JPS6137603A - Control method of travelling crane for warehousing and delivery - Google Patents

Abstract

PURPOSE:To improve the accuracy of a stop position by taking out as a pulse value the movements of a crane and a carriage with respect to a house position, and comparing the pulse value with a set value for controlling the captioned crane. CONSTITUTION:For driving a drive motor 11 of a travelling crane and a drive motor 12 of an elevation carriage, pulse signals are issued from pulse encoders 13, 14. And, the pulses are added for the advancement of the crane and the elevation of the carriage by adder/subtractor counters 15, 16, while subtracted for the backward movements and the lowering thereof by the same counters, and inputted into a CPU17 as a distance from a house position and a limit of the lowering of the carriage. These informations are compared with pulse set values previously stored in the CPU17 and indicating the addresses of the travelling and the elevation of the crane and the carriage on each deck for stopping the crane and the carriage at a prescribed address. With such constructuion, the accuracy of the stop position of the travelling crane can be improved.

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention provides a shelf having a three-dimensional cargo storage section, a plurality of loading/unloading cargo receivers having a stand, and each of the cargo receivers having a cargo storage section between the stand and the shelf. In an automated warehouse consisting of a traveling crane for loading and unloading goods between warehouses, the lifting carriage provided on the traveling crane for loading and unloading is placed on any one of the platforms. The present invention relates to a control method for a traveling crane for loading and unloading warehouses, which can be utilized to correspond to the following.

(Prior art and its problems) For example, in a conventional automated warehouse equipped with a platform for receiving cargo for warehousing and a platform for receiving cargo for exiting, the platforms for the two cargo receiving machines are set at a platform set at the end of the travel path. When the traveling crane is stopped at the position, the cranes are arranged opposite to each other at the same level on both the left and right sides of the traveling passage, or are arranged at different heights on the same side so as to be adjacent to the traveling crane.

Therefore, the platform must be positioned and installed accurately so that its center coincides with the center of the traveling crane that is stopped at the home position. It is not possible to transfer cargo safely and efficiently. In addition, if both cargo receivers are arranged with platforms at different heights, the four-ridge path of the lifting carriage on the traveling crane side must be completely vertical, and the guide column of the lifting carriage must be tilted even slightly. Therefore, it is not possible to safely transfer the load between the platform and the elevating carriage for either one of the cargo receivers.

(Means for Solving the Problems) The control method of the present invention has been made to solve the above-mentioned conventional problems, and its feature is that the home position of the traveling crane is set to and a position detection means for setting the cargo receiver outward from the platform, and detecting the traveling position of the traveling crane with respect to the home position and the lifting/lowering position of the elevating carriage provided on the traveling crane by replacing them with pulse count values. The traveling crane traveling position and the elevating carriage lifting position when the elevating carriage is made to correspond to the platform are stored in each receiver using the pulse count value of the position detecting means for each platform. Sometimes, the elevating carriage is made to correspond to an arbitrary cargo receiving platform based on a comparison process between the pulse count value of the position detecting means corresponding to the current traveling position of the traveling crane and the current elevating position of the elevating carriage and the stored count value. The object of the present invention is to control the traveling of the traveling crane and the lifting and lowering of the lifting carriage.

(Function) In the control method of the present invention as described above, a plurality of cargo receivers are searched in advance as an absolute address for a specific cargo receiver to be worked on which is selected in advance among the platforms, and the traveling crane By running the traveling crane and raising and lowering the lifting carriage until the pulse count value of the position detection means, which changes every moment as the carriage moves up and down, that is, the current address, coincides with the absolute address, the crane moves up and down. The specified cargo receiver stops with the lifting carriage of the traveling crane accurately aligned with the platform.

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

In FIG. 1, 1 is a three-dimensional shelf, and 2 is a moving crane for loading and unloading that runs along the three-dimensional shelf 1. The traveling crane 2 is provided with an elevating carriage 4 that moves up and down along the support column 3, and is used for receiving and transferring loads between each storage section 1a of the three-dimensional shelf 1 on this elevating carriage 4. Loading means 5
is provided.

Reference numeral 6 denotes a stand for receiving cargo for warehousing, and reference numeral 7 indicates a stand for receiving cargo for exiting.The cargo receivers formed at the lower end of one end of the three-dimensional shelf 1 are arranged in two stages, upper and lower, in the stand installation space 8. Both of these receivers are on platforms 6 and 7.
A warehousing conveyor and a warehousing conveyor (not shown) are connected to. A traveling crane passage provided with upper and lower guide rails 9a and 9b for guiding the traveling crane 2,
The cargo receiver protrudes an appropriate length outward from the portion adjacent to the three-dimensional shelf 1 including the platform 6.7, and the home position 10 of the traveling crane 2 is set at the end of this passage.

As shown in FIG. 2, pulse encoders 13 and 14 are connected to the motor 11 for driving the traveling crane 2 and the motor 12 for driving the lifting carriage 4 up and down, respectively. The addition/subtraction counter 15 counts to add when the crane 2 moves forward and subtracts when it moves backward, and the emitted pulses from the pulse encoder 14 are configured to add when the elevating carriage 4 goes up and subtract when it goes down. An addition/subtraction counter 16 for counting is provided.

Next, a learning process for setting the traveling crane control data regarding the receiving platform 6.7 in the traveling crane control computer 17 will be explained based on the flowchart of FIG.

Setting the learning mode on the operation panel 18 shown in FIG. 2,
The traveling crane 2 is manually operated from the home position 10 (including the lifting and lowering of the lifting carriage L and the lever 4). That is, the travel drive motor 11 shown in FIG. 2 is operated by manual operation of the travel control panel 19, and the elevation drive motor 12 is operated by manual operation of the elevation control panel 20. When the traveling crane 2 is run in this manner and the elevating carriage 4 is moved up and down, the pulse count value of the addition/subtraction counter 15 changes corresponding to the travel distance of the traveling crane 2 from the home position 10, and the pulse count value of the addition/subtraction counter 16 changes in accordance with the travel distance of the traveling crane 2 from the home position 10. The pulse count value changes in accordance with the vertical distance of the vertical carriage 4 from the lower limit. In this state, when the traveling crane 2 travels and the elevating xerometer 4 moves up and down, each cargo receiver reaches the position for transferring the load to the platforms 6 and 7, when the operator panel 18 By turning on the learning completion switch, the addition/subtraction counter 15°160 count value (
Each cargo receiver has a pulse count value corresponding to the distance 6L, 7L from the center of the home position 10 to the center of the platform 6.7 shown in FIG.
The height of each load receiving platform 6, 7 for the upper load transfer means 5 is 6H.
, 7H), but each receiver has a platform of 6.7
Computer 1 as the absolute address in the traveling direction of the traveling crane 20 and the absolute address in the lifting direction of the lifting carriage 4.
7 memory.

When performing actual loading/unloading work, set the distinction between loading/unloading operations and the musical scale of the cargo receiver on the operation panel 18, and then the cargo receiver that should stop the elevating carriage 4 is the platform 6, or the cargo receiver is the traveling crane 2 related to the platform 7. The absolute address in the running direction and the absolute address in the lifting direction of the lifting carriage 4 are retrieved from the memory of the computer 17. By operating the start switch on the operation panel 18 in such a state, the pulse count value of the addition/subtraction counter 15 (current address in the traveling direction) corresponding to the current position of the traveling crane 2 and the absolute address in the traveling direction (destination address in the traveling direction) are displayed. ), and the pulse count value of the addition/subtraction counter 16 corresponding to the current height of the elevating carriage 4 (current address in the elevating direction) and the absolute address in the elevating direction (destination address in the elevating direction) are compared and calculated in the computer 17, respectively. A traveling direction command is outputted to the control panel 19, and a lifting direction command is outputted to the lifting control panel 20.
The motors 1112 rotate in respective designated rotation directions, and the cargo receiver to which the traveling crane 2 and the elevating carriage 4 are set travels toward the platform 6 or 7 and moves up and down.

The pulse count values of the addition/subtraction counters 15 and 16, that is, the current address in the traveling direction and the current address in the lifting direction, change every moment due to the traveling of the traveling crane 2 and the raising and lowering of the elevating carriage 4. The difference between the destination address and the current address in the up/down direction and the destination address in the up/down direction is constantly calculated, and the necessary shift command is issued to the travel control panel 19 and the up/down control panel 20 according to the magnitude of the difference. By increasing the output, the traveling speed of the traveling crane 2 and the lifting speed of the lifting carriage 4 can be automatically changed.

Then, when each of the differences becomes zero, that is, when the current address in the traveling direction and the destination address in the traveling direction match, the traveling control panel 19 is made to output a traveling stop command, and
When the current address in the lifting direction and the destination address in the lifting direction match, the lifting control panel 20 outputs a lifting stop command.From this, the lifting carriage 4 of the traveling crane 2:
The set cargo receiver is stopped at a position relative to the platform 6 or 7 where the cargo transfer means 5 can perform a predetermined operation.

In such a state, the cargo transfer means 5 is automatically operated, and the cargo receiver for warehousing takes the cargo on the platform 6 onto the lifting carriage 4, or the cargo receiver for unloading moves the cargo on the lifting carriage 4 onto the platform 7. Relocation work will be carried out.

A specific load storage section 1 of a three-dimensional shelf 1 using a traveling crane 2
When loading and unloading work is carried out for a, the traveling crane 2 can be automatically moved and the elevating carriage 4 can be raised and lowered using the same control method as described above.

Incidentally, the cargo receiving platforms 6 and 7 can also be installed between the three-dimensional shelf 1 and the home position 10 of the traveling crane 2. Of course, the number of cargo receivers is not limited to two.

(Effects of the Invention) According to the control method of the present invention that can be implemented as described above, no matter how many cargo receivers are installed, each cargo receiver can be installed at any position with respect to the crane traveling direction and the vertical direction. However, each receiver uses the pulse count value corresponding to the crane traveling direction position and the pulse count value corresponding to the lifting carriage lifting direction position, which are stored for each crane, to control the movement of the traveling crane and the lifting carriage. By automatically controlling the lifting and lowering of the carriage, it is possible to position any cargo receiving carriage to which the lifting carriage is set with extremely high accuracy with respect to the platform. Therefore, the load receiver can be moved up and down with the platform, and the load can always be safely transferred between the seats and the load receiver, and the platform can be easily and easily installed in any position.

[Brief explanation of drawings]

FIG. 1 is a schematic side view of the entire system, FIG. 2 is a block diagram illustrating the configuration of the control system, and FIG. 3 is a flowchart illustrating the control procedure during learning work. 1... Three-dimensional shelf, 2... Traveling crane for loading and unloading, 4...
. . . Elevating carriage, 5. Load transfer means, 6. Receiving cargo for storage is a platform, 7. Receiving cargo for shipping is a platform, 10. Home position of traveling crane.

Claims (1)

[Claims] In an automated warehouse consisting of a shelf having a three-dimensional cargo storage area, a plurality of loading/unloading receiving platforms, and a loading/unloading traveling crane that transports cargo between each of the receiving platforms and the shelf's cargo storage section,
A home position of the traveling crane is set outside of the shelf and loading platform, and a traveling position of the traveling crane with respect to this home position and a lifting position of an elevating carriage provided on the traveling crane are set as pulse count values. A position detecting means for replacing and detecting is provided, and the traveling crane running position and the elevating carriage lifting position when the elevating carriage is made to correspond to each of the receiving platforms are determined for each receiving platform using the pulse count value of the position detecting means. During actual operation, the elevating carriage is moved to an arbitrary position based on a comparison process between the pulse count value of the position detecting means and the memorized count value corresponding to the current traveling position of the traveling crane and the current elevating position of the elevating carriage. A method for controlling a traveling crane for loading and unloading a warehouse, characterized in that the traveling of the traveling crane and the lifting and lowering of the lifting carriage are controlled so as to correspond to a cargo receiving platform.