JPH0551122A - Load carrier equipment - Google Patents

Abstract

PURPOSE:To prevent a load from falling by keeping the position of the load placed on a traveling carriage in the center. CONSTITUTION:There are provided two pairs of photoelectric switches 51, 52 which are orthogonal to the traveling direction A of a traveling carriage 1, have the same angle in a horizontal direction, and symmetrical to each other along a traveling passage 5 between a loader 6 and a sorting chute 4 at the passing height of a load 2 on the traveling carriage 1. Besides, a light emitting/ receiving device 53 which faces the light emitting/receiving device 11 of the traveling carriage 1 is provided at the downstream side of the photoelectric switches 51, 52 to compute the displacement amount in the horizontal direction of the load 2 from an input time difference in the two signals of the photoelectric switches 51, 52, and preset traveling speed and angle of the traveling carriage 1, and a displacement amount detecting device 54 which transmits the displacement amount signal (z) to the traveling carriage 1 through the light emitting/receiving devices 53, 11. Therefore, if the load 2 is displaced at the time of loading, the displacement amount of the load 2 on a conveyer can be detected, thus it is possible to correct the position to the center, and prevent the load 2 from falling.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention
Loads are loaded from a plurality of loaders provided along the fixed route, and a plurality of traveling carriages for discharging the load to a plurality of sorting chutes also provided along the fixed route are connected at predetermined intervals. The present invention relates to a load carrying facility.

[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. Further, the traveling speed of the trolley is not always constant, and the load on the loader (loading conveyor) is often placed and transported off the center of the loader, and the loading timing from the loader also shifts. Unlike the case of a tray, the transported object does not naturally deviate to the center, because the transported object is placed on the traveling carriage off the center and the loading surface of the transported object is a conveyor. Since the object is placed while being displaced from the center, there is a risk that the transported object may drop due to vibration during traveling of the curved portion or during traveling.

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 unloading the load, the control means for controlling the conveyor, and the first signal transmission means connected to the control means are provided, and on the traveling carriage on the ground side between the loader and the sorting chute. A shift amount detecting means for detecting a shift amount in the left-right direction perpendicular to the traveling direction of the load, and a shift amount detecting means provided downstream of the shift amount detecting means so as to face the first signal transmitting means. The first deviation It is characterized in that it comprises a second signal transmission means for transmitting to the control means of the traveling vehicle through a signal transmission means.

[0007]

With the above structure, the shift amount detecting means provided between the loader and the sorting chute calculates the shift amount of the load on the traveling carriage in the left-right direction, and the shift amount is detected by the first and second signal transmitting means. Is transmitted to the control means of the traveling vehicle via. Therefore, the control means of the traveling vehicle can move the load to the center position by driving the conveyor by this shift amount during the transfer of the load.

[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 structural layout view of a load carrying facility according to an embodiment of the present invention.

In FIG. 1, reference numeral 1 denotes a fixed traveling path 5 which is connected to each other and travels in the direction A, and as shown in FIG. It is a traveling trolley provided with a sorting conveyor 3 for transporting 2 on its upper surface, and the load 2 loaded by the loader 6 is opened by driving the sorting conveyor 3 on the traveling trolley 1 in the left and right lateral directions with respect to the A direction to travel. It is paid out to the sorting sheets 4 provided along the route. As shown in FIG. 2, the travel route 5 is installed on the floor via legs 7 provided at predetermined intervals.

On the outer surface of the traveling carriage 1, a pair of photoelectric type shoes for detecting the position of each sorting suit 4 by a reflector 8 installed on the front surface of each sorting suit 4.
Optical detectors for exchanging signals with the detectors 9 and 10
11, a control device 12 shown in FIG. 3 is further provided, and a servo amplifier 13 for a servo motor that drives the sorting conveyor 3 is provided. As shown in FIG. 3, the control device 12 includes relays MCF and MCR for transmitting signals of forward rotation and reverse rotation of the servomotor 14 to the servo amplifier 13, a controller 15 described later, a controller 15 and a relay 15 and relays. MC
The relay MCF and MCR are controlled by the controller 15, the relay MCF is driven, and the signal is transmitted to the servo amplifier 13. When the servomotor 14 rotates forward to discharge the load 2 to the right, the relay MCR is driven, and the signal is transmitted to the servo amplifier 13, the servomotor 14
Reverses and discharges load 2 to the left.

As shown in FIG. 1, the loader 6 is composed of a leading end conveyor 17 for loading the load 2 onto the traveling carriage 1 and a transfer conveyor 18 for loading the load 2 onto the leading end conveyor 17, which will be described later. It is driven by the loader control device 19. Further, as shown in detail in FIG. 5, the transport conveyor 18 is transmitted along the transport direction B of the transport conveyor 18 to the passing height of the load 2 on the transport conveyor 18 in the left-right direction perpendicular to the transport direction B. -Type first photoelectric switch 20 is provided, and two sets of transmission-type second and third photoelectric switches 21 and 22 that are symmetrical at the same angle in the left-right direction perpendicular to the conveyance direction B are provided, and further at the outlet thereof. A transmissive fourth photoelectric switch 23 is provided in the left-right direction perpendicular to the transport direction B. In addition, at the entrance of the tip conveyor 17, a fifth photoelectric switch 24 of a transmission type in the left-right direction perpendicular to the conveying direction B is formed.
Is provided, and a transmission-type sixth photoelectric switch 25 is provided at the outlet (the inlet of the load 2). Further, a reflection type seventh photoelectric switch 26 for detecting passage of the traveling vehicle 1 for carrying the next load 2 is provided upstream of the loader 6 in the traveling direction A of the traveling vehicle 1, and further upstream thereof, the traveling photoelectric vehicle switch 26 is provided. 1 is provided with an optical transmitter / receiver 27 that transmits a timer setting signal y described later via the optical transmitter / receiver 11, and the traveling carriage 1 on which the load 2 is mounted is provided downstream of the loader 6 in the traveling direction A of the traveling carriage 1. Through the optical transmitter / receiver 11, a sorting command signal x including sorting destination data of the load 2 (for example, a code of a store sorting the load 2), layout data of the sorting chute 4, and traveling speed data of the traveling carriage 1 is sent. An optical transmitter / receiver 28 for transmitting is provided. The first to seventh photoelectric switches 20 to 26 and the optical transceivers 27 and 28 are connected to a loader control device 19 as shown in FIG.
Further, on the upstream side of the loader 6, a reflecting plate 29 is provided along the traveling path 5 so that the chute detector 9 or 10 of the traveling vehicle 1 operates simultaneously with the operation of the seventh photoelectric switch 26.

The loader control unit 19 is, as shown in FIG.
A load length detection unit 31 for inputting a detection signal of the first photoelectric switch 20 and detecting the length 1 (ell) of the load 2 in the transport direction B shown in FIG. When the detection signals of the photoelectric switches 21 and 22 are input and there is a time difference in the input of the signals, the speed of the loader 6 (speed of the conveyors 17 and 18),
A shift amount detection unit 32 (details will be described later) that calculates a shift amount w of the load 2 in the left-right direction from the angle, and a load length 1 detected by the load length detection unit 31 and a shift amount detection unit 32. Enter the deviation amount w, and set the timer T and the tip conveyor 17 described later.
The stop distance Z of the load 2 above is calculated, and the timer setting time T
A setting calculation unit 33 (which will be described in detail later) that outputs a deviation amount signal y including the stop amount Z set by the setting calculation unit 33.
The detection signals of the fifth to seventh photoelectric switches 24-26, the start / stop signal from the sorting data output section 36 described later, and the pulse signal of the pulse encoder 39 of the tip conveyor 17 are input to the controller 37 of the tip conveyor 17. Output a drive signal,
In addition, a tip conveyor drive unit 34 (details will be described later) that outputs a start signal for the conveyor 18 and a tip conveyor drive unit 34.
Input signal, the detection signal of the fourth photoelectric switch 23, the start / stop signal from the sorting data output unit 36, and the drive signal is output to the control device 38 of the conveyer conveyor 18 by the start signal. Transporting conveyor drive unit 35 that outputs a stop signal to the control device 38 of the transporting conveyor 18 according to the detection signal of the photoelectric switch 23, the sorting data of the load 2 input from the host computer, the layout data of the sorting chute 4, and the traveling carriage 1. The running speed data of
According to the detection signal of the photoelectric switch 25 of
The sorting command signal x is output to the traveling vehicle 1 via
Sorting data that outputs a start signal to the tip conveyor drive unit 34 and transport conveyor drive unit 35 when there is sort destination data, and outputs a stop signal to the tip conveyor drive unit 34 and transport conveyor drive unit 35 when there is no sort destination data. And an output unit 36.

Principle of detecting the deviation amount w by the deviation amount detecting unit 32
Will be described with reference to the schematic diagram of FIG. Second and third photoelectric switch
The angle of attachment of the switches 21 and 22 is Θ, and the center of the conveyor 18 for load 2
From the second, the conveyor 18 transfer speed is u, the second
The detection signal of the photoelectric switch 21 turns on, and the third photoelectric switch
The time lag until the switch 22 turns on is t_a(The third photoelectric
If the switch 22 is turned on first, it will be negative), the second
The detection signal of the photoelectric switch 21 of the
The time difference until the switch 22 is turned off is t _b(Third light
Power switch 22 is turned off first, it will be negative),
The detection signal of the second photoelectric switch 21 turns on, and the third light
The transport distance until the power switch 22 is turned on is a,
The detection signal of the photoelectric switch 21 turns off, and the third photoelectric switch
If the transport distance until the switch 22 is turned off is b, then a = t_a* Ub = t_b* U, where the distances a and b are detected
If the distance between the point and the center of the conveyor 18 is c and d, then c = a / (2tan Θ) = t_a* U / (2tan Θ) d = b / (2tan Θ) = t_b* U / (2tan Θ) Therefore, w = (c + d) / 2 = (u / 4) * (t_a+ T_b) / T
It can be expressed as an Θ.

The deviation amount detecting section 32 calculates the deviation amount w and outputs it to the setting calculating section 33 each time the detection signals of the second and third photoelectric switches 21 and 22 are inputted by this equation. Setting calculator
Timer setting time T by 33 and load 2 at the tip conveyor 17
The principle of calculating the stop distance Z from the operation of the fifth photoelectric switch 24 will be described with reference to the schematic diagram of FIG.

The traveling speed of the traveling carriage 1 is v, the conveying speed of the conveyor 17 is u (= 2 ^1/2 v), and the acceleration of the conveyor 17 is a.
Then, from the stop position E, the conveyor 17 moves at a conveying speed of 2 ^1/2
The time t _P at which v becomes v (the time to reach the F position from the stop position E) is t _P = 2 ^1/2 v / a The moving distance P of the conveyor 17 at this time is P = (1/2) * t _P * 2 ^1/2 v = (2 ^1/2 v) ² / (2a) = v ² / a Further, during this time t _P , movement of the traveling vehicle 1 at the detection position of the seventh photoelectric switch 26 Therefore, the distance Q is: Q = t _P * v = 2 ^1/2 v ² / a Therefore, the distance R from the center position of the traveling vehicle 1 to the stop position E when the seventh photoelectric switch 26 is at the detection position.
Is R = Q-P / 2 ^1/2 = 2 ^1/2 v ² / a-v ² / a / 2 ^1/2 = v ² / (2 ^1/2 a) and the conveyance corresponding to this distance R Moving distance D of conveyor 17
Therefore, D = 2 ^1/2 R = v ² / a Therefore, when the set value is X, the stop distance Z is: Z = 1 (el) / 2-w + D + X = 1 / 2-w + v ² / a + X The stop distance Z is calculated and output to the leading end conveyor drive unit 34.

When the conveyor 17 is driven by the detection signal of the seventh photoelectric switch 26 from the stop position E of the stop distance Z, the traveling carriage 1 and the conveying speed 2 at the traveling speed v at the F position are driven.
^{A 1/2} v load 2 will be lined up.

When the constant velocity of the sorting conveyor 3 of the traveling carriage 1 is V and the deceleration is b, the deceleration time t _M from the constant velocity V for stopping the load 2 at the center of the sorting conveyor 3 is t _M.
Is t _M = V / b The moving distance M of the sorting conveyor 3 at this time is M = (1/2) * t _M * V = (1/2) * V / b * V = V ² / (2b) Further, the moving distance J of the traveling carriage 1 due to the shift amount w is J = 2 ^1/2 w Therefore, the moving distance of the traveling carriage 1 to the position where the center of the tip conveyor 17 and the traveling path 5 intersect is H (set value). Then, the distance K that the traveling carriage 1 travels by the time the sorting conveyor 3 starts decelerating (by reaching the position N in the figure).
K = H + J−M = H + 2 ^1/2 w−V ² / (2b) Therefore, the time T for traveling the traveling distance K is T = K / v = [H + 2 ^1/2 w−V ² / ( 2b)] / v The timer setting time T is calculated by this formula and output as the deviation amount signal y to the traveling carriage 1 via the optical transmitter / receiver 27. Therefore, when the traveling carriage 1 detects the reflection plate 27 (the seventh photoelectric switch 26 operates) and stops driving the sorting conveyor 3 after the timer setting time T, the sorting conveyor 3 decelerates to the N position. The load 2 is placed at the center of the traveling carriage 1.

Next, the operation of the tip conveyor drive unit 34 will be described with reference to FIG.
It will be described in accordance with the flowchart of. First, when a start signal is input from the sorting data output unit 36 (step-1), a drive signal is output to the control device 37 of the tip conveyor 17 to drive the tip conveyor 17 (step-2), and the transport conveyor drive unit 35 The start signal is output to the conveyor 18
Is driven (step-3). When the load 2 is transferred from the transfer conveyor 18 to the leading end conveyor 17 and the detection signal of the fifth photoelectric switch 5 at the entrance is input (step-4), the pulse of the pulse encoder 39 is counted to count the moving distance. (Step-5) When the movement distance reaches the stop distance Z (Step-6), a stop signal is output to the tip conveyor control device 37 to stop the tip conveyor 17 (the tip conveyor 17 is stopped by the brake) (step). -7). Next, when the operation of the seventh photoelectric switch 26 is detected and the traveling vehicle 1 into which the load 2 is loaded is detected (step-
8), output a drive signal to the tip conveyor controller 37 to drive the tip conveyor 17 (step-9),
The detection signal of the photoelectric switch 25 of the
After confirming the input (step-10), it is confirmed whether a stop (loading stop) signal is input from the sorting data output section 36 (step-11). If the loading is continued, go to step-3. In the case of returning and stopping, a stop signal is output to the leading end conveyor control device 37 to stop the leading end conveyor 17 (step -12), and the process ends.

By the operation of the tip conveyor drive unit 34,
The load 2 transported to the leading end conveyor 17 by driving the transport conveyor 18 is temporarily stopped at the stop distance Z, and is driven again by detection of the traveling carriage 1 to be loaded, and the cargo 2 is loaded into the traveling carriage 1.

Further, the load on the transfer conveyor 18 is temporarily transferred by inputting the detection signal of the fourth photoelectric switch 23.
It stops at the end of 18, and is conveyed from the conveying conveyor 18 to the tip conveyor 17 by a start signal of the tip conveyor driving unit 34.

Further, as shown in FIG. 1, along the traveling route 5 between the loader 6 and the sorting chute 4, as shown in detail in FIG. 1
2 sets of transmission type 8th and 9th photoelectric switches 51 and 52 which are symmetrical at the same angle in the left-right direction perpendicular to the traveling direction A of the traveling carriage 1 are provided on the downstream side of these photoelectric switches 51 and 52. An optical transmitter / receiver 53 facing the optical transmitter / receiver 11 is provided, two detection signals of the photoelectric switches 51, 52 are input, and when there is a time difference in the input of the signals, the traveling speed of the traveling carriage 1 and the load 2 from the angle A shift amount detecting device 54 is provided which calculates the shift amount in the left-right direction and transmits this shift amount signal z to the controller 15 of the control device 12 of the traveling vehicle 1 via the optical transceivers 53 and 11.

The principle of detection of the deviation amount by the deviation amount detecting device 54 is the same as the detection principle described in the deviation amount detecting portion 32 of the loader control device 19, and detailed description thereof will be omitted. The shift amount w of the load 2 from the center of the traveling carriage 1 is v, the traveling speed of the traveling carriage 1 is v, the mounting angles of the eighth and ninth photoelectric switches 51 and 52 are θ, and the detection of the eighth photoelectric switch 51 is detected. signal is turned on, the difference in time the photoelectric switch 52 of the ninth is on t _a (third photoelectric switch 22 minus the turned on first), the detection signal of the eighth photoelectric switch 51 is turned off Then, assuming that the time difference until the ninth photoelectric switch 52 is turned off is t _b (it is negative when the third photoelectric switch 22 is turned off first), w = (v / 4) * (t _a + t It can be expressed as _b ) / tan Θ.

The deviation amount detection device 54 uses this equation to calculate the deviation amount w
Is calculated and is output to the traveling carriage 1 as a deviation amount signal z.
The configuration of the controller 15 of the control device 12 for inputting the sorting command signal x, the shift amount signal y, and the shift amount signal z via the optical transmitter / receiver 11 and the drive operation of the sorting conveyor 3 by the controller 15 will be described below. It will be described in detail based on the block diagram of FIG.

The first counter 41 is a shoe for detecting the reflector 8 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 9 and a setting signal b from a payout setting device 42 to be described later to obtain a set value R. Is subtracted, and when the result of the subtraction is 1 or less, the output signal c is output to the first pulse generator 43. When the first pulse generator 43 receives the output signal c from the first counter 61, the first pulse generator 43 delays the time T by the timing setting signal d from the payout setting unit 42 and delays the relay MC for a preset time M.
An output signal e that turns on F is output. Second counter 44
Is input with the detection signal f of the shoe detector 10 for detecting the reflector 8 of the sorting shoe 4 provided on the left side in the traveling direction A, and the setting signal g from the payout setting device 42 is input. The counter has a set value of 1, and subtracts 1 from the set value L each time the detection signal f is input, and outputs an output signal h to the second pulse generator 45 when the result of the subtraction is 1 or less.
When the second pulse generator 45 receives the output signal h from the second counter 44, the second pulse generator 45 delays the time T by the timing setting signal d and delays the relay MCR for a preset time M.
An output signal j that turns on is output. When the first deviation amount timer setting signal p is input from the payout setting unit 42, the first pulse generating unit 43 outputs the output signal e for turning on the relay MCF for the timer time set by the signal p. When the second deviation amount timer setting signal q is input from the payout setting unit 42, the second pulse generating unit 45 outputs the output signal e for turning on the relay MCR for the timer time set by the signal q.

The operation of the payout setting section 42 when the sorting command signal x is input will be described with reference to the flowchart of FIG. First, it is confirmed whether or not the layout command of the sorting chute 4 is included in the sorting command signal x input from the loader controller 19 through the optical transmitters / receivers 28, 11 (step-
1) If the layout data is included, according to the layout data, the shoot number and the sorting destination code
Change the mode (step-2). Next, it is confirmed whether or not the traveling speed data is included in the sorting command signal x (step-3). If the traveling speed data is included, the delay time T inversely proportional to the traveling speed data is obtained. Is calculated (step −
4) The delay time T is output to the pulse generators 43 and 45 as the timing setting signal d (step-5). Next, it is confirmed whether the sorting instruction signal x includes sorting destination data (step-6).
If it is included, the shot number is searched based on the sorting destination data (code) (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, and the set value R can be calculated by R = (N + 1) / 2 and the set value L can be calculated by L = N / 2. The set value R or the set value L is output to the first or second counter 41, 44 as the output signal b or the output signal g (steps-11, 1).
2).

Next, the setting unit 42 when the shift amount signal z is input
The operation will be described according to the flowchart in FIG.
First, when the input of the deviation amount signal z is confirmed (step-
1) The absolute value of the deviation amount w of the deviation amount signal z is obtained (step-2), and the timer time t is calculated. Servo motor 14
Assuming that the predetermined acceleration / deceleration of is α, as can be seen from the speed characteristic diagram of FIG. 12, it can be expressed as w / 2 = (1/2) * α * t ^2, and therefore t = (w / α) ^1/2 Can be calculated (step-3).

Next, it is judged 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 43. 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 45 (step-6).

Further, in FIG. 9, reference numeral 46 is a shift amount signal y,
It is a mounting setting unit that receives the detection signal a of the short detector 9 and the detection signal f of the short detector 10 and outputs an output signal r for turning on the relay MCF and an output signal s for turning on the relay MCR. ..

The operation of the mounting setting section 46 when the shift amount signal y is input will be described with reference to the flowchart of FIG. First, when the input of the deviation amount signal y is confirmed (step-1), the timer setting signal T of the deviation amount signal y is stored (step-2), and whether the detection signal a of the short detector 9 is inputted is checked. Confirm (step-3). When the detection signal a of the short detector 9 is input, an output signal r for turning on the relay MCF is output (step-4), and counting of the timer setting time T of the deviation amount signal y is started (step-
5) When it counts up (step-6), the output signal r for turning on the relay MCF is turned off (step-
7) The memory of the timer setting signal T is erased (step-8). If the input of the detection signal a of the short detector 9 cannot be confirmed in step-3, it is confirmed whether the detection signal f of the short detector 10 is input (step-
9) If the input of the detection signal f of the short detector 10 cannot be confirmed, the process returns to step-3 and waits for the input of the detection signals a and f. When the input of the detection signal f of the short detector 10 is confirmed, the output signal s for turning on the relay MCR is output (step-10), and the counting of the timer setting time T of the deviation amount signal y is started (step- 11) After counting up (step-12), the output signal s for turning on the relay MCR is turned off (step-13). Then, in step-8, the memory of the timer setting signal T is erased.

With the configuration of the controller 15, the controller 15 receives the sorting command signal x from the loader controller 19 via the optical transmitters / receivers 28 and 11, and the first and second controllers 15 and 28 are provided.
Delay time T of the pulse generators 43 and 45 of the
The set value R of 41 or the set value L of the second counter 44 is set, and the reflection plate 8 of the sorting suit 4 is counted by the detection signal a or f of the optical chute detector 9 or 10, and the counter 41 or When the subtraction result of 44 becomes 1, the pulse generator 43 or 45 outputs one pulse of the pulse width M to the relay MCF or MCR with the delay time T. Then, the servomotor 14 is rotated normally or reversely to operate the sorting conveyor 3 to 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 13 operates becomes faster,
Therefore, the loads 2 are accurately sorted according to the traveling speed. Further, when the deviation amount signal z is input through the optical transmitters / receivers 53 and 11, the timer time t is calculated, and the deviation amount timer is set in the first or second pulse generators 43 and 45 depending on whether the deviation amount signal z 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 14 rotates normally or reversely, the sorting conveyor 3 operates, and the load 2 moves to the center of the sorting conveyor 3. To do. Further, when the shift amount signal y is inputted through the optical transmitters / receivers 27 and 11, the detection signal a or f of the optical chute detector 9 or 10 (at this time, the traveling vehicle 1 is at the detection position of the seventh photoelectric switch 26). ) Outputs the output signal to the relay MCF or MCR during the timer setting time T. Then, the servomotor 14 is driven at the detection position of the seventh photoelectric switch 26, and the sorting conveyor 3 operates by rotating in the normal direction or in the reverse direction during the timer setting time T, and the load 2 loaded from the leading end conveyor 17 is described above. As described above, after the timer setting time T, the sorting conveyor 3 decelerated moves to the center of the traveling carriage 1.

In this way, the deviation amount w of the load 2 on the conveyor 18 is detected, and the tip conveyor 17 is detected according to the deviation amount w.
The stop distance Z is set, the load 2 is temporarily stopped at the stop position E of the stop distance Z, the timer setting time T of the traveling vehicle 1 is set, and the traveling vehicle 1 carrying the load 2 is set. When the traveling cart 1 reaches the operating position of the seventh photoelectric switch 26 by outputting, the leading end conveyor 17 is driven, and the sorting conveyor 3 is driven from this position to stop after the timer setting time T. It is possible to place the load 2 mounted on the traveling carriage 1 from 17 at the center position of the traveling carriage 1, and to prevent the load 2 from dropping due to vibration or inclination of the sorting conveyor 3. Further, it is possible to detect the amount of shift of the load 2 on the sorting conveyor 3 and correct it centering on the position, and even if the load 2 is placed with a shift,
The position can be corrected, and the load 2 can be prevented from dropping due to vibration or inclination of the sorting conveyor 3.

[0032]

As described above, according to the present invention, the shift amount detecting means provided between the loader and the sorting chute calculates the shift amount of the load on the traveling carriage in the left-right direction, and the shift amount is calculated as the first shift amount. , By transmitting to the control means of the traveling carriage via the second signal transmitting means, the control means of the traveling carriage can drive the conveyor by this shift amount to move the load to the center position, and Even if the load on the
The position can be corrected and the load can be prevented from dropping due to vibration.

[Brief description of drawings]

FIG. 1 is a configuration layout diagram of a load carrying facility according to an embodiment of the present invention.

FIG. 2 is a perspective view of an essential part of the same cargo transport facility.

[Fig. 3] Fig. 3 is a circuit diagram of a traveling vehicle control device of the same cargo transport facility.

FIG. 4 is a block diagram of a loader control device of the same cargo transport facility.

FIG. 5 is a schematic diagram illustrating the principle of detecting the amount of shift of a load on a transfer conveyor of the same load transfer facility.

FIG. 6 is a schematic diagram illustrating a principle of detecting a timer set time and a stop distance of the same cargo transportation facility.

FIG. 7 is a flowchart of a leading end conveyor drive unit of a loader control device of the same load carrying facility.

FIG. 8 is a schematic diagram illustrating a principle of detecting a shift amount of a load on a traveling carriage of the load transfer facility.

[Fig. 9] Control inside the traveling vehicle control device of the same cargo transport facility
It is a block diagram of LA.

FIG. 10 is a flowchart of a payout setting unit of a controller in a traveling vehicle control device of the same cargo transportation facility.

[Fig. 11] Control inside the traveling vehicle control device of the same cargo transport facility
It is a flowchart of the payout setting section of LA.

[Fig. 12] Fig. 12 is a speed characteristic diagram of a conveyor that moves a load on a traveling carriage of the same load transfer facility.

[Fig. 13] Control inside the traveling vehicle control device of the same load transfer facility
It is a flowchart of the installation setting section of LA.

[Explanation of symbols]

 1 Traveling vehicle 2 Cargo (object to be transported) 3 Sorting conveyor 4 Sorting shoot 5 Traveling route 6 Loader 8, 29 Reflector 9, 10 Chute detector 11, 27, 28, 53 Optical transceiver (signal transmission means) 12 Control device 15 Controller 19 Loader control device 20 to 26, 51, 52 Photoelectric switch 54 Deviation amount detection device

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 conveyor for sorting out a load to a container, a control means for controlling the conveyor, and a first signal transmission means connected to the control means, and the traveling carriage is provided on the ground side between the loader and the sorting chute. A deviation amount detecting means for detecting a deviation amount in the left-right direction perpendicular to the traveling direction of the upper load, and a deviation amount detecting means provided downstream of the deviation amount detecting means so as to face the first signal transmitting means. 2. A load carrying facility comprising a second signal transmission means for transmitting the deviation amount detected in step 1 to the control means of the traveling vehicle via the first signal transmission means.