JPH0476881B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to an automatic warehouse capable of automatically loading and unloading objects containing grains such as rice, powder and granules such as cement and gravel.

<Conventional technology> Conventionally, for example, when storing rice in a warehouse, one ton of rice is stored in a bag made in a certain shape and made into a pack, and a forklift is used. The bags are picked up, transported, and placed at the designated location in the warehouse. Usually, such bags are stacked in two or three levels, but the higher they are, the more difficult it becomes to unload them.
Two or more workers are required to handle this bag. Similarly, two or more workers are required to load the bags onto a forklift in order to transport the bags containing rice from the warehouse.

In addition, in the case of a larger warehouse, a traveling crane that can travel in a horizontal plane, a traversing crane that can traverse in a horizontal plane perpendicular to the traveling direction of the traveling crane, and a traversing crane installed on the ceiling of the building. Some are equipped with a lifting device that is attached to a container and has a hanging device such as a hook for hanging a load at the lower end. In such a warehouse, it is relatively easy to move the bags containing rice, but if the bags are stacked in two or more levels, as mentioned above, two people are required in addition to the operator of the lifting device, etc. More workers will be required.

<Problems to be Solved by the Invention> When loading bags in multiple stages, whether using the conventional forklift mentioned above, or using a traveling crane, a traversing crane, or a lifting device, Also, when unloading, the weight of the bags handled is 1 ton, so it is difficult to secure a foothold for workers, which poses a safety problem. Because it has to be done, it requires multiple workers,
There is a problem in which it is difficult to expect improvement in work efficiency.

The present invention has been made in view of the above-mentioned actual situation in the prior art, and its purpose is to provide an automatic warehouse that can automatically load and unload objects to be transported in multiple stages. be.

<Means for Solving the Problems> In order to achieve this object, the present invention provides a building capable of storing objects to be transported, and a traveling frame disposed on the ceiling of the building and capable of traveling in a horizontal plane. a traversing device having a traversing frame that traverses in a direction perpendicular to the traveling direction of the traveling frame of the traversing device and is movable on a horizontal plane; and a lifting device attached to the traversing frame of the traversing device. , a gripping device that can be raised and lowered by the lifting device to grip a transported object, a traveling detection switch that detects the position of the traveling frame of the traveling device, and a traversing detection switch that detects the position of the traversing frame of the traversing device. , a height detection switch that detects the height position of the gripping device, a first imaging device that can take an image of the vicinity of the gripping device, and a first imaging device that can take an image of the vicinity of a reference position that is a reference for loading and unloading objects. a display device capable of displaying images according to signals sent from the first imaging device and the second imaging device; a traveling device, a traversing device, a lifting device, a gripping device, and a first imaging device. a commanding device for instructing the drive of the second imaging device, a commanding device for instructing a place where the object to be transported is scheduled to be placed, and a storage means for storing in advance a plurality of areas in which the object to be transported can be placed as coordinates. a traveling frame of the traveling device, a traversing frame of the traversing device, a lifting device, a first imaging device, a second In addition to outputting a drive signal to drive the imaging device of and a control device that outputs a stop signal to stop the movement of the gripping device.

<Operation> Since the present invention is configured as described above, when storing objects to be transported in a building, a predetermined process is carried out by an instruction from the indicating device, a command from the command device, and the operation of each detection switch. The traveling frame of the traveling device and the traversing frame of the traversing device travel until they are above the reference position for loading and unloading, and then the lifting device and the gripping device stop on the standard position, and the gripping device moves the object to be transported by driving the lifting device. is lowered to a position where it can be gripped, the gripping device is driven to grip the object to be transported, the lifting device is then driven to lift the gripping device to a predetermined height position where the height switch is activated, and the loading device is set by the indicating device. The traveling frame of the traveling device and the traversing frame of the traversing device travel and traverse in accordance with the location instruction and the command from the command device so as to correspond to an area corresponding to the scheduled placement location stored in the storage means, and a traveling detection switch is activated. When the traverse detection switch is activated, the traveling frame of the traveling device and the traversing frame of the traversing device are stopped, and the lifting device and the gripping device are positioned above the intended placement location. The grip on the transported object is released by the drive. In this way, the object to be transported can be automatically transported to a predetermined scheduled placement location. The same operation as described above is repeated when loading objects on multiple stages, and when unloading and carrying out the stacked objects, the operation is reversed to the above-mentioned reference position. can be automatically carried out. During the loading and unloading of the transported object, which is carried out as described above, an instruction device and a command are issued to grip and release the transported object via the first imaging device, the second imaging device, and the display device. The operator who operates the device can reliably visually confirm this.

<Example> The automatic warehouse of the present invention will be explained below based on the drawings.

FIGS. 1 and 2 are explanatory diagrams showing one embodiment of the overall configuration of the present invention, with FIG. 1 being a side view and FIG. 2 being a plan view.

As shown in FIGS. 1 and 2, this embodiment includes a building 2 in which objects to be transported, such as rice, can be stored and a shaped bag 1 placed in the ceiling of this building 2. a traveling device 3 having a traveling frame capable of traveling in a horizontal plane;
A traversing device 4 having a traversing frame movable in a horizontal plane, a lifting device 5 attached to the traversing frame of the traversing device 4, and a gripping device that can be raised and lowered by the lifting device 5 to grip the bag 1. 6.

The bag 1 described above is, for example, about 1 m long, about 1 m wide,
It is shaped like a rectangle, approximately 1m in height, and can hold 1 ton of rice.

The traveling device 3 described above also includes a rail 7 extending on both sides of the top of the building 2, a traveling frame 8 movable on the rail 7, and a traveling frame 8 as shown in FIG. The vehicle includes a travel motor 9 that drives the travel motor 9, a travel inverter 10 that controls the rotation speed of the travel motor 9, and a cable 11 that supplies power to the travel motor 9 and the travel inverter 10.

Further, the above-described traversing device 4 includes a traveling frame 8
A traversing frame 12 that is movable along its longitudinal direction, a traversing motor 13 that drives this traversing frame 12, a traversing inverter 14 that controls the rotation speed of this traversing motor 13, and these traversing motors 13, and a cable 15 that supplies power to the traverse inverter 14.

Further, the above-mentioned lifting device 5 includes a club hoist 16 including a wire (not shown) for suspending the gripping device 6, and a cable 17 that supplies power to a drive section of the club hoist 16.

Further, as shown in FIGS. 7 and 8, the above-mentioned gripping device 6 is rotatably provided on a frame 18 suspended from a wire (not shown) of the lifting device 5, and at the lower end of this frame 18. , and a pair of gripping portions 19 and 20 that overlap each other alternately as the rotational movement occurs;
It is arranged at the rotation fulcrum of the grip part 19, and the grip part 1
A gear 21 provided integrally with 9 and a grip part 20
A gear 22 disposed at the rotational fulcrum of the frame body 1 and integrally provided with the grip portion 20 and meshing with the gear 21;
8, an elevating body 24 that is guided by this guide 23 and can be raised and lowered, an electromagnet 25 provided at the lower end of this elevating body 24, one end of which is attached to the upper end of the grip part 19, and the other end of which is The links 26 are connected to the upper end of the elevating body 24 so as to be relatively rotatable.
, one end is attached to the upper end of the grip part 20, and the other end is attached to the elevating body 2.
It is rotatably supported by the frame 18 via a link 27 and a bracket 28, which are connected to the above-mentioned upper ends of 4 so as to be relatively rotatable, respectively, and one end is connected to the grip part 2.
The cylinder 30 is connected to the upper end of the gripper 0 so as to be relatively rotatable, and is extendable and retractable by a gripping motor 29. The rod 31 connected to the upper end of the grip part 20 of the cylinder 30 has teeth formed on its side surface, and a gear (not shown) attached to the output shaft of the motor 29 engages with the teeth. .

The above-mentioned elevating body 24 constitutes a holding means for holding the electromagnet 25 so as to be able to rise and fall, and the above-mentioned links 26 and 27 constitute an interlocking means for interlocking the gripping operation of the bag 1 and the elevating operation of the electromagnet 25. ing.

The above-mentioned bag 1 is equipped with a hanging string 32 on the upper edge, and the upper end of this hanging string 32 is attached to the above-mentioned electromagnet 2.
5 are connected by an adhesive fitting 33.

Further, this embodiment is equipped with a travel detection switch that detects the position of the travel frame 8 of the travel device 3, and this travel detection switch is configured to detect the position of the travel frame 8 on the rail along which the travel frame 8 is guided, for example, as shown in FIG. A photoelectric sensor 36 is mounted on a rod 35 fixed to the traveling frame 8 and whose light is cut off by the plate pieces 34. It's summery. In addition,
A plate 37 is provided facing the plate 34 at an interval of about 1 m and has a length longer than the plate 34, and a plate 38 is attached to the rod 35 described above, and the plate 37 allows light to be emitted. The photoelectric sensor 38 and the plate piece 37 constitute a sensor that detects the minimum deceleration start position of the traveling frame 8 of the traveling device 3, as will be described later.

Although not shown, plates similar to those shown in FIG. A first photoelectric sensor and a second photoelectric sensor corresponding to each pair of plate pieces described above are provided on the rod provided in the section. The first photoelectric sensor and one plate group constitute a traverse detection switch that detects the position of the traverse frame 12 of the traverse device 4, and the second photoelectric sensor and another plate group constitute Therefore, the rampant device 4
A sensor is configured to detect the lowest deceleration position of the transverse frame 12.

This embodiment also includes a height detection switch 39 for detecting the height position of the gripping device 6, and this height detection switch 39 is connected to the drum 40 of the club hoist 16 as shown in FIG. The cam is fixed and rotates in accordance with the rotation of the drum 40, and outputs a predetermined signal. For example, the first detection unit 41
The lower ends of the gripping parts 19 and 20 of the gripping device 6 are connected to the building 2.
The second detection unit 42 detects that the lower ends of the gripping parts 19 and 20 of the gripping device 6 have reached a position slightly higher than 2m from the floor of the building 2. Similarly, the third detection unit 43 detects that the position is slightly higher than 3m from the floor of building 2, and similarly the fourth detection unit 44 detects that the position is slightly higher than 4m from the floor of building 2. Similarly, the fifth detection unit 45 detects that the position has reached a slightly higher position than 5 m from the floor of the building 2, and the sixth detection unit 46 detects that the grip has reached a position slightly higher than 5 m from the floor of the building 2. It is detected that the device 6 has been raised to the uppermost position by the lifting device 5. As described above, a switch that detects the height position according to the rotation of a built-in cam is known.

Further, in this embodiment, as shown in FIG.
A video camera 47 is fixed. In addition, a second imaging device, that is, a second video camera 49 capable of capturing an image of the vicinity of the reference position 48 shown in FIG. It is provided on the wall 50 of 2.

Further, in this embodiment, as shown in FIGS. 1 and 2, an operation room 51 is provided which is connected to the building 2. As shown in FIG. 6, the operation room 51 includes a television connected to the first video camera 47, that is, a first display device 51a, and a television connected to the second video camera 49, that is, a first display device 51a. 2 display device 52, traveling device 3, traversing device 4, lifting device 5, gripping device 6, and first video camera 4
7. A push-button command device 53 for commanding the drive of the second video camera 49 and a keyboard-type command device 54 for supporting the intended placement location of the bag 1 described above are provided. Reference numeral 55 denotes a main body of a personal computer, and within this main body 55, a control device 56 is provided, which includes storage means for storing coordinates of areas in which the bag 1 can be placed in advance, and has logical judgment and arithmetic functions. 57 is a wireless device including the functions of the above-mentioned command device 53 and instruction device 54.

As shown in FIG. 9, the control device 56 described above includes an instruction device 54, a command device 53, and a photoelectric sensor 36.
a traveling detection switch including a photoelectric sensor (not shown), a traverse detection switch including a photoelectric sensor (not shown), and a height detection switch 3
9, wireless device 57, traveling device 3, traversing device 4, lifting device 5, gripping device 6, first video camera 4
7. A second video camera 49 etc. is connected. Although not shown here, a sensor for detecting the minimum deceleration start position of the traveling frame 8 of the traveling device 3 including the photoelectric sensor 38 shown in FIG. 4, and a minimum deceleration start position of the traveling frame 12 of the traveling device 4 (not shown) The sensor that detects the position is also connected to this control device 5.
6. As will be described later, this control device 56 controls the traveling device 3, the traversing device 4, and the lifting device 5 to correspond to the coordinates stored in the built-in storage means in response to signals from the indicating device 54 and the command device 53. , outputs a drive signal for driving the gripping device 6, the first video camera 47, and the second video camera 49, and also responds to detection signals sent from each of the running detection switch, traversing detection switch, and height detection switch. , traveling device 3
The running frame 8 of the traversing device 4, the traversing frame 1 of the traversing device 4
2. Output a stop signal to stop the movement of the gripping device 6 by the lifting device 5. In addition, the traveling frame 8 of the traveling device 3 and the traversing frame 1 of the traversing device 4
2, a signal for decelerating the traveling frame 8 of the traveling device 3 and the traversing frame 12 of the traversing device 4 is sent to these traveling devices 3 and traversing device 4. Output to.

Next, in the embodiment configured as described above, the operation of carrying the bag 1 to a predetermined scheduled placement location in the building 2 will be explained with reference to the flowcharts shown in FIGS. 10a, b, and c.

Incidentally, suppose that the traveling frame 8 of the traveling device 3, the traversing frame 12 of the traversing device 4, the lifting device 5, and the gripping device 6 are located somewhere in the building 2, for example, near the center, and the gripping device 6 is It is assumed that the opening state shown in FIG. 7 is maintained. In this state, the operator in the operation room 51 first performs the following steps as shown in step S1 in FIG. 10a.
The instruction device 54 is operated to instruct the grip device 6 to reach the reference position 48 shown in FIG. 2, and the instruction device 53 is then operated to move the first video camera 47, second video camera 49, and traveling device. 3, and commands the drive of the traversing device 4. As a result, the instruction signal P is output from the instruction device 54 to the control device 56,
The coordinates (reference coordinates) with respect to the reference position 48 are selected from the coordinates of a storage means built into the control device 56.

Next, as shown in step S2, in response to the command signal M, the control device 56 controls the first video camera 47,
Drive signals K1 and K2 are output to the second video camera 49, and drive signals are output to the travel inverter 10 and the traverse inverter 14 so as to correspond to the reference coordinates.
An image of the vicinity of the gripping device 6 is displayed on 1a, and an image of the vicinity of the reference position 48 is displayed on the second display device 52. Also, turn on the driving inverter 10.
The traveling motor 9 is driven accordingly, and the traversing motor 13 is driven as the traversing inverter 14 is turned on.
As a result, the traveling frame 8 and the traversing frame 12 move at a maximum speed of, for example, 20 m/s in the direction of the reference position 48.
Move at min.

Next, the process moves to step S3, and the control device 56 moves the traveling frame 8 and the traversing frame 12 to the reference position 48.
Whether or not the vehicle has reached the position one row ahead of the vehicle is determined based on the signals from the running detection switch and the traversing detection switch. This determination is based on the count number related to the coordinates of the storage means built into the control device 56, that is, the count number corresponding to the coordinates of the traveling frame 8 of the traveling device 3 and the traversing frame 12 of the traversing device 4 when in the stop position. It is stored separately, and from this count number, the number of signals output from the traveling detection switch and the traversing detection switch is sequentially subtracted as the traveling frame 8 of the traveling device 3 and the traversing frame 12 of the traversing device 4 move every about 1 m or more. However, the determination can be made based on whether the count number related to the running detection switch is 1 and the count number related to the traversing detection switch is 1. When the determination in step S3 is satisfied, the process moves to step S4.

In step S4, the first traveling deceleration signal Xa is output from the control device 56 to the traveling inverter 10, and the first traversing deceleration signal Ya is output to the traversing inverter 14. As a result, the rotation speeds of the traveling motor 9 and the traversing motor 13 are controlled to decrease, and the moving speeds of the traveling frame 8 and the traversing frame 12 are reduced to, for example, 10 m/min.

Next, the process moves to step S5, and the control device 56 determines whether the traveling frame 8 and the traversing frame 12 have reached the minimum deceleration start position. This determination is made based on whether or not signals are output from the sensor that detects the minimum deceleration start position of the traveling device 3 and the sensor that detects the minimum deceleration start position of the traverse device 4, respectively. When this determination is satisfied, the process moves to step S6.

In step S6, the second traveling deceleration signal Xb is output from the control device 56 to the traveling inverter 10, and the second traversing deceleration signal Yb is output to the traversing inverter 14. As a result, the rotation speeds of the traveling motor 9 and the traversing motor 13 are controlled to further decrease.
For example, the moving speed of the traveling frame 8 and the traversing frame 12 is set at about 20° at the reference position 48 depending on the length of the plate piece constituting the sensor that detects the minimum deceleration start position.
The speed is controlled at a very low speed of 4 m/min starting from a centimeter away.

Next, the process moves to step S7, and the control device 56 moves the traveling frame 8 and the traversing frame 12 to the reference position 48.
It is determined whether the vehicle has reached this point based on the signals output from the running detection switch and the traversing detection switch. When this determination is satisfied, the procedure
Move to S8.

In step S8, the control device 56 outputs a travel stop signal X0 to the travel inverter 10, and outputs a travel stop signal Y0 to the traverse inverter 14, whereby the travel inverter 10 and the traverse inverter 14
is turned OFF, and the traveling motor 9 and the traversing motor 13
stops, traveling frame 8 and traversing frame 1
2 stops at a position above the reference position 48.

Next, moving to step S9, the operator in the operation room 51 confirms the vicinity of the reference position 48 displayed on the second display device 52, and confirms that there are no people or foreign objects on this reference position 48, and that there is no object to be transported. Bag 1
Check if exists. Assume now that one bag 1 is placed at the reference position 48.

Next, the process moves to step S10, and the operator operates the instruction device 53 to instruct the driving of the lifting device 5. As a result, the command signal M is read into the control device 56.

Next, the process moves to step S11, where a hoist drive signal H is output from the control device 56 to the club hoist drive section, whereby the drum 40 rotates, a wire (not shown) is pulled out, and the gripping device 6 is lowered.

Next, the process moves to step S12, and the control device 56 determines whether the gripping device 6 has descended to a predetermined height position.
That is, the lower ends of the gripping parts 19 and 20 are at the reference position 48.
It is determined by the signal output from the height detection switch 39 whether or not the vehicle has reached a position slightly higher than 1 m from the floor surface of the vehicle. If a signal is output from the first detection section 41 of the height detection switch 39, it is determined that the gripping device 6 has descended to a predetermined height position,
Proceed to step S13.

In step S13, the hoist stop signal HO is output from the control device 56 to the club hoist drive section based on the signal output from the first detection section 41 described above, and the gripping device 6 is thereby stopped on the reference position 48. , the gripping device 6 is placed on the bag 1 placed at the reference position 48.
are facing each other.

Next, the process moves to step S14, and the operator operates the command device 53 to command the gripping device 6 to be driven. As a result, the command signal M is read into the control device 56.

Next, the process moves to step S15, where a gripping signal Z is output from the control device 56 to the gripping motor 29, and the electromagnet 2
5, the magnet excitation signal D is output, and a gripping operation is performed. This gripping operation will be explained with reference to FIGS. 7 and 8.

First, by energizing the electromagnet 25, the metal fitting 33 connecting the hanging string 32 of the bag 1 is adhered to the electromagnet 25, as shown in FIG. When the gripping motor 29 is driven in this state, the cylinder 30
The rod 31 begins to contract. This rod 31
As the grip 20 contracts, the grip 20 rotates clockwise in FIG. 7 using the center of the gear 22 as a rotation fulcrum, and the gear 21 that engages with this gear 22 rotates counterclockwise. The gripping portion 19 is integrated with the gear 21 as the seventh
Rotate counterclockwise as shown in the figure. That is, the grip part 1
The hook-like portions at the lower ends of 9 and 20 move toward each other. In addition, the gripping parts 19 and 2 as described above may also be used.
0, the links 26 and 27 are deformed to extend in the vertical direction, and as a result, the elevating body 2
4 is guided by the guide 23 and rises, and the elevating body 24
The electromagnet 25 rises integrally with the metal fitting 33 and the hanging cord 32. Then, while the elevating body 24 is rising near the upper limit, the gripping parts 19, 2
The hook-shaped portion at the lower end of the gripping portions 19 and 20 is inserted between the hanging strings 32, the adhesion between the metal fitting 33 and the electromagnet 25 is broken, and the hook-shaped portions at the lower ends of the gripping portions 19 and 20 are alternately overlapped to form the grip shown in FIG. state.

Then, step S15 shown in FIG. 10 a
After the operation, the process moves to step S16. In step S16, the operator in the operation room 51 uses the first video camera 47.
The image of the bag 1 is displayed on the first display device 51a through the
Check whether the hanging cord 32 is held correctly.

Next, the process moves to step S17 shown in FIG. 10b, and the operator in the operation room 51 operates the command device 53 to command the driving of the lifting device 5. As a result, the command signal M is read into the control device 56. Next, the process moves to step 18, and the hoist drive signal H is output from the control device 56 to the club hoist drive section, whereby the drum 40 is reversed, a wire (not shown) is wound up, and the gripping device 6 is raised while gripping the bag 1. .

Next, the process moves to step S19, and the control device 56 determines whether the gripping device 6 has risen to a predetermined height position, that is, the upper limit position, based on the signal output from the height detection switch 39. If a signal is output from the sixth detection section 46 of the height detection switch 39, it is determined that the gripping device 6 has risen to the predetermined upper limit position, and the process moves to step S20.

In step S20, a hoist stop signal HO is output from the control device 56 to the club hoist drive unit based on the signal output from the sixth detection unit 46 described above, and a magnet demagnetization signal DO is output to the electromagnet 25. As a result, the gripping device 6 stops on the reference position 48, and the electromagnet 25 is demagnetized.

Next, the process moves to step S21, where the operator in the operation room 51 operates the instruction device 54 to indicate the planned placement location of the bag 1, and then operates the instruction device 53 to indicate the second location.
The driver instructs the driver to stop driving the video camera 49 and to drive the traveling device 3 and the traversing device 4. This results in
An instruction signal P is output from the instruction device 54 to the control device 56, and the coordinates (placement coordinates) corresponding to the scheduled placement location are determined from the coordinates of the storage means built in the control device 56.
is selected.

Next, as shown in step S22, the control device 56 controls the second video camera 49 in response to the command signal M.
A drive stop signal KO2 is output to the drive stop signal KO2, and a drive signal is output to the travel inverter 10 and the traverse inverter 14 in accordance with the mounting coordinates. As a result, the traveling inverter 10 is turned on and the traveling motor 9 is driven, the traversing inverter 14 is turned on and the traversing motor 13 is driven, and the traveling frame 8 and the traversing frame 12 are moved to the highest position in the direction of the planned mounting location as described above. Moves at a speed of 20m/min.

Next, the process moves to step S23, and the control device 56 determines whether the traveling frame 8 and the traversing frame 12 have reached a position one row ahead of the scheduled placement location, based on the signals from the traveling detection switch and the traversing detection switch. . This determination is made based on the count number corresponding to the mounting coordinates.
2 is subtracted by 1 for each movement of about 1 m or more, and the determination can be made based on whether the count number related to the running detection switch becomes 1 and the count number related to the traversing detection switch becomes 1. When the determination in step S23 is satisfied, the process proceeds to step S24.

In step S24, the first traveling deceleration signal Xa is output from the control device 56 to the traveling inverter 10, and the first traversing deceleration signal Ya is output to the traversing inverter 14. As a result, the rotation speeds of the traveling motor 9 and the traversing motor 13 are controlled to be low, and the moving speeds of the traveling frame 8 and the traversing frame 12 are reduced to, for example, 10 m/min.

Next, the process moves to step S25, and the control device 56 determines whether the traveling frame 8 and the traversing frame 12 have reached the minimum deceleration start position. This determination is made by the sensor that detects the minimum deceleration start position of the traveling frame 8 of the traveling device 3, the traversing device 4
The determination is made based on whether a signal is output from each sensor that detects the minimum deceleration start position of the traversing frame 12. When this determination is satisfied, the process moves to step S26.

In step S26, the second traveling deceleration signal Xb is output from the control device 56 to the traveling inverter 10, and the second traversing deceleration signal Yb is output to the traversing inverter 14. Accordingly, the traveling motor 9 and the traversing motor 13 are controlled, and the moving speed of the traveling frame 8 and the traversing frame 12 is adjusted to approximately 400,000 yen, for example, at the scheduled placement location.
The speed is controlled to a very low speed of 4m/min from 20cm in front.

Next, the process moves to step S27, and the control device 56 determines whether or not the running frame 8 and the traversing frame 12 have reached the scheduled placement locations, based on the signals output from the traveling detection switch and the traversing detection switch, respectively. When this determination is satisfied, the procedure
Move on to S28.

In step S28, the control device 56 outputs a travel stop signal XO to the travel inverter 10, and outputs a travel stop signal YO to the traverse inverter 14, whereby the travel inverter 10 and the traverse inverter 14
is turned OFF, and the traveling motor 9 and the traversing motor 13
stops, traveling frame 8 and traversing frame 1
3 stops, and the traveling frame 8 and the traversing frame 12 stop at a position above the scheduled placement location.

Next, the process moves to step S29 shown in FIG. 10c, and the operator in the operation room 51 checks the image on the first display device 51a via the first video camera 47 to see if there are any people or foreign objects in the scheduled placement location. do.

Next, the process moves to step S30, and the operator operates the command device 53 to command the driving of the lifting device 5. As a result, the command signal M is read into the control device 56.

Next, the process moves to step S31, where a hoist drive signal H is output from the control device 56 to the club hoist drive section, whereby the drum 40 is reversed, a wire (not shown) is pulled out, and the gripping device 6 that grips the bag 1 is lowered.

Next, the process moves to step S32, and the control device 56 determines whether the gripping device 6 has descended to a predetermined height position, that is, a height position slightly larger than 1 m from the floor of the planned placement location, by checking the height detection switch. The determination is made based on the signal output from 39. If a signal is output from the first detection section 41 of the height detection switch 39, it is determined that the gripping device 6 has been lowered to a predetermined height position, and the process moves to step S33.

In step S33, a hoist stop signal HO is output from the control device 56 to the club hoist drive section based on the signal output from the first detection section 41 described above, and the bag 1 is thereby placed on the scheduled placement location. The gripping device 6 stops in this state.

Next, the process moves to step S34, and the operator in the operation room 51 operates the command device 53 to command the gripping device 6 to be driven. As a result, the command signal M is read into the control device 56.

Next, the process moves to step S35, where a grip release signal ZO is output from the control device 56 to the grip motor 29, and a grip release operation is performed.

This grip release operation will be explained with reference to FIGS. 7 and 8. First, when the gripping motor 29 is reversed in the state shown in FIG. 8, the rod 31 of the cylinder 30 starts to extend. As the rod 31 expands, the grip portion 20 rotates counterclockwise in FIG. 8 using the center of the gear 22 as a rotation fulcrum.
The rotation of the gripping part 20 causes the gear 22 to integrally rotate counterclockwise, the gear 21 that engages with this gear 22 rotates clockwise, and the gripping part 19 integrally rotates with this gear 21. Rotate clockwise in Figure 8.
That is, the hook-shaped portions at the lower ends of the gripping portions 19 and 20 move away from each other. Furthermore, as the gripping parts 19 and 20 rotate as described above, the links 26 and 27 are deformed so as to contract in the vertical direction, so that the elevating body 24 is guided by the guide 23 and lowered. By this operation, the hook-shaped portions at the lower ends of the grips 19 and 20 inserted into the hanging string 32 of the bag 1 are released from the hanging string 32, resulting in a state as shown in FIG. 7. However, at this time, the electromagnet 25
is not excited, so the metal fitting 33 is not actually attracted as shown in FIG.

Then, step S35 shown in FIG. 10c
After the operation, the process moves to step S36. In step S36,
An operator in the operation room 51 uses the first video camera 4.
7, it is confirmed by the image on the first display device 51a whether the grip on the hanging string 32 of the bag 1 has been released correctly.

Next, the process moves to step S37, and the operator in the operation room 51 operates the command device 53 to command the driving of the lifting device 5. As a result, the command signal M is read into the control device 56.

Next, the process moves to step S38, where a hoist drive signal H is outputted from the control device 56 to the club hoist drive section, whereby the drum 40 is reversed, a wire (not shown) is wound up, and the gripping device 6 is raised.

Next, the process moves to step S39, and the control device 56 determines whether the gripping device 6 has risen to a predetermined height position, that is, the upper limit position, based on the signal output from the height detection switch 39. If a signal is output from the sixth detection section 46 of the height detection switch 39, it is determined that the gripping device 6 has risen to the predetermined upper limit position, and the process moves to step S40.

In step S40, a hoist stop signal HO is output from the control device 56 to the club hoist drive section based on the signal output from the sixth detection section 46 described above, and the gripping device 6 is thereby stopped when the bag 1 is placed. Stop on location.

Next, the process moves to step S41, and the operator operates the command device 53 to command the first video camera 47 to stop driving. As a result, the command signal M is read into the control device 56.

Next, the process moves to step S42, where the control device 56 sends the first
A camera stop signal KO1 is output to the first video camera 47, thereby stopping the driving of the first video camera 47, and completing the series of loading operations.

Note that the bag 1 placed in the building 2 is at the reference position 4.
The work of carrying out up to 8 can be performed by the operations and movements in reverse to those described above. In addition, the same operation as described above and the second detection section 42, third detection section 43, and fourth detection section 4 of the height detection switch 39 are performed.
4. Based on the signal output from the fifth detection unit 45, the gripping device 6 is moved to a position slightly higher than 2 m, slightly higher than 3 m, slightly higher than 4 m, or slightly higher than 5 m from the floor of the building 2. Then, the bag 1 is stopped and placed on the floor of the building 2, and the bag 1 is further stacked on top of the bag 1 in two tiers, the bag 1 is stacked on top of it in 3 tiers, the bag 1 is stacked on top of that in 4 tiers, and the bag 1 is stacked on top of that in 4 tiers. It is possible to stack the bag 1 on top of it to create a 5-tier stack, and it is also possible to stack the bag 1 on top of it, and also to stack the bag 1 on top of it.
The stacked bags 1 can be carried out to the reference position 48.

Further, in the above description, the operator operates the instruction device 54 and the command device 53 in the operation room 51, but the same operation can be performed using the wireless device 57.

In the embodiment configured in this way, bags 1 containing one ton of rice can be automatically loaded in five stages, and bags 1 stored in the building 2 can be unloaded. , can be automatically carried out to the reference position 48,
Since manual loading and unloading by workers is not required, work safety can be ensured and work efficiency can be improved.

11a, b, c to 14 are explanatory diagrams showing other examples of the above-mentioned gripping device. FIG. 11a is a side view showing a state in standby for gripping operation, and FIG. An explanatory diagram showing the positional relationship between the grip part and the electromagnet in the state shown in Figure a, Figure 11c is the same as Figure 11a.
An explanatory diagram showing the positional relationship between the gripping part and the auxiliary arm in the state shown in FIG. 12a, a side view showing the state immediately before gripping, and FIG. FIG. 12c is an explanatory diagram showing the positional relationship between the gripping part and the auxiliary arm in the state shown in FIG. 12a, FIG. 13 is a side view showing the gripping state, and FIG. The figure is a side view showing the state when the grip is released.

The gripping device 60 shown in these figures has a main body 61
a cylinder 64 having a rod 63 that is fixed in the vertical direction of the main body 61 and expands and contracts by the drive of the gripping motor 62;
6, and a C-shaped grip 6 having a claw 67 at the lower end.
8. When the upper end 66 of the gripping portion 68 does not come into contact with the roller 65 of the rod 63 of the cylinder 64, the center of rotation 69 and the lower end of the claw 67 are located at approximately the same vertical axis, as shown in FIG. 12b. Its shape and dimensions are set so that it is located on the line.

Additionally, as shown in Figures 11c and 12c,
The rotation center 69 of the gripping portion 68 is illustrated, and is located on the front side (relative to the gripping portion 68), and the rotation center 69 of the gripping portion 68 is
A gear 70 is provided integrally with the main body 61, and a gear 71 is rotatably held by the main body 61 and engages with the gear 70 at the upper end.
As shown in FIGS. 11b and 12b, an auxiliary arm body 72 that integrally has a a pulley 75 that is rotatably provided and integrally has a gear 74 on the side that engages with the gear 73; one end is engaged with the pulley 75;
The wire 77 has a lower end connected to an electromagnet 76, and guide rollers 78 and 79 are rotatably provided on the main body 61 and guide the wire 77. The above-mentioned auxiliary arm body 72 is provided with a protrusion 80 at its lower end that protrudes toward the front in the drawing and can be engaged with the hanging cord 32.

In the gripping device 60 configured in this way,
In the standby state of gripping, as shown in FIGS. 11a, b, and c, the rod 63 of the cylinder 64 is extended and the roller 65 comes into contact with the upper end 66 of the gripping part 68, and the wire 77 is pulled out accordingly. , the electromagnet 76 is located below, the auxiliary arm body 72 is located on the side approaching the wire 77, and the claw 67 of the grip part 68 is located on the side that approaches the wire 77.
It is located on the side away from.

In this state, when the electromagnet 76 is excited and the gripping motor 62 is energized to contract the rod 63, the hanging string 32 of the bag 1 is connected as shown in FIGS. 12a, b, and c. The metal fitting 33 is the electromagnet 7
6 , and the claw 67 is inserted into the hanging cord 32 by the rotation of the grip 68 due to its own weight. At this time, the auxiliary arm body 72 rotates in a direction away from the wire 77 via the gears 70 and 71, and the pulley 75 rotates via the gears 73 and 74 to wind up the wire 77, and the electromagnet 76 rises. .

As the entire gripping device 60 rises, the claws 67 of the gripping part 68 engage with the upper end of the hanging string 32, that is, the position of the metal fitting 33, and the electromagnet 76 separates from the metal fitting 33, as shown in FIG. . This makes the bag 1 ready for loading and unloading.

Furthermore, when releasing the grip by the gripping device 60,
The operation opposite to the above is performed, but at this time the first
As shown in FIG. 4, when the grip part 68 is detached from the hanging string 32, the protruding part 80 of the auxiliary arm body 72 engages with the hanging string 32, so that the hanging string 32
is prevented from being dragged in the direction of the claw 67, and the claw 6
7 can be reliably performed.

Similarly to the gripping device 6 described above, the gripping device 68 configured in this way can also grip the hanging string 32 of the bag 1 and release the grip in a good manner. Moreover, since no special elevating body or guide is required, the number of parts is small, the structure can be simplified and downsized, and the manufacturing cost can be reduced.

<Effects of the Invention> Since the automatic warehouse of the present invention is configured as described above, it is possible to automatically load and unload objects to be transported across multiple stages, thereby improving work safety and efficiency. It has the effect of realizing the In particular, the present invention provides an indication device, so that the transported object can be easily and reliably stored at the scheduled placement location intended by the operator. The storage location can be determined arbitrarily, and by providing the second imaging device, when carrying in and out of the transported object, it is possible to prevent people or foreign objects from near the reference position that is the reference point for carrying in and out of the transported object. It is possible to check whether the item is present or not using images, and it is also excellent in safety during loading and unloading.

[Brief explanation of the drawing]

1 and 2 are explanatory diagrams showing one embodiment of the overall configuration of the present invention. FIG. 1 is a side view, FIG. 2 is a plan view, and FIG. 3 is an enlarged view of the traveling device and the traversing device. 4 is a perspective view showing the running detection switch, FIG. 5 is a perspective view showing the height detection switch, FIG. 6 is an enlarged perspective view showing the inside of the operation chamber, FIG. FIG. 8 is an explanatory view showing an example of the gripping device provided in this embodiment, FIG. 7 is a front view showing the state when opened, FIG. 8 is a front view showing the state when gripping, and FIG. 9 is a front view showing the state when gripping. A block diagram showing the electrical connections of the basic elements of this embodiment, Figures 10a, b,
11c is a flowchart showing the operating procedure in this embodiment, FIGS. 11a, b, c to 14 are explanatory diagrams showing other examples of the gripping device, and FIG. 11a shows the state in standby for gripping operation. The side view shown in Fig. 11b is the first
FIG. 11c is an explanatory diagram showing the positional relationship between the grip part and the electromagnet in the state shown in FIG. 1a, FIG. 11c is an explanatory diagram showing the positional relationship between the grip part and the auxiliary arm in the state shown in FIG. Figure a is a side view showing the state immediately before gripping, Figure 12b is an explanatory diagram showing the positional relationship between the gripping part and the electromagnet in the state shown in Figure 12a, and Figure 12c is the state shown in Figure 12a. FIG. 13 is a side view showing the grip state, and FIG. 14 is a side view showing the state when the grip is released. 1... bag, 2... building, 3... traveling device, 4...
...Traversing device, 5... Lifting device, 6... Gripping device,
19, 20...Gripping part, 25...Electromagnet, 32...
...Hanging string, 33...Metal fittings, 34...Plate piece, 36
...Photoelectric sensor, 39...Height detection switch, 4
7...first video camera (first imaging device),
49... second video camera (second imaging device),
51a...first display device, 52...second display device, 53...command device, 54...instruction device, 5
6...control device, 60...gripping device, 68...gripping section, 76...electromagnet.

Claims (1)

[Claims] 1. A building capable of storing objects to be transported, a traveling device having a traveling frame disposed on the ceiling of the building and capable of traveling in a horizontal plane, and a traveling direction of the traveling frame of this traveling device. a traversing device having a traversing frame that traverses in a direction perpendicular to the traversing device and is movable in a horizontal plane; an elevating device attached to the traversing frame of the traversing device;
a gripping device capable of gripping the object to be transported; a travel detection switch that detects the position of the travel frame of the travel device; a traverse detection switch that detects the position of the travel frame of the traverse device; and a height of the grip device. a height detection switch that detects the position; a first imaging device capable of imaging the vicinity of the gripping device; and a second imaging device capable of imaging the vicinity of a reference position that serves as a reference for loading and unloading the object. , a display device capable of displaying images according to signals sent from the first imaging device and the second imaging device, the traveling device, the traversing device, the lifting device, the gripping device, and the first imaging device and the second imaging device. a command device for instructing the drive of the second imaging device, an instruction device for instructing the scheduled place for placing the object to be transported, and a storage means for storing in advance a plurality of areas in which the object to be transported can be placed as coordinates. , a traveling frame of the traveling device, a traversing frame of the traversing device, an elevating device, a gripping device, and a first imaging device so as to correspond to the coordinates stored in the storage means according to signals from the indicating device and the command device. In addition to outputting a drive signal to drive the device and the second imaging device, the traveling frame of the traveling device and the traversing device are An automatic warehouse comprising a traversing frame and a control device that outputs a stop signal to stop the movement of a gripping device by an elevating device. 2. The automatic warehouse according to claim 1, wherein the transported object has a hanging cord, and the gripping device grips the hanging cord. 3. The automated warehouse according to claim 1, wherein the object to be transported has a metal fitting, and the gripping device has a magnet capable of attracting the metal fitting. 4. Claim 3, characterized in that the gripping device has a holding means for holding the magnet so as to be able to move up and down, and also includes an interlocking means for interlocking the gripping operation for the object to be transported and the lifting and lowering operation of the magnet. automatic warehouse.