JPH0977209A - Control device of electric-driven truck for warehousing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To realize the high-speed operation of an electric truck without increasing the cost. SOLUTION: A warehousing device is provided with high-rise warehouses arranged in two rows, a crane which is moved between the high-rise warehouses to achieve the warehousing of cargoes into the high-rise warehouses, and two electric trucks which are provided adjacent to the high-rise warehouses to deliver the cargoes between the warehouses and the crane and moves the cargoes between the cargo delivery place and the prescribed place away from the high- rise warehouse by the crane. A control device 1 of the warehousing device is provided with one inverter 10 to drive two motors A, B for driving two electric trucks, a switching means 15 to switch the output of the inverter 10 to either of two motors A, B, an operation panel 20 to instruct the action of two electric trucks, and a controller 40 to switch the switching means 15 by the instruction of an operation panel 20 and control the operating condition of the inverter 10.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for an electric carriage used for a loading / unloading device.

[0002]

2. Description of the Related Art Here, FIG. 5 is a schematic view showing the overall construction of a loading / unloading apparatus to which the present invention is applied. FIG. 5 (a) is a plan view and FIG. 5 (b) is a front view.

The loading and unloading device shown in FIG.
Two columns 53 are set up in parallel and one crane 55 is arranged between the compatible warehouses 51, 53.
Electric trolleys 57 and 59 are arranged on the side portions of 53, and a control panel 61 for instructing the operation of the crane 55 and the electric trolleys 57 and 59 is provided.

Here, the crane 55 is a compatible warehouse 51,
It is equipped with a mechanism for traveling on a rail 63 provided between 53 and moving in the up-down direction to store or take out a load 54 at a predetermined position in the compatible warehouse 51, 53.

The electric carts 57 and 59 are three-dimensional warehouses 51 and 5, respectively.
At the fixed position closest to 3 (fixed position on the shelf side), the load is transferred to and from the crane 55, and the motors attached to the cranes travel on rails 65 and 67 to move the solid warehouses 51 and 53. The cargo is delivered at another fixed position (outside shelf fixed position) away from.

The control panel 61 has a crane 55 and an electric carriage 5.
An operation panel for instructing operations to 7, 59 is provided.

Conventionally, the control of both electric trolleys 57 and 59 has been performed by individually operating the motors attached to the both electric trolleys 57 and 59, respectively. That is, both motors perform forward and reverse operations by switching the switches provided in the control panel 61, whereby the electric carriages 57 and 59 are moved forward and backward at only one speed. The electric carriage 57,
When 59 is stopped, the brake is applied by a braking means (not shown) to stop at a predetermined position.

[0008]

However, in the case of this conventional example, since the electric carriages 57 and 59 are moved forward and backward only at the first speed, the electric carriages 57 and 59 are accurately stopped at the positions where they should be stopped. In this case, that is, when trying to improve the stopping accuracy, the running speed could not be increased.

On the other hand, in order to increase the traveling speed while maintaining the stopping accuracy of the electric carriages 57 and 59, both motors may be controlled by respective inverters. If an inverter is used, switching to high speed, low speed, etc. can be easily performed by a multi-step speed command of the inverter, so that the traveling speed as a whole can be increased.

However, the inverter is expensive, and it is costly to use two inverters.

The present invention has been made in view of the above points, and an object of the present invention is to drive an electric truck for a loading and unloading apparatus, which does not increase the cost so much and enables high-speed operation of an electric trolley while maintaining high stopping accuracy. It is to provide a control device for a dolly.

[0012]

SUMMARY OF THE INVENTION In order to solve the above problems, the present invention moves between a three-dimensional warehouse arranged in two rows and the compatible warehouse to move a load to the two-row three-dimensional warehouse. Loads are transferred between one crane for loading and unloading, and the cranes that are respectively provided adjacent to the compatible warehouse, and at the place where the loads are delivered by the crane and at a predetermined place apart from the three-dimensional warehouse. In a loading / unloading apparatus including two electric trolleys for moving a load between them and a control device for controlling the drive of the two electric trolleys, the control device is provided for each of the two electric trolleys. One inverter for driving the motor, a switching means for switching the output of the inverter to one of the two motors, an operation panel for instructing the operation of the two electric carts, and an operation panel for instructing the operation. The switching means It was constructed and a controller for controlling the operation status of the inverter performs switching.

[0013]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a block diagram showing the configuration of a control device according to an embodiment of the present invention. As shown in the figure, the control device 1 includes one inverter 10 for driving both motors A and B of the two electric carriages 57 and 59 shown in FIG. 5, and the output of the inverter 10 to the two motors. Switching means 15 for switching to either A or B,
The operation panel 20 for instructing the operation of the two electric carts 57 and 59 and the controller 40 are provided.

The controller 40 is composed of a microcomputer, a storage device, and various programs stored in the storage device. The controller 40 gives a multi-step speed command to the inverter 10 based on a command from the operation panel 20. A switching instruction is given to the switching means 15.

In the inverter 10, the motor A or B, that is, the electric carriage 57 or 59, operates in the empty high speed operation, the actual high speed operation, based on the multi-step speed command signal from the controller 40.
It is configured so that it can be switched to low speed operation. That is, when the electric carts 57 and 59 are located near the fixed position on the shelf side or near the fixed position outside the shelf, the low speed operation is performed, and the high speed operation is performed at other times, so that the stopping accuracy is kept high and the high speed movement is performed as a whole. I am going to do it.

The switching means 15 is composed of, for example, an electromagnetic switch driven by a signal from the controller 40.

As shown in FIG. 2, the operation panel 20 has push buttons 21 and 23 for instructing the loading and unloading of the crane 55 and push buttons 25 and 27 for instructing the movement of one of the electric carriages 57, on its panel surface. , Push buttons 29 and 31 for instructing the movement of the other electric carriage 59 are provided.

The panel surface is a touch panel,
Each of the push buttons 21, 23, 25, 27, 29, 31 also serves as an indicator light.

The inverter 10, the switching means 15, the operation panel 20, and the controller 40 are all provided on a control panel 61 shown in FIG.

Next, the operation of this control device will be described. Here, FIG. 3 and FIG. 4 are diagrams showing a control flow of this control device.

That is, in the figure, first, when the push button 25 or 27 of the electric carriage 57 on one side of the operation panel 20 is turned on (step 1), the push button (that is, the indicator light) that has just been pushed.
25 or 27 is turned on (step 2).

When the push button 21 or 23 has instructed the exit operation, that is, when the push button 23 is turned on (step 3), when the load delivery place of the crane 55 is the first unit side, First, the current position of the electric trolley 57 is detected (step 4), and if the position of the electric trolley 57 is outside the shelf, it is determined whether or not the electric trolley 57 can move to the shelf side, that is, on the electric trolley 57. It is checked whether or not the rack side movement signal is output by the push button 25 when there is no load, and when the movement is possible, the electric carriage 57 is moved to the shelf side fixed position (steps 5 and 6), and step 7 Proceed to. On the other hand, when the position of the electric carriage 57 is already at the shelf-side fixed position, the process directly proceeds from step 4 to step 7.

When a load is loaded from the crane 55 onto the electric carriage 57, a load sensor (not shown) provided on the electric carriage 57 detects the loading of the load and transmits a loading completion signal from the crane 55 to the controller 40. (Step 7)
Then, the electric carriage 57 moves to a fixed position outside the shelf (step 8). Then, the lit push button 25 is turned off (step 9).

On the other hand, when the push button 21 or 23 has instructed the warehousing operation in step 3, that is, the push button 2
When 1 is turned on, when the load transfer place of the crane 55 is the No. 1 side, first, the current position of the electric carriage 57 is detected (step 10). If the position of the electric carriage 57 is at the fixed position on the shelf side, it is next detected whether or not there is a load on the electric carriage 57 by a load sensor (not shown) (step 11). 57 is moved to a fixed position outside the shelf (step 12), and then it is detected whether or not there is a load on the electric carriage 57 (step 13).

If the position of the electric carriage 57 is at the fixed position outside the shelf in step 10, it is detected in step 13 whether or not there is a load with the position kept unchanged.

When a load is loaded, whether or not the electric carriage 57 can move to a fixed position in the fence, that is, the electric carriage 57.
It is confirmed whether or not there is a load on the shelf and a push-button 25 has issued a rack-side movement signal (step 14). Step 9).

On the other hand, when it is determined in step 11 that there is a load on the electric cart 57, the vehicle is stopped at that position.

When the push button 29 or 31 (see FIG. 2) of the operation panel 20 for inputting the operation of the other electric carriage 59 is turned on during the processing of the above flow, this input is processed as an interrupt signal, The pressed push button (that is, the indicator light) 29 or 31 of the operation panel 20 is blinked to indicate that the reservation is made, and the original flow processing is returned to again.

Then, in step 16, it is judged whether or not the interrupt signal is input during the processing of the flow,
If it has been input, in step 2, the push button 29 or 31 of the blinking operation panel 20 is lit and displayed.
The flow is started again.

On the other hand, if the interrupt signal has not been input, the process returns to step 1 and one of the push buttons 2 is pressed again.
Wait until 5, 27, 29, 31 are turned on.

By the way, in each of the above steps, when the electric carriage 57 is to be run, the output of the inverter 10 is switched to the motor A by a control signal from the controller 40 to the switching means 15 shown in FIG. The rotation speed of the motor A is the inverter 1 when the electric cart 57 is empty.
By combining the empty high-speed operation of 0 and the low-speed operation, and in the case of the actual load, the high-speed operation of the actual load and the low-speed operation of the actual load are combined to control the operation so that the vehicle can travel at high speed and can be stopped with high accuracy. The same applies to the case where the electric trolley 59 is used for loading and unloading. In this case, the output of the inverter 10 is the
Switch to.

[0032]

As described above in detail, according to the present invention, the two motors respectively driving the two electric carriages are configured to be driven by only one inverter.
There is an excellent effect that the electric carriage can be operated at a high speed while the cost is not increased so much and the stopping accuracy is kept high. In addition, when the operation input of another electric trolley is input during the operation of one electric trolley, the indicator lamp of the corresponding operation is blinked and the operation of the electric trolley currently in operation is terminated, and at the same time the other electric trolley is operated. Since the operation is configured to start, that is, the next operation of the electric cart can be reserved, the work efficiency is not deteriorated even if there is only one inverter.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a control device according to an embodiment of the present invention.

FIG. 2 is a diagram showing a panel surface of an operation panel 20.

FIG. 3 is a diagram showing a control flow of a control device.

FIG. 4 is a diagram showing a control flow of a control device.

5A and 5B are schematic diagrams showing an overall configuration of a loading / unloading apparatus to which the present invention is applied, in which FIG. 5A is a plan view and FIG. 5B is a front view.

[Explanation of symbols]

 10 inverter 15 switching means 20 operation panel 40 controller 51,53 three-dimensional warehouse 55 crane 57,59 electric trolley 61 control panel A, B motor

Claims (2)

[Claims] 1. A multi-storey warehouse arranged in two rows, a crane for moving between the two-storey warehouses to move a cargo into and out of the two-storey warehouses, and the compatible warehouse. Two electric carriages that are provided adjacent to each other and that transfer the load between the crane and transfer the load between the place where the crane transfers the load and a predetermined place apart from the three-dimensional warehouse; In a loading and unloading apparatus including a control device that controls driving of two electric trolleys, the control device outputs one inverter that drives each motor of the two electric trolleys and outputs the output of the inverter. Switching means for switching to one of the two motors, an operation panel for instructing the operation of the two electric carriages,
A controller for an electric trolley for a loading / unloading apparatus, comprising: a controller for switching the switching means based on an instruction from the operation panel and controlling an operating state of an inverter. 2. The operation panel is provided with an indicator light for respectively indicating a rack side movement and a rack outside movement of two electric carriages, while the controller is provided with an electric carriage that is currently operating and the electric carriage. A means for detecting whether the movement is on the shelf side or out of the shelf to turn on the corresponding indicator lamp among the indicator lamps, and when the operation input of the other electric truck is performed during the operation of the electric truck, 2. The input according to claim 1, further comprising: means for blinking an indicator light for a corresponding operation and means for starting the operation of the other electric trolley at the same time when the operation of the electric trolley currently in operation ends. Control device for electric cart for delivery device.