JPS62178102A - Controlling system for commodity carrying system - Google Patents

Abstract

PURPOSE:To prevent a carrier from being damaged or generating accident, by setting a gate device for checking the entrance of the carrier when a vertically carrying section is closed near the upper end section. CONSTITUTION:By a gate device G set on the upper side of a vertical section R2, a double wing door 8 is formed to be opened in the upper direction of the vertical section R2, and is provided with a stopper 9, and is formed not to be opened in the lower direction. When the vertical section R2 is not included in the running range of a carrier C, then the door 8 of the gate device G is closed, and when the vertical section R2 is included in the running range of the carrier C, then the door 8 is so designed to be opened. Also in case of service interruption, the door 8 of the gate device G is closed. As a result, the carrier does not enter the vertical section arbitrarily, and the vertical section is not dropped by the carrier.

Description

[Detailed Description of the Invention] [Summary] The present invention provides an article conveyance system comprising a conveyance path including a vertical conveyance portion, a carrier that moves on this conveyance path and conveys an article, and a controller that controls the movement of this carrier. In order to prevent the carrier from accidentally entering the vertical conveyance section from the hill, a gate device is provided near the end of the vertical conveyance section to prevent the carrier from entering when the vertical conveyance section is in the closed state. When the travel range of the carrier does not include the vertical transport portion, the gate device is controlled to be in a closed state.

[Industrial application field]

The present invention relates to a control system for an article conveyance system in which a carrier that conveys an article is controlled by a controller and moved on a conveyance path, and in particular, the present invention relates to a control system for an article conveyance system in which a carrier that conveys articles is controlled by a controller and moved on a conveyance path, and in particular, 4T! The present invention relates to a control method for an article conveyance system that moves carriers on a conveyance path including a direct conveyance section.

[Conventional technology]

Linear motor cars as means for transporting goods have attracted attention in recent years because they are capable of high-speed transport because there is no need to mount a power source on the carrier, which is a moving body. As shown in FIG. 3, this article conveyance system includes a plurality of stations STI each having stators S1 to Sn on a conveyance path R.
~S T n is provided.

The carrier C is provided with a rotor plate, and the magnetic force generated by the excitation of the stator S is applied to the rotor plate of the carrier C to increase the driving force to the carrier C or to stop the carrier C.

Control of such a system is performed by a controller 1, which is a system controller 2.
．． The linear motor controller is composed of 3゜station controllers SCI to SCN, and the system controller 2 is composed of 3° station controllers SCI to SCN. ! The linear motor controller 3, which controls the entire system according to travel requests from the equipment, controls each station ST+-STn based on the transport command from the system controller 2, and the station controller SC+"SC"
n is constituted by a microprocessor and is provided in each station ST+ to STo, and controls the excitation of the stators S1 to Sn of each station ST+ to STn in response to a command from the linear motor controller 3 via a cable 4. , which controls the movement of carrier C.

The operation modes of the station controllers SCI to SCn are a middle mode in which no excitation control is performed, and a middle mode in which no excitation control is performed.
There is a start mode that performs start control, an acceleration/deceleration mode that performs acceleration/deceleration control, and a stop mode that performs stop control.
One of the operating modes is set according to a command from the linear motor controller 3.

On the other hand, at each station STI to 5Trl, the carrier C is started from the starting position (for example, station 5TI) in the set operation mode, and the stators of the stations on the way are controlled to accelerate and decelerate to make the carrier C pass through these stations. , deceleration control is performed to enable non-contact stopping at a predetermined stop position (for example, station 5Tn).

As shown in FIG. 4, this station ST has a pair of rails 5.6 fixed on both sides of a conveyance path H, and a stator S is provided between the rails 5.6 at each station. In the station ST, six transmission type photoelectric sensors SN+ to SN6 are provided on the rail 5. Among them, four sensors SN+-5Na are provided along the front-rear direction of the stator S, and the other two sensors SN5 to SN6 detect the slit portion 7 provided in the carrier C to detect the speed of the carrier C. are the above four sensors SN,
~SNa, two sensors SN7. It is arranged on the hill of SN3 to detect whether carrier C is present at station ST. In order to control the travel of carrier C in this way, each station ST
Then, it is checked whether carrier C exists in stage ten ST, and the speed of carrier C is measured.

[Problem that the invention seeks to solve]

By the way, in the above-mentioned article conveyance system, for example, when articles are conveyed vertically between different floors of a building, there is a section 1 in the conveyance path R as a redirect conveyance section, as shown in FIG. For example, water f part R1 and water -1L part R3
The vertical portion R2 that extends directly between the two sides must be sunk, and the carrier C must be passed through this portion.

In such a case, the vertical portion R?
In this case, a stator S is provided in the same way as the stations ST in the water mower portions R1 and R3, and the carrier C is accelerated in the opposite direction so that the carrier C is moved in the vertical direction. When moving the carrier C from above to below, if the carrier C is allowed to fall freely by gravity, the speed of the carrier C will be too high, which may damage the carrier C or the conveyance path R, or cause the carrier C to fall freely. Since the loaded article will jump out of the carrier C, the controller 1 excites the stator S provided in the vertical part to accelerate the carrier C upward and brakes it so that the carrier C does not exceed a predetermined speed. I have to.

In such an article conveyance system, when the carrier C enters this vertical portion R2 in a controlled state, the speed does not exceed the predetermined speed as shown in h, and it always passes through 1F.
Is the carrier C running out of control and moving vertically in an uncontrolled manner? If the stator S does not apply braking, the carrier C will fall freely, causing damage to the carrier C and the transport path R, or causing the loaded articles to fall, as described in E.

[L stage for solving problems]

The present invention solves the above problems and prevents the carrier from accidentally entering the vertical conveyance section from the E direction, thereby preventing damage to the carrier. In an article conveyance system consisting of a carrier that moves on this conveyance path 1- and conveys an article, and a controller that controls the movement of this carrier, when the carrier enters the closed state near the upper end of the straight conveyance section described in 1. A gate device is provided to prevent this, and the controller sets the gate device to the closed state iE when the vertical transport portion is not included in the travel range of the carrier.

〔Example〕

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a control system for an article conveyance system according to the present invention will be described based on the drawings.

1 to 3 show an embodiment of a control system for an article conveyance system t according to the present invention. In this embodiment, the conveying path R has a vertical portion R2 between the water portion R1 and the water i portion R, as in the conventional case, and this vertical portion R2 has a water portion R2 as in the conventional case. A stator S similar to that provided at station ST of portions R+ and R1 is provided.

The carrier C is provided with a rotor plate that constitutes a linear motor together with the stator S, and the excitation state of the stator S is controlled by a controller l.

In this embodiment, a gate device G is provided on one side of the stacked portion R2 as shown in FIG. 4, and this gate device G opens the double door 8 toward the L direction of the vertical portion R2. In addition, a stopper 9 is provided to prevent the opening from opening in the direction. A drive device (not shown) for opening and closing the door 8 is attached to the door 8. This drive device is a controller l
This control is to close the door 8 of this gate device G when the vertical portion R2 is not included in the travel range of the carrier C, and to close the door 8 when the vertical portion R2 is not included in the travel range of the carrier C. In addition to being opened only when the straight portion R2 is included, the door 8 of the gate device 21G is also closed in the event of a power outage. The control state of the controller l will be explained according to the flowchart shown in FIG. determines whether this carrier C passes through the gate device G, and if the carrier C does not pass through the gate device G, closes the gate device G.
Station S where carrier C stops by holding &
After transmitting a stop command to T and an acceleration/deceleration command to the station ST that carrier C passes through, and confirming that the mode of each station ST is the same as the specified one,
A start command is sent to the station ST where carrier C starts, and carrier C starts. Carrier C is accelerated and decelerated at station ST on the way and stops at station S.
Stop with T. Controller is stopped
Confirm that carrier C is stopped at time T and end this operation.

When the carrier C passes through the gate device G, the door 8 of the gate device G is opened and each station ST
Then, the stator S is set to a predetermined mode and confirmed, and the carrier C is made to run. After that, each station ST,
A sense command is issued to the stator S to confirm whether the carrier C has passed, and after confirming that the carrier C has passed the gate device G, the gate door 8 is closed and the carrier C is confirmed to have stopped. Tighten the operation.

Further, in this embodiment, the door 8 of this gate device G is closed even during a power outage, but this is because the third
This is realized by a control circuit 10 as shown in the figure. This is done by lowering the voltage of the current from the power supply 11.12 (in this embodiment, toov width phase and 200V three-phase) that should be monitored for power outage using transformers 13 and 14, and then rectifying it using rectifiers 15 and 16. 17 and 18, this is applied to the base voltage of a predetermined reference power source 19.20 and a comparator 21.2.
2, when the voltage of the power supply is lower than a predetermined base voltage, the gate device G is closed by driving the motor 24 under the control of the gate device control device.

Note that the reference numeral 25 in Figure 1 is an OR that receives signals from two power sources.
27 is a battery that operates this circuit; and 28 is a charging device that charges this battery 27.

Further, reference numeral 26 is provided in front of the gate device control device 23, and the gate device G is opened and closed by the opening/closing command of the gate device G based on the operation status of the carrier C mentioned above and the opening/closing command of the gate device G based on this power outage. It is a judgment device that determines the This determining device 26 determines the open/closed state of the gate device based on the following table.

Therefore, according to this embodiment, since the gate device G is in a closed state when the carrier C is not traveling or during a power outage, the carrier C does not enter the vertical part unnecessarily and the carrier C does not fall down the vertical part. Therefore, damage to the carrier C2 transport path R does not occur.

In this embodiment, the opening/closing of the gate device 21G is determined based on the running state of the carrier C and information on the stoppage, but it may be determined based on other information.

〔Effect of the invention〕

As explained above, one aspect of the present invention is to provide a gate device on the E side of the 6 direct conveyance portion of the conveyance path, control this gate device with a controller, and set the gate when carriers should not enter this t% direct conveyance portion. Since the device is in a closed state, the carrier will not enter the 6th straight part unnecessarily, the carrier will not fall into the 4j straight part, and the carrier,
This has the effect of preventing damage to the conveyance path, etc., and preventing the loaded items from falling.

[Brief explanation of drawings]

FIG. 1 is a flowchart showing an embodiment of the control method of the article conveyance system according to the present invention, FIGS. 2 (1) and (2) are diagrams showing the gate device used in the present invention, and FIG. 3 is the same as that shown in FIG. 4 is a block diagram showing a control circuit used in the article conveyance system shown in FIG. 4, a diagram showing an example of a conveyance path to which an embodiment of the present invention is applied, and FIG. , FIG. 6 is a perspective view showing an overview of the station and carrier of the article conveyance system. l...Controller C...Carrier ST...Station S...Stator R...Transport path R2...Vertical portion (@direct transfer portion) G...Gate device

Claims (1)

[Claims] In an article conveyance system comprising a conveyance path including a vertical conveyance portion, a carrier that moves on this conveyance path and conveys the article, and a controller that controls movement of this carrier, the upper end of the vertical conveyance portion A gate device is provided near the section to prevent the carrier from entering when the carrier is in the closed state, and the controller controls the gate device to be in the closed state when the vertical conveyance section is not included in the travel range of the carrier. A control method for an article conveyance system characterized by: