JPS6127810A - Control of rotary shelf - Google Patents

Abstract

PURPOSE:To facilitate changing of the position of load transfer station by presetting/storing the offset value with correspondence to said position. CONSTITUTION:Tray detecting position A, B and load transfer stations ST1- ST4 are set at proper points on an endless path then inherent No. corresponding with the order from the original tray 3a is set for respective tray 3 while the distance between the detecting positions A, B and the load transfer station is stored as the offset value and the setting of call of the tray 3 is executed through the tray No. to be called to the load transfer stations ST1-ST4. Then the tray No. to be called at the detecting position is operated on the basis of said tray No. and the offset value thus to control the rotation of the rotary shelf such that the tray of the oprated tray No. is called to the detecting position. Consequently, changing of the position of load transfer station and increae/ decrease of the number of installation are facilitated.

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention provides an endless load supporting device, such as a tray.
The present invention relates to a control method for calling an arbitrary tray to a load transfer station set at an arbitrary position on the endless route in a rotating shelf that can be rotated along the endless route.

(Prior art and its problems) In the conventional carousel control method, a load transfer station is set at a specific location on the endless path of the tray, and a tray detection means is attached to this load transfer station. The rotary shelf was controlled to rotate so that the tray block detected using the tray detection means would be called to the load transfer station (set tray block).

In such a control method, in order to change the position of the load transfer station or increase or decrease the number of settings, it is necessary to change the position of the tray detection means together with the load transfer station or increase or decrease the number of settings. , normal tray call control cannot be performed thereafter.

(Means for Solving the Problems) The present invention aims to solve the problems in the conventional control method as described above, and its features are as follows:
In an endless load supporting device, for example, a rotary shelf that allows trays to be rotated in an endless path, a tray detection position and a load transfer station are provided at appropriate locations on the endless path. A unique floor corresponding to the order from the origin tray is set for each tray, and the distance (number of trays) between the detection position and the load transfer station is stored in advance as an offset value. The tray call setting is performed by the tray team to be called to the load transfer station, and the tray number to be called to the detection position is calculated from the set tray number and the offset value. The purpose of the present invention is to control the rotation of a rotary shelf so that the trays in the trays are extended by nl' to the detection position.

(Function) According to the above control method, even if the load transfer station is set to an arbitrary position regardless of the tray detection position, the offset value is set according to the position of the load transfer stay and Chiron. If the settings are stored in advance and then sent, the tray number to be called up to the load transfer station will be displayed. is set, the tray position located at the detection position is automatically calculated based on the offset value when the tray in the called tray position is called to the load transfer station, and this calculated 1-lay position is automatically calculated based on the offset value. As a result, the rotating shelf is controlled to rotate in order to call the trays to the detection position, and as a result, the trays next to the set call trays are called to the load transfer station.

(Example) An example of the present invention will be described below based on the attached illustrative drawings.

In FIG. 1, 1 is a rotating shelf of horizontal rotation type,
It is equipped with a large number of load supports, for example trays 3, which are endlessly connected by a driving chino 2. Each of these trays 3 has a unique tray number 1 corresponding to the order of the origin tray 3a, with the origin tray 3a being 1lhl, as shown in the figure.
~20 is set. The drive chino 2 is driven by an electric motor 4 in any forward or reverse direction. Said tray 3
On the endless path, detection positions A and B are set at positions that approximately divide the endless path into two, and each detection position is equipped with a tray detector 5 and an origin detector 6, as shown in FIG. is provided. Further, on the endless path of the tray 3, a plurality of load transfer stations S↑1 to ST4 are set at arbitrary positions.

As shown in FIG. 2, each tray 3 is provided with a detection plate 7 that is detected by the tray detector 5,
ml) The detection target plate 7 is placed on the origin tray 3a which is a tray.
In addition, an origin detection plate 8, which is detected by the origin detector 6, is attached.

In FIG. 3, reference numeral 9 indicates a current l/ray block detection function in the control computer, which detects the detection plate 7 of passing trays 3a and 3 at each detection position A and B. When the rotary shelf 1 rotates in the normal direction, the detection signal of the detector 5 is added and counted, and when it rotates in the reverse direction, it is subtracted and counted, and this is added to the detection signal of the origin detector 6 that detects the origin detection plate 8 of the origin tray 3a. The current tray FkLFa at detection position A and the current tray 11h at detector position B are calculated using
Fb is output.

Before actually operating the above-mentioned carousel 1 to carry in and carry out cargo, the following data creation and registration work is performed on the control computer.

That is, for each of the load transfer stations STI to ST4, the closest detection position A or B is selected regardless of the rotation direction, and
4 and the selected detector 1iA or B
In other words, the offset value is determined in relation to the rotation direction, and is stored in the control computer as data for use detection (device and offset value search) for each load transfer station. Taking the example of the Rayaratora shown in the figure, the following data is created and stored.

After the data creation and registration work described above is completed, when actual work is to be performed, the following control is performed by the control system shown in FIG.

That is, load transfer stations STI to ST4 and floors 1 to 2
Select the tray call load transfer station and call tray floor from the tray number 0 and set it on the manual keyboard of the control computer, and the set tray call load transfer station - is registered as described above. Computer search function 1 based on the data
0, the use detection position A or B and the offset value C are searched. Furthermore, the calculation function 11 calculates 1 kB of the call tray to the detection position to be used or B from the offset throat value C and the set call tray N1ID. This calculation is performed by the calculation program shown in the flowchart of FIG. In Figure 4, Max
is the maximum number of trays. For example, in the layout shown in Figure 1 (maximum number of trays Max = 20), if loading station...Sr1 calling tray number...D=11 is set, then
Detection positions to be used from the evening on the registration day...
A offset (direct...C=-3) is searched, and the calculation function 11 determines the detection position A to be used.
Call number at l/- floor...
E-=8 is obtained.

On the other hand, the selection function 12 operates according to the use detection position A or B searched by the search function 10, and the current tray NnFa at the detection position A output from the current tray detection function 9 is detected. Current tray & Fb in position 1jB
Among these, the current tray magnet corresponding to the searched use detection position A or B is inputted to the comparison calculation function 13. For example, according to the above example, since the detection position to be used is A,
The current tray NuFa at the detection position WA is input to the comparison calculation function 13.

Next, the comparison calculation function 13 calculates the call tray mE at the detection position A or B determined by the calculation function 11.
A calculation is performed to determine the rotation direction from the current tray kFa or Fb at the detected position A or B. This calculation is performed by the calculation program shown in the flowchart of FIG. The setting conditions are as described above, the calling tray size at detection position A is E=8, and the current tray fish is Fa=2 (
Taking the case of the state shown in FIG. 1 as an example, the calculated rotation direction command G is normal rotation. That is, after the above-mentioned loading and unloading station of the tray and the setting operation of the calling tray, the electric motor control panel 14 which is activated upon receiving the activation command H is activated.
As a result of operating the electric motor 4 shown in FIG. 1 in a predetermined direction based on the rotation direction command G output from the control computer by the comparison calculation function 13,
rotates in a predetermined direction. Further, the electric motor control panel 14 performs appropriate acceleration control on the electric motor 114.

As the carousel 1 rotates, the current tray NaFa or Fb at the detection position A or B, which is input to the comparison calculation function 13 of the control computer, changes every moment. The current tray NaF at the same detection position as the IIf extension tray 11hE
A or Fb is constantly calculated, and a deceleration command 1 is issued according to the magnitude of the difference, and the current tray Na at the same detection position as the calling tray NhE at the detection position A or B is issued.
When Fa or Fb match, a stop command J is output to the motor control panel 14. As a result, the carousel 1 stops when the tray 3 of the appropriate ejecting tray 11hE has arrived. According to the above example, the carousel 1 rotates in the forward rotation direction and stops when the tray 3 with tray No. E=8 arrives at the detection position A. As a result, tray 3 from tray to fffiD-11 is called to the load transfer station ST2 as set.

Note that the method for controlling the deceleration and stop of the rotating shelf 1 is not limited to the method of the above embodiment. For example, a pulse encoder that is linked to the rotation of the rotary shelf 1 and an addition/subtraction counter that adds and counts the pulses emitted by this pulse encoder when the rotary shelf is reversed and subtracts when the rotary shelf reverses are used to detect each detection position A and B. The position of the rotary shelf 1 corresponding to the rotational shelf 1 can be precisely detected from the count value of the addition/subtraction counter, and the deceleration and stop control is performed by comparing the count value of the addition/subtraction counter with a set value. You can also do it.

Furthermore, the number and positions of detection positions and the number and positions of load transfer stations are not limited. For example, it is also possible to set one or more load transfer stations whose positions can be changed arbitrarily for one detection position. However, when the detection positions are set at positions that divide the endless path of the tray into multiple areas as in the embodiment, no matter what position the load transfer station run is set, the load transfer station and the detection position are the same. The distance between them cannot become too large. This eliminates the inconvenience that even if a predetermined tray is called out accurately with respect to the detected position, a large error occurs in the stopping position of the tray called out to the load transfer station due to elongation of the drive chain, etc. ,obtain. This method is particularly effective in large-sized rotating shelves where the endless path of the trays is long.

(Effects of the Invention) As is clear from the above embodiments, according to the control method of the present invention, the detection position where the detection means of the load support device, for example, the tray, is installed and the position of the load transfer station are the same. Even if there is no tray N that should protrude into the load transfer station,
o. By simply setting , the tray on the called tray floor can be automatically called to the load transfer station.

In other words, even if the position of the load transfer station is changed regardless of the detection position, the registered offset value will be changed according to the distance (number of trays) between the detection position and the position of the load transfer station. By simply changing the , it is possible to accurately call out the trays in the call tray set for the load transfer station after changing the position. Therefore, it is extremely easy to change the location of load transfer stations or increase or decrease the number of load transfer stations.

[Brief explanation of the drawing]

Fig. 1 is a schematic plan view showing the entire rotary shelf, Fig. 2 is a perspective view showing the relationship between the detection plate of the tray and the detector, Fig. 3 is a block diagram showing the configuration of the control system, and Fig. 4 is a schematic plan view showing the entire rotating shelf. The figure is a flowchart for explaining a calculation program for calculating the number of trays to be called to the detection position, and FIG. 5 is a flowchart for explaining a calculation program for calculating the rotational direction of the carousel. 1... Rotary shelf, 2... Drive chino, 3... Tray (3+,..., Ti5.: L +, -X
A,,,ilF feeling 4FRritlhMII
H+, L+. -Detector, 6... Origin detector, 7... Detected plate, 8
...Detected plate for origin, A, B...Detection position, ST
1-5T 4...8 cargo transfer stations.

Claims (2)

[Claims] (1) In a rotating shelf in which an endless series of load supports can be rotated in an endless path, a load support detection position and a load transfer station are installed at appropriate locations on the endless path. Each of the load supports is assigned a unique No. corresponding to the order from the load support that is the origin. At the same time, the distance between the detection position and the load transfer station (the number of load supports) is stored in advance as an offset value, and the load support call setting is set so that the distance between the detection position and the load transfer station (the number of load supports) is set. Load support equipment No. This is carried out by calling and setting the load support No. and the offset value,
The load support No. to be called to the detection position. Calculate,
This calculated load support No. A method of controlling a rotary shelf, comprising controlling the rotation of the rotary shelf so as to call the load support to the detection position. (2) The detection positions and load transfer stations are set at multiple locations, and the closest detection position for each load transfer station is stored in advance as the corresponding detection position. 2. The method according to item 1, wherein each of the offset values based on the detected position is stored.