JP3394570B2 - 3D automatic warehouse and its control method - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional automatic warehouse and its control method. In particular, in a three-dimensional automated warehouse that stores a coil wound with a strip plate such as a thin steel plate, by effectively utilizing the center hole of the coil itself, any one of a plurality of coils having different outer diameters and widths can be used. (EN) Provided are a three-dimensional automatic warehouse for coils, which can be freely loaded and unloaded each time, and which can be efficiently used for storage and a control method thereof.

[0002] In addition, an arbitrary three-dimensional long material having different cross-sectional dimensions and lengths can be freely loaded and unloaded one by one and can be stored efficiently. A warehouse and its control method are provided.

[0003]

2. Description of the Related Art In processes such as rolling and subsequent surface treatment,
In order to increase productivity, a coil with a wide outer diameter and a large outer diameter is made, but in the final process or coil center, it is divided into coils of the width and outer diameter according to the customer's order and stored until shipment. These waiting coils must be stacked in two or more steps in order to avoid scratches on the surface, and are placed flat.

Recently, there has been a tendency to use a three-dimensional automatic warehouse to store these coils in a small area, but the conventional three-dimensional automatic warehouse is as follows. a) A method of storing one or more coils on a pallet b) A method of inserting a fork directly under the one or more coils to lift the coils and directly storing the coils on a rack shelf c) One or more coils A method in which a hanging rod is inserted into the center hole of the coil to lift the coils, and the coils are collectively stored directly in a rack shelf. Further, as a known technique regarding a conventional three-dimensional automatic warehouse for coils, Japanese Patent Publication No. 60-25341, Japanese Patent Sho 60
-27441, JP-A-60-242106, JP-A-1-288503, and JP-A-1-288.
Although there are Japanese Patent Laid-Open No. 504 and Japanese Patent Laid-Open No. 1-294101, these are all intended to store only one coil, and are not intended for a plurality of various coils as in the present invention.

In Japanese Patent Laid-Open No. 62-235107, a transfer device is provided facing a stop position of the loading / unloading device of a cylindrical object storage device having a shelf and a loading / unloading device movable along the front surface of the shelf. Warehouse equipment with a transfer device, which is provided with a movable body and a rotating frame that can be moved toward and away from the loading / unloading device, has been introduced. However, in order to omit the operation time (cycle time) of the loading / unloading device (stacker crane), this is intended to be temporarily stored in advance from the original storage shelf in the rotating frame.

Further, conventionally, long materials such as pipes and steel bars have been piled up on a metal frame placed on the ground in a state in which several to several tens of them are bound together. In order to take out the items stacked below, it is necessary to move the items above to another place before taking them out, which often requires more than five times the original taking time. . Recently, there has been a tendency to use a three-dimensional automated warehouse to store these long materials in a small area.

As a three-dimensional automatic warehouse for long materials, JP-A-60-137704 and JP-A-60-137706 are available.
Japanese Patent Laid-Open Publication No. 2004-242242 is directed to storing long objects of various lengths in a cantilever type unpartitioned rack. Further, JP-A-63-185706 and JP-A-4-125209.
The publication is intended to store a plurality of long members in the depth direction of the rack shelf. All of them are intended only to store additional long materials within the empty space of the shelves, to store a wide variety of items to be stored and to take out any items from those items. Is not the target, and such an operation is impossible.

[0008]

The conventional three-dimensional automatic warehouse system is not efficient because of the following problems. 1) Conventional racks for 3D automated warehouses tend to be made in accordance with the maximum values of coil dimensions (width and outer diameter) in coil storage warehouses and in maximum lengths in long material storage warehouses. Such as a shelf made to match the maximum dimensions of a coil, or a shelf made to match the maximum length of a long material, with only one coil with a small width or outer diameter, or a long material with a small length or outer diameter. The volume efficiency of the shelf was poor because only one was put in. 2) In any of the above methods, when a large number of coils or long materials with various dimensions are stored in one shelf, any coil among them can be unloaded, or any coil can be set within the empty space of the shelf. It was impossible to store additional coils of the width and outer diameter.

Since the conventional three-dimensional automated warehouse has the above-mentioned problems, these problems are solved all at once, and one or more coils or long materials having various different sizes are stored in one shelf. The emergence of a three-dimensional automated warehouse that can store any coil or long material in it and additionally store coils or long materials of arbitrary width and outer diameter within the empty space of the shelf Was longed for.

An object of the present invention is to provide a three-dimensional automatic warehouse that solves the above problems.

[0011]

SUMMARY OF THE INVENTION In order to solve the above problems, the present invention provides a three-dimensional automatic warehouse and a control method therefor, which are provided with the following technical means. A first aspect of the present invention is a storage rack for storing one or more objects to be stored,
The stacking / unloading operation device and the temporary depositing device are composed of a stacker crane installed on a lift, the operating device includes a horizontal arm that horizontally turns and moves forward and backward, and the temporary depositing device moves up and down and moves forward and backward. Equipped with a horizontal deposit bar for transferring stored objects to and from the operating device, and controlling the position of the stacker crane, the position of the lifting platform, the swing and forward / backward movement of the horizontal arm of the operating device, and the operation of the temporary depositing device. It is a three-dimensional automatic warehouse characterized by being equipped with a control device.

According to the method of the present invention, when storing one or more objects to be stored in each storage rack of the above-mentioned three-dimensional automated warehouse, the stacker crane and the operating device are controlled according to the size of each object to be stored. However, an arbitrary storage object is output from an arbitrary rack, or an storage object within the allowable range of the size of the gap is additionally stored in an empty space of an arbitrary rack. It is a control method.

A second aspect of the present invention is to install a coil storage rack having a large number of horizontal suspension rods for suspending and supporting a coil in a central hole, a coil loading / unloading operation device and a coil temporary depositing device on a lift table. It is composed of a stacker crane with
The operation device includes a horizontal operation arm that supports a central hole of a coil and horizontally turns and moves forward and backward in an axial direction, and the temporary depositing device moves vertically and moves forward and backward in an axial direction to transfer a coil from the operation arm. Multi-story automated warehouse characterized by a control device for controlling the stacker crane position, the lifting platform position, the swing of the operating arm of the operating device, the forward / backward movement, and the operation of the temporary deposit device. Is.

According to the method of the present invention, when storing one or more coils in each suspension rod of the above-described three-dimensional automated warehouse, the stacker crane and the operating device are controlled according to the size of each coil, and the stacker crane is optionally operated. In the control method of a three-dimensional automated warehouse, which is characterized in that an arbitrary coil is output from the suspension rod of, or a coil having a dimension within the allowable range of the dimension of the gap is additionally stored in an empty gap of the suspension rod. is there.

In this case, when the coil is stored in the three-dimensional automated warehouse, the storage position of the coil to be stored is determined according to the availability of the suspension rod, and the coil is stored in the operation arm of the operating device and the deposit rod of the temporary depositing device. The coil to be supported is supported, the position of the stacker crane and the position of the lifting platform are moved to the position of the empty suspension rod, the coil to be stored in the empty suspension rod is supported by the operation arm, and the operation arm is swung to rotate its axis. Align the direction with the axis of the suspension rod, move the operating arm forward until the coil to be stored locks on the suspension rod, and lower the elevator base slightly to transfer the coil from the operating arm to the suspension rod. Swing backwards to match the axis of the deposit arm of the temporary deposit device with the axis of the operating arm, then transfer the coil between the operating arm and the deposit rod, move the stacker crane and lift to the next empty suspension rod position,
Continue to store the coils that should be stored. The operating arm and the suspension rod are structured so as not to interfere with each other when their axial directions match. For example, if either one is one rod-shaped, the other is a bifurcated fork-shaped rod. This relationship also applies to the mutual relationship between the operating arm and the deposit stick.

When a coil is to be unloaded from the three-dimensional automated warehouse, the position of the stacker crane and the position of the lifting platform are moved to the position of the coil to be unloaded, and the operating arm is swung so that its axial direction is the suspension rod axial direction. Match, move the operating arm forward to a position where the coil to be delivered is locked to the operating arm, raise the elevator base slightly and transfer the coil from the suspension rod to the operating arm,
Rotate the operating arm backwards to match the axis of the depositing bar of the temporary depositing device with the axis of the operating arm, transfer the coil between the operating arm and the depositing bar, deposit the coil to be delivered to the temporary coil depositing device, and then operate it. Swivel the arm and return the remaining coil to the suspension rod,
It is a control method for a three-dimensional automatic warehouse, characterized in that a stacker crane and a lifting platform are moved to take out a coil to be taken out.

Next, a third invention of the present invention comprises a rack for storing one or more long members and a stacker crane for loading and unloading the long members. It is equipped with a lifting platform that raises and lowers the lower fork for loading and unloading long materials in a direction perpendicular to the traveling direction of the stacker crane, an upper fork that exchanges long materials with the lower fork, and an upper fork. A three-dimensional automated warehouse characterized by having an upper lift for lifting and lowering the stacker, and further comprising a control device for controlling the position of the stacker crane, the height position of the lifting platform, the lower fork, the upper fork, and the operation of the upper lift. .

When storing one or more long materials in each rack of such a three-dimensional automatic warehouse, a stacker crane, a lifting platform, a lower fork, an upper fork, and a stacker crane are provided according to the dimensions of the respective long materials. Control the operation of the upper lift,
Outgoing any one of one or more long materials from any rack, or additionally accommodating any long material in the empty space of any rack within the allowable range of the size of the space. A method of controlling a three-dimensional automatic warehouse, characterized by:

[0019]

In the coil automatic three-dimensional warehouse of the present invention, the coil storage rack is provided with a suspension rod for suspending the coil, and the stacker crane for loading and unloading the coil. The operation arm is provided near the arbitrary suspension rod of the coil storage rack to exchange coils with the suspension rod, and is installed on the stacker crane. The operation arm lifts the center hole of the coil from outside the three-dimensional automated warehouse and takes it into the stacker crane, and then stores the coil in the suspension rod of the coil storage rack. The operating arm receives the coil from the suspension rod and takes it into the stacker crane. The operation arm can perform the above operation by rotating around the vertical axis and moving in the axial direction of the operation arm.

On the stacker crane, there is provided a temporary depositing bar which opposes the operating arm and which lifts the center hole of the coil to transfer the coil. By moving the operating arm forward and backward by aligning the axis with the temporary deposit rod and controlling the raising and lowering of the temporary deposit device, an arbitrary coil is selectively selected between the operating arm and the deposit rod and suspended on the operating arm. be able to. Furthermore, the operating arm receives the coil from the suspension rod and takes it into the stacker crane, and by raising and lowering the operating arm and the temporary depositing device, any coil can be selectively selected between the temporary depositing device that vertically moves up and down. You can choose and hang it on the operating arm.

As a result, an arbitrary coil can be delivered from a large number of coils suspended on a suspension rod of an arbitrary coil storage rack, or an arbitrary coil can be placed in an empty gap of an arbitrary suspension rod within a range allowed by the size of the gap. Additional outer diameter and / or width coils can be stored. The main operations of the components of the coiled automatic warehouse of the present invention and their effects will be described in detail in the following embodiments.

The three-dimensional automatic warehouse for long materials of the present invention comprises a rack for storing the long materials and a stacker crane for loading and unloading the long materials. The lower fork is installed on the stacker crane so that it does not interfere with the rack. After the long material is picked up from the transfer machine outside the three-dimensional automated warehouse and taken into the stacker crane, the long material is stored in the rack. In addition, the lower fork receives the long material from the rack and takes it into the stacker crane, and by controlling the upper fork and the upper lift according to the dimensions of the long material, any long material can be selectively selected and used as the lower fork. Can be placed.

Further, it is possible to additionally store a long material of an arbitrary size in an empty space of an arbitrary rack within a range allowed by the size of the space.

[0024]

【Example】

Example-1 FIG. 1 is a front view of an example of a three-dimensional automated warehouse for coils,
In the stacker crane, with the operating arm oriented parallel to the traveling direction of the stacker crane, select one or more coils from multiple coils with the temporary depositing device and selectively transfer them. Shows.

FIG. 2 shows a state in which one or more arbitrary coils are selectively transferred from a plurality of coils between a suspension rod of a rack and an operation arm of a stacker crane in a coil automatic storage warehouse. It is a front view shown. FIG. 3 is an embodiment showing a state in which one or more arbitrary coils are selectively transferred from a plurality of coils between the operation arm and the temporary depositing device in the stacker crane in the coil automatic three-dimensional warehouse. The top view of an example is shown.

FIG. 4 shows a state in which one or more arbitrary coils are selectively transferred from the plurality of coils between the operating arm and the temporary depositing device in the stacker crane in the coil automatic storage warehouse. FIG. FIG. 5 is a front view showing a state in which one or more arbitrary coils are selectively transferred from a plurality of coils between a suspension rod of a rack and an operation arm of a stacker crane in a coil automatic storage warehouse. Show.

FIG. 6 shows a state in which one or more arbitrary coils are selectively transferred from the plurality of coils between the operation arm and the temporary depositing device in the stacker crane in the coil three-dimensional automated warehouse. FIG. 7 to 9 are explanatory views of the control method of the present invention, and are process diagrams showing a process of selectively extracting an arbitrary coil from among a plurality of coils between the suspension rod, the operating arm, and the temporary depositing device.

An embodiment of a three-dimensional automatic warehouse for coils according to the present invention will be described with reference to FIGS. 1 to 4 and 7 to 9. First, attach the three coils 1a, 1b, 1c to the suspension rod 1 of the transfer machine.
The following description will be made assuming that the coil 1b is first stored in the suspension rod 10 of the rack and then only the coil 1b is unloaded from the three coils.

Are the attributes and dimensions of each of the three coils 1a, 1b, 1c held by inserting the center hole into the suspension rod 12 of the transfer machine, are they stored in the stock management computer?
Alternatively, a person inputs necessary information into the computer when the coil is stored. The suspension bar 12 of the transfer machine is two suspension bars, and the operation arm 6 of the stacker crane is a single suspension bar that does not interfere with the suspension bar 12 of the transfer machine. The suspension rod 10b that exchanges a coil with the operation arm 6 described below and the deposit rod of the temporary depositing device 7 are two suspension rods that do not interfere with the operation arm 6 like the suspend rod 12 of the transfer machine. However, these relationships may be opposite.

A description will be given below with reference to FIGS. 7A to 9H. (A) The coil 1 (1a, 1b, 1c, 1d ...) Is held by inserting a center hole into the suspension rod 12 of the transfer machine.
The vertical position of the lifting platform 3 of the stacker crane 2 is adjusted so that the operating arm 6 is located slightly below the suspension bar 12 of the transfer machine. Next, the operation arm 6 is connected to the suspension rod 1 of the transfer machine.
The lower fork 5 advances from 2 to the position of the innermost coil to be received. Then, the operating arm 6 is lifted to a position slightly above the suspension rod 12 of the transfer machine.
In this way, the three coils from the coil 1a to the coil 1c can be transferred from the suspension rod 12 of the transfer machine to the operation arm 6.

At this time, the lower fork 5 of the stacker crane
By combining the forward / backward position signal from the forward / backward position sensor incorporated in the forward / backward movement device (not shown) with the coil end signal detected by the coil end sensor 11 installed on the operation arm 6, Coil operation arm 6
A map of the upper position is created, and the map is transmitted to the inventory management computer and stored. This allows the attributes and positions of each coil to be grasped and managed in a unified manner. Here, the stock management computer uses the information about the coil on the suspension rod 12 of the transfer machine to determine the type of coil already stored in the suspension rod 10 in each coil storage rack 9 and the suspension rod of the coil storage rack 9. The suspension rod 1 of the coil storage rack 9 that is most suitable for the vacant situation of 10 and the delivery schedule, etc.
Determine the 0 position.

Here, as the coil end sensor 11, it is possible to use a sensor for measuring a change in eddy current, a sensor for measuring a change in reflection of laser light, or the like. Although each position sensor can use a linear type Magnescale (trade name), a rotary type Magnescale (trade name), etc., even a sensor with lower accuracy does not pose any problem in practice.

Hereafter, every time such movements such as running, raising and lowering, and forward / backward movement are completed, or whenever the operating arm passes through the coil end, the running position, the vertical position, the forward / backward moving position, and the axial direction of the operating arm are changed. The coil end position is read from each position detection sensor (not shown) and transmitted to the computer, and as described above, the attribute and position of each coil are centrally grasped and managed in the computer.

The horizontal position of the stacker crane is moved to the position of the suspension rod of the target coil storage rack 9 by a traveling device (not shown), and the vertical position of the lifting platform 3 is moved to the target coil storage rack 9 by an elevator device (not shown).
Slightly above the suspension rod 10 of. (B) Next, the three coils 1a, 1b, and 1c are suspended from the operation arm 6 of the stacker crane, and the suspension rod 10 of the empty coil storage rack 9 for storing the three coils is provided.
It will be transported to and stored as deep as possible within the available space.

The suspension rods 10 of the coil storage rack 9 are left and right rods so as not to interfere with the operation arms 6 of the stacker crane. When the vertical position of the lift 3 is lowered to a position slightly below the suspension rod 10 of the target coil storage rack 9,
The three coils 1a, 1b, and 1c, which are suspended on the operation arm 6 of the stacker crane, are suspended on the target suspension rod 10.

At this time, the respective coils 1a, 1b, 1
The position of c is the position of the operation arm 6 when the coil position map on the operation arm 6 of the stacker crane is transferred from the suspension rod 12 of the transfer machine (the forward / backward movement device of the lower fork 5 of the stacker crane ( It is converted into a map on the suspension rod 10 of the coil storage rack 9 by using a value (measured by a forward / backward movement position sensor (not shown)) and stored in the inventory management computer.

The operation arm 6 of the stacker crane is housed in the frame 2 of the stacker crane by the lower fork 5, and a series of warehousing operations are completed. After this, the stacker crane can move to any position and move to any next operation. (C) In order to leave only the coil 1b out of the three coils that have been temporarily stored in this way, search the location of the required coil in the inventory management computer, and use the position signal for inventory management. It is transmitted from the computer to a control device (not shown) that controls the position of the stacker crane.

The stacker crane travels horizontally to the position of the target coil storage rack 9 by a traveling device (not shown), and the vertical position of the lifting platform 3 is slightly lower than the suspension rod 10 of the target coil storage rack 9. Move up to. The operation arm 6 of the stacker crane enters the position of the coil 1b suspended by the suspension rod 10 of the coil storage rack 9 by the lower fork 5, and the vertical position of the lifting platform 3 is adjusted to suspend the coil storage rack 9. Coil 1 when raised to a position slightly above bar 10.
a and 1b are the suspension rod 10 to the operation arm 6 of the stacker crane.
Transfer to.

In parallel with this, the temporary depositing device 7 of the stacker crane is lowered to a position slightly below the operating arm 6 by the temporary depositing device elevating / lowering device 8. The position and size of the temporary depositing device 7 of the stacker crane are determined so that they do not interfere even when the operating arm 6 and the coil of the maximum size suspended on the operating arm 6 is rolled by the lower rolling device. (D) The operation arm 6 of the stacker crane is separated from the suspension rod of the coil storage rack 9 by the lower fork 5, and after the lower fork 5 is retracted, it is stored in the frame 2 of the stacker crane by the lower turning seat 4 and temporarily stored. It is directed towards the device 7. (E) When the operating arm 6 moves forward by the lower fork 5 until only the coil 1b hangs on the deposit rod of the temporary depositing device 7, the temporary depositing device 7 is moved to a position slightly above the operating arm 6 by the temporary depositing device elevating device 8. Rise to.

At this time, only the coil 1b is hung at the tip of the depositing rod of the temporary depositing device 7, and the coil 1a is hung at the tip of the operating arm 6. Temporary deposit device 7 and operating arm 6
When the lower forks 5 are retracted until the tips of the two are separated from each other, the temporary depositing device 7 may descend to the lower limit position, but in this example, the operating arm 6 continues to enter below the temporary depositing device 7, so raise it as it is. Good. (F) The operating arm 6 is retracted to the retracted limit by the lower fork 5 while the coil 1a is suspended, and is oriented by the lower revolving seat 4 in a direction in which the suspension rod of the coil storage rack 9 is aligned with the axis.

Next, the operating arm 6 advances to the position before the coil 1c suspended on the suspension rod 10 of the coil storage rack 9 by the lower fork 5 while the coil 1a is suspended, and the operating arm 6 is suspended by the suspension rod 10. The elevating table 3 descends to a position slightly below. This suspends the coils 1a and 1c on the suspension rod 10 of the rack 9, while only the coil 1b is suspended on the temporary depository 7.
After that, the lower fork 5 is retracted and the operation arm 6 is housed in the stacker crane. (G) Temporary depositing device 7 for operating arm 6 by lower turning seat 4
, The temporary holding device elevating device 8 is lifted, and then the operating arm 6 is advanced by the lower fork 5 to the position below the coil 1b of the temporary depositing device 8 to move the temporary depositing device elevating device 8
To lower. As a result, the coil 1b is suspended on the operation arm 6. (H) The frame 2 of the stacker crane travels to the position of the transfer machine, and the lifting platform 3 is raised until the operation arm 6 of the stacker crane is located slightly above the suspension rod 12 of the transfer machine.

Next, the operating arm 6 is advanced by the lower fork 5 toward the suspension rod 12 of the transfer machine. After this operation arm 6
When the lifting platform is lowered until the position is slightly lower than the suspending rod 12 of the transfer machine, the coil 1b moves to the suspending rod 1 of the transfer machine.
Transfer to 2. Further, the series of operations is completed by storing the stacker in the frame 2 of the stacker crane.

In the step (a), the suspension rod 1 of the transfer machine is used.
The coil 1d left in 2 is stored separately from the main work at the same time as the storage work of the above step (b) is performed and at the latest before the work of the above step (c) is started, Alternatively, a hanging bar of a transfer machine different from the hanging bar 12 of the transfer machine that has been unloaded or used in the step (d) above can be used and processed.

Next, another embodiment of the three-dimensional automatic warehouse for coils of the present invention will be described with reference to FIGS. It is assumed that the three coils 1a, 1b, and 1c are temporarily stored in the suspension rod 10 of the coil storage rack 9 from the suspension rod 12 of the transfer machine, and only the coil 1b is unloaded from the three coils later. The description overlapping with the description of the above embodiment will be omitted.

The upper frame 13 is moved up and down by the temporary depositing device elevating / lowering device 8, and the upper rolling seat 14 and the upper fork 15 are moved.
Hang. The upper turning seat 14 is hung on the upper frame 13 and turns the upper fork 15 about the vertical axis. The upper fork 15 is suspended from the upper rolling seat 14 and is rotated to suspend the coil. In (1) and (2) below, the temporary depositing device 7 may be used in the same direction as the operating arm 6 and fitted to each other as if they were one hanging rod, or may be hung on the operating arm 6. The temporary deposit device 7 may be raised to a height at which it does not interfere with the coil. In the latter case, the temporary deposit device 7 may be oriented in any direction. (1) By adjusting the lifting platform 3 and the lower fork 5 of the stacker crane, the three coils 1a, 1b, and 1c are transferred from the suspension rod 12 of the transfer machine to the operation arm 6 of the stacker crane. (2) The three coils 1a, 1b, 1c are carried to the position of the suspension rod 10 of the coil storage rack 9 and transferred to the suspension rod 10. (3) The stacker crane travels horizontally to the position of the suspension rod 10 of the target coil storage rack 9, and the vertical position of the lift 3 reaches a position slightly below the suspension rod 10 of the target coil storage rack 9. Moving.

The operation arm 6 of the stacker crane is moved into the suspension rod 10 by the lower fork 5 to the position of the coil 1b, and is raised to a position slightly above the suspension rod 10 by adjusting the vertical position of the lifting platform 3. Then coil 1
a and 1b are the suspension rod 10 to the operation arm 6 of the stacker crane.
Transfer to. (4) The operation arm 6 of the stacker crane goes out of the suspension rod 10 by the lower fork 5 and is stored in the frame 2 of the stacker crane to the retracted limit, and then the upper fork 15 is retracted in the opposite direction of the lower fork 5. Retreat to the limit.

At this time, the distance between the coil storage racks 9, that is, the passage width of the stacker crane is such that when the upper fork 15 and the lower fork 5 face in opposite directions and their tips are slightly separated from each other so that they do not contact with each other, they are located behind them. It is determined that the end does not contact the coil storage rack 9.
Next, the temporary depositing device elevating device 8 adjusts the height of the upper frame (vertical position) so that the temporary depositing device 7 operates the operating arm 6
Lower to a slightly lower position.

Further, the upper fork 15 is advanced so that the coil 1b matches the target position of the temporary depositing device. (5) Next, the operating arm 6 advances by the lower fork 5 until only the coil 1b is hung on the temporary depositing device 7, and then the temporary depositing device 7 is moved to a position slightly above the operating arm 6 by the temporary depositing device elevating device 8. To rise. At this time, only the coil 1b is suspended on the temporary depositing device 7, and the coil 1a is suspended on the operating arm 6. (6) The operating arm 6 advances to the position before the coil 1c suspended from the suspension rod 10 by the lower fork 5 while the coil 1a is suspended, and the operating arm 6 is positioned slightly below the suspension rod 10. The elevator table 3 descends to.

As a result, the suspension rod 10 suspends the coils 1a and 1c, while the temporary depositing device 7 suspends only the coil 1b. After that, the lower fork 5 is retracted and the operation arm 6 is housed in the stacker crane. (7) The temporary depositing device elevating / lowering device 8 is once lifted, and then the operating arm 6 is moved to below the coil 1b of the temporary depositing device by the lower fork 5 to lower the temporary depositing device elevating / lowering device 8. As a result, the coil 1b is suspended on the operation arm 6. (8) The frame 2 of the stacker crane travels to the position of the transfer machine, and the lifting platform 3 is raised until the operation arm 6 of the stacker crane is located slightly above the suspension rod 12 of the transfer machine. Next, the operating arm 6 is advanced by the lower fork 5 toward the suspension rod 12 of the transfer machine. After that, when the operating platform 6 is lowered to a position slightly lower than the suspension rod 12 of the transfer machine, the coil 1b is transferred to the suspension rod 12 of the transfer machine. Further, the series of operations is completed by storing the stacker in the frame 2 of the stacker crane.

In the above embodiment, the explanation has been made assuming that a computer for inventory management is used in addition to the control device (not shown) of the stacker crane, but this is not an essential condition,
A personal computer or the like for controlling the stacker crane may process the inventory control or the coil position control as described herein. Example-2 FIG. 10 is a front view of an example of a three-dimensional automatic warehouse for long materials, and one or more long materials selected from a plurality of long materials between a rack and a lower fork of a stacker crane. The front view at the time of selectively transferring is shown.

FIG. 11 shows a three-dimensional automatic warehouse for long materials.
The front view of a mode at the time of selectively transferring one or more arbitrary long lengths from a large number of long length materials between the lower fork and the upper fork of the stacker crane is shown. FIG. 12 shows a case where one or more arbitrary lengths are selectively transferred from a plurality of long lengths between a lower fork and an upper fork in a stacker crane in a three-dimensional automatic warehouse for long lengths. It is a side view of the example which shows a mode.

FIGS. 13 to 15 show that in a three-dimensional automatic warehouse for long materials, any one or more long materials can be selectively selected from a plurality of long materials between a lower fork and an upper fork of a rack and a stacker crane. The process drawing at the time of transferring to FIG. An embodiment of a three-dimensional automatic warehouse for long materials according to the present invention will be described with reference to FIGS.

First, the three long members 51a, 51b, 51
Description will be made assuming that c is temporarily stored in the rack 56 from the transfer machine 52, and only the long material 51b is unloaded from the three long materials 51a, 51b, 51c later. Three long members 51a, 51b, 51 held by the transfer machine 52
The respective attributes and dimensions of c are stored in the stock management computer, or a person inputs necessary information into the computer when a long material is stored.

A notch is provided on the upper surface of the transfer machine 52 so that the lower fork 55 can be inserted, and the upper fork 57 is provided.
Has a shape and dimensions that do not interfere with the lower fork 55. A movable partition 60 is provided on the upper surfaces of the transfer machine 52, the upper fork 57, and the lower fork 55 so that the long member 51 such as a pipe or a round bar does not roll. Movable partition 6
0 is determined by dividing the length of each of the upper and lower forks by the maximum number of loads, the number of each fork, the interval, and the length of the shortest long material, and the number and arrangement are determined by a movable partition position control device (not shown). Controlled.

A description will be given below with reference to FIGS. 13 (a) to 15 (h). (A) The long material 51 is transferred on the transfer machine 52. The elevating table 53 of the stacker crane adjusts the vertical position so that the lower fork 55 is located slightly below the transfer machine 52, and then the lower fork 55 is placed on the transfer machine 52 to a predetermined length. After moving forward to the position of No. 5, the transfer device 52 is lifted up to a position slightly above the upper surface, and further taken into the lifter 53 of the stacker crane by the lower fork 55, so that the three long members 51a, 51b 5,
1c can be transferred from the transfer machine 52 to the lower fork 55 of the stacker crane.

At this time, the lower fork 5 of the stacker crane
A forward / backward movement position signal from a forward / backward movement position sensor 59 built in the forward / backward movement device (not shown) of No. 5 makes a map of the position of each long material on the lower fork 55, and the map is used for inventory management. By transmitting the data to a computer and storing it in a computer, the attributes and positions of each long material can be collectively grasped and managed.

Hereinafter, every time such traveling, hoisting, and forward / backward movements are completed, or each time the fork passes the end of the long material, the traveling position, the vertical position, the forward / backward position, and the axial length of the fork are lengthened. The length end position of the long piece is read from each position detection sensor (not shown) and transmitted to the computer, and as described above, the attribute and position of each long piece is centrally grasped and managed in the computer. Here, the inventory management computer has already determined that the rack 56 has already been determined from the information on the long material on the lower fork 55.
The optimum position in the rack 56 for storing the long material is determined according to the type of the long material stored therein, the availability of the rack, the delivery schedule, and the like.

The horizontal position of the stacker crane is moved to a target rack 56 by a traveling device (not shown), and the vertical position of the lifting platform 53 is raised to a position slightly above the target rack 56 by a lifting device (not shown). (B) Next, the three long members 51a, 51b, and 51c are left on the lower fork 55 of the stacker crane, and
Carry to a rack 56 that has an empty space for storing long books,
Store it as far as possible within the free space. The rack 56 is a plurality of forks that do not interfere with the lower fork 55 of the stacker crane.

After that, when the vertical position of the lifting platform 53 is lowered to a position slightly above the target rack 56, the three long members 51a, 51b, 51c placed on the lower fork 55 of the stacker crane are removed. It is mounted on the target rack 56. At this time, the map of the position of the long material on the lower fork 55 of the stacker crane is used for the position of each long material, and the position of the lower fork 55 at the time of transfer (the forward / backward movement device of the lower fork 55 of the stacker crane (illustration) (The value measured by the forward / backward movement position sensor) which is built in (not) is converted into a map on the rack 56 and stored in the inventory management computer.

The lower fork 55 of the stacker crane is accommodated in the elevator table 53 of the stacker crane with its height kept, and a series of warehousing operations are completed. After this, the stacker crane can be moved to any position and put into any operation. (C) In order to leave only the long material 51b out of the three long materials once stored in this way, the location of the necessary long material is searched in the inventory management computer, The position signal is transmitted from the inventory management computer to a controller (not shown) that controls the position of the stacker crane.

The stacker crane travels horizontally to the target rack 56 by a traveling device (not shown), and the vertical position of the lifting platform 53 moves to a position slightly below the target rack 56. When the lower fork 55 of the stacker crane enters the deepest position within the empty space of the rack 56 to the position of the long member 51b, and the vertical position of the lifting platform 53 is adjusted, the lower fork 55 rises to a position slightly above the rack 56. , The long members 51a and 51b are racks 56
Transfer to the lower fork 55 of the stacker crane.

(D) Lower fork 5 of stacker crane
5 goes out of the rack 56 and is housed in the lifting platform 53 of the stacker crane. Then, the upper fork 57 of the stacker crane retracts so as not to interfere with the lower fork 55, and then the upper lift 58 causes the lower fork 55 to move. Lower to a slightly lower position. The position and size of the upper fork 57 of the stacker crane are such that the lower fork 55 and the longest material mounted on the lower fork 55 do not interfere with each other when the lower fork 55 and the upper fork 57 operate. .

(E) When the lower fork 55 advances until only the long member 51b is caught on the upper fork 57, the upper fork 57 is lifted by the lower 58.
Ascend slightly above. At this time, only the long material 51b is placed on the tip of the upper fork 57, and the long material 51a is placed on the tip of the lower fork 55.

When the lower fork 55 is retracted until the tips of the upper fork 57 and the lower fork 55 are separated from each other, the upper fork 57 may be lowered to the lower limit position, but in this example, the lower fork 55 continues to enter under the upper fork 57. Therefore, you may raise it as it is. (F) The lower fork 55 is retracted to the retreat limit with the long member 51a placed thereon, and then the lower fork 55 is moved to the long member 51a.
The long member 51 placed on the rack 56 with "a" placed on it
It moves forward to the front of c, and the lifting platform 53 descends until the lower fork 55 comes to a position slightly below the rack 56.

As a result, the rack 56 has a long member 51a.
And 51c are placed, while only the long member 51b is placed on the upper fork 57. After this, the lower fork 55 is retracted and the lower fork 55 is stored in the stacker crane. (G) After raising the upper lift 58, the lower fork 55 is advanced below the long member 51b of the upper fork 57 to lower the upper lift 58. As a result, the long member 51b is placed on the lower fork 55.

(H) The elevating table 53 of the stacker crane travels to the position of the transfer machine 52, and the elevating table 53 is raised until the lower fork 55 of the stacker crane reaches a position slightly above the transfer machine 52. . Next, the lower fork 55 is advanced toward the transfer machine 52. After that, when the elevating table 53 is lowered until the lower fork 55 comes to a position slightly lower than the transfer machine 52, the long material 51b is transferred to the transfer machine 52.
Transfer to.

Further, the lower fork 55 is housed in the elevating table 53 of the stacker crane to complete a series of operations. The long material 51d left on the transfer machine 52 in the step (a) is carried out in parallel with the warehousing operation of the step (b) (at the latest before the operation of the step (h) is started. (1) A transfer machine different from the transfer machine 52 used in the step (a) can be used, which has been loaded or unloaded separately from this work.

In the present description, "slightly above" or "slightly below" means that the coil is transferred between the suspension rods which face each other within the range of the gap between the outer diameter of the suspension rod and the inner diameter of the coil. It represents the degree to which it can be made, and is quantitatively about several tens of mm.
In addition, although an example of the ground traveling type monorail type stacker crane is shown in these embodiments, an overhead traveling type crane or a ground traveling type gate type crane may be used.

[0069]

According to the present invention, a common center hole is suspended for a large number of coils of various sizes, and the position of each coil is accurately detected to respond to those coil positions. By controlling the position of the operating arm with the use of a plurality of coils, a wide variety of coils can be loaded and unloaded one by one. Further, by storing and processing these controls in combination with the attributes of each coil, it is possible to accurately manage the inventory for each coil.

Further, according to the present invention, since the work of coil rearrangement by hand is completely eliminated, the trouble of searching stock coils is eliminated. Furthermore, the occurrence of flaws on the surface of the coil was reduced to less than one-tenth of the conventional level. Further, the present invention accurately detects the end position of each long material with respect to a large number of long materials having various sizes and detects the positions of the end portions of the long material of the forks. By controlling the position, a large number of long materials can be loaded and unloaded one by one.

Specifically, in an example of storing a pipe having an outer diameter of 20 mm to 350 mm and a length of 5 m to 6 m,
The storage space was the same as when the long materials were bundled and handled, but the time required for loading and unloading was about 10% of the conventional time, and there was no manual work for rearranging the long materials. There is no need to search for long stock materials in stock. Furthermore, the occurrence of flaws on the surface of the pipe was reduced to less than 10% of the conventional level.

In the present description, "slightly above" or "slightly below" means that the coil is transferred between the suspension rods which face each other within the range of the gap between the outer diameter of the suspension rod and the inner diameter of the coil. It represents the degree to which it can be made, and is quantitatively about several tens of mm.
In addition, in these embodiments, an example of a ground traveling type monorail type stacker crane is shown, but an overhead traveling type crane or a ground traveling type gate type crane may be used.

[Brief description of drawings]

FIG. 1 is a front view of an embodiment of a three-dimensional automatic warehouse for coils.

FIG. 2 is a front view of an embodiment of a three-dimensional automatic warehouse for coils.

FIG. 3 is a front view of an embodiment of a three-dimensional automatic warehouse for coils.

FIG. 4 is a side view of an embodiment of a three-dimensional automatic warehouse for coils.

FIG. 5 is a front view of an embodiment of a three-dimensional automatic warehouse for coils.

FIG. 6 is a side view of an embodiment of a three-dimensional automatic warehouse for coils.

FIG. 7 is a process diagram of a control method according to an embodiment.

FIG. 8 is a process diagram of the control method of the embodiment.

FIG. 9 is a process diagram of the control method of the embodiment.

FIG. 10 is a front view of an embodiment of a three-dimensional automatic warehouse for long materials.

FIG. 11 is a front view of an embodiment of a three-dimensional automatic warehouse for long materials.

FIG. 12 is a side view of an embodiment of a three-dimensional automatic warehouse for long materials.

FIG. 13 is a process diagram of a control method.

FIG. 14 is a process diagram of a control method.

FIG. 15 is a process diagram of a control method.

[Explanation of symbols]

1a, 1b, 1c coil 2 frames 3 elevators 4 Lower rolling seat 5 Lower fork 6 control arms 7 Temporary deposit device 8 Temporary depositing device Lifting device 9 racks 10 suspension rods 11 Coil end sensor 12 Lifting bar of transfer machine 13 Upper frame 14 Upper turning seat 15 Upper fork 51a, 51b, 51c Long material 52 Transfer machine 53 Lifting platform 55 Lower Fork 56 racks 57 Upper fork 58 Upper lift 59 sensor 60 movable partitions 61 Long material edge sensor

Front page continued (58) Fields surveyed (Int.Cl. ⁷ , DB name) B65G 1/04 B65G 1/137

Claims (8)

(57) [Claims] 1. A storage rack for storing one or more objects to be stored, and a stacker crane in which a loading / unloading operation device and a temporary depositing device are installed on an elevating table, and the operation device horizontally swings and moves forward and backward. A horizontal arm is provided, the temporary depositing device is provided with a horizontal depositing rod that exchanges a stored object with the operating device by moving up and down and forward and backward, and the position of the stacker crane and the position of the lifting platform, A three-dimensional automated warehouse, which is equipped with a control device for controlling the turning and forward / backward movements of a horizontal arm of an operating device and the operation of a temporary depositing device. 2. When storing one or more items to be stored in each storage rack of the three-dimensional automated warehouse according to claim 1, the stacker crane and the operating device are controlled according to the size of the items to be stored, respectively. Control method for a three-dimensional automatic warehouse, characterized in that an arbitrary object to be stored is unloaded from the rack, or an object to be stored is additionally stored in an empty space of the rack within an allowable range of the size of the space. 3. A coil storage rack having a large number of horizontal suspension rods for suspending and supporting a coil in a central hole, and a stacker crane having a coil loading / unloading operation device and a coil temporary depositing device on a lift table. The operating device includes a horizontal operating arm that supports a central hole of a coil and horizontally swivels and moves forward and backward in an axial direction. The temporary depositing device moves up and down and moves forward and backward in an axial direction to transfer a coil from the operating arm. A three-dimensional automatic system equipped with a horizontal coil depositing rod and a control device for controlling the position of the stacker crane, the position of the lifting platform, the turning of the operating arm of the operating device, the forward / backward movement, and the operation of the temporary depositing device. Warehouse. 4. When storing one or more coils in each suspension rod of the three-dimensional automated warehouse according to claim 3, the stacker crane and the operating device are controlled according to the size of each coil, and any desired A method for controlling a three-dimensional automated warehouse, characterized in that an arbitrary coil is unloaded from a suspension rod, or a coil having a size within an allowable range of the size of the gap is additionally stored in an empty space of the suspension rod. 5. When the coils are stored in the three-dimensional automatic warehouse according to claim 3, the coil storage position of the coil to be stored is determined according to the availability of the suspension rod, and the operation arm of the operating device and the temporary depositing device are stored. The coil to be stored in the deposit bar is supported, the position of the stacker crane and the position of the lifting platform are moved to the empty suspension rod position, the coil to be stored in the empty suspension rod is supported by the operating arm, and the operating arm is swiveled. The axis of the suspension rod to the axial direction of the suspension rod, advance the operating arm to the position where the coil to be stored locks on the suspension rod, and lower the elevator base slightly to transfer the coil from the operating arm to the suspension rod. , The operating arm is swung backward to match the axis of the deposit arm of the temporary deposit device with the axis of the deposit arm, and then the coil is transferred between the deposit arm and the deposit arm.
A control method for a three-dimensional automatic warehouse, characterized by moving a stacker crane and a lifting platform to the next empty suspension rod position, and continuing to store the coils to be stored. 6. When unloading a coil from the three-dimensional automatic warehouse according to claim 3, the position of the stacker crane and the position of the lifting platform are moved to the coil position where the coil should be unloaded, and the operation arm is swung to change its axial direction. Match the suspension rod axial direction, move the operating arm forward to the position where the coil to be delivered is locked to the operating arm, raise the elevator base slightly to transfer the coil from the suspension rod to the operating arm, and swivel the operating arm backwards. Then, align the axis of the deposit arm of the temporary deposit device with the axis of the operating arm, transfer the coil between the operating arm and the deposit rod, deposit the coil to be delivered to the coil temporary deposit device, and then rotate the operating arm. Return the remaining coil to the suspension rod, move the stacker crane and lifting platform,
A control method for a three-dimensional automated warehouse, characterized in that a coil to be delivered is delivered. 7. A rack for storing one or more long members,
It consists of a stacker crane for loading and unloading long materials, and the stacker crane is equipped with an elevating platform for elevating and lowering the long materials, and loading and unloading the long materials in and out of the elevating platform in the direction perpendicular to the traveling direction of the stacker crane. It is equipped with a lower fork, an upper fork that exchanges long materials with the lower fork, and an upper lift that raises and lowers the upper fork. The position of the stacker crane, the height of the lifting platform, the lower fork, the upper fork, and the upper lift. A three-dimensional automated warehouse characterized by having a control device for controlling the operation of the. 8. When storing one or more long materials in each rack of the three-dimensional automated warehouse according to claim 7, a stacker crane, a lifting platform, and a lower fork according to the dimensions of each long material. , The operation of the upper fork, the upper lift, control the operation of one or more long material from any rack, or the empty space of any rack, the allowable range of the clearance A method for controlling a three-dimensional automated warehouse, characterized in that an arbitrary long material is additionally stored inside.