JP2003267519A - Stop control device for stacker crane - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a stop control device of a stacker crane capable of stopping the stacker crane in the state that the center of width of a cargo having various widths and the center of width of a slide fork are approximately coincident with each other. <P>SOLUTION: A stock/shipping station 9 conveys the cargo W placed on a cargo-receiving base 9b to a transferring/receiving position Z by a conveyor 10 and stops it and moves a cargo detection sensor 14 from one end Wa of the cargo W to the other end Wb by a ball screw 16. The cargo width S is detected by an encoder 18 and data of the detected cargo width S are transmitted to the stacker crane 2. The stacker crane 2 determines a stop position such that a center WL of the cargo width of the cargo W and a center FL of width of the slide fork 7 are coincident with each other from the data of the cargo width S received and compares the stop position with a position of the stacker crane 2 detected by an encoder 4c for detecting a position. When the stop position and the position of the stacker crane 2 are coincident with each other, the stacker crane 2 is stopped. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention stops a stacker crane at a predetermined unloading position in an automated warehouse in order to unload incoming cargo of various widths without being biased onto a slide fork. The present invention relates to a stop control device for a stacker crane.

[0002]

2. Description of the Related Art Automated warehouses installed in factories and warehouses have storage shelves that store loads in a plurality of storage spaces, and guide rails laid on the floor that are arranged to face the storage shelves. It consists of a stacker crane that runs along the stacker crane, and a loading / unloading station that is placed in the running direction of the stacker crane and that temporarily loads loads that are loaded from the outside or that are loaded from the storage shelves to the outside. . In such an automated warehouse, a stacker crane loads a load received from the outside and placed at a loading / unloading station onto a retractable slide fork, conveys it while traveling, and transfers it to a predetermined storage rack. Carry-in work is carried out to place in the storage space.

FIG. 7 is a diagram showing a state of placing a load on a storage shelf of an automatic warehouse, and shows a state of placing a load by a slide fork during the above-described loading operation. Figure 7
In (a), 80 is a storage shelf, and a plurality of support columns 80
The storage spaces A1 and A2 are formed by a and the plurality of shelf support members 80b supported by the columns 80a. AL is the space center of the storage spaces A1 and A2. 87 is a slide fork of the stacker crane, and FL is the width center of the slide fork 87. W1 and W2 are loads carried by the slide fork 87 from the loading / unloading station described above, W1 indicates a load having a large load width S1, and W2 indicates a load having a small load width S2. P1 and P2 are loads W1,
It is a pallet receiving W2. Here, the width dimensions of the loads W1 and W2 and the width dimensions of the pallets P1 and P2 are the same. WL is load W1, W2 and pallet P
1, the load width center of P2.

A slide fork 87 is attached to the storage rack 80.
When the loads W1 and W2 are placed on the storage space, first, the slide fork 87 faces the storage spaces A1 and A2 so that the width center FL coincides with the space center AL. When the slide fork 87 is extended, the load W is stored in the storage spaces A1 and A2.
The load W1 and W2 are placed on the two shelf support materials 80b while entering and descending together with the first and second W2. At this time,
Width center FL of slide fork 87 and storage spaces A1, A
Since the space center AL of 2 matches, the loads W1 and W2
If the load width center WL of the load and the width center FL of the slide fork 87 match, the loads W1 and W2 are stored in the storage spaces A1 and A2.
It is placed in the central position of. However, as shown in FIG. 7B, the loads W1 and W2 are unbalanced on the slide fork 87, and the load width center WL of the loads W1 and W2 and the width center FL of the slide fork 87 are displaced. Then, the left end of the load W1 having a large load width S1 comes into contact with the support column 80a (hatched portion) and cannot enter the storage space A1. Further, the load W2 having a small load width S2 can enter the storage space A2, but the right end of the load W2 has a shelf support 80b.
If the slide fork 87 descends and the load W
No. 2 is not normally placed on the shelf receiving material 80b and is inclined as shown by the broken line. Therefore, load W at the loading / unloading station
When loading 1, W2 onto the slide fork 87,
The stacker crane is stopped in a state where the load width center WL of the loads W1 and W2 and the width center FL of the slide fork 87 are substantially aligned, and the load W is placed on the slide fork 87 at this position.
It is necessary to load 1, W2 without biasing. Therefore,
Conventionally, the following stacker crane stop control devices have been adopted.

FIG. 8 is a perspective view showing a conventional stop control device for a stacker crane. In FIG. 8, reference numeral 81 denotes a stacker crane stop control device. Reference numeral 82 is a stacker crane for an automated warehouse, and a trolley 84 that travels in the left and right directions L and R along a guide rail 83 laid on the floor.
A carriage 86 that is vertically movable is provided between two masts 85 that are erected on the carriage 84. The carriage 86 is capable of expanding and contracting in the front-rear directions F and B.
Equipped with 7. Since this slide fork 87 is the same as that described in FIG. 8, the same reference numeral is used.
Reference numeral 88 is a crane operation panel for setting the operation of each part of the stacker crane 82. This setting can be input by the operator directly to the operation panel 88a or by wireless input from an external management device (not shown). Done. The crane operation panel 88 is internally provided with a control unit (not shown), and the control unit controls operations such as traveling and stopping of the carriage 84, raising and lowering of the carriage 86, and extension and contraction of the slide fork 87.

Reference numeral 89 denotes a loading / unloading station arranged along the traveling directions L and R of the stacker crane 82,
A load W received from the outside by a forklift (not shown) or the like and a pallet P that receives the load W are placed on the upper portion of the load receiving portion 89b supported by the legs 89a in the R direction. Here, the end of the load W on the L direction side is referred to as the front end Wa.
And Similarly, also for the pallet P, the end portion on the L direction side is referred to as the tip end portion Pa. S is the load W and L of the pallet P,
It is the load width in the R direction. Here, the width dimension of the load W and the width dimension of the pallet P are the same, and these are collectively referred to as the load width S. A conveyor 90, which is a conveying means, is attached to the side portions of the cargo receiving portion 89b on the F and B direction sides, and the conveyor 90 is driven to load the cargo W onto the pallet P.
Are conveyed in the L direction.

A plurality of stoppers 91a, 91b, 9 are provided on the L direction side of the load receiving portion 89b to regulate the movement of the load W and the pallet P conveyed by the conveyor 90 in the L direction.
1c are installed at a predetermined interval in the R direction. These stoppers 91a, 91b, 91c are a fixed stopper 91a fixed to the upper portion of the load receiving portion 89b and a load receiving portion 89b.
A movable stopper 91b provided so as to be retractable from the upper part of the
The movable stoppers 91b and 91c are operated by the operator by switching the load size selection switch 92a installed on the station operation panel 92. Reference numerals 93a, 93b, and 93c are diffuse reflection type photoelectric sensors, and stoppers 91a, 91b, and
Pallet P conveyed by conveyor 90 to 91c
It is detected that the tip end portion Pa of the contact point abuts. When the photoelectric sensors 93a, 93b, 93c detect the tip end portion Pa of the pallet P, the driving of the conveyor 90 is stopped, and the load W and the pallet P contact the tip end portions Wa, Pa with the respective stoppers 91a, 91b, 91c. Stop in the state where it was made. ST
1, ST2, ST3 are the load W and the leading end Wa of the pallet P,
This is the stop position of the tip of Pa. By these, when the operator switches the load size selection switch 92a installed on the station operation panel 92 according to the size of the load, the movable stoppers 91b and 91c are operated to move in and out, and the tips of the transported load W and pallet P are moved. The tip end stop positions ST1, ST2, ST3 of the parts Wa, Pa can be selected in three stages.

Further, the above-mentioned stoppers 91a, 91b,
91c sets the arrangement interval according to the load W to be conveyed and the load width S of the pallet P. Therefore, the load width S
When the loads W and pallets P having different load widths are stopped by the stoppers 91a, 91b, 91c corresponding to the respective load widths, the load width centers WL of the loads W and pallets P having different load widths S are always the same load width center stop position. It will be located in XL. For example, when the load width S is different in three stages of large, medium, and small, when the load W having a large load width S and the pallet P are stopped, the load size selection switch 92a is switched to "large",
When the movable stoppers 91b and 91c are set in the retracted state and the load W and the pallet P are stopped by the fixed stopper 91a, the load width center WL is located at the load width center stop position XL. When stopping the load W and the pallet P having the medium load width S, the load size selection switch 92a is switched to "medium" to move the movable stopper 91.
When the load W and the pallet P are stopped by the movable stopper 91b while c is in the retracted state, the load width center WL stops at the load width center stop position XL. When the load W having a small load width S and the pallet P are stopped, the load size selection switch 92a is switched to "small" and the movable stopper 91c is projected,
When the load W and the pallet P are stopped by the stopper 91c, the load width center WL stops at the load width center stop position XL.

Then, after the loads W having different load widths S and the load width centers WL of the pallets P are always positioned at the same load width center stop position XL, the stacker crane 82 is moved by the carriage 84, When stopped at a position where the width center FL of the slide fork 87 coincides with the load width center stop position XL, the load width center WL of the load W and the pallet P and the width center FL of the slide fork 87 become substantially coincident with each other. Further, after that, the lifter 94 for raising and lowering the load W and the pallet P provided in the load receiving portion 89b raises the load W and the pallet P, extends the slide fork 87 below the pallet P, and raises the carriage 86. The load is picked up on the slide fork 87 without being biased.

[0010]

However, in the conventional stop control device 81 for the stacker crane described above,
Since the stoppers 91a, 91b, 91c are installed at predetermined intervals for each size of the load width S determined in advance, if the load W and the pallet P having other load widths S are to be handled, Accordingly, the number of stoppers to be installed will have to be increased. However, the receiving section 89b
Since the number of stoppers that can be installed on the upper part of the container and the intervals at which they are arranged are limited by the size of the stopper itself and the arrangement space of the load receiving portion 89b, it is possible to provide stoppers corresponding to all loads W and pallets P having different load widths S. The load width center WL of the load W and the pallet P cannot be set, and the load width center stop position XL
The load W having a specific load width S and the pallet P can be matched with the above. For this reason, the stacker crane 82 can be stopped in a state where the load width center WL of the load W and the pallet P and the width center FL of the slide fork 87 are substantially aligned with each other. There is a problem that it is limited to P. Then, as a result, the load W and the pallet P having a load width different from the specific load width S are biased onto the slide fork 87 and taken off, so that the load cannot be normally placed on the storage shelf 80. There is. In addition, even for a specific load W and pallet P having stoppers corresponding to the load width S, the operator confirms the load width S for each load W and pallet P to be conveyed, and adjusts to the load width S. Since the load size selection switch 92a is switched over, the operation is troublesome and the work efficiency deteriorates.
There is also a possibility that the user may mistakenly switch 2a.

The present invention is intended to solve the above problems, and its object is to provide a stacker crane in a state where the load width center of a load having various load widths and the width center of a slide fork are substantially aligned. It is to provide a stop control device for a stacker crane capable of stopping the operation.

[0012]

In the stop control device for a stacker crane according to the present invention, the loading / unloading station is
Conveying means for conveying the load to the transfer position for transferring the load to the slide fork, load width detecting means for detecting the load width of the load conveyed to the transfer position, and loader width data detected by the load width detecting means for the stacker crane. And a transmitting means for transmitting to. The stacker crane includes a receiving means for receiving the load width data transmitted by the transmitting means, a stop position determining means for determining the stop position of the stacker crane based on the load width data received by the receiving means, and a position of the stacker crane. And position detecting means for detecting. Here, the stop position determined by the stop position determining means is the position of the stacker crane such that the center of the load width of the load and the center of the width of the slide fork substantially coincide with each other. The stacker crane stops when the position of the stacker crane detected by the position detecting means coincides with the stop position.

In the stacker crane stop control device as described above, the loading / unloading station transports the load placed on the loading / unloading station to the delivery position by the transporting means and stops it, and the load width detecting means for each load. The load width is detected, and the detected load width data is transmitted to the stacker crane by the transmitting means. Then, the stacker crane receives the load width data transmitted from the transmitting means by the receiving means, and the load width center of the load and the width center of the slide fork are substantially matched by the stop position determining means from the load width data. The stop position is determined, the stop position is compared with the position of the stacker crane detected by the position detecting means, and when the result of the comparison is that the stop position and the position of the stacker crane match, the stop position is stopped. For this reason, the stacker crane can be stopped for all loads having various load width dimensions while the load width center of the load and the width center of the slide fork are substantially aligned. Then, when the slide fork of the stacker crane stopped in this way is extended and the carriage is raised, it is possible to pick up all the loads without being biased onto the slide forks regardless of the size of the load width. In addition, since the operator does not need to check the load width for each load placed at the loading / unloading station, the operator's labor can be saved, and the load width can be checked correctly, which improves the efficiency of the unloading work. Is possible.

Further, in the stacker crane stop control device according to the present invention, the load width detecting means includes the load detecting means for detecting the load conveyed to the delivery position and the load detecting means at one end in the load width direction of the load. To the other end, and a moving amount measuring unit for measuring the moving amount of the load detecting unit moved by the moving unit is preferable.

In the above construction, the load detecting means detects the load when the moving means starts moving from one end of the load and stops detecting the load when passing the other end of the load, so the load detecting means detects the load. By measuring the amount of movement moved while detecting, by the movement amount measuring means, this movement amount is detected as the load width of the load. For this reason, the load widths of all loads can be detected regardless of the size of the load, and the stacker crane can be reliably stopped at the loading position. Further, the load detection means, means for detecting that a load has arrived at the delivery position,
Since it also serves as a means for detecting the load width while moving, 1
It can be realized with one sensor, and the configuration is simple.

Further, in the stacker crane stop control device according to the present invention, the stop position determining means includes a storage means for storing a predetermined reference load width and a predetermined reference load width and a receiving means stored by the storage means. It is preferable to have a configuration including a calculation unit that calculates a stop position from the received load width data.

In the above structure, the calculating means calculates the stop position of the stacker crane for each load from the predetermined reference load width and the load width data received by the receiving means. Therefore, the stop position of the stacker crane can always be stably determined based on the reference load width, and the stacker crane can be accurately stopped at the load pickup position.

[0018]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view showing a stop control device for a stacker crane according to the present invention. In FIG. 1, a stacker crane stop control device 1 is applied to an automated warehouse installed in a factory or a warehouse.
A stacker crane 2 is arranged so as to face a storage shelf 80 in which a plurality of storage spaces A1 and A2 are formed as shown in FIG. Reference numeral 4 is a truck of the stacker crane 2, and 4a and 4b are wheels of the truck 4. The wheels 4a and 4b roll on the guide rails 3 laid on the floor, so that the carriage 4 travels along the guide rails 3 in the left and right directions L and R. Reference numeral 4c is a position detecting encoder connected to the rotating shaft of the wheel 4a, which detects the number of rotations of the wheel 4a and outputs it to the crane controller 8b shown in FIG.
The crane controller 8b counts the output of the encoder 4c to detect the position of the stacker crane 2. The encoder 4c, the crane controller 8b, and the memory 8c constitute the position detecting means in the present invention.

Reference numeral 5 denotes two masts provided upright on the carriage 4, and a carriage 6 is arranged between the masts 5 so as to be able to move up and down. A slide fork 7 that can extend and contract in the front-rear directions F and B is provided on the upper portion of the carriage 6. FL is the width center indicating the center line of the slide fork 7 in the width direction. Reference numeral 8 is a crane operation panel for setting the operation of each part of the stacker crane 2. This setting is provided by the operator directly on the operation panel 8a or provided inside the operation panel 8 from an external management device (not shown). Receiver 8d (Fig. 2
It is performed by transmitting a signal to (indicated in FIG. Also,
The crane operation panel 8 is internally provided with a crane controller 8b and a memory 8c shown in FIG. Crane controller 8b
Is a calculation means in the present invention, which determines a stop position Y (for example, shown in FIG. 3) of the stacker crane 2 which will be described later, and travels and stops the carriage 4, raises and lowers the carriage 6, and extends and contracts the slide fork 7. Control movements. The memory 8c is a storage means in the present invention, and stores a reference load width T of the stacker crane 2 described later and operation settings of each part of the stacker crane 2 described above.

Reference numeral 9 denotes the traveling directions L and R of the stacker crane 2.
Is a loading / unloading station arranged along the
A load W received from the outside by a forklift (not shown) or the like and a pallet P that receives the load W are placed on the upper portion of the load receiving portion 9b supported by a in the R direction.
Here, the end portion of the load W on the L direction side is referred to as a leading end portion Wa, and the end portion on the R direction side is referred to as a rear end portion Wb. Similarly, with respect to the pallet P, the end portion on the L direction side is the tip end portion Pa and the end portion on the R direction side is the rear end portion Pb. S is the load width of the load W and the pallet P in the L and R directions. In the present embodiment, the width dimension of the load W and the width dimension of the pallet P are the same, and these are collectively referred to as the load width S. A conveyor 10, which is a conveying means, is provided on the side of the cargo receiving portion 9b on the F and B direction sides.
This conveyor 10 is a conveyor driving motor 10a (see FIG.
The load W is conveyed in the L direction together with the pallet P by driving the load P in the direction shown in FIG. It should be noted that the conveyor 10 is configured such that when the load W and the pallet P are placed on the load receiving portion 9b, the load receiving portion 9b
The presence sensor (not shown) provided in the station may detect it and automatically drive it, or the operator may operate the conveyor drive switch 11 provided on the station operation panel 11.
You may make it drive by turning on a. Further, inside the station operation panel 11, there are provided a station control section 11b and a memory 11c shown in FIG. 2, and a transmission section 11d for transmitting a signal to a reception section 8d provided on the crane operation panel 8 of the stacker crane 2. .

Reference numeral 12 denotes two stoppers provided at the end portion of the load receiving portion 9b on the L direction side.
When the load W conveyed by the conveyor 10 and the leading ends Wa and Pa of the pallet P come into contact with each other, the movement of the load W and the pallet P in the L direction is restricted. Reference numeral 14 is a load detection sensor which constitutes the load detection means in the present invention, and is a diffuse reflection type photoelectric sensor in the present embodiment. The load detection sensor 14 projects light at a position immediately before the stopper 12 when viewed from the load W, and detects the pallet P conveyed by the conveyor 10. That is, when the load W and the pallet P are conveyed to the position immediately before the stopper 12 by the conveyor 10, the light emitted by the load detection sensor 14 strikes the pallet P and is reflected, and the reflected light is received by the load detection sensor 14. Therefore, the load detection sensor 14 is turned on. When the load detection sensor 14 detects the pallet P in this way, the drive of the conveyor 10 is stopped, and the load W and the pallet P stop with the leading ends Wa and Pa abutting the stopper 12. This stop position is the loading / unloading station 9
It is a delivery position Z where the load W and the pallet P are delivered from the to the slide fork 7. ST is a leading end stop position where the loads W and the leading ends Wa and Pa of the pallet P stop. T
Is the reference load width stored in the memory 8c described above, and is the load width of the specific load W. Reference numeral 13 is a lifter as an elevating means for elevating the load W and the pallet P at the transfer position Z. When the lifter 13 lifts the load W and the pallet P from the load receiving portion 9b, the slide fork 7 extends below the pallet P, and the carriage 6 moves up to lift and load the load W and the pallet P. it can.

Further, the load detection sensor 14 is a bracket 15
Ball screw 16 installed on the side of the cargo receiving portion 9b via
Are linked to. Therefore, the sensor moving motor 17
When the ball screw 16 is rotated by the drive of, the load detection sensor 14 moves in the R direction. The motor 17 is
The load detection sensor 14 detects the pallet P and is turned on to start driving, and the load detection sensor 14 detects the pallet P.
Is stopped and the drive is stopped by turning OFF. The ball screw 16 and the sensor moving motor 17 are
It constitutes the moving means in the present invention.

Reference numeral 18 denotes a movement amount detecting encoder connected to the end portion of the ball screw 16 on the R direction side, which detects the number of revolutions of the ball screw 16 and outputs it to the station control section 11b shown in FIG. Then, the station controller 11b counts the output of the encoder 18 to calculate the movement amount of the load detection sensor 14. Encoder 1
8, the station control unit 11b, and the memory 11c constitute the movement amount detecting means in the present invention.

The load W and the pallet P are conveyed to the position immediately before the stopper 12 by the moving means and the moving amount detecting means, and the load detecting sensor 14 detects the pallet P and O
In the N state, the conveyor 10 stops, the load W and the pallet P stop at the delivery position Z, and at the same time, the sensor 14 moves from the tip end stop position ST in the R direction.
The sensor 14 moving in the R direction has a rear end Pb of the pallet P.
At the time when the sensor 14 has passed, the sensor 14 does not detect the pallet P and is in the OFF state. In response to this, the rotation of the motor 17 is immediately stopped, the rotation of the ball screw 16 is also stopped, and the sensor 14 moves in the R direction. To stop. Then, the output of the encoder 18 when the load detection sensor 14 is stopped is read by the station control unit 11b, and the station control unit 11b calculates the amount of movement of the sensor 14 to calculate the movement amount of the load W. And the load width S of the pallet P is detected. The load detection sensor 14, the ball screw 16, the sensor moving motor 17, the encoder 18, the station control unit 11b, and the memory 11c.
And constitutes the load width detecting means in the present invention.

FIG. 2 is a block diagram showing the electrical construction of the stop control device for the stacker crane according to the present invention.
In FIG. 2, the stacker crane stop control device 1 is
It is composed of a stacker crane 2 and a loading / unloading station 9. In stacker crane 2, 8b is CP
It is a crane control unit consisting of U. 8c is RAM or RO
It is a memory consisting of M. 8d is a loading / unloading station 9
Is a receiving unit that receives the signal from the load W and the data of the load width S of the pallet P detected at the loading / unloading station 9. The receiving unit 8d also receives a signal transmitted from an external management device regarding the operation setting of each unit. Reference numeral 2a is a drive unit including a drive motor (not shown) for operating the carriage 4, the carriage 6, and the slide fork 7. Reference numeral 4c is the above-mentioned position detecting encoder, which detects the number of rotations of the wheels 4a of the carriage 4.

Next, at the loading / unloading station 9, 1
1b is a station control unit including a CPU. 11
c is a memory including a RAM and a ROM. Reference numeral 11d is a transmission unit that transmits a signal to the reception unit 8d of the stacker crane 2, and transmits the data of the load W and the load width S of the pallet P detected at the loading / unloading station 9. A conveyor driving motor 10a drives the conveyor 10.
Reference numeral 14 denotes the load detection sensor described above, which detects the pallet P conveyed to the delivery position Z by the conveyor 10. 1
Reference numeral 7 is the sensor moving motor described above, and the load detection sensor 1
The ball screw 16 for moving 4 is rotated. Reference numeral 18 denotes the above-described movement amount detecting encoder, which detects the number of rotations of the ball screw 16.

FIG. 3 is a plan view for explaining the operation of each part in the stop control device for a stacker crane according to the present invention. In FIG. 3A, the stacker crane 2 is stopped on the L direction side of the loading / unloading station 9 and waits for the data of the load width S to be transmitted from the loading / unloading station 9. In the loading / unloading station 9, the load W and the pallet P loaded from the outside are placed on the upper surface of the load receiving portion 9b. From this state, the loading / unloading station 9 drives the conveyor 10 to transport the load W and the pallet P in the L direction.

When the front end Pa of the conveyed pallet P reaches the front end stop position ST and the load detection sensor 14 detects the pallet P, the load detection sensor 14 is turned on.
And by this, the conveyor 10 stops driving,
As shown in FIG. 3B, the load W and the pallet P stop at the delivery position Z. At this time, the load W and the leading ends Wa and Pa of the pallet P are stopped by the stopper 12 at the leading end stop position ST.
Abut.

Further, when the load detection sensor 14 is turned on, the sensor moving motor 17 is driven, the ball screw 16 rotates, and the load detection sensor 14 stops at the tip end stop position S.
Move from T to R. When the load detection sensor 14 passes the rear end Pb of the pallet P, the sensor 1
4 is no longer detecting the pallet P and is in the OFF state,
In response to this, the drive of the motor 17 is immediately stopped, the rotation of the ball screw 16 is stopped, and the sensor 14 stops moving as shown in FIG. Then, the output of the encoder 18 at this time is read by the station control unit 11b (FIG. 2) provided inside the station operation panel 11, and the station control unit 11b outputs the output value of the encoder 18 to a predetermined area of the memory 11c (FIG. 2). To record. The amount of movement of the load detection sensor 14 is calculated based on this output value, and this amount of movement is detected as the load W and the load width S of the pallet P. After that, the data of the detected load W and the load width S of the pallet P are transferred to the station operation panel 11
Is transmitted from the transmitter 11d (FIG. 2) to the receiver 8d (FIG. 2) provided inside the crane operation panel 8.

When the receiving section 8d receives the data of the load width S from the transmitting section 11d, the crane control section 8b (FIG. 2) provided inside the crane operation panel 8 stores the reference load stored in the memory 8c (FIG. 2). The width T is read, and the stop position Y of the stacker crane 2 is determined from the reference load width T and the received load width S. The stop position Y is the transfer position Z.
The position of the stacker crane 2 is such that the load width center WL of the load W and the pallet P stopped at the same time and the width center FL of the slide fork 7 substantially coincide with each other.

When the stop position Y is determined by the crane controller 8b, the stacker crane 2 travels toward the stop position Y in the R direction. During this traveling, the output of the encoder 4c is read by the crane controller 8b, and the crane controller 8b updates and records the output value of the encoder 4c in a predetermined area of the memory 8c (FIG. 2). Then, the position of the stacker crane 2 that is traveling is detected based on this output value. In the present embodiment, the position of the width center FL of the slide fork 7 is detected as the position of the stacker crane 2 that is traveling. Then, when the detected position of the stacker crane 2 and the stop position Y coincide with each other, the stacker crane 2 stops traveling as shown in FIG. The position stopped like this is
It is a pickup position for picking up the load W and the pallet P. After that, the stacker crane 2 extends the slide fork 7 in the F direction, raises the carriage 6, and loads the load W and the pallet P onto the slide fork 7.

4 and 5 are flow charts showing stop control by the stop control device of the stacker crane according to the present invention. FIG. 4 is executed when the station control section 11b of the loading / unloading station 9 performs stop control. Fig. 5 shows the procedure, and Fig. 5 shows the crane control unit 8 of the stacker crane 2.
b shows a procedure executed at the time of stop control.

In FIG. 4, when a load W received from the outside and a pallet P receiving the load W are placed on the loading / unloading station 9, first, the station controller 11b rotates the conveyor motor 10a to rotate the conveyor 10. Is driven (step S401) to transfer the load W and the pallet P in the L direction toward the transfer position Z. Next, the load detection sensor 1
4 is read (step S402), and it is determined whether the read output of the load detection sensor 14 is in the ON state (step S403). As a result of the determination, the load detection sensor 14
If the output of is in the OFF state (step S403; N
O), the control unit 11b determines that the load W and the pallet P have not yet arrived at the delivery position Z, moves to step S402, and again executes steps S402 and S403. When the output of the load detection sensor 14 is turned on (step S403; YES), the control unit 11b determines that the load W and the pallet P have arrived at the delivery position Z, stops the rotation of the conveyor motor 10a, and stops the conveyor 10. It is stopped (step S404). After the conveyor 10 is stopped, the sensor moving motor 17 is rotated to rotate the ball screw 16 and move the load detection sensor 14 in the R direction (step S405). Then, the output of the sensor 14 is read (step S406), and it is determined whether the read output of the sensor 14 is in the OFF state (step S407). If the output of the load detection sensor 14 is ON (step S
407; NO), the control unit 11b determines that the sensor 14 has not yet passed the rear end portion Pb of the pallet P, moves to step 405, and executes step S405 and step S406 again. Output of load detection sensor 14 is OFF
When the state is reached (step S407; YES), the control unit 1
1b determines that the sensor 14 has passed the rear end portion Pb of the pallet P, stops the rotation of the motor 17, and the ball screw 16
Is also stopped and the movement of the sensor 14 is stopped (step S408). And the encoder 18 at this time
Is read (step S409), the movement amount of the load detection sensor 14 is calculated based on the read output of the encoder 18, and the load W and the load width S of the pallet P are detected (step S410). After that, the control unit 11b transmits the data of the detected load width S from the transmission unit 11d to the reception unit 8d of the stacker crane 2 (step S411). As described above, the stop control at the loading / unloading station 9 is completed.

Next, a procedure executed by the crane control section 8b of the stacker crane 2 in the stop control will be described. Figure 5
First, the crane control unit 8b determines whether the receiving unit 8d receives the data of the load width S from the loading / unloading station 9 (step S501). Receiver 8d
Is receiving a signal (step S501; YE
S), the reference load width T is read from the memory 8c (FIG. 2), and it is determined whether the received load width S has the same value as the reference load width T (step S502). As a result of the judgment, when the load width S is the same value as the reference load width T (step S502; YE
S), the control unit 8b moves the stop position Y from the reference load width T to Y =
It is calculated by the calculation formula of T / 2 (step S503). The Y value may be stored in the memory 8c in advance and read out. On the other hand, as a result of the determination, when the load width S is different from the reference load width T (step S502; NO), the control unit 8b determines the stop position Y from the reference load width T and the load width S as Y = ( It is calculated by the calculation formula of (T−S) / 2 (step S504). When the stop position Y is calculated, it is determined to stop the stacker crane 2 at this stop position Y, and the carriage 4 causes the stacker crane 2 to travel (step S505). Then, the output of the encoder 4c is read (step S506), the position of the traveling stacker crane 2 is detected based on the read output of the encoder 4c, and whether the detected position of the stacker crane 2 matches the stop position Y It is determined whether or not (step S507). If the result of determination is that the position of the stacker crane 2 that is traveling does not match the stop position Y (step S507; NO), the stacker crane 2
Is not yet at the stop position Y, step S5
06, and again steps S506 and S5
Execute 07. When the position of the traveling stacker crane 2 coincides with the stop position Y (step S507;
YES), it is determined that the stacker crane 2 has reached the stop position Y, and the traveling of the stacker crane 2 is stopped (step S508). As described above, the stacker crane 2 is stopped when the load width center WL of the load W and the pallet P placed on the loading / unloading station 9 and the width center FL of the slide fork 7 are substantially coincident with each other, and the stacker crane 2 is stopped. Control ends.

Stacker crane 2 stopped as described above
Thereafter, the work of picking up the load W and the pallet P is performed. Hereinafter, the procedure executed by the crane control unit 8b during the unloading control will be described. FIG. 6 is a flowchart showing the unloading control by the stop control device for the stacker crane according to the present invention. In FIG. 6, the crane control unit 8c of the stacker crane 2 that has started the unloading work first extends the slide fork 7 toward the load W and the pallet P at the delivery position Z of the loading / unloading station 9 (step S601). ). At this time, since the load W and the pallet P are lifted from the load receiving portion 9b by the lifter 13 at the transfer position Z, the slide fork 7 enters below the load W and the pallet P. Then, the slide fork 7 ascends as the carriage 6 ascends, and the load W and the pallet P are loaded on the slide fork 7 (step S60).
2). After that, the slide fork 7 is retracted (step S603), and the loaded load W and the pallet P are transferred to the carriage 6. Thus, the work of picking up the load W and the pallet P by the stacker crane 2 is completed.

As described above, in the above embodiment,
The load width S is detected from the moving amount of the load detection sensor 14, and the stop position Y of the stacker crane 2 is determined for each load from the detected load width S and the reference load width T. Therefore, the stop position Y of the stacker crane 2 can always be stably determined. The position of the stacker crane 2 is the stop position Y.
By stopping the stacker crane 2 when the load width S coincides with that of the load width S, the load W can always be changed even if the load width S varies in size.
And the load width center WL of the pallet P and the slide fork 7
It is possible to stop the stacker crane 2 in a state where the width center FL of the stacker is substantially matched. And as a result,
When the slide fork 7 of the stopped stacker crane 2 is extended and the carriage 6 is raised, all the loads W and the pallets P can be picked up on the slide fork 7 regardless of the size of the load width S. It will be possible. Further, since it is not necessary for the operator to check the load width S for each load W or pallet P placed on the loading / unloading station 9, it is possible to save the labor of the operator and improve the efficiency of the load pickup work. .

In the above-described embodiment, the load W and the pallet P have the same width S and the load detection sensor 14
Taking as an example the case where the load width S is detected by moving from the front end Pa to the rear end Pb of the pallet P, and the stop position Y of the stacker crane 2 is determined based on the detected load width S. However, the present invention is not limited to this. The present invention can be applied even when the width of the load is different from the width of the pallet. In this case, the load detection sensor 14 may be moved from the leading end to the trailing end of either the load or the pallet to detect either the load width of the load or the pallet width of the pallet.

Further, in the above embodiment, the load detection sensor 1
The case where the ball screw mechanism including the ball screw 16 and the sensor moving motor 17 is used as the moving means for moving 4 is described as an example, but the present invention is not limited to this. Other than this, as the moving means, a means such as a chain mechanism including a chain and a sprocket, a gear mechanism including a rack and a pinion, or the like may be used.
That is, any means may be used as long as the load detection sensor 14 moves while detecting the load W or the pallet P and the load width S can be detected from the amount of movement.

Further, in the above embodiment, a diffuse reflection type photoelectric sensor is taken as an example of the load detection sensor 14 which is the load detection means, but the present invention is not limited to this, and other than this. Alternatively, a non-contact type detecting means such as a light emitting and receiving type photoelectric sensor or a contact type detecting means such as a limit switch may be used. That is, any detecting means capable of detecting the presence or absence of the load W or the pallet P while moving may be used.

Further, in the above embodiment, the load detection sensor 14 as the load width detection means is stopped at the delivery position Z by the ball screw 16 from the front end Pa to the rear end P of the pallet P.
Although the case where the load width S is detected by moving to b is taken as an example, the present invention is not limited to this. In addition to this, as the load width detecting means, the load W and the pallet P stopped at the transfer position Z are photographed by a camera or the like, and the load W and the pallet P obtained by the photographing are taken.
A means for detecting the load width S by detecting the front end portions Wa and Pa and the rear end portions Wb and Pb from the image of FIG.
That is, the load W stopped at the transfer position Z and the leading ends Wa and Pa and the trailing ends Wb and Pb of the pallet P are detected,
Any means can be used as long as it can detect the load width S.

Further, in the above embodiment, a specific load width is stored in the memory 8c as the reference load width T, and the stop position Y is calculated from the reference load width T and the load width S transmitted from the loading / unloading station 9. However, the present invention is not limited to this. Besides this,
A method of storing a stop position corresponding to a specific load width in the memory 8c as a reference stop position and calculating the stop position Y from the reference stop position and the load width S, or a front end stop position ST of the loading / unloading station 9 is used. A method may be adopted in which the corresponding position is stored in the memory 8c as a reference position and the position where the stacker crane 2 moves 1/2 of the load width S in the R direction from this reference position is set as the stop position Y. That is, if the position of the stacker crane 2 where the load width center WL of the load W and the pallet P and the width center FL of the slide fork 7 substantially match can be calculated based on the load width S transmitted from the loading / unloading station 9. Good.

[0042]

According to the present invention, the stacker crane can always be stopped in a state where the center of the load width and the center of the width of the slide fork are substantially aligned with each other even if the dimensions of the load width are varied. Therefore, regardless of the size of the load, the load can be picked up without being biased on the slide fork.

[Brief description of drawings]

FIG. 1 is a perspective view showing a stop control device for a stacker crane according to the present invention.

FIG. 2 is a block diagram of the device.

FIG. 3 is a plan view illustrating the operation of each unit in the same device.

FIG. 4 is a flowchart showing stop control in the device.

FIG. 5 is a flowchart showing stop control in the device.

FIG. 6 is a flow chart showing a unloading control in the apparatus.

FIG. 7 is a diagram showing a state in which a load is placed on a storage shelf of an automated warehouse.

FIG. 8 is a perspective view showing a conventional stop control device for a stacker crane.

[Explanation of symbols]

1 Stacker crane stop control device 2 Stacker crane 3 guide rails 4c Position detection encoder 7 slide forks 8b Crane control section 8c memory 8d receiver 9 loading / unloading station 10 conveyor 10a Conveyor drive motor 11b Station control unit 11c memory 11d transmitter 14 load detection sensor 16 ball screws 17 Sensor movement motor 18 Encoder for moving amount detection W load P pallet S load width T standard load width Y Stacker crane stop position Z delivery position FL slide fork width center WL load width center

Claims (3)

[Claims] 1. A stacker crane that travels along a guide rail and picks up a load by a retractable slide fork, and a stacker crane that is disposed along the running direction of the stacker crane and that carries a load that is conveyed from the outside. In a stacker crane stop control device comprising: a loading / unloading station for delivering to the slide fork, and stopping the stacker crane at a predetermined loading / unloading position of the loading / unloading station, wherein the loading / unloading station loads the stacking fork onto the slide fork. Conveying means for conveying the load to a delivery position for delivering and receiving, load width detecting means for detecting the load width of the load conveyed to the delivering position, and load width data detected by the load width detecting means for the stacker crane. The stacker crane further comprises a transmitting means for transmitting the load width data transmitted by the transmitting means. The receiving position, the stop position determining means for determining the stop position of the stacker crane based on the load width data received by the receiving means, and the position detecting means for detecting the position of the stacker crane. Is the position of the stacker crane such that the load width center of the load and the width center of the slide fork substantially match, and when the position of the stacker crane detected by the position detection means matches the stop position. A stacker crane stop control device characterized in that the stacker crane is stopped. 2. The stacker crane stop control device according to claim 1, wherein the load width detection means detects the load conveyed to the delivery position, and the load detection means detects the load. A stacker crane stop control device comprising: a moving unit that moves from one end to the other end in the load width direction; and a moving amount measuring unit that measures the moving amount of the load detecting unit moved by the moving unit. . 3. The stacker crane stop control device according to claim 1 or 2, wherein the stop position determining means stores a predetermined reference load width, and a predetermined storing means stores the storage means. A stop control device for a stacker crane, comprising: a calculating unit that calculates the stop position based on a reference load width and load width data received by the receiving unit.