JPH0543039A - Load conveyor equipment - Google Patents

Abstract

PURPOSE:To provide load conveyor equipment capable of maintaining the position of a load, placed on a traveling truck, to the center so as to prevent the fall accident of the load. CONSTITUTION:Along a travel path 5, two pairs of transmission type photoelectric switches 71, 72 symmetric at the same angle in the lateral direction right- angled to the travel direction A of a traveling truck 1 are provided at the passing height of a load 2 on the traveling truck 1, and a light transmitter- receiver 73 opposed to the light transmitter-receiver 40 of the traveling truck 1 is provided on the downstream side of the photoelectric switches 71, 72. There is also provided a dislocation quantity detecting device 74 for computing the lateral dislocation quantity of the load 2 from the input time difference of two signals of the photoelectric switches 71, 72, the present travel speed of the traveling truck 1 and the above-mentioned angle so as to transmit a dislocation quantity signal (y) to the traveling truck 1 through the light transmitter- receivers 73, 40. In case the load 2 is placed being dislocated at the carry-in time, the dislocation quantity of the load 2 on a conveyor can be detected to correct the position of the load 2 to the center and thereby to prevent one tart or the load 2.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a plurality of sorting positions (sorting shouts) which are set in advance on a route for carrying an object to be transported (cargo) mounted on a carriage on a certain route. The present invention relates to a load carrying facility provided with a plurality of traveling carriages that are horizontally discharged at arbitrary sorting positions.

[0002]

2. Description of the Related Art As a conventional load carrying facility of this type, an actuator is provided on each traveling carriage, in which a tray that can be tilted to the left and right is installed, and each sorting position causes the tray to fall when the carriage passes by. There is known a device in which a tray is installed and the to-be-conveyed object on the tray is discharged in the lateral direction when the tray falls.

[0003]

However, in the conventional load carrying equipment, since the object to be transferred is discharged by the fall of the tray, it is not suitable for the object to be transferred which is vulnerable to a shock, and noise is generated when the tray is overturned. There was a problem with it. In addition, there is a problem in that the mechanism is complicated and prone to failure, such as the need for means for returning the fallen tray.

To solve this problem, for example, Japanese Patent Publication Sho
The branching device for the sorting conveyor disclosed in Japanese Patent No. 53-10338 is invented. According to the present invention, each scale (saucepan) is provided with a roller portion including a motor roller and a free roller, and is laid at the sorting position on the motor roller. It is configured to feed power from a trolley bar through a current collector to sort the objects to be transported on the roller section without shock. Furthermore, the motor roller is equipped with a three-phase power supply and a trolley. -Bar-
The magnetic contactor is provided between the two to switch the phases of the power source, and the power is supplied through the trolley bar and the current collecting section so that the motor is driven in the forward or reverse direction. However, in this invention, since the motor roller is driven on the ground side (fixed side) by controlling the power supply to the power supply to the trolley bar, the sorting position (trolley bar) is used. It is necessary to always grasp the positional relationship between the position) and the scale to supply power at a timely timing, and there is a problem that sorting control on the ground side becomes complicated. Furthermore, the traveling speed of the trolley is not always constant, and the loading timing from the loading conveyor is shifted, so the transported object is often placed off the center, and the loading surface of the transported object is the conveyor. Unlike the tray, the transported object does not naturally come to the center of the tray, and it stays placed and deviates from the center. there were.

The present invention solves the above problems,
An object of the present invention is to provide a load carrying facility that simplifies the control on the ground side and can maintain the position of the transported object placed on the traveling carriage as a center and prevent the transported object from falling. Is.

[0006]

SUMMARY OF THE INVENTION In order to solve the above problems, the present invention travels on a fixed route, carries loads from a plurality of loaders provided along the fixed route, and also follows the fixed route. A plurality of sorting chutes provided on the plurality of sorting chutes connected to each other at predetermined intervals to provide a trolley, and each trolley is loaded with the load to the sorting shunt. The sorting conveyor for discharging the load, the control means for controlling the conveyor, and the first signal transmitting means connected to the control means are provided, and the above-mentioned height of the load on the traveling carriage is provided on the ground side. Along a certain path,
Two sets of transmissive photoelectric switches, which are symmetrical with each other at the same angle in the left-right direction perpendicular to the traveling direction of the traveling vehicle, are provided, and the second signal transmission facing the first signal transmission means is provided downstream of these photoelectric switches. A means is provided, and two detection signals of the photoelectric switch are input, and a time difference between the input of the signals, a traveling speed of the traveling carriage set in advance, and a deviation amount of the load in the left-right direction are calculated from the angle, It is characterized in that a control device is provided for transmitting this amount of deviation to the control means of the traveling vehicle via the first and second signal transmission means.

[0007]

With the above structure, the control device is a photoelectric switch
The amount of deviation of the load on the traveling vehicle in the left-right direction is calculated from the time difference between the inputs of the two detection signals, the traveling speed of the traveling vehicle, and the mounting angle of the two photoelectric switches, and the deviation amount is calculated as the first and second signals. It is transmitted to the control means of the traveling vehicle via the transmission means. Therefore, the control means of the traveling vehicle can drive the conveyor by this shift amount to move the load to the center position.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view of essential parts of a load carrying facility according to an embodiment of the present invention.

In FIG. 1, reference numeral 1 denotes a sorting conveyor 3 which travels in a direction A in a state in which they are connected to each other on a certain travel route 5 and transports a load (object to be transported) 2 in a lateral direction to the traveling direction A. Is a traveling carriage provided on the upper surface, and the load 2 is moved by driving the sorting conveyor 3 on the traveling carriage 1.
It is opened to the left and right with respect to the direction, and is dispensed to a plurality of sorting shoes 4 provided along the traveling route.

The structure of the traveling route 5 will be described with reference to FIGS. 2 and 3. As shown in FIGS. 2 and 3, the base 6 is configured by connecting a pair of left and right base frames 7 with a connecting member 8 at predetermined intervals in the longitudinal direction, and the legs shown in FIG. 1 provided at predetermined intervals. It is installed on the floor via the body 9. A traveling rail 10 for guiding the traveling carriage 1 is arranged above the base 6 in a monorail type, and a plurality of positions in the lengthwise direction are provided upright at predetermined positions on the base 6 to form an inverted J-shaped rail support 11 Supported through.

Further, linear motors 12 are mounted on one side surface of the traveling rail 10, that is, at a plurality of positions on the side opposite to the connecting surface of the rail support 11, so that the linear motor 12 can be repositioned in the rail length direction. A protective rail 13 is provided on the other side surface, and four power supply rails 14 including three-phase AC power supply lines and ground lines are provided on the outer side surface of the protective rail 13. Further, a cover 15 surrounding both sides is provided continuously from the upper part of the base 6 to the upper part. Reference numeral 16 indicates a wiring duct.

Next, the structure of the traveling carriage 1 will be described with reference to FIGS. The traveling carriage 1 is provided with the traveling rail 10
The main body 17 guided by the main body 17 and the sorting conveyor 3 provided on the top of the main body 17. The main body 17 includes a pair (a plurality) of C-shaped main body frames 18 in the traveling direction when viewed from the traveling direction.
By fixing the front and rear edges of the square plate-shaped secondary conductor 19 to the inner surface of the vertical rod, and by fixing the front and rear edges of the flat plate 20 to the upper surface of the horizontal rod, both main body frames 18 run in the traveling direction. The secondary conductor 19 and the plate 20 are integrated with each other at a predetermined interval.

An upper bracket 21 is rotatably provided at an end portion of an upper horizontal rod portion of the main body frame 18, and a pair of left and right upper brackets 21 are abuttable on both side surfaces of an upper portion of the traveling rail 10. Roll-out prevention roller 22 and running rail 10
An upper roller 23 is provided which can come into contact with the upper surface of the.

A lower bracket 24 is rotatably provided at an end portion of a lower horizontal rod portion of the main body frame 18. The lower bracket 24 has a pair of right and left portions which can come into contact with both lower side surfaces of the traveling rail 10. Roll-out prevention roller 25 and running rail 10
And a lower roller 26 that can freely come into contact with the lower surface of the.

The sorting conveyor 3 provided on the upper portion of the main body 17 thus constructed is composed of a pair of front and rear frames 27 and a conveyor device 28 arranged between the frames 27. The conveyor device 28 includes a drive pulley 29, a driven pulley 30, and an endless belt stretched between the pulleys 29, 30.
31, a servo motor 32, a transmission device 33 that transmits the rotation of the servo motor 32 to the drive pulley 29, and the like.
34 is a loader conveyor, and the load 2 is carried in with the loader conveyor 34 connected to the sorting conveyor 3.

A downward chassis 35 is arranged between the other ends of the frames 27 of the sorting conveyor 3, and the chassis 35 is provided.
As shown in FIG. 5, a pair of photoelectric type shunt detectors 37 for detecting the position of each sorting shunt 4 are provided on the outer surface side of the sorting shunt 4 by a reflecting plate 36 installed in front of each sorting shunt 4. ， 38
And an optical transmitter / receiver 40 for exchanging signals with the loader controller 39 shown in FIG.
41 is provided, and a servo amplifier 42 is provided. When the loader control device 39 drives the loader conveyor 34 equipped with the loading induction for loading the load 2 on the traveling vehicle 1 and loads the load 2 on the traveling vehicle 1, the loader 2 sorts the destination data. A sorting command signal x including a data (for example, a code of a store that sorts the load 2), layout data of the sorting chute 4, and traveling speed data of the traveling carriage 1 is transmitted to the traveling carriage 1 via the optical transmitter / receiver 50.

As shown in FIG. 4, the control unit 41 of the traveling vehicle 1 relays MCF and MCR for transmitting a signal for normal rotation or reverse rotation of the servo motor 32 to the servo amplifier 42, and a controller 43 described later. And controller 43 and relay M
The relay MCF and MCR are controlled by the controller 19, the relay MCF is driven, and the signal is transmitted to the servo amplifier 42. When the relay MCR is driven and the signal is transmitted to the servo amplifier 42, the servo motor 32 rotates forward to discharge the load 2 to the right, and the servo motor 32 is driven.
32 reverses and discharges load 2 to the left.

The traveling carriages 1 configured as described above are connected to each other by the connecting device 45, and further, in the traveling carriage 1 group, at the upper end of the front part of the frame 27 of the sorting conveyor 3 of the succeeding traveling carriages 1, forward. A metal cover 46 (aluminum, etc.) is continuously provided toward the rear top end of the frame 27 of the sorting conveyor 3 of the preceding traveling carriage 1, and a soft resin cover can be placed on the metal cover 46. 47 (soft vinyl chloride, etc.) are arranged in series facing backward.

Further, as shown in the circuit configuration of FIG. 6, the traveling carriages 1 form a group of every five vehicles, and only the leading traveling carriage (hereinafter referred to as a parent carriage) 1A in the traveling direction A has The upper bracket 21 is provided with a current collector 48 that receives power from the power supply rail 14 such as for the servo motor 32 (see FIG. 3). Then, power is supplied from the parent trolley 1A to another traveling trolley (hereinafter referred to as a child trolley) 1B of the group via a wiring line 49.

Further, as shown in FIG. 5, a loader conveyor
Two sets of transmissive photoelectric switches, which are symmetrical to the passing height of the load 2 on the traveling carriage 1 at the same angle in the left-right direction perpendicular to the traveling direction A of the traveling carriage 1, along the traveling path 5 downstream of 34. 71, 72 are provided, and the traveling carriage 1 is provided on the downstream side of these photoelectric switches 71, 72.
The optical transmitter / receiver 73 facing the optical transmitter / receiver 40 is provided, and two detection signals of the photoelectric switches 71 and 72 are input. When there is a time difference between the input signals, the traveling speed of the traveling carriage 1 and the load 2 from the angle. The amount of deviation in the left-right direction is calculated, and this deviation amount signal y
A deviation amount detecting device 74 for transmitting the signal to the controller 43 of the control device 41 of the traveling vehicle 1 via the optical transceivers 73 and 40 is provided.

The principle of detecting the deviation amount by the deviation amount detecting device 74 will be described with reference to the schematic diagram of FIG. Photoelectric switch 71,
The mounting angle of 72 is Θ, the deviation amount of the load 2 from the center of the traveling carriage 1 is w, the traveling speed of the traveling carriage 1 is v, the detection signal of the first photoelectric switch 71 is turned on, and the second photoelectric switch 72
Is the time difference until it turns on t _a (the second photoelectric switch
When 72 is turned on first, it is negative), the detection signal of the first photoelectric switch 71 is turned off, and the second photoelectric switch is turned off.
The time difference until 72 is turned off is t _b (minus when the second photoelectric switch 72 is turned off first), the detection signal of the first photoelectric switch 71 is turned on, and the second photoelectric switch 72 is turned on. Is a, the detection signal of the first photoelectric switch 71 is turned off, and the second photoelectric switch 72
Let b be the traveling distance until the power is turned off, then it can be expressed as a = t _a * v b = t _b * v, and the distance between the point where this distance a, b is detected and the center of the traveling route is c, d. Then, c = a / (2tanΘ) = t a * v / (2tanΘ) d = b / (2tanΘ) = t b * v / (2tanΘ) Therefore, w = (c + d) / 2 = (v / 4) * (T _a
It can be expressed as + t _b ) / tan Θ.

The deviation amount detecting device 74 calculates the deviation amount w by this equation and outputs it to the traveling vehicle 1. The configuration of the controller 43 of the control device 41 for inputting the sorting command signal x and the deviation amount signal y via the optical transmitter / receiver 40 and the driving operation of the sorting conveyor 3 by the controller 43 will be described below with reference to the block diagram of FIG. Will be described in detail.

The first counter 61 is a shoe for detecting the reflecting plate 36 of the sorting shoe 4 provided on the right side in the traveling direction A.
Is a counter that receives a detection signal a of the detector 37 and a setting signal b from a setting device 62 described later to obtain a set value R. When the detection signal a is input, 1 is set from the set value R. When the subtraction result is 1 or less, the output signal c is output to the first pulse generator 63. First pulse generator
63 receives the output signal c from the first counter 61, delays the time T by the timing setting signal d from the setting section 62, and outputs the output signal e for turning on the relay MCF for a preset time M. The second counter 64 receives the detection signal f of the short detector 38, which detects the reflector 36 of the sorting shoe 4 provided on the left side in the traveling direction A, and receives the setting signal g from the setter 62. Is a counter which inputs 1 to the set value 1 and subtracts 1 from the set value L each time the detection signal f is input. When the result of the subtraction is 1 or less, the output signal h is set to the second pulse generator 65. Output to. Second pulse generator
65 receives the output signal h from the second counter 64,
An output signal j for delaying time T by the timing setting signal d and turning on the relay MCR for a preset time M is output. In addition, the first pulse generator 63 is a setting unit.
When the first deviation amount timer setting signal p is input from 62,
Timer time set by this signal p, relay MC
An output signal e for turning on F is output, and the second pulse generator
When the second shift amount timer setting signal q is input from the setting unit 62, the 65 outputs the output signal e for turning on the relay MCR for the timer time set by the signal q.

Setting unit 62 when the sorting command signal x is input
The operation will be described according to the flowchart of FIG.
First, it is confirmed whether the sorting command signal x input from the loader controller 39 through the optical transmitters / receivers 50, 40 includes the layout data of the sorting chute 4 (step-1).
If the layout data is included, the code of the shoot number and the sorting destination is changed according to the layout data (step-2). Next, it is confirmed whether the traveling speed data is included in the sorting command signal x (step-
3) If the traveling speed data is included, the traveling speed data
The delay time T which is inversely proportional to
The delay time T is output to the pulse generators 63 and 65 as the timing setting signal d (step-5). Next, it is confirmed whether the sorting command signal x includes the sorting destination data (step-6). If it is not included, the processing ends. If it is included, the sorting destination data (code) is set. Shu based
Search for a number (step-7). When the shoe number is searched, it is confirmed whether the shot number corresponds to the sorting shoe 4 on the right side or the left side of the traveling direction A (step-8), and then the traveling number A The number of sorting suits 4 from the front is calculated (steps 9 and 10). For example, if the number of retrieved shorts is N and the arrangement of the sorting shorts 4 is an odd number on the right side in order from the front in the traveling direction A and an even number on the left side, it is determined whether the right number depends on whether the number is odd or even. The left side can be specified, the set value R is R = (N + 1) / 2, and the set value L is L
= N / 2 can be calculated. The set value R or the set value L is output to the first or second counter 61, 64 as the output signal b or the output signal g (steps-11, 12).

Next, the setting unit 62 when the shift amount signal y is input
The operation of will be described according to the flowchart of FIG.
First, when the input of the deviation amount signal y is confirmed (step-
1) The absolute value of the deviation amount w of the deviation amount signal y is obtained (step-2), and the timer time t is calculated. Servo motor 32
Assuming that the predetermined acceleration / deceleration of is α, w / 2 = (1/2) * α * t ² , as can be seen from the speed characteristic diagram of FIG. 11, and therefore t = (w / α) ^1/2 Can be calculated (step-3).

Next, it is determined whether the deviation amount w is positive or negative (step-4). If the deviation amount w is positive, the first deviation amount timer setting signal p having the timer time t is output to the first pulse generator 63. If it is negative (step-5), the second deviation amount timer setting signal q having the timer time t is output to the second pulse generator 65 (step-6).

With the configuration of the controller 43, the controller 43 receives the sorting command signal x from the loader controller 39 via the optical transmitters / receivers 50, 40, and then the first and second
Delay time T of the pulse generators 63 and 65 of the
The set value R of 61 or the set value L of the second counter 64 is set, and the reflection plate 36 of the sorting shoe 4 is counted by the detection signal a or f of the optical chute detector 37 or 38, and the counter 61 or When the subtraction result of 64 becomes 1, the pulse generator 63 or 65 outputs one pulse of the pulse width M to the relay MCF or MCR with the delay time T. Then, the servomotor 32 rotates normally or reversely to operate the sorting conveyor 3 and sort the load 2 to the target sorting shoe 4. The delay time T becomes shorter as the traveling speed becomes faster, and the timing at which the servo motor 32 operates becomes faster,
Therefore, the loads 2 are accurately sorted according to the traveling speed. When the deviation amount signal y is input through the optical transmitters / receivers 73 and 40, the timer time t is calculated, and the deviation amount timer is set in the first or second pulse generator 63 or 65 depending on whether the deviation amount signal y is positive or negative. The signals p and q are output, the pulse of the timer time t is output to the relay MCF or MCR, the servo motor 32 rotates normally or reversely, the sorting conveyor 3 operates, and the load 2 moves to the center of the sorting conveyor 3. To do.

In the above embodiment, the traveling vehicle 1 travels on the traveling rail 10 at a predetermined speed by utilizing the attractive force and repulsive force of the magnet by the linear motor 12 and the secondary conductor 19. Then, in a state where power is supplied to the servo motor 32 from the power supply rail 14 via the current collector 48 or the wiring line 49, the controller 41 causes the servo motor to respond to the signal sent from the optical transceiver 40. The load 32 on the belt 31 can be discharged to the sorting chute 4 or moved to the center by rotating the 32 normally or reversely. The load 2 is carried in from the loader conveyor 34 to the sorting conveyor 3.

During traveling, the metal cover 46
Since the space between the front and rear traveling carriages 1 is filled with the resin and the resin cover 47, it is possible to prevent the load 2 from falling off and dust from entering, and at that time, the strength of the overlapping portion is secured by the metal cover 46. You can

As described above, the shift amount of the load 2 on the sorting conveyor 3 can be detected and corrected based on the position thereof, the traveling speed of the traveling carriage 1 is not constant, and when the load 2 is loaded. Even if it is placed with a shift, its position can be corrected,
It is possible to prevent the load 2 from dropping due to vibration or inclination of the sorting conveyor 3. Further, unlike the conventional case, it is not necessary to perform the sorting control for checking the sorting positions of all the traveling carriages 1 by the control device on the ground side and determining the sorting timing, which simplifies the control on the ground side, and the sorting control can be performed. Since the control means is distributed on the side of the traveling vehicle 1, the sorting operation can be continued even if one traveling vehicle fails.

Although the traveling vehicle 1 is driven by the linear motor 12 in the embodiment, the traveling vehicle 1 may be driven by a method other than the linear motor system.

[0032]

As described above, according to the present invention, the control device causes the time difference between the inputs of the two detection signals of the photoelectric switch, the traveling speed of the traveling vehicle, and the mounting angle of the two photoelectric switches to be set on the traveling vehicle. The shift amount of the load in the left-right direction is calculated, and this shift amount is transmitted to the control means of the traveling vehicle via the first and second signal transmission means, so that the control means of the traveling vehicle can move the conveyor by this shift amount. The load can be driven to move to the center position, the traveling speed of the traveling carriage is not constant, and even if the load is misplaced when it is loaded, the position can be corrected and the load can be It can be prevented from falling.

[Brief description of drawings]

FIG. 1 is a perspective view of essential parts of a load carrying facility according to the present invention.

FIG. 2 is a side view of a traveling carriage of the same cargo transport facility.

FIG. 3 is a partial cross-sectional front view of a traveling carriage of the same cargo transport facility.

FIG. 4 is a circuit diagram of a control device for the same cargo transportation facility.

FIG. 5 is a schematic diagram showing a partial configuration of the same cargo transportation facility.

FIG. 6 is a wiring diagram between traveling carriages of the same cargo transport facility.

FIG. 7 is a schematic diagram illustrating a principle of detecting a shift amount of a load on a traveling vehicle of the same load transport facility.

[Fig. 8] Control inside the traveling vehicle control device of the same load transfer facility
It is a block diagram of LA.

[Fig. 9] Control inside the traveling vehicle control device of the same cargo transport facility
It is La's flow chart.

[Fig. 10] Control inside the traveling vehicle control device of the same cargo transport facility
It is La's flow chart.

[Fig. 11] Fig. 11 is a velocity characteristic diagram of a conveyor that moves a load on a traveling carriage of the same load transfer facility.

[Explanation of symbols]

 1 Traveling vehicle 2 Cargo (transported object) 3 Sorting conveyor 4 Sorting shoot 5 Traveling route 40,73 Optical transmitter / receiver (signal transmission means) 41 Controller 43 Controller 71, 72 Photoelectric switch 74 Deviation amount detector

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁵ Identification code Office reference number FI technical display location // G05D 1/02 T 7828-3H

Claims (1)

[Claims] 1. Traveling along a fixed route, loading loads from a plurality of loaders provided along the fixed route, and discharging the load to a plurality of sorting chutes also provided along the fixed route. A cargo transport facility comprising a plurality of carts connected at a predetermined interval, wherein each of the traveling carts is loaded with the cargo.
A sorting conveyor for delivering the load to the vehicle, a control means for controlling the conveyor, and a first signal transmitting means connected to the control means, and the height of passing the load on the traveling carriage is provided on the ground side. Is provided with two sets of transmissive photoelectric switches, which are symmetrical at the same angle in the left-right direction perpendicular to the traveling direction of the traveling vehicle along the fixed path, and the first signal transmission means is provided downstream of these photoelectric switches. A second signal transmission means facing each other, inputting two detection signals of the photoelectric switch, a time difference between the input of these signals, and a preset traveling speed of the traveling carriage, and the left and right of the load from the angle. A load-carrying facility comprising: a control device that calculates a deviation amount in a direction and transmits the deviation amount to the control means of the traveling vehicle via the first and second signal transmission means.