• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Transfer apparatus (1) comprising a lifting module (6) with a lifting mechanism having a combination of elements and a motor (50). It transmits the movement to a first and a second conveyor (2, 3) to raise or lower and stop the rotation of the motor (50) if one of the conveyors reaches a predefined height. The physical limit of the motor (50) operating the lift mechanism to a physical operating limit is identified and then stopped and the motor control (50) is changed to operate the motor at a reduced speed.
    公开号:FR3016871A1
    申请号:FR1463038
    申请日:2014-12-22
    公开日:2015-07-31
    发明作者:Kazuo Itoh；Toshiyuki Tachibana；Shinji SAYAMA
    申请人:Itoh Denki Co Ltd；
    IPC主号:
    专利说明:

    [0001] Field of the Invention The present invention relates to an apparatus for transferring a transport line and more particularly to a transfer apparatus for switching the direction of transport of a product to the direction intersecting the direction of entry. . The invention also relates to a method for positioning a motor device such as a transfer device. State of the art Transmission lines are often used to transport products to product assembly lines and product distribution centers. For example, in product distribution centers, a large number of lines are distributed in a matrix to move the devices to be loaded into the positions in which the transmission lines intersect. Each transfer device extracts a product from one of the transmission lines (the first line) and passes it to another transmission line (second line). To perform the above functions, the transfer apparatus comprises two conveyors which carry the product and a lifting module which modifies the height of each conveyor. The lifting module comprises a lifting mechanism with a crank, a cam, a screw and a pinion. The lifting mechanism is generally driven by a motor. The conveyors each have a path on which we place a product to transport. These conveyor paths are different from each other in the transport direction. The transfer apparatus makes it possible to modify the relative height of the transport paths by the lifting unit. In such a transfer apparatus, the lift module retracts the conveying path of the conveyor not associated with transport below the other conveying path; it raises and clears the transport path of the conveyor that participates in transport so that it maintains its level. The raised conveyor is then activated. This allows a smooth transport without interference to the driver who does not participate in this transport.
    [0002] As described above, the transfer apparatus must keep the conveyor participating in transport in the raised position. That is why the conventional transfer apparatus comprises a sensor or a limit switch which detects directly or indirectly the height of each conveyor. The motor is driven to lift one of the conveyors and is stopped when the sensor or limit switch detects that the conveyor has reached the predefined height. As a result, the lift module is stopped in a state in which the transport path of one of the conveyors is cleared above the transport path of the other conveyor. In addition, a configuration in which the sensor or limit switch is used to detect the position of a driven body and the rotation of the motor is then stopped if the position of the driven body reaches a predefined position which is not not limited to the transfer device and which can be applied to other machines. According to the state of the art, documents JP 2012-51679 A and JP 2001-225946 A are known. However, in the known transfer apparatus, if the rotational speed of the motor at the moment of stopping is high, there is a collision noise and the motor emits a noisy noise, which is a disadvantage for the user. In addition to the disadvantage of an excessive load applied to a mechanical element such as sprockets, there is an overcurrent in the engine which may reduce the reliability of the transfer device. OBJECT OF THE INVENTION Starting from the above-mentioned difficulties, the present invention aims to develop a transfer apparatus for suppressing a limit switch or switch, to avoid collision noise and to reduce runaway noise from the engine and also the risk of reducing reliability. The invention also aims to adopt a horizontal network and develop a positioning method to reduce the disadvantage of excessive load exerted on a mechanical element such as a pinion and overcurrent in the engine.
    [0003] DESCRIPTION AND ADVANTAGES OF THE INVENTION To this end, the invention relates to a transfer apparatus having a first conveyor, a second conveyor and a lifting module which raises and lowers at least the first or the second conveyor, the first conveyor having a first transport path for conveying a product in a fixed direction, the second conveyor having a second transport path in the same plane as the first conveyor path for conveying the product in a direction intersecting the transport direction of the first path conveyor, the lifting module lifting one of the transport paths to put it on top of the other transport path and transport the product in the predetermined direction. The lifting module has a lifting mechanism with a combination of elements and a motor, the lifting mechanism transforming the motor torque into a movement in the lifting direction, transmitting the movement to a first and a second conveyor, raising or lowering the first and second conveyors and stopping the rotation of the motor when one of the transport lines reaches a predetermined height and during operation of the lifting unit, a physical identification operation limit is made in which the motor rotates to actuate the lift mechanism to the physical operating limit, and then the motor is stopped and controlled to change its rotation at low speed until the lift mechanism reaches the physical operating limit.
    [0004] In a conventional transfer apparatus, the sensor or limit switch which detects the height of each conveyor is a necessary element, which generally increases the number of components. In addition, adjust the position and wire the sensor or limit switch, which complicates the assembly and adjustment process. In addition, in the conventional transfer apparatus, the sensor or limit switch may fail. The sensor or limit switch that is often located behind the transfer unit is difficult to replace. This is why the sensor and the limit switch are there to eliminate this inconvenience.
    [0005] Thus, the inventors of the present invention, to eliminate the sensor contributed and prototyped a configuration in which one of the conveyors is physically associated with a certain element, when its height reaches a predetermined level and the motor is stopped by force. The invention proposes a configuration in which the motor rotates to actuate the lifting mechanism to the physical limit of operation and then it is stopped by force and at this moment one of the conveyors is at the predefined height.
    [0006] In the operation of identifying the physical limit of the transfer apparatus, the number of rotations (rotations) of the engine is lowered until the lifting mechanism reaches the physical operating limit. Thus, the collision is reduced when the lifting mechanism reaches the physical operating limit so that the impact noise is low. In addition, the risk of overcurrent in the motor is low. Thus, in the transfer apparatus according to the invention, the risk of a decrease in reliability is reduced. In addition to the above development, it is desirable that the motor be finally stopped when the state of rotation of the engine at the physical operating limit is the origin of rotation of the motor or the state of rotation in which the motor returns with a predefined number of revolutions from the physical operating limit is the origin of the motor rotation and if the rotation state of the motor is causing rotation, the conveyor path is raised to be above the other conveyor path. In addition to the above development, the transfer apparatus has an electric current sensor which detects the electric current flowing through the motor and in which during the physical limit identification operation, when the Inertia-driven motor rotates, the physical operating limit is the position in which the electric current flowing through the motor changes abruptly or the position in which the electric current flowing through the motor exceeds a fixed value.
    [0007] The electric current flowing through the motor may be the electric current supplied from outside the motor or the electric current generated by the motor itself. If the lift mechanism reaches the physical operating limit for forced motor shutdown, a load applied to the motor increases the electric current demanded by the motor. Therefore, if the electric current in the motor suddenly varies or exceeds a fixed value, it means that the lifting mechanism has reached the physical limit of operation and goes down.
    [0008] In addition, in the operation of identifying the physical limit of the transfer apparatus according to the above development, the inertia-operating motor is a rotating motor. The electric current flowing through the motor is thus reduced to a minimum. Even if the lifting mechanism reaches the physical operating limit, forcing the motor to stop, the electric current flowing from the power source to the motor is low. Thus, the risk of engine damage and the reduction of its life are negligible. In addition to the above development, it is desirable in the operation of identifying the physical limit that the motor rotates inertia, generating electricity, the electric current coming virtually from the outside. In the present transfer apparatus, the electric current is supplied substantially unassisted from the outside. Therefore, even if the lifting mechanism reaches the physical operating limit forcibly stopping the motor, the electric current of the power source in the motor is low, which avoids any risk of damage to the motor and to the motor. reduced engine life. The transfer apparatus comprises an electric current sensor which detects the electric current flowing into the motor and the position in which the electric current in the motor exceeds a fixed value, thus is a physical operating limit. In the transfer apparatus according to the invention, the physical operating limit is accurately detected by the intensity of the current.
    [0009] According to another characteristic, the transfer apparatus has a physical limit of operation for the direct direction and a physical limit of operation for the opposite direction the motor rotating in the forward direction and in the opposite direction for the lifting mechanism to reach its limits. physical operating limits and that the engine is running at a reduced speed at least when the lifting mechanism reaches the physical limit of operation on the direct side or when the lifting mechanism reaches the physical limit of reverse operation.
    [0010] In the transfer apparatus according to the invention, the direct physical limit and the inverse physical limit corresponding to a state in which the first path is raised and positioned and a state in which the second path is raised are identified. According to another characteristic, the transfer apparatus comprises a speed sensor (or number of rotations) which detects the number of revolutions or rotations of the motor and whose physical operating limit is the physical limit of operation in the direction of rotation. direct or physical operating limit in the opposite direction, the number of engine revolutions, detected by the detection module is monitored to determine if the lifting mechanism has moved from one physical operating limit to the other physical operating limit and if the engine runs at a reduced speed after the number of engine revolutions exceeded the preset value.
    [0011] According to another feature, the transfer apparatus further has a physical operating limit with a limit of forward physical operations and a physical limit of reverse operations in which the engine runs at a fixed initial speed when the lift mechanism must move from one physical operating limit to the other physical operating limit and it is braked temporarily and then rotates at a lower speed than the initial speed. In addition to the above development, it is desirable to perform the initial operation under fixed conditions and in this initial operation the motor rotates at a rotational speed lower than the normal rotational speed to operate the lift mechanism until 'to the operational physical limit then stop it. In addition to the appearance developed above, it is desirable that the lifting mechanism comprises a pinion, a rack, a cam moved linearly by the rack and a follower cam follower on the first or second conveyor, each end of the rack having a physical operating limit. This development limits the specific configuration of the transfer apparatus.
    [0012] The present invention provides a method of positioning a device comprising a motor with a driven body set in a predefined position so that the torque supplied by the motor is transmitted to the driven body and the motor stops when the body driven reaches a predefined position. In the final engine stop phase, the method comprises executing a limit physical identification operation in which the motor rotates to rotate the drive body to the physical operating limit and is then stopped and performed. a physical limit identification operation which modifies the motor control so that the motor runs at low speed after it starts, to control the electrical current in the motor and to stop the motor in a position in which the electric current in the engine suddenly changes or a position in which the electric current in the motor exceeds a predefined value.
    [0013] According to another characteristic, when the engine control changes so that the engine rotates at reduced speed, the engine rotates by inertia. According to the positioning method of the invention, the number of rotations of the motor is reduced until the driven body reaches the physical operating limit. In particular, in the operations of identification of the physical limit according to the invention, the motor rotates by inertia. The electric current in the motor is thus reduced to a very low level. Even if the driven body reaches the physical operating limit to be stopped by force, the electric current of the drive source in the motor is low. This avoids any damage to the motor and any reduction in its life. Desirably, in the operation of identifying the physical limit, the motor turns inertia and generates electricity which means that the electric current is practically not supplied from the outside. Typically, the physical operating limit is the direct operating physical limit or the inverse operational physical limit in which the number of motor rotations is controlled when the driven body reaches one of the physical operating limits to the operating limit. Another physical operation, the engine running at low speed when its number of revolutions exceeds a predefined value. According to an advantageous characteristic, the physical operating limit is the direct operating physical limit or the inverse operating physical limit, the motor running at a fixed initial speed as the driven body goes from a physical operating limit to the operating limit. Another physical limit of operation and the motor is braked temporarily to turn at a speed lower than the initial speed. The present invention also relates to a method of positioning a device comprising a motor having a driven body placed in a predefined position so that the engine torque is transmitted to actuate the driven body and the engine is stopped when the driven body reaches the predefined position, this method of performing an operation of identifying the physical limit in which the motor rotates to actuate the body driven by the physical operating limit and then it is stopped and in an operation of identification of the physical limit, the motor control is changed so that it rotates at a reduced speed after starting, the electric current in the motor is checked and the motor is stopped in a position in which the electric current in the motor changes abruptly or in a position in which the current in the motor exceeds a fixed value.
    [0014] In summary, the transfer apparatus according to the invention makes it possible to move any conveyor to put it to a predetermined height without requiring a sensor or limit switch. Moreover, in the transfer apparatus according to the invention the collision noise and the roar of the motor are minimized; the risk of reducing the service life is low. The method of positioning the device with an engine according to the invention has the same advantages. Collision noise and engine roar are very small effects and the risk of reducing reliability is just as low.
    [0015] Drawings The present invention will be described hereinafter in more detail by way of exemplary embodiments of a transfer apparatus and its method of application shown in the accompanying drawings, in which: FIG. perspective of a transmission line comprising a transfer apparatus corresponding to an embodiment of the invention, FIG. 2 is a perspective view of the transfer apparatus according to the embodiment of the invention, FIG. is an exploded view of the transfer apparatus according to one embodiment of the invention, FIG. 4 is an exploded view of the transfer apparatus of which the belts of the first conveyor and the rollers of the second conveyor have been removed from the An exploded view of FIG. 3 showing the chassis of the conveyors, FIG. 5 is a perspective view of a lifting mechanism and a geared motor of the transfer apparatus of FIG. 2, FIGS. 6A-6. C are explanatory views showing the relationship between the first and second conveyors and each horizontal moving element when the conveyors are in the raised position in which FIG. 6A shows the state of the first conveyor, FIG. state of the second conveyor, and FIG. 6C shows the relationship between the cam follower rollers belonging to the conveyors and the horizontally movable member, FIGS. 7A-7C are explanatory views showing the relationship between the first and the second conveyors and each horizontally movable element when the first conveyor is in the raised position and the second conveyor is in the lowered position, FIG. 7A shows the state of the first conveyor, FIG. 7B shows the state of the second conveyor, and FIG. Fig. 7C shows the relationship between the cam follower rollers of the conveyors and the horizontally movable member, Figs. 8A-8C are explanatory views showing the relationship between the first and the second conveyors and each horizontally movable element when the first conveyor is in the lowered position and the second conveyor in the raised position, * figure 8A shows the state of the first conveyor, * figure 8B shows the state of the second conveyor and FIG. 8C shows the relationship between the cam followers of the conveyors and the horizontally movable elements, FIG. 9 is a flowchart for carrying out the operation of identifying the physical limit of the transfer apparatus. FIGS. 10A-10G are explanatory views giving the timing diagram of the positional relationship between each rack and pinion of the transfer apparatus when executing the physical boundary identification operation, FIG. 11 is a flowchart showing the relationship between the upright motor reference speed, the current rotation speed of the uplift motor, the yard intensity an electrical sensor detected by an intensity sensor and electricity in the motor when the physical limit identification operation is executed, and Fig. 12 is a block diagram of a controller of the mode transfer apparatus Embodiment of the Invention Embodiments of the Invention The present invention relates to a transfer apparatus 1, an embodiment of which will be described hereinafter shown in FIG. Conveyor line 21 having branches shown in FIG. 1. According to FIG. 1, the transfer apparatus 1 of the embodiment of the invention is in the part in which the conveying paths of the conveyor line 21 take place. cross each other (or bifurcate one from the other). The transfer apparatus 1 is thus placed between a first conveyor line 22 on the upstream side and a first conveyor line 23 on the downstream side; these two lines are in the extension and form a first path 100. A second transport line 24 perpendicular to the first transport line 22, 23 is connected to the transfer apparatus 1.
    [0016] The conveyor line 21 carries a product 25 following the first path 100 (the first transport lines 22 and 23), or changes the direction of travel on the transfer apparatus 1 and moves the product 25 along a second path 200 (second transport line 24).
    [0017] Each of the first 22, 23 and second conveyor lines 24 is constituted by a roller conveyor having a set of rollers so that a drive roller drives a set of rotating follower rollers. Therefore, the first transport line 22, 23 and the second transport line 24 can carry the product 25 in one direction. The transfer apparatus 1 has a mechanical structure and a control. According to FIGS. 2 to 5, the mechanical structure of the transfer apparatus 1 comprises a first conveyor 3, a second conveyor 2 and a lifting module 6. The lifting module 6 has a lifting mechanism 8 and a geared motor 5. According to FIG. 3, the second conveyor 2 of the transfer apparatus 1 comprises a set of conveyor rollers 14 and a roller frame 15 carrying the conveyor rolls 14 in rotation. According to FIG. 4, the lower part of the rolling frame 14 The second conveyor 2 is a module incorporating a set of conveyor rolls 14 and four rollers (cam follower rollers) 27 integrated into the roller frame 15. The frame 15 can perform a set of rollers 15. movement back and forth only in the rising direction and in the downward direction following a guide means not shown. At least one of the conveyor rollers 14 of the assembly is a driving roller or the driving roller and the other rollers are follower rollers so that the driving roller transmits the power to the follower roller by belts. The second conveyor 2 forms a conveyor path (second conveyor path) by all of the conveyor rollers 14. The product 25 placed on the conveyor path is conveyed by the rotation of the conveyor rollers 14. The first conveyor 3 will be described hereinafter .
    [0018] The first conveyor 3 comprises a driving roller 17 driving belts passing on a set of return pulleys 18, endless belts 19 passing on the rollers of the belt frame 35. The outer side of the lower part of the belt frame 35 comprises four rollers (cam followers) 36. The first conveyor 3 is a module of which the belt drive roller 17 and the four rollers (cam followers) 36 are integrated in the belt frame 35. endless belt drive or belts 17 is a roller incorporating a motor; the engine is not shown. It comprises a reducing mechanism, the assembly being rotatably housed in the outer cylinder. When the engine is driven, the outer cylinder rotates. The belt frame 35 can move back and forth only in the up and down directions along non-detailed guides. The first conveyor 3 has a conveying path (first conveying path) defined by the endless belts 19. The product 25 placed on the conveying path is conveyed by the operation of the endless belts 19. As shown in FIGS. 1 and 2 the conveying paths of the first conveyor 3 and the second conveyor 2 are distributed in the same plane region. This means that between the conveyor rollers 14 of the second conveyor 2, there are endless belts 19 of the first conveyor 3 arranged so that the conveyor paths are in the same plane region.
    [0019] The lifting module 6 will be described below. In this embodiment, the lifting module 6 comprises the lifting mechanism 8 with a set of combined elements and the geared motor 5. The geared motor 5 (FIG. 5) consists of a motor 50 with a speed reducer 51 In the remainder of the description, in order to distinguish the geared motor 5 in its entirety from the internal motor 50, the lifting motor 50 will be called the internal motor 50. In this embodiment, the lifting motor 50 is a motor without a collector comprising a permanent magnet and a coil. The lift motor 50 includes a hall element (not shown) which detects the rotational position of the rotor. In this embodiment, the number of turns detecting module constituted by a hall element detects the number of rotations of the lifting motor 50. In addition, since this lifting motor 50 comprises a permanent magnet and a coil, a current is thus generated in the coil if the rotor rotates under the effect of an external force. This means that the lift motor 50 functions as an electric generator when the rotor rotates under the effect of an external force. In detail, the lifting mechanism 8 comprises a gear train 52, a drive shaft 53, pinions 55, two horizontally movable members 11, the cam followers 27 forming part of the second conveyor 2 and the cam followers. 36 of the first conveyor 3. The drive shaft 53 is disposed in the direction intersecting the output shaft of the geared motor 5 and both ends run near both ends of the transfer apparatus 1; the pinions 55 are mounted at the ends of the shaft. As shown in FIG. 5, the gear train 52 connects the output shaft of the gearmotor 5 and the intermediate portion of the drive shaft 53. The gear train 52 transmits the gearmotor 5 to the gearbox. When the gearmotor 5 rotates, the gears 55 mounted on the ends of the drive shaft 53 rotate. The horizontally movable members 11 provided between the roller frame 15 and the belt frame 35 move horizontally in parallel. The horizontally movable elements 11 can move back and forth only in the longitudinal direction of the guide whose direction is not shown. According to FIGS. 5 and 6, each horizontally movable member 11 is a translation cam having a long linear segment 32. In the middle and on the lower surface of the linear segment 30 is a rack 31. Each of the pinions 55 meshes with a Rack 31. The drive is transmitted by the pinion 55 rotated in the forward direction or in the opposite direction to move alternately the movable member 11 in the horizontal direction. The rotation of the geared motor 5 transmits the power to the horizontally movable elements 11 which then move alternately along the guide not shown. As described above, the horizontally movable member 11 is a translation cam. The upper surface of the linear portion 30 includes tray-shaped segments 62, 63 and cam recesses 65, 28, 29, 66. The cam recesses 65 and 28 are on both sides of the tray-shaped segment 62 and the cam recesses 29, 66 are on both sides of the plateau segment 63.
    [0020] A combination of the tray-shaped segment 62 and cam recesses 65, 28 is on one side of the rack 31 and the other combination formed of the tray segment 63 and cam recesses 29, 66 is located On the other side of the rack 31. The cam recesses 65, 28, 29, 66 are on both sides of the rack 31. The cam follower rolls 27 of the frame 15 cooperate with the cam recesses 65, 29 and the rollers cam followers 36 of the belt frame 35 are in the cam recesses 28 and 66. When the gearmotor 5 rotates and drives each pin 55, the linear segment 30 of the horizontally movable member 11 moves horizontally as the rollers move. cam followers 27 rotate. Thus, when the cam recesses 65, 29 come closer to the cam follower rollers 27, the latter which are on the tray-shaped segments 62, 63 (as shown in FIG. 6C) descend into the cam recesses 65, 29 (as shown in Figure 7C). Thus, as shown in FIG. 7B, the roller frame 15 with the cam follower rollers 27 descends and lowers the second conveyor 2. On the other hand, the cam follower rollers 36 of the first conveyor 3 remain on the segments in the form of plate 62, 63 so that as shown in Figure 7A, the first conveyor 3 remains in the raised position. At this moment, the pinion 55 arrives at the end of the rack 31; the pinion 55 thus reaches the physical limit of operation and can no longer rotate. Similarly, when the geared motor 5 rotates and drives the pinion 55, the element 11 moves horizontally. The follower rollers 36 which are on the tray-shaped segments 62, 63 of the belt frame 35 (according to Fig. 6C) descend into the cam recesses 28, 66 as shown in Fig. 8C. Thus, as shown in FIG. 8A, the belt frame 35 lowers and lowers the first conveyor 3. On the other hand, the cam followers 27 of the second conveyor 2 remain on the tray-shaped segments 62, 63 so that as shown in Figure 8B, the second conveyor 2 remains in the raised position. At this moment, the pinion 55 arrives at the other end of the rack 31 and thus reaches its physical limit of operation so that it can no longer rotate. As described above, when the geared motor 5 rotates, the pinion 55 at each end of the drive shaft 53 rotates and moves the movable member horizontally 11. The rotation of the geared motor 5 raises and lowers the first conveyor 3 or the second conveyor 2. When the pinion 55 rotates towards the end of the rack 31 and is locked in rotation at its physical operating limit, the first conveyor 3 stops in its raised position. When the pinion 55 rotates in the other direction and arrives locked in rotation in its physical operating limit, the second conveyor 2 stops in the raised position. In this embodiment, the mechanical structure of the transfer apparatus 1 is controlled by a controller 60 shown in FIG. 12. The controller 60 has a drive circuit for the first conveyor which drives the drive roller 17 of the first conveyor 3, a drive circuit for the second conveyor 2 which drives the drive roller of the second conveyor 2 and a drive circuit of the lift motor which drives the lift motor 50 of the lifting module 6. The controller 60 has a number of revolution detection unit which detects the number of rotations performed by the lift motor 50, a feed current detection module which detects the intensity of the current supplying the lift motor 50 and a a rotational speed instruction module which determines and establishes the rotational speed of the lift motor 50. In this embodiment, when the first con- 3 or the second conveyor 2 is lowered and raised, the lifting motor 50 of the lifting module 6 rotates. The pinion 55 rotates and the motor stops when the pinion 55 reaches its physical operating limit. Typically, the power current detection module detects the intensity of the current supplied to the rotating lift motor 50 to determine that pinion 55 has reached its physical operating limit when the intensity value changes abruptly. and reaches a fixed value thereby stopping the lift motor 50. The operating process of the lifting module 6 according to this embodiment, applies the following operations (hereinafter referred to as physical limit identification operations). The lift motor 50 rotates to actuate the lift mechanism 8 to the physical operating limit and then stops when the lift mechanism 8 reaches this physical operating limit. In this embodiment, the electric current flowing in the lift motor 50 is detected and the power supply to the motor 50 is cut off when the position for which the electric current flowing in the lift motor 50 exceeds the value fixed and the physical limit of operation. The lift motor 50 rotates to rotate the pinion 55 to the physical operating limit and the power supply to the lift motor 50 is then cut off when the position for which the electric current flows through the motor. 50d uplift exceeds the fixed value which is the physical limit of operation. As a result, the horizontally movable member 11 stops in the position in which the cam follower 36 on one side of the horizontally movable member 11 is in the cam recess 28 of the linear segment 30 or in a state in which the cam follower roller 27 on the other side of the horizontally movable member 11 is in the cam recess 29 of the linear segment 30. The first conveyor 3 or the second conveyor 2 are raised and lowered so that the path of travel remains in the position at the predetermined height. According to FIG. 1, the transfer apparatus 1 thus configured makes it possible to convey the product 25 of the first transport line 22 to the transport line 23 through the transfer apparatus 1 and also to pass the product 25 of the first transport line 22 to the second transport line 24 passing through the transfer apparatus 1. When the product 25 is transported to the first transport line 23 (that is, following the first path 100) the geared motor 5 (lift motor 50) is driven in one direction by the control signal supplied by the controller 60. The electric current flowing through the lift motor 50 is detected. The power supply of the lift motor 50 is cut off when the position for which the current intensity in the lift motor 50 exceeds the set value which is the physical operating limit. The horizontally movable element 11 is thus moved into the position shown in FIG. 7C. When the horizontally movable member 11 arrives in the position shown in FIG. 7C the cam follower rollers 27 of the second conveyor 2 are lowered into the cam recesses 65, 29. The roller frame 15 is lowered and as shown 7B, the top of each conveyor roll 14 (the second conveyor path) is retracted in the down position. Under these conditions, the cam follower rollers 36 of the first conveyor 3 are on the tray-shaped segments 62, 63 of the horizontally movable member 11. The first conveyor 3 thus remains in the raised position and can receive the product 25. The product 25 is thus displaced according to the first transport line 23 by the belts 19 (the first conveying path). When the product is transferred to the second transport line 24 (i.e. on the second path 200) the gearmotor 5 rotates in the opposite direction, controlled by the controller 60. The power supply of the lifting motor 50 is then cut off for the position in which the electric current in the lift motor 50 exceeds the fixed value of the physical operating limit. The horizontally movable element 11 is then moved into the position shown in FIG. 8C. The cam followers 36 of the first driver 3 descend into the cam recesses 28, 66 so that the belt side frame 35 descends. According to FIG. 8D, the upper surface of each belt 19 is retracted below the conveying surface 10. The cam follower rollers 27 of the second conveyor 2 are always on the linear segment 30 of the movable element 1 horizontally. Each conveyor roll 14 (the second conveyor path) is thus in the raised position and can receive the product 25 which is thus transported to the second transport line 24 by the conveyor roll 14.
    [0021] As described above, in the transfer apparatus 1 according to this embodiment, when the lifting motor 50 of the geared motor 5 is operating, the electric current flowing through the lifting motor 50 is detected and the power supply of the gear motor 50 is switched off. lift motor 50 when the current in the lift motor 50 exceeds the fixed value for the physical operating limit. The first conveyor 3 or the second conveyor 2 thus raised and lowered remain in the position at the predetermined height. In addition, the transfer apparatus 1 of this embodiment performs a specific command for the identification of the physical limit.
    [0022] This command will be described below.
    [0023] In this embodiment, there are two positions in which the lift motor 50 is forcibly stopped, i.e. two physical operating limits for the lift mechanism 8: a forward operating physical limit . (At this limit, the lift motor 50 turns and then stops) a physical limit of operation on the return side in which the lift motor 50 rotates in the opposite direction and then stops. The lift motor 50 rotates to actuate the lift mechanism 8 at each physical operating limit to be forcibly stopped by cutting off its power supply. Each physical operating limit is the limit of the rack 31 of the horizontally movable element 11 and the pinion 55 cooperating with the rack 31. The pinion 55 rotates to linearly move the rack 31 of the movable element horizontally 11 and arrives in the position beyond the teeth at each end of the rack 31 so that the pinion 55 can no longer rotate. This corresponds to the physical limit of operation that exists at each end of the rack 31.
    [0024] The controller 60 of the transfer apparatus has a CPU and a memory. The memory contains the recording of a computer program presented in the form of the flowchart of FIG. 9. The operation of identifying the physical limit is done according to the program. The identification of the physical limit is done each time the lifting module 6 of the transfer apparatus operates, more specifically, each time the geared motor 5 starts. Thus, in step 1, the controller 60 waits for the main power supply of the transfer apparatus 1. When this main power supply is established, the transfer apparatus 1 is put in the mode of determining the origin of the rotation to perform an initial operation. In the rotation origin determination mode, in step 3, the motor 50 rotates in the forward direction. The speed of rotation at this time is less than that of the normal lifting operation. For ease of description, the rotational speed of the lift motor 50 in its normal lift mode is referred to as the maximum speed operation and the rotational speed of the lift motor 50 in step 3 is referred to as low speed operation. (half the speed). It should be noted that low speed operation is not limited to half the speed of operation at maximum speed. The rotational speed for the reduced speed operation substantially corresponds to a value between 20% and 70% of the rotation speed at the time of the normal transfer and in the present embodiment this corresponds approximately to a range of between 45%. and 55%. FIG. 10A shows the relationship between pinion 55 and rack 31 immediately prior to starting rotation of lift motor 50. Pinion 55 is in any position on the intermediate portion of rack 31. In FIG. step 3, the lift motor 50 rotates in the forward direction at the reduced speed. As shown in FIG. 10B, the horizontally movable element 11 is displaced by the pinion 55 engaged in the rack 31.
    [0025] Finally, as shown in FIG. 10C, the pinion 55 reaches an end of the rack 31 to be stopped by force. This means that the lift motor 50 rotates to actuate the lift mechanism 8 towards the physical limit of operation on the direct side and then it is stopped by force.
    [0026] In this embodiment, depending on the intensity of the electric current flowing in the lift motor 50, the intensity detection unit detects that the lift motor 50 is stopped. This means that the lifting motor 50 whose intensity increases with the load to actuate the lifting mechanism 8 reaches the physical limit of operation, direct side, then is stopped by force. The intensity of the electric current supplying the motor 50 then increases. Therefore, in this embodiment, the current sensing module provided in the controller 60 controls the amount of electrical current supplied to the lift motor 50 to determine whether the lift motor 50 has been stopped by force when the intensity of the electric current increases sharply. This means, as shown in the timing diagram of FIG. 11, when the initial operation is started, the rotational speed of the lift motor 50 is half its speed. The lift motor 50 progressively increases the number of revolutions from the stop state. The electric current supplied to the lifting motor 50 is important first and then stabilizes gradually. The lifting motor 50 is then forced to stop when the lifting mechanism 8 reaches the physical limit of operation in the forward direction. As shown in the timing diagram of FIG. 11, the electric current supplied to the lift motor 50 increases sharply. In step 4, the controller 60 detects that the electric current supplied to the lifting motor 60 has exceeded the fixed value A. In step 5, the controller 60 recognizes that the lifting mechanism 8 has reached the physical operating limit direct side. The program goes to step 6; the power supply of the lifting motor 50 is stopped which stops the lifting motor 50.
    [0027] In step 7, the present step of the lift motor 50 is recorded as the rotation origin on the direct side. The origin of rotation on the forward side (front side) is the position for which the first conveyor 3 or the second conveyor 2 is moved to the predetermined height to finally stop the lifting motor 50 and this corresponds to the state for which one of the conveying paths is raised above the other conveying path. At this time, the cam follower rollers 27 of the second conveyor 2 are lowered into the cam recesses 65 and 29 so that the roller frame 15 is lowered. According to FIG. 7B, the top of each conveyor roll 14 (conveying path) is retracted downwards. The cam follower rollers 36 of the first conveyor 3 are then on the plate-shaped portions 62, 63 of the horizontally movable element 11; the first conveyor 3 arrives in the raised position. This is why the first conveyor 3 in the raised position can receive the product 25.
    [0028] When the product 25 is moved, it passes on the second transport line 24 by a not shown central controller which controls a reverse rotation of the motor. The controller 60 receives this signal and reverses the rotation of the lift motor 50 at the fixed initial speed. This means that in step 8 the controller 60 waits for the reverse rotation instruction for the motor, and upon receipt of the instruction it rotates the lift motor 50 in the opposite direction in step 9. Therefore, the rotational speed (initial speed) of the lift motor 50 is greater than the direct rotational speed (speed halved). More specifically, the lift motor 50 rotates in the opposite direction at a speed close to the rotational speed (operation at maximum speed) but in the normal mode of uplift. The number of revolutions of the lift motor 50 is counted. When this number of revolutions of the lift motor 50 exceeds a fixed number of revolutions, the program proceeds from step 10 to step 11 and brakes the lift motor 50. As shown in FIG. 10E, the lift motor 50 is braked in the position until the pinion 55 reaches the physical operating limit, return side. This means that since the length of the rack 31 is known and the lifting motor 50 begins to rotate from the physical limit of the direct side operation, the degree of rotation for which the pinion 55 reaches the physical operating limit is known. return side.
    [0029] Thus, before the pinion 50 reaches the physical limit of return side operation, the lift motor 50 is again braked. The lift motor 50 is preferably braked in its position closest to the physical operating limit, return side. The braking position is preferably one in which the pinion gear 55 with the rack 31 is in a position at 50% or more and preferably at 70% or more of the total length of the rack 31. The lifting motor 50 is braked by shorting its coil. When the rotational speed of the lift motor 50 decreases to the fixed value D, the program proceeds from step 11 to step 12 to suppress the braking. Specifically, when the rotational speed of the lift motor 50 is 60% or less and 40% or more, the braking of the lift motor 50 is suppressed. It is desirable that the brake suppression time is swimming is neither too fast nor too slow. The program proceeds to step 13 to rotate the lift motor 50 at a rotational speed lower than the rotational speed D. For example, the lift motor 50 is rotated at a speed of 50% or less, and preferably 40% or less of the rotational speed at the time of brake suppression. The rotational speed of the lift motor 50 in step 13 is less than the initial speed. However, as the lift motor 50 rotates at the rotational speed D, the lift motor 50 continues to rotate by inertia but idle without exerting the torque. As described above, the lift motor 50 having an electromagnet and a coil, when an external force drives it in rotation, it generates electricity. Therefore, the voltage generated by the lift motor 50 is greater than the voltage supplied by the controller 60. As a result, as shown in the timing diagram of Fig. 11, the electric current does not substantially change from the controller 60 to the lift motor 50. The lift motor 50 rotates by inertia so that, as shown in Fig. 10G, it is stopped by force when the pin 55 reaches the physical limit of operation on the return side. Thus the electric current generated by the lift motor 50 is lost and instead the electric current is passed back from the controller 60 into the lift motor 50. At this time, the intensity of the electric current increases sharply, which is sufficient to be detected by the power supply current sensor of the controller 60. But since the absolute value of this electric current is low, this does not damage the lift motor 50. When the increase is detected From the intensity of the electrical current, the program proceeds from step 15 to step 16 to find that the pinion 55 has reached the physical limit of operation on the return side. Then the program goes to step 17 to cut off the power supply to the lift motor 50 and thus stop the motor 50. In this embodiment, in step 15, it is checked whether the intensity value C current is fixed or not. If a fixed value of current intensity C is detected, the program proceeds from step 16 to step 17 to stop the power supply of the lifting motor 50 and thereby stop the motor 50. At this point, the belt frame 35 descends to lower the first conveyor 3 while the second conveyor 2 maintains its raised position. This is why the second conveyor 2 is shown in the raised position and allows the product 25 to be received. In step 18, the present state of the lifting motor 50 is recorded as the origin of rotation on the return side.
    [0030] When the pinion 55 reaches the physical limit of operation on the return side to stop rotation, the electrical current flowing from the source to the uplift motor 50 changes abruptly. However, the absolute value of the intensity of the electric current is very small. Therefore, as indicated above, there is no risk to the lift motor 50. In addition, the lift motor 50 rotates in inertia so that the pinion 55 reaches the physical limit of 50.degree. operation on the return side without generating any impact noise. When the physical operating limit, direct side is detected, it does not create a very large shock noise since the rotation speed of the lift motor 50 is low. In addition, when the product 25 to be transported arrives on the first transport line 23, the central controller not shown emits a direction of direct rotation of the motor. Then the controller 60 receives this signal which rotates the lift motor 50 in the forward direction. In step 19, the controller 60 waits for the direct motor rotation instruction and upon receipt of this instruction, it controls the rotation of the lift motor 50 in the forward direction in step 20. Next operation is almost the same as steps 10-18. When the number of revolutions of the lift motor 50 is counted and reaches the fixed number of revolutions, the program proceeds from step 21 to step 22 to brake the lift motor 50. lift 50 is less than the fixed value D so that the program goes from step 23 to 24 to eliminate the braking. In addition, the program proceeds to step 25 so that the lift motor 50 rotates at a rotational speed lower than the rotational speed D. For example, the lift motor 50 rotates at a rotational speed of 50% or less and preferably 40% or less of the rotational speed at the time of brake suppression. When an increase in the intensity of the electric current is detected, the program proceeds from step 26 to step 27 to find that the pinion 55 has reached the physical limit of operation on the direct side. Then the program goes to step 28 to turn off the power to the lift motor 50, which stops the motor 50. In addition, in step 29, the current state of the lift motor as the origin is recorded in memory. rotation on the direct side. As the cam follower rolls 27 of the second conveyor 2 descend into the cam recesses 65 and 29, the roll frame 15 descends. As shown in FIG. 7B, the top of each conveyor roll 14 (conveying path) is retracted downwardly. The follower rollers 36 of the first conveyor 3 are in the linear segment 30 of the horizontally movable element 11 so that the first conveyor 3 reaches its raised position. The first conveyor 3 is thus in the raised position and can receive article 25. The program proceeds to step 8 to repeat the steps after step 8. In the above embodiment, when detecting at either of the two physical operating limits, the uplift motor 50 rotates by inertia. But, if one of the physical operating limits is detected, the lift motor 50 may continue to rotate by inertia. In the above embodiment, when the return-side physical operating limit is detected, the lift motor 50 rotates at a high speed and is then braked to reduce the speed. This configuration is recommended since the time required to reach the physical limit of operation on the return side can not be shortened. However, the present invention is not limited to such a situation. The lift motor 50 may first rotate at an intermediate speed and then rotate at a reduced speed under the control of the controller 60 for inertia rotation. In the above embodiment, when the main power source of the transfer apparatus 1 is connected, the mode of determining the origin of rotation is switched to. However, this mode of determining the origin of rotation can be done when there are certain anomalies. In the above embodiment, the position of one of the physical operating limits is that where the first conveyor is raised. However, the physical operating limit may be shifted from that position for which the first conveyor is raised. The physical operating limit is determined by a collision element so that in the physical limit position of operation the machine element is unstable. This is why one can arrive at the position in which the motor turns slightly by coinciding with the position in which the first conveyor is raised. In the above embodiment, each end of the rack 31 is a respective physical limit of operation. However, the present invention is not limited to such a situation. For example, an obstacle can be encountered in the direction of movement of the horizontally movable member as a translation cam to limit the horizontal range of displacement of the horizontal displacement element so that the displacement limit of the horizontal displacement element can be every physical limit of operation. In addition, instead of the transmission cam, a rotation cam or a link mechanism may be used as a lifting mechanism; a certain obstacle can be used to limit the angle of rotation of the cam and the range of movement of the rod. In general, the method according to the invention is applicable to devices other than the lifting device. For example, since it is necessary to position when the product to be conveyed on the conveyor is at a fixed distance, the method of positioning the device with the motor according to the present invention can be used.
    [0031] 15 NOMENCLATURE OF MAIN ELEMENTS 1 Transfer unit 2 Second conveyor 3 First conveyor 5 Gear motor 6 Lift module 8 Lift mechanism 11 Horizontally movable element 14 Conveyor roller Roller chassis 17 Belt drive roller 18 Return pulley 19 Belt loop 15 21 Conveyor line 22, 23 First conveyor line 24 Second conveyor line 25 Product to be transported 27 Cam follower / follower roll 28, 29 Cam clamps 31 Rack 35 Belt frame 36 Cam follower roller 50 Lifting motor 51 Gearbox 52 Gearbox 53 Drive shaft 55 Pinion 60 Controller 62, 63 Tray-shaped segment 65, 66 Cam recess 100 First path 200 Second path35
    权利要求:
    Claims (3)
    [0001]
    CLAIMS1) Transfer apparatus (1) having a first conveyor (3), a second conveyor (2) and a lifting module (6) which raises and lowers the first or second conveyor (3,
    [0002]
    2), the first conveyor (3) having a first transport path for conveying a product (25) in a fixed direction, the second conveyor (2) having a second transport path (200) in the same plane as the first path conveyor (100) for conveying the product (25) in a direction intersecting the transport direction of the first conveyor path (100), the lifting module (6) lifting one of the transport paths to put it on top of the conveyor another transport path and conveying the product in the predetermined direction, - the lifting module (6) having a lifting mechanism (8) with a combination of elements and a motor (50), the lifting mechanism (8) converting the torque of the motor (50) into a movement in the lifting direction, communicating the movement to at least a first and a second conveyor (3, 2), raising or lowering the first and second conveyors and stopping the rotation of the motor (50) when one of the transport lines reaches a predetermined height and during the operation of the lifting unit, a physical identification operation limit is identified in which the motor (50) rotates to actuate the lifting mechanism (8) to the physical limit of operation then it is stopped and the motor is controlled to change its rotation at low speed until the lifting mechanism (8) reaches the physical limit of operation. 2) Transfer apparatus (1) according to claim 1, characterized in that the motor (50) is finally stopped when its state of rotation at the physical operating limit is at the origin of rotation of the motor or if the state of rotation in which the motor rotates in the opposite direction is determined by a predetermined number of revolutions of the physical operating limit if the origin of the rotation of the rotor and thus the state of rotation of the motor is at the origin of rotation, one of the transport routes being raised above the other transportation path. 3) transfer device (1) according to claim 1, characterized in that it further comprises an electrical current sensor which detects the electric current flowing in the motor, and in the limit identification operation the motor, the motor driven by inertia and the position for which the electric current in the motor changes abruptly or the position for which the electric current in the motor exceeds a fixed value defining the physical limit of operation. 4 °) transfer apparatus (1) according to claim 3, characterized in that in the operation of identification of the physical limit of operation, the motor rotates by inertia generating electricity, the electric current being virtually no longer provided from the outside. Transfer device (1) according to claim 1, characterized in that it comprises an electric current sensor which detects the electric current in the motor and the position for which the electric current in the motor exceeds the physical value of its physical operating limit. Transfer apparatus (1) according to claim 1, characterized in that the physical operating limit is a physical limit of direct-side operation or an inverse physical operating limit with the motor running in the forward direction. and in the opposite direction for the lifting mechanism to reach the physical operating limits and the motor running at reduced speed at least if the lifting mechanism is at the physical operating limit on the direct side or at the physical operating limit on the side reverse. 7 °) transfer apparatus (1) according to claim 1, characterized in that it comprises a number of revolutions sensor which detects the number of revolutions of the engine, * the physical operating limit being a physical limit of operation direct side or indirect physical limit of operation, and * the number of engine revolutions being detected by the number of revolutions sensor commanded when the lifting mechanism reaches one of the physical operating limits and the engine is running at a reduced speed relative to the number of revolutions once the engine has exceeded a predefined value. 8 °) transfer apparatus (1) according to claim 1, characterized in that the physical operating limit is the physical limit of direct operation or the reverse operating limit, and the motor rotates at the fixed initial speed when the mechanism goes from one of the physical operating limits to the other physical operating limit where it is temporarily braked and then is driven at a speed of rotation lower than the initial speed. 9 °) Transfer apparatus (1) according to claim 1, characterized in that the initial operation is in fixed conditions and then the motor rotates at a speed of rotation lower than the normal rotation speed to actuate the lifting mechanism until the physical limit of operation then it is stopped. 10 °) transfer apparatus (1) according to claim 1, characterized in that the lifting mechanism (8) has a gear train, a cremailler (31), a cam moved linearly by the rack and a pebble in the first and second conveyors (3, 2), each end of the rack (31) corresponding to a physical limit of operation. 1 1 °) Transfer apparatus having a first conveyor (3), a second conveyor (2) and a lifting module (6) which raises and lowers at least one of the two conveyors (3, 2), the first conveyor (3) having a first path (100) in a fixed planar region carries a product (25) in a fixed direction, the second conveyor (2) having a second path (200) in the same plane as the first path ( 100) and conveying the product (25) in a direction crossing the transport direction of the first path (100), the lifting module (6) lifting one of the conveyors (2,
    [0003]
    3) above the other conveyor (2, 3) for conveying the product (25) in a predefined direction, the lifting module (6) having a lifting mechanism (8) with a set of combined elements and a motor (50), the lifting mechanism (8) transforming the rotational movement of the motor (50) into a lifting movement, transmitted to one of the two conveyors (3, 2) and lifting it, and at the limit direct operating physics (forward direction) and the physical limit of reverse operation, the motor (50) which has been started to run in the forward and reverse direction is stopped, and at one of the physical limits of operation, one of the paths (100, 200) is raised to be above the other path, the motor (50) rotating at a fixed initial speed when the lifting mechanism (8) must reach one physical operating limits from the other physical operating limit then the mote ur rotates at a speed lower than the initial speed and controls the intensity of the electric current in the motor (50), and the motor (50) is stopped in the position in which the intensity of the electric current changes abruptly or if the electric current in the motor exceeds a fixed value .3512 °) Transfer apparatus (1) according to claim 11, characterized in that the motor (50) rotates inertia at a speed lower than the initial speed. 13 °) transfer apparatus (1) according to claim 11, characterized in that the identification of the physical limit is made when the motor rotates inertia, generating electricity, when the current comes practically no outside the engine. 14 °) A method of positioning a device comprising a motor having a driven body, set in a predefined position so that the engine torque is transmitted to actuate the driven body and the motor is stopped when the driven body reaches the predefined position characterized in that during the final engine shutdown process it comprises the steps of: - performing a physical limit identification operation in which the engine rotates to actuate the body driven by the physical operating limit then it is stopped, and - during an operation of identification of the physical limit, to modify the control of the engine so that it turns at reduced speed after starting, - to control the electric current in the engine, and - to stop the engine in a position in which the electric current in the engine changes abruptly or in a position in which the current in the motor exceeds a fixed value. 15 °) transfer apparatus (A1) according to claim 14, characterized in that when the engine control changes so that the engine rotates at reduced speed, the engine rotates with inertie addition.3516 °) Method according to the claim 14, characterized in that in the operation of identifying the physical limit, the motor rotates by inertia, generating electricity and the electric current comes practically not from the outside. 17 °) A method of positioning according to claim 14, characterized in that the physical operating limit is a physical limit of direct operation or an indirect physical operating limit, and the number of engine revolutions is controlled when the driven motor must move from one physical operating limit to the other physical operating limit and the motor rotates at a reduced rotational speed when the engine rpm exceeds a predefined value. 18) Positioning method according to claim 14, characterized in that the physical operating limit is a physical limit of operation on the direct side or an operating limit on the return side, and the motor rotates at a fixed initial speed when the body The drive must change from a physical operating limit to the other physical operating limit and if the engine is temporarily braked to continue to run at a lower speed than the initial speed. 19 °) A method of positioning a device comprising a motor with a driven body set in a predefined position so that the engine torque is transmitted to actuate the driven body and the engine is stopped when the driven body arrives in the pre position - defined, - at a physical limit of direct operation and at a physical limit of inverse operation, the engine which has been started to run in the forward direction and in the opposite direction stops, - the engine is running at a fixed initial speed when the driven body changes from a physical operating limit to the other operating limit, then the motor runs at a lower speed than the initial speed and the electric current in the motor is controlled, and the motor is stopped in a position in which the current in the motor suddenly changes or exceeds a fixed value. 20 °) positioning method according to claim 19, characterized in that the motor rotates at a fixed initial speed when the driven body goes from a physical limit of operation to the other physical limit of operation and then it is braked provisionally and turns then at a speed lower than the initial speed.
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    同族专利:
    公开号 | 公开日
    CN104803181A|2015-07-29|
    DE102014119447A1|2015-07-30|
    FR3016871B1|2020-02-14|
    GB2522762A|2015-08-05|
    GB201421831D0|2015-01-21|
    CN104803181B|2018-09-28|
    JP2015140241A|2015-08-03|
    GB2522762B|2020-06-24|
    US20150210484A1|2015-07-30|
    JP6427783B2|2018-11-28|
    US9617083B2|2017-04-11|
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    法律状态:
    2015-12-28| PLFP| Fee payment|Year of fee payment: 2 |
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    2017-12-21| PLFP| Fee payment|Year of fee payment: 4 |
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    2021-12-28| PLFP| Fee payment|Year of fee payment: 8 |
    优先权:
    申请号 | 申请日 | 专利标题
    JP2014014014A|JP6427783B2|2014-01-29|2014-01-29|Transfer apparatus and positioning method of apparatus having motor|
    JP2014014014|2014-01-29|
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