JP6170326B2 - Stacker crane - Google Patents

Description

  The present invention has a plurality of storage chambers, performs delivery of articles stored in the plurality of storage chambers to a station at a predetermined position, and entry of articles from a station to a predetermined storage chamber. Regarding stacker cranes.

  In factories, business establishments, or places responsible for delivery and distribution, shelves that store various articles and commodities (hereinafter referred to as “articles”) in many storage rooms are often installed. Various items are placed on the shelf. As required, various items placed on the shelf are removed from the shelf and transported to another location. Or the article conveyed from another place is arrange | positioned in the position with a shelf.

  A stacker crane is often used for taking out and moving the articles placed on the shelves and arranging the articles from other places on the shelves. The stacker crane uses a station provided at a predetermined position as a relay point to move an article from or to a shelf.

  There are various types of stacker cranes, but an example of a stacker crane is a frame for reciprocating on a single rail that is a monorail (a structure centered on a mast extending substantially in parallel up and down). Body) and a carriage for carrying articles to be delivered or received. The carriage moves up and down because it moves the article according to the position of the shelf.

  By combining the traveling of the frame and the vertical movement of the carriage, the stacker crane can take out and arrange articles corresponding to a plurality of storage chambers formed vertically and horizontally on the shelf.

  Thus, since the stacker crane reciprocates on the rail, the frame of the stacker crane is provided with a drive device that can travel on the rail. Also, the drive device requires power and is attached to a mast or other frame. Of course, the drive device not only reciprocates the frame on the rail, but also raises and lowers the carriage.

  Since this drive device requires electric power, the stacker crane in the prior art includes a trolley that is a power supply line along the rail. When there is no trolley, it is necessary to operate with a mechanical device such as a power cable or a chain belt, so that it is not suitable for high-speed operation of a stacker crane. Such a trolley always comes into contact with the moving parts and rails of the stacker crane and supplies power to the drive unit.

On the other hand, a technique using a power receiving coil or a power coupler has been proposed so that the stacker crane can be fed in a non-contact manner (see, for example, Patent Document 1).
Or the technique using a storage battery and a capacitor is proposed so that it may not use an electric power supply line (for example, refer to patent documents 2 and patent documents 3).

JP 2008-81219 A JP 2012-254838 A JP 2013-18619 A

  Here, in power feeding to the stacker crane drive device using the trolley, the trolley needs to contact the current collector. This contact causes friction between the current collector and the trolley, so that the trolley and current collector generate dust while being worn out. Of course, wear also occurs, requiring regular maintenance of the trolley and current collector. In addition, the friction between the current collector and the trolley often causes noise when the stacker crane reciprocates.

  Problems such as dust, wear, replacement, and noise are undesirable in factories and distribution centers that must handle chemicals, chemicals, precision equipment, foods, and the like.

  On the other hand, Patent Document 1 uses non-contact power supply such as a power receiving coil or a coupler to prevent contact between a stacker crane or a power supply line and a power feeding portion (such as a power receiving coil or a coupler). For this reason, there is no friction, and there are few problems such as wear, generation of dust, noise and replacement in a short period of time. For this reason, the stacker crane using non-contact power feeding represented by Patent Document 1 is used in a clean room such as a semiconductor manufacturing factory.

  However, the power receiving coil and the coupler are very expensive, and it is troublesome to mount the power receiving coil and the coupler on the stacker crane, which causes a problem that the stacker crane itself becomes very expensive. In semiconductor manufacturing factories where the demand for clean rooms is very high, there is no problem even if the cost of capital investment is large, but a lower clean room level (between the so-called semi-clean room and clean room) is required than for semiconductor manufacturing factories. The cost of investing in stacker cranes is also limited at certain factories and distribution centers.

  Note that in a stacker crane that reciprocates on a rail (monorail) in the prior art, electric power is supplied to a drive device that operates the stacker crane itself and the entire control device. For this reason, the above-described trolley supplies power to the stacker crane drive device and the entire control device. Here, the stacker crane reciprocates on the rail. Since the drive device is provided in the stacker crane, the trolley needs to be provided along the rail. In accordance with the movement of the stacker crane on the rail, the drive device also moves on the rail. For this reason, since the drive device which needs supply of electric power moves along a rail, the trolley which can supply electric power needs to be along a rail.

  On the other hand, the conventional stacker crane using a trolley has a problem that it is difficult to use in a factory or distribution center where cleanliness between these semi-clean rooms and clean rooms is required due to problems such as dust, noise, and replacement. This is because the trolley is provided along the rails, so that the trolley itself may be worn and generate dust by contact and pressure applied to the trolley.

  On the other hand, Patent Document 2 and Patent Document 3 propose a technique related to a crane using a capacitor as a kind of storage battery.

  In Patent Document 2, AC power from a commercial power source is converted into drive AC power by inverters 4, 5 and 6 provided for each motor to the hoisting motor 1, the traversing motor 2, and the traveling motor 3. In the crane apparatus power supply apparatus, a capacitor 10 that stores regenerative power that is generated when the hoisting motor 1 is lowered and taken out via an inverter, and a converter 11 that converts DC power stored in the capacitor 10 into AC power. Switching circuits SW3 and SW4 for supplying AC power from the converter 11 to the commercial and power inverters to the traversing and traveling inverters 5 and 6, and from the converter 11 when the charged amount of the capacitor 10 exceeds a dischargeable threshold value. And a control device 13 for switching and controlling the switching circuit so that AC power is supplied to the traversing inverter 5 and the traveling inverter 6. The emission device power supply apparatus, is disclosed.

  In Patent Document 3, a hoist crane has a traverse girder in which a hoist that lifts and lowers a suspended load can freely traverse, and a traverse girder in which a traverse girder can travel freely. The traverse girder is provided with a travel motor 23. It travels with a traveling cart. The hoist crane includes a rectifying unit 32 that converts alternating current into direct current, a driving element unit 35 that converts frequency from direct current to alternating current, and braking energy generated from the traveling motor 23 when the traveling carriage is decelerated and stopped. And a capacitor 39 for charging. A hoist crane traveling device is disclosed in which the charging energy of the capacitor 39 is supplied to the traveling motor 23 when starting the traveling carriage.

  Both Patent Documents 2 and 3 propose using a capacitor to operate the crane in a state of being released from the power supply cord trolley.

  However, in the stacker crane using a capacitor as in Patent Documents 2 and 3, it is necessary to charge the capacitor. At this time, in charging the capacitor provided in the stacker crane, the charging device is carried by bringing the charging device to the stacker crane, or charged by moving the stacker crane to the charging device installed at a specific location. There was a need.

  In such charging, it is necessary for an operator to carry the charging device every time charging is performed or to move the stacker crane to the charging device. For this reason, there is a problem that it takes a lot of time and effort to charge, or the user fails to notice that the battery needs to be charged and fails to charge.

  Further, it is preferable that a lithium ion capacitor is used as the capacitor. This is because the lithium ion capacitor has advantages such as being easy to be reduced in size and weight and having a large charge capacity or a long charge duration.

  However, the lithium ion capacitor requires very delicate handling, and there is a problem that the lithium ion capacitor is damaged when the voltage becomes a certain value or less, for example.

  An object of the present invention is to provide a stacker crane having a system that can eliminate the trouble and inconvenience of charging as described above and prevent damage to a capacitor.

  In view of the above problems, a stacker crane according to the present invention is a stacker crane that performs at least one of the storage and storage of articles from a plurality of storage chambers, a frame that reciprocates on a rail, a lifting and lowering operation in the frame, and a plurality of Carriage for loading / unloading articles between the storage chamber, driving unit for driving at least one of reciprocating traveling on the rail of the frame, raising / lowering operation of the carriage and loading / unloading of articles by the carriage, and supplying power to the driving unit A capacitor, a charging station that charges the capacitor, and a safety control unit that controls a safe operation of the drive unit, the safety control unit monitoring a capacitor voltage value that is a voltage of the capacitor; A first control unit for determining a first operation of the driving unit based on the capacitor voltage value; And Zui, and a second control unit for determining a second operation of the driving unit, the first operation and the second operation, the capacitor voltage value, carved.

  The stacker crane of the present invention can solve all the problems such as (1) dust caused by wear, (2) noise, (3) replacement and maintenance in a short period of time, and (4) high cost. In addition, since it can be configured with a simple structure, it can be realized by a simple improvement of the stacker crane currently used. As a result, the obtained stacker crane of the present invention can maintain a low cost and is easily spread.

  In addition, since the stacker crane of the present invention performs self-charging automatically at the charging station, it is possible to prevent labor and charging errors required for charging. In addition, since the operation of moving the article as a crane can be performed while monitoring the charging capacity, an excessive voltage drop does not occur. As a result, troubles such as maintenance can be reduced over a long period of time without causing damage to the capacitor.

It is a schematic diagram of the warehouse in Embodiment 1 of this invention, and has shown the state which looked at the warehouse from the top. It is a perspective view of the warehouse 100 in Embodiment 1 of this invention. It is a schematic diagram of the storage area in Embodiment 1 of this invention. It is a schematic diagram of the stacker crane in Embodiment 1 of this invention. It is explanatory drawing which shows the charge condition of the charger and capacitor in Embodiment 1 of this invention. It is an internal block diagram of the safety control means in Embodiment 1 of this invention. It is a flowchart of the capacitor protection process in Embodiment 2 of this invention. It is a flowchart explaining the energy-saving driving | operation process in Embodiment 2 of this invention. It is a schematic diagram of the stacker crane and its periphery in Embodiment 3 of this invention. It is drawing which looked at FIG. 9 from the reverse direction. It is a schematic diagram which shows the charge in the charging station in Embodiment 3 of this invention.

  A stacker crane according to a first aspect of the present invention is a stacker crane that performs at least one of the removal and entry of articles from a plurality of storage chambers, a frame that reciprocates on a rail, and a plurality of frames that move up and down in the frame. A carriage for loading and unloading articles, a drive unit for driving at least one of reciprocating traveling on the rails of the frame, raising and lowering movement of the carriage and loading and unloading of articles by the carriage, and supplying power to the drive unit A capacitor for charging, a charging station for charging the capacitor, and a safety control means for controlling a safe operation of the drive unit, and the safety control means includes a voltage monitoring unit for monitoring a capacitor voltage value which is a voltage of the capacitor; A first control unit for determining a first operation of the driving unit based on the capacitor voltage value, and a capacitor voltage value And Zui, and a second control unit for determining a second operation of the driving unit, the first operation and the second operation, the capacitor voltage value, carved.

  With this configuration, the stacker crane can manage and control safe operation and energy-saving operation based on the capacitor voltage value.

  In the stacker crane according to the second invention of the present invention, in addition to the first invention, the safety control means further includes a breaker that switches between supply and stop of electric power from the capacitor to the drive unit, and the first control unit. Each of the second control unit controls the breaker.

  With this configuration, the stacker crane can activate the breaker to protect the capacitor and internal elements when the capacitor voltage is too low or too high.

  In the stacker crane according to the third aspect of the present invention, in addition to the second aspect, each of the first control unit and the second control unit operates the breaker according to the capacitor voltage value measured by the voltage monitoring unit. (A state in which the breaker operates and power from the capacitor to the drive unit is stopped).

  With this configuration, the stacker crane can protect the capacitor and the internal elements by operating the breaker.

  In the stacker crane according to the fourth invention of the present invention, in addition to the second or third invention, the safety control means is (1) the capacitor voltage value measured by the voltage monitoring unit is not less than the first voltage value. In this case, the first control unit sets the breaker in the operating state. Step (2) When the capacitor voltage value measured by the voltage monitoring unit is equal to or lower than the second voltage value, the second control unit Step 2 for setting the breaker in an operating state; (3) Step 3 for setting the circuit breaker in an operating state when the capacitor voltage value measured by the voltage monitoring unit is equal to or lower than the third voltage value. Capacitor protection processing including at least one processing is executed, and the first voltage value> the second voltage value> the third voltage value.

  With this configuration, the stacker crane can be protected by stopping the operation of the capacitor and the drive unit when the capacitor voltage value is in an irregular state.

  In the stacker crane according to the fifth aspect of the present invention, in addition to the fourth aspect, the capacitor protection processing includes (4) the capacitor voltage value measured by the voltage monitoring unit is equal to or lower than the first voltage value and equal to or higher than the second voltage value. When the voltage value is the fourth voltage value, the second control unit issues an abnormality warning of the capacitor voltage value and adjusts the capacitor voltage value in step 4, (5) the capacitor voltage value measured by the voltage monitoring unit is When the second voltage value is equal to or lower than the fifth voltage value equal to or lower than the fourth voltage value, the second control unit performs at least one of the step 5 of charging by moving the stacker crane to the charging station. In addition.

  With this configuration, the stacker crane can monitor and detect the case where the capacitor needs to be charged and charge the capacitor.

  In the stacker crane according to the sixth aspect of the present invention, in addition to the fourth or fifth aspect, when step 3 is executed, the capacitor is charged by the power cable.

  With this configuration, when the capacitor voltage value drops to a dangerous level, the capacitor can be protected by manual charging.

  In the stacker crane according to the seventh aspect of the present invention, in addition to the fifth aspect, when the voltage is not lower than the fifth voltage value and not higher than the fourth voltage value, the safety control means normally operates the drive unit.

  With this configuration, the stacker crane is controlled to operate normally when the capacitor voltage value is in the normal range. As a result, wear and failure of the stacker crane and capacitor are prevented.

  In the stacker crane according to the eighth aspect of the present invention, in addition to any of the second to seventh aspects of the invention, the first control unit is always supplied with power, and the second control unit is configured so that the breaker is not in the operating state. Receive power supply.

  With this configuration, it is possible to both ensure the operation of the safety control means itself and reduce power consumption.

  In the stacker crane according to the ninth invention of the present invention, in addition to any one of the first to eighth inventions, the safety control means may include a case where the drive unit has at least one execution data of goods entering and leaving. (6) When the capacitor voltage value measured by the voltage monitoring unit is less than or equal to the fifth voltage value, the second control unit moves the stacker crane to the charging station and charges the battery, step 6, (7) When the capacitor voltage value measured by the voltage monitoring unit is equal to or higher than the fifth voltage value, the second control unit includes at least one process of step 7 of operating the stacker crane according to the execution data in the driving unit. Execute energy-saving operation processing.

  With this configuration, the stacker crane can reduce energy consumption.

  In the stacker crane according to the tenth invention of the present invention, in addition to the ninth invention, the energy saving operation processing is performed when the drive unit does not have at least one execution data of goods entering and leaving (8) The second control unit further includes at least one process of step 8 of decreasing the voltage of the capacitor by a certain amount, and (9) step 9 of moving the stacker crane to the charging station after a predetermined time has elapsed. .

  With this configuration, the safety control means can more reliably perform the energy saving operation.

  In the stacker crane according to the eleventh invention of the present invention, in addition to any of the first to tenth inventions, the safety processing means may provide (10) when any abnormality occurs in at least one of the stacker crane and the capacitor. The first control unit performs an abnormality recovery process including a step 10 in which at least one of setting the breaker to an operating state and charging the capacitor by the operator is performed.

  With this configuration, the safety control means can appropriately return the stacker crane from the abnormal state.

  In the stacker crane according to the twelfth aspect of the present invention, in addition to any of the first to eleventh aspects, the charging station is fixedly installed at any part on the rail.

  With this configuration, the charging station can easily charge the capacitor.

  In the stacker crane according to the thirteenth invention of the present invention, in addition to any of the first to twelfth inventions, the carriage has at least one of a fork, a roller, and a belt corresponding to taking in and out of a predetermined article. .

  With this configuration, the carriage can take a predetermined article into and out of the storage chamber.

  In the stacker crane according to the fourteenth aspect of the present invention, in addition to any of the first to thirteenth aspects, the capacitor has a power receiving terminal, the charging station has a charging electrode, and the stacker crane charges. When connecting to the station, the charging electrode and the power receiving terminal are in electrical contact, and the charging station charges the capacitor.

  With this configuration, the charging station can reliably and easily charge the capacitor.

  In the stacker crane according to the fifteenth aspect of the present invention, in addition to any of the first to fourteenth aspects, the stacker crane is used in an area where a cleanliness of class 10,000 (no visible dust) is required. The

  With this configuration, a low-cost stacker crane can be realized in factories and distribution centers that have been required to have a clean level.

  In the stacker crane according to the sixteenth invention of the present invention, in addition to any of the first to fifteenth inventions, the drive unit has a motor, and when the reciprocating traveling is decelerated and when the elevating operation is lowered. At least one of the motors generates regenerative power, and the capacitor can recover and regenerate the regenerated power.

  With this configuration, the number of times the capacitor is charged can be reduced.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(Embodiment 1)
The stacker crane in the first embodiment is used in a warehouse having a shelf having a plurality of storage rooms such as an automatic warehouse. Such a warehouse has a plurality of storage chambers, and the stacker crane receives goods in one of the plurality of storage chambers or issues goods from any of the plurality of storage rooms. . Various spaces where the stacker crane is used for the delivery and receipt of goods, such as an automatic warehouse and a space having shelves, will be described with the concept of a warehouse. In this warehouse, a stacker crane is used.

(About warehouse)
First, the warehouse will be described. FIG. 1 is a schematic diagram of a warehouse according to Embodiment 1 of the present invention, and shows a state when the warehouse is viewed from above. As shown in FIG. 1, the warehouse 100 includes a storage area 20. The storage area 20 includes a plurality of storage chambers 21. The plurality of storage chambers 21 are divided in various ways in length and breadth or depth.

  Here, a rail 30 is provided in the approximate center of the warehouse 100. The storage areas 20 are provided on both sides of the rail 30, and the predetermined article 50 is delivered and received in each of the plurality of storage chambers 21 provided on both sides of the rail 30.

  FIG. 1 is a schematic view of the warehouse 100 as viewed from above, and FIG. 2 shows the details of the warehouse 100 as a perspective view. FIG. 2 is a perspective view of the warehouse 100 according to Embodiment 1 of the present invention. As in FIG. 1, the storage area 20 is provided with individual storage chambers 21, and rails 30 are provided so as to pass through the storage chambers 21. The frame 2 (stacker crane 1) reciprocates on the rail 30. Work stations 10 are provided on both sides (or one side). In FIG. 1, the work station 10 is provided at a position overlapping the rail 30, but in FIG. 2, the work station 10 is provided at a position different from the rail 30.

  Since the work station 10 is used for installation work for entering and leaving the predetermined article 50, the work station 10 may be in such an installation position. Further, each of the storage chambers 21 included in the warehouse 100 may not be a room shape but may be configured as a skeleton as shown in FIG. The frame 2 reciprocates on the rail 30 between the storage chambers 21 formed of such a framework, and the carriage 3 moves up and down in the frame 2. As a result, the predetermined article 50 is loaded and unloaded in the predetermined storage chamber 21.

  The rail 30 moves as the stacker crane 1 reciprocates. The stacker crane 1 forms its outer shape with the frame 2 and the carriage 3 as main elements. For the convenience of describing the stacker crane 1 using the frame 2 and the carriage 3 (and other necessary elements) as elements, the element that moves by reciprocating the rail 30 will be described as the frame 2 (after all, the stacker crane 1 Although it has the same meaning as traveling in a reciprocating manner, the stacker crane 1 is a whole including a frame 2 that reciprocates on a rail, and the reciprocating one is described as a frame).

  Each of the storage areas 20 includes a plurality of storage chambers 21 as described above, and the plurality of storage chambers 21 are lined up with partitioned spaces such as so-called shelves. FIG. 3 is a schematic diagram of a storage area in the first embodiment of the present invention. The storage area 20 is provided with a plurality of storage chambers 21 which are neatly divided as shown in FIG.

  Of course, even if the plurality of storage chambers 21 are not neatly divided as shown in FIG. 3, the storage chambers 21 having different shapes and sizes may be arranged. FIG. 3 shows the storage area 20 as viewed from the front. That is, the entrance side of the plurality of storage chambers 21 is visible. Each of the plurality of storage chambers 21 stores a predetermined article 50 according to various purposes (storage of manufactured parts, storage of articles after manufacture, or temporary storage thereof). Of course, there is an empty storage chamber 21 in which the predetermined article 50 is not stored.

  In FIG. 3, among the plurality of storage chambers 21, the predetermined article 50A is stored in the storage chamber 21A, and the predetermined article 50B is stored in the storage chamber 21B. Each of the predetermined article 50A and the predetermined article 50B is stored in the storage chamber 21A and the storage chamber 21B by the stacker crane 1. Alternatively, the predetermined article 50A and the predetermined article 50B that are already stored may be taken out from the storage chamber 21A and the storage chamber 21B by the stacker crane 1 and delivered.

  In the warehouse 100, the stacker crane 1 traveling on the rail 30 causes the predetermined article 50 to enter the storage chamber 21 and the predetermined article 50 to leave the storage chamber 21. The warehouse 100 has a configuration for receiving goods / warehousing by such a stacker crane 1.

  The work station 10 is provided at both ends or one end of the warehouse 100, and an operator may install the predetermined article 50 on the stacker crane 1, or the operator receives the predetermined article 50 from the stacker crane 1. May be. In the case where the work station 10 is provided, the unloading / loading and the work accompanying the work of the worker and the stacker crane 1 can be facilitated.

  Thus, the stacker crane of the present invention is used in such a warehouse 100.

(Outline of stacker crane)
An outline of a single stacker crane 1 according to the first embodiment will be described. The stacker crane 1 is mainly used in the warehouse 100 as described above. Of course, the use of the warehouse 100 is not limited.

  FIG. 4 is a schematic diagram of the stacker crane according to Embodiment 1 of the present invention. The stacker crane 1 has a frame 2 that forms most of the outer shape. The frame 2 includes a side frame 21 that is a frame on both sides, and an upper and lower frame 22 that is an upper and lower frame, and the frame 2 has a frame shape as a whole. The frame 2 is fitted to the rail 30 and reciprocates on the rail 30. As the frame 2 reciprocates, the stacker crane 1 reciprocates on the rail 30.

  In the stacker crane 1, the frame 2 includes a carriage 3. The carriage 3 is attached to the frame 2 and moves up and down in the frame 2. In addition, since the predetermined article 50 can be placed on the carriage 3, the predetermined article 50 can be taken in and out of the predetermined storage chamber 21 in accordance with the lifting and lowering operation.

  Further, the stacker crane 1 includes a drive unit 4 that drives the reciprocating travel of the frame 2 and the lifting and lowering operation of the carriage 3. The drive unit 4 controls the travel of the frame 2 and the lifting / lowering operation of the carriage 3 in accordance with a command signal instructed by a processor or memory provided in the drive unit 4. A predetermined operation pattern is stored in the memory, and the drive unit 4 operates the frame 2 and the carriage 3 in accordance with the operation pattern. As a result of this operation, the stacker crane 1 can store the predetermined article 50 in the storage chamber 21 or take out the predetermined article 50 from the storage chamber 21.

  Alternatively, the drive unit 4 may control the operations of the frame 2 and the carriage 3 based on instruction control by the operator. For example, an operation console is installed in the work station 10, and when the operator operates the operation console 10, the position of the target storage room 21, the distinction between delivery / receipt, the type and size of the predetermined article 50 are determined. An operator can instruct the drive unit 4 to do so. Based on this instruction, the drive unit 4 operates the frame 2 and the carriage 3 to execute entry and exit (including movement) of the predetermined article 50.

  When the drive unit 4 reciprocates the frame 2 on the rail 30 and moves the carriage 3 up and down, the stacker crane 1 moves the carriage 3 on which the predetermined article 50 can be placed on the X axis and the Y axis. Can be moved to coordinates. As a result, the stacker crane 1 can put the predetermined article 50 in the plurality of storage chambers 21 arranged on the X axis and the Y axis in the storage area 20, and can take out the predetermined article 50 from the storage chamber 21. .

  Further, the stacker crane 1 includes a capacitor 5. The capacitor 5 can be charged to store power and supply power to the drive unit 4. Since the capacitor 5 is provided, the stacker crane 1 can operate including movement without connecting a power cable or the like. As a result, it is possible to prevent the generation of dust and the like caused by friction of the power cable and similar lines.

  The stacker crane 1 further includes safety control means 7. The safety control means 7 controls the safe operation of the drive unit 4 as will be described later. Although details will be described later, by simply monitoring the voltage of the capacitor 5, the operation of the stacker crane 1 by the drive unit 4 can be maintained and managed in a state of safe operation or energy saving operation.

(Charging the capacitor)
The stacker crane 1 includes a capacitor 5. The capacitor 5 can operate independently without requiring line connection such as a power cable. This not only increases the degree of freedom of operation and the degree of freedom of installation, but also has the advantage of reducing dust due to wear of power cables and the like.

  The capacitor 5 is charged at the charging station 6. The charging station 6 is installed in the work station 10. Of course, it may be installed in a different place from the work station 10, and the charging station 6 may be provided in a predetermined place independently.

  Since the stacker crane 1 can move when the frame 2 reciprocates along the rail 30, the charging station 6 is preferably installed at a position along the rail 30 or at an end of the rail 30. In addition, the charging station 6 is preferably installed so as to face the capacitor 5 included in the stacker crane 1. This is because the charging station 6 charges the capacitor 5.

  The charging station 6 has a charging electrode 61. In addition, the capacitor 5 has a power receiving terminal 51. When the electrical connection between the charging electrode 61 and the power receiving terminal 51 occurs, the charging station 6 charges the capacitor 5 with electric power.

  That is, when the stacker crane 1 moves to the charging station 6, the power receiving terminal 51 of the capacitor 5 and the charging electrode 61 of the charging station 6 are electrically connected, and the capacitor 5 is charged. Is called. Naturally, if the capacitor 5 is charged, the drive unit 4 can operate the stacker crane 1.

  Here, the capacitor 5 is attached to the frame 2 that moves in a reciprocating manner, and charging is performed at a charging station 6 installed at an end of the rail 30 or the like. For this reason, the power supply path along the rail 30 becomes unnecessary like the trolley used in the prior art. As a result, the trolley is not worn as the frame 2 reciprocates, and no dust is generated. That is, the stacker crane 1 composed of the frame 2 and the carriage 3 can operate independently without receiving power supply during movement. This can prevent generation of wear and dust.

  When the charging station 6 is provided in the work station 10, the work station 10 is often installed at the end of the rail 30 as described above. The stacker crane 1 can periodically reach the work station 10 by the reciprocating motion of the frame 2 on the rail 30. Alternatively, the stacker crane 1 often reaches the work station 10 in accordance with the work performed by the worker at the work station 10. As a result, the stacker crane 1 arrives at the charging station 6 with the arrival at the work station 10 at a certain frequency. For this reason, charging of the capacitor 5 at the charging station 6 also occurs at a constant frequency if normal.

  FIG. 5 is an explanatory diagram showing a charged state of the charger and the capacitor in the first embodiment of the present invention. The frame 2 reciprocates on the rail 30 to reach the work station 10 installed at a position where the rail 30 is located. The work station 10 includes a charging station 6. In particular, the work station 10 preferably includes the charging station 6 at a position where the capacitor 5 that has reached the work station 10 is easily (physically) in contact. In addition, it is preferable that the frame 2 also includes the capacitor 5 at a position where the frame 2 can easily come into contact with the charging station 6 when reaching the work station 10. As a result, when the frame 2 reciprocates on the rail 30 and reaches the work station 10, the charging station 6 and the capacitor 5 easily come into physical contact.

  The charging station 6 includes a charging electrode 61 that enables charging of the capacitor 5, and the capacitor 5 includes a power receiving terminal 51 that is in electrical contact with the charging electrode 61. As shown in FIG. 5, when the frame 2 reaches the work station 10, the charging electrode 61 and the power receiving terminal 51 come into electrical contact (physically fitting or surface contact). The movement of the frame 2 is controlled so that the

  As a result, power from the charging electrode 61 is supplied to the power receiving terminal 51 and power from the charging station 6 is supplied to the capacitor 5. In this way, charging of the capacitor 5 is realized.

(Safety control means)
Further, the stacker crane 1 according to the first embodiment includes a safety control means 7 that controls the safe operation of the drive unit 4. The safety control means 7 manages and controls the safe operation of the drive unit 4 (that is, the stacker crane 1), the energy saving operation, the response at the time of abnormality, and the like. The stacker crane 1 is not constantly supplied with power by a power cable or the like, and operates only with the electric power of the capacitor 5 charged at the charging station 6.

  The capacitor 5 supplies power to the drive unit 4 to reduce the voltage it has. If this voltage drops too much, the stacker crane 1 stops operating and cannot perform the desired operation. In addition, it is preferable to use a lithium ion capacitor as the capacitor 5 in various respects. However, in the lithium ion capacitor, if the voltage falls below a certain value, it can be worn and used thereafter. It also has problems such as disappearance.

  Or when the voltage value of a capacitor is higher than a limit value, the problem which causes the failure of the drive part 4 also arises. For this reason, the safety control means 7 manages and controls the safe operation and energy saving operation of the drive unit 4 while monitoring the voltage value of the capacitor 5.

  FIG. 6 is an internal block diagram of the safety control means in Embodiment 1 of the present invention.

  The safety control means 7 includes a voltage monitoring unit 71 that monitors the capacitor voltage value of the capacitor 5, a first control unit 72 that determines the first operation of the driving unit 4 based on the capacitor voltage value, and a driving unit based on the capacitor voltage value. And a breaker 74 that switches between supply and stop of power from the capacitor 5 to the drive unit 4.

  The capacitor voltage value monitored (measured) by the voltage monitoring unit 7 is output as information to the first control unit 72 and the second control unit 73. The arrows in FIG. 6 indicate the output direction of information (signals). Depending on the value of the capacitor voltage value, the first control unit 72 determines whether the first operation is performed or the second control unit 73 performs the second operation. Here, each of the first operation and the second operation includes bringing the breaker 74 into an operating state (a state in which the power from the capacitor 5 to the drive unit 4 is stopped by operating the breaker 74).

  As described above, the stacker crane 1 according to the first embodiment has the problems of (1) dust caused by wear, (2) noise, (3) replacement and maintenance in a short period, and (4) high cost. Solvable.

  In addition, based on the capacitor voltage value of the capacitor 5, the safety control means 7 controls safe operation, energy saving operation, return processing in case of abnormality, and the like. As a result, operation stop, malfunction, etc. of the stacker crane 1 operating only with the capacitor 5 are prevented.

  (Embodiment 2)

  Next, a second embodiment will be described. In the second embodiment, a detailed operation example of the safety control means 7 will be described.

(Capacitor protection treatment)
The safety control means 7 monitors the capacitor voltage value to execute a capacitor protection process for protecting the capacitor 5 through the first operation and the second operation.

  FIG. 7 is a flowchart of capacitor protection processing according to the second embodiment of the present invention. The digital panel in FIG. 7 indicates the voltage monitoring unit 71, and the voltage value by the digital panel indicates the capacitor voltage value measured by the voltage monitoring unit 71. Similarly, the monitoring board means the voltage monitoring unit 71, and the voltage value in the frame of the monitoring board indicates the capacitor voltage value measured by the voltage monitoring unit 71. A rhombic box in the left column in the flowchart of FIG. 7 indicates a conditional branch of the capacitor voltage value measured by the voltage monitoring unit 71.

  Further, the PLC control in FIG. 7 indicates a second operation in the second control unit 73. The control other than the portion surrounded by the PLC control indicates the first operation by the first control unit 72.

  Here, the 1st control part 72 is always receiving electric power supply. For example, even if the breaker 74 is in an operating state, the power supply to the first control unit 72 is not interrupted. On the other hand, the 2nd control part 73 receives electric power supply, when the breaker 74 is other than an operation state. In other words, while the breaker 74 is in the operating state, the second control unit 73 is in a stopped state without receiving power supply. When the operating state of the breaker 74 is canceled (the state where the breaker 74 is not operating), the second control unit 73 receives power supply.

  Further, the breaker trip in FIG. 7 means the operation of the breaker 74. When the breaker trip occurs, the breaker 74 is activated and the power supply from the capacitor 5 to the drive unit 4 is stopped. The “stand” with the stand movement indicates the charging station 6. Stand charging refers to charging at the charging station 6 by connection between the charging station 6 and the capacitor 5. Cable charging is not charging at the charging station 6 but charging by an operator using a power cable.

  Further, 312V is set as the first voltage value in the capacitor voltage value. 240 V is the second voltage value in the capacitor voltage value. 192V is set as the third voltage value in the capacitor voltage value. 302 V is the fourth voltage value in the capacitor voltage value. 250 V is the fifth voltage value in the capacitor voltage value. Furthermore, 298V is set as the sixth voltage value in the capacitor voltage value. The values of the first voltage value to the sixth voltage value are examples based on a certain capacitor 5, and the first voltage value to the sixth voltage value are not limited to these voltage values. For example, depending on the specifications (maximum voltage value, minimum voltage value, etc.) of the capacitor 5 used, the specific numerical values of the first voltage value to the sixth voltage value described in FIG. 7 may change. In the present invention, the first voltage value to the sixth voltage value are not intended to be limited to specific specific numerical values, but correspond to the specifications of the capacitor 5 and are intended for safe operation. It is intended as a voltage value as a reference for protection processing.

  In the capacitor protection process, the safety control means 7 operates including the following steps.

(Step 1)
When the capacitor voltage value measured by the voltage monitoring unit 71 is equal to or higher than the first voltage value (312 V or higher in FIG. 7), the first control unit 72 activates the breaker 74. Above the first voltage value, the capacitor 5 is overcharged. If this state is left as it is, the capacitor 5 may be worn out or broken. Naturally, if the capacitor 5 breaks down while the stacker crane 1 is in operation, the stacker crane 1 may malfunction or run away, causing a predetermined article 50 to be stored or unloaded to drop or damaged. I will let you.

  In order to prevent such a problem, the safety control means causes the breaker 74 to be activated by the first control unit 72 in step 1. When the breaker 74 is in the operating state, the power supply from the capacitor 5 to the drive unit 4 is stopped, and the stacker crane 1 is prevented from malfunctioning.

  In step 1, after the first control unit 72 operates the breaker 74, a voltage check and an operation check of the capacitor 5 are performed, and after the safety is confirmed, the recovery is performed.

(Step 2)
When the capacitor voltage value measured by the voltage monitoring unit 71 is equal to or lower than the second voltage value (240 V or lower in FIG. 7), the second control unit 73 puts the breaker 74 into an operating state. If the capacitor 5 continues to supply power to the drive unit 4 below the second voltage value, the voltage value of the capacitor 5 will drop too much, and the capacitor 5 may be worn or broken. is there. In order to prevent this problem, the second control unit 73 puts the breaker 74 into an operating state.

  When the breaker 74 is in an activated state, the capacitor 5 does not supply power to the drive unit 4, so that a voltage drop of the capacitor 5 is prevented. As a result, wear of the capacitor 5 due to voltage drop is prevented.

  In addition, when the breaker 74 is in an operating state, the restoration is appropriately performed. For example, the stacker crane 1 is moved to the charging station 6 by a manual operation by an operator, and the capacitor 5 is charged. After that, the stacker crane 1 resumes the operation again by the power supply from the capacitor 5.

  In Step 2, the second control unit 73, not the first control unit 72, does not operate the breaker 74 immediately in response to the measured capacitor voltage value. This is because it is necessary to operate including processing routines such as issuing a voltage drop warning and rechecking the voltage as described in (1). In this case, for example, it is appropriate that the second control unit 73 composed of various electronic circuits and operable processors based on programs perform the operation of step 2.

  On the other hand, since step 1 is performed by the first control unit 72 in a capacitor voltage value state that is very dangerous for the capacitor 5, the breaker 74 is activated through various programs and processing by an electronic circuit. This is because it is preferable that the breaker 74 is immediately activated.

  Thus, the 1st control part 72 has the structure which can switch the action | operation of the breaker 74 only with a simple electronic circuit, always receiving supply of electric power. On the other hand, the second control unit 73 has a complicated configuration such as a processor that operates based on various electronic circuits and programs, and can execute various processing procedures. For this reason, the second control unit 73 is not supplied with electric power when the breaker 74 is in an operating state. This is to reduce unnecessary power consumption in order to prevent a voltage drop of the capacitor 5.

  Note that the operation subject becomes the first control unit 72 or the second control unit 73 depending on the step in the following description, for the same reason as described above.

(Step 3)
In step 3, when the capacitor voltage value measured by the voltage monitoring unit 71 is equal to or lower than the third voltage value (in FIG. 7, equal to or lower than 192 V), the first control unit 72 activates the breaker 74. The third voltage value is a measure of overdischarge of the capacitor 5, and a voltage drop beyond this is a voltage value that may lead to failure of the capacitor 5. For this reason, the safety control means 7 makes the breaker 74 into an operation state by the 1st control part 72 which can operate | move immediately.

  In the case of Step 3, since the breaker 74 is immediately activated, the stacker crane 1 immediately stops on the spot. In this stop state, an operator connects a power cable or the like to the stacker crane 1 to charge the cable. Thus, after the voltage value of the capacitor 5 is restored, the stacker crane 1 resumes operation.

  As described above, in the capacitor protection processing, Step 1, Step 2, and Step 3 are performed, so that the capacitor 5 can be prevented from being broken or worn when the capacitor voltage value is very severe.

(Step 4)
The safety control means 7 may further implement a capacitor protection process including steps 4 and 5.

  In Step 4, when the capacitor voltage value measured by the voltage monitoring unit 71 is not less than the first voltage value and not less than the fourth voltage value that is not less than the second voltage value (302 V or more in FIG. 7), the second control unit 73 issues an abnormality warning of the capacitor voltage value and adjusts the capacitor voltage value.

  Step 4 alerts and adjusts the voltage value if capacitor 5 is not immediately in a dangerous state, but is (or is about to be) higher than it should be. In order to perform such complicated processing, it is appropriate for the control unit 2 to execute Step 4.

  By this warning and adjustment, the operator can operate the stacker crane 1 after confirming safety.

(Step 5)
In step 5, when the capacitor voltage value measured by the voltage monitoring unit 71 is equal to or lower than the fourth voltage value and equal to or lower than the fifth voltage value equal to or higher than the second voltage value (250 V or lower in FIG. 7), the second control is performed. The unit 73 moves the stacker crane 1 to the charging station 6. Further, the second control unit 73 charges the capacitor 5 after moving the stacker crane 1 to the charging station 6.

  The fifth voltage value is a voltage value that is determined to be charged as the discharge of the capacitor 5 progresses (the capacitor 5 advances the discharge by the operation of the stacker crane 1). In step 5, since processing including moving the stacker crane 1 to the charging station 6 is performed, it is preferable that the second control unit 73 capable of performing complicated processing is executed.

  When charged at the charging station 6, the capacitor 5 returns to a state having a sufficient voltage value, so that the stacker crane 1 can resume its operation as it is.

  As described above, the safety control means 7 performs the capacitor protection process including step 4 and step 5 to reliably detect a case where warning or charging is necessary depending on the capacitor voltage value of the capacitor 5. Can respond. As a result, the operation of the stacker crane 1 can be performed safely without causing a severe situation to the capacitor 5.

  Note that the sixth voltage value (298 V in FIG. 7) is a measure of the optimum charge state of the capacitor 5. For example, when charging the capacitor 5 at the charging station 6 in step 5, it is preferable to charge using the sixth voltage value as a guide.

  When the voltage is greater than or equal to the fifth voltage value and less than or equal to the fourth voltage value, the safety control unit 7 causes the drive unit 4 to supply power from the capacitor 5 as usual, thereby causing the drive unit 4 to perform normal operation. This is because when the capacitor voltage value is within this range, the capacitor 5 is less likely to be worn or broken, and there is no problem even if it is operated.

(Energy-saving operation processing)
When the stacker crane 1 is operated, the safety control means 7 also executes an energy saving operation process for reducing the power consumption of the capacitor 5.

  FIG. 8 is a flowchart illustrating an energy saving operation process according to Embodiment 2 of the present invention. The numbers and displays relating to the voltage values in FIG. 8 indicate the capacitor voltage values of the capacitor 5 as in the case of FIG. Charging ST in FIG. 8 shows the charging station 6 as in FIG. The breaker trip also shows the operating state of the breaker 74, as in FIG. The execution data indicates an instruction signal for operating the stacker crane 1 (an instruction signal sequentially given by an operator or an instruction signal given by a program stored in a memory included in the drive unit 4).

  The safety control means 7 confirms whether this execution data exists at a certain time. By confirming the execution data, the subsequent operation of the stacker crane 1 is switched (power supply from the capacitor 5 to the drive unit 4). As a result, the power consumption in the stacker crane 1 (that is, the power consumption in the capacitor 5) can be maintained in an energy saving state.

  Here, the safety control means 7 performs an energy saving operation process by the following steps. First, as shown in FIG. 8, the safety control means 7 confirms the presence or absence of execution data. As a result, if there is execution data, the following steps are performed.

(Step 6)
As shown in FIG. 8, when the capacitor voltage value measured by the voltage monitoring unit 71 is less than or equal to the fifth voltage value (250 V or less in FIGS. 7 and 8), the safety control means 7 73 moves the stacker crane 1 to the charging station 6. The second control unit 73 charges the capacitor 5 at the charging station 6.

  This is the operation of step 6, and the safety control means 7 executes the operation of step 6.

(Step 7)
On the other hand, when the capacitor voltage value is greater than or equal to the fifth voltage value, the safety control means 7 executes step 7 as shown in FIG. In step 7, the 2nd control part 73 operates the stacker crane 1 according to execution data. More specifically, the second control unit 7 supplies power from the capacitor 5 to the drive unit 4, and the drive unit 4 operates the frame 2 and the carriage 3 according to the execution data. By this operation, the stacker crane 1 can realize the receipt and delivery of the predetermined article 50 in the storage chamber 21.

  Even if there is execution data by such steps 6 and 7, if the capacitor voltage value is lower than a predetermined value (here, the fifth voltage value), after charging is completed (in FIG. As an indication of one charge). As a result, it is possible to prevent the voltage drop in the capacitor 5 from proceeding excessively, and as a result, an energy saving operation is possible.

  Further, the safety control means 7 may include the following step 8 and step 9 in the energy saving operation process. Steps 8 and 9 are processing procedures when there is no execution data.

(Step 8)
When there is no execution data, the safety control means 7 performs a servo-on standby. The servo-on standby is to maintain the stacker crane 1 at the position at that stage.

  In Step 8, the second control unit 73 drops the voltage value of the capacitor 5 by a certain amount. In FIG. 8, the voltage of the capacitor 5 is dropped by “−1 V” at a rate of −0.1 V / second. Due to this voltage drop, the voltage value of the capacitor 5 decreases, and the amount of spontaneous discharge is reduced. As a result, the power consumption of the capacitor 5 can be reduced and energy saving operation processing can be realized.

(Step 9)
If there is no execution data after a predetermined period, the second control unit 73 moves the stacker crane 1 to the charging station 6. The second control unit 73 charges the capacitor 5 at the charging station 6. Because there is no execution data, it is better to charge the capacitor 5 at the charging station 6 in the subsequent operation process than to place the stacker crane 1 in the position as it is. Naturally, the next operation can be started from the charging station 6 without performing a useless operation. Thus, in the next operation (when the next execution data is input), the stacker crane 1 can operate with a sufficient capacitor voltage value from the charging station 6.

  As a result, after the next operation, the stacker crane 1 can increase the time until the voltage drop of the capacitor 5 and shorten the charging span. That is, the stacker crane 1 is less moved to the charging station 6 many times, and as a result, energy saving operation is possible.

  In addition, when the state without execution data continues and some abnormality occurs, the 1st control part 72 makes the breaker 74 an operation state.

  As described above, the safety control means 7 can realize energy reduction in the operation of the stacker crane 1 by the energy saving operation process.

(Abnormal recovery processing)
The safety control means 7 can also perform an abnormality recovery process when the stacker crane 1 is in an abnormal state. In FIG. 8, if a state in which execution data is not input for a long time continues, it is handled as an abnormality. Alternatively, not only the execution data is not input, but also the state in which the stacker crane 1 remains stopped at any position is treated as an abnormality.

  The safety control means 7 executes the next step 10 as an abnormality recovery process.

(Step 10)
When the safety control means 7 determines that some abnormality has occurred based on the above-mentioned criteria, the first control unit 72 charges the capacitor 5 by setting the breaker 74 to an operating state and by human work. At least one of performing is performed. This is step 10.

  In step 10, the first control unit 72 causes the breaker 74 to be in an operating state, so that the capacitor 5 does not supply power to the driving unit 4. As a result, it is possible to prevent the stacker crane 1 from operating abnormally due to a malfunction or error operation of the drive unit 4.

  On the other hand, when the capacitor 5 is charged by human work in step 10, the capacitor 5 has a sufficient voltage value. For example, when the capacitor 5 is in an abnormal state due to a voltage drop, the charging to the capacitor 5 is completed, thereby making it possible to recover from the abnormal state due to a drop in the capacitor voltage value.

  Thus, the safety control means 7 can perform an abnormality recovery process.

  The stacker crane 1 according to the second embodiment can secure and maintain safety aspects such as safe operation, energy saving operation, and recovery, and workability by management and control by the safety control means 7. As a result, even if the stacker crane 1 is provided with the capacitor 5 and is independent of the power cable or the like, the worker can surely enter and exit the warehouse.

  (Embodiment 3)

  Next, Embodiment 3 will be described.

  In the third embodiment, an operation at the time of charging the stacker crane 1 and recovery of regenerative power will be described. In particular, a case where the work station 10 is provided and the charging station 6 is provided in the work station 10 will be described. The work station 10 is used, for example, for an operator to receive a predetermined article 50 that has been delivered by the stacker crane 1, or for an operator to give or use the predetermined article 50 for warehousing to the stacker crane 1.

(Operation of stacker crane 1 and charging operation)
FIG. 9 is a schematic diagram of a stacker crane and its surroundings according to Embodiment 3 of the present invention. In FIG. 9, the frame 2 having the capacitor 5 that has been charged by the charging station 6 starts to reciprocate along the rail 30 and moves away from the work station 10. At this time, the electric power of the capacitor 5 moves the drive unit 4 and the drive unit 4 realizes this reciprocating travel. Of course, when the frame 2 reaches a predetermined location, the drive unit 4 uses the electric power of the capacitor 5 to move the carriage 3 up and down and place it on the carriage 3 (before that, the work station 10 Then, a predetermined article (mounted on the carriage 3) is stored in a predetermined storage chamber 21.

  Alternatively, the carriage 3 moves up and down at a predetermined location, and the carriage 3 receives a predetermined article placed in the storage chamber 21, and the delivery is performed.

  The operation of the frame 2 and the carriage 3 is performed by the electric power of the capacitor 5 charged by the charging station 6 and does not require a power supply path such as a trolley provided along the rail 30 as in the prior art. . For this reason, the stacker crane 1 having the frame 2 and the carriage 3 as the central elements can be operated only by the electric power of the capacitor 5, and therefore does not cause excessive friction, wear, dust, noise, and the like.

  For this reason, it is preferable that the stacker crane 1 is used in a warehouse 100 that requires a particularly clean degree. Cannot be used in factories and distribution centers where ultimate cleanliness is required, such as semiconductor manufacturing factories, but in areas (factories and distribution centers) where cleanliness required between semi-clean rooms and cleanrooms is required Are preferably used.

  Here, the degree of clean room is classified according to JIS standards, ISO standards, and the like. The stacker crane 1 of the present invention is used in an area where a clean degree of class 10,000 or more is required.

  The cleanliness of class 10000 or higher is classified as ISO7 in the ISO standard. This class generally refers to the extent to which no visible dust is found. Of course, this is only an example, and it may be used in an area defined with a cleanness other than this. In short, since the stacker crane 1 of the present invention is used in a clean room that requires a high degree of cleanliness, it does not require a stacker crane that is manufactured as a single piece with expensive parts such as couplers. It is required to be used in a clean room that requires a certain degree of cleanness.

  In particular, as described in the first embodiment, a part of the elements used in the conventional stacker crane is diverted, and new elements and new functions are optimally added / combined. It can be used in areas where such cleanliness is required.

  A stacker crane that is optimally used in factories and distribution centers with cleanliness that is not required by the conventional technology, which requires cleanliness above a certain level but does not require cleanliness that would be expensive. 1 is provided in the present invention. As a result, warehouses 100 in various factories and distribution centers are used.

  Further, the carriage 3 has at least one of a fork, a roller, and a belt in accordance with taking in and out of the predetermined article 50. Using at least one of these forks, rollers, and belts, the predetermined article 50 is inserted into the storage chamber 21 or removed from the storage chamber 21.

  FIG. 10 is a view of FIG. 9 viewed from the reverse direction. As is apparent from the reverse direction, the stacker crane 1 is based on the work station 10 and uses a combination of the electric power of the capacitor 5 to reciprocate on the rail 30 and the lifting and lowering operation by the carriage 3. Incoming and outgoing of the predetermined article 50 can be realized.

  FIG. 11 is a schematic diagram showing charging at the charging station according to Embodiment 3 of the present invention. As is clear from FIG. 11, the stacker crane 1 that has reached the charging station 6 reaches the position where the capacitor 5 faces the charging station 6.

  At this time, electrical connection between the charging electrode 61 of the charging station 6 and the power receiving terminal 51 of the capacitor is realized. Every time this electrical connection is made, the necessary power is supplied to the capacitor 5. As shown in FIG. 1, when the work stations 10 are provided in pairs at both ends of the rail 30, the capacitor 5 may be charged from the charging station 6 provided in one work station 10 </ b> A. Alternatively, charging may be performed from the charging station 6 included in the other work station 10B. Of course, when the work station 10 is provided in addition to these, it is only necessary to charge from the charging station 6 provided in the work station 10.

(Utilization of regenerative power)
The drive unit 4 operates the frame 2 and the carriage 3. At this time, the frame 2 reciprocates on the rail 30, and the carriage 3 moves up and down the frame 2. That is, both perform linear motion. For this reason, the drive part 4 is provided with the motor, and implement | achieves these linear motions by the drive of this motor.

  The motor generates a rotational motion, but changes the rotational speed of the rotational motion in accordance with the required speed for the reciprocating traveling of the frame 2 and the lifting / lowering operation of the carriage 3. Here, there is a case where deceleration is required in at least one of the reciprocating traveling of the frame 2 and the raising / lowering operation of the carriage 3. During this deceleration, the motor speed also decreases.

  When the rotational speed of such a motor decreases, so-called regenerative power is generated in the motor due to the relationship between the magnetic field and the electric field. The motor itself will generate electricity.

  The drive unit 4 is operated by the electric power of the capacitor 5 and is therefore electrically connected to the capacitor 5. That is, the motor is also electrically connected to the capacitor 5. For this reason, the capacitor 5 can collect and charge the regenerative power generated by the motor. This recovered charging allows the capacitor 5 to have power as well as being charged by the charging station 6.

  Since the warehouse 100 has a large number of storage chambers 21, the reciprocating travel of the frame 2 and the lifting / lowering operation of the carriage 3 are often mixed with cases where acceleration is performed and cases where deceleration is performed. . In other words, the operation of the stacker crane 1 in the warehouse 100 may frequently cause a deceleration operation of the motor included in the drive unit 4. By this deceleration operation, the motor often generates regenerative power.

  The capacitor 5 of the stacker crane 1 according to the third embodiment can have electric power other than charging from the charging station 6 by collecting and recharging the regenerative power. As a result, the operation time of the drive unit 4 by the capacitor 5 becomes longer, and the operation time of the stacker crane 1 becomes longer. In particular, since the frequency of charging at the work station 10 can also be lowered, it is possible to increase the operation efficiency of entering and leaving the stacker crane 1.

  For example, if the regenerative power is collected and charged, the capacitor 5 can reduce the number of times of charging in the charger provided in the work station 10. In particular, as described above, when the capacitor 5 includes the calculation unit and the remaining capacity can be grasped, whether the main body itself must return to the work station 10 together with the regenerative power recovery charging. I can understand if this is not the case.

  As a result, the number of times that the main body must return to the work station 10 (for charging) is reduced. The moving distance of the main body is reduced, the work efficiency of entering and leaving is improved, and if the moving distance is reduced, the power consumption of the capacitor 5 is also reduced, so that the number of times of moving to the work station 10 is further reduced. A chain occurs.

  Alternatively, for example, when there are many operations only for moving a predetermined article from one storage chamber 21 to another storage chamber 21, the power of the capacitor 5 is likely to remain, and thus regenerative power recovery charging is preferable.

  As described above, since the main body such as the frame 2 and the drive unit 4 includes the capacitor 5, there is an advantage that the regenerative electric power from the motor can be recovered and charged.

  The stacker crane 1 according to the third embodiment can improve the operation efficiency of the stacker crane 1 by utilizing the regenerative power.

  As described above, the stacker crane 1 according to the third embodiment can be appropriately charged in the work station 10 or can utilize regenerative power. As a result, various operations can be reliably performed in addition to the safety control.

  In addition, the stacker crane demonstrated in Embodiment 1-3 is an example explaining the meaning of this invention, and includes the deformation | transformation and remodeling in the range which does not deviate from the meaning of this invention.

DESCRIPTION OF SYMBOLS 1 Stacker crane 2 Frame 3 Carriage 4 Drive part 5 Capacitor 51 Power receiving terminal 6 Charger
61 Charging electrode 7 Safety control means 71 Voltage monitoring part 72 First control part 73 Second control part 74 Breaker 10 Work station 20 Storage area 21 Storage room 30 Rail 50 Predetermined article 100 Warehouse

Claims (12)

A stacker crane that performs at least one of goods storage and storage from a plurality of storage rooms,
A frame that reciprocates on the rail;
A carriage that moves up and down in the frame and takes the article in and out of the plurality of storage chambers;
A drive unit that drives at least one of the reciprocating travel of the frame on the rail, the lifting and lowering operation of the carriage, and the loading and unloading of the article by the carriage;
A capacitor for supplying power to the drive unit;
A charging station for charging the capacitor;
Safety control means for controlling the safe operation of the drive unit,
The safety control means includes
A voltage monitoring unit for monitoring a capacitor voltage value which is a voltage of the capacitor;
A first control unit for determining a first operation of the driving unit based on the capacitor voltage value;
A second control unit that determines a second operation of the driving unit based on the capacitor voltage value;
The stacker crane, wherein the first operation and the second operation are separated by the capacitor voltage value. The safety control means further includes a breaker that switches between supply and stop of power from the capacitor to the drive unit,
The stacker crane according to claim 1, wherein each of the first control unit and the second control unit controls the breaker.   Each of the first control unit and the second control unit operates the breaker according to the capacitor voltage value measured by the voltage monitoring unit (the breaker is operated and power from the capacitor to the driving unit is The stacker crane according to claim 2, wherein The safety control means includes
(1) If the capacitor voltage value measured by the voltage monitoring unit is equal to or higher than the first voltage value, the first control unit sets the breaker in an operating state;
(2) Step 2 in which, when the capacitor voltage value measured by the voltage monitoring unit is less than or equal to the second voltage value and greater than the third voltage value , the second control unit sets the breaker in an operating state. ,
(3) If the capacitor voltage value measured by the voltage monitoring unit is equal to or lower than a third voltage value, the first control unit sets the breaker in an operating state;
A capacitor protection process including at least one process of
The stacker crane according to claim 2 or 3, wherein the first voltage value> the second voltage value> the third voltage value.   The stacker crane according to claim 4, wherein when the step 3 is executed, the capacitor is charged by a power cable. The stacker crane according to any one of claims 2 to 5 , wherein the first control unit is always supplied with electric power, and the second control unit is supplied with electric power when the breaker is not in an operating state. The safety control means includes
(10) When any abnormality occurs in at least one of the stacker crane and the capacitor, the first control unit sets the breaker in an operating state and the operator charges the capacitor. Step 10, where at least one is performed,
The stacker crane according to any one of claims 1 to 6 , wherein an abnormality recovery process is performed. The charging station, the are fixed to one of the sites on the rail is installed, the stacker crane according to any of claims 1 to 7. The stacker crane according to any one of claims 1 to 8 , wherein the carriage has at least one of a fork, a roller, and a belt corresponding to loading and unloading of a predetermined article. The capacitor has a power receiving terminal, the charging station has a charging electrode,
When the stacker crane is connected to the charging station, the charging electrode and the power receiving terminals in electrical contact, said charging station for charging the capacitor, any one of claims 1 to 9 The stacker crane described. The stacker crane according to any one of claims 1 to 10 , wherein the stacker crane is used in an area where a cleanliness of class 10,000 (no visible dust) is required. The drive unit includes a motor, and the motor generates regenerative power at the time of the deceleration of the reciprocating traveling and the descent operation of the lifting operation, and the capacitor collects and charges the regenerative power. The stacker crane according to any one of claims 1 to 11 , which can be made.