JPS6283992A - Carrying system of self-propelling type crane robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a transport system for a self-propelled crane robot that travels on rails arranged in a grid pattern on the floor of a warehouse.

[Conventional technology]

Conventionally, as a transport system for this cargo, parallel running poles are installed in one direction on the top of pillars built along both walls of the warehouse, and the parallel running poles run on the top of the 2t poles. I know of one that uses an overhead crane.

Here, the conveyance system for the coils of the shoulder plate will be explained using FIG. Reference numeral 1 in the figure is a coil.

Coils L, L, etc. of cylindrical plates manufactured at a steelworks are inserted into a trut 3 by a crane 2, and then transported by a n1 truck 8 to a hinoki cypress warehouse where they are temporarily stored. The coils 1, 1, . . . are transported by a truck 8 to a 1 ft. Further, in the warehouse rdt4, a forklift (not shown) may be used to carry the coil 1 in and out of a place where the overhead crane 5 cannot move, or to change the installation location of the coil 1 in the warehouse 4. In this way, the coils L, L, etc., which have been stored in the warehouse 4 for a predetermined period of time, are lifted from a predetermined location by the overhead crane 5 onto the truck 6 that is next to the trailer purse. It is loaded and shipped.

[The problem that the invention attempts to solve]

However, in the above-mentioned conventional transportation system, since the cargo is transported using an overhead crane installed in the warehouse, there are six drawbacks as listed below.

(1) Due to the structure of the overhead crane, the trailer's perspective can only be installed in two directions in the warehouse.

(2) In the case of installing large overhead cranes in parallel, a pillar is installed in the center of the warehouse, and a transport space for one forklift is required, resulting in less storage space. This will reduce storage efficiency.

(3) Since packages are placed in vacant areas of the warehouse one after another, it is difficult to know where things are, etc.
Port inventory management is difficult.

(ψ) Since it is impossible to add overhead cranes, it will not be possible to cope with the increase in the number of people carrying cargo in the future.

This invention has been made in view of the above circumstances, and it has been made by providing personnel storage perks on nine sides of the warehouse, increasing the storage efficiency of the warehouse, accurately managing the storage of cargo in the warehouse, and improving the future of the warehouse. The purpose of this project is to provide a self-propelled crane robot transport system that can cope with the increase in the number of people carrying cargo.

[Ninth way to solve the problem]

This invention comprises rails installed in a grid pattern on a floor surface, a self-propelled crane robot that travels on the rails, and a lifting power connection attached to the self-propelled crane robot. I am passionate about becoming.

In this invention, the self-propelled crane robot is provided with a directional rotation SIt at the intersection where the grid-shaped rails intersect perpendicularly to each other, and the floor surface of the n7'c grid defined by the rails is used to accumulate cargo. The location of this drug type is indicated by nine sensors installed on the ceiling or floor, and the floor surface defined by the above-mentioned rails is further divided into finer grids. It is desirable to provide a sensor in the divided grid, and to operate the lifting equipment of a self-propelled crane robot guided into the grid by the sensor to carry out cargo loading and unloading within a predetermined grid.

〔Example〕

An embodiment of the present invention will be described below with reference to the drawings.

In FIG. 1, reference numeral A indicates a self-propelled crane robot (hereinafter simply referred to as "robot"). Robot) A has semi-straight ψ legs 1O9IO2... and legs t'o,
Located at the top of to..., legs sto, to,...
The lower end of the frame [L] which connects along the frame [L], and the leg part 10゜10, which is made up of the frame 11 and the refurbishment 12 provided on this frame 11, has a Friday G wheel part 13 for running on rail B installed on the floor of
．． 13. ... is installed. The above-mentioned lifting/grounding L2 includes a traveling frame 14 that runs horizontally on the frame 11, a drive unit 15 that drives the traveling frame 14 in the direction of arrow M-N in the figure above the frame L, and The lifting support part L6 runs horizontally on the top, and the lifting support part 16't-travel frame 14 is connected to the arrow 0-P in the figure.
a driving section 17 that drives the lifting section 17 in the direction; a lifting section 18 that is vertically supported on the lifting support section 16 and moves vertically within the lifting support section 16; and a lifting section 18 that drives the lifting section 18 in the vertical direction. It consists of a drive section 19.

Next, the rail B on which the robot A runs and the warehouse riC on which the rail B is installed will be explained.

As shown in FIG. 2, the warehouse C has a substantially square floor 20,
It is equipped with nine entrance and exit entrances 21, 22, 2i13, 24, and rails B on which the robot A runs are arranged in a grid pattern on the floor 20.

On this grid-shaped rail B, there are rail lines B1 that change the running direction of the robot A in the MN direction and O direction in the figure.
Several lines are provided in the P direction, and at the intersection of these rail lines BL, BL-, and the orthogonal rail B, there is a direction rotation f=Mlf2 that changes the running direction of the robot A.
5,25. ... are arranged.

As shown in Figure 3, the directional rotation device/Haku 25 has cross-shaped rails spaced slightly apart on all sides from the grid-shaped rails B and Bl, and rotates around a vertical axis that passes through all intersections. It can be rotated freely. For example, in Fig. 3, robot A traveling in the direction of arrow MN in the figure is moved by arrow OP.
When changing the direction to run in the force direction, robot A
The ψ wheels are 21, a cross-shaped directional rotation device! 2
5,25. . . . when riding on it, the φ direction rotation devices 1li25, 25. . . . are simultaneously rotated in the R direction under computer control, so that the ψ tables are oriented in the OP force direction, and the robot (A) is made to run in the OP direction.

A checkered floor surface 20 defined by mat, rail B, and BL
All of these areas have been proven locations, and there are sensors installed at each collection point that detect locations outside the floor for each grid. Furthermore, the floor surface 20 of the grid defined by the grid is divided into even thinner grids.
The grid is equipped with sensors that control robot A.

Additionally, there is an overhead wire C installed on the ceiling of the sewing store to supply power for driving the robot A, and a designated place in the store is used to monitor the status of cargo entering and exiting. , the control center that controls robot A by computer and selects the perspective of incoming and outgoing trucks is an actor.
+Serutosantaru.

A conveyance system using the robot A with the beak formed as described above and the warehouse C will be explained using Fig. ψ.

First, the products 26.26... manufactured in the factory C are loaded onto the truck 28 by the crane 27 and shipped.
Sign. The truck 28 loaded with the products 26.26... is parked next to the perspective of the warehouse C to store the products 26.2f5... in the waiting area. This truck 28 is
The control center determines the most appropriate perspective among the nine perspectives, taking into consideration the status of the cargo in the robot A, the situation of robot A, etc.

Next, when the truck 28 is attached to Perth, the robot A is guided to the truck 28 by the wireless J4 and arrives there. Upon arrival, t-robot A has product 26.
．． 26... are lifted up by the lifting unit 28 and transported to a predetermined location within the warehouse C under computer control.

At that time, robot A is constructed with wireless transmission, and rail B,
The vehicle travels on the Bl, changes direction using the direction rotation device 25, and reaches the designated collection point of the grid while checking the position display sensor installed every sixth grid.

(Robot) When A reaches a predetermined grid /E, the traveling frame 14 and lifting support ra<ta are moved horizontally to position it on the predetermined grid according to the instructions of the sensor installed in the grid of that square. Product 26゜26... is sold to company a.

In this way, the products 26, 26... placed at a predetermined location in the warehouse C are stored in the warehouse C for a predetermined period n,
It is shipped again by truck 29.

At that time, as in Jinmoeji, Truck 29 determines the most appropriate perspective from among the nine perspectives based on the inventory status of Goncho C and the status of robot A's command, based on instructions from the control center. [ru. Also, robot A reaches the cell where products 26°26... are confirmed by wireless guidance, and reacts to the sensor on the grid in the cell to find product 2 (5, 26...).
26... and then redirected to Rail B by radio guidance.
, travels on the BL, changes direction with the direction rotation device 25, reaches the perspective where the truck 29 is placed next to it, and loads the product into the truck 2υ.

Note that loading and unloading of cargo by robot A may be done fully automatically, or may be operated by a human being in charge of robot A.

Therefore, according to the transport system of this self-propelled crane robot, the berths ljr and ψ for loading and unloading can be freely selected and used, and since the robot A runs entirely on the rail B, the transport path is free. This eliminates the need for storage space C, which increases the storage efficiency, installs a sensor to display the position on the floor, and allows robot A to be guided in X directions under computer control, making reliable inventory management possible. By increasing the number of people, it will be possible to cope with future increases in the number of people.

〔Effect of the invention〕

As described above, according to the self-propelled crane robot transport system according to the present invention, rails are installed on the floor in a grid pattern, and a self-propelled crane robot that moves along the rails is provided. Since the lifting weight is attached to the V-n robot, the following benefits can be obtained.

f/) Since the robot can move freely within the warehouse, the warehouse's pedestrian perspective can be used effectively on both the ψ sides. is no longer needed! The floor surface of r1 can be used effectively and storage efficiency can be increased.

(3) Accurate inventory management is possible because the robot is controlled by a computer.

(φ) By increasing the number of robots, it will be possible to cope with the increase in the number of people carrying goods in the future.

[Brief explanation of drawings]

Figures ＠ to φ are diagrams showing an embodiment of the present invention, in which Fig. 1 is a perspective view of the robot, Fig. 2 is a plan view showing the floor of a warehouse, and Fig. 3 is a diagram showing a direction rotation device. Plan view shown, No. 9
The figure is an explanatory diagram for explaining a conveyance system using a robot, and Part 1A is an explanatory diagram for explaining a conventional warehouse conveyance system. A...Robot (self-propelled crane robot),
B, BL...Rail, 12...Yangyan mounting, 25...Direction rotation device. Figure 1

Claims (4)

[Claims] (1) It is equipped with rails installed in a grid pattern on the floor, a self-propelled crane robot that runs on these rails, and a lifting device attached to this self-propelled crane robot. Features a self-propelled crane robot transport system. (2) Claim 1, characterized in that a direction rotation device for changing the running direction of the self-propelled crane robot is provided at an intersection point where the grid-shaped rails intersect perpendicularly to each other.
A transport system for the self-propelled crane robot described in Section 1. (3) The grid-like floor surface defined by the rails is used as a storage area for luggage, and the storage area is indicated by a sensor installed on the ceiling or the floor. A transport system for a self-propelled crane robot according to item 1. (4) Divide the grid-like floor surface defined by the rails into finer grids, install sensors within these grids, and lift the self-propelled crane robot guided into the grids by the sensors. The self-propelled crane robot transport system according to claim 1, characterized in that the device is operated to carry in and out cargo within a predetermined grid.