KR20230122809A - Circulation type vertical transport system and method for controlling the same - Google Patents

Abstract

A circular vertical transfer system according to the present invention includes a circular transfer rail including a first vertical section and a second vertical section and a horizontal section connecting the first vertical section and the second vertical section; one or more carriers movable along the circulating transport rail; A travers configured to allow the carrier to board and disembark, and to move back and forth between a boarding position and a disembarking position provided on the horizontal section so as to move the carrier from the first vertical section to the second vertical section west; A movable sensor installed in the traverser to detect the carrier; a fixed sensor fixedly installed in the first vertical section or the second vertical section to detect the carrier; And the detection signal of the movable sensor and the carrier so that the carrier arrives at the boarding position in the first vertical section and gets on the traverser, and the carrier gets off from the traverser toward the second vertical section at the disembarking position. and a controller for controlling the carrier and the traverser according to the detection signal of the fixed sensor.

Description

Circular vertical transfer system and its control method {CIRCULATION TYPE VERTICAL TRANSPORT SYSTEM AND METHOD FOR CONTROLLING THE SAME}

The present invention relates to a circular vertical transfer system, and more particularly, to a circular vertical transfer system capable of quickly and stably moving a carrier that circularly moves on a circular transfer rail having a plurality of vertical sections and one or more horizontal sections. and its control method.

In general, a freight elevator or dumbwaiter for moving a car in a vertical direction through a driving method using a rope or chain and a traction machine is mainly used to move cargo vertically in a building.

Such a freight elevator or dumbwaiter is used in a form in which one car is arranged and operated in one hoistway. Since such a rope-type vertical transfer system has a limited amount of goods per hour in each hoistway, in order to increase the quantity of goods to a certain extent, the number of hoistways is required. increase is essential. However, due to the structural limitations of the building, there is a limit to the method of increasing the volume of goods per hour by increasing the number of hoistways.

In order to overcome the disadvantages of the conventional driving method using a rope or chain and a hoist, a transport system using a service robot capable of moving cargo organically through various floors of a building has been proposed. Such a transfer system requires a circular vertical transfer system in which a plurality of carriers for moving the robot circulate. In order to further improve the quantity of goods transported per unit time, an improved method for the organic circulation of carriers between transport rails is required.

Registered Patent Publication No. 2334777 (2021. 11. 30.)

The present invention has been made in view of the above points, and an object of the present invention is to provide an improved circulatory vertical transport system and its control method so that a carrier can be quickly and smoothly transferred from one vertical section to another vertical section. to be

Cyclic vertical transport system according to the present invention for solving the above object, including a first vertical section and a second vertical section, and a horizontal section connecting the first vertical section and the second vertical section circular transfer rail; one or more carriers movable along the circulating transport rail; A travers configured to allow the carrier to board and disembark, and to move back and forth between a boarding position and a disembarking position provided on the horizontal section so as to move the carrier from the first vertical section to the second vertical section west; A movable sensor installed in the traverser to detect the carrier; a fixed sensor fixedly installed in the first vertical section or the second vertical section to detect the carrier; And the detection signal of the movable sensor and the carrier so that the carrier arrives at the boarding position in the first vertical section and gets on the traverser, and the carrier gets off from the traverser toward the second vertical section at the disembarking position. and a controller for controlling the carrier and the traverser according to the detection signal of the fixed sensor.

The movable sensor includes a first departure detection sensor and a second departure detection sensor respectively disposed at one end and the other end of the boarding area so as to check whether the carrier is out of the boarding area provided on the traverser; A first traverser sensor capable of detecting the carrier located in the boarding area, and the fixed sensor detecting the carrier located in a standby area provided on the first vertical section so as to be spaced apart from the boarding position. A carrier detection sensor may be included.

The movable sensor may include a second traverser sensor capable of receiving an optical signal generated by the carrier located in the boarding area.

The fixed sensor may include an entry detection sensor disposed between the boarding area and the waiting area.

The fixed sensor may include a getting off detection sensor disposed on the second vertical section spaced apart from the getting off position.

On the other hand, a control method of a circulating vertical transfer system according to the present invention for solving the above object is a circulating transfer rail configured to connect a first vertical section and a second vertical section with a horizontal section, and the circulation One or more carriers movable along an expression transport rail, and reciprocating between a boarding position and an alighting position provided on the horizontal section to move the carrier from the first vertical section to the second vertical section. A control method of a circulatory vertical transport system including a traverser, comprising: (a) checking whether the traverser is in the boarding position; (b) checking whether a carrier is riding on the traverser through a first traverser sensor installed in the traverser: (c) if the carrier is not riding on the traverser, it is spaced apart from the riding position boarding a carrier located in a waiting area provided on the first vertical section to the traverser at the boarding position; (d) moving the traverser to the alighting position; and (e) unloading the carrier from the traverser toward the second vertical section at the unloading position.

In the step (d), a first departure detection sensor and a second departure detection sensor disposed at one end and the other end of the boarding area, respectively, to check whether the carrier is out of the boarding area provided on the traverser. The traverser may be moved to the disembarking position under the condition that the carrier is not detected by the first traverser sensor and the carrier is detected by the first traverser sensor.

The circulating vertical transfer system according to the present invention detects a carrier using a circulating transfer rail and various sensors installed on the traverser, the carrier gets on the traverser at an appropriate timing, and the carrier gets off the traverser at an appropriate timing. You can control the carrier and traverser to do so. Accordingly, the carrier can be rapidly and stably circulated along the circulating transport rail.

1 schematically shows a circular vertical transfer system according to an embodiment of the present invention.
Figure 2 shows an excerpt of some configurations of a cyclic vertical transfer system according to an embodiment of the present invention.
Figure 3 shows an excerpt from another part of the configuration of the circular vertical transfer system according to an embodiment of the present invention.
4 is a block diagram showing the main configuration of a circular vertical transfer system according to an embodiment of the present invention.
5 is a control flow chart for explaining a control method of a cyclic vertical transfer system according to an embodiment of the present invention.
6a to 6f show a process of transferring a carrier of a circulating vertical transfer system from a first vertical section to a second vertical section according to an embodiment of the present invention.
7a to 7e show a process of transferring a carrier of a cyclic vertical transfer system from a second vertical section to a first vertical section according to an embodiment of the present invention.

Hereinafter, a circular vertical transfer system and a control method thereof according to the present invention will be described in detail with reference to the drawings.

Figure 1 schematically shows a cyclic vertical transfer system according to an embodiment of the present invention, Figure 2 shows an excerpt from some configurations of the cyclic vertical transfer system according to an embodiment of the present invention, Figure 3 is Some other configurations of the cyclic vertical transfer system according to an embodiment of the present invention are extracted and shown, and FIG. 4 is a block diagram showing the main configuration of the cyclic vertical transfer system according to an embodiment of the present invention.

As shown in the drawing, the circulating vertical transfer system 100 according to an embodiment of the present invention includes a circulating transfer rail 110 and one or more carriers 125 circulating along the circulating transfer rail 110. And, one or more traversers 130 and 140 for transporting the carrier 125, a movable sensor installed on the traversers 130 and 140, respectively, and a fixed sensor installed on the circulating transfer rail 110 And, it includes a control unit 160 for controlling the overall operation of the circular vertical transfer system (100).

The circulation transfer rail 110 includes a first vertical section 111 and a second vertical section 114 disposed spaced apart from each other so as to connect the floors F and F of the building, and the first vertical section 111 ) and the horizontal sections 117 and 120 arranged to connect the second vertical section 114.

The first vertical section 111 includes a vertical rail 112 disposed substantially vertically with respect to the ground, and the second vertical section 114 includes a vertical rail 115 disposed substantially vertically with respect to the ground. can be made with In addition, the first vertical section 111 and the second vertical section 114 may be configured to guide the carrier 125 to linearly move in a vertical direction with respect to the ground.

The horizontal sections 117 and 120 may take a configuration for guiding each of the traversers 130 and 140 to linearly move in a horizontal direction with respect to the ground. Each of the horizontal sections 117 and 120 may include horizontal rails 118 and 121 disposed substantially parallel to the ground. Among the horizontal sections 117 and 120, the horizontal section 117 disposed on the relatively upper side is the first vertical section 111 and the second vertical section 111 and the second vertical section at the upper end of the first vertical section 111 and the second vertical section 114. Connect section 114. In addition, the horizontal section 120 disposed at a relatively lower side connects the first vertical section 111 and the second vertical section 114 at the lower ends of the first vertical section 111 and the second vertical section 114. The horizontal section 117 disposed on the relatively upper side may guide one traverser 130 to reciprocate between the boarding position P1 and the disembarking position P2 provided on the horizontal section 117. In addition, the horizontal section 120 disposed on the relatively lower side may guide the other traverser 130 to reciprocate between the boarding position P3 and the disembarking position P4 provided on the horizontal section 120. there is. In addition, the horizontal section 120 disposed relatively lower moves the other traverser 130 from the riding position P3 to one of the plurality of parking positions P5, or to the parking position P5. ) to the getting off position P4.

Hereinafter, for convenience of explanation, a lower horizontal section 120 will be referred to as a lower horizontal section 120 to distinguish the horizontal section 120 disposed at a relatively lower side from the horizontal section 117 disposed at a relatively upper side.

The carrier 125 may load and transport an object to be transported, such as a service robot or cargo, while cyclically moving along the circulating transfer rail 110 . For example, the carrier 125 may stop at a stop position provided for each floor F of a building, and at the stop position, an object to be transported on the carrier 125 gets on or an object to be transported on the carrier 125 gets off. can do. The carrier 125 is provided with a signal transceiver 126 for communication. The signal transmission/reception unit 126 may be configured to communicate with the control unit 160 or the traversers 130 and 140 through optical communication or various other communication methods.

The carrier 125 may move in the first vertical section 111 or the second vertical section 114 using a rack and pinion drive method or various methods. Code rails may be provided in the first vertical section 111 or the second vertical section 114, and the carrier 125 moves along the first vertical section 111 or the second vertical section 114 to a current position. can be updated. Location information of the carrier 125 may be transmitted to the controller 160 in real time. Various methods may be used to determine the location of the carrier 125 in the first vertical section 111 or the second vertical section 114 .

In this embodiment, the carrier 125 passes from the first vertical section 111 via the horizontal section 117 to the second vertical section 114 and from the second vertical section 114 via the lower horizontal section 120. It will be described as circulating in the first vertical section 111 as an example.

The traversers 130 and 140 are configured so that the carrier 125 can get on and off. Each of the traversers 130 and 140 moves the carrier 125 from the first vertical section 111 to the second vertical section 114 while moving along the horizontal section 117 and the lower horizontal section 120, or It is possible to transfer from the second vertical section 114 to the first vertical section 111 .

Hereinafter, for convenience of explanation, the traverser 130 moving along the lower horizontal section 120 is named as the lower traverser 140 to distinguish it from the traverser 130 moving along the horizontal section 117. I'm going to do it.

One traverser 130 is movably installed in the horizontal section 117 to move the carrier 125 from the first vertical section 111 to the second vertical section 114. The traverser 130 is provided with a position measuring unit 131 for checking the position of the traverser 130 in the horizontal section 117. The position measuring unit 131 may be formed in various forms capable of measuring the position of the traverser 130 on the horizontal section 117 when the traverser 130, such as an encoder, moves along the horizontal section 117. The location of the traverser 130 may be transmitted to the controller 160 in real time. The traverser 130 may reciprocate between the boarding position P1 and the disembarking position P2 provided on the horizontal section 117 . The boarding position (P1) is a position where the carrier 125 located in the first vertical section 111 can board the traverser 130. The boarding position P1 may be provided at a portion where the first vertical section 111 and the horizontal section 117 are adjacent to each other or at a portion where the first vertical section 111 and the horizontal section 117 intersect. The getting off position P2 is a position where the carrier 125 riding on the traverser 130 can get off the traverser 130 toward the second vertical section 114. The getting off position P2 may be provided at a portion where the second vertical section 114 and the horizontal section 117 are adjacent to each other or at a portion where the second vertical section 114 and the horizontal section 117 intersect. The traverser 130 may move in the horizontal section 117 using a rack and pinion driving method or various methods.

A movable sensor capable of detecting the carrier 125 is installed in the traverser 130 . The movable sensor includes a first traverser sensor 133, a second traverser sensor 134, a first separation detection sensor 135, and a second separation detection sensor 136.

The first traverser sensor 133 is for detecting the carrier 125 located in the boarding area A1 provided in the traverser 130 . The boarding area A1 is an area where the carrier 125 can be stably positioned in the traverser 130 without leaving the traverser 130. When the carrier 125 is located in the riding area A1, it can be seen that the carrier 125 is stably riding on the traverser 130. On the other hand, when the carrier 125 rides on the traverser 130 to leave the riding area A1, the carrier 125 collides with the circular transport rail 110 or the building when the traverser 130 moves. may occur. A detection signal of the first traverser sensor 133 may be transmitted to the controller 160 .

The second traverser sensor 134 may detect the carrier 125 boarding the traverser 130 and communicate with the signal transceiver 126 of the carrier 125. In a state where the carrier 125 is riding in the boarding area A1, the second traverser sensor 134 and the signal transceiver 126 face each other, and the optical signal generated from the signal transceiver 126 is transmitted to the second traverser. may be transmitted to the sensor 134 . The second traverser sensor 134 may be configured to communicate with the signal transceiver 126 through optical communication or various other communication methods.

The first departure detection sensor 135 and the second departure detection sensor 136 are for checking whether the carrier 125 is out of the boarding area A1 of the traverser 130 . The first departure detection sensor 135 is disposed at one end of the boarding area A1 to detect the carrier 125 leaving the boarding area A1 from one end of the boarding area A1. The second departure detection sensor 136 is disposed at the other end of the boarding area A1 to detect the carrier 125 leaving the boarding area A1 from the other end of the boarding area A1. Detection signals of the first separation detection sensor 135 and the second separation detection sensor 136 may be transmitted to the controller 160 . When the first departure detection sensor 135 or the second departure detection sensor 136 detects the carrier 125, the control unit 160 limits the movement of the traverser 130 and moves the carrier 125 to the boarding area A1. ) can be controlled to be located within.

The lower traverser 140 is movably installed in the lower horizontal section 120 so as to move the carrier 125 from the second vertical section 114 to the first vertical section 111. The lower traverser 140 is provided with a position measuring unit 141 for checking the position of the lower traverser 140 in the lower horizontal section 120 . The position measuring unit 141 may be formed in various forms capable of measuring the position of the lower traverser 140 on the lower horizontal section 120 when the lower traverser 140 such as an encoder moves along the lower horizontal section 120. can Location information of the lower traverser 140 may be transmitted to the controller 160 in real time. The lower traverser 140 may reciprocate between the boarding position P3 and the disembarking position P4 provided on the lower horizontal section 120 . The boarding position (P3) is a position where the carrier 125 located in the second vertical section 114 can board the lower traverser 140. The boarding position P3 may be provided at a portion where the second vertical section 114 and the lower horizontal section 120 are adjacent to each other or at a portion where the second vertical section 114 and the lower horizontal section 120 intersect. The getting off position P4 is a position where the carrier 125 riding on the lower traverser 140 can get off from the lower traverser 140 toward the first vertical section 111. The getting off position P4 may be provided at a portion where the first vertical section 111 and the lower horizontal section 120 are adjacent to each other or at a portion where the first vertical section 111 and the lower horizontal section 120 intersect. The lower traverser 140 may move in the lower horizontal section 120 using a rack and pinion drive method or various methods.

A movable sensor capable of detecting the carrier 125 is installed in the lower traverser 140 . The movable sensor includes a first traverser sensor 143, a second traverser sensor 144, a first separation detection sensor 145, and a second separation detection sensor 146.

The first traverser sensor 143 is for detecting the carrier 125 located in the boarding area A3 provided in the lower traverser 140 . The boarding area A3 is an area where the carrier 125 can be stably positioned in the lower traverser 140 without leaving the lower traverser 140 . A detection signal of the first traverser sensor 143 may be transmitted to the controller 160 .

The second traverser sensor 144 may detect the carrier 125 boarding the lower traverser 140 and communicate with the signal transceiver 126 of the carrier 125 . In a state where the carrier 125 is riding in the boarding area A3, the second traverser sensor 144 and the signal transceiver 126 face each other, and the optical signal generated from the signal transceiver 126 is transmitted to the second traverser. may be transmitted to the sensor 144 . The second traverser sensor 144 may be configured to communicate with the signal transceiver 126 through optical communication or various other communication methods.

The first departure detection sensor 145 and the second departure detection sensor 146 are for checking whether the carrier 125 is out of the boarding area A3 of the lower traverser 140 . The first departure detection sensor 145 is disposed at one end of the boarding area A3 to detect the carrier 125 leaving the boarding area A3 from one end of the boarding area A3. The second departure detection sensor 146 is disposed at the other end of the boarding area A3 to detect the carrier 125 leaving the boarding area A3 from the other end of the boarding area A3. Detection signals of the first separation detection sensor 145 and the second separation detection sensor 146 may be transmitted to the controller 160 . When the first departure detection sensor 145 or the second departure detection sensor 146 detects the carrier 125, the control unit 160 limits the movement of the lower traverser 140 and moves the carrier 125 to the riding area ( A3) can be controlled to be located within.

The fixed sensor is fixedly installed on the circular conveying rail 110 so as to detect the carrier 125 . Some fixed sensors are installed to detect the carrier 125 moving from the first vertical section 111 through the horizontal section 117 to the second vertical section 114, and some other fixed sensors are installed to detect the carrier 125 moving from the first vertical section 111 to the second vertical section 114. In 114, it is installed to detect the carrier 125 moving to the first vertical section 111 via the lower horizontal section 120.

The fixed sensors for detecting the carrier 125 moving from the first vertical section 111 to the second vertical section 114 include a carrier detection sensor 151, an entry detection sensor 152, and an exit detection sensor ( 153). The carrier detection sensor 151 and the entrance detection sensor 152 are disposed adjacent to the boarding position P1. The getting off detection sensor 153 is disposed adjacent to the getting off position P2.

The carrier detection sensor 151 may detect the carrier 125 located in the waiting area A2 provided on the first vertical section 111 to be spaced apart from the boarding position P1 and generate a detection signal. A detection signal of the carrier detection sensor 151 may be transmitted to the controller 160 . Also, the carrier detecting sensor 151 may communicate with the signal transmission/reception unit 126 of the carrier 125 . In a state where the carrier 125 is located in the waiting area A2, the signal transceiver 126 and the carrier detection sensor 151 face each other, and an optical signal is transmitted between the signal transceiver 126 and the carrier detection sensor 151. It can be. The carrier detection sensor 151 may be configured to communicate with the signal transceiver 126 through optical communication or various other communication methods.

The entrance detection sensor 152 may detect the carrier 125 located between the boarding position P1 and the waiting area A2 and transmit a detection signal to the control unit 160 . When the carrier 125 moves from the waiting area A2 to the traverser 130 located at the boarding position P1, the entry detection sensor 152 may detect the carrier 125 and generate a detection signal. In addition, when the carrier 125 stops between the boarding position P1 and the waiting area A2 due to a failure or control problem of the carrier 125, the entry detection sensor 152 can detect the stopped carrier 125 . A detection signal of the entry detection sensor 152 may be transmitted to the controller 160 . If it is confirmed that the carrier 125 has stopped while moving to the traverser 130 through the detection signal of the entry detection sensor 152, the control unit 160 limits the movement of the other carrier 125 or the traverser 130 can do.

The getting off detection sensor 153 can detect the carrier 125 getting off from the traverser 130 located at the getting off position P2 toward the second vertical section 114 and transmit a detection signal to the control unit 160. . When the carrier 125 gets off the traverser 130 and moves to the second vertical section 114, the getting off detection sensor 153 may detect the carrier 125 and generate a detection signal. In addition, when the carrier 125 stops while getting off the traverser 130 due to a malfunction or control problem of the carrier 125, the getting off detection sensor 153 can detect the stopped carrier 125. A detection signal of the getting off detection sensor 153 may be transmitted to the control unit 160 . When it is confirmed that the carrier 125 has stopped while getting off the traverser 130 through the detection signal of the getting off detection sensor 153, the control unit 160 restricts the movement of the other carrier 125 or the traverser 130 can do.

The fixed sensors for detecting the carrier 125 moving from the second vertical section 114 to the first vertical section 111 include a carrier detection sensor 155, an entry detection sensor 156, and an exit detection sensor ( 157). The carrier detection sensor 155 and the entrance detection sensor 156 are disposed adjacent to the boarding position P3 provided on the lower horizontal section 120 . The getting off detection sensor 157 is disposed adjacent to the getting off position P4 provided on the lower horizontal section 120 .

The carrier detection sensor 155 may detect the carrier 125 located in the waiting area A4 provided on the second vertical section 114 to be spaced apart from the boarding position P3 and generate a detection signal. A detection signal of the carrier detection sensor 155 may be transmitted to the controller 160 . Also, the carrier detecting sensor 155 may communicate with the signal transceiver 126 of the carrier 125 . In a state where the carrier 125 is located in the waiting area A4, the signal transceiver 126 and the carrier detection sensor 155 face each other, and an optical signal is transmitted between the signal transceiver 126 and the carrier detection sensor 155. It can be. The carrier detection sensor 155 may be configured to communicate with the signal transceiver 126 through optical communication or various other communication methods.

The entrance detection sensor 156 may detect the carrier 125 located between the boarding position P3 and the waiting area A4 and transmit a detection signal to the control unit 160 . When the carrier 125 moves from the waiting area A4 to the lower traverser 140 located at the boarding position P3, the entry detection sensor 156 may detect the carrier 125 and generate a detection signal. In addition, when the carrier 125 stops between the boarding position P3 and the waiting area A4 due to a failure or control failure of the carrier 125, the entry detection sensor 156 can detect the stopped carrier 125 . A detection signal of the entry detection sensor 156 may be transmitted to the controller 160 . When it is confirmed that the carrier 125 has stopped while moving to the boarding position P3 through the detection signal of the entrance detection sensor 156, the control unit 160 controls the movement of the other carrier 125 or the getting off detection sensor 153 can be limited

The getting off detection sensor 157 can detect the carrier 125 getting off from the lower traverser 140 located at the getting off position P4 toward the first vertical section 111 and transmit a detection signal to the control unit 160. there is. When the carrier 125 gets off the lower traverser 140 and moves to the first vertical section 111, the getting off detection sensor 157 may detect the carrier 125 and generate a detection signal. In addition, when the carrier 125 stops while getting off the lower traverser 140 due to a failure or control problem of the carrier 125, the getting off detection sensor 157 can detect the stopped carrier 125. A detection signal of the getting off detection sensor 157 may be transmitted to the control unit 160 . When it is confirmed that the carrier 125 has stopped while getting off the lower traverser 140 through the detection signal of the getting off detection sensor 157, the control unit 160 moves the other carrier 125 or the lower traverser 140 can limit

The control unit 160 receives detection signals from the movable sensor and the fixed sensor, and rotates the carrier 125 and the traversers 130 and 140 so that the carrier 125 can circularly move along the circulating transfer rail 110. Control. A specific control method of the cyclic vertical transfer system 100 by the control unit 160 is as follows.

5 is a control flowchart showing a specific control method for transferring the carrier 125 from the first vertical section 111 to the second vertical section 114.

In order to transfer the carrier 125 from the first vertical section 111 to the second vertical section 114, the controller 160 moves the carrier 125 located in the first vertical section 111 from the riding position P1. After getting on the traverser 130 and the traverser 130 on which the carrier 125 is mounted moves to the disembarking position P2, the carrier 125 at the disembarking position P2 moves to the second vertical section 114 The carrier 125 and the traverser 130 are controlled so as to get off the vehicle toward the vehicle. To this end, the control unit 160 first checks whether the traverser 130 exists at the boarding position P1 (S10). In this step, the control unit 160 may check whether the traverser 130 exists at the boarding position P1 through the information measured by the position measuring unit 131 of the traverser 130. When it is confirmed that the traverser 130 does not exist at the boarding position P1, the controller 160 may control the traverser 130 to move to the boarding position P1 (S11).

As shown in FIG. 6A, when the traverser 130 is located at the boarding position P1, the control unit 160 sends the carrier 125 to the traverser 130 from the detection signal of the first traverser sensor 133. It is checked whether the is riding (S12). When another carrier 125 is boarded on the traverser 130 on which the carrier 125 is riding, a problem occurs in which the carriers 125 collide with each other, so the control unit 160 allows the traverser 130 to carry the carrier 125 ) Only when there is no, the carrier 125 is boarded on the traverser 130 at the boarding position P1. When there is a carrier 125 boarded first in the traverser 130, the control unit 160 makes the carrier 125 in the first vertical section 111 stand by in the waiting area A2 (S13). That is, the carrier 125 scheduled to board the traverser 130 may be controlled to move to the waiting area A2 and wait. In the step of checking whether the carrier 125 is on the traverser 130 (S12), the control unit 160 not only uses the first traverse sensor 133, but also the first departure detection sensor 135 and the second departure detection sensor 135. Detection signals are received from each of the detection sensor 136 and the entry detection sensor 152, and it is possible to determine whether the carrier 125 has been detected through these sensors. When at least one of the first traverser sensor 133, the first departure detection sensor 135, the second departure detection sensor 136, and the entry detection sensor 152 detects the carrier 125, the controller ( 160 may control the detected carrier 125 to move to another location.

When the carrier 125 is not detected through the first traverser sensor 133, the first departure detection sensor 135, the second departure detection sensor 136, and the entry detection sensor 152, the control unit 160 ) checks whether there is a detection signal from the carrier detecting sensor 151 and checks whether the carrier 125 scheduled to ride is located in the waiting area A2 (S14). When the carrier detection sensor 151 does not detect the carrier 125, the control unit 160 waits for the traverser 130 at the boarding position P1 (S15), and places the carrier 125 scheduled for boarding in the waiting area ( It can be controlled to move to A2). When the carrier 125 exists in the waiting area A2, a detection signal obtained by the carrier detection sensor 151 detecting the carrier 125 is transmitted to the controller 160. At this time, as shown in FIGS. 6B and 6C, the controller 160 controls the carrier 125 located in the waiting area A2 to board the traverser 130 at the boarding position P1 (S16).

After the carrier 125 gets on the traverser 130, the target location of the carrier 125 may be transferred from the signal transmission/reception unit 126 of the carrier 125 to the second traverser sensor 134. In addition, after the carrier 125 gets on the traverser 130, the control unit 160 includes the first traverser sensor 133, the first departure detection sensor 135, the second departure detection sensor 136, and From the detection signal of the entry detection sensor 152, it is confirmed whether the carrier 125 has correctly boarded in the boarding area A1 of the traverser 130 (S17). In this step, the control unit 160 receives a detection signal that the first traverser sensor 133 detects the carrier 125, and the first departure detection sensor 135, the second departure detection sensor 136, and entry The detection sensor 152 checks whether there is no detection signal detected by the carrier 125 . There is no detection signal from the first traverser sensor 133 detecting the carrier 125, or any one of the first departure detection sensor 135, the second departure detection sensor 136, and the entry detection sensor 152 When there is a detection signal that detects the carrier 125, the controller 160 waits at the boarding position P1 without moving the traverser 130. And, if necessary, the control unit 160 transfers the carrier 125 detected by any one of the first departure detection sensor 135, the second departure detection sensor 136, and the entry detection sensor 152 to the traverser 130. It can be moved to the boarding area A1 or other positions.

In the step of checking whether the carrier 125 has boarded the boarding area A1 of the traverser 130 (S17), the control unit 160 includes the first traverser sensor 133 and the first departure detection sensor 135 And, it is also possible to check the boarding of the carrier 125 from the detection signal of the second departure detection sensor 136 . In addition, various other methods may be used as a method of confirming the boarding of the carrier 125 .

There is a detection signal that the first traverser sensor 133 detects the carrier 125, and the first departure detection sensor 135, the second departure detection sensor 136, and the entry detection sensor 152 transmit the carrier 125 ) If there is no detection signal detected, the control unit 160 transmits the target position and movement signal of the carrier 125 to the traverser 130 (S18). Subsequently, the controller 160 moves the traverser 130 to the target position as shown in FIG. 6D (S19). The control unit 160 controls the traverser 130 to move to the destination location of the carrier 125, and then checks whether the traverser 130 has reached the destination location (S20).

When the traverser 130 reaches the target position, the control unit 160 includes the first traverser sensor 133, the first departure detection sensor 135, the second departure detection sensor 136, and getting off detection. From the detection signal of the sensor 153, it is checked whether the conditions for getting off the carrier 125 are satisfied (S21). When there is a detection signal that detects the carrier 125 from at least one of the first separation detection sensor 135, the second separation detection sensor 136, and the getting off detection sensor 153, the control unit 160 controls the carrier 125 ) Stand by without getting off the traverser 130 (S22). When the carrier 125 is out of the riding area A1 of the traverser 130 while the carrier 125 is being transported by the traverser 130, the first departure detection sensor 135 or the second departure detection sensor 136 ) detects the carrier 125, and at this time, the control unit 160 may place the carrier 125 in the boarding area A1 before getting off the vehicle. Meanwhile, when another carrier 125 is located adjacent to the getting off position P2, the getting off sensor 153 may detect it. In this case, the control unit 160 does not get off the carrier 125 boarding the traverser 130, and the other carrier 125 adjacent to the getting off position P2 moves more than a preset distance from the getting off position P2. After that, the carrier 125 boarding the traverser 130 can be controlled to get off the vehicle at the getting off position P2. There is a detection signal that the first traverser sensor 133 detects the carrier 125, and the first separation detection sensor 135, the second separation detection sensor 136, and the getting off detection sensor 153 are the carrier ( 125), the controller 160 controls the carrier 125 to get off the traverser 130 as shown in FIG. 6F (S23).

In step S21 of checking the conditions for allowing the carrier 125 to get off, the control unit 160 may also check the conditions for allowing the carrier 125 to get off only with the detection signal of the getting off detection sensor 153 . As another exemplary embodiment, it is also possible for the control unit 160 to check conditions in which the carrier 125 can get off only with the detection signal of the first traverser sensor 133 . In addition, various methods may be used as a method for checking the conditions for getting off the carrier 125 .

Continuing, the control unit 160 checks whether the carrier 125 has finished getting off the traverser 130 through the first traverser sensor 133 (S24). If the carrier 125 does not completely get off the traverser 130, the first traverser sensor 133 detects the carrier 125 and a detection signal is generated. Therefore, when the first traverser sensor 133 detects the carrier 125 and generates a detection signal, the control unit 160 makes the traverser 130 stand by at the unloading position P2 (S25). In addition, when the first traverser sensor 133 detects the carrier 125 and no detection signal is generated, the controller 160 returns the traverser 130 to the boarding position P1 (S26).

In the step (S24) of the controller 160 confirming whether the carrier 125 has finished getting off the traverser 130, the controller 160 detects the first departure along with the detection signal of the first traverser sensor 133. The timing of unloading the carrier 125 from the traverser 130 may be determined by complexly analyzing detection signals of the sensor 135 , the second departure detection sensor 136 , and the exit detection sensor 153 . That is, the control unit 160 detects the carrier 125 by the first traverser sensor 133, the first separation detection sensor 135, the second separation detection sensor 136, and the getting off detection sensor 153. When the detection signal is not generated, the traverser 130 may be returned to the boarding position P1.

After controlling the traverser 130 to return to the boarding position P1, the control unit 160 repeats the previous process to transfer the carrier 125 moving in the first vertical section 111 to the second vertical section 114. ) can be transferred.

On the other hand, the specific control method in which the control unit 160 controls the carrier 125 and the lower traverser 140 to transfer the carrier 125 from the second vertical section 114 to the first vertical section 111 is as described above. similar to the method described. That is, the control unit 160 controls the carrier 125 and the lower traverser 140 by receiving detection signals from the movable sensor installed on the lower traverser 140 and the fixed sensor installed on the circulating transfer rail 110. do. Since the specific control method of the controller 160 is similar to that described above, a process of transferring the carrier 125 from the second vertical section 114 to the first vertical section 111 will be briefly described.

First, as shown in FIG. 7A, the control unit 160 moves the carrier 125 moving in the second vertical section 114 to the lower traverser 140 at the riding position P3 so that the carrier 125 and the lower Controls the traverser 140.

Subsequently, as shown in FIGS. 7B and 7C , the control unit 160 controls the lower traverser 140 on which the carrier 125 has boarded to move toward the disembarking position P4. After the lower traverser 140 reaches the disembarking position P4, the control unit 160 removes the carrier 125 boarding the lower traverser 140 from the disembarking position P4, as shown in FIG. 7D. Control to get off toward 1 vertical section 111. After the carrier 125 gets off at the getting off position P4, the controller 160 may control the lower traverser 140 to return to the getting on position P3, as shown in FIG. 7E.

The target position of the carrier 125 boarding the lower traverser 140 at the boarding position P3 of the lower horizontal section 120 is not limited to the disembarking position P4. That is, the carrier 125 boarding the lower traverser 140 may be transported by the lower traverser 140 to the getting off position P4 or to one of the parking positions P5 among the plurality of parking positions P5. After the carrier 125 gets on the lower traverser 140 at the boarding position P3, the control unit 160 moves the lower traverser 140 to the lower traverser 140 at the unloading position P4 or one of the plurality of parking positions P5. It can be controlled to move to the parking position (P5). A large number of carriers 125 circulating along the circulating transport rail 110 or a carrier 125 having an abnormality may be transported to the parking position P5 by the lower traverser 140 .

As described above, the circulating vertical transfer system 100 according to an embodiment of the present invention uses various sensors installed on the circulating transfer rail 110 and the traversers 130 and 140 to move the carrier 125 , so that the carrier 125 gets on the traversers 130 and 140 at the appropriate timing, and the carrier 125 gets off the traversers 130 and 140 at the appropriate timing. (130) (140) can be controlled. Accordingly, the carrier 125 can be rapidly and stably circulated along the circulating transfer rail 110 .

Although the preferred examples of the present invention have been described above, the scope of the present invention is not limited to the forms described and illustrated above.

For example, although it is shown in the drawing that the horizontal sections 117 are disposed at the upper and lower ends of the first vertical section 111 and the second vertical section 114, respectively, the first vertical section 111 and the second vertical section 111 A horizontal section for linearly moving the traverser may be disposed in the middle of the vertical section 114.

In addition, the number of vertical sections and horizontal sections constituting the circulating transfer rail is not limited to that shown and can be variously changed.

Also, previously, the carrier 125 passes from the first vertical section 111 through the horizontal section 117 to the second vertical section 114, and from the second vertical section 114 through the lower horizontal section 120 to the second vertical section 120. Although described as circulating in one vertical section 111, the carrier 125 may move along the circulating transfer rail 110 in various other ways.

In the above, the present invention has been shown and described in relation to preferred embodiments for illustrating the principles of the present invention, but the present invention is not limited to the configuration and operation as shown and described. Rather, it will be appreciated by those skilled in the art that many changes and modifications may be made to the present invention without departing from the spirit and scope of the appended claims.

100: circular vertical transfer system 110: circular transfer rail
111: first vertical section 112, 115: vertical rail
114: second vertical section 117: horizontal section
118, 121: horizontal rail 120: lower horizontal section
125: carrier 126: signal transmission and reception unit
130: traverser 131, 141: position measuring unit
133, 143: first traverser sensor 134, 144: second traverser sensor
135, 145: first separation detection sensor 136, 146: second separation detection sensor
140: lower traverser 151, 155: carrier detection sensor
152, 156: entry detection sensor 153, 157: exit detection sensor
160: control unit

Claims (7)

A circular transfer rail including a first vertical section, a second vertical section, and a horizontal section connecting the first vertical section and the second vertical section;
one or more carriers movable along the circulating transport rail;
A travers configured to allow the carrier to board and disembark, and to move back and forth between a boarding position and a disembarking position provided on the horizontal section so as to move the carrier from the first vertical section to the second vertical section west;
A movable sensor installed in the traverser to detect the carrier;
a fixed sensor fixedly installed in the first vertical section or the second vertical section to detect the carrier; and
The detection signal of the movable sensor and the fixed type so that the carrier arrives at the boarding position in the first vertical section and gets on the traverser, and the carrier gets off from the traverser toward the second vertical section at the disembarking position. Circular vertical transport system comprising a; control unit for controlling the carrier and the traverser according to the detection signal of the sensor.
According to claim 1,
The movable sensor includes a first departure detection sensor and a second departure detection sensor respectively disposed at one end and the other end of the boarding area so as to check whether the carrier is out of the boarding area provided on the traverser; A first traverser sensor capable of detecting the carrier located in the boarding area,
The fixed sensor includes a carrier detection sensor capable of detecting the carrier located in a waiting area provided on the first vertical section so as to be spaced apart from the boarding position.
According to claim 2,
The movable sensor includes a second traverser sensor capable of receiving an optical signal generated by the carrier located in the boarding area.
According to claim 3,
The fixed type sensor includes an entry detection sensor disposed between the boarding area and the waiting area.
According to claim 2,
The fixed sensor includes a getting off detection sensor disposed on the second vertical section spaced apart from the getting off position.
A circulating transfer rail configured to connect a first vertical section and a second vertical section with a horizontal section, one or more carriers movable along the circulating conveying rail, and carrying the carrier from the first vertical section to the second In the control method of a circulating vertical transfer system including a traverser capable of reciprocating between a boarding position and an alighting position provided on the horizontal section so as to move to a vertical section,
(a) checking whether the traverser is in the boarding position;
(b) checking whether a carrier is riding in the traverser through a first traverser sensor installed in the traverser:
(c) when the carrier is not boarded on the traverser, step of boarding the carrier located in the waiting area provided on the first vertical section so as to be spaced apart from the boarding position on the traverser at the boarding position;
(d) moving the traverser to the alighting position; and
(e) unloading the carrier from the traverser toward the second vertical section at the unloading position.
According to claim 6,
In step (d),
The carrier is not detected by the first departure detection sensor and the second departure detection sensor respectively disposed at one end and the other end of the riding area so as to check whether the carrier is out of the riding area provided on the traverser, A control method of a cyclic vertical transfer system, characterized in that for moving the traverser to the unloading position under the condition that the carrier is detected by the first traverser sensor.

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