JPS6044202B2 - Movement stop control device for transport moving body - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a movement stop control device for automatically stopping a conveyance moving body such as a stacker crane at one of predetermined stopping locations with high precision.

In automated warehouses using stacker cranes, the conventional stacker crane positioning method was a method that set only one fixed stopping position for each bay of the shelf, so it was necessary to set multiple loading areas in the vertical direction in each bay of the shelf. must be completely on the same vertical line. Therefore, extreme values are required for the manufacturing accuracy and precision of the shelves, and a large number of man-hours are required for on-site adjustment.

In order to eliminate these drawbacks, a pulse encoder is installed on the crane body that rotates without slipping by contacting the fixed side, and it corresponds to the travel distance of the crane from the home position for each loading area on the shelf. A method has come to be adopted in which the number of pulses is preset in advance and the crane is stopped when the number of pulses from the pulse encoder reaches the preset value corresponding to the set destination. However, in this new method, for example, 10
If the crane has a travel path of 0m, 01 pulse/
Approximately 1 can count up to 20,000 pulses as 5-
A 6-pit addition/subtraction counter is required, and the computational processing load including the various arithmetic circuits associated therewith is extremely large, and the memory for storing preset values must have a large capacity. Similar to the pulse encoder method described above, the present invention is capable of setting a fixed stopping position of the crane corresponding to each of all the loading parts on the shelf depending on the inclination of the shelf, the verticality of the crane body, etc. It is an object of the present invention to provide a movement stop control device that can extremely reduce arithmetic processing load and that requires less memory capacity to store preset values.

An embodiment of the present invention will be described below based on the attached drawings. FIG. 1 shows a stacker crane 1 and a shelf 2, and the stacker crane 1 is guided by a ceiling rail 3 and a floor rail 4 and runs along the shelf 2. It comprises a main body 5 and a carriage 7 that moves up and down between the front and rear supports 6 of the main body 5, and the carriage 7 is provided with load transfer means 8. Reference numeral 9 represents a travel drive means, and 10 represents a lift drive means for the carriage 7. The shelves 2 have a plurality of loading sections 12 in the vertical direction for each bay 11 formed at equal intervals in the traveling direction of the crane main body 5.
has. Reference numeral 13 denotes a pair of left and right loading rails.

In the above automated warehouse, as shown in FIGS. 2 to 4, each stopping place is set in the traveling route of the crane body 5, that is, the home position is set at each bay 11 of the shelf 2 and outside one end of the shelf 2. A detected object 15 having an appropriate length in the traveling direction of the crane main body is arranged corresponding to each of the detected objects 14, and one coarse address detector is provided on the crane main body 5 for counting the detected objects 15. 16, and a plurality of precision address detections arranged at small intervals in the traveling direction of the crane main body in a number (seven in the illustrated example) that is greater than or equal to the number (three in the illustrated example) that can simultaneously detect the detected object 15. A container 17 is provided.

The object to be detected 15 is made of a magnetic plate.

The detectors 16 and 17 are composed of normally closed reed switches that move relative to the detected object 15 in a non-contact approach state, and when the detected object 15 is detected, the reed switches are opened and a detection signal is generated by an attached circuit. It happens. However, the configuration is not limited to this, and for example, a contact type (for example, a plate and a limit switch) may be used, and even in the case of a non-contact type, optical, magnetic, and other types can be used.
According to the above configuration, by traveling the crane body 5, the coarse address detector 17 or the detected object 15 is detected every time the crane body 5 passes through each bay 11 of the shelf 2 from the home position 14. Since pulses are generated by the vehicle, an addition/subtraction counter 19 shown in FIG. 5 is configured to add the pulses when the vehicle is moving forward and to subtract the pulses when the vehicle is moving backward.

Meanwhile, the crane body 5 moves from the home position 14 to the shelf 2.
7 coarse address detectors 1 for each bay 11 of
7 sequentially detects the detected object 15 from the end and generates B types of 7-bit coded signals. That is, NO at both ends
1 or NO7 detector 17 only is 0N (2 types)
, only the two adjacent detectors 17 are in the ON state (6
The detection state changes in 13 ways, up to the state in which the adjacent detector 17 is ON (5 types), and the state in which the adjacent detector 17 is ON (5 types). A unique coded fine address signal will be obtained for each point. After completing the installation of the shelf 2 and the stacker crane 1, the crane body 5 is moved and the carriage 7 is moved.
The loading/unloading means 8 is positioned at the optimum position in each loading portion 12 and the home position 14 by manual operation.
The counted value (coarse address) and the coded fine address signal obtained from the 17 group of fine address detections are stored in the memory 21 of FIG.

That is, each loading section 12 of the shelf 2 and the home position 14
A correspondence table between the coarse address setting value and the fine address setting value is stored in advance in the memory 21 of the controller. In addition, if the inclination of the shelf 2 with respect to the crane traveling direction is zero and the verticality of the crane body 5 (the verticality of the lifting path of the carriage 7) is perfect, it is compatible with multiple upper and lower loading platforms 12 belonging to the same bay 11. The fine address setting values are the same. When the stacker crane 1 is operated automatically during actual cargo handling work, the coarse address setting value and fine address setting value corresponding to the destination are picked up from the memory 21 in FIG. 5 by setting the destination using a card, etc. The set value 22 is compared with the current rough address value 23 from the counter 19 in the arithmetic circuit 2.
4, and the precise address set value 25 is input to an arithmetic circuit 27 that compares it with the current precise address value 26 from the detector 17 group.

In the arithmetic circuit 24, the coarse address setting value 22 and the coarse address grounding value 2
3 and outputs a travel control signal 28 which instructs whether to go forward or backward, and also instructs speed change (deceleration) according to the value of the difference.According to this signal 28, the travel drive means 9 is controlled, and the crane body 5 travels toward the set destination. The current coarse address value 23 from the counter 19 matches the coarse address set value 22 from the memory 21 (at this time, the crane body 5 is located an appropriate distance before the set destination, and then the fine address detector/detector 17 starts detecting the detected object 15 corresponding to the set destination. A signal 29 is output to activate the . As a result, the arithmetic circuit 271 determines the magnitude of the current fine address value 26 that will be input later and the fine address setting value 25 given from the memory 21, and sends a forward/backward movement signal 3 that instructs whether to move forward or backward.
0 is output, and the travel drive means 9 is controlled in accordance with this signal 30, and the crane main body 5 moves toward the stop position at the set destination. When a predetermined stop position is reached, the current fine address value 26 and the set fine address value 25 match, so a stop brake signal 31 is output from the arithmetic circuit 27, and the crane body 5 stops at that stop position. At this time, if the crane body 5 overruns, the current fine address value 26 and the fine address setting value 25 will be reversed in size, so the crane body 5 will be driven in the opposite direction by the forward/backward movement signal 30 and will be brought to a predetermined stopping position. Return to stop. On the other hand, Carreage 7
is raised and lowered by the lifting drive means 10 according to the destination setting, and stops at a predetermined height. You will arrive at a suitable location for receiving the cargo. The present invention can be implemented and used as described above, and its characteristics are as follows: An object to be detected having an appropriate length is provided, and the transporting moving body includes one coarse address detector and counter for counting the object to be detected, and a plurality of fine address detectors for detecting the object to be detected. The precision address detectors are arranged at regular intervals in the movement direction at intervals shorter than the length of the object to be detected, and the distance between the detectors at both ends is equal to the length of the object to be detected. The destination of the conveyance moving body is determined based on the count value obtained by the coarse address detector and the counter, and the destination of the transportation moving body is determined based on the 0N, 0FF state of each of the fine address detectors. The present invention is characterized in that a control means is provided for determining the stop position of the conveyance moving body based on the obtained coded signal. According to the configuration of the present invention, when the control device of the present invention is used to control the running and stopping of a stacker crane in an automated warehouse, the production accuracy and erection method of shelves can be improved in the same manner as the conventional method using a pulse encoder. Even if the accuracy or verticality of the carriage lift path is poor, the correct address detection means can be used to achieve a corresponding fixed stop position and stop precision, and the total cost can be greatly reduced.

In addition, if a shelf collapses due to an earthquake or aging, automatic operation is possible by simply relearning (memorizing) the optimal fixed stopping position (coarse address) for each loading section, and the installation of the detected object is easy. Fine positional adjustments are also not required. Moreover, in the present invention, the detection unit is divided into a coarse address detection unit and a fine address detection unit, and as a result, the detection unit has the same high precision as if fine addresses were set for the entire journey of the transport vehicle. Although it is possible to perform stop control, the addition/subtraction counter only needs to be used for coarse address detection, which handles the number of pulses equal to the number of stop positions of the transportation moving body, and an addition/subtraction counter is not required for precise address detection. The current fine address is 0N, 0F of multiple fine address detectors.
Since the F state can be directly detected as a coded signal, the overall computational processing load, including the arithmetic circuit that compares the set value and current value, is significantly reduced, and the memory capacity for storing preset values is quite small. It's done. Furthermore, the coarse address detector and the fine address detector are configured to detect a common object, and the coarse address detector and the fine address detector are separately provided. Mechanically, it is simpler and cheaper because it is only necessary to place one detected object for both coarse and fine addresses at each stop position, that is, at each coarse address point. It can be implemented.

The present invention can be used to control the lifting and lowering of the carriage 7 of the stacker crane 1 of the present invention, and can also be used to control the movement of transportation moving bodies other than the stacker crane.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an elevational view showing a stacker crane and a shelf, FIG. 2 is a schematic plan view showing an embodiment of the present invention, and FIG. 3 is a side view showing an object to be detected and a detector. FIG. 4 is a front view of the same, and FIG. 5 is an explanatory diagram of the control means.

1... Stacker crane, 2... Shelf, 5... Crane body, 7... Carriage, 11
... Each bay of the shelf, 12 ... Loading section, 1
4... Home position, 15... Object to be detected, 16... Rough address detector, 17...
・Precise address detector, 19...addition/subtraction counter,
21... Memory, 22... Coarse address setting value, 23... Coarse address current value, 24, 27...
...Arithmetic circuit, 25...Precision address setting value, 26...
. . . Current value of precise address, 29 . . . Operation signal of arithmetic circuit 27, 31 . . . Stop brake signal.

Claims (1)

[Claims] 1. A detected object having an appropriate length in the moving direction is provided in correspondence with each stopping place set on a fixed movement path of the conveying moving body, and the conveying moving body is configured to count the detected objects. A coarse address detector and counter are provided to detect the detected object, and a plurality of fine address detectors are provided to detect the detected object, and the fine address detectors are arranged at intervals shorter than the length of the detected object. are arranged at equal intervals in the moving direction, and have a number such that the distance between the detectors at both ends is longer than the length of the detected object, and is obtained by the coarse address detector and the counter. A control means is provided which determines the destination of the conveyance movable body based on the counted value and determines the stop position of the conveyance movable body based on a coded signal obtained by the ON/OFF state of each of the precision address detectors. A movement stop control device for a transport moving body.