JP2923623B2 - Electric bogie controller for loading / unloading device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for an electric bogie used for a storage and retrieval device.

[0002]

2. Description of the Related Art FIG. 5 is a schematic view showing the entire structure of a storage and retrieval apparatus to which the present invention is applied, wherein FIG. 5A is a plan view and FIG. 5B is a front view.

[0003] The loading / unloading device shown in FIG.
53 are arranged in two rows in parallel, and one crane 55 is arranged between the two-dimensional warehouses 51 and 53.
Electric bogies 57 and 59 are arranged on the sides of 53, respectively, and a control panel 61 for instructing the operation of the crane 55 and the electric bogies 57 and 59 is provided.

[0004] Here, the crane 55 is connected to the two-dimensional warehouse 51,
A mechanism is provided that travels on rails 63 provided between the members 53 and moves up and down to store and retrieve the goods 54 at predetermined positions in the two-dimensional warehouses 51 and 53.

[0005] The electric carts 57 and 59 are provided in three-dimensional warehouses 51 and 5.
At the fixed position (shelf-side fixed position) closest to 3, the cargo is transferred to and from the crane 55, and the three-dimensional warehouses 51 and 53 run on the rails 65 and 67 by the motors attached to the loads. Is delivered at another fixed position (fixed position outside the shelf) away from the rack.

The control panel 61 has a crane 55 and an electric bogie 5
An operation panel is provided for instructing the operations to the operations 7 and 59.

Conventionally, the control of both electric bogies 57 and 59 has been performed by operating the motors attached to both electric bogies 57 and 59 separately. That is, both motors perform forward / reverse operation by switching a switch provided in the control panel 61, so that the electric bogies 57 and 59 move forward and backward at only one kind of speed. Note that the electric bogie 57,
At the time of stop of 59, the brake is applied by a brake means (not shown), and is stopped at a predetermined position.

[0008]

However, in the case of this conventional example, since the electric bogies 57, 59 are moved forward and backward only at one speed, the electric bogies 57, 59 are accurately stopped at the positions where they should be stopped. If this is the case, that is, if the stopping accuracy is to be improved, the running speed cannot be increased.

On the other hand, in order to increase the traveling speed while maintaining the stopping accuracy of the electric bogies 57 and 59, both of these motors may be controlled by inverters. If an inverter is used, switching to a high speed, a low speed, or the like can be easily performed by a multi-stage speed command of the inverter, so that the traveling speed as a whole can be increased.

[0010] However, the inverter is expensive, and using two inverters is problematic in terms of cost.

SUMMARY OF THE INVENTION The present invention has been made in view of the above points, and an object of the present invention is to provide a motor for a loading / unloading device which enables a high-speed operation of an electric bogie while maintaining a high stopping accuracy without increasing the cost. An object of the present invention is to provide a bogie control device.

[0012]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention provides a three-dimensional warehouse arranged in two rows, and moves between the two-dimensional warehouses to load goods to the two rows of three-dimensional warehouses. One crane for loading and unloading, and a load provided between the crane provided adjacent to each of the three-dimensional warehouses for transferring the load, and a place for receiving and transferring the load by the crane and a predetermined place apart from the three-dimensional warehouse. A loading / unloading apparatus comprising two electric bogies for transferring a load between the two electric bogies and a control device for controlling the driving of the two electric bogies; One inverter for driving the motor, a switching unit for switching the output of the inverter to one of the two motors, an operation panel for instructing the operation of the two electric bogies, and a command from the operation panel. The switching means Comprising a controller for controlling the operation status of the inverter performs switching, further
The operation panel includes two electric carts on the shelf side and a shelf outside.
Indicator lights for indicating the movement of the
The trolley includes a currently operating electric bogie and the electric bogie.
Detecting the difference between movement on the shelf side and movement on the outside of the shelf,
Means for turning on the corresponding indicator light, and operation of the electric bogie
When the operation input of the other electric bogie is performed during
Means for flashing the corresponding operation indicator and the current operation
When the operation of the moving bogie ends, the motion of the other electric bogie ends.
And means for starting the operation.

[0013]

Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a block diagram illustrating a configuration of a control device according to an embodiment of the present invention. As shown in FIG. 5, the control device 1 includes one inverter 10 for driving both motors A and B of the two electric trucks 57 and 59 shown in FIG. 5, and outputs the output of the inverter 10 to the two motors. Switching means 15 for switching to either A or B;
An operation panel 20 for instructing the operation of the two electric carts 57 and 59 and a controller 40 are provided.

The controller 40 includes a microcomputer, a storage device, and various programs stored in the storage device. The controller 40 issues a multi-stage speed command to the inverter 10 based on an instruction from the operation panel 20. A switching instruction is issued to the switching means 15.

The inverter 10 controls the motor A or B, that is, the electric bogie 57 or 59, based on the multi-speed command signal from the controller 40, to operate the empty-load high-speed operation, the actual-load high-speed operation,
It is configured to be able to switch to low-speed operation. That is, when the electric bogies 57 and 59 are located near the fixed position on the shelf side or the fixed position outside the shelf, the operation is performed at a low speed. Otherwise, the operation is performed at a high speed. You are going to.

The switching means 15 comprises, for example, an electromagnetic switch driven by a signal from the controller 40.

As shown in FIG. 2, the operation panel 20 has, on its panel surface, push buttons 21 and 23 for instructing entry and exit of the crane 55, and push buttons 25 and 27 for instructing movement of one electric bogie 57. And push buttons 29 and 31 for instructing movement of the other electric bogie 59.

The panel surface is a touch panel,
Each of the push buttons 21, 23, 25, 27, 29, 31 also serves as an indicator light.

The inverter 10, switching means 15, operation panel 20, and controller 40 are all provided on a control panel 61 shown in FIG.

Next, the operation of the control device will be described. Here, FIGS. 3 and 4 are diagrams showing the control flow of this control device.

That is, in the figure, first, when it is assumed that the push button 25 or 27 of one electric bogie 57 of the operation panel 20 is turned on (step 1), the push button (ie, the indicator light) that has just been pressed is turned on.
25 or 27 is turned on (step 2).

If the instruction of the push button 21 or 23 instructs the unloading operation, that is, if the push button 23 is turned on (step 3), when the place of delivery of the load of the crane 55 is on the first machine side, First, the current position of the electric trolley 57 is detected (step 4). If the position of the electric trolley 57 is at the fixed position outside the shelf, it is determined whether or not the electric trolley 57 can move to the shelf side, that is, on the electric trolley 57. It is checked whether there is no load on the rack and a shelf-side movement signal is output by the push button 25, and if it can be moved, the electric trolley 57 is moved to the shelf-side fixed position (steps 5, 6) and step 7 Proceed to. On the other hand, if the position of the electric trolley 57 is already at the rack side fixed position, the process proceeds directly from step 4 to step 7.

When a load is mounted on the electric bogie 57 from the crane 55, a load sensor (not shown) provided on the electric bogie 57 detects the mounting of the load and transmits a mounting completion signal from the crane 55 to the controller 40. (Step 7)
Then, the electric cart 57 moves to the fixed position outside the shelf (step 8). Then, the lighted push button 25 is turned off (step 9).

On the other hand, in step 3, if the instruction of the push button 21 or 23 indicates a parking operation,
If the switch 1 is turned on, the current position of the electric trolley 57 is first detected when the place of delivery of the load of the crane 55 is on the first machine side (step 10). If the position of the electric trolley 57 is at the fixed position on the rack side, it is next detected whether or not there is a load on the electric trolley 57 by a load sensor (not shown) (step 11). 57 is moved to a fixed position outside the shelf (step 12), and it is detected whether or not there is a load on the electric carriage 57 (step 13).

If the position of the electric carriage 57 is at the fixed position outside the shelf in step 10, it is detected in step 13 whether or not there is a load while the position is kept at that position.

When a load is loaded, it is determined whether or not the electric bogie 57 can be moved to a fixed position inside the fence.
It is checked whether there is a load on the rack and a shelf-side movement signal is output by the push button 25 (step 14). If it can be moved, the electric trolley 57 is moved to the shelf-side fixed position and the push button 27 is turned off (step 14). Step 9).

On the other hand, if it is determined in step 11 that there is a load on the electric carriage 57, the carriage is stopped at that position.

By the way, if the push button 29 or 31 (see FIG. 2) of the operation panel 20 for inputting the operation of another electric bogie 59 is turned on during the processing of the above flow, this input is processed as an interrupt signal, for example. The pressed push button (that is, indicator light) 29 or 31 of the operation panel 20 blinks to indicate that the reservation has been made, and returns to the original flow processing again.

In step 16, it is determined whether or not the interrupt signal has been input during the processing of the flow.
If it has been input, the flashing push button 29 or 31 of the operation panel 20 is turned on in step 2;
Start the flow again.

On the other hand, if the interrupt signal has not been input, the flow returns to step 1 and again returns to any one of the push buttons 2.
Wait until 5, 27, 29, 31 is turned on.

In the above steps, when the electric bogie 57 is driven, the output of the inverter 10 is switched to the motor A by the control signal from the controller 40 to the switching means 15 shown in FIG. When the electric bogie 57 is empty, the rotation speed of the motor A
The operation control is performed such that high-speed traveling and high-precision stopping can be performed by combining the empty-load high-speed operation and the low-speed operation with zero, or combining the actual-load high-speed operation and the low-speed operation in the case of an actual load. The same applies to the case where the vehicle is moved in and out by the electric cart 59. In this case, the output of the inverter 10 is connected to the motor B
Switch to.

[0032]

As described above in detail, according to the present invention, two motors for driving two electric bogies are driven by only one inverter.
This provides an excellent effect that the electric bogie can be operated at a high speed without increasing the cost so much and while maintaining high stopping accuracy. When an operation input of another electric bogie is performed during the operation of one electric bogie, the indicator lamp of the corresponding operation flashes, and the operation of the current electric bogie ends, and the other electric bogie is simultaneously operated. Since the operation is started, that is, the next operation of the electric bogie can be reserved, the work efficiency is not impaired even with one inverter.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a configuration of a control device according to an embodiment of the present invention.

FIG. 2 is a diagram showing a panel surface of an operation panel 20.

FIG. 3 is a diagram showing a control flow of a control device.

FIG. 4 is a diagram showing a control flow of a control device.

FIGS. 5A and 5B are schematic views showing the entire configuration of a storage and retrieval device to which the present invention is applied, wherein FIG. 5A is a plan view and FIG. 5B is a front view.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Inverter 15 Switching means 20 Operation panel 40 Controller 51,53 Solid warehouse 55 Crane 57,59 Electric bogie 61 Control panel A, B Motor

Claims (1)

(57) [Claims] 1. A three-dimensional warehouse arranged in two rows, a crane that moves between the two-level warehouses, and loads and unloads cargo to and from the two-level warehouses, Two electric bogies respectively provided adjacent to each other for transferring a load to and from the crane and transferring the load between a place where the load is delivered by the crane and a predetermined place away from the three-dimensional warehouse; A storage and retrieval device comprising a control device for controlling the driving of two electric bogies, wherein the control device is configured to output one inverter driving each motor of the two electric bogies and the output of the inverter. Switching means for switching to one of the two motors, an operation panel for instructing the operation of the two electric bogies,
Comprising a controller for controlling the inverter operation state along with performing switching of said switching means based on an instruction of the operation panel, and further shelf side movement of the two electric dolly in the operation panel
An indicator light for indicating the movement outside the shelf is provided, while the controller is provided with a currently operating electric bogie.
And detecting whether the electric bogie has moved from the shelf side to the outside of the shelf, and
Means for turning on a corresponding one of the indicator lamps, and an operation input of the other electric truck during the operation of the electric truck.
Means to flash the corresponding operation indicator lamp when
At the same time as the operation of the currently operating electric bogie ends.
Means for initiating the operation of the electric trolley .