JPS62215404A - Control method for introduction and delivery traveling crane - Google Patents

Abstract

PURPOSE:To make it possible to safely and surely deliver cargoes, by correcting the position of a crane in accordance with a numeral value which is stored in memory for every cargo receiving section, when the introduction and delivery of cargoes are carried out to and from two cargo receiving sections which belong to one and the same column and have different levels. CONSTITUTION:During the control of a traveling crane for introduction and delivery, having a fork 3 on an elevating carriage 2, when the carriage 2 is elevated to make the fork oppose with a second cargo receiving section 5 in one and the same column including a first cargo receiving section 5 which the fork 3 opposes at present, stored- in-memory numerical values for the positions of the crane corresponding to the first and second cargo receiving sections are compared and computed. Further, if the difference is below a tolerable limit, the elevation of the carriage 2 is alone carried out. Meanwhile, if the difference exceeds the tolerable limit, the crane is retracted after the crane is run by a predetermined distance greater than a distance corresponding to the difference, and then stopped at a position where the counted value coincides with the stored value corresponding to the second cargo receiving section 5, while the carriage is elevated.

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention is based on the invention, in which each cargo receiver is provided on a lifting carriage of a lane for entering and exiting a warehouse, and the crane position is determined when a transfer device corresponds to the cargo receiver. Each cargo receiver is memorized for each section with a count value that changes in conjunction with the movement of the crane to represent the crane position on the travel route, and the cargo receiver at the set destination is stored with the stored value corresponding to the section and the actual count. This invention relates to a method of controlling a lane for entering and exiting a warehouse by stopping the crane when the numerical values match.

(Prior art and its problems) According to the above-mentioned method of controlling lanes for loading and unloading, the shelves are inclined in the direction in which the crane is running (the vertical rows of cargo receivers are inclined in the direction in which the crane is running). ), if
Even if the receivers in the same column (same pay) are in the same column, depending on the difference in level, the crane's stopping position will be automatically changed according to the memorized value, and depending on the inclination of the shelf, the target receiver will be in the department and the receiver will be in the transfer device. This eliminates the misalignment in the crane running direction (the direction in which the shelves fall) between the two, and allows cargo to be safely delivered at all times.
When two consignees belonging to the same column but at different levels perform handover work to the department consecutively, for example, after performing warehousing work, two consignees belonging to the same column but at different levels have the department perform unloading work. If the shelf is tilted in the direction of crane travel as described above, when carrying out work or changing the position of loads within the same column, the first work target, the load receiver, may be The stored numerical value corresponding to the second work target, which is a receiver at a different level, is a minute distance corresponding to the difference between the stored numerical value corresponding to the section, that is, the upper and lower receivers that are the work target are the amount of positional deviation in the crane traveling direction between the sections. Only the crane position will need to be corrected.

However, it is extremely difficult to precisely correct the position of this type of crane over a minute distance of several fins to several tens of fins, as it must be stopped before it reaches a stable low-speed running condition, and even if it were possible, The machine repeatedly overruns in both forward and backward directions until it finally stops at the target position, which significantly reduces work efficiency.

(Means for Solving the Problems) The present invention proposes a control method capable of solving the conventional problems as described above. The cargo receiver installed on the lifting carriage stores the crane position when the transfer device responds, and each cargo receiver stores a count value that changes in conjunction with the movement of the crane to represent the crane position on the travel route. When the lifting carriage is raised and lowered, the cargo receiver is connected to the transfer device, and the first cargo receiver is located in the same column as the first cargo receiver, and the second cargo receiver is located at a different level.
The first cargo receiver compares and calculates the stored numerical value corresponding to the section and the second cargo receiver stores the numerical value corresponding to the section, and when the difference is less than a permissible limit, only raises and lowers the elevating carriage; If the difference exceeds the allowable limit, move the crane backwards after traveling a certain distance corresponding to the difference, and move the crane to a position where the counted value matches the stored value corresponding to the second cargo receiving section. (Embodiment) An embodiment of the present invention will be explained below based on the attached illustrative drawings. In FIG. A fork 3 is provided on the elevating and lowering carriage floor 2 as a loading/unloading device. Reference numeral 4 denotes a shelf, which is erected along the travel path of the crane 1, and has a large number of cargo receiving portions 5 formed in a grid pattern in a direction perpendicular to the traveling direction of the crane. Reference numerals 6a and 6b indicate cargo handling receivers installed at different heights beside the home position of the crane 1.

As shown in FIG. 2, the traveling drive wheels 7 of the crane 1
A pulse encoder 9 is interlocked with the motor 8 that drives the pulse encoder 9, and an addition/subtraction counter 10 for counting pulses from the pulse encoder 9 is also used. This counter 10 is for obtaining a pulse count value that is directly proportional to the distance from the reference position at one end of the travel route to the crane, and adds the pulses generated by the pulse encoder 9 when the crane 1 moves forward. Subtract when going backwards.

Before using the crane 1 for actual loading and unloading work, a so-called learning operation is performed, and the fork 3 moves the crane 1 in a position that corresponds exactly to the section 5 for each cargo receiver on the shelf 4 and the sections 6a and 6b for the cargo handling cargo. The pulse count value of the addition/subtraction counter 10 when stopped is detected in advance for each receiving section 5, 6a, and 6b, and is stored in the storage section of the microcomputer 11. Therefore, even if the receivers belonging to the same column (same pay) are in section 5, if the shelf 4 is tilted in the crane traveling direction, the receivers at different levels will have a set memory value representing the crane stop position for each section 5. will be different. Regarding the parts 6a and 6b of the cargo handling receiver, if the parts 6a and 6b of both cargo receivers are misaligned in the crane traveling direction, each of the cargo receivers has the parts 6a and 6b.
The set memory value will vary slightly for each 6b.

Reference numeral 12 denotes a travel controller that controls the travel drive motor 8 (including a braking mechanism) in accordance with control signals from the microcomputer 11. Reference numeral 13 denotes a lift controller which controls a motor 14 for driving the lift carriage 2 up and down in accordance with a control signal from the microcomputer 11 and a lift position signal of the lift carriage 2.

Reference numeral 15 denotes a forking controller, which controls a motor 16 for driving the fork 3 in and out in accordance with a control signal from the microcomputer 11 and a signal for the in/out position of the fork 3.

The microcomputer 11 is preprogrammed to carry out the control described below. That is, when section 5 is set for the destination consignment which is the object of the loading and unloading work for the micro combinator 11, the stored numerical value corresponding to section 5 is searched for the destination consignment, and this stored numerical value (i.e., the set position numerical value) is searched for. ) and the pulse count value of the addition/subtraction counter 10 (i.e., the current position value) which changes as the crane 1 travels, are compared, and the crane 1 is moved via the travel controller 12 so as to stop when both values match. The drive motor 8 is controlled. Also, according to the setting of the receiving cycle or the issuing cycle, the destination receiving is part 5.
The lifting motor 14 is controlled via the lifting controller 13 to position the fork 3 at the level at which forking is started, and the lifting carriage 2 is driven up and down. When the crane 1 stops at a predetermined position and the elevating carriage 2 stops at a predetermined level, the fork ejection drive motor 16 is controlled via the forking controller 15, and the elevating drive motor 14 is controlled via the elevating controller 13. When the warehousing cycle is set, the fork 3 performs a forking operation for unloading consisting of a combination of an egress movement and a downward movement, and when the retrieval cycle is set, the fork 3 performs a forking action for unloading consisting of a combination of an egress movement and a rising movement. Performs a forking operation to scoop up cargo.

Now, a compound cycle is set as a work cycle for the microcomputer 11, and as shown in FIG. 2), the first cargo receiver to be worked on completes the forking in section 5A, and the second cargo receiver to be worked on is driven to raise and lower the lift lever 2 to the level corresponding to section 5B. In addition to the control, control as shown in FIG. 4 is performed.

That is, first, the amount of positional deviation in the crane travel direction of the first work receiver, section 5A, and the second work object receiver, section 5B, is calculated. That is, the difference (ba) between the set stored numerical value a for the first receiving object to be worked on, section 5A, and the setting stored numerical value "a" for the second receiving object, section 5B, is calculated. For example, suppose that the pulse encoder 9 emits one pulse every time the crane 1 moves by 1 mm, and if the receiver has a set memory value a of section 5A of 6500, and the receiver has a set memory value a of section 5B of 6520. The amount of positional deviation (b
-a) is +20, which means that the part 5B of the second work target receiver is shifted by 20 points in the forward direction of the crane with respect to the part 5A of the first work target receiver. Moreover, the said cargo receiving area is part 5B.
If the setting memory value is 6495, the positional deviation amount (b-a) will be -5, and the first receiver to be worked on is part 5A, and the second receiver to be worked in is part 5B of the crane. This means that the vehicle is shifted by 51 points in the backward direction.

This positional deviation 1 (b-a) is within the preset allowable limit C.
1, for example, +10 (i.e., +10), and when the positional deviation amount is -5 as described above, which is less than the allowable limit, that is, when (b-a)<c, the position of the crane 1 is not corrected. Immediately after the forking operation is completed in section 5A for the first cargo receiver to be worked on, the elevating and lowering carriage 2 is moved to the second cargo receiver for work via the elevator controller 13 in section 5B.
, and the second work target cargo receiver is subjected to a forking operation with respect to part 5B. When the positional deviation amount is +20 as described above and exceeds the permissible limit, that is, (b- When a)>c, the first receiving object is moved after the forking operation in section 5A is completed.
The crane 1 is caused to travel a predetermined distance in the backward direction via the travel controller 12, and after stopping, the crane 1 is made to travel in the forward direction again, and the count value of the addition/subtraction counter 10 is set to the second work target cargo receiver. Part 5B
When the setting memory value corresponding to matches the crane 1
is forced to stop. That is, as mentioned above, the cargo receiving area is in section 5A.
If the set memory value a of the receiver is 6500, the set memory value of the receiving unit 5B is 6520, and the constant distance is 500 mm, then the count value of the addition/subtraction counter 10 is 6500.
Crane 1 moves backward once from 6000 to 6000,
Thereafter, the crane 1 advances to a position where the count value of the counter 10 becomes 6520 and stops.

While the position of the crane 1 is being corrected, the lifting carriage 2 is driven up and down via the lifting controller 13 to the level corresponding to the second work target cargo receiving section 5B, so that the lifting carriage 2 is moved up and down by the imaginary line in FIG. Shelf 4 as shown in
Eventually, the fork 3 on the elevating carriage 2 will reach the proper position where it can perform the predetermined forking with respect to the second work target receiving section 5B. For the second receiving object to be worked on, a forking operation is performed on the section 5B. FIG. 3 shows a combined cycle in which the first receiving object receives the cargo W in the section 5A, and then the second receiving object receives the cargo W from the section 5B.

In addition, when correcting the position of the crane 1, the moving direction of the fixed distance ML is set in the direction opposite to the positional shift direction of the first work target cargo receiver in the part 5A and the second work target cargo receiver in the position shift direction of the part 5B. , may be in the same direction. Further, it is also possible to always set the forward direction or the reverse direction regardless of the direction of positional deviation. Furthermore, although it was explained that the elevating carriage 2 should be driven up and down at the same time as the position of crane 1 was corrected, crane 1
The elevator shaft 2 may be driven up and down after or before the position adjustment is completed.

In the control method of the present invention, even when the elevating carriage 2 (fork 3) is moved from one of the parts 6a and 6b to the other, the parts 6a and 6b of the parts 6a and 6b of the parts 6a and 6b of the parts 6a and 6b of the parts 6b and 6b of the parts 6a and 6b are different in the vertical position. This can be applied when there is a positional shift in the running direction that exceeds the allowable limit.

(Operations and Effects of the Invention) As described above, according to the method of controlling the lane for entering and exiting a warehouse according to the present invention, two cargo receivers belonging to the same column (same pay) and having different levels are consecutively When a cargo receiver performs handover work, each receiver has the crane position set and memorized in the Toden so that the transfer device can accurately respond to each receiver according to a certain value (crane stop position rIl). Since it can be corrected, even if the shelf is tilted in the crane running direction, the cargo receiving and transferring device can safely and efficiently transfer the cargo between the crane and the cargo receiving section. Moreover, the cargo receiver, which is the first work target, has a distance of 11i, which corresponds to the difference between the crane stop position corresponding to the section, and the second work target, which is a cargo receiver at a different level, from the crane stop position corresponding to the section. The position of the upper and lower receivers to be worked on is not corrected by moving the crane by the amount of positional deviation in the crane traveling direction between sections, but once the crane has traveled a certain distance greater than the amount of positional deviation, and then Since the position of the cargo receiver to be worked on is corrected by moving it backwards to the corresponding crane stop position, the crane can be placed in a stable, low-speed running state when correcting the position of the crane, and as a result, the crane can be moved at a stable low speed. The second cargo receiver to be worked on can be quickly and accurately displaced to a position corresponding to the part.

[Brief explanation of drawings]

Figure 1 is a side view showing the loading and unloading lanes, shelves, and cargo handling receivers, Figure 2 is a block diagram explaining the crane control mechanism, and Figure 3 is a side view showing the racks in the same column (same pay) of the shelves. 2
FIG. 4 is a flowchart illustrating the control procedure. 1... Lane for loading and unloading, 2... Elevating carriage, 3... Fork, 4... Shelf, 5.5A, 5B.
...The cargo receiver is in department, 6a, 6b...The cargo handling receiver is in department, 7.
... Traveling drive wheel, 8... Traveling drive motor, 9
...Pulse encoder, 10...Addition/subtraction counter, 11...Microcomputer-112...Travel controller, 13...Elevation controller, 1
4...Motor for lifting/lowering drive, 15...Forking controller, 16...Motor for driving forward/backward fork. Figure 1 Figure 2 Figure 4 Liu

Claims (1)

[Claims] A system that changes the crane position in conjunction with the movement of the crane to represent the crane position on the travel route when the load transfer device installed on the elevating carriage of the lane for entering and exiting each cargo receiving section responds. A numerical value is stored for each cargo receiving section, and in order to make the cargo receiving device correspond to a second cargo receiving section located in the same column as the currently corresponding first cargo receiving section and at a different level, a lifting carriage is set. When raising and lowering, the stored numerical value corresponding to the first cargo receiving section and the stored numerical value corresponding to the second cargo receiving section are compared and calculated, and if the difference is less than an allowable limit, only the raising and lowering of the lifting carriage is performed. and when the difference exceeds the allowable limit, the crane is moved backward after traveling a certain distance corresponding to the difference, and the counted value matches the stored value corresponding to the second load receiving part. A method for controlling a lane for entering and exiting a warehouse, characterized by stopping a crane at a certain position and raising and lowering an elevating carriage.