JPH0510310U - Carrier - Google Patents

Abstract

(57) [Abstract] [PROBLEMS] To provide a transfer device capable of automatically preventing a position shift of a transfer position due to extension of a chain with a simple configuration. In the transfer device 11 for transferring the transfer unit 20 to a transfer position corresponding to the storage chamber 4 on each floor of the three-dimensional storage 5, the transfer unit 11 is controlled by controlling the servomotor 22 based on preset setting position data. A position detection sensor 32 for detecting that 20 is accurately transferred to the transfer position is provided, and when the transfer unit 20 is not transferred to the desired transfer position according to the set position data, the transfer position shifts downward due to the extension of the chain 25. Therefore, the transfer unit 20 is driven to ascend to the desired transport position at a slow speed, the number of output pulses from the rotary encoder 22a at the time of this slow speed rise is counted, and the set position data is automatically calculated based on this count value. to correct.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a transfer device for transferring a transfer body to a predetermined transfer position via a chain driven by a servo motor.

[0002]

[Prior Art]

 Generally, as a transfer device for transferring a work to a predetermined transfer position, a transfer member that is transferred and driven via a chain, a servo motor for driving the chain, and a transfer unit that transfers the transfer member to a predetermined transfer position in advance. 2. Description of the Related Art A transfer device that controls a servo motor based on set position setting data to transfer a work to a predetermined transfer position together with a transfer body is widely put into practical use. For example, Japanese Patent Application Laid-Open No. 2-233405 discloses a transporting device for transporting a work to a storage room on each floor of a three-dimensional hangar, in which a transporter guided vertically through a guide rail is connected to a chain. There is described a transfer device which is lifted up and down via a chain and is driven by a servo motor provided on the upper part of a three-dimensional hangar to drive a chain to transfer a work placed on a transfer body to a desired floor.

By the way, in the above-mentioned carrier, when the chain is extended while the carrier is used for a long period of time, the origin position of the carrier is shifted and the carrier is moved to a desired carrier position. Can not be transferred to. For this reason, the operator must periodically operate the operation panel to change the position setting data and adjust the origin position so that the carrier can be transported to the desired transport position.

[0004]

[Problems to be solved by the device]

 In the transfer device, it is necessary to adjust the origin position of the carrier frequently according to the extension of the chain, which is mainly caused by plastic deformation of the chain, and the work is very complicated. The equipment had to be shut down. Moreover, when suspending a work like the transfer device described in the above publication, the position setting data is changed according to the weight of the work because the extension due to the elastic deformation of the chain varies greatly depending on the weight of the work. Or it is necessary to adjust the origin position. An object of the present invention is to provide a transporting device having a simple structure capable of automatically correcting the displacement of the transporting position due to the extension of the chain.

[0005]

[Means for Solving the Problems]

 As shown in the functional block diagram of FIG. 1, the transport device according to the present invention is configured to transport a transport body through a chain, a servo motor for driving the chain, and a transport body to a predetermined transport position. And a controller for controlling a servomotor based on position setting data preset for transfer, including a detector for detecting a carrier transferred to the predetermined transfer position, Detecting means for detecting a positional deviation amount between the actual conveying position of the conveyed body based on the position setting data and the predetermined conveying position detected by the detector is provided, and the control means is provided with the detecting means. The correction means is provided for receiving the output and correcting the position setting data so that the positional deviation amount of the carrier becomes zero.

[0006]

[Action]

 In the transport apparatus according to the present invention, the control means controls the servomotor based on preset position setting data, and the transport body is transported to a predetermined transport position. On the other hand, the detecting means includes a detector for detecting the carrier transferred to a predetermined transfer position, and this detecting means detects the actual transfer position of the carrier transferred based on the position setting data and the detector. If the actual transport position is displaced from the preset transport position, the correction means provided in the control means receives the output from the detection means. Since the position setting data is automatically corrected so that the displacement amount of the carrier becomes zero, the carrier can always be accurately transferred to a predetermined carrier position even if the chain extends. Moreover, the correction can always be automatically performed without stopping the transport device.

[0007]

EFFECTS OF THE INVENTION According to the transporting device of the present invention, as described in detail in the section of the above-mentioned action, with a simple structure, the displacement of the transporting position of the transporting body due to the extension of the chain is always automatically corrected. , The carrier can always be accurately transferred to a predetermined transfer position. Moreover, it is not necessary to stop the transport device to correct the positional deviation.

[0008]

【Example】

 Embodiments of the present invention will be described below with reference to the drawings. In the present embodiment, the present invention is applied to a carrier device for carrying out a pallet for an engine and a pallet for a rear suspension from a pair of left and right three-dimensional hangars, respectively.

As shown in FIG. 2, 36 storage chambers 4 for storing the engine pallet 2 and the rear suspension pallet 3 are provided on the right and left sides of the storage station 1, respectively. A 6-storey three-dimensional hangar 5.6 is provided, and both pallets 2 and 3 are transferred to the front of the storage station 1 while being placed on the base pallet 8 by the transfer line 7 and linked with the transfer device 9. After being transferred from the base pallet 8 to the lowermost storage compartment 4 at the front end of the three-dimensional hangars 5 and 6 by a conveyor device (not shown), a pair of pairs provided on the left side of the three-dimensional hangars 5 and 6 are provided. The transfer device 10 for carrying-in transports them to the predetermined storage chambers 4 of the three-dimensional storages 5 and 6, respectively. On the other hand, the pallets 2 and 3 stored in the three-dimensional hangars 5 and 6 are taken out from the storage chamber 4 by a pair of unloading transfer devices 11 provided on the right side of the three-dimensional hangars 5 and 6, respectively. After being transferred to the lowermost carrying-out storage chamber 4 at the rear end of 6, the carrying-out storage chamber 4 is transferred to the carrying line 12 on the rear side of the storage station 1.

Next, the transfer device 11 will be described. Since the left and right transfer devices 11 have the same configuration, the transfer device 11 for carrying out the engine pallet 2 will be described. Since the carrying-in carrying device 10 is laterally symmetrical to the carrying-out carrying device 11, its detailed description is omitted. As shown in FIGS. 2 to 5, a pair of left and right guide rails 13 provided on the right side of the three-dimensional hangar 5 supports a carriage 14 so as to be movable in the front-rear direction. (See 8) 15 is driven to move along the guide rail 13 by a drive mechanism including 15.

A pair of left and right vertical columns 16 are erected at the center of the carrier truck 14, and a pair of left and right reinforcing columns 17 are provided at the rear of the carrier truck 14 in parallel with the vertical columns 16. An elevating frame 18 is supported between the vertical columns 16 of the elevating frame 18 via a guide rail 19 so as to be vertically movable, and a transfer unit 20 for transferring the pallet 2 in the left and right direction is provided at the front part of the elevating frame 18. The base plate 21 is fixed between the upper ends of the left and right vertical columns 16 and the reinforcing columns 17, the servo motor 22 and the speed reducer 23 are provided on the base plate 21, and both ends of the rotary shaft 23a of the speed reducer 23 are provided. Chains 25 are respectively hung on the pair of left and right sprocket wheels 24 fixed to each other, one end of each chain 25 is connected to the elevating frame 18, and the other end is connected to the counterweight 26. When the servomotor 22 is driven, the transfer unit 20 is driven up and down together with the lifting frame 18 via the chain 25. The transfer unit 20 and the elevating frame 18 constitute a carrier.

The transfer unit 20 will be described. As shown in FIGS. 6 and 7, a pair of front and rear fixed guide members 28 are fixed to the elevating frame 18 via support brackets 27. An intermediate guide member 29 is movably attached to the left and right side of the rack 28 via a rack and pinion mechanism (not shown), and a transfer plate 30 is left and right on the intermediate guide member 29 via a rack and pinion mechanism (not shown). The front and rear transfer plates 30 are mounted so as to be movable in any direction, and are operated by an electric motor 31 via a pair of rack and pinion mechanisms and an intermediate guide member 29, and are shown in a use position shown by a solid line in FIG. It is driven to move over the retracted position.

As shown in FIGS. 4 and 5, the elevating frame 18 is provided with a position detecting sensor 32 having a light emitting element 32a and a light receiving element 32b. Six shield plates 33 are provided at positions corresponding to the middle part of each floor of No. 5, and when the elevating frame 18 moves to a desired height position corresponding to the storage room 4, the shield plates 33 cause the light emitting elements to move. Light from the light 32a is blocked, and the light receiving element 32b is turned off.

As shown in FIG. 8, the control unit 35 of the transfer device 11 includes a position detection sensor 32, rotary encoders 15a and 22a attached to the servomotors 15 and 22, and use positions of the transfer plate 30. Limit switches 36 and 37 for detecting the retracted position are connected, and servo motors 15 and 22 and electric motor 31 are also connected. An ON signal is output from the rotary encoders 15a and 22a each time the servomotors 15 and 22 rotate by a predetermined minute angle.

The control unit 35 is mainly composed of a microcomputer, and is provided with a drive circuit for driving the two servo motors 15 and 22, a drive circuit for driving the electric motor 31, and the like. A transfer control control program for controlling the motors 15, 22, and 31 is input and stored in advance in the ROM of the control unit 35, and the RAM stores the position data in the front-rear direction and the position in the vertical direction of the 36 storage chambers 4. As the data, the number of output pulses output from each of the rotary encoders 15a and 22a when the servomotors 15 and 22 are driven with reference to the carry-out storage chamber 4 is input and stored. The initial values of both position data are stored in the ROM in advance and transferred to the RAM when the transport device 11 is used for the first time.

Next, the transfer control will be described with reference to the flowcharts of FIGS. 9 and 10. When the storage chamber 4 of the pallet 2 to be carried out is designated by a command signal from the host computer 40 or a command signal from the operation panel 41, this control is started and the position data of the current transfer unit 20 is designated first. The number of output pulses output from the rotary encoders 15a and 22a when the transfer unit 20 is moved to a position corresponding to the designated storage chamber 4 is calculated based on the position data of the storage chamber 4 that has been stored. , The servomotors 15 and 22 are driven until the number of output pulses output from the rotary encoders 15a and 22a reaches the number of output pulses calculated and the transfer unit 20 is moved to the designated position corresponding to the storage chamber 4. Is transferred to (S1).

Next, the height position of the transfer unit 20 may change due to the extension of the chain 25, so that the actual height position of the transfer unit 20 becomes the desired height position. A sub-routine for position correction processing, which will be described later, is executed (S2). The upper surfaces of the front and rear transfer plates 30 at the desired height position are arranged slightly below the designated palette 2 of the storage chamber 4.

Next, the transfer plate 30 is moved to the use position by the electric motor 31, and the transfer unit 20 is moved upward together with the elevating frame 18 by a predetermined distance by the servo motor 22 in this state, and the front and rear support brackets 38 are provided. The pallet 2 held in the storage chamber 4 is transferred onto the front and rear transfer plates 30 via the, and in this state, the front and rear transfer plates 30 are moved to the retracted position together with the pallet 2 (S3).

Next, based on the designated position data of the storage chamber 4 and the specified position data of the unloading storage chamber 4, the pallet 2 is moved together with the transfer unit 20 to a position corresponding to the unloading storage chamber 4. At this time, the number of output pulses output from the rotary encoders 15a and 22a is calculated respectively, and the servo motor 15 and the servo motor 15 are output until the number of output pulses output from the rotary encoders 15a and 22a reaches the calculated output pulse number. 22 is driven, and the pallet 2 is transferred together with the transfer unit 20 to a position corresponding to the unloading storage chamber 4 (S4).

Next, the position correction processing subroutine described below is executed so that the actual height position of the transfer unit 20 becomes the desired height position (S5). The upper surfaces of the front and rear transfer plates 30 at a predetermined height position are arranged slightly above the support bracket 38 of the carry-out storage chamber 4.

Next, the pallet 2 is moved to the use position together with the front and rear transfer plates 30, and then the transfer unit 20 is moved and driven downward together with the elevating frame 18 by a predetermined distance to support the front and rear of the carry-out storage chamber 4. The pallet 2 is transferred to the bracket 38 (S6), and then the transfer plate 30 is moved to the retracted position.

Next, the position correction control subroutine will be described with reference to the flowchart of FIG. When this subroutine is started, first, the correction pulse number n counted by the soft counter is reset (S10), and then whether the position detection sensor 32 is OFF or not, that is, the transfer unit 20 is at the desired transport position. It is determined whether or not the sheet has been transported to (S11). In the case of No, the length of the chain 25 is extended due to aging, etc., and the actual transfer position of the transfer unit 20 (shown by the solid line in FIG. 8) is the desired transfer position (shown by the phantom line in FIG. 8). Since the position of the transfer unit 20 is lower than that of the transfer unit 20, the transfer unit 20 is driven by the servo motor 22 to move up at a slow speed (S12), and then it is determined whether the ON signal is output from the encoder 22a (S13). , Yes, the correction pulse number n is incremented (S14).

In this way, S11 to S14 are repeated until the transfer unit 20 moves to the desired position, the servo motor 22 is driven, and the transfer unit 20 moves to the desired position to detect the position detection sensor 32. When is turned off, the servo motor 22 is stopped (S15), the vertical pulse position data of the storage chamber 4 corresponding to the transfer unit 20 is added with the correction pulse number n, and the position data stored in the RAM is stored. Is updated (S16).

As described above, in the transfer device 11, the position detection sensor 32 and the shielding plate 33 having a simple structure are provided, so that the chain 25 extends due to secular change and the actual transfer position is the desired transfer position. Even if the position shifts, the transport position can be automatically corrected, and the vertical position data stored in the RAM is updated each time the position shift is corrected, so the transfer is always performed automatically. The loading unit 20 can be efficiently transferred to a desired transfer position. Then, the transport position can be corrected during operation without stopping the transport device 11.

In this embodiment, the position correction control is always executed when the transfer device 11 is in operation, but it may be executed periodically. Further, although the shield plate 33 is provided corresponding to each floor of the three-dimensional hangar 5, only one shield plate 33 is provided at a position corresponding to the carry-out storage room 4, and the vertical position data of the carry-out storage room 4 is used as a reference. The position data may be corrected. In the present embodiment, the present invention is applied to the carry-out carrying device 11, but the present invention can be similarly applied to the carry-in carrying device 10, and when the carrying carriage 14 is driven by a chain, The positional deviation of the carriage 14 in the front-rear direction can be similarly corrected. Further, the present invention can be similarly applied to a transfer device that transfers a cargo handling other than a pallet to a predetermined position in a vertical direction or a horizontal direction by chain drive.

[Brief description of drawings]

FIG. 1 is a functional block diagram showing a configuration of the present invention.

FIG. 2 is a plan view of a storage station.

FIG. 3 is a front view of a transfer device and a three-dimensional storage.

FIG. 4 is a side view of the transfer device and the three-dimensional storage.

5 is a sectional view taken along line 5-5 of FIG.

FIG. 6 is a plan view of a transfer unit.

FIG. 7 is a front view of a transfer unit.

FIG. 8 is an overall configuration diagram of a control system of the transfer device.

FIG. 9 is a flowchart of a transport control routine.

FIG. 10 is a flowchart of a position correction control subroutine.

[Explanation of symbols]

 2 Pallet 4 Storage room 5 Three-dimensional storage box 11 Transport device 18 Lifting frame 20 Transfer unit 22 Servo motor 25 Chain 32 Position detection sensor 35 Control unit

Claims (1)

[Claims for utility model registration] Claims: 1. A carrier that is driven to be carried through a chain, a servo motor for driving the chain, and preset to move the carrier to a predetermined carrying position. And a controller that controls the servomotor based on the position setting data, including a detector that detects a carrier that has been transferred to the predetermined transfer position, and is transferred based on the position setting data. The detection means for detecting the positional deviation amount between the actual conveyance position of the conveyance body and the predetermined conveyance position detected by the detector is provided, and the control means receives the output from the detection means, and detects the position of the conveyance body. A conveyance device comprising a correction means for correcting the position setting data so that the displacement amount becomes zero.