JP3451966B2 - Lifting equipment - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a lifting facility in which a lifting body is installed inside a duct-shaped enclosure.

[0002]

2. Description of the Related Art Conventionally, as an elevating equipment in which an elevating body is installed in a duct-shaped enclosure, a structure disclosed in, for example, JP-A-1-172107 is provided. In this conventional configuration, a support wall and a cover plate form an enclosure, and an elevator that is guided by an intermediate frame in the vertical direction via rollers and a hanging chain that is linked to the elevator is provided in the enclosure. At the same time, an elevating and lowering drive device interlocking with the suspension chain is provided outside the lower part of the enclosure.

Here, in the lifting drive device, for example, a drive chain wheel is provided on a drive shaft in the front-rear direction, and at the upper part of the enclosure, laterally of the lifting path, a left and right via a support shaft along the drive shaft. A pair of guide chains are provided. Then, one end side of the suspension chain hung on the drive chain wheel is connected to one of the guide chain wheels and then connected to the lifting platform, and the other end side of the suspension chain is hung on the other guide chain wheel and then used as a weight. It is connected.

According to this conventional type, the elevating table can be moved up and down by driving the drive chain wheel of the up-and-down drive device in the forward and reverse directions to move the suspending chain. At that time, the weight is balanced to provide the up-and-down drive device. It is becoming smaller.

Conventionally, in the above-mentioned lifting equipment, when a high load and a high lift have been achieved, when the load is being transferred,
The elastic extension of the hanging chain causes a step, which causes problems such as defective transfer and scrapping of the load or the transport pallet on which the load is placed. Therefore, the following various measures are taken. Measures 1. The presence or absence of a load on the lift is recognized, and the lift is stopped in advance in the upper or lower eye. Measure 2. At the load transfer position, the stopper is projected to receive the lift table. Measure 3. At the load transfer position, insert the pin into the lift to fix the lift.

[0006]

However, the following problems have been encountered in the countermeasures against the problems caused by the above-mentioned step difference.

[0007] In measure 1, since the step difference is generated depending on the load and the lift, the problem cannot be actually solved.

In measures 2 and 3, the structure is complicated and the cost is high.

[0009] Therefore, the present invention can solve the problems such as the transfer failure and the scraping of the transfer pallet due to the generation of the step during the transfer of the load, and the elevator having the simple structure and suppressing the cost increase. The purpose is to do.

[0010]

In order to achieve the above object, the lifting equipment according to claim 1 comprises a lifting body which is guided by a guide device to move up and down on a lifting path, and a lifting drive device for the lifting body. Lifting equipment for loading or placing loads
And a level detecting means for detecting a level displacement of the elevating body.
A load transfer hand that transfers the load or the pallet on top
A step is provided, and during the transfer of the load or the pallet , the level displacement of the lifting body detected by the level detecting means.
Change the correction speed to raise and lower the lifting body according to the size of
And, together with driving the lifting drive system so as to eliminate the level displacement of the lifting body, the by the load transfer means
During loading or transfer of the pallet,
Is to reduce the transfer speed of the pallet .

According to the above construction, the load or the pallet
During transfer (loading or unloading), the predetermined stop position for transferring loads or pallets and the level displacement of the lifting body are detected, and the level is raised according to the detected level displacement of the lifting body.
The correction speed for raising and lowering the descending body is changed, and
When the size of the lift is large, the lifting / lowering body speeds up and the lifting / lowering drive device is driven so as to eliminate the detected level displacement, and the lifting / lowering body is controlled to the stop position (leveling control). Also during the transfer of this load or pallet
Will slow down the load or pallet transfer rate. Therefore, even if the lifting / lowering body moves up and down in accordance with the transfer of the load or pallet, the return control is performed, the step is quickly eliminated, and the load or pallet transfer failure is eliminated. Also
Loads or pallets during the transfer of loads or pallets
By lowering the transfer speed of the
Ring control time is secured, and loads or pallets are transferred.
Just before the end of loading, scraping of the load or pallet or jumping of the load
Is prevented.

The lifting equipment according to claim 2 is the lifting equipment according to claim 1, characterized in that a vector motor or a servomotor is used for the lifting drive device.

According to the above construction, by using the vector motor or the servo motor for the lifting drive device, the torque can be generated in the zero speed range, so that the torque can be stopped and held without the mechanical brake. Fine leveling control of the lifting body is performed at low speed.

[0014]

[0015]

[0016]

[0017]

[0018]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings.

As shown in FIGS. 6 to 10, an enclosure wall body 4 is provided so as to surround a pair of columns 3 that form the elevating path 2 of the elevator body 1, and the enclosure wall body 4 is opened for each floor. As a result, a loading / unloading port 6 (FIG. 1) for the load 5 is formed. The pair of columns 3 integrally have a guide portion (an example of a guide device) 7 having a substantially T-shaped cross section inward. A pair of upper and lower guide members 8 that slide on the guide portion 7 are provided on the side of the elevating body 1 facing each other in these guide portions 7.

On the upper end of one of the columns 3, a lifting drive device 10 interlocked with the lifting body 1 is provided. The lifting drive device 10 includes a vector motor 11, a lateral drive shaft 12 connected to a rotation shaft of the vector motor 11, and a drive shaft 12
Composed of a driving wheel body 13A attached to the driving wheel body 13A and a driven wheel body 13B facing the driving wheel body 13A. One end of each of four wires 14 hung on these wheel bodies 13A and 13B is attached to both vertical plates of the lifting body 1. Two pieces are distributed and fixed to the upper portion of the portion 32, and the other end is fixed to the upper portion of the weight 15. Further, an elevator encoder 16 for detecting the rotation of the drive shaft 12 is provided, and an inverter 17 (FIG. 2) for the vector motor 11 is provided. A servomotor may be used instead of the vector motor 11, and a servo amplifier is used instead of the inverter 17 at that time.

On the outer side of one of the columns 3, there is provided a second surrounding wall body 21 forming a passage for the weight 15, and the second surrounding wall body 21 has a guide portion 22 having a substantially T-shaped cross section. It has one inward. A guide member 23 that slides on the guide portion 22 is formed in the vertical direction on the side of the weight 15 facing each other in these guide portions 22.

The elevating body 1 is U-shaped, and a pair of roller conveyors (an example of load transferring means) 31 are provided on the elevating body 1, and the guide member 8 and the wire 14 are fixed to each other. A pair of support members 33 for supporting the roller conveyor 31 are provided below the vertical plate portions 32 of the lifting body 1. A controller 34 (FIG. 2) for driving the roller conveyor and a motor 35 are provided below each roller conveyor 31.

Outside the one vertical plate portion 32, a photoelectric switch 41 for detecting a stop position, a photoelectric switch 42 for detecting a deceleration position when rising, and a photoelectric switch 43 for detecting a deceleration position when descending. And a leveling encoder having a roller that rotates along one of the columns 3 as the lifting body 1 moves up and down.
44 are provided. Further, one pillar 3 is provided with an object to be detected (not shown) which shields the photoelectric switches 41, 42 and 43 for each floor.

Further, on the roller conveyor 31, there is a photoelectric switch 46 for detecting the presence of the load 5 at the center position in the carrying direction, and a protrusion of the load 5 at the end position in the carrying direction (carry-in side). ) A photoelectric switch 47 for protrusion detection,
A photoelectric switch 48 for detecting the protrusion of the load 5 (carry-out side) is provided at the starting point position in the transport direction.

As shown in FIG. 1, the loading / unloading port 6 of the load 5 on each floor is provided with a roller conveyor 31 for the elevator 1 and a conveyor for delivering the load 5, and the tip of the conveyor 51 has A photoelectric switch 52 for detecting the presence of a load 5 for detecting the presence or absence of the load 5 is provided. In order to drive the conveyor 51, a conveyor controller 53 (Fig. 2) and a motor 54
(FIG. 2) are provided.

As shown in FIG. 2, the elevator 1 is provided with a control device 61 composed of a microcomputer. The control device 61 has a tip end of the conveyor 51 at the loading / unloading port 6 of the load 5 on each floor. A photoelectric switch 52 for detecting the presence of goods and a controller 53 are connected, a host controller 62 is also connected, and further an elevator encoder 16 and a vector inverter 17 of the elevator drive device are connected.

Further, the control device 61 includes the above-mentioned rising and falling deceleration position detecting photoelectric switches 42, 43, the stop position detecting photoelectric switch 41, the leveling encoder 44, the presence detection photoelectric switch 46, and the protrusion detection. Photoelectric switch 47,
48, the controller 34 of the roller conveyor 31 is connected.

Further, the control device 61 is functionally comprised of a sequence section 71, a lifting control section 72, a leveling control section (an example of control means) 73, a conveyor control section 74, and a lifting encoder.
A lift position detector 75 that detects the position of the lift 1 by counting the pulses input from 16 and a reset signal that is input from the leveling controller 73 (details will be described later).
The level displacement encoder 76 is configured to detect the level displacement of the lifting / lowering body 1 and a predetermined stop position where the load 5 is transferred by counting the pulses of the leveling encoder 44 from this point. . The leveling encoder 44 and the level displacement detecting section 76 constitute an example of level detecting means.

The sequence section 71 is a host controller.
When a transfer command from the floor for loading (scooping) the load 5 and the floor for loading the load 5 is input from 62, the lifting control unit 72, the leveling control unit 73, and the conveyor control unit 74 are driven to move the load 5. To do. (Details will be described later.) Further, the lifting control unit 72 recognizes the current position based on the position of the lifting body 1 detected by the lifting position detection unit 75, and receives a command from the floor that performs transfer from the sequence unit 71. Based on this, a command signal is output to the vector inverter 17 to move the elevator 1 up and down at high speed, and one input of the deceleration position detection photoelectric switches 42, 43 is selected according to the moving direction, and the selected photoelectric switch operates. Then, a signal for switching the ascending / descending speed to a low speed is output to elevate the elevating / lowering body 1 at a low speed, and when the stop position detection photoelectric switch 41 operates, a stop command is output to stop the elevating / lowering body 1. Further, when stopped, the signal arriving at the floor to be transferred is output to the sequence unit 71. When a leveling control transition signal described later is input, the output to the vector inverter 17 is locked, and when a leveling control end signal described later is input, the output lock is released.

In accordance with a command to the vector inverter 17 output from the lifting control unit 72, the vector motor 11 drives both wheels 13A and 13B in the forward and reverse directions to move the wire 14 in the forward and reverse directions. By the moving force, the guide member 8 can be moved up and down while being guided by the guide portion 7, and the weight 15 can be moved up and down in the opposite direction while the guide member 23 is being guided by the guide portion 22. The lifting of the lifting body 1 is stopped by setting the lifting body 1 at a predetermined stop position with respect to the loading / unloading port 6.

The leveling control section 73 is a sequence section.
When the leveling control transition command is input from 71, this time is judged to be the stop position, the reset signal is output to the level displacement detection unit 76, and thereafter, the predetermined stop position detected by the level displacement detection unit 76 and the lifting body. A command signal is output to the vector inverter 17 so as to eliminate the level displacement of 1 (so that the level displacement becomes zero), and the elevator 1 is moved up and down at a slow speed. When the leveling control end command is input from the sequence unit 71, the lifting / lowering of the lifting / lowering body 1 is ended. (Details will be described later.) When the transfer instruction is input from the sequencer 71, the conveyor controller 74 is a controller of the conveyor on the floor where transfer is performed.
The load 5 is controlled by controlling the conveyor controller 34 of 53 and the elevator 1.
Is transferred. When the transfer operation is completed, a transfer end signal is output to the sequence unit 71. (Details will be described later.) The operation of the sequence unit 71 will be described in detail with reference to the flowchart of FIG.

First, when a transfer command is inputted from the host controller 62, which comprises a floor for loading (scooping) the load 5 and a floor for unloading the load 5 (step -1), the lifting control unit 72 is scooped from the floor for scooping the load 5. A command is output (step-2).

When the lifting / lowering body 1 arrives at the floor where the lifting / lowering body 1 performs the scooping operation by the operation of the lifting / lowering control section 72 and the arrival signal is input (step-3), the lifting / lowering control section 72 and the leveling control section 73.
Output leveling control transition command to (step-4),
Then, when the operation signal of the front end detection photoelectric switch 52 on the transfer floor, that is, the arrival signal of the load 5 is input (step-
5), a scooping command is output to the conveyor controller 74 (step-6).

When the operation of the conveyor controller 74 completes the scooping operation of the load 5, and when a transfer end signal is input (step--
7) The leveling control end command is output to the elevating control unit 72 and the leveling control unit 73 (step-8), and subsequently, the load 5 unloading command including the unloading floor is output to the elevating control unit 72 (step-9). .

When the lifting / lowering body 1 arrives at the floor for unloading operation by the operation of the lifting / lowering control section 72 and the arrival signal is input (step -10), the lifting / lowering control section 72 and the leveling control section 73.
Output leveling control transition command to (step-11),
Subsequently, an unloading instruction is output to the conveyor control unit 74 (step-12).

When the unloading operation of the load 5 is completed by the operation of the conveyor control unit 74 and the transfer end signal is input (step--
13) Then, a leveling control end command is output to the elevating control unit 72 and the leveling control unit 73 (step-14), and a transfer end signal is output to the host controller 62 (step-15) to end the process.

By the operation of the sequence section 71, the load 5 is transferred from the floor where the load 5 is loaded (picked up) to the floor where the load 5 is unloaded.

The operation of the leveling unit 73 will be described in detail with reference to the flowchart of FIG.

First, when a leveling control shift command is input from the sequence unit 71 (step -1), this time is judged to be a predetermined stop position for transferring the load 5, and the reset signal is sent to the level displacement detecting unit 76. Output (Step-
2).

Next, the presence or absence of level displacement is judged from the level displacement of the lifting / lowering body 1 output by the level displacement detection unit 76 (step-3). If there is level displacement, then the absolute value of the level displacement is 0 to 0. It is judged whether it is in the range of 4 mm (step-4), and when it is in the range of 0 to 4 mm, the correction speed (the lifting speed of the lifting body 1) is set to 0.2 m / mi which is the slowest speed.
n is set (step-5), and then it is judged whether the level displacement is positive, that is, whether or not the lifting body 1 has risen (step-6). When the level displacement is positive, the motor reverse driving command is issued to the vector inverter 17 at the correction speed. (Lowering command) is output (step-7), and when it is negative, the motor forward rotation driving command (upward command) is output to the vector inverter 17 at the corrected speed (step-8).

In the above step-4, when it is not within the range of 0 to 4 mm, it is judged whether the absolute value of the level displacement is within the range of 4 to 8 mm (step-9), and when it is within the range of 4 to 8 mm, The correction speed is set to a slow speed of 1.0 m / min (step-10), and step-6 is executed.

In the above step-9, 4 to 8 m
When it is not within the range of m, the absolute value of level displacement is 8 to 16 m
It is judged whether it is in the range of (step-11), 8-16m
When it is in the range of m, the correction speed is set to 2.0 m / mi
n (step-12), when it is not within the range of 8 to 16 mm, that is, when it exceeds 16 mm, the correction speed is set to a low speed of 4.0 m / min (step-13), and step-6 is executed. .

After step-7 or step-8 is executed, it is confirmed whether or not the leveling control end command is inputted from the sequence section 71 (step-14). If not, step- Returning to step 3, the leveling control is continued, and when the leveling control end command is input, the process ends.

By the above operation, as shown in FIG. 1 (a), as shown in FIG.
As shown in (b), when the load 5 is carried in and a downward step (level displacement) occurs, the correction speed is changed according to the level displacement so that the level displacement is canceled (set to zero). As described above), a command signal is output to the vector inverter 17, and the lifting / lowering body 1 is lifted at a slow speed. On the contrary, when the load 5 is carried out of the lifting body 1 and an upward step is generated, the lifting body 1 is similarly lowered at a slow speed. At this time, the vector motor 11 (or servo motor) is installed in the lifting drive device.
By using, it becomes possible to generate torque in a very low speed range, so it is possible to perform fine leveling control of the lifting / lowering body 1 at a very low speed, and eliminate that displacement even with a slight level displacement. can do.

The operation of the conveyor controller 74 will be described in detail with reference to the flowchart of FIG.

First, it is confirmed whether the scooping command is input from the sequence section 71 (step-1), and when it is not input, it is confirmed whether the wholesale command is input (step-).
2).

In step-1, when the scooping command is input, the controller 53 of the conveyor 51 on the floor where the transfer is carried out.
A high-speed carry-out command is output to the conveyor controller 34 (step-3), and then a high-speed forward rotation command is output to the conveyor controller 34 to drive the roller conveyor 31 to the carry-in side of the load 5 at high speed (step-
4).

When the load 5 is carried in from the conveyor 51 on the transfer floor to the roller conveyor 31 of the elevator 1 and the operation of the photoelectric switch 46 for detecting the presence of goods is confirmed (step-5), the transfer floor is carried out. Low-speed carry-out command is output to the conveyor controller 53 (step-6), and the conveyor controller
A low-speed forward rotation command is output to 34 and the roller conveyor 31 is driven at a low speed toward the loading side of the load 5 (step -7).

Further, when the load 5 is carried in by the roller conveyor 31 and the non-operation (OFF) of the protrusion detection photoelectric switch 48 is confirmed (step-8), a stop command is output to the conveyor controller 34 to output the roller conveyor 31. Is stopped (step-9), a scooping end signal is output to the sequencer 71 (step-10), and the processing is ended.

In step-2, the sequence part
71 When a wholesale command is input, a high-speed carry-in command is output to the controller 53 of the conveyor 51 on the transfer floor (step-11), and then a high-speed reverse rotation command is output to the conveyor controller 34 to output the roller conveyor. The 31 is driven at a high speed toward the unloading side of the load 5 (step-12).

When the load 5 is carried out from the roller conveyor 31 of the elevator 1 to the conveyor 51 on the floor where the load is transferred, and it is confirmed that the photoelectric switch 46 for detecting the presence of the load is inactive (OFF) (step-
13), the low-speed carry-out command is output to the controller 53 of the conveyor on the transfer floor (step -14), and then the low-speed reverse rotation command is output to the conveyor controller 34 to output the roller conveyor.
31 is driven at a low speed to the discharge side of the load 5 (step -15).

Further, when the load 5 is carried out by the roller conveyor 31 and the operation (ON) of the photoelectric switch 52 for detecting the presence of the leading edge of the conveyor 51 is confirmed (step-16), a stop command is output to the conveyor controller 34 to output the roller. The conveyor 31 is stopped (step-17), an unloading end signal is output to the sequence section 71 (step-18), and the process is ended.

By the operation of the conveyor control section 74, the conveyor 51 on the floor to be transferred and the roller conveyor 31 of the elevator 1 are driven to scoop and unload the load 5.
By lowering the transfer speed of the conveyors 51 and 31 during the transfer (loading or unloading) of the load 5 to slow down the transfer speed of the load 5, the level displacement in the leveling control unit 73 is eliminated. Control time can be secured, and scraping of the load 5 immediately before the transfer of the load 5 or the pallet on which the load 5 is placed and jumping up of the load 5 can be prevented.

In this way, the sequence section 71, the lifting control section 72, the leveling control section 73, the conveyor control section 74,
A control device 61 including an ascending / descending position detecting section 75 and a level displacement detecting section 76 drives the elevating vector motor 11 and the conveyor motor 35 of the ascending / descending body 1, and further drives the conveyor 51 on the transfer floor. As a result, the load 5 is transferred. At this time, as described above, the predetermined stop position where the load 5 is transferred and the level displacement of the lifting body are detected, and this level displacement is canceled (the level displacement is made zero).
The vector motor 11 capable of generating torque in the zero speed range is driven, and the position of the lifting / lowering body 1 is controlled, so that the transfer failure or the load 5 or the load 5 due to the step is generated during the transfer of the load 5. It is possible to solve a problem such as scraping of the transfer pallet on which the 5 is placed. Further, since only the sensors are attached, the complicated structure required in the conventional measures 2 and 3 is not necessary, and it is possible to provide a simple lifting facility that can suppress an increase in cost.

In the above embodiment, the lifting / lowering body 1 is moved up and down by the pair of wires 14, but it may be moved up and down by a single wire. Further, the roller conveyor is provided on the elevating body 1 as the load transfer means, but other conveyors such as a belt conveyor can be used. Further, as means for detecting the load 5 on the roller conveyor 31 of the lifting body 1 and the conveyor 51 provided on each floor,
Although a photoelectric switch is used, other load detecting means such as a proximity sensor may be used.

[0056]

As described above, according to the present invention, it is possible to solve the problems such as the transfer failure and the scraping of the transfer pallet due to the step difference during the transfer of the load, and the simple structure can increase the cost. It is possible to provide lifting equipment that can be suppressed.

[Brief description of drawings]

FIG. 1 is a diagram illustrating a leveling operation of lifting equipment according to an embodiment of the present invention.

FIG. 2 is a control configuration diagram of the lifting equipment.

FIG. 3 is a flowchart illustrating an operation of a sequence unit of the control device for the lifting equipment.

FIG. 4 is a flowchart illustrating an operation of a leveling control unit of the control device for the lifting equipment.

FIG. 5 is a flowchart illustrating an operation of a conveyor control unit of the control device for the lifting equipment.

FIG. 6 is a front view of the entire lifting equipment.

FIG. 7 is a front view of a lifting drive device of the lifting equipment.

FIG. 8 is a front view of a lifting body of the lifting facility.

FIG. 9 is a side view of a lifting body of the lifting facility.

FIG. 10 is a plan view of a lifting body of the lifting facility.

[Explanation of symbols]

1 Lifting body 2 hoisting path 3 props 4 wall 5 packages 6 carry-in exit 10 Lift drive 11 vector motor 14 wires 15 weights 16 Lift encoder 17 vector inverter 31 Roller conveyor 34 Conveyor controller 35 conveyor motor 41 Photoelectric switch for stop position detection 42,43 Photoelectric switch for deceleration position detection 44 Leveling encoder (level detection means) 46 Photoelectric switch for presence detection 47,48 Photoelectric switch for protrusion detection 51 Conveyors (Each floor) 52 Leading edge detection photoelectric switch (each floor) 53 Conveyor controller (Each floor) 54 Conveyor motor (Each floor) 61 Control device 62 Host controller 71 Sequence part 72 Lift control section 73 Leveling control unit (control means) 74 Conveyor control unit 75 Lifting position detector 76 Level displacement detector (level detector)

─────────────────────────────────────────────────── ─── Continuation of the front page (58) Fields surveyed (Int.Cl. ⁷ , DB name) B66B 1/00-19/06 B65G 43/00-47/96

Claims (2)

(57) [Claims] 1. An elevating apparatus equipped with an elevating body which is guided by a guide device to ascend and descend on an elevating path, and an elevating / lowering drive device for the elevating body, wherein a load or a pallet on which a load is placed is transferred. A level detection means for detecting a predetermined stop position and a level displacement of the lifting body is provided, and the load or the pallet is transferred onto the lifting body.
Load transfer means for controlling the level displacement of the lifting body detected by the level detection means during transfer of the load or the pallet.
Accordingly, the correction speed for raising and lowering the lifting body is changed to
The lifting drive device is driven so as to eliminate the level displacement of the descending body, and the load transfer means transfers the load or the load.
During the transfer of the pallet, the load or the
Lifting equipment characterized by lowering the transfer speed of the tray . 2. A vector motor or a servomotor is used for the lifting drive device.
Lifting equipment described.