JPH07187327A - Raising-lowering control device for transferring mechanism in cargo storage device - Google Patents

Abstract

PURPOSE:To smoothly pull in a cargo by actuating a transferring mechanism so as to correct, the elongation even if a wire elongates when the cargo is pulled in the transferring mechanism in a device to take the cargo in and out of a large number of shelves through the transferring mechanism. CONSTITUTION:When an empty transferring mechanism 7 is moved to a cargo loading position, a raising-lowering motor 24 is rotated by the pulse number corresponding to a difference between a pulse value of a present position and a teaching count value of an object position, and the transferring mechanism 7 is stopped in the cargo loading position. Next, when a cargo W is pulled in the transferring mechanism 7, though a wire 16 is elongated by weight of the cargo W, the motor 24 is rotated by the number of (alpha) pulses so as to raise the transferring mechanism 7 by the elongation quantity. Afterwards, the motor 24 is rotated by the number of revolutions corresponding to the pulse number obtained by subtracting a pulse value after the increased pulse number (alpha) of the encoder 25 is subtracted and the teaching count value of the object position, and the transferring mechanism 7 is positioned.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a lifting / lowering control device for a transport mechanism in a luggage storage device capable of loading and unloading a plurality of shelves via a transport mechanism.

[0002]

2. Description of the Related Art As an example of a baggage storage device, as described in the previous patent application (Japanese Patent Application No. 4-273047) filed by the applicant of the present application, there is provided a shelving device in which shelves for storing luggage are formed in upper and lower stages. A transfer mechanism, which is provided facing each other and is hung by a wire driven by a motor, is vertically movable at a portion sandwiched between the two shelves, and the transfer mechanism and an arbitrary shelf are provided in the transfer mechanism. It is in the form that the baggage is placed between and.

When the transfer mechanism is moved up and down between the load receiving portion and an arbitrary shelf or between the shelves, a rotary encoder is attached to the motor to transfer the transfer mechanism. The pulse value of the encoder when is located on each shelf and the receiving part is stored in the control circuit in advance, and the number of pulses is the pulse value corresponding to the height of the starting position minus the set pulse value of the target position. The motor is rotated to automatically control the ascending / descending distance of the transfer mechanism.

[0004]

As described above, controlling the ascending / descending distance of the transfer mechanism by using the encoder significantly reduces the number of members and simplifies the structure as compared with the control using a limit switch, for example. Have advantages. However, when using a wire to elevate and lower the transfer mechanism, the load will be stretched when the load is placed on the transfer mechanism. Therefore, when the load is pulled from the load receiving section or the shelf to the transfer mechanism, the wire is not stretched. It is necessary to raise the transfer mechanism by that amount.

In this case, if the motor is rotated to raise the transfer mechanism so as to correct the elongation of the wire, the pulse value of the encoder increases even though the transfer mechanism is at the predetermined height position. Therefore, when the motor is rotated according to the number of pulses of the difference between the pulse value of the actual encoder and the set pulse value at the target position, when the transfer mechanism is lowered, it is lowered too much and the transfer mechanism is raised. In some cases, it will be insufficient to raise it.

For this reason, conventionally, the height of the transfer mechanism is finely adjusted while the height of the transfer mechanism is detected by a sensor after the transfer mechanism is moved up and down to a target position. There is a problem that positioning takes time and work efficiency is poor. The present invention aims to solve this problem.

[0007]

In order to achieve this object, the present invention provides a line such as a wire driven by a motor at the front surface portion of a shelving device in which a load receiving portion and a plurality of shelves are provided in upper and lower stages. Provided with a transfer mechanism that is hung up and down in the shape of a body, and configured so that the load can be repositioned between the transfer mechanism and an arbitrary shelf or load receiving section, and the rotation of the motor is detected as the number of pulses. An encoder is installed to set the number of pulses corresponding to the height of each shelf and the receiving part when the transfer mechanism is raised and lowered without load, and the pulse value of the encoder at the starting position and the target position are set. In a luggage storage device in which the vertical movement distance of the transfer mechanism is controlled by rotating the motor by the number of pulses corresponding to the difference from the set pulse value, "the transfer mechanism is set at an arbitrary height position of a shelf or a cargo receiving portion. To detect in Sir "," Pulse value of the encoder when the load is loaded and the motor is rotated so that the transfer mechanism corrects the height detected by the sensor when the linear body extends A control circuit for rotating the motor by an amount corresponding to the pulse number of the difference between the pulse number obtained by subtracting the pulse number corresponding to the rotation of the motor for correction from the set pulse value of the target position I made it up.

[0008]

With this structure, even if the wire stretches when the load is pulled from the load receiving portion or the shelf to the transfer mechanism, the transfer mechanism rises so as to correct the extension, so that the load can be pulled in smoothly. To be done. In addition, in order to set the distance to lower the transport mechanism that has loaded the luggage to the destination, when calculating the number of pulses corresponding to that distance, the actual encoder position at the height (departure position) when the luggage is loaded Since the number of pulses corresponding to the rotation of the motor for compensating the elongation of the linear body is subtracted from the pulse value of, the transfer mechanism uses the pulse corresponding to the actual distance between the starting position and the target position. Therefore, at the target position, it is possible to quickly stop at the correct height without rotating the motor while finely adjusting the height while detecting the height at the target position.

On the other hand, when the transfer mechanism that has loaded the luggage is raised to the target position, a motor for correcting the extension of the linear body from the actual pulse value of the encoder at the starting position in calculating the raising distance. Since the number of pulses corresponding to the rotation of is transferred is subtracted, the transfer mechanism can be quickly stopped at the target height position. As described above, according to the present invention, it is possible to accurately position the transfer mechanism at a target position in a state where the elongation of the elevating linear body such as the wire is corrected, and thus it is possible to improve the efficiency of the loading and unloading work. Have.

[0010]

Embodiments of the present invention will now be described with reference to the drawings. 1 to 4 show the entire luggage storage device 1. This luggage storage device 1 comprises a front shelf device 2 in which a plurality of shelves 5 each having an L-shaped cross section are provided in multiple stages on the inner surfaces of a pair of left and right columns 4.
Similarly, a pair of right and left columns 4 and a rear shelf device 3 having a plurality of shelves 5 each having an L-shaped cross section are provided on the inner surfaces of the columns 4 so as to face each other. , The tray W in the form of a shallow dish is configured to be able to store the luggage W, and further, between the opening surfaces of these two shelves and two shelving devices 2, 3.
A transfer mechanism (lift) 7 is arranged so that it can be raised and lowered.

Each of the shelving units 2 and 3 is provided with a load receiving portion 8 which is open in both front directions. The transfer mechanism 7
Includes a horizontal board 7a and side plates 7b raised from the left and right side edges of the board 7, and laterally sideways trapezoidal brackets 9 are fixed to the outer surfaces of the front and rear ends of the left and right side boards 7b. The transfer mechanism 7 is smoothly supported by rotatably supporting a spinning roller-shaped guide roller 11 that is in contact with a guide rail 10 having a V-shaped flat cross section and fixed to the support column 4 at both upper and lower ends of the tip edge of each bracket 9. I am going to go up and down.

The upper and lower middle portions of the bracket 9 are bent inwardly in a protruding manner, and a pair of upper and lower reflective photoelectric sensors 12 are provided on the inward convex portions 9a of the pair of front and rear brackets 9, while front and rear shelving devices are provided. Each of the shelves 5 and the load receiving portion 8 are provided on the pair of columns 4 facing each other in the columns 2 and 3.
The reflection tape 13 corresponding to is attached. The photoelectric sensor 12 and the reflection tape 13 described above are for accurately stopping the transfer mechanism 7 at the height of the shelf 5 or the load receiving portion 8, and the vertical length of the reflection tape 13 is set to the vertical photoelectric switch 13 By aligning the distances with each other, both photoelectric sensors 13 are turned on when the transfer mechanism 7 reaches an accurate height position.

Further, a reinforcing member 14 having a downward U-shaped cross section is fixed to the lower surface of the front and rear intermediate portions of the transfer mechanism 7 so that both ends of the reinforcing member 14 are projected, and eyebolts provided on the left and right protruding portions of the reinforcing member 14. One end of a wire 16 is fixed to each of the wires 15 as an example of a lifting linear body. The left and right wires 16 are wound around a ceiling pulley 18 that is axially supported on the ceiling portion of the luggage storage device 1, and both wires 16 are axially supported on the bottom surface of the luggage storage device 1 for posture conversion pulleys 20 and 21. The transfer mechanism 7 is moved up and down by being wound around the drum 23 via the motor and driven by the motor 24 with a speed reducer for lifting. The motor 24 is provided with a lift control rotary encoder 25 for counting the number of rotations of the main shaft.

As shown in FIGS. 6 and 8, a support plate 26 for mounting the tray 6 is provided on the inner surface of the left and right side plates 7b of the transfer mechanism 7 except the front and rear ends thereof. It projects horizontally. A slider 27 made of synthetic resin or the like is fixed to the support plate 26. A guide body 28 for guiding the movement of the tray 6 is fixed to the upper ends of the left and right side plates 7b of the transfer mechanism 7.

A first sprocket 29 is pivotally supported on the inner surface of one end of the left and right side plates 7b of the transfer mechanism 7, and a second sprocket 30 is pivotally supported on the inner surface of the other end thereof. A transfer chain 31 as an example of an endless belt is wound between the sprocket 30 and
To this transfer chain 31, two locking bars 32 that can be engaged and disengaged with the downward hooks 6a formed on the front and rear of the tray 6 are attached by means such as that shown in FIG. 5B.

The distance between the two locking bars 32 is set to be the same as the distance between the front and rear hooks 6a of the tray 6, and when both the left and right transfer chains 31 orbit simultaneously, the two locking bars 32 are It is possible to engage the front and rear downward hooks 6a of the tray 6 placed on the shelf 5 or the load receiving portion 8 to pull the tray 6 into the transfer mechanism 7, or push the tray 6 into the shelf 5 or the load receiving portion 8.

The left and right transfer chains 31 are respectively provided on the support plate 2.
Orbit above and below 6. The first sprocket 29
The third sprocket 3 is attached to both left and right shafts 33
On the other hand, a drive shaft 35 extending in the left-right direction is rotatably supported by bearings 36 on the inner surface of the transfer mechanism 7 at a position near one end thereof. By winding the first drive chain 38 around the sprocket 37 and the third sprocket 34, both the transfer chains 29 are rotated at the same time.

Further, a transfer motor 39 with a speed reducer is fixed to one of the left and right sides of the lower surface of the transfer mechanism 7 near one end, and the fifth sprocket 40 fixed to the rotating shaft of the motor 39 and the drive shaft. The fifth chain 41 is wound around the fifth sprocket 40 ′ attached to the 35.
Therefore, when the motor 39 is rotated in the forward and reverse directions, both transfer chains 29 orbit at the same time and the locking bar 32 moves the front and rear shelving units 2.
Moves toward and away from 3.

Further, an absolute type encoder 43 with a speed reduction mechanism 42 is provided on the side of the lower surface of the transfer mechanism 7 opposite to the motor 29, and a driven shaft provided on an input shaft 44 protruding from the speed reducer 42. Pulley 45 and the drive shaft 3
Timing belt 4 between the drive belt 46 and the drive pulley 46
7 is wrapped around. Transfer mechanism 7 having the above structure
Is moved up and down, and the transfer chain 31 is driven at the stop position to remount the tray 6, thereby loading and unloading the load W from the load receiving section 8 to and from the arbitrary rack 5, or moving the load W between the arbitrary racks 5. You can change it.

The control circuit for raising and lowering the transfer mechanism 7 includes a pulse number of the encoder 25 for raising and lowering at the height of each shelf 5 and the load receiving portion 8 when the transfer mechanism 7 is raised and lowered in a no-load state. However, the teaching count value TF
, TF2, ..., TR1, TR2, .. The elevation of the transfer mechanism 7 is controlled as follows (see FIGS. 12 and 13).

[0021]. When moving the empty transfer mechanism 7 to the luggage loading position, the lifting motor 24 is rotated by the number of pulses corresponding to the difference between the pulse value at the current position and the teaching count value at the target position. Then, the encoder 25
Reaches the target pulse value, the motor 24 stops, and the transfer mechanism 7 stops at the load position. ． The luggage W is drawn into the transfer mechanism 7. At this time, the luggage W
Since the wire 16 extends due to the weight of the motor 24, the motor 24 is rotated by a pulse of α number so that the transfer mechanism 7 is raised by the amount of the extension. In this case, the motor 24 rotates until the transfer mechanism 7 reaches the height detected by the photoelectric switch 12.

.. The pulse number α of the encoder 25 increased by rotating the motor 24 to correct the extension of the wire 16 is subtracted from the actual pulse value CFn or CRn of the encoder 15 after loading, and the pulse after this subtraction is performed. The motor 24 is rotated by the number of rotations corresponding to the number of pulses obtained by subtracting the teaching count values TFm and RFm of the target position (if the value obtained by subtracting the set pulse value of the target position is positive, the transfer mechanism 7 descends). , Rises if negative). Then, the transfer mechanism 7 is accurately moved up and down by the distance between the luggage loading position and the target position, and is accurately positioned at the target position.

In the above-mentioned embodiment, the wire is used as the lifting linear body, but the linear body may be another form such as a chain. Furthermore, the encoder 25
As an absolute type, the rotor of the encoder 25 may be set to rotate once when the transfer mechanism 7 moves from the lower end to the upper end. In this case, the rotation of the rotor in the encoder 25 is transferred. Since the height of the mechanism 7 can be detected, there is an advantage that it is not necessary to return the transfer mechanism 7 to the origin one by one when turning off the power and restarting.

Further, the present invention is not limited to the baggage storage device of the illustrated form, but is, for example, a baggage storage in which shelves are formed in a matrix in the vertical and horizontal directions and the baggage can be taken in and out of an arbitrary shelf by a stacker crane. In the device, it can also be applied to elevating and lowering the load / unload mechanism of a stacker crane.

[0025]

[Brief description of drawings]

[0026]

FIG. 1 is a side view of a luggage storage device according to the present invention.

[0027]

FIG. 2 is a front view of the luggage storage device.

[0028]

FIG. 3 is a sectional view taken along the line III-III of FIG.

[0029]

4 is a plan sectional view taken along the line VI-VI of FIG.

[0030]

FIG. 5A is a conceptual diagram of a transfer mechanism, and FIG. 5B is a diagram showing a state in which a locking bar is attached to a chain.

[0031]

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

[0032]

FIG. 7 is a side view taken along the line VII-VII in FIG.

[0033]

8 is a VIII-VIII view of FIG. 7. FIG.

[0034]

FIG. 9 is a view of the shelf device as viewed from the inside of the luggage storage device.

[0035]

10 is a cross-sectional view taken along line XX of FIG.

[0036]

FIG. 11 is a diagram showing loading and unloading of luggage.

[0037]

FIG. 12 is a diagram showing an operation.

[0038]

FIG. 13 is a flowchart showing a control procedure.

[0039]

[Explanation of symbols]

 W Luggage 1 Luggage storage device 5 Shelf 6 Tray 7 Transfer mechanism 8 Load receiving part 16 Wire as an example of a linear body 24 Lifting motor 25 Encoder for lifting control

Claims (1)

[Claims] 1. A transfer mechanism hung up and down freely by a linear body such as a wire driven by a motor at a front surface portion of a shelf device in which a load receiving portion and a plurality of shelves are provided in a vertically stacked manner. A load is repositioned between the transfer mechanism and an arbitrary shelf or load receiving section, and an encoder for detecting the rotation of the motor as a pulse number is provided to move the transfer mechanism up and down in an unloaded state. Set the number of pulses corresponding to the height of each shelf and the receiving part when the motor is operated, and set the number of pulses corresponding to the difference between the pulse value of the encoder at the starting position and the set pulse value of the target position. In a luggage storage device configured to control a lifting / lowering distance of a transfer mechanism by rotating, a sensor that detects the transfer mechanism at an arbitrary height position of a shelf or a cargo receiving section, and the linear body when the luggage is pulled in Growth And the motor is rotated so that the transfer mechanism is corrected to the height detected by the sensor, and the pulse number corresponding to the rotation of the motor for the correction is calculated from the pulse value of the encoder in the state where the load is loaded. A lifting control device for a transfer mechanism in a luggage storage device, which is provided with a control circuit for rotating the motor by an amount corresponding to the number of pulses of the difference between the subtracted pulse value and the set pulse value of the target position. .