JPH0524607A - Control method for fork lifting position in automatic high raised warehouse - Google Patents

Abstract

PURPOSE:To handle coils the outer diametrical dimensions of which are different from each other without using a pallet. CONSTITUTION:In an automatic high raised warehouse having a storage shelf which is set to an optional height in order to store hollow coils the outer diametrical dimensions of which are different from each other, and a stacker crane for conveying the coils by a fork capable of being inserted into the central parts of the coils, the fork lifting position at the time when warehousing of the coils is completed is measured, and a data on the lifting position is stored, and based on the lifting position data, control for setting the lifting position of the fork at the time when the coils are delivered, is performed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a multi-tiered storage rack,
In a three-dimensional automatic warehouse having a traveling device, an elevating device, and a stacker crane equipped with a coil supporting fork, the present invention relates to a method for controlling a fork elevating position when unloading empty-core coils having different outer diameter dimensions without a pallet. is there.

[0002]

2. Description of the Related Art Conventionally, a forklift-type stacker crane is used to handle the loads of coils in a three-dimensional automated warehouse in which coils wound with steel strips are stored in multi-tiered shelves. , The coil C is temporarily fixed on a predetermined pallet P, and the pallet P is
It is common to carry in and out every time. The warehouse shelf corresponding to such a system is composed of arms A that support both sides of the pallet P. The fork F is inserted from the lower surface of the pallet P and the work is carried out by picking it up as shown in FIG. Be done. In the case of this method, since the fork insertion position can be determined regardless of the outer diameter of the coil to be stored, the upper surface height dimension (H) of the pallet supporting arm A, which is a mechanical fixed value, is used as a reference. The fork lift position can be controlled.

[0003]

According to such a conventional method, although it is not affected by the size of the coil, a large number of dedicated pallets are required and it is necessary to transfer the pallets onto the pallets. It was difficult to simplify the handling of cargo.

The present invention has been devised in order to eliminate such disadvantages of the prior art, and its main purpose is to:
It is an object of the present invention to provide a method for controlling a fork lift position that enables handling of air-core coils having different outer diameter dimensions without using a pallet.

[0005]

According to the present invention, such an object is to provide a storage shelf set at an arbitrary height position for storing air-core coils having different outer diameters, and a center of the coil. In a three-dimensional automatic warehouse having a stacker crane that conveys the coil with a fork that can be inserted into the section, the elevating position of the fork at the time of completion of storing the coil is measured and the elevating position data is stored, This is achieved by performing the vertical positioning control of the fork when the coil is unloaded based on the vertical position data.

[0006]

With this structure, the fork position at the time of placing the coil on the shelf at the time of warehousing is stored, and the target height of fork insertion at the time of warehousing is determined based on the stored data. You can Therefore, the raising / lowering position control of the fork according to the proper support position of the coil at the time of leaving can be performed regardless of the difference in the outer diameter of the coil.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The construction of the present invention will be described in detail below with reference to specific embodiments shown in the accompanying drawings.

FIG. 1 shows a schematic structure of a three-dimensional automatic warehouse to which the present invention is applied. This three-dimensional automated warehouse is for storing coils 1 wound with steel strips, etc., and has storage shelves 2 having a plurality of rows and a plurality of stages, and a stacker crane 3 that automatically travels toward a designated row of shelves. , A fork lifting device 4 that automatically moves up and down toward a designated shelf, and a fork 5 that supports the coil 1.

The storage shelf 2 is divided into rows and columns in a grid pattern, and a pedestal 6 for mounting the coils 1 is provided in each storage section. The coils 1 are randomly placed on these pedestals 6. Therefore, taking a certain shelf as an example, there is a possibility that the coils 1 having different outer diameters may be stored each time the coil 1 is loaded or unloaded.

As shown in FIG. 2, the coil supporting fork 5 is composed of one claw that can be inserted into the center of the coil 1, and is suspended from the fork lifting device 4 which is driven up and down by the lifting driving device 7. The coil 1 is hung and can be moved in and out of the upper surface of the gantry 6, so that the coil 1 can be loaded and unloaded from the gantry 6. Further, the presence detector 8 using a limit switch or the like is provided. A pulse transmitter 9 such as a rotary encoder is attached to the lifting drive unit, and the fork lifting unit 4 is constantly measured to measure the moving distance in the height direction.
It is designed to detect the ascending / descending position of.

Next, the operation of the stacker crane 3 will be described with reference to FIG. First, the coil 1 is placed on the fork 5 at the loading area (ST1). Next, if the positions (rows and columns) of the storage shelves are separately designated by the input device, the stacker crane 3 is self-propelled and stopped in front of the target row of shelves (ST2). At the same time, the fork lifting device 4 moves up and down and stops in front of the target shelf (ST3). At this time, the height position of the fork 5 when the coil 1 is stored in the target shelf is determined by a value obtained by adding a certain fixed value according to the coil to be handled to the designed height dimension of the target shelf. Just go.
Next, the fork 5 is advanced to above the mount 6 (S
T4), the coil 1 is aligned on the pedestal 6, and the fork lifting device 4 is lowered (ST5). When the coil 1 is placed on the pedestal 6, the presence detector 8 is turned off (ST6). Using this signal as a command, the signal of the pulse transmitter 9, that is, the height position data of the fork 5 is stored in the controller. Read in the storage device (ST7). When the storage work of the coil 1 on the pedestal 6 is completed as described above, the stacker crane 3 returns to the standby position in the reverse order of the above (ST.
8).

Now, when inserting the fork 5 to take out the stored coil 1, the fork height at the time of leaving is calculated by the following equation.

Hi = Hm -δm

However, Hi: Fork set height at the time of leaving the warehouse Hm: Height data stored in step 7 δ m: Gap (fixed value)

If this value (Hi) is stored in correspondence with the address of the receiving shelf, the fork 5 can be moved up and down and the stacker crane 3 can be run at the same time when the product is delivered, so that the product can be delivered with high efficiency. Can be done.

[0016]

As described above, according to the present invention, when the coils having different outer diameters are discharged from each other, the fork can be discharged toward the target position determined based on the position data stored at the time of storage. it can. Further, since the fork height that matches the coil specifications can be automatically controlled, it is not necessary to use a pallet, and it is possible to omit the transshipment work to the pallet.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of a three-dimensional automated warehouse to which the present invention is applied.

FIG. 2 is a partial view showing a fork part in a stacker crane used in the same automated warehouse with a part thereof being cut away.

FIG. 3 is a control flow chart of the present invention.

FIG. 4 is a front view showing a state in which a coil is stored according to a conventional method.

FIG. 5 is a front view showing a state where the fork is similarly lifted.

[Explanation of symbols]

 1 Coil 2 Storage Rack 3 Stacker Crane 4 Fork Lifting Device 5 Fork 6 Stand 7 Lifting Drive Device 8 In-Load Detector 9 Pulse Transmitter

Claims (1)

Claim: What is claimed is: 1. A storage shelf set at an arbitrary height position for storing air-core coils having different outer diameters, and a fork that can be inserted into the center of the coil. A method for controlling a fork lift position in a three-dimensional automated warehouse having a stacker crane for transporting a stacker crane, which measures the lift position of the fork at the time when the coil is completely stored, and stores the lift position data. In addition, the method for controlling the fork lift position in a three-dimensional automatic warehouse is characterized in that the fork lift positioning control is performed when the coil is unloaded based on the lift position data.