Transfer device and positioning method for a motorized device

Abstract

Transfer device (1) comprising: - a first sponsor (3), - a second conveyor (2) and - a lifting unit (6) which lifts and lowers at least one of the first and second conveyors (3, 2), wherein the first conveyor (3) has a first conveying path located in a fixed planar region and conveying an object (25) to be conveyed in a fixed direction, wherein the second conveyor (2) has a second conveying path arranged in the same planar region as the first conveying path and conveying the object (25) to be conveyed in a direction that crosses a conveying direction of the first conveying path, wherein the lifting unit (6) lifts one of the conveying paths above the other conveying path in order to convey the object (25) to be conveyed in a predetermined direction, wherein the lifting unit (6) comprises a lifting mechanism (8) with a plurality of combined elements and a motor (50), wherein the lifting mechanism (8) - converts a rotational force of the motor (50) into a movement in a lifting direction, - transmits the movement to at least one of the first and second conveyors (3, 2), - raises or lowers at least one of the first and second conveyors (3, 2) and - the rotation of the motor (50) stops when one conveying path reaches a predetermined height, wherein during the actuation process of the lifting unit (6) a body boundary identification process is carried out in which - the motor (50) is rotated to actuate the lifting mechanism (8) up to a physical operating limit, and the motor (50) is then stopped, and - the control of the motor (50) is changed such that the motor (50) is rotated at a low speed until the lifting mechanism (8) reaches the physical operating limit, wherein, in the body boundary identification process, the motor (50) is rotated by inertia and thereby electric current is generated, so that the electric current is substantially not supplied to the motor (50) from the outside, and wherein the transfer device (1) has a current detection unit that detects an electric current flowing into the motor (50), wherein in the body limit identifying process, the motor (50) to which inertia additionally acts is rotated, and a position at which the electric current flowing into the motor (50) changes abruptly or a position at which the electric current flowing into the motor (50) exceeds a fixed value is the physical operating limit.

Description

[0001] The present invention relates to a transfer device that forms part of a conveyor line. More specifically, the present invention relates to a transfer device that can switch the conveying direction of an object to be conveyed to a direction that crosses the feed direction. Furthermore, the present invention relates to a positioning method for a device with a motor.

[0002] Conveyor lines are often used to transport items on product assembly lines and in shipping centers. For example, in shipping centers, a large number of conveyor lines are arranged in a matrix, with transfer devices positioned at the points where the conveyor lines intersect. Each transfer device removes an item from one conveyor line (a first conveyor line) and then transfers it to another conveyor line (a second conveyor line).

[0003] To achieve the functions described above, the transfer device comprises two conveyors that convey an object, as well as a lifting unit that changes the height of each conveyor. The lifting unit includes a lifting mechanism comprising a crank device, a control surface element, a gear device, and a gear. The lifting mechanism is driven, for example, by a motor.

[0004] Each conveyor has a conveyor path on which an object to be conveyed is positioned and conveyed. The conveyor paths differ in their conveying direction. The transfer device can change the relative height of the conveyor paths using the lifting unit.

[0005] In such a transfer device, the lifting unit retracts the conveyor path of the conveyor not assigned to a conveying operation to a position below the other conveyor path, and raises and clears the conveyor path of the conveyor involved in the conveying operation, thereby maintaining its height. The raised conveyor is then operated. This enables smooth conveying without interference from the conveyor not involved in the conveying operation.

[0006] As described above, the transfer device must keep the conveyor involved in the conveying process in the raised state.

[0007] For this reason, the conventional transfer device includes a sensor or limit switch that directly or indirectly detects the height of each conveyor. The motor is driven to move one of the conveyors upward and then stops when the sensor or limit switch detects that the conveyor has reached a predetermined height. As a result, the lifting unit is stopped in a state where the conveying path of one conveyor is clear of the conveying path of the other conveyor.

[0008] In addition, a configuration in which the sensor or the limit switch is used to detect the position of a driven body and the rotation of the motor is stopped when the position of the driven body reaches a predetermined position is not limited to such a transfer device but can also be applied to other machines. State of the art Patent document 1: JP 2012- 51 679 A Patent document 2: JP 2001- 225 946 A Patent document 3: US 5,869,940 A Patent Document 4: JP H09-303 186 A Patent document 5: DE 29 52 02 48 U1 Patent document 6: US 2012 004 86 78 A1 Patent document 7: DE 34 03 542 A1

[0009] Conventional transfer devices require a sensor or limit switch to detect the height of each conveyor, resulting in a larger number of parts. Furthermore, the position adjustment and wiring of the sensor or limit switch are necessary, making assembly and adjustment more complicated. Furthermore, conventional transfer devices are prone to sensor or limit switch failure. The sensor or limit switch, which is often located at the rear of the transfer device, is difficult to replace.

[0010] For this reason, such a sensor or limit switch should be eliminated.

[0011] To eliminate the sensor, the inventors of the present invention therefore developed and prototyped a configuration in which one of the conveyors is physically forced to collide with a specific element when its height reaches a predetermined height, and the motor is then forcibly stopped. That is, the inventors of the present invention proposed a configuration in which the motor for operating the lifting mechanism is rotated to a physical operating limit and then forcibly stopped, at which time one of the conveyors is at the predetermined height.

[0012] However, if the rotation speed or speed of the motor in the transfer device is high at the time of stopping, collision noise and whine from the motor will be generated, causing discomfort to the user. Another disadvantage is that excessive stress will be exerted on mechanical elements such as gears and excessive current will flow into the motor. Therefore, there is a potential for the service life of the transfer device to be shortened.

[0013] Patent Document 3 shows a motorized gate operator with an electric motor coupled to a movable gate via a drive train to move the gate between an open and closed position. The gate operator features a control system with a learning mode that allows a human to move the gate either manually or in motorized mode with manual control. The control system learns the desired accelerations, decelerations, pauses, and start and end positions for the gate's movement in each direction of movement between the open and closed positions.

[0014] Patent Document 4 discloses a throttle control device comprising: a throttle valve; a DC motor; an opening detection device; and a reference position update device. The reference position update device causes the throttle valve to access a stopper so that the throttle valve operates at a given operating speed up to an approach position, and then reduces the operating speed to bring the throttle valve into gentle collision with the stopper.

[0015] Patent Document 5 shows a power supply device for an electric DC motor of a drive unit, which is connected to an AC supply network and has devices for reducing and rectifying the electrical voltage supplied to the motor. The power supply device has a rectifier circuit connected to the network and an input winding of a voltage-reducing transformer connected in pulses to its DC output by means of a clocked switching device. The DC motor to be supplied is connected to the output winding of the voltage-reducing transformer.

[0016] Patent Document 6 discloses a transfer device including a main conveyor part having a first conveying surface and a sub-conveying part having a second conveying surface and disposed in the same area as the main conveyor part. The main conveyor part is configured to convey an object placed on the first conveying surface in a conveying direction, and the sub-conveying part is configured to convey an object placed on the second conveying surface in a direction transverse to the conveying direction of the main conveyor part. At least one of the main conveyor part and the sub-conveying part is a roller conveyor having rollers, and at least one of the rollers is equipped with a brake configured to prevent the object from moving at least in the direction transverse to the conveying direction of the roller conveyor by a frictional force acting between the object and the roller.

[0017] Patent Document 7 shows an electrical circuit with a changeover switch for switching a servomotor on in a selected direction of rotation and a device for switching the servomotor off when a member actuated by the servomotor reaches a limit position. The device for switching the servomotor off is an electrical component that responds to the servomotor's blocking current.

[0018] Taking the above-described problems into consideration, an object of the present invention is to provide a transfer device in which a sensor or a limit switch can be eliminated, collision noise and roar of an engine can be reduced, and a reduction in service life can be avoided.

[0019] When using the invention in a network of horizontal business processes, it is a further object of the present invention to provide a positioning method in which the disadvantages of excessive stress being exerted on a mechanical element such as a gear and excess current flowing into a motor can be overcome.

[0020] The object is achieved by a transfer device having the features of claim 1 and by a transfer device having the features of claim 9. Advantageous further developments arise from the subclaims 2 to 8 and 10, respectively. Furthermore, the object is achieved by a positioning method having the features of claim 11 and a positioning method having the features of claim 15. Advantageous further developments arise from the subclaims 12 to 14 and 16, respectively.

[0021] According to one aspect of the present invention, in order to solve the above-described problems, there is provided a transfer device comprising: a first conveyor, a second conveyor, and a lifting unit that lifts and lowers at least one of the first and second conveyors, wherein the first conveyor has a first conveying path located in a fixed plane region and conveys an object to be conveyed in a fixed direction, wherein the second conveyor has a second conveying path located in the same plane region as the first conveying path and conveys the object to be conveyed in a direction that crosses a conveying direction of the first conveying path, wherein the lifting unit lifts one of the conveying paths above the other conveying path to convey the object to be conveyed in a predetermined direction.

[0022] The lifting unit comprises a lifting mechanism having a plurality of combined elements and a motor, wherein the lifting mechanism converts a rotational force of the motor into a movement in a lifting direction, transmits the movement to at least one of the first and second conveyors, raises or lowers at least one of the first and second conveyors, and stops the rotation of the motor when one of the conveying paths reaches a predetermined height, wherein a body boundary identification process ora physical limit identification process is carried out by rotating the motor to operate the lifting mechanism up to a physical operating limit, then stopping the motor and changing the control of the motor so that the motor is rotated at a low speed until the lifting mechanism reaches the physical operating limit.

[0023] During the body limit identification process of the transfer device, the number of revolutions of the motor is reduced until the lifting mechanism reaches the physical operating limit. Thus, the collision is minimal when the lifting mechanism reaches the physical operating limit, and the collision noise is also low. Furthermore, the possibility of overcurrent flowing into the motor is also low. Thus, the transfer device according to the present invention is also unlikely to experience a reduction in service life.

[0024] In addition to the aspect described above, the motor is preferably finally stopped when a rotation state of the motor at the physical operating limit is a start of rotation of the motor or a point at which the motor starts to rotate, or when a rotation state in which the rotation of the motor is reduced by a predetermined number of revolutions from the physical operating limit is the start of rotation of the motor, wherein when the rotation state of the motor is at the start of rotation, one conveying path is raised above the other conveying path.

[0025] In addition to the above aspect, the transfer device includes a current detecting unit that detects an electric current flowing into the motor, wherein in the body limit identifying process, the motor, to which inertia is additionally applied, is rotated, and a position where the electric current flowing into the motor changes abruptly or a position where the electric current flowing into the motor exceeds a fixed value is the physical operation limit.

[0026] The “electric current flowing into the motor” can be an electric current supplied to the motor from outside or an electric current generated by the motor itself.

[0027] When the lifting mechanism reaches its physical operating limit, causing the motor to shut down, the load applied to the motor increases and changes the electric current flowing into the motor. If the electric current flowing into the motor changes abruptly or exceeds the set value, the fact that the lifting mechanism has reached its physical operating limit is determined.

[0028] In addition, during the body limit identification process of the transfer device according to this aspect, the motor, which is additionally subjected to inertia, is rotated. The electric current flowing into the motor is thus very small. Even if the lifting mechanism reaches the physical operating limit, forcing the motor to stop, the electric current flowing from the power source into the motor is small. This prevents damage to the motor and reduces its service life.

[0029] In addition to the above aspect, in the body boundary identifying process, the motor is rotated by inertia to generate electric power, so that the electric power is substantially not supplied to the motor from the outside.

[0030] In the transfer device according to this aspect, the electric current is essentially not supplied to the motor from the outside. Even if the lifting mechanism reaches its physical operating limit and thus causes the motor to be forced to stop, the electric current flowing from the power source into the motor is small. This can prevent damage to the motor and a reduction in its service life.

[0031] In addition to the above aspect, preferably a position where the electric current flowing into the motor exceeds a fixed value is the physical operating limit.

[0032] The transfer device according to this aspect operates accurately because the physical operating limit is detected based on the value of the electric current.

[0033] In addition to the above aspect, the transfer device including the physical operating limit preferably has a physical operating limit in the forward direction and a physical operating limit in the reverse direction, wherein the motor is rotated in the forward direction and in the reverse direction so that the lifting mechanism can be caused to reach the physical operating limit, and wherein the motor is rotated at a low speed at least when the lifting mechanism is caused to reach the physical operating limit in the forward direction or when the lifting mechanism is caused to reach the physical operating limit in the reverse direction.

[0034] In the transfer device according to this aspect, the physical operating limit in the forward direction and the physical operating limit in the reverse direction are identified. Thus, positioning in a state where the first conveying path is raised and positioning in a state where the second conveying path is raised can be performed.

[0035] In addition to the aspect described above, the transfer device preferably comprises a speed detection unit that detects the speed of the motor, wherein the physical operating limit includes a physical operating limit in the forward direction and a physical operating limit in the reverse direction, wherein the speed of the motor detected by the speed detection unit is monitored when the lifting mechanism is caused to reach the other physical operating limit from one physical operating limit, and wherein the motor is rotated at a low speed after the speed of the motor exceeds a predetermined value.

[0036] In addition to the above aspect, the transfer device further having the physical operating limit preferably includes a physical operating limit in the forward direction and a physical operating limit in the reverse direction, wherein the motor is rotated at a fixed initial speed, when the lifting mechanism is caused to reach the other physical operating limit from one physical operating limit, the motor is then temporarily decelerated and is further rotated at a lower speed than the initial speed.

[0037] In addition to the above aspect, it is preferable to carry out an initial operation under fixed conditions, wherein in the initial operation the motor is rotated at a lower speed than a normal speed for operating the lifting mechanism up to the physical operating limit and then stopped.

[0038] In addition to the above aspect, the lifting mechanism preferably comprises a pinion, a rack, a cam member linearly moved by the rack, and a cam follower provided in each of the first and second conveyors, each end of the rack forming a respective physical operating limit.

[0039] With this aspect, the special configuration of the transfer device is completed.

[0040] The present invention provides a positioning method in a device having a motor, in which a driven body is brought into a predetermined position or posture such that a rotational force of the motor is transmitted to actuate the driven body and the motor is stopped when the driven body reaches the predetermined position.

[0041] The method includes, in a process for finally stopping the motor, performing a body limit identifying process in which the motor is rotated to actuate the driven body up to a physical operating limit and then the motor is stopped, and includes, in a body limit identifying process, changing the control of the motor such that the motor is rotated at a low speed after starting, monitoring an electric current flowing into the motor, and stopping the motor in a position where the electric current flowing into the motor changes abruptly or in a position where the electric current flowing into the motor exceeds a fixed value.

[0042] Preferably, when changing the control of the motor so that the motor is rotated at a low speed, the motor is rotated under the additional action of inertia.

[0043] In the positioning method of the present invention, the motor speed is reduced until the driven body reaches its physical operating limit. Specifically, in the body limit identification process of the present invention, the motor is rotated under the additional influence of inertia. The electric current flowing into the motor thus becomes very small.

[0044] Even if the driven body reaches its physical operating limit, forcing the motor to stop, the electric current flowing from the power source into the motor is low, preventing motor damage and reducing its service life.

[0045] In the body boundary identification process, the motor is rotated by inertia to generate electric current, so that the electric current is essentially not supplied to the motor from the outside.

[0046] The physical operating limit preferably includes a forward physical operating limit and a reverse physical operating limit, wherein the speed of the motor is monitored when the driven body is caused to reach the other physical operating limit from one physical operating limit, wherein the motor is rotated at a low speed after the speed of the motor exceeds a predetermined value.

[0047] Preferably, the physical operating limit includes a forward physical operating limit and a reverse physical operating limit, wherein the motor is rotated at a fixed initial speed when the driven body is caused to reach the other physical operating limit from one physical operating limit and the motor is then temporarily decelerated and further rotated at a speed lower than the initial speed.

[0048] Furthermore, the present invention provides a positioning method in a device having a motor, in which a driven body is brought into a predetermined position or posture such that a rotational force of the motor is transmitted to actuate the driven body and the motor is stopped when the driven body reaches the predetermined position, wherein at a physical operating limit in the forward direction and a physical operating limit in the reverse direction, the motor whose rotational movement in the forward direction and reverse direction has started is no longer rotatable, wherein the motor is rotated at a fixed initial speed when the driven body is caused to reach the other physical operating limit from one physical operating limit, and the motor is then rotated at a speed lower than the initial speed.Furthermore, an electric current flowing into the motor is also monitored, and the motor is stopped at a position where the electric current flowing into the motor changes abruptly or when the electric current flowing into the motor exceeds a fixed value. A body limit identification process is performed in which the motor is rotated to operate the lifting mechanism to a physical operating limit, and the motor is then stopped. In the body limit identification process, the motor is rotated by inertia to generate electric current, so that the electric current is essentially not supplied to the motor from the outside.

[0049] The transfer device according to the present invention is designed to move the respective conveyor to the predetermined height without using a sensor or limit switch. Furthermore, the transfer device according to the present invention reduces collision noise and motor whine, and also reduces the possibility of reduced service life.

[0050] The same applies to the inventive positioning method of the device with the motor. Collision noise and motor whine are reduced, and a reduction in service life is also reduced.

[0051] The invention and further developments of the invention are explained in more detail below with reference to the drawings of an exemplary embodiment. The drawings show: Fig. 1 is a perspective view of a conveyor line with a transfer device according to an embodiment of the present invention; Fig. 2 is a perspective view of the transfer device according to the embodiment of the present invention; Fig. 3 is an exploded perspective view of the transfer device according to the embodiment of the present invention; Fig. 4 is an exploded perspective view of the transfer device, in which belts of a first conveyor and rollers of a second conveyor are shown in the exploded perspective view of the Fig. 3 are eliminated and only frame elements of the conveyors are shown; Fig. 5 a perspective view of a lifting mechanism and a gear motor of the transfer device of the Fig. 2; Fig. 6A to 6C are views for explaining the relationship between the first and second conveyors and the respective horizontally movable members when the conveyors are in the raised positions, wherein Fig. 6A shows a state of the first conveyor, Fig. 6B shows a state of the second conveyor, and Fig. 6C shows the relationship between control surface followers belonging to the conveyors and the horizontally movable element; Fig. 7A to 7C are views for explaining the relationship between the first and second conveyors and the respective horizontally movable members when the first conveyor is in the raised position and the second conveyor is in the lowered position, wherein Fig. 7A shows a state of the first conveyor, Fig. 7B shows a state of the second conveyor, and Fig. 7C shows the relationship between the control surface followers belonging to the conveyors and the horizontally movable element; Fig. 8A to 8C are views for explaining the relationship between the first and second conveyors and the respective horizontally movable members when the first conveyor is in the lowered position and the second conveyor is in the raised position, wherein Fig. 8A shows a state of the first conveyor, Fig. 8B shows a state of the second conveyor, and Fig. Figure 8C shows the relationship between the control surface followers belonging to the conveyors and the horizontally movable element; Fig. 9 is a flowchart for explaining the execution of a body boundary identification process of the transfer device of the Fig. 2; Fig. 10A to 10G are views chronologically illustrating the positional relationship between the respective rack and pinion of the transfer device when the body boundary identifying process is carried out; Fig. 11 is a timing chart illustrating the relationship between the target rotational speed of a lifting motor, the actual rotational speed of the lifting motor, the electric current value detected by a current detection unit, and the amount of electric current generation of the lifting motor when executing the body boundary identification process; and Fig. 12 is a block diagram of a controller of the transfer device according to the embodiment of the present invention.

[0052] In the following, a transfer device 1 according to an embodiment of the present invention will be described in detail.

[0053] The transfer device 1 according to the embodiment of the present invention is used for a conveyor line 21 having branch paths as shown in Fig. 1 is shown.

[0054] As in Fig. As shown in Figure 1, the transfer device 1 according to the embodiment of the present invention is arranged in an area where the conveying paths of the conveyor line 21 intersect (or branch off from each other). That is, the transfer device 1 is provided between a first conveyor line 22 on the upstream side and a first conveyor line 23 on the downstream side, which are arranged linearly, thereby forming a first line 100. A second conveyor line 24, orthogonal to the first conveyor lines 22 and 23, is connected to the transfer device 1.

[0055] Thus, the conveyor line 21 can convey an object 25 along the first line 100 (the first conveyor lines 22 and 23), change the conveying direction on the transfer device 1, and convey the object 25 along a second line 200 (the second conveyor line 24).

[0056] The first conveyor lines 22 and 23 and the second conveyor line 24 are each roller conveyors with a plurality of rollers, so that a drive roller transmits power to a plurality of follower rollers, which then rotate. Thus, the first conveyor lines 22 and 23 and the second conveyor line 24 can each convey the object 25 arranged thereon in one direction.

[0057] The transfer device 1 has a mechanical construction and a control system. As shown in the Fig. As shown in Figures 2 to 5, the mechanical construction of the transfer device 1 includes a second conveyor 2, a first conveyor 3 and a lifting unit 6. The lifting mechanism 6 has a lifting mechanism 8 and a gear motor 5.

[0058] As in Fig. 3, the second conveyor 2 of the transfer device 1 has a plurality of conveyor rollers 14 and a roller-side frame element 15 which rotatably supports the conveyor rollers 14. As shown in Fig. 4, four rollers (control surface followers) 27 are provided in the lower region of the roller-side frame element 15.

[0059] The second conveyor 2 is a unit in which the plurality of conveyor rollers 14 and the four rollers or control surface followers 27 are integrated into the roller-side frame element 15. The roller-side frame element 15 can be moved back and forth only in the upward and downward directions along a guide (not shown).

[0060] Furthermore, at least one of the plurality of conveyor rollers 14 is the drive roller, while the other rollers are follower rollers, with the drive source transmitting power to the follower rollers via belts. The second conveyor 2 is formed by the plurality of conveyor rollers 14 with a conveying path (a second conveying path). The object 25 placed on the conveying path is conveyed by rotation of the conveyor rollers 14.

[0061] The first conveyor 3 is described below.

[0062] The first conveyor 3 includes a belt drive roller 17, a plurality of belt follower rollers 18, annular or circulating belts 19 running between the rollers, and a belt-side frame element 35.

[0063] Four rollers (control surface followers) 36 are provided on the outer side of the lower portion of the belt-side frame member 35. The first conveyor 3 is a unit in which the belt drive roller 17 and the four rollers (control surface followers) 36 are integrated on the belt-side frame member 35.

[0064] The belt drive roller 17 is a motor-integrated roller, and it has a motor (not shown) with a speed reduction mechanism in a rotatable outer cylinder. When the motor is driven, the outer cylinder is thus rotated.

[0065] The belt-side frame element 35 can only be moved back and forth along the guide (not shown) in the upward and downward directions.

[0066] The first conveyor 3 is formed by the belts 19 with a conveying path (first conveying path). The object 25 placed on the conveying path is conveyed by the running movement of the circulating belts 19.

[0067] As in Fig. 1 and Fig. As shown in Figure 2, the conveying paths of the first conveyor 3 and the second conveyor 2 are arranged in the same plane region. That is, the belts 19 of the first conveyor 3 are arranged between the conveyor rollers 14 of the second conveyor 2, so that the conveying paths are located in the same plane region.

[0068] Next, the lifting unit 6 will be described. In the present embodiment, the lifting unit 6 includes the lifting mechanism 8, which includes a plurality of combined elements, and the gear motor 5.

[0069] As is well known, the gear motor 5 ( Fig. 5) a motor 50 with a speed reducer 51 is integrated. To distinguish the entire gear motor 5 from the inner motor 50, the inner motor 50 is hereinafter referred to as the lifting motor 50.

[0070] In the present embodiment, the lifting motor 50 is a brushless motor incorporating a permanent magnet and a winding. Furthermore, the lifting motor 50 includes a Hall element (not shown) that detects the rotational position of a rotor and can count the number of revolutions of the rotor. In the present embodiment, a rotational speed detection unit 75, which detects the number of revolutions of the lifting motor 50, is formed by the support member.

[0071] Furthermore, since the hoist motor 50 used in the present embodiment uses a permanent magnet and a coil, an electric current is generated in the coil when the motor is rotated by an external force. That is, the hoist motor 50 used in the present embodiment acts as an electric generator when the rotor is rotated by an external force.

[0072] More specifically, the lifting mechanism 8 includes a gear train 52, a drive shaft 53, pinions 55, two horizontally movable elements 11, the control surface followers 27 belonging to the second conveyor 2, and the control surface followers 36 belonging to the first conveyor 3.

[0073] The drive shaft 53 is arranged in the direction crossing the outer shaft of the gear motor 5 and extends with its two ends to an area near the two ends of the transfer device 1, so that the pinions 55 are attached to the two ends of the drive shaft 53.

[0074] As in Fig. 5, the gear train 52 connects the output shaft of the geared motor 5 and the intermediate portion of the drive shaft 53. The gear train 52 transmits the rotational force of the geared motor 5 to the drive shaft 53. When the geared motor 5 rotates, the pinions 55 attached to the ends of the drive shaft 53 are thus rotated.

[0075] In the present embodiment, the horizontally movable elements 11 are arranged parallel between the roller-side frame element 15 and the belt-side frame element 35. The horizontally movable elements 11 can only be moved back and forth in the longitudinal direction along the guide (not shown).

[0076] As in Fig. 5 and Fig. As shown in Figure 6C, the horizontally movable elements 11 are each a translation control surface element with a long linear portion 30. A rack 31 is provided in the center and on the lower surface of the linear portion 30.

[0077] The pinions 55 mesh with the respective rack 31. Power is transmitted from the pinions 55, which rotate in the forward and reverse directions, so that the respective horizontally movable element 11 is moved back and forth in the horizontal direction. That is, by rotating the gear motor 5, power is transmitted to the respective horizontally movable element 11, which is then moved back and forth along the guide (not shown).

[0078] As described above, the horizontally movable member 11 is a translation cam member. Plateau-like portions 62 and 63 and cam grooves 65, 28, 29, and 66 are provided on the upper surface of the linear portion 30. That is, the cam grooves 65 and 28 are provided on both sides of the plateau-like portion 62, and the cam grooves 29 and 66 are provided on both sides of the plateau-like portion 63.

[0079] One combination of the plateau-like portion 62 and the cam grooves 65 and 28 is provided on one side of the rack 31, and the other combination of the plateau-like portion 62 and the cam grooves 29 and 66 is provided on the other side of the rack 31. The cam grooves 65, 28, 29, and 66 are provided on both sides of the rack 31. The cam followers 27 provided on the roller-side frame member 15 are inserted into the cam grooves 65 and 29, and the cam followers 36 provided on the belt-side frame member 35 are inserted into the cam grooves 28 and 66.

[0080] When the gear motor 5 rotates to rotate the pinions 55, the linear portion 30 of the respective horizontally movable element 11 is moved horizontally, whereby a rotational movement of the control surface followers 27 also takes place. When the control surface recesses 65 and 29 approach the control surface followers 27, the positions shown in Fig. 6C on the plateau-like areas 62 and 63, the control surface follower 27 is moved downwards into the control surface depressions 65 and 29, as shown in Fig. 7C is shown.

[0081] As a result, as shown in Fig. 7B, the roller-side frame element 15, on which the control surface followers 27 are provided in an integrated manner, is lowered to move the second conveyor 2 downwards. In contrast, the control surface followers 36 of the first conveyor 3 remain on the plateau-like areas 62 and 63, so that, as shown in Fig. 7A the first conveyor 3 remains in the raised position.

[0082] The pinions 55 reach one end of the respective rack 31. This means that the pinions 55 reach a physical operating limit and can no longer rotate.

[0083] Similarly, when the gear motor 5 rotates to rotate the pinions 55, the horizontally movable elements 11 are moved horizontally. The horizontally movable elements 11 are moved horizontally as shown in Fig. 6C on the plateau-like areas 62 and 63 of the belt-side frame element 35 are lowered into the control surface recesses 28 and 66, as shown in Fig. 8C is shown.

[0084] As a result, as shown in Fig. 8B, the belt-side frame element 35 is lowered to move the first conveyor 3 downwards. In contrast, the control surface followers 27 of the second conveyor 2 remain on the plateau-like areas 62 and 63, so that, as shown in Fig. 8B the second conveyor 2 remains in the raised position.

[0085] The pinions 55 reach the other end of the respective rack 31. This means that the pinions 55 reach the physical operating limit and can no longer rotate.

[0086] As described above, when the gear motor 5 rotates, the pinions 55 mounted at each end of the drive shaft 53 rotate, thereby moving the horizontally movable members 11. By rotating the gear motor 5, the first conveyor 3 or the second conveyor 2 is raised and lowered.

[0087] That is, if the pinions 55 are rotated in one direction until they reach the end of the rack 31 and then are no longer rotatable at the physical operating limit, the first conveyor 3 is stopped in the raised position. If, however, the pinions 55 are rotated in the other direction and then are no longer rotatable at the physical operating limit, the second conveyor 2 is stopped in the raised position.

[0088] In the present embodiment, the mechanical construction of the transfer device 1 is Fig. 12 shown control 60.

[0089] The controller 60 includes a driver circuit 72 of the first conveyor 3, which controls or drives the belt drive roller 17 of the first conveyor 3, a driver circuit 73 of the second conveyor 3, which controls or drives the drive roller of the second conveyor 2, and a lifting motor driver circuit 74, which controls or drives the lifting motor 50 of the lifting unit 6.

[0090] In addition, the controller 60 includes a rotation speed detection unit 75 that detects the number of revolutions of the lifting motor 50, a supply current detection unit 76 that detects a value of the electric current supplied to the lifting motor 50, and a rotation speed instruction unit 77 that determines and instructs the rotation speed of the lifting motor 50.

[0091] In the present embodiment, when the first conveyor 3 or the second conveyor 2 is raised and lowered, the lifting motor 50 of the lifting unit 6 rotates. The pinions 55 rotate, and the motor is stopped when the pinions 55 reach the physical operating limit.

[0092] More specifically, the supply current detection unit 76 detects the value of the electric current supplied to the rotating lifting motor 50, and then determines that the pinions 55 have reached the physical operating limit when the electric current value abruptly changes to a fixed value, thereby stopping the lifting motor 50.

[0093] During operation of the lifting unit 6 according to the present embodiment, the following process is performed, which will be referred to as the physical limit identification process. The lifting motor 50 is rotated to actuate the lifting mechanism 8 up to the physical operating limit, and then stopped when the lifting mechanism 8 reaches the physical operating limit.

[0094] In the present embodiment, the electric current flowing into the lifting motor 50 is detected, and the power supply to the lifting motor 50 is stopped when the position at which the electric current flowing into the lifting motor 50 exceeds the fixed value is the physical operating limit.

[0095] That is, the lifting motor 50 is rotated to rotate the pinions 55 up to the physical operating limit, and the power supply to the lifting motor 50 is stopped when the position at which the electric current flowing into the lifting motor 50 exceeds the fixed value is the physical operating limit.

[0096] As a result, each of the horizontally movable members 11 is stopped in a state where the respective cam follower 36 on one side of the horizontally movable member 11 is fitted into the cam groove 28 of the linear portion 30, or in a state where the respective cam follower 27 on the other side of the horizontally movable member 11 is fitted into the cam groove 29 of the linear portion 30. As a result, the first conveyor 3 or the second conveyor 2 is raised and lowered so that the conveying path thereof remains in position at a predetermined height.

[0097] As in Fig. 1, the transfer device 1 configured in this way can convey the object 25 from the first conveyor line 22 via the transfer device 1 to the first conveyor line 23 side and can convey the object 25 from the first conveyor line 22 via the transfer device 1 to the second conveyor line 24 side.

[0098] When the object 25 is conveyed to the first conveyor line 23 side, that is, transported on the first line 100, the gear motor 5 (lifting motor 50) is driven in one direction by the instruction of the controller 60. The electric current flowing into the lifting motor 50 is then detected.

[0099] The power supply to the lifting motor 50 is stopped when the position at which the electric current flowing into the lifting motor 50 exceeds the fixed value is the physical operating limit. The horizontally movable elements 11 are thereby moved to the Fig. 7C shown position.

[0100] When the horizontally movable elements 11 Fig. 7C, the control surface followers 27 of the second conveyor 2 are lowered into the control surface recesses 65 and 29.

[0101] As a result, the roller-side frame element 15 is lowered and, as shown in Fig. 7B, the top of each conveyor roller 14 (and thus the second conveyor path) is retracted downward. In this case, the cam followers 36 of the first conveyor 3 are located on the plateau-like areas 62 and 63 of the horizontally movable elements 11. The first conveyor 3 thus remains in the raised position so that the object 25 can be placed thereon. As a result, the object 25 is conveyed by the belts 19 to the side of the first conveyor line 23 and thus transported along the first conveyor path.

[0102] When the object 25 is conveyed to the second conveyor line 24 side, that is, on the second line 200, the gear motor 5 is rotated in the reverse direction based on an instruction from the controller 60. The power supply to the lifting motor 50 is then stopped when the position at which the electric current flowing into the lifting motor 50 exceeds the set value is the physical operating limit.

[0103] The horizontally movable elements 11 are thus moved into the Fig. 8C. The control surface followers 36 of the first conveyor 3 are lowered into the control surface recesses 28 and 66, so that the belt-side frame element 35 is lowered. As shown in Fig. 8B, the upper surface of each belt 19 is thereby retracted downwards beneath a conveying surface 10.

[0104] In this case, the cam followers 27 of the second conveyor 2 are always arranged on the linear portion 30 of the respective horizontally movable element 11. Each conveyor roller 14 (the second conveyor path) is thus arranged in the raised position so that the object 25 can be placed thereon. As a result, the object 25 is conveyed by the respective conveyor rollers 14 to the side of the second conveyor line 24.

[0105] As described above, in the transfer device 1 according to the present embodiment, the lifting motor 50 in the geared motor 5 is driven, the electric current flowing into the lifting motor 50 is detected, and the power supply to the lifting motor 50 is stopped when the position is reached where the electric current flowing into the lifting motor 50 exceeds the fixed value and thus reaches the physical operating limit. Thus, the first conveyor 3 or the second conveyor 2 is raised and lowered to remain in a position at the predetermined height.

[0106] Furthermore, the transfer device 1 according to the present embodiment executes a special control process when executing the body boundary identification process. This control process will be described in more detail below.

[0107] In the present embodiment, there are two positions at which the lifting motor 50 is forcibly stopped. That is, in the present embodiment, there are two physical operating limits of the lifting mechanism 8. These are a forward direction physical operating limit, in which the lifting motor 50 is rotated in the forward direction and then stopped, and a reverse direction physical operating limit, in which the lifting motor 50 is rotated in the reverse direction and then stopped.

[0108] In the present embodiment, a rotational movement of the lifting motor 50 for actuating the lifting mechanism 8 takes place up to the respective physical operating limit, after which a forced stop of the lifting motor 50 takes place and thereby the power supply to the lifting motor 50 is stopped.

[0109] In the present embodiment, the respective physical operating limit is the insertion limit or movement limit of the rack 31 formed on each horizontally movable element 11 and the pinion 55 cooperating with the rack 31. That is, the respective pinion 55 is rotated to linearly move the associated rack 31 of the respective horizontally movable element 11 and reaches the toothless region at the respective end of the rack 31, so that the pinion 55 can no longer rotate. This state is a respective physical operating limit present at each end of the rack 31.

[0110] The controller 60 used in the transfer device 1 of the present embodiment comprises a CPU 70 and a memory unit 71. In the memory unit, a computer program is stored which is shown in the flowchart of the Fig. 9 is illustrated.

[0111] The body boundary identification process is carried out according to this program.

[0112] The body limit identification process is executed each time the lifting unit 6 of the transfer device is operated. Specifically, the body limit identification process is executed each time the gear motor 5 is started.

[0113] In a step S1, the controller 60 waits for the main power source of the transfer device 1 to be turned on. When the main power source is turned on, the transfer device 1 is put into a rotation start determination mode to perform an initial operation.

[0114] In the rotation start determination mode, the motor 50 is rotated in the forward direction in step S3. The rotation speed at this time is lower than during a normal lifting operation. For convenience of description, the rotation speed of the lifting motor 50 during the normal lifting operation is hereinafter referred to as full-speed operation, and the rotation speed of the lifting motor 50 in step S3 is referred to as half-speed operation.

[0115] It should be noted that half-speed operation is not limited to exactly half the speed of full-speed operation. The rotation speed of half-speed operation is approximately 20% to 70% of the rotation speed during normal conveying, and in the present embodiment, it is approximately 45% to 55%.

[0116] Fig. 10A illustrates the relationship between a pinion 55 and a rack 31 immediately before the start of rotation of the lifting motor 50. The pinion 55 engages with any position on the intermediate portion of the rack 31.

[0117] In step S3, the lifting motor 50 is rotated at half speed in the forward direction. As shown in Fig. 10B, the horizontally movable member 11 is moved to change the position of the pinion 55 meshing with the rack 31. As shown in Fig. As shown in Fig. 10C, the pinion 55 finally reaches one end of the rack 31 and is then forcibly stopped. That is, the lifting motor 50 is rotated to actuate the lifting mechanism 8 in the forward direction up to the physical operating limit and is then forcibly stopped.

[0118] In the present embodiment, depending on the value of the electric current flowing into the lifting motor 50, the supply current detection unit 76 determines that the lifting motor 50 has stopped. That is, the lifting motor 50, whose electric current value increases with the load, is rotated forward to the physical operating limit to actuate the lifting mechanism 8, and is then forcibly stopped.

[0119] The value of the electric current supplied to the lifting motor 50 thus increases. Therefore, in the present embodiment, the current supply detection unit 76 in the controller 60 monitors the value of the electric current supplied to the lifting motor 50 to thereby determine that the lifting motor 50 has been forcibly stopped when the value of the electric current abruptly increases.

[0120] That is, as shown in the timing diagram of the Fig. 11, at the start of the initial operation, the rotation speed of the lifting motor 50 becomes half speed. The lifting motor 50 gradually increases its speed from the stop state. The electric current supplied to the lifting motor 50 is initially high but gradually stabilizes.

[0121] The lifting motor 50 undergoes a forced stop when the lifting mechanism 8 reaches the physical operating limit in the forward direction. As shown in the timing diagram of the Fig. 11, the electric current supplied to the lifting motor 50 increases abruptly.

[0122] In step S4, the controller 60 determines that the electric current supplied to the lifting motor 50 has exceeded the fixed value A. In step S5, the controller 60 detects that the lifting mechanism 8 has reached its physical operating limit in the forward direction. The routine then proceeds to step S6, where the power supply to the lifting motor 50 is stopped, thereby stopping the lifting motor 50.

[0123] In step S7, the current state of the lifting motor 50 is stored as the forward rotation start point, or the point at which the lifting motor 50 starts rotating. The forward rotation start point is a position where the first conveyor 3 or the second conveyor 2 is moved to the predetermined height and the lifting motor 50 is thus finally stopped, and a state where one of the conveying paths is raised above the other conveying path.

[0124] At this time, the control surface followers 27 of the second conveyor 2 are lowered into the control surface recesses 65 and 29, so that the roller-side frame element 15 is lowered. As shown in Fig. As shown in Fig. 7B, the top of each conveyor roller 14 (the conveyor path) is retracted downward.

[0125] The control surface followers 36 of the first conveyor 3 are located on the plateau-like regions 62 and 63 of the respective horizontally movable element 11, and the first conveyor 3 reaches the raised position. Thus, the first conveyor 3 is arranged in the raised position, and the object 25 can be placed thereon.

[0126] When the object 25 to be transported is conveyed to the second conveyor line 24 side, a central controller (not shown) issues a command to rotate the motor in the reverse direction. The motor 60 receives this signal and then rotates the lifting motor 50 in reverse at a fixed initial speed. That is, in a step S8, the controller 60 waits for the command to reverse the motor, and upon receiving the command, rotates the lifting motor 50 in the reverse direction in a step S9.

[0127] Here, the speed (initial speed) of the lifting motor 50 is higher than the forward speed (half speed). Specifically, the lifting motor 50 rotates in the reverse direction at a speed close to its speed (full speed operation) during normal lifting.

[0128] Next, the number of revolutions of the lifting motor 50 is counted. If the number of revolutions of the lifting motor 50 is a fixed number of revolutions, the routine proceeds from step S10 to step S11 to decelerate the lifting motor 50 once.

[0129] As in Fig. 10E, the lifting motor 50 is positionally decelerated until the pinions 55 reach the physical operating limit in the reverse direction. That is, since the length of the racks 31 is known and the lifting motor 50 starts its rotation from the physical operating limit in the forward direction, the amount of rotation at which the pinions 55 reach the physical operating limit in the reverse direction is known. Thus, before the pinions 55 reach the physical operating limit in the reverse direction, the lifting motor 50 is decelerated once. The lifting motor 50 is preferably decelerated at the position closest to the physical operating limit in the reverse direction. The deceleration position is desirably the position where the pinions 55 meshing with the respective rack 31 are at the position of 50% or more, preferably 70% or more, of the total length of the respective rack 31.

[0130] The lifting motor 50 is decelerated by short-circuiting its winding. When the rotational speed of the lifting motor 50 drops to a fixed value D, the routine proceeds from step S11 to step S12 to terminate the deceleration. Specifically, when the rotational speed of the lifting motor 50 is 60% or less and 40% or more, the deceleration of the lifting motor 50 is terminated.

[0131] It is preferable that the timing of stopping the braking process is not too fast or too slow.

[0132] Further, the routine proceeds to step S13 to rotate the lifting motor 50 at a lower speed than the speed D. For example, the lifting motor 50 is rotated at a speed of 50% or less, preferably 40% or less, of the speed at the time of stopping the braking operation. The target rotation speed of the lifting motor 50 in step S13 is lower than the initial speed.

[0133] However, since the lifting motor 50 is actually rotated at the rotational speed D, the lifting motor 50 is rotated by inertia, not by the rotational force itself. As described above, the lifting motor 50 includes an electromagnet and a winding, and is rotated by an external force to generate electric current.

[0134] Thus, the voltage generated by the lifting motor 50 is higher than the voltage supplied by the controller 60. As a result of this and as shown in the timing diagram of the Fig. 11, essentially no electrical current flows from the controller 60 into the lifting motor 50.

[0135] Furthermore, the lifting motor 50 is rotated by inertia so that it is as shown in Fig. 10G is forced to stop when the pinions 55 reach the physical operating limit in the reverse direction. As a result, the electric current generated by the lifting motor 50 itself is lost, and instead, the electric current flows back into the lifting motor 50 from the controller 60.

[0136] At this time, the electric current increases sharply, which can be sufficiently detected by the supply current detection unit 76 of the controller 60. However, since the absolute value of the electric current is low, the lifting motor 50 is not damaged.

[0137] When the increase in electric current is detected, the routine proceeds from step S15 to step S16 to determine that the pinion gears 55 have reached the physical operating limit in the reverse direction. Then, the routine proceeds to step S17 to stop the power supply to the lifting motor 50, thereby stopping the lifting motor 50.

[0138] In the present embodiment, in step S15, it is monitored whether the fixed current value C is present or not. If the fixed current value C is detected, the routine proceeds to step S16 and step S17 to stop the power supply to the lifting motor 50, thereby stopping the lifting motor 50. The current value C as a reference value is smaller than the current value A.

[0139] At this time, the belt-side frame member 35 is lowered to move the first conveyor 3 downward. Meanwhile, the second conveyor 2 remains in the raised position.

[0140] Thus, the second conveyor 2 is arranged in the raised position and the object can be placed thereon.

[0141] In a step S18, the current state of the lifting motor 50 is stored as the reverse direction rotation start or the point at which the lifting motor 50 starts to rotate.

[0142] When the pinions 55 reach the physical operating limit in the reverse direction and rotation is stopped, an abrupt change in the electric current flowing from the power source to the lifting motor 50 occurs. However, the absolute value of the electric current is very low. As described above, there is no possibility of damage to the lifting motor 50. Furthermore, the lifting motor 50 rotates by inertia, so the pinions reach the physical operating limit in the reverse direction, thus preventing high-pitched collision noise.

[0143] When determining the physical operating limit in the forward direction, there is no excessive collision noise because the speed of the lifting motor 50 is low.

[0144] When the object 25 to be transported is conveyed back to the first conveyor line 23 side, the central controller (not shown) further issues a command to rotate the motor in the forward direction. The controller 60 receives this signal to rotate the lifting motor 50 in the forward direction. That is, in a step S19, the controller 60 waits for the command to rotate the motor forward, and upon receiving the command, rotates the lifting motor 50 in the forward direction in a step S20.

[0145] The subsequent operation is essentially the same as in steps S10 to S18. When the number of revolutions of the lifting motor 50 is counted and reaches the set number of revolutions, the routine proceeds from step S21 to step S22 to decelerate the lifting motor 50 once.

[0146] The rotational speed of the lifting motor 50 decreases to the fixed value D, and the routine proceeds from step S23 to step S24 to terminate the braking. Further, the routine proceeds to step S25 so that the lifting motor 50 is rotated at a speed lower than the rotational speed D. For example, the lifting motor 50 rotates at a speed of 50% or less, preferably 40% or less, of the speed at the time the braking operation is terminated.

[0147] Upon detecting the increase in electric current, the routine proceeds from step S26 to step S27, where it is determined that the pinions 55 have reached the physical operating limit in the forward direction. The routine then proceeds to step S28 to stop the power supply to the lifting motor 50, thereby stopping the lifting motor 50. Furthermore, in step S29, the current state of the lifting motor 50 is stored as the forward rotation start.

[0148] At this time, the control surface followers 27 of the second conveyor 2 are lowered into the control surface recesses 65 and 29, so that the roller-side frame element 15 is lowered. As shown in Fig. As shown in Fig. 7B, the top side of the respective conveyor roller 14 (the conveyor path) is retracted downward.

[0149] The control surface followers 36 of the first conveyor 3 are located on the linear portion 30 of the respective horizontally movable element 11, so that the first conveyor 3 reaches the raised position. Thus, the first conveyor 3 is arranged in the raised position, and the object 25 can be placed thereon.

[0150] The routine proceeds to step S8 to repeat the steps subsequent to step S8.

[0151] In the present embodiment, when both physical operating limits are detected, the lifting motor 50 is rotated by inertia. However, the motor 50 can also be rotated by inertia if only one of the physical operating limits is detected.

[0152] Furthermore, in the present embodiment, when the physical operating limit in the reverse direction is detected, the hoist motor 50 rotates at a high speed and then brakes to reduce the speed. This configuration is recommended because the time until the physical operating limit in the reverse direction is reached can be shortened. However, the present invention is not limited to this configuration. The hoist motor 50 may also first rotate at a medium speed and then rotate at a low speed based on the inertial rotation command from the controller 60.

[0153] In the present embodiment, when the main power source of the transfer device 1 is turned on, the rotation start determination mode is executed. However, the rotation start determination mode may also be executed when an abnormality occurs.

[0154] In the present embodiment, the position of one physical operating limit is the position where the first conveyor is raised. However, the physical operating limit may be shifted from the position where the first conveyor is raised. The physical operating limit is determined by the collision of the elements, so that at the position of the physical operating limit, the machine element engagement is unstable. For this reason, the position where the motor rotation is slightly shifted back may be adjusted to the position where the first conveyor is raised.

[0155] In the present embodiment, each end of the rack 31 represents a respective physical operating limit. However, the present invention is not limited to this configuration. For example, an obstacle in the direction of movement of the respective horizontally movable element may be provided as a translation control surface element to limit the horizontal movement range of the horizontally movable element, so that the movement limit of the horizontally movable element may be the respective physical operating limit.

[0156] Furthermore, instead of the translation control surface member, a rotation control surface member and a crank mechanism may constitute the lifting mechanism, and a certain obstacle may be provided to limit the rotation angle of the control surface member and the range of movement of the crank member.

[0157] Furthermore, the method of the present invention is also applicable to devices other than the lifting device. For example, since positioning is required when the object to be conveyed on the conveyor is conveyed a fixed distance, the positioning method can be applied to the device with the motor according to the present invention. List of reference symbols 1 transfer device 2 second sponsor 3 first sponsors 5 Gear motor 6 Lifting unit 8 Lifting mechanism 10 conveyor area 11 horizontally movable elements 14 conveyor rollers 15 roller-side frame element 17 Belt drive roller 18 belt follower rollers 19 circumferential straps 21 Conveyor Road 22 first conveyor road (upstream side) 23 first conveyor road (downstream side) 24 second conveyor road 25 Item 27 control surface followers 28 Control surface recess 29 Control surface recess 30 linear range 31 Rack 35 belt-side frame element 36 control surface followers 50 lifting motor 51 speed reducer 52 gear train 53 Drive shaft 55 pinions 60 Control 62 plateau-like area 63 plateau-like area 65 Control surface recess 66 Control surface recess 70 CPU 71 storage unit 72 Driver circuit of the first conveyor 73 Driver circuit of the second conveyor 74 Lifting motor driver circuit 75 Speed ​​detection unit 76 Feed current detection unit 77 Speed ​​instruction unit 100 First Street 200 Second Street

Claims

[1] Transfer device (1) comprising: - a first sponsor (3), - a second conveyor (2) and - a lifting unit (6) which lifts and lowers at least one of the first and second conveyors (3, 2), wherein the first conveyor (3) has a first conveying path located in a fixed planar region and conveying an object (25) to be conveyed in a fixed direction, wherein the second conveyor (2) has a second conveying path arranged in the same planar region as the first conveying path and conveying the object (25) to be conveyed in a direction that crosses a conveying direction of the first conveying path, wherein the lifting unit (6) lifts one of the conveying paths above the other conveying path in order to convey the object (25) to be conveyed in a predetermined direction, wherein the lifting unit (6) comprises a lifting mechanism (8) with a plurality of combined elements and a motor (50), wherein the lifting mechanism (8) - converts a rotational force of the motor (50) into a movement in a lifting direction, - transmits the movement to at least one of the first and second conveyors (3, 2), - raises or lowers at least one of the first and second conveyors (3, 2) and - the rotation of the motor (50) stops when one conveying path reaches a predetermined height, wherein during the actuation process of the lifting unit (6) a body boundary identification process is carried out in which - the motor (50) is rotated to actuate the lifting mechanism (8) up to a physical operating limit, and the motor (50) is then stopped, and - the control of the motor (50) is changed such that the motor (50) is rotated at a low speed until the lifting mechanism (8) reaches the physical operating limit, wherein, in the body boundary identification process, the motor (50) is rotated by inertia and thereby electric current is generated, so that the electric current is substantially not supplied to the motor (50) from the outside, and wherein the transfer device (1) has a current detection unit that detects an electric current flowing into the motor (50), wherein in the body limit identifying process, the motor (50) to which inertia additionally acts is rotated, and a position at which the electric current flowing into the motor (50) changes abruptly or a position at which the electric current flowing into the motor (50) exceeds a fixed value is the physical operating limit. [2] Transfer device (1) according to claim 1, characterized by that the motor (50) is finally stopped when a rotation state of the motor (50) at the physical operating limit is a start of rotation of the motor (50), or when a rotation state in which the rotation of the motor (50) is reduced by a predetermined number of revolutions from the physical operating limit is the start of rotation of the motor (50), wherein when the rotation state of the motor (50) is at the start of rotation, one conveying path is raised above the other conveying path. [3] Transfer device (1) according to one of claims 1 to 2, characterized by that a position at which the electric current flowing into the motor (50) exceeds a fixed value is the physical operating limit. [4] Transfer device (1) according to one of claims 1 to 3, characterized byin that the physical operating limit has a physical operating limit in the forward direction and a physical operating limit in the reverse direction, wherein the motor (50) is rotated in the forward direction and in the reverse direction so that the lifting mechanism (8) is caused to reach the physical operating limits, and wherein the motor (50) is rotated at a low speed at least when the lifting mechanism (8) is caused to reach the physical operating limit in the forward direction or when the lifting mechanism (8) is caused to reach the physical operating limit in the reverse direction. [5] Transfer device (1) according to one of claims 1 to 4, characterized by , that it further comprises a speed detection unit (75) which detects the speed of the motor (50), that the physical operating limit includes a physical operating limit in the forward direction and a physical operating limit in the reverse direction, and that the rotational speed of the motor (50) detected by the rotational speed detection unit (75) is monitored when the lifting mechanism (8) is caused to reach the other physical operating limit from one physical operating limit, and the motor (50) is rotated at a low rotational speed after the rotational speed of the motor (50) has exceeded a predetermined value. [6] Transfer device (1) according to one of claims 1 to 5, characterized by , that the physical operating limit includes a physical operating limit in the forward direction and a physical operating limit in the reverse direction, and that the motor (50) is rotated at a fixed initial speed when the lifting mechanism (8) is caused to reach the other physical operating limit from one physical operating limit, and the motor (50) is then temporarily braked and continues to rotate at a lower speed than the initial speed. [7] Transfer device (1) according to one of claims 1 to 6, characterized by that an initial operation is carried out under fixed conditions and in the initial operation the motor (50) is rotated at a lower speed than a normal speed for actuating the lifting mechanism (8) up to the physical operating limit and then stopped. [8] Transfer device (1) according to one of claims 1 to 7, characterized byin that the lifting mechanism (8) comprises a pinion (55), a rack (31), a control surface element moved linearly by the rack (31) and a control surface follower (27) which are provided in the first conveyor (3) or the second conveyor (2), each end of the rack (31) forming a respective physical operating limit. [9] Transfer device (1) comprising: - a first sponsor (3), - a second conveyor (2) and - a lifting unit (6) which lifts and lowers at least one of the first and second conveyors (3, 2), wherein the first conveyor (3) has a first conveying path located in a fixed planar region and conveying an object (25) to be conveyed in a fixed direction, wherein the second conveyor (2) has a second conveying path arranged in the same planar region as the first conveying path and conveying the object (25) to be conveyed in a direction that crosses a conveying direction of the first conveying path, wherein the lifting unit (6) lifts one of the conveying paths above the other conveying path in order to convey the object (25) to be conveyed in a predetermined direction, wherein the lifting unit (6) comprises a lifting mechanism (8) with a plurality of combined elements and a motor (50), wherein the lifting mechanism (8) - converts a rotational force of the motor (50) into a movement in a lifting direction, - transmits the movement to at least one of the first and second conveyors (3, 2) and - lifts at least one of the first and second conveyors (3, 2), wherein at a physical operating limit in the forward direction and a physical operating limit in the reverse direction, the motor (50) which has started its rotational movement in the forward direction or reverse direction can no longer be rotated, where at one of the physical operating limits one of the conveyor paths is raised above the other conveyor path, wherein the motor (50) is rotated at a fixed initial speed when the lifting mechanism (8) is caused to reach the other physical operating limit from one physical operating limit, and the motor (50) is then rotated at a lower speed than the initial speed and an electric current flowing into the motor (50) is monitored, and wherein the motor (50) is stopped in a position where the electric current flowing into the motor (50) changes abruptly, or when the electric current flowing into the motor (50) exceeds a fixed value, wherein a body limit identification process is carried out in which the motor (50) is rotated to actuate the lifting mechanism (8) up to a physical operating limit, and the motor (50) is then stopped and wherein in the body boundary identifying process, the motor (50) is rotated by inertia to generate electric current, so that the electric current is substantially not supplied to the motor (50) from the outside. [10] Transfer device (1) according to claim 9, characterized by that when the motor (50) rotates at a lower speed than the initial speed, the motor (50) is rotated under the additional effect of inertia. [11] A positioning method in a device having a motor (50), in which a driven body is brought into a predetermined position or posture such that a rotational force of the motor (50) is transmitted to actuate the driven body, and the motor (50) is stopped when the driven body reaches the predetermined position, the method comprising the following steps: in a process for finally stopping the engine (50) - performing a body limit identification process in which the motor (50) is rotated to actuate the driven body up to a physical operating limit, and the motor (50) is then stopped, and in a body boundary identification process - changing the control of the motor (50) such that the motor (50) is rotated at a low speed after starting, - monitoring an electric current flowing into the motor (50), and - stopping the motor (50) in a position where the electric current flowing into the motor (50) changes abruptly, or in a position where the electric current flowing into the motor (50) exceeds a fixed value, wherein in the body boundary identification process, the motor (50) is rotated by inertia and thereby electric current is generated, so that the electric current is substantially not supplied to the motor (50) from the outside. [12] Positioning method according to claim 11, characterized by that when the control of the motor (50) is changed so that the motor (50) is rotated at a low speed, the motor (50) is rotated under the additional effect of inertia. [13] Positioning method according to one of claims 11 to 12, characterized by , that the physical operating limit includes a physical operating limit in the forward direction and a physical operating limit in the reverse direction, and that the speed of the motor (50) is monitored when the driven body is caused to reach the other physical operating limit from one physical operating limit, and the motor (50) is rotated at a low speed after the speed of the motor (50) has exceeded a predetermined value. [14] Positioning method according to one of claims 11 to 13, characterized by , that the physical operating limit includes a physical operating limit in the forward direction and a physical operating limit in the reverse direction, and that the motor (50) is rotated at a fixed initial speed when the driven body is caused to reach the other physical operating limit from one physical operating limit, and the motor (50) is then temporarily braked and continues to rotate at a lower speed than the initial speed. [15] A positioning method in a device having a motor (50), in which a driven body is brought into a predetermined position or posture such that a rotational force of the motor (50) is transmitted to actuate the driven body, and the motor (50) is stopped when the driven body reaches the predetermined position, wherein at a physical operating limit in the forward direction and a physical operating limit in the reverse direction, the motor (50) which has started its rotational movement in the forward direction or reverse direction can no longer be moved in rotation, wherein the motor (50) is rotated at a fixed initial speed when the driven body is caused to reach the other physical operating limit from one physical operating limit, and the motor (50) is then rotated at a lower speed than the initial speed and an electric current flowing into the motor (50) is monitored, and wherein the motor (50) is stopped in a position in which the electric current flowing in the motor (50) changes abruptly, or when the electric current flowing in the motor (50) exceeds a fixed value, wherein a body limit identification process is carried out in which the motor (50) is rotated to actuate the lifting mechanism (8) up to a physical operating limit, and the motor (50) is then stopped and wherein in the body boundary identifying process, the motor (50) is rotated by inertia to generate electric current, so that the electric current is substantially not supplied to the motor from the outside. [16] Positioning method according to claim 15, characterized by that the motor (50) is rotated at the fixed initial speed when the driven body is caused to reach the other physical operating limit from one physical operating limit, and the motor (50) is then temporarily braked and continues to rotate at a lower speed than the initial speed.

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