JPH06100161A - Control of electric railcar having suspending cargo transferring device - Google Patents

Abstract

PURPOSE:To heighten operational efficiency of an electric railcar having a suspending cargo transferring device in an equipment provided with a cargo handling device to deliver a cargo between it and the suspending cargo transferring device lowered down to a cargo transferring level from the electric railcar. CONSTITUTION:From the time when an electric railcar 1 passes through a lowering start position PDELTA being set on this side by a constant distance from a transferring position P, a cargo transferring device 4 is started to be lowered, and when the lowering cargo transferring device 4 reaches a lowering interrupting level L3 being set more upward than a cargo transferring level L2, the lowering of the cargo transferring device 4 is stopped once, and after the electric railcar 1 reaches and stops at the transferring position P, the cargo transferring device 4 is lowered again down to the cargo transferring level L2.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a load transfer device which is lowered to a load transfer level under a traveling route of a train in which a load transfer device is wound up and suspended by a hanging rope which can be freely extended. The present invention relates to a control method for increasing the operating efficiency of a train equipped with the hanging load transfer device in a facility provided with a load handling device for delivering loads.

[0002]

2. Description of the Related Art Generally, the traveling route of the train with the suspended load transfer device in this type of equipment is from the floor so as not to interfere with workers and various installed machinery. It is installed on a level near the relatively high ceiling. The suspended load transfer device is hung up to the upper limit position for ensuring safety when traveling by train. On the other hand, the load handling device is provided with a positioning guide for fitting the load transfer device in the vertical direction to position the load transfer device.
Usually, the load handling device itself has a structure in which the train cannot run unless the load transfer device is vertically moved up and down to some extent. For this reason, in this type of conventional equipment, after the train arrives and stops at the transfer position just above the load handling device, the suspended load transfer device is placed next to the load transfer device. After the load transfer was completed, the suspended load transfer device was stopped to ascend to the ascending limit level, and then the train was started to run.

In such a conventional control method, almost all of the raising / lowering operation between the ascending limit level and the load transfer level of the suspended load transfer device which moves up and down at a relatively low speed are performed in the state where the train is stopped. However, most of the lifting and lowering operation time of the load transfer device deteriorates the operation efficiency of the train, which in turn causes the cycle time of the load transfer operation to become long.

[0004]

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned conventional problems, and its features are shown by the reference numerals of the embodiments described later. As described above, the control method for a train with a suspended load transfer device according to the present invention allows the load transfer device 4 to be wound up under the traveling route of the train 1 suspended by the hanging rope 3 which can be freely extended. In a facility provided with a load handling device 5 for delivering a load to and from the load transfer device 4 lowered to the transfer level L2, the running train 1 corresponds to the load handling device 4. Lowering start position PΔ set a certain distance before the transfer position P
From the time when the load transfer device 4 starts to descend, and when the load transfer device 4 that descends reaches the descending interruption level L3 set above the load transfer level L2, the load transfer device 4 is lowered. It is characterized in that the lowering of the loading device 4 is once stopped, and after the train 1 has stopped arriving at the transfer position P, the load transferring device 4 is lowered again to the load transfer level L2.

Further, in the control method of the present invention according to claim 4, when the train 1 arrives and stops at the transfer position P, the train 1 is lowered by the descending start position PΔ.
Is set so that the load transfer device 4 that has been descending from the time of passing through the load transfer device is at an intermediate level that is higher than the load transfer level L2, and the descent interruption level L3 is not set, and the load transfer device 4 is set. Is not stopped on the way down.

Further, in any of the above control methods, the load transfer device 4 which is continuously raised to the ascending limit level L1 after the completion of the transferring of the load has the load transfer level L2 and the ascending limit level L1. It is possible to start traveling of the train 1 when passing the traveling start level L4 set in the middle of the. Further, when the load handling device 5 is provided with a positioning guide 6 for fitting the load transfer device 4 in the vertical direction to position the load transfer device 4, the lowering interruption level L3 or traveling. The starting level L4 may be set above the positioning guide 6.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the accompanying drawings. In FIG. 1, 1 is guided by one guide rail 2 installed near the ceiling and is self-propelled. A monorail type transportation train, in which a load transfer device 4 includes a plurality of hanging ropes (belts, etc.) 3 that can be rolled up and unwound.
Is hanging. Reference numeral 5 denotes a load handling device disposed under the traveling route of the train 1, and a positioning guide 6 for fitting the load transfer device 4 in the vertical direction to position the load transfer device 4 is also provided. Has been done.

As shown in FIG. 2, the electric train 1 has a drive wheel 7 for traveling, a motor 8 for rotationally driving the same, a pulley 9 for winding and unwinding the hanging rope 3, and a motor 10 for rotationally driving the same. A load W is provided on the load transfer device 4.
A transfer conveyor 11 for transporting the vehicle in the horizontal direction with respect to the traveling direction of the train is provided. Further, the load handling device 5 is provided with a transfer conveyor 12 that is connected to the transfer conveyor 11 of the load transfer device 4 and transports the load W in the horizontal direction. Although only one load handling device 5 is shown in the figure, it is usually installed in a plurality of locations under the train travel route in practice. Thus, the load handling device 5 is a mechanical device for mounting various parts on the received load W, processing, painting, and other various operations, a transport device for transporting the load W to another place, or another device. For example, it is a loading tray for transferring a load to a mechanical device or a transfer device. In addition, in FIG. 1, the load handling device 5 in front of the load transfer device 4 is horizontally moved by 90 degrees and is shown by a virtual line.

The positioning guide 6 is used for the load transfer device 4
Each lifting / lowering guide rail 13 configured to guide the four corners of the lifting / lowering guide rail 13 can be smoothly guided into each lifting / lowering guide rail 13 even if the descending load transfer device 4 is slightly displaced in the horizontal direction. The upper end of the guide rail 13 is formed so as to extend outward. As the positioning guide 6,
It is not limited to the lifting guide rails 13,
For example, pins that individually enter into holes in the vertical direction provided at a plurality of bottom surfaces of the load transfer device 4 may be provided so as to project upward, or a pin may be provided on the side of the load transfer device 4 so as to extend upward. It may be an elevating guide rail into which a supported guide roller enters.

As shown in FIG. 3, the electric train 1 is provided with a controller 14 for controlling a motor 8 for rotationally driving the driving wheels 7, and a motor 10 for rotationally driving a hanging rope hoisting and feeding pulley 9. A controller 15 for performing and a main controller 16 for giving a control signal to these controllers 14, 15 are mounted, and this main controller 16 performs addition / subtraction counting of transmission pulses of a pulse encoder 17 interlocked with the pulley 9, It has a function of detecting the elevation level of the load transfer device 4. Further, the main controller 16 is connected to a destination (of the plurality of load handling devices 5) from the host computer on the ground side.
A train 1 is started in response to a command (specifying a work target). While the train 1 is running, the main controller 16 detects, for example, a code plate installed on the side of the running route by a detector on the train side. The current position of the train 1 is constantly grasped by the current position information obtained by the above or the current position information obtained by adding / subtracting the transmission pulse of the pulse encoder 18 linked to the driving wheel 7 in the main controller 16. ing.

As shown in FIG. 1, in the traveling route of the train 1, the transfer position P corresponding to the position directly above each load handling device 5 is provided.
And a descent start position PΔ before the transfer positions P by a certain distance D are set, and the train 1 is set at these set positions P and PΔ.
Has arrived, the current position information given to the main controller 16 by the method of detecting the code plates installed at each of these set positions, the pulse counting method, etc., the destination information, and the descent selected based on the destination information. It is detected by comparison calculation with the start position information. Further, the load transfer device 4 can move up and down between the ascending limit level L1 and the load transfer level L2 corresponding to the lower limit. During the ascending / descending path, the load transfer device 4 moves to the positioning guide 6. The descending interruption level L3 and the traveling start level L4 are set above the position where the fitting is started. In this embodiment, since the descending interruption level L3 and the traveling start level L4 are the same level,
Either one of them, for example, only the down interruption level L3 may be set. The arrival of the load transfer device 4 at each of these levels L1 to L4 indicates that the current level value and the set level value of the load transfer device 4 detected by the main controller 16 by the pulse counting method are as described above. It is detected by comparison calculation.

Then, the control method of the present invention is executed by the control program stored in the main controller 16 as shown in the flowchart of FIG. That is, when the destination instruction is given to the main controller 16 of the train 1 that supports the load W on the transfer conveyor 11, the main controller 16 operates the motor 8 via the traveling motor controller 14 to drive the traveling drive wheels. The train 1 is driven to rotate and the train 1 is run toward a specific transfer position P which is a destination. When the train 1 passes the descending start position PΔ, which is a predetermined distance D from the target transfer position P, the main controller 16 operates the motor 10 via the lifting motor controller 15 to suspend the pulley 9. The load transfer device 4 at the ascending limit level L1 is started to descend by being rotationally driven in the line-out direction.

A load transfer device 4 that descends when the train 1 is running.
When the vehicle reaches the descent interruption level L3, the main controller 16 causes the motor 1
Since 0 is stopped, the load transfer device 4 stops the descent interruption level L
Stop at 3. When the train 1 that continues to travel reaches the target transfer position P, the main controller 16 stops the motor 8 via the travel motor controller 14 and stops the train 1 at the target transfer position P. At this time, the load transfer device 4 stopped at the descent interruption level L3 has arrived directly above the positioning guide 6.

Subsequently, the main controller 16 operates the motor 10 via the lifting motor controller 15,
Since the pulley 9 is rotationally driven in the hanging rope unwinding direction and the load transfer device 4 at the descent interruption level L3 is lowered again, the four corners of the load transfer device 4 are provided with the lifting guide rails that constitute the positioning guide 6. It fits inside 13 and descends.
When the load transfer device 4 arrives at the load transfer level L2,
The main controller 16 is the lifting motor controller 15
Since the motor 10 is stopped through the load transfer device 4, the load transfer device 4 stops at the load transfer level L2. In this state, the transfer conveyor 11 and the transfer conveyor 12 on the side of the load handling device 5 are driven, and the load W moves from the load transfer device 4 onto the load handling device 5 or vice versa. 5 to the load transfer device 4,
Transported and transferred.

When the transfer of the load W is completed, the main controller 16 operates the motor 10 via the lifting motor controller 15 to drive the pulley 9 to rotate in the hanging rope hoisting direction to be at the load transfer level L2. The load transfer device 4 is raised. Then, when the load transfer device 4 escapes upward from the elevating guide rail 13 of the positioning guide 6 and passes the traveling start level L4 (lowering interruption level L3), the main controller 16 passes through the traveling motor controller 14. The motor 8 is rotationally driven to drive the train 1 toward the next target position, for example, the home position. On the other hand, the load transfer device 4 moving upward while the train 1 is running.
However, when it reaches the ascending limit level L1, the main controller 16 causes the motor 1
Since 0 is stopped, the load transfer device 4 stops at the ascending limit level L1.

In the above embodiment, before the train 1 arrives at the transfer position P, the descending load transfer device 4 is temporarily stopped at the descending interruption level L3 set above the positioning guide 6. However, this is because the distance D between the descending start position PΔ and the transfer position P is set large. Therefore, as shown in FIG. 5, the distance between the descending start position PΔ and the transfer position P is reduced as indicated by d, and the train 1
When the train 1 arrives at the transfer position P and stops, the load transfer device 4, which has been descending since the time when the vehicle passed the descent start position PΔ, is still at a level higher than the positioning guide 6. Then, as shown in the flowchart of FIG. 6, it is not necessary to temporarily stop the load transfer device 4 that is lowered to the load transfer level L2. Then, the load transfer device 4 that is lifted after the transfer work of the load W between the load transfer device 4 and the load handling device 5 is completed is set to a travel start level set above the positioning guide 6. The train 1 starts running when passing L4.

[0017]

As described above, according to the control method for a train with a suspended load transfer device of the present invention, the load transfer device is lowered before the train arrives at the target transfer position and stops. Therefore, part of the traveling time of the train will be used for the descent time of the load transfer device, and with the train stopped at the transfer position, move the load transfer device from the upper limit level to the load transfer level. Compared with the case where it is lowered to
The cycle time of load transfer work can be shortened.

Moreover, the load transfer device is not moved to the transfer position while being lowered to the load transfer level, but the load transfer device is transferred from the intermediate level above the load transfer level. Since it is vertically lowered to the level, it is possible to eliminate the rolling of the load transfer device that has reached the load transfer level, and to start a safe load transfer operation without waiting time. Even if the load handling device is provided with a positioning guide that fits vertically with the load transfer device, the lowering movement of the load transfer device is automatically used for the positioning guide. The load transfer device can be fitted to the load transfer device and can be implemented at a lower cost than when a movable lock device that can be engaged and disengaged with respect to the load transfer device stopped at the load transfer level is used.

In particular, according to the control method of the present invention as set forth in claim 4, it is not necessary to temporarily stop the load transfer device during the descent, and the control is easy. Furthermore, even after the transfer work is completed,
If the electric train is started while the load transfer device is moving up, the operating efficiency of the electric train can be further improved and the cycle time of the load transfer work can be shortened.

[Brief description of drawings]

FIG. 1 is a schematic side view illustrating a control method of the present invention.

FIG. 2 is a partially cutaway front view showing a train with a suspended load transfer device and a load handling device.

FIG. 3 is a block diagram illustrating a traveling drive system of a train and an elevating drive system of a load transfer device.

FIG. 4 is a flowchart illustrating a control method.

FIG. 5 is a schematic side view illustrating a control method of the present invention according to claim 2.

FIG. 6 is a flowchart illustrating the control method.

[Explanation of symbols]

 1 Monorail type transportation train 2 Guide rails 3 Suspended ropes that can be rolled up and unwound 4 Load transfer device 5 Load handling device 6 Positioning guides for load transfer device 7 Drive wheels for traveling 8 Travel drive motors 9 Suspended ropes Pull-up pulley 10 Lifting drive motor 11 Transfer conveyor for load transfer device 12 Transfer conveyor for load handling device 13 Lift guide rails that guide the four corners of load transfer device 17 Pulse encoder 18 Pulse encoder L1 Lift limit level L2 Load transfer level (lower limit level) L3 Lowering interruption level L4 Travel start level P Transfer position PΔ Lowering start position

Claims (6)

[Claims] 1. A load for delivering a load to and from the load transfer device lowered to a load transfer level under a traveling route of a train in which a load transfer device is wound up and suspended by a hanging rope that can be freely extended. In a facility provided with a handling device, the train that is running travels from the time when the train moves past a descent start position set a certain distance before the transfer position corresponding to the load handling device, and then the load transfer device. The load transfer device that starts and descends
When the descent interruption level set above the load transfer level is reached, the descent of the load transfer device is temporarily stopped,
A method of controlling a train with a suspended load transfer device, which comprises lowering the load transfer device to the load transfer level again after the train stops at the transfer position. 2. When the load transfer device, which is continuously raised to the rising limit level after the completion of the load transfer, passes a traveling start level set between the load transfer level and the rising limit level. The method for controlling a train with a suspended load transfer device according to claim 1, wherein the running of the train is started. 3. The load handling device is provided with a positioning guide that is vertically fitted to the load transfer device to position the load transfer device, and the descent interruption level or the travel start level is used for the positioning. The control method for a train with a suspended load transfer device according to claim 1 or 2, wherein the control method is set above the vehicle guide. 4. A load for delivering a load to and from the load transfer device lowered to a load transfer level under a traveling route of a train in which a load transfer device is wound up and suspended by a hanging rope that can be freely extended. In a facility provided with a handling device, the train that is running travels from the time when the train moves past a descent start position set a certain distance before the transfer position corresponding to the load handling device, and then the load transfer device. Is started, and the descending start position is set so that the descending load transfer device is located at an intermediate level above the load transfer level when the train stops at the transfer position. Incidentally, even after the train arrives and stops at the transfer position, the load transfer device is continuously lowered and stopped at the load transfer level. . 5. When the load transfer device, which is continuously raised to the rising limit level after the completion of the load transfer, passes a traveling start level set between the load transfer level and the rising limit level. The method for controlling a train with a suspended load transfer device according to claim 1, wherein the running of the train is started. 6. The load handling device is provided with a positioning guide for vertically positioning the load transfer device by fitting the load transfer device vertically, and the intermediate level or the travel start level is used for the positioning. The method for controlling a train with a suspended load transfer device according to claim 4 or 5, wherein the control method is set above the guide.