TW200927616A - Article storage facility - Google Patents

Abstract

The object of the present invention is to provide article storage facility that realizes power saving. When a power OFF signal is input through a main body controller 13 of a forklift C, a power supply device 32 stops supplying high-frequency current to an induction circuit 13. When a power ON signal is input, high-frequency current is provided to the induction circuit 31. The Power ON/OFF signals are determined by the level of voltage applied to each motor of the forklift C. Therefore, the operation of the power supply device 32 is supplying or not supplying power, and the control of the power supply device 32 is simplified. During the period of not supplying power, no power consumption is caused in the induction circuit 31 thereby realizing effective saving of energy. And, during the period of not supplying power, electric power is provided by an electricity dual layer capacitor 45 that accumulates regeneration energy of each motor of a moving vehicle body 2 and a lifting platform 3.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an article storage device including an article feeding device that supplies power without contact. [Prior Art] In the prior art, an example of an article storage device having such a non-contact type of article ejection device is disclosed in Patent Document i. In other words, a plurality of article storage units for storing articles and an article entry/exit device that travels between the article storage unit and the carry-out port along the article storage unit and travels along the path of the article entry and exit device are provided. The power supply device flows into the induction line of the high-frequency current, and the article entry/exit device is provided with a traveling motor that is supplied with power from the induction line via the coil of the coffee without contact, and a motor that drives the traveling motor to control the article f into the device. Ordering and outputting movement status data (acceleration/deceleration mode,

2nd speed mode, stop mode) crane controller. The above-mentioned power supply device is driven by the crane controller. The current value flowing in the J::: is the acceleration of the most demanding current: salty = the necessary current is supplied during the acceleration or deceleration of the motor, in the mode, the necessary current, at the most When the current is stopped, the induced current to the induction line 43 is given when walking. In this way, the supply of the equipment is increased and lowered, and the power supply of the equipment is increased and lowered. Further, in the case of 7037-10097-pf 200927616, which is required for the entry and exit of the article, the discharge impedance is set so that the current regenerated by the traveling motor when the B main body is reduced is consumed by the discharge impedance. [Problem to be Solved by the Invention] Now, in an article storage facility, it is hoped that the device is harmless to the environment and reduces power consumption. ❹ ❹ In the article storage facility disclosed in the above Patent Document i, in the stop mode, the electricity (4) of the feed material is suppressed to a minimum, and although the iron realizes energy saving, the predetermined current is not distributed, and the current is not zero. The current output from the power supply unit is not consumed. In addition, the regenerative current regenerated by the A E earth and the motor will be wasted by the discharge impedance. Moreover, in the power supply unit, the Thunder and the I L value are variable, and the control system becomes complicated, and such a power supply device is not desired. Accordingly, it is an object of the present invention to provide a more energy efficient item storage device. [Means for Solving the Problem] The article storage device according to the invention described in the scope of the invention of the present invention includes: a plurality of article storage units for storing articles; and an article entry and exit device along the articles The storage unit travels Y to allow the article to enter and exit the sputum induction line between the article storage unit and the carry-out port, and to route along the path through which the article entry/exit device travels, and the power supply device to supply the high-frequency current to the induction line. The article entry and exit device includes: a traveling vehicle body that travels along the article storage portion; a lifting body that can be lifted and lowered on the 7037-10097-PF 6 200927616 dX moving body; and a transfer device disposed on the lifting body The article storage unit and the loading/unloading port carry out the transfer of the article, and the electro-coupling coil is supplied with power from the induction line without contact; the stabilized power supply circuit is connected to the power receiving coil, and the voltage is maintained at a predetermined voltage. a driving device for supplying power to the traveling vehicle body, the lifting body, and the transfer device; the energy storage device is disposed in parallel with the driving device to accumulate the regenerative energy of each of the driving devices for driving the vehicle body and the lifting body; The voltage detecting device detects an output voltage of the stabilizing power supply circuit, wherein an upper limit value of the electric dust higher than a voltage set in the stabilizing power supply circuit and a ratio set to the stabilizing power supply circuit are set in advance The lower limit of the voltage of the electric dust whose voltage is still low, when the output of the above-mentioned voltage detecting device rises When the power is repeatedly set to the upper limit value, the power supply device supplies the high-frequency current to the induced line. The output is detected by the electrical-detection device (the power supply of the β-stream is generated by the original device). High-frequency power transmission = Γ, power supply "" When the detection device detects that the two-round voltage rises to the upper limit of the electric dust, it effectively saves energy by completely stopping the supply of the 焉-frequency current to the road. The action of the power supply is power supply: ineffective: the consumption of 'the most of them' can simplify the control of the power supply unit. The electric and electric two actions are set by the cumulative driving body and the lifting body: Period,

The energy storage device supplies power to the traveling vehicle body and the source of the lifting body. In the invention of the second aspect of the application of the patent application, the above-mentioned article entry and exit device further includes a control device. And driving the driving device of the car body, the lifting body, and the transfer device to control the entry and exit of the article between the article storage unit and the loading and unloading port, the upper limit value of the electric star and the voltage lower limit value The control device is set in advance, and the control device corrects the output electrical waste detected by the 电压 电压 voltage detecting device from at least one of a running state of the traveling vehicle body or a lifting state of the lifting body. When the corrected electrical extension rises to the upper voltage limit value, the power supply 0FF signal is output to the power supply device, and when the correction voltage drops to the voltage lower limit value, the power supply (10) signal is output to the power supply device, and the control device is When the power supply signal is input to the above power supply device, 'stop supplying high-frequency current to the above-mentioned induction line, when the above control device inputs the power supply and the QN signal. When the power supply device, the high-frequency current supplied to said induction line. According to the above configuration, the power supply unit stops supplying the high-frequency current to the induced line when the power supply OFF signal is input, and performs the power supply of the high-frequency radiant & plate φ door cheek machine to the induction line when the power supply 〇n signal is input. In this way, the operation of the power supply device is either power supply or no power supply, which simplifies the control of the power supply device and stops the power supply, and does not generate power loss from the induced line, thereby achieving energy saving. 'I, by at least one of the walking state of the traveling vehicle body or the lifting state of the lifting body, at least one of the energy of the lifting (4) of the retracted article entry and exit device or the lifting height of the lifting body, By improving the output voltage correction 'actually detected round-trip power is rapidly rising above the upper limit of voltage 7037-10097-PF 8 200927616, the power supply off signal is quickly output, no waste of power supply, patent application scope According to a third aspect of the invention, in the second aspect of the invention, the control device corrects an output voltage detected by the voltage detecting device by the work information executed by the article presenting device, and the correction voltage rises to a voltage upper limit. When the value is output, the power source signal is output to the power source device, and when the correction voltage falls to the voltage lower limit value, the power source 0N signal is output to the power source device.

According to the above configuration, when the job information carried out by the entry/exit device of the article confirms, for example, that the job is not performed, that is, when the article entry/exit device is stopped, the actual detected output voltage is reached by increasing the correction of the output voltage detected by the voltage detecting device. Voltage upper limit # ^ χ Electric upper limit U, then output power OFF signal 'no waste of power supply. The invention described in any one of the inventions of claim 3, wherein the monthly & mass storage device is used. Electrical double layer capacitor.

According to the above configuration, the maintenance time of the electrical double-layer product entering and leaving the device. The capacitor does not have to be maintained, and it can improve the object [the effect of the invention] or one of the non-power supply, which simplifies the control of the power supply unit. =: During the power supply, the power from the induction line is completely consumed: effective energy saving, and power supply is stopped. During the period, the energy storage device for regenerating this amount of each of the most (4) devices, the body, the lifting body, and the shifting (four) are placed in the light-storing device to effectively live 9 200927616 using conventional discharges The effect of electricity. [Embodiment] Hereinafter, an embodiment of the present invention will be described based on the drawings. 2 is a perspective view of the article storage facility according to the embodiment of the present invention, in which the storage rack FS is provided with two bottom storage racks A which are disposed to face each other in the direction in which the articles are moved in and out of the article, and are formed in the article storage device FS. Wait for the shelf A to each other |, s. In the stacker C, the stacker C is automatically transported, and the plurality of article storage units D for storing the sheets P for the articles F (products, etc.) are stored in the upper and lower stages of the stacker c. The walking direction (hereinafter referred to as the front-rear direction) is set side by side. - In the above-described working path B±, the lamp running rail 1' is disposed along the longitudinal direction of the storage rack A. The article is carried out at the home point (home P〇Sltl〇n) (HP) side of the stacker C of the working path B. In the part E, the lost carrying path 1 is provided in the article loading and unloading portion EJ1', and the article conveying device and the object opening port X table j are formed, and the ground control panel 1 is provided, which has a preparation operation panel (transmission) Human device) κ, first-up controller Η (figure); 7 is described later) and a second optical transceiver 后 (plan) to be described later. The door stacker c walks along the traveling rail 1 according to the entry and exit data (the example of the operation charge, which is described later) of the control 21 on the ground control, and the article storage, the °PD and the object °° between the table J or The article storage unit D constitutes an article entry/exit device that allows the board P (item F) to enter and exit. The position in the storage rack A of the article storage unit D (the rack number; the information defining the article storage unit D) is the number of the BANK (the direction of the storage rack in the direction perpendicular to the front-rear direction (hereinafter referred to as the left-right direction). Column

7037-10097-PF 10 200927616 number), the number of the LEVEL (the number of the segment in the vertical direction from the lowermost article storage unit D of the storage rack A) and the number of the βΑγ (the article storage unit D from the liver position) The entry and exit data corresponding to the article storage unit D is limited by the "job mode (executed work information; designated warehousing operation, delivery operation, cleaning operation j Picking), and transfer operation" """, "The items to be used are subject to the left and right of the table J", and the "frame number (the number of the bank storage unit d of the work ❹ ❹ BANK-BAY-LEVEL)". When the inbound and outbound storage data is in the automatic operation, the loading and unloading of the article storage device Fs is based on the loading and unloading control of the upper controller of the controller _ 2" the loading and unloading index output by the controller 21 (the article name (an example of information of the limited article) And the work mode) are formed in the above ground controller 21. The above-ground controller 21 stores the objects stored on the board p of each article storage unit D. The mouth F is managed on the official desk, that is, the rack number of each item storage unit d, the presence or absence of the memory item, and the item name (when the item is stored), and # when the loading and unloading command is input, the reference management station is formed in accordance with the input order. In and out of the library information. When the operation mode of the loading/unloading command is the warehousing mode, the article storage unit D that has obtained the "no item" is formed, and the warehousing data composed of the rack type (work mode) is formed, and when the operation mode of the detaching command is the delivery mode, The item name search management station of the loading and unloading command obtains: the item storage unit D of the item, and the opening and closing mode of the item and the delivery mode (made as a mode) and the working mode is the cleaning mode. At the time, the item name of the unloading item is searched for the management station, and the item D of the item F is obtained, and the item is formed by the frame number and the cleaning mode (operation mode). 7〇37-l〇〇97-pF 11 Clean up the outbound materials for 200927616. After the completion of the unloading operation, the delivery time at the next work can be shortened, and when the transfer mode of the transfer operation is performed by moving the board p to the object: =, the movement of the board p is formed; # Transfer of the rack number at the end point and the transfer of the bedding material in the transfer mode (operation mode). Further, the items to be used are attached to each item by the interactive selection of the left and right sides. Then, the ground control H 21 will form the inbound and outbound materials to be collected into plurals.

One (for example, two), and the instruction to the library information is directed to the stacker C. Moreover, the management station is updated at the end of each of the ground control (four) 21 S operation modes. The stacker C includes a traveling vehicle body 2 that is guided by the traveling rail i and travels along the article storage unit D, and a pair of front and rear lifting columns (cylinders) 4 that are suspended from the traveling vehicle body 2, and along the For the lifting column 4 (supporting guide), the lifting platform (the example of the lifting body) 3 for lifting and lowering the object-keeping portion D and the article receiving table J, and the fork device 3 is provided on the lifting platform 3 (transfer device) 5) It is preferable to carry out the transfer of the object (the af) in the article: the pipe part]), and the stacker C carries the article F on the above-mentioned lifting platform 3 (the apparatus 5) and carries it. Further, the rails 6 are laid on the side of the patio portion facing the traveling rails, and the upper frame 7 is provided at the upper end portion of the lifting column 4, and the rails 6 are clamped from the right and left while connecting the rail ends. The upper position of the stacker C is restricted by the walking of the stacker c. Further, the traveling vehicle body 2 is provided with an electric motor for lifting and lowering the driving platform 3 (an example of a driving device), a traveling electric motor (an example of a driving device) 12 for driving the traveling vehicle body 2, and a device 5 7037-10097-pp 12 200927616 A fork motor (an example of a drive device) 39 (FIG. 1) that drives the drive, and a body control panel G is provided on the traveling vehicle body 2, and has a Hp side. The external position of the lifting column 4 and the body controller control device constituted by the computer, for example, the first side of the traveling body 2, has the first optical transceiver 14 for carrying the ground with the article loading and unloading portion E The data of the controller 21 is transmitted and received. Further, the traveling vehicle body 2 is provided with a distance measuring device (lifting and lowering distance detecting device for the lifting table 3) 16, which uses the light to measure the distance between the lowering limit of the lifting platform 3 and the lifting platform 3. Further, a pulse encoder 18 (Fig. 3) is connected to a rotating shaft of the traveling electric motor 。. Further, a second optical transceiver 15 (Fig. 1) is provided on the ground control panel E1, facing the above-mentioned An optical transceiver 14, the second optical transceiver 15 is connected to The ground controller 21. Further, the device for supplying power to the stacker C is a power source device 32 (figure i), which supplies a high-frequency current to the road along the traveling rail i (corresponding to the path of the article entry and exit device) A pair of upper and lower induction lines 4 31 (帛丄图). 〇 On the stacker c, as shown in Fig. 1, a power receiving coil (pick_up coil) 34 facing the induction line 31 is provided, and the power receiving is formed. A capacitor 35 of a resonant circuit in which the coil 34 f is arranged to resonate with the frequency of the power receiving coil 34 and the induced line 31, a rectifying and smoothing circuit 36 connected to the capacitor ϋ 35, and a stabilized power supply circuit connected to the rectifying and smoothing circuit 36 37. By stabilizing the power supply circuit 37, the output electric dust is maintained at a predetermined voltage J (for example, a voltage of 295 to 3Q5 V) (stabilization). Further, in the stacker c, the above stabilization is achieved. The power supply circuit 3 is powered by the diode 38 to drive the traveling motor 12 and the (switching) fork device 13 200927616 5 and the first AC servo drive of the motor 39, and is supplied to the electric motor 11 for driving the lift. Second AC servo drive 4 and for The control power supply unit 42 is configured to supply the control power to the main body controller 13. The first AC servo drive 4 and the second ac drive Ο form a load that consumes power. In the stacker C, The diode 38 is between the first AC servo driver 40, the second AC driver 41, and the control power supply unit 42 of the stabilized power supply circuit 37, the first AC servo driver 40, the second AC servo driver 41, and the control power supply device. In parallel with an electric double layer capacitor (an example of a device for storing this amount) 45, a voltage sensor (an example of a voltage k measuring device) is provided, and the output voltage of the stabilized power supply circuit 37 is detected (applied to the first The AC servo driver 4, the second AC servo driver 41, and the voltage of the control power source device 42). The electric double layer capacitor 45 is charged by the same amount of the stabilizing power supply circuit, and the traveling vehicle body 2 is charged and regenerated by the regenerative electric current (regeneration energy) regenerated by the electric motor 12 for traveling during "deceleration", and the lifting platform 3 is The energy accumulating device in which the regenerative current (the amount of regenerated food b) regenerated by the electric motor 11 for the lift is distributed and charged. Also, when stopping the stabilization

When the power supply circuit 37 supplies power, the power is supplied from the electric double layer capacitor to the first AC feed driver 40, the second AC servo driver 41, and the control power supply device 42. The body controller 13 of the stacker C is passed from the above ground controller 21 via the first When the two optical transceivers 15 and the first optical transceiver 14 are input to the two inbound and outbound materials, the traveling sequence (detailed 7037-10097-PF 14 200927616 described later) is driven to drive the traveling electric motor 12 corresponding to each of the inbound and outbound materials. The lifting/lowering sequence (described later in detail) is driven to drive the lifting/lowering (four) moving motor u, and the fork motor 39 is driven to perform the mounting operation and the detaching operation of the board p, and the board p (item f) is moved in and out (in and out of the library).行走 The walking order of the above-mentioned traveling vehicle body 2 is determined as the current position (the position defined by the current BAY number or the position at which the article is received by the table)*. The entry and exit data: the destination position (by the position of the article j or the target βΑγ) The distance of the position limited by the number is calculated by the acceleration, the fixed speed, and the deceleration set in advance, and the acceleration time, the fixed-speed travel time, and the deceleration line time are obtained. In addition, the mode of the traveling state of the traveling vehicle body 2 is set to "acceleration mode" when the kicking start is set to "fixed speed = type" when the acceleration time has elapsed. Mode" is set to "Stop mode" when the deceleration time elapses. In addition, the above-mentioned lifting sequence is compared with the current position (the position of the position or the article receiving the table) and the position of the inbound and outbound materials: (the item is subjected to the position of the table, the position of the 〇l α), when the position is now... When the current position is lower than the destination position, the VEL number is set to the rising mode, and the position is set to the stop mode: the table setting is the falling mode, and the arrival destination is set to the above-mentioned "upper table". The mode of the lifting state". *, whether or not the destination bit = the "mode" and the "down/down of the measured acceleration/deceleration 3" are determined by the distance between the above-described distance measuring device 16 in each operation mode and the distance of the descending platform 3. Ming, at the same time, the operation of the stacking machine C in each operation mode ^"

7037-10097-PF 200927616 "Incoming mode" From the warehousing data, by specifying the "goods storage bay-level" at the end of the library, as shown in Fig. 5, the movement of the moving body 2 is made.丨 〇 3 ... 丨丨 丨丨 侠 用 用 用 用 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动In the order of the mode r "deceleration mode", the driving electric motor 12 is driven to move the traveling body 2 to the stage J. When the movement of the article receiving table 1 is completed, the fork motor 5 is driven to carry out the loading operation of the sheet P in the article receiving table J by the fork device 5. When the sheet P is loaded on the article receiving table j, the electric motor 11 for lifting is driven to perform the "rising mode", and the lifting table 3 is raised to the LEVEL position of the stocking data. Further, in accordance with the "acceleration mode" - "fixed speed mode" - "deceleration mode", the traveling electric motor 12 is driven to move the traveling body 2 to the ΒΑ γ position of the stock data. When the movement of the BAY position and the LEVEL position toward the destination is completed, the fork motor 39 is driven to perform the removal operation of the board P by the apparatus 5 for the purpose of the article storage unit D. "Outbound mode" to export the library data, by specifying the "item storage department D" before the shipment

BAY-LEVEL", as shown in Fig. 6, operates the traveling body 2 and the lifting platform 3. D First, the lifting platform 3 compares the LEVEL position of the library data with the current

7037-10097-PF 16 200927616 LEVEL position, when the LEVEL position of the delivery data is high, set the "up mode". When the LEVEL position of the delivery data is low, set the "down mode", and drive the lifting electric motor u to move the lifting table 3 from The current LE^ position is raised and lowered toward the L position (destination LEVEL position) of the outbound data. In addition, in accordance with the "acceleration mode" - "fixed speed mode" - "deceleration mode", the traveling electric motor 12 is driven to move the traveling vehicle body 2 from the current level position to the ΒΑ γ position of the delivery data (the target ΒΑ γ position). > When the movement of the BAY position and the L-leg position is completed, the motor 39 is driven again, and the fork device 5 performs the operation of the panel P from the destination article storage unit d. The device in the destination article storage unit D 5) The loading operation of the board p (4) is carried out, and the "down mode" is implemented, and the electric motor 11 is lifted (4) to lower the lifting platform 3 to the article receiving position; position. In addition, according to the "acceleration mode" - "fixed speed mode" In the order of "deceleration mode", the traveling electric vehicle 12 is driven to move the traveling vehicle body 2 to the article receiving position. When the movement toward the article receiving table J is completed, the fork motor 39 is driven to be used by the fork device. 5) The unloading operation of the article p is performed on the article j. The "cleaning mode" is as follows, as shown in Fig. 7, by specifying the BAY_LEVEL of the article storage unit D in which the shelf for performing the cleaning operation is stored. Make walking body 2 and the lifting platform 3 action. First, the lifting platform 3 compares the location of the outbound data to the current LEVEL position, and when the LEVEL position of the outbound data is high, the setting "Upper 7037-10097-PF 17 200927616 升模四八" When the LEVEL position of the outbound data is low, the "down mode" is set, and the lift EB $ 2 is driven. The electric motor 11 is used to raise and lower the lift table 3 from the current LEVEL position to the LEVEL position (destination LEVEL position) of the storage unit. also,

According to the order of "plus π j "L & nucleus" - "fixed speed mode" ~ "deceleration mode", the electric motor i 2 is driven and the moving body 2 is moved from the current ΒΑ γ position to the 2 Χ 蒋Helps to clear the bay location of the outbound data (destination of the bay location). Ο ❹ Γ Γ ΑΥ ΑΥ ΑΥ ΑΥ ΑΥ ΑΥ ΑΥ ΑΥ ΑΥ ΑΥ ΑΥ ΑΥ ΑΥ ΑΥ ΑΥ ΑΥ ΑΥ ΑΥ ... ... ... ... ... ... ... ... ... ... ... ^ ^ ^ Double installation: In the target storage unit D of the target object, the plate ρ motor 5 is used to set the "down mode" to lower the drive speed mode by two liters. The article is carried out in the order of the position of the table J. In addition, the electric two-speed mode for walking is carried out. </ br> </ br> </ br> </ br> </ br> </ br> </ br> The unloading::: the motor 39' is used as the motor 3; when the cleaning operation is completed, the driving is again performed by the board =: the product is loaded by the table J. Mode", when the Γγ loading operation is completed, set "Upward Vaulting and Lifting...Clear out" 7〇37~1〇〇97-Pf 18 200927616 BAY position (original ΒΑγ position) ) Move to the original BAY々r Department 5® is + and move the original LEVEL position to the end %' drive fork motor 39 and the forklift class r., device 5 to the original item storage unit d into the board P "Unloading operation" MY:L specifies the "BAY-LEVEL of the article storage unit D" of the "object storage unit D" of the transfer destination from the transfer destination, as shown in Fig. 8. The traveling body 2 and the lifting platform 3 operate.罟盥 Elevator 3 compares the transfer starting point of the transfer data to the Cong "stand and the current level position, dream. ~ Set 4 set * When the LEVEL position of the transfer start point is high, "Uplift type", when transferring When the LEVEL position of the starting point is low, the H-type "__" is used to drive the electric motor 11 for lifting and lowering, and the LEVEL position of the lifting platform 3 after moving to the ❹ fixed speed factory is raised and lowered. In addition, in accordance with the "acceleration mode mode" _ "subtraction of the strokes", "~~, and the formula", the driving electric motor 12 is driven to make the old man’s body 12 The position of the transfer starting point of the data is moved. When the movement of the β Α γ position and the ancestor position of the transfer start point is completed, the loading operation of the plate P is performed by the apparatus 39 from the transfer starting point by the motor 39. At the beginning of the transfer, the object σ is twisted by the loading device 0, and the loading operation of the corpse in the device 5 is performed, and the lifting platform 3 compares the data of the transfer. The level position of the transfer start point is 1 α μ IFV]7t y _ LEVEL· position of the target, when the •L ii VEL bit of the transfer target is true η main _

w M ± D,, forked ascending mode", when the LEVEL position of the transfer target is low, the horse "down mode" drives the lifting electric motor 11 so that the lifting platform 3 takes you to the LEVEL position of the transplanting starting point. Transfer of moving data to 7037-10097-pf 19 200927616 The LEVEL of the target is kneeling. r 幵 幵 又 , , , , , , , , , , , , , , , 依照 依照 依照 依照 依照 依照 依照 依照 依照 依照 依照 依照 依照 依照 依照 加速 加速 加速 加速 加速 加速 加速 加速 加速 加速 加速 加速 加速 加速 加速 加速 加速 加速 加速 加速The BAY position of the transfer target of the data moves. When the BAY position of the transfer destination and the level position of the transfer destination are completed, the motor 39 is driven to perform the unloading operation of the board p by the fork device 5 toward the article storage unit D of the transfer destination. The main body controller 丨3 of the same machine C passes the power supply (10) signal and the power supply OFF signal via the first optical transceiver 丨4 and the second light according to the output voltage of the stabilized power supply circuit 37 detected by the voltage sensor 46. The transceiver 15 and the above ground controller 21 are output to the power supply device 32. That is, as shown in the block diagram of FIG. 3, the main controller 丨3 is provided with an upper limit voltage setting in which a voltage upper limit value (for example, 306 V) larger than the magnitude of the voltage provided in the stabilized power supply circuit 37 is set in advance. And a lower limit voltage setter 52 that is set in advance to a voltage lower limit value (for example, 294 V) that is lower than the magnitude of the voltage of the stabilizing power supply circuit 37, and the main body controller 13 is in a traveling state of the traveling vehicle body 2, The output voltage detected by the voltage sensor 46 is corrected by the elevation state of the elevating table 3 and the presence or absence of the inbound and outbound data, and the correction voltage is input to the main comparator 53, and the main comparator 53 rises to the upper limit voltage at the correction voltage. When the voltage upper limit value of the setter 51 is set, the power supply OFF signal is output to the power supply device 32 via the first optical transceiver j 4, the second optical transceiver 15, and the ground controller 21, and the correction voltage is lowered to the lower limit voltage setting. When the voltage is lower than the voltage limit of the device 52, the power source 0N signal is output to the power source device 32 via the first optical transceiver 14, the second optical transceiver 15, and the controller 70 at the ground 7037-10097-PF 20 200927616. e

In order to determine the traveling state of the traveling vehicle body 2, as shown in Fig. 3, a high speed setter 54, a medium speed setter 55, and a quick skin detector 56 are provided. The high speed setter 54 preliminarily sets a high speed setting value for detecting that the traveling vehicle body 2 is traveling at a predetermined high speed region, and the medium speed setting device 55 is slower than the low speed region and slower than the high speed setting value. The speed setting value is preset. The speed detector 56 calculates the pulse of the pulse encoder 18 and detects the traveling speed of the traveling vehicle body 2, and is provided with a first comparator 57 and a second comparator 58, the first comparator. 57 detects whether or not the traveling speed detected by the speed detector 56 is higher than the high speed set value set by the high speed setter 54. The second comparator 58 detects whether the squatting speed measured by the speed detector 56 is at Set to the medium speed setter 55 or higher, by the combination of the output signals of the comparators 57 and 58, the relay RY_SH is set when the traveling speed is in the high speed region, and the relay II RY when the traveling speed is in the medium speed region. SM' sets the relay RY-SL when the walking speed is in the low speed range. When the walking order is "acceleration mode", it is 〇n, and the relay is set. Then, the relay RY-A is not (10) (when not in the "acceleration mode") and the relay RY-SH is on f! When the pro ρ π 士, + with the catch &amp; field, the value of 3.5V is added to the sneeze detected by the voltage sensor +, 4 &quot; the output voltage measured by the nucleus 'and the relay ΚΥ-Α When it is not on (not "Λ"; step ceremony - ., ^ speed speed 」") and the relay RY-SM is on (in the middle speed region), it is carried out, and the relay is crying at the output voltage. Corrected. Tiantian Relay Is RY-A is 0N ("Plus

When K nw r ± history change type) and the relay RY-SL is 0 Ν (in the low speed range), the value is 0V, that is, no correction is performed.

7037-10097-PF 21 200927616 Further, in order to determine the lifting state of the lifting platform 3, as shown in Fig. 3, a 咼 position setter 59, a middle position setter 〇, a third comparator 61, and a fourth comparison are provided. 62. The high position setter 59 is a preset value of the preset high position area and detects that the height of the lifting platform 3 detected by the ranging agricultural worker 6 is in a preset high position, and the middle position setting unit 60 sets the middle position area. The set value 'and detects a middle position that is higher than the low position lower than the high position area. The third comparator 61 detects whether or not the height of the lifting/lowering platform 3 detected by the distance measuring device 16 is equal to or higher than a set value set in the high position region of the high position setter 59. The fourth car has a benefit of 6 2 4 and the height of the lift table 3 is set to the median position of the middle position. By the combination of the output of the comparators 61 and 62 from the known output, the relay in the high position region is set to (10), and the relay in the middle position region is (10) and the low position region is (10). When the relay RYm is in the "up mode", it is 0N, and the relay ry_r is set. Then, the relay RY-R does not Λ(10) Pony (when not in "rising mode") and the relay RY-WH is 0Ν (high 罟F, ^A position in the field), the value is added to 10V, and the relay RY -R is not 卯 (when not "^ on open") and the RY-WM is 0 Ν (in the middle position area) ^ J is added to 5V and corrected 0 and relay RY-R is 0N ("rise Cake

In the case of &amp; liter mode or when the relay RY-WL is 0N % (in the low position area), the correction is not corrected if ii is 〇v'. The above correction voltage is as follows. Now, the design value of the stacking machine c - ^ . lnnnr example is the weight of the lifting platform 3 is lOOOKg, the lifting distance (height) of the lifting and lowering σ2 along the lifting column 4 is ", the height of the stacker C The speed is 62 g N. The speed at which it is caught is 7037-10097-PF 22 200927616 3m/sec 'The speed at medium speed is 2m/sec. The position of the lift 〇3 can be expressed in r mgh” to the upper limit position 8m. The energy is 78400J, the energy to the intermediate position is 392〇〇j, and the height of the stacker is “mv/2”. The energy at high speed is 279〇〇J, and the energy at medium speed is 1 2400J. Further, when the design value of the capacity of the electric double layer capacitor 45 is 2 〇F, the accumulated enthalpy is represented by cv2/2, and is 900,000 J when the applied voltage is 3 〇〇v, and the applied voltage is 29 低v at a low of 10 volts. At the time of 84i〇〇〇j, applying a voltage difference of ... makes the accumulated energy differ by 59000]. This 59000] is substantially identical to the energy 588〇〇J (= 784〇〇j x 75% (efficiency)) of the lifting table 3 regenerated at the upper limit position 8m. Therefore, the correction voltage when the elevation platform 3 is located in the high position portion is set to 10v, and based on this, the correction voltage in the middle position region is set to 5v, and the correction of the traveling vehicle body 2 (the stacker c) at high speed is corrected. The voltage is set to 3·5ν, and the correction voltage at the medium speed is set to 1. 5ν 〇❹ In this way, the potential energy of the regenerative lifting platform 3, the kinetic energy of the regenerated stacker, the capacity of the electric double layer capacitor 45, and The set voltage of the power supply circuit 37 is stabilized to set the correction voltage. Further, the correction voltage of the output voltage detected by the voltage sensor 46 is set based on the presence or absence of the inbound and outbound data. As shown in Fig. 3, when the input/exit data of the job is not input, that is, the stacker C is set to ON when the stacker C does not perform the entry/exit operation, and the relay ry-J is set. When the relay RY-J is ON (when there is no data in and out of the library), the correction voltage 2v is added to the output voltage detected by the voltage sensor 46, when the relay is 7 037-10097-PF 23 200927616 =RY-J When it is OFF (when the data is entered and exported, that is, when the import/export operation is performed), the correction voltage is 〇V, that is, no correction is performed. Then, when the stacker 0 is stopped without performing the loading and unloading operation, the correction voltage 2v is added to the wheeling voltage ' detected by the voltage sensor 46, and the application is adjusted by the stabilization of the power supply circuit 37. When the voltage rises to 304v in the no-load state, the corrected voltage is 3〇6v, the voltage reaches the 2 10 _ limit (for example, 306v), and the output power 〇 FF signal. When the stacker [stops] output power 〇 FF signal. When the power supply 0FF signal outputted from the main body controller 13 is input to the power source, the supply of the high-frequency current to the induction line 31 is stopped, and when the power supply signal is input to the power supply unit 32, the high-frequency current is supplied to the induction line 31. That is, 'the stabilized power supply circuit output voltage detected by the voltage sensor 46 is corrected, and when the corrected output voltage rises to the upper voltage limit value, 'stops supplying the high-frequency current from the power supply device 32 to the induced line Μ, When the corrected output voltage drops to the lower limit value, the power supply unit 32 supplies the current to the induction line 3 丄〇 [Action]. The above-ground controller 21 is crying from the buckled batch. When the loading and unloading command is input, the loading and unloading command is input, and the inbound and outbound materials are formed. Jiang ^ ^ passes an inbound and outbound data via the second optical transceiver 1 5 and the first one, ια· &amp; The transmitter 14 transmits to the body controller 1 of the stacker C. When the body controller 3 enters and exits the inbound and outbound materials, as described above, the above-mentioned inbound and outbound chapters are held in the manner of 1 Q , M i ^ ^ ", and the main controller 13 is stabilized by the power supply. 37' added to the first ac servo drive

7037-1〇〇97-PF 24 200927616 40 The first _ AC word of the month of the people j D. The voltage of the power supply unit 42 and the control power supply unit 42 are dimensioned as ... voltage (e.g., -v). ...In the operation of each operation type, the output voltage detected by the voltage sensor 46 is corrected in the "acceleration mode" of the program, and the stroke of the walking program is #招&gt; 4 In the formula, the travel speed is added in the south speed region. The correction is added in the medium speed region. i. 5v, no correction is made in the low speed region. In the "lift mode" of the lifting program, the correction is made. In the other part of the lifting program, the position of the lifting table 3 is added in the high position area to correct the value ΙΟν, and the middle position area is added in the value correction 5v, in the low position. The area is not corrected. When the correction voltage corrected by the running state and the lifting state reaches the voltage upper limit value, the power supply OFF signal is output to the power supply device w L via the first optical transceiver 14 and the ground control m. When the voltage reaches the voltage lower limit value, the power source (10) signal is output to the power source device 32 via the first optical transceiver 14, the second optical transceiver 15, and the ground controller 21. The power supply unit 32 supplies power to the induction line 31 based on the power supply ON signal, and stops supplying power according to the power supply OFF signal. After J, the ontology control benefit 1 3, when the input job surname of the input and output data is no, that is, there is no inbound and outbound data ', and when the operation of the stacker c ends, the output voltage detected by the voltage sensor 46 is added. The value correction &amp; when the applied voltage maintained by the stabilized power supply circuit 37 is 3 () 4 &quot; / repair: the voltage reaches the above-mentioned voltage upper limit ', the power supply, the signal is output, and the supply of power to the induced line 31 is stopped. Further, in the body controller 13, the supply of power to the induced line 31 is stopped, and when the power supply from the stabilized power supply circuit 37 is stopped, the electric double layer capacitor is used.

7037-10097-PF 200927616 45 power supply to the first AC servo drive and the second control power supply unit 42. The -D ° mover 41 and Fig. 4b show an example of the output voltage according to the entry and exit. The corrected output of the "," is the initial part of the wheel voltage curve (after correction) in the storage mode, from the item to the position of the table j into a curve. The library γ piled up when the machine C moved: : When the vehicle body 2 is accelerated, the lifting platform 3 is simultaneously raised, and the output of the electric power is consumed, and the electric grinder is rapidly outputted as "the bucket magnetic bucket, ^ at this time due to the lifting platform lifting mode", and the traveling vehicle body 2 is "accelerated".槿4 .. is Μ. Therefore, the corrected catch mode", the actual voltage measured by the correction value is supplied to the induction line 31 detected by the susceptor 46. The policy "set 32, then go on the 'moving car body 2 to switch to fixed speed walking, due to the lifting platform, 'liter, moderate power consumption, the output voltage slowly rises and lowers the table 3 to "rise the mountain piece lower this %, rise Therefore, the correction value is 〇, and since the traveling vehicle body 2 = idle mode, it is determined that the traveling speed is a high speed region, a medium speed region, or a low speed region, for example, "the fixed speed mode" is determined as a high speed region, and the correction value is To add 3.5v. 〆 Then the 'moving body 2 decelerates, because the lifting platform 3 stops, the current is on the electric double-layer capacitor #雷 ^. At this time, the output of the lifting platform 3 is restored (four). material. 3 is a "split-fork type", and the stop position is judged to be a high position area, a middle position area, and a low position ', , . . . nn is called a value in the inter-position area...', and a value of 5 ν is added in the middle position area. In addition, since the traveling vehicle body 2 is "reduced 7037-10097-PF 26 200927616 speed mode", the traveling speed is judged as the domain 'added value in the medium speed zone'. 5v, and the "wide time low speed £ ψό,. The output voltage detected by the sensor 46. Therefore, after the correction, Γ ^ Μ. ^ ΛΑ ^ The output voltage of the furnace, that is, the output of the kinetic energy and the potential energy of the stacker (4) is compared with the electric sensor 46. When the detection s limit value or more, the power supply 〇FF signal is output to the power supply unit 32, and the supply of power to the induction line 31 is stopped. Therefore, the power supply from the power supply unit 32 is quickly stopped, and the power consumption is lowered. Thus, the traveling state of the traveling vehicle body 2 is corresponding. And the lifting state of the lifting platform 3, the output voltage detected by the voltage sensor 46 is corrected to form an output electric magic that is added to the kinetic energy and the potential energy of the stacker C, and the power is output according to the correction voltage. (10) Signal, power supply 0FF signal, the output voltage is reduced, and the power consumption is reduced. According to the above embodiment, the power supply device 32 is supplied with the power supply 0FF S ° because the king stops supplying the induction line 3丄. frequency The flow does not consume power from the induction line 31, and the most efficient energy saving can be achieved. Moreover, the action of the power supply unit 32 is __ between the power supply and the non-power supply, and the control of the power supply unit 32 can be simplified. Each of the traveling vehicle body 2, the lifting platform 3, and the fork device 5 is provided from an electric double layer capacitor 45 for storing the regenerative energy of the traveling vehicle body 2 and the lifting platform 3, and the regenerative energy of the η谷谷 electric motors 11 and 12. In the present embodiment, the running state of the traveling vehicle body 2 and the lifting and lowering of the moving body 2 are, for example, the movement of the stacker c that confirms the regeneration, or When the positional energy of the lifting degree of 3° is raised and lowered, the output voltage detected by the voltage sensor 46 is corrected by the pulse, and the power supply 〇 ff signal can be turned up by the 7037-1009*7-pf 27 200927616. The power supply has a power saving. Conversely, when there is no regenerative kinetic energy or the potential energy of M ^ i is detected, the output measured by the voltage sensor 46 is private. The voltage ON No. 1 is “corrected by the pulse, so the output power can be output early. Timing signals, the wheel can be suppressed while the reduction in voltage. According to the present embodiment, there is no warehousing information, and when the loader of the stacker c: force Si is detected by the electric sensor 46, S 〇 v is corrected by the stabilized power supply circuit 37 The above applied voltage is maintained as 3G4v, ^ above

The upper limit of the voltage is output and the output power is off. 'With the full &quot; (辜I, the remaining gf induces the line 31 to supply the high-frequency current, for the power supply of the stacker (^ From the power consumption of the induction line 31, the most efficient energy saving can be achieved. According to the present embodiment, the electric double layer capacitor 45 is used in the stacker C as a device for accumulating energy. In this embodiment, it is determined that the power storage device does not need to be maintained to improve the maintenance time of the stacker C. In the present embodiment, it is determined in the main body controller i3 that the power supply device 32 is powered or not supplied to the induction line 31, but this The determination may be performed in the above ground control state 21. At this time, the main body controller 13 outputs the output voltage data detected by the voltage sense 4 11 46, the data of the running program and the lifting program, and the traveling speed of the traveling vehicle body 2. The data and the data of the lifting distance of the lifting port 3 are rotated to the above-ground controller 21 via the first optical transceiver 14 and the second optical transceiver 15. Further, in the present embodiment, the body controller 13 is based on Walking the body 2 The state, the elevating state of the elevating table 3, and the presence or absence of the inbound and outbound data, correct the running state of the wheel-out power 7037-10097-PF 28 200927616 detected by the voltage sensor 46, and correct the voltage, but at least According to the individual traveling body 2, the lifting state of the lifting platform 3 and the output sensor detected by the pressure sensor 46 of the inbound and outbound data can be used. In the present embodiment, the running state of the traveling vehicle body is η \ 71. When the traveling speed is determined in the high speed region, the medium speed region, or the low speed region, the kinetic energy of the stacker C is calculated by "mvV2" based on the traveling speed detected by the speed detector 56, and the kinetic energy is converted. As the correction voltage, for example, as described above, the energy 59000J corresponds to the applied voltage 1〇v as a reference, and the kinetic energy is converted into a correction voltage (the correction voltage is obtained), and the output voltage detected by the voltage sensor 46 can be corrected. Moreover, the lifting position of the lifting platform 3 determines that the lifting position is the high position area, the middle position area, or the actual lifting distance of the lifting table 3 detected by the measuring device 16 (high ), calculate the position of the aq opening and lowering port 3 by "High", and convert its potential energy into L positive voltage. As described above, the energy is just 59; the equivalent of the applied voltage... is the reference 'converts the kinetic energy into the corrected electricity. Dust (determination of the correction voltage), and the output voltage detected by the electric sensor 46. In the 2 Ht embodiment, although the traveling vehicle body is determined by the traveling speed, (4) is set, but the walking program can be used. When the module is in the "acceleration mode" (for example, when the vehicle body 2 is opened, the output power is corrected to a negative value (for example, correction -, "fixed speed mode" f „ &amp; +, ^ " speed start 呤) The output voltage is corrected to 0. When the output voltage is corrected to a positive value (for example, +5V is corrected), and the A ~ m output voltage is restored to the reverse mode (walking stop) When) lose, a _ 〇. Further, the lifting and lowering state of the elevating table 3 is judged based on the position of the elevating and lowering 7037-10097-pp 200927616, and the correction value of each mode setting is set. For example, when the output can be increased according to the start of the lifting program (when the elevator 3 is in the "down mode" (when the start is down = (: as corrected - 5), (for example, correction +5V), "When the stop is positive, the rim is ridiculous. In the case of 摈" (when the lift is stopped), the output voltage is corrected to 〇. Thus, the lift mode of the heart or the lift table 3 is preliminarily 2, the travel mode ❹ speed mode 1 When the house is restored (in the above-mentioned "processing" ascending mode", the output voltage detected by the voltage sensor 46 is corrected to a positive value by the metering, and the *AA private two. , ^ A JU ^ rr &amp; early power supply OFF signal: speed I * to achieve energy saving, conversely when predicting output voltage 2, W "deceleration mode" "down mode", voltage sensor 46 The detected output galvanic is corrected to negative 胄, and the timing of the power supply 0N signal is early, 9 , and the output voltage of the J evaluation is lowered. In the present embodiment, the stacking 隹G is in units of the board p. Carrying in. The opening and exit of the mouth can also be in the box. [Simplified illustration] Figure 1 is the Fig. 2 is a perspective view of the main part of the same article storage device. Fig. 3 is a view showing the same body controller of the same Mn U 7σ ^.η μ Fig. 4(a) and (b) are diagrams showing the characteristics of the stacking voltage of the stacker and the stabilizing power supply circuit of the same article storage device. Fig. 5 shows the person of the same material. The operation of the traveling vehicle body and the lifting platform of the stacking machine when the library is f. The operation of the traveling vehicle body and the lifting platform of the 2009-1716. The sixth figure shows the traveling vehicle of the stacker at the time of the delivery of the same article storage facility. Movement of the body and the lifting platform. :: The chart shows the movement of the moving body and the lifting platform of the stacker during the cleaning operation of the article storage device. Figure 8 shows the same body and lifting platform of the same σ Stacker at the time of transplanting equipment [Main component symbol description]

FS to article storage device Α to storage rack B to work path C to stacker D to article storage unit E1 to ground control panel F to article J to article receiving station P to board 1 to traveling track 2 to traveling body 3 to Lifting platform 4 to lifting column 5 to fork device 11 to lifting electric motor 12 to walking electric motor

7037-10097-PF 31 200927616 13 to main body controller 14 to first optical transceiver 15 to second optical transceiver 16 to distance measuring device 1 8 to pulse encoder 21 to ground controller 22 to loading and unloading controller 31~ Induction line © 32 to power supply unit 3 4 to power receiving coil 35 to capacitor 3 6 to rectification, smoothing circuit 3 7 to stabilized power supply circuit 38 to diode 39 to fork motor 40 to first AC servo driver® 41 to Two AC servo driver 42 to control power supply device 45 to electric double layer capacitor 4 6 to voltage sensor

7037-10097-PF 32

Claims (1)

200927616 X. Application for Patent Park: 1. An item storage device comprising: a plurality of item storage units for storing items; and an item-entry device 'walking along the item storage unit between the item storage unit and the loading and unloading port Inducing the line, laying along the path of the above-mentioned items, and placing the pick-up; ❹ The power supply device supplies the high-frequency current to the above-mentioned entrants and the entry and exit device includes: the road on which the vehicle body is traveling, along the above The article storage unit travels; the lifting body is vertically movable on the traveling vehicle body; and the device 'transfers the article between the article storage unit provided on the lifting body and the loading and unloading port; The power supply circuit is supplied from the above-mentioned induction line in a non-contact manner; the power supply circuit is stabilized and connected to the above-mentioned power receiving coil, and is supplied to the Shangshe with a predetermined voltage level. And the driving device of the lifting body and the transfer device; and the energy accumulating device, in parallel with the driving device, can accumulate the traveling vehicle The regenerative energy of each driving device of the body and the lifting body; and the voltage plate measuring device 'detecting the output power of the stabilizing power supply circuit „ wherein the electric power set in the stabilizing power supply circuit is set in advance The electric power upper limit value 'and the lower limit value of the electric power lower than the electric power set to the electric power of the stabilizing power supply circuit, when the electric power detected by the voltage detecting device rises to the above It is known that the voltage upper limit value stops the supply of the high-frequency current 7037-10097-PF 33 200927616 from the power supply device to the induced line. When the output voltage of the voltage detecting device β falls to the voltage lower limit value. At the time of the power supply device of the above-mentioned induction line, the power supply device of the above-mentioned induction line is supplied from the power supply device of the above-mentioned, and the above-mentioned article, and the above-mentioned article entry and exit device further includes a service device for driving the driving body of the traveling body, the lifting body and the transfer device, and controlling the wearing and releasing of the article The entry and exit of the article between the ports; the voltage upper limit value and the lower voltage limit value are set in advance in the control device, and the control device moves from at least the upper traveling speed of the vehicle body or the lifting state of the lifting body The state of the - is corrected by the voltage detected by the above-mentioned electric detecting means * when the correcting voltage is raised to the upper limit value of the voltage, the power supply signal is output to the above-mentioned power supply means 'When the corrected voltage falls to the above-mentioned lower limit value k 'outputting the power supply 0N signal to the power supply device; when the control device inputs the power supply GFT signal to the power supply device, stopping supplying the high-frequency current to the induction line, when the control device inputs the power supply N signal to the power supply device 'The high frequency current is supplied to the above induced line. 3. The article storage device according to claim 2, wherein the control device corrects an output voltage detected by the voltage detecting device by operation information executed by the article entry/exit device, and when the correction voltage rises to a voltage upper limit When the value is output, the power supply 〇FF signal is output to the power supply device, and when the correction voltage falls to the lower voltage limit value, the power supply 〇N signal is turned to the power supply device. 4. The article soundproofing device of any one of claims 1 to 3 wherein the energy accumulating device uses an electric double layer capacitor. 7〇37-l〇〇97-PF 34