JPH02239003A - Automatic warehouse - Google Patents

Abstract

PURPOSE:To enhance the accuracy of movement of a fork by providing an elevation carriage with a horizontal beam detector and a crane with load receiving position diagnosing means for a pallet with respect to a rack, and controlling the carriage in response to signals from both the detector and the diagnosing means, in an automatic warehouse equipped with a solid rack and a crane for storage/shipping. CONSTITUTION:After the load receiving portion of a rack 3 is determined by a command signal, an elevation carriage 13 is moved by an elevation seater 16 as a device 25 to be detected is searched which corresponds to the load receiving portion. The carriage is stopped when a position detector 26 detects a plate 25 to be detected and outputs a position detection signal. Next, the elevation carriage 33 is made to fall down until a beam detector 27 outputs a beam detection signal. A running fork not described is made to advance so that it is inserted into an insertion opening A. The carriage is then made to rise again until the position detector 26 is on, and the carriage is made to retreat after the load is lifted up. The constitution enables the carriage to be surely actuated even when a horizontal beam is bent.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to an automated warehouse equipped with a loading/unloading crane that travels along three-dimensional shelves (racks), and more particularly to a control device for unloading and unloading storage therein.

BACKGROUND OF THE INVENTION Conventionally, as a method for controlling the lifting and lowering carriage of the loading/unloading crane in the above-mentioned automated warehouse, a control method as disclosed in Japanese Patent Application Laid-Open No. 145001/1983 has been used. That is, a lifting distance measuring means for replacing the position of the lifting carriage with respect to the origin (lowering limit) of the lifting carriage with a pulse 31 value is provided, and a lifting path of the lifting guide column of the lifting carriage described in IIil is placed next to each stage of the shelf. At a position corresponding to the storage section, there is a lower lI whose center height in the upper and lower directions corresponds to the stop height when leaving the warehouse.
II!L corresponding to the detection plate and the stop height when entering the warehouse II! J
A detector to detect the detected plate was installed in parallel with the detected plate, and a detector for detecting the detected plate was provided on the elevating carriage side, and as the elevating carriage was raised and lowered, the detector detected the upper and lower edges of each detected plate. The pulse count value in the vertical distance measuring means at that time is stored in advance as a learned absolute address, and during actual operation, the pulse count value in the vertical distance measuring means when the detector detects the edge of the detected plate is stored in advance as a learned absolute address. A stop target value that is replaced with a learned absolute address and that is calculated and stored in advance for each stop height, or is calculated each time based on a set of upper and lower learned absolute addresses for the target stop height; The suspension of the lifting carriage is controlled based on the difference between the pulse count value and the lifting distance measuring means. Problems to be Solved by the Invention However, in the conventional control method, the error between the lifting distance of the sealing carriage and the pulse count value due to causes such as elongation and load of the lifting chain of the lifting carriage is corrected.
1! The lifting carriage can be stopped at the stopping height, but as shown in FIG.
The load receiving section 4 of the rack 3 loaded with l2 is constructed so that a water UP beam 6 is stretched over the truss 5 instead of the armrest, so when multiple loads are placed on this horizontal beam 6, the horizontal beam 6 is deflected due to the weight. As a result, an error occurs between the target stopping height of the lifting carriage and the position of the skid pallet I, resulting in problems such as the fork of the lifting carriage not being able to enter the spigot IA of the skid pallet 1, and the scooping or unloading operation of the load 2. The problem arose that it was not possible to do so.

The present invention solves the above-mentioned problem, and enables the user to accurately and reliably perform scooping or unloading operations using a fork even if the horizontal beam is deflected! The purpose is to operate an automated warehouse equipped with a table crane. Means for Solving the Problems In order to solve the above problems, the present invention utilizes a rack formed of a truss and a horizontal beam, and a loading/unloading crane for loading and unloading goods loaded on pallets to and from the rack. The automated warehouse is configured such that a beam detector for detecting the horizontal beam is provided on an elevating carriage that moves up and down guided by the support of the loading/unloading crane, and the loading/unloading crane is configured to move pallets to the racks. The present invention is provided with a determining means for specifying each cargo receiving position, and a control means for inputting the signal of the determining means and the detection signal of the beam detector to control the raising and lowering of the lifting N yard.

Operation With the above configuration, the control means raises the lifting carriage to the receiving position, for example, the scooping position, of the pallet loaded on the horizontal beam specified by the signal from the determining means when loading and unloading the load on the pallet. Then, the position of the upper side of the horizontal beam is confirmed using the detection signal of the beam detector, and the position of the elevating carriage is corrected. Therefore, even if the horizontal beam is deflected, it is possible to scoop or unload cargo loaded on a pallet. EXAMPLE An example of the present invention will be described below based on the drawings. Components that are the same as those in FIG. 8 are designated by the same reference numerals and their explanations will be omitted. Figure 1 is a side view of the loading/unloading crane and rack of the automatic warehouse of the present invention. In FIG. 1, reference numeral 11 denotes a loading/unloading crane, which is equipped with an elevating carriage 13 that moves up and down guided by a column 12. A running fork 14 that can move laterally and move in and out is provided to perform delivery. 15 is a traveling motor that drives the crane 11 to travel along the rack 3;
G is a lifting motor that drives the lifting carriage 13 up and down, 1
Reference numeral 7 denotes a fork motor that drives the running fork 14 in and out, and uses an induction motor whose speed is continuously variable by inverter control. As shown in FIG. 2, the speed of the lifting motor 16 is controlled by a dedicated inverter 18, but the traveling motor 15 and the fork motor 17 are selectively connected to each other by a 1000-stage gear 19 for dual use as traveling/fork motors. The speed is controlled by an inverter 20. These inverters 18,
20 and the switching means 19 receive control signals a and b by a control device 21 constituted by a microcomputer.
, c. The pulse signal P from the pulse encoder 22 that is linked to the traveling movement of the crane 11 is added/subtracted and counted by the control device 21, read as the current position value of the crane 11, and used to control the traveling motor 15.

In addition, as shown in FIGS. 1 and 3, on the support 12 of the loading/unloading crane 11, there is a detection plate 2 that indicates the scooping position of the skid pallet 1 loaded on each horizontal beam 6.
5 is provided, and this detection plate 25 is mounted on the elevating carriage 13.
An optical position detector 26 is provided for detecting.

Further, the elevating carriage 13 is provided with an optical beam detector 27 for detecting the horizontal beam 6, and these detectors 26. The position detection signal f and beam detection signal g of 27 are input to the control device 21. FIG. 4 shows the positional relationship among the horizontal beam 6, skid pallet I, detection plate 25, running fork 14, position detector 26, and beam detector 27. In FIG. 4, the diamond mark indicates the center position of the running fork 14. FIG. 5 also shows the detector 26. 27 detection signal f,
A characteristic diagram of g is shown. As shown in Figures 4 and 5,
Running fork 14 at operating point ■ of position detection signal f
The configuration is such that the unloading position of the running fork 14 is specified at the scooping position and the operating point (2) of the beam detection signal g.

Below is the control device 21. The method of controlling the elevating carriage 13 and running fork 14 will be explained below. Note that the traveling control method for driving the traveling motor 15 by the control device 21 is not an essential part of the present invention, and therefore a description thereof will be omitted. It is now assumed that the inverter 20 is connected to the fork motor 17 by the switching means 19 according to the control signal C.

First, the scooping operation for carrying out the load 2 from the rack 3 will be explained according to the flowchart shown in FIG. When the load receiving part 4 of the rack 3 is designated by the command signal e, the position of the detected plate 25 (■ point) corresponding to the load receiving part 4 from the origin is searched (steg 31), and the lifting motor 1G is activated. When the position detection signal f is counted up to the number of points retrieved, the vertical movement of the lifting motor 16 is stopped.
As a result, the elevating carriage 13 moves to the target load receiving section 4.
(Steps 32 and 33>) Then, the lifting carriage 13 is lowered to point ■ where the beam detection signal g turns on (Steps 34 and 35).In this state, the running fork 14 moves as shown in Fig. 4. Even if the horizontal beam 6 is bent, the running fork 14 is positioned at the upper side of the horizontal beam 6.Next, the fork motor 17 is driven to extend the running fork 14 to the exit position ( Steps 36 and 37), Insert the running fork 14 into the spigot IA of the skid pallet 1. Then, raise the lifting carriage 13 to point ■ where the position detection signal f turns on (Step 38. 3).
9). As a result, the running fork 14 rises to the scooping position shown in FIG. 4, and the running fork 14 can scoop up the load 2 together with the skid pallet 1. Then, the running fork 14 loaded with the load 2 is pulled to the return position (steps 40 and 41), and the elevating carriage 13 is lowered to the origin (steps 742 and 43).
), Next, the unloading operation for carrying the load 2 into the rack 3 will be explained according to the flowchart of FIG. 7.

First, when the load receiving part 4 of the rack 3 is designated by the command signal e, it is searched to find out which point from the origin the detected plate 25 (■ point) corresponding to this load receiving part 4 corresponds (step 51).
), the lifting motor 16 while counting the position detection signal f.
is driven to raise the elevating carriage 13 to the target point (■), that is, the scooping position (steps 52 and 53).Next, the fork motor 17 is driven to raise the running fork 14.
The output limit v! Extend to l (steps 54 and 55)
, carry the load 2 onto the load receiving section 4. Next, beam detection f
The elevating carriage 13 is lowered to point ■ where No. A g is turned on (steps 5G and 57). As a result, the running fork 14 is positioned on the upper side of the horizontal beam even if the horizontal beam 6 is bent, and the skid pallet 1 is positioned on the upper side of the horizontal beam 6.
The load 2 can be unloaded by being securely placed on top of the load. Next, the running fork 14 is retracted to the return position (steps 58 and 59), and the elevating carriage 13 is lowered to the origin (step 60). 61). In this way, by performing the scooping operation and unloading operation by detecting the positions of the detected plate 25 and the horizontal beam 6, even if the horizontal beam 6 is bent, the skid pallet 1 of the running fork 14 can be
5-hole IA plug, and skid pallet l
can be reliably placed on the horizontal beam 6, and it is possible to avoid being unable to carry the load 2 into and out of the rack 3. Note that in this embodiment, the horizontal beam 6 is detected by the beam detector 27, but the deflection of the horizontal beam 6 is specified.
For example, a label, tape, or special mark attached to the horizontal beam 6 may be detected. Additionally, a photoelectric detector is used as the beam detector 27;
An image processing device with a camera can also be used.

Furthermore, a detection plate 25 and a position detector 26 are provided as judgment means for specifying the scooping position of the suit barrel 7 on each horizontal beam 6. It is also possible to specify the target scooping position during operation by adding and subtracting the number of pulses from the origin and learning each scooping position.

In addition, although the skid pallet 1 is used in this embodiment, it is not limited to the skid pallet 1, but the horizontal beam 6 and the load 2
Also when using a pallet with a space between which the running fork 14 can be inserted or removed, or a load with feet,
A similar effect can be obtained. Effects of the Invention As described above, according to the present invention, the position of the yard is adjusted to the position of the elevator raised to the cargo receiving position specified by the signal from the determining means.
By raising and lowering the horizontal beam detected by the beam detector to the top position and correcting it, the load can be scooped or unloaded, even if the horizontal beam is deflected, the load can be scooped or unloaded. It is possible to reliably carry out the work, avoid being unable to load and unload cargo due to deflection of the horizontal beam, and improve work efficiency.

[Brief explanation of drawings]

Fig. 1 is a side view of a crane and rack for loading and unloading an automated warehouse showing a practical example of the present invention, Fig. 2 is a block diagram of the control system of the crane for loading and unloading the same person, and Figures 3 to 5 are respectively A configuration diagram of the elevating carriage control system of the loading/unloading crane, a schematic diagram showing the positional relationship of the detectors, and a characteristic diagram of the detectors, Part 6
The figure is a flowchart of the scooping operation of the loading/unloading crane, Figure 7 is a flowchart of the unloading operation of the loading/unloading crane, and Figure 8 is a side view of the main parts of the rack to explain the problem. 1... Skid barrel, 2... Load, 3... Rack, 4... Load receiving section, 5... Truss, 6... Horizontal beam, 11... Loading/unloading crane, 12... pillar,
DESCRIPTION OF SYMBOLS 13... Elevating caliper, 14... Running fork, 16... Elevating motor, 17... Fork motor, 21... Control device (control means), 25... Detection plate, 26...・Position detector, 27... Beam detector. Agent Yoshihiro Morimoto f, 1, 2 J-, f Noteshiwato 21 Volume 3-1 - Soyoshinoku 4 -- & Ukeyo Ku 1 Lamata 1 Figure Z/ t2 1 Branch 13, - Nobutaka Ki, Shizzo f4-・-Ranishige 24-7 f6-・Issho Kamo-9 17-・-Fork hair-9; Bone number 4 Figure 3 Figure b Beam detection code g d drama Ibun 1 Hitidezu》 Kasuli Hinoki Poetry J Figure 3

Claims (1)

[Scope of Claims] 1. An automated warehouse comprising a rack formed by a truss and a horizontal beam, and a loading/unloading crane for loading and unloading cargo loaded on pallets to and from the rack, A beam detector for detecting the horizontal beam is provided on the elevating carriage that moves up and down guided by the supports of the loading/unloading crane, and the determining means for specifying the receiving position of each pallet to the rack is provided in the loading/unloading crane. and a control means for inputting the signal of the determination means and the detection signal of the beam detector to control the raising and lowering of the elevating carriage.