JPS5839721B2 - STATSUKA CRANE - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides the following features:
This invention relates to a drive control method.

More specifically, the present invention relates to a traveling drive control method for a stacker crane in which a plurality of fork devices are arranged in the traveling direction.

In a stacker crane that handles cargo in a multi-story warehouse, the running drive of the stacker crane is controlled so that the fork device is positioned at the shelf address where cargo is to be handled.

By the way, as an example of such a stacker crane, a stacker crane is known in which a plurality of fork devices (for example, two, A and H) are arranged in the traveling direction.

This stacker crane is generally referred to as a tandem-type stacker crane among those skilled in the art, but when loading cargo onto the shelf at address N with this stacker crane, there are two cases: one fork device A and the other fork device B. The stacker crane is stopped at different positions.

This is based on the fact that the fork device A and the fork device B are arranged with a gap in the travel direction, but this has the disadvantage of complicating the travel 1 drive control operation of the stacker crane. Ta.

There is a drawback that different set shelf address information must be input into the travel drive control circuit system when cargo is handled by the fork device A and when cargo is handled by the fork device B.

In addition, when stopping the stacker crane at a predetermined position, the current shelf address information detected while the stacker crane is moving is compared with the set shelf address information input to the traveling drive control circuit system, and the difference is zero. In this case, if one detector is installed in the stacker crane to obtain the current shelf address information, the fork device is set to the shelf address corresponding to A and B. If two indicators are required for one shelf, and the total number of shelf address indicators is twice the number of shelves, and conversely, one shelf address index is provided for one shelf. The stacker crane had the disadvantage that two detectors had to be installed.

The present invention was invented in view of the conventional drawbacks, and while maintaining that one shelf address index is provided for one shelf and one detector is provided for the stacker crane. An object of the present invention is to provide a traveling drive control method for a stacker crane, which simplifies the traveling drive control operation.

The configuration of the present invention will be explained in detail based on Examples below.
In the figure, 1 is a stacker crane, and this stacker crane 1 has a crane truck 4 that can move in the Z direction guided by a ceiling rail 2 and a top rail 3, and a crane truck 4 that can move up and down in the X direction. It is composed of a loading platform 5 and two fork devices 6, 6' provided on the loading platform 5 so as to be able to protrude in the Y direction.

In addition, the storage shelf row 7゜7' has a large number of shelves 8 in the X direction and the Z direction.
, 8'.

The stacker crane 1 moves the fork device 6 or 6' to the position corresponding to the shelf 8, 8' to be loaded by moving the crane truck 4 in the Z direction and raising and lowering the loading platform 5 in the X direction.
is moved, and this fork device 6 or 6' is projected in the Y direction to perform cargo handling.

In this case, the lifting drive control of the loading platform 5 in the X direction is performed using a shelf address index (not shown) provided in the column of the crane truck 4 and a shelf address detector (not shown) provided in the loading platform 5. When the difference between the current shelf address information detected by this shelf address detector and the set shelf address information stored in the elevation control circuit system becomes zero, the lifting drive of the loading platform 5 is stopped. control so that it increases and tightens.

On the other hand, the traveling drive control of the crane truck 4 in the Z direction is performed by a shelf address detector 9 provided at the lower wheel socket of the crane truck 4.
and shelf address indicators 10a and 1ob provided on the top rail 3, as shown in FIG.

10c, and the current shelf address information detected by this shelf address detector 9 and the set shelf address information stored in the traveling drive control circuit system or the rehabilitated shelf address information obtained by rehabilitating this set shelf address information. Control is performed to stop the traveling drive of the crane truck 4 when the difference between the two becomes zero.

In FIG. 2, shelf address indicators 10a and 10b.

10C is located on the center line a-a' of shelves 8 and 8', and index 10a is located at address N-1, index 10
b indicates address N, and index 10c indicates address N+1.

Further, the shelf address detector 9 is provided in relation to the position of the fork device 6'.

For example, if this detector 9 is in contact with the shelf address index 10bII, the fork device 6' is positioned so as to correspond to the shelves 8, 8' at address N, as shown in FIG. ing.

Note that since the pitch P between the fork devices 6 and 6' is set equal to the pitch between adjacent shelves, the fork devices 6'
is located corresponding to the shelf 8.8' at address N, the fork device 6 is located corresponding to the shelf 8, 8' at address N-1.

Therefore, in the above-mentioned travel drive control, there are two cases: for example, when the fork device 6' is positioned at a position corresponding to the shelves 8 and 8' at address N, and when the fork device 6 is positioned at the position shown in FIG. The control mode is different.

The fork device 6' is located at the position corresponding to the shelves 8 and 8' at address N.
When locating the shelf address, the shelf address detector 9 uses the shelf address index 10.
controlled by contacting b.

That is, the control is performed based on the coincidence between the current shelf address information of the N address detected by the shelf address detector 9 and the set shelf address information of the N address stored in the traveling drive control circuit system.

On the other hand, when positioning the fork device 6, the shelf address detector 9 is controlled by coming into contact with the shelf address index 10c.

In this case, the control is performed by matching the current shelf address information of address N+1 detected by the shelf address detector 9 with the rehabilitated shelf address information of address N+1, which is obtained by rehabilitating the set shelf address information of address N within the traveling drive control circuit system. Ru.

The set shelf address information of address N is stored in the traveling drive control circuit system by the card 11 and the setting board 12, as shown in FIG.

The traveling drive control circuit system includes a setting command circuit 13, a central command circuit 14, a memory circuit 15, a rehabilitation circuit 16, a current shelf address information output circuit 17, a comparison calculation circuit 18, and a comparison calculation output circuit 19. , and a control circuit 21 that controls the electric motor 20 for driving the crane truck 4.

The card 11 storing the setting shelf address information of address N is inserted into the reading slot of the setting board 12, and at the same time, the operator turns on the switch 22.

By this key-in, the selection information of the fork devices 6 and 6' is held in the setting command circuit 13.

When the information is manually entered into the setting command circuit 13, this circuit 1
3 outputs timing information for the start of cargo handling to the central command circuit 14.

The central command circuit 14 selects command conditions, and if it is acceptable to start cargo handling, the comparison calculation output circuit 19 and the setting command circuit 13
Then outputs command information to that effect.

If the opposite is true, command information to that effect is output only to the setting command circuit 13.

When cargo handling can be started, control command information is output from the comparison calculation output circuit 19 to the control circuit 21, and the crane truck 4 starts traveling.

On the other hand, the storage circuit 15 stores the setting shelf address information of address N stored in the card 11 and the selection information of the fork devices 6 and 6' held in the setting command circuit 15.

Each piece of information stored in the memory circuit 15 is then sent to the rehabilitation circuit 16.
3 are output.

In this case, one of the following (I) and (I) is output depending on the type of each information stored in the storage circuit 15.

(I): Move the fork device 6' to the position corresponding to the shelves 8, 8' at address N.

(■): Move the fork device 6 to the position corresponding to the shelf 8, 8' at address N.

In the present invention, among these pieces of information, the set shelf address information (N address) for (I) is not rehabilitated by the rehabilitation circuit 16, and the set shelf address information (N address) for (■) is changed to N+1.
Rehabilitate to address.

The retreading circuit 16 uses the selection information of the fork devices 6 and 6' as retread command information, and adds zero to the set shelf address information (N address) when cargo is handled by the fork device 6'.

When handling cargo using the fork device 6, 1 is added to change the set shelf address information at address N to the rehabilitated shelf address information at address N+1.

In this way, the rehabilitation circuit 16 rehabilitates the set shelf address information in a manner selected based on the rehabilitation command information, and the information is output to the comparison calculation circuit 18.

The comparison calculation circuit 18 receives the current shelf address information inputted via the shelf address detector 9 provided on the crane truck 4 and the current shelf address information output circuit 17, and the set shelf address from the comparison calculation circuit 18. Comparison operation is performed with information or rehabilitation shelf address information.

The comparison calculation result is outputted to the control circuit 21 by the comparison calculation output circuit 19, and the travel of the crane truck 4 and the driving electric motor 20 are controlled.

In this case, when cargo is handled by the fork device 6', the set shelf address information of address N is input manually to the comparison calculation circuit 18 as described above, so this set shelf address information and the current shelf address information output circuit 17 are When the current shelf address information of address N coincides with the current shelf address information, the traveling crane truck 4 is stopped as shown in FIG.

In addition, when handling cargo using the fork device 6, the comparison calculation circuit 18
Since the refurbished shelf address information of address N+1 is input to , when the current shelf address information of address N+1 is input from the output circuit 17, the operation is stopped as shown in FIG.

As described above, according to the present invention, the traveling drive control operation can be simplified while maintaining the provision of one shelf address index for one shelf and one shelf address detector for the stacker crane. The transformation is measured.

Furthermore, although the stacker crane is equipped with a plurality of fork devices, these fork devices can be positioned at predetermined shelf addresses using one card, thereby simplifying card operations.

In addition, in the present invention, when renovating the set shelf address information, the reorganization command information may be inputted so as to be subtracted.

[Brief explanation of the drawing]

Fig. 1 is a perspective view showing the manner in which cargo is handled by a stacker crane, Fig. 2 is a plan view showing the manner in which shelf address indicators are attached, and Fig. 3.
Figure 4 is a plan view showing how the stacker crane stops;
The figure is a traveling drive control circuit diagram. 4: Crane truck, 6.6': Fork device, 15: Memory circuit, 16 Second retrieval circuit, 18: Comparison calculation circuit.

Claims (1)

[Claims] 1. In a traveling drive control method for a stacker crane in which a plurality of fork devices are arranged in a traveling direction, setting shelf address information stored in a storage circuit during traveling drive control to position one fork device at a predetermined shelf address; The rehabilitation command information is input into the rehabilitation circuit, and the rehabilitation shelf address information output from this rehabilitation circuit and the current shelf address information detected while the crane truck is traveling are input into a comparison calculation circuit, and the rehabilitation shelf address information is inputted into the comparison calculation circuit. When the difference between the current shelf address information and the current shelf address information becomes zero, the traveling drive stop command information output from this comparison calculation circuit causes the traveling drive of the crane dolly to be stopped and the other fork device to be located at a predetermined shelf address. A traveling drive control method for a stacker crane, characterized in that: