CN101597017A - Stack crane - Google Patents

Stack crane Download PDF

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Publication number
CN101597017A
CN101597017A CNA200910146558XA CN200910146558A CN101597017A CN 101597017 A CN101597017 A CN 101597017A CN A200910146558X A CNA200910146558X A CN A200910146558XA CN 200910146558 A CN200910146558 A CN 200910146558A CN 101597017 A CN101597017 A CN 101597017A
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CN
China
Prior art keywords
mentioned
stack crane
displacement
mentioned object
loading
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
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CNA200910146558XA
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Chinese (zh)
Inventor
水野智夫
袋井寿
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IHI Corp
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IHI Corp
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Publication of CN101597017A publication Critical patent/CN101597017A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

The present invention relates to stack crane.This stack crane is a kind of stack crane that can stow object, and it has: to the track of second direction extension; Constitute the chassis that on above-mentioned track, to walk; Be arranged at the loading attachment on the above-mentioned chassis, this loading attachment has: the loading part that can load above-mentioned object, make above-mentioned loading part at the mobile device that the first party with above-mentioned second direction quadrature moves up, the slewing arrangement that above-mentioned loading part is rotated on horizontal surface; The image pickup part that above-mentioned object is taken; Picture according to the above-mentioned object of having taken detects the displacement of above-mentioned object from the reference position, constitutes and should control the correcting device of the position of above-mentioned mobile device and the above-mentioned object of above-mentioned slewing arrangement correction according to above-mentioned detected displacement.

Description

Stack crane
Technical field
The present invention relates to be used for the stack crane to the deposit position of shelf etc. such as the object conveyance of goods, goods etc. in more detail, is related to the stack crane that has possessed the equipment that the position of object is revised.
Background technology
Be used having the automated warehouse that has stored store of goods, goods etc. on the magazine of many shelfs.In automated warehouse, in order on magazine, the object of goods, goods etc. to be put in storage or outbound and utilize stack crane.Stack crane can not only carry out horizontal conveyance with object usually, and can carry out vertical conveyance, can also carry out action that object is put into or taken out to each shelf, so can handle to warehouse-in or outbound that magazine automatically be carried out object.No. 3323957 communique of Japan's patent discloses the technology of stack crane.
Object need be put on the tram of each shelf.If not like this, will exist object to fall or object such as contacts at variety of issue with shelf.
Summary of the invention
The present invention proposes in order to overcome these problems.
According to a scheme of the present invention, can load and unload object stack crane its have: the track that extends to second direction; Constitute the chassis that on above-mentioned track, to walk; Be arranged at the loading attachment on the above-mentioned chassis, this loading attachment has: the loading part that can load above-mentioned object, make above-mentioned loading part at the mobile device that the first party with above-mentioned second direction quadrature moves up, the slewing arrangement that above-mentioned loading part is rotated on horizontal surface; The image pickup part that above-mentioned object is taken; Picture according to the above-mentioned object of having taken detects the displacement of above-mentioned object from the reference position, constitutes and should control above-mentioned mobile device and above-mentioned slewing arrangement according to above-mentioned detected displacement, the correcting device that the position of above-mentioned object is revised.
Preferred version is that above-mentioned correcting device has: store and reservoir in the corresponding Reference data of picture of the above-mentioned object of said reference position; And by contrasting based on the view data and the said reference data of the picture of the above-mentioned object of having taken, calculate of the above-mentioned displacement of above-mentioned object, constitute the control setup that to control above-mentioned mobile device and above-mentioned slewing arrangement according to the above-mentioned displacement of having calculated from the reference position.
Preferred in addition, above-mentioned correcting device has: the reservoir that stores Reference data; And the position data of calculating above-mentioned object according to the picture of the target label of the above-mentioned object of having taken, by above-mentioned position data and said reference data are contrasted, calculate of the above-mentioned displacement of above-mentioned object, constitute the control setup that to control above-mentioned mobile device and above-mentioned slewing arrangement according to the above-mentioned displacement of having calculated from the reference position.
Perhaps preferred, above-mentioned correcting device has light is radiated at light-projecting portion on the above-mentioned object.
Also preferred, above-mentioned light-projecting portion has the ultrared infrared radiation device of irradiation.
Preferred in addition, above-mentioned chassis has: with the upwardly extending pillar of third party of above-mentioned first direction and above-mentioned second direction quadrature, and the jacking system that makes above-mentioned loading attachment rise or descend along above-mentioned pillar.
Also preferred, above-mentioned image pickup part is fixed any one that select in the group that is made of above-mentioned pillar and above-mentioned jacking system.
Perhaps preferred, above-mentioned image pickup part is fixed on the position of overlooking above-mentioned loading attachment.
Preferred in addition, also have and constitute second mobile device that above-mentioned loading part is moved up in above-mentioned second party.
Description of drawings
Fig. 1 is the block diagram of automated warehouse that comprises the stack crane of first embodiment of the invention.
Fig. 2 is the block diagram of above-mentioned stack crane.
Fig. 3 is the birds-eye view of the loading attachment of above-mentioned stack crane.
Fig. 4 is the lateral plan of above-mentioned loading attachment.
Fig. 5 is the block scheme of correcting device that is used to revise the position of object in above-mentioned stack crane.
Fig. 6 is the birds-eye view that has marked the object of target label.
Fig. 7 is the block diagram of the stack crane of second embodiment of the invention.
Fig. 8 is the lateral plan of loading attachment of the stack crane of third embodiment of the invention.
The specific embodiment
Below, with reference to accompanying drawing, the embodiment that the present invention is enumerated describes.
First embodiment
With reference to Fig. 1 and Fig. 2, the stack crane 1A of first embodiment of the invention will have multistage 40 of many shelfs usually, go out to put in storage goods yard 60 and connect multistage 4 and make up with the track 50 that goes out to put in storage goods yard 60 and be used.In addition, comparatively convenient in order to make following explanation, with reference to as shown in FIG. X, Y, the direction of Z.Directions X is that direction (first direction), the Y direction that object is come in and gone out is that direction (second direction), the Z direction that track 50 extends is vertical direction (third direction).These all directions are generally just pitched mutually.Certainly, also not necessarily be defined in this.
As shown in Figure 1, possess for multistage 40 uniformly-spaced to erect be provided with many to pillar 41 with pillar 41 cross bars 42 connected horizontally.The space that 4 pillars of adjacency and cross bar up and down 42 are surrounded is exactly the storing portion 43 of folding and unfolding object.List along the storing portion 43 of a plurality of sections of vertical direction arrangements at each, along continuous straight runs is arranged a plurality of row.Each storing portion 43 constitutes, directly folding and unfolding object or pack into and be placed with the pallet of object.
Track 50 has the pair of tracks 51 of laying usually on ground and top board.Stack crane 1A is walked along track 50 by track 51 guiding.When track 50 extends along multistage 40, with the one end with go out to put in storage goods yard 60 and be connected.In illustrated embodiment, 2 multistage 40 across track 50, can unload object to any one multistage 40 of both sides from a stack crane 1A.
Go out to put in storage the belt conveyor that goods yard 60 has the carrying object usually.Replacing belt conveyor, both can be other Handling device, also can carry out a dead lift.At this moment, going out to put in storage goods yard 60 can be simple stacking ground.And, a plurality of goods yards 60 that go out to put in storage also can be set.
As shown in Figure 2, stack crane 1A have chassis 4, load object loading attachment 30, make the jacking system 20 of loading attachment 30 liftings.
Chassis 4 has chassis main body 5 and wheel (not shown) walking, the downside that is contained in chassis main body 5 on track 51.Chassis main body 5 has the propulsion source 7 (with reference to Fig. 5) of the propulsive effort of supplying with walking usefulness, supplies with the propulsion source 6 of propulsive effort to jacking system 20.These propulsions source 6,7 are connected with control setup 100 described later as shown in Figure 5, control by control setup 100.Control setup 100 both can carry on chassis 4, also can be arranged on its outside.As propulsion source 6,7, should carry out electronic control by control setup 100 easily, though can use electrical motor, also can be hydraulic efficiency gear or other engine installation.
Propulsion source 7 by the such power transmission of gear, can be connected with wheel drivingly.And propulsion source 6 can be connected with jacking system 20 drivingly by the such power drive of gear.Thus, under the control of control setup 100, chassis 4 and jacking system 20 are driven.Chassis 4 is subjected to such propulsive effort just along track 50 walkings.
Has column 21 on the jacking system 20 chassis main bodys 5 and along the bay-lift 24 of column 21 liftings.Vertical pair of posts 22 of extending that column 21 has and laterally set up in the upper end of pillar 22 and with they bonded assembly beams 23 (Z direction).Beam 23 is provided with a pair roller 23a who cooperates with last siding track 51 rotationally.One pair roller 23a is arranged to clamp from both sides track 51.And beam 23 is provided with image pickup part 300 described later.Image pickup part 300 is fixed on the position of overlooking loading attachment 30 described later.
Bay-lift 24 be subjected to propulsion source 6 propulsive effort and along column 21 liftings.Bay-lift 24 possesses loading attachment 30.With reference to Fig. 3 and Fig. 4, loading attachment 30 possesses: base portion 32, the loading part 31 that can relatively move with base portion 32 on directions X and the propulsion source (not shown) that is used for driving at directions X loading part 31.The structure of loading part 31 is can load object W thereon and be used for carrying.Though loading part 31 can adopt the form of hook and so on for example, the form of peviform, is not limited to these.Loading attachment 30 is connected with control setup 100 as shown in Figure 5, and under the control of control setup 100, drive loading part 31, can make object W along T to discrepancy.Have again, light-projecting portion 400 described later is set in the appropriate location of bay-lift 24.
Loading attachment 30 also possesses slewing arrangement 34.Slewing arrangement 34 is arranged on the centre of bay-lift 24 and base portion 32, and base portion 32 and loading part 31 are rotated on horizontal surface.Perhaps, slewing arrangement 34 also can be arranged between base portion 32 and the loading part 31, only makes loading part 31 rotations.Revolve shape device 34 as shown in Figure 5, be connected, under the control of control setup 100, drive loading part 31, object W is rotated in the horizontal direction with control setup 100.
Stack crane 1A also has above-mentioned each propulsion source of control and each device and revises the mechanism of the position of object.Promptly, stack crane 1A is as such mechanism, has correcting device 1000 as shown in Figure 5.Correcting device 1000 possesses: the image pickup part 300 of object W being taken and is converted to view data, store and reservoir 200 in the corresponding Reference data of picture of the object W of reference position, to the light-projecting portion 400 of object W irradiates light, and with they bonded assembly control setups 100.
Control setup 100 comprises central arithmetic processing apparatus (CPU), internal memory, various input/output unit, carries out operation of data and operation, by above-mentioned input/output unit each device is controlled then.
Reservoir 200 also stores the various programs and the data that are applicable to control setup 100 except storing Reference data.And reservoir 200 can store the data etc. of the computing of view data described later and relevant controlling device 100.The storage device that reservoir 200 can adopt hard disk unit, tape drive, flash memory etc. to be fit to.
Image pickup part 300 can utilize the digital camera that object W is carried out continuously and even makes a video recording intermittently, but does not limit so.Image pickup part 300 is under the control of control setup 100, and W makes a video recording to object, and image transitions is become view data.View data is sent to control setup 100.
Light-projecting portion 400 is under the control of control setup 100, to object W irradiates light.Light-projecting portion 400 is arranged on the bay-lift 24 usually being located near the object W, but the position that is provided with also is not limited thereto.
The work of stack crane 1A is as follows.
At first, control setup 100 control propulsions source 7 make chassis 4 walkings, make chassis 4 in abutting connection with going out to put in storage goods yard 60.Then, control setup 100 load controllers 30 by going out to put in storage goods yard 60 accepting object thing W, place it on the loading part 31.And then control setup 100 control propulsions source 7 make chassis 4 walkings, and control propulsion source 6 rises loading attachment 30, thereby makes loading attachment 30 and set storing portion 43 adjacency.
Control setup 100 load controllers 30 make loading part 31 move to directions X, thereby make object W be positioned at set storing portion 43.At this moment, control setup 100 makes 300 couples of object W of image pickup part take, and the image of the object W that photographs temporarily is stored in the control setup 100 as view data.Control setup 100 reads Reference data stored in the reservoir 200, contrasts with these view data, calculates the displacement of object W from the reference position.Displacement detects as the displacement of directions X, the displacement of Y direction and the displacement of hand of rotation.
Control setup 100 is revised the position of object W according to the above-mentioned displacement that is detected.Promptly, according to the displacement of directions X, the position of 30 pairs of directions Xs of load controller is revised; According to the displacement of Y direction, the position of 7 pairs of Y directions of control propulsion source is revised; The position of revolving 34 pairs of hand of rotation of shape device according to the displacement control of hand of rotation is revised.
By with upper type, object W is carried out the reference position revise.The detection of above-mentioned displacement and the correction of position can repeat to implement set number of times.Perhaps, also can implement the detection of displacement and the correction of position repeatedly, below displacement reaches set amount,
After the position of having revised object W, control setup 100 control propulsions source 6 reduce loading part 31 a little.Thereby object W is put into set storing portion 43.Afterwards, under the control of control setup 100, loading part 31 is drawn into, and makes loading attachment 30 move to set position.
According to present embodiment, the position of object W is revised make it and the reference position be consistent after, be put in the storing portion 43.At this moment, revise not only to X, Y direction, and to the position of hand of rotation.So, can avoid under storing clan, perhaps with variety of problems such as storing portion contact.
As above-mentioned understand, be used to revise the mechanism of the position of object W, all carry on stack crane 1A.Other key element as in multistage 40 or the warehouse needn't have such mechanism.And, also need not in the warehouse, to dispose cable that is used to connect between respectively installing and so on.
In the present embodiment, though image pickup part 300 is fixed on the beam 23, also can be fixed in other the position of overlooking loading attachment 30.Perhaps, also image pickup part 300 can be fixed on upwards with respect to loading attachment 30 horizontal directions or below.If when image pickup part 300 is fixed on the position of overlooking loading attachment 30, because its camera lens is towards the below, so camera lens is reduced by contamination of heavy such as dust.
Image pickup part 300 also can possess the optical profile type scaling device.The optical profile type scaling device can be controlled according to the mobile of Z direction of loading attachment 30.Perhaps, also can utilize digital zooming mechanism to replace the optical profile type scaling device.
The light of light-projecting portion 400 irradiations is white light normally, but both can replace white light with infrared light, also can be to define only to be the light of specific wavelength.Can suitably select according to the character of object W.Image pickup part 300 can suitably be selected according to the light of irradiation.For example when the irradiation infrared light, image pickup part 300 just can use infrared camera.Be defined as certain wavelengths and can have various advantages.For example, have light because of specific wavelength when changing the character of character, then be restricted to light with this wavelength different wave length, just can prevent the rotten of object by irradiation at object.
Have, object W also can be a plurality of target label M that possess as shown in Figure 6 again.At this moment, when reservoir 200 storage object thing W are in the reference position, with target label M should the corresponding Reference data in position, replace and be in the corresponding Reference data of picture of the object W of reference position.Control setup 100 calculates the position data of object W according to the picture of the target label M of the object W that has taken.Then, by with the contrast of position data and Reference data, thereby calculate the displacement of object W from the reference position.If the number of target label M is more than 3, can expect that then calculation of displacement is with more accurate.And target label M and object W compare, and preferably the difference of reflectivity is big.More preferably compare and have the more target label of high reflectance with object W.
Second embodiment
Below, with reference to Fig. 7, the second embodiment of the present invention is described.Among Fig. 7, the key element identical in fact with the key element of above-mentioned first embodiment put on identical label, in following explanation, omit its detailed explanation.
The bay-lift 24 of stack crane 1B possesses the support portion 500 of setting up as bridge above loading part 31.Image pickup part 300 is suspended on the support portion 500.Promptly, image pickup part 300 relative bay-lifts 24 fix, with bay-lift 24 1 liftings.
According to present embodiment, even bay-lift 24 liftings, because the relative position of image pickup part 300 and object W do not change, thereby image pickup part 300 captured pictures neither amplify also and do not dwindle.Promptly, owing to do not need respective handling that image is amplified or dwindles, thereby can alleviate the burden of the control setup 100 of following this computing.
The part of support portion 500 is made transparent, can be with image pickup part 300 sides disposed thereon.
The 3rd embodiment
Below, with reference to Fig. 8, the 3rd embodiment of the present invention is described.Among Fig. 8, the key element identical in fact with the key element of above-mentioned first embodiment or second embodiment put on identical label, in following explanation, omit its detailed explanation.
Loading attachment 600 and above-mentioned loading attachment 30 comparisons also have the sliding panel 700 (second mobile device) that is clipped in wherein between bay-lift 24 and slewing arrangement 34.Perhaps, both sliding panel 700 can be clipped between slewing arrangement 34 and the base portion 32, also it can be clipped between base portion 32 and the loading part 31.Constituting of sliding panel 700 makes its topside drive to the Y direction.
Moving of sliding panel 700 energy level by the combination of for example rack rails and gear.Sliding panel 700 is connected with control setup 100 and accepts its control.Promptly, sliding panel 700 is under the control of control setup 100, to Y direction driving loading part 31.
In the first embodiment, according to the displacement of Y direction, control propulsion source 7 is revised the position of object W and is advanced on the Y direction, carry out the correction of position but control sliding panel 700 in the present embodiment.Weight/power ratio is minimum mutually with stack crane for the topside of sliding panel 700.So, compared with driving whole stack crane, can carry out more accurate control in the Y direction, this is the favourable part of present embodiment.
In the above description, object is carried to multistage storing portion from going out to put in storage the goods yard.Above-mentioned any stack crane can both be used for object from the purpose of a storing portion to the carrying of another storing portion, or with object from storing portion to going out to put in storage the purpose that carry in the goods yard.
And as can be as can be known from above-mentioned explanation, the correction of the position of object is not limited to when storing portion puts in storage.Can carry out the correction of position at any time.For example, following various distortion can be arranged:, be in and carry out position correction etc. in the storing portion again making object carry out the correction of position before being in the position of storing portion.
Have, lower railway 51 also can not be one again, but parallel two.At this moment, also can omit and get on the right track 51 and roller 23a.
Though the several embodiments with reference to example describes the present invention, the present invention is not limited to above-mentioned embodiment.According to above-mentioned disclosed content, those skilled in the art can implement the present invention by modification and even distortion to embodiment.
The invention provides and possessed the stack crane that object is adapted to the mechanism of correct position, it can be used in related industry.

Claims (9)

1. stack crane that can stow object is characterized in that having:
Track to the second direction extension;
Constitute the chassis that on above-mentioned track, to walk;
Be arranged at the loading attachment on the above-mentioned chassis, this loading attachment has:
Can load the loading part of above-mentioned object,
The mobile device that above-mentioned loading part is moved up in the first party with above-mentioned second direction quadrature,
The slewing arrangement that above-mentioned loading part is rotated on horizontal surface;
The image pickup part that above-mentioned object is taken;
Picture according to the above-mentioned object of having taken detects the displacement of above-mentioned object from the reference position, constitutes and should control the correcting device of the position of above-mentioned mobile device and the above-mentioned object of above-mentioned slewing arrangement correction according to above-mentioned detected displacement.
2. the stack crane of putting down in writing according to claim 1 is characterized in that, above-mentioned correcting device has: store and reservoir in the corresponding Reference data of picture of the above-mentioned object of said reference position; And control setup, this control setup constitutes should be by contrasting based on the view data and the said reference data of the picture of the above-mentioned object of having taken, calculate of the above-mentioned displacement of above-mentioned object, control above-mentioned mobile device and above-mentioned slewing arrangement according to the above-mentioned displacement of having calculated from the reference position.
3. the stack crane of putting down in writing according to claim 1 is characterized in that, above-mentioned correcting device has: the reservoir that stores Reference data; And control setup, this control setup constitutes the position data that should calculate above-mentioned object according to the picture of the target label of the above-mentioned object of having taken, by above-mentioned position data and said reference data are contrasted, calculate of the above-mentioned displacement of above-mentioned object, control above-mentioned mobile device and above-mentioned slewing arrangement according to the above-mentioned displacement of having calculated from the reference position.
4. the stack crane of putting down in writing according to claim 1 is characterized in that, above-mentioned correcting device has light is radiated at light-projecting portion on the above-mentioned object.
5. the stack crane of putting down in writing according to claim 4 is characterized in that, above-mentioned light-projecting portion has the ultrared infrared radiation device of irradiation.
6. according to claim 2 or 3 stack cranes of being put down in writing, it is characterized in that, above-mentioned chassis has: with the upwardly extending pillar of third party of above-mentioned first direction and above-mentioned second direction quadrature, and the jacking system that makes above-mentioned loading attachment rise or descend along above-mentioned pillar.
7. the stack crane of putting down in writing according to claim 6 is characterized in that, above-mentioned image pickup part is fixed any one that select in the group that is made of above-mentioned pillar and above-mentioned jacking system.
8. according to claim 2 or 3 stack cranes of being put down in writing, it is characterized in that above-mentioned image pickup part is fixed on the position of overlooking above-mentioned loading attachment.
9. the stack crane of putting down in writing according to claim 1 is characterized in that, also has to constitute second mobile device that above-mentioned loading part is moved up in above-mentioned second party.
CNA200910146558XA 2008-06-04 2009-06-03 Stack crane Pending CN101597017A (en)

Applications Claiming Priority (2)

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JP2008147087A JP2009292582A (en) 2008-06-04 2008-06-04 Stacker crane
JP2008147087 2008-06-04

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