JP3505283B2 - Electric bogie load position control device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric trolley used in, for example, a transfer system of a safe deposit box in an automatic safe deposit box, and particularly to the position of a safe deposit box transferred as a load on the electric trolley. The present invention relates to an improvement of a load position control device that takes measures so as to take an emergency measure even if an abnormality occurs in a detector for detecting a load.

[0002]

2. Description of the Related Art As is well known, in an automatic safe deposit box,
From the safe room where a large number of safe deposit boxes are accommodated, to take out the safe deposit box specified by the user to the safe deposit box work room, or conversely, from the safe deposit box work room to the safe room 2. Description of the Related Art In order to carry out return work for transportation, a transportation system using an electric carriage is used.

This transport system is placed in a safe deposit box taken out by a stacker crane from a shelf on which a large number of safe deposit boxes are actually placed in a safe room, or in a work station in a safe deposit box working room. The safe box for return is installed on the electric trolley, and the electric trolley is self-propelled along the specified rail by the power of the motor driven by the battery mounted inside the safe trolley box. Is being carried.

Here, a safe deposit box is transferred from the stacker crane or the work station to the electric carriage, or the stacker crane or the work station is mounted on the electric carriage to the electric carriage, the stacker crane and the work station, respectively. A transfer conveyor is installed to transfer the safe deposit boxes to. These transfer conveyors realize the transfer work of the safe deposit box by being selectively driven in the forward direction and the reverse direction by the driving force of the motor.

In this case, the electric trolley is provided with a detector for positioning the safe deposit box, which is a load, so that the safe box can be properly mounted at a proper position. In other words, this electric trolley stops the traveling of the transfer conveyor when the detector detects the safe deposit box when the safe deposit box is transferred from the stacker crane or work station. The box mounting position is controlled.

For example, to describe the operation of transferring the safe deposit box on the stacker crane onto the electric carriage, first, the transfer conveyors installed on the stacker crane and the electric carriage are moved from the stacker crane to the safe deposit box. Start traveling in the direction of transfer to the electric carriage. Then, the safe deposit box on the stacker crane is accelerated at a constant acceleration and then moved toward the electric carriage at a constant speed.
After that, at the timing when the safe deposit box is detected by the detector of the electric cart, the safe deposit box is detected by the detector by automatically braking the transfer conveyor of the electric cart and stopping its travel. It will be mounted on the electric cart at the correct position.

However, in the positioning means for controlling the position of the safe deposit box on the electric carriage by the detector as described above, if an abnormality occurs in the detector and it becomes impossible to detect the safe deposit box, the safe deposit box is detected. It becomes impossible to mount the box at a proper position on the electric carriage, and for example, the safe deposit box is mounted in a state of protruding from the electric carriage. Then, when the safe deposit box comes to be mounted out of the electric trolley, the electric trolley cannot be run, and the automatic safe deposit box itself becomes unusable.

In this case, the abnormal detector can be repaired or replaced with a new one.
From the point of view of actual operation, it is preferable that the automatic safe deposit box be disabled during the period from the time when the operator of the carrier system is contacted until the worker actually comes there to repair or replace the detector. Clearly not. In particular, the safe deposit box stores valuables that cannot be replaced by the user, so if the safe deposit box becomes unusable, the stored items cannot be taken out when needed. The fact that the items that one wants to store cannot be put in the safe deposit box causes great anxiety to the user.

Therefore, conventionally, at least until the detector is repaired or replaced and maintenance is performed, the detector abnormality is dealt with urgently to prevent the automatic safe deposit box from becoming unusable. There is a strong demand to develop a remedial measure to ensure that this is done.

[0010]

As described above, in the conventional transfer system using the electric carriage, an abnormality occurs in the detector for detecting the position of the load on the electric carriage, and the load is on the electric carriage. If it is no longer mounted at the position, there is a problem that the automatic safe deposit box using the carrier system becomes unusable until maintenance such as repair or replacement of the detector is performed.

Therefore, the present invention has been made in consideration of the above circumstances. Even when an abnormality occurs in the detector for detecting the position of the load on the electric carriage, the electric carriage and the stacker crane, station, etc. It is possible to provide a very good load position control device for an electric trolley that can prevent the automatic safe deposit box from becoming unusable by controlling the load to be transferred accurately between the two. To aim.

[0012]

SUMMARY OF THE INVENTION A load position control device for an electric truck according to the present invention has a first and a second load on an electric truck on which a load is transferred from a certain direction along a load transfer direction. A detector is installed, and it is intended to determine that a load is mounted on the electric carriage in a state where the first and second load detectors both detect the presence of the load.

Then, in a state where the load is transferred from the first load detector side to the electric cart, after the first load detector detects the presence of the load, the second load detector detects the load. without detecting the presence, first load detector detects whether or not satisfied the first condition no longer detect the presence of the load, the first condition is
When it is detected that the battery is full, the load is removed from the electric cart.
To the first load detector side, and then again from the first load detector side
It is transferred on a trolley to check whether the first condition is satisfied.
Repeat the action to output and the first condition is satisfied
The second load detector is abnormal when it is detected a predetermined number of times.
A first detection means for setting a signal indicating that the second load detector is abnormal by the first detection means .
When the first load detector no longer detects the presence of the load with the signal shown , the movement of the load is stopped, the load is moved to the first load detector side, and then The first load detector stops the movement of the load when the load detector detects the presence of the load.
And the load is transferred from the first load detector side to the electric carriage, the first load detector does not detect the presence of the load and the second load detector does not load the load. The presence of the second condition is detected , and the second condition is satisfied.
When the load is detected, the load is placed outside the electric cart.
Back to the motorized platform from the first load detector side
Detects whether the second condition is satisfied by moving the vehicle
The second operation is repeated and the second condition is satisfied.
The first load detector is abnormal when the fixed number of times has been detected.
Second detection means for setting a signal indicating that
Indicates that the second load detector is abnormal.
A load control signal is set , the second load detector stops the movement of the load when the second load detector detects the presence of the load , and the load is fed from the first load detector side. Transferred to electric trolley
Signal indicating that the second load detector is abnormal when
When is set, is detected by the first detecting means.
The first control means is driven without performing any operation, and the first
Signal is set to indicate that the load detector of the
In this state, the detection operation is performed by the second detection means.
Rather, the second control means is driven .

According to the above-mentioned configuration, the load is transferred from the first load detector side to the electric cart, and
By detecting that the condition of is satisfied a predetermined number of times , it is detected that an abnormality has occurred in the second load detector,
By detecting that the second condition is satisfied a predetermined number of times , it is detected that an abnormality has occurred in the first load detector. When it is detected that an abnormality has occurred in the second load detector, when the first load detector stops detecting the presence of the load, the movement of the load is stopped and When the first load detector detects the presence of a load after the load is moved to the first load detector side, the movement of the load is controlled to stop, and an abnormality occurs in the first load detector. If it is detected, the movement of the load is controlled to stop when the second load detector detects the presence of the load.

Therefore, even if one of the first and second load detectors for detecting the position of the load on the electric carriage is abnormal, it is detected which load detector is abnormal. However, since the load position on the electric cart is controlled only by the remaining normal load detector, it is possible to prevent the automatic safe deposit box from becoming unusable.

[0016]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will now be described in detail with reference to the drawings. 1 and 2 are
It is the top view and side view which showed roughly the whole composition of the automatic safe deposit box respectively explained in this embodiment. That is, reference numeral 11 in the figure is a vault located on the second floor of a building such as a bank. In this safe room 11, safe box storage boxes 13 and 13, which respectively store a plurality of safe box boxes 12, 12, ..., Are arranged in two rows in parallel.

Then, these safe deposit box storage shelves 13, 13
A stacker crane 14 is installed between them.
This stacker crane 14 includes a safe deposit box storage rack 13,
The desired safe deposit box 12 requested to be taken out from the machine 13 is taken out and mounted on the electric carriage 15 waiting at the stop position HP in the safe room 11. Then, this electric trolley 15
Self-propels along the rail 16, moves to the rail 19 laid on the turntable 18 of the rotary elevator 17, and is stopped.

Here, the rotary elevator 17 includes a column 20 installed vertically from the first floor to the second floor, and the column 2
The lifter 21 is moved up and down along the direction 0, and the rotary table 18 is rotatably mounted on the lifter 21. The lifter 21 is raised to the second floor in a state where the electric carriage 15 is on standby at the stop position HP, and at this time, the rail 19 of the turntable 18 is laid in the laying direction of the rail 16 of the vault 11. The rails 16 and 19 are connected to each other after being rotated to a position along the rails.

Therefore, the electric carriage 15 having the safe deposit box 12 mounted thereon can be moved from the stop position HP to the rail 19 of the rotary elevator 17 via the rail 16. Then, the electric carriage 15 turns the rotary elevator 1
When it reaches the rail 19 of No. 7 and is stopped, the turntable 1
8 is rotated about 90 ° to the position shown in FIG. 1, and then the lifter 21 is lowered to the first floor so that the rail 19 is connected to one end of the rail 22 laid on the first floor. become. Then, the safe door 23 existing on the extension line on the other end side of the rail 22 in the laying direction rises, and the safe deposit box entry / exit opening 24 is opened.

At this time, inside the safe deposit box entrance / exit port 24,
That is, on the side where the rail 22 is laid, the rotating shaft 25
The connecting rail 26 is supported so as to be able to be tilted up and down, and when the connecting rail 26 is tilted, the rail 22 and the rail 27 laid outside the safe deposit box entry / exit opening 24 are connected. Therefore, the electric carriage 15 on the rail 19 of the rotary elevator 17 is moved onto the rail 27 via the rail 22 and the connecting rail 26, that is, through the storage box 24 of the safe deposit box.

Here, the rail 27 is laid so as to straddle a plurality (two in the illustrated case) of the safe deposit box working chambers 28 and 29. Work stations 30 and 31 are installed in the safe deposit box work rooms 28 and 29, respectively, and the safe deposit box 12 mounted on the electric carriage 15 on the rail 27 is transferred to the work stations 30 and 31. It is designed to be used.

Therefore, the electric trolley 15 traveling on the rail 27 corresponds to the work station 30 or 31 of the safe deposit box working chamber 28 or 29 that requests the takeout of the safe deposit box 12 mounted therein. After stopping at the position, the safe deposit box 12 is transferred to the work station 30 or 31, and the work for taking out the desired safe deposit box 12 to the desired safe deposit box working chamber 28 or 29 is completed.

When the safe deposit box 12 installed in the electric cart 15 is moved to the work station 30 or 31, the electric cart 15 goes through the reverse route to the stop position HP again.
Return to the standby state. In this case, when the electric trolley 15 passes through the safe deposit box entry / exit opening 24 and is moved to the rail 22, the connecting rail 26 is raised and the safe door 23 is lowered to close the safe deposit box entrance / exit opening 24. To be done.

The work station 30 or 31
When returning the safe deposit box 12 placed in the safe deposit box storage rack 13 of the safe room 11, the electric cart 15 at the stop position HP is to be returned through the same route as above. Then, the safe deposit box 12 is moved from the work station 30 or 31 to the electric trolley 15 by moving the safe deposit box 12 to a position corresponding to the work station 30 or 31 in which 12 is placed.
After that, the electric trolley 15 is returned to the stop position HP via the reverse route to the above, and the safe deposit box 12 mounted on the electric trolley 15 is accommodated in the empty space of the safe deposit box accommodating shelf 13 by the stacker crane 14. The return work of the safe deposit box 12 is completed.

Next, FIGS. 3A and 3B show the outline of the electric carriage 15. 3 (a) and 3 (b)
In the above, the case where the electric carriage 15 is at the stop position HP is shown, but it is needless to say that the same description can be made when the electric carriage 15 is on the rotary table 18 of the rotary elevator 17. That is, the electric carriage 15 is mounted on the rail 16 by the wheels 32 installed in the lower part of the figure, and is driven on the rail 16 by rotationally driving the wheels 32.

A pair of transfer conveyors 35, 35 each having an annular belt 34 installed between a pair of rotating bodies 33, 33 are provided on the upper portion of the electric carriage 15 in the figure. They are arranged side by side perpendicular to the traveling direction. Then, by rotating the rotating body 33 to drive the belt 34 in the direction of the arrow shown in the figure, the safe deposit box 12 is transferred between the electric cart 15 and the stacker crane 14 or the work stations 30 and 31. Is performed.

Further, a pair of charging shoes 36, 36 are exposed at the center of the bottom surface of the electric carriage 15 in the figure. On the other hand, at the stop position HP, the pair of charging shoes 36, 3 are
A power supply device 38 including a pair of power supply terminals 37, 37 for contacting 6 and charging a battery, which will be described later, contained in the electric carriage 15 is installed. Therefore, the electric trolley 15 reaches the stop position HP, and the charging shoes 36, 3 thereof are reached.
By contacting the power supply terminals 37, 37 with the battery 6, the battery can be charged.

The power feeding device 38 is also installed on the rotary base 18 of the rotary lifter 17, and the electric carriage 15 is installed.
Is charged even during rotation by the rotary elevator 17 and during vertical movement.

It should be noted that in the electric carriage 15 shown in FIG.
As shown in (a), (b) and (c), a motor 39 having a braking mechanism B for driving the wheels 32 to rotate, a motor 40 for driving the rotor 33 to rotate, and an electric carriage 15 are provided. A pair of stop position detectors 41, 42 for detecting the stop position, a pair of deceleration position detectors 43, 44 used for deceleration control of the electric carriage 15, and a pair of detecting whether or not the safe deposit box 12 is mounted. Load detectors 45, 46, electric cart 1
Control board 4 for comprehensively controlling all operations of 5
7, an operation display unit 48 for setting and displaying the operating state of the electric carriage 15, and these motors 39, 40, stop position detectors 41, 42, deceleration position detectors 43, 44, load detectors 45, 46, The control board 47, the operation display unit 48, and the like are equipped with a battery 49 and the like for supplying electric power.

Here, FIG. 5 shows a control system for the automatic safe deposit box. That is, the central control room 5 installed in addition to the safe room 11 and the safe box work rooms 28 and 29.
At 0, a center unit 51 equipped with a host computer (not shown) is installed in order to totally control the operation of the entire automatic safe deposit box. The center unit 51 includes the safe 11 and the safe box work rooms 28, 2
It is connected to a central control panel 52 for centrally controlling all the operations within 9.

That is, the integrated control panel 52 is the stacker control panel 5 mounted on the stacker crane 14.
3, the stacker crane 14 and each safe deposit box 1
Controls the bar code reader 54 for reading the bar code attached to 2, 12, ..., And the stacker crane 14 provided in the safe deposit box storage shelves 13, 13.
No., which serves as a temporary stand for the safe deposit box 12 when operating independently.
9 station 55 is controlled.

The integrated control panel 52 controls the power supply devices 38 installed on the stop position HP and the rotary base 18 of the rotary elevator 17, and is connected to the control board 47 installed on the electric carriage 15. Thus, the operation of the electric carriage 15 is controlled. Furthermore, the integrated control board 52 controls the opening / closing operation of the safe door 23 via the safe door control board 56 in addition to controlling the lifting operation of the rotary elevator 17 and the rotating operation of the rotary base 18, and the connection. The raising / lowering operation of the rail 26 is controlled. Further, the integrated control panel 52 is provided in the safe deposit box working chambers 28 and 29 via the booth electromagnetic panels 57 and 58, respectively.
31 is controlled.

Here, FIG. 6 shows a detailed structure of the control board 47 mounted on the electric carriage 15. That is, the pair of stop position detectors 41 and 42 for detecting the stop position of the electric carriage 15, the pair of deceleration position detectors 43 and 44 for detecting the deceleration position of the electric carriage 15, and the safe deposit box 12 The various detection signals obtained from the pair of load detectors 45 and 46 for detecting the presence or absence of
It is supplied to the arithmetic control circuit 60 via the input circuit 59.

This arithmetic control circuit 60 is a CP (not shown).
To centrally control all the operations of the electric carriage 15 while incorporating a U (central processing unit) and storing various data for calculation in the memory 61 based on a control program stored in the memory 61 Is being processed.

That is, the arithmetic control circuit 60 generates the normal rotation and reverse rotation command pulses a and b for rotating the motor 39 for rotating and driving the wheels 32 in the forward and reverse directions. The forward rotation and reverse rotation command pulses a and b are supplied to a drive circuit 63 for rotationally driving the motor 39 via an output circuit 62, where a pulse width modulation method based on the forward rotation and reverse rotation command pulses a and b. The normal rotation and reverse rotation of the motor 39, that is, the forward and reverse traveling of the electric carriage 15 is realized.

In this case, the rotation speed of the motor 39 is D
It is measured by a C (direct current) type tacho generator 64. Then, the measurement result is converted into digital data by the A / D (analog / digital) conversion circuit 65 and supplied to the arithmetic control circuit 60 via the input circuit 66 to control the traveling speed of the electric carriage 15. Be used for. The drive circuit 63 also controls the braking mechanism B.

Further, the arithmetic control circuit 60 includes a motor 4 for rotating and driving the rotating body 33 of the transfer conveyor 35.
A control signal c for rotating 0 in the forward or reverse direction is generated, and the control signal c is supplied to a drive circuit 68 for rotationally driving the motor 40 via an output circuit 67,
Here, the normal rotation and the reverse rotation of the motor 40 by the control signal c, that is, the forward and backward traveling of the belt 34 is realized.

Further, the operation information set on the operation display section 48 is transferred to the arithmetic control circuit 60 via the input / output circuit 69.
Is supplied to the operation display unit 48 via the input / output circuit 69 from the arithmetic control circuit 60, and the operation control operation is controlled to be performed. Further, the electric carriage 15 is provided with an optical communication unit 70 for receiving control information by light generated from the integrated control panel 52 when the electric carriage 15 is at the stop position HP or on the rotary base 18.

The control information received by the optical communication section 70 is sent to the arithmetic control circuit 60 via the input / output circuit 71.
The electric carriage 15 is controlled based on the control information of the integrated control panel 52. The arithmetic control circuit 6
The output information from 0 is converted into an optical signal by the optical communication unit 70 via the input / output circuit 71 and sent to the integrated control panel 52.

Further, from the power feeding device 38 to the power feeding terminal 3
The electric power supplied to the charging shoes 36, 36 via the batteries 7, 37 is used for charging the battery 49 via the battery control circuit 72, and is also supplied as power supply power to each circuit section. In this case, the battery control circuit 72 is connected to the arithmetic control circuit 60 via the input / output circuit 73 and is controlled by the arithmetic control circuit 60.

Here, the operation of transferring the safe deposit box 12 between the electric trolley 15 and the stacker crane 14 standing by at the above-mentioned stop position HP will be described with reference to FIG. The electric carriage 15 and the work stations 30, 3
Since the operation of transferring the safe deposit box 12 to and from 1 is also the same, the description thereof is omitted.

That is, as shown in FIG. 7A, the electric carriage 15 is provided with a pair of transfer conveyors 35, 35. Further, the safe deposit box mounting table 14a of the stacker crane 14 also has a pair of transfer conveyors 14b, 14
b is installed, and the pair of transfer conveyors 14
The safe deposit box 12 taken out from the safe deposit box storage shelf 13 is mounted on b and 14b.

The safe deposit box mounting base 14a of the stacker crane 14 is on the right side of the electric carriage 15 in the figure, and the transfer conveyors 14b and 14b are in series with the transfer conveyors 35 and 35 of the electric carriage 15. After the control is performed so that the transfer conveyors 14b and 35 are both moved in the direction indicated by the arrow A, the safe deposit box 12 is moved from the safe deposit box mount 14a toward the electric carriage 15. Will be. In this case, the safe deposit box 12 is accelerated at a constant acceleration and then moved toward the electric carriage 15 at a constant speed.

The electric carriage 15 is provided with the above-mentioned load detectors 45 and 46 at both ends of the transfer conveyors 35 and 35 along the traveling direction.
The pair of load detectors 45 and 46 are provided with light emitting units 45a and 46a and light receiving units 45b and 46b, respectively, and the light emitted from the light emitting units 45a and 46a is the safe deposit box 12.
When the light receiving parts 45b and 46b do not receive light, an ON signal indicating that the safe deposit box 12 is present is generated, and the light emitted from the light emitting parts 45a and 46a is not blocked by the safe deposit box 12. When the light receiving sections 45b and 46b receive the light, the OFF signal indicating whether or not the safe deposit box 12 is in the non-state is generated.

Then, as shown in FIG. 7B, the safe deposit box 12 has a pair of load detectors 45, 4 on the electric carriage 15.
6 reaches the position where both are detected, that is, in a state where the pair of load detectors 45 and 46 both generate ON signals, the transfer conveyors 35 and 35 of the electric cart 15.
The automatic safe box 12 is stopped on the electric carriage 15 by automatically braking the vehicle to stop the traveling of the safe box 12 from the safe box mounting table 14a to the electric carriage 15. Loading is completed.

In this case, the arithmetic control circuit 60 is arranged so that when the safe deposit box 12 is stopped, the pair of load detectors 45,
Since both ON signals are generated from 46, it is determined that the safe deposit box 12 is mounted at the regular stop position on the electric carriage 15 without displacement, and the electric carriage 15 is allowed to travel. There is.

Further, as shown in FIG. 7B, with the safe deposit box 12 mounted on the transfer conveyors 35, 35 of the electric carriage 15, the safe deposit box mounting table 14a of the stacker crane 14 is installed. On the right side of the electric carriage 15 and the transfer conveyors 14b, 14b thereof are arranged in series with the transfer conveyors 35, 35 of the electric carriage 15 so that both transfer conveyors 14b, 14b, By moving both 35 in the direction shown by arrow B, the safe deposit box 12 is transferred from the electric cart 15 to the safe deposit box mounting base 14a.

In this case as well, the arithmetic control circuit 60 can detect when the pair of load detectors 45 and 46 cannot detect the safe deposit box 12, that is, the pair of load detectors 45 and 46.
Since both of the OFF signals are generated from 46, it is determined that the safe deposit box 12 has been completely removed, and the electric carriage 15 is allowed to travel.

On the other hand, as shown in FIG. 8 (a), it is taken out from the safe deposit box storage shelf 13 on the pair of transfer conveyors 14 b and 14 b installed on the safe deposit box mounting table 14 a of the stacker crane 14. With the safe deposit box 12 installed, the safe deposit box mounting table 14 of the stacker crane 14 is installed.
a is on the left side of the electric carriage 15 in the figure, and the transfer conveyors 14b, 14b are the transfer conveyors 3 of the electric carriage 15.
When the transfer safeguard box 12 is controlled to be arranged in series with the transfer boxes 5 and 35, both transfer conveyors 14b and 35 are moved in the direction indicated by the arrow B, so that the safe deposit box 12 is moved from the safe deposit box mounting table 14a. It will be moved toward the electric carriage 15.

Then, as shown in FIG. 8B, the safe deposit box 12 has a pair of load detectors 45, 4 on the electric carriage 15.
6 is detected, and the ON signals are generated from the pair of load detectors 45 and 46, the transfer conveyors 35 and 35 of the electric carriage 15 are automatically braked to stop the traveling. As a result, the safe deposit box 12 is an electric cart 15
It stops above, and the transfer of the safe deposit box 12 from the safe deposit box mounting base 14a to the electric carriage 15 is completed here.

Further, as shown in FIG. 8B, with the safe deposit box 12 mounted on the transfer conveyors 35, 35 of the electric carriage 15, the safe deposit box mounting base 14a of the stacker crane 14 is installed. Is controlled on the left side of the electric carriage 15 in the figure, and when the transfer conveyors 14b, 14b are arranged in series with the transfer conveyors 35, 35 of the electric carriage 15, By moving both conveyors 14b and 35 in the direction indicated by arrow A, the safe deposit box 12
Will be transferred from the electric cart 15 to the safe deposit box mounting table 14a.

However, the pair of loaded detectors 4
If an abnormality occurs in any one of 5, 5 and 46 and it becomes impossible to detect the presence or absence of the safe deposit box 12, first,
When the safe deposit box 12 is transferred from the safe deposit box mounting table 14a of the stacker crane 14 onto the electric carriage 15, the safe deposit box 12 cannot be correctly mounted at a regular position on the electric carriage 15, In addition, the safe deposit box 12 is placed on the electric cart 15 and the safe deposit box mounting base 1 of the stacker crane 14 is installed.
4a, the safe deposit box 12 is an electric trolley 15
It will not be possible to determine from above whether it has been completely removed.

In such a case, the arithmetic control circuit 60 described above is used.
Detects which of the load detectors 45 and 46 has an abnormality, and then only the remaining normal load detectors 45 and 46 detect the safe box of the electric carriage 15 and the stacker crane 14. It operates so as to control the transfer operation of the safe deposit box 12 to and from the mounting table 14a. For example, assuming that an abnormality occurs in the load detector 45, as shown in FIG. 7A, the safe deposit box mounting base 1 of the stacker crane 14 located on the right side of the electric carriage 15 in the drawing.
Consider a case where the safe deposit box 12 is transferred from the drive unit 4a onto the electric cart 15.

In this case, in the process in which the safe deposit box 12 is moved from the safe deposit box mounting table 14a onto the electric carriage 15, first, the normal load detector 46 is installed in the safe deposit box 12.
Is detected and an ON signal is generated. After that, the safe deposit box 12
Reaches the position detected by the abnormal load detector 45, but the load detector 45 does not output an ON signal, and the load detector 45 outputs an OFF signal. .

Therefore, since the ON signals are not output from both of the load detectors 45 and 46, the safe deposit box 1
2 will continue to travel in the direction indicated by arrow A in FIG. Thus, when the safe deposit box 12 passes the normal load detector 46, the output of the load detector 46 is switched to the OFF signal.

Therefore, the arithmetic control circuit 60 is configured as shown in FIG.
As shown in (a), in the case of the operation in which the safe deposit box 12 is transferred from the right side of the electric carriage 15 to the electric carriage 15, first, an ON signal is generated from the load detector 46, and then, It is detected that an abnormality has occurred in the load detector 45 by determining that the output of the load detector 46 has been switched to the OFF signal without generating the ON signal from the load detector 45. be able to.

In such a case, the arithmetic control circuit 6
0 indicates that the output of the load detector 46 has been switched from the ON signal to the OFF signal, and immediately stops the traveling of the transfer conveyors 35, 35, and the safe deposit box 1
Stop the transfer of 2. After that, the arithmetic control circuit 60
The safe deposit box 12 is moved in the direction shown by the arrow B to once return to the safe deposit box mounting base 14a, and the safe deposit box 12 is moved again in the direction shown by the arrow A and moved onto the electric carriage 15.

In this case, the arithmetic control circuit 60 stops the transfer of the safe deposit box 12 when the output of the load detector 46 is switched from the ON signal to the OFF signal. After that, the arithmetic control circuit 60 moves the safe deposit box 12 in the direction shown by the arrow B, and when the ON signal is output from the load detector 46, stops the safe deposit box 12 to transfer the safe deposit box 12. It is possible to stop the safe box 12 at a proper position on the electric carriage 15 substantially accurately, and prevent the automatic safe deposit box from becoming unusable.

Assuming that an abnormality has occurred in the load detector 46, as shown in FIG.
5 from the safe deposit box mounting base 14a of the stacker crane 14 located on the right side in the drawing of FIG.
Consider the case of reprinting. In this case, in the process in which the safe deposit box 12 is moved from the safe deposit box mounting table 14a onto the electric carriage 15, first, the safe deposit box 12 reaches the position detected by the abnormal load detector 46. However, since the ON signal is not output from the load detector 46, the load detector 4
The output of 6 remains the OFF signal. After that, the normal load detector 45 detects the safe deposit box 12
Generate an N signal.

Therefore, the arithmetic control circuit 60 is configured as shown in FIG.
As shown in (a), when the safe deposit box 12 is transferred from the right side of the electric trolley 15 in the figure to the electric trolley 15, the load detector 46 does not generate an ON signal and By determining that the ON signal is generated from the presence detector 45, it is possible to detect that an abnormality has occurred in the load detector 46.

In such a case, the arithmetic control circuit 6
0 immediately stops the traveling of the transfer conveyors 35, 35 when the ON signal is output from the load detector 45, and stops the transfer of the safe deposit box 12. After that, the arithmetic and control circuit 60 moves the safe deposit box 12 in the direction shown by the arrow B, once returns it to the safe deposit box mounting base 14a, and again moves the safe deposit box 12 in the direction shown by the arrow A to drive it electrically. Dolly 15
Move it up.

In this case, the arithmetic and control circuit 60, when the ON signal is output from the load detector 45, the safe deposit box 12
By stopping the transfer of the safe deposit box 12, the safe deposit box 12 can be stopped almost accurately at the regular position on the electric carriage 15, and the automatic safe deposit box can be prevented from being disabled.

Further, assuming that an abnormality has occurred in the load detector 45, as shown in FIG.
5 Stacker crane 1 located on the right side of the figure from above
Consider a case in which the safe deposit box 12 is transferred to the safe deposit box mounting table 14a of No. 4. In this case, even if the safe deposit box 12 leaves the detection position of the abnormal load detector 45 in the process of moving the safe deposit box 12 from the electric cart 15 to the safe deposit box mounting table 14a. The ON signal continues to be generated from the presence detector 45, and when the safe deposit box 12 leaves the detection position of the normal presence detector 46, the output of the presence detector 46 changes from the ON signal to the OFF signal. Can be switched.

Therefore, the arithmetic control circuit 60 is configured as shown in FIG.
As shown in (a), in the case where the safe deposit box 12 is transferred from the electric cart 15 to the right side of the figure, there is a load while the ON signal is continuously generated from the load detector 45. By determining that the output of the detector 46 has been switched from the ON signal to the OFF signal, it is possible to detect that an abnormality has occurred in the load detector 45.

In such a case, the arithmetic control circuit 6
0 indicates that when the output of the load detector 46 is switched from the ON signal to the OFF signal, the transfer conveyor 3 immediately starts.
The transportation of the safe deposit box 12 is stopped by stopping the traveling of the vehicle 5, 35. After that, the arithmetic and control circuit 60 displays the safe deposit box 12
Is moved in the direction indicated by arrow A to once return to the electric cart 15, and again the safe deposit box 12 is moved in the direction indicated by arrow B and moved onto the safe deposit box mounting table 14a.

In this case, the arithmetic control circuit 60 stops the transfer of the safe deposit box 12 at the time when the output of the load detector 46 is switched from the ON signal to the OFF signal, so that the safe deposit box 12 is driven by the electric cart. It can be determined that the automatic safe deposit box has been completely removed from the upper part of the fifteenth box, and the automatic safe deposit box can be prevented from being disabled.

Further, assuming that an abnormality has occurred in the load detector 46, as shown in FIG.
5 Stacker crane 1 located on the right side of the figure from above
Consider a case in which the safe deposit box 12 is transferred to the safe deposit box mounting table 14a of No. 4. In this case, when the safe deposit box 12 leaves the detection position of the normal load present detector 45 in the process of moving the safe deposit box 12 from the electric cart 15 to the safe deposit box placement table 14a, there is a load. Although the output of the detector 45 is switched from the ON signal to the OFF signal, even if the safe deposit box 12 leaves the detection position of the abnormal load detector 46, the ON signal is generated from the load detector 46. continuing.

Therefore, the arithmetic control circuit 60 is operated by the circuit shown in FIG.
As shown in (b), in the operation of transferring the safe deposit box 12 from the electric carriage 15 to the right side in the figure, after the output of the load detector 45 is switched from the ON signal to the OFF signal, By determining that the output of the load detector 46 cannot be switched from the ON signal to the OFF signal for a certain time or longer, it is possible to detect that the load detector 46 has an abnormality.

In such a case, the arithmetic control circuit 6
0 indicates that when the output of the load detector 45 is switched from the ON signal to the OFF signal and the ON signal is generated from the load detector 46 for a certain period of time, the transfer conveyor 35,
The traveling of the safe deposit box 12 is stopped by stopping the traveling of 35. After that, the arithmetic control circuit 60 moves the safe deposit box 12 in the direction indicated by arrow A and once returns it onto the electric carriage 15, and again moves the safe deposit box 12 in the direction indicated by arrow B to mount the safe deposit box. It is moved to the stand 14a.

In this case, the arithmetic and control circuit 60 continues the movement of the safe deposit box 12 for a certain period of time after the output of the load detector 45 is switched to the OFF signal, and then transfers the safe deposit box 12. It is possible to determine that the safe deposit box 12 has been completely removed from the electric cart 15 by stopping, and it is possible to prevent the automatic safe deposit box from becoming unusable.

As shown in FIG. 8A, the safe deposit box 1 is placed on the electric cart 15 from the safe deposit box mounting table 14a of the stacker crane 14 located on the left side of the electric cart 15 in the figure.
2 or when transferring the safe deposit box 12 to the safe deposit box mounting table 14a of the stacker crane 14 located on the left side of the electric cart 15 as shown in FIG. 8B. Since the operation of detecting the occurrence of an abnormality in the load detectors 45 and 46 and the procedure after the detection are easily known from the above description, the description thereof will be omitted.

When it is detected that an abnormality has occurred in one of the load detectors 45 and 46 as described above, the arithmetic control circuit 60 thereafter causes the abnormal load detector 45 or 46 to operate. Assuming that there is no abnormal load detection detector 45 or 46 for the abnormality, the remaining normal load detector 46 or 45 is used alone to drive the electric cart 15 The operation pattern is changed so that the safe deposit box 12 is transferred between the stacker crane 14 and the safe deposit box mounting base 14a of the stacker crane 14.

Here, FIGS. 9 to 19 show the electric cart 15 as shown in FIG. 7A or FIG. 8A, respectively.
Stacker crane 1 located on the right or left side in the figure
The flowchart for demonstrating the operation | movement which transfers the safe deposit box 12 from the safe deposit box mounting base 14a of 4 to the electric trolley | bogie 15 including the above-mentioned operation pattern change process is shown. In the flowcharts shown in FIGS. 9 to 19, both outputs of the pair of load detectors 45 and 46 are OFF signals before the safe deposit box 12 is transferred onto the electric cart 15. Be present.

First, in FIG. 9, start (step S
Then, the arithmetic control circuit 60, in step S2,
It is determined whether or not the operation pattern has already been changed, and if it is determined that the operation pattern has not been changed (NO), in step S3, the transfer conveyor 35 from the integrated control panel 52,
Whether or not control information for causing the vehicle 35 to travel in the direction indicated by the arrow A in FIGS. 7 and 8 is generated, that is, whether the safe deposit box mounting base 14a of the stacker crane 14 is on the right side of the electric carriage 15. Determine.

Then, in step S3, the transfer conveyor 3
When it is determined that the control information for causing 5, 5 to travel in the direction indicated by the arrow A is generated (YES), the arithmetic control circuit 60, in step S4, the transfer conveyors 35, 35.
In the direction indicated by arrow A, and the safe deposit box 12 mounted on the safe deposit box mounting table 14a on the right side of the electric carriage 15 is driven.
Is moved onto the electric carriage 15. Thereafter, the arithmetic control circuit 60 determines whether or not the ON signal is output from the load detector 46 in step S5, and when it is determined that the ON signal is output (YES), step S6.
Then, the fact that the ON signal is output from the load detector 46 is stored in the memory 61.

Further, the arithmetic control circuit 60 executes the step S
In 7, it is determined whether or not the output of the load detector 46 is switched to the OFF signal, and when it is determined that the output is not switched to the OFF signal (NO), in step S8, the transfer conveyor 35, It is determined whether or not 10 seconds have passed since the vehicle 35 was driven in the direction indicated by the arrow A. When it is determined in step S8 that 10 seconds have not elapsed (NO), the arithmetic control circuit 60 determines in step S9 whether the ON signal is output from the load detector 45, When it is determined that the ON signal is not output (NO), the process returns to step S4.

When it is determined in step S9 that the ON signal is output from the load detector 45 (YES), that is, in step S5, the load detector 46 is turned ON.
When the ON signal is output from the load detector 45 within 10 seconds after it is determined that the signal is output, the arithmetic control circuit 60 indicates that both load detectors 45 and 46 are operating normally. Therefore, the traveling of the transfer conveyors 35, 35 is stopped in step S10.

Then, the arithmetic control circuit 60 executes the step S
After waiting for 0.5 seconds to pass in 11, it is determined in step S18 whether or not an alarm flag to be described later indicating that the load detector 46 is abnormal is turned on, as shown in FIG. If it is determined that the alarm flag is turned on (YES), the load detector 46 is loaded in step S19.
The alarm information indicating the abnormality is sent to the center unit 51 via the integrated control panel 52.

Further, in step S18, the load detector 46
The alarm flag indicating that the is abnormal is not turned on (N
If it is determined to be O), the arithmetic and control circuit 60 determines in step S20 whether or not an alarm flag, which will be described later, indicating that the load detector 45 is abnormal is turned on, and the alarm flag is turned on. When it is determined that the load is present (YES), the alarm information indicating the abnormality of the load detector 45 is sent to the center unit 51 via the integrated control panel 52 in step S21.

After steps S19 and S21, or when it is determined in step S20 that the alarm flag indicating that the load detector 45 is abnormal is not turned on (NO), the arithmetic control circuit 60 In step S22, it is determined whether or not maintenance has been performed on the electric carriage 15, and if it is determined that maintenance has not been performed (NO), the process ends (step S23). If it is determined in step S22 that the maintenance is performed (YES), the arithmetic and control circuit 60 determines in step S24.
Then, the operation pattern is initialized and the operation ends (step S23).
To be done.

If it is determined in step S7 that the output of the load detector 46 is switched to the OFF signal (YES), that is, in step S5, the load detector 4 is detected.
When it is determined that the ON signal is output from 6 and the output of the load detector 46 is switched to the OFF signal without the ON signal being output from the load detector 45 within 10 seconds, arithmetic control is performed. The circuit 60 determines that an abnormality has occurred in the load detector 45, and as shown in FIG.
In step S25, the arrow A of the transfer conveyors 35, 35
Stop traveling in the direction indicated by.

After that, the arithmetic and control circuit 60 determines in step S
26, safe deposit box 1 corresponding to the abnormality of the presence detector 45
It is determined whether or not the number of position correction operations on the electric cart 15 of No. 2 has reached three times, and when it is determined that it has reached three times (YES), the load detector 45 is abnormal in step S27. Set the warning flag indicating that
At 28, the operation pattern is changed. Then, the arithmetic control circuit 60, in step S29, the transfer conveyors 35, 3
5 is run in the direction shown by arrow B, and the safe deposit box 12 is returned to the safe deposit box mounting base 14a of the stacker crane 14.

In this case, the arithmetic and control circuit 60, in step S30, the safe deposit box mounting base 1 of the stacker crane 14.
Based on the output of the detector (not shown) installed in 4a,
It is determined whether or not the safe deposit box 12 has been completely returned to the safe deposit box mounting table 14a. When it is determined that the safe deposit box 12 has been returned (YES), the transfer conveyors 35 and 35 are again returned in step S31.
Run in the direction indicated by arrow A, and the safe deposit box mounting table 14
The safe deposit box 12 mounted in a is moved onto the electric carriage 15.

At this time, the arithmetic control circuit 60 determines in step S32 whether or not the memory 61 stores the ON signal output from the load detector 46, and determines that there is no memory (NO). If so, it is determined in step S33 whether or not the ON signal is output from the load detector 46. If it is determined that the ON signal is not output (NO), the process returns to step S31. . Further, in step S33, the ON signal is output (YES).
If it is determined that the calculation control circuit 60,
In step 4, the fact that the ON signal is output from the load detector 46 is stored in the memory 61.

After step S34, or when it is determined in step S32 that the memory 61 stores the ON signal output from the load detector 46 (YES), the arithmetic control circuit 60 determines in step S35. Then, it is determined whether or not the output of the load detector 46 is switched to the OFF signal, and when it is determined that the output is not switched to the OFF signal (NO), the process returns to step S31. Further, in step S35, the output of the load detector 46 is turned off.
When it is determined that the signal has been switched to (YES), the arithmetic control circuit 60, in step S36, the transfer conveyor 3
The traveling in the direction indicated by arrow A of 5, 35 is stopped.

Here, the arithmetic and control circuit 60 determines in step S
After waiting 0.5 seconds at 37, the transfer conveyors 35, 35 are caused to travel in the direction indicated by arrow B at step S38. Transfer conveyors 35 and 3 in step S38
While traveling in the direction indicated by arrow B in FIG.
In step S39, it is determined whether or not an ON signal is output from the load detector 46. When it is determined in step S39 that the ON signal is output from the load detector 46 (YES), the arithmetic control circuit 60 determines in step S40 that the transfer conveyors 35, 35 are in the direction indicated by the arrow B. After the traveling is stopped, the process returns to step S11.

If it is determined in step S8 that 10 seconds have elapsed (YES), that is, step S8
If it is determined in step 5 that the ON signal is output from the load detector 46 and the ON signal is not output from the load detector 45 for 10 seconds, the arithmetic control circuit 60
Determines that both load detectors 45 and 46 have abnormality, and as shown in FIG. 12, step S4
At 1, the abnormality information indicating the abnormality of the load detectors 45 and 46 is sent to the center unit 51 via the integrated control panel 52, and the processing is ended (step S42).

On the other hand, when it is determined in step S5 that the ON signal is not output from the load detector 46 (NO), the arithmetic control circuit 60 determines in step S12 the transfer conveyor 35 in step S4. , 35 in the direction indicated by the arrow A, it is determined whether 10 seconds have elapsed, and if it is determined that 10 seconds have not elapsed (NO), the arithmetic and control circuit 60 determines in step S13. Then, it is determined whether or not the ON signal is output from the load detector 45.

In this case, when it is determined in step S13 that the ON signal is not output from the load detector 45 (NO), the arithmetic control circuit 60 returns to the process of step S4. When it is determined in step S13 that the ON signal is output from the load detector 45 (YES),
That is, within 10 seconds after the transfer conveyors 35, 35 travel in the direction of arrow A in step S4, the ON signal is not output from the load detector 46 and the ON signal is output from the load detector 45. Is output, the arithmetic control circuit 6
0 determines that an abnormality has occurred in the load detector 46, and stops the traveling of the transfer conveyors 35, 35 in the direction indicated by the arrow A in step S14.

After that, the arithmetic control circuit 60 determines in step S
15, the safe deposit box 1 corresponding to the abnormality of the load detector 46
It is determined whether or not the number of position correction operations on the electric carriage 15 of No. 2 has reached three times, and when it is determined that the number of times of correction operations has reached three times (YES), the load detector 46 is abnormal in step S16. Set the warning flag indicating that
At 17, the operation pattern is changed, and the process proceeds to step S11.

When it is determined in step S12 that 10 seconds have passed (YES), that is, after the transfer conveyors 35, 35 are moved in the direction indicated by arrow A in step S4, the presence of a load is detected. When the state in which the ON signal is not output from the container 46 continues for 10 seconds, the arithmetic control circuit 60 determines that both the load detectors 45 and 46 have an abnormality, and as shown in FIG. In step S43, it is determined whether or not the number of position correction operations of the safe deposit box 12 on the electric carriage 15 corresponding to the abnormality of the load detector 45 or 46 has reached three times, and it has reached three times. If it is determined (YES), the process proceeds to step S41.

The steps S15, S26 and S
If it is determined in 43 that the number of correction operations has not reached 3 times (NO), the arithmetic control circuit 60, as shown in FIG.
It is confirmed that both ON signals are not generated from 46 and that the transfer conveyors 35, 35 have stopped traveling, and in step S45, the transfer conveyors 35, 35 are
In the direction indicated by arrow B to return the safe deposit box 12 onto the safe deposit box mounting table 14a of the stacker crane 14, and then in step S46, the number of correction operations is incremented by 1, and the process returns to step S4. .

As described above, in the step S3, the load presence detector when it is determined that the control information for causing the transfer conveyors 35, 35 to travel in the direction indicated by the arrow A is generated from the integrated control panel 52 The operation of detecting the occurrence of an abnormality in 45 and 46 and the operation of correcting the position of the safe deposit box 12 after the detection and the treatment have been described.
When it is determined that the control information for causing the transfer conveyors 35, 35 to travel in the direction indicated by the arrow A is not generated (NO), the arithmetic control circuit 60 performs the processing of the flowcharts illustrated in FIGS. 13 to 15. Will be migrated.

That is, as shown in FIG. 8, the flowcharts shown in FIGS. 13 to 15 show that there is a load detector 45 when the safe deposit box mounting base 14a of the stacker crane 14 is on the left side of the electric carriage 15. , 46 to detect the occurrence of an abnormality, and the position correction operation and treatment of the safe deposit box 12 after the detection, and the respective processes of steps S47 to S59 shown in FIG. 13 are the same as the steps shown in FIG. Each process of steps S60 to S75 shown in FIG. 14 corresponds to each process of S4 to S10 and S12 to S17.
Since each of the processes of steps S25 to S40 shown in FIG. 11 corresponds to each of the processes of steps S76 to S79 shown in FIG. 15, each of the processes of steps S43 to S46 shown in FIG. Detailed description is omitted.

Next, the case where it is determined in step S2 shown in FIG. 9 that the operation pattern has already been changed (YES) will be described with reference to the flowcharts shown in FIGS. First, the arithmetic control circuit 60
In step S80, whether the control information for causing the transfer conveyors 35, 35 to travel in the direction indicated by the arrow A in FIGS. 7 and 8 is generated from the integrated control panel 52, that is, the stacker crane 14 is rented. It is determined whether or not the safe box mounting base 14a is on the right side of the electric carriage 15.

If it is determined in step S80 that control information for causing the transfer conveyors 35, 35 to travel in the direction indicated by arrow A is generated (YES), the arithmetic control circuit 60 determines in step S81. Transfer conveyor 35,
35 is moved in the direction indicated by the arrow A to move the safe deposit box 12 mounted on the safe deposit box mounting table 14a on the right side of the electric carriage 15 onto the electric carriage 15.

After that, the arithmetic control circuit 60 executes the step S
At 82, it is determined whether or not the alarm flag indicating that the load detector 46 is abnormal is turned on, and if it is determined that the alarm flag is turned on (YES), step S83.
Then, in step S81, it is determined whether or not 10 seconds have elapsed since the transfer conveyors 35, 35 were moved in the direction indicated by the arrow A. And 10 seconds have not passed (N
If it is determined to be O), the arithmetic control circuit 60 determines in step S84 whether the ON signal is output from the load detector 45, and the ON signal is not output (N).
If it is determined to be O), the process returns to step S81.

Further, in step S84, the detector 45 with the load is present.
If it is determined that the ON signal is output from (YES), that is, in step S81, the transfer conveyor 35,
When the ON signal is output from the load detector 45 within 10 seconds after the vehicle 35 is driven in the direction indicated by the arrow A,
The arithmetic and control circuit 60 stops the traveling of the transfer conveyors 35, 35 in the direction indicated by the arrow A in step S85, and waits for 0.5 seconds to elapse in step S86.
Then, the process proceeds to step S22 shown in FIG.

Furthermore, if it is determined in step S83 that 10 seconds have passed (YES), that is, within 10 seconds after the transfer conveyors 35, 35 are moved in the direction indicated by arrow A in step S81. If the ON signal is not output from the load detector 45, the arithmetic control circuit 60
Determines that an abnormality has occurred in the load detector 45, stops the traveling of the transfer conveyors 35, 35 in the direction indicated by the arrow A in step S87, and in step S88, detects the load detector 45 abnormal. Electric trolley 15 of the safe deposit box 12
It is determined whether or not the number of position correction operations above has reached three times.

If it is determined in step S88 that the number of correction operations has reached three times (YES), the arithmetic control circuit 60 sets an alarm flag indicating that the load detector 45 is abnormal in step S89. It is set to ON, and the process proceeds to step S41 shown in FIG.

In step S88, the number of correction operations is 3
When it is determined that the number of times has not been reached (NO), the arithmetic control circuit 60 determines that the OFF signal is generated from the load detector 45 and the transfer conveyor 3 in step S90.
After confirming that the traveling of Nos. 5, 35 is stopped, the transfer conveyors 35, 35 are caused to travel in the direction shown by the arrow B in step S91, and the safe deposit box 12 is placed in the safe deposit box of the stacker crane 14. After returning to the table 14a, the number of correction operations is incremented by 1 in step S92, and the process returns to step S81.

On the other hand, when it is determined in step S82 that the alarm flag indicating that the load detector 46 is abnormal is not turned on (NO), the arithmetic control circuit 60 causes the load detector 45 to generate an alarm. It is determined that the flag is turned on, and as shown in FIG. 17, in step S93, the memory 6
It is determined whether or not there is a memory in 1 that the ON signal is output from the load detector 46.

When it is determined that there is no memory (NO), the arithmetic and control circuit 60 determines in step S94 whether the ON signal is output from the load detector 46, and the ON signal is output. If not (NO), the process returns to step S81. When it is determined in step S94 that the ON signal is output (YES), the arithmetic and control circuit 60 determines in step S95.
Then, after the fact that the ON signal is output from the load detector 46 is stored in the memory 61, the process returns to step S81.

If it is determined in step S93 that the memory 61 stores the ON signal output from the load detector 46 (YES), the arithmetic control circuit 60.
Indicates that the output of the loaded detector 46 is OF in step S96.
If it is determined that the F signal has not been switched to the OFF signal (NO), the process returns to step S81. Further, in step S96, the output of the load detector 46 is switched to the OFF signal (YE
If it is determined to be S), the arithmetic control circuit 60 stops the traveling of the transfer conveyors 35, 35 in the direction indicated by the arrow A in step S97.

After that, the arithmetic control circuit 60 determines in step S
At 98, wait for 0.5 seconds, and at step S99, the transfer conveyors 35, 35 are caused to travel in the direction indicated by arrow B. During the traveling of the transfer conveyors 35, 35 in the direction shown by the arrow B in step S99, the arithmetic control circuit 60 determines in step S100 whether the ON signal is output from the load detector 46. ing. Then, step S10
When it is 0, the ON signal is output from the load detector 46 (YE
If it is determined to be S), the arithmetic control circuit 60 returns to the process of step S85.

As described above, after changing the operation pattern,
The operation when it is determined in step S80 that the control information for causing the transfer conveyors 35, 35 to travel in the direction indicated by the arrow A is generated from the overall control panel 52 has been described. When it is determined that the control information for causing the transfer conveyors 35, 35 to travel in the direction indicated by the arrow A is not generated from the board 52 (NO),
The arithmetic control circuit 60 shifts to the processing of the flowcharts shown in FIGS. 18 and 19.

That is, the flowcharts shown in FIGS. 18 and 19 show the operation when the safe deposit box mounting base 14a of the stacker crane 14 is on the left side of the electric carriage 15, as shown in FIG. Yes, each process of steps S101 to S110 shown in FIG. 18 corresponds to steps S81 to S84 and S87 to S92 shown in FIG.
Step S1 shown in FIG. 19 corresponding to each processing
Each processing of 11 to S118 is performed in step S shown in FIG.
Since it corresponds to each processing of 93 to S100,
Detailed description is omitted.

20 to 29, as shown in FIG. 7 (b) or FIG. 8 (b), respectively, the electric carriage 15
For explaining the operation of transferring the safe deposit box 12 to the safe deposit box mounting table 14a of the stacker crane 14 located on the right side or the left side in the drawing from the above, including the operation pattern changing processing as described above. , Showing a flowchart. In the flow charts shown in FIGS. 20 to 29, the outputs of the pair of load detectors 45 and 46 are both O when the safe deposit box 12 is transferred onto the electric carriage 15.
Assume that the N signal is set.

First, in FIG. 20, start (step S
119), the arithmetic control circuit 60 causes the operation control circuit 60 to perform step S1.
In step 20, it is determined whether or not the operation pattern has already been changed. If it is determined that the operation pattern has not been changed (NO), in step S121, the transfer conveyors 35, 35 are transferred from the central control panel 52 to the transfer conveyors 35, 35. 7 and whether control information for traveling in the direction indicated by the arrow B in FIG. 8 is generated, that is,
It is determined whether the safe deposit box mounting base 14a of the stacker crane 14 is on the right side of the electric carriage 15.

When it is determined in step S121 that the control information for causing the transfer conveyors 35, 35 to travel in the direction indicated by the arrow B is generated (YES), the arithmetic control circuit 60 determines in step S122. Transfer conveyor 3
5 and 35 are made to run in the direction shown by arrow B, and the electric carriage 1
The safe deposit box 12 mounted on the vehicle 5 is moved to the safe deposit box mounting table 14a on the right side thereof. Then, the arithmetic control circuit 6
0 determines in step S123 whether or not the output of the load detector 45 has switched to the OFF signal, and when it is determined that the output has switched to the OFF signal (YES), in step S124, for transfer in step S122. Conveyor 35,
It is determined whether or not 10 seconds have passed since the vehicle 35 was driven in the direction indicated by the arrow B.

If it is determined in step S124 that 10 seconds have not elapsed (NO), the arithmetic control circuit 60
Indicates that the output of the load detector 46 is O in step S125.
It is determined whether the signal has been switched to the FF signal, and when it is determined that the signal has not been switched to the OFF signal (NO), the process returns to step S122.

Further, in step S125, the load detector 4
When it is determined that the output of No. 6 has switched to the OFF signal (YES), that is, within 10 seconds after it is determined that the output of the load detector 45 has switched to the OFF signal in step S123. When the output of is switched to the OFF signal, the arithmetic control circuit 60 determines that both load detectors 45 and 46 are operating normally,
In step S126, the traveling of the transfer conveyors 35, 35 is stopped.

Then, the arithmetic control circuit 60 executes the step S
At 127, after waiting for 0.5 seconds to pass, FIG.
As shown in FIG.
Is determined to be abnormal, and if it is determined that the alarm flag is on (YES), in step S135, alarm information indicating an abnormality of the load detector 46 is detected. Is sent to the center unit 51 via the integrated control panel 52.

In step S134, the load detector 4
The alarm flag indicating that 6 is abnormal is not turned on (N
If it is determined to be O), the arithmetic and control circuit 60 determines whether or not the warning flag indicating that the load detector 45 is abnormal is turned on in step S136, and the warning flag is turned on ( If YES is determined, step S
At 137, alarm information indicating an abnormality of the load detector 45 is sent to the center unit 51 via the integrated control panel 52.

Then, after steps S135 and S137 or in step S136, the alarm flag indicating that the load detector 45 is abnormal is not turned on (NO).
If it is determined that the calculation control circuit 60 is in step S1
At 38, it is determined whether or not maintenance is performed on the electric carriage 15, and no maintenance is performed (N
If it is determined to be O), the process ends (step S139). If it is determined in step S138 that maintenance has been performed (YES), the arithmetic and control circuit 60
In step S140, the operation pattern is initialized, and the process ends (step S139).

Here, if it is determined in step S124 that 10 seconds have passed (YES), that is, 10 seconds after it is determined in step S123 that the output of the load detector 45 is switched to the OFF signal. If the output of the load detector 46 does not switch to the OFF signal within the above, the arithmetic and control circuit 60 determines that an abnormality has occurred in the load detector 46, and as shown in FIG. In S141, the traveling of the transfer conveyors 35, 35 in the direction indicated by the arrow B is stopped.

After that, the arithmetic control circuit 60 executes the step S
At 142, it is determined whether or not the number of correction operations of the safe deposit box 12 corresponding to the abnormality of the load detector 46 has reached 3 times, and 3
If it is determined that the number of times has been reached (YES), step S1
At 43, the alarm flag indicating that the load detector 46 is abnormal is set to ON, and at step S144, the operation pattern is changed. Then, the arithmetic and control circuit 60 operates in step S1.
At 45, the transfer conveyors 35, 35 are caused to travel in the direction indicated by arrow A, and the safe deposit box 12 is returned to the electric carriage 15.

In this case, the arithmetic and control circuit 60 determines in step S146 that there is a load detector 4 installed on the electric cart 15.
By outputting an ON signal from 5, it is determined whether or not the safe deposit box 12 has been completely returned to the electric carriage 15, and when it is determined that the safe box 12 has been returned (YES), in step S147,
The transfer conveyors 35, 35 are again moved in the direction indicated by the arrow B to move the safe deposit box 12 mounted on the electric carriage 15 to the safe deposit box mounting base 14a.

At this time, the arithmetic control circuit 60 determines whether or not the output of the load detector 45 is switched to the OFF signal in step S148, and when it is determined that the output is switched to the OFF signal (YES), the step S148 is performed. In S149, the traveling of the transfer conveyors 35, 35 in the direction of the arrow B is continued for 5 seconds, and then in step S150, the transfer conveyor 3
Stop running 5,35. Then, the arithmetic control circuit 6
In step S151, 0 waits for 0.5 second, and then the process proceeds to step S127.

On the other hand, in step S123, the output of the load detector 45 was not switched to the OFF signal (N
If it is determined to be O), the arithmetic and control circuit 60 determines in step S128 that the transfer conveyor 35,
It is determined whether or not 10 seconds have passed since the vehicle 35 was driven in the direction indicated by the arrow B, and if it is determined that 10 seconds have not passed (NO), the load detector 46 is loaded in step S129. It is determined whether or not the output of is switched to the OFF signal.

In this case, the output of the load detector 46 is not switched to the OFF signal in step S129 (N
If it is determined to be O), the arithmetic control circuit 60 returns to the process of step S122. If it is determined in step S129 that the output of the load detector 46 has been switched to the OFF signal (YES), that is, step S12.
The output of the load detector 45 is OF within 10 seconds after the transfer conveyors 35, 35 travel in the direction of arrow B in 2
When the output of the load detector 46 switches to the OFF signal without switching to the F signal, the arithmetic control circuit 60
Determines that an abnormality has occurred in the load detector 45, and stops the traveling of the transfer conveyors 35, 35 in the direction indicated by the arrow B in step S130.

Thereafter, the arithmetic and control circuit 60 determines in step S
At 131, it is determined whether or not the number of correction operations corresponding to the abnormality of the load detector 45 has reached three times, and it has reached three times (Y
ES), the warning flag indicating that the load detector 45 is abnormal is set to ON in step S132, the operation pattern is changed in step S133, and the process proceeds to step S127. .

When it is determined in step S128 that 10 seconds have passed (YES), that is, after the transfer conveyors 35, 35 are made to travel in the direction indicated by arrow B in step S122, the presence of a load is detected. When the state in which the outputs of the containers 45 and 46 are not switched to the OFF signal continues for 10 seconds, the arithmetic and control circuit 60 determines that both the load detectors 4
It is judged that both 5 and 46 have an abnormality, and FIG.
As shown in FIG.
Alternatively, it is determined whether or not the number of correction operations corresponding to the abnormality of 46 has reached three times, and when it is determined that the number of times of correction operations has reached three times (YES), in step S153, there are load detectors 45 and 46.
The abnormality information indicating the abnormality is sent to the center unit 51 via the integrated control panel 52, and the process ends (step S154).

Here, the above steps S131, S
If it is determined in 142 and S152 that the number of correction operations has not reached 3 (NO), the arithmetic control circuit 60 determines in step S155 that both of the load detectors 45 and 46 generate OFF signals. It is confirmed that the transfer conveyors 35, 35 are stopped, and in step S156, the transfer conveyors 35, 35 are caused to travel in the direction indicated by the arrow A, and the safe deposit box 12 is opened. After returning to the electric cart 15, the number of correction operations is incremented by 1 in step S157, and the process returns to step S122.

As described above, in the step S121, the load presence detector when it is determined that the control information for causing the transfer conveyors 35, 35 to travel in the direction indicated by the arrow B is generated from the integrated control panel 52. Although the operation of detecting the occurrence of an abnormality in 45 and 46 and the operation of correcting the position of the safe deposit box 12 and the action after the detection have been described, in step S121, the transfer conveyors 35 and 35 are indicated by the arrow B from the integrated control panel 52. Control information for traveling in the indicated direction has not been generated (NO)
If it is determined, the arithmetic control circuit 60 shifts to the processing of the flowcharts shown in FIGS.

That is, the flow charts shown in FIGS. 24 to 26 are, as shown in FIG. 8, the load detector 45 when the safe deposit box mounting base 14a of the stacker crane 14 is on the left side of the electric carriage 15. , 46 to detect the occurrence of an abnormality and the measures to be taken after the detection. The respective processes of steps S158 to S168 shown in FIG. 24 are steps S122 to S126, S shown in FIG.
Each of the processes of 128 to S133 corresponds to each of the processes of steps S169 to S179 shown in FIG. 25, which corresponds to each of the processes of steps S141 to S151 shown in FIG. 22, and to the steps S180 to S183 shown in FIG. Each process is performed in steps S152 and S155 shown in FIG.
Since it corresponds to each processing of S157, detailed description thereof will be omitted.

Next, step S120 shown in FIG.
The operation pattern has already been changed (YE
The case of S) will be described with reference to the flowcharts shown in FIGS. 27 to 29. First, in step S184, the arithmetic and control circuit 60 determines whether or not control information for causing the transfer conveyors 35, 35 to travel in the direction indicated by the arrow B in FIGS. 7 and 8 is generated from the overall control panel 52.
That is, the safe deposit box mounting base 14 of the stacker crane 14
It is determined whether or not a is on the right side of the electric carriage 15.

If it is determined in step S184 that the control information for causing the transfer conveyors 35, 35 to travel in the direction indicated by arrow B is generated (YES), the arithmetic control circuit 60 determines in step S185. Transfer conveyor 3
5 and 35 are made to run in the direction shown by arrow B, and the electric carriage 1
The safe deposit box 12 mounted on the vehicle 5 is moved to the safe deposit box mounting table 14a on the right side thereof.

Thereafter, the arithmetic and control circuit 60 determines in step S
In 186, it is determined whether or not the warning flag indicating that the load detector 46 is abnormal is turned on, and when it is determined that the warning flag is turned on (YES), step S1
At 87, it is determined whether or not the output of the load detector 45 is switched to the OFF signal, and it is switched to the OFF signal (Y
If it is determined to be ES), the traveling of the transfer conveyors 35, 35 in the direction of the arrow B is continued for 5 seconds in step S188, and the traveling of the transfer conveyors 35, 35 is stopped in step S189.

If it is determined in step S186 that the alarm flag indicating that the load detector 46 is abnormal is not turned on (NO), the arithmetic control circuit 60 determines that the load detector 45 has the alarm flag. Is determined to be ON, and the output of the load detector 46 is O in step S190.
It is determined whether or not the FF signal has been selected. When it is determined that the output of the load detector 46 is not switched to the OFF signal (NO), the arithmetic control circuit 60 returns to the process of step S185, and the output of the load detector 46 is turned to the OFF signal. If it is determined that the switching has been performed (YES), the process proceeds to step S189.

On the other hand, if it is determined in step S184 that the control information for causing the transfer conveyors 35, 35 to travel in the direction indicated by the arrow B is not generated from the integrated control panel 52 (NO), that is, the electric control is performed. Safe deposit box 1 on trolley 15
When 2 is transferred to the safe deposit box mounting table 14a of the stacker crane 14 on the left side of the stacker, the arithmetic control circuit 60 shifts to the process of the flowchart shown in FIG. FIG. 28
27 are performed by the processes of steps S191 to S195 shown in FIG.
Since it corresponds to each processing of steps S185 to S190 shown in FIG.

Here, after the above step S189, the arithmetic control circuit 60, as shown in FIG.
6, after waiting for 0.5 seconds, in step S197, the safe deposit box 12 is placed on the safe deposit box mounting table 14a based on the output of the detector (not shown) installed on the safe deposit box mounting table 14a of the stacker crane 14. It is determined whether or not it has been completely transferred to. Then, if it is determined in step S197 that the safe deposit box 12 has been completely transferred onto the safe deposit box mounting table 14a (YES), the arithmetic control circuit 60 proceeds to the process of step S138 shown in FIG. To be done.

In step S197, the safe deposit box 12 is not completely transferred onto the safe deposit box mounting table 14a (N
O), the arithmetic control circuit 60 determines in step S198 whether or not the number of correction operations corresponding to the abnormality of the load detector 45 or 46 has reached three times, and has reached three times. If it is determined (YES), the process proceeds to step S153 shown in FIG.

On the other hand, if it is determined in step S198 that the number of correction operations corresponding to the abnormality of the load detector 45 or 46 has not reached 3 (NO), the arithmetic and control circuit 60 determines in step S199. Transfer conveyor 35,
After confirming that the vehicle 35 has stopped traveling, step S
At 200, it is determined whether or not the transfer conveyors 35, 35 should be moved in the direction indicated by the arrow A in order to return the safe deposit box 12 to the electric carriage 15 once.

If it is determined in step S200 that the transfer conveyors 35, 35 should be moved in the direction indicated by the arrow A (YES), the arithmetic control circuit 60 determines in step S201 that the transfer conveyors 35, 35 are moved. 35, 35 with arrow A
Drive the safe deposit box 12 in the direction indicated by
After returning to the top, in step S202, the number of correction operations is increased by +
Then, the process returns to step S185.

In step S200, the transfer conveyors 35, 35 are not run in the direction indicated by arrow A (NO).
If it is determined that the calculation control circuit 60 is in step S2
In 03, the transfer conveyors 35, 35 are caused to travel in the direction indicated by the arrow B to return the safe deposit box 12 onto the electric carriage 15, and then in step S204, the number of correction operations is incremented by 1, and in step S191. Returned to processing.

According to the embodiment described above, for example, as shown in FIG. 7A, from the safe deposit box mounting base 14a of the stacker crane 14 located on the right side of the electric carriage 15, the electric carriage is moved. When the safe deposit box 12 is transferred onto 15, the ON signal is generated from the load detector 46, and thereafter, the output of the load detector 46 is output without the ON signal being generated from the load detector 45. By switching to the OFF signal, it is detected that an abnormality has occurred in the load detector 45.

In such a case, when the output of the load detector 46 is switched from the ON signal to the OFF signal, the transfer of the safe deposit box 12 is stopped and the safe deposit box 12 is temporarily placed in the safe deposit box mounting table 14a. The correction operation of returning the safe deposit box 12 to the electric cart 15 is executed again. Then, even if this correction operation is repeated three times, the load detector 45
When the occurrence of abnormalities is detected, the load detector 4
When the output of 6 is switched from the ON signal to the OFF signal, the transfer of the safe deposit box 12 is stopped, the safe deposit box 12 is moved in the opposite direction, and the ON signal is output from the load detector 46. Then, by stopping the movement of the safe deposit box 12, the safe deposit box 12 is stopped almost accurately at the regular position on the electric carriage 15.

Further, as shown in FIG. 7A, from the safe deposit box mounting table 14a of the stacker crane 14 located on the right side of the electric cart 15, the safe deposit box 12 is placed on the electric cart 15.
When transferring, the load detector 46 does not generate an ON signal, but the load detector 45 generates an ON signal, thereby detecting that the load detector 46 is abnormal. ing.

In such a case, the load detector 45 outputs O
When the N signal is output, the transfer of the safe deposit box 12 is immediately stopped, and the safe deposit box 12 is temporarily placed in the safe deposit box mounting table 14a.
The correction operation of returning the safe deposit box 12 to the electric cart 15 is executed again. Then, if the occurrence of an abnormality in the load detector 46 is detected even after repeating this correction operation three times, the transfer of the safe deposit box 12 is stopped when the ON signal is output from the load detector 45 for the third time. By doing so, the safe deposit box 12 is stopped almost accurately at the proper position on the electric carriage 15.

Further, as shown in FIG. 7B, when the safe deposit box 12 is transferred from the electric carriage 15 to the safe deposit box mounting table 14a of the stacker crane 14 located on the right side of the figure, there is a load. While the ON signal is being continuously generated from the detector 45, the output of the load detector 46 is switched from the ON signal to the OFF signal to detect that the load detector 45 has an abnormality. There is.

In such a case, when the output of the load detector 46 is switched from the ON signal to the OFF signal, the transfer of the safe deposit box 12 is immediately stopped, and the safe deposit box 12 is temporarily placed on the electric carriage 15. After returning, the correction operation for moving the safe deposit box 12 onto the safe deposit box mounting table 14a is executed again.
If an abnormality in the load detector 45 is detected even after repeating this correction operation three times, the safe deposit box will be turned off when the output of the load detector 46 is switched from the ON signal to the OFF signal for the third time. It is determined that the safe deposit box 12 has been completely removed from the electric cart 15 by stopping the transfer of 12.

Further, as shown in FIG. 7B, when the safe deposit box 12 is transferred from the electric cart 15 to the safe deposit box mounting table 14a of the stacker crane 14 located on the right side of the figure, there is a load. After the output of the detector 45 is switched from the ON signal to the OFF signal, there is a load detector 46 for a certain time or more.
Since the output of No. 1 cannot be switched from the ON signal to the OFF signal, it is detected that an abnormality has occurred in the load detector 46.

In such a case, when the output of the load detector 45 is switched from the ON signal to the OFF signal and the ON signal is generated from the load detector 46 for a certain period of time, the safe deposit box 12 is immediately moved. A correction operation is performed in which the safe deposit box 12 is temporarily returned to the electric cart 15, and the safe deposit box 12 is moved to the safe deposit box mounting base 14a again. Then, even if this correction operation is repeated three times, the load detector 4
When the abnormality occurrence of No. 6 is detected, after continuing the movement of the safe deposit box 12 for a certain period of time after the output of the load detector 45 is switched to the OFF signal for the third time,
By stopping the transfer of the safe deposit box 12, the safe deposit box 12
Has been completely removed from the electric carriage 15.

Therefore, the safe deposit box 12 is mounted on the electric cart 15.
Even if a pair of load detectors 45, 46 that detect the position of the load have an abnormality, it is detected which of the load detectors 45 or 46 has an abnormality, and the remaining one, the normal load detection, is detected. Electric trolley 1 only by the container 46 or 45
Since the position of the safe deposit box 12 on the control box 5 is controlled, it is possible to prevent the automatic safe deposit box from becoming unusable.

Next, FIG. 30 and FIG. 31 are a plan view and a side view, respectively, schematically showing the overall structure of another automatic safe deposit box to which the present invention is applied. That is, the same parts as those in FIGS. 1 and 2 are designated by the same reference numerals, and will be described.
The safe deposit box 12 taken out by the stacker crane 14 is provided with the rail 7 laid on the lifter 75 of the elevator 74.
6 is transferred to the electric trolley 15 on standby. Then, the lifter 75 of the elevator 74 descends to the first floor, and the rail 76 on the lifter 75 is connected to the rail 22 laid on the first floor.

As described above, after the safe door 23 is lifted and the safe deposit box entrance / exit opening 24 is opened, the connecting rail 26 is tilted down, whereby the rail 22 and the safe deposit box entrance / exit are carried out. The rails 27 laid outside the opening 24 are connected to each other, and the electric carriage 15 passes through the safe deposit box entry / exit opening 24 and is moved to the rail 27. Then, the safe deposit box 12 mounted on the electric cart 15 is transferred to the work station 30 of the safe deposit box working room 28, and the work of taking out the desired safe deposit box 12 is completed here.

When the safe deposit box 12 placed in the work station 30 is returned to the safe deposit box storage shelf 13 in the safe room 11, the safe deposit box 12 is placed in the work station 3.
Transfer from 0 to electric cart 15. And electric cart 1
5 is returned to the lifter 75 through a reverse route to the above and lifter 7
After raising 5 to the second floor, the safe deposit box 12 mounted on the electric carriage 15 is accommodated in the empty space of the safe deposit box storage shelf 13 by the stacker crane 14, and the return operation of the safe deposit box 12 is performed here. Will be terminated. It should be noted that the present invention is not limited to the above-described embodiments, and can be variously modified and implemented without departing from the scope of the invention.

[0149]

As described above in detail, according to the present invention,
Even if an abnormality occurs in the detector that detects the position of the load on the electric carriage, control is performed so that the load can be accurately transferred between the electric carriage and, for example, a stacker crane or a station. It is possible to provide a very good load position control device for an electric cart that can prevent the automatic safe deposit box from becoming unusable.

[Brief description of drawings]

FIG. 1 is a plan view showing an embodiment of a load position control device for an electric cart according to the present invention and schematically showing the overall configuration of an automatic safe deposit box.

FIG. 2 is a side view schematically showing the overall configuration of the automatic safe deposit box.

FIG. 3 is a diagram for explaining an outline of an electric carriage used in the automatic safe deposit box.

FIG. 4 is a diagram for explaining a detailed internal configuration of the electric cart.

FIG. 5 is a block diagram showing a control system of the automatic safe deposit box.

FIG. 6 is a block configuration diagram showing details of a control board mounted on the electric cart.

FIG. 7 is a view for explaining a transfer operation of the safe deposit box between the electric cart and the stacker crane.

FIG. 8 is a diagram for explaining a transfer operation of the safe deposit box between the electric cart and the stacker crane.

FIG. 9 is a flowchart shown to explain the operation when a safe deposit box is transferred from the outside to the electric cart.

FIG. 10 is a flowchart shown to explain the operation when a safe deposit box is transferred from the outside to the electric cart.

FIG. 11 is a flowchart shown to explain an operation when a safe deposit box is transferred from the outside to the electric cart.

FIG. 12 is a flowchart shown to explain an operation when a safe deposit box is transferred from the outside to the electric cart.

FIG. 13 is a flowchart shown to explain the operation when the safe deposit box is transferred from the outside to the electric cart.

FIG. 14 is a flowchart shown to explain an operation when a safe deposit box is transferred from the outside to the electric cart.

FIG. 15 is a flowchart shown to explain an operation when a safe deposit box is transferred from the outside to the electric cart.

FIG. 16 is a flowchart shown to explain an operation when a safe deposit box is transferred from the outside to the electric cart.

FIG. 17 is a flowchart for explaining the operation when a safe deposit box is transferred from the outside to the electric cart.

FIG. 18 is a flowchart shown to explain the operation when the safe deposit box is transferred from the outside to the electric cart.

FIG. 19 is a flowchart shown to explain the operation when a safe deposit box is transferred from the outside to the electric cart.

FIG. 20 is a flow chart for explaining the operation when the safe deposit box is transferred from the electric cart to the outside.

FIG. 21 is a flow chart for explaining the operation when the safe deposit box is transferred from the electric cart to the outside.

FIG. 22 is a flowchart for explaining the operation when the safe deposit box is transferred from the electric cart to the outside.

FIG. 23 is a flowchart shown to explain the operation when a safe deposit box is transferred from the electric cart to the outside.

FIG. 24 is a flowchart for explaining the operation when the safe deposit box is transferred from the electric cart to the outside.

FIG. 25 is a flowchart shown for explaining the operation when the safe deposit box is transferred from the electric cart to the outside.

FIG. 26 is a flowchart for explaining the operation when the safe deposit box is transferred from the electric cart to the outside.

FIG. 27 is a flowchart for explaining the operation when the safe deposit box is transferred from the electric cart to the outside.

FIG. 28 is a flowchart shown for explaining the operation when the safe deposit box is transferred from the electric cart to the outside.

FIG. 29 is a flowchart shown for explaining the operation when the safe deposit box is transferred from the electric cart to the outside.

FIG. 30 is a plan view schematically showing the entire configuration of another automatic safe deposit box to which the present invention is applied.

FIG. 31 is a side view schematically showing the overall configuration of another automatic safe deposit box.

[Explanation of symbols]

11 ... Vault, 12 ... Safe deposit box, 13 ... Safe deposit box storage rack, 14 ... Stacker crane, 15 ... electric trolley, 16 ... rail, 17 ... rotary elevator, 18 ... turntable, 19 ... Rail, 20 ... stanchions, 21 ... Lifter, 22 ... rail, 23 ... Safe door, 24 ... Safe deposit box entrance / exit 25 ... rotation axis, 26 ... connecting rail, 27 ... rail, 28, 29 ... Safe deposit box work room, 30, 31, ... work station, 32 ... wheels, 33 ... a rotating body, 34 ... Belt, 35 ... a transfer conveyor, 36 ... Charging shoe, 37 ... power supply terminal, 38 ... power supply device, 39, 40 ... Motor, 41, 42 ... Stop position detector, 43, 44 ... deceleration position detector, 45, 46 ... Detector with load, 47 ... Control board, 48 ... Operation display section, 49 ... batteries, 50 ... Central control room, 51 ... Center unit, 52 ... Overall control panel, 53 ... Stacker control panel, 54 ... bar code reader, 55 ... No. 9 station, 56 ... Safe door control panel, 57, 58 ... Booth electromagnetic panel, 59 ... Input circuit, 60 ... Arithmetic control circuit, 61 ... memory, 62 ... Output circuit, 63 ... Drive circuit, 64 ... DC type tacho-generator, 65 ... A / D conversion circuit, 66 ... Input circuit, 67 ... Output circuit, 68 ... Drive circuit, 69 ... Input / output circuit, 70 ... Optical communication unit, 71 ... Input / output circuit, 72 ... Battery control circuit, 73 ... I / O circuit, 74 ... elevator, 75 ... lifter, 76 ... Rail.

Claims (4)

(57) [Claims] 1. A first and a second load detectors are installed on an electric cart on which a load is transferred from a certain direction along the load transfer direction, and the first and second load detectors are installed. In the load position control device for the electric carriage that determines that the load is mounted on the electric carriage in a state in which the loads are both detected, the load is from the first load detector side. After the first load detector detects the presence of the load in a state where the load is transferred to the electric cart, the second load detector does not detect the presence of the load and the first load detector detects the presence of the load. The first load detector no longer detects the presence of said load, whether the first condition is met or not
And it is detected that the first condition is satisfied
Then, once the load is returned to the outside of the electric cart,
Once, transferred from the first load detector side to the electric carriage.
To detect whether or not the first condition is satisfied
Is repeated a predetermined number of times to meet the first condition.
The second load detector is abnormal in the state where the number of detected items is several.
A first detection means for setting a signal indicating that the second load detector is abnormal due to the first detection means.
When the first load detector stops detecting the presence of the load with a signal indicating that the load is set , the movement of the load is stopped and the load is moved to the first load detector. The first load detector after the first load detector detects the presence of the load after the first load detector is moved to the side, and the load is on the first load detector side. Second condition in which the second load detector detects the presence of the load without the first load detector detecting the presence of the load while being transferred from Detects whether or not is satisfied ,
When it is detected that the second condition is satisfied,
After returning the load to the outside of the electric cart,
Move from the first load detector side onto the electric carriage
The operation of detecting whether or not the second condition is satisfied is repeated.
Repeatedly, it was detected a predetermined number of times that the second condition was satisfied.
The first load detector is abnormal when it is taken out.
And a second detection means for setting a signal indicating that the second load detector is abnormal due to the second detection means.
A second control means for stopping the movement of the load when the second load detector detects the presence of the load with a signal indicating that the load is set, Transferred from the first load detector side to the electric carriage
Indicates that the second load detector is abnormal when
When the signal is set, the first detection means
Drive the first control means without performing the detection operation by
A signal indicating that the first load detector is abnormal.
No. is set, the second detection means
Driving the second control means without performing a detection operation
Load position control unit for an electric trolley, characterized in that letting. 2. An electric cart on which a load is transferred from a fixed direction.
A first load detector and a second load detector along the load transfer direction.
Is installed, and the first and second load detectors are
With the presence being detected, the load on the electric carriage is
In the load position control device of the electric trolley that is judged to be mounted
The load is transferred from the side of the first load detector to the electric cart.
The first load detector detects the presence of the load.
After detecting the load, the second load detector detects the presence of the load.
The first load detector detects the presence of the load without
Detects whether the first condition that does not detect is satisfied
The first detecting means, and the first condition is satisfied by the first detecting means.
Is detected, the first load detector detects the load
Stop moving when the presence of
Then, after moving the load to the first load detector side,
At the time when the first load detector detects the presence of the load,
First control means for stopping the movement of the load, and the load is transferred from the first load detector side to the electric carriage.
The first load detector detects the presence of the load.
The second load detector without detecting the presence of the load.
To detect whether the second condition for detecting the presence is satisfied
Second detecting means, and the second condition is satisfied by the second detecting means.
Is detected, the second load detector detects the load.
When the presence of the
The control means of No. 2 and the load mounted on the electric carriage are the first load detection device.
The state of being transferred from the output side to the outside of the electric cart
, The second load detector no longer detects the presence of the load.
, The first load detector continues for a predetermined time or more.
Was the third condition for detecting the presence of the load fulfilled?
Third detecting means for detecting whether or not the third condition is satisfied by the third detecting means.
The movement of the load was stopped when it was detected that
After that, return the load to the electric cart and load the load again.
From the first load detector side to the outside of the electric carriage
And the second load detector detects the presence of the load.
Transfer of the load until a certain time elapses after the
The third control means for continuing the motion and the load mounted on the electric carriage are the first load detection device.
The state of being transferred from the output side to the outside of the electric cart
And the second load detector detects the presence of the load.
In the state, the first load detector is
Whether the fourth condition for not detecting the presence of a load is satisfied
Fourth detecting means for detecting whether or not the fourth condition is satisfied by the fourth detecting means.
The movement of the load was stopped when it was detected that
After that, return the load to the electric cart and load the load again.
From the first load detector side to the outside of the electric carriage
And the first load detector detects the presence of the load
A fourth control that stops the movement of the load when it disappears
A load of an electric trolley characterized by comprising:
Position control device. 3. The third detecting means returns the load once onto the electric carriage in a state where it is detected that the third condition is satisfied, and then again the first load. The operation of moving from the detector side to the outside of the electric cart to detect whether or not the third condition is satisfied is repeated, and when it is detected that the third condition is satisfied a predetermined number of times, A signal indicating that the first load detector is abnormal is set, and the third control means is driven, and the fourth detection means detects that the fourth condition is satisfied. In this state, the load is temporarily returned to the electric trolley and then again moved from the first load detector side to the outside of the electric trolley to detect whether or not the fourth condition is satisfied. Is repeated, it is detected that the fourth condition is satisfied a predetermined number of times. In state, and sets the signal indicating that the second load detector is abnormal,
The load position control device for an electric carriage according to claim 2, wherein the fourth control means is driven. 4. When a signal indicating that the first load detector is abnormal is set when the load is moved from the first load detector side to the outside of the electric cart, In a state in which the third control means is driven without performing the detection operation by the third detection means and a signal indicating that the second load detector is abnormal is set, the fourth load is set. without performing the detection operation by the detection means, according to claim 3, characterized in that to drive the fourth control means
A load position control device for the electric carriage described.