JPH04130208U - Stadka crane fork movement control device - Google Patents

Abstract

(57) [Summary] [Purpose] To achieve optimal control of stacker crane forks. [Structure] A shape sensor 16 and a weight sensor 17 detect the condition of the cargo to be delivered using a fork. From the shape sensor 16 and weight sensor 17 to the control unit 20
Each value is sent to the controller 15, and the control device 15 reads out the arithmetic expression from the storage device 19 and performs an operation on each value. By calculation, an optimal operation pattern that does not cause load collapse and is efficient is obtained. The control device 15 drives the drive device 18 in accordance with the calculated movement pattern to operate the fork.

Description

[Detailed explanation of the idea]

0001

[Industrial application field]

This invention relates to stacker cranes for automated warehouses, and more specifically, to stacker cranes for automated warehouses. The present invention relates to a fork operation control device for efficiently operating a fork wheel.

0002

[Conventional technology]

Automated warehouses are used in factories and warehouses to store processed products and finished products. It is. As shown in Figure 2, an automated warehouse consists of a large number of columns lined up vertically and horizontally, where cargo is placed. A stacker crane 1 has a shelf 2 and runs along rails 3 and 4 in front of the shelf 2. Loading and unloading of luggage W is performed. The stacker crane 1 moves up and down along the mast 6 It consists of a lifting platform 5 and a traveling cart 7, and the lifting platform 5 has a key fixed to the column 2a of the shelf 2. A fork 9 is provided as a delivery device for the luggage W placed on the chang 8. Ru. The traveling truck 7 has wheels 10 rolling on the rails 4 driven by a traveling motor 10a. The lifting platform 5 moves by driving the chain 12 by the lifting motor 11. It is raised and lowered by The stop positioning control of the lifting platform 5 and the traveling trolley 7 is performed by The encoders 13 and 14 detect the traveling distance and the driving distance of the chain 12. Upon receiving the information, the control device 15 controls the traveling motor 10a and the lifting motor 11. It is done by doing.

0003 In such a stacker crane 1, the cargo W is transferred using the fork 9. This is done by operating the lifting platform 5 and the traveling trolley 7. For example, luggage W is stored on shelf 2. When receiving from a machine, first run the traveling cart 7, raise and lower the lifting platform 5, and then pick it up. The fork 9 is stopped so that it is positioned below the load W to be taken out as seen in FIG. So Then, extend the fork 9, raise the lifting platform 5 to lift the load W, and then move the fork again. The arch 9 is shortened and the cargo W is accommodated on the lifting platform 5. Conversely, when putting luggage W into shelf 2 indicates that the fork 9 on which the cargo W is placed is located above the shelf 2 where the cargo is to be placed. Arrange the lifting platform 5 so that the shelf Place the load W on top of 2 and retract the fork 9.

0004 FIG. 4 shows the operation of the fork 9 when receiving the cargo W from the shelf 2. Flips at startup After the fork 9 accelerates to low speed, it moves at low speed for a while and then accelerates to high speed. when stopped Conversely, the vehicle decelerates from high speed to low speed, runs at low speed, and then stops. as shown by the arrow The high speed b when the fork 9 is extended is the high speed a when the fork 9 is retracted. Its absolute value is larger than . For example, high speed b is 30 m/min, while high speed b is 30 m/min. The speed a is 20 m/min. Therefore, move fork 9 by the same distance. The time needed to expand and shorten the time will differ. This is because fork 9 When the load W is loaded, the fork 9 should be applied to prevent the load W from collapsing. This is because the acceleration during deceleration is limited. Conversely, when putting luggage W on shelf 2 Needless to say, the time to shorten is shorter than the time to lengthen.

[0005]

[Problem that the idea aims to solve]

The movement of the fork 9 is fixed in a preset pattern, and Regardless of the state of the object W, it operated at a constant acceleration and speed as shown in FIG. shelf 2 accommodates various types of luggage, and due to differences in packaging style, weight, etc. The susceptibility to collapse also differs. The movement pattern of the fork 9 is Be sure to fix the items that are most likely to collapse in a pattern that will prevent them from collapsing. Therefore, it takes a long time to receive and receive packages, and This hindered the improvement of business efficiency.

[0006] Therefore, the purpose of this invention is to adjust the movement pattern of the fork depending on the ease with which the load collapses. A stacker crane that can be changed to improve work efficiency. The present invention provides a fork motion control device.

[0007]

[Means to solve the problem]

In order to achieve the above purpose, the present invention has developed A detection means for detecting the current state and processing of the values sent from the detection means A stacker equipped with a control means that calculates the fork movement and controls the fork movement. A crane fork motion control device was constructed.

[0008]

[effect]

Since the present invention has the above configuration, it has the following effects.

[0009] In the stacker crane fork operation control device according to the present invention, the stacker crane The detection means detects the state of the cargo to be loaded onto the crane. Is it a detection means? The condition of the cargo is sent as a value to the control means, and the control means uses this value to determine the optimal fork. Calculate motion. The control means controls the movement of the fork based on the obtained fork movement. Control.

0010 Therefore, according to the stacker crane fork operation control device according to the present invention, the load The degree of collapse of the load varies depending on the condition of the load, such as the shape and weight of the load. Select the optimal operation and perform efficient work with a balance between working time and preventing load collapse. be able to.

[0011]

【Example】

The illustrated embodiment will be described below.

0012 FIG. 1 shows an embodiment of a fork operation control device for a stacker crane according to the present invention. It is a block diagram showing the main configuration, and FIG. 2 is an automated warehouse to which the embodiment of FIG. 1 is applied. It is a front view showing a part of.

[0013] In each figure, the control device 15 receives information from the encoders 13 and 14 as described above. Based on the information, the traveling motor 10a and the lifting motor 11 are driven. Furthermore, the control device 1 5 receives information from the shape sensor 16 and weight sensor 17. Shape sensor 16 The weight sensor 17 is provided at the upper part of the lifting platform 5, as shown in FIG. shape The sensor 16 is an image sensor that measures the height and height of the load W placed on the fork 9. and the overall shape. The higher the cargo W is, the more likely it is to collapse, and the higher the load Stability varies depending on the shape. The weight sensor 17 detects the lifting and lowering of the chain 12. This is a load cell installed at the part attached to the stand 5, and is a load cell that is attached to the chain 12. The weight of the load W is detected by measuring the load. The heavier the load W is, the heavier it is. This may cause the fork 9 to tilt or the lifting platform 5 to shake due to inertia when starting or stopping. It is easy for the load to collapse.

[0014] Based on the information from the shape sensor 16 and weight sensor 17, the control device 15 A control section 20 comprising a storage device 19 and a storage device 19 controls the drive device 18 of the fork 9. When the control device 15 receives the values from the shape sensor 16 and the weight sensor 17, it stores the values in the memory device. The arithmetic expression is read from the location 19 and the operation pattern is calculated. That is, the control device 15 calculates the optimal movement by performing appropriate calculations on each numerical value that is information about the shape and weight of the luggage. Obtain the production pattern. The control device 15 controls the drive device 18 according to the obtained operation pattern. is controlled to operate the fork 9.

[0015] An example of the operation pattern is shown in FIG. Figure 3 shows the highest speed to complete the work in the shortest time. The motion pattern f and the slowest motion pattern s, which takes the most time, are shown. The highest speed movement pattern f was determined to be the most unlikely to collapse due to the shape and weight of the load. In other words, when handling loads that are very stable and light in weight, turn, and in this case, it includes the same acceleration and deceleration acceleration and high speed c as in the case of empty cargo. . The high speed c is, for example, 30 m/min. The lowest speed movement pattern s causes the load to collapse. If it is judged that this is likely to occur, that is, if the package is unstable and heavy, , the acceleration is small, and the high speed a is also small. For example, high speed a is 20 m/min. In the case of the fastest operation pattern f, the time required for work is tf. ts is shorter than ts in the case of the lowest speed operation pattern s.

[0016] The motion patterns are not limited to these two, but also motion patterns including various accelerations and high speeds. This allows the work to be completed as quickly as possible without causing the load to collapse depending on the condition of the load. The possible movement pattern is calculated, and an appropriate working time between ts and tf is calculated. Delivery work is done at Therefore, according to this embodiment, the cargo can be prevented from collapsing. The work can be carried out in the minimum possible working time, resulting in efficient handover operations. It is possible to accomplish this goal.

[0017] Although the embodiments of the present invention have been described above, the present invention is not limited to the above embodiments. However, it should be noted that modifications can be made as appropriate within the scope of the gist of the present invention. Not even.

[0018] For example, in the illustrated embodiment, a shape sensor and a weight sensor are used as the detection means. However, the detection means are not limited to these two, and may also include shape sensors or weight sensors. You can get the effect with any one of them. In addition, in the illustrated embodiment, The control device 15 reads out the calculation formula from the storage device 19 and calculates the operation pattern. However, various motion patterns are registered in the storage device 19, and the detection means The control device 15 selects and reads the optimal operation pattern corresponding to the value sent from It may also be made to stick out.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing the main configuration of an embodiment of a fork operation control device for a stacker crane according to the present invention.

FIG. 2 is a front view showing an automated warehouse including a stacker crane to which the embodiment shown in FIG. 1 is applied.

FIG. 3 is a diagram showing the relationship between the moving speed of the fork and time in an example of the operation pattern in the embodiment shown in FIG. 1;

FIG. 4 is a diagram showing the relationship between the moving speed of a conventional fork and time.

[Explanation of symbols]

15 Control device 16 Shape sensor 17 Weight sensor 18 Drive device 19 Storage device 20 Control section

Claims (1)

[Scope of utility model registration request] [Claim 1] Detection means for detecting the state of cargo loaded on the stacker crane; and control means for processing the values sent from the detection means to calculate the optimum fork operation and controlling the fork operation. A fork operation control device for a stacker crane, comprising: