JPH092609A - Load position controller of electric truck - Google Patents

Abstract

PURPOSE: To prevent an automatic safe-deposit box from becoming unusable by controlling the load so that it may stop accurately in the regular stop position of an electric truck, even in case that the braking time of a transfer means for transferring the load onto the electric truck changes. CONSTITUTION: This controller is one which transfers load 12 from a fixed direction onto an electric truck 15, and this is equipped with a transfer means, which detects the existence of the load 12 by both of two pairs of load detector 45a and 45b, and 46a and 46b installed in the transfer direction of the load 12 when the load 12 is loaded on the electric truck 15, and a position correction means which shifts the load intermittently for fixed time at a time in the direction where both of the two pairs of detectors 45a and 45b, and 46a and 46b detect the existence of the load 12, if either of the two pairs of detectors 45a and 45b, and 46a and 46b are not detecting the existence of the load 12, when the load 12 is loaded on the electric truck 15.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric trolley used in, for example, a transport system of a safe box in an automatic safety box, and more particularly to a transfer for transferring a safe box to be loaded on the electric trolley. The present invention relates to an improvement of a cargo position control device which takes measures to take an emergency measure even when an error occurs in the means and the position of a safety deposit box is shifted on an electric trolley.

[0002]

2. Description of the Related Art As is well known, in an automatic safety deposit box,
From the vault containing a large number of safe boxes, to taking out the safe box specified by the user to the safe box work room, and conversely, from the safe box work room to the safe room. 2. Description of the Related Art In order to perform a return operation for transport, a transport system using an electric trolley is used.

[0003] This transport system is installed in a safe box taken out of a shelf where a number of safe boxes are actually placed in a safe room by a stacker crane, or in a work station in a safe box working room. A safe box for return is mounted on an electric trolley, and the electric trolley is self-propelled along a specified rail by the power of a motor driven by a battery mounted inside the electric trolley. Is being transported.

In this case, the safe box is transferred from the stacker crane or the work station to the electric bogie, or the electric bogie, the stacker crane or the work station is transferred from the electric bogie to the stacker crane or the work station. A transfer conveyor is installed to transfer the safe box. Each of these transfer conveyors is selectively driven in a forward direction and a reverse direction by a driving force of a motor, thereby realizing a transfer operation of a safe deposit box.

For example, to describe the operation of transferring the safe deposit box on the stacker crane to the electric trolley, first, the transfer conveyors installed on the stacker crane and the electric trolley move the safe deposit box from the stacker crane to the electric drive, respectively. The vehicle starts traveling in the direction in which it is transferred to the dolly. Therefore, the safe box on the stacker crane is accelerated at a constant acceleration and then moved toward the electric bogie at a constant speed.
Then, at a predetermined timing when the safe box is almost transferred onto the electric cart, the transfer conveyor of the electric cart is automatically braked and its traveling is stopped. Will be stopped on.

However, in the transfer means using the transfer conveyor as described above, the brake is actually applied after the brake is applied, for example, by abrasion of a brake element for applying a brake to the transfer conveyor of the electric bogie. If the time until the transfer conveyor stops running, i.e., the braking time increases, the safe deposit box may overshoot the normal stop position on the electric trolley, and may be stopped, for example, protruding from the electric trolley. become. When the safe deposit box runs off the electric trolley and is stopped, the electric trolley cannot be driven, and the automatic safe deposit box itself becomes unusable.

In this case, it is only necessary to replace the worn braker with a new one. However, after contacting the transport system supplier, a period from when the worker actually comes to replace the braker. Obviously, disabling the automatic safe deposit box is not preferable in terms of actual operation. In particular, safes store valuables, etc. that cannot be replaced by the user, so if the safes become unusable, they may not be able to take out the stored items when needed. If you ca n’t put items you want to keep in the safe,
This will give the user a great deal of anxiety.

[0008] For this reason, an automatic safe deposit box has been conventionally provided in order to cope with an increase in the braking time of the transfer conveyor at least until maintenance such as replacement of the brake element is performed. There is a strong need to develop remedial measures to keep them from becoming unusable.

[0009]

As described above, in the conventional transport system using the electric bogie, the braking time of the transfer means for transferring the load onto the electric bogie is increased due to the wear of the brakes or the like. If the load is not stopped at the proper stop position on the electric bogie, the automatic safety deposit box using the transport system becomes unusable until maintenance such as replacing the brake is performed. Have.

Therefore, the present invention has been made in view of the above circumstances, and even when the braking time of the transfer means for transferring a load on the electric bogie changes, the load is kept at the regular stop position of the electric bogie. Control so that it can be stopped accurately,
It is an object of the present invention to provide a very good load position control device for an electric bogie that can prevent an automatic safety deposit box from becoming unusable.

[0011]

A load position control device for an electric carriage according to the present invention transfers a load onto an electric carriage from a certain direction. When the load is mounted on the electric carriage, the load is transferred. A pair of load detectors installed along the direction both detect the presence of a load, and when the load is mounted on the electric carriage, one of the pair of detectors detects the presence of a load. In a state where the load is not provided, the position correction means is provided for intermittently moving the load in a direction in which the pair of detectors both detect the presence of the load for a fixed period of time.

[0012]

According to the above configuration, when the load is mounted on the electric carriage, the load is detected by the pair of detectors in a state where one of the pair of detectors does not detect the presence of the load. Since both of them are intermittently moved in the direction of detecting the presence of the load for a fixed time, even if the braking time of the transfer means for transferring the load on the electric carriage changes, the load is moved by the electric carriage. It is controlled so that it will be accurately stopped at the regular stop position of
It is possible to prevent, for example, the automatic safe deposit box itself that uses the electric cart as the transport system from becoming unusable.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below in detail with reference to the drawings. FIG. 1 and FIG. 2 are a plan view and a side view, respectively, schematically showing the entire structure of the automatic safe deposit box described in this embodiment. That is, reference numeral 11 in FIG.
Is a vault arranged on the second floor of a building such as a bank. In this vault 11, a plurality of safe boxes 1 are provided.
Safe box storage shelves 13,1 containing 2,12, ...
3 are arranged in two rows.

The safe box storage shelves 13, 13
Between them, a stacker crane 14 is installed.
The stacker crane 14 has a safe box storage shelf 13,
The desired safe box 12 requested to be taken out of the box 13 is taken out and mounted on the electric trolley 15 waiting at the stop position HP in the safe room 11. Then, this electric cart 15
Self-propelled along the rail 16, is moved to a rail 19 laid on a turntable 18 of a rotary elevator 17 and stopped there.

Here, the rotary elevator 17 includes a column 20 installed vertically from the first floor to the second floor,
The lifter 21 is moved up and down along 0 and the turntable 18 is rotatably mounted on the lifter 21. Then, in a state where the electric bogie 15 is waiting at the stop position HP, the lifter 21 is raised to the second floor, and at this time, the turntable 18 has its rails 19 moved in the direction in which the rails 16 of the safe room 11 are laid. As a result, the rails 16 and 19 are connected to each other.

Therefore, the electric trolley 15 on which the safety box 12 is mounted can be moved from the stop position HP to the rail 19 of the rotary elevator 17 via the rail 16. Then, the electric cart 15 is the rotary elevator 1
7 stops on the rail 19 of the turntable 1.
When the lifter 21 is lowered to the first floor, the rail 19 is connected to one end of the rail 22 laid on the first floor by rotating the lifter 21 to the first floor. become. Then, the safe door 23 existing on an extension of the laying direction on the other end side of the rail 22 rises, and the safe box entrance 24 is opened.

At this time, the inside of the safe box entrance 24
That is, the rotating shaft 25 is provided on the side where the rail 22 is laid.
The connecting rail 26 is supported so as to be able to be turned upside down, and the rail 22 is connected to the rail 27 laid outside the safe deposit box entrance 24 by falling down the connecting rail 26. Therefore, the electric trolley 15 on the rail 19 of the rotary elevator 17 is moved to the rail 27 via the rail 22 and the connecting rail 26, that is, through the safe box entrance 24.

Here, the rail 27 is laid so as to straddle a plurality (two in the illustrated case) of safe deposit box working rooms 28 and 29. Work stations 30 and 31 are installed in the safe box work rooms 28 and 29, respectively. The safe box 12 mounted on the electric cart 15 on the rail 27 is transferred to the work stations 30 and 31. It is supposed to be.

For this reason, the electric cart 15 traveling on the rail 27 corresponds to the work station 30 or 31 of the safe deposit box work room 28 or 29 which has requested the removal of the safe deposit box 12 mounted thereon. At that position, the safe deposit box 12 is transferred to the work station 30 or 31, where the operation of removing the desired safe deposit box 12 into the desired safe deposit box working room 28 or 29 is completed.

When the safe box 12 mounted on the electric cart 15 is transferred to the work station 30 or 31, the stop position HP is again moved through the reverse route.
Is returned to the standby state. In this case, when the electric cart 15 passes through the safe box entrance / exit 24 and is moved to the rail 22, the connecting rail 26 is raised, the safe door 23 is lowered, and the safe box entrance / exit 24 is closed. Is done.

The work station 30 or 31
When the safe box 12 placed in the safe vault 11 is returned to the safe box accommodating shelf 13 in the vault 11, the electric car 15 at the stop position HP is to be returned via the same route as above. The safe box 12 is moved from the work station 30 or 31 to the electric trolley 15 by moving to the position corresponding to the work station 30 or 31 where the work station 12 is placed.
Thereafter, the electric trolley 15 is returned to the stop position HP via the reverse route, and the safety box 12 mounted on the electric trolley 15 is accommodated by the stacker crane 14 in the empty space of the safe box accommodating shelf 13, where Then, the return operation of the safe deposit box 12 is completed.

Next, FIGS. 3 (a) and 3 (b) show the outline of the electric bogie 15 described above. 3 (a) and 3 (b)
Here, the case where the electric carriage 15 is at the stop position HP is shown. However, it is needless to say that the case where the electric carriage 15 is on the turntable 18 of the rotary elevator 17 can be similarly described. That is, the electric carriage 15 is mounted on the rail 16 by the wheels 32 installed at the lower part in the figure, and is driven on the rails 16 by rotating the wheels 32.

A pair of transfer conveyors 35, 35 each having an annular belt 34 laid between a pair of rotating bodies 33, 33, are mounted on the upper part of the electric carriage 15 in the drawing. They are arranged side by side perpendicular to the running direction. Then, by rotating the rotating body 33 and running the belt 34 in the direction of the arrow shown in the figure, the safe box 12 is transferred between the electric bogie 15 and the stacker crane 14 or the work stations 30 and 31. Is performed.

Further, a pair of charging shoes 36, 36 are exposed at the center of the bottom surface of the electric carriage 15 in the drawing. On the other hand, at the stop position HP, the pair of charging shoes 36, 3
6, a power supply device 38 having a pair of power supply terminals 37, 37 for charging a battery (to be described later) built in the electric carriage 15 is provided. Therefore, the electric bogie 15 reaches the stop position HP and the charging shoes 36, 3 thereof.
By contacting the power supply terminals 37 with the power supply terminals 37, the battery can be charged.

The power feeding device 38 is also installed on the turntable 18 of the rotary elevator 17,
The battery is charged even during rotation by the rotary elevating machine 17 and during elevating.

It should be noted that the inside of the electric carriage 15 is shown in FIG.
As shown in (a), (b) and (c), a motor 39 provided with a braking mechanism B1 for rotationally driving the wheels 32, and a motor 40 provided with a braking mechanism B2 for rotationally driving the rotating body 33. A pair of stop position detectors 41 and 42 for detecting the stop position of the electric trolley 15, a pair of deceleration position detectors 43 and 44 used for deceleration control of the electric trolley 15, and whether or not the safety box 12 is mounted. Load detector 4 for detecting
5, 46; a control board 47 for comprehensively controlling all operations of the electric trolley 15; an operation display unit 48 for setting and displaying the operation state of the electric trolley 15;
9, 40, stop position detectors 41, 42, deceleration position detectors 43, 44, load detectors 45, 46, control board 47,
A battery 49 for supplying power to the operation display unit 48 and the like are provided.

Here, FIG. 5 shows a control system of the above-mentioned automatic safe deposit box. That is, the centralized control room 5 installed outside the safe room 11 and the safe box working rooms 28 and 29.
At 0, a center unit 51 equipped with a host computer (not shown) is installed in order to totally control the operation of the entire automatic safe deposit box. The center unit 51 includes the vault 11 and the safe box working rooms 28 and 2.
9 is connected to a general control panel 52 for controlling all operations in the general.

That is, the general control panel 52 is a stacker control panel 5 mounted on the stacker crane 14.
3, the stacker crane 14 and each safe box 1
Controls a bar code reader 54 for reading bar codes attached to 2, 12,..., And a stacker crane 14 provided on the safe box storage shelves 13, 13.
No. serving as a temporary storage for the safe deposit box 12 when the vehicle is operated alone.
9 stations 55 are controlled.

The general control panel 52 controls the power supply devices 38 installed on the turntable 18 of the rotary elevator 17 and the stop position HP, and controls the control board 47 installed on the motorized platform 15. It is connected to control the operation of the electric bogie 15. Further, the general control panel 52 controls the opening / closing operation of the safe door 23 via a safe door control panel 56 in addition to controlling the elevating operation of the rotary elevating machine 17 and the rotating operation of the turntable 18. The up / down operation of the rail 26 is controlled. In addition, the central control panel 52 is provided in the safe deposit box operation rooms 28 and 29 via the booth electromagnetic panels 57 and 58, respectively, for the work stations 30 and
31 is controlled.

FIG. 6 shows a detailed configuration of the control board 47 mounted on the electric carriage 15. That is, a pair of stop position detectors 41 and 42 for detecting the stop position of the electric trolley 15, a pair of deceleration position detectors 43 and 44 for detecting the deceleration position of the electric trolley 15, and the safety box 12 Various detection signals respectively obtained from a pair of load detectors 45 and 46 for detecting the presence or absence of
It is supplied to the arithmetic and control circuit 60 via the input circuit 59.

The operation control circuit 60 includes a CP (not shown).
U (Central Processing Unit) is built-in, and based on a control program stored in the memory 61, various data for calculation are stored in the memory 61 and all operations of the electric bogie 15 are comprehensively controlled. Is performed.

That is, the arithmetic and control circuit 60 generates forward and reverse command pulses a and b for rotating and rotating the motor 39 for rotating the wheels 32 forward and backward. These forward and reverse rotation command pulses a and b are supplied to a drive circuit 63 for rotating and driving the motor 39 via an output circuit 62, where a pulse width modulation system using the forward and reverse rotation command pulses a and b is provided. , The forward and reverse driving of the motor 39, that is, the forward and reverse traveling of the electric bogie 15 is realized.

In this case, the motor 39 has a rotation speed of D
It is measured by a C (direct current) type tacho generator 64. The measurement result is converted into digital data by an A / D (analog / digital) conversion circuit 65 and supplied to an arithmetic and control circuit 60 via an input circuit 66 to control the traveling speed of the electric bogie 15. To be served. The drive circuit 63 also controls the braking mechanism B1.

The arithmetic and control circuit 60 includes a motor 4 for rotating the rotating body 33 of the transfer conveyor 35.
A control signal c for causing 0 to rotate forward or reverse is generated, and the control signal c is supplied to a drive circuit 68 for rotating and driving the motor 40 via an output circuit 67.
Here, the forward rotation and the reverse rotation of the motor 40 by the control signal c, that is, the forward and reverse running of the belt 34 are realized. The drive circuit 68 also controls the braking mechanism B2.

Further, the operation information set in the operation display section 48 is transmitted to the arithmetic and control circuit 60 through the input / output circuit 69.
The control information is supplied to the operation display unit 48 via the input / output circuit 69 and displayed on the operation display unit 48 while being controlled so that the operation set and performed is performed. Further, the electric trolley 15 is provided with an optical communication unit 70 for receiving control information based on light generated from the overall control panel 52 when the electric trolley 15 is at the stop position HP or on the turntable 18.

The control information received by the optical communication unit 70 is transmitted to the arithmetic and control circuit 60 via the input / output circuit 71.
, The electric bogie 15 is controlled based on the control information of the general control panel 52. The operation control circuit 5
The output information from 2 is converted into an optical signal by the optical communication unit 70 via the input / output circuit 71 and sent to the general control panel 52.

Further, the power supply terminal 3
The power supplied to the charging shoes 36, 36 via the power supply 7, 37 is used to charge the battery 49 via the battery control circuit 72, and is supplied to each circuit unit as power supply power. In this case, the battery control circuit 72 is connected to the arithmetic control circuit 60 via the input / output circuit 73, and is controlled by the arithmetic control circuit 60.

Here, the operation of transferring the safe deposit box 12 between the electric carriage 15 and the stacker crane 14 waiting at the stop position HP will be described with reference to FIG. In addition, the electric trolley 15 and the work stations 30, 3
The operation of transferring the safe deposit box 12 to the safe box 12 is the same, and the description is omitted.

That is, as shown in FIG. 7A, the electric carriage 15 is provided with a pair of transfer conveyors 35, 35. Further, a pair of transfer conveyors 14b and 14 are also provided on the safe box mounting table 14a of the stacker crane 14.
b, and a pair of transfer conveyors 14
The safe box 12 taken out of the safe box storage shelf 13 is mounted on the safe boxes 12 and 14b.

The safe deposit box mounting base 14a of the stacker crane 14 is on the right side of the electric carriage 15 in the figure, and the transfer conveyors 14b and 14b are in series with the transfer conveyors 35 and 35 of the electric carriage 15. After the transfer conveyors 14b and 35 are both moved in the direction indicated by arrow A after being controlled to the positions arranged in line, the safe deposit box 12 is moved from the safe deposit box mount 14a toward the electric carriage 15. Will be.

In this case, the safe deposit box 12 is moved toward the electric bogie 15 at a constant speed after being accelerated at a constant acceleration. Then, at a predetermined timing when the safe deposit box 12 is almost transferred onto the electric carriage 15, the transfer conveyors 35, 35 of the electric carriage 15 are automatically braked to stop the traveling, and the safe deposit box is stopped. Box 12 with electric trolley 1
By stopping on the safety box 5, the transfer of the safe box 12 from the safe box mounting table 14a to the electric trolley 15 is completed here.

On the other hand, the electric carriage 15 is provided with the above-mentioned load detectors 45, 46 at both ends of the transfer conveyors 35, 35 along the traveling direction. Each of the load detectors 45 and 46 includes a light emitting unit 45.
a, 46a and light receiving portions 45b, 46b, and when the irradiation light from the light emitting portions 45a, 46a is blocked by the safe deposit box 12 and is not received by the light receiving portions 45b, 46b,
An ON signal indicating that the safe box 12 is in an active state is generated, and irradiation light from the light emitting units 45a and 46a is
OF, which indicates whether the safe deposit box 12 is in an inactive state when the light is received by the light receiving units 45b and 46b without being interrupted by the
An F signal is being generated.

Then, the arithmetic control circuit 60 operates as shown in FIG.
As shown in (b), in a state where the pair of unloading detectors 45 and 46 both detect the safe deposit box 12, that is, in a state where the pair of unloading detectors 45 and 46 both generate an ON signal, the lending is performed. When the safe box 12 is stopped, it is determined that the safe box 12 is mounted at the regular stop position on the electric trolley 15 without displacement.

However, the actual movement of the transfer conveyors 35, 35 after the braking is applied, for example, by the wear of a brake (not shown) for applying a brake to the transfer conveyors 35, 35 of the electric trolley 12. When the time until stopping, that is, the braking time is increased, the safety box 12 is stopped past the normal stop position on the electric trolley 15.

In other words, when the safe box 12 is transported from the right side of the electric cart 15 in the direction indicated by the arrow A, as shown in FIG. The vehicle is stopped in a state in which it protrudes from the electric cart 15. Then, when this occurs, the load detector 46
Generates an OFF signal, the arithmetic and control circuit 60 cannot issue a permission to run the electric trolley 15, and the automatic safety deposit box becomes unusable.

When the safe deposit box mounting table 14a of the stacker crane 14 is arranged on the left side of the electric trolley 15 in FIG. 7A, both the transfer conveyors 14b and 35 are indicated by arrows B. Other operations and control thereof are the same as those described above, except that the vehicle is caused to travel in the direction. Then, in this case, when the braking time of the transfer conveyors 35, 35 is extended, as shown in FIG. 8B, the safe box 12 is stopped with the right end protruding from the electric carriage 15. In other words, the OFF signal is generated from the load detector 45, so that the automatic safe deposit box cannot be used.

Therefore, when the position of the safe deposit box 12 transferred on the electric cart 15 is shifted as described above, the arithmetic and control circuit 60 sets the shifted safe deposit box 12 to the normal stop position. In the returning direction, the transfer conveyors 35, 35 are intermittently driven for a very short period of time, and the safe box 12
Is controlled to correct the position.

For example, when the safe box 12 is stopped in the state shown in FIG. 8A, the transfer conveyors 35, 35 are set to 0 so that the safe box 12 is moved to the right side in the figure. .0
After running for 5 seconds and then braking and stopping,
The first minute correction operation of determining whether or not both the ON detectors 45 and 46 generate an ON signal is described below.
The process is repeatedly executed until the safe deposit box 12 is stopped at a position where both the unloading detectors 45 and 46 detect the safe box.

When the first minute correction operation is repeated n times, ON signals and OFF signals are output from the load detectors 45 and 46, respectively. In the state where the minute correction operation has been completed, the OFF signal and the ON signal
If a signal is output, that is, if the safe box 12 has gone too far to the state shown in FIG.
The arithmetic and control circuit 60 causes the transfer conveyors 35 and 35 to travel for 0.04 seconds so as to move the safe deposit box 12 to the left side in the drawing, and then stops by applying a brake. A second minute correction operation of determining whether or not both ON signals are generated from the detectors 45 and 46 is performed.

After that, the first minute correction operation and the second minute correction operation are alternately and repeatedly executed one by one until both of the load detectors 45 and 46 generate an ON signal. Then, when the number of correction operations including the first fine correction operation and the second fine correction operation becomes five, the drive time T1 (= 0.0) of the transfer conveyors 35 in the first fine correction operation. 05 seconds) and a drive time T2 (0.04) of the transfer conveyors 35 in the second minute correction operation.
Second) is reduced to そ れ ぞ れ, and the first and second
Are repeatedly executed.

When the safe deposit box 12 is first stopped in the state shown in FIG.
First, the safety box 12 is moved to the left side in the figure.
Is repeatedly executed. When the n-th first minute correction operation is completed, the OFF signal and the ON signal are output from the presence detectors 45 and 46, respectively, and the next (n + 1) -th first minute correction operation is performed. Turned on from the load detectors 45 and 46 when the operation is completed
Signal and OFF signal are output, that is, n
By the first minute correction operation performed next to the second time, FIG.
If the safe deposit box 12 has gone too far to the state shown in FIG. 3A, the arithmetic and control circuit 60 executes the second minute correction operation so that the safe deposit box 12 is moved to the right side in the figure. I do.

After that, the first minute correction operation and the second minute correction operation are alternately and repeatedly performed once each time until both of the load detectors 45 and 46 generate an ON signal. Then, when the number of correction operations including the first fine correction operation and the second fine correction operation becomes five, the drive time T1 (= 0.0) of the transfer conveyors 35 in the first fine correction operation. 05 seconds) and a drive time T2 (0.04) of the transfer conveyors 35 in the second minute correction operation.
Second) is reduced to そ れ ぞ れ, and the first and second
Are repeatedly executed.

Here, FIG. 9 shows the transfer conveyors 35 and 3.
5 shows the relationship between the traveling time of the safe deposit box 12 and the speed. That is, the safe deposit box 12 is moved from the stop position of the stacker crane 14 placed on the safe deposit box mounting table 14a toward the electric carriage 15 at an acceleration α (= 1.5 m / s).
^When it is accelerated at ² ) and reaches speed V (= 8 m / min), it is transferred at a constant speed thereafter. The time t required for the safe box 12 to reach the speed V from the stop state is V = αt = 8 m / min = 0.133 m / s, so that t = V / α = 0.133 / 1.5 = 0. .08s.

Here, the transfer conveyors 35, 35
Is normally applied, the transfer conveyor 35,
When the vehicle 35 is driven for 0.05 seconds and then braked to stop, the acceleration time and the braking time are the same 0.05 seconds. Therefore, the moving distance X1 of the safe deposit box 12 is as follows: X1 = (1/2) αt ² × 2 = (1/2) × 1.5 × (0.05) ² × 2 = 3.75 mm

When the transfer conveyors 35, 35 are normally braked, the transfer conveyors 35, 35 are driven for 0.04 seconds, and then stopped when braking is applied. The acceleration time and the deceleration time are the same 0.04
Seconds. Therefore, the moving distance X2 of the safe deposit box 12 is as follows: X2 = (1/2) × 1.5 × (0.04) ² × 2 = 2.4 mm

On the other hand, since the braking time of the moving conveyors 35, 35 has been extended, the moving distance L1 of the safe deposit box 12 when the first minute correction operation is performed becomes 0.05 seconds from the stop state. Moving distance x ₁ accelerated by acceleration α
And the travel distance x ₂ from when the brake is applied until it stops
Is obtained by adding That is, the moving distance x ₁ is as follows: x ₁ = (１ ／) αt ² = (１ ／) × 1.5 × (0.05) ² = 1.88 mm

The speed Vo of the safe deposit box 12 at the time when the acceleration is accelerated by the acceleration α for 0.05 seconds is as follows: Vo = αt = 1.5 × 0.05 = 0.075 m / s, and the moving distance x ₂ is the gravitational acceleration g based on attrition brake shoe when (= 9.8m / s ²⁾ the change in the running resistance for the coefficients μ and _{(= 0.02), x 2 =} Vo 2 / 2μg = (0.075) ² / ( ² × 0.02 × 9.8) = 14.3 mm Therefore, the movement distance L1 of the safe deposit box box 12 in the case of performing the first micro-modification operation becomes _{L1 = x 1 + x 2 =} 1.88 + 14.3 = 16.2mm.

Similarly, the movement distance L2 of the safe deposit box 12 when the second minute correction operation is performed due to the extension of the braking time of the transfer conveyors 35, 35 is: x ₁ = (２) × 1.5 × (0.04) ² = 1.2 mm Vo = 1.5 × 0.04 = 0.06 m / s x ₂ = (0.06) ² /(2×0.02×9.8 ) = 9.2 mm L2 = 1.2 + 9.2 = 10.4 mm

In short, when the first minute correction operation is performed, the safe deposit box 12 is moved by 16.2 mm each time, and when the second minute correction operation is performed, the safe box 12 is moved. Each time it is moved 10.4 mm.

FIGS. 10 to 13 show flowcharts summarizing the operation of correcting the positional displacement of the safe deposit box 12 by the above-described minute correction operation. First, when the safe deposit box 12 is transferred to the electric trolley 15 and started in a stopped state (step S1), the arithmetic and control circuit 60 determines in step S2 that both of the load detectors 45 and 46 are in contact with each other. It is determined whether or not the ON signal has been generated. If it is determined that the ON signal has not been generated (NO), in step S3, it is determined whether or not the ON signal and the OFF signal have been generated from the load detectors 45 and 46, respectively. Is determined.

Then, ON from the load detectors 45 and 46
Signal and the OFF signal are generated (YE
S), that is, when it is determined that the state is as shown in FIG. 8A, the arithmetic control circuit 60 determines in step S4
After driving the transfer conveyors 35, 35 for a drive time T1 (0.05 seconds, that is, corresponding to a movement distance of 16.2 mm) so that the safe box 12 moves to the right, there is a load in step S5. It is determined whether or not the ON signal is generated from the detector 46.

In this case, if the ON signal is not generated from the load detector 46 (NO), that is, if it is determined that the state shown in FIG.
In step S6, the transfer conveyors 35, 35 are set to 0.
After the standby state for 5 seconds, the process returns to step S4. Thereby, the transfer conveyors 35, 35 are set at 0.05
The first minute correction operation of moving the unit rightward in units of seconds is repeated until an ON signal is generated from the presence detector 46.

On the other hand, in the above step S3, the load detector 4
If it is determined that the ON signal and the OFF signal are not respectively generated from NOs. 5 and 46 (NO), that is, if it is determined that the state is as shown in FIG. 8B, the arithmetic control circuit 60 determines in step S7 The transfer conveyors 35, 35 are driven for a drive time T1 (0.0) so that the safe box 12 moves to the left.
After driving for 5 seconds (corresponding to the moving distance of 16.2 mm), it is determined in step S8 whether an ON signal is generated from the load detector 45 or not.

In this case, if the ON signal is not generated from the load detector 45 (NO), that is, if it is determined that the state is still as shown in FIG.
Sets the transfer conveyors 35, 35 to 0.
After the standby state for 5 seconds, the process returns to step S7. Thereby, the transfer conveyors 35, 35 are set at 0.05
The first minute correction operation of moving the block to the left in seconds is repeated until an ON signal is generated from the load detector 45.

When it is determined in step S5 that an ON signal has been generated from the load detector 46 (YES), or in step S6, an ON signal has been generated from the load detector 45 (YES). ),
After stopping the operation of the transfer conveyors 35, 35 in step S10, the arithmetic and control circuit 60 proceeds to step S11.
Then, it is determined whether or not both ON detectors 45 and 46 generate an ON signal.

In this case, both the load detectors 45, 46
If it is determined that both ON signals are not generated (NO), the arithmetic control circuit 60 sets the driving time T1 of the transfer conveyors 35, 35 in the first minute correction operation to 0.05 in step S12. Seconds, and the transfer conveyor 35 in the second minute correction operation performed later,
After setting the driving time T2 of 35 to 0.04 seconds, in step S13, the safe deposit box 12 before step S10.
It is determined whether or not the transfer direction is rightward.

If it is determined that the direction is not the right direction (NO), the arithmetic and control circuit 60 moves the transfer conveyors 35 and 35 first so that the safe box 12 moves rightward in step S14. Drive time T1 (0.05 seconds)
Just drive. If it is determined in step S13 that the direction is rightward (YES), the arithmetic and control circuit 60 moves the transfer conveyors 35 and 35 forward in step S15 such that the safe deposit box 12 moves leftward. Is driven for the driving time T1 (0.05 seconds) set in the above.

As described above, in step S14 or S
When the process of No. 15 is completed, the arithmetic control circuit 60 sets the transfer conveyors 35, 35 in a standby state for 0.5 seconds in step S16, and increases the number of correction operations by +1 in step S17.
After that, in step S18, both of the load detectors 45,
It is determined from step 46 whether an ON signal has been generated. Here, if it is determined that no correction has occurred (NO), the arithmetic and control circuit 60 determines whether or not the number of correction operations has reached five in step S19, and the number of correction operations has not reached five (NO). If it is determined in step S20, it is determined in step S20 whether or not the transfer direction of the safe deposit box 12 before step S16 is rightward.

If it is determined that the direction is not rightward (NO), the arithmetic and control circuit 60 moves the transfer conveyors 35 and 35 first so that the safe box 12 moves rightward in step S21. Drive time T2 (0.04 seconds)
Just drive. If it is determined in step S20 that the direction is to the right (YES), the arithmetic and control circuit 60 moves the transfer conveyors 35 and 35 forward in step S22 such that the safe deposit box 12 moves to the left. Is driven only for the drive time T2 (0.04 seconds) set in the above.

As described above, in step S21 or S
When the process of step 22 is completed, the arithmetic control circuit 60 sets the transfer conveyors 35, 35 in a standby state for 0.5 seconds in step S23, and increases the number of correction operations by +1 in step S24.
After that, the process returns to step S11. That is,
By the series of processes shown in steps S11 to S24, the first minute correction operation and the second minute correction operation are repeatedly and alternately executed one by one.

If it is determined in step S19 that the number of correction operations has reached five (YES), the arithmetic control circuit 60 determines in step S25 that the drive time T
It is determined whether or not T1 and T2 have been changed, and if it is determined that no change has been made (NO), step S26 is performed.
Then, the transfer conveyors 35, 35 are driven for 0.1 second so that the safe deposit box 12 before the correction operation after step S11 is started moves in the direction of correcting the position.

Thereafter, the arithmetic and control unit 60 determines in step S
27, the transfer conveyor 3 in the first minute correction operation
The driving time T1 of the transfer conveyors 35 and 35 in the second minute correction operation is set to 0.02 second of 1/2, while the drive time T1 of the transfer rollers 35 and 35 is set to 0.025 second of 1/2. After that, the process returns to the process of step S2, and the position correction by the first and second minute correction operations is performed again based on the changed drive times T1 and T2.

In step S25, the driving times T1, T
If it is determined that the change of No. 2 has been made (YES), the arithmetic and control circuit 60 determines in step S28 that the abnormality information indicating that an abnormality has occurred in the operation of correcting the position of the safety box 12 on the electric trolley 15 has occurred. Is sent to the center unit 51, and the process is terminated (step S29).

Further, steps S2, S11,
If it is determined in S18 that both of the load detectors 45 and 46 have generated ON signals (YES), the arithmetic and control circuit 60 proceeds to step S30 and returns to step S30.
It is determined whether or not a series of position correction operations shown in 3 to S27 are being performed.

If it is determined that the position correction operation is being performed (YES), the arithmetic and control circuit 60 sends the position correction alarm information to the center unit 51 in step S31, and then in step S32, And the operation is terminated (step S33). Step S
If it is determined in step 30 that the position correction operation is not performed (NO), the arithmetic and control circuit 60 directly executes step S32.
Is transferred to the process.

Therefore, according to the configuration as in the above-described embodiment, when a position shift occurs in the safe deposit box 12 transferred on the electric trolley 15, first, the first position is corrected in a direction to correct the position shift. The micro-correction operation is repeatedly performed, and when the correction causes overshoot, the first and second micro-correction operations are alternately performed once each. When the number of times reaches five, the first and second micro-correction operations are performed. Driving times T1 and T2 for the fine correction operation
Are respectively reduced to 、, and the first and second minute correction operations are repeatedly executed again. Therefore, the braking time of the transfer means for transferring the safe deposit box 12 onto the electric trolley 15 changes. Even in this case, the safe deposit box 12 is controlled so as to be accurately stopped at the regular stop position of the electric trolley 15, thereby preventing the automatic safe deposit box from becoming unusable.

Next, FIGS. 14 and 15 are a plan view and a side view, respectively, schematically showing the entire structure of another automatic safe deposit box to which the present invention is applied. That is, the same parts as those in FIGS. 1 and 2 are denoted by the same reference numerals and described.
The safe box 12 taken out by the stacker crane 14 is mounted on a rail 7 laid on a lifter 75 of an elevator 74.
The electric cart 15 is transferred to the electric cart 15 which is waiting on 6. Then, the lifter 75 of the elevator 74 descends to the first floor, and the rail 76 on the lifter 75 is connected to the rail 22 laid on the first floor.

As described above, after the safe door 23 is raised and the safe box entry / exit port 24 is opened, the connecting rail 26 is lowered, thereby bringing the rail 22 and the safe box into / out. The rails 27 laid outside the opening 24 are connected to each other, and the electric bogie 15 is moved to the rails 27 through the safe box entrance 24. Then, the safe box 12 mounted on the electric trolley 15 is transferred to the work station 30 of the safe box working room 28, and the operation of taking out the desired safe box 12 is completed here.

When returning the safe box 12 placed at the work station 30 to the safe box storage shelf 13 of the vault 11, the safe box 12 is returned to the work station 3.
Transfer from 0 to electric cart 15. And electric cart 1
5 is returned to the lifter 75 via the reverse route to the above, and the lifter 7
5 is raised to the second floor, the safe box 12 mounted on the electric trolley 15 is accommodated in the empty space of the safe box housing shelf 13 by the stacker crane 14, and the return operation of the safe box 12 is performed. Will be terminated. It should be noted that the present invention is not limited to the above-described embodiment, and can be implemented with various modifications without departing from the scope of the invention.

[0080]

As described in detail above, according to the present invention,
Even if the braking time of the transfer means that transfers the load on the electric trolley changes, the control is performed so that the load can be accurately stopped at the proper stop position of the electric trolley, and the automatic safe deposit box can not be used It is possible to provide an extremely good load position control device for an electric bogie that can prevent the occurrence of the load.

[Brief description of drawings]

FIG. 1 is a plan view schematically showing an entire configuration of an automatic safe deposit box, showing one embodiment of a load position control device for an electric bogie according to the present invention.

FIG. 2 is a side view schematically showing the entire configuration of the automatic safe deposit box.

FIG. 3 is an exemplary view showing an outline of an electric trolley used for the automatic safe deposit box;

FIG. 4 is a view for explaining a detailed internal configuration of the electric bogie.

FIG. 5 is a block diagram showing a control system of the automatic safe deposit box.

FIG. 6 is a block diagram showing details of a control board mounted on the electric bogie.

FIG. 7 is a view for explaining a transfer operation of the safe deposit box between the electric cart and the stacker crane.

FIG. 8 is a view for explaining a state of the position of the safe deposit box and a correcting operation thereof.

FIG. 9 is a view for explaining the relationship between the traveling time and the speed of the safe deposit box in the correction operation.

FIG. 10 is a flowchart for explaining the operation of correcting the positional displacement of the safe deposit box.

FIG. 11 is a flowchart for explaining the operation of correcting the positional displacement of the safe deposit box.

FIG. 12 is a flowchart for explaining the operation of correcting the positional displacement of the safe deposit box.

FIG. 13 is a flowchart for explaining the operation of correcting the positional displacement of the safe deposit box.

FIG. 14 is a plan view schematically showing the entire configuration of another automatic cash box to which the present invention is applied.

FIG. 15 is a side view schematically showing the entire configuration of the other automatic safe deposit box.

[Explanation of symbols]

11 ... safe room, 12 ... safe box,
13: safe box storage shelf, 14: stacker crane, 15: electric bogie, 16 ...
Rails, 17: rotary elevator, 18: turntable, 19: rail, 20: support, 21: lifter, 22: rail, 23: safe door, 24: safe box entrance and exit, 25: rotating shaft, 26
... connecting rail, 27 ... rail, 2
8, 29 ... safe box work room, 30, 31 ... work station, 32 ... wheels, 33 ... rotating body,
34 ... belt, 35 ... transfer conveyor,
36: charging shoe, 37: power supply terminal,
38: power supply device, 39, 40: motor,
41, 42 ... Stop position detector, 43, 44 ... Deceleration position detector, 45, 46 ... Load detector, 47 ...
Control board, 48 ... operation display section, 49
... battery, 50 ... central control room, 5
1 ... Center unit, 52 ... General control panel,
53: Stacker control panel, 54: Bar code reader, 55: No. 9 station, 56: Safe door control panel, 57, 58: Booth electromagnetic panel, 59
... input circuit, 60 ... arithmetic control circuit, 61
... Memory, 62 ... Output circuit, 63 ...
Drive circuit, 64 ... DC type tachogenerator, 65 ...
A / D conversion circuit, 66 ... Input circuit,
67 ... output circuit, 68 ... drive circuit,
69: input / output circuit, 70: optical communication unit,
71: input / output circuit, 72: battery control circuit,
73: input / output circuit, 74: elevator,
75 ... lifter, 76 ... rail.

Claims (5)

[Claims] 1. A load is transferred from a fixed direction to an electric carriage, and when the load is mounted on the electric carriage, a pair of load detectors installed along the transfer direction of the load, When both the transfer means for detecting the presence of the load and the load are mounted on the electric carriage, the load is loaded in a state where one of the pair of detectors does not detect the presence of the load. ,
A load position control device for an electric truck, comprising: position correction means for intermittently moving the pair of detectors in a direction for detecting the presence of the load for a fixed period of time. 2. The position correcting means detects the load by the other detector in a state where one of the detectors detects the load and the other detector does not detect the load. And a correction control unit that repeats the correction operation by the first correction unit until the load is detected by the other detector, and the correction control unit. Thus, when the other detector detects the load and one of the detectors does not detect the load, the load is moved in the direction detected by the one detector for a certain period of time. The load position control device for an electric carriage according to claim 1, further comprising: a second correction unit that moves the load. 3. The position correction means sets a time for moving the load by the second correction means shorter than a time for moving the load by the first correction means. The load position control device for an electric trolley according to claim 1. 4. The position correcting means performs the first correcting operation and the first correcting operation in a state where the second correcting means is executed and neither of the pair of detectors detects the presence of the load. The load position control device for an electric truck according to claim 3, wherein the correction operation (2) is alternately repeated. 5. The position correcting means determines the number of times the first and second correcting operations are performed in a state where the first correcting operation and the second correcting operation are alternately repeated. The time for moving the load by the first correction means and the time for moving the load by the second correction operation in a state in which a predetermined number has been reached are respectively shortened. A load position control device for the electric carriage described.