JP2559529Y2 - Pallet positioning device for stacker crane - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pallet positioning device for a stacker crane.

[0002]

2. Description of the Related Art Conventionally, in warehouses, factories, and the like (hereinafter, referred to as "buildings"), storage efficiency is improved by effectively utilizing a limited indoor area to improve the transport efficiency of products and works. For this purpose, a transport system having a configuration as shown in FIG. 3 has been constructed.

In this transport system, a large number of grid-like storage shelves 2 for storing storage items 1 (hereinafter, simply referred to as “storage items”) such as purchased items, products, processed items, and works are connected vertically, horizontally, and vertically. The racks 3 are installed in parallel on the floor 4 in the building, and the storage items 1 together with the pallets are stored on the designated storage shelves 2 of the racks 3 on guide rails 6 laid along the transport path 5 between the racks 3. Stacker crane 7 for loading and unloading
Is mounted on the stacker crane 7 for loading / unloading the storage items 1 in / from the designated storage shelf 2 and a loading table for storing items such as a loading / unloading payout table (hereinafter simply referred to as a “shipping table”). 8 is provided with an automatic control device 10 for paying out the stored items 1 together with the pallets 9.

The stacker crane 7 is composed of a crane frame 11 constituting a main body and a lifting frame 12 attached to the crane frame 11 so as to be able to move up and down.
1, a drive wheel device 13 for moving the crane frame 11 is mounted at a lower portion thereof, and a lifting device 14 for moving the lifting frame 12 up and down is mounted on a side portion thereof. A device for putting the storage item 1 in and out of the designated storage shelf 2 includes a lifting device 14 and a lifting frame 12.
And a fork device 15 attached to the upper part so that the direction of expansion and contraction of the storage shelf 2 is oriented in the direction of insertion and extraction.

[0005] The automatic control device 10 includes an arithmetic processing unit (CP).
U), an input / output device, a storage device, etc.
The stacker crane 7 is reciprocated between the delivery table 8 and the designated storage shelf 2 to drive and control the lifting / lowering device 14 and the fork device 15 to store the stored items 1 of the delivery table 8 on a code plate (FIG. Designated storage shelves 2 addressed by (not shown)
Or a storage device 1 which is configured to take out a storage item 1 from a designated storage shelf 2 and place it on a delivery table 8. The control device 10 includes the following (A) payout control and (B) storage It is configured so that control and control can be switched and executed.

(A) Dispensing control Travel control: This is a control for moving the stacker crane 7 to the designated position of the storage shelf 1 in order to pay out the storage items 1 from the designated storage shelf 2. The stacker crane 7 is caused to travel by giving a travel command, and a code plate (not shown) attached to the transport path 5 or the rack 3 along the direction of the transport path until the travel start instruction to the stop instruction is given. The numbers are integrated, and when the integrated value becomes equal to a preset value, the stacker crane 7 is considered to have arrived at the designated traveling position and a stop command is given to the drive wheel device 13. In this case, the home position is the delivery table 8.

Storage item removal control: After running control, in order to take out the storage item 1 from the designated storage shelf 2, first, the lifting device 1
4. When the ascending command is given to 4 and the number of code plates provided in each storage shelf 2 is integrated from the start of the ascending command to the giving of the stop command, and when the integrated value becomes equal to the previously input set value Then, it is considered that the fork device 15 has arrived at the designated elevating position, and a stop command is given to the elevating device 14.
Subsequently, a decompression command is given to the fork device 15 and the storage
When the fork is inserted into the insertion portion of the pallet 9 placed on the fork, the fork goes to the storage shelf 2 and the limit switch for the tip of the fork is turned ON, the stop signal is received to the fork device 15 in response to the ON signal. give. Next, in a state where the fork device 15 is stopped, a preset stoke lift command is given to the elevating device 14, and the pallet 9 is appropriately raised by the fork. Thereafter, a contraction command is given to the fork device 15 with the lifting device 14 stopped, and the pallet 9 is pulled out of the storage shelf 2. Next, a lowering command is given to the elevating device 14 to lower it to the initial position.

[0008] Storage product placement control: After the storage product removal control,
This is a control for placing the stored articles 1 together with the pallets 9 on the retrieval table 8. This time, the drive wheel device 13 is driven in a direction approaching the retrieval table 8, and a set value (the value set by the traveling control) is driven. ) Is subtracted from the number of code plates, and the result is “0”.
Is satisfied, the stacker crane 7 considers that it has arrived at the position of the stocking stand 8, and gives a stop command to the drive wheel device 13. Next, an ascending command is given to the elevating device 14 to move the fork device 15 up and down to a preset height. Subsequently, an extending command is given to the fork device 15, and then a descending command is given to the elevating device 14, and the pallet 9 is unloaded. The pallet 9 is placed on the platform 8, and then a contraction command is given to the fork device 15 to remove the fork from the insertion portion of the pallet 9 to prepare for the next traveling control.

(B) Storage control Storage product dispensing control: At the home position, first, an ascending command is given to the elevating device 14 and this is sent to the pallet 9
The fork is raised and lowered to a height at which the fork can be inserted into the insertion portion. At this position, an extension instruction is given to the pallet device 15, and a fork is inserted into the insertion portion of the pallet 9. Thereafter, an ascending command is given to the elevating device 14 to raise it to an appropriate height, then a contracting command is given to the fork device 15, the pallet 9 is paid out from the delivery table 8, and then a descending command is given to the elevating device 14, The preparation for running the stacker crane 7 ends.

[0010] Travel control: This is a control for moving the stacker crane 7 to a designated position after the storage product dispensing control. First, a travel command is given to the driving wheel device 13 to cause the stacker crane 7 to travel, and from the travel start command, Until the stop command is given, the number of code plates attached along the transport path 5 or the rack 3 along the transport path direction is integrated,
When the integrated value becomes equal to the preset value, the stacker crane 7 is regarded as having arrived at the designated traveling position, and a stop command is given to the driving wheel device 13 to stop the driving. In this case, the home position is the delivery table 8.

Stored article storage control: After running control, stored article 1
Is placed on the designated storage shelf 2, first, an ascending command is given to the elevating device 13, and the number of code plates in each of the storing shelves 2 is integrated from the start of the ascending command until a stop command is given. When it becomes equal to the input set value, it is considered that the fork device 15 has arrived at the designated elevating position, and a stop command is given to the elevating device 13. Subsequently, the pallet 9 is inserted into the storage shelf 2 by giving an extension command to the fork device 15. After the pallet 9 is inserted, a lowering command is given to the elevating device 14 to lower the pallet 9 appropriately, and the pallet 9 is placed on the storage shelf 2. Next, a contraction command is given to the fork device 15, and finally a descending command is given to the lifting device 14 to lower the fork device 15 to the initial position.

Return control: After storage control of stored items, the drive wheel device 13 is driven in a direction approaching the retrieval stand 8, and the number of code plates is subtracted from the set value with the drive, and the result is "0". Is satisfied, the stacker crane 7 considers that it has arrived at the position of the stocking stand 8, and gives a stop command to the drive wheel device 13.

[0013]

By the way, in order to be able to automatically pay out pallets from a delivery table to another line, a delivery conveyor is conventionally connected to the delivery table accurately. The paying-out conveyor has a male engaging portion that engages with a female engaging portion on the lower surface of the pallet and pulls the pallet in the paying-out direction.

However, the automatic control device operates the drive wheel device on the assumption that the pallet is placed on the fork in a state where the center of the stacker crane and the center of the pallet coincide with each other. Because the fork device is configured to operate, the stacker crane moves or shifts the pallet due to vibrations and movements, and as a result of using two tucker cranes for paying out and storing, There has been a problem that the accumulated error may cause the pallet to be displaced as it is, making it impossible to pay out the pallet by the payout conveyor.

An object of the present invention is to provide a pallet positioning device for a stacker crane which has solved the above-mentioned problems.

[0016]

According to the present invention, in order to achieve the above object, the present invention takes out a storage item placed on a storage shelf together with a pallet from the storage shelf, and accurately places it on a delivery stand on the side of the transport path. Therefore, in a transfer device provided with a stacker crane so that it can run freely on the transfer path, the front and rear edges of the pallet that are accurately positioned and placed in advance on the unloading table are aligned with the front and rear edges in the transfer path running direction. Both the sensor provided for detection and the stacker crane are stopped at the dispensing position in front of the exit table, and both the stop position and the front and rear ends of the pallets placed on the stacker crane in the transport path direction are not detected by the sensor. Position, the stacker crane moves in and out of the transport path by inching until the front and rear ends are detected by these sensors. It is obtained by a control device.

[0017]

The automatic control device stops the stacker crane at the payout position of the delivery table, and corrects the stop position to be the correct payout position. That is, when both the front and rear edges of the pallet placed on the stacker crane in the transport path direction are detected by the above-described sensors, the stacker crane does not perform inching traveling, and only one of the front and rear edges of the pallet in the transport path direction. Is detected by the above-mentioned sensors, the stacker crane is caused to inching-run to a position where the two sensors simultaneously detect the front and rear edges of the stacker crane in the transport path direction.

[0018]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A preferred embodiment of the present invention will be described below with reference to the accompanying drawings. The configuration of the stacker crane 7, the rack 3, and the like, and the basic control of the stacker crane 7 have already been described in the prior art. In the description, similar components are denoted by the same reference numerals, and detailed description thereof will be omitted.

FIG. 1 is a plan view of the pallet positioning device of the stacker crane according to the present invention, and FIG. 2 is a view taken along the line II-II of FIG. In this embodiment, in order to shorten the payout time of the storage item 1 as much as possible and improve the efficiency, among the many storage shelves 2 provided at the bottom of the rack 3, the storage shelf closest to the payout of the storage item 1 is provided. Instead of using the storage shelf 2 as a storage shelf, the storage shelf 2 is opened before and after the storage shelf 2 to form a payout port 16 for the storage item 1. The payout port 16 has the transport path 5
On the opposite side (payout side), a delivery table 8 for placing the stored items 1 together with the pallets 9 is installed. 17 are installed. In order to accurately pay out the pallet 9 carried out by the stacker crane 7 to the unloading stand 8, the front and rear edges of the pallet 9 placed on the fork device 15 of the stacker crane 7 (the transport path) The first pallet detecting means configured to detect the end edges 18 and 19 on the conveying path 5 side of the payout port 16 and to transmit the detected signals to the automatic control device 10. A second pallet detecting means configured to detect left and right edges (indicating both edges in a direction orthogonal to the conveyance path direction) 20 and 21 of the pallet 9 inside and to transmit the detected edges to the automatic control device 10. Are provided.

The first pallet detecting means is provided by the first non-contact type sensors 22 and 23, and the second pallet detecting means is provided by:
The second non-contact sensors 24 and 25 are configured to transmit these detection signals to the automatic control device 10 by the communication device 26. The first non-contact sensors 22 and 23 and the second 2 non-contact sensors 24, 2
5 is a front and rear edge 1 of the pallet 9 placed on the delivery table 8 so that it can be paid out in advance by a payout conveyor 17.
8, 19 and on the extension line along the left and right edges 20, 21.

Here, in addition to the above control, the automatic control device 10 controls the delivery table 8 based on the ON / OFF signals of the first and second non-contact sensors 22 to 25 transmitted by the communication device 26. It is configured to determine whether the position of the pallet 9 is appropriate or not, and control the stop position of the drive wheel device 13 and the stroke of the fork device 15 based on the determination result.

That is, the first non-contact sensors 22 and 2
3 both detect the front and rear edges 18 and 19 of the pallet 9 because the position of the pallet 9 is at an appropriate payout position with respect to the delivery table 8. With the device 13 stopped, only one of the first non-contact sensors 22 and 23 is
When the pallet 9 is detected, the pallet 9
Is determined to have shifted, and the drive wheel device 13
The first non-contact type sensor 2 by switching the driving direction back and forth.
Inching travel is performed to a position where both front and rear edges 18 and 19 of pallet 9 can be detected.

As a result, the stacker crane 7 is stopped at an appropriate position for dispensing the pallet 9.

Next, the automatic control device 10 gives an extension command to the fork device 15 until the second non-contact type sensors 24 and 25 detect the left and right edges 20 and 21 of the pallet 9, and When 20 and 21 are detected, a stop command is given to the fork device 15.

As described above, the automatic control device 10 performs the positioning control of the stacker crane 7 with respect to the delivery table 8 and the stroke control of the fork device 15 in addition to the conventional automatic control. The stored item 1 can be paid out reliably and quickly.

It should be noted that in the present invention, the pallet 9
Although the delivery conveyor 17 has been described as an example of a delivery device, another device is, for example, an electric truck that accurately arrives using the delivery platform 8 as a platform.

[0027]

[Effect of the invention] As is clear from the above explanation,
ADVANTAGE OF THE INVENTION According to this invention, the outstanding effect that a pallet can be dispensed to the normal dispensing position of a delivery stand is exhibited.

[Brief description of the drawings]

FIG. 1 is a plan view of a pallet positioning device of a stacker crane according to the present invention.

FIG. 2 is a view taken along the line II-II in FIG.

FIG. 3 is a perspective view showing a conventional transport system.

[Brief description of reference numerals]

 DESCRIPTION OF SYMBOLS 1 Storage goods 2 Storage shelf 5 Transport path 7 Stacker crane 8 Outgoing stand 9 Pallet 10 Automatic control device 18 Front edge of pallet 19 Rear front edge of pallet 22 Sensor which detects front edge of pallet 23 Detects rear edge of pallet Sensor

Claims (1)

(57) [Scope of request for utility model registration] 1. A transfer system in which a stacker crane is provided so as to be able to move freely in a transfer path so that storage items placed on the storage shelf together with pallets are taken out of the storage shelf and placed accurately on a discharge table beside the transfer path. In the apparatus, a sensor provided to detect the front and rear edges of the pallet on the line along the front and rear edges of the pallet accurately positioned and placed in advance on the delivery table in the traveling direction of the pallet and the stacker crane are unloaded. When both the front and rear ends of the pallet placed on the stacker crane in the conveying path direction are not detected by the above sensors, the front and rear ends thereof are detected by the sensors when stopped at the payout position in front of the platform. An automatic control device configured to cause the stacker crane to run in and out of the transport path until the stacker crane moves. Pallet positioning device for lane.