TW494291B - Automatic storage system with multi-cranes and control method of the system - Google Patents

Abstract

An automatic storage system using multi-cranes includes a pair of storage zones that are arranged in parallel each other to store workpieces, two stacker cranes that convey the workpieces, a crane path that is arranged between the storage zones so as to make the two stacker cranes movable, and two crane parking station that are respectively arranged at both ends of the crane path to stand by the cranes. Since two cranes can be used at the same time, only one automatic storage system can deal well with a great convey amount. Therefore, production equipment cost can be cut down. And, even though one crane is defective, the other can be used. Therefore, the defective crane has no influence upon an entire system.

Description

V. Description of the Invention (1) This application is related to 2000-2000 case No. 200-00〇 丨 82, in which the Korean patent applications listed in Japan are fully incorporated herein. The present invention relates generally to a storage system. More specifically, the present system is a storage system for automatic storage cranes that stores and retrieves workpieces and controls the system using at least two more. Currently, a variety of storage systems have been developed for use. There are various structures for use. : According to which the storage system must be installed when needed. If yes, each manufacturing device must be stored safely: ::: The exact number of workpieces is issued to an automatic storage system issued in the United States Patent No. 3 with a storage area, which can safely store Wei Du ,, Er, and / or vehicles. Yu will load the industrial plant parts into it; and have-the tower type hanging frame Mou # 在 # 古 & carry this & Tibetan area. The storage area is multi-layered, and the === direction is connected with the horizontal direction, # the space of the quadrangle: The second is the track of the lower part of the tower crane which is connected to the storage. ::::move. The workpieces transferred to the automatic storage system by the household are transferred from the tower ‘, Xi: pull: crane: after’ when the workpiece reaches a designated position on the tower crane / the tower crane automatically loads the workpiece into the designated position. Very not = In this automatic storage system, only one crane is available at the stocker (stocker). If the number of workpieces to be moved is small, even eight cranes can carry them. However, if the carrying amount is very large Page 5 V. Description of the invention (2) Large and dare to move ^ / 1. The carrying amount. So :: When it ’s complicated, a crane is not enough to handle the container. Also, ::: multiple containers are needed at this time. If it pauses, then: A problem with the crane caused the crane's handling operation to be repaired. Then the entire production line cannot be operated until the crane is fully abstracted; according to one of the present invention, it has an automatic storage system for planting seeds, the present invention 2 = carrying energy, and providing a method for controlling the system . Crane cranes are asking for the purpose of providing an automatic storage system, although according to this road, the system will not affect the entire production line. In the storage area, the aspect of providing an automatic storage system includes: two L are arranged parallel to each other for storing workpieces, one brother * * placed at the gates of the two storage areas, and placed in a bucket ‘crane path’ are occupied by the two cranes. The two crane parking stations are:] at both ends of the crane path. For the knife type δ, there are two more ΐ ΐ ϊ issued: "Fang 15, provides-a kind of automatic storage system includes:: storage is set up in parallel with each other for storing workpieces; a device to control the automatic storage system, system; No .: Controlled for transporting workpieces; $ 1 and 2 controlled by the tower crane long-term control device, each used to control the first and second tower cranes u: light ,: located in the two storages ... The two tower cranes: and the first and second parking stations, each of which is arranged on the crane 仃: for the first and second cranes to occupy. The crane; the first two cars can travel on Crane driving zone and the second j: ㈡ Page 6 494291 V. Description of the invention (3) The second crane driving zone

According to the method, if the order is incorrectly selected, check the order, such as the instruction of the path, if not, and send the order. A further aspect of the present invention provides, including the following steps: check one or two first If the crane has no effect, the selection check is overlapped. If heavy trucks are used, the first crane will be used to control whether the remaining cranes are moved to the stop. Drop the station; determine the second crane to perform the transportation. The life of the second crane and the path of the second crane are moved to the second transportation path to order the two cranes to execute the first order and the two cranes to execute the order. ^ The first transportation of two cranes refers to the remaining crane and the first transportation of the first crane: The second transportation path of cattle is heavy, and the first and second, the first foot: The first one refers to the first and the second. In another aspect, a control method is provided for the storage device to use an operation die with at least two settings to operate the additional area of the punching die. Initially check for normal operation at least. The controlling crane performs the carrying mode with the execution mode of the crane; and whether the initial step of the handling mode of the handling operation is to move at least two cranes separately to move and store the method. The steps include: initializing the handling and storage During the single-use transfer of workpieces and the dual-use operation of storing workpieces, when the transfer operation is performed according to the mode 疋 dual-use mode, the transfer operation is performed according to the setting to the direct mode. Dual-use mode setting method, two cranes can be selected normally

A workpiece enters an operation mode, mode, or to mode; in the process of changing the root change request, the transportation mode or, if it is possible, steps included "Crane to transportation S 494291 ------- V. Description of the invention (4) Initial operating position on the trail. For: the method of setting the single-use mode in the verification, including the steps of operating a crane on the transport 1_; checking whether there are unselected cranes and unselected cranes; transporting the unselected cranes; The operation steps include the following operations: whether the crane is parked on the transport area where the workpiece is stored; if it is parked on the transport route, the workpiece is transported outside the transport path; And move the crane that is moving the part to the destination area to store the workpiece. Perform several steps according to the buffer transfer mode: the steps of instructing the workpiece to be straightened = include the following steps: move the crane to the destination zone; f. Transport the workpiece to the buffer zone; move the truck, transport, and store the workpiece to a Destination area. Moved to the buffer zone of the crane, automatic storage system-tower 1 type ^ in the car 1 according to the _ this storage is better and more specific, the second is, Figure 3 of the present physical storage system is a perspective view, showing the basis The transport relationship between the automatic storage systems of the present invention. Two of the preferred specific examples FIG. 4 is a flowchart showing each step of the control according to the active storage system; the specific example is from FIG. 5 is the detailed flowchart of the initialization step shown in FIG. 4;

V. Description of the invention (5) Fig. 6 is a detailed flow chart shown in Fig. 4-Fig. 7 is a detailed flow chart shown in Fig. 4-Amount = 1; Fig. 8 is a detailed flow chart of the processing steps of a modified area according to the present invention FIG. 9 is a top view of an automatic storage system according to the present invention; and a top view thereof. An automatic storage system of a preferred embodiment The present invention provides a storage area for a constant space, an automatic storage system for one use, the system having:-a device, and a controller. There is a storage area and a storage system with a storage container shape and a workpiece in a processing step. The chanting hall and the segregation are separated so as to be loaded in the stationary 15. For the first move in the bay area: Guide Vehicle (AGV) Guide Vehicle ⑽), the AGV 丄: track = track ^ 2 moves on the surface. As shown in FIG. 3, the two 15's. Accepted workpieces ^ child ^ 10〇 120 'According to a controlled instruction one: 1 2 0 to the specified marriage: & | Order to move the workpiece Λ deposit according to another type of workpiece 120 to the reference deposit : The transportation method of the M's uses a single H combined in the storage container 100 to transfer the workpiece 120 from one storage container 100 to another storage container 100 or between two bay-shaped areas. The single track 42 is made to pass on both sides of the storage container 100. A monorail carrier 11 () traveling on the single ticket 42 loads and transports the workpiece 120 from the cabinet 100, executes a series of transport operations f, and transports the visited workpiece 120 to another container 1 〇a. V. Description of the invention (6) The shipping instruction is from a master < 2 02, which controls and transfers the brain 200 to a storage container controller. There are-a series of == to; the cargo delivery system-with the workpiece 12 〇, it is the second transmission crane controller 204.具 11。 With 11. The carrier "俜 t W carrier (AGV) 150 or the monorail said,-a kind of inside the workpiece. In this case, and a more complete description with Figure 2. 9 The position of the method will be compared with Figure 1 Invented an automatic storage of stains 101. Μ Deposit: storage of workpieces in the inside £ 101,-the first-tower crane 112; dry storage of the first and second crane 112 buckle 114 乂 gan u a tower crane 114; a crane lane 103 on which the morning and 114 move. controller 202 (see ^^ H, one-and-two crane 112) for controlling the white-moving storage system And 114 = 2 (see Figure 3),-crane controller 20 (see Figure 3) used to control W cars. Beding possession EU01, ..., structure is shown in Figure i. To be effective A plurality of frames are produced at regular intervals in the horizontal direction, and the protruding members 122 are formed at regular heights on the sides of the frame 121. The storage area 101 becomes a ruler with a regular length and width. The multi-layered square space. The square space can be adjusted according to the type and size of the workpiece stored. Tower cranes 11 2 and 114 are used to install The workpiece 120 is stored in the square air. The structure of the first tower crane 112 is described as follows. A wheel system is made on the lowest part of the tower crane 112 and travels on the crane path 103. The support 132 It is made to support a main body 134. However, the cable 137 is connected to the support 132 to transmit the order of the crane controller 204. A groove 135 of a certain constant length is made on the main body 134 to make ^ 291 291 5. Description of the invention (7) The flat arm 136 can be moved in the vertical direction along the groove 135 of the main body 34. A rotating arm 138 capable of rotating about a vertical axis of the horizontal arm 136 is used to make the horizontal arm 136 # -END. A wide flat plate-shaped contact piece u is made on one side of the rotating arm 138 to safely load the workpiece. In the tower crane 112 having such a structure, the guard piece 12 () is safely loaded. The respective steps are described below with reference to FIG. 2. With the aforementioned automatic guided carrier 15o (to, the workpiece arrives at the automatic storage system 1 () of the scheduled transportation (the first entrance 104), then, in the automatic storage system 100, ma Rotate the workpiece as much as possible. All the workpieces 120 in the automatic system 100 are aligned in one direction, as shown in Fig. 2 ^ No. As mentioned earlier, the aligned workpieces 120 are placed at a specific position in the storage area 101 of the crane 2. The specific The position is controlled by a * π m It M—making the entire production line normal ㈣ the main computer's shipping instructions ♦ and controlling the automatic storage system 100. The shipping order is sent to the crane controller 204 which controls the crane 112 , The workpiece 120 is stored at the specific position in the storage area 101. The crane 120 moves at a specific position along an outer periphery of the crane path 103, and vertically moves m = the workpiece is loaded into a specific position. Alas, the crane i20 rotates, 138, safely stores the workpiece 120 in the specific position. Joint support, take = operation, is performed in the same way. Because the automatic storage system can have multiple inlets and outlets, a second inlet 102 and a mouth 106 are made in the system, as shown in FIG. 2. As mentioned earlier, the adjustment devices 116 and 118 and the monorail 110 are used to transport workpieces from one operating bay area to another bay area ', or

+ ZVI V. Description of the invention (8) It is used to call the car 112 in the two automatic storage in Beiguxi, Λ transport. First, the workpiece 120 is hoisted and 118H single uranium *. The withering devices 116 and 118. Since there is a -constant height difference between the device 116 Π Γ6;: rail / tool 110, the adjustment vehicle 110 cooperates. In response, the H-piece 120 fits the early-track 120 into the # λ # 'grading devices 116 and 118, and is used to load the workpiece 120 into the single-track carrier 110. If the storage / transportation of the plant is small, a 6 μM ^ is very large, in a preferred embodiment. The storage system uses two cranes to store and retrieve workers simultaneously. The tower crane of the present invention will now be explained with reference to Figs. 4 to 7. Record the control steps of an automatic storage system. The automatic storage mode is divided into a dual-use mode using at least two cranes and a single-use mode using only ten to twelve cars. If it is a dual-purpose mode, it is usually performed in a fixed area. If the transfer instruction is in the -extra two, the transfer operation uses a control method according to the extra area transfer processing step. A method for controlling the automatic storage system of the present invention, which is composed of the following steps. Set the idle mode with at least two cranes in the automatic storage system (initialization step S100), and perform a transport operation ^ 0j. If the current operation mode-single or dual-use mode is to be changed during the handling operation, it is necessary to check whether the current mode 2 has been changed during the handling operation (S120). If the current mode needs to be changed, the mode is changed to the processing mode (S130). Then check if it is S140 for the extra area). If it is, perform an additional zone moving operation (S15㈧. Then 1 'check whether the moving operation has been completed (S160). If it has been completed, move 494291 V. Description of the invention (9) The moving operation is stopped. Pond / 5 A ping Yoshida shows an initialization step from the steps shown in Figure 4. The mode used (S200) is a single-use mode using one crane ^ hanging ^ or a dual-use mode using two cranes. If If it is a single-use mode, it is = whether there is an operable crane that can be used to perform the single-use mode. Then, if there is no operable crane, a warning message is generated (S220). = ≪ 'A system operator handles The above situation (S230). The error of the operator of the system = crane ^, so that the crane can operate or issue another instruction. For example, _ ^ "crane" checks whether there is an unselected crane in the bunch of meters = car In the full transport path (S24〇). If there are unselected crane steps, then :: go outside the transport path (S25 °). Then 'this initialization 2 3 dual-use mode' checks whether both cranes belong to The normal operator will generate an alert (s27 ). Then '-set, the crane and the crane's transportation status (s28〇). If normal, check the-position initialization step to complete the crane transportation to a designated location (S25〇). Therefore, the initial: The automatic control of the initialization step is not possible. The tower crane that cannot be operated 'is in = ~ No. There is a double crane Λ, and the other operation tower crane has-^ In a storage container, basically if u do n’t Driving. If two cranes invade each other]: If two cranes are included, they will be driven by another method specified by them. In the M area, they and if-mode 'due to a tower crane χ ¥ or the number of shipments I side

V. Description of the invention (10) The dynamic control system is controlled by the change in Figure 4g, which needs to be changed (S310). That is, what is not in ^ ^ If a mode needs to be changed (S3 1 0), manipulating bamboo: soil (S: 2.) And the current operating mode is changed. ), There are two cases of the mode to be changed. Is =, increase-operation of a tower crane that has not been used in single-use mode = == has been completed. In this kind of situation = open into = mode: (wide. Another-a situation in the single-use mode; use another! Hang ;: Under its current system, the single-use mode is changed into a single-use mode. Replace. One case mode is then changed to a single user, or-the system operator is required to perform two items: m:-operable to change to the early use mode (S334). The next control of the mode change of dual-use mode = mode change The steps are the same as the previous steps. Here, the area is jumped to ΐ :: 所; and in the mode,… ^ ^ ^ in the storage container respectively. However, if one moves it into the same way, the two cranes will be according to Figure 7. Presented ^; when driving beyond each driving area, it should be difficult for the iHd outside area to handle.) First, check whether the preset parameters are direct (S410). In the direct transfer area, the workpiece is transported to one: while the crane is moving to another destination. When buffering and transporting, a buffer zone is set up 494291 V. Description of the invention (11) It is placed between two transporting areas to transport a workpiece to a destination without having to move the crane away from a line of respect. In the case of direct transportation, if a crane in a destination area is parked on a transport path (S420), the crane moves outside the transport path (S440) to load a workpiece. In the case of buffer transfer, a crane 'in the transfer area transports the workpiece to a buffer zone (S450) and a crane in the destination area transports the workpiece to the destination (S460). The above control method will be described as an example with reference to FIG. 2 as an example. Suppose a crane path is randomly divided into two areas A and B, and there are first and second shipping instructions (the first instruction loads a workpiece to be transported to A2 through a note, and the second instruction will The transported workpiece is loaded from ... to B2). If the cranes 112 and 114 are checked as normal, the first crane 112 is selected to cause it to execute the first transportation instruction. Since there is no crane to be moved according to the first instruction to be moved from the first crane 112 = to A2, another crane 114 does not need to be moved + another crane 114 is selected as the second crane 114. Because the delivery vehicle lldl is cunning. The first crane 112 moves from A1 to A2 and the second crane = two moves actuates two A2 and B2. Use this two two = do not transport-the workpiece is operated between A1 and ㈣. With this control method, two cranes can make A2 j orders at the same time. The shipping instructions are = the first; the first shipping instructions are "A1 to" A3-to A4 "shipping instructions. In this case, since the shipping paths of the first and second instructions are different from each other. 5. It is said that ITW __

2 what two: Π = W talents should be able to face r regardless of random division; naturally, this bank * collides with each other. πσ M avoids R9 of the two cranes, and, as before (a first delivery instruction A h delivery instruction and a second instruction "B1 to A1 to-delivery instructions the paths will overlap y, the first -Area. In this way, the transportation path of tt will inevitably be heavy with each other = 2_, which must be transferred to B to be able to execute the transportation order of "B1 to A2". ^ Here: the cranes 4 and 4 are in order to enemies, ie A crane goes ahead: Love: 'Two cranes collide. Brother, temple on the transportation path Figure 8 shows the automatic control system 100 shown in Figure 2 The modified system includes a tower crane u〇 It also includes a description of the same parts as in Figure 2. Here, the auxiliary tower crane 16. It is located in the center of the-crane path (slightly two tower cranes of the automatic control system fall) If Η. Keep in the prepared state. If, for example, when the time is right, the auxiliary tower crane 160 replaces the faulty crane U2 one by one delivery instructions. The faulty crane 112 is set to perform:

Get repaired. In this way, the throughput of a system with S faulty towers will not have any impact. The entire system can be operated stably and safely under any circumstances. ,

V. Description of the invention (13) Figure 9 shows that the ratio of automatic control system can be operated in a certain area at the same time. Figures 2 and g are omitted. Figure 9 1 Sending a command to drive, such as an arrow. The workpiece is stored in a crane 11 4 and moved to the B1 position in zone B. As mentioned earlier, an automatic storage production cost can also be used. Sound. Although this invention says ‘self-explanatory many changes and gods. 6 Another preferred embodiment of the control system. Interacting with the above self-driving vehicle, the automatic control system shown in FIG. 9 except for the two cranes: the fact that they can only be paired between their respective controllers 39 is detailed here. The C area of 7 is a kind of buffer area, and it shows that the workpiece from A1 to B1. The crane 112 can move freely in the eight areas, but cannot invade the c area. So the crane 1 j 2 will store a temporary storage unit 164 and then return to the A area. A temporary storage unit 164 in Zone B receives the workpiece and stores it in I °. Although the two cranes can be used at the same time, as long as there is a system, it can fully handle a large amount of transportation. So, ^ minus. Also, despite the failure of one crane, another has been described with 'faulty cranes that do not have any effect on the entire system and is illustrated with a specific specific example. The present invention is not limited to this specific example, but also has ^ Modifications can be made without departing from the scope and spirit of the invention

494291 Schematic Illustrations Page 18

Claims (1)

494291 X η (-r IJ _ Case No. 89128430_f / March of the year β: 丨 'Positive _..-7-丨 ...' —j VI. Scope of patent application 丨 ............ 1. An automatic storage system includes: a pair of storage areas for storing workpieces, the storage areas being arranged parallel to each other; two tower cranes for transporting workpieces; a crane path arranged between the two storage areas So that the two tower cranes can move; and two crane parking stations for the crane to occupy, the two crane parking stations are each set at both ends of the crane path. 2. An automatic storage system, including: a pair Storage area for storing workpieces, the storage areas are arranged parallel to each other; a storage controller for controlling the automatic control system; first and second tower cranes for transporting workpieces; first and second Tower crane controllers, each for controlling the first and second tower cranes, the first and second tower crane controllers are controlled by the storage controller; a stacker path is arranged in the two storages Between the zones so that the two tower cranes can travel And first and second parking stations for the first and second cranes to occupy, each of the parking stations is arranged at both ends of the crane path, wherein the crane path has a first crane on which the first crane can travel. A crane traveling area, and a second crane traveling area on which the second crane can travel. 3. The automatic storage system of item 2 in the scope of patent application, wherein the first O: \ 68 \ 68595.ptc Page 19 494291 _Case No. 89128430_% March U.S. Amendment_ VI. Scope of patent application and the second tower crane controller can prevent collisions in the first and second crane workshops. · 4. A method for controlling an automatic storage system, including the following steps: Check whether both tower cranes are normal; · If not, move one or two tower cranes to a parking station; select from two tower cranes A first crane in order to execute a first transport instruction to transport a first workpiece; check whether there is a remaining crane on the first crane transport path; if no crane exists, move the remaining crane out of the first crane transport path; Select a second crane to execute the second transport instruction for transporting the second workpiece; check whether the transport paths of the first and second cranes overlap each other; if they do not overlap, respectively order the two cranes to execute the first and second cranes Two shipping instructions; and if they overlap, order the two cranes to execute the first and second shipping instructions in sequence. 5. A method for controlling an automatic storage system, using at least two cranes to move and transport a workpiece to a storage device, the control method includes the steps of: initializing an operation. Mode to using a crane to perform the transportation and Storage _ single-use mode of workpieces, or dual-use mode of carrying and storing workpieces using at least two cranes; during a carrying operation according to a set operation mode, according to O: \ 68 \ 68595.ptc Page 20 494291 Amendment No. 89128430 VI. Application for Patent Scope Mode Change Request to change this operation mode; and during the transportation operation set to dual-use mode, if the additional area transportation operation occurs According to the transport mode set to the direct transport mode or the buffer transport mode, the transport operation is performed. 6. The method according to item 5 of the scope of patent application, wherein the dual-use mode setting method in the initialization step includes the steps of: checking whether at least two cranes are normal operators; and if they can be normally operated, moving them separately Normally operate at least two cranes to an initial operating position on the transport path. 7. The method of claim 5 in the patent scope, wherein the single-use mode setting method in the initialization step includes the steps of: checking whether there is an operable crane; checking whether there is an unselected crane on the transportation path; and if An unselected crane moves the unselected crane on the path to an area outside the transport path. 8. If the method of the scope of patent application No. 5 includes the steps of performing the extra area handling operation according to the direct handling mode, including the following steps: Check whether a crane storing a workpiece in the destination area is parked on a crane that is transporting the workpiece On the shipping path; If it is parked on the path, move the crane in the destination zone outside the transport path; and move the crane that is carrying the workpiece to the destination zone to store the workpiece. 9. The method according to item 5 of the scope of patent application, wherein the steps of performing the extra area handling operation according to the buffer handling mode include the following steps: O: \ 68 \ 6S595.ptc Page 21 494291 Amendment No. 89128430 6. The scope of patent application means that the crane that transports the workpiece transports the workpiece to a buffer zone; moves the crane in the destination area to the buffer zone; and instructs the crane that moves to the buffer zone , Transport and store the workpiece to the destination area. ❿ O: \ 68 \ 68595.ptc Page 22