JPH01110407A - Slide fork device - Google Patents

Abstract

PURPOSE:To miniaturize and reduce the weight of a linear motor, in the title device such as a stacker crane, by making the fork moving acceleration at the time of fork return operation lower than that at the time of fork projection operation. CONSTITUTION:The control of moving velocity, acceleration and deceleration, and stoppage is carried out by a rotary encoder which has been provided on the lower side of the right side guide rail. The velocity pattern in this case is so determined that when a fork is projected, since the frictional resistance at the time of start is less, the projection is carried out by a larger acceleration alpha1, while when the fork is retracted, since the frictional resistance of a roller is larger due to a moment force, the retracting acceleration alpha2 is set to be 1/n of the projecting acceleration alpha1. By this constitution, the miniaturization and lightening the weight of a linear motor can be achieved.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a fork structure suitable for linear motor drive in a slide fork device such as a stacker crane used as a loading machine in an automated warehouse. be.

[Conventional technology]

As shown in Japanese Unexamined Patent Publication No. 57-77199.

Slide fork devices such as stacker cranes.

Since it is necessary for the fork to protrude left and right, it consists of a fixed fork, a middle stage fork that moves horizontally relative to the fixed fork, and a final stage fork that moves horizontally relative to the middle stage fork.

The middle stage fork and the final stage fork are each supported on the base side via rollers. Further, the middle stage fork and the final stage fork are each driven by a drive device.

The second type of driving device includes a system using a chino as shown in the publication No. 1'ff, and a system using a linear motor.

In those using linear motors, linear motors are installed between the fixed fork and the middle fork, and between the middle fork and the final fork.

[Problem that the invention seeks to solve]

In the conventional fork speed control method described above, the motor requires maximum driving force during the fork return operation with a rated load loaded. In other words, when the fork is in a protruding state, a moment acts, so the frictional resistance of the guide roller increases significantly, and the driving force for sliding the fork increases.

An object of the present invention is to reduce the driving force required during the fork return operation, and to reduce the size and weight of the linear motor that is the agitation source.

[Means for solving problems]

The above object is achieved by setting a small moving acceleration of the fork during the fork return operation and reducing the force required for acceleration.

[For production]

Since the movement acceleration of the fork during the fork return operation is smaller than that during the fork extension operation, the driving force required to operate the fork can be reduced. As a result, it is possible to realize a slide fork device in which the linear motor serving as the driving source is made smaller and lighter.

[Example] Hereinafter, the invention will be explained with reference to an example shown in FIGS. 1 to 1O. ! Figures J6 to 7 are shown as schematic diagrams to facilitate understanding. The linear motor of this embodiment is of a synchronous type.

In FIG. 5, the sliding fork device is mounted on a lifting platform l of a stub cuff lane, for example.

The sliding fork device consists of a fixed fork 10 installed on a lifting platform I, a middle fork nozzle, and a final fork I. The upper surface of the final stage fork (9) becomes the loading surface for the load.

A linear motor is installed only between the fixed fork 10 and the middle fork field. The drive for applying the final stage fork is tA4.
This is done using the Nyoho, Cheno 70m, and 70b shown in Figures and J5.

In FIG. 1, FIG. 2, and FIG. 3, the fixed fork 10 is a flat member, on which the primary side of the linear motor and various devices for controlling the linear motor are installed.

The primary side of the linear motor includes a stator 6 made of laminated silicon steel plates, a coil surrounding the stator 6, and a magnet 51 that applies magnetizing force between the stator teeth and the teeth 61 of the mover ω. It consists of yokes 53m and 53b for a return magnetic path to relieve the attractive force acting between the stator teeth 61 and the movable teeth 61. The upper ends of the yokes 53a and 53b are bent inward.

The stator gear is provided with stator tooth castings on the surface of the movable element ω at predetermined intervals in the direction in which the movable element is moved by the linear motor. A plurality of magnetic poles are formed by winding the coils around the stator teeth at predetermined intervals.

51 is an insulating resin, and 52 is mica.

The stator 6 is made of laminated silicon steel plates and a thicker steel plate 49.
．． 49 are stacked one on top of the other and are united with a plurality of caulking pins 47. The stator 6 is fixed to the mounting seat 5 made of non-magnetic material with bolts.
ing.

The mounting seat is a seat for unitizing the primary side φ of the near motor, and is attached to the fixed fork IO with bolts.

The mounting frame is concave, and one yoke 53m is fixed with bolts 57 inside one vertical piece 55m.

The other yoke 53b is connected to the bolt 57 from the other vertical piece 5b.
It is pressed toward the N yoke contour a at point b. Therefore, the magnet 51 between the two yokes 53m and 53b
,51. The stator 6 is pressed toward one yoke field.
ing. This prevents the generation of gaps in the return magnetic path.

The surface of the stator teeth of the movable element ω of the linear motor is provided with teeth 61 at predetermined intervals. The movable element ω is attached to the back side of the middle fork plate through a mounting washer made of non-magnetic material. The mounting seat C is fixed to the middle fork made of non-magnetic material with bolts 8 made of non-magnetic material. The mover ω is fixed to a mounting seat 62 with bolts 6 made of non-magnetic material.

The movable tooth 61 and the stator tooth 61 are opposed to each other. Both ends of the movable element ω are located below the inwardly protruding portions of the upper ends of the yokes 53a and s3b.

The yoke 53a that supports the roller Takumi! 13b is provided with a reamed hole and a screw hole following the reamed hole.

On the shaft of the roller 5, from the roller 5 side, there is a part 15m where a spanner is applied, and a sleeve 15b with an outer diameter that matches the reamer hole.

Screws 15c are provided in sequence. Yoke 15c a
, Tighten and fix into the screw hole of s3b. Since the sleeve 15b fits into the reamer hole, the heights of the positive centers of the plurality of rollers can be matched.

Between the movable tooth 61 and the stator tooth 61, the yoke 53a.

A predetermined gap is provided between the lower surface of the protrusion at the upper end of -53b and the upper surface of the movable element ω, and the gap is adjusted by a spacer S made of a non-magnetic material.

The middle stage fork has guide rails n at both ends in the width direction (direction perpendicular to the sliding direction of the slide fork).
22 are provided. The guide rail n is attached to the lower surface of the middle fork B with bolts 67. The mover ω is installed in a recess formed by the left and right guide rails n, 22 and the middle fork.

Seek s3a on the groove 20m on the inside surface of guide rail 4.
, a plurality of rollers 15 and a sliding plate 16 attached to the sab
Contains. The middle fork roller is supported by the yokes 53m and 53b by rollers b. The sliding plate 16 prevents the middle fork from moving in the width direction. The sliding plate 16 is attached to the yoke 53 with a bolt 18 via a spacer 17.
a, 53b. Note that a plurality of rollers and a plurality of sliding plates 16 are arranged in one groove (support).

On the other hand, in the groove 22b on the outer surface of the guide rail 2, a plurality of rollers and a sliding plate installed at the lower part of the final stage fork (9) are inserted. The final fork garden is supported by the middle fork by the rollers. The sliding plate prevents the final stage fork from moving in the width direction. The sliding plate is installed on the final stage fork via a spacer r and a bolt. The roller A and the sliding plate I are attached to a bracket installed on the underside of the final stage fork I. Note that a plurality of rollers and a plurality of sliding plates are arranged in one groove n.

Sprockets 25a and 25b for driving the final stage fork are attached to the lower surfaces of the guide rails 22 and 22, respectively. Sprockets 25a and 25b are guide rails ρ,
The lower surface of 22 is attached to two fixed brackets.

The bracket j projects toward which side of the guide rails n and 22.

As is clear from Figures 1, 2, 6, and 7,
The sprocket 25a is attached to one end of the left guide rail n in FIG. 1, and the sprocket 25b is attached to the other end of the right guide rail n in FIG. Note that the direction of the negative end and the other end is the sliding direction of the final stage fork (9).

FIGS. 6 and 7 show the arrangement of chinos 70a and 70b for driving the final stage fork (9).

A chino 70a fixed to a bracket 71a provided on the lower surface of one end in the sliding direction of the final stage fork father is inverted by a sprocket 25a, and is fixed to a bracket 72m on the one end side of the fixed fork 10. Cheno 70 fixed to the bracket nb on the bottom surface of the other end of the final stage fork
b is reversed by sprocket 25b.

It is fixed to a bracket nb at the other end of the fixed fork 10.

In Figures 1 and 2, the left and right guide rails 22.2
Various equipment for controlling the beam near motor is installed at the bottom of 2.

A rotary encoder n is installed at the bottom of the right guide rail section to detect the moving speed of the middle stage fork I and the movement of the cover from the origin. Movement speed, acceleration/deceleration, and stopping are controlled by signals from rotary encoder n. 8th
As shown in the figure, the rotary encoder n has two sprockets 7 provided at both ends of the fixed fork 10 in the longitudinal direction.
How many n of 4 are connected to one shaft by a coupling n?
ing.

The chino 76 fixed to the fixed part 77a on one end side of the middle fork (9) passes through the sprocket 74 installed on the other end side of the fixed fork 10, and further passes through the sprocket 74 installed on the opposite side to the other end side of the middle stage fork. Fixed part 77b of
It is fixed at n.

Sprocket 7 without connecting rotary encoder n
Connect the electromagnetic brake to the 4th axis. This electromagnetic brake 78 is operated when the middle stage fork (9) stops sliding.

In FIG. 1, two sprockets 74 are provided at the bottom of the right guide rail n. IIi The fixing part 77
A and 77b are brackets, and the right guide rail is attached to the lower surface of this bracket. Sprocket 25b is located above between sprocket 74 and rotary encoder 73 (electromagnetic brake 78). Sprocket 74 (
74) and a rotary encoder n (electromagnetic brake 78) are installed on each racket on the fixed fork 10.

The equipment on the left guide rail n side will be explained. 81
is a photo sensor that detects the presence or absence of teeth on the tooth-shaped plate. The tooth profile plate has a tooth profile having the same shape (same pitch) as the movable child teeth 61, and is provided in parallel to the movable child teeth 61. The toothed plate wings are suspended from the underside of the bracket. The tooth profile of the tooth profile plate 83 is oriented horizontally.

As shown in FIG. 2, the photosensors 81 are installed on mounting bases 82 provided at both ends in the sliding direction.The mounting bases 82 are attached to the upper surface of the fixed fork IO.

As shown in FIG. 5, the photosensors 81 are 81a and 81b.
It consists of three 7-photo sensors of e81c □, and one set of three photosensors of 2 is attached to the mounting base 82.
It is installed at 82. Photo sensor 81a.

81b and 81c are installed horizontally at a predetermined distance. When the photosensor 81a is located at the boundary between the convex part and the concave part of the tooth of the tooth profile plate, the photo sensor 81b corresponds to the convex part of the tooth profile, and the photo sensor 81c corresponds to the concave part of the tooth profile. ing.

The linear motor has three phases. For this reason, this photosensor, which is equipped with three photosensors 81a, 81b, and 81c, detects the relative positions of the movable weave 61 and the stator tooth catch, respectively, and selects the coil connection to be energized. are doing. That is, energization or non-energization of each coil (U-phase coil, V-phase coil, W-phase coil) 50 is determined by signals from the three photosensors.

The bell is a magnetic sensor that detects the boundary between the north and south poles of the magnet 93 suspended from the guide rail n. The magnet 93 is attached to the lower end of a mounting plate fixed to the lower surface of the guide rail n. As shown in FIG. 2, the mounting plate 54 (magnet 93) is installed at the center in the sliding direction. Reference numeral 4 denotes a mounting base on which the magnetic sensor holder is installed, and is fixed to the upper surface of the fixed fork IO at the center in the sliding direction. The integrated value of the pulses of the rotary encoder n is cleared by the signal detected by the magnet 93 by the magnetic sensor circle. In other words.

The magnetic sensor holder detects that the middle stage fork I has returned to its origin.

In such a configuration, when the coil is energized.

A middle fork nod with a movable element ω protrudes to one side. This causes the final stage fork I to protrude in the same direction via the chenos 70a and 70b.

Speed control is performed using a speed pattern as shown in FIG.

When protruding the fork, the frictional resistance at the time of starting is small, so the acceleration α1 is increased (but when the fork is retracted, the frictional resistance of the roller increases due to the moment force, so the acceleration α2 is set to 1/n of α1). This makes it possible to reduce the required thrust of the linear motor that is the drive source.

The present invention can also be used in systems that do not have a final stage fork addition.

〔Effect of the invention〕

According to the present invention, the driving force required for the sliding movement of the fork can be reduced, which is effective in reducing the size and weight of the linear motor.

[Brief explanation of the drawing]

FIG. 1 is a longitudinal sectional view of a sliding fork device according to an embodiment of the present invention, FIG. 2 is a perspective view of the sliding fork device of FIG. 1, with the upper fork removed, and FIG. The figure is a longitudinal sectional view of the linear motor shown in Fig. 1, taken along the moving direction of the linear motor, Fig. 4 is a longitudinal sectional view of the attachment part of the roller that supports the middle fork in Fig. 1, and Fig. 5. is the first
Figure 6 is a diagram showing the positional relationship between the tooth-shaped plate and the 7-tooth sensor, and Figure 6 is the first diagram showing the arrangement of the drive chain 2.
7 is a plan view of FIG. 1 to show the arrangement of the driving chain 2, FIG. 8 is a side view of FIG. 1 to show the arrangement of the position detecting chain, and FIG. is a perspective view of the fork in a protruding state, and Figure N10 is a speed pattern diagram of an embodiment of the present invention. 10... fixed fork, 20... middle stage fork, 30... final stage fork, city, 35.
...Roller, n...Guide rail, 25
a, 25 b, 74...”- Sprocket. Off...Primary side of linear motor, 45...
・Stator, jumper ---・--: 2il, 51...-W magnet, 53a, 53b...Yoke, 6G...
-・-Mover, 70a, 70b, 76-
- Cheno's agent Patent attorney Katsuo Ogawa)) r3 Figure 4 Prisoner Figure 5 Figure 7? 3θ---%j5spoon7oh7oh6FigureE-111identical-7 Daughter%>'F

Claims (1)

[Claims] 1. In a sliding fork device comprising a fixed fork, a middle stage fork that moves relative to the fixed fork, and a final stage fork that moves relative to the middle stage fork, the central portion from the fork protruding end side A slide fork device characterized in that the moving acceleration of the fork during the fork return operation is set lower than the acceleration during the fork extension operation.