JPH0597207A - Stop position detector of stacker crane - Google Patents

Abstract

PURPOSE:To provide a stop position detector of a stacker crane for detecting the stop position of the crane through one sensor, for omitting work such as sensor mounting, and for cutting cost. CONSTITUTION:A stop position detector of a stacker crane traveling along a traveling rail, for taking in and out a load between each shelf, is provided on a crane 1, and a sensor 10 for stop position detection, for detecting that the crane 1 approaches a stop position of the crane 1, and that the crane 1 reaches the position, and a control part 14 for controlling the traveling state of the crane 1 based on a signal from the sensor 10, are provided. When it is detected that the crane 1 approaches the stop position, a signal for decelerating crane 1 is transmitted to a control part 14, and when it is detected that the crane 1 reaches the stop position, a signal for stopping the crane 1 is transmitted to the control part 14, by the sensor 10.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stop position detecting device for a stacker crane provided in an automatic warehouse or the like. In particular, the present invention relates to a stop position detection device for a stacker crane that can detect the approach and arrival of the crane to the stop position of the crane with a single sensor.

[0002]

2. Description of the Related Art Conventionally, a stop position of a stacker crane provided in an automated warehouse or the like is detected by a stop position detecting sensor attached to a crane body, and a predetermined stop position, for example, , It was supposed to detect the dock on the ground side.

FIG. 9 is a schematic plan view showing a main part relating to detection of a stop position of such a stacker crane.

In the figure, reference numeral 1 is a crane traveling on a traveling rail R. A mast 2 is erected on the crane 1. Sensors 3 and 4 are provided on the side surface 2a of the mast 2 for detecting a stop position, and both detect a dock 50 provided on the ground side. A control unit 5 performs deceleration control for decelerating the speed of the crane and stop control for stopping the crane.
The control unit 5 performs deceleration control of the crane when the sensor 3 detects a predetermined dock 50 while the crane is traveling in the direction of arrow A in the figure. After that, when the sensor 4 detects a predetermined dock 50, the crane stop control is performed.

[0005]

The detection of the stop position of the conventional stacker crane described above has the following problems.

[0006] Two sensors, one for decelerating the crane and one for stopping the crane, were required to detect the stop position of the crane. Therefore, there is a problem in that it takes time to attach the sensor, adjust the sensor, and the like, which is complicated and costly.

The object of the present invention is to solve the above problems and to detect the stop position of the crane with a single sensor, thereby reducing the labor for mounting the sensor and reducing the cost. It is to provide a stop position detection device for a stacker crane.

[0008]

In order to achieve the above object, the present invention relates to a stop position detection device for a stacker crane which travels along a traveling rail and takes a load into and out of a shelf. A crane for approaching the stop position of the crane, and a stop position detection sensor for detecting that each has arrived, and a control unit for controlling the traveling of the crane by a signal from this sensor, The sensor sends a signal for decelerating the crane to the control unit when detecting that the crane approaches the stop position, and stops the crane when detecting that the crane reaches the stop position. The above signal is sent to the control unit.

[0009]

Since the present invention has the above-mentioned structure, the following operational effects are obtained.

That is, when the crane moves and approaches a predetermined stop position, the sensor detects that the crane has approached the stop position and sends a signal for decelerating the crane to the control unit. The control unit decelerates the traveling speed of the crane based on the signal from the sensor. After that, when the crane reaches the stop position, the sensor detects that the crane reaches the stop position and sends a signal for stopping the crane to the control unit. The control unit
The signal from the sensor controls the crane to stop. As a result, the crane stops at the predetermined stop position.

Therefore, according to the stop position detecting device of the stacker crane of the present invention, the approach of the crane to the stop position and the arrival of the crane can be carried out by one sensor, and the labor for mounting the sensor is reduced. There is an effect that reduction and cost reduction can be achieved.

[0012]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a schematic plan view of an essential part showing an embodiment of a stop position detecting device for a stacker crane according to the present invention, FIG. 2 is a front view of a sensor, FIG. 3 is a plan view of the same, and FIG. 4 is a right side of the same. It is a side view.

In FIG. 1, reference numeral 10 is a sensor for detecting a stop position, which is attached to the side surface 2a of the mast 2 of the crane 1. In this embodiment, a direct reflection type photo sensor is used. As shown in FIG. 2, the sensor 10 is provided with a light projecting portion 11 and a light receiving portion 12, and these light projecting portion 11 and light receiving portion 12 are L-shaped fixtures 10a as shown in FIG. Are arranged toward the pillar 51 of the rack shelf. As a result, when the crane 1 travels to the pillar 51 of the rack shelf, the light emitted from the light projecting section 11 of the sensor 10 is reflected by the side surface of the pillar 51 of the rack shelf 50, and the light receiving section of the sensor 10 is detected. The light is received by 12.

The sensor 10 is provided with two output systems, an output which is turned on when the amount of received light in the light receiving section 12 exceeds a certain level and a self-diagnosis output which is turned off only when the amount of received light is within a certain level. There is. The output operation of the sensor 10 having such an output system is as shown in FIG. That is, assuming that the operation level of the sensor 10 is 1, the output of the sensor 10 is in the ON state when the operation level becomes 1 or more. In addition, the self-diagnosis output of the sensor 10 indicates that the amount of received light is 1 at the operation level.
It is set so that it is turned off only when it is within the level of 1.5 to 1.5.

A control unit 14 controls the deceleration and stop of the crane 1 based on the output of the sensor 10 and the self-diagnosis output. The control of the control unit 14 is as shown in the table of FIG. 7 by the output of the sensor 10 and the self-diagnosis output. That is, the output of the sensor 10 is OF
When the self-diagnosis output is ON in the F state, the control unit 1
4 controls the crane 1 to run at a low speed.
Next, when the output of the sensor 10 is ON and the self-diagnosis output is OFF, the control unit 14 controls the crane 1 so that the crane 1 travels at a very low speed. Also, the sensor 10
When both the output and the self-diagnosis output are ON, the control unit 14 controls the crane 1 to stop.

Next, the operation of the stop position detecting device for the stacker crane having the above-mentioned structure will be described with reference to FIG. In addition, the sensor 1 shown in (a) to (c) of FIG.
The output operation of the sensor 10 at the position of 0 and the traveling control of the control unit 14 are shown in FIGS.
Corresponds to ~ (C).

The sensor 10 of the crane 1 is shown in FIG.
When the position is, the amount of light received by the sensor 10 does not reach the operation level, the output of the sensor 10 is in the OFF state, and the self-diagnosis output is in the ON state. As a result, the control unit 14 controls the crane 1 to travel at a low speed.

Next, when the crane 1 travels, the sensor 10 moves to the position (b) in the figure and approaches the pillar 51, which is a predetermined stop position, and then the light projecting portion 11 of the sensor 10 is reached.
The more projected light is received by the light receiving unit 12, and the amount of received light increases to the operation level. As a result, the output of the sensor is turned on, and the self-diagnosis output is turned off. As a result, it is detected that the crane 1 has approached the stop position, and the control unit 14 controls the crane 1 to travel at a slow speed.

After that, when the crane 1 travels, the sensor 10 moves to the position of (c) in the figure, and when the crane 1 reaches the pillar 51 which is a predetermined stop position, the sensor 1
The light received by the light receiving unit 12 of 0 has an operating level of 1.5.
More than double. As a result, the output of the sensor 10,
Both the self-diagnosis output and the self-diagnosis output are turned on. As a result, it is detected that the crane 1 has reached the stop position, and the control unit 14 controls the crane 1 to stop.

As a result, the crane stops at the pillar 51, which is the predetermined stop position.

As described above, according to the stop position detecting device of the stacker crane of the present invention, the approach of the crane 1 to the stop position and the arrival of the crane 1 can be performed by one sensor 10, and the sensor can be used. There is an effect that labor such as mounting can be reduced and cost can be reduced.

Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications can be appropriately made.

For example, on the pillar 51 of the rack shelf facing the mounting portion of the sensor 10, the reflecting plate 1 as shown in FIG.
3 may be attached to increase the reflection efficiency.

[Brief description of drawings]

FIG. 1 is a schematic plan view of essential parts showing an embodiment of a stop position detection device for a stacker crane according to the present invention.

FIG. 2 is a front view of a sensor.

FIG. 3 is a plan view of the same.

FIG. 4 is a right side view of the same.

FIG. 5 is a front view of a reflector.

FIG. 6 is an output operation diagram of the sensor.

FIG. 7 is a control table of a control unit.

FIG. 8 is an operation explanatory view.

FIG. 9 is a schematic plan view showing a main part relating to stop position detection of a conventional stacker crane.

[Explanation of symbols]

 1 Crane 10 Sensor 14 Control unit R Traveling rail

Claims (1)

[Claims] 1. A stop position detection device for a stacker crane that travels along a travel rail to load and unload loads from and to a shelf, the device being provided on the crane, wherein the crane approaches a stop position of the crane. And a stop position detection sensor for detecting that each has reached, and a control unit for controlling the traveling of the crane by a signal from this sensor, the sensor, when detecting that the crane approaches the stop position In the stacker, a signal for decelerating the crane is sent to the control unit, and a signal for stopping the crane is detected when the arrival of the crane at the stop position is detected. Crane stop position detector.