JP2004099194A - Traveling device for traveling body - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a traveling device for a traveling body capable of preventing the collision with the end of the traveling body. <P>SOLUTION: A plurality of correcting detection board 8 is provided along the curve of a normal stop speed which decelerates at normal deceleration from the normal traveling speed, and can stop a conveying cart at the end of the traveling route. The conveying cart is equipped with a correcting detection sensor detecting the correcting detection board 8, and the controller of the conveying cart confirms the actual traveling speed every time detecting the correcting detection board 8 with the correcting detection sensor, and actuates a brake to stop a traveling motor when the speed is faster than the allowable speed set for every correcting detection board 8. The speed can be confirmed whether it is within the allowable speed or not by comparing the actual traveling speed with a predetermined traveling speed. When it is faster than the allowable speed, the brake is actuated so that the conveying cart can be prevented from colliding with the end by stopping the traveling motor. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a traveling device for a traveling body including a traveling body that travels along a fixed traveling route.
[0002]
[Prior art]
There is a stacker crane used in an automatic warehouse as a traveling body of the traveling device.
[0003]
This conventional stacker crane includes a rotary encoder as speed detection means, an electric motor for traveling as travel drive means, and when stopping the stacker crane, issues a speed command to the travel drive means based on a set deceleration pattern. It is configured to output. In order to avoid the possibility of such a stacker crane traveling at the commanded traveling speed and colliding with the end of the traveling rail at a high speed, forcibly decelerating the traveling drive means at the end of the traveling rail. A plate to be detected for stopping is installed, and when the stacker crane detects the plate to be detected, the stacker crane is configured to forcibly stop or the like, or the speed of the stacker crane is set based on the detection information of the speed detecting means. When the speed becomes higher than the speed defined by the set upper limit deceleration pattern that is set higher than the set deceleration pattern, the stacker crane is configured to stop urgently (for example, see Patent Document 1). ).
[0004]
[Patent Document 1]
JP 2000-229707 A
[0005]
[Problems to be solved by the invention]
However, in the traveling device of the conventional traveling body, the traveling position of the stacker crane (the traveling body) is obtained by counting the pulses output by the rotary encoder. However, if the traveling position is not accurate, the set deceleration pattern When the emergency stop of the stacker crane is not performed by comparing the set upper limit deceleration pattern and the set upper limit deceleration pattern, the stacker crane may collide with the end of the traveling rail.
[0006]
Therefore, an object of the present invention is to provide a traveling device of a traveling body that can prevent a collision with the end of the traveling body.
[0007]
[Means for Solving the Problems]
In order to achieve the above-mentioned object, the invention according to claim 1 of the present invention provides a traveling body traveling along a fixed traveling route, a traveling driving means, and a speed detecting means for detecting a traveling speed of the traveling body. And a traveling device provided with control means for controlling the traveling speed of the traveling body by driving the traveling drive means while detecting the traveling speed by the speed detection means,
The vehicle is decelerated from a normal traveling speed at a normal deceleration, and a normal stop speed curve is obtained so that the traveling body can be stopped at the end of the traveling route. The body includes a correction detection unit that detects the correction target, and the control unit of the traveling unit detects the travel detected by the speed detection unit each time the correction detection unit detects the correction target. The speed is confirmed, and when the speed is higher than an allowable speed set for each of the detected objects, the traveling driving means is stopped.
[0008]
According to the above configuration, every time the correction target is detected, the detected traveling speed is compared with a preset traveling speed, and it is confirmed whether the traveling speed is within the permitted speed. When it is fast, the traveling drive means is stopped. This can prevent the traveling body from colliding with the end.
[0009]
The invention according to claim 2 is the invention according to claim 1, wherein a traveling speed is determined on the normal stop speed curve by going back at a predetermined ratio from an inrush allowable speed at the end of the traveling route, A travel distance for moving from each of these traveling speeds to the end is obtained, and the object to be corrected is arranged for each of these travel distances.
[0010]
According to the above configuration, the traveling speed is calculated retroactively at a predetermined rate from the inrush permissible speed at the end of the traveling route, the traveling distance from each of these traveling speeds to the end is determined, and for each of these traveling distances, The object to be corrected is arranged at each point where the vehicle is decelerated at the deceleration, so that it is possible to confirm whether or not the deceleration is properly performed.
[0011]
A third aspect of the present invention is the invention according to the first or second aspect, wherein the traveling body at the end of the traveling route at the end of the traveling route by an emergency stop from the maximum traveling speed of the traveling body. An emergency stop speed curve which is an allowable entry speed of the vehicle is determined, and an allowable speed set for each of the detected objects is defined as a traveling speed on the emergency stop speed curve at a position where the corrected object is arranged. It is characterized by the following.
[0012]
According to the above configuration, every time the detected object to be corrected is detected, it is confirmed whether the traveling speed does not exceed the traveling speed on the emergency stop speed curve, and when the traveling speed is exceeded, the traveling drive unit is emergency stopped, Therefore, it is possible to prevent the traveling body from colliding with the terminal at a speed exceeding the allowable rush speed.
[0013]
The invention according to claim 4 is the invention according to any one of claims 1 to 3, wherein the traveling body is provided with traveling distance detection means for detecting a traveling distance of the traveling body, The speed detecting means is configured to detect a traveling speed of the traveling body based on a traveling distance per unit time detected by the traveling distance detecting means, and the control means inputs detection information of the corrected detected object. For each time, the traveling distance detected by the traveling distance detecting means while passing through the corrected detection object is compared with a preset or learned detection amount of the correction target object, and is determined to be outside the allowable range. When this happens, it is determined that the traveling distance detecting means is not normal, and the traveling driving means is stopped.
[0014]
According to the above configuration, every time the detection information of the corrected object is input, the traveling distance detected by the traveling distance detecting means while passing through the corrected object is set in advance or learned. The detected amounts of the detected objects are compared, and if it is determined that the traveling distance detecting means is not normal outside the allowable range, the traveling driving means is stopped. Therefore, it is possible to prevent the traveling control of the traveling body from becoming abnormal due to the abnormal traveling distance detecting means.
[0015]
BEST MODE FOR CARRYING OUT THE INVENTION
[Embodiment 1]
Hereinafter, Embodiment 1 of the present invention will be described with reference to the drawings. FIG. 1 is a configuration diagram of a main part of an article transport facility including a traveling device according to an embodiment of the present invention.
[0016]
In FIG. 1, reference numeral 1 denotes a pair of traveling rails installed on a floor 2, and reference numeral 3 denotes a four-wheel carrier (an example of a traveling body) guided by the traveling rail 1 to travel by itself and transport an article R. is there. A transport path (an example of a travel path) 4 is configured by the travel rail 1, and a plurality of stations 5 are arranged along the transport path 4. Each station 5 is provided with a transfer conveyor device (for example, a roller conveyor or a chain conveyor) 6 for transferring, ie, carrying in and out, the articles R to and from each of the transport vehicles 3.
[0017]
Further, a plurality of correction detection plates (an example of a detection target object) 8 are installed along one traveling rail 1 for traveling control of the transportation carriage 3, and one end side (HP side; home position) of the transportation path 4. Is provided with an HP return detection plate 9 for HP return along the other traveling rail 1. The end of the traveling rail 1 is an end further outward than the other end (OP; out position) of the HP and the transport path 4, and the end of the travel rail 1 has an impact force when the transport vehicle 3 collides. An oil damper (stopper) 10 that absorbs and stops the oil is provided.
[0018]
As shown in FIGS. 2 to 4, the transport vehicle 3 includes a vehicle body 11 and a transfer / loading conveyor device (e.g., a roller conveyor) mounted on the vehicle body 11 for transferring and placing articles R. And two conveyer wheels 13 mounted on the lower part of the vehicle body 11 to support the vehicle body 11 with respect to one of the traveling rails 1. Two turning / sliding type driving wheel devices 14 which are supported on the other running rail 1 and which can follow the bent shape of the running rail 1 and which can be moved (slidable) in and out of the turning type driven wheel device 13. It has.
[0019]
The vehicle body 11 is supported by a driven wheel 16 of each turning type driven wheel device 13 and a driving wheel 17 of each turning / sliding type driving wheel device 14, and the driving wheel 17 has a structure capable of turning and sliding. The positioning of the idler wheels 13 of the thirteenth wheel allows the transport vehicle 3 to travel smoothly on the curved portion without any trouble, and prevents the vehicle body 11 from swinging in the left-right direction. A drive shaft of a travel motor (an example of travel drive means) 18 is connected to a rotation shaft of the drive wheel 17, and the transport vehicle 3 is driven by the drive of the travel motor 18. The drive wheel 17 is provided with a brake 15 (FIG. 5).
[0020]
A current collecting rail 19 is laid along the running direction on the outer side surface of one of the running rails 1 along the running direction, and a current collector 20 is provided outside the one of the revolving driven wheel devices 13.
Further, a feeder line 21 is laid on the outer side surface of the other traveling rail 1 along the traveling direction along the traveling direction, and a wireless modem 22 is installed outside the turning / sliding type driving wheel device 14 so as to approach and face the feeder line 21. Have been.
[0021]
Further, a control box 26 and a power box 27 are fixed in a lower portion of the vehicle body 11 and in an empty space of the two traveling motors 18.
As a sensor, a correction detection sensor (an example of a correction detection unit) 28 composed of a transmission type photoelectric switch for detecting the correction detection plate 8 is provided in each of the turning type driven wheel devices 13. An HP return detection sensor 29 composed of a transmission type photoelectric switch for detecting the HP return detection plate 9 is provided on the sliding drive wheel device 14, and a bumper switch 31 for detecting a rear-end collision is provided before and after the vehicle body 11, respectively. Further, an encoder 32 for detecting the rotation speed of the traveling motor 18 is provided on the drive shaft of one traveling motor 18.
[0022]
An origin 34 composed of a reflector (mirror or the like) indicating the starting point of the traveling position is installed on the HP side along the traveling rail 1 on the transport path 4, and the origin 34 is detected by one of the revolving driven wheel devices 13. An origin detector 35 comprising a reflective photoelectric switch is provided.
[0023]
Further, an optical sensor transmitter 36 is provided at the rear end of the transport trolley 3 as a data transmitting / receiving means for transmitting and receiving data between the front and rear transport trolleys 3, and the optical sensor transmitter 36 is provided at the front end of the transport trolley 3. An optical sensor receiver 37 is provided to face the receiver.
[0024]
FIG. 5 shows equipment and a control block of the transport vehicle 3.
In FIG. 5, reference numeral 41 denotes a ground controller, which is a ground control means for controlling the plurality of transport vehicles 3 collectively, and is scattered along the traveling rails 1 on which the transport vehicles 3 travel, and the articles R Transfer information of the article R from the station 5 that performs the transfer of the article R and the host computer 40 (hereinafter, abbreviated as the host computer) 40 (the number of the station 5 of the transfer source where the transfer request of the article R is generated and the article R The transfer data including the number of the station 5 of the transport destination to be transported) and a feedback signal for each transport vehicle 3 from the ground modem 42 described later, for example, the transport reception data of the transport data (described later), the address data of the current position. The input and determination are performed, and control is performed such as a destination for each of the transport vehicles 3 and whether or not transfer is performed.
[0025]
The ground controller 41 transmits a signal to and from the carrier 3 by using a feeder laid on the traveling rail 1 as a route along the traveling direction of the carrier 3 as a ground modem 42 and an antenna corresponding to a transceiver. Via line 21. Further, the main body controller (an example of a control means) 43 of each carrier 3 transmits signals to and from the ground controller 41 via the wireless modem 22 installed close to and facing the feeder line 21.
[0026]
A main body controller 43 is housed in the control box 26, and an inverter 46 and a changeover switch 47, which will be described later, are connected to the power box 27, and a power supply device (not shown) that is connected to the current collector 20 and supplies power to a device in the transporting vehicle 3. Is stored.
[0027]
The main body controller 43 of the transport carriage 3 includes the above sensors, that is, two correction detection sensors 28, an HP return detection sensor 29, a bumper switch 31, an encoder 32, an origin detector 35, an optical sensor transmitter 36, and a receiver 37. Are connected, and transfer signals (work data including the address of the station 5 from which the article R is transported and the address of the station 5 to which the article R is transported) from the ground controller 41 input from the wireless modem 42 are transmitted. Then, the traveling motor 18 is operated (controlled) and the brake 15 is operated to move the carrier 3 to the designated traveling position of the station 5, and to move the article transfer / placement conveyor device 12. The loading motor 48 is operated to transfer the article R. The article R is transported under the control of the main body controller 43. In the data transmission between the main controller 43 and the ground controller 41, a unique number of the carrier 3 is attached to the data.
[0028]
The traveling control of the carriage 3 by the main body controller 43 is performed by counting the pulses output from the encoder 32 after being reset by the detection of the origin 34 by the origin detector 35, and thereby calculating the current traveling distance (from the HP of the traveling rail 1). The distance (M) is measured, and the position of the station 5 of the traveling destination (source or destination) instructed by the ground controller 41 is converted into a predetermined distance from the HP of the traveling rail 1 and this converted The distance is set as the target distance so that the current running distance M matches. In addition, a current position address is retrieved from the current traveling distance M based on an address set in advance by a distance from the HP, and the current position address is output to the ground controller 41. The inter-vehicle distance is calculated based on the current traveling distance and the current traveling distance M of the vehicle itself, and when the inter-vehicle distance becomes shorter than a predetermined distance, the vehicle stops and the collision with the forward carriage 3 is prevented. When the bumper switch 31 is operated, the traveling of the carrier 3 is stopped.
[0029]
The traveling control of the carrier 3 during deceleration toward HP or OP by the main body controller 43 will be described in detail.
The main body controller 43 includes a normal stop speed curve (a curve of a travel distance to an HP or an OP-a travel speed curve) for decreasing the travel speed at a normal deceleration from a normal travel speed, and an emergency stop speed curve shown in FIG. (Curve of travel distance to HP or OP-travel speed) and an HP return curve are set in advance. The normal stop speed curve is a curve when the article R is placed on the article transfer / placement conveyor device 12 indicated by a solid line, that is, a curve when there is a stock, and an article transfer / placement indicated by a broken line. There is a curve when the article R is not placed on the conveyor device 12, that is, when there is no cargo.
[0030]
In addition, the emergency stop speed curve is a curve that becomes an inrush permissible speed at the terminal end of the traveling rail 1 due to an emergency stop from an allowable maximum traveling speed. The allowable rush speed is the maximum traveling speed of the stacker crane 5 that can stop by absorbing the impact force when the stacker crane 5 collides with the oil damper 10. Similarly, the emergency stop speed curve includes a curve when there is a stock shown by a solid line and a curve when there is no stock shown by a broken line. The permissible speed set for each correction detection plate 8 is defined as the traveling speed on the emergency stop speed curve at the position where the correction detection plate 8 is disposed. The HP return curve is a speed curve for the carriage 3 to temporarily return to the HP position in order to detect the origin 34, and the current travel distance (the distance of the travel rail 1 from the HP) based on the detection of the origin 34. M is corrected.
[0031]
FIG. 6 shows the arrangement of the corrected detection plate 28 and the HP return detection plate 9.
The to-be-corrected detection plates 8 are arranged at regular intervals (for example, 1000 mm), and a range near the end on the HP side of the traveling rail 1 and a range near the end on the OP side (for example, a range of 2000 mm from the HP or OP). Then, a plurality of traveling speeds are set at a predetermined ratio on the previously set normal stop speed curve with the presence of the cargo, retroactively from the rush permissible speed at the terminal limit of the traveling rail 1, and HP or HP is determined from each of these traveling speeds. The travel distance for moving to the OP is obtained, and the travel distance is arranged for each of these travel distances.
[0032]
Further, the HP return detection plate 9 is installed continuously from a point (deceleration position) at which the traveling speed is reduced at a predetermined deceleration from a constant traveling speed on the HP return curve to the HP. When the HP return detection plate 29 is detected by the HP return detection sensor 29 at the time of the HP return, the main body controller 43 reduces the traveling speed at a predetermined deceleration, temporarily stops at the HP, travels to the OP side, and Move to station 5.
[0033]
FIG. 7 shows a main block of the traveling control of the main body controller 43. This control block is a block for executing travel control of the transport vehicle 3 during deceleration toward HP or OP.
[0034]
In FIG. 7, reference numeral 51 denotes a traveling distance detector (counting the traveling distance) which counts the output pulses of the encoder 32, corrects the count value by the detection signal of the origin detector 35, and obtains the traveling distance of the carrier 3 from the HP. 52 is a speed detecting unit for obtaining a change per unit time of the running distance obtained by the running distance detecting unit 51, that is, differentiating the running distance to obtain the running speed of the transport vehicle 3. . The encoder 32, the traveling distance detector 52 and the speed detector 53 constitute a speed detector.
[0035]
In 53, two normal stop speed curves, with and without a stock, shown in FIG. 6 are preset, and during deceleration until traveling to the HP or OP, one of the normal stop speeds depends on the presence or absence of a stock. A speed curve is selected, and based on the selected normal stop speed curve, that is, the traveling speed on this curve obtained by the traveling distance to the HP obtained by the traveling distance detection unit 51 is set as a target value, and the speed detection unit is used. A speed command value is formed while feeding back the running speed detected by the motor 53, and the speed command value drives the running motor 18 via the inverter 46 and responds to an emergency stop signal to be described later. Is stopped, and the brake 15 is actuated at the same time when the speed command output to the traveling motor 18 becomes "0".
[0036]
Reference numeral 54 denotes a position (distance from the HP) at which the two emergency stop speed curves, with and without a stock, shown in FIG. The traveling speeds on the two emergency stop speed curves are stored as allowable speeds, respectively. When the detection signal of the HP or OP correction detection sensor 28 is turned on, that is, when the correction detection sensor 28 detects the correction detection plate 8, By counting the number of detected correction detection plates 8, the detection target detection plate 8 being detected is specified, and the permissible speed of the correction detection plate 8 stored based on the presence or absence of a load is obtained, and correction is performed. When the detection signal of the detection sensor 28 is turned off, the actual traveling speed of the traveling vehicle body 2 obtained by the speed detection unit 52 at this time is compared with the allowable speed, and the actual traveling speed exceeds the allowable speed. It actuates the brake 15, and a speed monitoring section for outputting an emergency stop signal to the speed control unit 53.
[0037]
Further, while the detection signal of the correction detection sensor 28 is ON, a movement distance unit 55 for calculating a distance moved from the travel distance to the HP calculated by the travel distance detection unit 51 is provided. A timer 56 is provided for determining the time during which the detection signal 28 is on, and the movement distance determined by the movement distance unit 55 and the time determined by the timer 56 are input to the measurement device abnormality monitoring unit 57. .
[0038]
The length of each correction detection plate 8 (the length in the traveling direction of the transport trolley 3) and the passing time are set in advance in the measuring device abnormality monitoring unit 57 or are stored by learning, and are moved by the moving distance unit 55. When a distance and a time are inputted from the timer 56, the detected detection plate 8 to be detected is obtained from the travel distance to the HP determined by the travel distance detection unit 51, and the length of the set correction detection sensor 28 is determined. And the passing time are searched, and the inputted moving distance is compared with the length of the correction detection sensor 28 to confirm whether or not the moving time is within the allowable range. If any one of them exceeds the allowable range, the brake 15 is operated and an emergency stop signal is output to the speed control unit 53.
[0039]
The operation of the carriage 3 during deceleration toward the HP by the above-described travel control block will be described.
Based on the normal stop speed curve selected depending on the presence or absence of a load, a speed command is output to the travel motor 18 via the inverter 46 based on the travel distance to the HP and the actual travel speed, and the transport vehicle 3 is decelerated. When the correction detection sensor 28 detects the correction detection plate 8, the allowable traveling speed set for each correction detection plate 8 and based on the emergency stop curve selected based on the presence or absence of a load is compared with the actual traveling speed. When the actual traveling speed exceeds the allowable speed, the brake 15 is operated, the traveling motor 18 is stopped, and the emergency stop is performed. In addition, the distance and time during which the corrected detection plate 8 is moving are determined, and the distance and the time, respectively, are set to the length and passage of the correction detection plate 8 set for each correction target detection plate 8. If the time exceeds the allowable range, it is determined that an abnormality has occurred in the encoder 32, the brake 15 is operated, and the emergency stop is performed. Further, when a command of the speed “0” is output to the traveling motor 18 based on the normal stop speed curve, the brake 15 is operated at the same time, and the carrier 3 is stopped.
[0040]
As described above, according to the first embodiment, the detected actual traveling speed can be compared with a preset traveling speed to confirm whether the detected actual traveling speed is within the allowable speed, and is higher than the allowable speed. At this time, by operating the brake 15 and stopping the traveling motor 18, it is possible to prevent the transportation vehicle 3 from colliding with the end.
[0041]
Further, according to the first embodiment, the traveling speed is calculated retroactively at a predetermined rate from the allowable rush speed at the end of the transport path 4, and the traveling distance for moving from each traveling speed to the end is determined. In other words, by arranging the correction detection plate 8 at each point where the vehicle is decelerated at a predetermined deceleration, it is possible to confirm whether or not the deceleration is properly performed.
[0042]
Further, according to the first embodiment, it is determined whether or not the traveling speed exceeds the traveling speed on the emergency stop speed curve for each correction detection plate 8, and when the traveling speed is exceeded, the brake 15 is operated. By stopping the motor 18 for use, it is possible to prevent the transportation vehicle 3 from colliding with the terminal at a speed exceeding the allowable rush speed.
[0043]
Further, according to the first embodiment, every time the detection information of the correction detection plate 8 is input, the travel distance detected by the travel distance detection unit 51 while passing through the correction detection plate 8 is set in advance. Alternatively, the length of the learned correction detector 8 is compared, and if it is determined that the encoder 32 serving as the travel distance detecting means is not normal outside the allowable range, the travel motor 18 is stopped. Therefore, it is possible to prevent the traveling control of the transport vehicle 3 from becoming abnormal due to the traveling distance detecting means being abnormal.
[0044]
It is also possible to use the HP return detection plate 9 as the correction detection plate 8 closest to the HP. However, as in the first embodiment, the correction target detection plate 8 and the HP return detection plate 9 are provided individually. Accordingly, even if there is a large difference between the rush allowance speed at the end limit and the constant speed of the HP return, it is possible to flexibly cope with the difference.
[Embodiment 2]
Hereinafter, a second embodiment of the present invention will be described with reference to the drawings. The same components as those in the first embodiment are denoted by the same reference numerals, and description thereof will be omitted.
[0045]
FIG. 8 is a schematic perspective view of an article storage facility provided with a traveling device according to Embodiment 2 of the present invention.
As shown in FIG. 8, in the article storage facility FS, two storage shelves A installed at intervals so that the article taking-out directions are opposite to each other, and a work passage formed between the storage shelves A. A stacker crane (an example of a traveling body) C that automatically travels B is provided. Each of the storage shelves A has a plurality of article storage sections D for storing a pallet P on which articles (such as commodities) F are placed, in a multi-tiered stacker. They are juxtaposed in the traveling direction of the crane C (hereinafter, referred to as the front-back direction).
[0046]
A traveling rail 61 that forms a traveling route along the longitudinal direction of the storage shelf A is installed in the work passage B, and an article loading / unloading section E installed at one end side (HP side) of the work passage B has an entrance / exit. A controller E1 for inputting a command to the stacker crane C, and a pair of fixed article receiving pedestals (loading / unloading ports) E2 are provided as means for separating the articles F with the traveling rail 1 interposed therebetween. , And is configured as a loading / unloading transport vehicle that travels along the traveling rail 61 to take articles F between the article receiving table E2 and the article storage unit D. The position (address) of the article storage section D in the storage shelf A is the bank number (column number of the storage shelf A) and the level number (the number of the row from the lowest article storage section D of the storage shelf A). The transport command (work data of entry / exit) for the article storage unit D is specified by the bay number (the number in the front-back direction of the article storage unit D from the HP position), and is formed by the address of the article storage unit D and the like.
[0047]
The stacker crane C is moved up and down (supported and guided) along a traveling vehicle body (an example of a traveling body) 62 traveling along a traveling rail 61 and a pair of front and rear lifting masts 64 suspended from the traveling vehicle body 62. The fork device 65 for transferring articles is provided on the elevating platform 63, and the stacker crane C places and conveys the articles F on the fork device 65 of the elevating platform 63. .
[0048]
A guide rail 66 is laid on the ceiling in opposition to the traveling rail 1. The upper ends of the pair of lifting masts 64 are connected to the upper ends, and the guide rail 66 is sandwiched from the left and right. An upper frame 67 that regulates the upper position of the stacker crane C as the stacker crane C travels is provided.
[0049]
2 and 3, the lifting platform 63 is suspended and supported by a lifting chain 68 connected to the left and right sides thereof. The lifting chain 68 is connected to a guide sprocket 69 provided on an upper frame 67. It is wound around a guide sprocket 70 provided on one elevating mast 64 and connected to a winding drum 71 provided at one end of the traveling vehicle body 62.
[0050]
Then, the take-up drum 71 is driven and rotated by a lifting / lowering electric motor 72, which is a so-called inverter type motor, in the normal and reverse directions, so that the lifting / lowering table 63 is driven up and down by feeding and winding operation of the lifting / lowering chain 68. It is configured.
[0051]
9 and 10, the ascending / descending position of the elevating platform 63 is managed based on detection information of a first distance measuring device 74 provided on the traveling vehicle body 62. The first distance measuring device 74 projects a light beam for vertical distance measurement, and measures a distance based on reflected light thereof. It comprises a first reflector (mirror) 76 that reflects the light beam projected from the rangefinder 75. As shown in FIG. 11, the detection information of the first distance measuring device 74 is input to the elevation control unit 100 of the crane control device CC.
[0052]
Further, upper position regulating rollers 78 (FIG. 9) are provided on the upper frame 67 at two positions before and after engaging with the guide rail 66 so as to regulate the position of the guide rail 66 in the vehicle width direction with respect to the guide rail 66. The stacker crane C is configured to be free to travel along the traveling rail 61 by being driven by a traveling electric motor described later, while being prevented from falling down by a lower position regulating roller and an upper position regulating roller 78 described later. .
[0053]
As shown in FIGS. 9 and 10, the traveling vehicle body 62 has two front and rear wheels 81 that can freely travel on the traveling rail 61 and a traveling rail 61 that regulates the position of the traveling rail 61 relative to the traveling rail 61 in the vehicle width direction. And a pair of lower position regulating rollers 82 provided in a pair in a direction perpendicular to the traveling direction of the stacker crane C (hereinafter, referred to as a left-right direction) and a so-called inverter type motor for traveling. An electric motor (an example of travel driving means) 83 is provided. One of the two wheels 81 at one end in the vehicle longitudinal direction is configured as a propulsion drive wheel 81a driven by the electric motor 83 for traveling, and the other wheel at the other end in the vehicle longitudinal direction is freewheeling. It is configured as a rotatable driven wheel 81b. The drive wheel 81a is provided with a brake 84 (FIG. 11).
[0054]
As shown in FIGS. 9 and 10, the traveling position of the traveling vehicle body 62 is detected by a second distance measuring device (an example of traveling distance detecting means) 85 provided on the side surface of the traveling vehicle body 2 (information of traveling distance). Is managed based on The second distance measuring device 85 projects a light beam for horizontal distance measurement, and measures the distance based on the reflected light. The second laser distance measuring device 86 is installed on one end side (HP side) of the work passage B. , And a second reflector (mirror) (not shown) that reflects the light beam projected from the second laser range finder 86.
[0055]
In addition, for the traveling control of the traveling vehicle body 62, two correction detections for detecting a plurality of correction detection plates 8 and an HP return detection plate 9 installed along the traveling rail 61 in the same manner as in the first embodiment. The sensor 28 and the HP return detection sensor 29 are provided on the traveling vehicle body 62, and a position where the traveling vehicle body 62 transfers the pallet P between the traveling vehicle body 62 and the article receiving table E2 (the HP position). Is provided with an HP detection sensor 89 formed of a photoelectric switch for detecting the HP detection plate 88 installed in the PDP.
[0056]
As shown in FIG. 11, the detection information of the second distance measuring device 85, the detection signals of the two correction detection sensors 28, the detection signals of the HP return detection sensors 29, and the detection signals of the HP detection sensors 89 It is inputted to a traveling control unit (an example of a traveling body control unit) 101 of the CC.
[0057]
The crane control device CC including a computer or the like is provided on the traveling vehicle body 62 at a position outside the elevating mast 64 on the side of the article loading / unloading section E, and the article loading / unloading section is provided on the crane control apparatus CC. A first optical transceiver 98 for transmitting and receiving data to and from the controller E1 of E is provided. Further, a second optical transceiver 99 (FIG. 11) is provided in the article carry-in / out section E so as to face the first optical transceiver 98, and is connected to the controller E1.
[0058]
As shown in FIG. 11, the crane control device CC receives a transport command (work data including the address of the article receiving table E2 or the article storage unit D) from the controller E1 via the optical transceivers 99 and 98, and An elevating control unit 100 that operates (controls) the electric motor 72 for elevating and lowers the elevating table 63 to a specified elevating position, and operates (controls) the electric motor 83 for traveling and operates the brake 84. A traveling control unit 101 for moving the traveling vehicle body 62 to a designated traveling position and a transfer control unit 102 for moving the fork device 65 out and back to transfer the articles F are controlled by the crane control device CC. Then, the transport of the article F and the transfer of the article F between the article storage units D and the like are performed.
[0059]
In the travel control unit 41, a normal stop speed curve, an emergency stop speed curve, and an HP return speed curve shown in FIG. 6 are set in advance similarly to the first embodiment.
FIG. 12 shows a main control block of the travel control unit 101. This control block is a block for executing traveling control of the stacker crane C during deceleration toward the HP. As in the first embodiment, a traveling distance detection unit 51, a speed detection unit 52, a speed control unit 53, a speed monitoring unit 54, a moving distance unit 55, a timer 56, and a measurement device abnormality monitoring unit 57 are provided. The traveling distance detecting section 51 obtains the traveling distance of the traveling vehicle body 62 from the HP by correcting the detection information of the second distance measuring device 85 based on the detection signal of the HP detection sensor 89.
[0060]
The operation of the stacker crane C during deceleration toward the origin by the configuration of the traveling control unit 101 will be described.
Based on the normal stop speed curve selected based on the presence or absence of a load, a speed command is output to the traveling electric motor 83 based on the traveling distance to the HP, and the traveling vehicle body 62 is decelerated. When the correction detection sensor 28 detects the correction detection plate 8, the allowable speed based on the emergency stop curve set for each correction detection plate 8 is compared with the actual traveling speed, and the actual traveling speed exceeds the allowable speed. If it is, the brake 84 is operated and the emergency stop is performed. In addition, the distance and time during which the correction detection plate 8 is moving are determined, and the distance and time are determined by the length and passage time of the detection target plate 8 set for each correction detection plate 8, respectively. If the values are outside the allowable range, it is determined that an abnormality has occurred in the second distance measuring device 85, the brake 84 is operated, and the emergency stop is performed. Further, when a command of the speed “0” is output to the traveling electric motor 83 based on the normal stopping speed curve, the brake 84 is operated at the same time, and the traveling vehicle body 62 is stopped.
[0061]
As described above, according to the second embodiment, similarly to the first embodiment, the detected actual traveling speed is compared with a preset traveling speed to determine whether the detected actual traveling speed is within the allowable speed. By operating the brake 85 and stopping the traveling electric motor 83 when the speed is higher than the allowable speed, it is possible to prevent the stacker crane C from colliding with the end.
[0062]
In addition, according to the second embodiment, every time the detection information of the correction detection plate 8 is input, the travel distance detected by the travel distance detection unit 51 while passing through the correction detection plate 8 is set in advance. Alternatively, the lengths of the learned correction detectors 8 are compared, and if it is determined that the second distance measuring device 85 that is the traveling distance detecting means is out of the allowable range and is not normal, the traveling electric motor 83 is stopped. . Therefore, it is possible to prevent the traveling control of the stacker crane C from becoming abnormal due to the traveling distance detecting means being abnormal.
[0063]
In the first and second embodiments, the transport trolley 3 and the stacker crane C are used as traveling bodies. A traveling body that does not include 65 may be used.
[0064]
Further, in the first embodiment, the transport vehicle that travels along the travel route and transports the articles R between the stations 5 arranged along the travel route is guided by the travel rail 1 installed on the floor 2. Although the transporting vehicle 3 is self-propelled, it can be a self-propelled suspended transporting vehicle guided by a traveling rail suspended from the ceiling. A self-propelled carrier (conveyor without rails) that travels and conveys articles while traveling along the traveling route while detecting a guide band installed on the floor 2 and is guided by guide rails and travels on the floor to convey articles. It may be a self-propelled carrier.
[0065]
Further, in the first embodiment, the transport carriage 3 has four wheels, but may have three wheels.
In the second embodiment, each of the storage shelves A arranged side by side in the left-right direction has the article storage portion D in the front-rear direction. Direction), the article storage units D may be arranged side by side. At this time, the fork device 65 has a configuration (double deep type) in which a fork (accessory) can be positioned and retracted with respect to each article storage portion D in the left-right direction of each storage shelf A.
[0066]
In the second embodiment, the pair of article mounting tables E2 of the article loading / unloading section E is used as a loading / unloading port for loading / unloading the article F. However, one of these article loading tables E2 is used as a loading / unloading port of the article F. Dedicated and the other can be used exclusively for the exit.
[0067]
Further, in the second embodiment, the fixed article mounting table (loading table) E2 is used as the article handling means of the article loading / unloading section E, but a conveyor, a self-propelled vehicle, a loading table with a lifter, or the like is used. Is also good.
[0068]
In the second embodiment, the moving positions of the traveling vehicle body 62 and the elevator 63 are measured using a distance measuring device using light. However, the traveling vehicle 62 and the elevator platform are measured using a rotary encoder or the like. The movement position of 63 may be obtained.
[0069]
【The invention's effect】
As described above, according to the present invention, a traveling speed that is reliably detected can be compared with a preset traveling speed to check whether the traveling speed is within an allowable speed. By stopping the traveling drive means, it is possible to prevent the traveling body from colliding with the end.
[Brief description of the drawings]
FIG. 1 is a main part configuration diagram of an article transport facility including a traveling device according to a first embodiment of the present invention.
FIG. 2 is a partial plan view of a transport cart of the article transport facility.
FIG. 3 is a side view of a traveling rail and a transport cart of the article transport facility.
FIG. 4 is a cross-sectional view of a traveling rail of the article transport facility and a front view of a main part of a transport cart.
FIG. 5 is a control block diagram of a transport cart of the article transport facility.
FIG. 6 is a diagram showing a speed curve of a transport trolley of the article transport facility and an arrangement of a correction detection plate and an HP return detection plate.
FIG. 7 is a main part traveling control block diagram of a main body controller of a transport cart of the article transport facility.
FIG. 8 is a perspective view of a main part of an article storage facility provided with a traveling device according to Embodiment 2 of the present invention.
FIG. 9 is a schematic configuration diagram of a stacker crane of the article storage facility.
FIG. 10 is an enlarged view of a main part of a stacker crane of the article storage facility.
FIG. 11 is a control configuration diagram of the article storage facility.
FIG. 12 is a block diagram of a traveling control unit of the crane control device of the article storage facility.
[Explanation of symbols]
1 running rail
2 floors
3 transport trolley
4 Transport route
5 stations
Conveyor device for 6-station transfer
8 Correction detection plate
9 HP return detection plate
12 Conveyor device for transfer / placement of transport trolley
13 Swivel driven wheel device
14 Swivel / slide type drive wheel device
15 Brake
18 Motor for traveling
21 Feeder line
22 wireless modem
28 Correction detection sensor
29 HP return detection sensor
34 Origin
35 Origin detector
40 upper computer
41 Ground controller
42 terrestrial modem
43 Main controller
61 running rail
62 Running body
63 elevator
62 Fork device
72 Elevating electric motor
83 Traveling electric motor
85 Second distance measuring device
88 HP detection plate
89 HP detection sensor
101 Travel control unit
FS goods storage equipment
A storage shelf
B Work passage
C Stacker crane
CC crane control device
D Article storage
E Goods loading / unloading section
E1 controller
E2 Article mounting table (loading / unloading port)
F, R goods

Claims (4)

A traveling body traveling along a constant traveling route, traveling driving means, speed detecting means for detecting a traveling speed of the traveling body, and driving the traveling driving means while detecting the traveling speed by the speed detecting means. A traveling device provided with control means for controlling the traveling speed of the traveling body,
Decelerate at a normal deceleration from a normal traveling speed, obtain a normal stop speed curve so that the traveling body can stop at the origin of the traveling route, and provide a plurality of corrected detection objects along this curve,
The traveling body includes a correction detection unit that detects the correction target,
The control means of the traveling body checks the traveling speed detected by the speed detection means every time the corrected detection means detects the corrected detection object, and sets the allowable speed set for each of the correction detection objects. A traveling device for a traveling body, wherein the traveling drive unit is stopped when the traveling speed is higher than a speed. Near the origin on the normal stop speed curve, a plurality of traveling speeds are set retroactively from the inrush permissible speed at the end of the traveling route, and a traveling distance from each of these traveling speeds to the origin is determined, and The traveling device for a traveling body according to claim 1, wherein the body is arranged for each of these traveling distances. By an emergency stop from the maximum traveling speed of the traveling body, an emergency stop speed curve is obtained at the end of the traveling path, which is an allowable entry speed of the traveling body at the end,
3. The method according to claim 1, wherein the allowable speed set for each of the corrected detected objects is a traveling speed on the emergency stop speed curve at a position where the corrected detected objects are arranged. The traveling device of the traveling body according to any one of the preceding claims. The traveling body is provided with traveling distance detection means for detecting the traveling distance of the traveling body,
The speed detecting means is configured to detect a traveling speed of the traveling body by a change per unit time of a traveling distance detected by the traveling distance detection means,
Each time the control means inputs the detection information of the corrected object, the travel distance detected by the travel distance detecting means while passing through the corrected object is set in advance or learned. The detected amount of the object to be corrected is compared, and when it is out of an allowable range, it is determined that the traveling distance detecting means is not normal, and the traveling driving means is stopped. Item 4. A traveling device for a traveling body according to item 3.

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