JPH05246515A - Article transport device - Google Patents

Abstract

PURPOSE:To reduce a required time for transferring articles while preventing application of unnecessary impact to the articles by controlling actuation of an elevation drive device to set its speed faster after the articles are placed and supported on racks than that before or immediately after the articles are placed and supported on the racks. CONSTITUTION:In transferring a pallet P to a rack 1, an expansion fork 3b is actuated to protrude to the rack 1, where an elevation part is first moved down for a movement operation quantity V1 which is corresponding to a creep speed. When an upper surface of the expansion fork 3b reaches a level L2, increase of a movement operation quantity V is started. The level L2 is detected when an output signal of a detection plate 17b of a photosensor 15 is eliminated. The elevation part 3 further moves down exceeding a level LO, and the pallet P is transferred to a receiving frame 1a of the rack 1. When the upper surface of the expansion fork 3b reaches a level L3, decrease of the movement operation quantity V is started, and when it is decreased to the movement operation quantity V1 for the creep speed, the elevation part 3 is stopped at a level L4 at a lower side stop position.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention provides a rack provided with a plurality of shelves for accommodating articles arranged in a vertical direction, and an elevating part which is elevated and lowered along a side of the rack by a lifting drive device in a longitudinal direction. An article support part that is suspended and supported by a cord that is operated to be moved to, and an elevating part is provided with an article support part that is operated to enter and retract with respect to a rack. The operation of an elevating drive device and the entry operation of the article support part. And a control device for controlling the retreat operation is provided, and when the control device transfers the article to the shelf, the elevating section is stopped so that the article support section is located above the shelf, and the article support section is set. After the plunge operation, the elevating part is moved down, and when the articles stored in the shelf are transferred to the elevating part side, the elevating part is stopped so that the article support part is located below the shelf. The article support part, and then move it up and down. An article transport device is configured to raise move.

[0002]

2. Description of the Related Art Conventionally, in this type of article conveying apparatus,
When transferring an article to a shelf, lowering the elevating part with the article support part thrusting into the rack, and supporting an article stored in a shelf to the elevating part side. Ascending / descending movement of the elevating / lowering part with the part rushed into the rack
It was done at a constant speed.

[0003]

However, according to the above-mentioned prior art, the above-mentioned constant speed is applied to the article when the article descends and comes into contact with the shelf, or when the article support portion rises and comes into contact with the article. In order to prevent an unnecessary impact from being applied to the article at the time of carrying out, it is necessary to set a very slow speed, so-called creep speed, which causes a problem that the time required for transferring the article becomes long. Moreover, the rope-like body that suspends and supports the elevating part normally has a certain amount of elongation corresponding to the suspending load, and when transferring articles to a shelf,
For a while after the product contacts the shelf until the contraction of a certain amount of expansion ends, or when transferring the product stored in the shelf to the lifting unit side, the product support unit contacts the product. For a while until the constant elongation occurs, even if the lifting drive moves the cord in the longitudinal direction, the lifting part does not actually move, and the lifting drive moves. In the prior art in which the cord-shaped body is moved and operated at the above-mentioned creep speed, there is a disadvantage that the time required for transferring the article is further lengthened. The present invention is to eliminate the above-mentioned conventional drawbacks.

[0004]

A first characteristic configuration of an article transporting apparatus according to the present invention is such that, when a control apparatus transfers an article to a shelf, the operation of moving a cord-like body by a lifting drive device is
It is configured to control the operation of the elevating / lowering device so that the article is faster than before it is supported on the shelf or immediately after it is supported on the shelf.

A second characteristic configuration of the article conveying apparatus according to the present invention is such that, when the articles stored in the shelves are transferred to the elevating / lowering side, the operation of moving the cord by the elevating / lowering drive device causes the articles to be articles. The point is that it is configured to be faster after being mounted and supported on the support portion or immediately after being mounted and supported.

[0006]

According to the first characteristic configuration of the present invention, when the articles are transferred to the shelves, the operation of moving the cords by the lifting drive device is performed before or after the articles are mounted and supported on the shelves. Since it is configured to be faster after it is supported on the rack, it prevents the product from being unnecessarily impacted when it comes in contact with a shelf while it descends and descends. It is possible to quickly perform the operation of moving the cord-like body by the elevating and lowering drive device, which is related to the descending movement of the cord.

According to the second characteristic configuration of the present invention, when the articles stored in the shelves are transferred to the elevating section side, the operation of moving the cord-like body by the elevating and lowering drive device causes the articles to be the article supporting section. Since it is configured to be faster before and after being mounted and supported on the article, unnecessary impact on the article when the article support part rises and contacts the article It is possible to quickly perform the operation of moving the cord-like body by the lifting drive device, which is related to the lifting movement of the lifting unit, while preventing the addition of the force.

[0008]

According to the first characteristic configuration of the present invention, when the articles are transferred to the shelves, the operation of moving the cord-like body by the elevating drive device related to the downward movement of the elevating part can be performed quickly. Therefore, it is possible to provide the article transporting apparatus in which the time required for transferring the articles is shortened.

According to the second characteristic configuration of the present invention, when the articles stored in the shelves are transferred to the elevating part side, the operation of moving the cord by the elevating drive device relating to the ascending movement of the elevating part is performed. Since it can be carried out quickly, it is possible to provide an article transporting apparatus in which the time required for transferring articles is shortened.

[0010]

Embodiments of the present invention will be described below with reference to the drawings. 1 to 6 show a multi-storey parking lot in which the article transport apparatus according to the present invention is applied to a vehicle transport apparatus C.
As shown in FIG. 1, the multi-storey parking lot has a vehicle storage rack A for storing a pallet P in which a vehicle G as an article can be mounted in a rack portion in which a plurality of shelves 1 are arranged in a vertical direction, and a ground floor thereof. The pallet P is formed in a portion and has an external communication port 2 and is provided with an external communication part B used for loading and unloading of the vehicle G and an elevating part 3 between the shelf 1 and the external communication part B. And a vehicle carrier C for carrying the carrier.

Thereafter, in the present embodiment, the direction of the external communication portion B that faces the depth of the external communication portion B is the depth direction of the multi-story parking lot, and the direction orthogonal to the depth direction extends across the lateral width of the opening of the external communication port 2. The width direction of the multi-storey car park.

The vehicle storage rack A is provided with a pair of rack portions on both sides in the depth direction inside the vehicle storage rack A, each of which is provided with a plurality of shelves 1 arranged vertically. The shelf 1 includes a pallet P for mounting on a vehicle and a pair of receiving frames 1 for mounting and supporting both longitudinal end portions of the pallet P.
The vehicle G is mounted on the pallet P and is housed. An elevating passage S is provided along the side of each rack portion between the pair of rack portions,
Moreover, the lower end thereof is formed so as to project into the external communication portion B. A pair of guide rails 4 for guiding the lifting / lowering of the lifting / lowering section 3 along the lifting / lowering path S are attached to both sides of the lifting / lowering path S in the lateral direction so as to sandwich both sides in the longitudinal direction of the lifting / lowering section 3. ing.

The external communication section B has an external communication port 2, and when the vehicle G is loaded or unloaded, the elevating section 3 is located inside the vehicle, and the lower end of the elevating passage S is located at the bottom. A pit 5 is provided so as to be continuously connected to the turntable 6, and a turntable 6 that can be operated to move up and down and turn inside the pit 5.
It comprises a swivel device 6 with a. Pallet P
In the external communication portion B, the longitudinal direction thereof is the external communication port 2
The vehicle G is loaded and unloaded by the vehicle G self-propelled. The pallets P loaded with the vehicles G in the warehousing work are carried on the turntable 6a by raising the turntable 6a of the turning device 6 and turned 90 degrees, and as the elevation unit 3 rises, the elevation unit 3 moves. Reprinted on top. In the warehousing operation, the pallet P is transferred onto the turntable 6a in the raised position as the elevating part 3 descends, rotated 90 degrees, and mounted on the external communication part B.

As shown in FIG. 2, the vehicle carrying device C comprises an elevating part 3 for mounting a pallet P and elevating the elevating passage S, and an elevating drive mechanism D for elevating the elevating part 3. ing. The elevating part 3 includes a base frame 3a.
And 2 as an article support portion for placing and supporting the pallet P on the base frame 3a and transferring the pallet P to and from the shelf 1.
Book extension and contraction fork 3b and side frames 7 vertically standing at the centers of both sides in the longitudinal direction of the base frame 3a.
And a side plate 3 mounted along the side frame 7 on the center side of the elevating part of the side frame 7 and erected further upward.
c, a shield 3d attached to the upper part of the side plate 3c in a roof shape, and a floor plate 3e. The telescopic fork 3b has a slide mechanism so that the telescopic fork 3b can be extended and retracted in the longitudinal direction thereof, and the telescopic fork drive device 1 to be described later.
The vehicle 9 is configured to be rushed into and retracted from the vehicle storage rack A. Side frame 7
3, the guide rail 4 is sandwiched by at least two upper and lower points by a pair of rollers 7a to guide the elevating part 3 to ascend and descend along the ascending / descending path S, and at the same time, the telescopic fork 3b. When the pallet P is transferred by elongating, the pallet P is configured to be supported so as not to tilt due to the movement of the center of gravity.

As shown in FIG. 2, the elevating / lowering drive mechanism D connects the longitudinal weight sides of the elevating part 3 to the balance weights 9 by the two systems of ropes 8 and suspends the ropes 8. The lower pulleys 10a, 10b, 10c, 10d and the drive pulley 11b of the elevating and lowering drive device 11 having the braking device 11a are wound around the drive pulley 11b. Therefore, the elevating part 3 has its longitudinal direction oriented in the lateral width direction,
The rope 8 is suspended and supported by the rope 8 in the ascending / descending path S, and is moved up and down by a moving operation of the rope 8 by the elevation drive device 11. The drive shaft 11c of the elevation drive device 11 is provided with a rotary encoder 12 as a rotation amount detection means for detecting the rotation amount of the elevation drive device 11. The rotary encoder 12 is a control device H described later.
The control unit 13 is connected to the control unit 13 and is configured to detect the vertical movement amount and vertical movement speed of the vertical movement unit 3 by measuring the count value of the encoder.

Further, as shown in FIG. 3, photo interrupter type photosensors 14 and 15 are provided on the side surface of the base frame 3a of the elevating part 3, while in the elevating passage S, Detection plates 16 and 17 are attached at predetermined positions so that the photosensors 14 and 15 can detect them as the lifting unit 3 moves up and down. The photo sensors 14 and 15 are also connected to the control unit 13,
Accordingly, the presence of the elevating part 3 at a predetermined position is detected.

A control unit H is shown in FIG. The control device H has a control unit 13 of a microcomputer as a main part, a rotary encoder 12 and photosensors 14 and 15 are connected to the control unit H, and an interface 1
The lifting drive device 11 and the telescopic fork drive device 19 are connected via 8 and thus the rotary encoder 1
2 is configured to control the operation of the lifting drive device 11 and the operation of the telescopic fork drive device 19 based on the detection information of the photosensors 14 and 15.

In this multilevel parking lot, the transfer of the pallet P mounted on the elevating part 3 to the shelf 1 is carried out as follows. First, the elevating unit 3 moves to the side of the shelf 1 in which the pallet P is to be stored, and stops so that the upper surface of the telescopic fork 3b is located above the shelf 1. This position is hereinafter referred to as the upper stop position. This position is the photo sensor 14
Is obtained by detecting the detection plate 16a.
Next, as shown in FIG. 5, the telescopic fork 3b is pushed in to move the pallet P and the vehicle G above the receiving frame 1a of the shelf 1. When the elevating part 3 is lowered in this state, the pallet P is mounted and supported on the receiving frame 1a as shown in FIG. As shown in FIG. 7, the elevating unit 3 descends until the upper surface of the telescopic fork 3b separates from the pallet P. This position is hereinafter referred to as the lower stop position. This position is obtained by the photosensor 14 detecting the detection plate 16b. The elevating part 3 retracts the telescopic fork 3b after reaching the lower stop position, and thus ends the transfer of the pallet P and the vehicle G to the shelf 1. Also,
When the pallet P stored in the shelf 1 is transferred to the elevating unit 3, the pallet P to be transferred to the elevating unit 3 is moved to the side of the shelf 1 in which the pallet P to be transferred is stored, and As shown in FIG. 7, after stopping so that the upper surface of the telescopic fork 3b is positioned below the shelf 1, the elevating part 3 and the telescopic fork 3b may be operated in the reverse order of the above procedure.

At this time, the operation of moving the cord 8 by the lifting drive device 11 for moving the lifting unit 3 up or down is performed as follows. FIG. 8 is a graph showing the movement operation amount V of the cord 8 associated with the descending movement of the elevating / lowering unit 3 when the pallet P is transferred to the shelf 1 and the telescopic fork 3b is thrust into the shelf 1. It is shown. On the left side of the graph, the output signals of the detection plates by the photosensors 14 and 15 are shown in correspondence with the level L at which the upper surface of the telescopic fork 3b is located. In the figure, the level L0 indicates the level of the receiving frame 1a of the shelf 1. Level L1 is
It shows a state in which the elevating part 3 is stopped at the upper stop position. First, the elevating unit 3 is lowered by the movement operation amount V1 corresponding to the creep speed. And
When the upper surface of the telescopic fork 3b reaches the level L2, the movement operation amount V starts to increase. The level L2 can be detected when the output signal of the detection plate 17a of the photo sensor 15 disappears. The elevating / lowering unit 3 further descends beyond the level L0. At this time, pallet P
Are transferred onto the receiving frame 1a of the shelf 1. In the portion shown by the dotted line on the graph, the actual descending distance of the elevating part 3 and the movement operation amount V of the cord 8 do not match due to the interposition of the elongation of the cord 8; This is the part that cannot be plotted. Further, in the descending operation of the elevating part 3, the upper limit moving operation amount V2 is set and the drive device 11 is controlled in view of safety when decelerating a heavy object. Next, when the upper surface of the telescopic fork 3b reaches the level L3, the reduction of the moving operation amount V is started. The level L3 can be detected by the photosensor 15 detecting the detection plate 17b. After the moving operation amount V is reduced to the creep speed moving operation amount V1, the elevating unit 3 is stopped at the level L4 at the lower stop position.

Further, FIG. 9 is a graph showing a moving operation amount V of the cord 8 when the pallet P stored in the shelf 1 is transferred to the elevating unit 3 side. In the figure, level L5 indicates a state in which the elevating part 3 is stopped at the lower stop position. First, the elevating part 3 is raised by the movement operation amount V1 corresponding to the creep speed. Then, when the upper surface of the telescopic fork 3b reaches the level L6, the movement operation amount V starts to increase. The level L6 can be detected when the output signal of the detection plate 17b of the photo sensor 15 disappears. The elevating unit 3 further rises above the level L0. At this time, the pallet P is transferred from the receiving frame 1a of the shelf 1 onto the telescopic fork 3b. still,
As in the case of FIG. 8, the portion indicated by the dotted line on the graph shows that the actual rising distance of the elevating part 3 and the movement operation amount V of the cord 8 are intervened by the extension of the cord 8. It is a part that does not match and cannot be plotted on the graph. Next, when the upper surface of the telescopic fork 3b reaches the level L7, the reduction of the moving operation amount V is started. The level L7 can be detected by the photosensor 15 detecting the detection plate 17a. After the movement operation amount V is reduced to the creep speed movement operation amount V1, the elevating unit 3 is stopped at the level L8 at the upper stop position.

[Other Embodiments] In the above-mentioned embodiment, the photo interrupter type photosensors 14 and 15 are used as the means for detecting the level L at which the telescopic fork 3b is located. Can be appropriately changed. For example, a photo sensor in which the light receiving unit and the light emitting unit are separately provided or a magnet-sensing proximity sensor may be used. Further, the structure and the mounting position can be changed appropriately.

Further, the increase amount and the decrease amount of the movement operation amount V of the cord 8 can be appropriately selected, and the inclination and length of the graphs in FIGS. 8 and 9 are not limited.

It should be noted that reference numerals are given in the claims for convenience of comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 is a side view showing the overall structure of a multi-storey car park.

FIG. 2 is a perspective view showing the structure of a vehicle carrier.

FIG. 3 is a side view showing a longitudinal side portion of the lifting portion.

FIG. 4 is a block diagram showing a control device.

FIG. 5 is a side view showing an elevating part at a side of a shelf.

FIG. 6 is a side view showing an elevating part on the side of the shelf.

FIG. 7 is a side view showing an elevating part on the side of the shelf.

FIG. 8 is a graph showing a movement operation amount of a cord.

FIG. 9 is a graph showing a movement operation amount of a cord.

[Explanation of symbols]

 A rack G article H control device 1 shelf 3 elevating part 3b telescopic fork 8 cord 11 elevating drive device

Claims (2)

[Claims] 1. A rack (A) having a plurality of shelves (1) for accommodating articles (G) arranged in a vertical direction is provided, and an elevating part (3) is vertically moved along the side of the rack (A). )
Are suspended and supported by a rope-like body (8) that is moved and operated in the longitudinal direction by the lifting drive device (11), and the lifting unit (3) performs a plunging operation and a retracting operation with respect to the rack (A). An article support part (3b) is provided, and a control device (H) for controlling the operation of the elevating and lowering drive device (11) and the inrush operation and the retraction operation of the article support part (3b) is provided, When the control device (H) transfers the article (G) to the shelf (1), the elevating unit (3) is positioned so that the article support section (3b) is located above the shelf (1). 3) is stopped, the article support section (3b) is rushed into operation, then the elevating section (3) is moved downward, and the article (G) stored in the shelf (1) is In the case of transferring to the lifting section (3) side, the article support section (3b)
The elevating part (3) is stopped so as to position the lower part of the shelf (1), the article supporting part (3b) is rush-operated, and then the elevating part (3) is moved upward. In the article transporting device, the control device (H) stores the article (G) in the shelf (1).
In the case of transfer to the rack, the operation of moving the rope (8) by the lifting drive device (11) is performed before or after the article (G) is mounted and supported on the shelf (1). An article transporting device configured to control the operation of the lifting drive device (11) so that the speed of the rearward movement is faster than that immediately after. 2. A rack (A) having a plurality of shelves (1) for accommodating articles (G) arranged in a vertical direction is provided, and an ascending / descending unit (3) for elevating / lowering along a side of the rack (A). )
Are suspended and supported by a rope-like body (8) that is moved and operated in the longitudinal direction by the lifting drive device (11), and the lifting unit (3) performs a plunging operation and a retracting operation with respect to the rack (A). An article support part (3b) is provided, and a control device (H) for controlling the operation of the elevating and lowering drive device (11) and the inrush operation and the retraction operation of the article support part (3b) is provided, When the control device (H) transfers the article (G) to the shelf (1), the elevating unit (3) is positioned so that the article support section (3b) is located above the shelf (1). 3) is stopped, the article support section (3b) is rushed into operation, then the elevating section (3) is moved downward, and the article (G) stored in the shelf (1) is In the case of transferring to the lifting section (3) side, the article support section (3b)
The elevating part (3) is stopped so as to position the lower part of the shelf (1), the article supporting part (3b) is rush-operated, and then the elevating part (3) is moved upward. In the article transporting device configured, when the article (G) stored in the shelf (1) is transferred to the lifting unit (3) side, the lifting drive device (1
The operation of moving the cord (8) by 1) becomes faster after the article (G) is placed on and supported by the article support portion (3b) or immediately after the article (G) is placed and supported. Article transporting device configured as described above.