JPH07100522B2 - Control device for loading and unloading traveling crane - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention controls a loading and unloading traveling crane in an automated warehouse to receive or deliver cargo from a cargo receiving section of a rack having a plurality of stations, or from one cargo receiving section to another cargo receiving section. pass relates controller of entry and leaving traveling crane will row a.

[0002]

2. Description of the Related Art Conventionally, as a technique of this kind, Japanese Patent Laid-Open Publication No. 62-62
There was a control method for the loading / unloading traveling crane disclosed in Japanese Patent Publication No. 215404. The feature of the control method is that the crane position when the load transfer device provided on the elevating carriage of the loading / unloading traveling crane corresponds to each load receiving portion of the shelf corresponds to the crane position on the traveling route. A count value that changes in association with traveling is stored for each load receiving unit, and the second load receiving unit at the different level is located in the same column shelf as the first load receiving unit currently corresponding to the load receiving unit. When raising and lowering the raising and lowering carriage to correspond to the parts, when the stored numerical value corresponding to the first load receiving portion and the stored numerical value corresponding to the second load receiving portion are compared and calculated, and the difference is less than or equal to the allowable limit. Only raises and lowers the carriage,
When the difference exceeds the allowable limit, the crane is moved for a certain distance equal to or greater than the difference and then moved backward, at a position where the count value matches the stored numerical value corresponding to the second load receiving portion. The crane is stopped and the elevator carriage is raised and lowered.

By controlling the traveling crane for loading and unloading as described above, a traveling crane for loading and unloading of this kind is several mm.
To correct the position with a small distance of tens of mm from
It solves the problem of being extremely difficult because it must be stopped before reaching a stable low speed condition.

[0004]

However, in the above-mentioned conventional control method for the loading / unloading traveling crane, the count value of the pulse which constantly changes with the traveling of the traveling crane from the origin or this count value is accompanied by the traveling of the crane. This is a method of comparing the count value that is added and subtracted with the count value that changes with the count value that is stored in advance, so if there is an erroneous count due to the occurrence of noise etc. in the count that changes with the traveling of the crane, it will stop There was a problem of affecting the accuracy of the position.

Further, in the above control method, when moving from the current stopped position to the target position, both the count value of the current position and the count value of the target position to be compared use the previously stored count values. Therefore, it may not match the actual movement of the crane. That is, there are the following inconveniences. (A) In the case where the cargo receiving / delivering is performed between the cargo receiving portions in the same rack, the difference between the actual count value of the cargo receiving portion currently stopped and the stored value of the target cargo receiving portion stored in advance is Even if the allowable value is exceeded, if the difference from the previously stored count value of the cargo receiving section that is currently stopped cannot exceed the allowable value,
Ascending / descending the elevator carriage as it is, hinders the delivery of cargo at the intended cargo receiving part (applying a pallet to a shelf, etc.)
May come. (B) In the case where the cargo receiving / delivering is performed between the cargo receiving portions in the same rack, the actual count value of the cargo receiving portion currently stopped and the count value stored in advance of the target cargo receiving portion Even if the difference does not exceed the permissible value, if the difference with the currently stored cargo receiving section count value that is stored in advance exceeds the permissible value, an extra operation is performed in which the crane travels once and then returns. Longer crane operating cycle.

The present invention has been made in view of the above points, and eliminates the above problems so that the generation of noise or the like does not affect the accuracy of the stop position as much as possible and the actual movement of the loading / unloading traveling crane. It is an object of the present invention to provide a control device for a loading / unloading traveling crane capable of performing appropriate and appropriate stop position control.

[0007]

In order to solve the above problems, the present invention provides a control device for a loading / unloading traveling crane, wherein a fixed position striker is provided on a shelf for each station along a traveling route,
And absolute encoder above the goods movements traveling crane for generating pulses proportional to the travel distance, said provided striker detector for detecting the position striker, each station Goods Movement traveling crane shelves from the predetermined position to the control unit a first storage unit for storing each <br/> distance in advance, the goods receptacle belongs if load receiving cargo passing device the entry and leaving traveling crane the load receiving cargo turnover position by the load receiving portion is moved in the longitudinal direction the Abu from around one end of the fixed position striker provided in the communication
A second storage unit for storing in advance the count of the Soviet lute encoder pulses provided, the control device Ru to <br/> the following operations. When moving the communicating belonging from the position entry and leaving traveling crane is currently stopped the goods receptacle purposes, <br/> communication Field of the goods receptacle that purpose from a predetermined position stored in the first storage unit Compare the count value of the distance to and the count value of the stop position ,
Move the loading / unloading crane in the direction in which the difference approaches 0 and count the absolute encoder pulse
Holding an actual moving distance, if the difference is below a predetermined value and becomes and striker detector detects the end of the place striker counts the absolute encoder pulse, the count of the regimen numerical values is stored in the second storage unit The count value that matches the numerical value and until the loading / unloading traveling crane actually stops is stored.
It held as Leica count, if it row the load receiving cargo passing between the goods receptacle in the same series in the count value of the goods receptacle to hold the striker count and purpose, which is stored in the second storage unit comparing, if the difference is less than the allowable value, the lifting carriage is raised and lowered until the said purpose goods receptacle, if the difference exceeds an allowable value, to a predetermined distance beyond the end of the place striker least the communication after advancing or retracting the goods movements traveling crane, when retracted or advanced the striker <br/> mosquito detectors on the opposite detects the end of the place striker counts the absolute encoder pulse, the regimen figures before
Strike the count value until it coincides with the count value stored in the second storage unit and the loading / unloading traveling crane actually stops.
F) Hold as a count value and receive cargo between cargo receivers in different stations.
When handing over the cargo , erase the striker count value
Stored and stored in the first storage unit
Count value of the distance to the station to which the intended receiving section belongs
Compared with, the difference between the difference is closer to 0
Pulse of the absolute encoder
The value is stored as the actual movement distance, and the difference becomes less than the specified value.
And the striker detector detects one end of the fixed position striker
After that, count the pulses of the absolute encoder,
The count value matches the count value stored in the second storage unit.
The count value until the loading / unloading traveling crane actually stops
Hold as a striker count value and
If you want to receive and deliver cargo between cargo
Do the same action.

[0008]

According to the present invention, when the loading and unloading traveling crane is moved from the currently stopped position to the station to which the target load receiving section belongs, from the predetermined position stored in the first storage section to the station. When the difference between the count value of distance and the count value of distance is approached to 0 and the traveling crane is run and the difference becomes less than a predetermined value and the striker detector detects one end of the fixed position striker, the pulse of the absolute encoder is detected. Is counted, and when the counted number of pulses coincides with the number of pulses stored in the second storage unit, a stop signal for stopping the loading / unloading traveling crane is issued, so that from the position where the loading / unloading traveling crane is currently stopped. Even if there is a cause such as noise that affects the pulse count while traveling to the striker detection position of the series to which the target cargo receiving section belongs, the accuracy of this stop position will not be affected.

Further, the count value from the one end of the fixed position striker until the loading / unloading traveling crane is stopped is held,
When the cargo receiving and delivering is carried out between the cargo receiving portions in the same series, the held count value is compared with the count value of the intended cargo receiving portion stored in the second storage unit, and the difference is the allowable value. If the following, raise and lower the elevator carriage to the target cargo receiving section,
If the difference exceeds the allowable value, the loading / unloading traveling crane is moved forward or backward by a predetermined distance that exceeds at least one end of the fixed position striker of the relevant station, and then is moved backward or forward in the opposite direction, and the striker detector moves the fixed position striker. When one end of is detected, pulses of the absolute encoder are counted, and when the count value matches the count value stored in the second storage unit, a stop signal for stopping the loading / unloading traveling crane is issued. Even if there is a cause that affects the pulse count such as noise while the loading / unloading traveling crane is traveling away from the end of the fixed position striker, the accuracy of the stop position is not affected. Furthermore, since the count value until the loading and unloading traveling crane actually stops is compared with the previously stored count value of the target cargo receiving section, it is possible to perform control in accordance with the actual movement of the loading and unloading traveling crane. , It is possible to control the stopping position of the traveling crane properly.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 4 is a diagram showing an outline of an automatic warehouse to which the control system for the loading / unloading traveling crane of the present invention is applied. As shown, a plurality of stations M1, M2, M3, M4, M5, ...
.. is provided, and the shelf 10 is provided with a plurality of load receiving portions 11 for each station. The loading and unloading traveling crane 12 is provided with an elevating carriage 13, and can travel back and forth on a traveling rail 15 laid on the floor. At a loading / unloading station (not shown), a lifting fork carriage 1 is picked up by a fork (not shown).
The load 14 placed on 3 travels to the station M where the loading / unloading traveling crane 12 is located at the target load receiving portion 11, and then the elevating carriage 13 moves up and down to the target load receiving portion 11 and the load receiving is performed by the fork. The load 14 is placed on the section. Further, at the time of warehousing, the load 14 is picked up from the intended load receiving portion 11 by a fork, transferred in the reverse order to the loading / unloading station, and unloading. Further, the load receiving and transferring of the load 14 from one load receiving unit 11 to another load receiving unit 11 is performed. It should be noted that the shelves 10 composed of the above-mentioned stations M1, M2, M3, M4, M5, ... Are usually provided on both the left and right sides along the traveling rail 15, and the load can be received between the left and right shelves. However, in this embodiment, only one side is shown for convenience of description.

Each of the racks M1, M2, M3, M4, ...
As shown in FIG. 3, the fixed position strikers S1, S along the traveling path of the loading / unloading traveling crane 12 are ...
2, S3, S4, ... Are provided. These fixed position strikers S1, S2, S3, S4, ...
The center of each is M1, M2, M3, M4, ...
Align with the center of.

1 and 2 are diagrams showing the construction of a control system for a loading / unloading traveling crane according to the present invention. FIG. 1 is a view showing the construction of a control device, and FIG. 2 is a view showing the overall construction. In FIG. 2, 1 is a control device, 2 is a traveling motor controller that controls the drive of the traveling motor 5, 3 is an elevation controller that controls the elevation motor 6, and 4 is a fork motor controller 4 that controls the drive of the fork motor 7. .

A work cycle setting signal and a destination setting signal are input to the control device 1 from an input device 9 such as a keyboard (see FIG. 1). The traveling motor is started and stopped via the traveling motor controller 2 by a control signal from the control device 1. By starting and stopping the traveling motor 5, the loading / unloading traveling crane 12 travels and stops. An absolute encoder 8 for generating a pulse proportional to the traveling distance and an absolute movement distance signal is provided, and its output is input to the control device. The lift motor 6 is started and stopped via the lift motor controller 3 in response to a control signal from the control device 1.

When the elevator motor 6 is started and stopped, the elevator carriage 13 is moved up and down, and the elevator position is detected by a sensor (not shown) and fed back to the elevator motor controller 3 as an elevator position detection signal.
Further, the fork motor 7 is started and stopped via the fork motor controller 4 according to a control signal from the control device 1. The fork performs a predetermined operation by starting and stopping the fork motor 7, its fork position is detected by a sensor (not shown), and is fed back to the fork motor controller 4 as a fork position detection signal.

As shown in FIG. 1, the control unit 1 includes an input / output control unit 1-1, a CPU 1-2, a data storage unit 1-.
3, a first storage unit 1-4, a second storage unit 1-5, and a control program storage unit 1-6. The data storage unit 1-3 is provided with an actual movement distance storage area 1-3a, a striker count value storage area 1-3b, and the like. The actual travel distance storage area 1-3a stores the count value of the actual travel distance from the origin of the loading / unloading traveling crane 12 by adding and subtracting the output from the absolute encoder 8, and the striker count value storage area 1-3b stores the count value. The count value of the pulses from one end of the position striker S is stored.

In the first storage section 1-4, the series M0 shown in FIG.
From the center of the (loading / unloading station), each station M1, M2
Fixed position strikers S1, S for M3, M4, ....
Distance L1, L to the center of 2, S3, S4, ...
2, L3, L4, ... Are stored in advance. Also,
In the second storage unit 1-5, the position of the load receiving and delivering by the fork of the load receiving unit 11 of the shelf is provided in the ream M to which the load receiving unit 11 belongs and the count value from the front and rear ends of the fixed position striker S (from the absolute encoder 8). Pulse number) of the above.

The load receiving / delivering position of the load receiving unit 11 is not stored for each load receiving unit 11, but as shown in FIG. 5, the load receiving units 11 belonging to the same series M are grouped into a plurality of stages and the positions thereof are grouped. As the load receiving / delivering position of the grouped load receiving units, as shown in FIG. 6, the count value from the end of the fixed position striker S is stored. That is, in FIG. 6, the count value of the first group is a1, and the count value of the second group is a1.
The count values of the second and third groups are stored as a3.

In the control system having the above-mentioned structure, the control operation of the control device 1 will be described below. When the loading / unloading traveling crane 12 moves from the station M0 (entry / unloading station) to receive or load the first target cargo receiving section 11, the loading / unloading traveling crane 12 moves toward the station M to which the cargo receiving section 11 belongs. Let This movement is performed by the storage crane 12
And the count value of the distance L to the center of the fixed position striker S of the ream M to which the first target load receiving portion 11 is stored in advance in the first storage device 1-4. And the moving traveling crane 1 in the direction in which the difference approaches 0.
This is done by running 2.

When this difference becomes less than a predetermined value and the striker detector detects one end of the fixed position striker S, the pulses of the absolute encoder 8 are counted, and the counted value is stored in the second storage unit 1-5 in advance. When the count value of the pulse at the load receiving / delivering position of the first target load receiving unit 11 coincides, a stop signal is issued to the traveling motor controller 2 to stop the loading / unloading traveling crane 12. The pulse counting is continued until the loading / unloading traveling crane 12 actually stops, and the count value is stored and held in the striker count value storage area 1-3b of the data storage unit 1-3. In parallel with the traveling of the loading / unloading traveling crane 12, the elevating motor 6 is activated to elevate and lower the elevating carriage 13 to the load receiving / loading position of the first target load receiving portion 11, and the fork motor 7 is activated to load the load. Receive or hand over. At this time, the traveling distance value of the loading / unloading traveling crane 12 from the train M0 is stored and held in the actual traveling distance storage area 1-3a of the data storage unit 1-3.

When the loading and unloading traveling crane 12 receives or loads the second target cargo receiving section 11 of the station M different from the current stop position, first, it is stored in the striker count value storage area of the data storage section 1-3. Then, the count value from one end of the held fixed position striker S is erased. Subsequently, the count value of the actual traveling distance of the loading / unloading traveling crane 12 stored in the actual movement distance storage area 1-3a of the data storage unit 1-3 and the first travel data stored in advance in the first data storage unit 1-3. The count value of the distance L from the existing train M0 to the center of the fixed position striker S of the train M to which the second target load receiving unit 11 belongs is compared, and the storage / receipt traveling crane 12 moves in the direction in which the difference approaches 0.
And the difference becomes less than a predetermined value and the striker detector detects one end of the fixed position striker S, the number of pulses of the absolute encoder 8 is counted, and this count value is stored in the second storage unit 1-5 in advance. When it coincides with the stored count value of the load receiving / loading position of the second target load receiving unit 11, a stop signal is issued to the traveling motor controller 2 to stop the loading / unloading traveling crane 12. The counting is continued until the loading / unloading traveling crane 12 is actually stopped, and the counted value is stored and retained in the striker count value storage area 1-3b of the data storage unit 1-3. This storage crane 1
In parallel with the traveling of 2, the elevating motor 6 is activated to elevate and lower the elevating carriage 13 to the load receiving / delivering position of the second target load receiving portion 11 and stop, and the fork motor 7 is activated to receive or deliver the load. .

Next, in the case of carrying the load-bearing load to the third target load-receiving part 11 in the same station as the second target load-receiving part 11, the striker count value area 1- of the data storage part 1-3. The count value from one end of the fixed position striker S stored in 3b is compared with the count value of the load receiving and delivering position of the third target load receiving section 11 stored in advance in the second storage section 1-5. If the difference is less than or equal to the allowable value, the lifting / lowering carriage 13 is lifted / lowered to the third target load receiving portion 11.

When the difference exceeds the allowable value, the incoming / outgoing traveling crane 12 is moved forwards or backwards to a predetermined distance exceeding at least one end of the fixed position striker S of the series, and is then moved backwards or forwards in the opposite direction to striker detector. Detects the end of the fixed position striker S, the absolute encoder 8
Pulses of the second storage unit 1-5.
When the count value of the load receiving / loading position of the third target load receiving unit 11 stored in advance is matched, a stop signal is sent to the running motor controller 2 to stop the loading / unloading traveling crane 12.

In the above embodiment, the control device 1 stops the traveling motor controller 2 when the count value from one end of the fixed position striker S matches the count value previously stored in the second storage section. Although a signal is issued, in order to stop the loading / unloading traveling crane at the counting position stored in advance, actually, the counting value is adjusted in consideration of a certain stop distance of the loading / unloading traveling crane 12, and a stop signal is issued early. I'm trying to emit. Even in this case, attention is paid to the fact that the stored count value deviates from the stored count value by several pulses due to the operation of the relay, the effectiveness of the brake (different between forward and reverse), the inclination of the traveling rail, and the like.

[0024]

As described above, according to the present invention, the following excellent effects can be obtained. (1) Even if there is a cause that affects the pulse count such as noise while the loading / unloading traveling crane travels to the striker detection position, it does not affect the accuracy of the stop position, and the loading / unloading traveling crane is located at the correct position. Can be stopped. (2) In the control device of the present invention, both count values stored in advance are not used as the count values to be compared, as disclosed in Japanese Patent Laid-Open No. 62-215404. As the count value of the stop position, the actual count value (the count value until the loading / unloading traveling crane from one end of the fixed position striker actually stops) is used, so there is no inconvenience as shown in (a) and (b) above. .

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a control device used in a control system for a loading / unloading traveling crane according to the present invention.

FIG. 2 is a diagram showing an overall configuration of a control system for a loading / unloading traveling crane according to the present invention.

FIG. 3 is a diagram showing a positional relationship between a series of shelves and fixed position strikers provided for each series.

FIG. 4 is a diagram showing an outline of an automatic warehouse to which the control system for the loading / unloading traveling crane of the present invention is applied.

FIG. 5 is a diagram showing grouping of cargo receiving units belonging to the same series.

FIG. 6 is a diagram showing the relationship between the load receiving and delivering positions of the grouped load receiving units and the distance from the end of the fixed position striker.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Control device 1-1 Input / output control device 1-2 CPU 1-3 Data storage unit 1-4 First storage unit 1-5 Second storage unit 1-6 Control program 2 Travel motor controller 3 Lift motor controller 4 Fork motor controller 5 Traveling motor 6 Lifting motor 7 Fork motor 8 Absolute encoder 9 Input device

Claims (1)

[Claims] 1. A loading / unloading traveling crane having an elevator carriage equipped with a load delivery device, and a control device for controlling the loading / unloading traveling crane, and by the control of the control device,
The traveling control of the loading and unloading traveling crane, the raising and lowering control of the elevator carriage, and the load receiving and delivering control of the load delivering device,
Receiving or unloading from a cargo receiving section of a shelf made up of a plurality of stations provided along the traveling route of the loading / unloading traveling crane,
Receives or delivers goods from one receiving section to another.
The control apparatus name cormorants goods movements traveling crane, wherein the shelf position striker provided for each communication along the travel path, and absolute encoder before inlet-outlet traveling crane for generating pulses proportional to the travel distance, the A striker detector that detects a fixed position striker is provided, and the control device includes a first storage unit that stores in advance a distance for each station of the shelf from the predetermined position of the loading / unloading traveling crane, and a load receiving unit. When the loading and unloading traveling position of the loading and unloading device is moved in the front-back direction, the pulse count value of the absolute encoder is stored in advance from the front and rear ends of the fixed-position striker provided in the station to which the load-receiving section belongs. to leave a second storage portion is provided, said control device controlling apparatus goods movements traveling crane, characterized by the following operations. If the previous inlet-outlet traveling crane is moved from the position that is currently stopped communicating Field of the goods receptacle purposes, genus goods receptacle that purpose from a predetermined position stored in the first storage unit
The count value of the distance to the station and the count value of the stop position are compared, the loading / unloading traveling crane is run in the direction in which the difference approaches 0, and the pulse of the absolute encoder is set.
When the difference becomes less than a predetermined value and the striker detector detects one end of the home position striker, the pulse value of the absolute encoder is counted and the count value is stored in the second memory. the count value until the stop coincides with the count value stored in the section Goods Movement traveling crane actually retained as striker count will row the consignee only unloading Mr between goods receptacle in the same sequence in If
The held striker count value is compared with the count value of the target load receiving section stored in the second storage section, and if the difference is less than or equal to an allowable value, the lifting carriage is transferred to the target load receiving section. When the crane is moved up and down and the difference exceeds the allowable value, the stowage crane is moved forward or backward to a predetermined distance that exceeds at least one end of the fixed position striker of the series, and then is moved backward or forward in the opposite direction to detect the striker. When the detector detects one end of the fixed position striker, it counts the pulses of the absolute encoder, and the counted value is the second value.
The striker counts the count value that matches the count value stored in the storage section of the
When holding as a value and receiving and unloading between receiving parts in different stations,
The retained striker count value is erased, and the retained striker count value is retained.
Actual travel distance and purpose stored in the first storage unit
Compared with the count value of the distance to the station to which the consignment section of
Before running the loading / unloading crane in the direction in which the difference approaches 0
The pulse count value of the absolute encoder is actually transferred.
The distance is kept as a moving distance, and the difference is less than a predetermined value and
Triker detector detected one end of home position striker
, Counting the pulses of the absolute encoder,
The count value is the count value stored in the second storage unit.
Counts until it matches and the loading / unloading traveling crane actually stops
Holds the value as the striker count value and then stops
The above operation is performed when receiving and delivering cargo between the cargo receiving parts
Performs the same operation as.