JPH07187326A - Control device for transferring mechanism in cargo storage device - Google Patents

Abstract

PURPOSE:To eliminate loss of motive power and time necessary to transfer a cargo when the cargo is loaded and transferred between a shelf and a transferring mechanism by transferring the cargo between a cargo receiving part and a large number of shelves by the transferring mechanism, revolving an endless belt arranged on the transferring mechanism, and locking/releasing a locking body arranged on the endless belt on/from the cargo (a tray). CONSTITUTION:An absolute type encoder 43 having a rotor 43a to rotate by interlocking with an endless belt 32 is arranged in a transferring mechanism 7, and is interlocked so that the rotor 43a once rotates by one time revolution of the endless belt 32. Since a position of a locking body 32 can be detected from an address of the rotor 43a in the encoder 43, the locking body 32 can be speedily approached to a shelf 5 or a cargo receiving part 8. Since the encoder 43 is formed as an absolute address system, when it is restarted after electric power supply is once turned off, there is no need to return the locking body 32 to the origin.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a transfer mechanism in a baggage storage device capable of loading and unloading a large number of shelves via a transfer mechanism.

[0002]

2. Description of the Related Art As an example of a luggage storage device, as described in the previous patent application (Japanese Patent Application No. 4-273047) filed by the applicant of the present application, a rack device in which racks for storing luggage are formed in a multi-tiered structure is used. It is installed facing each other, and it is configured so that luggage can be stored in each of these shelves via a tray that can be freely taken in and out, and further, a lift type transfer mechanism is provided at a position sandwiched by both shelf devices so that it can be moved up and down. Loading and unloading of luggage is performed by placing a tray on the mechanism between the transfer mechanism and an arbitrary shelf.

As a means for transferring a load from the transfer mechanism to an arbitrary shelf, the transfer mechanism is provided with an endless belt such as a chain extending along the loading / unloading direction of the load, and the endless belt is provided with a stopper for the tray. It is possible to push the tray on the transfer mechanism into an arbitrary shelf or pull out the tray from the arbitrary shelf to the transfer mechanism by engaging and disengaging the locking body with the tray in the endless belt. ing.

[0004]

In this way, if the load (tray) is transferred to the transfer mechanism and the shelf by the endless belt orbiting of the chain or the like, for example, the transfer using the air cylinder or the hydraulic cylinder is performed. Not only can the structure be simpler than that of the changing means, but even if the shelving devices are provided facing each other, the endless belt can be rotated in the normal direction or the reverse direction.
It has the advantage that the load can be easily transferred to both shelving units by one transfer means.

On the other hand, in the remounting means using the endless belt, the locking body can be stopped at any position, so that when loading or unloading luggage on one shelf and then loading or unloading the luggage on another shelf, the power source is used. When the vehicle is turned off and restarted, it is necessary that the locking body be in a position where the luggage can be taken in and out. For this purpose, for example, a limit switch for confirming the position of the locking body is provided in the transfer mechanism, and the locking body is returned to the original position every time the luggage is put in and out of each shelf. Although the belt is circulated and is made to stand by for the next transfer, this has a problem that there are many wasteful movements of the endless belt and much loss of power and time.

The present invention aims to solve this problem.

[0007]

In order to achieve this object, the present invention provides a shelving device in which a plurality of shelves are provided in a vertical multi-tiered manner or in a parallel manner along the horizontal direction, and the front surface of any shelves and a load receiving portion. And a transfer mechanism that is movable between, and the transfer mechanism is provided with an endless belt extending along the loading and unloading direction of the luggage to and from each of the shelves, and the endless belt has a locking body for the luggage,
In the luggage storage device, which is provided so as to transfer the luggage between the transfer mechanism and the shelf by engaging and disengaging the locking body with respect to the luggage by the circulation of the endless belt, An encoder provided with a rotor that rotates in conjunction with is provided so that the rotor makes one revolution in one revolution of the endless belt, and the position of the locking body in the endless belt is detected by detecting the rotor address in the encoder. Is configured to detect.

[0008]

With this configuration, since one revolution of the endless belt and the rotation of the rotor in the encoder are synchronized, the rotation angle of the rotor in the encoder is detected, in other words, the address in the rotor. By detecting, it is possible to know the position of the endless belt locking body in the transfer mechanism. Therefore, when the loading and unloading of luggage on one shelf is completed and the work on the loading and unloading of the next shelf is completed, the locking body can be loaded on the luggage without rotating the endless belt so that the locking body returns to the origin. It is possible to immediately move closer to it.

In this case, since the position of the locking body is known by the encoder, it is possible to know which can reach the baggage faster when the endless belt is rotated forward and when it is rotated reversely. Waste can be eliminated. By the way, if the encoder is of the incremental type, it can only count the pulses and calculate the position from the number of counts.Therefore, when the power is turned off and restarted, the origin must be restored one by one. There is a loss of time.

On the other hand, since the encoder of the present invention is an absolute type in which the address of the rotor is an absolute address, when the power is turned off and restarted, the position of the locking body in the endless belt is detected from the address of the rotor. Therefore, it is possible to eliminate the loss of power and time at the time of starting. As described above, according to the present invention, there is an effect that the power and time of the transfer mechanism can be eliminated at the time of starting and after that, and the luggage can be efficiently taken in and out.

[0011]

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

The shelving units 2 and 3 are provided with load receiving portions 8 which are open in both front directions. The lift 7 includes a horizontal base plate 7a and side plates 7b that are raised from the left and right side edges of the base plate 7. The sideways laterally trapezoidal brackets 9 are fixed to the outer surfaces of the front and rear ends of the left and right side plates 7b, respectively. The guide rails 10 having a V-shaped cross section fixed to the support column 4 are provided at the upper and lower ends of the tip edge of each of the brackets 9.
The lift 7 is smoothly moved up and down by rotatably supporting the spinning roller-shaped guide roller 11 that is in contact with the lift 7.

The upper and lower intermediate portions of the bracket 9 are formed by bending inwardly in a protruding shape.
While a photoelectric sensor 12 of a reflection type or the like is provided in a, a reflection tape 13 is attached to a pair of columns 4 of the front and rear shelf devices 2 and 3 facing each other corresponding to the height of each shelf 5. Further, a reinforcing member 14 having a U-shaped cross section is fixed to the lower surface of the front and rear intermediate portions of the lift 7 so that both ends of the reinforcing member 14 are protruded. One end of each wire 16 is fixed.

The left and right wires 16 are wound around a ceiling pulley 18 which is axially supported on the ceiling portion of the luggage storage device 1, and the both wire 16 is axially supported on the bottom surface of the luggage storage device 1 for posture conversion pulley. Drum 2 through 20, 21
3, the lift 7 is moved up and down by driving the drum 23 by a motor 24 with a speed reducer for lifting. The motor 24 includes a lift control rotary encoder 2 for counting the number of rotations of its main shaft.
5 is provided.

As shown in FIGS. 6 and 9 to 10, a support plate for mounting the tray 6 on the inner surface of the left and right side plates 7b of the lift 7 except the front and rear ends thereof. 26 is projected horizontally. A slider 27 made of synthetic resin or the like is fixed to the support plate 26. A guide body 28 for guiding the movement of the tray 6 is fixed to the upper ends of the left and right side plates 7b of the lift 7.

A first sprocket 29 is pivotally supported on the inner surface of one end of each of the left and right side plates 7b of the lift 7, and a second sprocket 30 is pivotally supported on the inner surface of the other end thereof. A transfer chain 31 as an example of an endless belt is wound around 30 and the transfer chain 31 is provided on the transfer chain 31 by means such as shown in FIG. Two locking bars 32 that can be fitted to the downward hooks 6a formed on the
Is installed.

The distance between the two locking bars 32 is set to be the same as the distance between the front and rear hooks 6a of the tray 6, and when both the left and right transfer chains 31 orbit at the same time, the two locking bars 32 are The tray 6 placed on the shelf 5 or the load receiving portion 8 is engaged with the front and rear downward hooks 6a so that the tray 6 can be pulled into the lift 7 or the tray 6 can be pushed into the shelf 5 or the load receiving portion 8.

The left and right transfer chains 31 are respectively provided on the support plate 2.
It goes around the upper and lower parts of 6. The left and right shafts 33 to which the first sprocket 29 is attached respectively have a third
While the sprocket 34 is attached, a drive shaft 35 extending in the left-right direction is rotatably supported by bearings 36 on the inner surface of the lift 7 near one end thereof. By winding the first drive chain 38 around the sprocket 37 and the third sprocket 34, both the transfer chains 31 are made to rotate simultaneously.

Further, a transfer motor 39 with a speed reducer is fixed to one of the left and right sides of the lower surface of the lift 7 near one end, and a fifth sprocket 40 fixed to the rotary shaft of the motor 39 and the drive shaft 35. 5th sprocket 4 installed in
The fifth chain 41 is wound around 0 '. Therefore, when the motor 39 is rotated in the forward and reverse directions, both transfer chains 2
9 simultaneously orbits and the locking bar 32 moves toward and away from the front and rear shelf devices 2 and 3.

An absolute encoder 43 with a speed reduction mechanism 42 is provided on the side of the lower surface of the lift 7 on the opposite side of the motor 29, and a driven pulley provided on an input shaft 44 protruding from the speed reducer 42. 45 and the drive shaft 3
Timing belt 4 between the drive belt 46 and the drive pulley 46
7 is wrapped around. As shown in FIG. 7, the encoder 43 has a built-in absolute address type rotor 43a, so that when the transfer mechanism chains 29 make one revolution by the speed reduction mechanism 42, the rotor 43a rotates once. Set.

As shown in FIG. 11, a reinforcing frame 48 having a U-shaped cross section is fixed to the lower surface of the lift 7 near the front and rear ends. In the above configuration,
When the luggage W is arbitrarily stored, a transportation belt (not shown) running along the front surface and the back surface of the luggage storage device 1 is used.
The tray 6 containing the load W is placed on the load receiving portion 8, then the lift 7 is moved to the height of the load receiving portion 8, and then both transfer chains 31 are driven by the motor 39 to lock both locking bars 32. The tray 6 is pulled out to the lift 7 by being fitted in the front and rear downward hooks 6a of the tray 6.

Then, after stopping the driving of the transfer chain 31, the lift 7 is moved up and down to the front surface of the target shelf 5, and after the lifting is stopped, the transfer chain 21 is driven.
The tray 6 is pushed into the shelf 5 and stored. Further, when the luggage W is taken out from the arbitrary shelf 5, the operations reverse to the above are performed (these operations may be performed by manually operating the control device provided in the luggage storage device 1 or in an automatic warehouse or In the case of an automatic factory, it is done automatically by the central control unit).

In this case, since the position of the locking bar 32 can be detected from the address of the rotor 43a of the encoder 43 of the lift 7, the locking bar 32 and the target shelf 5 or the load receiving portion 8 are included in the control circuit of the load carrying device 1. By providing a circuit for calculating the distance between the transfer chain 31 and a circuit for selecting whether the transfer chain 31 is normally rotated faster or reversely rotated,
It is possible to transfer the luggage W with the power and time lost. In addition, the luggage W from the receiving section 8 or the shelf 5
The distance to transfer the oil to the lift 7 can also be controlled by detecting the rotation of the rotor 43a in the encoder 43.

Furthermore, since the encoder 43 is an absolute type and the rotation of the rotor 43a and the rotation of the transfer chain 31 are synchronized, the position of the locking bar 32 can be known from the rotation angle of the rotor 43a. Even when the engine is turned off and restarted, the locking bar 32 can be moved quickly without returning the transfer chain 31 to the original position one by one, and power and time loss at the time of starting can be eliminated. .

In the above embodiment, the locking bar 32 is attached to the tray 6.
Although it was made to engage with and disengage from the downward facing hook 6a, it goes without saying that the means for transferring the load is not limited to the above-mentioned embodiment, and other structures may be used. Further, the endless belt is not limited to the chain, but may be a timing belt. Further, the present invention is directed to a luggage storage device 1 in which shelves are provided side by side.
It goes without saying that the present invention can also be applied to a luggage storage device in which shelves are arranged in a matrix in the vertical and horizontal directions.

[0026]

[Brief description of drawings]

[0027]

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

[0028]

FIG. 2 is a front view of the luggage storage device, which is a view taken along line II-II of FIG.

[0029]

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

[0030]

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

[0031]

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

[0032]

FIG. 6 is a partial perspective view of a lift.

[0033]

FIG. 7 is a perspective view of the absolute type encoder facing upward.

[0034]

FIG. 8 is a plan view of a lift.

[0035]

FIG. 9 is an enlarged plan view of one side portion of the lift.

[0036]

FIG. 10 is an enlarged plan view of the other side portion of the lift.

[0037]

FIG. 11A is a side view of FIG. 8 taken along line XI-XI, and FIG.
It is a BB side view of FIG.

[0038]

FIG. 12 is a side view of FIG. 9 taken along the line XII-XII.

[0039]

13 is a view taken along line XIII-XIII in FIG. 11.

[0040]

FIG. 14 is a view of the shelf device as viewed from the inside of the luggage storage device.

[0041]

15 is a sectional view taken along line XV-XV of FIG.

[0042]

FIG. 16 is a diagram showing loading and unloading of luggage.

[0043]

[Explanation of symbols]

 1 Luggage Storage Device 2 Front Shelving Device 3 Rear Shelving Device 5 Shelf 6 Tray 6a Downward Hook 7 Lift as an example of a transfer mechanism 8 Load receiving part 16 Lifting wire 24 Lifting motor 31 Transfer chain as an example of an endless belt 32 Locking bar 39 Transfer motor 43 Encoder 43a Rotor

Claims (1)

[Claims] 1. A shelving device having a plurality of shelves arranged in a vertical multi-stage manner or in a parallel manner along a horizontal direction, and a transfer mechanism movable between a front surface of an arbitrary shelves and a load receiving portion. The transfer mechanism is provided with an endless belt extending along the loading / unloading direction of the luggage to / from each of the shelves, and a locking body for the luggage is provided on the endless belt.
A luggage storage device configured to transfer a load between a transfer mechanism and a shelf by engaging and disengaging the locking body with respect to the load by rotating the endless band, wherein the transfer mechanism is configured to rotate the endless band. An encoder provided with a rotor that rotates in conjunction with is provided so that the rotor makes one revolution in one revolution of the endless belt, and the position of the locking body in the endless belt is detected by detecting the rotor address in the encoder. Is a control device for a transfer mechanism in a luggage storage device.