JPH0986609A - Fork controller of crane device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To efficiently perform loading/unloading work by detecting a cargo width during cargo taking work. SOLUTION: An automatic warehouse is provided with a plurality of housing parts 3 and a cargo W is carried by a stucker crane. The stucker crane is provided with a vertically moved carriage 16 and a fork 17 is provided so as to be expanded/contracted in the vertically moved carriage 16. Left and right cargo detecting sensors 25a and 25b for detecting cargo W are provided in both left and right sides of the fork 17. The stucker crane is provided with a crane controller and a timer is connected to the controller. For example, during the extending operation (A) of cargo taking work, the timer counts the time when the left cargo detecting sensor 25a detects the cargo W to the time when the sensor no longer detects the cargo W as a cargo width time indicating the width of the cargo W. Then, the controller performs unloading work based on this cargo width time and thus, unloading work is efficiently performed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a fork control device for a crane device provided in an automated warehouse.

[0002]

2. Description of the Related Art Generally, as shown in FIG.
Load W on the fork 61 performed between the 1 and the storage section 62.
The work of scooping the load on which is placed and the work of unloading the load W from the fork 61 are performed by expanding and contracting the fork 61. The amount of expansion and contraction of the fork 61 during the work of scooping and unloading the load is set to the same predetermined amount regardless of the width (load width) of the load W in the left-right direction in FIG. Therefore, even if the load is small (the load is short) W
Even when carrying out the work of scooping and unloading, the fork 61 is extended and contracted by a predetermined amount.
There is a problem that the efficiency of the scooping and unloading work is poor.

Therefore, in Japanese Utility Model Laid-Open No. 3-122005, for example, data for associating the product number of the load W with the load width is stored in a management computer or the like for managing the product number and quantity of the load stored in the storage section 62. A technique of inputting in advance has been proposed. Then, at the time of loading or unloading work of the load W, the load width of the load W to be loaded or unloaded is calculated based on the data, and the movement amount of the fork 61 is adjusted, so that the load scooping and unloading work can be performed quickly. it can. Therefore,
It is possible to efficiently carry out the entering or exiting work.

[0004]

However, according to the technique disclosed in this publication, load width data for all product numbers of loads W must be stored, and the storage capacity of the management computer must be increased. There's a problem.
Further, with respect to a load for which load width data is not stored, the load width cannot be known, so that it is not possible to quickly scoop and unload the load. Therefore, there is a problem that the warehousing or warehousing work cannot be performed efficiently.

The present invention has been made to solve the above problems, and its purpose is to control the fork of a crane device for efficiently carrying out the loading or unloading work by detecting the load width during the unloading work. To provide a device.

[0006]

In order to solve the above-mentioned problems, the invention according to claim 1 is provided in a crane device for carrying a load to a plurality of storage parts formed in a frame shelf of an automatic warehouse. , A fork that is extendable and retractable in the direction of the storage portion to transfer the load to and from the storage portion, a fork drive means that extends and retracts the fork, and a load detection provided at the end of the fork on the storage portion side. Means, and at the time of an approach operation of expanding and contracting the fork in the direction of the load to be placed during the work of picking up the load on the fork,
A time measuring means for measuring a time from the load detecting means starting to detect the load to ending the load detecting as a load width time indicating a width of the load, and controlling the fork driving means to extend and retract the fork. And a fork control means for controlling the fork drive means on the basis of the load width time measured by the time counting means during the unloading work and the unloading work for unloading the fork. That is the summary.

According to a second aspect of the present invention, in the first aspect of the invention, during the approach operation, the fork control means stops the expansion and contraction of the fork when the load detection means finishes detecting the load. What is done is the summary.

According to a third aspect of the invention, in the first or second aspect of the invention, during the unloading work, the fork control means displays the load stored in each storage unit based on the load width time. The gist is to control the fork drive control means so that the side surfaces are flush with each other.

Therefore, according to the first aspect of the present invention, the loading and unloading operation is performed in the automatic warehouse by the load being conveyed by the crane device. For example, in the warehousing operation, the crane device carries out the unloading work for receiving the load from the cradle, then conveys the load to the target storage unit, and performs the unloading work for unloading the target storage unit.

At the time of this unloading work, the fork control means first drives the fork drive means to perform an approach operation for expanding and contracting the fork in the direction of the load to be placed. Then, when the end of the storage portion of the fork reaches, for example, below the load, the load detection means starts detection of the load and outputs a load detection signal to the timing means. At this time, the time counting means starts time counting. When the fork further expands and contracts, and the end of the fork on the side of the storage portion expands and contracts further outward than the load, the load detecting means stops detecting the load and stops outputting the load detection signal. Then, the time counting means ends the time counting. That is,
During this period, the time measuring means measures the load width time. After that, for example, when the fork is lifted and a load is placed on the fork, the fork control means drives the fork drive means,
Extend and retract the fork to its original position.

Next, the crane device conveys the load on the fork to the target storage unit and unloads the target storage unit. During this unloading operation, the fork control means causes the fork to expand and contract based on the load width time, and stores the load in the storage section. Therefore, the fork control means can quickly store the load in the storage unit by expanding and contracting the fork based on the measured load width.

Further, in the unloading work, the crane device carries out the unloading work in the storage section, then conveys the load to the intended cradle and unloads the intended cradle. Also during the unloading work and unloading work during this warehousing work,
The same control as that during the warehousing operation is performed.

According to the second aspect of the present invention, during the approach operation, the fork control means stops the expansion and contraction of the fork when the load detection means finishes detecting the load. According to the invention of claim 3, at the time of the unloading work, the fork control means is arranged so that the front side surfaces of the loads stored in the respective storage parts are flush with each other based on the load width time. The drive control means is controlled.

[0014]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described below with reference to FIGS. As shown in FIGS. 1 and 3, the automated warehouse 1 includes a pair of left and right frame shelves 2a and 2b.
Each of the frame shelves 2a and 2b is provided with a plurality of storage portions 3 in the depth direction (continuous direction) and the vertical direction (step direction). A traveling rail 4 is laid between the two frame shelves 2a and 2b, and a stacker crane 5 as a crane device is provided on the traveling rail 4 so that the stacker crane 5 can travel. The stacker crane 5 is adapted to travel between a home position HP and an opposite position (not shown). The home position HP and the opposite position are positions serving as a reference for traveling of the stacker crane 5, and the traveling position of the stacker crane 5, for example, is measured with the home position HP as a reference. When the automated warehouse 1 is not in use, the stacker crane 5 is held in a stopped state at either the home position HP or the opposite position. Also, home position HP
Left and right sides 6a and 6b for loading a load W at the time of loading and unloading are provided on both left and right sides of the.

As shown in FIG. 3, a plurality of trusses 7 are arranged on the frame shelves 2a and 2b at equal intervals in the connecting direction. That is, each storage part 3 is partitioned by the truss 7 on both front and rear sides in the connecting direction. In this case, the storage part 3
The width of the frontage (frontage width) for loading and unloading the cargo W is the same in all the storage sections 3. The width of the frontage means the length between the inner side surfaces of the pair of front and rear trusses 7 that partition the storage portion 3.

Mounting plates 8 are arranged at equal intervals in the step direction of the frame racks 2a and 2b. That is, the storage plate 3 is partitioned in the step direction by the mounting plate 8. In one storage unit 3,
The mounting plate 8 is attached to each of the trusses 7 located on the front and rear sides of the storage section 3 so as to extend inward so as to face each other. A gap is formed between each of the pair of front and rear mounting plates 8. Further, the mounting positions of the mounting plates 8 in the continuous direction are the same height for each step. In the storage unit 3 configured as described above, the load W is stored by suspending the load W on each mounting plate 8.

The left and right load receiving pedestals 6a and 6b have substantially the same structure as that of the storage portion 3 and are provided with a pair of mounting plates 9 for mounting the load W thereon. The respective mounting plates 9 are arranged so as to extend inward so as to face each other in the front-rear direction. And
The loads W placed on the left and right load receiving trays 6a and 6b for loading or unloading are placed so as to suspend the respective loading plates 9.

Usually, the load W is placed in the storage portion 3 at a position where the front side surface Wa of the load W and the front side surface 7a of the truss 7 on the traveling rail 4 side are flush with each other. The position where the load W is stored is referred to as a reference storage position. The front side Wa of the load W is
The front surface 7a of the truss 7 means the surface of the load W facing the traveling rail 4, and the front side surface 7a of the truss 7 means the surface of the truss 7 located on the traveling rail 4 side facing the traveling rail 4. .

Also, in the left and right load receiving trays 6a and 6b,
As shown in FIG. 1, the load W is placed at a position (reference storage position) in which the front side surface Wa thereof is flush with the front side surface 7a of the truss 7 on the traveling rail 4 side which constitutes the left and right load receiving bases 6a and 6b. To be done. In this case, the front side surface Wa of the load W located at the reference storage position in the storage section 3 and the front side surface Wa of the load W located at the reference storage position of the left and right load receiving trays 6a and 6b are the storage section 3
And, if the receiving trays 6a, 6b are located on the same frame shelf 2a, 2b side, they are flush with each other.

The stacker crane 5 is provided with a traveling platform 11 which travels along the traveling rail 4. The traveling platform 11 has a pair of masts 12a, 12 extending vertically.
b is provided upright, a crane controller 13 is provided on the mast 12a side, and a traveling motor 14 and a lifting motor 15 (both see FIG. 7) are provided on the mast 12b side.

The traveling table 11 has traveling wheels 11a, and the traveling wheels 11a are rotationally driven by a traveling motor 14.
Then, the stacker crane 5 travels along the traveling rail 4 as the traveling wheels 11 a roll on the traveling rail 4. Further, the traveling base 11 is provided with an optical communication device Ha (see FIG. 7).

An elevating carriage 16 is hung between the masts 12a and 12b by a wire, and the wire is hoisted and unwound by a hoisting device (not shown) to ascend and descend. The hoisting device is driven by a lifting motor 15. Also, the lifting carriage 16
A fork 17 is provided to be extendable in the left-right direction.

As shown in FIG. 2, the fork 17 is adapted to extend and contract in the left-right direction by means of an expanding and contracting device 21 provided on the elevating carriage 16. The expansion / contraction device 21 includes a guide rail 22, a ball screw 23, a fork drive motor (hereinafter referred to as an “expansion / contraction motor”) 24, and the like. The guide rails 22 are fixed one by one on the front and rear sides so as to extend left and right on the elevating carriage 16. That is, the fork 17 extends and contracts along the guide rail 22. Ball screws 23 are arranged between the guide rails 22. The ball screw 23 is fixed to the elevating carriage 16 side, and a nut (not shown) that moves according to the rotation of the ball screw is fixed to the fork 17 side. The expansion / contraction motor 24 is fixed to the elevating carriage 16 and its rotation shaft is connected to a ball screw. Therefore, when the ball screw is rotated based on the rotation drive of the expansion / contraction motor 24, the fork 17 expands / contracts in the left-right direction together with the nut.

A left load detection sensor 25a is provided on the left end side of the fork 17, and a right load detection sensor 25b is provided on the right end side. The left and right load detection sensors 25a and 25b are light detection type sensors.

Normally, the fork 17 is located at the center of expansion and contraction S ₀ (see FIG. 4) which is symmetrical. Then, the fork 17 can extend and contract between the left stroke end and the right stroke end. During this stroke, the expansion / contraction position of the fork 17 located at the position of the front side surface 7a of the truss 7 of the frame racks 2a, 2b on the side to which the left and right load detection sensors 25a, 25b correspond respectively becomes the reference for unloading work and the like. The expansion / contraction reference position S ₁ is set.
That is, the expansion / contraction reference position S ₁ when the fork 17 is expanded / contracted to the left is
The left load detection sensor 25a is located at the position of the front side surface 7a of the truss 7 in the frame shelf 2a, and the extension / contraction reference position S ₁ at the time of right extension / contraction is the right load detection sensor 25b in the front side surface of the truss 7 in the frame shelf 2b. This is the position at the position 7a.

On the home position HP side of the automated warehouse 1, a ground control panel 31 is provided. Ground control panel 3
1 is provided with a display 32 and an operation panel 33 including various keys. Further, the ground control board 31 is provided with an optical communication device Hb, and the ground control board 31 is provided with the optical communication device Hb.
Communication is possible with the stacker crane 5 side (crane controller 13) via a and Hb.

In the thus-configured automatic warehouse 1, the stacking work and the shipping work are performed based on the driving of the stacker crane 5. In this case, the warehousing work is the unloading work in which the stacker crane 5 receives the load W from the left or right load receiving trays 6a and 6b, the load W is transported, and the load W is unloaded in the intended storage section 3. It means performing work.
The unloading work means that the stacker crane 5 carries out the unloading work in the intended storage section 3, conveys the load W, and unloads the work on the left or the right cradle 6a, 6b.

FIG. 4 is a schematic diagram showing the work of picking up a load.
It should be noted that the work of receiving the cargo at the cargo receiving trays 6a and 6b and the storing portion 3
Since the work of picking up goods is exactly the same in operation except for the placement sections 8 and 9 on which the load W is placed,
Only the work of picking up the storage section 3 will be described.

First, the elevating carriage 16 is positioned at a load transfer position (load reference position) when the target storage part 3 is loaded. This unloading reference position is a continuous stop position (travel stop position) and a step stop position (elevation stop position).
The travel stop position is a position where the center of the width of the fork 17 in the front-rear direction coincides with the center of the width of the front opening of the intended storage portion 3, and the lift stop position is the top of the fork 17. This is a position slightly lower than the upper surface of the placing plate 8. At this time, the fork 17 is located at the expansion / contraction center position S ₀ .

Next, the fork 17 is extended toward the intended storage section 3 side based on the drive of the extension / contraction motor 24 (extension operation (A) as an approach operation). Then, the lifting motor 15
The fork 17 is moved upward based on the driving of the. At this time, the load W of the storage unit 3 is placed on the fork 17 (ascending operation (B)). Finally, the fork 17 is contracted based on the drive of the expansion / contraction motor 24 (shortening operation (C)).
The unloading work is performed by performing the series of operations (A) to (C).

FIG. 5 is a schematic diagram showing the unloading work. Incidentally, the unloading work at the load receiving bases 6a and 6b and the unloading work at the storage unit 3 are exactly the same in operation except for the placement units 8 and 9 on which the load W is placed. Therefore, only the unloading work for the storage unit 3 will be described.

First, the elevating carriage 16 is at a target delivery position (unloading reference position) at the time of unloading the intended storage section 3.
To position. This unloading reference position is specified by the traveling stop position and the elevating stop position, and the traveling stop position is the same position at the time of unloading. At the elevating stop position, the upper surface of the fork 17 is slightly smaller than the upper surface of the mounting plate 8. This is the position located above. At this time, the fork 17 is located at the expansion / contraction center position S ₀ .

Next, the fork 17 is extended toward the intended storage section 3 side based on the drive of the extension / contraction motor 24 (extension operation (D)). Then, the fork 17 is moved downward based on the drive of the lifting motor 15. At this time, fork 17
The load W is unloaded from above into the storage section 3 (lowering operation (E)). Finally, the fork 17 is contracted based on the drive of the expansion / contraction motor 24 (shortening operation (F)). This (D)
The unloading work is performed by performing a series of operations from (F) to (F).

Next, the electrical configuration will be described. The ground control panel 31 includes a ground controller 34, and a display 32 and an operation panel 33 are connected to the ground controller 34. Further, the ground controller 34 is provided with a memory 34a for storing various data. Further, the ground controller 34 is provided with an optical communication device Hb, and the ground controller 34 and the crane controller 13 can communicate with each other via the optical communication devices Ha and Hb. For example, the ground controller 34 creates the warehousing work instruction data and the warehousing work instruction data based on the warehousing request data and the warehousing request data input based on the operation of the operation panel 33. Then, the ground controller 34 creates work data for controlling the stacker crane 5 based on the warehousing work instruction data and the warehousing work instruction data to perform warehousing or unloading, and outputs the work data to the crane controller 13. Similarly, work data is created based on the warehousing or unloading work instruction data created by an inventory management computer (not shown), and the crane controller 13
Output to

The crane controller 13 has a memory 13a for storing various data. The crane controller 13 includes a traveling motor 14 and a lifting motor 1.
5 and the extension / contraction motor 24 are connected. A left load detection sensor 25a and a right load detection sensor 25b are connected to the crane controller 13. Further, the crane controller 13 is connected with a timer 13b as a time counting means for counting time. The left load detection sensor 25a and the right load detection sensor 25b are connected to the timer 13b.

The memory 13a stores the time (reference time) from the expansion / contraction center position S ₀ to the expansion / contraction reference position S ₁ when the fork 17 expands / contracts. Also, memory 1
3a, the fork 17 expands and contracts, and the expansion / contraction center position S ₀
The reversal reference time from when reaching the expansion / contraction reversal reference position is stored. The expansion / contraction inversion reference position is located on the front side surface 7a of the truss 7 of the frame shelves 2a, 2b where the left and right load detection sensors 25a, 25b provided on the fork 17 are located on the opposite sides of their own sensors 25a, 25b. The position. That is, the left load detection sensor 25a is located on the right side frame shelf 2b.
Is located on the front side surface 7a of the truss 7, and the right load detection sensor 25b is located on the front side surface 7a of the truss 7 of the left frame shelf 2a.

When the left load detection sensor 25a detects the load W, it outputs an ON signal as a load detection signal to the crane controller 13 and the timer 13b, and the crane controller 13 outputs the left load based on the ON signal from the left load detection sensor 25a. It is determined that the detection sensor 25a has detected the load W.
Further, the timer 13b starts the time measurement when the ON signal is output from the left load detection sensor 25a, and ends the time measurement when the output of the ON signal is stopped. That is, the timer 13b keeps time only while the ON signal is being output.

Similarly, when the right load detection sensor 25b detects the load W, it outputs an ON signal as a load detection signal to the crane controller 13 and the timer 13b, and the crane controller 13 outputs the ON signal from the right load detection sensor 25b. The right load detection sensor 25b determines that the load W has been detected. Further, the timer 13b starts time counting when the ON signal is output from the right load detection sensor 25b, and ends the time counting when the output of the ON signal is stopped.

The crane controller 13 determines, based on the work data, the frame shelves 2 for which the same unloading and unloading operations are performed.
a, 2b (same shelf) storage unit 3 and load receiving trays 6a, 6b
It will be decided whether it will be done in. or,
The crane controller 13 drives the traveling motor 14, the elevating motor 15, and the telescopic motor 24 based on the work data to cause the stacker crane 5 to perform the loading or unloading work. During this loading or unloading work,
The crane controller 13 drives the elevating motor 14 and the telescopic motor 24 to cause the stacker crane 5 to perform the unloading work and the unloading work. During these unloading and unloading operations, the crane controller 13 drives the telescopic motor 24,
The fork 14 is adapted to expand and contract at a constant speed.

In the extension operation (A) of the above-mentioned load removing work, the timer 13b is operated by the left or right load detecting sensors 25a, 25.
The width of the load W in the left-right direction (load width) is measured based on the ON signal from b. That is, when the left load detection sensor 25a detects the load W in the extension operation (A) in the left storage part 3 or the left load receiving base 6a, the timer 13b
Starts counting time. Then, the left load detection sensor 25
When “a” finishes detecting the load W, the timer 13b finishes measuring time, and stores the measured time in the memory 13a as time corresponding to the load width of the load W (load width time).
Also, the crane controller 13 uses the left load detection sensor 25a.
At the same time as the detection of the load W of the crane is completed, the crane controller 1
In No. 3, the driving of the extension / contraction motor 24 is immediately stopped and the extension operation (A) is ended.

Similarly, the storage section 3 on the right side or the load receiving stand 6 on the right side
In the extension operation (A) at b, the right load detection sensor 25b
When the load W is detected, the timer 13b starts counting time. Then, when the right load detection sensor 25b finishes detecting the load W, the timer 13b finishes counting the time and stores the load width time in the memory 13b. Further, when the crane controller 13 finishes detecting the load W of the right load detection sensor 25b, the crane controller 13 stops driving the extension motor 24 and ends the extension operation (A). And
After the extension operation (A) is completed, the crane controller 13 sequentially performs the ascending operation (B) and the contracting operation (C) to perform the unloading work.

In the extension operation (D) of the unloading work,
The crane controller 13 drives the telescopic motor 24 based on the load width time and the reference time to calculate the time (extension operation time) for extending and retracting the fork 17, and extends and retracts the fork 17 for the extension operation time. There is.

That is, when the unloading work and the unloading work are performed on the same shelf, the crane controller 13 calculates the extension operation time by adding the load width time and the reference time.
Then, the crane controller 13 performs the extension operation (D) by driving the extension motor 24 for the extension operation time. When the unloading work and the unloading work are performed on the same shelf, the left rack 6a to the left frame rack 2a
When loading the load W into the storage section 3 on the side, when loading the load W from the right load receiving tray 6b into the storage section 3 on the right frame shelf 2b side, from the storing section 3 on the left frame shelf 2a side to the left load receiving platform 6a. This is a case where the load W is unloaded, and a case where the load W is unloaded from the storage unit 3 on the right frame shelf 2b side to the right load cradle 6b.

Frame rack 2 for different loading and unloading operations
a, 2b (different shelves) storage unit 3 and load receiving trays 6a, 6
In the case of b, the crane controller 13 uses the reversal reference time stored in the memory 13a as the extension operation time to extend and retract the fork 17 for the extension operation time. When the loading and unloading work is performed in the storage section 3 and the receiving trays 6a and 6b on the different sides, when the load W is stored in the storing section 3 on the right frame shelf 2b side from the left loading tray 6a, the right When loading the load W from the loading tray 6b into the storage unit 3 on the left frame shelf 2a side, when leaving the load W from the storage unit 3 on the left frame rack 2a side to the right loading rack 6b, and in the right frame rack 2
This is a case where the load W is unloaded from the storage part 3 on the b side to the left load receiving base 6a.

Further, during the unloading work, it may be desired to set the storage position of the load W in the storage section 3 or the load receiving trays 6a, 6b to the desired storage position instead of the reference storage position. In this case, the crane controller 13 corrects the extension operation time by appropriately adding or subtracting the correction time to or from the extension operation time. This correction time is a time indicating the expansion / contraction time of the fork 17 required for expansion / contraction from the reference storage position to the desired storage position. That is, the crane controller 1
3 first calculates the correction time indicating the desired storage position. Then, when carrying out unloading and unloading work on the same shelf, the extension operation time is corrected by adding the correction time to the extension operation time. On the other hand, when carrying out unloading and unloading work on different shelves, the extension time is corrected by subtracting the correction time from the extension operation time. Crane controller 1
3 is this corrected extension operation time (correction extension operation time)
Only the expansion / contraction motor 24 is driven to expand / contract the fork 17.

Next, the operation and effect of the crane device of the automatic warehouse constructed as described above will be described. Normally, as shown in FIG. 6A, in this automated warehouse 1, each load W is stored at the reference storage position of each storage unit 3 and each of the load receiving trays 6a and 6b. Then, when carrying out the warehousing or warehousing in the automatic warehouse 1, the operator operates the operation panel 33 to output the warehousing or warehousing request data to the ground controller 34. Then, the controller 34 creates warehousing or warehousing work instruction data based on the warehousing or warehousing request data, and further creates work data based on the warehousing or warehousing work instruction data. The crane controller 13 controls the stacker crane 5 based on the work data, and causes the stacker crane 5 to carry out the warehousing work or the warehousing work.

For example, the left rack 6a to the left frame shelf 2a
When loading the load W into the storage section 3 on the side, first,
Carrying out work for receiving the cargo W from the left cargo tray 6a is performed.
Prior to this warehousing operation, the crane controller 13 determines whether or not the warehousing operation to be performed is an operation performed on the same shelf. In this case, the crane controller 1
It is determined that the work 3 is performed on the same shelf, that is, on the side of the frame shelf 2a.

As shown in FIG. 4, at the time of unloading, the crane controller 13 first causes the extension operation (A). That is, the crane controller 13 uses the extension motor 24
To drive the extension operation (A). In the extension operation (A), when the left load detection sensor 25a detects the load W on the load receiving base 6a as the fork 17 expands and contracts,
The timer 13b starts measuring time. When the left load detection sensor 25a finishes detecting the load W, the timer 13
b outputs the data indicating the load width time required from the detection of the load W to the end of the detection of the load W to the crane controller 13, and the crane controller 13 stores the data indicating the load width time in the memory. 13a.

Further, when the left load detection sensor 25a finishes detecting the load W, the crane controller 13 immediately stops the drive of the telescopic motor 24. Then, the crane controller 13 drives the elevating motor 15 to cause the elevating carriage 16 to perform the raising operation (B), and then drives the extension motor 24 to perform the contraction shortening operation (C). The load W is placed on the fork 17 by the ascending operation (B), and the load W is expanded and contracted to the original expansion / contraction reference position S ₀ by the contraction operation (C).

Thereafter, the crane controller 13 drives the stacker crane 5 to convey the load W on the fork 17 to the storage unit 3 for the purpose of unloading work. At this time, the crane controller 13 positions the elevating carriage 16 at the unloading reference position.

As shown in FIG. 5, at the time of unloading, the crane controller 13 first causes the extension operation (D). At this time, the crane controller 13 has the memory 13
The extension operation time is calculated based on the load width time and the reference time stored in a, and the fork 17 is extended by the calculated extension operation time. In this case, the crane controller 13 calculates the extension operation time by adding the load width time to the reference time. After that, the lowering operation (E) is performed to lower the load W into the storage portion 3, and the shortening operation (F) is performed to extend and retract the fork 17 to the original extension / contraction reference position S ₀ . In this way, the warehousing work is performed by performing the unloading work and the unloading work.

Further, as a loading operation on the same shelf, the load W is loaded on the side of the frame shelf 2b, that is, from the load receiving table 6b to the right side storage section 3.
The crane controller 13 performs the same control as that in the above case except that the unloading work is carried out at the cradle 6b and the unloading work is carried out at the storage part 3 on the right frame shelf 2b side also when unloading. I do. That is, the crane controller 1
3 calculates the extension operation time by adding the reference time to the load width time.

Next, in the case of loading work on different shelves, that is, when storing from the left load receiving tray 6a to the storage portion 3 on the right frame rack 2b side, or from the right load receiving rack 6b to the left frame rack 2a.
A case where the load W is stored in the storage portion 3 on the side will be described.
This warehousing operation on different shelves differs from the warehousing operation on the same shelf only in the calculation method of the extension operation time of the extension operation (D) at the time of unloading, and basically the same control is performed. Done. That is, the crane controller 13
Performs the warehousing operation by extending the fork 17 for the extension operation time during the unloading operation, with the inversion reference time as the extension operation time.

In addition, in the unloading work and the unloading work which are carried out in the warehousing work, the unloading work is carried out with the storage section 3.
Except that the unloading work is performed between the load receiving trays 6a and 6b, it is basically performed under the same control as that for the warehousing work. That is, if it is a shipping operation on the same shelf,
The crane controller 13 basically performs the same control as the warehousing work on the same shelf, calculates the extension operation time by adding the load width time to the reference time, and causes the warehousing work to be performed. In addition, the crane controller 1 can be used for delivery work on different shelves.
3 basically performs the same control as the warehousing work on different shelves, and causes the warehousing work to be performed with the inversion reference time as the extension operation time.

On the other hand, as shown in FIG. 6B, only the load W placed on the load receiving base 6a is set as a desired storage position.
The outer end surface (back side surface) 7b of the truss 7 on the side opposite to the traveling rail 4 that constitutes the left load receiving base 6a and the back side surface W of the load W
There is a case where it is desired to store at a position flush with b (opposite storage position). When carrying out the work of picking up the load W placed at the facing storage position on the left load receiving base 6a, the same control as the control of the normal load taking work is carried out, and the load width Time is detected.

When the back side Wb of the load W and the back side 7b are flush with each other, when the load W is placed on the load receiving table 6a, the crane controller 13 determines the extension operation time at the storage position. The correction is performed at the correction time corresponding to, and the fork 17 is extended for the corrected extension operation time (correction extension operation time). In the case of loading or unloading work on the same shelf, the crane controller 13 adds the correction time to the extension operation time to calculate the corrected extension operation time. The correction extension operation time is calculated by subtracting the correction time.

In the automatic warehouse 1, when carrying out the loading or unloading work so that the load W shown in FIG. 6 (b) is stored, the loading work is carried out from the right rack 6b to the right frame shelf 2b. Side storage section 3 first storage operation, left cargo receiving stand 6a to the right frame rack 2b side storage section 3 second storage operation, right cargo stand 6b to the left frame rack 2a side storage section 3 There is a third warehousing operation, and a fourth warehousing operation from the left cargo tray 6a to the storage part 3 on the left frame shelf 2a side. As the unloading work, the first unloading work from the storage part 3 on the right frame rack 2b side to the right load receiving tray 6b, the second unloading work from the storage part 3 on the right frame rack 2b side to the left load receiving rack 6a, the left frame rack 2a There is a third warehousing operation from the storage section 3 on the side to the right cargo receiving tray 6b, and a fourth warehousing operation from the storage section 3 on the left frame shelf 2a side to the left cargo receiving tray 6a.

In this case, the time required for carrying out the unloading work based on the control of the conventional example shown in FIG. 8 in performing the above-mentioned first to fourth warehousing work and first to fourth warehousing work ( The unloading time) is T seconds, and similarly, the time required for the unloading work (unloading time) is T seconds. Further, the unloading time for unloading the load W at the reference storage position and the unloading time for unloading to the reference storage position by the control shown in the present embodiment are both longer than the conventional unloading time and unloading time. It is assumed that the time ratio α is shortened. It should be noted that the left loading tray 6a
It is assumed that the time required for unloading and unloading the load W stored in the opposed storage position shown in (1) is the same as that in the conventional case even by the control of the present embodiment.

The working times required for the first to fourth warehousing operations and the first to fourth warehousing operations, which are obtained according to the above premise, will be exemplified below. 1st warehousing work ... 2T (1-α) seconds, 2nd warehousing work ... 2T seconds, 3rd warehousing work ... 2T (1-α) seconds, 4th
Storage work ... T (2-α) seconds.

First leaving work ... 2T (1-α) seconds, second leaving work ... T (2-α) seconds, third leaving work ... T (2-α)
Second, fourth shipping work ... 2T (1-α) seconds. In this case, the sum of the first to fourth warehousing work and the first to fourth warehousing work (total work time) is T (16-11α) seconds, and the total work time in the conventional case is 16 · T seconds. Assuming that each warehousing and unloading work occurs evenly, it is possible to reduce the average (11/16) · α · T seconds in one warehousing or unloading work.

According to this embodiment, the following (a)-
It has the feature (effect) of (C). (A) Since the load width (load width time) of the load W is detected during the unloading work of the loading or unloading work, the load width time of each load W to be worked is previously stored in the inventory management computer or the crane computer 13 or the like. No need to remember. That is, for example, the crane computer 13 may store the load width time detected during the unloading work in the memory 13a only during the work. Therefore, the memory 13a of the crane computer 13 does not require a large storage capacity, and the load of control of the crane computer 13 during the loading or unloading work can be reduced.

(B) Upon completion of detection of the load width time during the extension operation (A) during the unloading work, the crane controller 13 immediately raises the fork 17.
Therefore, the extension stroke of the fork 17 during the unloading work can be shortened according to the load width of the load W on the fork 17, the work time of the unloading work can be shortened, and the unloading work can be performed efficiently. be able to.

(C) During the unloading work, the crane controller 13 carries out the unloading work based on the load width time, so that the stacker crane 5 can be controlled in accordance with the load width of the load W to be unloaded, and the stacker crane 5 can be quickly and efficiently operated. Can unload well. In this case, the crane controller 13
Since the cargo W is unloaded onto the storage section 3 and the cargo receiving trays 6a and 6b so that the front side Wa of the cargo W is flush with each other, each cargo W can be unloaded efficiently, quickly, and visually. or,
Since the load W is unloaded so as to be flush with the front side surface 7a of the truss, the load W can be stored more efficiently and quickly.

The present invention is not limited to the above-mentioned embodiment, and can be carried out as follows with appropriate changes without departing from the spirit of the invention. (1) In the above-described embodiment, the load W is stored in the storage portion 3 or the like with the position where the front side Wa of the load W is flush with the front side 7a of the truss 7 as the reference storage position. The load W may be stored in the storage portion 3 with a position slightly protruding from the storage portion 3 toward the traveling rail 4 side as a reference storage position.

(2) In the above embodiment, the loads W are stored in the storage unit 3 so that the front side surfaces Wa of the loads W stored in the storage unit 3 are flush with each other. You may store the load W in the storage part 3 so that Wb may become flush.

(3) In the above embodiment, the storage section 3
Also, the mounting plates 8 and 9 on the side of the left and right load receiving bases 6a and 6b are provided so as to be movable up and down, and the lowering operation of the mounting plates 8 and 9 is performed instead of the ascending operation (B) during the unloading work. Instead of the lowering operation (E), the loading plates 8 and 9 may be moved up to perform the unloading and unloading operations.

(4) In the above embodiment, the fork 17
The work of picking up the cargo was carried out by raising from below the cargo W. For example, a clamping device that clamps the load W on the fork 17 may be installed, the fork 17 may be approached from the side of the load W, and the load W may be clamped by the clamping device to perform the unloading work.

The technical ideas other than the claims that can be understood from the above-described embodiment will be described below along with their effects. (1) In the invention according to claim 3, the fork control device of the crane device, wherein the fork control means controls the telescopic motor 24 so that the front side surface Wa of the load W is flush with the front side surface 7a of the truss 7. According to this fork control device, it is possible to perform the unloading and unloading work more quickly and efficiently.

[0069]

As described in detail above, according to the invention described in claim 1, the load width time can be detected during the unloading work, and the unloading work can be performed based on the load width time. It is not necessary to store the information, and it is possible to perform the warehousing or unloading work quickly and efficiently.

According to the second and third aspects of the invention, it is possible to carry out the warehousing or unloading work more quickly and efficiently.

[Brief description of drawings]

FIG. 1 is a perspective view showing an automatic warehouse.

FIG. 2 is a projection view showing a lift carriage.

FIG. 3 is a plan view showing a frame rack and a stacker crane.

FIG. 4 is an explanatory diagram showing a unloading work.

FIG. 5 is an explanatory diagram showing unloading work.

6 (a) and 6 (b) are plan views showing a state in which a load is placed on the storage section and the load receiving base.

FIG. 7 is an electric block diagram for controlling the stacker crane.

FIG. 8 is a plan view showing a conventional frame shelf and a stacker crane.

[Explanation of symbols]

1 ... Automatic warehouse, 2a, 2b ... Frame shelf, 3 ... Storage section, 5 ...
Stacker crane as crane device, 13 ... Crane controller as fork control means, 13b ... Timer as timekeeping means, 17 ... Fork, 24 ... Telescopic motor as fork driving means, 25a, 25b ... Left as load detecting means, Right load detection sensor, W ... load, Wa ... front side surface.

Claims (3)

[Claims] 1. A crane device for transporting a load to a plurality of storage units formed on a frame shelf of an automatic warehouse, and capable of expanding and contracting in the direction of the storage unit to transfer the load to and from the storage unit. A fork provided on the fork, a fork drive means for expanding and contracting the fork, a load detecting means provided at the end of the fork on the side of the storage portion, and a load removing operation for placing a load on the fork,
During the approach operation of expanding and contracting the fork in the direction of the load to be placed, the time from the load detection means starting the detection of the load to the end of the detection of the load is measured as the load width time indicating the width of the load. The time measuring means and the fork driving means are controlled to extend and retract the fork to perform the unloading work and the unloading work of unloading the fork, and the load width measured by the time measuring means during the unloading work. A fork control device for a crane device, comprising: fork control means for controlling the fork drive means based on time. 2. The approach operation, when the fork control means ends the load detection by the load detection means,
The fork control device for a crane device according to claim 1, wherein expansion and contraction of the fork is stopped. 3. During the unloading work, the fork control means controls the fork drive control means on the basis of the load width time so that the front side surfaces of the loads stored in the respective storage parts are flush with each other. The fork control device for a crane device according to claim 1 or 2.