JP2929897B2 - Automatic warehouse - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic warehouse which is installed in a factory, for example, and which is provided with a loading / unloading device which is supported and guided by floor rails and can travel on a fixed path in front of a shelf.

[0002]

2. Description of the Related Art An example of the above-mentioned automatic warehouse comprising a shelf and a loading / unloading device will be described with reference to FIG. The frame-like shelf 1 has a plurality of storage sections 2 formed in the up-down direction and the left-right direction, and each storage section 2 is configured to support a load 4 (directly or through a pallet) via a brace 3. Have been. A loading / unloading device 8 is provided in front of the shelf 1 so as to be supported and guided by a floor rail 5 and a ceiling rail 6 and run on a fixed path 7.

The loading / unloading device 8 includes a lower frame 9
And a pair of front and rear posts erected from the lower frame 9
A traveling body is constituted by the upper frame 12 connecting the upper ends of the posts 10 and 11 to each other.
An elevating body 13 is arranged between them. On the elevating body 13, a fork (accessory) 15 that can move in and out of the storage section 2 and the like by operation of a fork motor (extension / retraction device) 14 is arranged.

On the lower frame 9, one post 10
A lifting motor (raising / lowering driving device) 16 linked to the lifting / lowering body 13 and a traveling motor (traveling driving device) 17 linked to the driving wheels are mounted outside the post 13. On the side, a cabinet 18 is provided.

A trolley 19 is laid along the ceiling rail 6, and is supported by a drum 20 suspended from the trolley 19, and a power supply moving cable for supplying power to the loading / unloading device 8.
21 are erected. One end of the moving cable 21 is connected to a distribution board 22 installed on the ground side, and the other end is fixed above the other post 11 and connected to the cabinet 18.

As shown in FIG. 8, the cabinet 18 has a projection / reception device 23 mounted on the surface thereof, and a first inverter for the extension / retraction device 14 and the traveling drive device 17 inside the cabinet 18. 24 and regenerative unit 25, second for lifting drive 16
Inverter 26, power module 2 of inverters 24 and 26
7. The control module 28, the power supply 29 of the control module 28, and the terminal block 29A are incorporated.

As shown in FIG. 7, a moving cable 30 having one end fixed to an intermediate position of the post 11 and the other end fixed to the elevating body 13 is provided by, for example, a cable bear system. The moving cable 30 is connected to the first inverter 24
And a signal line of a detector (not shown) of the elevating body 13 connected to the control module 28.

In addition, the loading / unloading device 8 is provided with a detector (not shown) for detecting the position of the elevating body 13, for example. The operation of the above configuration will be described.

The control module 28 includes an emitter / receiver
A command signal is input from a control panel (not shown) installed on the ground side via a control signal 23, and a state detection signal is input from a detector, and the vehicle travels to the first inverter 24 according to these signals. Alternatively, it outputs a moving-in / out command signal of the loading / unloading device 15 and outputs a lifting / lowering command signal to the second inverter 26, and operates the first and second inverters 24 and 26 on the fixed path 7 of the loading / unloading device 8. , The vertical movement of the elevating body 13, and the horizontal movement of the loading / unloading tool 15 are performed, and the loading and unloading of the load 4 to and from the target storage unit 2 of the shelf 1 is performed. . In addition, moving cable 21 from distribution board 22
Power is supplied to the power module 27 and the power supply unit 29 in the cabinet 18 through the
Power is supplied from 29 to the first and second inverters 24 and 26 and the control module 28.

Conventionally, a power supply rail is laid along the fixed path 7 instead of the power supply moving cable 21, and a current collector is provided in the access device 8. The power supply method is used.

[0011]

According to the above-described automatic warehouse using the conventional power supply system using the power supply moving cable 21, the moving cable 21 is laid by the trolley 19 and the drum 20 between the distribution board 22 and the loading / unloading device 8. For this reason, a space is required in front of the loading / unloading device 8 (on the side of the distribution board 22), and the space for installing the shelves 1 is reduced by this space, so that the site cannot be used effectively. In addition, there is a possibility that the moving cable 21 may be disconnected due to long-term use.

Further, according to the conventional automatic warehouse using the power supply system using the power supply rail, there is a problem that the power supply rail is worn by the current collector, so that the maintenance must be periodically performed and replaced.

Further, in an automatic warehouse using any of the power supply systems, a moving cable 30 for supplying power to the elevator 13 is required.
However, there is a fear that disconnection may occur due to long-term use. The present invention has been made to solve the above-mentioned problem, and has as its object to provide an automatic warehouse which can effectively utilize space, has no fear of cable disconnection, and requires no maintenance.

[0014]

In order to solve the above-mentioned problems, the automatic warehouse according to the first invention is erected on a lower frame.
Lift up and down along the post, and lift the elevating body with the load transfer device.
An automatic warehouse having an access device capable of traveling on a fixed path in front of a shelf, wherein a first line for flowing a high-frequency sine wave current is laid along the fixed path, and the access device includes: resonates to the frequency of the first line, providing a first pick-up coil electromotive force occurs, the post
Along with the power from the first pickup coil,
Laying a second line through which a high-frequency sinusoidal current flows,
When the antenna falls, it resonates at the frequency of the second line and generates an electromotive force.
The second pickup coil is provided .

Further automated warehouse of the second invention, the first
The automatic warehouse according to the invention is installed in an explosion-proof area .

[0016]

[0017]

According to the configuration of the first aspect of the present invention, the electromotive force is generated in the first pickup coil, so that the access device is supplied with power in a contactless manner even while traveling, and travels on a fixed path. And
The elevating body is driven , and the power is further supplied to the second line,
Also, generation of electromotive force in the second pickup coil
The power is supplied to the elevating body without contact, and the load transfer device of the elevating body
Are driven. In addition, since the conventional moving cable for power supply becomes unnecessary, the space required for laying the moving cable is not required, and the installation space is effectively utilized.
Alternatively, the conventional power supply rail becomes unnecessary and the power is supplied in a non-contact manner, so that there is no wear portion and regular maintenance becomes unnecessary. In addition, the conventional mobile
Cables and power cables to the lifting body are not required
This eliminates the risk of disconnection.

Further, according to the configuration of the second invention, the contactless
By being fed by touch, there is no spark
Installation is allowed in the explosion-proof area to ensure safety.

[0019]

[0020]

An embodiment of the present invention will be described below with reference to the drawings. The same components as those in FIGS. 7 and 8 of the conventional example are denoted by the same reference numerals, and description thereof will be omitted.

FIG. 1 is a schematic side view of an automatic warehouse according to an embodiment of the present invention. In the automatic warehouse of the present invention, a power supply device M is provided on the ground side in place of the distribution board 22 of the conventional example, and a trolley is provided.
A guide line unit X is provided along the floor rail 5 in place of the drum 19, the drum 20, and the moving cable 21, and a guide line unit X 'is provided along the post 11 in place of the power supply cable 30 for the elevating body. ′ Is provided with a pickup unit P to which power is supplied from the guide line unit X in a contactless manner.
13 'is provided with a pickup unit P' to which power is supplied from an induction line unit X 'in a non-contact manner.

As shown in FIGS. 2 and 3, the guide line unit X has a pair of upper and lower hangers 31 vertically protruding at predetermined intervals along the floor rail 5 on one side of the floor rail 5. A bracket 32 is attached, and a bag-shaped recess 31A is provided at the tip of the hanger 31. A loop-shaped induction line 34 having a different starting direction is connected to the starting end of the recess 31A. Cover 33 fitted in the longitudinal direction
Guide part 33A is inserted along the guide rail along the floor rail 5.
34 is constructed. As shown in FIG. 3, the upper and lower ends of the bracket 32 are fitted into the claw portions 5A and 5B protruding inward from the sides of the floor rail 5, and screw holes 32A provided in the upper and lower ends are provided. By screwing the set screw 32B into the
It is fixed.

The guide line 34 is further twisted with a twisted wire (hereinafter referred to as a litz wire) formed by twisting a predetermined number of insulated thin strands (eg, enameled wires), and an insulator (eg, a resin material). ). By configuring the induction line 34 with a litz wire in this way, the influence of the skin effect caused by the flow of a high-frequency current described below can be reduced, and a large induction current can flow even in the induction line 34 having a small diameter.

Further, the guide line unit X 'is
, A rail corresponding to the floor rail 5 is laid along the guide line unit X, and a detailed description thereof is omitted. The guide line 34 'of the guide line unit X' has a start end connected to the cabinet 18 'and an end connected. The guide lines 34 may be laid directly on the posts 11 by vertically arranging brackets 32 on which the hangers 31 project vertically.

As shown in FIG. 4, the pick-up unit P has five ferrites 35 each having an E-shaped cross section, and its central convex portion 35A is oriented sideways (in the direction along the floor rail 5 in FIG. 1). ), And a ferrite plate 37 is placed on the central convex portion 35A of each ferrite 35.
37 and screw to base body 39 via non-magnetic plate 38
It is fixed by 39A. Further, over the upper and lower surfaces of the central convex portion 35A of the ferrites 35 arranged in the lateral direction, for example, 10 to
Wind up the 20-turn litz wire and pick up the coil 36
And a mounting member 40 is attached to the side of the base body 39. Urethane rubber 40A is inserted between the ferrite 35 at both ends and the folded portion of the plate 38. The pickup unit P is provided by the mounting member 40.
3A, the center L of the central convex portion 35A of the ferrite 35 of the pickup unit P is substantially at the center of the pair of guide lines 34 of the guide line unit X and perpendicular to the floor rail 5. , So that the device 8 '
Is fixed to a bracket 9A vertically provided downward from the lower frame 9 of the first embodiment. When an electric current is applied (alternating current) to the induction line 34, an electromotive force is generated in the pickup coil 36.

The pickup unit P 'has the same structure as the pickup unit P, and the description is omitted. When a current is applied (alternating current) to the induction line 34 ', an electromotive force is generated in the pickup coil 36'.

The power supply circuit configuration of the power supply device M and the access device 8 'will be described with reference to the circuit diagram of FIG. Power supply M
Is a three-phase AC power supply 41 AC200, a converter 42,
A sine wave resonance inverter 43, a transistor 44 and a diode 45 for overcurrent protection are provided. Converter 42
Is composed of a diode 46 for full-wave rectification, a coil 47 constituting a filter, a capacitor 48, a resistor 49, and a transistor 50 for short-circuiting the resistor 49.
43, transistors 51 and 52 driven by rectangular wave signals oscillated alternately as shown in the figure, a current limiting coil 53, and a current supply coil 54 connected to the transistors 51 and 52 , And a capacitor 55 forming a parallel resonance circuit. Note that the transistor control device is omitted.

Also, a cabinet is provided in the loading / unloading device 8 '.
18 ', a capacitor 56 constituting a resonance circuit that resonates with the frequency of the pickup coil 36 and the induction line 34 is provided in parallel with the pickup coil 36 instead of the conventional power module 27. A rectifying diode 57 is connected in parallel with the power module 27 ′, and a power module 27 ′ configured by connecting a stabilized power supply circuit 58 for controlling the output to a predetermined voltage to the diode 57 is provided. Stabilized power supply circuit
58 is a current limiting coil 59 and an output adjustment transistor
60, a diode 61 and a capacitor 62 forming a filter. Note that the transistor control device is omitted. The first and second inverters 24 and 26, the power supply 2
9, and the third inverter 71 are connected. The third inverter 71 is the same sine wave resonant inverter as the inverter 43 of the power supply device M, and a detailed description is omitted. The guide line 34 'of the guide line unit X' laid on the post 11 is connected to the third inverter 71.
Note that the first inverter 24 is used only for driving the traveling drive device 17.

The elevating body 13 'is provided with a power module 72 identical to the power module 27' in parallel with the pick-up coil 36 'of the pick-up unit P'. Inverter
73 and the power supply 74 are connected. Further, a control module 28 of the cabinet 18 'via a light emitting / receiving device (not shown) and a control module 75 for transmitting and receiving signals are provided. This control module 75
Receives an exit command signal of the exit device 14 from the control module 28 of the cabinet 18 ', and
And a state detection signal of a detector (not shown) of the elevating body 13 'is transmitted to the control module of the cabinet 18'.
Output to 28. The control module 75 is supplied with power from the power supply 74.

The operation of the power supply device M, the guide lines 34 and 34 'and the access device 8' will be described. First,
The AC 200 V three-phase AC output from the AC power supply 41 is converted to DC by the converter 42, and is converted into a sine wave resonant inverter.
The signal is converted into a high-frequency (for example, 10 kHz) sine wave by 43 and supplied to the induction line. The pickup coil of the insertion / removal device 8 'located on the floor rail 5 which resonates with the frequency of the induction line 34 due to the magnetic flux generated in the induction line 34
A large electromotive force is generated in 36, and the alternating current generated by the electromotive force is rectified by a diode 57, and the stabilized power supply circuit 58
, And is supplied to the first, second, and third inverters 24, 26, and 71, and the power supply device 29.

The third inverter 71 converts the sine wave into a high frequency (for example, 10 kHz) sine wave,
Supplied to 4 '. The magnetic flux generated in the induction line 34 'similarly generates a large electromotive force in the pickup coil 36' of the lifting body 13 ', and the power module 72
73 and the power supply 74.

The control module 28 of the cabinet 18 'supplied with power from the power supply 29 receives a command signal from a control panel (not shown) installed on the ground via the light emitting / receiving device 23, and moves up and down. Detector of lifting body 13 'from control module 75 of body 13' (not shown)
And a state detection signal from another detector is input, and a traveling command signal is output to the first inverter 24 and an up / down command signal is output to the second inverter 26 in accordance with these signals. Alternatively, it outputs an egress / retreat command signal of the egress / retreat device 14 to the control module 75 of the elevating body 13 ′, and operates the fed first, second, and third inverters 24, 26, and 73 to operate the in / out device 8. ′, A combination of a running motion on the fixed path 7, a lifting / lowering motion of the lifting / lowering body 13, and a lateral movement of the loading / unloading tool 15 are performed. 4 is carried out.

In this manner, power can be supplied to the access device 8 'and the elevating body 13' without contact. Further, since the conventional moving cable 21 for power supply becomes unnecessary, the space required for laying the moving cable becomes unnecessary, so that the installation space for the shelf 1 can be expanded and the installation space can be effectively utilized. By eliminating the need for the moving cable 30 for power supply to the elevator 13, the risk of disconnection can be eliminated. In addition, since the conventional power supply rail is unnecessary, a wear portion is eliminated, and regular maintenance can be unnecessary.

Further, a litz wire coated on the induction lines 34, 34 'and the pickup coils 36, 36' is used,
Covering with 33 eliminates exposure of the conductive portion and eliminates sparking, so that it can be used safely in explosion-proof areas.

Since the lengths of the guide lines 34 and 34 'are much longer than the lengths of the pickup coils 36 and 36', the primary-side self-inductance of the guide lines 34 and 34 'becomes substantially constant. Inverter 43 of power supply unit M, cabinet
The capacitor 55 of the inverter 71 of 18 'and the induction lines 34, 34'
Constitutes a resonance circuit, so the induction lines 34, 34 '
With a substantially constant large current value, a high-frequency sine wave primary-side current can flow, and the pickup coils 36, 3
Since the secondary side of 6 'is a resonance circuit, the resonance frequency is 2%.
A large electromotive voltage v (for example, 1000 to 2000 V) is generated on the next side, and the induction lines 34 and 34 'and the pickup coils 36 and 36'
Even if the gap length between them changes, the frequency of the induction lines 34 and 34 'fluctuates slightly, and the resonance frequency on the secondary side fluctuates slightly from the frequency of the induction lines 34 and 34', (For example, 300 V) or more, and a large power can be stably supplied. Therefore, the gap length can be roughly adjusted, the workability is improved, and the production can be facilitated.

The center L of the pickup coils 36, 36 '
Is a pair of guide lines 34, 34 'of the guide line units X, X'.
The pickup coils 36, 36 'are positioned in a vertical direction, and are adjusted and fixed so that the upper and lower protrusions 35B of the ferrite 35 are positioned above and below the induction lines 34, 34', respectively. A magnetic path is formed in the upper and lower protrusions 35B of the ferrite 35 having high magnetic permeability, which is located at the position where the magnetic flux density generated in the line 34 is the largest, and thus the largest electromotive force is induced and power can be supplied efficiently. Further, since the sine waves are fed to the induction lines 34 and 34 ', no harmonics are generated.
The occurrence of radio noise can be eliminated.

In the above embodiment, the cabinet 18 '
A third inverter 71 is provided therein to supply power to the induction line 34 '. As shown in FIG. 6, a ring-shaped magnetic body 76 is provided in the cabinet 18', and one of the magnetic bodies 76 is provided. The pickup coil 36 on the secondary side may be connected in parallel with the power module 27 ', and the induction line 34' may be connected to the secondary side of the magnetic body 76. At this time, the third inverter 71 can be omitted.

Further, in this embodiment, the guide line 34 is laid along the floor rail 5, but may be laid along the fixed path 7, and may be laid on the floor or along the shelf 1. is there. At this time, it goes without saying that the mounting position of the pickup unit P changes.

In this embodiment, two guide lines 34,
34 'is laid, but when two guide lines 34 and 34' cannot be laid, only one guide line is laid, and the other guide line passes through the other route and one guide line. The pickup coils 36 and 36 'may be moved in close proximity only to the camera. Needless to say, power down occurs at this time. Furthermore, power can be increased by laying two or more guide lines.

In this embodiment, a control unit (the control module 28 and the power supply unit 29), a power unit (the power module 27 ', the first and second inverters 24 and 26, and the regenerative unit) are provided in the cabinet 18'. 25) are stored together, but a power cabinet with a built-in power unit,
The control unit may be separated into a control cabinet having a built-in control control unit and disposed on the lower frame 9. In this way, by separating the unit into a unit, it is possible to prevent the control unit from being affected by the heat generated by the power unit, and to increase the degree of freedom of the arrangement position on the lower frame 9, and to reduce the length of the lower frame 9. It is also possible to shorten it. When the length of the lower frame 9 is reduced, the dead space at the home position of the loading / unloading device 8 'can be reduced, and the installation space for the shelf 1 can be increased.
Storage efficiency can be improved.

In this embodiment, the control module 28 and the control panel installed on the ground side, the control module 28 and the elevating
Although signals are exchanged with the control module 75 of 13 ', signals can be exchanged using a wireless device.

According to the first aspect of the present invention, since an electromotive force is generated in the first pickup coil, power can be supplied to the access device in a contactless manner, the vehicle travels on a fixed path, and And the like, and power can be supplied to the second line.
Also, generation of electromotive force in the second pickup coil
The power can be supplied to the elevating body without contact, and the load transfer device of the elevating body
Etc. can be driven. In addition, since the conventional moving cable for power supply is not required, the space required for laying the moving cable is not required, and the installation space can be effectively utilized.
Alternatively, the conventional power supply rail becomes unnecessary, and the wear portion is eliminated, so that periodic maintenance can be made unnecessary. In addition, conventional power transfer cables, and
Disconnection due to the elimination of the power supply cable to the lifting body
Can be eliminated.

According to the second aspect of the present invention, the non-contact
By being fed by touch, there is no spark
Approved for installation in explosion-proof area, safe to use
You.

[0044]

[Brief description of the drawings]

FIG. 1 is a schematic side view of an automatic warehouse according to an embodiment of the present invention.

FIG. 2 is a side view of a floor rail portion of the automatic warehouse.

FIG. 3 is a side view and a plan view of a floor rail bracket of the automatic warehouse.

FIG. 4 is a plan view, a front view, and a side view of a pickup coil of the automatic warehouse.

FIG. 5 is a circuit configuration diagram of the automatic warehouse.

FIG. 6 is a circuit configuration diagram of an automatic warehouse according to another embodiment of the present invention.

FIG. 7 is a schematic side view of a conventional automatic warehouse.

FIG. 8 is a front view, a side view, and a plan view of a cabinet of a conventional automatic warehouse.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 shelf 2 storage part 4 load 5 floor rail 7 fixed path 8 'taking-in / out device 9 lower frame 13' elevating body 14 egress / retract device 15 taking-in / out tool 16 elevating drive device 17 traveling drive device 18 'cabinet 24,26,71,73 Inverter 27 ', 72 Power module 28, 75 Control module 29, 74 Power supply 31 Hanger 32 Bracket 33 Cover 34, 34' Induction line 35 Ferrite 36, 36 'Pickup coil 37 Ferrite plate 43 Sine wave resonant inverter 56 Resonance with pickup coil Capacitor forming circuit X, X 'Guide line unit P, P' Pickup unit M Power supply

Claims (2)

(57) [Claims] 1. Along a post erected on a lower frame
It is an automatic warehouse having an elevating body equipped with a load transfer device and a loading / unloading device capable of traveling on a fixed path in front of a shelf, wherein a high-frequency sine wave current is supplied along the fixed path. Shed first
A line is laid, a first pickup coil that resonates at the frequency of the first line and generates an electromotive force is provided in the access device, and a first pickup coil is provided along the post along the post.
And a second line through which a high-frequency sinusoidal current flows.
And the lifter resonates with the frequency of the second line,
An automatic warehouse provided with a second pickup coil that generates a force . 2. A contractor installed in an explosion-proof area.
The automated warehouse according to claim 1 .