JPH01133802A - Traveling method between chambers of device for taking load in and out - Google Patents

Abstract

PURPOSE:To accurately and safely control the travel of the device in the caption between a thermostatic chamber and a room-temperature chamber by providing an automatic door on a partition wall between both chambers, reducing the speed of the device on the way while the device leaves the thermostatic chamber so as to confirm its speed reduction, and closing the door after the device has completely entered the room-temperature chamber. CONSTITUTION:When a load is taken in, a door opening command is sent to an automatic door 34, and a device 9 for taking a load in and out approaches a thermostatic chamber 31 after the door 34 has completely been opened. And when the device has completely entered the thermostatic chamber 31, a limit switch which is not indicated here, is operated so as to close the door 34. On the other hand, when a load is taken out, the device 9 for taking a load in and out is made travel with its speed increased, and the automatic door 34 is opened. When a limit switch 41 and an operation part 61 are operated, the speed of the device 9 for taking a load in and out is reduced. Then when the fact that the speed has normally been reduced is confirmed by a limit switch 44 and an operation part 64, the device passes the chamber without interruption. And the door 34 is closed after the device has completely passed the chamber. Thus, the safe and accurate travel of the device concerned can be carried out.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention is useful for transporting cargo that must be stored and stored in a greenhouse under a high temperature atmosphere of 60 degrees or higher, between a constant temperature room and a room temperature room. The present invention relates to a method for moving a loading/unloading device between rooms.

A conventional loading/unloading device is used, for example, in an automatic warehouse facility disclosed in Japanese Patent Application Laid-Open No. 58-26703. This automatic warehouse equipment is provided with a shelf having a plurality of vertically and horizontally spaced storage compartments 9 in which cargo can be freely stored, and a loading/unloading device is movably disposed on the front side of the shelf.
This cargo loading/unloading device is provided with an elevating platform having 8 movable loading/unloading tools. And with automatic control,
By performing the combined movement of the loading/unloading device, the lifting/lowering movement of the lifting platform, and the loading/unloading of the loading/unloading device, it is possible to move between the loading/unloading area provided outside the shelf and the target compartment storage space. Cargo is being delivered. In such automatic warehouse equipment, when trying to store cargo in a high-temperature atmosphere, shelves are installed in a temperature-controlled room, a cargo handling area is installed in a room-temperature room, and a communication path is installed in the partition wall between the two rooms. It is equipped with an automatic door.

According to this, the automatic door is opened, the loading/unloading device is run between the two chambers through the communication path, and then the automatic door is closed, thereby transferring the loads while minimizing heat transfer.

Problems to be Solved by the Invention However, with the above conventional system, there is a risk that the loading/unloading device may collide with the automatic door in the closed position due to a control error or damage to the control device due to high temperature. This problem tends to occur when loading and unloading equipment that has been heated to a high temperature inside the room is taken out of the room. Further, the movement control section of the loading/unloading device inside the temperature-controlled room is easily damaged, and therefore, the control from deceleration to stop cannot be performed accurately, resulting in a runaway operation in the temperature-controlled room.

An object of the present invention is to provide an inter-room traveling method for a loading/unloading device that can accurately and safely control the traveling of the loading/unloading device between a constant temperature room and a room temperature room.

Means for Solving the Problems In order to achieve the above object, the method of the present invention for moving the loading and unloading device between rooms includes providing a communication path in the partition wall between a constant temperature room having shelves and a room temperature room having a cargo handling area. In addition, an automatic door is provided in the communicating path, and a loading/unloading device in the room temperature room is provided with a loading/unloading device that can freely travel through this communication path and transfers loads between the shelf and the cargo handling area. When entering the temperature controlled room, first open the automatic door, move the loading/unloading device forward, and after the loading/unloading device has completely entered the constant temperature room, output a close command to the automatic m, and also close the loading/unloading device in the constant temperature room. When leaving the loading/unloading device to the room-temperature room, first open the automatic door, then move the loading/unloading device backwards, and while it is retracting, insert the loading/unloading device into the high-speed cut operation section installed near the communication path inside the greenhouse. The installed high-speed cut detector is activated to cut and decelerate the high-speed movement of this loading/unloading device, and then the high-speed cut check installed in the loading/unloading device is activated by the high-speed cut check operation section installed near the communication path in the constant temperature room. A check detector is activated to check for high-speed cutting, and when the loading/unloading device has completely left the room temperature room, a closing command is output to the automatic door.

According to the configuration of the present invention, the high-speed cut detector acts on the high-speed cut acting portion while the loading/unloading device is retracting, thereby cutting the high speed of the loading/unloading device and decelerating it to a low speed. Become.

When the high-speed cut check detector acts on the high-speed cut check action section, if the above-mentioned high-speed cut is working normally, no operation will be performed; however, if the high-speed cut is not working, the loading/unloading This will cause the device to come to an emergency stop.

Example An embodiment of the present invention will be described below based on the drawings.

1 has multiple storage spaces vertically and horizontally 2
This shelf is made up of vertical frames 3 erected at predetermined intervals, cargo receiving plates 4 attached to the inner surfaces of these vertical frames 3, and is arranged in pairs in a passage 5. The load stored in the divided storage space 2 is, for example, a roll body 6,
It is handled via a pallet 7. In the passageway 5, a loading/unloading device 9 is provided which can freely travel along a fixed path 8 along the front surface of the shelf 1. This loading/unloading device 9 includes a traveling body 14 that is supported and guided by a floor rail 10 via wheels 11 and guided by a ceiling rail 12 via wheels 13.
, a traveling drive device 15 interlocked with the wheels 11 , an elevating platform 17 guided by a post 16 on the traveling body 14 side, an elevating drive device 18 interlocked with this elevating platform 17 , and a horizontal device on the elevating platform 17 . A multistage fork-type loading/unloading tool 19 that can be moved forward and backward in any direction, an loading/unloading drive device 20 interlocked with this loading/unloading tool 19, and a control aW 21 attached to the post 16.
, a traveling control ill device 23 attached to the lower frame 22 of the traveling body 14, and the like. A cargo handling rack 25 is provided outside one end of the shelf 1.
has a pair of cargo receiving stands 26 across the fixed route 8,
And a home position 27 is formed. The shelf 1 is surrounded by a surrounding wall 30, so that the shelf 1 is located in a constant temperature room 31, and the cargo handling area 25 is located in a constant temperature room 32. In the partition wall 35 of the surrounding wall 30 located between the shelf 1 and the material handling area 25, a communication path 33 through which the fixed path 8 passes is formed.
jj34 is provided.

The running side m device 23 is located at one end side of the lower frame 22 (
(cargo handling/lifting) - arranged on the side, its supporting frame 4
0 is connected to the lower frame 22. This support frame 40 is attached to a pair of rods 40A in the width direction.

403, and the inside mounted rod 40A is equipped with a first limit switch 41, which is a detector for high-speed cutting of the automatic door section, a second limit switch 42, which is used for confirming pay, in order from the cargo handling area 25 side. A third limit switch 43 and a fourth limit switch 44, which is a detector for high-speed cut check of the automatic door section, are provided. At this time, the operating parts of the first limit switch 41 and the fourth limit switch 44 are mounted on the inside and are located below the rod 40A, and the operating part of the second limit switch 42 is located slightly outside, and the operating part of the third limit switch 43 is located below the rod 40A. part is located further outside. For external installation, the cargo handling area 25 is attached to the rod 403.
In order from the side, a fifth limit switch 45 for high-speed cutting at the backward limit, and a sixth limit switch 46 for the forward fixed position.
A seventh limit switch 47 for a fixed position for reverse movement, and an eighth limit switch 48 for a forward limit high speed cut are provided. At this time, the operating parts of the fifth limit switch 45 and the eighth limit switch 48 are mounted on the outside and are located below the rod 40B with a slight swing to the left and right, and the sixth limit switch 46 and the seventh limit switch 47 are a pair on the left and right, respectively. These operating parts are located outside of the fifth limit switch 45 and the eighth limit switch 48. Between the sixth limit switch 46 and the seventh limit switch 47, a ninth limit switch 49 for parity is provided on the inside, and a tenth limit switch 50 for medium-speed cutting is provided on the outside. ,
It is located outside the operating portion of the sixth limit switch 45,46. Moreover, on the opposite side from the support frame 40,
The 11th limit switch 51 for the automatic door interference zone is
It is attached to the lower frame 22 via a stand 52.

A frame 55 is installed on the floor of the home position 27 for external mounting, and a frame 56 is installed on the floor near the communication path 33 in the constant temperature room 31 for the entrance part, so that the traveling control device 23 faces.
A frame 57 is provided near the floor of one shelf 1 for mounting a plurality of shelves, and a frame 58 is provided for mounting a plurality of shelves on the back floor side of the shelf 1. Action parts (cam rails, etc.) that act on the limit switches 41 to 50 are arranged in a distributed manner. That is, the first acting part 61, which is a high-speed cutting acting part corresponding to the first limit switch 41, is disposed over the entire length of the frame 56, and the first
The action section 61 also serves as a fourth action section 64 which is a high-speed cut check action section corresponding to the fourth limit switch 44 .

The second acting portion corresponding to the second limit switch 42 is divided into a backward-limiting second acting portion 62A provided on the frame 55 for external mounting, and a forward-limiting second acting portion 62B provided on the frame 58 for inner mounting. . The third limit switch 43 corresponds to the third limit switch 43.
The operating portion 63 is attached to the inlet portion of the frame 56 near the communication path 33 . A fifth operating portion 65 corresponding to the fifth limit switch 45 is externally attached to the frame 55 over its entire length. Sixth action section 66 corresponding to the sixth limit switch 46
, each shelf mounting is provided at a position near the shelf of the frame 57, and each shelf mounting is provided at a position on the side of the frame 57 away from the shelf 1.
A seventh operating portion 67 corresponding to the seventh limit switch 47 is provided. The eighth limit switch 48 corresponds to the eighth limit switch 48.
The action portion 68 is disposed over the entire length of the frame 58 when attached to the inner part. Ninth action section 6 corresponding to the ninth limit switch 49
9, the entrance portion is attached to the inner side of the frame 56. The tenth action section corresponding to the tenth limit switch 50 is externally mounted on a backward limit tenth action section 70 provided on the frame 55.
A, and the rear attachment is the forward limit tenth action part 7 provided in the frame 58.
03. Also, the 11th limit switch 5
The eleventh action section 71 corresponding to No. 1 is disposed across the two chambers 31 and 32 through the communication path 33.

Next, the operation of loading and unloading the roll body 6 in the above embodiment will be explained.

First, to explain the warehousing operation, with the loading/unloading device 9 stopped at the home position 27, the loading/unloading device 19 is operated in combination with the lifting/lowering movement of the lifting platform 17, thereby unloading onto the loading platform 26. The rolled body 6 along with the pallet 7 is received at a loading/unloading unit @9. Then, an opening command is issued to the automatic door 34, and after this opening is completed (opening), a running command is issued to the loading/unloading device 9. When the opening operation command from the ground side is on and the opening operation is performed reliably, the loading/unloading device 9 that has started traveling passes through the communication path 33 and enters the constant temperature room 31. Further, when the opening command is off, the loading/unloading device 9 automatically stops in front of the automatic door 34, and the operation at that time will be explained in detail when retreating (when exiting the room). As mentioned above, the traveling speed of the loading/unloading device 9 that enters the greenhouse 31 from the room temperature room 32 through the open communication path 33 is gradually increased from the start, A, and then is kept at a constant high speed B. will reach. After the loading/unloading device 9 has completely entered the constant temperature room 31, the eleventh limit switch 51 is disconnected from the eleventh operating part 71, and the automatic door 34 is closed in response to the output closing command. Then, the loading/unloading device @9 traveling at high speed B is decelerated C based on preset control and stopped facing the target row. At this time, the sixth limit switch 46 acts on the sixth action section 66, thereby controlling the forward motion to stop at the normal position. When stopping at the innermost part of the constant path 8, control is performed to prevent overrun.

That is, the eighth limit switch 48 acts on the eighth operating section 68, thereby cutting off the high speed of the loading/unloading device 9 and decelerating it to a medium speed, and the tenth limit switch 50 operates on the forward limit tenth operating section. 70B to cut the medium speed, decelerate to low speed, and then stop. After the loading/unloading device @ 9 is stopped facing the target row as described above, the lifting/lowering movement of the lifting platform 17 and the loading/unloading device 1 are performed.
By performing the combined operation of 9 with the arrival and departure, the roll body 6 on the loading/unloading device 9 side is stored together with the pallet 7 in the intended compartment storage space 2.

Thereafter, the loading/unloading device 9 exits to the home position 27 (details will be described at the time of unloading work) or moves on to the subsequent unloading work.

When the empty loading/unloading device 9 is at the home position 27 when carrying out the dispatch work, it is moved into the constant temperature room 31 in the same manner as in the above-mentioned warehousing work.

Further, when the empty loading/unloading device 9 is in the constant temperature room 31, the speed is increased again to F to move it forward, or the speed is increased to G.

Make it H and retreat. At that time, the 7th limit switch 4
7 acts on the seventh acting portion 67, the vehicle is controlled to stop at the home position when retracting. After the loading/unloading device 9 is stopped facing the target row in this way, the combined movement of the lifting platform 17 and the loading/unloading tool 19 is performed to move the loading/unloading device 9 to the target compartment storage space 2. The roll body 6 is received together with the pallet 7 by the loading/unloading device 9. Then, the automatic door 34 is opened simultaneously with the exit traveling control command of the loading/unloading device 9. When the loading/unloading device 9 approaches, the first limit switch 41 acts on the first operating portion 61, thereby cutting off the high speed of the loading/unloading device 9 and decelerating it to a low speed. Immediately after that, the fourth
The limit switch 44 acts on the fourth operating portion 64, thereby checking whether high-speed cutting is being performed. If the high-speed cut is functioning normally, no operation or control is required.

However, if the fourth limit switch 44, which is a high-speed cut and high-speed cut check detector, does not operate normally during exit travel, the first
When the 1 limit switch 51 is activated (turned on), the open state of the automatic door 34 is checked, and if the automatic door 34 is not opened, an emergency stop is applied to the loading/unloading device 9 by a signal. Further, the interference zone provided with the eleventh action section 71 also has the role of interlocking the automatic door 34 so that it does not output a clearance command when the loading/unloading device 9 is present in this interference zone. Immediately before the loading/unloading device 9, which is retreating in the state of normal high-speed cutting, completely exits the constant temperature room 31 and arrives at the home position 27, the eleventh limit switch 51 is disengaged from the eleventh operating section 71, and the signal is activated. The automatic door 34 is moved to close. The loading/unloading device 9 stops at the home position 27, and then performs a combined operation of lowering and lowering the lifting platform 17 and clocking in and out of the loading/unloading tool 19, so that the roll body 6 can be transferred to the loading platform 26 together with the pallet 7. This completes shipping.

Note that when retracting the loading/unloading device 9 with the automatic door 34 open due to a change in purpose of use or inspection, etc., the fifth limit switch 45 is actuated on the fifth operating portion 65.
The tenth action section 70 sets the tenth limit switch 50 to the backward limit.
A deceleration M is applied from a high speed cut to an intermediate cut, which is applied to A.

Effects of the Invention According to the present invention having the above configuration, the high-speed cut detector acts on the high-speed cut acting section while the loading/unloading device is retracting, thereby cutting the high speed of the loading/unloading device and decelerating it to a low speed. Furthermore, when the high-speed cut check detector acts on the high-speed cut check action part, no operation will be performed if the high-speed cut mentioned above is working normally, but if the high-speed cut is working When there is no unloading device, the loading/unloading device can be stopped immediately, and thereby the traveling control of the loading/unloading device between the constant temperature room and the room temperature room can be accurately and safely performed without causing runaway.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention, with Fig. 1 being a plan view showing the arrangement of each part, Fig. 2 being a cross-sectional plan view of the whole, Fig. 3 being a longitudinal sectional front view of the same, and Fig. 4 being a longitudinal sectional view of main parts. A side view, FIG. 5 is an enlarged view of the main part in FIG. 3, and FIG. 6 is an explanatory diagram of travel control. 1... Shelf, 6... Roll load), 8... Fixed path, 9... Loading/unloading device, 17... Lifting platform, 19
... Loading/unloading tool, 23... Travel control device, 25...
・Cargo handling area, 26... Loading platform, 27... Home position, 30... Surrounding wall body, 31... Constant temperature room, 32.
・・Normal room, 33・Communication path, 34・Automatic door, 3
5... Partition wall body, 40... Support frame, 41...
・1st limit switch (detector for automatic door high-speed cutting), 42...2nd limit switch (for emergency stop),
44... 4th limit switch (detector for automatic door high-speed cut check), 51... 11th limit switch (for automatic m interference zone), 61... 1st action part (action part for high-speed cut), 62A...Second retreat limit action part, 62B...Second advance limit action part, 64...Fourth action part (action part for high-speed cut check), 71...Eleventh action part
Working part. Agent Yoshihiro Morimoto

Claims (1)

[Claims] 1. A communication path is formed in the partition wall between a thermostatic room with shelves and a room temperature room with a material handling area, and the vehicle can freely travel through this communication path to transfer cargo between the shelves and the material handling area. In addition to providing a loading/unloading device, an automatic door is provided in the communication path, and when the loading/unloading device of the room temperature room enters the constant temperature room, the automatic door is first opened, and then the loading/unloading device is moved forward,
After the loading/unloading device has completely entered the constant temperature room, it outputs an inside command to the automatic door, and when leaving the loading/unloading device of the constant temperature room to the room temperature, the automatic door is first opened and then the loading/unloading device is moved back. Then, while reversing, the high-speed cut detector installed in the loading/unloading device acts on the high-speed cutting acting section installed near the communication path in the temperature controlled room to cut the high-speed movement of the loading/unloading device and decelerate it. Next, a high-speed cut check detector installed in the loading/unloading device acts on a high-speed cut check acting section installed near the communication path in the temperature-controlled room to perform a high-speed cut check. A method for running a loading/unloading device between rooms that outputs a close command to the automatic door when leaving the room.