JPS6146365B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a movement control device for a moving body for transportation in an automated warehouse, etc., and in particular, a counting detector that counts each stop position on the movement path of the moving body, and a fixed position detection device for a pair of front and rear fixed positions. The present invention relates to a device in which the movable body is provided with a parity check detector and a parity check detector, and the movement of the movable body is controlled by detection signals from these detectors.

Below, an example of a conventional movement control device for a conveyance moving body will be explained based on FIGS. 1 to 4.
The figure shows a loading/unloading device 1 and a shelf 2 in an automated warehouse. It is provided with an elevating platform 6 that moves up and down, and running forks 9 that are provided on the elevating platform 6 and are used to transfer loads 8 to and from each storage section 7 of the shelf 2. Reference numeral 10 indicates a drive means for traveling the device 1, and reference numeral 11 indicates a drive means for raising and lowering the lifting platform 6. The shelf 2 is provided with a large number of storage compartments 7 that are divided in the shape of a grid in the traveling direction of the device 1 and the lifting direction of the lifting platform 6. 6 can be made to correspond to any storage compartment 7, and by combining the lifting and lowering of the lifting platform 6 and the movement of the running forks 9 into and out, the load 8 can be stacked between the corresponding storage compartment 7 and the top of the lifting platform 6. It is used for unloading.

Further, as shown in Fig. 2, on the outside of one end of the shelf 2, there is a loading platform 1 for transferring loads to and from other loading/unloading devices.
2 is installed, and the loading platform 12 is moved between the lifting platform 6 and the loading platform 12 with the same effect as the loading transfer function between the shelf 2 and the storage compartment 7.
Loading and unloading work can also be carried out between the two.

In the above-mentioned automated warehouse, as shown in FIGS. 2 and 3, each stop position of the device 1, that is, the home position corresponding to the loading platform 12, and each storage section 7 of the shelf 2 in the device running direction correspond to each other. For example, magnetic plates 13 for detection are arranged in a row on the ceiling of the travel path of the device 1, corresponding to each bay, and another magnetic plate 14 for parity check is arranged corresponding to the odd bays. They are arranged in parallel in correspondence with the rows of the magnetic plates 13, and the device 1 includes:
Counting detector C for detecting the magnetic plate 13
Detectors D and E for detecting fixed positions, which simultaneously detect both the front and rear ends of the magnetic plate 13, and a detector F for parity check, which detects the magnetic plate 14, are arranged in this order. As these detectors C to F, a normally closed relay or the like is used, for example, in which a proximity switch and a permanent magnet that keeps the switch normally closed are arranged facing each other so that the magnetic plates 13 and 14 move relative to each other. Ru.

Then, as shown in FIGS. 2 and 4, the device 1
As the magnetic plate 13 corresponds to each bay of the shelf 2,
is detected by the detector C, and the signal is inputted to the addition/subtraction counter 15 so that it is added when moving forward and subtracted when moving backward, and the current value (position) signal 16 of the device 1 is generated.
The comparison circuit 18 compares the destination set value (position) signal 17 and the current value signal 16 to generate a traveling direction command signal 19a and various speed switching command signals 19b.
19d and the destination arrival signal 19e, while the home position detection signal 20 and the destination are output only when the detectors D and E simultaneously detect both ends of the magnetic plate 13 corresponding to the home position and each bay of the shelf 2. When both the arrival signal 19e and the arrival signal 19e are output, a stop command signal 21 is output, and these signals 19a to 19d, 21 control the traveling drive means 10 of the device 1 to safely move the device 1 to the target location. run and stop automatically. Also, device 1 is shelf 2
When the magnetic plate 14 passes through a position corresponding to an odd-numbered bay, the detector F detects the magnetic plate 14. When the detection signal of this detector F is output, the output value (current value) of the addition/subtraction counter 15 is checked in the parity check circuit 22, and if the value is an even number, a return command signal to the home position is sent. 23
is output, the device 1 is forcibly returned to the home position, the count is corrected, and the operation is restarted.

In the conventional movement control device as described above, in addition to the array of magnetic plates 13 detected by the detectors C to E, as shown in FIGS. A row of plates 14 is provided, and therefore, corresponding to these two rows of magnetic plates 13 and 14, detectors C to F are also arranged in two rows.
On the other hand, this type of automated warehouse is required to have high efficiency in storing cargo within a certain space, and therefore it is desirable to make the running path width of the device 1 as narrow as possible. The reason why there are two rows of rows and two rows of detectors is that in addition to these, power supply lines and forced deceleration and stopping means at the end of the route are also installed, so the width of the running path of the device 1 is narrowed. It became a big problem.

The present invention aims to solve these problems, and embodiments thereof will be described below with reference to FIGS. 5 to 7.

In the figure, A and B are two types of objects to be detected, that is, magnetic plates, which are alternately arranged in a line on the ceiling of the travel path of the device 1 corresponding to each stop position of the device 1. That is, a magnetic plate A with a short vertical length is placed at a location corresponding to the home position and an even numbered bay of shelf 2, and a magnetic plate B with a long vertical length is placed at a location corresponding to an odd numbered bay of shelf 2. The device 1 is attached so as to hang vertically from a fixed mounting seat 24 made of C-shaped steel, which is installed parallel to the traveling direction of the device 1. on the other hand,
The detectors C to E are arranged in this order at a height that can detect both magnetic plates A and B, and detector F can detect only magnetic plate B at an intermediate position between detectors D and E. It is located in a low position. Reference numeral 25 denotes a mounting seat made of a single C-shaped steel installed parallel to the running direction of the device 1, on which height setting support members 26, 2 are mounted.
Detectors C to F are installed in a line via 7.

According to the above configuration, as the device 1 travels, when the device 1 passes through each stop position, the counting detector C first detects the magnetic plate A or B and outputs a counter input signal, and then The parity check detector F detects the magnetic plate B and outputs a parity check signal only when passing a position corresponding to an odd-numbered bay of the shelf 2, and then the fixed position detectors D and E
detects both the front and rear ends of the magnetic plate A or B at the same time and outputs a fixed position detection signal 20 (see FIG. 4). Therefore, by using these signals in the same manner as in the prior art example described above, the traveling control of the device 1 can be performed in the same manner as in the prior art example.

The position of the parity check detector F can also be changed to a position between the detectors C and D, etc. In addition, in the embodiment, a magnetic plate was used as the object to be detected, and a normally closed relay for non-contact detection of the magnetic plate was used as the detector, but a combination of a light shielding plate and a phototube unit, or any other type of device may be used. good. Furthermore, in the object to be detected shown in the example, that is, the two magnetic plates A and B with different vertical lengths, the length of the entire magnetic plate A, which has a short vertical length, and the length of the magnetic plate A of the magnetic plate B. The part corresponding to the length of magnetic plate A is a common part, and the part of magnetic plate B that protrudes from the part corresponding to the length of magnetic plate A is a non-common part that is not present in magnetic plate A. Detector C detects the common portion of both magnetic plates A and B, fixed position detection detectors D and E simultaneously detect both front and rear ends of the common portion of both magnetic plates A and B, and detect parity. Although the check detector F is configured to detect the non-common portions of the magnetic plate B, the two types of detection objects are not limited to those having different sizes as in this embodiment. For example, it is also possible to use two types of objects to be detected, in which a plate of the same size is used as a common part of both objects to be detected, and a protrusion is provided on only one of the objects to be detected as a non-common part.
In other words, two types of objects can be created by partially or completely changing the size, shape, material, etc., so that they have common parts that are common to each other, and one object has a non-common part that the other object does not have. What is necessary is to configure the detection object.

The movement control device of the present invention can be implemented as described above, and its feature is that two types of detected objects are placed beside the moving path of the transporting moving body, corresponding to each stop position of the moving body. A and B are arranged alternately in a line, and both the detected objects A and B have a common part that is common to each other, and one of the detected objects A and B has a common part that the other detected object does not have. The movable body includes a counting detector C that detects each common portion of the detected objects A and B, and a counting detector C that detects each common portion of the detected objects A and B, and a count detector C that detects each common portion of the detected objects A and B, and a pair of front and rear fixed position detection detectors D that simultaneously detect
E and a parity check detector F for detecting a non-common part of one of the detected objects A and B are arranged in a line, and the detection signals of each of the detectors C to F are arranged in a line. The present invention is characterized in that the movement of the moving object is controlled by the following.

According to such a movement control device of the present invention, each of the row of detected objects provided on the moving path side and the row of detectors C to F provided on the transporting moving body may be one row, so two rows each may be used. For example, compared to the conventional configuration that required this, it not only helps to reduce the width of the travel path of transport vehicles in automated warehouses and increase the efficiency of storing cargo within a certain space, but also reduces the number of objects to be detected. Therefore, the installation work becomes easy.

The device of the present invention can also be used, for example, to control the vertical movement of the lifting platform 6 in the loading/unloading device 1 shown in FIG. In this case, the objects A and B to be detected are the pillars 5
The detectors C to F are attached to the lifting platform 6.

[Brief explanation of the drawing]

Fig. 1 is a side view showing an example of an automated warehouse, Fig. 2 is a plan view showing the conventional arrangement of objects to be detected and detectors for controlling the traveling movement of the loading/unloading device, and Fig. 3 is the same. FIG. 4 is an explanatory diagram showing the relationship between each detector and the driving means for driving, FIG. 5 is a side view showing the main part of an embodiment of the present invention, and FIG. 6 is a plan view of the same. , FIG. 7 is a front view of the same. 1... Loading/unloading device, 2... Shelf, 7... Storage section,
DESCRIPTION OF SYMBOLS 10... Travel drive means, 12... Loading platform at home position, 13, 14... Conventional magnetic plate (detected object), 15... Addition/subtraction counter, 16... Current value (position) signal, 17... Set value (position) signal, 18
...Comparison circuit, 19a...Travel direction command signal, 19b
~19d...Speed switching command signal, 19e...Destination arrival signal, 20...Fixed position detection signal, 21...Stop command signal, 22...Parity check circuit, 23...Return command signal to home position, A, B...Magnetic Plate (object to be detected), C... Detector for counting, D, E... Detector for fixed position detection, F... Detector for parity check.

Claims (1)

[Claims] 1. Two types of detected objects A and B are arranged alternately in a line next to the moving path of the transporting moving object, corresponding to each stop position of this moving object, and both detected objects A and B are The movable body has a common part that is common to each other, and one of the detected bodies A and B has a non-common part that the other detected body does not have, and the moving body has a common part that the detected bodies A and B each have. a counting detector C for detecting a common portion; a pair of front and rear fixed position detection detectors D and E for simultaneously detecting both front and rear ends of each common portion of the detected objects A and B; A parity check detector F for detecting a non-common part of one of the detected objects of A and B is arranged in a line,
A movement control device for a transportation moving body, which controls movement of the moving body based on detection signals from each of the detectors C to F.