JPH06144504A - Carrying-in and-out device of automated warehouse - Google Patents

Abstract

PURPOSE:To carry in and out loads with high time efficiency without collapse of a load stack by variably-setting the accelerating/decelerating speed of the elevating travel of a lifter so as to obtain a proper value according to loading weight. CONSTITUTION:A load cell 65 which serves as a weight detecting means is installed at a locking part to an upper beam 15 by the wire fixture 41 of a suspending wire 45 in a lifter disposed between a pair of columns 13, and the loading weight of a load G applied onto the lifter is detected from tractive force which works upon the suspending wire 45. An output signal of the load cell 65 is inputted into a control device, and accelerating/decelerating speed and stationary speed are variably-set to proper ones in an elevating drive motor 63. Namely, the heavier the loading weight is, the lower speed of the elevating drive motor 63 is set. It is thus possible to operate the lifter at a high speed within such a range as the load stack is not collapsed, and to carry in and out the loads with high time efficiency.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a loading / unloading device for an automatic warehouse, and more particularly to a loading / unloading device for an automated warehouse that includes a lifter that can be moved up and down and that loads and unloads loads to and from the upper and lower shelves of a warehouse shelf. .

[0002]

2. Description of the Related Art Generally, a loading / unloading device for an automatic warehouse includes a lifter that can be raised and lowered, and is configured to load and unload loads to and from the upper and lower shelves of a warehouse shelf by moving the lifter up and down. It is called a crane.

The lifting / lowering movement of the lifter of the loading / unloading device as described above is performed by driving a motor at a predetermined constant acceleration / deceleration.

[0004]

The lifter acceleration / deceleration of the loading / unloading device is preferably as fast as possible in order to shorten the loading / unloading time of the load. If the height is high, the load loaded on the lifter may shift when the lifter starts to move up and down and when the lifter stops moving, causing a load collapse.

For this reason, in the conventional loading / unloading apparatus, the acceleration / deceleration rate of the lifting / lowering movement of the lifter is set to a safe value at the maximum load weight of the load, and the lifter is loaded or unloaded with the loader. Also, when a heavy load is loaded on the lifter or when a light load is loaded, the lifter always accelerates with the safe acceleration at the maximum load weight, and also decelerates and stops with the safe deceleration at the maximum load weight. Driving is being done.

Therefore, in the conventional loading / unloading apparatus, loading / unloading of load is not performed in a time-efficient manner. In addition, in the conventional loading / unloading device, the maximum load weight of the lifter may be conversely limited in order to obtain a certain acceleration / deceleration.

The present invention has been made by paying attention to the above-mentioned problems in the conventional loading / unloading apparatus for an automatic warehouse, and is an automatic loading / unloading apparatus for time-efficient loading / unloading without causing a load collapse. It is intended to provide a loading / unloading device for a warehouse.

[0008]

According to the present invention, the above-mentioned objects include a lifter that can be lifted and lowered, and the lifting and lowering movement of the lifter allows loading and unloading of cargo to and from the upper and lower shelves of a warehouse shelf. In the loading device, a driving means for driving the lifter up and down, a weight detecting means for detecting a loaded weight of a load loaded on the lifter, and a lifting movement of the lifter according to the loaded weight detected by the weight detecting means. And the control means for variably setting the lifting speed of the lifter to proper values respectively.

[0009]

According to the above-mentioned structure, the acceleration / deceleration of the lifting / lowering movement of the lifter, and further the lifting / lowering speed of the lifter are variably set to proper values in accordance with the loaded weight detected by the weight detecting means, and the loaded weight is adjusted according to the loaded weight. Therefore, the acceleration / deceleration of the lifting / lowering movement of the lifter becomes as high as possible, and the lifting / lowering movement of the lifter becomes as fast as possible.

[0010]

Embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

1 and 2 show an embodiment of a loading / unloading device for an automatic warehouse according to the present invention.

In these drawings, reference numeral 1 indicates a warehouse shelf of an automated warehouse, and the warehouse shelf 1 has a plurality of shelf stages 3 at predetermined intervals in the vertical direction, and each shelf stage 3 has a plurality of stages. The pallet 5 is stored so that it can be carried in and out.

The pallet 5 is designed to carry a load G such as a plate material via a skit 7 in a loaded state. In this loaded state, each tier 3 of the warehouse shelf 1 is shown in FIG. It can be inserted and removed in the left-right direction when viewed, that is, can be carried in and out. The loading and unloading of the pallet 5 to and from the warehouse shelf 1 is performed from the left side of the warehouse shelf 1 as seen in FIG.

A stacker crane 9 as a loading / unloading device is arranged on the pallet loading / unloading side of the warehouse shelf 1, that is, on the left side in FIG.

The stacker crane 9 has a traveling frame 17 composed of a lower beam 11, a pair of columns 13 standing on the lower beam 11, and an upper beam 15 connecting the upper ends of the columns 13 to each other. The traveling frame body 17 is engaged with the lower guide rails 21 laid on the floor by the traveling wheels 19 provided on the lower beam 11, and the upper portions installed on the ceiling of the warehouse shelf 1 by the guide rollers 23 provided on the upper beam 15. It engages with the guide rails 25, and guided by these guide rails 25, it runs in the arrangement direction of the warehouse shelves 1 in the left-right direction.

A traveling drive motor 27 for rotating the traveling wheels 19 is mounted on the traveling frame 17.

Guide rails 29 are attached to the pair of columns 13 of the traveling frame 17 in the vertical direction. A lifter (elevator carrier) 31 is arranged between the pair of columns 13, and the lifter 31 is engaged with the guide rail 29 by rollers 33 provided at both ends and guided by the guide rail 29 to be in a horizontal posture. It can be moved up and down.

The lifter 31 is configured to support the pallet 5 so as to be movable in the left-right direction in FIG. 1, that is, in the pallet loading / unloading direction with respect to the warehouse shelf 1. The lifter 31 is provided with a tracker 35. The tracker 35 is driven on the lifter 31 in the pallet loading / unloading direction of the warehouse shelf 1, and is removably engaged with the pallet 5 to load / unload the pallet 5 to / from the rack 3.

The structures of the lifter 31 and the tracker 35 may be the same as those of the conventional ones.
See Publication No. 1.

Pulleys 37 are provided at both ends of the lifter 31, respectively.
39 is rotatably mounted. Pulleys 37, 3
9, a suspension wire 45, one end of which is locked by wire fixing members 41 and 43 of the upper beam 15 of the traveling frame 17,
47 are wound around each. The suspension wires 45, 47 are
Pulleys 49, 5 rotatably mounted on the upper beam 15
The winding drums 1 and 53 are wound around the other end, and the other end is locked to the winding drum 55 mounted on the traveling frame 17.

The take-up drum 55 is a belt transmission device 57.
Is connected to the speed reducer 59 by means of a drive mechanism, and the speed reducer 59 is connected by means of a belt transmission 61 to a lifting drive motor 63 mounted on the traveling frame 17. Winding drum 5
5 is driven in forward / reverse rotation by a lifting drive motor 63,
By this forward and reverse rotation drive, the suspension wires 45 and 47 are wound and unwound, and the lifter 31 is moved up and down in a horizontal posture.

A load cell 65 as a weight detecting means is attached to an engaging portion of the suspension wire 45 to the upper beam 15 by the wire fixture 41. Load cell 6
Reference numeral 5 is a well-known strain-electric conversion type structure having a built-in electric resistance strain gauge, and detects the load weight of the load loaded on the lifter 31 from the tensile force acting on the suspension wire 45.

FIG. 3 shows a control system of the loading / unloading device according to this embodiment. This control system has a control device 67 for controlling the operations of the traveling drive motor 27 and the lifting drive motor 63. The control device 67 inputs various operation signals and various detection signals as in the conventional case, and also inputs the output electric value of the load cell 65, that is, the electric signal indicating the loaded weight of the lifter 31, and the loaded weight detected by the load cell 65. Accordingly, the acceleration / deceleration and the steady speed of the lifting drive motor 63 are variably set to appropriate values. Thus, the lifting drive motor 63
The speed and acceleration / deceleration are set to lower values as the loaded weight increases.

Therefore, when the pallet 5 is not loaded on the lifter 31, the loaded weight detected by the load cell 65 is the minimum value, and at this time, the lifter 31 is as indicated by the symbol a in FIG. When the pallet 5 is loaded on the lifter 31 while moving up and down at high acceleration and deceleration, the loaded weight detected by the load cell 65 shows a value according to the loaded weight of the pallet 5. At some times, the lifter 31 moves up and down at a lower acceleration and deceleration than when the pallet 5 is not loaded, depending on the loaded weight at this time, as indicated by the symbol b in FIG.

The rated lifting speed of the lifter 31 is faster as the loaded weight is lighter and slower as it is heavier, as illustrated in FIG.

As a result, the lifter 31 is operated at a high speed within the range where the load collapse does not occur, and the load can be carried in and out with good time efficiency.

The variable setting control of the acceleration / deceleration and the steady speed according to the loaded weight may be expanded and applied to the traveling drive control of the traveling frame body 17 by the traveling drive motor 27.

[0028]

As can be understood from the above description, according to the loading / unloading device of the automatic warehouse according to the present invention, the lifting / lowering acceleration / deceleration of the lifter according to the loaded weight detected by the weight detecting means, and further the lifter. The lifting speed of each is variably set to an appropriate value, and the acceleration and deceleration of the lifting movement of the lifter becomes as high as possible according to the loaded weight, and the lifting movement of the lifter becomes as fast as possible, causing a load collapse. Time-efficient loading and unloading of loads.

[Brief description of drawings]

FIG. 1 is a side view showing an embodiment of a loading / unloading device for an automated warehouse according to the present invention.

FIG. 2 is a front view showing an embodiment of a loading / unloading device for an automated warehouse according to the present invention.

FIG. 3 is a block diagram showing an embodiment of a control system of the loading / unloading device of the automated warehouse according to the present invention.

FIG. 4 is a graph showing operation control characteristics of a lifter in the loading / unloading device for an automated warehouse according to the present invention.

[Explanation of symbols]

 1 Warehouse Shelf 5 Pallet 9 Stacker Crane (Pallet Carrying In / Out Device) 27 Traveling Drive Motor 31 Lifter 45, 47 Suspending Wire 55 Winding Drum 65 Load Cell 67 Control Device

Claims (2)

[Claims] 1. A loading / unloading device for an automatic warehouse, comprising a lifter capable of moving up and down, and loading and unloading a load to and from upper and lower shelves of a warehouse shelf by driving the lifter up and down, and driving means for moving the lifter up and down. A weight detection means for detecting the load weight of the load loaded on the vehicle, and a control means for variably setting the acceleration / deceleration of the lifting movement of the lifter to an appropriate value according to the load weight detected by the weight detection means. A loading / unloading device for automated warehouses. 2. A loading / unloading device for an automatic warehouse, comprising a lifter capable of lifting and lowering, and lifting and lowering the lifter to load and unload loads from upper and lower shelves of a warehouse shelf. A weight detecting means for detecting a loaded weight of a load loaded on the load, and an acceleration / deceleration speed of the lifting / lowering movement of the lifter and an ascending / descending speed of the lifter are varied to appropriate values according to the loaded weight detected by the weight detecting means. A loading / unloading device for an automatic warehouse, comprising: control means for setting.