JP5605651B2 - Article conveying device - Google Patents

Description

  The present invention includes an elevating guide mast extending in the vertical direction, an elevating body for conveying an article which is guided by the elevating guide mast so as to freely move up and down and is driven up and down by an elevating chain, and winding and driving the elevating chain. Based on detection information of the elevating position detecting means for elevating the elevating body, elevating position detecting means for detecting the elevating position of the elevating body, and elevating position detecting means for elevating the elevating body to the target elevating position. The present invention also relates to an article conveying apparatus comprising control means for controlling the operation of the lifting drive means.

  Such an article conveying apparatus includes an elevating body for conveying an article that is guided by an elevating guide mast along a vertical direction, a lower sprocket positioned on a lower end side in the vertical direction of the elevating guide mast, and an upper section positioned on an upper end side. It is configured to be driven up and down by a lifting chain wound along a winding path having a mast side portion along the lifting guide mast between the lower sprocket and the upper sprocket via the sprocket. ing.

In such an article conveying apparatus, as shown in FIG. 4, fine vibration is generated when the refracted portion of the lifting chain 14 wound around the sprocket (upper sprocket 22 in FIG. 4) changes linearly. There are things to do. This fine vibration has a different frequency depending on the drive speed of the lift chain 14, that is, the drive speed of the lift drive means.
The frequency of this fine vibration, that is, the frequency within a unit time, matches the natural frequency of the mast side portion 14a in the lifting chain 14, and the vibration continuously propagates to the mast side portion. As shown in FIG. 4, the mast side portion 14a is in a resonance state, with the lower sprocket and the upper sprocket 22 as nodes, and one or more antinodes formed in the middle. It will vibrate.

  As described above, when the mast side part of the elevating chain is in a resonance state, the part with a large amplitude in the mast side part comes into contact with the elevating guide mast to generate noise, or at the contact point in the elevating guide mast or the elevating chain. There are problems such as wear. In order to solve such a problem, conventionally, a configuration for suppressing large-amplitude vibration generated in the lifting chain due to resonance has been adopted.

  As an example of a configuration for suppressing large amplitude vibration of the lifting chain in such an article conveying apparatus, on the outer periphery side of the mast forming member in the lifting guide mast and on the side close to the mast side portion along the lifting guide mast in the lifting chain There is one in which a vibration suppressing member that prevents vibration of the lifting chain is attached to the outer flange-shaped flange that is positioned (see, for example, Patent Document 1). In this Patent Document 1, a lifting guide mast is configured by connecting a plurality of long mast members in the longitudinal direction, and the outer flange-like flange connects the plurality of long members to each other. It is provided for. In addition, the vibration suppression member is provided at a small distance from the lifting chain, and prevents the lifting chain from exceeding a certain amplitude by contacting the lifting chain when the lifting chain vibrates. Is prevented from becoming a resonance state.

JP 2003-267516 A

  However, although the above-mentioned patent document 1 suppresses vibration when the lifting chain vibrates, the vibration suppressing member suppresses vibration of the lifting chain by contacting the lifting chain. There is a possibility that the restraining member or the lifting chain may be worn.

  The present invention has been made in view of the above circumstances, and its purpose is to suppress the resonance of the portion along the lifting guide mast along the lifting guide mast in the lifting chain, and the noise caused by the contact between the lifting chain and the lifting guide mast. It is to suppress wear and tear.

In order to achieve the above object, an article conveying apparatus according to the present invention comprises an elevating guide mast extending in the vertical direction, and an elevating and lowering for conveying an article guided by the elevating guide mast so as to be movable up and down and driven by an elevating chain. A lifting / lowering drive means for winding and driving the lifting / lowering body, and a lifting / lowering position detecting means for detecting the lifting / lowering position of the lifting / lowering body; Therefore, a control means for controlling the operation of the lifting drive means based on the detection information of the lifting position detection means,
The first characteristic configuration is that the elevating chain passes through the lower sprocket located on the lower end side in the vertical direction of the elevating guide mast and the upper sprocket located on the upper end side, and the lower sprocket and the upper sprocket. The control means calculates the ascending / descending speed of the ascending / descending body based on the detection information of the ascending / descending position detecting means. And, it is configured to execute a lifting speed change process for controlling the operation of the lifting drive means so that the state where the lifting speed of the lifting body does not change continues for a set time or longer ,
The control means sets the elevating body to move up and down in a constant speed elevating state in which the elevating body is accelerated from a stopped state and moved up and down at a target set speed, and decelerated from the constant speed elevating state to a stopped state. Control the operation of the drive means,
The ascending / descending speed changing process is configured such that the target set speed in the constant speed ascending / descending state is changed and set so as not to be maintained at the same value for the set time or more .

  That is, the lifting chain passes along the lifting guide mast via the lower sprocket positioned on the lower end in the vertical direction of the lifting guide mast and the upper sprocket positioned on the upper end, and between the lower sprocket and the upper sprocket. In the case of winding along a winding path having a mast side portion, the state where the lifting speed of the lifting body calculated based on the detection information of the lifting position detection means does not change does not continue for a set time or longer. Since the operation of the elevating drive means is controlled, it is possible to suppress the mast side portion in the elevating chain from being in a resonance state, and to suppress noise and wear due to contact between the elevating chain and the elevating guide mast. It will be possible.

  In other words, as described above, when the refracted portion of the lifting chain wound around the sprocket changes linearly, fine vibration may occur. The frequency varies depending on the speed, that is, the driving speed of the elevating drive means. When the frequency of this minute vibration within the unit time matches the natural frequency of the mast along the lifting chain, and the vibration continuously propagates to the mast along the mast, The side portion is in a resonance state, and the lower sprocket and the upper sprocket are used as nodes, and greatly vibrates in a state where one or a plurality of antinodes are formed in the middle portion.

  On the other hand, according to this feature configuration, since the operation of the elevating drive means is controlled so that the state where the elevating speed does not change continues for a set time or longer, the minute vibration generated when the elevating chain is detached from the sprocket. Even if the frequency within the unit time matches the natural frequency of the part along the mast, the state will not continue for more than the set time, and the part along the mast will be in a resonance state and vibrate greatly. The state in which the vibration frequency within the unit time of the fine vibration is matched with the natural frequency of the mast along the part before the end, and the mast side of the lifting chain is suppressed from becoming a resonance state, Noise and wear due to contact between the lifting chain and the lifting guide mast can be suppressed.

  As described above, according to the first characteristic configuration, it is possible to suppress the mast side portion in the lifting chain from being in a resonance state, and it is possible to suppress noise and wear due to contact between the lifting chain and the lifting guide mast.

Also , the elevating drive means operates in such a way that the elevating body is accelerated from the stopped state and is moved up and down at the target set speed, and is moved up and down in the form of decelerating from the fixed speed elevating state and stopped. The target setting speed in the constant speed lifting / lowering state is changed and set so that the lifting / lowering speed of the lifting body is not maintained at the same value for the set time or longer. A control form using a general so-called trapezoidal speed pattern that controls the operation of the lift drive means is adopted in order to move up and down in the form of constant speed up and down at a set speed and decelerate from the constant speed up and down state to stop state Even in this case, the operation of the elevating drive means can be controlled so that the elevating speed of the elevating body is not maintained at the same value for a set time or more in the constant speed elevating state. Mast 沿在 portion was restrained appropriately to become a resonant state in the emission, and that the contact noise and wear due to the lifting chain and the lift guide masts can be suppressed.

According to a second characteristic configuration of the article transporting apparatus according to the present invention, in addition to the first characteristic configuration, the control means sets the lifting speed of the lifting body as a target in the constant speed lifting state as the lifting speed changing process. The operation of the elevating drive means is controlled so as to elevate and lower the elevating body in a form that increases and decreases by equal amounts based on the average speed.

  That is, when the control means executes the lifting / lowering speed changing process, the lifting / lowering body is lifted / lowered in a form in which the lifting / lowering speed of the lifting / lowering body is increased / decreased by the same amount based on the target average speed in the constant speed lifting / lowering state The elevating speed of the elevating body does not greatly deviate from the target set speed on a time average, and the conveyance capability when the target set speed is not changed can be maintained as much as possible.

According to a third feature configuration of the article transporting apparatus according to the present invention, in addition to the first or second feature configuration, the control unit sets the target set speed of the lifting body as the lifting speed change process for each set period. The point is that it is configured to be changed.

  That is, as the lifting / lowering speed changing process, the target setting speed of the lifting / lowering body is configured to be changed every set cycle, so that the state in which the lifting / lowering speed of the lifting / lowering body does not change does not continue for the set time or longer. Even if the target setting speed of the lifting body is changed and set, the lifting speed changing process can be executed with a simple configuration without complicating the control configuration.

Thus, according to the third feature configuration, in addition to the operational effects of the first or second feature configuration, the lifting speed change process can be executed with a simple configuration.

In addition to any of the first to third characteristic configurations described above, the fourth feature configuration of the article transporting apparatus according to the present invention is configured such that the lifting guide mast is configured in a cylindrical shape, and the mast side portion in the lifting chain is , In the point which is comprised so that it may be located inside the said raising / lowering guide mast.

  That is, the mast side portion of the lifting chain is located inside the cylindrical lifting guide mast, so that the mast side portion of the lifting chain is located outside the lifting guide mast. The space required for installing the lifting chain can be made compact. In addition, due to the cooperative action with the first to fourth feature configurations, it is possible to prevent the lifting chain located inside the cylindrical lifting guide mast from vibrating greatly, and a narrow space inside the lifting guide mast. Even in the case, contact between the elevating chain and the elevating guide mast is suppressed, and noise and wear due to contact between the elevating chain and the elevating guide mast can be suppressed.

Thus, according to the fourth feature configuration, in addition to the operational effects of any one of the first to third feature configurations, the space required for installing the lifting chain can be configured in a compact manner. By suppressing the contact between the lifting chain and the lifting guide mast, noise and wear due to the contact between the lifting chain and the lifting guide mast can be suppressed.

According to a fifth characteristic configuration of the article transporting apparatus according to the present invention, in addition to any of the first to fourth characteristic configurations, the elevating guide mast is erected on a traveling carriage that can travel along the traveling rail. There is in point.

  That is, the article conveying device according to the present invention can be configured by a stacker crane in which the lifting guide mast is erected on a traveling carriage that can travel along the traveling rail. In this case, although it is a highly functional article transport device capable of transporting articles in the direction along the traveling rail in addition to the direction along the lifting guide mast, the noise caused by the contact between the lifting chain and the lifting guide mast Abrasion can be accurately suppressed.

Overall perspective view of automated warehouse Side view of stacker crane Control block diagram Diagram showing the vibration status of the chain The figure which shows the raising / lowering speed pattern of the raising / lowering body in this invention The figure which shows the raising / lowering speed pattern of the conventional raising / lowering body

DESCRIPTION OF EMBODIMENTS Hereinafter, an embodiment will be described with reference to the drawings in the case where the article transporting apparatus of the present invention is applied to an automatic warehouse.
As shown in FIG. 1, the automatic warehouse automatically travels through two storage shelves 1 that are installed at an interval so that the article loading and unloading directions face each other, and a work path 2 that is formed between the storage shelves 1. A stacker crane 3 is provided, and each storage shelf 1 is provided with a large number of article storage portions 4 arranged in the vertical direction and the horizontal direction of the shelf.

  A traveling rail 5 is installed in the work path 2 along the longitudinal direction of the storage shelf 1, and a ground-side controller 7 that manages the operation of the stacker crane 3 and a pair of loading platforms 8 are disposed on one end side of the work path 2. And are provided. The ground-side controller 7 is configured to be able to communicate with a crane control device 30 (see FIG. 3) as a control unit that controls the operation of the stacker crane 3.

As shown in FIG. 2, the stacker crane 3 includes an elevating body 12 including an article transfer device 11 that transfers an article between a traveling carriage 10 that can travel along the traveling rail 5 and an article storage unit 4. And an elevating guide mast 13 that is erected on the traveling carriage 10 and guides and supports the elevating body 12 so as to be movable up and down. A pair of elevating guide masts 13 are provided in the front-rear direction in the traveling direction of the traveling carriage 10.
The upper and lower ends of the pair of front and rear guide masts 13 are connected by an upper frame 15, and the upper frame 15 has a pair of left and right that regulates the swinging of the stacker crane 3 in the left and right direction as viewed in the traveling direction. The guide roller 15a is provided in a state where it abuts on both the left and right side surfaces of the guide rail 6.
In the following description, the traveling direction of the stacker crane 3 is referred to as the front-rear direction, and the ground-side controller 7 side (the side indicated by HP in FIGS. 1 and 2) in the front-rear direction is referred to as the HP side. The side facing the HP side (the side indicated by OP in FIGS. 1 and 2) is referred to as the OP side. Moreover, the direction orthogonal to the traveling direction of the stacker crane 3 in plan view is referred to as the left-right direction.

The traveling carriage 10 is provided with two front and rear traveling wheels 17 that can travel on the traveling rail 5. The two traveling wheels 17 are configured such that the traveling wheel 17 provided on the OP side of the traveling carriage 10 is a driving traveling wheel 17 a for propulsion driven by a traveling drive motor 18. The traveling wheel 17 provided in the is configured as a freely driven driven wheel 17b.
Therefore, the traveling vehicle 10 is configured to travel along the traveling rail 5 when the driving traveling wheel 17 a is rotationally driven by the traveling drive motor 18.

  At the end of the traveling carriage 10 on the HP side, a laser projection unit L1 and a light receiving unit J1 are provided in a state in which the laser projection port and the light receiving port face the ground controller 7 side. In addition, a reflector 18c that reflects the laser light projected from the laser projection unit L1 at an angle of about 180 degrees is provided at the travel position reference position set in the vicinity of the ground-side controller 7. And it is comprised so that the laser beam projected from the laser projection part L1 may be reflected in the reflecting plate 18c, and the time which returns to the light-receiving part J1 is measured, and the traveling distance of the traveling cart 10 is measured. In other words, the travel distance detection means includes a laser projection unit L1, a light receiving unit J1, and a reflection plate 18c as the travel range finder 18b.

  Furthermore, the laser projection part L2 and the light-receiving part J2 are provided on the traveling carriage 10 in a state where the laser projection opening and the light-receiving opening are directed in the same direction. Further, on the optical axis of the laser light projected from the laser projection part L2, a reflection plate 19c that bends the laser light by 90 degrees is provided, and on the optical axis of the bent laser light and the lower surface part of the lifting body 12 Further, a reflection plate 19d that reflects the laser beam at an angle of about 180 degrees is provided. And it is comprised so that the laser beam projected from the laser projection part L2 may be reflected in the reflectors 19c and 19d, and the time which returns to the light-receiving part J2 is measured, and the raising / lowering distance of the raising / lowering body 12 is measured. In other words, the lift distance detecting means includes a laser projection part L2, a light receiving part J2, and reflection plates 19c and 19d as the lift range finder 19b.

  The elevating body 12 is suspended and supported by an elevating chain 14, and the elevating chain 14 is connected to the upper and lower ends of the HP side end of the elevating body 12 and the upper and lower sides of the OP side end of the elevating body 12. A pair with those to be provided is provided. Each of the pair of lift chains 14 is wound around a drive sprocket 21 driven by a lift drive motor 19, and the drive sprocket 21 is driven to rotate forward and reverse by the lift drive motor 19. Each of the pair of lifting chains 14 is configured to move in the longitudinal direction so that the lifting body 12 moves up and down.

The elevating chain 14 connected to the HP side end of the elevating body 12 in the pair of elevating chains 14 is connected from the upper side to a frame body 28 provided at the HP side end of the elevating body 12. The intermediate part is wound around the upper rear driven sprocket 23, the upper front driven sprocket 22, the upper and lower intermediate driven sprocket 24, the drive sprocket 21, the lower intermediate driven sprocket 26, and the lower rear driven sprocket 27 in order from one end side. The end side is connected to the frame body 28 provided at the HP side end of the elevating body 12 from below.
That is, the portion 14b1 between the upper rear driven sprocket 23 and the frame body 28 in the lifting chain 14 and the portion 14b2 between the lower rear driven sprocket 27 and the frame body 28 in the lifting chain 14 form the lifting guide mast 13. It becomes a state along.

Further, the lifting chain 14 connected to the OP side end of the lifting body 12 in the pair of lifting chains 14 is connected from above to a frame 28 provided at the OP side end of the lifting body 12. The intermediate part is wound around the upper front driven sprocket 22, the upper and lower intermediate driven sprocket 24, the drive sprocket 21, and the lower rear driven sprocket 25 in order from one end side, and the other end side is provided at the OP side end of the elevating body 12. The frame body 28 is connected from below.
The drive sprocket 21, the upper front driven sprocket 22, and the upper and lower intermediate driven sprocket 24 are respectively connected to the OP side end of the elevating body 12 and the HP side end of the elevating body 12. A pair of sprockets for the lifting chain 14 connected to the part is arranged in the left-right direction.
That is, a portion 14b1 between the upper front driven sprocket 22 and the frame 28 in the lifting chain 14, a portion 14b2 between the lower rear driven sprocket 25 and the frame 28 in the lifting chain 14, and the upper front driven sprocket 22 A portion 14 a between the upper and lower intermediate portion driven sprocket 24 is in a state along the lifting guide mast 13.

That is, in this embodiment, the upper rear driven sprocket 23 and the pair of upper front driven sprockets 22 correspond to the upper sprocket, and the lower rear driven sprocket 27, the lower rear driven sprocket 25, and the upper and lower intermediate driven sprocket 24 are the lower sprocket. It corresponds to.
That is, the elevating chain 14 has a pair of upper and lower intermediate driven sprockets 24, a lower rear driven sprocket 25, and a lower rear driven sprocket 27 as lower sprockets positioned on the lower end in the vertical direction of the elevating guide mast 13, and the upper end side. The mast side portion along the lifting guide mast 13 via the upper rear driven sprocket 23 and the pair of upper front driven sprockets 22 as upper sprockets located between the lower sprocket and the upper sprocket. It is wound along a winding path having 14a, 14b1, and 14b2.
The elevating guide mast 13 is formed in a hollow cylindrical shape, and the mast side portion 14 a of the elevating chain 14 is configured to be located inside the elevating guide mast 13.

As shown in FIG. 3, the crane control device 30 calculates the travel position and travel speed of the travel carriage 10 based on the distance information from the travel range finder 18 b and controls the operation of the travel drive motor 18. A traveling control unit 30a that controls the operation of the lifting drive motor 19 by calculating the lifting position and the lifting speed of the traveling carriage 10 based on distance information from the lifting range finder 19b. And a transfer control unit 30c that controls the movement of the article transfer device 11, and a pattern generation unit 30d that generates a travel speed pattern of the travel drive motor 18 and a lift speed pattern of the lift drive motor 19. Has been.
That is, in the present embodiment, the laser projection unit L2, the light receiving unit J2, the reflection plates 19c and 19d, and the crane control device 30 as the lift range finder 19b function as a lift position detection unit.

  That is, the stacker crane 3 includes a pair of front and rear lifting guide masts 13 extending in the vertical direction, and a lifting body for conveying an article that is guided by the pair of lifting guide masts 13 so as to be lifted and lowered by the lifting chain 14. 12, an elevating drive motor 19 as an elevating drive means for driving the elevating body 12 to wind up and down by driving the elevating chain 14, an elevating position detecting means for detecting the elevating position of the elevating body 12, and the elevating body 12 And a crane control device 30 as a control means for controlling the operation of the lifting drive motor 19 based on detection information of the lifting position detection means.

  Next, the control configuration of the stacker crane 3 will be described based on the control block diagram shown in FIG. 3 and the elevation speed pattern of the elevation drive motor 19 shown in FIG. In the following description, the lifting speed pattern of the lifting body 12 when the lifting speed Vv is positive (when rising) and the lifting body 12 when the lifting speed Vv is negative (when falling) shown in FIG. Will be described based on the lifting speed pattern of the lifting body 12 when the lifting speed Vv is positive.

  The traveling control unit 30a in the crane control device 30 calculates the traveling speed of the traveling carriage 10 based on the detection information of the traveling rangefinder 18b, and the elevation control unit 30b detects the detection information of the elevation rangefinder 19b. Based on the above, the elevating speed of the elevating body 12 is calculated. And the pattern production | generation part 30d in the crane control apparatus 30 produces | generates a driving | running pattern based on the present driving | running | working position information of the driving cart 10 from the driving control part 30a, and the driving | running | working stop position information from the ground side controller 7. FIG. Further, based on the current vertical position information of the lifting body 12 from the lifting control unit 30b and the lifting stop position information from the ground controller 7, the lifting pattern is generated so as to become the lifting speed pattern of FIG. The lifting control unit 30b controls the operation of the lifting drive motor 19 based on the lifting speed pattern.

That is, the crane control device 30 sets the target set speed to the increase side target set speed Vv_m1 (16 m / min), as shown in the section PV1 in FIG. After accelerating to the increase side target set speed Vv_m1, the elevating body 12 is moved up and down at a constant speed at the increase side target set speed Vv_m1 (section Ts1).
Then, the target set speed is set to the decrease side target set speed Vv_m2 (14 m / min) so that the state where the lift speed Vv of the lift body 12 in the section Ts1 is the increase side target set speed Vv_m1 does not continue for the set time (for example, 2 seconds). ), And the transition is made to the reduction target set speed Vv_m2 at an acceleration larger than the acceleration αV, and the elevator 12 is moved up and down at a constant speed at the decrease target set speed Vv_m2 (section Ts2).
Thereafter, the target setting speed is changed to the increase-side target setting speed Vv_m1 so that the state in which the ascending / descending speed Vv of the elevating body 12 is the decrease-side target setting speed Vv_m2 does not continue for a set time (for example, 2 seconds). Is shifted to the increase target set speed Vv_m1 at a large acceleration, and the elevator 12 is moved up and down at a constant speed at the increase target set speed Vv_m1 (section Ts3).

That is, in the section PV2 set as the constant speed raising / lowering state, the raising / lowering speed pattern of the raising / lowering drive motor 19 has a trapezoidal shape that repeats the period corresponding to the set time (each of TS1 to Tsn) as shown in FIG. Is set as the pattern. Thereby, in the section PV2, the crane control device 30 prevents the state in which the lifting speed Vv of the lifting body 12 does not change from continuing for more than the set time, that is, the target set speed in the constant speed lifting state is the same value for more than the set time. Ascending / descending drive so as to periodically and periodically change the target set speed of the elevating body 12 to the increase-side target set speed Vv_m1 and the decrease-side target set speed Vv_m2 along the ascending / descending speed pattern set so as not to be maintained at The raising / lowering speed changing process for controlling the operation of the motor 19 is executed.
Therefore, the crane control device 30 performs the lifting / lowering body in a form in which the lifting / lowering speed Vv of the lifting / lowering body 12 is increased or decreased by an equal amount (± 1 m / min) on the basis of the target average speed Vv_m in the constant-speed lifting state as the lifting / lowering speed changing process In order to raise and lower 12, the operation of the raising and lowering drive motor 19 is controlled.

  When the section (Ts1 to Tsn) in the constant speed raising / lowering state is completed, the crane control device 30 decelerates at the acceleration indicated by the slope βV (section PV3), and is then set as a slow speed pre-stop traveling section. In the section PV4, the lifted body 12 is lifted and lowered at a very low speed before stopping until the lifted position of the lifted body 12 detected by the lifted distance detecting means reaches the target lifted position, and the lifted position of the lifted body 12 detected by the lifted distance detecting means is the target. The operation of the elevating drive motor 19 is controlled so that the elevating body 12 is moved up and down in the form of stopping when the elevating position is reached.

  In this embodiment, the time corresponding to the sections Ts1 to Tsn in the section PV2 in which the constant speed raising / lowering state is continued is set to an equal time of 2 seconds or less. That is, the crane control device 30 changes the target setting speed of the lifting body 12 for each set period in the lifting speed changing process.

  Although not described in detail, when the target set speed is switched between the increase side target set speed Vv_m1 and the decrease side target set speed Vv_m2 shown in FIG. 5, the speed change becomes a smooth change (S-curve). Is configured).

  As shown in FIG. 4, when the lifting / lowering speed of the lifting / lowering body 12 is controlled so that the target set speed is constant at the target average speed Vv_m in the constant speed lifting / lowering state as shown in FIG. 6, There is a possibility that the minute vibration generated at the separation point 22d where the lifting chain is detached from the upper front driven sprocket 22 as a sprocket matches the natural frequency of the mast side portion 14a and the state continues. There is a possibility that the mast side portion 14a vibrates greatly when the mast side portion 14a is in a resonance state. However, according to the above embodiment, the mast side portion 14a is in a resonance state. It is possible to suppress noise and wear due to contact between the lifting chain and the lifting guide mast.

[Another embodiment]
Next, another embodiment of the present invention will be described.
(1) In the above-described embodiment, the crane controller 30 lifts and lowers the lifting body 12 in a state where the lifting speed of the lifting body 12 increases or decreases based on the target average speed Vv_m in the constant speed lifting state as the lifting speed change process. In order to make it possible to control the operation of the lifting drive motor 19, the configuration is not limited to such a configuration. For example, the crane control device 30 is placed between the sections PV <b> 2 corresponding to the constant speed lifting / lowering state. The operation of the elevating drive motor 19 is controlled so as to elevate or lower the elevating body 12 in such a manner that the average of the elevating speed Vv of the elevating body 12 is set to the target average speed Vv_m while accelerating or decelerating at a constant acceleration. May be.

(2) In the above embodiment, the target average speed Vv_m is set to 15 m / min, the increase-side target set speed Vv_m1 is set to 16 m / min, and the decrease-side target set speed Vv_m2 is set to 14 m / min. The speed can be arbitrarily set within a range in which the object of the present invention can be achieved. Further, the difference between the increase-side target set speed Vv_m1 and the target average speed Vv_m is 15 m / min, and the difference between the decrease-side target set speed Vv_m2 and the target average speed Vv_m is 15 m / min. However, these may be configured to be different. In this case, the time for raising and lowering at the increase-side target set speed Vv_m1 and the time for raising and lowering at the decrease-side target set speed Vv_m2 so that the average of the elevating speed Vv of the elevating body 12 in the constant speed raising and lowering state becomes the target average speed Vv_m. It is preferable to configure so as to be different from each other.

(3) In the above embodiment, the target set speed in the first section Ts1 after acceleration in the section PV1 is set as the increase-side target set speed Vv_m1, the target set speed in the subsequent section Ts2 is set as the decrease-side target set speed Vv_m2, and then The target set speed in the section Ts3 is set to the increase side target set speed Vv_m1, and the target set speed is periodically changed. However, the present invention is not limited to such a configuration, and after the acceleration in the section PV1 The target set speed in the first section Ts1 is set as the target average speed Vv_m, the target set speed in the subsequent section Ts2 is set as the increase side target set speed Vv_m1, the target set speed in the subsequent section Ts3 is set as the decrease side target set speed Vv_m2, and thereafter Periodically increasing target set speed Vv_m1 and decreasing target set speed The target setting speed in the section Ts1 may be set as the target average speed Vv_m, the target setting speed in the section Ts2 may be set as the decrease side target setting speed Vv_m2, and the section Ts3 may be changed. The target set speed may be changed to the increase target set speed Vv_m1, and then periodically changed to the decrease target set speed Vv_m2 and the increase target set speed Vv_m1.

  Further, in the above embodiment, the target set speed is set to the decrease side target set speed Vv_m2 in the section following the section in which the target set speed is set to the increase side target set speed Vv_m1, but the target set speed is increased. A section in which the target set speed is the target average speed Vv_m may exist between the section in which the target set speed Vv_m1 is set and the section in which the target set speed is set to the decrease side target set speed Vv_m2. .

(4) In the said embodiment, it is comprised so that the target setting speed of the raising / lowering body 12 may be changed for every section Ts1-Tsn by making time corresponding to each of the sections Ts1-Tsn into equal time as a raising / lowering speed change process. However, it is not limited to such a configuration, and the time corresponding to the sections Ts1 to Tsn may be configured to be different from each other. In this case, the time corresponding to the times Ts1 to Tsn may be set as a random time that does not exceed the set time, or may be set as a time that gradually increases or decreases gradually.

(5) In the above-described embodiment, as the ascending / descending speed changing process, the target setting speed of the elevating body 12 is set to the increasing target setting speed Vv_m1 for each set period during the section PV2 in which the elevating body 12 is raised and lowered in the constant speed raising and lowering state. However, the present invention is not limited to such a configuration. For example, when the set cycle (Ts1 to Tsn) is not set and the target set speed is the increase-side target set speed Vv_m1, the lift speed Vv of the lift body 12 calculated based on the detection information of the lift position detection means increases. When the target set speed Vv_m1 is reached, the target set speed is changed to the decrease target set speed Vv_m2, and when the target set speed is the decrease target set speed Vv_m2, it is calculated based on the detection information of the lift position detecting means. When the ascending / descending speed Vv of the elevating body 12 reaches the decreasing target setting speed Vv_m2, the increasing target setting speed Vv_m1 and the decreasing target setting are repeatedly repeated during the section PV2 while the target setting speed is changed to the increasing target setting speed Vv_m1. You may comprise so that it may change to speed Vv_m2.

(6) In the above embodiment, when the pattern generating unit 30d alternately switches the set target speed between the increase-side target set speed Vv_m1 and the decrease-side target set speed Vv_m2 in the constant speed up and down state, The ascending / descending speed Vv is generated at a speed higher than the acceleration αV or the acceleration βV (that is, the speed is changed to a trapezoidal shape). However, the structure is limited to such a structure. Instead, for example, when the pattern generation unit 30d alternately switches the set target speed between the increase-side target set speed Vv_m1 and the decrease-side target set speed Vv_m2 in the constant speed raising / lowering state, the time lag therebetween is set to 0 ( That is, it is good also as a structure which produces | generates a raising / lowering speed pattern so that speed may be changed into a rectangular shape.

(7) In the above embodiment, the time corresponding to each of the sections (Ts1 to Tsn) in the constant speed raising / lowering state is set to an equal time, and the vehicle is decelerated at the acceleration indicated by the slope βV after the end of the section Tsn. In addition, the configuration in which the pattern generation unit 30d in the crane control device 30 generates the lifting speed pattern of the lifting body 12 has been described. However, the configuration is not limited to such a configuration. An elevating position at which deceleration should be started is set based on the position information, and the last section Tsn in the constant speed elevating state may be configured to have a shorter time than the other sections (Ts1 to Tsn-1). Good.

(8) In the above-described embodiment, the article conveying apparatus has been described as applied to a so-called stacker crane in which the lifting guide mast 13 is erected on the traveling carriage 10 that can travel along the traveling rail 5. The article conveying apparatus of the present invention may be applied to a vertical conveying facility that does not have a traveling carriage.

(9) In the above embodiment, the lifting distance detecting means is configured by the laser projection unit L2, the light receiving unit J2, and the reflection plates 19c and 19d as the lifting rangefinder 19b, but is limited to such a configuration. For example, a rotary encoder or the like may be used.

5 Traveling rail 10 Traveling carriage 11 Article conveying device 12 Lifting body 13 Lifting guide mast 14 Lifting chain 19 Lifting drive means 19b, 19c, 19d Lifting position detecting means 22, 23 Upper sprockets 24, 25, 27 Lower sprocket 30 Control means PV2 fixed Speed up / down state Vv_m, -Vv_m Target average speed Ts1-Tsn Setting cycle

Claims (5)

Elevating guide mast along the vertical direction;
An elevating body for conveying an article guided by the elevating guide mast so as to be movable up and down and driven by an elevating chain;
Elevating drive means for winding and driving the elevating chain to drive the elevating body up and down;
Elevating position detecting means for detecting the elevating position of the elevating body;
An article conveying apparatus comprising: control means for controlling the operation of the elevating drive means based on detection information of the elevating position detecting means to elevate the elevating body to a target elevating position;
The elevating chain passes through a lower sprocket positioned on the lower end in the vertical direction of the elevating guide mast and an upper sprocket positioned on the upper end side, and between the lower sprocket and the upper sprocket. Wound along a winding path having a mast along the mast,
The control means calculates the lifting speed of the lifting body based on the detection information of the lifting position detection means, and operates the lifting drive means so that the state where the lifting speed of the lifting body does not change continues for a set time or longer. is configured to perform the lifting speed changing process for controlling,
The control means sets the elevating body to move up and down in a constant speed elevating state in which the elevating body is accelerated from a stopped state and moved up and down at a target set speed, and decelerated from the constant speed elevating state to a stopped state. Control the operation of the drive means,
The article conveying apparatus configured to change and set the target set speed in the constant speed up / down state so as not to be maintained at the same value for the set time or more as the up / down speed change processing . The control means , as the lifting / lowering speed changing process, in the constant speed lifting / lowering state, the lifting / lowering driving is performed so that the lifting / lowering body is lifted / lowered in a form in which the lifting / lowering speed of the lifting / lowering body is increased / decreased by an equal amount based on a target average speed 2. An article conveying device according to claim 1, wherein the article conveying device is configured to control the operation of the means . Said control means, said as an elevating speed changing process, product transport apparatus according to claim 1 or 2 is configured to change the target setting speed of the lifting body at every set period. The lift guide masts is configured in a cylindrical shape, said mast沿在portion in the elevating chain, according to any one of claims 1 to 3 which is configured to be located inside the lift guide masts Article conveying device. The article conveying apparatus according to any one of claims 1 to 4, wherein the lifting guide mast is installed on a traveling carriage that can travel along a traveling rail .

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