JPS58197102A - Three-dimensional storehouse - Google Patents

Abstract

PURPOSE:To enhance accuracy of a stoppage, by a method wherein the driving speed of a carrying-in and carrying-out device is detected, and stoppage is controlled by comparing the detected results with a reference distance from a reference position of a rack, in a three-dimensional storehouse equipped with a rack with a lattice form luggage receiving frontage and the carrying-in and carrying-out device. CONSTITUTION:The carrying-in and carrying-out device for luggage is started by a command from a CPU39, and inputting of electrical signals from the system of a high-speed detector 31 is commanded to a change-over device 35 and a count pulse generator 36. Output signals from a rotating plate 24 (which is rotated simultneously with starting) and the detector 31 are converted into high-speed pulses through the change-over device 35 and the pulse generator 36, the pulses are counted by a counter 38, and are inputted into the CPU39. The distance in the row direction of the feeding- in and feeding-out device is calculated from the counted value, is compared with a distance to a decelerating point A which is stored, thereby judging a decelerating time, and a command for deceleration is outputted. The system is changed over to the system of a low-speed detector 30, and a stoppage time is similarly judged by low-speed pulse signal 36a, and is controlled. Accordingly, accuracy of stoppage is enhanced.

Description

[Detailed Description of the Invention] [Technical Field of the Invention] The present invention provides a three-dimensional warehouse equipped with a rack having a plurality of luggage storage openings arranged in the same grid pattern and a luggage loading/unloading device for each of the openings. In particular, the present invention relates to positioning control for each frontage of a luggage unloader device.

[Technical background of the invention]

In this type of multi-level warehouse, a stacker crane is used as a loading/unloading device for each opening arranged in a grid pattern. This stacker crane is configured to be movable in the direction in which the racks are arranged, that is, in the X direction (horizontal direction), by means of a truck, and is movable in the direction of rack tiers, that is, in the Y direction (vertical direction), by means of an elevating mechanism constructed on the truck. It is configured to move and face each of the frontages. In this case, positioning in the X direction is performed by detecting a plurality of dowels provided on the rails on which the cart runs, corresponding to each row of frontages (especially the lowermost row of frontages), and controlling deceleration and stopping. Also, positioning in the Y direction is #! (e) Deceleration and stop control was performed using the outputs of a large number of level detectors provided for each shelf in the hoistway of the elevating mechanism.

[Problems with background technology]

However, with the above control, it was difficult to accurately position the rack with respect to the frontage of the upper rack. In other words, in terms of the X direction, since the positioning is done by stopping the trolley based on the bottom row of Sekiguchi rows, the vertical centering of the rack and the vertical centering of the lifting mechanism configured on the trolley are difficult. Both must be carried out accurately.

However, in reality, it is difficult to perform such centering with high precision, and misalignment in the vertical direction often occurs from the beginning. In addition, the above-mentioned deviation in the vertical direction occurs due to uneven subsidence of the ground. This also applies to misalignment in the Y direction.

Such misalignment results in thicker roots at the part far from the reference part, that is, the upper part of the rack, and the entrance and the fork of the cargo loading and unloading device face each other with a large eccentricity, making it difficult to load and unload the luggage, and making it difficult to load and unload the cargo. Unreasonable force and impact were applied to both parts, causing problems such as deformation and damage of various parts.

[Purpose of the invention]

SUMMARY OF THE INVENTION An object of the present invention is to provide a three-dimensional warehouse in which a cargo loading/unloading device can be accurately stopped at a predetermined location of a carrier in each doorway without being affected by misalignment or the like.

[Summary of the invention]

The present invention provides a rack having a plurality of checkpoints for storing curved articles arranged in a lattice pattern, a drive device for driving a baggage loading/unloading device in the row direction and step direction of the rack so as to face each checkpoint, and One of the movable parts and the fixed part for the row direction and the row direction, which are respectively relatively movable in conjunction with the movement of loading and unloading cargo by the drive device. A plurality of low-operation detection objects arranged in one direction at intervals of A small number of objects to be detected for high operation and either the front moving part or the fixed part, for example, are provided on the fixed part and face the above-mentioned objects for low operation and high speed to generate an electric signal every time they pass. The distances in the row and row directions from the level chamber for each rack are stored in digital values, and the distances from the detectors in Meter 1 and Fang 2 are stored in digital values for each frontage. It is equipped with an arithmetic control device that counts the electric signal and compares the value with the corresponding M digital value up to Sekiguchi to control the stop of the drive device in the front array direction and the stage direction, and the arithmetic control device counts the electric signal from the detector. By counting the signals, the current position is grasped, and the baggage loading/unloading device is controlled to slow down and stop so as to bring it to the digital value up to the corresponding checkpoint, which is stored in advance. The warehouse is also located in a multi-story warehouse that allows for accurate positioning of the delivery person.

[Embodiments of the invention]

Hereinafter, the present invention will be explained in detail with reference to an embodiment shown in FIG. (3). ...“ In Figure 1, aυ is a rack with multiple openings for storing luggage arranged in a lattice pattern. a2 is a cargo unloader device, which is a lifting mechanism α 1 on a trolley 03. The trolley (131) is movably provided on the rail 05 provided along the column direction of the rack 0υ, that is, the X direction, and is moved in the same direction by the driving force generated by the drive value 01161. In addition, the elevating mechanism α◆ also has a drive Ve information (17), and therefore, the baggage loading/unloading device α field is driven by the drive device (IQ) in the X direction of the rack aυ, and Drive device t(17) Driven by K in the Y direction (stage direction) of rack 0υ.

Here, the drive device αG for the X direction is shown in Figure 2 (α) (b).
Configure as shown. That is, in the figure, ul)
is a motor, installed on the trolley Q31, and has a gear wheel Js■υ
Rotate wheel 4 on rail 05 via. @ is a rotary plate for position detection, which is directly connected to the rotating shaft of the motor body l, which is a movable part, in order to interlock with the movement of the cargo loading/unloading device a3 in the X direction. As shown in Fig. 8, this rotary plate 3 has a plurality of (for example, 80 il) low-frequency detection objects ( e). In addition, a high-speed detection object (to) is arranged on the second concentric circular surface Ka set on the same plate surface. This high-speed detection object (■) is smaller in number (
For example, 8 pieces) and are formed long in the circumferential direction. In the figure, the length is set to cover the range of five low-speed detection objects (e). As each of these objects to be detected (4), for example, a straight hole for transmitting light may be used.

Returning to Figure 2, the force c is the detector 1 arranged to face the low-speed detected object (4), and the 6υ is arranged to face the high-speed detected object (c). A second detector is provided, which is mounted on a fixed part of the carriage 0I, and generates a Ki1 signal every time a corresponding object to be detected or track of the object to be detected passes. As these detectors Sυ, a light* conversion type consisting of a light emitting element and a light receiving element may be used.

Although the detailed structure of the drive device for the Y direction shown in Figure 1 is not shown, it has a drive motor and a chain connected to the motor via a sprocket.
Due to the operation of this chain (c)? tih Exporter Exporter (
Drive Iz in the Y direction of rack θD. In addition, in order to detect the position of this cargo loading/unloading [0] in the Y direction, the rotary plate (2) and the same parts as the above rotary plate (2) and spears 1 and 2 are used.

Next, detect the spear 1 and spear 2 mentioned above! The configuration of the control section that controls the position of the baggage unloading units based on electrical signals from a(to) 6υ will be explained with reference to Fig. 4-4. □□□ is a switch, which inputs the electrical signals from the detection groups 1-1 and 2, and selects and outputs one of them. The ring is a count pulse generator, which generates pulses for counting based on the electrical signals from each of the above-mentioned detectors 1υ, and connects it to the terminal for low-speed counting (36,) or the terminal for high-speed counting (367).
Output as is. μs is a counting device that counts pulses generated from the count pulse generator Masuda. Reference numeral 39 denotes a central processing element (hereinafter referred to as CPU) that constitutes the calculation control unit 4 together with the counting device (to), which inputs the count data from the needle counting device q and decelerates the drive motor ■ shown in Fig. 2. ,
It gives a stop command, generates a switching signal (3) between the switching device (to) and the count pulse generator, and a reset signal (@) to the needle counting device.

Here, the distance in the X direction and Y direction from the reference position for each frontage of the rack a1) is stored in the CPU (to) using digital values (for example, distance 111 [number of pulses corresponding to IK)].
Memorize it in advance.

Next, the effect will be explained. In addition, the following explanation is based on the rack for loading and unloading items shown in Figure 1. 0 shown in the υ spear 5 diagram
Assume that the column and 8th stage of Sekiguchi CC-8) K are moved [Explained]. Here, the moving process of the loading/unloading force αδ is Ki=in both the X direction and the Y direction, as shown in Figure 5. That is, the cargo loading/unloading iron V02 is started from the wooden position (zero point in the figure), and the speed is increased until it reaches a predetermined moving speed. This section is called a speed-up section (L,). After speeding up, the vehicle maintains a predetermined moving speed, but when it reaches K near the destination, it begins to decelerate.1 The period up to this TFC speed point is called the high-speed section (L2), and the section up to the stop point is called the deceleration section (Ll). call.

FIG. 6 shows the above movement process in more detail, and the deceleration section (L,) is the section (L,) up to the deceleration completion point (5).
, ) and an interval (Lo) from here to stopping point 0.

Here, the CPU (2) shown in Figure 4 has a baggage loading/unloading scissor #
The distance from the desired home position to the predetermined stopping point 0 is memorized, as well as the distance to the deceleration point map and the distance to the deceleration completion point (8). If these distances 111tK are suitable, each control command described later is given.

In other words, when looking at movement in the X direction, CPU 3'
When J gives a start command to the motor (4) shown in FIG. 2, the wheels rotate through the gear mechanism, and the load carrying/unloading scissors WaS starts from the home position in the X direction. This operation also rotates the rotary plates Cj and il, so that the detector output generates a signal of Km every time the corresponding detected object passes. Here, the CPU (to) is connected between the switching device and the count pulse generator (to) to the MiS intelligent body for speed (2■) and the opposing spear 2.
A command is given to input the electrical signal from the detector 6υ. Therefore, the counting pulse generator (to) receives three electric signals per revolution generated from the detector C11l of spear 2 through the switching device, and receives the electrical signal for counting from the high-speed counting pad (367). Produces a pulse output. The electric signal generated by the detector uD of spear 2 above is shown in Figure 1 (
As shown in 1), as the speed of the bamboo transporter #t03 increases, it becomes <g width (g), and becomes constant at the Tamehoku-ku Seki (L,).

Here, even in the above-mentioned high-speed section (L,), the detector 6 of spear 2
The electrical signals generated from υ are relatively small at 8 times per rotation, and as shown in Figure 8, the number of electrical signals generated from υ is relatively small.
Since the length of the signal is large, a sufficient signal width can be obtained, and the counting device (to) can reliably capture and count the pulse output based on this electrical signal.

The CPU (to) grasps the moving distance of the baggage sender device a in the X direction based on the data from the counter g1 (to), and issues a deceleration command when the distance reaches the scheduled deceleration point map.

Therefore, the baggage sender device a2 is decelerated, and the deceleration completion point ■
By the time it reaches , it becomes about 1/IOK of the light movement speed in the high speed section (L,). CPUCIII is baggage issuer device 0
4 reaches the scheduled deceleration completion point (6)K, a switching signal (3) is output to the switching Masuda and count pulse generator (to). For this reason, the switch (to) applies the electric signal from the first detector (to) between the count pulse generators, and the count pulse output between the count pulse generators is used for low-speed counting based on this electric signal. It arises from the terminal (3g,).

Here, the electric signal generated from the detector of spear 1 is gradually reduced to 80 shots per l (b) rotation, as shown in the off figure (off diagram), but the rotational speed of the rotary plate (c) is in the high speed section (L2 ) about 1
/In order to reduce IOK, the counting device f! The counting speed of Itμs is almost equal to the high speed section (L,). Of course, since the number of pulses per revolution is increased by 10 times, distance measurement 1ii
The load rises even once, and while comparing it with the digital value stored in advance, CPU
(14 can be accurately controlled to stop at a predetermined stop point in the X direction.

Although the above explanation concerns the X direction, accurate stop control can be performed in the Y direction by the same effect.

In addition, it is preferable that the baggage dispatcher device t12 is provided with an arrival confirmation sensor that operates in response to a detected object provided at each frontage when the loader reaches a predetermined position of the loader at each frontage. This means that in the unlikely event that accurate positioning is not performed due to an error (incorrect counting of the number of pulses due to a slip in the rotating part, etc.), no output will be generated, so the above-mentioned obstacle can be detected and the position can be corrected. .

In addition, the distance (X direction, Y direction) from the reference position (home position) for each opening can be set for all openings of the rack αυ and stored in the CPU, or This is done by moving the device 03 for each width KN, teaching the number of pulses at that time, and storing it in playback, but the latter is more difficult.

Further, in the above embodiment, in order to detect the position of the #I object carrying/unloading device u4, a rotary plate (2) having a detected object (to) (to) is provided on the movable part that is linked to the movement of the rotating plate (2), and the rotating plate (2) is attached to the fixed part. Fang 1,
Although 20 detector circles 6υ are provided, the present invention is not limited to such a relationship, and may be configured as follows. That is, the detectors 1 and 2 are provided on a movable part that is linked to the movement of the baggage sender device G2 (the trolley α3 in the X direction, and the baggage sender device u2 itself in the Y direction), and The low-speed and high-speed m detectors are attached to the rail 19 (for the rail 19 part, and to the pillars constituting the lifting mechanism 141 for the Y direction) in the form of long plates arranged in two rows along the moving direction of the movable part. [Also, it has the same effect as the example described in @.

Furthermore, although the through holes for light transmission are illustrated as the objects to be detected for low speed and high speed (e) and (to), a light reflector may be used instead.

In addition, although the counting device (to) and the CPU@ are separated for the sake of explanation in FIG. 4, they may be collectively configured as an arithmetic and control device.

〔Effect of the invention〕

As described above, according to the present invention, even if there is some misalignment between the rack itself or the moving direction of the rack and the baggage dispenser device,
Since the baggage dispenser device can be accurately positioned for each rack frontage, loading and unloading at each rack is easy.
l'L, unreasonable force or large impact is not applied to each part, and smooth loading and unloading can be performed without deforming or damaging each part. Furthermore, even if the centering of the rack structure is made somewhat rough, there is no problem and various effects can be produced, such as leading to a reduction in construction costs.

[Brief explanation of drawings]

Figure 1 is an overall view showing an embodiment of a three-dimensional warehouse according to the present invention, and Figure 2 (-) is a part of Figure 11 (X-direction drive value f).
i1) is an enlarged front view and Figure 1g1li1, Figure 8 is a front view showing the detailed configuration of the rotary plate shown in Figure 2,
Figure 4 is a block diagram showing the configuration of the control unit used in the present invention, Figure 16 is a diagram for explaining the present invention in detail, and Figure 16 is a characteristic showing in detail the movement process of the baggage sender device in the present invention. Figure 7 (a) (BL is a waveform diagram showing the output pulse waveform in the invention. 0υ・Q rack, a'a--Luggage loading/unloading W device,
+uO-・Drive device, (4) (To)・Detected object, (To) 6υ・Detector, Bit・Arithmetic control device. May 11, 1986 Inventor Dairi Mizutsu Patent applicant Okura Transport Machine Co., Ltd. 18

Claims (1)

[Claims] (1) A rack with a plurality of baggage storage openings arranged in a lattice pattern, a drive device that drives the baggage loading/unloading device in the row direction and row direction of the rack so as to face each of the doorways, and this drive device. One of the movable parts and fixed parts for the row direction and the first stage direction, which are respectively movable relative to the movement of the baggage loading/unloading device, is provided at regular intervals in the direction of their relative movement. A plurality of low-speed detected objects arranged in an array, and a high-speed detected object arranged neatly in the arrangement direction of these low-speed detected objects, formed longer in the arrangement direction than the low-speed detected objects, and with a smaller number of high-speed detected objects. -Ai!, which is provided on the other of the rotating and rotating portion or the fixed portion, and facing the low-speed and high-speed detected objects. Detectors for the spears 1 and 2 that output electric signals every 4 times; and a performance control device that counts the electric signal from the detector of i′F2 and compares the value with the digital value up to the corresponding frontage to control the drive devices in the row direction and the row direction to stop. A three-dimensional warehouse with a % characteristic.