JP6343217B2 - Transport device operation stop device - Google Patents

Description

  The present invention relates to an operation stop device for a transfer device for moving a transfer object in a vertical direction within a shaft in a building, for example.

  Conventionally, as this type of transport device, there are a plurality of elevators that have a deck having a mounting surface on which a transport object is placed and a support unit that supports the deck, and that moves the deck supported by the support unit in the vertical direction. Are known (for example, see Patent Document 1).

  In the transport device, for example, the tip of the wire wound around the reel is fixed to the tip of the elevator, and the length of the wire fed out by the extension operation of the elevator is detected by an encoder, whereby the height of the support portion of each elevator is increased. It is conceivable to detect this.

  In the said conveying apparatus, based on the height of the support part of each elevator detected by the height detection part, operation | movement of each elevator is controlled.

JP 2007-320690 A

  In the transport device, when the detection result of the height detection unit is different from the actual height of the elevator due to a failure or the like, the operation of each elevator cannot be controlled, and the deck mounting surface is greatly inclined to the deck. There is a possibility that the placed conveyance object moves on the deck or falls from the deck. Moreover, in the said conveying apparatus, there exists a possibility that a deck and an elevator may be damaged when a deck inclines greatly.

  An object of the present invention is to provide an operation stop device for a transport device that can reliably prevent a predetermined inclination of a mounting surface of a deck.

  In order to achieve the above object, the present invention includes a deck having a mounting surface on which a conveyance object is placed and a support portion that supports the deck, and a plurality of decks that are supported by the support portion are moved in the vertical direction. Elevator, a height detection unit that detects the height of each support unit of the plurality of elevators, an angle detection unit that detects the angle of the mounting surface of the deck, and a detection result or angle detection unit of the height detection unit And an operation stop control unit that stops the operation of each elevator when a state in which the mounting surface of the deck is at a predetermined angle or more is detected based on the detection result.

  Thereby, the operation of each elevator is stopped based on the angle of the deck placement surface obtained from the detection result of the height detection unit or the angle of the placement surface of the deck obtained from the detection result of the angle detection unit. It becomes possible.

  According to the present invention, since the placement surface does not tilt more than a predetermined amount, it is possible to prevent the object to be transported placed on the deck from moving on the deck or falling from the deck. It becomes possible to prevent the deck and the elevator from being damaged due to the tilt of the deck beyond a predetermined level.

It is the figure which looked at the conveying apparatus of the elevator which shows one Embodiment of this invention from a front view from the front. It is the figure which looked at the conveying apparatus with a raising / lowering device in a fully contracted state from the side. It is the figure which looked at the opening part and the conveying apparatus of the roof from the upper part. It is the figure which looked at the conveying apparatus in which the raising / lowering device was fully extended from the front. It is the figure which looked at the conveying apparatus in which the raising / lowering device is fully extended from the side. It is a block diagram which shows a control system. It is a flowchart of an emergency stop control process.

  1 to 7 show an embodiment of the present invention.

  The transfer device 1 of the present invention is installed on a shaft B extending in the vertical direction provided inside a three-story building A, and transfers the transfer object T between the second floor and the rooftop. .

  On the wall surface of the shaft B on the second floor of the building A, as shown in FIG. 2, a carry-in / out port B <b> 1 for carrying the carrying object T onto and from a deck described later of the carrying device 1 is provided. Moreover, as shown in FIG.1 and FIG.2, the opening part B2 which a part of the conveying apparatus 1 can pass is provided in the floor part of the roof located in the upper part of the shaft B of the building A. As shown in FIG.

  In the present embodiment, the surface side where the loading / unloading port B1 of the shaft B is located is the front side, the surface side facing the loading / unloading port B1 is the back side, and the shaft B The right side surface of the shaft when viewed from the outside of the shaft B is defined as the right side surface, and the left side surface of the shaft B when viewed from the outside of the shaft B is defined as the left side surface. .

  The transport apparatus 1 includes a deck 10 for placing the object T to be transported, four elevators 20 for moving the deck in the vertical direction, and deck suspension for hanging the deck 10 on the four elevators 20. Member 30.

  Here, as shown in FIG. 3, the elevator 20 installed on the right side of the front side of the shaft B is defined as a first elevator 20-1. Moreover, let the elevator 20 installed in the right side surface side of the back side of the shaft B be the 2nd elevator 20-2. The elevator 20 installed on the left side of the front side of the shaft B is referred to as a third elevator 20-3. Moreover, let the elevator 20 installed in the left side surface side of the back side of the shaft B be the 4th elevator 20-4.

  The deck 10 has a shape in which substantially rectangular four corners are cut out in plan view by assembling members such as H-shaped steel, angle steel, and steel plate. The deck 10 is supported in a state of being suspended by four elevators 20 disposed at four corners. On the upper surface of the deck 10, a placement surface 11 for placing the object to be transported is provided. Further, as shown in FIG. 2, a scaffold 12 and a handrail 13 that can be moved by an operator who performs maintenance management are provided below the deck 10 along the outer peripheral side of the deck 10.

  As shown in FIG. 5, on the front side and the back side of the deck 10, as a structure adjacent to the transfer device 1, the deck 10 is locked to the wall surface near the height of the rooftop of the shaft B. A slide arm 14 is provided.

  The slide arms 14 are provided so as to form a pair in the left-right direction on the front side and the back side of the deck. The slide arms 14 can be moved in and out from the side surfaces of the deck 10 in the horizontal direction. The slide arm 14 is made of a prismatic member extending in the horizontal direction, and performs a retracting operation by a hydraulic arm retracting cylinder (not shown).

  As shown in FIGS. 2 and 3, the slide arm 14 is provided on the wall surface on the front side and the back side of the shaft B so as to project horizontally toward the inside of the shaft B and project from the deck 10. Is provided from below.

  As shown in FIG. 4, the elevator 20 has four jack members, that is, a base jack 21, a second jack 22, a third jack 23 and a top jack 24, with respect to the jack members 21, 22 and 23 located on the base end side. Thus, the jack members 22, 23, 24 adjacent to the front end side expand and contract.

  As shown below, the four elevators 20 are connected by a plurality of connecting members.

  The upper end portion of the base jack 21 of the elevator 20 is between the first elevator 20-1 and the second elevator 20-2, between the second elevator 20-2 and the fourth elevator 20-4 shown in FIG. The fourth elevator 20-4 and the third elevator 20-3 are connected by a base jack connecting member 25 as shown in FIGS.

  The central portion of the base jack 21 of the elevator 20 is located between the first elevator 20-1 and the second elevator 20-2, between the second elevator 20-2 and the fourth elevator 20-4, The fourth elevator 20-4 and the third elevator 20-3 and the third elevator 20-3 and the first elevator 20-1 are connected by the reinforcing connecting member 26, respectively.

  The upper end of the second jack 22 of the elevator 20 is between the first elevator 20-1 and the second elevator 20-2, between the second elevator 20-2 and the fourth elevator 20-4, and the fourth elevator. 20-4 and the third elevator 20-3 are connected by a second jack connecting member 27, respectively.

  Moreover, the upper end part of the third jack 23 of the elevator 20 is between the first elevator 20-1 and the second elevator 20-2, between the second elevator 20-2 and the fourth elevator 20-4, and the fourth elevator. 20-4 and the third elevator 20-3 are connected by a third jack connecting member 28, respectively.

  Further, the upper end portion of the top jack 24 of the elevator 20 is between the second elevator 20-2 and the fourth elevator 20-4, and between the third elevator 20-3 and the first elevator 20-1, respectively. It is connected by a jack connecting member 29.

  The elevator 20 includes a first jack cylinder (not shown) for moving the second jack 22 in the vertical direction with respect to the base jack 21 and a second jack (not shown) for moving the third jack 23 in the vertical direction with respect to the second jack 22. A jack cylinder and a third jack cylinder (not shown) for moving the top jack 24 in the vertical direction with respect to the third jack 23 are provided.

  The arm retracting cylinder that drives the slide arm 14 of the deck 10 and the first to third jack cylinders of the elevator 20 are expanded and contracted by hydraulic oil discharged from a hydraulic pump (not shown). In addition, the first to fourth elevators 20-1, 20-2, 20-3, and 20-4 perform expansion and contraction operations using hydraulic oil discharged from dedicated first to fourth hydraulic pumps (not shown).

  The deck suspension member 30 shown in FIGS. 2 and 5 is between the first elevator 20-1 and the second elevator 20-2, and between the third elevator 20-3 and the fourth elevator 20-4. Is provided.

  The deck suspension member 30 includes a third elevator 20 between an upper end portion as a support portion of the top jack 24 of the first elevator 20-1 and an upper end portion as a support portion of the top jack 24 of the second elevator 20-2. 3 is connected to the upper end portion as the support portion of the top jack 24 and the upper end portion as the support portion of the top jack 24 of the fourth elevator 20-4, and the connection portion 31 is spaced from each other. And a plurality of suspension portions 32 extending downward, and a connection support member 33 provided between the lower end of the suspension portion 32 and the upper surface of the deck 10.

  Moreover, the conveying apparatus 1 is provided with the guide structure for preventing the contact of the conveying apparatus 1 with respect to the building A in the fully extended state which is the state which the elevator 20 extended to the maximum, or the state close | similar to a fully extended state.

  As shown in FIG. 1, the guide structure includes a guide roller 41 provided on the upper end portion of the third jack 23 of the elevator 20 and a guide portion 42 provided on the upper wall surface in the shaft for guiding the guide roller 41. And have.

  The guide roller 41 includes a roller bracket 41a that extends upward from the upper end portion of the third jack 23, and a roller 41b that is rotatably supported by the upper end portion of the roller bracket 41a.

  As shown in FIG. 3, the first elevator 20-1 has one guide roller 41, and the roller 41 b projects over the third jack 23 to the back side.

  The second elevator 20-2 has two guide rollers 41. The roller 41b of one guide roller 41 protrudes to the front side above the third jack 23, and the rollers 41b of the other guide rollers 41 are third jacks. It projects to the left side above 23.

  The third elevator 20-3 has one guide roller 41, and the roller 41 b projects to the back side above the third jack 23.

  The fourth elevator 20-4 has two guide rollers 41. The roller 41b of one guide roller 41 projects to the front side above the third jack 23, and the rollers 41b of the other guide rollers 41 are third jacks. Overhangs to the right side.

  The guide part 42 is provided on the back side, the right side, and the left side of the shaft B. The guide part 42 protrudes inward from the wall surface in the shaft B. The guide portion 42 extends in the horizontal direction along the wall surface of the shaft B, and is provided with guide surfaces 42a on which the rollers 41b of the guide roller 41 roll on both sides in the horizontal direction (FIG. 1).

  The guide surface 42a has an inclined surface extending obliquely upward toward the adjacent wall surface of the shaft from below to above and a vertical surface extending vertically upward from the upper end of the inclined surface.

  In the elevator 20, the roller 41 b of the guide roller 41 does not come into contact with the guide surface 42 a of the guide portion 42 in a normal expansion / contraction operation. In the elevator 20, when the extending direction is inclined or when the building A is inclined, the roller 41 b of the guide roller 41 contacts the guide surface 42 a of the guide portion 42.

  Moreover, the conveying apparatus 1 is provided with the controller 50 (FIG. 6) for controlling operation | movement of the slide arm 14 and the elevator 20. As shown in FIG. The controller 50 has a CPU, ROM, RAM, and the like. When the controller 50 receives an input signal from a device connected to the input side, the CPU reads a program stored in the ROM based on the input signal, and stores a state detected by the input signal in the RAM. An output signal is transmitted to a device connected to the output side.

  On the input side of the controller 50, as shown in FIG. 6, an operation input unit 51 for an operator to input related to the operation of the transport device 1, and the first to fourth elevators 20-1, 20-2, 20. -3, 20-4 First to fourth expansion / contraction length sensors 52-1, 52-2, 52-3, 52-4 (hereinafter referred to as 52) as height detection units for detecting the respective expansion / contraction lengths. -1 to 4) and an angle sensor 53 as an angle detection unit for detecting an angle formed by the mounting surface 11 of the deck 10 is connected.

  The first to fourth expansion / contraction length sensors 52-1 to 5-4 include a reel, a wire wound around the reel, and an encoder for detecting the rotation direction and the number of rotations of the reel. The first to fourth expansion / contraction length sensors 52-1 to 52-4 have a reel attached to the base jack 21, the tip of the wire is fixed to the tip of the top jack 24, and the length of the wire fed out by the extension operation of the elevator 20. By detecting the length by an encoder, the extension / contraction length of the elevator 20 is detected.

  The angle sensor 53 is a tilt sensor such as a magnetic type, an optical type, or a mechanical type provided on the deck 10.

  On the output side of the controller 50, as shown in FIG. 6, first to fourth electric motors 54-1, 54-2, 54-3, 54- for driving the first to fourth hydraulic pumps, respectively. 4 (hereinafter referred to as 54-1 to 4) through first to fourth inverters 55-1, 55-2, 55-3, 55-4 (hereinafter referred to as 55-1 to 4). It is connected. Accordingly, the rotation speeds of the first to fourth electric motors 54-1 to 54-4 can be adjusted by the first to fourth inverters 55-1 to 55-4, respectively.

  In the transport apparatus configured as described above, a transport operation for transporting the transport target T in the vertical direction will be described.

  First, in the fully contracted state in which the elevator 20 is fully contracted, the placement surface 11 of the deck 10 is approximately the same height as the floor surface of the second floor of the building A as shown in FIG. . In this state, the transfer work T of the conveyance target T is performed from the second floor of the building A to the deck 10.

  When the deck 10 located on the second floor of the building A is moved to the roof, the elevator 20 is extended. Each elevator 20 performs the extension operation of the second jack 22 with respect to the base jack 21, the extension operation of the third jack 23 with respect to the second jack 22, and the extension operation of the top jack 24 with respect to the third jack 23 while synchronizing the extension operations with each other. It becomes a stretched state.

  Moreover, when moving the deck 10 located on the roof of the building A to the second floor, each elevator 20 in the fully extended state is reduced. Each elevator 20 performs a reduction operation of the top jack 24 with respect to the third jack 23, a reduction operation of the third jack 23 with respect to the second jack 22, and a reduction operation of the second jack 22 with respect to the base jack 21 while synchronizing the reduction operations with each other. It becomes a contracted state.

  Further, during the transport operation of the transport device 1, the controller 50 performs an emergency stop control process for stopping the transport operation when the elongating and retracting operations of the elevators 20 are not synchronized as shown in FIG.

(Step S1)
In step S1, the CPU determines whether or not the transport device 1 is performing a transport operation. If it is determined that the transfer operation is being performed, the process proceeds to step S2, and if it is not determined that the transfer operation is being performed, the emergency stop control process is terminated.

(Step S2)
If it is determined in step S1 that the conveying operation is being performed, in step S2, the CPU determines the angle of the placement surface 11 of the deck 10 based on the detection results of the first to fourth expansion / contraction length sensors 52-1-4. Calculate and move to step S3.
Here, the angle of the mounting surface 11 of the deck 10 is regarded as an angle with respect to the horizontal plane of the plane including the upper end portion of the top jack 24 of each elevator 20, and is measured by the first to fourth expansion / contraction length sensors 52-1 to 4-4. Calculation is performed based on the height of the upper end portion of each top jack 24 of each elevator 20 and the position in the horizontal direction between each elevator 20. The angle of the placement surface 11 of the deck 10 can be calculated based on three detection results among the detection results of the first to fourth expansion / contraction length sensors 52-1-4.
The angle of the deck 10 can be easily calculated by using the maximum and minimum output values among the output values of the first to fourth expansion / contraction length sensors 52-1 to 52-4. is there.

(Step S3)
In step S3, the CPU determines whether or not the angle of the placement surface 11 of the deck 10 calculated in step S2 is equal to or greater than a predetermined angle (for example, 0.25 degrees). If it is determined that the calculated angle of the placement surface 11 of the deck 10 is greater than or equal to a predetermined angle, the process proceeds to step S5, and the calculated angle of the placement surface 11 of the deck 10 is greater than or equal to the predetermined angle. If not, the process moves to step S4.

(Step S4)
When it is not determined that the angle of the placement surface 11 of the deck 10 calculated in step S3 is greater than or equal to a predetermined angle, the CPU of the placement surface 11 of the deck 10 detected by the angle sensor 53 in step S4. It is determined whether or not the angle is a predetermined angle (for example, 0.25 degrees) or more. If it is determined that the detected angle of the mounting surface 11 is equal to or larger than the predetermined angle, the process proceeds to step S5, and the detected angle of the mounting surface 11 is not determined to be equal to or larger than the predetermined angle. In that case, the emergency stop control process is terminated.

(Step S5)
When it is determined that the angle of the placement surface 11 of the deck 10 calculated in step S3 is greater than or equal to a predetermined angle, or the angle of the placement surface 11 detected in step S4 is determined to be greater than or equal to the predetermined angle. In step S5, the CPU stops the expansion / contraction operation of all the elevators 20 and ends the emergency stop control process.

  Here, in the emergency stop control process of the controller 50, when the expansion / contraction operation of all the elevators 20 is stopped, the operator operates the operation input unit 51 to individually operate the expansion / contraction lengths of the respective elevators 20 for emergency. The stop state of the expansion / contraction operation of all the elevators 20 in the stop control process is canceled.

  Thus, according to the operation stop device of the transport device of the present embodiment, the first to fourth expansion / contraction length sensors 52-1 to 5-4 for detecting the expansion / contraction length of each elevator 20 and the deck 10 are detected. An angle sensor 53 for detecting the angle of the mounting surface 11 of the deck, and the mounting surface 11 of the deck becomes equal to or larger than a predetermined angle by the first to fourth expansion / contraction length sensors 52-1 to 5-4 or the angle sensor 53. When the state is detected, the operation of each elevator 20 is stopped.

  As a result, the output signals of the first to fourth expansion / contraction length sensors 52-1 to 5-4 are disturbed by disturbances such as noise, or the first to fourth expansion / contraction length sensors 52-1 to 5-4 cause a mechanical failure. Even if the deck 10 is stopped by the angle sensor 53, the deck 10 can be prevented from tilting beyond a predetermined level. Further, even when an abnormality such as a malfunction of the angle sensor 53 occurs, it is ensured that the placement surface 11 of the deck 10 is tilted more than a predetermined amount by the first to fourth expansion / contraction length sensors 52-1 to 4-4. Can be prevented.

  Further, the angle of the mounting surface 11 of the deck 10 is determined based on the difference in height between the upper ends of the top jacks 24 of the elevators 20 obtained by the first to fourth expansion / contraction length sensors 52-1 to 4-4. Calculated.

  Thereby, the inclination angle of the deck 10 can be simply calculated. Further, by setting the predetermined set value for the calculated value to a value smaller than the predetermined angle set by the angle sensor 53, the detection values of the first to fourth expansion / contraction length sensors 52-1 to 4-4 are set. Mainly, the detection value of the angle sensor 53 is used as a backup, and stop control with respect to the inclination of the deck 10 can be performed.

  In the above-described embodiment, the transport device 1 that moves the transport target T in the vertical direction on the shaft B inside the building A is shown, but the present invention is not limited to this. For example, the present invention can be applied to a transport device that transports the transport target T in the vertical direction along the outer wall outside the building.

  Moreover, in the said embodiment, although the conveying apparatus 1 which conveys a conveyance target object from the 2nd floor of the building A to the rooftop was shown, it is not restricted to this. By changing the height of the jack member or the number of jack members, it is possible to obtain the required elevation height. Moreover, it is also possible to convey the conveyance target T upward from the first floor by increasing the hanging length of the deck. Furthermore, it is possible to increase the lifting height of the deck by reducing the hanging length of the deck.

  In the above embodiment, the deck 10 is supported by the four elevators 20 and moved in the vertical direction. However, the present invention is not limited to this. Two or more elevators may be used to support the deck. When the deck is supported by two elevators, the height of each elevator is detected, and the angle of the placement surface of the deck is calculated based on the detected height difference of the elevators.

  In the above-described embodiment, the transport apparatus 1 that performs a transport operation using a hydraulically driven actuator is shown. However, the present invention can be applied to a transport apparatus that performs a transport operation using an electric actuator.

  DESCRIPTION OF SYMBOLS 1 ... Conveyance apparatus, 10 ... Deck, 20 ... Elevator, 20-1 ... 1st elevator, 20-2 ... 2nd elevator, 20-3 ... 3rd elevator, 20-4 ... 4th elevator, 50 ... Controller, 52 -1 ... 1st expansion / contraction length sensor, 52-2 ... 2nd expansion / contraction length sensor, 52-3 ... 3rd expansion / contraction length sensor, 52-4 ... 4th expansion / contraction length sensor, 53 ... Angle sensor, 54- DESCRIPTION OF SYMBOLS 1 ... 1st electric motor, 54-2 ... 2nd electric motor, 54-3 ... 3rd electric motor, 54-4 ... 4th electric motor.

Claims (2)

A deck having a placement surface on which the object to be transported is placed;
A plurality of elevators having a support part for supporting the deck and moving the deck supported by the support part in the vertical direction;
A height detection unit for detecting the height of each support unit of the plurality of elevators;
An angle detector for detecting the angle of the mounting surface of the deck;
An operation stop control unit for stopping the operation of each elevator when a state where the deck mounting surface is equal to or greater than a predetermined angle is detected based on the detection result of the height detection unit or the detection result of the angle detection unit. An apparatus for stopping the operation of the transfer device. The operation stop control unit calculates the angle of the placement surface of the deck based on a difference in height of each support unit of the plurality of elevators obtained by the height detection unit. The operation stop device of the transfer device.

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