JP3323957B2 - Load transfer position control device for 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 the transfer of goods in an automatic warehouse in which the position of the goods facing the running path of the stacker crane is always kept in a constant level in the loading and unloading of goods using the stacker crane. The present invention relates to a mounting position control device.

[0002]

2. Description of the Related Art In a conventional automatic warehouse provided with a loading / unloading means using a stacker crane, a loading platform is moved to a loading rack side by a predetermined distance to transfer a load. When a stacker crane normally transfers a load to a load shelf or a loading platform, the contents of the load displayed on the front of the load (container) are read by a sensor (a barcode reader or the like), and the load of the loading / unloading command from the CPU is read. And that information is C
This is sent to the PU, and the process of entering and exiting is repeated while confirming the contact with each other to process at high speed.

[0003]

In the above-mentioned conventional apparatus, when the size of the load (container) is different, the load is stored in the load shelves separately. If the loads in the load shelves are stored separately, the intervals between the sensors of the stacker crane and the display of the loads will vary, resulting in errors in reading the contents of the loads by the sensors and the possibility of reading. In other words, it is impossible to detect the presence or absence of a load, which hinders the loading and unloading of the load, which makes it impossible to produce a product or inconveniences a customer.

[0004] In order to solve this drawback, articles are usually stored in a container of a fixed size such as a container, and the container is stored and stored in a load shelf. When containers of different sizes are mixed and stored, the containers are determined in advance according to the dimensions so that the containers come to a position where the stacker crane can take the optimum storage position with respect to the storage. The stacker crane was started at the optimal container departure position on the loading platform. However, in this case, since a person places the container in that position or places the container under the control of the CPU, there are drawbacks such as an error and an increase in the price of the device, and a container of a new size. For example, when is added, there is a disadvantage that it takes time and money to determine the container departure position and replace the CPU software.

SUMMARY OF THE INVENTION It is an object of the present invention to provide an automatic warehouse capable of always transferring loads of different sizes so that the ends facing the stacker crane are aligned when the stacker crane stores the load on the load shelves. The purpose of the present invention is to provide a transfer position control device.

[0006]

In order to achieve the above-mentioned object, a load transfer position control device for an automatic warehouse according to the present invention is provided with a mast erected on a truck traveling on the floor and a load placed on the mast. A stacker crane in which a loading platform to be lifted is mounted so as to be able to move up and down; a loading shelf having a multi-stage load receiving portion at one or both sides facing the traveling path of the stacker crane and at a predetermined distance from the loading platform; Installed on the loading platform,
A transfer means for transferring the load from a position on the loading platform to a position in the loading shelf, provided on the loading platform,
When the load is moved by the transfer means, the sensor is configured to be activated by the presence of the load at the opposing position, an encoder for detecting the amount of movement of the load by the transfer means, and connected to the sensor and the encoder. A length detecting means for detecting a length (L) of a load in a moving direction by a load transfer means based on an amount of change in an encoder during a period from when the load reaches a position facing the sensor to when the load passes therethrough; and When the load is moved from the outside to the loading platform by the transfer means, the amount of change in the encoder between the time when the load passes the position facing the sensor and the time when the transfer means is stopped is calculated. A pull-in amount detecting means for detecting a pull-in amount (A) of the load from the position facing the sensor to the inside of the loading platform based on the length;
(L), a retraction amount (A), and a memory for storing an additional feed amount (B) set in advance based on the interval between the loading platform and the loading shelf;
Based on the length (L), pull-in (A), and additional feed (B) information stored in the memory, the optimal feed amount of the load
The delivery amount determining means for determining (S) and the transfer means are controlled so that the moving distance of the load becomes the optimum delivery amount S determined by the delivery amount determining means when the load is delivered from the platform to the load shelf. And a transfer means control circuit.

[0007] Sensors are provided on both sides of the carrier, and the transfer means is capable of moving the cargo to both sides of the carrier, and has a length (L) stored in the memory and a retracted amount.
(A) and the optimum feed amount of the load to both sides by the feed amount determining means based on the information of the additional feed amount (B).
(S, S ') is determined, and when the load is sent from the loading platform to the load shelves on each side, the transfer means control circuit determines the moving distance of the load and the corresponding optimum delivery amount determined by the delivery amount determination means. It is preferable to control the transfer means so as to satisfy (S) or (S ′).

The transfer means control circuit includes a speed control circuit for controlling the transfer means so that the moving speed of the load by the transfer means is high when the optimum delivery amount is large and low when the optimum delivery amount is small. Good to do.

Further, detecting means for detecting that the optimum sending amount has not been determined by the sending amount determining means, the detecting means being operated, and the load being moved from the loading platform to the load shelf by the transfer means. And an auxiliary control circuit for controlling the transfer means so that the sensor detects that the load has passed the position facing the sensor and thereafter moves the load to the load shelf side by a predetermined distance. It is good to do.

[0010] A load transfer position control device in an automatic warehouse according to the present invention is a stacker having a mast erected on a truck traveling on the floor, and a load platform for placing the load on the mast, which is vertically movable. A crane, a loading shelf having a multistage load receiving portion at a position at a certain distance from the loading platform on one or both sides facing the traveling path of the stacker crane, and provided on the loading platform; And a transfer means for transferring the load from the position to a position in the load shelf, wherein the load is provided on the loading platform, and when the load is moved by the transfer means, the load is operated by being present at the opposing position. When the load is moved from the loading platform to the load shelves by the transfer means, the sensor detects that the load has passed the position facing the sensor, and thereafter the load is moved by a predetermined distance. On the shelf side It can be made and a control circuit for controlling the transfer means so that movement.

In this case, it is preferable to provide the sensor at a position close to the load shelf side of the carrier or to provide the sensor at both ends of the carrier in the load moving direction.

[0012]

According to the present invention, all the loads stored in the load shelves are stored with the end facing the stacker crane always kept at a fixed distance from the stacker crane.

[0013]

1 to 3 illustrate an automatic warehouse for carrying out the present invention. As shown in FIG. 1 and FIG. 2, each cargo rack (1) in the automatic warehouse is provided between the floor (2) and the ceiling (3) at the front and rear (left and right in FIG. 1) at equal intervals. The two columns (4) are connected by connecting rods (5) facing in the front-rear direction, and the right and left columns (4) are connected by a load receiving frame (6) arranged horizontally at a predetermined interval. It is formed.

Between the left and right cargo shelves (1) on the upper surface of the floor (2) and the lower surface of the ceiling (3), a traveling rail (7) and a guide rail ( 8) is laid.

Reference numeral (9) denotes a stacker crane, and a mast (11) is provided upright at the center of the bogie (10). The cart (10) is composed of a pair of left and right rollers pivoted at the upper end of a mast (11), with wheels (12) rolling along a running rail (7).
The (13) rolls by sandwiching the guide rail (8) from both sides, so that it can travel in the front-rear direction without tilting in the left-right direction.

Reference numeral (14) denotes traveling drive means for traveling the carriage (10). As shown in detail in FIG. 3, the traveling drive means (14) has a toothed belt (15) along the rail (7), and the toothed belt (15) is ) Through a pair of guide pulleys (16), and meshed with a pinion (17) also pivoted on the bogie (10), and this pinion (17)
The bogie (10) can be run in the front-rear direction by being rotated by a running motor (18) provided in (10) and capable of rotating forward and backward.

Reference numeral (19) denotes a sprocket (20) fixedly fitted to the shaft (18a) of the motor (18) and a sprocket (21) fixedly fitted to the shaft (17a) of the pinion (17). Turn the motor (1
This chain transmits the torque of 8) to the pinion (17).

Reference numeral (22) designates a lower brake for applying a braking force to the shaft (18a) of the motor (18).

A guide rail (8) is provided above the mast (11).
An upper brake (23) is provided to apply a braking force to the upper end of the mast (11) by sandwiching it.

On both sides of the mast (11), guide rails (24) pointing in the vertical direction are fixed.
Sliding part (26) connected to the rear of the loading platform (25) along the front of (11)
Are engaged so as to be able to move up and down.

A chain (27) having both ends fastened to the upper and lower portions of a carrier (25) is composed of a suspension sprocket (28) pivotally mounted at the upper end of the mast (11) and a lower part of the mast (11). A driven sprocket (29) pivotally mounted on the trolley (10) and a drive sprocket (3) fixedly fitted to the shaft (30a) of the elevating motor (30) installed on the trolley (10).
The carrier (25) is raised and lowered by rotation of the motor (18).

On the loading platform (25), there are provided means for laterally transporting the load, ie, transferring means (32), which expands and contracts in two stages on both left and right sides by a motor (not shown). The transverse feed means (32), which is usually called a shuttle fork, will be further described with reference to specific examples shown in FIGS. 4 and 5. A fixing plate (39) is fixed on a loading platform (25). The first moving plate
(40), on which a second moving plate (41) is mounted. First
The moving plate (40) can be moved left and right on the fixed plate (39) by a driving mechanism (not shown). The second moving plate (41) can move in the same direction in the left and right direction by a distance twice as long as the first moving plate (40) in synchronization with the first moving plate (40). As a result, the second
The moving plate (41) can be largely moved from the center position shown in FIG. 4 to the horizontal feed position shown in FIG.

Thus, the load (34) on the loading platform (25) is:
Run the stacker crane (9) and raise / lower the loading platform (25) to set the load (34) to the side of the target storage section of the load shelf (1), extend the traverse means (32), After the load (34) has been inserted into the desired storage section, the load (25) is slightly lowered to shorten the traverse means (32) so that the load (34) can be moved to the load shelf (1).
On both receiving frames (6). By performing the reverse operation, the target load (34) can be taken out.

Reference numeral (35) denotes height detecting means for detecting the height of the loading platform (25). This height detection means (35)
This is an encoder provided at the lower part of 1) to detect the rotation speed of an appropriate driven sprocket (29) to detect the height of the bed (25).

Reference numeral (37) denotes traveling control means provided in the control device (38). This is the motor (18) of the traveling drive means (14),
These are devices that are electrically connected to and control the lower brake (22) and the upper brake (23), respectively.

According to the present invention, as shown in FIGS. 4 and 5, when the load (34) is moved to the left and right ends of the loading platform (25) by the transverse feed means (32), the load (34) is moved. Sensors (42) and (43) arranged to be activated by being present at the opposing position are provided. That is, a sensor (42) including a light emitting element (42a) and a light receiving element (42b) is provided at the right end of the loading platform (25). These light emitting element (42a) and light receiving element (42b)
Are installed facing each other in the front-rear direction of the loading platform.
4) moves and the load (34) traverses its optical path to generate a signal.

A similar light emitting element (43) is provided on the left end of the loading platform (25).
A sensor (43) including a) and a light receiving element (43b) is provided. The sensor (43) generates a signal when the load (34) crosses the optical path when the second moving plate (41) moves leftward.

FIG. 6 shows loads (34), (3) such as containers having different sizes on the load shelves of the automatic warehouse described with reference to FIGS.
FIG. 4 is a schematic plan view showing a state where 4a) is stored. As is clear from this figure, the load (34) and the load (34a) are placed on the shelves so that the position facing the stacker crane traveling path is always constant, even if their size, that is, the depth length, is different. It is necessary to store in. If the positions facing the stacker crane (9) are disjointed, the stacker crane (9)
The distance between the load and the bar code reader (not shown) provided on the loading platform (25) etc. may vary, causing errors in reading the contents of the load with the bar code reader, inability to read, or This is because even the presence or absence cannot be detected.

According to the present invention, the sensors (42) and (43) provided at the left and right ends of the carrier (25) described with reference to FIGS.
In addition, a control device (45) as shown in FIG.
An encoder (44) for detecting the amount of movement of the load (34) due to (32) is provided.

Although the mechanical configuration of the encoder (44) is not shown, a known linear encoder linked to the traverse means (32) or a rotary encoder linked to the traverse means (32) via a pinion and a rack is used. It can be an encoder.

As shown in FIG. 7, the control device (45) includes the following seven circuits (means) (46) to (52). Actually, the control device (45) does not have seven independent circuits (means) (46) to (52) which can be distinguished in this way, but they are mixed in the microcomputer. It is included in the form, but for ease of explanation,
Here, it is up to the point that these circuits (means) are included.

The length detecting circuit (length detecting means) (46) is connected to the sensors (42) (43) and the encoder (44), and the load (34) is connected to one of the sensors (42) (43). Based on the amount of change in the encoder (44) from when it reaches the facing position to when it passes, the load (3
This is to detect the length (L) (see FIGS. 8 and 9) in the direction of movement by the lateral feed means (32) of 4).

Pull-in amount detecting circuit (pull-in amount detecting means)
(47) is connected to the sensors (42) and (43) and the encoder (44), and when the load (34) is moved from the outside onto the loading platform (25) by the traverse means (32), the load (34) is ) Is one of the sensors (42)
Based on the amount of change in the encoder (44) from when the transverse feed means (32) is stopped after passing through the opposing position of (43), the loading platform ( 25) It detects the amount (A) of drawing in the load (34) inward (see FIG. 8).

The memory (48) has the length (L), the retracted amount,
(A), an additional feed amount (B) preset by the additional feed amount setting means (53) based on the distance between the loading platform (25) and the load shelf (1).
(B ′), the remaining amount of retraction which is a value obtained by subtracting the sum of the length (L) and the retraction amount (A) from the interval between the two sensors (42) and (43).
(A ') and the like.

Delivery amount determination circuit (delivery amount determination means)
(49) is the length (L) stored in the memory (48), the retraction amount
Based on information such as (A), the additional feed amount (B), and the remaining draw-in amount (A '), the optimum feed amount (S) (S') of the load (34) to the right and left is determined. Is what you do.

That is, as shown in FIG. 8, the optimum delivery amount (S) of the load (34) to the right is the sum of the length (L), the retraction amount (A), and the additional delivery amount (B). Assuming that (S = L + A + B), the optimal delivery amount (S ′) of the load (34) to the left is also the length (L), the remaining amount (A ′), and the additional delivery amount (B ′).
(S = L + A ′ + B ′).

The transfer means control circuit (50) controls the load (34) from the loading platform (25) to the load shelves (1) when sending the load (34) to the right and left.
The horizontal feed means (32) as transfer means is controlled so that the movement distance of (34) becomes the optimum feed amount (S) (S ') determined by the feed amount determining means (49).

In this embodiment, the transfer means control circuit (50)
Is to step the transverse feed means (32) so that the moving speed of the load (34) by the transverse feed means (32) is high when the optimum delivery amount (S) (S ') is large and low when the optimum delivery amount (S) (S') is small. There is provided a speed control circuit (53a) for controlling the target in a stepless or stepless manner.

The detecting means (51) is provided with a feeding amount determining means (49).
Detects that the optimum delivery amounts (S) and (S ') have not been determined, and operates by detecting this.

The auxiliary control circuit (52) deletes the information stored in the memory (48) due to a failure of the electric system or a power failure, and the optimum sending amount (S) by the sending amount determining means (49).
(S ') in consideration of the case when the determination becomes impossible, the detection means (51) is operating, and the traversing means
(32) causes the load (34) to be on the right or left side of the shelf (25)
The load (34) is moved to the (1) side, and the load (34) is determined in advance by the sensors (42) and (43) detecting that the load (34) has passed the position facing the sensors (42) and (43). The traversing means (32) is controlled so as to move toward the cargo rack (1) by the same distance.

With the configuration as in this embodiment, the load (34) is placed on the traversing means (32) extending to the right, for example, as shown by the solid line in FIG. Lateral feeding means (32)
As the load (34) is moved toward the position on the loading platform (25), the load (34) is
From the time when the sensor (42) is turned on by interrupting 2), as shown by the imaginary line in FIG. 9, the load (34) passes through the right sensor (42) and the sensor (42) is turned off. Encoder up to when
Information about the amount of change in (44) is sent to the length detection circuit (46), and the length detection circuit (46) detects the length (L) of the load (34) based on the amount of change. You.

After the load (34) passes through the right sensor (42) and the sensor (42) is turned off, as shown in FIG. The information on the amount of change in the encoder (44) during this time is sent to the pull-in amount detection circuit (47), and in the pull-in amount detection circuit (47), based on the change amount, the load (A) of the load (34) ) Is detected.

The memory (48) stores the length (L), the pull-in amount (A), the additional feed amounts (B) and (B ') set by the additional feed amount setting means (53), and both sensors ( The remaining amount of pull-in (A '), which is a value obtained by subtracting the sum of the length (L) and the amount of pull-in (A) from the interval between 42 and 43, is stored.

When all necessary information is stored in the memory (48), the above-described calculation is performed in the sending-out amount determining circuit (49), and the optimum load (34) for rightward and leftward is obtained. The delivery amounts (S) and (S ') are determined.

In this state, the stacker crane (9) is run, and the carrier (25) is raised and lowered.
When the loading platform (25) is positioned beside the target storage section of the loading shelf (1), and then an operation command is issued to the transfer means control circuit (50), the traversing means (32) is activated. Can be

At this time, the operation command is sent to the right cargo
If the command is to transfer the load (34) to (1), the traversing means (32) is extended rightward in FIG.
The movement amount of 4) is measured by the encoder (44).

The readout value of the movement amount of the load (34) by the encoder (44) is the optimum delivery amount (S) on the right, that is, the length.
When the sum of (L), the amount of pull-in (A) and the amount of additional feed (B) has been reached, the extension of the traverse means (32) is stopped by the transfer means control circuit (50). Next, after the bed (25) is slightly lowered, the traverse means (32) is shortened,
It is returned to the position shown by the solid line in FIG.

At this time, the moving speed of the load (34) by the traversing means (32) is determined by the speed control circuit (53a).
The control is performed such that the speed is high when the optimum feeding amount (S) is large, and is low when the optimum feeding amount (S) is small.

By sequentially transferring the load (34) to each position of the right shelf (1) in this manner, each load (34) stored in the right shelf (1) is Even if the lengths are different, all the surfaces facing the stacker crane (9) are aligned, so that the presence or absence of the load (34) in the load shelf (1) as described above and the load (34) There is no possibility that the information is incorrectly read or becomes unreadable.

When the load (34) is to be transferred to the left shelf (1), the extending direction of the traverse means (32) is set to the left, and the load by the traverse means (32) at that time is set. The operation may be performed in the same manner as described above so that the movement distance in (34) becomes the optimum delivery amount (S). As a result, each load (34) stored in the left load shelf (1) also has a stacker crane irrespective of its length.
(9) All surfaces facing the side are aligned.

If the information stored in the memory (48) is deleted due to a failure of the electric system or a power failure,
After that, even if the power supply is restored, it becomes impossible to determine the optimum delivery amounts (S) and (S ′) by the delivery amount determining means (49), and the control of the horizontal feeding means (32) by the transfer means control circuit (50) becomes impossible. Becomes impossible.

When such a situation occurs, the detecting means (51)
Is determined by the delivery amount determining means (49).
The auxiliary control circuit detects that (S ') has not been determined.
(52) is activated.

When the detection means (51) is operating, the auxiliary control circuit (52) moves the load (34) by the traverse means (32).
(25) The cargo is moved to the right or left side of the shelves (1),
When the sensors (42) and (43) detect that the sensor (34) has passed the position facing the sensors (42) and (43), the load (34) is thereafter moved by a predetermined distance (this distance is the additional feed amount). It is preferable to set the value to be equal to the additional feed amount (B) (B ') set by the setting means (53).) .

By operating the auxiliary control circuit (52), even if the information stored in the memory (48) has been deleted, the load (34) faces the stacker crane (9). The load can be transferred to the load shelf (1) without any trouble so that the surface is aligned with the corresponding surface of the other load (34) in the load shelf (1).

At this time, the encoder (44) is used as a means for setting the amount of movement of the load (34) after the load (34) has passed through the sensors (42) and (43). In addition to stopping the extension of the traverse means (32) when the measured value reaches a certain value, for example, the load (34) (42) Even when the timer (not shown) starts counting from the time when passing through (43) and the extension of the traverse means (32) is stopped when the set time of the timer elapses. Good.

That is, the horizontal position of the stacker crane (9) is determined by the rail (7). If the feed speed of the lateral feed means (32) is constant, the stacker crane of a desired load (34) is obtained. Since the position facing the traveling path is determined as a function of the time after detection by the sensor (42), if the traverse is stopped after a certain time determined by this, the load (34) having a different size can be determined. ) But always keep a certain distance with the load shelves (1)
Can be placed on the This relationship is the same for the lateral traverse to the left.

In the above-described embodiment, the sensors (42) and (43) are provided at both left and right ends of the loading platform (25). However, if desired, only one sensor is provided at the center of the loading platform (25). Even so, a similar function would be obtained. In addition, as a transfer device for transferring the load (34) to the loading platform (25), a pusher may be used in addition to the lateral feeding means (32) such as a shuttle fork.

Further, in the above embodiment, a pair of load shelves (1) are provided on both sides of the stacker crane (9) so as to face each other.
The load (34) on the loading platform (25) of the stacker crane (9) can be selectively transferred to any of the loading shelves (1) by the traverse means (32). Omitting the shelves (1),
The load (34) may be transferred to only a single load rack (1).

The detection means (51) and the auxiliary control circuit (52) in the control device (45) can be omitted or implemented.
(45) All circuits other than the auxiliary control circuit (52) are omitted,
The auxiliary control circuit (52) may be an independent control circuit for controlling the traverse means (32), and may control the traverse means (32).

[0060]

According to the present invention, the following effects can be obtained. (a) Each load stored in the shelves shall be of different length,
Since all of the surfaces facing the stacker crane side are stored in the load shelf, the detection of the presence of load in the load shelf and the reading of load information by the barcode reader as described above become erroneous or impossible to read. And troubles associated with loading and unloading of cargo can be prevented.

(B) Further, once the load is stored and stored in the load shelves, the position of the load can be surely controlled thereafter, and the storage condition on the load shelves is uniform without any irregularities facing the load bed. It is excellent in aesthetics, and it is easy to visually confirm the load.

(C) Since the size of the load can be confirmed, the information can be used for other control associated with loading and unloading of the load.

(D) When the configuration is made as in the second aspect of the invention, the load is placed on each of the shelves provided on both sides of the stacker crane so that all the surfaces facing the stacker crane are aligned. Can be accommodated.

(E) In the transfer means control circuit, the transfer speed of the load by the transfer means is set to be high when the optimum delivery amount is large and to be low when the optimum delivery amount is small. If a speed control circuit for controlling the transfer means is provided in the apparatus, it is possible to speed up the warehousing operation.

(F) If the detecting means and the auxiliary control circuit are provided as in the fourth aspect of the present invention, the information stored in the memory is erased due to a failure of the electric system or a power failure. Optimal delivery amount (S) by the delivery amount determination means (49)
Even if the determination of (S ′) becomes impossible, the load can be stored in the load shelf such that all the surfaces facing the stacker crane are aligned.

(G) With the configuration as described in the fifth aspect of the invention, the same effect as that of the first aspect of the invention can be obtained with a simple structure without using expensive electronic equipment such as a memory. be able to. Another advantage is that the position of the load does not need to be strictly determined when loading the load for storage on the loading platform.

(H) If the sensor for detecting the passage of the load is provided at the loading platform or both ends of the loading platform close to the loading shelf side as in the invention of claim 6, the loading can be more reliably confirmed and stored. Position accuracy is improved.

(I) With the configuration as described in claim 7, a single sensor can be used in common for transferring loads to the shelves provided on both sides of the stacker crane. Thus, the number of parts can be reduced.

[Brief description of the drawings]

FIG. 1 is a side view of a stacker crane and a cargo rack of an automatic warehouse for implementing the present invention.

FIG. 2 is a sectional view taken along line AA of FIG.

FIG. 3 is an enlarged vertical sectional view of a main part of the truck.

FIG. 4 is a perspective view of a part of an embodiment of a stacker crane provided with the device according to the present invention.

FIG. 5 is a similar perspective view of the stacker crane in a state where the traverse means is extended.

FIG. 6 is a schematic plan view illustrating a situation where loads of different sizes are placed on a load shelf.

FIG. 7 is a block diagram illustrating an example of a control device.

FIG. 8 is an explanatory view schematically showing a relationship between a traversing means, a load, and a load shelf.

FIG. 9 is an explanatory view schematically showing a situation when a load is pulled in by the lateral feeding means.

FIG. 10 is an explanatory view schematically showing detection of a trailing end of a load by a sensor when the load is moved by the traversing means and a stop position of the traversing means after a predetermined time.

[Explanation of symbols]

 (1) Packing shelf (2) Floor (3) Ceiling (4) Column (5) Connecting rod (6) Receiving frame (7) Rail for traveling (8) Guide rail (9) Stacker crane (10) Dolly (11 ) Mast (12) Wheels (13) Rollers (14) Traveling drive means (15) Toothed belt (16) Guide pulley (17) Pinion (17a) shaft (18) Motor (18a) shaft (19) Chain (20) (21) Sprocket (22) Lower brake (23) Upper brake (24) Guide rail (25) Carrier (26) Sliding part (27) Chain (28) Suspension sprocket (29) Driven sprocket (30) Elevating motor ( 30a) Shaft (31) Drive sprocket (32) Lateral feed means (transfer means) (34) (34a) Load (35) Height detection means (37) Travel control means (38) Control device (39) Fixing plate ( 40) First moving plate (41) Second moving plate (42) (43) Sensor (42a) (43a) Light emitting element (42b) (43b) Light receiving element (44) Encoder (45) Controller (46) Length Detection circuit (Length detection means) (47) Retraction amount detection circuit (Retraction amount detection means) (48) Memory (49) Sending amount determination Road (delivery amount determining means) (50) Transfer means control circuit (50a) Speed control circuit (51) Detection means (52) Auxiliary control circuit (53) Additional feed amount setting means (A) Pull-in amount (A ') Pull-in Remaining amount (B) (B ') Additional feed amount (L) Length of load (S) (S') Optimal feed amount

Continuation of the front page (56) References JP-A-53-30585 (JP, A) JP-A-61-217494 (JP, A) JP-A-2-31206 (JP, U) JP-B-49-17191 (JP) , B1) Special Publication 49-6711 (JP, B1) (58) Field surveyed (Int. Cl. ⁷ , DB name) B65G 1/04 541

Claims (7)

(57) [Claims] 1. A mast is erected on a truck traveling on the floor,
A stacker crane in which a loading platform for loading a load on the mast is mounted so as to be able to move up and down, and a plurality of load receiving portions at one or both sides facing the traveling path of the stacker crane and at a distance from the loading platform by a certain distance; An automatic warehouse comprising: a load shelf having: and a transfer means provided on the load platform and configured to transfer a load from a position on the load platform to a position in the load shelf, provided on the load platform, and provided by the transfer means When moving the load,
A sensor that is activated by the presence of the load at the opposing position, an encoder that detects the amount of movement of the load by the transfer means, is connected to the sensor and the encoder, and the load reaches the opposing position of the sensor. Based on the amount of change in the encoder from passing to passing, the length in the moving direction of the load transfer means
(L) length detecting means, connected to the sensor and the encoder, and when the load is moved from the outside to the loading platform by the transfer means, the load is transferred after passing the position facing the sensor. Based on the amount of change in the encoder until the means is stopped, based on the amount of change in the encoder, from the opposed position of the sensor into the loading platform to detect the loading amount (A) of the load, and the length (L), A memory for storing a retracted amount (A), and an additional feed amount (B) set in advance based on an interval between a loading platform and a loading shelf; a length (L) stored in the memory, a retracted amount (A), and Based on the information on the additional feed amount (B), the optimal load
Sending amount determining means for determining (S); and controlling the transferring means so that the moving distance of the load becomes the optimum sending amount S determined by the sending amount determining means when the load is sent from the platform to the load shelf. A transfer position control device for a load in an automatic warehouse, comprising a transfer means control circuit. 2. A sensor is provided on each side of the carrier, and the transfer means is capable of moving the cargo to both sides of the carrier, and has a length (L) and a retracted amount (A) stored in a memory. ) And the additional feed amount (B), the optimum feed amount of the load to both sides by the feed amount determining means.
(S, S ') is determined, and when the load is sent from the loading platform to the load shelves on each side, the transfer means control circuit determines the moving distance of the load and the corresponding optimum delivery amount determined by the delivery amount determination means. 2. The apparatus according to claim 1, wherein the transfer means is controlled so as to satisfy (S) or (S '). 3. The transfer means control circuit includes a speed control circuit for controlling the transfer means so that the moving speed of the load by the transfer means is high when the optimum delivery amount is large, and low when the optimum delivery amount is small. 3. An apparatus according to claim 1, wherein the load transfer position is controlled in an automatic warehouse. 4. A detecting means for detecting that the optimum sending amount has not been determined by the sending amount determining means, and the detecting means is operated, and the load is moved from the loading platform to the load shelf by the transfer means. And an auxiliary control circuit for controlling the transfer means such that the sensor detects that the load has passed the position facing the sensor and thereafter moves the load to the load shelf side by a predetermined distance. Item 1
3. The load transfer position control device in an automatic warehouse according to any one of 3. 5. A mast is erected on a truck traveling on the floor,
A stacker crane in which a loading platform for loading a load on the mast is mounted so as to be able to move up and down, and a plurality of load receiving portions at one or both sides facing the traveling path of the stacker crane and at a distance from the loading platform by a certain distance; An automatic warehouse comprising: a load shelf having: and a transfer means provided on the load platform and configured to transfer a load from a position on the load platform to a position in the load shelf, provided on the load platform, and provided by the transfer means When moving the load,
A sensor configured to be activated by the presence of the load at the opposing position, and a sensor that detects that the load has passed the opposing position of the sensor when the load is moved from the loading platform to the load shelf side by the transfer means. A control circuit for controlling the transfer means so that the load is moved to a load shelf side by a predetermined distance after the detection, thereby controlling the transfer position of the load in the automatic warehouse. 6. The apparatus according to claim 5, wherein the sensor is provided at a position close to a load shelf side of the loading platform. 7. The apparatus according to claim 5, wherein sensors are provided at both ends of the loading platform in the direction of transport of the loading.