JPH03288704A - Controller of stacker crane - Google Patents
Controller of stacker craneInfo
- Publication number
- JPH03288704A JPH03288704A JP9258990A JP9258990A JPH03288704A JP H03288704 A JPH03288704 A JP H03288704A JP 9258990 A JP9258990 A JP 9258990A JP 9258990 A JP9258990 A JP 9258990A JP H03288704 A JPH03288704 A JP H03288704A
- Authority
- JP
- Japan
- Prior art keywords
- control panel
- stacker crane
- ground control
- section
- ground
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000004891 communication Methods 0.000 claims description 33
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000012528 membrane Substances 0.000 description 1
- 238000012805 post-processing Methods 0.000 description 1
Landscapes
- Warehouses Or Storage Devices (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
この発明は、光等による無線の通信手段で地上制御盤か
ら機上制御盤へ信号伝送し、遠隔操作を行うスタッカク
レーンの制御装置に関するものである。[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a control device for a stacker crane that transmits signals from a ground control panel to an on-board control panel using wireless communication means such as light, and performs remote control. It is.
従来、第５図に示すように、スタッカクレーン５１に機
上制御盤５２を搭載し、地上制御盤５３から光線Ｐによ
り無線で制御指令を送ってスタッカクレーン５１の運転
を行うものがある。機上制御盤５２は、スタッカクレー
ン５１０走行、昇降フォーク出入り等の各動作位置のデ
ータを記憶する記憶部（図示ゼず）を有し、かつ調整時
の手動操作用の操作ペンダント５４を有している。Conventionally, as shown in FIG. 5, there is a system in which an on-board control panel 52 is mounted on a stacker crane 51, and the stacker crane 51 is operated by sending control commands wirelessly using a light beam P from a ground control panel 53. The on-machine control panel 52 has a storage section (not shown) that stores data on each operating position such as the movement of the stacker crane 510, the movement in and out of the elevating forks, and also has an operation pendant 54 for manual operation during adjustment. ing.
操作ペンダント５４は第６図に示すように、前進、後退
用の操作釦５５．５６と、上昇、下降用の操作釦５７．
５８と、フォーク出入り用の操作釦５９．６０と、デー
タ取込み釦（図示せず）を有しており、コネクタ６１で
機上制御盤５２の本体部分に接続される。As shown in FIG. 6, the operating pendant 54 has operating buttons 55, 56 for forward and backward, and operating buttons 57, 57 for ascending and descending.
58, operation buttons 59 and 60 for fork entry/exit, and a data import button (not shown), and is connected to the main body portion of the on-board control panel 52 by a connector 61.
調整操作を行う場合、例えば棚アドレスに対応した位置
合わせ等を行う場合は、操作ペンダント５４を用いてス
タッカクレーン５１の各部を所望の位置に動作させ、内
界センサ等の位置データの取込み指令を与える。このよ
うに、操作ペンダント５４を使用することにより、スク
ッカクレーン５１の近傍で格納棚６２を目視しながら、
格納棚６２の所定の棚や荷物等に応した各動作位置を調
整できる。When performing an adjustment operation, for example, when performing positioning corresponding to a shelf address, the operation pendant 54 is used to move each part of the stacker crane 51 to a desired position, and a command is issued to capture position data from internal sensors, etc. give. In this way, by using the operation pendant 54, while visually checking the storage shelf 62 near the scooper crane 51,
Each operating position of the storage shelf 62 can be adjusted according to a predetermined shelf, baggage, etc.
しかし、操作ペンダント５４は、前記のように各操作釦
５５〜６０による手動操作しか行えず、操作機能が少な
いため、調整操作に手間と時間がかかる。すなわち、ス
タッカクレーン５１が所望の動作状態になるまで、各操
作釦５５〜６ｏを順次押し続けなければならない。However, the operation pendant 54 can only be manually operated using the operation buttons 55 to 60 as described above, and has few operation functions, so that adjustment operations take time and effort. That is, it is necessary to continue pressing each of the operation buttons 55 to 6o in sequence until the stacker crane 51 reaches the desired operating state.
そのため、地上制御盤５３を用い、その数値設定入カキ
−や、複合機能キー、各種表示手段等を用いて前記調整
を行う場合がある。しかし、地上制御盤５３の位置では
、スタッカクレーン５１のフォーク等の位置を正確に目
視することができない。このため、スタッカクレーン５
１と遠方の地上制御Ｉｌ盤５３との間を作業者が何度も
往復する必要があり、地上制御盤５３を用いても調整作
業の能率化が図れない。Therefore, the above-mentioned adjustment may be performed using the ground control panel 53 using its numerical setting input keys, multifunction keys, various display means, and the like. However, at the position of the ground control panel 53, the position of the fork, etc. of the stacker crane 51 cannot be accurately visually observed. For this reason, stacker crane 5
1 and the distant ground control panel 53, the operator has to go back and forth many times, and even if the ground control panel 53 is used, the efficiency of the adjustment work cannot be improved.
機上制御盤５２に、地上制御盤５３と同様な機てスタッ
カクレーンを遠隔制御する。The on-board control panel 52 remotely controls a stacker crane using a similar mechanism to the ground control panel 53.
調整時は、地上制御盤を地上制御盤取付部材によりスタ
ッカクレーンに取付け、スタッカクレーンの位置で地上
制御盤を用いて調整操作する。この場合にも、前記通信
装置により地上制御盤と機上制御盤との間の通信が行れ
る。At the time of adjustment, the ground control panel is attached to the stacker crane using the ground control panel mounting member, and the adjustment operation is performed using the ground control panel at the position of the stacker crane. In this case as well, the communication device allows communication between the ground control panel and the onboard control panel.
この発明の一実施例を第１回ないし第４図に基づいて説
明する。An embodiment of the present invention will be described based on FIGS. 1 to 4.
スタッカクレーン１は、自動倉庫の格納棚２に沿って設
けた床面および天井部の走行レール３゜４に沿って走行
自在に設置されている。格納棚２は、多数の棚２ａを複
数段、複数連に設けたものである。スタッカクレーン１
は、台車部５に立設した主枠６に荷台７を昇降自在に設
置したものであり、台車部５に走行装置８を搭載し、か
つ荷台７に荷台昇降装置９と、入出庫手段となるフォー
クＩＯの出入り装置（図示せず）とを搭載しである。The stacker crane 1 is installed so as to be movable along running rails 3.about.4 on the floor and ceiling provided along the storage shelves 2 of an automated warehouse. The storage shelf 2 has a large number of shelves 2a arranged in multiple stages and in multiple series. Stacker crane 1
, a loading platform 7 is installed on a main frame 6 erected on a truck section 5 so as to be able to be raised and lowered, and a traveling device 8 is mounted on the truck section 5, and a loading/unloading device 9 is mounted on the loading platform 7, as well as loading/unloading means. It is equipped with a fork IO entry/exit device (not shown).
スタッカクレーン１の制御装置は、台車部５に能の操作
部を設けると調整が容易になるが、このような高級機能
の操作部を２箇所に設けると、コストが高くなる。The control device of the stacker crane 1 can be easily adjusted by providing a functional operating section on the trolley section 5, but providing such high-level operating sections at two locations increases the cost.
この発明の目的は、調整作業が簡易に行え、かつ構成が
簡単なスタッカクレーンの制御装置を提供することであ
る。An object of the present invention is to provide a control device for a stacker crane that allows adjustment work to be performed easily and has a simple configuration.
（課題を解決するための手段〕
この発明は、空間伝送媒体による通信装置で相互通信さ
れる機上制御盤と地上制御盤とを備えたスタッカクレー
ンの制御装置において、前記地上制御盤を制御盤取付部
材によってスタッカクレーンに着脱自在としたものであ
る。(Means for Solving the Problem) The present invention provides a control device for a stacker crane including an on-board control panel and a ground control panel that communicate with each other using a communication device using a space transmission medium, in which the ground control panel is connected to the control panel. It can be attached to and detached from the stacker crane using a mounting member.
地上制御盤はスタッカクレーンの運転指令を入力する主
操作部を有し遠隔運転位置に着脱自在に設置されるもの
である。機上制御盤は、スタッカクレーンに搭載されて
地上制御盤からの指令によりスタッカクレーンを制御す
るものである。The ground control panel has a main operation section for inputting operation commands for the stacker crane, and is detachably installed at a remote operation position. The on-board control panel is mounted on the stacker crane and controls the stacker crane based on commands from the ground control panel.
通常運転時は、地上制御盤を床面等の遠隔運転位置に設
置し、地上制御盤により通信装置を介し設置した機上制
御盤１１と、格納棚２の端部付近の遠隔操作位置Ｑに設
置した地上制御盤１２とからなる。再制御盤１１．１２
は、互いに光線Ｓにより通信する機上通信器１３と、地
上通信器１４とを有し、これら通信器１３．１４により
通信装置１５が構成される。During normal operation, the ground control panel is installed at a remote operation position such as on the floor, and the onboard control panel 11 installed via a communication device is connected to the remote operation position Q near the end of the storage shelf 2 by the ground control panel. It consists of an installed ground control panel 12. Recontrol panel 11.12
has an on-board communication device 13 and a ground communication device 14 that communicate with each other using light beams S, and these communication devices 13 and 14 constitute a communication device 15.
地上制御盤１２は、設置台１６に対して着脱自在であり
、かつ地上制御盤１２をスタッカクレーン１の台車部５
に着脱自在に取付ける地上制御盤取付部材１７が台車部
５に設けである。地上制御盤取付部材１７は、例えば台
車部５から延出した支持台部分と、地上制御盤１２をボ
ルト止めする手段等からなり、第１図（Ｂ）のように地
上制御盤１２の地上通信器１４が機上制御盤１１の機上
通信器１３と対面する状態に取付可能としである。The ground control panel 12 is removably attached to the installation base 16, and the ground control panel 12 is connected to the truck section 5 of the stacker crane 1.
A ground control panel mounting member 17 is provided on the trolley portion 5 to be detachably attached to the ground control panel. The ground control panel mounting member 17 consists of, for example, a support portion extending from the truck portion 5 and a means for bolting the ground control panel 12, and connects the ground control panel 12 with ground communication as shown in FIG. 1(B). The device 14 can be installed in a state where it faces the onboard communication device 13 of the onboard control panel 11.
地上制御盤取付部材１７は、このように両通信器１３
工４が対面する状態に地上制御盤１２を取付けられるも
のであれば、どのような構造のものであっても良い。The ground control panel mounting member 17 is attached to both communication devices 13 in this way.
Any structure may be used as long as the ground control panel 12 can be mounted so that the ground control panel 12 faces the ground control panel 4.
第３図は、機上制御盤工１と地上制御盤１２の概略構成
のブロック図である。FIG. 3 is a block diagram of a schematic configuration of the onboard control panel 1 and the ground control panel 12.
機上制御盤１１は、ＣＰＵ等からなる演算制御部１８に
、記憶部１９．センサ類２２．動力制御部２０．補助操
作部２１、および前記機上通信器１３を接続したもので
ある。動力制御部２０は、第１図の走行装置８、荷台昇
降装置９．およびフォーク出入り装置（図示せず）の各
モータを制御する手段である。センサ類２２は、スタッ
カクレン１の各動作状態を検出する多数のセンサからな
る。記憶部１９は、地上制御盤１２から送信された棚ア
ドレスに対応する走行位置、昇降位置フォーク出入り位
置の各データや、その他の運転データ等が記憶される。The onboard control panel 11 includes an arithmetic control section 18 consisting of a CPU, etc., a storage section 19 . Sensors 22. Power control section 20. The auxiliary operation section 21 and the on-board communication device 13 are connected. The power control unit 20 includes the traveling device 8, the loading platform lifting device 9. and a means for controlling each motor of a fork in/out device (not shown). The sensors 22 include a large number of sensors that detect each operating state of the stacker crane 1. The storage unit 19 stores data on the traveling position, lifting position, fork entry/exit position, and other operational data corresponding to the shelf address transmitted from the ground control panel 12.
補助操作部２１は、機上制御盤１１のケースから導出し
たペンダント状に構成され、第６図の例と同様に、走行
、昇降、およびフォーク出入すの各スイッチ釦を備えて
いる。The auxiliary operation section 21 is constructed in the shape of a pendant derived from the case of the on-board control panel 11, and is provided with switch buttons for running, raising and lowering, and fork in/out, similarly to the example shown in FIG.
地上制御盤１２は、演算制御部２３に記憶部２４と主操
作部２５とを接続したものであり、上位制御装置２６に
ケーブル等で接続される。主操作部２５は、後に第４図
と共に説明するように各種の信号に変換されて機上制御
盤１１の演算制御部■８に入力される。The ground control panel 12 has an arithmetic control section 23 connected to a storage section 24 and a main operation section 25, and is connected to an upper control device 26 via a cable or the like. The main operation section 25 is converted into various signals and inputted to the arithmetic control section 8 of the on-board control panel 11, as will be explained later with reference to FIG.
第４図は地上制御盤１２の主操作部２５の操作パネル２
５ａを示す。操作パネル２５ａの中段部分には、キース
イッチ群からなるモード設定部３５と、設定入力部３６
と、データ変更郡部３７と、運転指令部３８とが設けで
ある。設定入力部３６は、自動運転のためのデータ人力
を行う手段であり、入力すべきデータの項目、例えば入
庫、出庫ピンク数１回送等を示す項目キーＥと、テンキ
Ｆと、その他の機能キーＧとを有する。これら設定入力
部３６等の並びの上側に、入出庫データを表示するデー
タ表示部３９が設けである。データ表示部３９には、ス
タッカクレーン１の行程数を示す設定項目表示領域３９
ａと、ステーション番号表示領域３９ｂと、格納棚２の
列、連１段を各々表示する領域３９ｃ〜３９ｅと、ピン
ク数表示領域３９ｆとを有する。４０は動作状態表示部
であり、走行や設定等の動作時に各々点灯する横一列の
複数のランプからなる。４２はメンセージ表機能スイッ
チと表示手段を有する。上位制御装置２６は、自動倉庫
全体の群制御を行うホストコンーユータ等である。FIG. 4 shows the operation panel 2 of the main operation section 25 of the ground control panel 12.
5a is shown. In the middle part of the operation panel 25a, there is a mode setting section 35 consisting of a group of key switches, and a setting input section 36.
, a data change section 37, and a driving command section 38. The setting input unit 36 is a means for manually inputting data for automatic operation, and includes an item key E, a numeric key F, and other function keys indicating data items to be input, such as warehousing, warehousing pink number, sending once, etc. It has G. A data display section 39 for displaying warehousing/output data is provided above the row of these setting input sections 36 and the like. The data display section 39 includes a setting item display area 39 that indicates the number of strokes of the stacker crane 1.
a, a station number display area 39b, areas 39c to 39e for displaying the rows and rows of storage shelves 2, respectively, and a pink number display area 39f. Reference numeral 40 denotes an operating status display section, which is comprised of a plurality of horizontally arranged lamps that are turned on during operations such as running and setting. 42 has a message table function switch and display means. The upper control device 26 is a host computer or the like that performs group control of the entire automated warehouse.
第２図は通信装置１５の構成を示す。同図には地上通信
器１４の送信部と、機上通信器１３の受信部のみを示し
たが、地上通信器１４および機上通信器１３は、同図と
同様な受信部および送信部を各々有し、双方向通信が可
能である。投光器２７と受光器２８は、赤外線発光ダイ
オード等からなる発光素子２９と、フォトトランジスタ
等からなる受光素子３０とで光結合されている。FIG. 2 shows the configuration of the communication device 15. Although only the transmitting section of the ground communication device 14 and the receiving section of the onboard communication device 13 are shown in the figure, the ground communication device 14 and the onboard communication device 13 have the same receiving section and transmitting section as shown in the figure. Two-way communication is possible. The light projector 27 and the light receiver 28 are optically coupled by a light emitting element 29 made of an infrared light emitting diode or the like and a light receiving element 30 made of a phototransistor or the like.
地上通信器１４の並列／直列変換部３１は、第３図の演
算制御部２３から２値データの並列信号が入力され、こ
れを直列信号に変換して投光器２７の変調器３２に出力
する。変調器３２は、パルス幅変調やパルスコード変調
等を行うものであり、その変調出力は発光素子２９によ
り光の信号に変換され、受光素子３０に入力される。受
光素子３０の出力から復調器３３により信号成分が取り
出され、その直列信号は直列／並列変換部３４で並列承
部であり、設定入力のエラーメツセージ等を表示する。The parallel/serial converter 31 of the terrestrial communication device 14 receives a parallel signal of binary data from the arithmetic controller 23 in FIG. The modulator 32 performs pulse width modulation, pulse code modulation, etc., and its modulated output is converted into a light signal by the light emitting element 29 and input to the light receiving element 30. A signal component is extracted from the output of the light receiving element 30 by a demodulator 33, and the serial signal is converted into a parallel signal by a serial/parallel converter 34, which displays error messages and the like of setting input.
４３は機能スイッチ部であり、原点復帰等を指令する各
種の機能キーからなる。４４〜４６は、各々スタッカク
レーン１の走行操作、フォーク出入り操作、および昇降
操作を行う手動運転キ群であり、手動運転する場合や調
整時に使用される。操作パネル２５ａの下段には、カー
ト差し込み口４７と、運転方式切換スイッチ４８と、非
常停止釦４９とが設けられ、運転方式切換スイッチ４８
により、自動運転と、手動運転と、群制御よるオンライ
ン運転とに切換えられる。カード差し込み口４７には、
自動運転データを書き込んだカードが差し込まれ、内部
の読み取り手段（図示せず）で読み取ることにより、設
定入力部３６によるキー人力に代えて、データ入力が行
える。なお、第３図の演算制御部２３および記憶部２４
には、操作パネル２５ａと共に説明した各機能の実現手
段が設けられている。Reference numeral 43 denotes a function switch section, which is comprised of various function keys for instructing return to origin and the like. Reference numerals 44 to 46 indicate a manual operation key group that respectively performs traveling operation of the stacker crane 1, fork in/out operation, and lifting/lowering operation, and is used for manual operation or adjustment. A cart insertion port 47, an operation mode changeover switch 48, and an emergency stop button 49 are provided in the lower part of the operation panel 25a.
This allows switching between automatic operation, manual operation, and online operation using group control. In the card slot 47,
By inserting a card with automatic driving data written therein and reading it with an internal reading means (not shown), data can be input instead of manually using the keys in the setting input section 36. Note that the arithmetic control section 23 and storage section 24 in FIG.
is provided with means for realizing each of the functions described together with the operation panel 25a.
次に上記構成の動作を説明する。通常の自動運転時は、
第１図（Ａ）に示すように、地上制御盤】２を遠隔操作
位置Ｑに設置し、地上制御盤１２から機」二制御盤１１
に光線Ｓで信号伝送しながら、スタッカクレーン１の運
転制御を行う。Next, the operation of the above configuration will be explained. During normal automatic driving,
As shown in FIG. 1(A), the ground control panel 12 is installed at the remote control position Q, and the ground control panel
The operation of the stacker crane 1 is controlled while transmitting a signal using the light beam S to the stacker crane 1.
スタッカクレーン１の調整を行う場合は、第１図（Ｂ）
に示すよう６二地上制御盤】２をスタッカクレーン１に
地上制御盤取付部材１７で取付け、地」二制御盤１２の
主操作部２５を用いて調整操作する。例えば、格納棚２
の棚アドレスに対応した走行、昇陳、フォーク出入り位
置等の各設定値の変更を行う。この場合に、第４図に示
す操作パネル２５ａの設定入力部３６や、データ変更部
３７等を使用し、かつデータ表示部３９等を見ながら調
整操作が行える。また、手動運転キーＦＹ４４〜４６を
併用しても良い。When adjusting the stacker crane 1, refer to Figure 1 (B).
As shown in FIG. 6, the ground control panel 2 is attached to the stacker crane 1 using the ground control panel mounting member 17, and the main operation section 25 of the ground control panel 12 is used to perform adjustment operations. For example, storage shelf 2
Setting values such as travel, elevating, and fork entry/exit positions are changed according to the shelf address. In this case, adjustment operations can be performed using the setting input section 36, data changing section 37, etc. of the operation panel 25a shown in FIG. 4, and while looking at the data display section 39, etc. Further, manual operation keys FY44 to FY46 may be used together.
このように、地上制御盤１２の主操作部２５に倫えられ
た高級機能の各操作手段を用いて調整操作が行え、しか
もスタッカクレーン１の位置で調整操作が行えるので能
率良く調整することができる。また、高級機能の主操作
部２５は地上制御盤１２のみに設ければ良く、機上制御
盤１１には膜制御盤を制御盤取付部材によってスタッカ
クレーンに着脱自在としたものであるため、スタッカク
レーンのある位置で、地上制御盤の高級機能の主操作部
を用いて調整操作が行える。そのため、遠隔操作位置ま
で作業者が往復することなく、簡単で能率良く調整作業
が行え、また高級機能の操作手段を複数設ける必要がな
くて構成が簡単である。In this way, adjustment operations can be performed using the high-end functional operation means included in the main operation section 25 of the ground control panel 12, and moreover, adjustment operations can be performed from the position of the stacker crane 1, so adjustments can be made efficiently. can. In addition, the main operation section 25 for high-end functions only needs to be provided on the ground control panel 12, and the on-board control panel 11 has a membrane control panel that can be attached to and detached from the stacker crane using a control panel mounting member. Adjustments can be made at the location of the crane using the high-end main controls on the ground control panel. Therefore, the operator can easily and efficiently perform adjustment work without having to go back and forth to the remote control position, and there is no need to provide multiple operating means for high-end functions, resulting in a simple configuration.
また、地上制御盤と機上制御盤とは空間伝送媒体による
通信装置で相互通信されるので、スタッカクレーンに地
上制御盤を取付ける場合も、ケーブル接続作業が不要で
あり、調整の準備や後処理も簡単に行えるという効果が
ある。In addition, since the ground control panel and the on-board control panel communicate with each other using a communication device using a space transmission medium, there is no need for cable connection work when installing the ground control panel on a stacker crane, and there is no need to prepare for adjustment or perform post-processing. It also has the effect of being easy to perform.
第１図（Ａ）、 （Ｂ）は各々この発明の一実施例の
通常運転時および調整時の状態を示す動作説明画、第２
図はその通信装置のブロック図、第３０は同しくその機
上制御盤および地上制御盤の構成説明図、第４図は同し
くその主操作部の操作パネル面の説明図、第５図は従来
例の正面図、第６図はその操作ペンダントの正面図であ
る。
ける必要がないので、構造が簡単でコストが安くなる。
さらに、地上制御盤１２と機上制御盤１１とは、光線Ｓ
による無線の通信装置１５で相互通信されるので、スタ
ッカクレーン１に地Ｊ： １ｂｌｌ ｔｈｎ ｉ１２を
取付ける場合も、ケーブル接続作業が不要で、取付けお
よび取外しが簡単乙こ行える。また、機上制御盤１１側
祠１７を付加するだｉ−＋で、第５図の既設の制御装置
をそのまま使用することができるので、実施化が容易で
ある。
なお、前記実施例では赤外線を媒体とする通信装置１５
を用いたが、通信装置１５はケーブルを使用しないもの
、すなわち空間を伝送可能な媒体を用いるものであれば
良く、レーザ光や、超音波等を媒体とするものであって
も良い。また、通信装置１５は、地上制御部盤１２から
機上制御盤１１側へ単方向通信するものであっても良い
。
〔発明の効果〕
この発明は、空間伝送媒体による通信装置で相互通信さ
れる機上制御盤と地上制御盤とを備えたスタッカクレー
ンの制御装置において、前記地」ニド・・スタッカクレ
ーン、２・・・格納棚、５・台車部、７・・・荷台、１
０・・フォーク、１１・・・機上制御盤、１２・・・地
」二制御盤、１３・・機上通信器、１４・・地上通信器
、１５・・・通信装置、１７・・地上制御盤取付部材、
１９・・記憶部、２２・・センヅ類、２５・主操作部、
２７・・投光器、２８・・・受光器、３５モ一ド設定部
、３６・・・設定人力部、３７ ・ブタ変更部、３９・
・・データ表示部、４４〜４６・・手動運転キー群、Ｑ
・遠隔操作位置、Ｓ・・・光線し！１＝−ツ、・FIGS. 1(A) and 1(B) are operation explanatory drawings showing the normal operation and adjustment states of an embodiment of the present invention, respectively, and FIG.
Fig. 30 is a block diagram of the communication device, No. 30 is an explanatory diagram of the configuration of the onboard control panel and ground control panel, Fig. 4 is an explanatory diagram of the operation panel of the main operation section, and Fig. 5 is an explanatory diagram of the operation panel surface of the main operation section. FIG. 6 is a front view of the conventional example, and FIG. 6 is a front view of the operation pendant. Since there is no need to bend, the structure is simple and the cost is low. Furthermore, the ground control panel 12 and the onboard control panel 11 are connected to the light beam S.
Since mutual communication is carried out using the wireless communication device 15, there is no need for cable connection work when attaching the stacker crane 1 to the stacker crane 1, and the attachment and detachment can be easily performed. Further, since the existing control device shown in FIG. 5 can be used as is in the case of adding the on-machine control panel 11 side shrine 17, the implementation is easy. In the above embodiment, the communication device 15 uses infrared rays as a medium.
However, the communication device 15 may be one that does not use a cable, that is, one that uses a medium that can be transmitted through space, and may be one that uses laser light, ultrasonic waves, or the like as a medium. Further, the communication device 15 may be one that performs unidirectional communication from the ground control panel 12 to the onboard control panel 11 side. [Effects of the Invention] The present invention provides a control device for a stacker crane comprising an on-board control panel and a ground control panel that communicate with each other using a communication device using a space transmission medium. ...Storage shelf, 5.Dolly section, 7...Loading platform, 1
0...Fork, 11...Onboard control panel, 12...Ground control panel, 13...Onboard communication device, 14...Ground communication device, 15...Communication device, 17...Ground control panel mounting parts,
19.Storage section, 22.Sends, 25.Main operation section,
27... Emitter, 28... Receiver, 35 Mode setting section, 36... Setting manual section, 37 - Pig changing section, 39.
...Data display section, 44-46...Manual operation key group, Q
・Remote control position, S...beam! 1=-tsu,・
Claims (1)
遠隔運転位置に着脱自在に設置される地上制御盤と、ス
タッカクレーンに搭載されて前記地上制御盤からの指令
により前記スタッカクレーンを制御する機上制御盤と、
前記地上制御盤と機上制御盤との間で空間伝送媒体によ
り通信する通信装置と、前記スタッカクレーンに設けら
れて前記地上制御盤を着脱自在に保持する地上制御盤取
付部材とを備えたスタッカクレーンの制御装置。A ground control panel that has a main operation unit for inputting operation commands for the stacker crane and is detachably installed at a remote operating position, and a machine that is mounted on the stacker crane and controls the stacker crane based on commands from the ground control panel. upper control panel,
A stacker comprising: a communication device that communicates between the ground control panel and the on-board control panel via a space transmission medium; and a ground control panel mounting member that is provided on the stacker crane and detachably holds the ground control panel. Crane control device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2092589A JPH075167B2 (en) | 1990-04-06 | 1990-04-06 | Stacker crane control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2092589A JPH075167B2 (en) | 1990-04-06 | 1990-04-06 | Stacker crane control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH03288704A true JPH03288704A (en) | 1991-12-18 |
| JPH075167B2 JPH075167B2 (en) | 1995-01-25 |
Family
ID=14058634
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2092589A Expired - Fee Related JPH075167B2 (en) | 1990-04-06 | 1990-04-06 | Stacker crane control device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH075167B2 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05319521A (en) * | 1992-05-19 | 1993-12-03 | Kito Corp | Program change of transfer device controlled by computer and monitor device |
| JPH0624529A (en) * | 1992-06-12 | 1994-02-01 | Murata Mach Ltd | Manual controller for stacker crane |
| JPH0624521A (en) * | 1992-06-12 | 1994-02-01 | Murata Mach Ltd | Operation device for stacker crane |
| US5749696A (en) * | 1992-07-23 | 1998-05-12 | Scott Westlake | Height and tilt indicator for forklift truck |
| CN103879704A (en) * | 2014-04-22 | 2014-06-25 | 山东兰剑物流科技股份有限公司 | High-speed stacking machine for light material boxes |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5281877A (en) * | 1975-12-29 | 1977-07-08 | Omron Tateisi Electronics Co | Automatic warehouse facility |
| JPS53111975A (en) * | 1977-03-10 | 1978-09-29 | Murata Mach Ltd | Method of feeding signals in stacker crane |
| JPS5423095U (en) * | 1977-07-15 | 1979-02-15 | ||
| JPS57203004U (en) * | 1981-06-22 | 1982-12-24 | ||
| JPS586898A (en) * | 1981-07-03 | 1983-01-14 | 株式会社ダイフク | Stacker crane |
| JPS58162405A (en) * | 1982-03-19 | 1983-09-27 | Hitachi Ltd | Control method for operation of loading machine |
| JPH01294104A (en) * | 1988-05-20 | 1989-11-28 | Daifuku Co Ltd | Operating device for traveling crane |
-
1990
- 1990-04-06 JP JP2092589A patent/JPH075167B2/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5281877A (en) * | 1975-12-29 | 1977-07-08 | Omron Tateisi Electronics Co | Automatic warehouse facility |
| JPS53111975A (en) * | 1977-03-10 | 1978-09-29 | Murata Mach Ltd | Method of feeding signals in stacker crane |
| JPS5423095U (en) * | 1977-07-15 | 1979-02-15 | ||
| JPS57203004U (en) * | 1981-06-22 | 1982-12-24 | ||
| JPS586898A (en) * | 1981-07-03 | 1983-01-14 | 株式会社ダイフク | Stacker crane |
| JPS58162405A (en) * | 1982-03-19 | 1983-09-27 | Hitachi Ltd | Control method for operation of loading machine |
| JPH01294104A (en) * | 1988-05-20 | 1989-11-28 | Daifuku Co Ltd | Operating device for traveling crane |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05319521A (en) * | 1992-05-19 | 1993-12-03 | Kito Corp | Program change of transfer device controlled by computer and monitor device |
| JPH0624529A (en) * | 1992-06-12 | 1994-02-01 | Murata Mach Ltd | Manual controller for stacker crane |
| JPH0624521A (en) * | 1992-06-12 | 1994-02-01 | Murata Mach Ltd | Operation device for stacker crane |
| US5749696A (en) * | 1992-07-23 | 1998-05-12 | Scott Westlake | Height and tilt indicator for forklift truck |
| CN103879704A (en) * | 2014-04-22 | 2014-06-25 | 山东兰剑物流科技股份有限公司 | High-speed stacking machine for light material boxes |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH075167B2 (en) | 1995-01-25 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |