JP4618505B2 - Article conveying device - Google Patents

Description

  The present invention relates to a moving body horizontally moved by a horizontal driving means in a state guided by a lower rail provided on the floor side along the horizontal direction, and an upper end portion standing in a horizontal direction from the moving body. A lift body that is driven up and down by a lift drive means and a fork on which an article can be freely supported on the lift body side is guided by a lift mast guided by a ceiling rail provided on the ceiling side along A fork-type article transfer means mounted on the elevating body, wherein the fork-type drive means is configured to be driven out and withdrawn by a withdrawal drive means between a retired position that has been retreated and a projecting position that is projected to an external article transfer side. Control means for controlling the operation of the horizontal drive means, the operation of the elevating drive means, and the action of the exit / retreat drive means, and the control means detects the position of the moving body in the horizontal direction. Detection of horizontal position detection means Based on the information and the detection information of the vertical position detecting means for detecting the position of the lifting body in the vertical direction, the operation of the horizontal driving means and the lifting / lowering to position the lifting body at the target position for article transfer The operation of the driving means is controlled, and the fork is operated to project from the retracted position to the projecting position in a state where the lifting body is stopped at the target position or in a state where the lifting body reaches a position before the target position. When the fork is retracted from the projecting position to the retracted position with the lifting body positioned at the target position, the retracting speed is increased to a steady speed at a set acceleration in the initial stage. After that, the exit / retreat speed is maintained at the steady speed, and at the start of deceleration, the exit / retreat speed is decelerated at the set deceleration. An article transport device is configured to control the operation of extending and retracting the drive means.

  The article transport apparatus as described above is, for example, a stacker crane that is adapted to an automatic warehouse and transfers articles to and from a plurality of storage units in an article storage shelf. And this goods conveyance apparatus performs the warehousing work which wares the goods carried into the goods storage shelf into any of a plurality of storage parts, and the unloading work which issues the goods stored in any of the plurality of storage parts. Do.

As such an article transport device, a target position for article transfer is determined corresponding to each of the plurality of storage units, and the control means is based on the detection information of the horizontal position detection means and the detection information of the vertical position detection means. In order to position the elevating body at the target position corresponding to the storage unit to be transferred, the operation of the horizontal drive means and the operation of the elevating drive means are controlled, and the elevating body is stopped at the target position. In order to cause the fork to project from the retracted position to the projecting position and to retract from the projecting position to the retracted position, there is one configured to control the operation of the retracting drive means (for example, see Patent Document 1). .
Further, as another article transport device, the control means should position the elevating body at the target position corresponding to the storage unit to be transferred based on the detection information of the horizontal position detection means and the detection information of the vertical position detection means. , Controlling the operation of the horizontal driving means and the raising / lowering driving means, and in a state where the raising / lowering body reaches a position before the target position, the fork is caused to project from the retracted position to the protruding position, and the lifting body is targeted. Some are configured to control the operation of the retracting drive means in order to retract the fork from the protruding position to the retracted position in the state where the fork is positioned (see, for example, Patent Document 2).

  In the article conveying apparatus as described above, when the fork is operated to project and retract, the control means conventionally controls the operation of the fork to project and retract when the fork is operated to retract. In the initial stage, the exit / exit speed is increased to the steady speed at the set acceleration, and thereafter, the exit / exit speed is maintained at the steady speed, and the deceleration is set at the deceleration start timing. It is configured to control the operation of the exit / retreat driving means so as to decelerate at. In this conventional article conveying apparatus, the control means controls the operation of the exit / retreat driving means so that the set acceleration and the set deceleration are predetermined default values so that the fork is operated to protrude or retract.

JP-A-2005-231842 JP 2002-114320 A

In the above-described conventional article transport device, when the fork is operated to project or retract, the set acceleration and the set deceleration are predetermined default values. The default values are used to quickly perform the fork projecting and retracting operations. In order to do so, a large value is set as much as possible.
Since the elevating mast is erected from the moving body and the upper end of the elevating mast is guided by the ceiling side rail, the center side position is more easily bent than the end side position in the longitudinal direction of the elevating mast. Therefore, when the fork is projected and operated with the set acceleration and set deceleration as the default values when the lifting body is at the center position in the longitudinal direction of the lifting mast, it acts on the lifting mast by the fork projecting operation. The lifting mast is bent by the acting force in the protruding direction of the fork.
When the elevating mast is bent in this way, the elevating mast vibrates in the fork protruding direction, the position of the article in the fork protruding direction is displaced, and the article transferred from the fork to the transfer location is appropriate. There is a risk of shifting from the position.

  The present invention has been made paying attention to this point, and an object of the present invention is to provide an article transport apparatus capable of transferring an article to an appropriate position.

In order to achieve this object, the first characteristic configuration of the article transporting apparatus according to the present invention is horizontally moved by the horizontal driving means while being guided by the lower rail provided on the floor side along the horizontal direction. The moving body is moved up and down by a lifting drive means in a state where the moving body is guided by a lifting mast which is erected from the moving body and whose upper end portion is guided by a ceiling-side rail provided on the ceiling side along the horizontal direction. A lifting / lowering body, and a fork capable of placing and supporting an article, and a retraction position where the fork is retracted toward the lifting / lowering body side and a protruding position where the fork is projected toward the external article transfer side. And a fork-type article transfer means mounted on the lifting body, and a control means for controlling the operation of the horizontal driving means, the operation of the lifting driving means, and the operation of the exit / retreat driving means. And the control means Based on the detection information of the horizontal position detection means for detecting the position of the moving body in the horizontal direction and the detection information of the vertical position detection means for detecting the position of the lifting body in the vertical direction, the target position for article transfer The operation of the horizontal driving means and the operation of the elevating drive means are controlled so that the elevating body is positioned at the same position, and the elevating body is stopped at the target position, or the elevating body is in front of the target position. When the fork is operated to project from the retracted position to the projecting position in the state where the position has been reached, and when the fork is operated to retract from the projecting position to the retracted position while the lifting body is positioned at the target position, respectively. In the initial stage, the exit / exit speed is increased to the steady speed at the set acceleration, and thereafter, the exit / exit speed is maintained at the steady speed, and the deceleration start timing is increased. Becomes a ring so as to decelerate the advancing and retracting speed setting deceleration, the article transport device is configured to control the operation of the output retraction drive means,
When the fork is protruded and operated with at least an article placed and supported, the control means is such that the position of the lifting body detected by the vertical position detection means is a central position in the longitudinal direction of the lifting mast. The operation of the exit / retreat driving means is controlled in a state where the set acceleration and the set deceleration are smaller than when the elevating mast is positioned at the end side position in the longitudinal direction of the elevating mast. It is in the point which is comprised.

That is, at least when the fork is projected and operated while the article is placed and supported, the control means does not set the set acceleration and the set deceleration as default values, but the lifting body detected by the vertical position detecting means. The set acceleration and the set deceleration are made smaller when the position is the center side position in the longitudinal direction of the lifting mast than when it is positioned at the end side position in the longitudinal direction of the lifting mast, and the exit / retreat drive means Will be controlled.
And when the position of the raising / lowering body is the center side position in the longitudinal direction of the lifting mast, the fork is set by making the set acceleration and the set deceleration smaller than when it is positioned at the end side position in the longitudinal direction of the lifting mast. As a result of the projecting operation of the fork, it is possible to suppress the generation of the acting force in the protruding direction of the fork acting on the lifting mast as much as possible, and it is possible to suppress the lifting mast from vibrating in the protruding direction of the fork.

In addition, when the position of the lifting body is the end side position in the longitudinal direction of the lifting mast, the lifting mast is erected from the moving body and the upper end thereof is guided by the ceiling side rail, so the position of the lifting body is Even if the set acceleration and the set deceleration are increased as compared with the central position in the longitudinal direction of the lifting mast, it is possible to suppress the lifting mast from vibrating in the protruding direction of the fork.
In addition, when the position of the elevating body is the end side position in the longitudinal direction of the elevating mast, the fork can be operated to project and retract with a large set acceleration and set deceleration, and the fork can be operated and retracted. The operation can be performed quickly.

  Therefore, while the fork projecting operation and the retraction operation can be performed as quickly as possible, the lifting mast can be prevented from vibrating in the projecting direction of the fork, and while shortening the time required for article transfer, It has become possible to provide an article transport device that can transfer articles to an appropriate position.

  According to a second characteristic configuration of the article transporting apparatus according to the present invention, the set acceleration is set such that the position of the elevating body detected by the upper and lower position detecting means approaches the center position in the longitudinal direction of the elevating mast. And in the state which makes the said setting deceleration small, it exists in the point comprised so that the action | operation of the said exit / exit drive means may be controlled.

That is, the control means controls the operation of the exit / retreat driving means by decreasing the set acceleration and the set deceleration as the position of the elevating body approaches the center position in the longitudinal direction of the elevating mast.
And as the position of the lifting body approaches the center position in the longitudinal direction of the lifting mast, the possibility that the lifting mast bends due to the acting force in the protruding direction of the fork acting on the lifting mast increases. Therefore, the set acceleration and the set deceleration can be appropriately set in order to suppress the vibration of the lifting mast. Therefore, the article can be accurately transferred to an appropriate position.

  According to a third characteristic configuration of the article transporting apparatus according to the present invention, the control means operates to retract the fork while the article is placed and supported, and to project the fork while the article is not placed and supported. When the retraction operation is performed, the set acceleration and the set deceleration are set as predetermined default values to control the operation of the exit / retreat driving means.

That is, when the fork is operated to project while the article is placed and supported, the control means is when the position of the lifting body detected by the vertical position detection means is the central position in the longitudinal direction of the lifting mast. The operation of the exit / retreat driving means is controlled in a state where the set acceleration and the set deceleration are made smaller than when positioned at the end side position in the longitudinal direction of the lifting mast. When the fork is retracted with the article placed and supported, and when the fork is projected and retracted without the article placed and supported, the control means previously sets the set acceleration and the set deceleration. As the predetermined default value, the operation of the exit / exit driving means is controlled.
In this way, only when the fork is operated to project while the article is placed and supported, the control means is likely to bend due to the acting force in the protruding direction of the fork acting on the lifting mast. The set acceleration and set deceleration are made smaller when the lifting body is positioned at the center position in the longitudinal direction of the lifting mast than when it is positioned at the end side position in the longitudinal direction of the lifting mast. The operation of the driving means will be controlled.
Accordingly, the fork protruding and retracting operations can be performed as quickly as possible while ensuring the state where the article can be transferred to an appropriate position, thereby effectively reducing the time required for transferring the article. Will be able to.

  According to a fourth characteristic configuration of the article transporting apparatus according to the present invention, the control means is configured to move the fork up and down with respect to the lifting mast based on article information about an article to be placed and supported on the fork. As the acting force acting in the protruding direction of the fork increases, the operation of the retracting drive means is controlled in a state where the set acceleration and the set deceleration are reduced.

That is, since the magnitude of the acting force acting in the protruding direction of the fork when the fork is operated to protrude differs depending on the article placed and supported on the fork, the raising and lowering mast depends on the article placed and supported on the fork. There is a difference in the possibility of bending.
Therefore, according to the present invention, the control means, as the article information about the article to be placed and supported on the fork, for example, based on the weight information of the article, when the fork is projected and operated, the fork protrudes from the lifting mast. The greater the acting force acting in the direction, the smaller the set acceleration and set deceleration and the operation of the exit / retreat drive means. It is possible to control the operation of the exit / retreat driving means by reducing the speed.
Therefore, it is possible to accurately suppress the lifting mast from vibrating in the protruding direction of the fork, and it is possible to reliably transfer the article to an appropriate position.

An embodiment in which an article conveying device according to the present invention is applied to an automatic warehouse will be described with reference to the drawings.
As shown in FIG. 1, the automatic warehouse includes two article storage shelves 1 that are installed at an interval so that the article loading / unloading directions face each other, and a traveling path 2 formed between the two article storage shelves 1. And a stacker crane 3 as an article conveying device that automatically travels.

Each article storage shelf 1 is provided with a plurality of pairs of front and rear columns 1a standing in the horizontal direction with an interval in the horizontal direction, and each of the pair of front and rear columns 1a is provided with a mounting support portion 1b extending in the horizontal direction in the vertical direction. A plurality are provided apart.
And the storage part 4 in the goods storage shelf 1 is comprised so that the goods 9 may be accommodated with the form which mounts and supports the goods 9 in the mounting support part 1b, and there are a plurality of the storage parts 4 in the vertical and horizontal directions. It is provided to line up.

In the traveling path 2, a traveling rail 5 as a lower rail is installed on the floor side along the longitudinal direction of the traveling path 2, and a guide rail 6 as a ceiling side rail is disposed on the ceiling side of the traveling path 2. It is installed along the direction.
On one end side of the traveling rail 5, a ground-side controller 7 that manages the operation of the stacker crane 3 and a pair of loading platforms 8 with the traveling rail 5 interposed therebetween are provided.

  As shown in FIG. 2, the stacker crane 3 includes a traveling carriage 10 as a movable body that can travel along the traveling rail 5, and an elevation that can be raised and lowered along a lifting mast 11 that stands on the traveling carriage 10. A lifting platform 12 as a body and an article transfer device 13 as an article transfer means provided in the lifting platform 12 are configured.

  A pair of front and rear masts 11 are provided in the traveling direction of the traveling carriage 10, one at each of the front end portion and the rear end portion of the traveling carriage 10. Each of the pair of front and rear lifting masts 11 is erected from the traveling carriage 10 with its lower end supported by the traveling carriage 10. An upper frame 15 that connects the upper ends of the pair of front and rear masts 11 is provided at the upper end of the lift mast 11. The upper frame 15 includes a pair of guide rollers that are rotatable around the vertical axis while sandwiching the guide rail 6 from the left and right, and is provided so as to be guided by the guide rail 6. Each of the pair of front and rear lifting masts 11 is provided such that the upper end portion thereof is guided by the guide rail 6.

The lifting platform 12 is guided and supported by a pair of front and rear lifting masts 11 erected on the traveling carriage 10 so as to freely move up and down, and is suspended and supported by lifting chains 14 connected to the left and right sides thereof. It has become.
The elevating chain 14 is wound around a guide sprocket 16 provided on the upper frame 15 and a guide sprocket 17 provided on one elevating mast 11 and connected to a take-up drum 18 provided at one end of the traveling carriage 10. ing.
Then, the take-up drum 18 is driven and rotated in the forward and reverse directions by an elevating electric motor 19 as an elevating drive means that is an inverter type motor, and the elevating platform 12 is moved up and down by a feeding operation and a winding operation of the elevating chain 14. It is configured as follows.

The lifting platform 12 is provided with a lifting rotary encoder 20 as position detecting means for detecting the lifting position of the lifting platform 12 in the vertical direction. Although not shown in the drawings, the rotary shaft of the lifting rotary encoder 20 is provided with a sprocket that meshes with a chain provided along the longitudinal direction of the lifting mast 11.
The lift rotary encoder 20 outputs a pulse by rotating the sprocket as the lift 12 is moved up and down. The lifting rotary encoder 20 outputs a pulse based on the lifting reference position installed at the lower end of the lifting path, and the lifting platform in the vertical direction from the lifting distance of the lifting platform 12 from the lifting reference position. 12 elevating positions are detected.

Further, the traveling carriage 10 is provided with two front and rear wheels 21 that can travel on the traveling rail 5, and one of the two wheels 21 at one end in the longitudinal direction of the vehicle body is a horizontal drive means that is an inverter motor. As a driving wheel 21a for propulsion driven by a traveling electric motor 22 as described above, a wheel on the other end side in the longitudinal direction of the vehicle body is configured as a freely driven driven wheel 22b.
The traveling carriage 10 is configured to travel along the traveling rail 5 by rotating the drive wheels 21 a by the operation of the traveling electric motor 22.

The traveling carriage 10 is provided with a traveling rotary encoder 23 that detects the traveling position of the traveling carriage 10 in the horizontal direction. Although not shown, a sprocket that meshes with a chain provided along the longitudinal direction of the traveling rail 5 is provided on the rotary shaft of the traveling rotary encoder 23.
The traveling rotary encoder 23 outputs a pulse as the sprocket rotates as the traveling carriage 10 travels. The travel rotary encoder 23 outputs a pulse based on a horizontal reference position installed at one end of the travel route, and the travel cart in the horizontal direction from the travel distance of the travel cart 10 from the horizontal reference position. Ten travel positions are detected.

As shown in FIG. 3, the article transfer device 13 is placed in a retracted position where the article 9 can be placed and supported and retracted to the lifting platform 12 side, and a protruding position protruded to the external article transfer side. Fork-type article transfer provided with a retractable fork 24 and an exit / retreat drive device 25 as a retracting drive means for operating the fork 24 to project from the retracted position to the projecting position and to retract from the projecting position to the retracted position. It is comprised with the mounting apparatus.
The article transfer device 13 is configured to move the fork 24 in and out with the direction orthogonal to the traveling direction of the traveling carriage 10 as the article transfer direction.
FIG. 3 is a side view of the article transfer device 13. FIG. 3A shows a state in which the fork portion 24 is in the retracted position, and FIG. 3B shows a state in which the fork portion 24 is in the protruding position. Is shown.

The fork 24 includes a fixed fork portion 24a fixed to the lifting platform 12, a secondary fork portion 24b that can be moved back and forth with respect to the fixed fork portion 24a, and a primary fork that can be moved back and forth with respect to the secondary fork portion 24b. It is comprised with the three-stage type fork which consists of the part 24c.
The article transfer device 13 is configured to place and support the article 9 on the primary fork portion 24c as shown by the dotted line in FIG. 3 when the article 9 is transferred.

The exit / exit drive device 25 is a pair of pinion gears 27 that mesh with a rack gear 26 fixed to the secondary fork portion 24b, and an exit / exit electric motor that is an inverter motor that rotationally drives the pair of pinion gears 27 by a gear 28a. The motor 28 is composed of two chains 29 that connect one end of the fixed fork 24a and one end of the primary fork 24c.
The pinion gear 27 and the retractable electric motor 28 are provided in a fixed fork portion 24a, and each of the two chains 29 is rotatable about a horizontal axis provided at an end portion of the secondary fork portion 24b. It is wound around an idler pulley 30.

When the pinion gear 27 is driven to rotate in the forward and reverse directions by the electric motor 28, the secondary fork portion 24b moves back and forth with respect to the fixed fork portion 24a due to the engagement of the pinion gear 27 and the rack gear 26. Then, the chain 29 moves the primary fork portion 24c with respect to the secondary fork portion 24b by the movement of the idler pulley 30 accompanying the withdrawing / withdrawing movement.
In this way, the fork portion 23 protrudes between the retracted position shown in FIG. 3A and the protruding position shown in FIG. It is configured to be actuated or retired.

As shown in FIG. 4, the stacker crane 3 is provided with a crane control device 31 as control means for controlling the operation of the stacker crane 3 based on a command from the ground controller 7.
The crane control device 31 is configured to receive detection information of the lifting rotary encoder 20 and detection information of the traveling rotary encoder 23.
The crane control device 31 uses the traveling electric motor 22 to position the lifting platform 12 at the target position for article transfer based on the detection information of the traveling rotary encoder 23 and the detection information of the lifting rotary encoder 20. The operation of the electric motor for egress / retreat 28 is controlled so that the fork 24 is operated to project and retreat in a state where the elevating table 12 is stopped at the target position. It is configured as follows.

  Then, the crane control device 31 controls the operation of the traveling electric motor 22 so as to cause the traveling carriage 10 to travel so that the lifting platform 12 is positioned at the target position based on the detection information of the traveling rotary encoder 23. Based on the detection information of the traveling control unit 31a for controlling and the rotary encoder 20 for lifting and lowering, the lifting and lowering for controlling the operation of the lifting and lowering electric motor 19 to raise and lower the lifting and lowering table 12 so as to position the lifting and lowering table 12 at the target position. The lift control unit 31b that performs control and the exit / retreat control unit 31c that performs exit / retreat control for controlling the operation of the exit / retreat electric motor 28 in order to project and retract the fork 24 are configured.

The ground-side controller 7 has the warehousing command for warehousing the article 9 of the loading table 8 in any of the plurality of storage units 4 and the articles stored in any of the plurality of storage units 4 with respect to the crane control device 31. It is comprised so that the unloading command which unloads 9 to the load mounting part 8 may be commanded.
And the ground side controller 7 is comprised so that the target position for goods transfer corresponding to the accommodating part 4 or the loading platform 8 used as a transfer object may be commanded together, when commanding a warehousing command and a warehousing command. ing.
The target position for article transfer is determined in correspondence with each of the plurality of storage units 4 and each of the pair of loading platforms 8, and has a scooping target position and a wholesale target position. The target position for scooping is a target position for scooping the article 9 from the storage unit 4 or the loading table 8 to the fork 24, and the target position for wholesale is the item 9 from the fork 24 to the storage unit 4 or the loading table 8. It is the target position for wholesale. The target position for scooping and the target position for wholesale are different in the vertical direction when the target position for wholesale is located on the upper side, but the position in the horizontal direction is determined to be the same.

The crane control device 31 executes a transfer process for scooping the article 9 on the loading table 8 based on the warehousing instruction, and then transfers the article 9 to the storage unit 4 to be transferred as a wholesale. It is comprised so that a mounting process may be performed.
Further, the crane control device 31 executes a transfer process for scooping up the articles 9 stored in the storage unit 4 to be transferred based on the delivery command, and then puts the articles 9 on the loading table 8. It is configured to execute a transfer process for wholesale.

The transfer process for scooping will be described.
First, the traveling control unit 31a performs traveling control and the lifting control unit 31b performs lifting control so that the lifting platform 12 is positioned at the scooping target position corresponding to the loading table 8 or the storage unit 4. Next, when the lifting platform 12 stops at the scooping target position, the withdrawal control unit 31c performs withdrawal control so that the fork 24 protrudes in a state where the article 9 is not placed and supported, and the loading platform 8 The fork 24 is positioned below the article 9. Next, the elevating control unit 31b controls the operation of the elevating electric motor 19 to raise and lower the elevating platform 12 by a set distance, and causes the fork 24 to place and support the article 9. Next, the withdrawal control unit 31c performs withdrawal control so that the fork 24 is retracted while the article 9 is placed and supported.

The wholesale transfer process will be described.
First, in order to position the lifting platform 12 at the wholesale target position corresponding to the loading table 8 or the storage unit 4, the traveling control unit 31a performs traveling control and the lifting control unit 31b performs lifting control. Next, when the lifting platform 12 stops at the wholesale target position, the withdrawal control unit 31c performs the withdrawal control so that the fork 24 protrudes in a state where the article 9 is placed and supported, and the loading platform 8 or The fork 24 on which the article 9 is placed and supported is positioned above the placement support portion 1b. Next, the raising / lowering control unit 31b controls the operation of the raising / lowering electric motor 19 so as to lower the raising / lowering table 12 by a set distance, and places the article 9 on the loading table 8 or the loading support unit 1b. Next, the withdrawal control unit 31c performs withdrawal control so that the fork 24 is retracted in a state where the article 9 is not placed and supported.

The exit / exit control by the exit / exit control unit 31c will be described.
The exit / retreat controller 31c increases the exit / retreat speed to a steady speed at a set acceleration in the initial stage when the fork 24 is operated to project and retract, and thereafter the exit / retreat speed is increased. Is maintained at a steady speed, and the operation of the exit / retreat driving means is controlled so that the exit / retreat speed is decelerated at the set deceleration when the deceleration start timing is reached.

The addition of description, advancing and retracting controller 31c adjusts the rotational speed of extending and retracting electric motor 28 so that withdrawal rate transitions out according projecting and retracting speed curve that defines the target speed of extending and retracting speed of the full forks 24 Therefore, the drive current supplied to the exit / exit electric motor 28 is controlled.
The set acceleration α, steady speed, set deceleration β, and stop speed are predetermined values determined in advance through experiments or the like.

The exit / exit control unit 31c includes a timer that measures an elapsed time since the fork 24 starts to protrude or retract, and based on the elapsed time of the timer, a steady start timing and a deceleration start timing. And, it is configured to determine whether or not the creep start timing is reached, and to control the operation of the electric motor 28 for exit and withdrawal.
Although not shown, a contact-type protruding position detection sensor that detects that the fork 24 is positioned at the protruding position and a contact-type retracted position detection sensor that detects that the fork 24 is positioned at the retracted position are provided. When the fork 24 is operated to project, the exit control unit 31c determines that the fork 24 is positioned at the projecting position by the contact-type projecting position detection sensor, and determines that the stop timing has come. In addition, when the fork 24 is retracted, it is determined that the stop timing has come when the fork 24 is detected to be in the retracted position by the retraction position detection sensor. The exit / exit control unit 31c operates the exit / exit electric motor 28 to stop supplying the current to the exit / exit electric motor 28 when the stop timing is reached in a state where the exit / exit speed is maintained at the stop speed. Is configured to control.

  In this way, the exit / exit control unit 31c in the crane control device 31 first increases the exit / exit speed at the set acceleration, then maintains the exit / exit speed at a steady speed, and then sets the exit / exit speed. In order to cause the fork 24 to decelerate and decelerate, the operation of the electric motor 28 is controlled so that the set acceleration and the withdrawal speed when the withdrawal speed is increased are set. It is configured to change the set deceleration when decelerating.

When the fork 24 is projected and operated with at least the article 9 placed and supported, the exit control unit 31c in the crane control device 31 moves the lifting platform 12 detected by the lifting rotary encoder 20 up and down. When the mast 11 is at the center position in the longitudinal direction, the set acceleration and deceleration are smaller than when the lift mass 11 is positioned at the end side position in the longitudinal direction. It is configured to control the operation of the motor 28.
The exit / exit control unit 31c decreases the set acceleration and the set deceleration as the position of the lifting platform 12 detected by the lifting rotary encoder 20 approaches the center position in the longitudinal direction of the lifting mast 11. The operation of the retraction electric motor 28 is controlled.
Further, the withdrawal control unit 31c acts on the lifting mast 11 in the projecting direction of the fork 24 when the fork 24 is operated to project based on the product information on the product 9 to be placed and supported on the fork 24. It is configured to control the operation of the electric motor 28 for exiting / exiting in a state where the set acceleration and the set deceleration are reduced as the value of becomes larger.

In other words, the exit / exit control unit 31c performs an acceleration / deceleration setting process for setting the set acceleration and the set deceleration, and the output determined by the set acceleration α1 and the set deceleration β1 set in the acceleration / deceleration setting process. as the speed curves in thus extending and retracting speed withdrawal, transitions, and is configured to control the operation for withdrawal out electric motor 28.

When the acceleration / deceleration setting process is described further, the exit / exit control unit 31c sets the first acceleration adjustment value for setting the set acceleration based on the position of the lifting platform 12 detected by the lifting rotary encoder 20. P1 and a first deceleration adjustment value Q1 for setting the set deceleration are obtained. At this time, as shown in FIG. 5 , the exit / exit control unit 31 c has the first acceleration adjustment value P <b> 1 and the first deceleration adjustment value as the position of the lifting platform 12 approaches the central position in the longitudinal direction of the lifting mast 11. First acceleration adjustment value P1 and first deceleration adjustment value Q1 are obtained so that Q1 is increased. Incidentally, FIG. 5 shows the relationship between the position of the elevator 12 and the first acceleration adjustment value P1 when obtaining the first acceleration adjustment value P1, but the elevator table when obtaining the first deceleration adjustment value Q1. Since the relationship between the position 12 and the first deceleration adjustment value Q1 is the same, illustration is omitted.

Further, the leaving / exiting control unit 31c uses the second acceleration adjustment value P2 for setting the set acceleration and the second deceleration for setting the set deceleration based on the weight information of the article 9 as the article information. An adjustment value Q2 is obtained. At this time, the exit / control unit 31c increases the second acceleration adjustment value P2 and the second deceleration adjustment value so that the second acceleration adjustment value P2 and the second deceleration adjustment value Q2 increase as the weight of the article 9 increases. Find Q2.
By the way, the weight information of the article 9 is measured at the place where the article 9 is carried into the article storage shelf 1 and is input to the ground controller 7, and is withdrawn and withdrawn by communication between the ground controller 7 and the crane controller 31. The control unit 31c acquires the weight information of the article 9.

  In this way, when the exit / exit control unit 31c calculates the first acceleration adjustment value P1, the first deceleration adjustment value Q1, the second acceleration adjustment value P2, and the second deceleration adjustment value Q2, the predetermined value α is obtained. Is set to a set acceleration α1 (= α−P1−P2) by subtracting the first acceleration adjustment value P1 and the second acceleration adjustment value P2, and the first deceleration adjustment value Q1 and the second acceleration are set from the predetermined value β. The set deceleration β1 (= β−Q1−Q2) is set by subtracting the two deceleration adjustment value Q2.

The exit control unit 31c does not always perform the acceleration / deceleration setting process described above, but performs the acceleration / deceleration setting process when the fork 24 is operated to protrude while the article 9 is placed and supported, and the acceleration / deceleration setting process is performed. The operation of the electric motor 28 for exiting / exiting is controlled by the set acceleration and the set deceleration set in (1).
When the fork 24 is retracted while the article 9 is placed and supported, and when the fork 24 is projected and retracted without the article 9 being placed and supported, the withdrawal control unit 31c sets the set acceleration. And, it is configured to control the operation of the electric motor 28 for exiting / exiting with the set deceleration as predetermined values α, β.

Explaining based on the flowchart of FIG. 6 , the withdrawal control unit 31c performs acceleration / deceleration setting processing when the fork 24 is placed and supported on the fork 24 and the fork 24 is operated to protrude (see FIG. 6 ). Steps 1-3). The exit control unit 31c sets the set acceleration and the set deceleration as the set acceleration α1 (= α−P1-P2) and the set deceleration β1 (= β−Q1-Q2) set in the acceleration / deceleration setting process. Then, the fork 24 is operated to project (step 4).
Further, when the fork 24 does not place and support the article 9 on the fork 24 or when the fork 24 is to be retracted, the set acceleration and the set deceleration are set as the default values α and β. The fork 24 is protruded or retracted (step 5).

In this way, when the fork 24 is operated to project while the article 9 is placed and supported on the fork 24, the fork 24 is operated to project at the set acceleration and the set deceleration set in the acceleration / deceleration setting process. The article 9 can be transferred from the fork 24 to the transfer location in a state where the lifting mast 11 is prevented from vibrating in the protruding direction of the fork 24, and the article 9 can be transferred to an appropriate position. .
When the fork 24 is retracted while the fork 24 is placed and supported on the fork 24, and when the fork 24 is projected and retracted when the fork 24 is not placed and supported for the article 9, the set acceleration is set. By setting the set deceleration to the predetermined values α and β that are set in advance, the fork 24 can be protruded and retracted quickly, so that the fork 24 can be quickly operated and retracted, and the time required for the article transfer Can be shortened.

[Another embodiment]
(1) In the above embodiment, in the acceleration / deceleration setting process, the withdrawal control unit 31c decreases the set acceleration and the set deceleration as the position of the lifting platform 12 approaches the center position in the longitudinal direction of the lifting mast 11. The set acceleration and the set deceleration are set. However, the configuration for setting the set acceleration and the set deceleration can be appropriately changed.
For example, advancing and retracting the control unit 31c, based on the relationship between the position and the first acceleration adjustment value P1 of the elevation frame 12 shown in FIG. 7, the first acceleration for adjustment value P1 and a first deceleration adjustment value Q1 Using the calculated first acceleration adjustment value P1 and the first deceleration adjustment value Q1, the first acceleration adjustment value P1 is subtracted from the predetermined value α in the same manner as in the above embodiment. The acceleration is set, and the set deceleration is set by subtracting the first deceleration adjustment value Q1 from the predetermined value β. In this way, the exit / exit control unit 31c reduces the set acceleration and the set deceleration stepwise as the position of the lift 12 approaches the center position in the longitudinal direction of the lift mast 11. 28 is controlled.

  In addition, as described above, the exit / exit control unit 31c reduces the set acceleration and the set deceleration in a stepwise manner as the position of the lifting platform 12 approaches the center position in the longitudinal direction of the lifting mast 11. When controlling the operation of the motor 28, how to set the set acceleration and the set deceleration step by step, such as how many steps the set acceleration and the set deceleration should be reduced and what value should be used for the reduction range. It is possible to appropriately change whether to make it smaller.

(2) In the above embodiment, when setting the set acceleration and the set deceleration so that the set acceleration and the set deceleration become smaller as the position of the elevating platform 12 approaches the center position in the longitudinal direction of the elevating mast 11, A first acceleration adjustment value P1 and a first deceleration adjustment value Q1 that increase as the position of the lifting platform 12 approaches the center position in the longitudinal direction of the lifting mast 11 are obtained. The set acceleration is set by subtracting P1 and the set deceleration is set by subtracting the first deceleration adjustment value Q1 from the predetermined value β. However, the position of the lifting platform 12 is in the longitudinal direction of the lifting mast 11. Find the acceleration adjustment value and deceleration adjustment value that increase as you approach the end position, add the acceleration adjustment value to the default value α, set the set acceleration, and set the deceleration adjustment value to the default value β. Add It is also possible to set a constant deceleration.
That is, the set acceleration and the set deceleration are smaller when the position of the lifting platform 12 is the central position in the longitudinal direction of the lifting mast 11 than when it is positioned at the end side position in the longitudinal direction of the lifting mast 11. If so, how to set the set acceleration and the set deceleration can be appropriately changed.

(3) In the above embodiment, the position of the lifting platform 12 is the central position in the longitudinal direction of the lifting mast 11 only when the withdrawal control unit 31c projects and operates the fork 24 with the article 9 placed and supported. The operation of the electric motor 28 for exiting / exiting is controlled in a state where the set acceleration and the set deceleration are made smaller than when the set acceleration and the set deceleration are smaller than when positioned at the end side position in the longitudinal direction of the lifting mass 11. For example, when the fork 24 is protruded and operated with the article 9 placed and supported, and when the fork 24 is withdrawn and operated with the article 9 placed and supported, the withdrawal control unit 31c moves up and down. The set acceleration and the set deceleration are smaller when the position of the base 12 is the central position in the longitudinal direction of the lifting mast 11 than when it is positioned at the end side position in the longitudinal direction of the lifting mass 11 In a state in which, it is possible to control the operation for withdrawal out electric motor 28.
That is, when the exit control unit 31c is located at the end side position in the longitudinal direction of the lifting mass 11t when the position of the lifting platform 12 is the central position in the longitudinal direction of the lifting mast 11. It is possible to appropriately change whether to control the operation of the exit / exit electric motor 28 in a state in which the set acceleration and the set deceleration are made smaller than when positioned.

(4) In the above embodiment, the fork 24 protrudes with respect to the elevating mast 11 when the fork control unit 31c operates the fork 24 to project based on the item information about the item 9 to be placed and supported on the fork 24. As the acting force acting in the direction increases, the operation of the electric motor 28 for exit / exit is controlled in a state where the set acceleration and the set deceleration are reduced. The exit / exit control unit 31c is placed and supported on the fork 24. Regardless of the article information about the article 9 to be moved, the operation of the exit / exit electric motor 28 can be controlled without changing the set acceleration and the set deceleration.

(5) In the above embodiment, the crane control device 31 should position the lifting platform 12 at the target position for article transfer based on the detection information of the traveling rotary encoder 23 and the detection information of the lifting rotary encoder 20. In order to control the operation of the traveling electric motor 22 and the operation of the elevating electric motor 19 and to stop the elevating platform 12 at the target position, the fork 24 is operated to project and retreat. Although the operation of the motor 28 is controlled, the crane control device 31 moves the lifting platform 12 to the target position for article transfer based on the detection information of the traveling rotary encoder 23 and the detection information of the lifting rotary encoder 20. The operation of the electric motor 22 for traveling and the operation of the electric motor 19 for elevating and lowering are controlled so that the elevating platform 12 reaches a position before the target position. In order to retire operate the fork 24 in a state in which position the lifting table 12 in the projecting actuation is allowed and the target position fork 24 in the state, it is also possible to control the operation for withdrawal out electric motor 28.

(6) In the above embodiment, the weight information of the article 9 is exemplified as the article information about the article 9 to be placed and supported on the fork 24. For example, the center of gravity of the article 9 in the protruding direction of the fork 24 is the position of the fork 24. Since the acting force acting in the protruding direction of the fork 24 on the elevating mast 11 when the fork 24 is operated to protrude is increased toward the tip side, the gravity center position information of the article 9 in the protruding direction of the fork 24 is applied. It is also possible.
That is, the article information is not limited to the weight information of the article 9, but may be information that can determine the magnitude of the acting force acting in the protruding direction of the fork 24 with respect to the lifting mast 11 when the fork 24 is protruded. Adaptable.

(7) In the above embodiment, as the horizontal position detecting means, the traveling rotary encoder 23 that outputs a pulse by the traveling of the traveling carriage 10 is provided. For example, for the reflector installed at the end of the track 2 A laser range finder for detecting the distance from the end of the track 2 to the traveling carriage 10 by projecting measurement light is provided in the traveling carriage 10, and a horizontal position detecting means is provided by the laser range finder. It can also be configured.
Moreover, in the said embodiment, although the raising / lowering rotary encoder 20 which outputs a pulse by raising / lowering the raising / lowering stand 12 is provided as an up-and-down position detection means, it is for measurement with respect to the reflector installed in the raising / lowering stand 12, for example. A laser rangefinder that detects the distance from the traveling carriage 10 to the lifting platform 12 by projecting light can be provided in the carriage 10 and the vertical position detection means can be configured by this laser rangefinder. .

(8) In the above embodiment, the fork-type article transfer device 13 is exemplified by a three-stage fork type, but various types of fork-type article transfer devices can be applied.

(9) In the above embodiment, the crane control device 31 that controls the operation of the stacker crane 3 by controlling the operation of the lifting electric motor 19, the traveling electric motor 22, and the electric motor 28 for moving in and out is used as the stacker crane. 3, for example, the controller for controlling the operation of the lifting electric motor 19, the traveling electric motor 22, and the exiting / leaving electric motor 28 is not equipped in the stacker crane 3, and the ground side controller 7, A communication network is configured between the inverter in the lifting electric motor 19, the inverter in the traveling electric motor 22, and the inverter in the exiting / leaving electric motor 28. The inverter in the electric motor 22 and the electric motor 28 Respect converter, the start operation, the speed command, by commanding through a communication network a variety of information such as operation stop, it is also possible to manage the operation of the stacker crane 3.

Schematic perspective view of automated warehouse Side view of stacker crane The figure which shows a fork apparatus and an article storage shelf Automatic warehouse control block diagram Graph showing the relationship between the position of the platform and the adjustment value for the first acceleration Flow chart showing operation of exit / exit controller A graph showing the relationship between the position of the lifting platform and the adjustment value for the first acceleration in another embodiment F

Explanation of symbols

DESCRIPTION OF SYMBOLS 5 Lower side rail 6 Ceiling side rail 9 Goods 10 Mobile body 11 Lifting mast 12 Lifting body 13 Fork-type article transfer means 19 Lifting drive means 20 Vertical position detection means 22 Horizontal drive means 23 Horizontal position detection means 24 Fork 25 Exit Driving means 31 Control means

Claims (4)

A moving body horizontally moved by a horizontal driving means in a state guided by a lower rail provided on the floor side along the horizontal direction;
A lifting body that is erected from the movable body and is driven up and down by a lifting drive means in a state guided by a lifting mast that is guided by a ceiling-side rail provided on the ceiling side along the horizontal direction,
The lifting / lowering means is configured to be driven to move back and forth between a retraction position where a fork capable of placing and supporting an article is retracted toward the lifting body side and a protruding position where the fork is projected toward an external article transfer side. Fork-type article transfer means equipped on the body;
Control means for controlling the operation of the horizontal drive means, the action of the elevating drive means, and the action of the exit / retreat drive means,
The control means is based on the detection information of the horizontal position detection means for detecting the position of the moving body in the horizontal direction and the detection information of the vertical position detection means for detecting the position of the elevating body in the vertical direction. In order to position the elevating body at the mounting target position, the operation of the horizontal driving means and the operation of the elevating driving means are controlled, and the elevating body is stopped at the target position or the elevating body is Retracting the fork from the retraction position to the retraction position when the fork is operated to retreat from the retraction position to the retraction position when the position before the target position is reached, and when the elevating body is located at the target position In each of the operations, at the initial stage, the exit / retreat speed is increased to a steady speed at a set acceleration, and thereafter, the exit / retreat speed is maintained at the steady speed. Becomes the deceleration start timing to decelerate the advancing and retracting speed setting deceleration, an article transport device is configured to control the operation of the output retraction drive means,
When the fork is protruded and operated with at least an article placed and supported, the control means is such that the position of the lifting body detected by the vertical position detection means is a central position in the longitudinal direction of the lifting mast. The operation of the exit / retreat driving means is controlled in a state where the set acceleration and the set deceleration are smaller than when the elevating mast is positioned at the end side position in the longitudinal direction of the elevating mast. A configured article conveying apparatus.   The control means reduces the set acceleration and the set deceleration as the position of the lifting body detected by the vertical position detection means approaches the center position in the longitudinal direction of the lifting mast. The article conveying apparatus according to claim 1, wherein the article conveying apparatus is configured to control an operation of the driving means.   The control means includes the set acceleration and the set deceleration when the fork is retracted while the article is placed and supported, and when the fork is projected and retracted when the article is not placed and supported. The article conveying apparatus according to claim 1 or 2, wherein the operation of the exit / retreat driving means is controlled with a predetermined value as a predetermined value.   The control means, based on the article information about the article to be placed and supported on the fork, the greater the acting force acting in the protruding direction of the fork with respect to the lifting mast when the fork is operated to protrude, The article conveying apparatus according to any one of claims 1 to 3, wherein the article conveying device is configured to control the operation of the exit / retreat driving means in a state where the set acceleration and the set deceleration are reduced.

Images