JP4724916B2 - Lifting device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a lifting device that lifts a game ball.
[0002]
[Prior art]
Conventionally, as this type of lifting device, for example, the one described in JP-A-9-28909 is known. The apparatus described in the publication is configured to detect a lateral deviation of an endless belt for lifting with a sensor and perform control to move the endless belt in a direction in which the lateral deviation is eliminated.
[0005]
The present invention is more properly is to provide a pumped device capable of performing appropriate control for eliminating the lateral displacement.
[0006]
[Means for Solving the Problems and Effects of the Invention]
In order to achieve the above-mentioned object, the lifting device according to claim 1 comprises:
A game ball is introduced between an endless belt that is circulated and a clamping surface that faces the raised portion of the endless belt, and the game ball is sandwiched between the endless belt and the clamping surface. In a lifting device capable of lifting in the following direction,
Wherein the endless belt widthwise ends repositionable belt position changing means for,
Belt position detecting means capable of detecting both end positions in the width direction of the endless belt;
When it is determined from the detection result of the belt position detection means that there are deviations in the width direction both ends of the endless belt, the correction means for bringing the width direction both ends closer to the target position using the belt position change means;
When it is determined that the width of the endless belt has changed and is outside the allowable range based on the detection result of the belt position detection unit, an abnormality notification unit that performs abnormality notification;
It is provided with.
[0007]
In this lifting device, the holding surface may be formed of a material (for example, cloth) suitable for polishing the surface of the game ball, for example. In this case, when the game ball is rubbed against the holding surface as the game ball is lifted in the direction of following the endless belt, the surface of the game ball is polished by the holding surface, so that the game ball is lifted. Contamination on the surface of the game ball can be removed simultaneously with the feeding. Further, for example, the outer peripheral surface of the second endless belt that circulates may be used as the clamping surface. In this case, by raising both the two endless belts sandwiching the game ball, the game ball can be lifted while suppressing the friction generated between the game ball and the holding surface, and the lifting capacity of the lifting device Can be improved.
[0008]
The belt position changing means may be a mechanism for changing the magnitude of the force acting on the endless belt as long as it can change the magnitude of the force acting in the width direction of the endless belt. It may be a mechanism that can change the magnitude of the component force in the width direction of the endless belt by changing the action direction without changing the magnitude of the force to be applied. As a mechanism for changing the direction of the force acting on the endless belt, for example, a structure that can arbitrarily change the inclination of the rotation axis of the roller for some of the plurality of rollers around which the endless belt is stretched. Can be adopted. The belt position changing means having such a structure rotates in a state where the roller is inclined with respect to the traveling direction of the endless belt. When rotating, the frictional force acting between the roller and the endless belt acts in such a direction that the component force appears in the width direction of the endless belt, and the endless belt is displaced in the width direction by this component force. Can be made.
[0009]
Belt position detecting means, Ru der Those detecting a widthwise end positions.
[0010]
According to the lifting device of the present invention, when the width direction both ends of the endless belt are biased by the detection result of the belt position detecting means, the width direction both ends are brought closer to the target position using the belt position changing means. On the other hand, if the width of the endless belt changes and falls outside the permissible range according to the detection result of the belt position detection means, an abnormality is notified.
Therefore, according to the lifting device of the present invention, the lateral displacement of the endless belt can be eliminated, and the user can detect when the width of the endless belt is abnormal.
[0013]
The lifting device according to claim 2 is:
The correction means is not operated when the deviation in the widthwise both ends of the endless belt is within an allowable range .
[0014]
According to this lifting device, when the deviation of both end positions in the width direction of the endless belt is within the allowable range , the correcting means is not operated, and the width direction position of the endless belt is not within the allowable range. In some cases, the correction means is activated.
[0015]
Accordingly, by setting the allowable range to be somewhat wide, it is possible to ignore slight lateral deviation, and this prevents the belt position changing means from repeating the operation too sensitively. The service life of the movable mechanism including the changing means is increased. Further, even if there is some variation in the dimensions of the endless belt and changes over time, the dimensional change is not recognized as a lateral shift of the endless belt, and the belt position changing means is not operated.
[0017]
DETAILED DESCRIPTION OF THE INVENTION
Next, an embodiment of the present invention will be described with an example.
[First Embodiment]
As shown in FIG. 1, the lifting device 1 includes a pulley motor 3, an endless belt 5, a cloth belt holder 7, a lower radius 9, an upper radius 11, an insertion rod 13, a first tension roller 15, a second tension roller 17, A three-tension roller 19 and a stepping motor 21 are provided.
[0018]
The endless belt 5 is made of leather and has a structure that is laid between a pulley motor 3 at the lower part of the apparatus and an upper roller (not shown) at the upper part of the apparatus and is circulated by the pulley motor 3.
As shown in FIG. 2, the cloth belt holder 7 is attached to the apparatus body so as to open and close like a door, and a cloth belt 23 for polishing a game ball is held on the inner surface side of the cloth belt holder 7. Has been. When the cloth belt holder 7 is closed, the cloth belt 23 faces the rising portion of the endless belt 5, and in this state, a gap is formed so that a game ball is sandwiched between them.
[0019]
The lower radius 9 and the upper radius 11 are also arranged so as to form a gap between the endless belt 5 and a game ball. Each gap communicates with the gap formed by the cloth belt 23 and the endless belt 5 described above, and a continuous path for the game ball from the lower radius 9 to the upper radius 11 is formed. .
[0020]
The insertion rod 13 aligns game balls supplied from the outside and introduces them into the lifting device 1, and the passage in the insertion rod 13 communicates with the gap between the lower are 9 and the endless belt 5.
The first tension roller 15, the second tension roller 17, and the third tension roller 19 are a group of rollers for eliminating the sag of the endless belt 5, and as shown in FIG. 3, the first tension roller 15 and the third tension roller The endless belt 5 is pressed from the outer peripheral side by the roller 19 and the second tension roller 17 is pressed against the inner peripheral side of the endless belt 5 between them, thereby giving the endless belt 5 an appropriate tension. The means for bringing the second tension roller 17 into pressure contact with the endless belt 5 is constituted by a rotating shaft 17a, a roller support shaft 25, a spring 27, etc., and the second tension roller 17 is rotatably mounted on the rotating shaft 17a. The rotary shaft 17a is slidably attached to the roller support shaft 25, and the spring 27 is fitted into the roller support shaft 25 in a compressed state, whereby the second tension roller 17 is moved to the endless belt 5 side by the force of the spring 27. It is comprised so that it may bias toward.
[0021]
The first tension roller 15 also has a function of moving the endless belt 5 in the width direction of the endless belt 5. More specifically, as shown in FIG. 4, the first tension roller 15 is rotatably attached to the rotating shaft 15 a, and the rotating shaft 15 a moves up and down with one end being driven by the stepping motor 21. The other end is connected to the slider 29 and supported by the bolt shaft 31 in a swingable state. In such a configuration, when a drive signal having a predetermined number of pulses is given to the stepping motor 21 to rotate the motor shaft 21a, as shown in FIG. 5, the slider 29 screwed to the motor shaft 21a moves to the motor shaft 21a. Rises or falls according to the direction of rotation of the shaft (illustrated in FIG. 5 as an example). Following this, the rotation shaft 15a swings (+ side) about the bolt shaft 31 side. The first tension roller 15 can be displaced in a plane parallel to the outer surface of the endless belt 5 so that the position of the first tension roller 15 can be changed within a range of an inclination angle of −4 ° to + 4 ° (0 ° = horizontal). . That is, when the slider 29 is lowered, the first tension roller 15 strongly presses the left side from the center of the endless belt 5, and the endless belt 5 moves to the right (arrow side). These configurations including the first tension roller 15 correspond to the belt position changing means in the present invention.
[0022]
Further, two belt position detection sensors 33 are disposed in the vicinity of the endless belt 5 as shown in FIG. In FIG. 6, the belt position detection sensor 33 on the left side detects the position of the left edge of the endless belt 5, and the belt position detection sensor 33 on the right side detects the position of the right edge of the endless belt 5. is there. Each belt position detection sensor 33 is configured by eight photosensors arranged in the width direction of the endless belt 5. Each photo sensor is turned off when the optical path is not blocked by the endless belt 5, and is turned on when the optical path is blocked by the endless belt 5. From each belt position detection sensor 33, each of the eight photo sensors is turned on / off. An 8-bit value in which each bit is 1/0 is output corresponding to the off state. In this 8-bit value, the upper bit corresponds to the outer photosensor, and the lower bit corresponds to the inner photosensor. The arrangement position of the belt position detection sensor 33 is set to a position where the output values of the two belt position detection sensors 33 are both “000011111 (binary number)” when the endless belt 5 is in the center. ing. When the belt position is shifted laterally to the left, the output value of the left belt position detection sensor 33 increases, and the output value of the right belt position detection sensor 33 decreases. Conversely, when the belt position is shifted to the right side, the output value of the left belt position detection sensor 33 decreases and the output value of the right belt position detection sensor 33 increases. For example, if the endless belt 5 is shifted to the left by one photosensor, the output value of the left belt position detection sensor 33 is “00011111 (binary number)”, and the right belt position detection sensor 33 The output value is “00000111 (binary number)”. These belt position detection sensors 33 correspond to belt position detection means in the present invention.
[0023]
Further, the pulley motor 3, the stepping motor 21, and the belt position detection sensor 33 are connected to a controller 35 as shown in FIG. A warning lamp 37 is also connected to the controller 35.
The controller 35 is configured by arranging a timer, various interface circuits, and the like around a microcomputer configured by integrating CPU, ROM, RAM, and the like on several LSI chips. The controller 35 controls the inclination angle of the first tension roller 15 by driving the stepping motor 21 based on the detection result of the belt position by the belt position detection sensor 33, and thereby the position in the width direction of the endless belt 5 is controlled. adjust.
[0024]
Next, the inclination angle control process of the first tension roller 15 performed by the controller 35 will be described based on the flowchart of FIG. This process is a process that is executed every time a fixed time elapses (in this embodiment, every 200 milliseconds). It should be noted that the initial position is adjusted so that the position of the endless belt 5 is substantially at the center when the inclination angle of the first tension roller 15 is 0 °.
[0025]
When this process is started, the controller 35 first detects the current position of the left edge of the endless belt 5 (S10). Specifically, the controller 35 inputs an 8-bit value output from the left belt position detection sensor 33 and stores the 8-bit value in a variable DL secured on the memory of the controller 35.
[0026]
Further, the controller 35 detects the current position of the right edge of the endless belt 5 (S20). Specifically, the controller 35 receives an 8-bit value output from the right belt position detection sensor 33 and stores the 8-bit value in a variable DR secured in the memory of the controller 35.
[0027]
Subsequently, the controller 35 checks whether or not there is an abnormality in the width of the endless belt 5 (S30). In this process, it is determined that there is no abnormality when the two 8-bit values stored in the variables DL and DR, that is, a total of 16 bits, where “1” is 7 to 9 bits, “1” "" Is judged to be present when the number of bits is 6 bits or less or 10 bits or more. The reason for this determination is “1” in 16 bits included in two 8-bit values stored in the variables DL and DR when the width of the endless belt 5 is an ideal width. The number of bits that should be 8 should be 8. If the detection error of one photosensor is allowed, if the width of the endless belt 5 is not abnormal, the bit “1” is in the range of 7 to 9 bits. Because it should fit within. When the width of the endless belt 5 is excessively narrow (for example, the edge is worn out), the bit that is “1” is 6 bits or less, and the width of the endless belt 5 is excessively wide (for example, at the center). In the case of tearing and both edges spreading outward), the bit that is “1” is 10 bits or more.
[0028]
In the process of S30, when there is an abnormality in the width of the endless belt 5 (S30: YES), the controller 35 turns on the warning lamp 37 (S40) and ends this process. Thereby, the user can perceive that there is an abnormality in the width of the endless belt 5. At this time, the pulley motor 3 may be controlled to be stopped by the controller 35.
[0029]
On the other hand, if there is no abnormality in the width of the endless belt 5 in the process of S30 (S30: NO), the controller 35 compares the values of the variables DL and DR, and if DL> DR (S50: YES), the variable A new inclination angle of the first tension roller 15 is determined based on the value of DL, and the inclination angle of the first tension roller 15 is changed from the current inclination angle to a new inclination angle (S60). Specifically, according to the value of the variable DL, the controller 35 sets + 4 ° when DL = “11111111 (binary number)”, + 2 ° when DL = “01111111 (binary number)”, DL When ≦ “00111111 (binary number)”, 0 ° is set as a new inclination angle. Then, a drive signal having the number of pulses necessary to change the tilt angle of the first tension roller 15 from the current tilt angle to a new tilt angle is output to the stepping motor 21.
[0030]
On the other hand, if DL ≦ DR in the process of S50 (S50: NO), a new inclination angle of the first tension roller 15 is determined based on the value of the variable DR, and the inclination angle of the first tension roller 15 is determined as the current inclination angle. The inclination angle is changed to a new inclination angle (S70). Specifically, according to the value of the variable DR, the controller 35 sets −4 ° when DR = “11111111 (binary number)” and −2 ° when DR = “01111111 (binary number)”. , DR ≦ “00111111 (binary number)”, 0 ° is set as a new inclination angle. Then, a drive signal having the number of pulses necessary to change the tilt angle of the first tension roller 15 from the current tilt angle to a new tilt angle is output to the stepping motor 21.
[0031]
As a result of the above-described processing of S60 or S70, when the belt position is largely deviated laterally, the inclination angle of the first tension roller 15 is greatly inclined as ± 4 °, so that the lateral deviation of the endless belt 5 is quickly eliminated. The Further, when the lateral deviation is smaller than that, the inclination angle of the first tension roller 15 is inclined as small as ± 2 °, so that it is possible to prevent the endless belt 5 from moving excessively in the direction of eliminating the lateral deviation. In addition, After completing the processing of the S60 or S70, it exits the process.
[0032]
As described above, according to the lifting device 1, when the controller 35 performs the processes of S60 and S70, when the belt position is largely deviated laterally, the lateral displacement of the endless belt 5 can be quickly eliminated. When the lateral deviation is smaller than that, it is possible to prevent the endless belt 5 from excessively moving in a direction to eliminate the lateral deviation.
[0033]
Further, according to the above-described feeding device 1, when DL ≦ “00111111 (binary number)” and DR ≦ “00111111 (binary number)”, the inclination angle of the first tension roller 15 is maintained at 0 °. As long as the endless belt 5 is slightly displaced laterally, movable mechanisms such as the stepping motor 21 and the first tension roller 15 do not operate with high sensitivity. Therefore, the useful life of these movable mechanisms is increased.
[0034]
Furthermore, according to the said lifting apparatus 1, since it can detect that there is an abnormality in the width of the endless belt 5 by the processes of S30 and S40, necessary measures such as belt replacement can be quickly implemented. .
[Second Embodiment]
The lifting device described as the second embodiment is different from the lifting device 1 of the first embodiment in the processing content of the tilt angle control of the first tension roller 15. In the following description, the difference from the lifting device 1 of the first embodiment will be described in detail, and the configuration similar to that of the lifting device 1 of the first embodiment will be described in the first embodiment. The detailed description is omitted by using the symbols used at times.
[0035]
FIG. 9 is a flowchart of the tilt angle control process of the first tension roller 15 performed by the controller 35. This process is executed every time a fixed time elapses (in this embodiment, every 200 milliseconds).
When this process is started, the controller 35 first detects the current position of the left edge of the endless belt 5 (S110), detects the current position of the right edge of the endless belt 5 (S120), and sets the width of the endless belt 5 to the width. It is checked whether or not there is an abnormality (S130), and if there is an abnormality in the width of the endless belt 5 (S130: YES), the warning lamp 37 is turned on (S140), and this process is terminated. Since the processing of S110 to S140 is the same as the processing of S10 to S40 in the first embodiment described above, a description of specific processing contents is omitted.
[0036]
On the other hand, if there is no abnormality in the width of the endless belt 5 in the processing of S130 (S130: NO), the controller 35 calculates the position POS of the endless belt 5 (hereinafter referred to as belt position POS) (S150). Specifically, the controller 35 counts the number of bits that are “0” among the bits in the variable DL, and the number of bits that are “1” among the bits in the variable DR. The two count values are counted, and the value is set as the belt position POS. For example, when the endless belt 5 is located at the position illustrated in FIG. 6, since DL = “00001111”, the number of bits “0” is 4, and DR = “000011111”, so “1”. The number of bits is 4, and the belt position POS is 8. The belt position POS = 8 is a case where the endless belt 5 is not laterally displaced. In the following description, this position is referred to as a target position. Further, when the belt position is shifted to the left by one photosensor from this target position, since DL = “00011111”, the number of bits “0” is 3, and DR = “00000111”. The number of bits that are 1 ″ is 3, and the belt position POS is 6. Incidentally, the values of the variables DL and DR do not change strictly at the same time due to, for example, variations in the width of the endless belt 5 or variations in detection accuracy of the photosensor, so only one of the variables DL and DR changes. In some cases, the belt position POS takes an odd value.
[0037]
Subsequently, the controller 35 calculates a deviation p from the target position of the endless belt 5 by subtracting the target position of the belt (8 in the present embodiment) from the belt position POS (S160). Further, the deviation p obtained in the process of S160 is added to the integrated value i to update the integrated value i (S170). Further, the previous belt position OLDPOS is subtracted from the new belt position POS to obtain a belt position change amount d over time (S180). The belt position POS is stored as the previous belt position OLDPOS for use in the next processing (S190).
[0038]
Next, the controller 35 calculates the inclination angle z of the first tension roller 15 based on the deviation p, the integrated value i, and the change amount d (S200). Specifically, using the proportional term gain a, the integral term gain b, the derivative term gain c, and the current tilt angle z, a value calculated using the calculation formula a × p + b × i + c × d + z is used as a new tilt angle. z. The proportional term gain a, integral term gain b, and derivative term gain c used in the above equation are constants for converting the deviation p, the integrated value i, and the change amount d into control amounts, respectively. Since the specific values of the proportional term gain a, the integral term gain b, and the differential term gain c vary depending on the specific structure and the like of the actual lifting device, normally, various appropriate values are combined. Each value is determined in consideration of the balance between operation stability and responsiveness by performing a test operation using an actual machine.
[0039]
When the inclination angle z is calculated in this way, the inclination of the first tension roller 15 is changed to the inclination angle z (S210). Specifically, a drive signal having the number of pulses necessary to change the tilt of the first tension roller 15 from the current tilt angle to a new tilt angle is output to the stepping motor 21. Note that when the process of S210 is completed, the present process is terminated.
[0040]
The lifting device that controls the tilt angle with respect to the first tension roller 15 as described above has the same operations and effects as the lifting device 1 of the first embodiment, and the lateral slippage of the endless belt 5 is eliminated. Therefore, the endless belt will not be moved excessively when the degree of lateral deviation is small, and it may take time to eliminate the lateral deviation when the degree of lateral deviation is large. Disappear.
[0041]
In particular, since the inclination angle control for the first tension roller 15 is performed in consideration of the integrated value i and the change amount d in addition to the deviation p, for example, the endless belt 5 is in the vicinity of the target position and the deviation p Even if is small, if the movement is in the direction of lateral displacement, the value of the change amount d is correspondingly increased, so that the first tension roller 15 is tilted, thereby stopping the lateral displacement of the endless belt 5. be able to. Further, for example, even when the endless belt 5 is in the vicinity of the target position, the deviation p is small, and the endless belt 5 is slightly displaced from the target position even when the endless belt 5 is not moving in the laterally deviating direction and the amount of change d is small. If it remains, the integrated value i increases correspondingly, so that the first tension roller 15 is tilted, and even a slight deviation can be eliminated.
[0042]
As mentioned above, although embodiment of this invention was described, this invention is not limited to said specific embodiment, In addition, it can implement with a various form.
For example, in the description of the second embodiment, an example in which the proportional term gain a, the integral term gain b, and the derivative term gain c are constants is shown, but these are the deviation p, the integrated value i, and the change amount d, respectively. It may be a variable determined based on any of the above.
[0043]
Specifically, for example, when the deviation p is small, the differential term gain c is relatively small, while when the deviation p is large, the differential term gain c is relatively large so that the deviation p is small. Can be controlled with emphasis on stability, and when deviation p is large, control with emphasis on responsiveness can be performed. Further, when the deviation p is small, a dead zone where no control is performed at all by setting each gain to 0 (zero) may be provided.
[0044]
In this way, when any one or more of the proportional term gain a, integral term gain b, and derivative term gain c is used as a variable value, a parameter value (for example, deviation p) is a predetermined threshold value. Depending on whether the value exceeds the value, the value may be switched to another value, or each gain corresponding to the parameter value is stored as map data for a numerical range that the parameter value can take. Each gain may be read from the map data. By using such map data, it is possible to automate a delicate tilt angle adjustment operation performed by a skilled worker in accordance with the degree of deviation of the endless belt.
[0045]
Further, in each of the above embodiments, an example has been shown in which it is detected whether there is an abnormality in the width of the belt, and the warning lamp is turned on in the event of an abnormality, but whether to adopt such a configuration is arbitrary. is there.
[Brief description of the drawings]
FIG. 1 is a perspective view of a lifting device.
FIG. 2 is a perspective view of a lower part of the lifting device.
FIG. 3 is a right side view of the lower part of the lifting device.
FIG. 4 is a front view of the vicinity of a tension roller.
FIG. 5 is a front view showing a state in which a first tension roller is tilted.
FIG. 6 is an explanatory diagram showing a positional relationship between a belt position detection sensor and an endless belt.
FIG. 7 is a block diagram showing a control system of the lifting device.
FIG. 8 is a flowchart showing tilt angle control of the first embodiment.
FIG. 9 is a flowchart showing tilt angle control of the second embodiment.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Lifting device, 3 ... Pulley motor, 5 ... Endless belt, 7 ... Cloth belt holder, 9 ... Lower earl, 11 ... Upper earl, 13 ... Insertion rod, DESCRIPTION OF SYMBOLS 15 ... 1st tension roller, 17 ... 2nd tension roller, 19 ... 3rd tension roller, 21 ... Stepping motor, 23 ... Cloth belt, 25 ... Roller support shaft, 27 ... Spring, 29 ... Slider, 31 ... Bolt shaft, 33 ... Belt position detection sensor, 35 ... Controller, 37 ... Warning light.

Claims (2)

A game ball is introduced between an endless belt that is circulated and a clamping surface that faces the raised portion of the endless belt, and the game ball is sandwiched between the endless belt and the clamping surface. In a lifting device capable of lifting in the following direction,
Wherein the endless belt widthwise ends repositionable belt position changing means for,
Belt position detecting means capable of detecting both end positions in the width direction of the endless belt;
When it is determined from the detection result of the belt position detection means that there are deviations in the width direction both ends of the endless belt, the correction means for bringing the width direction both ends closer to the target position using the belt position change means;
When it is determined that the width of the endless belt has changed and is outside the allowable range based on the detection result of the belt position detection unit, an abnormality notification unit that performs abnormality notification;
A lifting device characterized by comprising: The lifting device according to claim 1 , wherein the correction unit is not operated when the deviation of both end positions in the width direction of the endless belt is within an allowable range .

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