JPH08175618A - Speed controller for automatic conveying device - Google Patents

Abstract

PURPOSE: To provide a speed controller for an automatic conveying device by which a workpiece can be stably conveyed as rapidly as possible. CONSTITUTION: An item controller 19 temporarily stores and controls speed information at least such as a dimension, weight, material, and a quantity of a workpiece moved by means of a stacker. An optimum speed determining device 20 determines the optimum speed, at which the stacker can be moved as rapidly as possible while the workpiece stabilized, according to the type of the workpiece on the basis of the speed information from the item controller 19 so as to output the determination result A speed controller 15 controls a speed of the stacker on the basis of the judged result from the optimum speed determination device 20.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic control system for storing a work in a plurality of shelves arranged in an area defined by a horizontal direction and a vertical direction or for controlling a speed at which the work is unloaded from the shelves. The present invention relates to a speed control device for a transfer device.

[0002]

2. Description of the Related Art There are automatic guided vehicles, guided vehicles, and the like as automatic carrying apparatuses. As an example, an automatic carrying apparatus in an automatic warehouse has conventionally been used to store a plurality of types of works on a shelf, or , When carrying out the work from the shelf,
It is known that the stacker is moved at a speed capable of moving the work that is most likely to lose its load in a stable state.

[0003]

However, in the speed controller of the conventional automatic transfer apparatus, the speed of the stacker is limited to the speed for moving the work that is most likely to lose the load, so that the work is placed on the shelf. There is a problem that it takes too long to store or carry out the work from the shelf.

An object of the present invention is to provide a speed control device for an automatic transfer device which can transfer a work in a stable state as fast as possible.

[0005]

In order to solve the above-mentioned problems, the present invention accommodates a work in a plurality of shelves arranged in an area defined by a horizontal direction and a vertical direction, or shelves. In a stacker speed control device for controlling the speed of a stacker for unloading a work from, a product type management device for temporarily storing and managing at least size, weight, material and quantity information of the work moved by the stacker, Based on at least the size, weight, material and quantity information from this product type management device, the optimum speed for moving the stacker as fast as possible is determined in correspondence with the type of the work and the result of this judgment is determined. Is provided, and a speed control device that controls the speed of the stacker based on the determination result from this optimum speed determination device.

Further, according to the present invention, a stacker for storing a work in a plurality of shelves arranged in an area defined by a horizontal direction and a vertical direction or for controlling a speed of a stacker for carrying out the work from the shelves. In the speed control device, a product type management device for temporarily storing and managing information on at least the size, weight, material and quantity of the works moved by the stacker, and at least the size, weight and material from the product type management device. Based on the quantity and quantity information, the optimum speed for moving the stacker as fast as possible in the stable state of the work is determined according to the kind of the work, and which of the predetermined stages the optimum speed belongs to And an optimum speed determination device that determines this and outputs this determination result, and a speed control device that controls the speed of the stacker based on the determination result from this optimum speed determination device. Characterized by comprising.

[0007]

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

FIG. 1 is a schematic view schematically showing an embodiment of the present invention. As shown in FIG. 1, the stacker 1 is movable along a shelf 2 provided in a warehouse. This shelf 2
Has a region divided into a horizontal direction and a vertical direction, and a plurality of shelves 2a are arranged in these regions. A work 3 is stored in these shelves 2a. Rails 4 are arranged on the floor of the warehouse in parallel with the shelves. The stacker 1 is movably placed on the rails 4.

As shown in FIGS. 1 to 3, the stacker 1 is provided with a traveling table 6 mounted on the rail 4 via two traveling rollers 5, and the traveling table 6 provided on the traveling table 6. A plurality of side rollers 7 in contact with both side surfaces of the rail 4, a drive controller 8 fixed on the traveling table 6, and a traveling motor 9 fixed on the traveling table 6. Two support columns 10 fixed vertically on the traveling platform 6 at a predetermined interval, and these support columns 10
A lift table 11 that is supported so as to be lifted up and down, a lift motor 12 that is fixed on the traveling table 6, and a shuttle 13 that is horizontally movable on the lift table 11. A shuttle motor 14 fixed to the lower part of the lift table 11 for moving the shuttle 13 in the horizontal direction.
Is provided.

The traveling roller 5 is rotated by the rotational force of the traveling motor 9 transmitted by a transmission device (not shown) so that the stacker 1 travels along the rail 4 in a substantially horizontal direction. The side rollers 7 prevent the wheels from falling off while the traveling platform 6 is traveling. The elevating table 11 is moved up and down while being guided by the support column 9 by the rotational force of the elevating motor 12 being transmitted through a wire or the like. The shuttle 13 and the shuttle motor 14 are moved up and down together with the elevator 11.

The shuttle 13 has a shuttle motor 14
Is transmitted by a transmission device (not shown) to advance and retract with respect to the shelf 2a. When the work 3 is stored in the shelves 2a, the shuttle 13 is mounted on the shelves 2 while the elevator 11 is stopped at a position corresponding to the predetermined shelves 2a.
After advancing in the direction of "a", it is lowered a little and the work 3 placed on the shuttle 13 is placed on the holder of the shelf 2a and then retracted.

When the work 3 is carried out from the shelf 2a, the shuttle 13 advances in the direction of the shelf 2a while the lift table 11 is stopped at a position corresponding to the predetermined shelf 2a. After entering the space between the work 3 and the lower surface of the shelf 2a on which the work 3 is placed, the work 3 is slightly elevated, the work 3 on the holder is placed on the work 3, and then the work 3 is retracted onto the lift 11.

As shown in FIG. 4, the drive control device 8
Is connected to the traveling motor 9, the lifting motor 12, and the shuttle motor 14, and controls the rotation direction and rotation speed of these components. The drive control device 8 includes a speed control device 15, a travel motor control device 16 connected to the speed control device 15, a lift motor 12 and a shuttle motor 14, a lift motor control device 17, and a shuttle. And a motor control device 18.

The quality control device 19 is an optimum speed determination device 20.
The optimum speed determination device 20 is connected to the drive control device 8. The quality control device 19
As shown in FIG. 5, it comprises an input device 21 and a storage device 22 to which information is input by this input device 21 and which is connected to the optimum speed determination device 20.

The input device 21 is used by an operator to input information (speed information) of at least the size, weight, material and quantity of the works 3 moved by the stacker 1. The input device 21 is composed of, for example, a keyboard. Further, the input device 21 may be composed of a bar code and a bar code reader that reads the bar code. The speed information may be given to the storage device 22 by the manufacturing device of the work 3. The storage device 22 temporarily stores the speed information input by the input device 21. The speed information of the storage device 22 is given to the optimum speed determination device 20.

The optimum speed determination device 20 has an optimum speed (maximum speed and acceleration / deceleration) for moving the stacker 1 as fast as possible while the work 3 is stable based on the speed information.
To judge. The determination reference information by the optimum speed determination device 20 can be obtained by an experiment. The determination result of the optimum speed determination device 20 is given to the speed control device 15.

The speed control device 15 gives optimum speed information to the traveling motor control device 16, the lifting motor control device 17, and the shuttle motor control device 18 based on the judgment result. The traveling motor control device 16, the elevating motor control device 17, and the shuttle motor control device 18 respectively operate the traveling motor 9 and the elevating motor 1 based on the optimum speed information.
2 and the shuttle motor 14 are controlled.

The optimum speed determination device 20 determines the optimum speed of the stacker 1 corresponding to the type of the work 3 based on at least the size, weight, material and quantity information from the product type management device 19, In addition, it may be determined which of a plurality of predetermined stages the optimum speed belongs to and the determination result may be output. Also, the present invention
The present invention can also be applied to a stacker that holds the work 3 and places it on the lift 11.

[0019]

As described above, the speed control device of the automatic transfer apparatus of the present invention can transfer a work in a stable state as fast as possible.

[Brief description of drawings]

FIG. 1 is a schematic view showing an embodiment of the present invention.

FIG. 2 is a partially cutaway front view showing a stacker in the embodiment of FIG.

FIG. 3 is a partially cutaway side view showing the stacker in the embodiment of FIG.

FIG. 4 is a block diagram showing an embodiment of FIG.

5 is a block diagram showing a main part of the embodiment of FIG.

[Explanation of symbols]

 1 Stacker 2 Shelf 2a Shelf 3 Work 4 Rail 5 Traveling Roller 6 Traveling Platform 7 Side Roller 8 Drive Control Device 9 Traveling Motor 10 Support Pillar 11 Lifting Platform 12 Lifting Motor 13 Shuttle 14 Shuttle Motor 15 Speed Control Device 16 Traveling Motor Control Device 17 Lifting Motor Control Device 18 Shuttle Motor Control Device 19 Product Type Management Device 20 Optimal Speed Judgment Device 21 Input Device 22 Storage Device

Claims (3)

[Claims] 1. A stacker speed control device for controlling the speed of a stacker for storing a work in a plurality of shelves arranged in an area partitioned by a horizontal direction and a vertical direction, or for discharging the work from the shelves. , A product type management device for temporarily storing and managing at least size, weight, material and quantity information of the workpieces moved by the stacker, and at least size, weight, material and quantity information from the product type management device Based on the above, the optimum speed determination device that determines the optimum speed for moving the stacker as fast as possible in a stable state of the work according to the type of the work and outputs this determination result, and the optimum speed determination device A speed control device for controlling the speed of a stacker based on a determination result, the speed control device for an automatic conveyance device. 2. The speed control device for an automatic carrying device according to claim 1, wherein the product type management device is connected to the optimum speed determination device and temporarily stores information on at least the size, weight, material and quantity of the work. 1. A speed control device for an automatic carrier, comprising: a storage device for storing the data in the storage device; 3. A stacker speed control device for storing the work in a plurality of shelves arranged in an area partitioned by a horizontal direction and a vertical direction, or controlling the speed of a stacker for carrying out the work from the shelves. , A product type management device for temporarily storing and managing at least size, weight, material and quantity information of the workpieces moved by the stacker, and at least size, weight, material and quantity information from the product type management device Based on the above, the optimum speed for moving the stacker as fast as possible in a stable state of the work is determined according to the type of the work, and it is determined which of the predetermined stages the optimum speed belongs to. An optimal speed determination device that outputs this determination result and a speed control device that controls the speed of the stacker based on the determination result from this optimal speed determination device are provided. A characteristic speed control device for an automatic carrier.