storage unit 44. Here, the elongation correction threshold Gr may be set as appropriate, at least before the influence of the elongation of each belt (27, 28) affects the accuracy of the conveyance of the conveyed object 11, and can be set as appropriate. In addition, when the difference between the current rotation amount Rn and the initial rotation amount Re exceeds the preset elongation limit threshold Gl, the control unit 41 determines that each belt (27, 28) has reached the use limit. , That effect is displayed on the display unit 43. The elongation limit threshold Gl may be set in consideration of the material and the configuration of each belt (27, 28).

In addition, the control unit 41 determines the position of each cargo receiving base 36 in real time based on the position of each cargo receiving base 36 and the information that the cargo 11 is placed on each cargo receiving base 36 together with the presence or absence of the cargo 11. Is displayed on the display unit 43. Therefore, the vertical transport system 10 can accurately and in real time recognize the state of transporting the transported article 11 such as the position of each load receiving platform 36 and the presence or absence of the transported article 11.

Next, a loading process (carrying-in method) as an example of loading the transported article 11 from the lower transfer machine 14 to the vertical transport machine 12 in the vertical transport system 10 will be described with reference to FIG. This carry-in process is executed by the control unit 41 based on the program stored in the storage unit 44 or the internal memory 41a incorporated therein. In the following, each step (each step) of the flowchart of FIG. 3 will be described. The flowchart of FIG. 3 is started when the vertical transport system 10 is activated and the vertical transport machine 12 starts moving the load receiving trays 36. The flowchart of FIG. 3 shows the processing until the end of the loading of one conveyed product 11, and is repeatedly performed for each load receiving base 36 while the vertical conveying machine 12 is driven. When the upper and lower conveyors 12 are operated, the control unit 41 starts to obtain the position of each load receiving base 36 using the reference sensor 52 as the rotation amount of the motor 35.

In step S1, it is determined whether or not the lower plunge sensor 54 has detected the conveyed object 11. If YES, the process proceeds to step S2, and if NO, the process proceeds to step S4. In step S1, it is determined whether or not a detection signal is output from the lower side rush sensor 54, that is, whether or not the conveyed product 11 has reached the lower side conveyance port 24 except during the carrying-in operation.

In step S2, the vertical transporting machine 12 is stopped, and the process proceeds to step S3. In step S2, since the conveyed object 11 has reached the lower conveyance port 24 (a so-called conveyance failure) except during the carrying-in operation, the operation of the vertical conveyor 12 is stopped. In step S2 of the first embodiment, this state is notified by the display on the display unit 43. It should be noted that the notification in the first embodiment including this may be made by sound, lighting a lamp, or another method, and is not limited to the configuration of the first embodiment.

In step S3, it is determined whether or not the conveyance failure has been resolved. If YES, the process returns to step S1. If NO, step S3 is repeated. In step S3, it is determined whether or not the detection signal from the lower plunging sensor 54 is no longer output, and when it is no longer output, the notification by the display unit 43 is stopped.

In step S4, it is determined whether or not the conveyed product 11 is located at the carry-in preparation position Pp. If YES, the process proceeds to step S5, and if NO, the process returns to step S1. In step S4, based on the detection of the lower timing sensor 58 provided in the lower transfer machine 14, it is determined whether or not the conveyed product 11 is located at the carry-in preparation position Pp on the lower transfer machine 14. ..

In step S5, it is determined whether or not the loading tray 36 has reached the carry-in start position Pi. If YES, the process proceeds to step S6, and if NO, step S5 is repeated. In step S5, it is determined whether or not any one of the load receiving trays 36 has reached the carry-in start position Pi in the rotation amount of the motor 35 based on the detection position of the reference sensor 52.

In step S6, the transfer of the conveyed product 11 by the lower transfer machine 14 is started, and the process proceeds to step S7.

In step S7, the lower plunge sensor 54 is invalidated, and the process proceeds to step S8. In step S7, since the conveyed article 11 is carried in from the carry-in preparation position Pp of the lower transfer machine 14 to the load receiving table 36, from the lower plunge sensor 54 indicating that the conveyed article 11 exists in the lower conveyance port 24. The detection signal of is invalid.

In step S8, it is determined whether or not the loading tray 36 has reached the carry-in end position Pie. If YES, the process proceeds to step S9, and if NO, step S8 is repeated. In step S8, it is determined whether or not the load receiving base 36 that has passed the carry-in start position Pi has reached the carry-in end position Pie in the rotation amount of the motor 35 based on the detection position of the reference sensor 52.

In step S9, it is stored that the conveyed article 11 is placed, and the process proceeds to step S10. In step S<b>9, the storage unit 44 stores that the article 11 is placed on the load receiving table 36 that has reached the carry-in end position Pie in step S<b>8.

In step S10, the lower plunge sensor 54 is validated, and the carrying-in process ends. In step S10, since the cargo receiving table 36 has reached the carry-in end position Pie and the carry-in of the conveyed article 11 has been completed, a detection signal indicating that the conveyed article 11 is present at the lower conveyance port 24 is output from the lower rush sensor 54. Validate.

When the loading platform 36 reaches the loading start position Pi, the up-and-down transport system 10 loads the transported item 11 at the loading preparation position Pp from the lower transfer machine 14 and places the loaded item 11 on the loading platform 36. The fact is stored (S4 to S10 after S1). At this time, the up/down transfer system 10 does not perform the transfer for loading by the lower transfer machine 14 when there is no transported object 11 at the loading preparation position Pp (S4 after S1). In addition, the vertical transport system 10 stops the operation of the vertical transport machine 12 and notifies when the transported article 11 reaches the lower transport port 24 except during the loading operation (S1 to S2). Therefore, the vertical transport system 10 can efficiently carry the transported article 11 from the lower transfer machine 14 to the vertical transporting machine 12 and can store whether the transported article 11 is placed on the load receiving table 36.

Next, in the vertical transport system 10, an unloading process (unloading method) as an example of unloading the transported article 11 from the vertical transport 12 to the upper transfer machine 13 will be described with reference to FIG. This carry-out process is executed by the control unit 41 based on the program stored in the storage unit 44 or the internal memory 41a incorporated therein. In the following, each step (each step) of the flowchart of FIG. 4 will be described. The flow chart of FIG. 4 is started when the vertical transport system 10 is started, the vertical transport machine 12 starts moving the respective load receiving trays 36, and the upper transfer machine 13 also starts driving for transfer. 3 and 4 are carried out in parallel with the flowchart of FIG. Similar to the flowchart of FIG. 3, the flowchart of FIG. 4 is repeatedly performed for each load receiving platform 36 while the vertical transporting machine 12 is driven.

In step S21, the upper transfer machine 13 determines whether or not the conveyed article 11 is congested. If YES, the process proceeds to step S22, and if NO, the process proceeds to step S26. In step S21, it is determined whether or not the congestion sensor 57 outputs a detection signal indicating that the conveyance of the conveyed object 11 is delayed in the upper transfer machine 13.

In step S22, it is determined whether or not the upper rush sensor 53 has detected the conveyed object 11. If YES, the process proceeds to step S23, and if NO, the process proceeds to step S24. In step S22, it is determined whether or not a detection signal is output from the upper side rush sensor 53, that is, whether or not the conveyed article 11 whose position is not grasped by the control unit 41 during the carry-out operation has reached the upper side conveyance opening 26. ..

In step S23, the vertical transporting machine 12 is stopped, and the process proceeds to step S25. In step S23, when the upper transfer machine 13 is congested with the conveyed article 11, the conveyed article 11 has reached the upper conveyance port 26 (so-called conveyance failure), so the operation of the vertical conveying machine 12 is stopped. In step S23 of the first embodiment, the fact that the conveyance of the conveyed object 11 is delayed in the vertical conveying machine 12 is notified by the display of the display unit 43.

In step S24, the upper and lower carrier 12 is stopped in the carry-out standby state, and the process proceeds to step S25. In step S24, the load carrier 36 on which the article 11 is placed is driven to the full stop position Ps by driving the vertical carrier 12, and the vertical carrier 12 is stopped to move the load carrier 36 to the full stop position Ps. The unloading standby state is set. In step S24 of the first embodiment, the fact that the conveyance of the conveyed object 11 is delayed in the upper and lower conveyor 12 is notified by the display of the display unit 43.

In step S25, it is determined whether or not the congestion of the transported object 11 has been resolved. If YES, the process proceeds to step S26, and if NO, step S25 is repeated. In step S25, it is determined whether or not the detection signal from the traffic jam sensor 57 is no longer output, and when it is no longer output, the notification by the display unit 43 is stopped.

In step S26, it is determined whether or not the upper rush sensor 53 has detected the conveyed object 11. If YES, the process proceeds to step S27, and if NO, step S26 is repeated. In step S26, it is determined whether or not a detection signal is output from the upper side rush sensor 53 (the upper side rush sensor 53 is ON), that is, whether the conveyed product 11 has reached the upper conveyance port 26 by the carry-out operation. Wait until 11 is unloaded. Then, in step S26, when the detection signal from the upper thrust sensor 53 is received, the measurement of the movement amount of the cargo receiving table 36 is started, and the process proceeds to step S27.

In step S27, it is determined whether or not the movement threshold value is exceeded. If YES, the process proceeds to step S28, and if NO, the process proceeds to step S30. In step S27, the transported object 11 placed on the load receiving table 36 by the drive of the vertical transport device 12 and transferred to the upper transfer device 13 is started to measure after the upper rush sensor 53 is turned on in step S26. It is determined whether or not the movement amount of the cargo receiving table 36 exceeds the movement threshold value. That is, in step S27, when the upper transfer machine 13 is not congested, it is determined whether or not the upper transfer machine 13 can properly transfer the conveyed product 11 for unloading.

In step S28, the up/down transport device 12, the upper transfer device 13, and the lower transfer device 14 are stopped, and the process proceeds to step S29. In step S28, since the article 11 has not been properly transferred in the upper transfer machine 13 (so-called transfer failure), the operations of the vertical transfer machine 12, the upper transfer machine 13, and the lower transfer machine 14 are stopped.

In step S29, it is notified that the conveyance is defective, and the carry-out process is ended. In step S29, since the transport failure has occurred in step S27, the display of the display unit 43 notifies that the transport failure has occurred, and prompts the removal of the cause of the transport failure. It should be noted that the flowchart of FIG. 4 shows a situation in which a transfer failure has occurred when the process ends after step S29, so that the operation of FIG. The process is stopped along with the flow chart (carry-in process). In other words, if the operation unit 42 performs an operation for restarting after the completion of step S29, the flowchart of FIG. 3 (carry-in process) and the flowchart of FIG. 4 are restarted.

In step S30, the information that the article 11 is placed and the position of the cargo receiving table 36 is erased, and the unloading process is ended. In step S30, since the carry-out of the conveyed article 11 from the cargo receiving table 36 is completed, information indicating that the conveyed article 11 is placed on the cargo receiving table 36 on which the conveyed article 11 is placed and the position information is stored in the storage unit. Delete from 44.

The vertical transport system 10 operates the vertical transport machine 12 and the upper transfer machine 13 so that the cargo cradle 36 on which the transported object 11 is not placed passes through the cargo cradle 36 without any control. At the same time, it is possible to appropriately carry out the conveyed product 11 placed on the load receiving table 36 to the upper transfer machine 13 (S26 and S27 after passing through S21). At this time, for the cargo receiving table 36 on which the carried conveyed article 11 is placed, the information indicating that the conveyed article 11 was placed and the position of the cargo receiving table 36 is deleted from the storage unit 44 (S30). Even if the table 36 is set to the carry-in start position Pi again, no problem occurs. When the upper transfer machine 13 is congested with the conveyed article 11, the upper and lower conveyance system 10 stops the operation of the upper and lower conveyors 12 by setting the cargo cradle 36 on which the conveyed article 11 is placed to the full stop position Ps. Notify (S21, S22, S24). Further, when the conveyed article 11 reaches the upper side conveyance port 26 while the conveyed article 11 is congested by the upper transfer machine 13, the upper and lower conveyance system 10 stops the operation of the upper and lower conveyance machine 12 and notifies it (S21). To S23). In addition, the vertical transfer system 10 stops the operations of the vertical transfer machine 12, the upper transfer machine 13, and the lower transfer machine 14 when the upper transfer machine 13 cannot properly transfer the transported object 11. (S26 to S29 after S21). Therefore, the vertical transport system 10 can efficiently carry the transported article 11 from the vertical transport machine 12 to the upper transfer machine 13.

Next, with reference to FIG. 5, an explanation will be given of an elongation supporting process (elongation supporting method) as an example of detecting the elongation of each belt (27, 28) in the upper and lower conveyors 12 and appropriately correspondingly in the upper and lower conveyor system 10. .. This expansion handling process is executed by the control unit 41 based on the program stored in the storage unit 44 or the internal memory 41a incorporated therein. Hereinafter, each step (each process) of the flowchart of FIG. 5 will be described. The flowchart of FIG. 5 may be performed in parallel with the flowchart of FIG. 3 (carrying-in process) and the flowchart of FIG. 4 (carrying-out process), or may be performed separately from them, and the vertical transport system 10 may be used. It may be performed at the time of starting or stopping.

In step S41, the rotational position of the motor 35 when the load receiving platform 36 is located at the detection position of the reference sensor 52 is obtained, and the process proceeds to step S42. In step S41, when the detection signal indicating that the load receiving base 36 is detected is input from the reference sensor 52, the load receiving base 36 is set as a detection target, and the rotational position of the motor 35 detected by the encoder 51 at that time is acquired. To do. Then, in step S41, the rotation position of the motor 35 when the load receiving base 36 to be detected is present at the detection position of the encoder 51 is stored in the storage unit 44.

In step S42, the rotational position of the motor 35 when the load receiving platform 36 is located at the detection position of the extension detection sensor 55 is obtained, and the process proceeds to step S43. In step S42, based on the amount of rotation of the motor 35 based on the detection position of the reference sensor 52, extension detection when the load receiving platform 36, which is the detection target in step S41, is present in the vicinity of the detection position of the extension detection sensor 55. A detection signal indicating that the cargo tray 36 is detected is acquired from the sensor 55. Then, in step S42, the rotational position of the motor 35 detected by the encoder 51 is acquired at the time when the detection signal is acquired from the elongation detection sensor 55, and the load platform 36 that is the detection target is present at the detection position of the elongation detection sensor 55. The rotational position of the motor 35 at that time is stored in the storage unit 44.

In step S43, the current rotation amount Rn is obtained, and the process proceeds to step S44. In step S43, the rotation amount of the motor 35 from the detection position of the reference sensor 52 to the detection position of the extension detection sensor 55 is calculated from the difference between the rotation position acquired in step S41 and the rotation position acquired in step S42. The rotation amount is stored in the storage unit 44 as the current rotation amount Rn.

In step S44, it is determined whether or not the differential rotation amount Rd exceeds the expansion correction threshold Gr. If YES, the process proceeds to step S45, and if NO, the expansion support process ends. In step S44, a difference rotation amount Rd that is a difference between the current rotation amount Rn obtained in step S43 and the initial rotation amount Re stored in the storage unit 44 is obtained, and the difference rotation amount Rd is preset and stored in the storage unit. It is determined whether or not the expansion correction threshold value Gr stored in 44 is exceeded.

In step S45, each position is corrected and the process proceeds to step S46. In step S45, the carry-in start position Pi, the carry-in end position Pie, and the full stop position Ps are moved by the differential rotation amount Rd to the downstream side in the moving direction of the load receiving table 36 and corrected, and the corrected respective positions are stored in the storage unit. 44.

In step S46, it is determined whether or not the differential rotation amount Rd exceeds the extension limit threshold Gl. If YES, the process proceeds to step S47, and if NO, the extension support process ends. In step S46, it is determined whether or not the differential rotation amount Rd obtained in step S44 exceeds the elongation limit threshold Gl set in advance and stored in the storage unit 44.

In step S47, the fact that each belt (27, 28) is at the limit of use is displayed on the display unit 43, and this extension handling process is terminated.

The vertical transport system 10 indicates the amount of movement of the load receiving base 36 from the detection position of the reference sensor 52 to the detection position of the extension detection sensor 55 by the rotation amount of the motor 35, and the initial rotation amount Re in the initial state and the current current rotation amount. The differential rotation amount Rd is obtained from Rn (S41 to S44). When the differential rotation amount Rd exceeds the expansion correction threshold Gr, the carry-in start position Pi, the carry-in end position Pie, and the full stop position Ps are corrected by the differential rotation amount Rd (S45). When the differential rotation amount Rd exceeds the extension limit threshold value Gl, the display unit 43 displays that each belt (27, 28) is at the use limit (S47). Therefore, the vertical transport system 10 can appropriately transport the load receiving base 36 by automatically correcting the belts (27, 28) according to the state of each belt (27, 28), and when each belt (27, 28) is at the limit of use. Can inform that effect.

In the vertical transport system 10, after the vertical transport machine 12, the upper transfer machine 13, and the lower transfer machine 14 are installed on the site, in order to properly transport the above-mentioned transported article 11, the loading start position Pi is set. Make adjustments. In this adjustment, the installed upper and lower transfer system 10 is used to actually transfer the largest transfer object 11 among the transfer objects 11 to be transferred. At this time, the vertical transport system 10 is set assuming the largest transport object 11 among the transport objects 11 to be transported. From the viewpoint of proper transportation, it is desirable that the transported article 11 placed on the load receiving table 36 be located at the center position in the moving direction. The carry-in start position Pi is set so that the transported object 11 is placed at the center position of the load receiving table 36, but when installed at an actual site, a shift may occur. For this reason, the vertical transport system 10 determines the loading start position Pi so that the conveyed object 11 is placed at the center position of the cargo receiving table 36 based on the position of the largest actually carried object 11 on the receiving table 36. Make adjustments. Here, since the carry-in start position Pi is stored in the storage unit 44 as the rotation amount of the motor 35 with reference to the reference sensor 52, the vertical transport system 10 can be easily adjusted by rewriting it. .. In the vertical transport system 10, when the operation unit 42 is operated to shift the carry-in start position Pi in the moving direction, the control unit 41 rewrites the carry-in start position Pi of the storage unit 44 in accordance with the operation on the operation unit 42. Thus, the carry-in start position Pi can be adjusted so that the transported object 11 can be placed at the center position of the load receiving table 36. Further, in the vertical transport system 10, the full stop position Ps can be adjusted similarly.

Here, the problems of the conventional vertical transport system will be described. Similar to the vertical transport system 10, the conventional vertical transport system transports an article by driving the upper transfer machine and the lower transfer machine in accordance with the position of the load receiving table of the vertical transport machine. Further, in the conventional vertical transport system, in the vertical transport machine, a proximity sensor for detecting the position of the loading platform is provided at the loading start position, and the proximity sensor detects the loading platform so that the loading platform is loaded. The control unit grasps the timing when the start position is reached. For this reason, in the conventional vertical transport system, in order to adjust the start timing of the transport of the transported material by the lower transfer machine, that is, the loading start position, it is necessary to adjust the installation position of the proximity sensor provided at that position. is there. Then, in the up-and-down carrier, since the proximity sensor is provided inside the main body frame, it is necessary for an operator to sneak into the main body frame and adjust the installation position of the proximity sensor. Since the amount of adjustment of the installation position of changes, experience is required and adjustment work is not easy. Further, in the conventional vertical transport system, if the detection pin that enables detection by the proximity sensor is provided on the belt in accordance with the position of the load receiving table, the position of the detection pin on the belt is adjusted, Adjusting here is not easy.

Further, in the conventional vertical conveyance system, when the congestion sensor detects that the conveyance of the conveyed object is delayed in the upper transfer machine, the upper rush sensor detects that the conveyed object has reached the upper conveying port. , Stop the vertical carrier. For this reason, the conventional vertical conveyance system stops when the conveyed article starts moving from the load receiving table to the upper transfer machine, and the conveyed article becomes unstable.

Further, in the conventional vertical transport system, the time required for the upper side rush sensor to detect the conveyed product after the upper rush sensor detects the conveyed product is used to appropriately carry out the conveyed product on the upper transfer machine. To determine whether or not it has been transferred. For this reason, in the conventional vertical transport system, if the moving speed of the load receiving table in the vertical transport machine changes, the accuracy of the determination as to whether or not the upper transfer machine can properly transport the transported object may decrease.

On the other hand, the vertical transport system 10 of the present disclosure obtains the position of each load receiving base 36 as the rotation amount of the drive mechanism based on the detection signal from the encoder 51 provided in the drive mechanism (the motor 35 in the first embodiment). There is. Therefore, the vertical transport system 10 can adjust the carry-in start position Pi only by changing the rotation amount of the drive mechanism that indicates the carry-in start position Pi. Therefore, the adjustment work is easier than the conventional vertical transport system. It can be something. In particular, in the vertical transport system 10 of the first embodiment, the loading start position Pi can be adjusted by operating the operation unit 42, so that the adjustment work can be made easier.

Further, when the upper transfer machine 13 is congested in the upper transfer machine 13, the upper and lower transfer system 10 stops the vertical transfer machine 12 in a carry-out standby state in which the transferred article 11 is placed on the loading platform 36 at the full stop position Ps. To do. Therefore, the vertical transport system 10 can hold the transported article 11 in a stable state, and can immediately carry out the transported article 11 after the operation of the vertical transporting machine 12 is restarted. Further, in the vertical transport system 10, even when the upper transfer machine 13 is congested and the transport object 11 whose position is not grasped by the control unit 41 is placed on the load receiving table 36, the upper rush sensor 53 is provided. Since the upper and lower carriers 12 are stopped when the conveyed object 11 is detected, it is possible to prevent the upper transfer machine 13 from overflowing with the conveyed object 11 by carrying out a new conveyed object 11.

Further, the vertical transport system 10 indicates that the upper transfer machine 13 is not properly transporting the transported object 11, and that the rotation amount of the drive mechanism from the time when the upper thrust sensor 53 detects the transported object 11 is the movement threshold value. Judgment is made based on whether or not it exceeds. Therefore, the vertical transfer system 10 determines whether or not the upper transfer device 13 can properly transfer the conveyed object 11 without being affected by the change in the moving speed of the load receiving table 36 in the vertical transfer device 12. Therefore, the accuracy of this judgment can be secured.

The vertical transport system 10 of one embodiment of the vertical transport system according to the present disclosure can obtain the following operational effects.

In the vertical transport system 10, the control unit 41 determines the position of the load receiving base 36 as the rotation amount of the drive mechanism (the motor 35 in the first embodiment) based on the rotation position detected by the encoder 51. Therefore, the vertical transport system 10 can substantially shift the arbitrary position by merely changing the rotation amount of the drive mechanism indicating the arbitrary position of the movement path of the load receiving table 36, and thus the arbitrary position can be set. It is possible to easily adjust the timing for detecting the arrived cargo table 36. In particular, since the vertical transport system 10 of the first exemplary embodiment can change the rotation amount of the drive mechanism that indicates an arbitrary position by operating the operation unit 42, the timing for detecting the load receiving tray 36 that has reached the arbitrary position can be set. It can be adjusted more easily.

Further, in the vertical transport system 10, the vertical transport machine 12 moves the load receiving tray 36 in the vertical direction while maintaining the horizontal state when the load 11 is placed, and when the load 11 is not placed, the load receiving tray 36 is set. Has a reference sensor 52 that moves vertically in a vertical state and detects passage of the cargo cradle 36 that moves in a vertical state. Then, in the vertical transport system 10, the control unit 41 determines the position of the load receiving base 36 as the amount of rotation of the drive mechanism based on the position detected by the reference sensor 52. Therefore, the vertical transport system 10 can substantially shift the arbitrary position by changing the rotation amount of the drive mechanism that indicates the position from the detection position of the reference sensor 52 to the arbitrary position, and the vertical position can be set to the arbitrary position. It is possible to easily adjust the timing for detecting the arrived cargo table 36. Further, in the vertical transport system 10, since the reference sensor 52 detects the passage of the cargo cradle 36 on which the transported object 11 moving in a vertical state is not placed, the cargo cradle can be stably received without being affected by the transported object 11. 36 can be detected.

Further, the vertical transport system 10 includes a lower transfer machine 14 (carry-in transfer machine) that transfers the conveyed article 11 to be carried into the vertical transport machine 12, and the control unit 41 controls the load receiving platform as the rotation amount of the drive mechanism. The transfer operation by the lower transfer machine 14 is started according to the position of 36. Therefore, the vertical transport system 10 can easily adjust the timing of starting the transfer operation by the lower transfer machine 14 so that the transported object 11 is placed at the center position of the load receiving table 36, for example.

In the vertical transport system 10, the loading start position Pi in the load receiving table 36 is set in the vertical transport machine 12, and the loading preparation position Pp is set in the loading transfer machine (the lower transfer machine 14 in the first embodiment). Further, in the vertical transport system 10, the carry-in transfer machine detects the carry-in preparation sensor (the lower side timing sensor 58 in the first embodiment) that detects that the conveyed product 11 is located at the carry-in preparation position Pp and outputs a detection signal. Have. Then, in the vertical transport system 10, when the detection signal is input from the carry-in preparation sensor, the control unit 41 moves the cargo receiving base 36 closest to the carry-in start position Pi to the carry-in start position Pi, and then the carry-in transfer machine. In addition to starting the operation of carrying in the transported article 11 by, the fact that the transported article 11 is placed on the loading platform 36 moved to the loading start position Pi is stored. For this reason, the up-and-down transport system 10 operates the loading/unloading machine only when the loaded article 11 can be loaded, so that the loaded article 11 can be efficiently transported. Further, the vertical transport system 10 repeatedly stores that the load 11 is moved to the loading start position Pi and stores the load 11 so that the position of each load 36 and the load 11 at each position are repeated. I can understand that it is posted. Therefore, the vertical transport system 10 can efficiently operate the carry-in transfer machine when loading the transported article 11, and can control the presence/absence of the transported article 11 and the position of the load receiving base 36. In particular, the vertical transport system 10 according to the first exemplary embodiment uses the information of the position of each cargo receiving table 36 and the fact that each of the cargo receiving tables 11 is placed to determine the position of each cargo receiving table 36 in real time along with the presence or absence of the transported object 11. Can be displayed on the display unit 43, and the manner in which the conveyed object 11 is being conveyed can be accurately recognized in real time.

In the vertical transport system 10, the full stop position Ps of the load receiving table 36 in the vertical transport machine 12 is set, and the transporting machine (the upper transporting machine 13 in the first embodiment) is transported from the vertical transporting machine 12. It has a traffic jam sensor 57 that detects that the transfer of the object 11 is delayed and outputs a detection signal. Further, in the vertical transport system 10, when the control unit 41 receives a detection signal from the congestion sensor 57, the load receiving tray 36 closest to the full stop position Ps among the load receiving trays 36 on which the conveyed object 11 is placed is fully stopped. It moves to the position Ps and stops the movement of the cargo receiving table 36. For this reason, the vertical transport system 10 can prevent the transported article 11 from overflowing by transporting the new transported article 11 to the unloading transfer machine that is congested, and can also hold the transported article 11 in a stable state. Therefore, the conveyed article 11 can be carried out immediately after the operation of the upper and lower conveyors 12 is restarted.

The vertical transport system 10 is provided with one reference sensor 52 (52a, 52b) at each of an upper portion and a lower portion from the pulleys 27b, 28a to the pulleys 27c, 28b. The vertical transport system 10 uses the upper reference sensor 52a when transporting the transport object 11 downward, and uses the lower reference sensor 52b when transporting the transport object 11 upward. .. Here, in the vertical transport system 10, the upper transport port 26 serves as a carry-in port when carrying downward, and the lower transport port 24 serves as a carry-in port when carrying upward. For this reason, the vertical transport system 10 can determine that the loading platform 36 has reached the loading start position Pi from the rotation amount of the motor 35 with reference to the detection position of the reference sensor 52 provided near the loading port. The upper transfer machine 13 and the lower transfer machine 14 can be controlled more appropriately based on the position of the load receiving table 36.

Therefore, the vertical transport system 10 according to the first embodiment as the vertical transport system according to the present disclosure can easily adjust the timing for detecting the load receiving base 36.

Although the vertical transport system of the present disclosure has been described above based on the first embodiment, the specific configuration is not limited to the first embodiment, and deviates from the gist of the invention according to each claim of the claims. Unless otherwise, design changes and additions are allowed.

For example, in the first embodiment, the conveyed article 11 is conveyed upward, but the upper and lower conveyors 12, the upper transfer machine 13 and the lower transfer machine 14 are reversed to convey the conveyed article 11 downward. However, it is not limited to the configuration of the first embodiment. In this case, if the traffic jam sensor 57 is provided at a predetermined position on the downstream side (opposite to the vertical transport machine 12) in the transport direction with respect to the lower timing sensor 58 in the lower transfer machine 14, the above-described first embodiment will be described. By carrying out the same control as above, the conveyed product 11 can be conveyed downward.

In the first embodiment, the motor 35 cooperates with the drive pulley 34, the transmission belt 33, the transmission pulley 32, and the rotary shaft 31 to form a drive mechanism. However, the driving mechanism is not limited to the configuration of the first embodiment as long as it can transmit the rotational driving force to move the load receiving bases 36.

In the first embodiment, the upper transfer machine 13 is also driven when the upper and lower transfer machines 12 are driven, so that the articles 11 placed on the respective load receiving trays 36 are transferred from the upper and lower transfer machines 12 to the upper transfer machine 13. Have been carried out. However, in the vertical transporter 12, the carry-out start position and the carry-out end position are set in the same manner as the carry-in start position Pi and the carry-in end position Pie, and the load receiving platform 36 on which the transported object 11 is placed is between the carry-out start position and the carry-out end position. The upper transfer machine 13 may be driven at the same timing only when passing through. With such a configuration, the transported object 11 can be transported in the vertical direction more efficiently.

10 Vertical transport system 11 Transported goods 12 Vertical transport machine 13 Upper side transfer machine 14 Lower side transfer machine 31 Rotating shaft 32 (as an example which constitutes a drive mechanism) Transmission pulley 33 (as an example which constitutes a drive mechanism) Transmission belt 34 (as an example that constitutes a drive mechanism) Drive pulley 35 (as an example that constitutes a drive mechanism) Motor 36 (as an example that constitutes a drive mechanism) 36 Carrying tray 41 Control section 51 Encoder 52 Reference sensor 57 Congestion sensor 58 Lower timing sensor (as an example of carry-in preparation sensor) Pi carry-in start position Ps full stop position Pp carry-in preparation position

Claims (5)

An upper and lower carrier for moving a load receiving table on which an object to be conveyed is moved in the vertical direction, and a control unit for controlling the upper and lower carrier,
The vertical transporter includes a drive mechanism that moves the load receiving table by transmitting a rotary drive force, and an encoder that detects a rotational position of the drive mechanism.
The vertical conveyance system, wherein the control unit obtains the position of the load receiving base as the rotation amount of the drive mechanism based on the rotation position detected by the encoder. The vertical conveyor moves the load receiving table in the vertical direction while maintaining the horizontal state when loading the transported object, and vertically moves the load receiving table in the vertical state when not loading the transported object. Having a reference sensor for detecting passage of the cargo cradle that moves and moves in a vertical state,
The vertical conveyance system according to claim 1, wherein the control unit obtains the position of the load receiving base as the rotation amount of the drive mechanism with the position detected by the reference sensor as a reference. The vertical transport system according to claim 1 or 2, wherein
Furthermore, a loading and unloading machine for transporting the transported object to be loaded into the vertical transporting machine is provided,
The said control part starts the operation|movement of the transfer by the said loading/unloading machine according to the position of the said load receiving base as the rotation amount of the said drive mechanism, The up-and-down conveyance system characterized by the above-mentioned. In the vertical transporter, in the load receiving table, a loading start position for starting transport for loading by the loading and unloading machine is set,
In the carry-in transfer machine, a carry-in preparation position for positioning the carried object carried into the vertical carrier is set,
The carry-in transfer machine has a carry-in preparation sensor that detects that the transported object is located at the carry-in preparation position and outputs a detection signal.
When a detection signal is input from the carry-in preparation sensor, the control unit moves the cargo receiving table closest to the carry-in start position to the carry-in start position, and then carries in the carried object by the carry-in transfer machine. 4. The up-and-down conveyance system according to claim 3, wherein the upper and lower conveyance systems store the fact that the conveyed object is placed on the load receiving table moved to the carry-in start position. The vertical transport system according to any one of claims 1 to 4,
Furthermore, a loading/unloading transfer device for transferring the transferred object to be carried out from the vertical transfer device is provided,
The carry-out transfer machine has a congestion sensor that outputs a detection signal by detecting that the transfer of the conveyed product carried out from the upper and lower conveyors is delayed,
In the up-and-down carrier, a full stop position for stopping the load receiving table is set when the transfer of the transported object is delayed in the carry-out transfer machine,
When the detection signal is input from the traffic jam sensor, the control unit moves the load receiving table closest to the full stop position of the load receiving trays on which the conveyed objects are placed to the full stop position to move the load receiving unit. A vertical transportation system characterized by stopping the movement of the table.