JP2009143636A - Article conveying apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an article conveying apparatus enhanced in reliability in a boarding operation mode without sharing the time for checking the operation of an overspeed detection means. <P>SOLUTION: The article conveying apparatus includes: an operation control means (C3) which is freely switched to the non-boarding operation mode in which a moving body is moved at the speed equal to or lower than the maximum speed for the non-boarding control or to the boarding operation mode for moving the moving body at the speed equal to or lower than the maximum speed for the boarding control lower than the maximum speed for the non-boarding control; overspeed detection means (15, 16) for outputting the overspeed detection signal if the moving speed is higher than the permissible limit speed set to be higher than the maximum speed for the boarding control; forcible stop means (23, 24) for stopping the operations of driving means (1a, 2b) if the overspeed detection means outputs the overspeed detection signal when the operation control means is in the boarding operation mode; and overspeed detection monitoring means (17, 18) for discriminating the abnormality unless the overspeed detection means outputs any overspeed detection signal when the operation control means is in the non-boarding operation mode, and moves the moving body at the speed equal to or higher than the permissible limit speed. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a non-boarding speed of the moving body based on a driving means for moving a moving body for article conveyance and a non-boarding operation command issued when an operator does not board the moving body. A non-boarding operation mode for executing non-boarding operation control for controlling the operation of the driving means so as to move the moving body in a state where the moving body is controlled to be below the maximum speed for control, and an operator gets on the moving body The moving body is moved in a state where the moving speed of the moving body is regulated to be equal to or lower than the maximum speed for boarding control lower than the maximum speed for non-boarding control, based on a driving instruction for boarding in the case The operation control means configured to be able to switch to the boarding operation mode for executing the boarding operation control for controlling the operation of the drive means, and the moving speed of the moving body is set to be higher than the maximum speed for the boarding control. Was Overspeed detection means for outputting an overspeed detection signal when the speed is above the limit speed, and the overspeed detection means outputs the overspeed detection signal when the operation control means is switched to the boarding operation mode. Then, it is related with the article conveyance equipment provided with the forced stop means to stop the action | operation of the said drive means.

  In the above article transport facility, when an operator transfers an article or performs maintenance between the moving body and the transfer target location, the moving object is transferred with the worker on the moving body. In order to move to a target movement location such as a location at a relatively low speed, an operation command for boarding is instructed, and the operation control means is operated in the boarding operation mode. In addition, when transferring an article between the moving body and a transfer target location by an article transfer device provided on the moving body, the moving body is to be transferred without an operator getting on the moving body. In order to move to a place at a relatively high speed, a non-boarding operation command is issued, and the operation control means is operated in the non-boarding operation mode. In this way, the upper limit of the moving speed of the moving body can be made different depending on whether or not an operator is on the moving body (see, for example, Patent Document 1).

  And since the said article conveyance equipment corresponds to the equipment provided with the control means which controls the action | operation of the moving body aiming at a person boarding, the moving speed of a moving body is faster than the maximum speed for boarding control. Overspeed detection means is provided to output an overspeed detection signal if the speed exceeds the allowable limit speed, and if the moving speed of the moving body exceeds the allowable limit speed, the forced stop means The operation of the driving means of the moving body is forcibly stopped based on the speed detection signal (see, for example, Patent Document 2).

  That is, for example, in a facility equipped with a control means for controlling the operation of a moving object intended to be carried by a person, such as a passenger elevator, when the moving object runs away due to an abnormality in the facility. In addition, there is provided an overspeed detection means for outputting an overspeed detection signal when the moving speed of the moving body is equal to or higher than an allowable limit speed set higher than the maximum speed for boarding control. When the speed exceeds the allowable limit speed, the forced stop means forcibly stops the operation of the driving means of the moving body based on the overspeed detection signal. And since the operator may board the mobile body in the article transport facility, an overspeed detection means and a forced stop means are provided in the same manner as a passenger elevator.

  Moreover, in the said article conveyance equipment, since the maximum speed in the non-boarding operation mode is set sufficiently higher (for example, 2 to 3 times) than the maximum speed in the boarding operation mode, the maximum speed for non-boarding control is set. The speed is equal to or higher than the allowable limit speed for the overspeed detection means. For this reason, when the operation of the moving body is controlled in the non-boarding operation mode, the moving speed of the moving body may become a speed exceeding the allowable limit speed. In such a case, the overspeed detecting means outputs an overspeed detection signal. .

  Therefore, in the non-boarding operation mode, the overspeed detection means or the signal path from the overspeed detection means to the forced stop means is overspeeded so that the forced stop based on the overspeed detection signal of the overspeed detection means is not performed. A signal invalidating means such as a relay for invalidating the detection signal is provided, and the forced stop means is driven by the overspeed detection signal output from the overspeed detection means by operating this signal invalidation means in the non-boarding operation mode. The means is not forced to stop. Of course, in the boarding operation mode, the signal invalidating means is not operated, and the forcible stop means can forcibly stop the driving means by the overspeed detection signal output from the overspeed detection means. I am doing so.

  Thus, conventionally, in the non-boarding operation mode, even if the moving speed of the moving body is equal to or higher than the allowable limit speed, regardless of whether or not the overspeed detecting means outputs the overspeed detection signal. The operation in the non-boarding operation mode is continued.

JP-A-10-152210 JP 2005-335905 A

  However, with the above conventional configuration, in the non-boarding operation mode, the overspeed detection means continues to operate in the non-boarding operation mode regardless of the presence or absence of the overspeed detection signal. Even if the overspeed detection signal is not normally output, the driving means is controlled in the non-boarding operation mode without finding the failure, and the moving speed of the moving object is the allowable limit speed. Even when the speed becomes the above speed, the driving means is controlled in a state where the overspeed detection signal is not output from the overspeed detection means.

  Therefore, even if the overspeed detection means breaks down, the worker cannot recognize the situation, and the operator boarded to move the moving body on which the worker has boarded without noticing the failure of the overspeed detection means. It is conceivable to operate the operation control means in the boarding operation mode by instructing a time operation command. In such a case, the overspeed detection signal is not output from the overspeed detection means even when the moving speed of the moving body exceeds the allowable limit speed, so the forced stop function of the drive means by the forced stop means operates. However, the moving speed of the moving body in a state where the worker is on board reaches a high speed that is equal to or higher than the allowable limit speed, which gives the operator a feeling of horror on the moving body.

  However, in order to operate the operation control means in the boarding operation mode by instructing the operation command for boarding, the signal invalidation means for invalidating the overspeed detection signal is not activated as in the boarding operation mode. Before the operator actually gets on board, the driving means is driven so that the moving speed of the moving body is higher than the allowable limit speed. It is conceivable to check the operation of the overspeed detection means by confirming that the operation of the means is forcibly stopped, but check the operation of the overspeed detection means before performing the control in the boarding operation mode. If done, there is a problem that the working efficiency is lowered.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to improve the reliability in the boarding operation mode without taking time for checking the operation of the overspeed detection means. The point is to provide transportation equipment.

In order to achieve this object, an article conveying facility according to the present invention includes a driving unit that moves a moving body for conveying articles, and a non-boarding operation command that is commanded when an operator does not board the moving body. Based on the non-boarding operation for controlling the operation of the drive means to move the moving body in a state where the moving speed of the moving body is regulated to be equal to or lower than the maximum speed for non-boarding control A maximum speed for boarding control that is lower than the maximum speed for non-boarding control based on the mode and a driving command for boarding that is commanded when an operator is on the mobile body. An operation control means configured to be able to switch to a boarding operation mode for executing a boarding operation control for controlling the operation of the driving means so as to move the moving body in a state where the moving body is controlled to be below a speed; and a moving speed of the moving body But Overspeed detection means for outputting an overspeed detection signal when the speed is not less than an allowable limit speed set higher than the maximum speed for boarding control, and when the operation control means is switched to the boarding operation mode. And when the overspeed detection means outputs the overspeed detection signal, a forced stop means for stopping the operation of the drive means is provided,
The first characteristic configuration is a monitoring high-speed driving state in which the driving control unit is switched to the non-boarding operation mode and the driving unit is driven to move the moving body at a speed equal to or higher than the allowable limit speed. In some cases, overspeed detection monitoring means is provided for determining that the overspeed detection means is abnormal unless it outputs the overspeed detection signal.

  That is, when the operation control means is switched to the non-boarding operation mode, the operation control means controls the operation of the drive means so that the moving speed of the moving body is regulated to be equal to or lower than the maximum speed for non-boarding control. Move.

  Here, the maximum speed for non-boarding control is set sufficiently higher than the maximum speed for boarding control, and the allowable limit speed for the overspeed detection means is higher than the maximum speed for boarding control. No, the maximum speed for non-boarding control is not set as high as the maximum speed for non-boarding control, so the maximum speed for non-boarding control is higher than the allowable limit speed. Therefore, when the operation control means is switched to the non-boarding operation mode, there is a case where a high-speed driving state for monitoring that drives the driving means to move the moving body at a speed equal to or higher than the allowable limit speed during the article transfer operation exists. To do.

  In the high-speed driving state for monitoring, the driving unit is driven so as to move the moving body at a speed equal to or higher than the allowable limit speed. Therefore, the moving body moves at a speed higher than the allowable limit speed. Therefore, in the high-speed driving state for monitoring, the overspeed detection means should output an overspeed detection signal.

  In other words, the overspeed detection monitoring means is in a state in which the overspeed detection signal that should originally be output is not output when the overspeed detection means does not output the overspeed detection signal in the monitoring high-speed drive state. It can be determined that an abnormality has occurred in the speed detection means.

  Depending on the moving distance of the moving body or the mode of the control command for the driving means, even if the operation control means is in the monitoring high-speed driving state, the period is short, or the acceleration capability by the driving means is limited. For this reason, the moving speed of the moving body may not reach the allowable limit speed or more. However, by moving many articles in the non-boarding operation mode, the moving distance of the moving body is long. In this case, the moving speed of the moving body reaches a speed higher than the allowable limit speed.

  In addition, even when the operation control means is in the monitoring high-speed drive state, when performing control such that the moving speed of the moving body does not reach the speed exceeding the allowable limit speed, the operation control means may Even if the overspeed detection means does not output an overspeed detection signal when it is in a driving state, it is not immediately determined as abnormal, for example, the overspeed detection means detects overspeed after a predetermined time has elapsed since it entered the high-speed driving state for monitoring. It is preferable to determine that an abnormality has occurred unless a signal is output, or to determine that an abnormality has occurred if a state in which the overspeed detection means does not output an overspeed detection signal continues for a determination duration in the monitoring high-speed driving state.

  As described above, according to the first characteristic configuration of the present invention, the operation of the overspeed detection unit is confirmed when the operation control unit travels the moving body in the non-boarding operation mode. The operation of the overspeed detecting means can be confirmed without spending additional time for confirming. If it is determined that there is an abnormality in the non-boarding operation mode, it is possible to notify the operator of the occurrence of the abnormality by displaying a warning or the like by the reporting means, and the overspeed detecting means It is possible to avoid the situation where the driving in the boarding operation mode is performed in the generated state.

  As described above, according to the first characteristic configuration of the present invention, an article conveying facility capable of improving the reliability in the boarding operation mode without taking time for checking the operation of the overspeed detecting means has been obtained. .

  A second feature configuration of the article processing system according to the present invention is that, in the first feature configuration, manually operated passenger command means that can command the boarding operation command is provided on the movable body. is there.

  That is, when the operator is on the moving body, the boarding operator can manually command the passenger command means provided on the moving body, so that the operation command for boarding can be commanded. When moving to a moving location, an operator boarding the moving body can command the operation command for boarding while visually checking the distance to the target moving location, so that the target moving location desired by the boarding worker can be obtained. The moving body can be accurately moved.

  As described above, according to the second characteristic configuration of the present invention, an article transporting facility capable of accurately moving the moving body to a moving position desired by an operator who has boarded the moving body has been obtained.

  According to a third characteristic configuration of the article conveying facility according to the present invention, in the first or second characteristic configuration, the driving unit is configured to drive and rotate a rotating body for moving the moving body, and the overspeed When the detection means detects the rotation speed of the drive rotation shaft included in the drive means or the rotation member that rotates integrally therewith, and the rotation speed reaches a determination rotation speed determined corresponding to the allowable limit speed, the overspeed The configuration is such that a detection signal is output.

  In other words, the overspeed detection means detects the rotation speed when the drive means drives and rotates the rotating body for moving the moving body by the rotation speed of the drive rotation shaft or the rotation member that rotates integrally therewith, The rotational speed of the rotating body can be detected faithfully based on the actual rotational speed in a state that does not include measurement errors due to slipping or the like. Then, when the rotational speed of the driving rotary shaft or the rotating member that rotates integrally therewith reaches the determination rotational speed determined in accordance with the allowable limit speed, an overspeed detection signal is output, so the rotational body for moving the mobile body It is possible to accurately determine an abnormality in the actual rotation speed and accurately determine an abnormality in the drive means and the operation control means.

  Therefore, the overspeed detection means can detect the overspeed state when the rotational speed of the drive means becomes abnormal even if the apparent movement speed does not reach the allowable limit speed. By detecting the change in the position of the body, it is possible to detect that the vehicle is in an overspeed state with less measurement error than when the moving speed of the moving body is detected.

  As described above, according to the third characteristic configuration of the present invention, it is possible to obtain an article transport facility that can further improve the reliability of the facility by accurately detecting that the moving body is in an overspeed state. It came.

  According to a fourth feature configuration of the article processing system of the present invention, in any one of the first to third feature configurations, the drive unit is an electric motor, and the operation control unit is supplied to the electric motor. The operation of the electric motor is controlled by controlling electric power, and the high-speed driving state for monitoring is in a state that the electric power supplied to the electric motor is rated electric power.

  That is, since the operation control unit controls the operation of the electric motor by a known technique of controlling the electric power supplied to the electric motor, the operation control unit can be easily configured. In addition, since the state where the power supplied to the electric motor is the rated power is the high-speed driving state for monitoring, the maximum speed for non-boarding control in the non-boarding operation mode is set when the rated power is supplied to the motor. By setting as speed, if you operate in non-boarding operation mode without performing special power supply to reveal the high-speed driving state for monitoring, you can check the operation of the overspeed detection means, In addition, since the electric power supplied to the electric motor through the non-boarding operation mode and the boarding operation mode can be suppressed to the rated power or less, it is possible to suppress unnecessary power consumption and moreover without impairing the mechanical life of the electric motor. A highly reliable state can be maintained over a long period of time.

  Thus, according to the 4th characteristic structure of this invention, it came to obtain the articles | goods conveyance equipment excellent in both consumption energy and a mechanical lifetime.

  According to a fifth characteristic configuration of the article processing system of the present invention, in the fourth characteristic configuration, the moving body is a stacker crane, and the driving means travels the traveling carriage of the stacker crane or the stacker. A lifting motor that lifts and lowers the lifting platform of the crane, and the overspeed detection means outputs an overspeed detection signal when the lifting speed of the lifting platform is equal to or higher than a preset allowable limit lifting speed, or When the traveling speed of the traveling carriage is equal to or higher than a preset allowable limit traveling speed, an overspeed detection signal is output.

  That is, the operation control means operates in the non-boarding operation mode when the operator does not board the stacker crane when controlling the traveling operation of the traveling cart of the stacker crane and the lifting operation of the lifting platform. When the control is executed and the worker boardes the stacker crane, the boarding operation control is performed by operating in the boarding operation mode.

  Then, when the operation control means is operating in the non-boarding operation mode, the driving motor is driven so that the traveling cart of the stacker crane travels at a traveling speed equal to or higher than the allowable limit traveling speed, or the stacker crane is moved up and down. Confirming the operation of the overspeed detecting means for traveling or the overspeed detecting means for raising and lowering in the monitoring high speed driving state in which the raising and lowering motor is driven so as to raise and lower the table at a lifting speed higher than the allowable limit lifting speed. Can do.

  Therefore, it is possible to confirm the operation of the traveling overspeed detecting means or the overspeed detecting means for raising / lowering without particularly allocating the time for the operation confirmation. The boarding operation control can be executed in the boarding operation mode in a state where it is confirmed that the elevating overspeed detection means is operating normally.

  Thus, according to the fifth characteristic configuration of the present invention, an article using a stacker crane that can improve the reliability of the traveling operation of the traveling body and the lifting operation of the lifting platform in the boarding operation mode while maintaining work efficiency. I came to get the transport equipment.

  1 and 2 show an article transport facility according to the present invention, in which a plurality of storage shelves A having a plurality of article storage portions A1 provided vertically and horizontally, and a pair of storage shelves A in which the article loading / unloading directions are opposed to each other. Each of the work paths B provided in each of them and a stacker crane C that travels along each of these work paths B are provided, and are placed and housed on a pallet D as an article container at the end of the storage shelf A. A delivery unit F for delivering the pallet D between the stacker crane C and the forklift truck (not shown) traveling on the floor surface, and a main controller G for controlling the article storage work by the stacker crane C; Is provided.

  Each of the storage shelves A includes a front side support column A2 that is erected at a predetermined interval along the front side of the shelf and a rear side column A3 that is erected at a predetermined interval along the rear side of the shelf. Are connected by the diagonal frame A6 and the front and rear frames A7, and the back-side support columns A3 are connected by a horizontal frame A5 at a plurality of vertical positions, and the front-side support columns A2 and the back-side support columns A3 that are opposed in the front-rear direction are An article storage unit A1 that is configured by fixing the pallet support arm A4 in a cantilever manner at five locations, and the upper space of the two pallet support arms A4 facing each other between the left and right columns supports a plurality of articles E together with the pallet D. It is configured.

  As shown in FIGS. 3 and 4, the stacker crane C rotationally drives a traveling carriage 1 and a traveling wheel 12 that can travel back and forth on a single traveling rail C <b> 1 along the article loading / unloading side of the storage shelf A. The traveling motor 1a that drives the traveling carriage 1 to travel, the lifting body 2 that can be moved up and down along the two front and rear columns 2a that are erected on the traveling carriage 1, and the lifting wire that suspends and supports the lifting body 2 13, a lifting motor 2b that drives and lifts the lifting body 2 by operating the winding and feeding operation, a crane control device C3 that controls the operation of the traveling motor 1a and the lifting motor 2b, and the upper ends of the two columns 2a The travel guide 3 is provided in a state where the two are connected to each other, and the travel guide 3 is traveled along the guide rail C2 fixed to the upper part between the storage shelves A so that the stacker crane C is prevented from falling down. It is configured to be traveling road B.

  The elevating body 2 is configured to be movable up and down and left and right along the article loading / unloading side of the storage shelf A, and the pallet D is mounted on the elevating body 2 along the horizontal direction of the storage shelf, that is, along the traveling direction. The quantity specified from the article storage unit A1 in which the worker boarding unit 6 and the worker boarding unit 6 on which the worker is boarding are juxtaposed in the adjacent state and the worker boarding the worker boarding unit 6 is instructed. Picking out the article E and placing it on the pallet D of the container mounting unit 4, and the quantity of the article E instructed by the worker boarding the worker boarding unit 6 from the pallet D of the container mounting unit 4 An article replenishing operation for replenishing the article storage unit A1 taken out and instructed can be performed.

  The storage device mounting section 4 is provided with a fork device 5 as a transfer device that can put in and out the pallet D with respect to the article storage portion A1 and can be loaded onto and removed from the storage device mounting portion 4. A safety handrail 4a is provided on the support 2a side of the fork device 5. The fork device 5 has the pallet D placed on the top surface of the fork member 5a, and the pallet top surface D1 is connected to the floor surface 6a of the worker riding section 6. The pallet D is mounted so as to be positioned at substantially the same height.

  The traveling carriage 1 of the stacker crane C is provided with a traveling overspeed detector 15 and a lifting overspeed detector 16 as overspeed detecting means.

  The traveling overspeed detector 15 detects the rotational speed of the drive rotation shaft included in the traveling motor 1a that drives and rotates the traveling wheel 12 as a rotating body for traveling the traveling carriage 1 in the forward and reverse directions, An overspeed detection signal is output when the rotational speed reaches a travel determination rotational speed Vhr determined corresponding to the allowable limit travel speed Vhlim.

  The allowable limit traveling speed Vhlim is set to be higher than the maximum traveling speed Vh2 at the command traveling speed Vh of the traveling carriage 1 of the stacker crane C in the artificial work mode M2 described later. In the present embodiment, as shown in FIG. 5, the maximum traveling speed Vh2 in the manual operation mode M2 is 30 [m / min], and the allowable limit traveling speed Vhlim is 40 [m / min]. The traveling determination rotational speed Vhr is 35 [rotation / minute] corresponding to the allowable traveling speed Vhlim from the design conditions such as the outer peripheral length of the traveling wheel 12.

  The over-speed detector 16 for raising and lowering is a drive rotating shaft provided in the raising and lowering motor 1a for driving and rotating the rotating drum 14 for winding the raising and lowering wire as a rotating body for raising and lowering the raising and lowering body 2 in the forward and reverse directions. The rotational speed is detected, and an overspeed detection signal is output when the rotational speed reaches the lifting determination rotational speed Vvr determined corresponding to the allowable limit lifting speed Vvlim.

  The allowable limit lifting speed Vvlim is set to be higher than the maximum lifting speed Vv2 at the command lifting speed Vv of the lifting body 2 of the stacker crane C in the artificial work mode M2 described later. In the present embodiment, as shown in FIG. 4, the maximum lifting speed Vv2 in the manual operation mode M2 is 10 [m / min], and the allowable limit lifting speed Vvlim is 12.5 [m / min]. The raising / lowering determination rotational speed Vvr is 25 [rotations / minute] corresponding to the allowable limit raising / lowering speed Vvlim based on design conditions such as the outer peripheral length of the rotary drum 14.

  The traveling overspeed detector 15 and the elevation overspeed detector 16 are known mechanical overspeed detectors. For example, a squirrel cage conductor is housed in a rotor that can rotate about the same rotational axis as the rotational speed detection target, and a permanent magnet that rotates integrally with the rotational drive shaft is provided at the center of the squirrel cage conductor. An operating lever for operating a switch using a rotational force proportional to the rotational speed generated in the rotor in the same direction as the rotational direction of the permanent magnet based on the induced current flowing in the squirrel cage conductor by the rotational operation of the rotational drive shaft The actuator may be configured to output a contact signal by closing or opening a switch provided in an internal output circuit by moving the actuator.

  In addition, a rotor that can rotate in the same direction as the rotational drive shaft of the rotational speed detection target is provided in a state in which a rotor to be moved in the rotational radius direction is urged toward the center of rotation by a spring or the like. It may be configured to output a contact signal by closing or opening a switch provided in an internal output circuit by moving the actuator using centrifugal force generated in the child.

  FIG. 6 shows a control block diagram. The main controller G and the crane control device C3 are provided so as to be able to transmit and receive necessary data to each other by an optical communication method, and the main controller G has an input device G1 for inputting necessary work data. And a selection switch G2 for selecting an operation mode to be described later.

  The crane control device C3 includes detection data of a traveling position detection device R1 that detects a traveling position of the traveling carriage 1, detection data of a lifting position detection device R2 that detects a lifting position of the lifting body 2, and a worker riding section 6 Contact signals by four command switches 11 which are opened and closed by four manually operated operation buttons 10 which are provided on the front and rear and command up and down and up and down, and a traveling overspeed detector 15 and an overtravel An abnormality detection signal is input from a traveling overspeed detector monitoring circuit 17 and a lifting overspeed detector monitoring circuit 18 as monitoring means for confirming normal operation of the speed detector 16.

  The crane control device C3 is a travel control for the travel inverter 19 that controls the work instruction data indicating the work content displayed on the display device 7 for the operator on board and the drive power supplied to the travel motor 1a. Signals, a lift control signal for the lift inverter 20 that controls drive power supplied to the lift motor 2b, and an operation mode identification signal for the traveling overspeed detector monitoring circuit 17 and the lifting overspeed detector monitoring circuit 18 are output. To do.

  The traveling inverter 19 controls power supply power taken in by the current collector from a power supply rail (not shown) installed near the floor along the traveling rail C1 based on a traveling control signal output by the crane control device C3. Then, the electric power for driving the motor is supplied to the traveling motor 1a through the traveling motor power line breaker 21. The lifting / lowering inverter 20 controls the power supply power based on the lifting / lowering control signal output from the crane control device C3, and supplies the power to the lifting / lowering motor 2b through the lifting / lowering motor feed line breaker 22 as power for driving the motor.

  The traveling motor power supply circuit breaker 21 and the lifting motor power supply circuit breaker 22 are normally open electromagnetic contactors configured to be able to intermittently switch power to the electric motor based on the input contact signal. For example, an electromagnetic switch composed of a magnet relay provided with a thermal relay for overload protection may be used.

  Based on the operation mode identification signal from the crane control device C3, the traveling overspeed detector monitoring circuit 17 changes the operation state of the traveling safety circuit 23 from an output variable state (Active state) to an output fixed state (Nonnative state). Based on the operation mode identification signal, the command travel speed signal from the crane control device C3, and the overspeed detection signal from the travel overspeed detector 16, the overspeed detector for traveling is output. 15 operation abnormalities are detected, and when an abnormality is detected, an abnormality detection signal is output to the crane control device C3.

  The operation abnormality detection function of the traveling overspeed detector 15 by the traveling overspeed detector monitoring circuit 17 will be described. The traveling overspeed detector monitoring circuit 17 determines the operation mode of the crane control device C3 from the operation mode identification signal. When the crane control device C3 is identified and switched to the normal work mode M1 described later, the mounted microcomputer executes the overspeed detector monitoring process. In the overspeed detector monitoring process, a high-speed traveling state for monitoring in which rated power is supplied to the traveling motor 1a so as to move the stacker crane C at a traveling speed equal to or higher than the allowable traveling speed Vhlim (for monitoring of the present invention). If the traveling overspeed detector 15 does not output an overspeed detection signal during a high speed driving state (corresponding to a high speed power supply period T described later), it is determined that there is an abnormality.

  Based on the operation mode identification signal from the crane controller C3, the lifting overspeed detector monitoring circuit 18 changes the operation state of the lifting safety circuit 24 from an output variable state (Active state) to an output fixed state (Nonnative state). Is output based on the operation mode identification signal and the command traveling speed signal from the crane control device C3, and the overspeed detection signal from the overspeed detector 16 for lifting and lowering. An abnormal operation of the detector 16 is detected, and when an abnormality is detected, an abnormality detection signal is output to the crane control device C3.

  The operation abnormality detection function of the lifting overspeed detector 16 by the lifting overspeed detector monitoring circuit 18 will be described. The lifting overspeed detector monitoring circuit 18 determines the operation mode of the crane control device C3 from the operation mode identification signal. When the crane control device C3 is identified and switched to the normal work mode M1 described later, the mounted microcomputer executes the overspeed detector monitoring process. In the overspeed detector monitoring process, a high-speed monitoring state for driving the elevating motor 2a to move the stacker crane C at an elevating speed equal to or higher than the allowable limit elevating speed Vvlim (corresponding to the high-speed driving state for monitoring of the present invention) If the overspeed detector 16 for raising and lowering does not output an overspeed detection signal, it is determined that there is an abnormality.

  The traveling overspeed detector monitoring circuit 17 and the traveling overspeed detector monitoring circuit 18 are configured so that the traveling safety circuit 23 is in an artificial work mode M2 and a manual operation mode M3 described later, as indicated by the operation mode identification signal. If the operation mode indicated by the operation mode identification signal is a normal operation mode M1, which will be described later, the operation states of the traveling safety circuit 23 and the elevating safety circuit 24 are changed. In order to switch to the output fixed state, an operation state switching signal is output. The traveling overspeed detector monitoring circuit 17 and the lifting overspeed detector monitoring circuit 18 output contact signals as operation state switching signals in this embodiment.

  When the traveling safety circuit 23 is switched to the output fixed state by the operation state switching signal from the traveling overspeed detector monitoring circuit 17, the traveling safety circuit 23 depends on the presence or absence of the overspeed detection signal from the traveling overspeed detector 15. Instead, a connection command signal is always output to the travel motor power line breaker 21, the relay coil of the travel motor power line breaker 21 is excited, and the power output from the travel inverter 19 is supplied to the travel motor 1a. To close the circuit.

  On the other hand, if the output state is switched by the operation state switching signal from the traveling overspeed detector monitoring circuit 17, the traveling motor power supply line is supplied when there is no overspeed detection signal from the traveling overspeed detector 15. A shutoff command signal is output to the circuit breaker 21, the relay coil of the travel motor power supply circuit breaker 21 is excited, and the circuit is closed so that the power output from the travel inverter 19 is supplied to the travel motor 1a. When there is an overspeed detection signal from the traveling overspeed detector 15, a disconnection command signal is output to the traveling motor power line breaker 21, and the relay coil of the traveling motor power line breaker 21 is output. Is demagnetized to open the circuit so that the electric power output from the traveling inverter 19 is not supplied to the traveling motor 1a.

  In other words, when the crane control device C3 operates in the manual operation mode M2 and the manual operation mode M3, the traveling safety circuit 23 travels regardless of the presence or absence of the overspeed detection signal from the traveling overspeed detector 15. When a connection command signal is output to the motor power line breaker 21 and the crane control device C3 is operating in the normal work mode M1, if there is no overspeed detection signal from the overspeed detector 15 for traveling, the traveling A connection command signal is output to the motor power line breaker 21, and if there is an overspeed detection signal from the travel overspeed detector 15, a cut command signal is output to the travel motor power line breaker 21. .

  Therefore, the traveling safety circuit 23 is a traveling overspeed detector monitoring circuit as an overspeed detecting means when the crane control device C3 is switched to the manual operation mode M2 and the manual operation mode M3 as the boarding operation mode. When 17 outputs the overspeed detection signal, the operation of the traveling motor 1a as the driving means is stopped, so that it functions as the forced stopping means of the present invention.

  When the lifting safety circuit 24 is switched to the output fixed state by the operation state switching signal from the lifting overspeed detector monitoring circuit 18, it is determined whether or not there is an overspeed detection signal from the lifting overspeed detector 16. Instead, a connection command signal is always output to the lift motor power line breaker 22, the relay coil of the lift motor power line breaker 22 is excited, and the power output from the lift inverter 20 is supplied to the lift motor 2b. To close the circuit.

  On the other hand, if the output state is switched by the operation state switching signal from the lifting / lowering overspeed detector monitoring circuit 18, and there is no overspeed detection signal from the lifting / lowering overspeed detector 16, the lifting motor feed line A connection command signal is output to the circuit breaker 22, the relay coil of the lifting motor feed line circuit breaker 22 is excited, and the circuit is closed so that the power output from the lifting inverter 20 is supplied to the lifting motor 2 b. When there is an overspeed detection signal from the overspeed detector 16 for lifting, a cut command signal is output to the lifting motor power line breaker 22 and the relay coil of the lifting motor power line breaker 22 is output. Is demagnetized to open the circuit so that the power output from the lifting inverter 20 is not supplied to the lifting motor 2b.

  In other words, when the crane control device C3 is operating in the normal operation mode M1, the lifting safety circuit 24 is operated by the lifting motor power line breaker regardless of the presence or absence of the overspeed detection signal from the lifting overspeed detector 16. When the crane control device C3 is operated in the manual operation mode M2 and the manual operation mode M3, if there is no overspeed detection signal from the up / down overspeed detector 16, the up / down movement is performed. A connection command signal is output to the motor power line breaker 22, and if there is an overspeed detection signal from the lift overspeed detector 16, a cut command signal is output to the lift motor power line breaker 22. .

  In this way, the lifting safety circuit 24 is provided with the lifting speed overspeed detector as the overspeed detecting means when the crane control device C3 is switched to the manual operation mode M2 and the manual operation mode M3 as the boarding operation mode. When the monitoring circuit 18 outputs the overspeed detection signal, the operation of the elevating motor 2b serving as the driving means is stopped, so that it functions as the forced stopping means of the present invention.

  In the present embodiment, the traveling safety circuit 23 and the lifting safety circuit 24 output contact signals (Open / Close) as connection command signals and disconnection command signals.

  The selection switch G2 of the main controller G is used as an operation mode of the stacker crane C by the crane control device C3, in a normal work mode M1 in which the pallet D is put in and out of the article storage portion A1 by the fork device 5, and in the worker boarding portion 6. An artificial work mode M2 in which an operator E puts and removes an article E from and into a pallet D of the article storage unit A1, and an operator boarding the operator boarding unit 6 commands left-right travel and up-down movement. The operation mode can be selectively selected and set from three manual operation modes M3 in which the four manual operation operation buttons 10 are operated to move the stacker crane C to an arbitrary position.

  When the normal work mode M1 is selected, in the case of warehousing work based on the warehousing work data input by the input device G1, the fork device 5 together with the pallet D for the article E temporarily placed on the self-propelled carriage F1. The article E is mounted on the container mounting section 4 and the article E is stored together with the pallet D in the predetermined article storage section A1 by the fork device 5, and in the case of unloading work, the article stored in the predetermined article storage section A1. The operation of the stacker crane C is controlled so that E is loaded together with the pallet D on the container mounting portion 4 with the fork device 5 and the article E is temporarily placed with the pallet D on the self-propelled carriage F1 with the fork device 5. .

  When the manual work mode M2 is selected, the operation of the stacker crane C is controlled as follows according to the type of work data input by the input device G1.

  That is, if the work data input by the input device G1 is picking work data, the pallet D temporarily placed on the self-propelled carriage F1 is placed on the container mounting portion 4 by the fork device 5 based on the picking work data. The worker boarding section 6 is stopped in front of the predetermined article storage section A1 so that the operator can take out the article E specified by the picking work data from the article storage section A1. When the removal of the article E is completed, the operation of the stacker crane C is controlled so that the removed article E is temporarily placed on the self-propelled carriage F1 by the fork device 5 together with the pallet D.

  Further, if the work data input by the input device G1 is the article replenishment work data, the replenishment article E temporarily placed on the self-propelled carriage F1 and the pallet D together with the pallet D is based on the article supplement work data. 5, the worker boarding unit 6 is stopped in front of the article storage unit A1 so that the article storage unit A1 can be replenished with the article E instructed by the operator. When the replenishment of E is finished, the operation of the stacker crane C is controlled so that the empty pallet D is temporarily placed on the self-propelled carriage F1 by the fork device 5.

  When the manual operation mode M3 is selected, an operator who is on the worker boarding unit 6 presses the four manual driving operation buttons 10 provided in a state of being urged to return to the operated position. When the command switch 11 corresponding to each operation button 10 is turned on, the command corresponding to the switch is commanded while the command switch 11 is on, and the stacker crane is moved so that the movement corresponding to the command can be performed. The operation of C is controlled.

  Specifically, when the forward operation button 10F is pressed by the operator's finger, the forward command switch 11F is turned on, and the traveling cart 1 of the stacker crane C travels in the forward direction (the direction away from the main controller G). When the operator's finger is released from the forward operation button 10F and the pressing operation is finished, the forward command switch 11F is turned off and the traveling carriage 1 of the stacker crane C stops.

  When the reverse operation button 10R is pressed by the operator's finger, the reverse command switch 11R is turned on, causing the traveling cart 1 of the stacker crane C to travel in the reverse direction (direction approaching the main controller G), and the reverse operation button. When the operator's fingers are released from 10R and the pressing operation is finished, the reverse command switch 11R is turned off, and the traveling carriage 1 of the stacker crane C stops.

  When the lifting operation button 10U is pressed by the operator's finger, the lifting command switch 11U is turned on, the lifting body 2 of the stacker crane C is lifted, and the operator's finger is released from the lifting operation button 10U and pressed. When the operation is finished, the ascending command switch 11U is turned off, and the lifting body 2 of the stacker crane C is stopped.

  When the lowering operation button 10D is pressed by the operator's finger, the lowering command switch 11D is turned on, the lifting body 2 of the stacker crane C is raised, and the operator's finger is released from the lowering operation button 10D and pressed. When the operation is completed, the lowering command switch 11D is turned off, and the lifting body 2 of the stacker crane C is stopped.

  The traveling position detection device R1 detects a traveling position mark provided along the traveling rail C1 by a traveling position mark detection sensor (not shown) provided on the traveling carriage 1, and the traveling position from the reference position of the traveling carriage 1 is detected. The lift position detection device R2 detects the lift position mark provided along the support column 2a by a lift position mark detection sensor (not shown) provided on the lift body 2, and It is comprised so that the raising / lowering position from a reference position may be detected.

  The main controller G includes travel stop position data of the travel carriage 1 necessary for stopping the lifting body 2 in front of each article storage portion A1 corresponding to each of the normal work mode M1 and the human work mode M2. And lifting / lowering stop position data of the lifting body 2 are stored in a data table format.

  That is, as the stop position data corresponding to the normal work mode M1, the lifting / lowering body 2 is placed in the article storage unit A1 by the lifting / lowering body 2 so that the pallet D can be taken in and out by the fork device 5. The pallet D is placed on the article storage unit A1 in a state where the travel stop position data for normal work for stopping at the adjacent position and the container mounting unit 4 are stopped at a position adjacent to the article storage unit A1. Lifting stop position data for carrying-in work for operating the fork device 5 so that it can be stored, and lifting stop position data for carrying-out work for operating the fork device 5 so that the pallet D can be taken out from the article storage part A1. Is stored corresponding to each article storage unit A1.

  Further, the stop position data corresponding to the artificial work mode M2 is ascending / descending so that an article E can be taken in and out of the pallet D stored in the article storage section A1 by an operator who has boarded the worker boarding section 6. The travel stop position data for artificial work for stopping the body 2 at a position adjacent to the article storage section A1 and the worker mounting section 6 stopped at a position adjacent to the article storage section A1. The lift stop position data for stopping the floor so that the floor surface 6a of the worker mounting portion 6 is substantially the same height as the upper surface D1 of the pallet D stored in the article storage portion A1 is stored. Stored corresponding to the part A1.

  In the normal work mode M1, the main controller G uses the normal work mode to store the travel stop position data and the lift stop position data for normal work for the article storage unit A1 specified by the loading / unloading work data input by the input device G1. It is acquired from the stop position data corresponding to M1 by the table reference method, and is transmitted to the crane control device C3 as the target travel stop position data and the target lift stop position data for the article storage unit A1.

  In the normal work mode M1, the crane control device C3 starts from the travel start position as shown in FIGS. 4 and 5 based on the received target travel stop position data and target lift stop position data for the article storage unit A1. Corresponds to the command travel speed pattern corresponding to the travel distance to the travel stop position indicated by the target travel stop position data, and the lift distance from the lift start position to the lift stop position indicated by the target lift stop position data The commanded traveling speed pattern is generated, and the commanded traveling speed Vh and the commanded traveling speed Vv are output according to the commanded traveling speed pattern, so that the traveling speed of the traveling carriage 1 of the stacker crane C is less than the maximum traveling speed Vh1 for non-boarding control. And the lifting speed of the lifting body 2 of the stacker crane C is set to the maximum lifting speed Vv for non-boarding control. While regulating below, to operate the stacker crane C.

  In FIG. 4 (FIG. 5), in the normal work mode M1, since the distance from the travel start position (lifting start position) to the travel stop position (lifting stop position) is sufficiently long, the travel motor 1a (lift motor 2b) ) Is supplied with high-speed power for constant high-speed travel (for constant high-speed lift) to continue traveling at the maximum travel speed Vh1 for non-boarding control (maximum lift speed Vv1 for non-boarding control). There are two cases, when the period T exists and when the high-speed power supply period T does not exist because the distance from the travel start position (elevation start position) to the travel stop position (elevation stop position) is short. A change in the command travel speed Vh (command lift speed Vv) is shown.

  In the high-speed power supply period T, the high-speed power supplied from the traveling inverter 19 (elevating / lowering inverter 20) to the traveling motor 1a (elevating / lowering motor 2b) is the traveling motor 1a (elevating / lowering motor). The rated power is 2b).

  In the manual work mode M2, the main controller G uses the manual operation mode to store the travel stop position data and the lift stop position data for the manual work for the article storage unit A1 specified by the storage / work operation data input by the input device G1. It is acquired from the stop position data corresponding to M2 by the table reference method, and is transmitted to the crane control device C3 as the target travel stop position data and the target lift stop position data for the article storage unit A1.

  The crane control device C3 determines the traveling speed of the traveling carriage 1 of the stacker crane C as the maximum traveling speed Vh1 for non-boarding control based on the received target traveling stop position data and target lifting stop position data for the article storage unit A1. The maximum elevating speed for boarding control in which the elevating speed of the lifting body 2 of the stacker crane C is lower than the maximum elevating speed Vv1 for non-boarding control in a state where it is regulated to a lower maximum traveling speed Vh2 for boarding control. By controlling the electric power supplied to each of the traveling motor 1a and the lifting motor 2b so as to operate the stacker crane C in a state regulated to Vv2 or less, the traveling motor 1a and the lifting motor 2b are controlled separately. Control operation.

  In the manual operation mode M2, the crane control device C3 starts from the travel start position as shown in FIGS. 4 and 5 based on the received target travel stop position data and target lift stop position data for the article storage unit A1. Corresponds to the command travel speed pattern corresponding to the travel distance to the travel stop position indicated by the target travel stop position data, and the lift distance from the lift start position to the lift stop position indicated by the target lift stop position data The commanded traveling speed pattern is generated, and the commanded traveling speed Vh and the commanded traveling speed Vv are output in accordance with the commanded traveling speed pattern, so that the traveling speed of the traveling cart 1 of the stacker crane C is reduced to the maximum traveling speed Vh2 for boarding control. In a restricted state, the lifting speed of the lifting body 2 of the stacker crane C is set to a maximum lifting speed Vv2 for boarding control. While regulating the activates the stacker crane C.

  In FIG. 4 (FIG. 5), the distance from the travel start position (elevation start position) to the travel stop position (elevation stop position) is sufficiently long in the manual operation mode M1, and therefore the travel motor 1a (elevation motor 2b) ) Includes a period during which low-speed power for constant low-speed traveling (for constant low-speed ascending / descending) for continuing traveling at the maximum traveling speed Vh2 for boarding control (maximum ascending / descending speed Vv2 for boarding control) exists. In the two cases where there is no period during which low-speed power is supplied because the distance from the travel start position (elevation start position) to the travel stop position (elevation stop position) is short, the command travel speed Vh ( The change in the command elevation speed Vv) is shown.

  In the manual operation mode M3, the crane control device C3 travels the traveling cart 1 of the stacker crane C when the forward operation command or the reverse operation command is instructed by the manual operation button 10 provided in the worker riding section 6. Controlling the electric power supplied to the traveling motor 1a so as to operate the stacker crane C in a state where the speed is regulated to be equal to or lower than the maximum traveling speed Vh2 for boarding control lower than the maximum traveling speed Vh1 for non-boarding control. To control the operation of the traveling motor 1a. Further, the crane control device C3 does not board the lifting / lowering speed of the lifting / lowering body 2 of the stacker crane C when a rising command or a lowering command is commanded by the manual operation button 10 provided in the worker riding section 6. The elevator motor is controlled by controlling the electric power supplied to the elevator motor 2b so that the stacker crane C is operated in a state where the stacker crane C is controlled to be lower than the maximum elevator speed Vv2 for boarding control lower than the maximum elevator speed Vv1 for control. Control the operation of 2b.

  In the manual operation mode M3, the crane control device C3 outputs a command traveling speed Vh and a command lifting speed Vv corresponding to the command duration as shown in FIGS. 4 and 5 based on the received forward command or reverse command. Thus, the traveling speed of the traveling carriage 1 of the stacker crane C is regulated to be equal to or lower than the maximum traveling speed Vh2 for boarding control, and the lifting speed of the lifting body 2 of the stacker crane C is set to the maximum lifting speed Vv2 for boarding control. The stacker crane C is operated in a state regulated as follows.

  In FIG. 4 (FIG. 5), there are a case where the forward command and the reverse command (an ascending command and a descending command) are completed before reaching the maximum traveling speed Vh2 for boarding control (the maximum ascending / descending speed Vv2 for boarding control). The command travel speed in two cases where the forward command and the reverse command (up command and down command) continue even after reaching the maximum travel speed Vh2 for boarding control (maximum lifting speed Vv2 for boarding control). The change of Vh (command raising / lowering speed Vv) is shown.

  Thus, the normal work mode M1 corresponds to the non-boarding operation mode for executing the non-boarding operation control of the present invention, and the manual operation mode M2 and the manual operation mode M3 are the boarding operation for executing the boarding operation control of the present invention. Corresponds to the mode. The crane control device C3 configured to be switched to the normal operation mode M1, the manual operation mode M2 and the manual operation mode M3 by the selection switch G2 is configured to be switchable to the non-boarding operation mode and the boarding operation mode of the present invention. This corresponds to the operation control means.

  The target travel stop position data and the target lift stop position data transmitted from the main controller G in the normal work mode M1 correspond to the non-boarding operation command of the present invention, and are transmitted from the main controller G in the human work mode M2. Target travel stop position data and target lift stop position data, and forward command, reverse command, ascending command, and descending command that are commanded by the operator operating the manual operation button 10 in the manual operation mode M3. Corresponds to the on-boarding operation command of the present invention.

  Further, the manual operation button 10 provided on the driver boarding section 6 of the stacker crane C corresponds to a manually operated passenger command means that can command a boarding operation command.

  With the above configuration, the traveling operation and the lifting operation of the stacker crane C in each operation mode are controlled. When the crane control device C3 is switched to the normal operation mode M1, the microcomputer mounted on the traveling overspeed detector monitoring circuit 17 and the lifting overspeed detector monitoring circuit 18 is overspeed as described above. The detector monitoring process is executed.

  The overspeed detector monitoring process will be described with reference to the flowchart shown in FIG. In the following description, a monitoring process for detecting an operation abnormality of the traveling overspeed detector executed by the microcomputer of the traveling overspeed detector monitoring circuit 17 will be described, and the lifting overspeed detector monitoring circuit 17 will be described. Since the contents of the monitoring process for detecting the abnormal operation of the over-speed detector for raising / lowering performed by is duplicated, the description thereof is omitted.

  In the overspeed detector monitoring process, when the process is started, the error counter Ec is reset at step # 0, and the process from step # 1 to step # 6 is performed by the microcomputer processing cycle (for example, 200 [μsec. ]) Every time.

  In Step # 1, it is determined whether or not the command travel speed Vh is the maximum travel speed Vh1 for non-boarding control, that is, whether or not it is the high-speed power supply period T. If it is not the high-speed power supply period T, the determination process in step # 1 is repeated. If it is the high-speed power supply period T, the process proceeds to step # 2.

  In step # 2, it is determined whether or not there is an overspeed detection signal from the traveling overspeed detector 15. If the overspeed detection signal is output from the traveling overspeed detector 15, the process proceeds to step # 3 and the error counter Ec is cleared to zero. If the overspeed detection signal is not output from the travel overspeed detector 15, the process proceeds to step # 4 to increment the error counter Ec, and then the error counter Ec exceeds the discrimination count value E in step # 5. Determine whether or not.

  When the process of determining that the overspeed detection signal is not output from the traveling overspeed detector 15 is continuously repeated for the number of times exceeding the determination count value E, it is determined as Yes in step # 5 for the first time. Assuming that an abnormality has occurred in the detection operation of the speed detector 15, output of an abnormality signal to the crane control device C3 is started in step # 6.

As described above, in the overspeed detector monitoring process, not only the information on the presence / absence of the overspeed detection signal in one processing cycle but also the travel excess based on the information on the presence / absence of the overspeed detection signal in a plurality of consecutive processing cycles. Since the abnormality of the detection operation of the speed detector 15 is determined, the contact signal of the traveling overspeed detector 15 is caused by mechanical vibrations accompanying the traveling operation of the stacker crane C and electrical noise from devices such as an inverter and a motor. Even if the chattering occurs and the overspeed detection signal is momentarily interrupted, it is possible to prevent erroneous determination that it is determined that the traveling overspeed detector 15 is operating abnormally.
[Another embodiment]
Hereinafter, other embodiments are listed.

(1) In the above embodiment, the moving body is a stacker crane. However, the moving body is not limited to this. For example, the moving body may be an article transport cart that is movable along the travel route. Various specific configurations can be selected.

(2) In the above embodiment, the forcible stop means is configured to receive a signal indicating that the operation control means is switched to the boarding operation mode via the overspeed detection monitoring means. Instead of this, the forced stop means is configured to receive a signal indicating that the operation control means is switched to the boarding operation mode through another signal path, such as receiving the signal directly from the operation control means. It may be what was done.

(3) In the above embodiment, the travel motor power line breaker 21 and the lifting motor power line breaker 22 are exemplified as electromagnetic switches. However, as these power line breakers, other types of load switching A breaker or a breaker may be used.

(4) In the above embodiment, the operation control means is exemplified so that it can be switched between the non-boarding operation mode and the boarding operation mode based on the setting state of the selection switch G2 as the mode selection means. Not limited to this, for example, a non-boarding operation command and a boarding operation command are configured to be distinguishable from each other, and the operation control means automatically performs non-boarding operation control or boarding according to the type of command commanded. It may be configured to execute operation control.

(5) In the above embodiment, the overspeed detection signal is a contact signal, but the present invention is not limited to this. For example, the overspeed detection signal may be a voltage signal from a TTL circuit or the like. Various selections are possible.

(6) The overspeed detection means may be configured using a rotary encoder or the like that electrically detects the amount of rotation, or a laser range finder or the like that measures a distance from a reference position on the floor side. Even if it is configured to detect that the moving speed of the moving body is equal to or higher than the allowable limit speed set higher than the maximum speed for boarding control based on the measurement information of the distance measuring means Good.

(7) In the above embodiment, the state in which the operation control means is switched to the non-boarding operation mode and the power supplied to the drive means is the rated power as the high-speed driving state for monitoring has been described. For example, the monitoring high-speed driving state may be a state in which the operation control unit is switched to the non-boarding operation mode and the power supplied to the driving unit is lower or higher than the rated power.

(8) In the above embodiment, when the traveling overspeed detector monitoring circuit 17 (elevating overspeed detector monitoring circuit 18) is switched to the normal operation mode M1 described later, the crane control device C3 is overspeeded. Although the detector monitoring process is exemplified to determine that the overspeed detection means does not output an overspeed detection signal when it is in the high-speed driving state for monitoring, the present invention is not limited to this. The overspeed detector monitoring circuit 17 (elevating overspeed detector monitoring circuit 18) monitors the presence or absence of an overspeed detection signal in a part of the high-speed power supply period T, and overspeed is detected within the period. If the detection signal is not output from the traveling overspeed detector 15 (elevating overspeed detector 16), an abnormality may be determined.

  Further, an allowable limit travel speed Vhlim (allowable limit lift speed Vvlim) in which the command travel speed Vh (command lift speed Vv) is set higher than the maximum travel speed Vh2 for boarding control (maximum lift speed Vv2 for boarding control). Until the maximum travel speed Vh1 for non-boarding control (maximum lift speed Vv1 for non-boarding control) is reached, or the command travel speed Vh (command lift speed Vv) is the allowable limit travel speed Vhlim. If the traveling overspeed detector 15 (elevating overspeed detector 16) does not output an overspeed detection signal during a period from the time when it becomes equal to or greater than (allowable limit elevating speed Vvlim) to “0”, it is determined that there is an abnormality. It may be a thing.

(9) In the above embodiment, an example in which the command traveling speed Vh for the stacker crane C output by the crane control device C3 in the normal work mode M1 continuously changes is illustrated, but the present invention is not limited to this. As shown in the figure, the command traveling speed Vh for the stacker crane C commanded by the crane control device C3 in the normal operation mode M1 is high speed VhH / medium speed VhM / slow speed VhS as the maximum speed for non-boarding control as shown in the figure. For the stacker crane C output by the crane control device C3 in the manual operation mode M2 and the manual operation mode M3. As shown in FIG. 8B, the traveling speed Vh is a low speed VhL as the maximum speed for boarding control. After being output during a period corresponding to the command operation time, it may be one that changes very low speed VhS. In addition, the traveling speed of the stacker crane C when the command traveling speed Vh as described above is output is indicated by a broken line. Further, the command ascending / descending speed Vv may be changed stepwise over the high speed VvH, the medium speed VvM, the low speed VvL, and the very low speed VvS, similarly to the command travel speed Vh.

  In this case, the overspeed detection monitoring means detects the overspeed detection means from the start of the movement, for example, before the moving speed of the moving body becomes equal to or higher than the allowable limit speed set higher than the maximum speed for boarding control. Monitoring of the overspeed detection signal is started, and if the overspeed detection means does not output the overspeed detection signal while commanding a high speed or medium speed movement command exceeding the allowable limit speed, it is determined that there is an abnormality. It may be configured.

For example, by monitoring the overspeed detection signal in the period t1 and the period t2 shown in FIG. 8, when the overspeed detection signal is not received in the period t1 and the period t2, it is determined that the overspeed detection means is abnormal. can do. That is, in the period t1 and the period t2, the traveling motor 1a (elevating motor 2b) is driven based on the command traveling speed Vh (command ascending / descending speed Vv) of the high speed VhH / medium speed VhM (high speed VvH / medium speed VvM). The driving state corresponds to the monitoring high-speed driving state of the present invention.
(10) In the above embodiment, the microcomputer mounted in the traveling overspeed detector monitoring circuit 17 serving as the overspeed detection monitoring means is exemplified by the execution by the overspeed detector monitoring process. Not limited to this, the overspeed detection monitoring means may be configured by hardware.

Schematic plan view of goods transport equipment Side view of the main parts of the goods transport equipment Side view of the stacker crane Graph showing change in commanded running speed Graph showing change in command lifting speed Control block diagram Overspeed detector monitoring process flowchart The graph which shows the change of the command running speed in another embodiment

Explanation of symbols

C Moving object C3 Driving control means Vh1, Vv1 Maximum speed Vh2, Vv2 for non-boarding control Maximum speed Vhr, Vvr for boarding control Judgment speed Vhlim Allowable limit speed, allowable limit travel speed Vvlim Allowable limit speed, allowable limit lifting speed M1 Non-boarding operation mode M2, M3 Boarding operation mode 1 Traveling carriage 1a Driving means, electric motor, traveling motor 2 Lifting base 2b Driving means, electric motor, lifting motor 10 Passenger command means 12, 14 Rotating body 15, 16 Overspeed detection means 17, 18 Overspeed detection monitoring means 23, 24 Forced stop means

Claims (5)

Driving means for moving a moving body for conveying articles;
Based on a non-boarding operation command that is commanded when an operator does not board the moving body, the moving body is moved in a state where the moving speed of the moving body is regulated to a maximum speed for non-boarding control or less. The non-boarding operation mode for executing non-boarding operation control for controlling the operation of the drive means, and the on-boarding operation command instructed when an operator is on the moving body, Boarding operation for controlling the operation of the driving means so as to move the moving body in a state where the moving speed of the vehicle is controlled to be equal to or lower than the maximum speed for boarding control lower than the maximum speed for non-boarding control An operation control means configured to be freely switchable to an operation mode;
Overspeed detection means for outputting an overspeed detection signal when the moving speed of the moving body is equal to or higher than an allowable limit speed set higher than the maximum speed for boarding control;
When the operation control means is switched to the boarding operation mode, the article conveyance is provided with a forcible stop means for stopping the operation of the drive means when the overspeed detection means outputs the overspeed detection signal. Equipment,
The overspeed detection when the operation control means is switched to the non-boarding operation mode and is in a monitoring high speed driving state in which the driving means is driven to move the moving body at a speed equal to or higher than the allowable limit speed. An article conveying facility provided with overspeed detection monitoring means for determining that an abnormality occurs unless the means outputs the overspeed detection signal.   The article conveying facility according to claim 1, wherein the movable body is provided with manually operated passenger command means capable of commanding the boarding operation command. The driving means is configured to drive and rotate a rotating body for moving the moving body;
When the overspeed detection means detects the rotation speed of the drive rotation shaft provided in the drive means or the rotation member that rotates integrally therewith, and the rotation speed reaches a determination rotation speed determined in accordance with the allowable limit speed. The article conveyance facility according to claim 1, wherein the article conveyance facility is configured to output the overspeed detection signal. The drive means is an electric motor,
The operation control means is configured to control the operation of the electric motor by controlling the electric power supplied to the electric motor,
The article conveyance facility according to any one of claims 1 to 3, wherein the monitoring high-speed driving state is a state in which power supplied to the electric motor is rated power. The moving body is a stacker crane;
The driving means is a traveling motor for operating the traveling carriage of the stacker crane or a lifting motor for operating the elevator platform of the stacker crane;
The overspeed detection means outputs an overspeed detection signal when the lifting speed of the lifting platform is equal to or higher than a preset allowable limit lifting speed, or the traveling speed of the traveling carriage is set to a preset allowable limit. 5. The article transportation facility for moving bodies according to claim 4, wherein an overspeed detection signal is output when the speed is higher than the speed.

Images