JPH0375441B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a method of commanding an operation in a three-dimensional storage device.

(Prior Art) Conventionally, in a three-dimensional storage device in which stored items are stored in a storage space using an elevating hawk, or items stored in a storage space are taken out using an elevating hawk, the After confirming that there are no stored items in the designated storage space, operate the command switch to input the stored items into that storage space, and when taking out the stored items from the specified storage space,
After confirming that there is a stored item in the predetermined storage space, an unloading operation command is given to the elevating hawk to unload the item.

(Problem to be Solved by the Invention) However, in the conventional three-dimensional storage device having the above configuration, the presence or absence of stored items in the storage space is detected and confirmed only by sensors placed in the storage space. Based on this, two switches, a warehousing operation command switch and a warehousing operation command switch, which are separately provided and dedicated to each storage space, are selectively operated to carry out storage and retrieval.

Therefore, in the conventional device, there is no backup in case the sensor malfunctions.
When trying to store stored items in a storage space, there may be problems where stored items collide with each other,
There was a risk of misunderstanding when selecting the operating switch, and there was a problem that operation was unreliable.

Structure of the Invention (Means for Solving the Problems) The present invention has been made to solve the problems of the conventional device, and includes a confirmation device for checking the presence or absence of stored items in each storage space; A display device that displays the storage status in each storage space, one operation command switch for each storage space, and a drive control operation circuit that controls the operation of each device are provided. Confirmation of the presence or absence of stored items is stored in the storage device by the storage operation, and the memory is erased by the storage removal operation.This confirmation operation is input to the drive control operation circuit. Under the control, each of the operation command switches is made to perform two operations: as a retrieval command switch when there is a stored item in the storage space, and as a warehousing command switch when there is no stored item. It is something.

(Function) According to the above, in the present invention, the presence or absence of stored items in each storage space is confirmed by both the storage device and the sensor to prevent malfunction, and the operation command switch
It is controlled by the drive control operation circuit into which the confirmation result is input, and one switch performs two operations as a warehousing command switch or a warehousing command switch depending on the presence or absence of stored items in the storage space. Errors in selection are eliminated.

(Example) An example in which the present invention is embodied in a three-dimensional storage device for an automobile will be described below with reference to FIGS. 1 to 23.

In the drawing, an operation panel 1 is used to drive and control a three-dimensional storage device for an automobile, and includes a drive control operation circuit A for the three-dimensional storage device for an automobile, and as shown in FIG. It is located adjacent to a three-dimensional storage tower P for automobiles.

In this embodiment, a lift space E is provided in the center of the three-dimensional storage tower P consisting of 12 floors above ground and 5 floors underground, and a lift space E is provided for raising and lowering a vehicle C as a stored object. Storage spaces X and Y for storing C are provided. Incidentally, the elevating space E corresponding to the first floor is a boarding entrance E1 as a loading position for the car C, and is also a passenger entrance E1 as shown in FIG.
There is an empty space S on both sides, where the switchboard, etc. are stored, and it is possible to enter and exit the entrance E1 through the door D. The fall prevention plate F installed in the space E is designed to prevent workers from accidentally falling into the basement, and is also designed to prevent workers from accidentally falling into the basement, and also to prevent the two elevating hawks 5a and 5b, which will be described later, from getting in the way when exiting or entering the basement. It is designed to evacuate to the rear to prevent it from happening.

The fall prevention plate F may be moved sideways to the ceiling portions of the storage spaces X and Y provided on the left and right sides of the first basement floor and evacuated so as not to interfere with the two elevating hawks 5a and 5b. Moreover, instead of providing this fall prevention plate F, the distance between the tips of the hawks 3 of both the elevating hawks 5a and 5b is shortened, and
It is also possible to increase the number of pipes to prevent workers from accidentally falling underground.

In this case, a safety fence (not shown) is provided at the entrance of the boarding area E1, and both elevating hawks 5a, 5b are
The safety fence may be automatically closed before the worker ascends or descends to further prevent the danger of workers falling.

As shown in FIGS. 3 and 4, there is a rectangular prism-shaped fixing member 2, a plurality of hawks 3 extending inward from the fixing member 2 at predetermined intervals, and upper and lower ends of the fixing member 2 at both front and rear ends. A pair of left and right lifting hawks 5a and right lifting hawks 5b, each consisting of a support member 4 provided in a direction, is guided by the lifting guide rails 6 provided at the four corners of the lifting space E. This makes it possible to move up and down. Note that the tips of each of the hawks 3 are configured to be spaced apart from each other by a predetermined distance.

The upper end of each of the support members 4 is connected to the lower end of a chain 7 inserted into the elevating guide rail 6, and the chain 7 is hoisted up by an elevating motor M1 provided at the upper part of the three-dimensional storage tower P. Accordingly, both the elevating forks 5s and 5b are driven up and down. Furthermore, both the lifting hawks 5a and 5b are always aligned at the same height and driven up and down at a constant speed, and their absolute positions are always measured by the rotary encoder 8 provided on the output shaft of the lifting motor M1. ing.

Note that the lift motor M1 is driven and controlled via a lift motor drive circuit 9 that is controlled by a drive control operation circuit A that operates based on a program stored in a ROM 28 that is a read-only memory. There is. Furthermore, when both the elevating forks 5a and 5b rise by 50 cm from the stopped state, the drive control operation circuit A changes from a low-speed operation in which both elevating forks 5a and 5b are raised at a low speed to the elevating forks 5a and 5b.
5b is raised at high speed.

Similarly to the above, when both the elevating forks 5a and 5b descend 50 cm from the stopped state, the drive control operation circuit A changes from the low speed operation of lowering both elevating forks 5a and 5b at a low speed to lowering both elevating forks 5a and 5b at high speed. It is designed to switch to high-speed operation.
In addition, in this embodiment, in order to prevent danger, high-speed operation is not performed when a transverse storage fork 20, which will be described later, is already waiting in the elevating space E below the elevating forks 5a and 5b. There is.

As shown in FIGS. 2 and 3, rectangular box-shaped transverse roller frames 10 and 11 are installed on both the front and rear sides of the storage spaces X and Y on each floor, and centrally positioned transverse roller frames are installed on both the front and rear sides of the elevating space E. frame 1
2 are installed. Four pulleys 14 are provided at predetermined intervals on the inner surfaces of the pair of transverse roller frames 10, and the spindle of each pulley 14 is a chain (not shown) provided within the transverse roller frame 10. and can be rotated by a traverse motor M2, which is also disposed at one end of the traverse roller frame 10 via the chain. Said transverse roller frame 1
1 and 12 are similarly provided with a pulley 14, a chain, and a traverse motor M2.

Note that the traverse motor M2 is the elevating motor M.
1, the drive is controlled via a traverse motor drive circuit 15 which is controlled by a drive control operation circuit A.

The hawk fixing member 16 installed between the transverse roller frame 10 is connected to both the elevating hawks 5a and 5b.
The width is narrower than the distance between the tips of the hawks. A plurality of hawks 17 extending perpendicularly from both sides of the hawk fixing member 16 are arranged so as to be alternately spaced from the hawks 3.

The hawk fixing member 16, the hawk 17, and the support frame 18 provided perpendicularly to both front and rear ends of the hawk fixing member 16 constitute a transverse retractable hawk 20. The support frame 18 is placed on each pulley 14 of the traverse roller frame 10, and the traverse motor M
2 by driving the transverse retractable hawk 20
It is possible to reciprocate from the storage spaces X and Y to the elevating space E, and from the elevating space E to the storage space X.

A traverse storage hawk 20 similar to that described above is also disposed on the traverse roller frame 11 so as to be able to reciprocate from the storage space Y to the elevating space E and further from the elevating space E to the storage space Y.
After the two elevating forks 5a, 5b and the transverse storage fork 20 are arranged vertically in the elevating space E, they cross each other in the vertical direction so that the vehicle C can be delivered.

When the transverse hawk 20 reaches the center position of the elevating space E, a limit switch 2 provided at the center of the rear central position transverse roller frame 12 is activated.
1 acts and the transverse hawk 20 stops. Further, when the transverse hawk 20 returns from the lifting space E to the central position of the storage spaces X, Y, a limit switch 22 provided at one end of each of the rear transverse roller frames 10, 11 operates to close the transverse hawk 2.
0 stops.

A pair of inventory sensors 23, which serve as confirmation devices, are arranged opposite to each other at the slightly lower central portions of the front and rear end walls of each storage space Detected.

Furthermore, there are two light emitters on both sides of the rear of the entrance E1.
4, on both the lifting guide rails 6 on the front side, light receivers 25 are installed diagonally facing each other at a height of about 60 cm from above the other, and an entrance storage sensor 26 is installed.
It is said that The entrance storage sensor 26 detects whether a car C is placed on the two elevating forks 5a, 5b and inputs a detection signal to the drive control operation circuit A.

Further, an entrance sensor 27 is provided between the two lifting guide rails 6 in front of the boarding entrance E1, and
A detection signal is input to the drive control operation circuit A by detecting whether a person enters or leaves the vehicle. This entrance sensor 27 detects the entry point E when both the elevating hawks 5a, 5b and the transverse retracting hawk 20 are in and out of the warehouse.
When it is detected that a person or a vehicle C enters or leaves the warehouse, the entry and exit operations are stopped in an emergency.

In FIG. 1, the lift floor number display lamps 30 provided in a row in the vertical direction slightly to the left of the central part of the operation panel 1 are 12, 11, 10,9,…,
They are numbered 3, 2, 1, 1, 2, 3, 4, and 5. The drive control operation circuit A has two lifting hawks 5.
Both elevating forks 5a, 5 are moved based on measurement data from rotary encoder 8 indicating the positions of a, 5b.
The position b is determined, and an indicator lamp 30 corresponding to the floor on which both the elevating hawks 5a and 5b are located is turned on via a lamp drive circuit 31.

On the left side of each display lamp 30 is an inventory display lamp 32X corresponding to each storage space X and serving as a display device for displaying the storage status in the storage space Inventory display lamp 3 as a display device
2Y is provided.

When the drive control operation circuit A determines that the vehicle C is in stock in a predetermined storage space X based on the detection signal of the inventory sensor 23 provided in each storage space The inventory display lamp 32X corresponding to the storage space Y is turned on via the lamp drive circuit 33, and when it is determined that the car C is in stock in the storage space Y, the inventory display lamp 32Y is turned on in the same manner as described above. ing.

The loading/unloading setting switch 34, which serves as an operation command switch, is provided on the left side of the inventory display lamp 32X in correspondence with the storage space. A setting lamp 35 has a built-in setting lamp 35, and an exit setting lamp 36 with an "out" display attached to the lower side thereof. On the right side of the inventory display lamp 32Y, a storage/unloading setting switch 37 as an operation command switch is provided corresponding to each storage space Y, as described above, and above the storage/unloading setting switch 37, an "in" display is displayed. A warehousing setting lamp 38 with an attached warehousing setting lamp 38 is built in, and a warehousing setting lamp 39 with an ``out'' display attached on the lower side is built-in.

Detection data from the inventory sensor 23 and both lifting hawks 5a, 5 connected to the drive control operation circuit A.
The drive control operation circuit A determines whether the car C is in the predetermined storage space When it is determined that there is no warehousing/discharging setting switch 34, the warehousing/discharging setting switch 34 functions as a warehousing command switch.

At this time, the warehousing setting lamp 35 is turned on by the drive control operation circuit A via the lamp drive circuit 40.

Conversely, when the drive control operation circuit A determines that the vehicle C is within the predetermined storage space X, the warehousing/unloading setting switch 34 functions as a warehousing command switch in the same manner as described above. . The exit setting lamp 36 is turned on by the drive control operation circuit A via the lamp drive circuit 41.

Note that, in exactly the same way as the warehouse entry/exit setting switch 34, the entry/exit setting switch 37 is connected to the drive control operation circuit A.
is the detection data from the inventory sensor 23 and the RAM2
When it is determined from the warehousing data from 9 that there is no car C in the predetermined storage space Y, it functions as a warehousing command switch, and the warehousing setting lamp 38 is turned on by the lamp drive circuit 40. Further, the entry/exit setting switch 37 functions as an exit command switch when the drive control operation circuit A determines that the vehicle C is within the predetermined storage space Y.
The exit setting lamp 39 is turned on by the lamp drive circuit 41.

A malfunction indicator lamp 4 provided at the upper right of the operation panel 1
3 is adapted to be turned on by a lamp drive circuit 44 connected to the drive control operation circuit A when an abnormality occurs in this three-dimensional storage device. In addition,
At the same time as the failure indicator lamp 43 lights up, the failure warning buzzer 45 built into the operation panel 1 activates the drive control operation circuit A.
The sound is generated by a buzzer drive circuit 46 connected to the buzzer drive circuit 46.

A buzzer stop switch 47 provided below the failure indicator lamp 43 is connected to the drive control operation circuit A and is used to stop the failure warning buzzer 45. A power-on key switch 48 provided below the buzzer stop switch 47
is used to turn on and off the power of this three-dimensional storage device.

A safety confirmation switch 49 provided below the key switch 48 is connected to the drive control operation circuit A, and the two elevating hawks 5a,
5b and when canceling the emergency stop of the horizontal storage hose 20. After this, if the operation switch 50 connected to the drive control operation circuit A provided below the safety confirmation switch 49 is pressed, the loading and unloading operations of the two lifting hawks 5a, 5b and the transverse storage hawk 20 are performed again. It's becoming like that.

Further, the operation switch 50 is pressed after the storage/unloading setting switches 34 and 37 set the storage/unloading operation, so that the both lifting/lowering hawks 5
a, 5b and the transverse storage hawk 20 begin to enter and exit the warehouse.

A cancel switch 51 provided below the operation switch 50 is used to cancel the loading/unloading operation set by the loading/unloading setting switches 34, 37 or to set a new loading/unloading operation. An emergency stop switch 52 provided below the cancellation switch 51 is connected to the drive control operation circuit A and is used to emergency stop the loading/unloading operation of both the lifting hawks 5a, 5b and the transverse storage hawk 20. .

In addition, in this embodiment, in preparation for cases such as failure or adjustment of the three-dimensional storage device, there is a forced entry/exit button (not shown) on the operation panel 1 and each manual entry/exit button corresponding to each storage space X, Y. A setting switch and each manual delivery setting switch (none of which are shown) are provided. The forced entry/exit button is
When turned ON, the drive control operation circuit A outputs the judgment result of whether or not the car C is in the entrance E1 based on the entrance warehousing sensor 6, and the inventory sensor 23 and the RAM.
Regardless of the result of judgment as to whether there is a car in the storage spaces X and Y based on the storage data stored in 29, when the manual storage setting switch is turned on, both the elevating and lowering hawks 5a and 5b and the transverse storage hawk 20 are turned on.
to perform warehousing operations.

Similarly, when the forced entry/exit button is turned on, the drive control operation circuit A is activated by the entrance entry/exit sensor 26.
Regardless of the judgment result of whether the car C is present in the boarding area E1 based on the above and the judgment result of the presence or absence of a car in the storage spaces When the manual retrieval setting switch is turned on, both the elevating and lowering hawks 5a, 5b and the transverse storage hawk 20 are caused to perform a warehousing operation.

Next, the operation of the three-dimensional storage device for automobiles configured as described above will be explained with reference to flowcharts showing the operation of the drive control operation circuit A shown in FIGS. 7 to 19.

First, as shown by the imaginary line in Fig. 2, when a car C stored in the storage space Y on the 11th floor above ground is to be taken out to the ground, the worker must turn the entry/exit setting switch corresponding to the storage space Y. Press 37. Then, the drive control operation circuit A turns on/off setting switch 3.
In step 1 to determine whether 7 is ON,
It is determined that the entry/exit setting switch 37 is ON, and the processing operation of step 2 is performed to determine whether or not the car C is present in the storage space Y corresponding to the exit setting floor based on the inventory sensor 23.

The drive control operation circuit A is located in the storage space Y.
When determining that the car C is present in the storage space Y, the drive control operation circuit A performs the processing operation of step 3 to determine whether the car C is present in the storage space Y again based on the storage data stored in the RAM 29. .

Here, the drive control operation circuit A performs the processing operation of step 4 to determine whether the car C is present in the entrance E1 based on the entrance entry sensor 26, and determines that there is no car C in the entrance E1. After confirmation, the processing operation of step 5 is performed, in which the exit setting sensor 39 is turned on. Next, the drive control operation circuit A processes the switch 6 to determine whether the operator has turned the operation switch 50 to 0N, and then turns the operation switch 50 on.
If it is determined that 0 has been turned ON, the processing operation of step 7 is performed to determine whether the set exiting floor is above ground, and the processing operation of step 8 is further performed to determine whether the exiting set floor is above the 6th floor. I do.

In this case, since the set exit floor is the 11th floor above ground,
The process moves to the upward receiving operation shown in step 9.

The step 9 is an upward receiving operation shown in FIG. 11, and the drive control operation circuit A is the 20th
As shown in Figure a, at the same time as the transverse storage hawk 20 starts moving toward the center, both the elevating and lowering hawks 5
The processing operation of step A1 is performed to start the rise of a and 5b. In addition, the drive control operation circuit A performs the following after the above-mentioned lifting hawks 5a and 5b have been raised by 50 cm.
It is designed to operate by switching from low-speed motion to high-speed motion. Then, the drive control operation circuit A
As shown in FIG.
The processing operation of step A2 is performed to determine whether or not it has reached the position just before cm.

Therefore, the processing operation of step A3 is performed to determine whether or not the transverse retractable fork 20 has reached the center.If it has reached the center, both the elevating and lowering forks 5a,
5b is switched from high-speed operation to low-speed operation and raised, and the processing operation of step 10 is performed to determine whether or not both elevating hawks 5a and 5b have reached a position 50 cm above the horizontal position of the horizontal storage hawk 20 on the set exit floor. .

If, in the processing operation of step A3,
If the transverse retractable fork 20 has not yet reached the center position, this indicates that an abnormality has occurred in the transverse retractable fork 20, and the processing operation of step A3 is performed to stop both the elevating and lowering forks 5a and 5b, and further troubleshooting is performed. The processing operation of step A5 of lighting the display lamp 43 and sounding the failure warning buzzer 45 is performed, and the process ends.

Next, the drive control operation circuit A performs step 10.
When it is determined that both the elevating and lowering forks 5a and 5b have reached 50 cm above the horizontal position of the transversely retracting fork 20, the process moves to the upward receiving operation shown in step 11.

Step 11 is the upward receiving operation shown in FIG. 12, and the drive control operation circuit A first performs the processing operation of step B1, which stops both the lifting hawks 5a and 5b, as shown in FIG. 20c. Then, after the drive control operation circuit A performs the processing operation of step B2 to make the traversing retractable fork 20 go back,
In step B3, a processing operation is performed to confirm the completion of the return to the state shown in FIG. 20d, and then a processing operation is performed in step B4, in which both elevating forks 5a, 5b are switched from low speed operation to high speed operation and lowered.

Furthermore, the drive control operation circuit A
a, 5b are in the state shown in Figure 20 e, ground 1
After performing a processing operation in step B5 in which it is determined that the vehicle has reached 50 cm before the floor (boarding entrance E1), a processing operation is performed in step B6 in which both elevating hawks 5a and 5b are switched from high-speed operation to low-speed operation and stopped.

When the drive control operation circuit A completes the processing operation in step 11, it turns off the exit setting lamp 36 that was lit corresponding to the storage space Y that was exited.
While turning off the stock display lamp 32Y,
The processing operation of step 12 is performed to clear the storage data stored in the RAM 29, and the operation of unloading the car C from the storage space Y on the 11th floor is completed. It should be noted that the above-mentioned unloading operation is performed through similar processing operations when the car C is unloaded from the storage space X.

Further, in the above-described unloading operation, the set unloading floor was above the 6th floor, but if this is below the 5th floor, the drive control operation circuit A performs the upward receiving operation shown in step 13 from the processing operation of step 8. Move to.

The step 13 is an upward receiving operation shown in FIG. 13, and unlike the upward receiving operation shown in FIG. Step C2 to check whether the transverse retraction hawk 20 has reached the center.
Performs processing operations.

Then, when the drive control operation circuit A confirms that the traverse retraction hawk 20 has reached the center, it performs the processing operation of step C3 to raise both the elevating hawks 5a and 5b, and furthermore, both the elevating hawks 5a and 5b are set to the above-mentioned exit setting. The processing operation of step 14 is performed to determine whether or not the height has risen by 50 cm from the floor level.

When the drive control operation circuit A confirms that both elevating forks 5a and 5b have risen in step 14,
Step 1 when the above-mentioned exit setting floor is the 11th floor
Processing operations following processing operation 1 are performed and the process ends.

Further, in both of the above two unloading operations, the set unloading floor is above ground, but if the unloading set floor is underground, the drive control operation circuit A performs the downward receiving shown in step 15 from the processing operation of step 7. Move on to action.

Step 15 is the downward receiving operation shown in FIG. 14, and after performing the processing operation of step D1 in which the drive control operation circuit A lowers both the elevating forks 5a and 5b as shown in FIG. The processing operation of step D2 is performed to determine whether both the elevating forks 5a and 5b have descended by 50 cm from the horizontal position of the elevating forks 5a and 5b on the set floor.

Then, the drive control operation circuit A performs the step D.
When the lowering of both the elevating forks 5a and 5b is confirmed in step 2, the processing operation of step D3 is performed to stop both elevating forks 5a and 5b, and the transverse retractable fork 20 is moved back and forth to the center as shown in FIG. 21b. The processing operation of step D4 is performed.

After the drive control operation circuit A performs the processing operation of step D5 to confirm whether the transverse retractable fork 20 has reached the center, the drive control operation circuit A performs the processing operation of step D5 to confirm whether the transverse retractable fork 20 has arrived at the center, and then, when it confirms that the transverse retractable fork 20 has reached the center, it starts both raising and lowering as shown in FIG. 21c. The processing operation of step D6 is performed to raise the hawks 5a and 5b.

Then, the drive control operation circuit A
a and 5b are from the horizontal storage hawk 20 on the exit floor.
The processing operation of step 16 is performed to determine whether the upper position has been reached by 50 cm, and after confirming the arrival, the process moves to the downward receiving operation shown in step 17.

The step 17 is the downward receiving operation shown in FIG. 15, and the drive control operation circuit A performs the processing operation of the step E1 to return the traverse storage fork 20 as shown in FIG. 21d. At the same time, the drive control operation circuit A performs a processing operation in step E2 to determine whether or not the two elevating forks 5a, 5b have reached the entrance E1 on the first floor above ground.When it is confirmed that the elevating forks 5a, 5b have reached the entrance E1, the two elevating forks 5a, 5b are activated. The processing operation of step E3 for stopping is performed.

The drive control operation circuit A then uses the exit setting lamps 36 corresponding to the storage spaces X and Y that have been exited.
OFF, inventory display lamps 32X, 32Y OFF
At the same time, the processing operation of step 12 is performed to clear the storage data stored in the RAM 29, and this underground storage operation is completed.

Next, to explain the warehousing operation, the drive control operation circuit A operates the warehousing/unloading setting switch 34,
37 is confirmed in step 1, and a processing operation in step 2 is performed in which it is confirmed by the inventory sensor 23 whether or not there is a car C in the storage spaces X and Y. When the drive control operation circuit A confirms that there is no car C, it then checks whether or not there is a car C within the set storage spaces X and Y.
In this embodiment, whether or not there is a car C in the storage spaces X and Y is checked by both the inventory sensor 23 and the RAM 29. A double check is performed.

Therefore, if the drive control operation circuit A determines that there is a car C in the storage spaces X and Y even though it was determined in step 2 that there is no car C in the storage spaces X and Y, then The inventory sensor 23
It is determined that the RAM 29 is faulty. and,
The processing operation of step 19 is performed in which the failure indicator lamp 43 is turned on and the failure alarm buzzer 45 is sounded, and the process ends.

Note that the drive control operation circuit A is similar to the above.
If a determination inconsistent with step 2 is obtained in step 3 in which the RAM 29 is checked to see if there is a car C in the storage spaces X and Y, the processing operation in step 19 is performed and the process ends.

When the drive control operation circuit A confirms that there is no vehicle C in the storage spaces X and Y through the processing operation of step 18, it performs the processing operation of step 20 shown in FIG. In step 20, the drive control operation circuit A determines whether the car C is present in the entrance E1 using the entrance warehousing sensor 26, and when it is confirmed that the car C is present in the entrance E1, the drive control operation circuit A enters the vehicle. The processing operation of step 21 is performed to turn on the setting lamps 35 and 38.

Next, after the drive control operation circuit A performs the processing operation of step 22 to determine whether or not the warehousing setting floor is above ground, when it is determined that the warehousing setting floor is above ground, the drive control operation circuit A further turns on the operation switch 50. If it is determined that this is the case, the process moves to an upward transfer operation shown in step 24.

The step 24 is an upward transfer operation shown in FIG.
As shown in FIG. 2a, the processing operation of step F1 is performed in which both elevating forks 5a and 5b are raised. Then, the drive control operation circuit A is operated by both elevating forks 5a, 5.
At the same time, the processing operation of step F2 is performed to determine whether or not the storage space b has risen by 50 cm from the warehouse setting floor, and the processing operation of step F3 is performed to check the rise and to stop both the elevating hawks 5a and 5b.
As shown in FIG. 2b, the processing operation of step F4 is performed to move the traversing retractable fork 20 to the center of the elevating space E.

The drive control operation circuit A performs the processing operation of step F5 to confirm that the traversing retractable fork 20 has reached the center, and performs the processing operation of step F5 to stop the traversing retractable fork 20.
6 processing operation is performed. As shown in FIG. 22c, the drive control operation circuit A includes both lifting hawks 5a,
5b is lowered.

Then, the drive control operation circuit A
Perform the processing operation in step 25 1 to determine whether or not a and 5b have descended one floor from the storage set floor,
When the descent is confirmed, the process moves to the descent return operation shown in step 25-2.

The step 25-2 is a downward return operation shown in FIG. 17, and the drive control operation circuit A carries out the processing operation of step G1 to return the traversing storage fork 20 as shown in FIG. The processing operation of step G2 is performed to determine whether the hawks 5a, 5b have reached the first floor above the ground. When the drive control operation circuit A determines that both elevating forks 5a and 5b have reached the first floor above ground in step G2,
Step G3 to stop both lifting hawks 5a and 5b
Performs processing operations.

Then, the drive control operation circuit A turns the warehousing setting lamps 35 and 38 to 0FF and the inventory display lamps 32X and 32.
At the same time as turning on Y, the processing operation of step 26 is performed to set the warehousing data indicating the completion of the warehousing operation for the warehousing set floor in the RAM 29, and this ground warehousing operation is completed.

Next, if the floor set for warehousing is underground, the drive control operation circuit A determines that it is underground in step 22, and performs a processing operation in step 27 to check whether the operation switch 50 is turned on. The drive control operation circuit A operates the operation switch 5.
If it is determined that 0 has been turned on, the process moves to the downward transfer operation shown in step 28.

The step 28 is a downward transfer operation shown in FIG. 18, in which the drive control operation circuit A first transfers the
As shown in FIG. 3a, when the process operation of step H1 is carried out to move the transverse movement hawk 20 to the center, and its arrival is confirmed in step H2, both elevating hawks 5a and 5b are moved as shown in FIG. 23b. The processing operation of step H3 is performed to lower the .

Then, the drive control operation circuit A
In step 29, it is determined whether or not a and 5b have descended by 50 cm from the storage floor. If it is determined that they have descended, the process moves to step 30, which is an upward return operation.

Step 30 is the upward return operation shown in FIG. 19, in which the drive control operation circuit A first performs the processing operation of step J1 to stop both the lifting forks 5a, 5b, and then returns to the lateral retraction as shown in FIG. 23c. The processing operation of step J2 for making the hawk 20 go back is performed. Then, the drive control operation circuit A performs the processing operation of step J3 to determine whether the return of the traversing and retracting fork 20 is completed, and when it is confirmed that the return is completed, both the elevating and lowering forks 5 are moved as shown in FIG.
The processing operation of step J4 is performed to raise a and 5b.

Furthermore, the drive control operation circuit A
Step J5 is performed to determine whether or not the elevating hawks 5a and 5b have reached the first floor above ground, and when it is confirmed, step J6 is performed to stop both elevating hawks 5a and 5b.

Then, the drive control operation circuit A performs the step 2 described above.
As in step 6, turn off the warehousing setting lamps 35 and 38.
The inventory display lamps 32X and 32Y are turned on, and the processing operation of step 31 is performed to set the warehousing data in the RAM 29, and this underground warehousing operation is completed.

Next, the processing operation of the drive control operation circuit A when performing underground simultaneous entry and exit will be explained.

This processing operation first performs a warehousing operation in the basement, and then, before returning both elevating hawks 5a and 5b to the first basement floor again, other cars C stored in the underground storage spaces X and Y are successively checked. This is a processing operation to issue goods.

The drive control operation circuit A first confirms underground storage in step 22, and then turns on the storage entry/exit setting switch 3 again in step 32 before turning on the operation switch 50 in step 27.
Determine whether 4 or 37 has been pressed. and,
As long as the loading/unloading setting switches 34 and 37 are not pressed, the processing operation returning to step 27 is repeated.

When the drive control operation circuit A determines in step 32 that the entry/exit setting switches 34, 37 have been pressed, it performs a processing operation in step 33 to determine whether the exit setting floor is underground. Then, if the set floor for exiting the warehouse is not underground, step 2 is performed again.
Step 3: The processing operation returns to Step 7, and if the set exit floor is underground, it is determined based on the inventory sensor 23 whether or not there is a car C in the storage spaces X and Y.
4 processing operation is performed.

Then, the drive control operation circuit A performs the step 3 described above.
When it is determined in step 4 that there is no car C in the storage spaces When it is determined that there is no C, it is not possible to take out from the storage spaces X and Y, so the processing operation of step 27 is performed again.

In the step 35, the drive control operation circuit A determines if the storage space X,
When it is determined that there is a car C in storage spaces X and Y even though it is determined that there is no car C in Y, it is determined that the inventory sensor 23 or RAM 29 is malfunctioning. Therefore, the processing operation of step 36 is performed, in which the failure indicator lamp 43 is turned on and the failure warning buzzer 45 is sounded, and the process ends.

When the drive control operation circuit A determines in step 34 that the vehicle C is in the storage spaces
The processing operation of step 37 is performed to confirm whether or not car C is present within the vehicle. Even though the drive control operation circuit A has determined in step 34 that the vehicle C is present in the storage spaces X and Y,
When it is determined in step 7 that there is no car C in the storage spaces X and Y, the processing operation in step 36 is performed and the process ends.

Conversely, the drive control operation circuit A performs step 37.
When it is determined that the car C is present in the storage spaces X and Y, the processing operation of step 38 is performed to check whether the operation switch 50 has been turned on, and when it is determined that the operation switch 50 has been turned on,
The process moves to step 39 shown in FIG. 9, that is, the downward transfer operation. Since step 39 is the previously explained upward return operation shown in FIG. 19, its explanation will be omitted.

Having completed the processing operation of step 39, the drive control operation circuit A performs the processing operation of step 40 to determine whether or not both elevating hawks 5a and 5b have descended one floor from the current storage floor, and both elevating hawks 5
When it is confirmed that a and 5b have descended by one floor, the processing operation of step 41 is performed to determine whether or not the next set floor for unloading is above the input floor.

When the drive control operation circuit A determines that the next set exit floor is higher than the entry floor, it executes a step in which both the elevating hawks 5a and 5b are stopped and the traversing storage hawk 20 is returned to its original position at the same time. 42 processing operations are performed. The drive control operation circuit A confirms the return of the traversing retractable fork 20 in step 43.
After performing the above processing operations, step 44 turns off the warehousing setting lamps 35 and 38 corresponding to the warehousing floor, turns on the inventory display lamps 32X and 32Y, and sets warehousing data in the RAM 29 corresponding to the warehousing floor. Performs processing operations.

Next, the drive control operation circuit A performs step 44.
After performing the above processing operations and completing the warehousing operation, the process moves to an upward receiving operation shown in step 45. Since the step 45 is the above-described upward receiving operation shown in FIG. 13, the explanation thereof will be omitted.

The drive control operation circuit A completes the operation of step 45 and determines whether the two elevating hawks 5a and 5b have risen 50 cm above the exit floor.
After performing the processing operation 6, the process moves to the downward receiving operation shown in step 47. The step 47 is the same as the above-described downward receiving operation shown in FIG. 15, so a description thereof will be omitted.

When the drive control operation circuit A completes the processing operation in step 47, the output setting lamps 36 and 39 corresponding to the output floor are set to 0FF, and the inventory display lamp 32 is set to 0FF.
X and 32Y are turned off, and the processing operation of step 48 is performed to clear the storage data in the RAM 29 corresponding to the storage floor, and this underground simultaneous storage and removal operation is completed.

Note that the drive control operation circuit A performs the step 41 described above.
In the processing operation, if it is determined that the next set exit floor is lower than the arrival floor, the horizontal retraction hawk 2
The processing operation of step 49 is performed to return 0 to its original position. The drive control operation circuit A then turns off the warehousing setting lamps 35 and 38, turns on the inventory display lamps 32X and 32Y, and performs the processing operation of step 50 to set the warehousing data in the RAM 29 corresponding to the warehousing floor.

Furthermore, the drive control operation circuit A
A and 5b are stopped when they are one floor below the storage floor, and step 51 is performed, and step 45 and subsequent steps are performed to complete this underground simultaneous storage/unloading operation.

Next, the processing operation of the drive control operation circuit A when simultaneous ground entry and exit is performed will be described.

This processing operation first performs a warehousing operation on the ground, and then returns to the first floor above ground with both elevating hawks 5a and 5b.
Continuously move to ground storage space X, Y before returning
This is a processing operation for taking out another car C that has been parked inside.

The drive control operation circuit A first confirms the ground entry in step 22, and then turns on the entry/exit setting switch 3 again in step 52 before turning on the operation switch 50 in step 23.
Determine whether 4 or 37 has been pressed. and,
As long as the loading/unloading setting switches 34, 37 are not pressed, the process of returning to step 23 is repeated.

When the drive control operation circuit A determines in step 52 that the entry/exit setting switches 34, 37 have been pressed, it performs a processing operation in step 53 to determine whether the exit setting floor is above ground.

If the set exit floor is not above ground, the processing operation returns to step 23 again, and if the exit set floor is above ground, the car
The processing operation of step 54 is performed to determine whether there is a stock or not based on the inventory sensor 23. When the drive control operation circuit A determines in step 54 that there is no vehicle C in the storage spaces X and Y, the drive control operation circuit A operates again.
Car C is stored in storage spaces X and Y by RAM29.
When it is determined that there is no car C, it is not possible to take it out of the storage spaces X and Y, so the process of step 23 is performed again.

In the step 55, the drive control operation circuit A determines if the storage space X,
When it is determined that there is a car C in storage spaces X and Y even though it is determined that there is no car C in Y, it is determined that the inventory sensor 23 or RAM 29 is malfunctioning. Therefore, the processing operation of step 56 is performed, in which the failure indicator lamp 43 is turned on and the failure warning buzzer 45 is sounded, and the process ends.

When the drive control operation circuit A determines in step 54 that the vehicle C is in the storage spaces
The processing operation of step 57 is performed to confirm whether or not car C is present within the vehicle. Even though the drive control operation circuit A has determined in step 54 that the vehicle C is present in the storage spaces X and Y,
When it is determined in step 7 that there is no car C in the storage spaces X and Y, the processing operation in step 56 is performed and the process ends.

Conversely, the drive control operation circuit A performs step 57.
When it is determined that the car C is present in the storage spaces X and Y, the processing operation of step 58 is performed to check whether the operation switch 50 has been turned on. The process moves to step 59 shown in the figure, ie, the upward transfer operation. Since step 59 is the above-described upward transfer operation shown in FIG. 16, its explanation will be omitted.

Having completed the processing operation of step 59, the drive control operation circuit A performs the processing operation of step 60 to determine whether or not both elevating hawks 5a and 5b have descended one floor from the storage floor they have just entered, and then both elevating hawks 5
When it is confirmed that a and 5b have descended by one floor, the processing operation of step 61 is performed to determine whether or not the next set floor for unloading is above the input floor.

When the drive control operation circuit A determines that the next set exit floor is higher than the entry floor, it executes a step in which both the elevating hawks 5a and 5b are stopped and the traversing storage hawk 20 is returned to its original position at the same time. 62 processing operations are performed. The drive control operation circuit A confirms the return of the traversing retraction hawk 20 in step 63.
After performing the above processing operations, the warehousing setting lamps 35 and 38 corresponding to the warehousing floor are turned OFF, the inventory display lamps 32X and 32Y are turned on, and the warehousing data is set in the RAM 29 corresponding to the warehousing floor at step 64. Perform processing operations.

Next, the drive control operation circuit A performs the step 64.
After performing the above processing operations and completing the warehousing operation, the process moves to an upward receiving operation shown in step 65. Since the step 65 is the above-described upward receiving operation shown in FIG. 13, the explanation thereof will be omitted.

When the drive control operation circuit A completes the operation in step 65, it determines in step 6 whether or not both elevating hawks 5a and 5b have risen 50 cm above the exit floor.
After performing the processing operation in step 6, the process moves to the downward receiving operation shown in step 67. Since the step 67 is the previously explained downward receiving operation shown in FIG. 12, its explanation will be omitted.

When the drive control operation circuit A completes the processing operation in step 67, it turns off the delivery setting lamps 36 and 39 corresponding to the delivery floor and turns off the inventory display lamp 3.
2X and 32Y are turned OFF, and the processing operation of step 68 is performed to clear the storage data in the RAM 29 corresponding to the storage floor, and this ground simultaneous storage and removal operation is completed.

Note that the drive control operation circuit A performs the step 61 described above.
In the processing operation, if it is determined that the next set exit floor is lower than the arrival floor, the horizontal retraction hawk 2
The processing operation of step 69 is performed to return 0 to its original position. The drive control operation circuit A then turns off the warehousing setting lamps 35 and 38, turns on the inventory display lamps 32X and 32Y, and performs the processing operation of step 70 to set the warehousing data in the RAM 29 corresponding to the warehousing floor.

Furthermore, the drive control operation circuit A
The processing operation of step 71 is performed to stop the motors a and 5b, and the processing operations of step 65 and subsequent steps are performed to complete this simultaneous above-ground loading/unloading operation.

As described in detail above, in this embodiment, the drive control operation circuit A determines whether or not the vehicle C is present in the storage spaces X and Y based on the inventory sensor 23 and the RAM 29, and Car C inside
It is not until it is determined that there is no car C present in the entrance E1 that the entry/exit setting switches 34 and 37 operated by the operator are made to function as the entry/exit command switch.

Therefore, if the worker accidentally
Even if the entry/exit setting switches 34 and 37 are operated even though the car C is already in Y, the drive control operation circuit A will not perform the entry operation, which is very safe.

Further, since the drive control operation circuit A does not carry out the parking operation even though there is no car C in the entrance E1, there is no need to worry about unnecessary parking operations.

The drive control operation circuit A uses the storage space X, based on the inventory sensor 23 and the RAM 29, as described above.
It is determined whether the car C is present in Y or not, and it is determined that the car C is present in the storage spaces X and Y, and,
The entry/exit setting switch 3 is operated by the worker only after determining that there is no car C in the entrance E1.
4 and 37 are operated as a retrieval command switch.

Therefore, if the worker accidentally
Even if the entry/exit setting switches 34 and 37 are operated even though there is no car C in Y, the drive control operation circuit A will not perform the exit operation, which is very safe. Furthermore, even though the car C is present in the storage spaces X and Y and the car C is present in the entrance E1, the drive control operation circuit A does not perform the unloading operation, so it is very safe.

Furthermore, in its processing operation, the drive control operation circuit A moves both the elevating forks 5a, 5b at a predetermined interval (50
cm or one floor), and if it is determined that it is okay to move the horizontal storage hawk 20 to the central position of the lifting space E or return to the storage spaces X and Y, both the lifting hawks 5a and 5b Simultaneously with the processing operation of raising or lowering the hawk 20, the traversing and retracting hawk 20 is moved up or down. Therefore, the time required for the processing operation can be shortened.

In addition, in the upward receiving operation, if the set floor for exit is six floors or more above the first floor above ground, the drive control operation circuit A starts the movement of the transverse storage hawk 20 to the center, and at the same time controls both elevating hawks 5a,
Since the lifting of the lifting hawk 5b is started, the time required for the processing operation can be shortened compared to the case where both the lifting hawks 5a and 5b are raised after the transverse storage hawk 20 has reached the center.

Moreover, when performing the processing operation, the drive control operation circuit A prevents the elevating hawks 5a and 5b from reaching the center of the lateral retracting hawk 20 when they reach 50 cm below the traversing retracting hawk 20. confirm. The receiving operation is continued only when the transverse retractable fork 20 has normally reached the center, and if there is any abnormality in the transverse retractable fork 20, the lifting of both elevating forks 5a and 5b is immediately stopped to avoid danger. can do.

Further, the drive control operation circuit A is configured such that in a simultaneous above-ground storage/unloading operation or an underground simultaneous storage/unloading operation, both lifting hawks 5a, 5b complete the storage operation, and both lifting hawks 5a, 5b do not place the car C. Before returning to the first floor above ground, an unloading operation is performed continuously, and then both elevating hawks 5a and 5b are returned to the first floor above ground. Therefore, unnecessary processing operations of both the lifting and lowering hawks 5a, 5b and the transverse storage hawk 20 can be omitted, and not only the time required for processing operations can be shortened, but also the operation by the operator becomes easier.

It should be noted that this invention is not limited to the above-mentioned embodiments, and can be modified as desired without departing from the spirit of this invention, such as applying it to a three-dimensional storage device for storing items other than car C. .

Effects of the Invention As detailed above, in the present invention, the presence or absence of stored objects in the storage space is double checked using a sensor and RAM, so that malfunctions and failures of the checking means are possible. This completely prevents collisions between vehicles in the storage space, and the operation command switch is controlled by the drive control operation circuit.
Since it operates in two ways, the warehousing command switch and the warehousing command switch, there is no need to select and operate two switches like in the past.This eliminates malfunctions caused by selection errors, and provides a highly reliable and safe system with simple operation. can perform various tasks.

[Brief explanation of drawings]

FIG. 1 is a front view showing the operation panel of a three-dimensional storage device for automobiles embodying the present invention, FIG. 2 is a longitudinal sectional view of the three-dimensional storage tower, and FIG. 3 is a cross-sectional view of the three-dimensional storage tower. Figure 4 is a cross-sectional view of the first floor above ground of the three-dimensional storage tower, Figure 5 is an enlarged front view of the main parts of the operation panel, Figure 6 is an electrical block circuit diagram of the three-dimensional storage tower, and Figures 7 to 7 are FIG. 19 is a flowchart showing the operation of the drive control operation circuit, and the seventh
The figure shows the underground and above ground retrieval operations, Figure 8 shows the underground and above ground retrieval operations, Figure 9 is a flowchart showing underground simultaneous retrieval and retrieval operations, and Figure 10 is a flowchart showing above ground simultaneous retrieval and retrieval operations. Figure, 11th
The figure is a flowchart showing the upward receiving operation.
12 is a flowchart showing the upward receiving operation, FIG. 13 is a flowchart showing the upward receiving operation, FIG. 14 is a flowchart showing the downward receiving operation, and 15 is a flowchart showing the downward receiving operation. 16 is a flowchart showing the upward transfer operation, FIG. 17 is a flowchart showing the downward return operation, FIG. 18 is a flowchart showing the downward transfer operation, and FIG. 19 is a flowchart showing the upward return operation. 20 a to e are diagrams showing the upward unloading operation of both the elevating forks and the transverse retracting hawk, and FIGS. 21 a to d are diagrams showing the downward unloading operation of both the elevating and lowering forks and the transverse retracting fork,
22a to 22d are diagrams showing the upward storage operation of both the elevating and lowering forks and the transverse storage hawk, and FIGS. 23a to d are diagrams showing the downward storage operation of both the elevating and lowering forks and the transverse storage hawk. Operation panel...1, Lifting hawk...5a, 5b, Rotary encoder...8, Traverse storage hawk...
20. Inventory sensor... 23. Entrance warehousing sensor...
26, RAM……29, Inventory display lamp……32
X, 32Y, warehouse entry/exit setting switch...34, 3
7. Drive control operation circuit...A, Car...C, Elevating space...E, Three-dimensional storage tower...P, Storage space...
X, Y.

Claims (1)

[Scope of Claims] 1. A lifting space E in which the lifting hawks 5a and 5b can be moved up and down, and a storage space
Y, and a transverse storage hawk 20 that is installed to be able to reciprocate between the storage spaces
In a three-dimensional storage device in which a and 5b are made to be able to intersect with each other for the delivery of a stored object C, there are confirmation devices 23 and 29 for checking the presence or absence of a stored object C in each storage space X and Y, and each storage space X. , Y, and one operation command switch 34, 37 for each storage space X, Y, respectively, and a drive control operation circuit that controls the operation of each of the devices. A is provided, and the confirmation of the presence or absence of stored items C in each storage space X and Y is memorized by the warehousing operation, and
Storage device 29 whose memory is erased by the unloading operation
and sensors 2 installed in each storage space X, Y.
This confirmation operation is input to the drive control operation circuit A, and under its control, if there is a stored object C in the storage spaces X and Y, it is used as an unloading command switch; As a warehousing command switch, the operation command switches 34, 37
An operation command method for a three-dimensional storage device in which each of the three-dimensional storage devices is made to perform two operations. 2 When there is no stored object C in a specific storage space
2. The operation command method for a three-dimensional storage device according to claim 1, wherein the warehousing operation is started on the condition that there is a stored object C in the storage device. 3 When there is a stored item C in a specific storage space
2. The operation command method for a three-dimensional storage device according to claim 1, wherein the unloading operation is started on the condition that there is no stored object C in the storage space B.