JP2887562B2 - Travel stop device of transfer device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a travel stopping device for a transport device which travels along a rail provided on a ceiling or a floor, and more particularly to a transport device which reads a stop position information and then moves a predetermined distance. the safely decelerated, then relates the travel stop device designed to stop reliably read the stop instruction information.

[0002]

2. Description of the Related Art As shown in FIG.
And the like between an automatic warehouse or a moving shelf and a normal manufacturing line (2) or a component shelf (3) such as an automatic assembly line along a rail (4) erected on a ceiling. In the automatic load delivery system in which the vehicle travels 5), any one of a large number of delivery sites is selected, and a rail is located immediately above the selected delivery site (hereinafter , this location is referred to as a station). in the traveling carriage (6) is stopped, at the station, by lifting the bed (8) from the conveying device is stopped (5), load (7) the part rack (3) or conveyor (9) to transfer the like It has become.

In order to stop the transfer device (5) at the station , a stop device is provided . As shown in FIG. 6, a typical example of this type of conventional stop device is a rail.
At the required position of (4), an address plate (10a) or the like as stop information transmitting means of the transport device (5) is arranged, and the transport device is provided.
An address read sensor is a receiving means (5) (13) is provided, conveying instrumentation traveling by an instruction from an external control device (not shown)
When the location (5) passes through the address plate (10a), the transmitted information is received by the address reading sensor (13), and the transport device (5) is decelerated based on the information, and is transmitted to the rail (4). The stop plate (11) provided is detected by a sensor and the transfer device
(5) that the have to stop. In this case, the address plate (10a)
The distance between the stop plate (11) and the speed indicator plate
(In this case , it is determined by the traveling speed of the traveling vehicle by the speed increasing plate (12b)). In the figure, (12a) is decelerated plate, (10b) is a street plate approaching the aforementioned address plate (10a).

[0004]

In the conventional stopping device,
As described above, according to the instruction of the external control device, the transmission information from the stop position information transmission means (address plate) provided at the required position of the rail is received by the reception means (address reading sensor) of the traveling vehicle. In addition, the transport device is decelerated , and a stop plate provided on the rail is detected by a sensor of the transport device to stop the traveling vehicle . Since the stop position information transmitting means (address plate) has a transmitting device , and a battery or the like is provided inside, it is necessary to replace the battery, which requires attention and effort,
The battery itself price is high and is prone to fouling due to the proximity of the ceiling and the floor, that Do is unstable outgoing information
At the same time , the cleaning takes time.

Furthermore, the stopping distance of the conveying apparatus, the speed indicator plates provided on the rail (e.g. reduction plates (12
a), by accelerating the plate (12b)), the distance matching the running speed area defined in such Runode each locations, speed
Indicator plates Ru need to install the. In this mounting, the confirmation of the travel speed areas, requires the confirmation of the distance according its speed, when the erroneously attached, a conveying device, by be stopped at an accurate stop position
I can't. Also, when one piece of stop instruction information is received, another piece of stop instruction information cannot be received.

The present invention is a conveying device, by the so that stops to stabilize and reliably reduced <br/> speed, as well as realize a transport device safe and efficient construction of the conveying device,
It is intended to facilitate maintenance work.

[0007]

According to the present invention, the above-mentioned object is attained as follows. (1) is arranged in the rail for transport device travels, and stop position information indicating means having a stop position information of the transport device, from said stop position information indicating means, the running direction of the conveying device, substantially constant Oite the spaced distance position, and disposed a stop instruction means to the rail, provided in the transport device, during travel of the conveying apparatus, stops reading stop position information from said stop position information indicating means position information reading means, provided in the transport device, during travel of the conveying device, the stop instruction information reading means for reading the stop instruction information from the stop instruction means, provided in the conveying device, the stop position information indication from the time of reading the stop position information from the unit, means for detecting and storing a travel distance of the conveying device,
Provided in the transport device , after the transport device reads the stop position information from the stop position information instructing means, until reading the stop instruction information from the stop instruction means to stop,
Based on the means for detecting and storing a travel distance of the conveying device, the control circuit to decelerate the deceleration pattern defined
The stop position information indicator provided on the transport device.
Determine a nearly constant distance from the step to the stop position indicating means.
During deceleration according to the deceleration pattern
And stop position information of other stop position information indicating means, or
Even if the stop instruction information of the stop instruction means is read,
And a control circuit for causing the vehicle to continue running .

(2) In the above item (1), the control circuit comprises:
A stop command given from an external control device compares the stop position information read by the stop position information reading means, only when they match, and effectively stopping operation, when there is no match, the deactivated A comparison circuit is provided for continuing the traveling of the transfer device at the same speed as invalid.

(3) In the above item (2), a substantially constant distance from the first stop position information instructing means to the corresponding first stop instructing means is set in accordance with a predetermined first deceleration pattern. During the deceleration, when the stop position information of the second and subsequent stop position information indicating means that matches the stop command from the external control device is read, and when the second and subsequent stop position information is read, the conveyance is performed. the travel distance separately detecting device, arranged a means for storing its travel distance and the second and subsequent deceleration pattern to the transfer device, the transfer device is accelerated from a first stop position, the running distance and travel speed reaches the second and subsequent deceleration pattern,
Thereafter, to slow in accordance with the deceleration pattern,
A control circuit for controlling the travel of the transport device, the transport device
It provided Ru.

(4) In any one of the above (1) to (3), when the stop position information is read by the stop position information indicating means while the transport device is running at a speed other than the maximum speed, it is determined. and until a deceleration pattern, the control circuit to continue its running speed, Ru provided in the conveying device.

[0011]

According to the present invention, when the stop position information reading means provided on the transfer device reads the stop position information from the stop position information indicating means provided on the rail, the stop position information from that point on is read.
The travel distance of the transport device is detected and stored, and the travel speed is reduced by the control circuit according to the determined deceleration pattern. When the stop instruction information reading means reads the stop instruction information from the stop instruction means, the transport speed is reduced. The device is shut down.

[0012]

BRIEF DESCRIPTION OF THE DRAWINGS FIG.
(5) is provided with a ceiling beam rail attached to the fixed suspension struts (14) (15) (4) traveling carriage traveling on (6)
( See FIGS. 3 and 5) .

The traveling vehicle (6) suspends a carrier (8) on which a load is placed, and includes a drive unit (20a) and a current collecting unit (20b). Details of the drive unit (20a) are shown in FIG. 3, and details of the current collecting unit (20b) are shown in FIG. These units (20a), (20b) are both suspended支杆
(24) is connected to the main body of the traveling vehicle (6).

As shown in FIG. 3, the drive unit (20
a) is a guide wheel (23), (23), is guided across the U-shaped section rails facing inward (4), is driven by a motor (22), the inner surface of the rail (4) Driving driving wheels in contact
By (21), travel the rail (4) above.

[0015] outer side of the rail (4) is a bar code label (25) is stuck is a stop position information indicating means.
Drive unit that faces the bar code label (25)
A bar code reader (26) as stop position information reading means for reading the bar code of the bar code label (25) , that is, the stop position information, is attached to the inside of (20a).

[0016] the lower surface of the rail (4) has stops projecting downward <br/> stop instruction means or running stop dog (27) is attached. The travel stop dog (27) is connected to the drive unit (20
passes between a stop instruction information reading means mounted on a) 1-to photoelectric-type running stop sensors (28) (28), by crosses the ray, to operate the traveling stop sensor (28).

As shown in FIG. 4, a current collecting unit (20b)
, As well as the drive unit (20a), the guide wheel (23)
By (23) is guided out side on the rail (4), a driven running wheel (30) rolling on the inner surface of the rail (4).

A trolley wire (32) is attached to the inner surface of the rail (4), and power and control signals are obtained from the trolley wire (32) by a current collector of a current collecting unit which cannot be seen in FIG. . An encoder (31) , which is a traveling distance detecting means, is connected to the driven traveling wheel (30).

Further, although not shown, a traveling vehicle
(6), the memory and the control circuit is a travel distance storage means is mounted. As the memory, a memory for storing the travel distance of the traveling vehicle by the encoder (31) from when the stop position information is read from the bar code label (25) as the stop position information indicating means, From the bar code label (42A) (see FIG. 1),
1st deceleration pattern (see the broken line in FIG. 1) until the travel stop dog (43A) which is the stop instructing means.
While being decelerated in accordance, when reading the second bar code label is a subsequent stop position information indicating means which matches the stop command from an external control device (not shown) (42B) (see Figure 1) There is a memory for separately storing the traveling distance of the traveling vehicle (6) from that time and the second and subsequent deceleration patterns.

[0020] The control circuit, and a control circuit to decelerate from the bar code label is a stop position information indicating means (25), until travel stop dog is in the stop instruction means (27), by the reduction pattern defined, external The stop command given by the control device is compared with the stop position information read by the barcode reader (26), the stop operation is enabled only when they match, and the stop operation is disabled when they do not match. As a comparison circuit that continues running at the same speed, and a bar code reader during deceleration with a predetermined deceleration pattern
A control circuit for causing the traveling vehicle (6) to continue traveling even if (26) reads the stop instruction information of another barcode label (25) that does not match the stop instruction given from the external control device;
The traveling vehicle (6) is accelerated from the first stop position, and its traveling distance and traveling speed reach the second and subsequent deceleration patterns stored in the memory. A control circuit for controlling the traveling of the traveling vehicle (6), and a predetermined deceleration pattern is reached when the bar code reader (26) reads the stop position information while the traveling vehicle (6) is traveling at a speed other than the maximum speed. And a control circuit that keeps the running speed up to this point.

Next, with reference to FIGS. 1 and 2, to explain the principles and operation of the stopping device of the present invention. In FIG. 1, the transfer device (5) can adjust the speed in seven stages.
The speed of each step can be changed by a program . Here, the barcode label model speed label (40),
The speed is changed according to the data (information) of (41).

Assuming that the transport device (5) running at the maximum speed, ie, the seventh speed (240 m / min) is stopped at the station at the point B, the bar code reader (26) of the transport device (5) B point of bar code label type of rail (4)
Reading point labels (42B), if this is the label of the station which matches the stop command given from an external control device, and stores the data (distance data) of the time encoder (31) (a point) . Then, a change in the encoder data from a point, Ru slow down the running speed. This is the constant deceleration gradient line from point a to point d.

The running speed is reduced according to the constant deceleration gradient line, and the speed is stopped when the running speed is reduced to the stop speed. This process of deceleration is called a deceleration pattern. Here, the stop speed is a speed that can be immediately stopped by turning off the traveling instruction output , and is set by a program.

[0024] Finally, B attached to the lower surface of the rail (4)
An address traveling stop dog (43B), when the travel detection stop sensor (28) of the transporting device (5) (c point), traveling <br/> are canceller immediately stopped (c 'point).

[0025] In this case, the distance D from the point label (42B) to stop running dog (43B) is Ru Oh as 5m. This is the distance required for the transport device (5) running at the maximum speed of 240 m / min to decelerate and stop.

[0026] During deceleration for stopping at address B, since also detect the running stop dog of the address A (43A), the transport device (5) is not a stop speed, the travel stop dog (43A) is It will be ignored. Further, when stopping at address B, the speed of the point label (43B) conveying apparatus when reading the address B is 120
if m / min (4 speed) of Tsu der, as indicated by a dotted line in FIG. 1, start deceleration after running at this speed until point d.

Furthermore, after stopping at address A, if you want to <br/> stop at address B, since even during quenched with address A, and stores the encoder data when address B point label reading, stop at address B (See dotted line in FIG. 1).

[0028] Figure 2, A address and B address, and the distance between the address B and address C is equal to or together 300mm or more, A
After stopping at the address is a diagram for explaining that can stop at address B and address C.

(42A) is an address A point label, (42B) is an address B point label, (42C) is an address C point label, and the distance D 'between them is a minimum of 300 mm.
(43A) is an address A stop dog, (43B) is an address B stop dog, (43C) is an address C stop dog, and the distance D 'between them is a minimum of 300 mm.

The distance E represents the distance traveled from the address B point label reading, a point of the end is the start point of the deceleration. This point a is the point label of address B (42B)
Is read, the data of the encoder (31) at that time is stored, and the change point of the data value is used to determine the deceleration start point.

[0031]

According to the present invention, the stop position information from the stop position information indicating means provided on the rail is transmitted to the transfer device .
When read by the stop position information reading means, the traveling distance of the transport device from that time is detected and stored, and the traveling speed is reduced by the control circuit according to a predetermined deceleration pattern. Reads the stop instruction information from the stop instruction means, the transport device is stopped. Therefore, ensure that the transport device is stable .
And Ku deceleration can Rukoto to stop.

Further, while the vehicle is decelerating a substantially constant distance from the stop position information indicating means to the stop position indicating means in accordance with a predetermined deceleration pattern, stop position information of another stop position information indicating means, or since a control circuit for running to continue traveling vehicle even read the stop instruction information to stop instruction means, or suddenly stops conveying device, never or malfunction.

According to the second aspect of the present invention , the control circuit compares the stop command given from the external control device with the stop position information read by the stop position information reading means. The stop operation is enabled, and when they do not match, the stop operation is disabled, and a comparison circuit that continues running at the same speed is provided , so that reading of extra information does not hinder the stop operation,
Safety is improved.

According to the third aspect of the present invention , a substantially constant distance from the first stop position information indicating means to the corresponding first stop instruction means is set in accordance with the determined first deceleration pattern. During the deceleration, when the stop position information of the second and subsequent stop position information indicating means that matches the stop command from the external control device is read, and when the second and subsequent stop position information is read, the transfer device. travel distance separately detect, disposed means for storing its travel distance and the second and subsequent deceleration pattern in the conveying device, the conveying device from the first stop position is accelerated, the traveling distance and the traveling speed reaches the second and subsequent deceleration pattern, after more than <br/>, transport to decelerate in accordance with the deceleration pattern
A control circuit for controlling the travel of the apparatus, provided in the conveying device
Because it is, conveying apparatus, Oite multiple stop positions, reliably, efficiently stopped.

According to the fourth aspect of the present invention, when the stop position information is read by the stop position information indicating means while the transporting device is running at a speed other than the maximum speed, a predetermined deceleration pattern is obtained. a control circuit to continue its running speed, since the Ru conveying device disposed Citea, can stop conveying device efficiently operating efficiency is improved.

[Brief description of the drawings]

FIG. 1 is an operation explanatory diagram illustrating a basic operation of a stop device of the present invention.

FIG. 2 is an operation explanatory diagram illustrating another operation of the stop device of the present invention.

Is a side view of the drive unit <br/> traveling vehicle in hanging conveying device embodying the invention; FIG

4 is a side view of a current collector unit <br/> traveling vehicle according to the present invention hanging conveying apparatus embodying the.

FIG. 5 is a perspective view of an example of an arrangement of a hanging-type transfer device embodying the present invention.

FIG. 6 is an operation explanatory view illustrating the operation of a conventional suspension device of the suspension type transport device.

[Description of Signs] (1) Rotary rack (2) Manufacturing line (3) Parts shelf (4) Rail (5) Transport device (6) Traveling trolley (7) Load (8) Loading platform (9) Conveyor (10a) ( 10b) Address plate (11) Stop plate (12a) Deceleration plate (12b) Speed-up plate (13) Address reading sensor (14) Beam (15) Suspension strut (20a) Drive unit (20b) Current collection unit (21) Drive traveling Wheel (22) Motor (23) Guide wheel (24) Suspension rod (25) Barcode label (stop position information indicating means) (26) Barcode reader (stop position information reading means) (27) Travel stop dog (stop) (Instruction means) (28) travel stop sensor (stop instruction information reading means) (30) driven wheel (31) encoder (travel distance detection means) (32) trolley wire (40) 4th speed label (41) 7th speed Label (42A) Point label at address A (42B) Point label at address B (42C) Point label at address C (43A) Dog stopping at address A (43B) Stopping at address B Stop dog (43C) Stop driving dog at address C D, D distance E Distance moved from reading the point label at address B

Claims (4)

(57) [Claims] 1. A disposed rails for conveying device travels, and stop position information indicating means having a stop position information of the transport device, from said stop position information indicating means, the running direction of the conveying device, Oite at a position substantially at a constant distance, and disposed a stop instruction means to the rail, provided in the transport device, during travel of the conveying device, the stop position information from said stop position information indicating means and stop position information reading means for reading, provided in the transport device, during travel of the conveying device, the stop instruction information reading unit for reading the stop instruction information from the stop instruction means, provided in the conveying device, the stop position from the time of reading the stop position information from the information indication means, means for detecting and storing a travel distance of the conveying device, provided in the conveying device, the conveying device is the stop position information finger After reading the stop position information from the unit, from said stop instruction means to stop reading the stop instruction information,
Based on the means for detecting and storing a travel distance of the conveying device, the control circuit to decelerate the deceleration pattern defined
And the stop position information indicating means provided in the transport device.
From the stop position indicating means to the stop position
During deceleration according to the deceleration pattern
Stop position information of other stop position information
Even if the stop instruction information of the stop instruction means is read, the transfer device is connected.
Running stop device of the transport device, characterized in that it comprises a control circuit for travel continues to. 2. A control circuit compares a stop command given from an external control device with stop position information read by stop position information reading means, and only when they match,
Deactivated as valid, when they do not coincide, as invalid deactivated, as it speeds, the travel stop device of the conveying device comprises comprising claim 1, wherein the comparator circuit to continue the running of the conveying device. 3. While the vehicle is decelerating a substantially constant distance from the first stop position information instructing means to the corresponding first stop instructing means in accordance with a predetermined first deceleration pattern, an external device is controlled. when reading the stop position information of the second and subsequent stop position information indication means for <br/> matches the stop command from the control device, the travel distance of the conveying device when reading the second and subsequent stop position information the separately detected, disposed means for storing its travel distance and the second and subsequent deceleration pattern in the conveying device, the conveying device from a first stop position
There are accelerated, the travel distance and travel speed reaches the second and subsequent deceleration pattern, thereafter, to slow in accordance with the deceleration pattern, a control circuit for controlling the traveling of the conveying device, the conveying device running stop device of the transport device provided comprising according to claim 2 in. 4. The transport device is running at a speed other than the maximum speed .
When, upon reading the stop position information of stop position information indicating means, until it reaches the deceleration pattern defined, the control circuit to continue its running speed, <br/> claim formed by providing the transport device 1 The travel stopping device for a transport device according to any one of claims 1 to 3 .