JP3014731B2 - Automatic warehouse - Google Patents

Description

The present invention relates to an automatic warehouse.

(Prior art) At present, many automatic warehouses are on the market, and are operated in factories and logistics institutions, and have greatly contributed to rationalization of transport systems.

As a conventional automatic warehouse, in a multi-row, multi-stage shelves, in an automatic warehouse equipped with a movable lifter for each shelf, a drive device for driving the lifter for each shelf, the mechanical origin as a reference point There is an example configured with a positioning device for positioning at each shelf position.

In this way, by using the positioning device that moves the lifter to each shelf position with the mechanical origin as the reference point, sensors for stopping the lifter at each shelf position can be omitted,
It is possible to provide an automatic warehouse that is easy to adjust at low cost and easy to control.

However, in the conventional automatic warehouse using the positioning device as described above, since the positioning device operates based on the machine origin, the operation of returning to the machine origin must always be performed after turning on the power, after an emergency stop, and before starting work. hand,
It was necessary to carry out the entry / exit work after executing the mechanical origin return.

Therefore, the operator has to perform a troublesome operation of returning to the mechanical origin before starting work. Further, if another operation is performed without performing the operation of returning to the machine origin, an alarm is generated, and there is a problem in that useless man-hours are generated for the alarm canceling operation.

(Problems to be Solved by the Invention) As described above, the conventional automatic warehouse using the positioning device requires an operation for returning to the machine home after turning on the power or after an emergency stop. The operation is cumbersome, and if the warehousing operation is performed without performing the operation, an alarm is generated, and there is a problem that extra work for canceling the alarm is forced.

In view of the above, the present invention provides an automatic warehouse provided with multi-row, multi-stage shelves and a lifter movable with respect to each shelf, and particularly with respect to return to origin of each axis, with improved operability. With the goal.

(Means for Solving the Problems) In view of the above problems, the present invention provides a shelf body having a plurality of shelves in a plurality of rows in a horizontal direction and a plurality of stages in a vertical direction, and a plurality of shelves in front of the shelf body. A loading / unloading station provided in a row, a traveling platform capable of traveling in the left-right direction between the shelf main body and the entering / exiting station, a first drive device for travelingly driving the traveling platform, and the traveling platform. A lifter that can move up and down along the vertical rail, a second driving device that drives the lifter up and down, a fork supported by the lifter to be movable in the front and rear direction, and a third driving device that moves the fork back and forth. In the automatic warehouse equipped with
A home position return sequence for operating the second and third driving devices to automatically return the traveling platform, the lifter, and the fork to the home position, and when an entry / exit command is given to the automatic warehouse, the traveling platform, the lifter, and A state control unit that determines whether or not the fork has already returned to the home position and outputs a message indicating that the home position should be returned when the home position has not been returned, and a command to perform the home position return has been given from the state control unit. When the home return sequence is actuated, the traveling platform, the lifter and the fork are automatically home-returned, and the axis control unit, and after the traveling platform, the lifter and the fork are home-returned, the shelves and the respective loading / unloading stations are returned. Correction parameter input means for inputting a parameter for each position in order to correct an error at each position when moved to a position corresponding to It is.

(Example) In FIG. 2 showing an example of an automatic warehouse capable of implementing the present invention, a traveling rail 2 is laid along a longitudinal direction of a base 1, and a traveling platform 3 travels on the rail 2. It is supposed to. The traveling direction of the traveling platform 3 is defined as a T direction.

Behind the traveling rails 2 on the base 1, a shelf main body 4 provided with shelves in multiple rows and multiple stages (shown as an example of 6 rows and 10 stages) is arranged. 5 and multi-row (shown in the example of 6 rows) loading / unloading station 6 (6-1, 6-1)
6-2 ... 6-6) are arranged.

On the other hand, an upper rail 7 parallel to the traveling rail 2 is provided above the shelf main body 4 and on the front side.
A vertical rail 8 is erected between the upper rail 7 and its upper end movably supported by the upper rail 7, and the lower end is fixed to the traveling platform 3. Accordingly, the vertical rail 8 is movable in the T direction on the front side of the shelf body 4 by the traveling of the traveling platform 3 in the T direction.

A lifter 10 having a fork 9 that can expand and contract in the front-rear direction is supported on the vertical rail 8 so as to be able to move up and down. Therefore, the lifter 10 can be moved to an arbitrary shelf position or an arbitrary entry / exit station position by moving up and down along the vertical rail 8 and moving the traveling platform 3 along the traveling rail 2. It is. Furthermore, by operating the fork 10 back and forth at each shelf or each loading / unloading station position and operating an appropriate operation sequence, for each shelf or each loading / unloading station,
It is possible to enter and exit the article storage body. The lifting direction of the lifter 10 is defined as L direction, and the moving direction of the fork 9 is defined as F direction. In this example, the article storage body is a bucket,
Further, the operation sequence of loading and unloading is performed by lowering the lifter 10 in a state where the fork 9 with the bucket placed on the bottom side of each shelf is extended, contracting the fork 9 and loading the bucket on the shelf, and setting the bottom height of each shelf. At a slightly lower position than the fork 9
, The lifter 10 is slightly raised, and then the fork 9 is contracted to load a bucket on the fork 9.

The traveling operation of the traveling platform 3, the elevating operation of the lifter 10, and the expanding / contracting operation of the fork 9 are all driven by a servo drive device. The control panel 5 is mainly composed of an NC device. However, as the positioning device of this example, an AC servomotor was used, and the stop accuracy was 1 m.
When the position detected by the encoder matches the target position as the virtual dog, the brake is applied at that position to stop and fix the position. Each entry / exit station has a simple operation panel 11 (11-1, 11-2,..., 11) provided with a switch for an entry command and an LED indicating an operation state.
-6) is provided.

FIG. 3 is an explanatory view showing the configuration of the operation surface 5a of the control panel 5.

As shown in the figure, the operation surface 5a is provided with a power switch 12, an emergency stop button 13, and a numeric keypad group 14.To the right of the numeric keypad 14, in order from the top, a row designation switch 15, A switch 16, an execution command switch 17, and a switch 18 for erasing data are provided.

An LED 19 (19a, 19b, 19c) indicating ready, inspection, and alarm, and a 7-segment display 20 (20a, 20a,
20b) and an LED display 21 (21a, 21) indicating the number of executions and reservations.
b) is provided. The indicator 21b indicating the number of reservations is constituted by a plurality of LEDs so that the number of reservations is indicated by the number of illuminated LEDs.

Further, above the emergency stop button 13, there are provided four switches consisting of a laterally interrupted parking command switch 22, a switch 23 for buzzer release, a self-diagnosis switch 24, and a switch 25 for parameter setting. A reset switch 26 and a switch group 27 for manual operation are provided above these switches.

The switch group 27 for manual operation includes a manual mode switching switch 27a and six movement command switches 27b, 27c, 27d, 27e, 27f, for moving the bucket in each direction (T, F, L).
Consists of 27g. The movement command switches 27b, 27c,... 27g are diagrams showing the shelf main body 4 and buckets moved in each direction with respect to the shelf main body 4, and each direction of plus (+) and minus (-) Is arranged at the tip of each arrow symbol. Each switch for manual operation
27 (27a, 27b... 27g) are provided with LED lamps for operation guidance. In FIG. 2, the traveling (T) direction is positive (+) in the right direction and negative (-) in the left direction. The vertical direction (L) is positive (+) in the upward direction and negative (-) in the downward direction. In the front-back (F) direction, the rear direction is plus (+) and the front direction is minus (-). The operation direction of each of the manual operation switches 27b, 27c... 27g coincides with the machine operation direction in FIG.

In the manual operation switch 27 having the above configuration, in the manual mode, the operable axial LED is turned on, and the inoperable axial LED is turned off due to an interlock or the like.

When the axis is moving in a certain direction, the LED of the manually operated switch indicating the moving direction of the axis is turned on, and the LEDs of the other switches are turned off.

Further, when an overtravel (OT) occurs, the LED of the manual operation switch in the escape direction is turned on by the OT release, and the LEDs of the other switches are turned off.

In addition, when an alarm other than OT occurs, all the axes of the manual operation switches are turned off because all axis operations are disabled. The detailed operation procedure will be described later.

As shown in FIG. 4, a control device (NC device) 28 incorporated in the control panel 5 is mainly composed of a CPU board 29, which drives the lifter 10 up and down via a first inverter 30. 3-phase AC motor M _L is connected, and the second inverter 31 and the magnet switch MS1, three-phase alternating current for driving the traveling base 3 through the MS2 motor M _T and the fork 9, which is connected in parallel thereto for 3-phase AC motor M _F for expanding and contracting operation is connected to. Each three-phase AC motor M _L, M _T, the position detector PG is provided to the rotary shaft of the M _F, the detection signals of the position detector PG are fed back to the CPU board 29. B indicates a brake.

The magnet switches MS1 and MS2 are connected to the second inverter 31
To shared by the motor M _T or motor M _F, CPU board 2
The switching signal from 9 and is for switching the inverter 31 to the motor M _T side or to the motor M _F side.

Thus, in this embodiment, the second motor M _T and the motor M _F
Since the inverter 31 is used for switching, the number of inverters can be reduced correspondingly, and the cost can be reduced. Here, in an automatic warehouse as shown in FIG. 2, the lifter 10 may be moved up and down while the traveling platform 3 is running, and the fork 9 may be extended and contracted while moving the lifter 10 up and down. However, the traveling platform 3 does not travel while the fork 9 is extended and retracted. Thus, the motor M _F for extending and retracting the fork 9, even to a switching operation with respect to the running board 3 motor M _T and one inverter 31 for running the, any way there is no trouble in the general operation of the automatic warehouse It is.

In addition, the CPU board 29 receives signals (D _i ) from various sensors and signals (D _o ) for operating actuators such as various lamps.
Is output. Also, the CPU board 29
A micro-programmable controller (MPC) 32, a host computer (HOST) 33, and a switch board 34 on the operation surface 5a are connected via digital or serial signal lines.

As shown in FIG. 5, the CPU board 29 is a general N board.
Like the C device, various members 36, 37 ... 51 are connected to the system bus 35.
Connected. Reference numeral 36 denotes a not-shown patrol light and buzzer device. 37, 38, and 39 are devices for the switch board 34, 37 is a buzzer device, 38 is a driver for a 7-segment display, and 39 is a key encoder. 40 is D _i , 41 is battery-backed RAM, 42 is RAM, 43 is ROM, 44 is CP
U, 45 is an interface for MPC32, 46 is D _o, 47 is
A serial interface for inputting the signal of the HOST 33; 48, a timer; 49, a digital / analog (D / A) converter for outputting an analog signal to the first and second inverters 30, 31;
0 and 51 are second or first programmable timers. The ROM 43 stores a sequence for returning each axis to the origin.

The CPU 44 is connected to a clock 52 and a watch dog timer 53 that operates by inputting a clock signal of the clock 52. Each programmable timer 50, 51 has a position detector P
MSMs 54, 55, and 56 for direction discrimination are connected to the G.
Reference numeral 57 denotes an OR gate which inputs an output signal of each member and outputs an interrupt signal to the CPU 44.

FIG. 6 is an explanatory diagram showing a task configuration of the CPU 44.

As shown, a data control unit 59, a state control unit 60, an axis control unit 61, and a communication control unit 62 are arranged below the main control unit 58, and an interrupt processing unit 63
Is to be interposed.

The data control unit 59 performs a key input process, a display process, a maintenance process, and a data input / output process. In the display process, a column / row data reservation reservation process data display alarm display is performed. In the maintenance processing, diagnostic display parameters are edited / displayed. Furthermore, in the data input / output processing, check in / out data and input / cancel in / out data are performed.

The state control unit 60, a driving state control, and analysis of the axis control unit status, and D _i / D _o control and monitor D _i / D _o data, and performs a remote operation control, in the operating state control Checking entry / exit data Entry / exit processing Emergency stop processing Reset processing Alarm analysis Interlock analysis Performs manual axis movement processing. In the axis control status analysis, status analysis, current position analysis, and alarm analysis are performed. In the status analysis, when an entry / exit command is issued, it is automatically determined whether or not each axis has already returned to the origin. If not, an origin return command is output to the axis control unit 61.

The axis control unit 61 performs arithmetic processing, axis control, and counter processing. In the arithmetic processing, a check of command data is performed, a conversion process between a command position and pulse data is performed, and axis data is generated. Further, the axis control, calculation performed in the inverter control forced deceleration processing homing processing emergency stop processing D _i / D _o control current position.

Further, in the counter processing, an up / down counter processing of a return pulse from the encoder is performed. Communication control unit
At 62, transmission processing and reception processing are performed.

The interrupt processing unit 63 performs timer interrupt processing, Z-phase interrupt processing of the encoder, serial input processing, and analog output processing.

FIG. 7 is an explanatory diagram showing a method of generating axis control data.

In the figure, in the initialization process after the power of the NC device 28 is turned on, the ROM 43 has the axis control fixed parameter 64 in the ROM 43, and adds the axis control correction parameter 65 in the battery backup RAM 41 to perform correction. This indicates that the corrected axis control data 66 is generated in the RAM 42. FIG. 1 shows specific examples of each parameter and data.

In FIG. 8, the fixed parameter 6 stored in the ROM 43
4 is as follows.

Fork axis fixed position fixed parameter Station stage fixed position fixed parameter Station column fixed position fixed parameter Shelf fixed position fixed parameter Shelf line fixed position fixed parameter The parameters stored in the battery backup RAM 41 are as follows.

Station stage position correction parameter Station line position correction parameter Shelf position correction parameter Shelf line position correction parameter Fork axis origin position correction parameter Lifting station side origin position correction parameter Lifting shelf side origin position correction parameter Traveling station side origin position correction parameter Traveling shelf side Origin position correction parameter Axis control data 66 stored and executed in RAM 42
Is as follows.

Fork axis control data Station row axis control data Station row axis control data Shelf row axis control data Shelf row axis control data As shown in FIG. 9A, the axis control data (66-1) of the row on the shelf side is It is generated by adding the traveling rack side origin correction parameter (65-1) and the rack row position correction parameter (65-6) to the rack row fixed position fixed parameter (64-1).

As shown in FIG. 9 (b), the axis control data (66-2) of the shelf on the shelf side is determined by the fixed shelf stage position parameter (64-2).
Is added to the elevation shelf side origin correction parameter (65-3) and the shelf position correction parameter (65-7).

As shown in FIG. 9 (c), the axis control data (66-3) of the row on the station side includes the station row fixed position fixed parameter (64-3) and the traveling station side home position correction parameter (65-2). ) And the station row position correction parameter (65-8).

As shown in FIG. 9D, the axis control data (66-4) of the stage on the station side includes a station stage fixed position fixed parameter (64-4) and an ascending / descending station side origin position correction parameter (65-4). ) And the station stage position correction parameter (65-9).

As shown in FIG. 9E, the fork axis control data (66-5) includes the fork axis fixed position fixed parameter (64-
5) The fork axis origin position correction parameter (65-5)
Is generated by adding

FIG. 10 is a flowchart showing an input (storage) method of origin position correction parameters.

In step 1001, execute mechanical home return, and
In steps 02, 1003, and 1004, errors of the traveling axis, the vertical axis, and the fork axis are measured. In step 1005, a parameter input mode is set. In steps 1006, 1007, and 1008, correction parameters for each axis are input and stored.

The error may be measured by moving the axis to a predetermined shelf or a loading / unloading station with respect to the machine origin, and measuring the deviation between the actual position and the desired position. In addition, as an automatic measuring method, each axis is manually moved to a desired position, and the position at this time is determined as a difference between a current position managed by the NC device and a planned position, and the difference is used as a position correction parameter. It can be set automatically.

FIG. 11 is a flowchart showing an origin confirmation method after inputting an origin position correction parameter.

Executes machine return to origin in step 1101 and returns to step 1102
To move the fork shaft to the correction origin position.
To move the traveling axis and the lifting / lowering axis to the correction origin position, check in step 1104, and if they are out of the allowable range, input the correction parameters again.

FIG. 12 is a flowchart showing a method of correcting the row and step position of the shelf and the loading / unloading station.

Execute the mechanical origin return in step 1201, move the lifter 10 to each row and each row, measure the error of each row and each row in step 1202, set the parameter input mode in step 1203, and set each column in step 1204. Enter the correction parameters for the step. When the shelves are unitized in a plurality of rows and a plurality of stages and each position in each unit can be compensated, an error for each unit may be measured.

FIG. 13 is a flowchart showing a home position confirmation method after inputting the row and step position correction parameters. In step 1301, mechanical origin return is executed, in step 1302 each axis is moved to the corrected origin position, in step 1303 each column and each stage are moved, and in step 1304, step 1305 is completed for all columns and all stages. Check until you do.

In this example, fine adjustment of dogs, limit switches, encoders, etc. is performed by providing correction parameters for the origin position, shelf and row / column position of the loading / unloading station, and correcting the management position of the entire automatic warehouse. Even if it is not necessary, the origin can be accurately positioned, and the number of installation steps on site can be greatly reduced. Further, as shown in FIGS. 14 and 15, it is also possible to control shelves at unequal intervals. That is, in the automatic warehouse of this example, since the position can be individually adjusted for each shelf and each entry / exit station, even if shelves or entry / exit stations are designed at irregular intervals, the adjustment can be easily performed.

With respect to the automatic warehouse configured as described above, the details of the LED display method in manual operation, the return to origin operation, the entry operation, the exit operation, the exit operation, and the automatic unloading method after the origin return will be described below.

FIG. 16 is a flowchart showing an LED display method in manual operation.

The state control unit 60 shown in FIG. 6 performs an in-clock analysis process in step 1601, and when the manual mode is determined in step 1602, executes a manual axis movement process in step 1603. Further, in the data control unit 59, when the manual mode is determined in step 1604, in step 1605, the process proceeds to step 1601.
Manual operation switches 27b and 27c according to the interlock condition of
... Display processing of 27g LED is performed.

Therefore, in this example, as shown in FIG. 3, the manual operation switches 27b, 27c, 27g and the moving directions of the respective axes coincide with each other. It becomes possible to determine which axis the operation switch moves in which direction, thereby reducing operation errors. In addition, by illuminating the LED of the manual operation switch of the operable axis, it becomes possible to see at a glance which axis can be moved in which direction, and if an OT occurs, the manual operation switch in the escape direction will be released. The operability is improved because the LED lights up.

FIG. 17 is a flowchart showing the operation method of the home position return operation.

When the power is turned on in step 1701 or the emergency stop is released in step 1702, the origin must first be returned, as in a general NC device.

Therefore, in Step 1703, the third
By operating the switches on the operation surface in the figure as “0”, “column”, “0”, “stage”, and “execute”, the automatic home return sequence can be operated in step 1704 to automatically perform home return. .

In this way, even if the home position is automatically returned based on a simple manual operation, it is assumed that the home position is returned automatically, so take measures to prevent people from entering the moving area. If you do, there will be no safety issues.

FIG. 1 (a) is a flowchart showing a storage operation method.

When the switch on the operation panel 11 shown in FIG. 2 is turned on in step 101, it is determined in step 102 whether or not the mechanical home return has been completed. After the sequence is differentiated, a warehousing sequence is executed in step 104. The LED on the operation panel 11 is lit during the warehousing operation and blinks during the warehousing process.

Therefore, in this example, the operation of returning to the machine origin by the operator after turning on the power or canceling the emergency stop can be omitted, and even if the operator forgets the operation of returning to the machine origin, the machine can return to the origin automatically.
Workability is good, and unnecessary man-hours can be reduced.

FIG. 1 (b) is a flowchart showing a method of a delivery operation.

At step 105, the operation keys shown in FIG. 3 are operated to input "i", "row", "j", "stage", and "execute". As in the case of operation, completion of machine home return is determined, and if not completed, step
After the automatic origin return sequence is operated in 107, the retrieval sequence is executed in step 108. i and j indicate numerical values input by the ten keys.

Therefore, in this example, the completion or incompleteness of the machine home position return is automatically determined by performing the storage operation or the storage operation in conjunction with the storage operation of FIG. Since the machine origin return is executed by the sequence, the workability of the operator is improved, and unnecessary man-hours on site can be significantly reduced. Also,
The input procedure shown in step 105 corresponds to 1801-1805 in FIG.
As shown in (5), since the operation can be performed five times without specifying the delivery destination, the operation is extremely easy, the possibility of generating an alarm is small, and the operability is good. Delivery destination is step 1806
Of the station, the state control unit 60 in the NC unit analyzes the reservation data and the status of the station. 1,6-2, ... 6-6).

 FIG. 19 is a flowchart showing a retrieval operation method.

In step 1901 it is determined whether or not there is reserved garage data.If there is reserved garage data, it is determined in step 1902 whether or not there is an empty station. Step 1904
To perform the delivery sequence processing. The determination of the presence / absence of an empty station is performed in ascending order of station number. The retrieval operation sequence always runs when there is a reserved retrieval.

Therefore, in this example, the empty station is automatically determined at the time of leaving the bucket, and the bucket is released in ascending order of the station number. Since no alarm is generated, the outgoing operation can be rationalized and unnecessary man-hours can be reduced.

FIG. 20 is a flowchart showing automatic unloading processing after returning to the origin.

When the machine origin return operation is executed in step 2001, the machine origin return process is executed in step 2002,
In step 2003, it is determined whether or not there is a load on the lifter 10. If there is a load, the process proceeds to step 2004.

In step 2004, the presence or absence of an empty station is determined. If there is an empty station, the process proceeds to step 2005,
In step 2005, an (in) / out process is performed.

Therefore, in this example, even if there is a load on the lifter, the NC unit automatically leaves the bucket to the station after the completion of the mechanical home return, so the operator can check whether the next loading or unloading work is done with the load. Can be executed regardless of
Workability is improved, and unnecessary man-hours for work can be reduced.

In the above-described embodiment, an example has been described in which servo positioning is performed on each of the traveling axis, the lifter axis, and the fork axis. However, the present invention can be similarly implemented using only the traveling axis or the lifter axis.

In the above embodiment, the position correction for the shelf and the loading / unloading station has been described, but the present invention can be implemented only for the shelf.

Furthermore, when setting the position parameters for each shelf, the lifter was manually moved or adjusted by measuring the shift at the planned stop position of the lifter.
In the latter case, the measurement can be automatically performed by detecting an object to be detected provided at a predetermined position on each shelf at each stop position with an optical sensor provided on a lifter or fork.

The present invention is not limited to the above embodiments, but can be implemented in an appropriate mode by making appropriate design changes.

[Effects of the Invention] As can be understood from the above description of the embodiment, in the present invention, a traveling platform is provided on the front side of a shelf body having a plurality of shelves in a plurality of rows in a horizontal direction and a plurality of stages in a vertical direction. A lifter that can be moved in the left and right direction and a lifter that can move up and down along the vertical rail provided on this traveling platform has a fork that can move loads in and out of each shelf so that it can move in the front and rear direction. In the warehouse, when an entry / exit command is given, the state control unit determines whether or not the carriage, the lifter, and the fork have already been returned to the origin, and outputs an instruction to return to the origin when the origin has not been returned. Then, the origin control sequence is operated in the axis control unit, the origin return processing of the traveling platform, the lifter and the fork is automatically performed, and thereafter, the input / output command is given.

Therefore, according to the present invention, it is not necessary for the operator to perform a special operation for returning to the origin, and it is sufficient that the operator simply gives an entry / exit command, and the operability is improved.

In addition, after returning to the origin, there is provided a correction parameter input means for inputting a parameter for each position to an error at each position when moving to a position corresponding to each shelf and the loading / unloading station. Even if the intervals between the shelves and the intervals between the loading / unloading stations are unequal, the positions can be individually adjusted, and the installation and design of the shelf main body can be easily performed.

[Brief description of the drawings]

FIG. 1 is a flowchart showing a warehousing operation and a warehousing operation according to one embodiment of the present invention, FIG. 2 is a perspective view showing an external appearance of an automatic warehouse according to one embodiment of the present invention, and FIG. FIG. 4 is a plan view showing the configuration of the operation surface of the control panel of the automatic warehouse shown in FIG. 4, FIG. 4 is a block diagram showing the configuration of a control device (NC device) incorporated in the control panel, and FIG. 5 is the NC shown in FIG. FIG. 6 is a block diagram showing a specific configuration example of a CPU board of the device; FIG. 6 is an explanatory diagram showing a task configuration of the NC device; FIG. 7 is an explanatory diagram showing a method of generating axis control data of the NC device; FIG. 9 is an explanatory diagram showing a configuration example of fixed parameters, correction parameters, and axis control data. FIG. 9 is an explanatory diagram showing a specific example of a generation method of axis control data. FIG. 10 is an input (storage) of an origin position correction parameter. Flowchart showing the method, eleventh The figure shows a flowchart showing the origin confirmation method after inputting the origin position correction parameter, FIG. 12 shows a flowchart showing the input (storage) method of the column position correction parameter, and FIG. 13 shows the correction confirmation method after inputting the column position correction parameter FIGS. 14 and 15 are explanatory diagrams showing that correction parameters may be appropriately set for unequally-spaced shelves. FIG. 16 is a flowchart showing a display method of LEDs provided on a manual operation switch. FIG. 17 is a flowchart showing an operation and an operation procedure of an origin return operation, FIG. 18 is a flowchart showing a specific operation procedure of a retrieval operation, FIG. 19 is a flowchart showing an operation procedure of a retrieval data creation and retrieval sequence, FIG. 20 is a flowchart showing an operation and an operation procedure of an automatic unloading process after returning to the origin. 3 ... Traveling stand 9 ... Fork 10 ... Lifter 28 ... Control device (NC device) 41 ... RAM 42 ... Battery backup RAM 43 ... ROM 60 ... State control unit 61 ... Axis control unit

Claims (1)

(57) [Claims] 1. A shelf body having a plurality of shelves in a plurality of rows in a horizontal direction and a plurality of stages in a vertical direction, a loading / unloading station provided in a plurality of rows in front of the shelf body, the shelf body and a loading / unloading. A traveling platform that can travel in the left-right direction between the stations, a first driving device that travels and drives the traveling platform, a lifter that can move up and down along a vertical rail provided on the traveling platform, and vertically drives the lifter An automatic warehouse, comprising: a second drive device for moving the fork; and a third drive device for moving the fork back and forth. An origin return sequence for automatically driving the traveling platform, the lifter and the fork to the home position by operating the drive device, and when the entry / exit command is given to the automatic warehouse, the traveling platform, the lifter and the fork have already returned to the origin. Is And a state control unit that outputs a message indicating that the origin should be returned when the origin has not been returned.When a command indicating that the origin should be returned from the state control unit is given, the origin return sequence is performed. An axis control unit that operates to automatically return the traveling platform, the lifter and the fork to the home position, and moves the traveling platform, the lifter and the fork to the home position, and then moves the traveling platform, the lifter and the fork to positions corresponding to the respective shelves and the respective loading / unloading stations. An automatic warehouse, comprising: correction parameter input means for inputting a parameter for each position in order to correct an error at each position when the automatic warehouse is located.