JP3215608B2 - Linear motor type capsule 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 linear motor type capsule-type transfer device capable of transporting a load to a predetermined position and efficiently loading and unloading the load at that position.

[0002]

2. Description of the Related Art As a distribution system for transporting various goods such as small parcels, a capsule transportation system using a pipeline has been receiving attention. In this system, a plurality of capsules are run in a pipe laid indoors or between a plurality of points in a building, and the package stored in the capsules is transported to a destination and unloaded.

As a prior art of such a capsule transportation system, a pneumatic capsule type traveling system and a linear motor type capsule traveling system have been developed.
The pneumatic capsule-type traveling system is a mechanism that travels a capsule in a pipe by an airflow generated by a blower, and conveys a capsule loaded with luggage to several destinations.

[0004] The travel of the capsule in the pneumatic capsule-type travel system is performed by air pressure, and a reverse wind mechanism or a forced mechanical brake mechanism or the like is used as braking and positioning stopping means. For loading and unloading, the capsule is connected to other capsules from the stop position to the unloading position and is moved by pulling it with a chain, etc., but at this time, the other capsule arrives at the unloading position. If so, the capsule is kept at the stop position.

The linear motor type traveling system has a tube provided with electromagnets whose polarity can be changed at predetermined intervals on an outer peripheral surface thereof, and a permanent magnet mounted on the outer peripheral surface of the tube, which runs in the tube. For example, Japanese Patent Application Laid-Open No. 3-111331 discloses a loading / unloading device (hereinafter, referred to as prior art) in a linear capsule-type traveling device. Prior art stops the capsule at a predetermined position,
This is a device for adsorbing / lifting, placing it on a sorter, sorting and transporting, while the leading capsule is loading and unloading, and the trailing capsule waits in an electrically isolated zone.

[0006] A transport system using an induction motor is also known. In this system, a capsule is passed along a guide rail and transported to a plurality of locations via a branch or a vertical line, and the capsule is stopped at a predetermined position by reverse braking. When a plurality of capsules have arrived at the unloading position, the capsules are made to wait in an electrically partitioned waiting zone.

[0007]

The conventional capsule-type traveling system has the following problems. Pneumatic capsules use air pressure and fluid resistance to run the capsule in the tube,
The inside of the tube needs to be airtight over its entire length, which complicates the structure. The capsules are braked by mechanical braking using a headwind mechanism, a damper, or the like. As a result, the capsules cannot be fully braked depending on the weight of the loaded luggage, and as a result, the capsules collide and break.

[0008] In the case of a system for transporting luggage to each floor or a predetermined place using a motor-equipped transport device equipped with luggage along a guide rail laid indoors or on a ceiling, the rail mounting accuracy is increased, and Precise equipment structure is required for bending and branching. In addition, since the driving device is mounted on each truck, the amount of luggage loaded on the truck is reduced. Also, until the preceding transport device finishes loading the luggage,
Since it is necessary to wait in a standby zone that is electrically separated, a long time is required for loading and unloading.

In the case of a transfer system using an induction type linear motor, the gap between the reaction plate and the reaction plate needs to be narrowed to about 1 to 2 mm. In the case where a plurality of transport vehicles overlap, it is necessary to make the following vehicle stand by in a standby zone that is electrically separated,
Since it takes time to load and unload the packages, it is necessary to increase the number of transport devices and increase the size of the equipment.

[0010] In the case of a linear tube type transfer system, the transfer can be performed by a horizontal transfer device. However, conventionally, there is no means for accurately stopping the capsule at a predetermined position. A plurality of capsules must be made to stand by in a standby zone which is electrically separated, and therefore, a power supply switching mechanism is required, and
The waiting time was long and the operation efficiency was poor.

Accordingly, an object of the present invention is to solve the above-mentioned problems and to provide a linear tube type transfer system,
Stop the capsule exactly at the designated loading / unloading position,
It is possible to efficiently unload and load the luggage mounted on the capsule, and, when the capsule arrives at the unloading position repeatedly, it is possible to appropriately wait the capsule.
An object of the present invention is to provide a linear motor type capsule-type transfer device.

[0012]

According to the present invention, there is provided a guide tube, which is laid between terminals for carrying in / out a load and is made of a non-magnetic material around which an exciting coil is wound, and a front tube and a rear tube thereof. A capsule having wheels and permanent magnets attached thereto, and a luggage rack provided on the body of the capsule and storing a case for storing the luggage are provided, and the case is stored in the luggage rack. A linear motor that, through the wheels, travels through the guide tube by the electromagnetic force of the excitation coil and the permanent magnet, and thus automatically transports the load from one terminal to the other terminal. In the capsule-type transport device, the terminal includes a lift for transferring a package mounted on the capsule to a predetermined unloading position. A capsule stopping mechanism for properly stopping the capsule at the terminal; and a capsule located farther from the terminal for waiting the capsule when a plurality of capsules arrive at the terminal. A standby mechanism is provided, the luggage stand provided on the body of the capsule is swingable about its axis, and a weight is attached to the lower side thereof, and The luggage stand is provided with a lock mechanism for preventing the case stored in the luggage stand from coming off the luggage stand, and the lift is inserted into a hook provided on the case to insert the case. A fork for lifting and unloading is provided so as to be movable in the vertical and horizontal directions and pivotable in a horizontal plane, and the capsule stopping mechanism is provided with: A brake arm provided at the terminal along the guide tube and having a damper and an arrival sensor, capable of moving up and down, for stopping travel of the capsule, and corresponding to the length of the capsule from the brake arm A return prevention arm for preventing return of the capsule and a holding arm for suppressing swing of the luggage stand, which are provided to be vertically movable at a distance, and the capsule standby The mechanism includes a first laterally movable short tube having an exciting coil, which is provided on the same axis as the guide tube, at a position away from the terminal;
A laterally movable second short tube having an excitation coil disposed in parallel with the short tube, and provided on each of the first short tube and the second short tube;
It is characterized by comprising a stopper having a damper, and a lateral movement mechanism for laterally moving the first short tube and the second short tube.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS In an apparatus according to the present invention, a guide tube, which is laid between terminals for carrying in and out a load and is made of a non-magnetic material and around which an exciting coil is wound at a predetermined interval, is provided. A linear motor is constituted by a capsule having a plurality of wheels, running in the guide tube, and having a ring-shaped permanent magnet attached at intervals of at least 2.5 times the coil interval before and after the guide tube, When the permanent magnet attached to the capsule approaches the excitation coil of the guide tube, it is attracted, and when it comes over it, the capsule is moved inside the guide tube by the electromagnetic force generated by switching the magnetization direction and repelling the capsule. To move.

The capsule traveling control is performed by calculating the traveling speed of the capsule based on the interval between the position sensors provided between the exciting coils and the sensing time, and by PWM control and feedback control. In addition, the capsule can be braked to reduce its moving speed, and the capsule can be accurately stopped at a predetermined position by a mechanical stopping mechanism using a damper and an electric braking mechanism.

Since the capsule runs using the tube as a guide, derailment and the like do not occur and the capsule is excellent in safety. Further, the guide tube can be easily assembled by a spigot tube, welding, or the like.

As the exciting coil, a cylindrical coil is attached to the guide tube, and a saddle coil is attached to the terminal portion. Therefore, even in an open place, it can be driven by the same linear motor control, which is efficient.

A stop mechanism with a damper capable of moving up and down is provided at the terminal portion and the capsule stop position. The capsule is decelerated and enters the position of the stop mechanism, and an electric signal is provided by a sensor provided near the damper. The capsule can be stopped accurately by braking and mechanical braking.
In addition, the automatic transfer of the goods by the transfer device and the vertical transport can move the goods indoors at a high speed, thereby reducing power and space.

When the next capsule B arrives while the baggage is being transshipped to the capsule A, the baggage of the capsule B is unloaded by the lift which is a transfer device, and then the stop arm is raised and the capsule B is lifted. In a standby mechanism.
When another capsule C passes, the capsule B
Traverse and pass through a passage.

The capsule B is moved by a lift as a transfer device.
After reloading the luggage loaded in the A, the capsule A returns to the transfer device, loads the luggage temporarily stored on the standby shelf in the vertical transport path, and moves to another destination. If the luggage is put in the target slot while the goods are being unloaded, the luggage is temporarily put on a standby shelf, loaded into a capsule, and then put in the target slot, and a signal of arrival is issued. This makes it possible to simplify and speed up the device.

The tube type capsule may turn while traveling in the guide tube. In the present invention, the luggage table provided on the body of the capsule can be swung about its axis. A pendulum type with both ends supported,
Because weights etc. are provided under the luggage stand,
The capsule can always be turned upward. Further, since the lock mechanism is attached to the luggage stand, the case is prevented from dropping. In addition, since the loading platform is fixed from the side after the stop positioning, loading and unloading can be performed stably.

Next, the present invention will be described with reference to the drawings. FIG. 1 is a perspective view showing an embodiment of the apparatus of the present invention, FIG. 2 is a diagram showing a section wiring configuration of a tube in the apparatus of the present invention, FIG. 3 is a plan view showing an embodiment of the apparatus of the present invention, and FIG. 3 is a side view of FIG. 3, FIG. 5 is a partially enlarged front view of FIG. 4, FIG. 6 is a sectional view showing a lock mechanism of the cargo storage case, and FIG. FIG. 8 is a front view showing a transfer device portion of the apparatus of the present invention, and FIG. 9 is a view showing an example of a cargo transfer system provided with the apparatus of the present invention.

The apparatus according to the present invention is a SUS3 system shown in FIG. 1 laid between terminals for loading and unloading cargo.
04 and a guide tube 2 made of a non-magnetic material such as FRP having excellent abrasion resistance.
A linear motor-driven transfer capsule 6 having a plurality of wheels 4 mounted on a case 3 containing luggage and having annular permanent magnets 5, 5 ′ attached to the front and rear thereof at predetermined intervals. A stopping mechanism 7 for stopping the capsule 6 at a predetermined position, a terminal 9 provided with a tower-shaped lift 8 as a transfer device for loading and unloading the cargo, and a capsule 6 that has arrived in an overlapping manner. And a standby mechanism 10 that is located farther than the terminal 9.

As shown in FIGS. 1 and 2, an exciting coil 1 is wound around the guide tube 2 at equal intervals. The number of turns of the coil 1 is, for example, small in the horizontal tube portion and large in the vertical tube portion. A sensor 13 including a proximity switch for position detection, a magnetic sensor, and the like is attached between the exciting coils 1.

The guide tube 2 is divided into sections 14 at predetermined intervals, and the excitation coil 1 is wired in parallel from the main wiring 15 of the multi-phase cable. A cable 17 for the excitation coil 1 and a cable 18 for the sensor 13 are wired in series in units of sections 14 through a switch 16 composed of a power transistor or the like.
The cable 18 for 3 is wired to the operation / control panel for each phase.

By passing the signal of the position sensor 13 through the OR circuit 19, the capsule 6 can determine which section 14
Can be detected. When the capsule 6 is detected by the sensor 13, a signal is sent to the switch 16 via the OR circuit 19, which is electrically connected to the power supply, and a predetermined current flows through the cable 17. Section 14
The sensor 20 is attached to the entrance and the exit of the
The section switch 16 may be switched by the above signal. In order to insulate the connecting portions of the cables 17 and 18, as shown in FIG. 4, the entire guide tube 2 is wound around a heat-resistant insulating tape 21 and an anticorrosion-treated iron plate 22. 1 protection and magnetic shielding.

The capsule 6 is made of SUS304 or an aluminum-based material (not necessarily a non-magnetic material).
As shown in FIG. 4, the annular permanent magnets 5 and 5 'are attached at predetermined intervals (for example, 2.5 times or more of the coil interval). A plurality of wheels 4 are attached to the front part and the rear part of the capsule 6 in equal parts in the circumferential direction. The capsule 6 includes a telescopic wheel 4 supported by a spring 23 that contacts the inner peripheral surface of the guide tube 2 as shown in FIG.
Thereby, it can run freely in the guide tube 2.

As shown in FIG. 6, a luggage stand 30 in which a case for storing luggage is stored is provided on the body 24 of the capsule 6 so as to be swingable about rotation shafts 25 at both ends. The weight 26 is attached to the lower side of the luggage stand 30. Therefore, the luggage stand 30 is always maintained at the fixed upward position by the weight 26 regardless of the vibration of the capsule 6 and the like.

The case 3 is stored in such a luggage stand 30. The case 3 includes a lock key 28 resiliently attached to the luggage stand 30 by a spring 27,
The protrusion 29 which is engaged with the stopper 55 attached to the end face of the
The case 3 is locked by engaging with the lower surface thereof.

The capsule 6 is controlled by the sensor 13 shown in FIG.
Is detected, and the current is applied by matching the polarity of the exciting coil 1 so that the capsule 6 is attracted to the permanent magnet 5 and repelled after passing. Further, a similar current is supplied to the exciting coil 1 with a delay of a half cycle. By repeating this, capsule 6
As a result, the capsule 6 travels in the guide tube 2.

A lift 8 as a transfer device for loading and unloading the case 3 in which luggage is stored is shown in FIGS.
As shown in FIG. 2, the lift 8 has a charging port 11 for the case 3, a fork 31 for unloading and unloading the case 3, and a fork forward / backward mechanism for moving the fork 31 forward and backward in the horizontal direction. 32, a fork turning mechanism 33 for turning the fork 31 in a horizontal plane, and a shaft 3
4 as a guide, an elevating mechanism 36 for moving the fork 31 up and down by a chain 35, and a case 3
And a standby shelf 12 are provided.

The transfer of case 3 is performed as follows. The baggage to be transported is stored in the case 3, and the
Is opened and the case 3 is accommodated in the inlet 11 in alignment with the lower projection 39. The weight of the case 3 is measured by the weighing device 40 provided in the inlet 11. If the case 3 exceeds the predetermined weight, the window 38 does not close and a warning signal is issued. When the weight of the case 3 is less than the predetermined weight, the window 38 is closed by pressing the destination button 41.

Next, as shown in FIG. 6, the fork 31 of the lift 8 is inserted into a hook 42 provided on the end face of the case 3 and the case 3 is slightly lifted. Capsule 6 in tube 2
To the position where it stops. The fork 31 is turned in accordance with the stop position of the capsule 6 and the case 3
And put it on the luggage stand 30 of the capsule 6, and by the spring 27, the lock key 28 and the projection 29,
The case 3 is locked to the luggage stand 30.

FIGS. 3 and 4 show the destination of the capsule 6 and the like.
As shown in (2), the signal is transmitted by an ID card 43A (light, electromagnetic, etc.) attached to the capsule 6, and is read into the ID card 43B attached to the guide tube 2. Thus, the capsule 6 travels through the guide tube 2 to the destination.

The distance between the position detecting sensors 13 and the capsule 6
The traveling speed of the capsule 6 is determined from the traveling time of
The running of the capsule 6 is controlled to a constant speed by current control by M control or the like. Data recorded on the ID card 43A of the capsule is read by the ID card 43B attached to the guide tube 2, and the branch 44 or the like shown in FIG. 9 is operated to travel to the destination. When the capsule 6 approaches the destination terminal 9, the capsule 6 is slowed down to a predetermined speed (0.3 to 0.5 m / s) by braking, and enters the stop mechanism 7 of the terminal 9 shown in FIG. 7.

As shown in FIG. 7, the stopping mechanism 7 includes a vertically movable brake arm 47 having a damper 45 and an arrival sensor 46 provided near the guide tube 2 of the terminal 9, and a brake arm 47. It is constituted by a vertically movable return prevention arm 48 provided at a distance corresponding to the length of the capsule 6 and a steadying holding arm 49 of the pendulum type luggage stand 30 shown in FIGS. 1 and 5. ing. The braking arm 47 moves up and down around one end thereof by driving a motor 50. To pass the capsule 6, the brake arm 47 is raised.

The return prevention arm 48 also moves up and down about one end thereof by driving the motor 52. The return prevention arm 48 is also raised by driving the motor 52. The capsule 6 is decelerated and enters, and the capsule 6 is detected by the arrival sensor 46 just before the damper 51 of the capsule 6 comes into contact with the damper 45 of the braking arm 47. When the capsule 6 is detected, a current is applied to the permanent magnets 5 and 5 ′ so as to repel the exciting coil 1 to perform electromagnetic braking, and at the same time, the motor 52 rapidly lowers the return prevention arm 48.
The mechanical braking prevents the capsule 6 from returning backward. As shown in FIG.
Is pushed out from the side by a linear motion motor 53,
The pendulum-type luggage stand 30 is held down and fixed with the rotating shafts 25 and 25 ′ interposed therebetween by means of two fulcrum press fittings 54 attached to the distal end of 9. Thus, the capsule 6 can be accurately stopped at the stop position.

Next, as shown in FIG. 6, the fork 31 provided on the lift 8 is protruded and inserted into the hook 42 attached to the side surface of the case 3. Fork 31
Is formed in a tapered shape, so that the fork 3
Lock key 28 which comes into contact with the outer surface according to insertion of
Is pressed against the spring 27 and the key stopper 55
Get off. Next, the case 3 is slightly lifted to
6, the case 3 is pulled into the transfer device 8,
It is transported vertically to the input port 11 of each level. Next, the case 3 is horizontally moved by the fork 31 and placed under the window of the inlet 11. The arrival of the case 3 is detected by a weighing device 40 or a sensor (not shown), and a buzzer or the like notifies the case.

As shown in FIG. 1, a standby mechanism 10 for the capsule 6 includes a first short tube 59 having an exciting coil 1 which can be located on the same axis as the guide tube 2 downstream of the terminal 9. A second short tube 59 ′ also having the excitation coil 1, which is located in parallel with the first short tube 59, and a predetermined interval between each of the first short tube 59 and the second short tube 59 ′. Stoppers 58 and 58 'provided with dampers for stopping the capsule 6 having entered therein, a first short tube 59 and a second
It comprises a lateral moving mechanism 60 for laterally moving the short tube tube 59 'orthogonally to its axis.

When a plurality of capsules 6 arrive at the terminal 9 in an overlapping manner, after the case 3 of the first capsule 6 is unloaded at the terminal 9, the capsule 6 is advanced and the standby mechanism 10 shown in FIG. Into a first short tube 59 and stopped therein by stops 58, 58 '. Therefore, the next capsule 6 can enter the terminal 9 without waiting, and the case can be unloaded and loaded by the lift 8. After the next capsule 6 unloads the case, the first capsule 6 returns from the first short tube 59 of the standby mechanism 10 to the terminal 9, where the case 3 is loaded by the lift 8 at the terminal 9. Transport to another destination.

When it is desired to pass another capsule while the capsule 6 is located at the terminal 9, the capsule 6 located at the terminal 9 is advanced and put into the first short tube 59. , First short tube 59
Is traversed off the line and the second short tube 59 'is traversed and positioned in the line. As a result, other capsules pass through the terminal 9 and move through the second short tube 59 '. Thus, the capsule 6 can be moved smoothly without having to wait at the terminal 9.

A plurality of standby shelves 12 are provided in the lift 8 of the terminal 9. If the cases 3 in which the luggage is put in the loading port 11 overlap at each level, the cases 3 are temporarily held here and the capsules 6 arrive. As soon as the capsule 6 is loaded and transported, many luggage cases 3 can be easily processed.

[0042]

Since the present invention is configured as described above, the following industrially useful effects are provided. Automated loading and unloading of packages in the capsule-type transport device can be easily performed. Since it is a tube type, it is sufficient to join pipes and connect cables, making it easy to lay the ceiling and lower floor, and shortening the construction period. Since transshipment of goods and vertical transportation can be performed at the same time,
Long-distance conveyance can be performed smoothly by combining with undulating horizontal conveyance. Even when a plurality of capsules arrive at the same time, the unloading can be efficiently performed by the standby mechanism. When luggage from a plurality of hierarchies overlaps, the luggage can be efficiently processed by making the shelves stand in the lift.

[Brief description of the drawings]

FIG. 1 is a perspective view showing one embodiment of a transfer device of the present invention.

FIG. 2 is a section wiring configuration diagram of a guide tube in the apparatus of the present invention.

FIG. 3 is a plan view showing an embodiment of the transfer device of the present invention.

FIG. 4 is a side view of FIG. 3;

FIG. 5 is a partially enlarged front view of FIG. 4;

FIG. 6 is a sectional view showing a lock mechanism of the luggage storage case.

FIG. 7 is a side view showing a capsule stopping mechanism with an intermediate portion of the capsule omitted.

FIG. 8 is a front view showing a transfer device portion of the device of the present invention.

FIG. 9 is a diagram showing an example of a cargo transport system provided with the device of the present invention.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 excitation coil 2 guide tube 3 case 4 wheel 5, 5 ′ permanent magnet 6 capsule 7 stop mechanism 8 lift 9 terminal 10 standby mechanism 11 input mechanism 12 standby shelf 13 sensor 14 section 15 main wiring 16 switch 17 cable 18 cable 19 OR Circuit 20 Sensor 21 Insulating tape 22 Iron plate 23 Spring 24 Body 25 Rotating shaft 26 Weight 27 Spring 28 Lock key 29 Projection 30 Luggage stand 31 Fork 32 Case forward / backward mechanism 33 Case revolving mechanism 34 Shaft 35 Chain 36 Lifting mechanism 38 Window 39 Projection 40 Weigher 41 Button 42 Hook 43 ID card 44 Branch 45 Damper 46 Arrival sensor 47 Braking arm 48 Return preventing arm 49 Holding arm 50 Motor 51 Damper 52 Motor 53 Linear motion motor 54 Press fitting 55 key stopper 56 projection 58 stops 59 first short pipe tube 59 'second short pipe tubes 60 traversing device

────────────────────────────────────────────────── ─── Continued on the front page (72) Inventor Toshiro Aiki 61-1 Ono-cho, Tsurumi-ku, Yokohama-shi, Kanagawa Inside Nuke-Ke Plant Construction Co., Ltd. (56) References JP-A-5-64314 (JP, A JP-A-2-81830 (JP, A) JP-A-5-262429 (JP, A) JP-A-50-127191 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) B65G 54/00-54/02 B65G 51/04-51/46

Claims (1)

(57) [Claims] 1. A guide tube, which is laid between terminals for carrying in / out a load and is made of a non-magnetic material around which an exciting coil is wound, and a wheel and a permanent magnet are attached to each of a front portion and a rear portion thereof. Capsules,
A luggage stand provided on the body of the capsule, in which a case for storing the luggage is stored, wherein the capsule storing the case in the luggage stand is formed by the excitation coil and the permanent magnet. In a linear motor capsule transfer device that travels through the guide tube through the wheels by the electromagnetic force, and thus automatically transfers the package from one terminal to the other terminal, the terminal includes: A lift for transferring the package loaded on the capsule to a predetermined unloading position, a capsule stopping mechanism for appropriately stopping the capsule at the terminal, and a plurality of capsules arrived at the terminal. A capsule standby mechanism, which is located at a distance from the terminal, for allowing the capsule to wait The luggage carrier provided on the body of the capsule is swingable about its axis, and a weight is attached to the lower side thereof. A lock mechanism is provided for preventing the case stored in the baggage from being detached from the luggage stand.The lift is inserted into a hook provided on the case to lift and unload the case. A fork is provided so as to be movable vertically and horizontally and pivotable in a horizontal plane, and the capsule stopping mechanism has a damper and an arrival sensor provided at the terminal along the guide tube. A brake arm for stopping the travel of the capsule, which is movable up and down, and movably provided at a distance from the brake arm corresponding to the length of the capsule; A return prevention arm for preventing the capsule from returning, and a holding arm for suppressing the swing of the luggage carrier, and the capsule standby mechanism is located at a position distant from the terminal. A first short tube that is provided on the same axis as the guide tube and that can move laterally and has an exciting coil, and is arranged in parallel with the first short tube.
A second laterally movable short tube having an exciting coil;
A stopper provided on each of the first short tube and the second short tube and having a damper, and a lateral movement mechanism for laterally moving the first short tube and the second short tube. Characterized by being composed of
Linear motor type capsule transfer device.