CN105253506B

CN105253506B - The waggon of automated warehouse

Info

Publication number: CN105253506B
Application number: CN201510386297.4A
Authority: CN
Inventors: 小田和代
Original assignee: Murata Machinery Ltd
Current assignee: Murata Machinery Ltd
Priority date: 2014-07-08
Filing date: 2015-06-30
Publication date: 2019-06-14
Anticipated expiration: 2035-06-30
Also published as: CN105253506A; JP6340963B2; JP2016016934A

Abstract

A kind of waggon of automated warehouse is provided, is the waggon for carrying out conveying and the transfer of cargo in automated warehouse, the electrical storage device miniaturization used when the problems such as generating power failure in the supply of external power can be made.It is stack crane (30), it is configured at automated warehouse (1), the handover and conveying of cargo (10) are carried out by the external power being externally supplied, have: shifting apparatus (40), the advance and retreat driving device (50) that there is the slip yoke (59) for the transfer for carrying out cargo (10) by retreating and the advance and retreat of slip yoke (59) are driven；Travel driving unit (70) drives the walking of stack crane (30)；Control device (80) at least controls the movement of advance and retreat driving device (50)；And electrical storage device (90), advance and retreat driving device (50) and control device (80) are supplied electric power, not the electric power to travel driving unit (70) supply for walking.

Description

The waggon of automated warehouse

Technical field

The present invention relates to the waggons for the conveying operation that cargo is carried out in automated warehouse.

Background technique

In the past, there is the waggon of the bracket having with multiple shelves and the conveying for carrying out cargo (for example, heap loads Heavy-duty machine) automated warehouse.In such automated warehouse, waggon corresponded to the conveying of the cargo of instruction paid Operation.In the conveying operation of cargo, such as comprising: cargo is delivered to specified shelf, which is placed on this puts The operation of plate；And the operation for receiving cargo from specified shelf and being transported to defined place.

The waggon of such conveying operation is carried out for example, by acting by electric power (external power) is externally supplied Motor, come carry out walking and cargo transfer driving.Therefore, it is needed for waggon for the countermeasure having a power failure.

Such as in patent document 1, it discloses the case where carrying the battery as driving source on stack crane.At this Have in the automated warehouse of stack crane, is provided with charging unit on the ground, the original at the movement routine end of stack crane Point position, is provided with the plug of the charging unit engaged with stack crane.

According to this structure, when stack crane revert to origin position, battery is electrically charged, and can make stack crane Always walking is carried out by the electric power from battery and storage acts out.

Patent document 1: Japanese Patent Publication 5-56815 bulletin

In above-mentioned previous technology, when having a power failure, the electric power of conveying operation is carried out to cargo for stack crane, by The battery for being equipped on stack crane provides.Therefore, when having a power failure, stack crane is needed unceasingly to execute usually such make On the other hand industry for the battery, needs to accumulate the electric energy that usually such operation can be made to continue in advance.

Such situation will lead to the enlargement for being equipped on the battery of stack crane, weight increase and increased costs Deng.

Summary of the invention

The present invention considers above-mentioned previous project, and its purpose is to provide a kind of to carry out the defeated of cargo in automated warehouse It send and the waggon of transfer, can make to generate in the supply of external power and have a power failure or instantaneous voltage reduces (hereinafter, also referred to as Make " have a power failure etc. ".) the problem of when use electrical storage device miniaturization.In addition, " power failure " also includes instantaneous power-off.

To achieve the goals above, waggon involved in a scheme of the invention is to be configured at automated warehouse, is passed through The external power being externally supplied carries out the handover and conveying of cargo, which has: shifting apparatus, have by into Move back the first driving device to carry out the backward member of the transfer of cargo and be driven to the advance and retreat of above-mentioned backward member；The Two driving devices drive the walking of above-mentioned waggon；Control device at least controls the dynamic of above-mentioned first driving device Make；And electrical storage device, above-mentioned first driving device and above-mentioned control device are supplied electric power, without to above-mentioned second driving Unit feeding is used for the electric power of above-mentioned walking.

According to this constitution, accumulation is used for the advance and retreat driving of backward member in the electric power of electrical storage device, also, it is not used in defeated Send the hoofing part of vehicle.Even if for example reducing (instantaneous voltage decline) since power failure or instantaneous voltage occurs as a result, and cannot In the case where enough carrying out the operation that waggon should execute, it can also guarantee that the backward member of the transfer for cargo is (sliding Moving fork or arm etc.) advance and retreat driving.That is, at least can when the problems such as generating power failure in the supply of external power Backward member is set to be back to the normal position in shifting apparatus (storage of backward member).

For example, even if when shifting apparatus just aloft carry out cargo transfer when occur have a power failure or instantaneous voltage decline In the case of, it can also prevent the storage of backward member to abend and at least execute backward member.It therefore, can be relatively early At the time of carry out after the operation (force walking etc.) for recovery.I.e. it is capable to shorten extensive whens power failure etc. occurs Time required for multiple.

Moreover, the electric power of electrical storage device is not consumed in the hoofing part of waggon, as long as electrical storage device for example can Accumulation is only capable of executing the electric power for the degree for once making the backward member for keeping or loading cargo be back to entopic movement , therefore the capacity of electrical storage device can be made smaller.I.e. it is capable to realize the miniaturization of electrical storage device.Moreover, also can It is enough to utilize for example cheap electrical storage device.

Moreover, the region or period high in the frequency that power failure etc. occurs, are equipped on the use of the electrical storage device of waggon Frequency is also got higher.However, as described above, in the waggon in this programme, actually being driven only for the storage of backward member Electric power that is dynamic and consuming electrical storage device, therefore generation repeatedly power failure etc. is just coped with by an electrical storage device.

In this way, the waggon of this programme is the storage that can make to use when the problems such as generating power failure in the supply of external power The waggon of electric installation miniaturization.

Moreover, in the waggon involved in a scheme of the invention, or, above-mentioned electrical storage device and above-mentioned the One driving device and the electrical connection of above-mentioned control device, also, are not electrically connected with above-mentioned second driving device, thus to above-mentioned the One driving device and above-mentioned control device supply electric power, the electricity without being used for above-mentioned walking to the supply of above-mentioned second driving device Power.

In the waggon of this programme, in the electric circuit (wiring) for carrying out power supply to each element, electric power storage Device is connect with the driving device (first driving device) of backward member, also, electrical storage device is not filled with the driving of walking Set (the second driving device) connection.

In the case where realizing that generation has a power failure or instantaneous voltage declines by electrical connection (hardware) The movement of backward member guarantees and prevents the electric power that electrical storage device is consumed by hoofing part.That is, in external power It does not need to judge whether to be had a power failure in supply or the processing of instantaneous voltage decline etc..

Moreover, in the waggon involved in a scheme of the invention, or, above-mentioned control device also control from Electric power from above-mentioned electrical storage device to the supply walking of above-mentioned second driving device on and off, above-mentioned electrical storage device is, The electric power of walking is supplied from above-mentioned electrical storage device to above-mentioned second driving device by being disconnected from above-mentioned control device, it is thus right Above-mentioned first driving device and above-mentioned control device supply electric power, without being used for above-mentioned row to the supply of above-mentioned second driving device The electric power walked.

According to this constitution, even if the case where electrical storage device is electrically connected with first driving device and the second driving device Under, by the control of control device, also can be realized supplies electric power electrical storage device to first driving device, without driving to second The state of electric power of the dynamic unit feeding for walking.

Therefore, waggon can for example be constituted using following: by the driving portion of first driving device, (such as fork uses horse Up to) and the second driving device driving portion (such as walking use motor), to share the driving circuit comprising converter etc., will store Electric installation is connected to the driving circuit.I.e. it is capable to carry out control as follows: making to supply from electrical storage device to driving circuit Power consumption makes it be consumed in hoofing part in the movement of first driving device, also, not.As a result, it is possible to realize by driving electricity The brings such as the sharing on road, the simplification of the composition of waggon and electrical storage device miniaturization.

Moreover, in the waggon involved in a scheme of the invention, or, above-mentioned electrical storage device is, not During driving above-mentioned backward member to retreat by above-mentioned first driving device, charged by said external electric power, During driving above-mentioned backward member to retreat by above-mentioned first driving device, by above-mentioned first driving device and above-mentioned Control device supplies electric power to discharge.

According to this constitution, for example, due to during waggon is walked carry out electrical storage device charging, in waggon During the charging for certainly exist in the case where conveying operation electrical storage device, also, do not pass through during waggon walking Shifting apparatus consumes the electric power of electrical storage device.Thus, for example, can will be accommodated into common conveying operation The electric power of the degree of component is moved back to the accumulation of electrical storage device.

Moreover, waggon involved in a scheme of the invention may be to be also equipped with first sensor, first biography Sensor indicates whether above-mentioned backward member is located at the entopic signal in above-mentioned shifting apparatus to the output of above-mentioned control device, Above-mentioned electrical storage device also supplies electric power above-mentioned first sensor.

According to this constitution, can detect whether backward member returns to normal position, therefore, example by first sensor Such as, had occurred in the state that shifting apparatus is in eminence in the case where having a power failure etc., can be easy confirmation backward member whether by Reliably store.

Moreover, waggon involved in a scheme of the invention may be to be also equipped with: test section, to above-mentioned outer Occur to have a power failure in the supply of portion's electric power or instantaneous voltage reduction is detected；And second sensor, Xiang Shangshu control device Signal in above-mentioned waggon, relevant to the movement other than the advance and retreat of above-mentioned backward member is exported, above-mentioned control device is, It is detected in the case where above-mentioned power failure or the reduction of above-mentioned instantaneous voltage occurs, is ignored from above-mentioned second sensing by above-mentioned test section The signal of device output.

According to this constitution, for example, the case where certain abnormal (for example, walking abends) has occurred in waggon Under, it can judge that the factor of the exception is power failure etc. or other phenomenons by control device.Moreover, occurring in waggon The exception abnormal conditions that are due to have a power failure etc. under, even if assuming the case where second sensor outputs the signal for indicating abnormal Under, control device can make the storage of first driving device execution backward member also by the ignorance signal.

I.e. it is capable to more reliably execute the storage that the backward member in the case where having a power failure etc. has occurred.

Moreover, waggon involved in a scheme of the invention may be that the waggon is that have at least to be configured with The stack crane of the lifting platform of above-mentioned shifting apparatus and the third driving device that the lifting of above-mentioned lifting platform is driven, on Electrical storage device is stated at least to comprising including above-mentioned first driving device, more than one electrically setting of being configured at above-mentioned lifting platform It is standby to supply electric power, without being supplied electric power to above-mentioned second driving device and above-mentioned third driving device.

According to this constitution, can be realized following stack crane: having lifting platform, and can be by from more small-sized Electrical storage device slip yoke whens supplying electric power have occurred in the supply of external power having a power failure etc. storage.

Invention effect

In accordance with the invention it is possible to provide a kind of waggon of conveying and transfer for carrying out cargo in automated warehouse, energy Enough make the electrical storage device miniaturization used when the problems such as generating power failure in the supply of external power.

Detailed description of the invention

Fig. 1 is the perspective view for indicating the composition summary of the automated warehouse in embodiment.

Fig. 2 is the main view for indicating the composition summary of the stack crane in embodiment.

Fig. 3 is the block diagram constituted substantially for indicating the stack crane in embodiment.

Fig. 4 is the figure for indicating the concrete example of the composition relevant to the power supply of stack crane in embodiment.

Fig. 5 is the figure in the direction of power supply whens indicating in composition shown in Fig. 4, occur to have a power failure etc..

Fig. 6 is the figure for indicating the configuration example of the stack crane by walking motor and fork motor common drive circuit.

Fig. 7 is one example of others for indicating the waggon of the electrical storage device for the storage for having for backward member, i.e. The perspective view of the summary of conveying carrier.

Description of symbols

1 automated warehouse

10 cargos

12 lower guideways

13 upper rails

15 aerial handling lines

30,30a stack crane

31 masts

32 lower part trolleys

33 top trolleys

35 lifting platforms

40 shifting apparatus

50 advance and retreat driving devices

51 forks use driving circuit

52 forks use motor

53,63,73 switch

59 slip yokes

60 lifting drives

Driving circuit is used in 61 liftings

62 lifting motor

70 travel driving units

Driving circuit is used in 71 walkings

Motor is used in 72 walkings

80 control devices

90,90a electrical storage device

95 converters

101 power failure sensors

102 fork position sensors

103 walking position sensors

130 conveying carriers

132 trolley portions

140 shifting apparatus

150 arms

151 tops

152 middle parts

153 base portions

160 walking roads

200 brackets

201 pillars

202 shelves

210 stations

Specific embodiment

Hereinafter, the waggon for the automated warehouse being described with reference in embodiments of the present invention.In addition, each figure is signal Figure, the figure not necessarily strictly illustrated.

Moreover, embodiment described below shows blanket or specific example.Shown in the following embodiments and the accompanying drawings Numerical value, shape, material, constituent element, the allocation position of constituent element and connection form out etc. are an examples, are not Limit purport of the invention.Moreover, about independence in the constituent element in the following embodiments and the accompanying drawings, indicating upper concept The constituent element that claim is not recorded is illustrated with arbitrary constituent element.

Firstly, illustrating the automated warehouse 1 and stack crane 30 in embodiments of the present invention using Fig. 1 and Fig. 2 Composition summary.

Fig. 1 is the perspective view for showing the composition summary of the automated warehouse 1 in embodiment.

Fig. 2 is the main view for showing the composition summary of the stack crane 30 in embodiment.In addition, being omitted in Fig. 2 The diagram for the bracket 200 that automated warehouse 1 has.

As shown in Figure 1, the automated warehouse 1 in embodiment has 200 He of bracket that can store multiple cargos 10 Stack crane 30.

Stack crane 30 is an example of waggon.In the present embodiment, as shown in Figure 1 and Figure 2 like that, heap Load two masts that heavy-duty machine 30 has lower part trolley 32 and top trolley 33, connects lower part trolley 32 and top trolley 33 Bar 31 and the lifting platform 35 gone up and down along two masts 31.

Lower part trolley 32 is the trolley walked along the lower guideway 12 for being for example set to ground, and top trolley 33 is along example Such as it is set to the trolley that the upper rail 13 in ceiling face is walked.

Travel driving unit 70 is configured at lower part trolley 32, and stack crane 30 is driven by travel driving unit 70 Walking.In addition, lower part trolley 32 and 33 synchronizing moving of top trolley, two masts 31 are maintained big with vertical direction as a result, Cause parallel posture.

The shifting apparatus 40 for carrying out the transfer of cargo 10 is set to lifting platform 35.Shifting apparatus 40 in present embodiment is The device of the transfer of cargo 10 is carried out by slip yoke 59.Slip yoke 59 is an example of backward member, by for example by The telescopic configuration that upper plate, middle plate and substrate are constituted comes the direction along bracket 200 and retreats (flexible).

Lifting platform 35 is by wire rope suspensioning, corresponding to the rotation of lifting motor possessed by lifting drive 60, and It is gone up and down while guidance by two masts 31.

Stack crane 30 is walked along track (lower guideway 12 and upper rail 13), goes up and down lifting platform 35, also, make The slip yoke 59 of shifting apparatus 40 is retreated.Stack crane 30 can in this way movement carry out cargo 10 conveying and The handover (transfer) of cargo 10 between bracket 200 and station 210 etc..

In addition, station 210 is the temporary mounting place of cargo 10.For example, being accommodated in the cargo 10 of bracket 200 by stowing Crane 30 and taken out and conveyed from bracket 200, after being temporarily placed in station 210, transported to the outer of automated warehouse 1 Portion.

In stack crane 30, specifically, according to the control for the control device 80 having from stack crane 30 Signal processed, the movement of various driving devices, execute as a result, cargo 10 conveying operation (conveying comprising cargo 10 and with branch The transfer of cargo 10 between frame 200 etc.).

Bracket 200 is the tectosome for having multiple pillars 201, has multiple shelves 202 being made of a pair of of support member. The each of a pair of of support member is set to the pillar 201 of front and back two with bridge formation shape.

The cargo 10 moved in by stack crane 30 is accommodated in bracket 200 before bracket 200.Moreover, being accommodated in branch The cargo 10 of frame 200 is taken out before bracket 200 by stack crane 30.

More specifically, the slip yoke 59 of shifting apparatus 40 passes through a pair of of support portion of composition shelf 202 along the vertical direction Between part, thus execute mounting from cargo 10 to shelf 202 or for take out be placed in shelf 202 cargo 10 to goods Object 10 lifts.

In addition, so-called " before bracket 200 ", refer to bracket 200, pathway side by stack crane 30 face, It is the face (the inboard face in Fig. 1) by Y-axis negative side in bracket 200 in present embodiment.

In the automated warehouse 1 for having above structure, stack crane 30 passes through the electric power (external electrical being externally supplied Power) and act.In the present embodiment, for example, passing through the aerial handling line from the side for being configured at lower part trolley 32 The external power of (trolley wire) 15 (in Fig. 2, with dotted line showing) supply, to drive stack crane 30 Walking, the lifting of lifting platform 35 and the movement such as advance and retreat of slip yoke 59.

Specifically, stack crane 30 is connect with current-collector (not shown), stack crane 30 maintains current-collector on one side The state contacted with aerial handling line 15 moves on one side, and thus stack crane 30 can receive to come from aerial handling in walking The power supply (aerial power supply) of line 15.

Moreover, the stack crane 30 in present embodiment has electrical storage device 90 as characteristic constituent element.

Electrical storage device 90 is briefly the following electrical storage device for being equipped on stack crane 30: being produced in aerial power supply In the case where raw the problems such as having a power failure, supply is only used for the electric power of the movement of slip yoke 59.

Hereinafter, using the structure relevant to power supply of Fig. 3~Fig. 5 stack crane 30 for illustrating that there is above-mentioned composition At.

Firstly, illustrating the basic composition relevant to the power supply of stack crane 30 in embodiment using Fig. 3 Summary.

Fig. 3 is the block diagram constituted substantially for indicating the stack crane 30 in embodiment.In addition, in Fig. 3, dotted line Arrow indicates the flowing of electricity, and the arrow of solid line indicates the flowing of information (signal).

As shown in Figure 3, the external power for being supplied to stack crane 30 is supplied to shifting apparatus 40, control device 80, travel driving unit 70 and electrical storage device 90.

Shifting apparatus 40 have slip yoke 59 by carrying out the transfer of cargo 10 and to slip yoke 59 into The advance and retreat driving device 50 of setback row driving.

Advance and retreat driving device 50 is an example of first driving device, is comprising to slip yoke in the present embodiment The device of motor and the converter for being powered to the motor that 59 advance and retreat are driven.

Travel driving unit 70 is an example of the second driving device, is comprising loading to heap in the present embodiment The device of motor and the converter for being powered to the motor that the walking of heavy-duty machine 30 is driven.

Control device 80 is the device at least controlling the movement of advance and retreat driving device 50.In the present embodiment, control dress Set 80 various movements of the control comprising the stack crane 30 including the advance and retreat of slip yoke 59 as described above.Specifically, control Device 80 processed comes according to from the instruction for carrying out wired or wireless communication host controller (not shown) with control device 80 Control the various movements of stack crane 30.

Electrical storage device 90 leads to such as with secondary cell more than one lithium ion battery or lithium-ion capacitor External power is crossed to charge.

In the present embodiment, 90 pairs of advance and retreat driving devices 50 of electrical storage device and control device 80 supply electric power, without Electric power to the supply of travel driving unit 70 for walking.Specifically, in the present embodiment, by making electrical storage device 90 simultaneously It is not electrically connected with travel driving unit 70, without supplying the electric power from electrical storage device 90 to travel driving unit 70.

That is, in the supply of external power, when there is a situation where power failure or instantaneous voltage declines (power failure etc.) Under, travel driving unit 70 is come by interrupting power supply or more than specified time limit continuing defined voltage drop low state Stopping movement.

On the other hand, from the control device 80 of 90 pairs of advance and retreat driving devices 50 of electrical storage device and control advance and retreat driving device 50 It supplies electric power.Thus, it is supposed that slip yoke 59, which in the state of stretching (elongation), also executes slip yoke 59, returns to (retract, keep out of the way) Entopic movement into shifting apparatus 40.

In this way, the movement of slip yoke 59 is supported by electrical storage device 90, therefore in the case where generating the problems such as having a power failure, although As the conveying job interruption carried out by stack crane 30, but continue to execute the movement of slip yoke 59.

That is, as long as electrical storage device 90 can accumulate the slip yoke 59 that can be only performed once the state for making to be placed with cargo 10 Return to the electric power of the degree of entopic movement.Thus, for example, can not use as electrical storage device 90 can make heap The battery of large capacity as 30 molar behavior of heavy-duty machine is loaded, and uses the battery for comparing low capacity.

Moreover, electrical storage device 90 is, during not driving slip yoke 59 to retreat by advance and retreat driving device 50, by outer Portion's electric power charges, during driving slip yoke 59 to retreat, by advance and retreat driving device 50 and the confession of control device 80 It discharges to electric power.

Thus, for example, therefore the charging for carrying out electrical storage device 90 during the walking of stack crane 30 is loaded in heap During heavy-duty machine 30 certainly exist in the case where conveying operation the charging of electrical storage device 90.Moreover, the transfer during the walking Device 40 does not consume the electric power of electrical storage device 90.Thus, for example, sliding can be stored by being able to carry out in common conveying operation Accumulation of the electric power of the degree of fork 59 to electrical storage device 90.

In this way, the stack crane 30 of present embodiment is the conveying and transfer for carrying out cargo 10 in automated warehouse 1 Waggon, be can make the electrical storage device 90 used when the problems such as having a power failure in the supply of external power minimize it is defeated Send vehicle.

Next, illustrating the structure relevant to power supply of the stack crane 30 in embodiment using Fig. 4 and Fig. 5 At concrete example.

Fig. 4 is the figure for indicating the concrete example of composition relevant to power supply of the stack crane 30 in embodiment. Fig. 5 is the figure in the direction of power supply whens indicating the generation power failure etc. in composition illustrated in fig. 4.

In addition, solid line shows electric wiring in Fig. 4 and Fig. 5, the arrow of dotted line shows the flowing of information (signal). Moreover, hollow arrow shows the feed path of the electric power from electrical storage device 90 in Fig. 5.These situations also with it is aftermentioned Situation in Fig. 6 is identical.

As shown in Figure 4, the stack crane 30 in present embodiment is, as composition relevant to power supply, Other than composition shown in Fig. 3, have lifting drive 60, converter 95 and various sensors (power failure sensor 101, position sensor 102 and walking position sensor 103 etc. are pitched).

Converter 95 is the direct current power by the power converter supplied for form corresponding with the supply equipment of destination Device, be that direct current is supplied to the control device 80 and various sensors (101,102 and 103 etc.) that are acted with direct current power The device of electric power.

In the present embodiment, converter 95 is converted to from fork with the direct current power that driving circuit 51 supplies, and is supplied To control device 80 and various sensors.In addition, being not particularly limited to the supply source that converter 95 supplies electric power, convert Device 95 can also for example receive the supply of direct current power from walking driving circuit 71.

Moreover, converter 95 may be, for example it will be transformed into and supply from the AC power that aerial handling line 15 supplies The direct current power of the corresponding form of the equipment of destination.That is, converter 95 also can have as by exchange conversion at The function of the inverter of direct current.

Travel driving unit 70 has walking driving circuit 71, walking motor 72 and switch 73.Driving of retreating fills Setting 50 has fork driving circuit 51, fork motor 52 and switch 53.

Lifting drive 60 has lifting driving circuit 61, lifting motor 62 and switch 63.In addition, lifting Driving device 60 is an example of third driving device.

Walking is following device with driving circuit 71: by the AC power supplied from aerial handling line 15 carry out rectification and Smoothing, in turn, is converted into the alternating current of characteristic required for the movement of walking motor 72 (frequency and voltage etc.) Power supplies transformed AC power to walking motor 72.In addition, about the alternating current that should become which type of characteristic The instruction (control signal) of power, is sent to walking driving circuit 71 from control device 80.The situation is for fork driving electricity Road 51 and lifting driving circuit 61 are also identical.

Walking is the driving portion driven to the walking of stack crane 30 with motor 72, by electric with driving from walking Road 71 supply AC power and act.That is, stack crane 30 is carried out according to the instruction for carrying out self-control device 80 Walking and stopping.

Switch 73 is switched according to the instruction for carrying out self-control device 80 from walking with driving circuit 71 to walking motor The switch of the on and off of 72 power supply carried out.

Fork driving circuit 51 is following device: it is identical as walking driving circuit 71, by the AC power inputted into Row rectification and smoothing, and then it is converted into the AC power of the characteristic according to the instruction for carrying out self-control device 80, it will become AC power after changing is supplied to fork motor 52.

Fork is the driving portion driven to the advance and retreat of slip yoke 59 with motor 52, is supplied by from fork driving circuit 51 AC power and act.That is, slip yoke 59 carries out the moving back and forth according to the instruction for carrying out self-control device 80.

Switch 53 be switched according to the instruction for carrying out self-control device 80 from fork driving circuit 51 to fork motor 52 into The switch of the on and off of capable power supply.

Lifting driving circuit 61 is following device:, the AC power that will be inputted identical as walking driving circuit 71 It is rectified and is smoothed, and then be converted into the AC power of the characteristic according to the instruction for carrying out self-control device 80, it will Transformed AC power is supplied to lifting motor 62.

Lifting motor 62 is the driving portion driven to the lifting of lifting platform 35, by from lifting driving circuit 61 The AC power of supply and act.That is, lifting platform 35 carries out the lifting action according to the instruction for carrying out self-control device 80.

Switch 63 is switched according to the instruction for carrying out self-control device 80 from lifting driving circuit 61 to lifting motor The switch of 62 power supply carried out switched on and off.

In addition, in the walking of stack crane 30 and in the lifting of lifting platform 35, without (forbidding) slip yoke 59 Advance and retreat.Therefore, in stack crane 30, only in the switch 73 of travel driving unit 70 and opening for lifting drive 60 In the case that pass 63 disconnects, the switch 53 of advance and retreat driving device 50 is just connected.That is, the advance and retreat of slip yoke 59, stowing The walking of crane 30 and the lifting of lifting platform 35 are by exclusive control.In addition, there is also be performed simultaneously stack crane 30 The case where walking and the lifting of lifting platform 35.

Furthermore, it is also possible to be, each of above-mentioned driving device 70,50,60 does not have switch 73,53,63.That is, Walking driving circuit 71, fork driving circuit 51 and each of lifting driving circuit 61 are to be directed to and oneself by control The on and off of the power supply of the motor of body connection, substantially realizes the above-mentioned function of respectively switching.

Here, supplying the electric power for being acted to the motor 52,62,72 of the various movements of driving stack crane 30 Driving circuit 51,61,71, as described above have will become basis by direct current power obtained from rectification and smoothing Carry out the inverter functionality of the AC power of the control signal of self-control device 80.

These driving circuits 51,61,71 are, are being more than in the supply for the external power for stopping carrying out from aerial handling line 15 Defined period (such as tens msec) and continue in the case where, that is to say, that in the case where power failure has occurred, defencive function It plays a role, stops the conversion process and output of external power.Moreover, the voltage drop low state specified in external power (for example, voltage reduce by 10% or more state) be more than defined period (such as tens msec) and in the case where continuation, also It is to say, in the case where instantaneous voltage, which has occurred, reduces (instantaneous voltage decline), defencive function also plays a role, and stops external electrical The conversion process and output of power.

Therefore, stack crane 30 carrying out occurring to have a power failure in the conveying operation of cargo 10 in automated warehouse 1 or Instantaneous voltage decline (have a power failure etc.) in the case where, it can substantially stop conveying operation of the stack crane 30 to cargo 10.

However, in stack crane 30 in the present embodiment, as shown in Figure 4, electrical storage device 90 and retreating is driven Dynamic device 50 and control device 80 are electrically connected.In addition, in the present embodiment, control device 80 is via converter 95 and electric power storage Device 90 is electrically connected.

That is, as shown in Figure 5, when power failure or instantaneous voltage decline occurring in the supply of external power, Advance and retreat driving device 50 and the control device 80 connecting with converter 95 and various sensors can be by from electrical storage devices The direct current power movement of 90 supplies.

Specifically, fork driving circuit 51 is converted the direct current power received from electrical storage device 90 using inverter functionality It is exported at AC power, and to fork motor 52.

Moreover, at this point, control device 80 can also be acted by the direct current power received from electrical storage device 90, therefore energy Enough control signals that the movement for fork motor 52 is exported to fork driving circuit 51.Even if that is, having a power failure Whens equal, it is also able to carry out the control based on control device 80, slip yoke 59 movement.

Therefore, even if power failure etc. occurs during shifting apparatus 40 acts slip yoke 59 for transfer cargo 10 In the case of, control device 80 also can at least control advance and retreat driving device 50, to store slip yoke 59.

Moreover, the various sensors being electrically connected with converter 95 also can be by the direct current power supplied from electrical storage device 90 Movement.

Here, the stack crane 30 in present embodiment has fork position sensor 102.Pitching position sensor 102 is One example of first sensor is to export to indicate whether slip yoke 59 is normal in shifting apparatus 40 to control device 80 The sensor of the signal of position (whether being contained).

The fork position sensor 102 receives the direct current power that supplies from electrical storage device 90 via converter 95, therefore Occur also act whens power failure etc..Therefore, fork position sensor 102 is capable of detecting when that slip yoke 59 is when power failure etc. occurs It is no to be in normal position, that is to say, that be capable of detecting when whether slip yoke 59 is properly stored.

Therefore, control device 80 can based on fork position sensor 102 testing result will indicate slip yoke 59 whether by The information of storage is sent to the external device (ED) of host controller etc..

As a result, for example, the manager of automated warehouse 1 for example can be not seeing shifting apparatus 40 with regard to horse when power failure etc. occurs Whether upper confirmation slip yoke 59 is contained.

As a result, in the case where confirmed that slip yoke 59 is contained, manager can be got down at once for restoring automatic The operation (pressure walking of stack crane 30 etc.) in warehouse 1 (stack crane 30).Have a power failure i.e. it is capable to shorten Time required for recovery whens equal.

In addition, in the present embodiment, as an example of sensor relevant to the advance and retreat of slip yoke 59, citing is shown Fork position sensor 102 is gone out.But for example, cargo for the case where detection cargo 10 leaves from the specified position of slip yoke 59 (also referred to as cargo exposes detection sensor or cargo offset detection sensor to detection sensor.) be also with slip yoke 59 into Relevant sensor is moved back, it is illustrated as the sensor for acting required power supply from 90 receiving of electrical storage device.

For example, control device 80 is, in the case where cargo 10 should be placed on slip yoke 59, passed when from freight detection In the case that sensor output indicates the signal that cargo 10 collapses etc. from defined positional shift or cargo 10, it can stop sliding The movement of moving fork 59.

Moreover, control device 80 for example detects the case where slip yoke 59 is contained by fork position sensor 102, and i.e. Make also identify that the cargo 10 that be placed in slip yoke 59 is present in defined position whens there is a situation where power failure etc..

That is, making the movement other than the advance and retreat of the slip yoke 59 in stack crane 30 since power failure etc. occurs In the case that (walking of stack crane 30, the lifting of lifting platform 35) stops, it is also able to carry out the dynamic of the safety of slip yoke 59 It controls.

Here, freight detection sensor is for example configured at shifting apparatus 40, shifting apparatus 40 is configured at lifting platform 35.And And advance and retreat driving device 50 is equipped on shifting apparatus 40 (referring to Fig. 3).

Therefore, electrical storage device 90 at least to comprising one including advance and retreat driving device 50, being configured at lifting platform 35 with On electrical equipment supply electric power, thus, it is possible to say realize occur have a power failure etc. whens slip yoke 59 safety action control.

Travel driving unit 70 and lifting drive 60 are not supplied electric power moreover, electrical storage device 90 passes through, it can By consumed electric power control in required minimum limit.As a result, it is possible to realize the miniaturization of electrical storage device 90.

Moreover, the stack crane 30 in present embodiment is the biography as the state for detecting stack crane 30 Sensor also has the sensor unrelated with the advance and retreat of slip yoke 59.

For example, as the sensor unrelated with the advance and retreat of slip yoke 59, illustrated walking position sensor 103.Walking Position sensor 103 is an example of second sensor, is to detect the direction of travel of stack crane 30 (in present embodiment X-direction, referring to Fig. 2) position sensor.

In addition, so-called " sensor unrelated with the advance and retreat of slip yoke 59 ", is more specifically that the advance and retreat of slip yoke 59 are dynamic Make the sensor itself necessarily having, other than walking position sensor 103, the height of also illustrated detection lifting platform 35 Spend the sensor of position, detection has played sensor of effect etc. in lifting with defencive function in driving circuit 61.

Here, when power failure etc. occurs, since the movements such as the walking of stack crane 30 stop, control device 80 The signal for indicating abnormal is received from the equal sensors of walking position sensor 103.

Therefore, when power failure etc. occurs, control device 80 can also be such that whole movements of stack crane 30 stop.

But the stack crane 30 in present embodiment has the power failure sensor 101 of detection power failure etc..Therefore, exist Whens power failure etc. occurs, from walking position sensor 103 etc., unrelated with the advance and retreat of slip yoke 59 sensor can ignore that Output signal.

Power failure sensor 101 is an example of test section, such as the voltage of the aerial power supply of monitoring, in defined voltage drop Low state (also including the case where voltage is zero) will indicate the signal of generation power failure etc. more than specified time limit and in the case where continuing It exports to control device 80.That is, power failure sensor 101 is the sensing for being able to detect power failure and instantaneous voltage decline Device.

Therefore, control device 80 is, in the case where detecting to have a power failure by power failure sensor 101 etc., even if from cunning In the case that the unrelated sensor output of the advance and retreat of moving fork 59 indicates abnormal signal, also can ignore that the signal and by slip yoke 59 storages.

Moreover, control device 80 is, as long as under the situation for not detecting power failure etc. by power failure sensor 101, and In the case where detecting exception comprising including the sensor unrelated with the advance and retreat of slip yoke 59, any sensor, heap can be made The whole movements for loading heavy-duty machine 30 stop.Thus, it is ensured that the safety in the operating of stack crane 30.

That is, stack crane 30 passes through the power failure sensor 101 for having and being able to detect power failure and instantaneous voltage decline, In the case where receiving the signal for indicating exception from least one sensor, it can judge that the exception is due to power failure etc. also Result from other factors.

Thereby, it is possible to realize the safety for the operating for ensuring stack crane 30 simultaneously and execute that power failure etc. is occurring When slip yoke 59 storage operation (retreating to entopic movement).

In addition, in the present embodiment, electrical storage device 90 is electrically connected with advance and retreat driving device 50 and control device 80, and And it is not electrically connected with travel driving unit 70.According to this constitution, realizing 90 pairs of advance and retreat driving devices 50 of electrical storage device and control Device 80 processed supplies electric power, without the situation to the supply of travel driving unit 70 for the electric power of walking.

However, it is also possible to realize following situation: electrical storage device 90 is electrically connected with travel driving unit 70, also, passes through control The control of device 80 processed supplies electric power advance and retreat driving device 50 and control device 80, also, not to travel driving unit 70 Electric power of the supply for walking.

For example, using motor 72 and fork that motor 52 is used to share as the driving circuit of direct power supply source by walking In the case of, it can also be by supplying the electric power from electrical storage device 90 to the driving circuit, drive electrical storage device 90 and walking Dynamic device 70 is electrically connected.

Fig. 6 is to show constituting by the stack crane 30a of 52 common drive circuit of walking motor 72 and fork motor The figure of example.

Stack crane 30a shown in fig. 6 is not having fork compared with the stack crane 30 in above embodiment On this point with driving circuit 51, is different.

Specifically, fork motor 52 uses following constitute in stack crane 30a shown in Fig. 6: with walking drive Dynamic circuit 71 connects, by the advance and retreat for driving slip yoke 59 with the electric power that driving circuit 71 supplies from walking.

That is, being shared by walking motor 72 and fork motor 52 comprising converter etc. in stack crane 30a Driving circuit (walking use driving circuit 71).In other words, as shown in Figure 6, it is made up of walking with driving circuit 71 A part of travel driving unit 70 and a part of advance and retreat driving device 50.

Here, as described above, the walking of stack crane 30a and the advance and retreat of slip yoke 59 are by exclusive control.Therefore, energy Enough be used separately walking driving circuit 71 according to timesharing is used and the advance and retreat of slip yoke 59 driving use for hoofing part.

That is, even if walking is with driving circuit 71 in the situation shared by walking motor 72 and fork motor 52 Under, under the control based on control device 80, also spy appropriate can be supplied to walking motor 72 and fork motor 52 respectively The electric power of property (frequency, voltage etc.).

In the stack crane 30a with such composition, in the supply of the external power from aerial handling line 15 In have occurred and have a power failure etc. in the case where, walking is played a role with the defencive function of driving circuit 71, and walking driving circuit 71 makes The conversion process of external power and output stop.

But in walking with electrical storage device 90 is connected on driving circuit 71, therefore, walking driving circuit 71 can be right Walking motor 72 and the fork electric power of 52 supply action of motor.

Therefore, occur have a power failure etc. whens, even if slip yoke 59 be in movement in, in stack crane 30a, also with implementation The storage that is identical and executing slip yoke 59 of stack crane 30 in mode.Specifically, as shown in Figure 6, being filled to control It sets 80 and also supplies the electric power from electrical storage device 90 via converter 95, therefore, control device 80 passes through to advance and retreat driving device 50 send control signal, and slip yoke 59 can be made to store.

Moreover, the various sensors such as power failure sensor 101, fork position sensor 102, walking position sensor 103 also pass through Electric power from electrical storage device 90 is supplied to by converter 95, therefore can be acted when power failure etc. occurs.

Therefore, identical as the stack crane 30 in embodiment in stack crane 30a, it is able to carry out and is occurring The differentiation of factor in the case that the storage of slip yoke 59 whens power failure etc. confirms and arbitrary sensor detects exception (being power failure etc. or other factors) etc..

Here, when power failure etc. occurs, in the case where stack crane 30 is in walking, by coming from electrical storage device 90 power supply also can physically be such that the movement of walking motor 72 continues.Moreover, slip yoke 59 storage just After completion, by the power supply from electrical storage device 90, the movement of walking motor 72 also can physically be made (to make to stow Crane 30 is walked).

However, electrical storage device 90 has been merely the device that storage slip yoke 59 should just supply electric power, need to control to make The electric power accumulated in electrical storage device 90 is not consumed by hoofing part.

Therefore, control device 80 is, when occurring to have a power failure etc., for example, walking from the notice of walking driving circuit 71 In the case where having played effect with defencive function in driving circuit 71, disconnect the switch 73 of travel driving unit 70.

Alternatively, control device 80 is, such as the feelings for indicating the signal of generation power failure etc. are being received from power failure sensor 101 Under condition, disconnect the switch 73 of travel driving unit 70.

In addition, in any case, when stack crane 30 is in walking, for example, after making walking safety stop, Disconnect switch 73.

Thus, it can be achieved that following constituted: when power failure etc. occurs, the feelings for stretching out the state of (elongation) are in slip yoke 59 Under condition, the storage of slip yoke 59 is executed by the electric power supplied from electrical storage device 90, also, travel driving unit 70 is not supplied To the electric power for walking.

For example, when power failure etc. occurs in the case where slip yoke 59 is in movement, although not to walking motor 72 Power supply, but also can be maintained disconnection for switch 73, so as to will not be from walking driving circuit after the storage of slip yoke 59 71 power to walking motor 72.

In this case, for example, control device 80 will make switch 73 be maintained disconnected according to the instruction from host controller The status releasing opened, stack crane 30 restores to the state for being able to carry out common conveying operation as a result,.

More than, it is illustrated based on waggon of the embodiment to automated warehouse of the invention.However, the present invention is not It is defined in above-mentioned embodiment.Without departing from purport of the invention, by those skilled in the art it is conceivable that various changes Shape is implemented on the scheme of embodiment etc. or the multiple constituent elements combination for crossing above description and the form constructed, also wraps Containing within the scope of the invention.

For example, stack crane 30 receives external power from aerial handling line 15, but loaded about external power to heap The method of the supply of heavy-duty machine 30 is simultaneously not particularly limited.

For example, one end of power line is connect with power supply device, by the power line stack crane 30 can be followed Walking and the mode of movement, be suspended to the guide rail for being disposed in courtyard, and the other end of the power line is connected to and stows lifting Machine 30.It is also possible that supplying external power to stack crane 30.

Moreover, the type of waggon is not limited to stack crane, as long as carrying out the shifting of cargo in automated warehouse Carry and conveying waggon, then for example can use composition shown in Fig. 3, come realize with above-mentioned stack crane 30 and The identical effect of 30a.

Fig. 7 is one example of others for showing the waggon for the electrical storage device for having the storage for carrying out backward member The perspective view of the summary of son, i.e. conveying carrier 130.

Conveying carrier 130 shown in Fig. 7 has trolley portion 132, is configured at the shifting apparatus 140 in trolley portion 132 and stores Electric installation 90a.

Shifting apparatus 140 is by an example of backward member, i.e. arm 150 come the device of transfer cargo 10.Specifically It says, shifting apparatus 140 has pair of right and left arm 150, and arm 150 is by base portion 153, middle part 152 and these three components of top 151 It constitutes, is the component of (flexible) of being retreated by telescopic configuration.

Moreover, being provided with the pawl rotated centered on the axis of advance and retreat direction (Y-axis) at the both ends on top 151.Transfer The cargo 10 that device 140 can will be contained in bracket by the pawl of the end of a pair of of arm 150 of advance and retreat takes out and by cargo 10 are sent to bracket.

Trolley portion 132 is the trolley walked along the walking road 160 being made of parallel arrangement of two guide rails.

Although there are conveying carrier 130 advance and retreat driven to the advance and retreat of arm 150 to drive in addition, not shown in Fig. 7 Dynamic device, the control to the walking in trolley portion 132 travel driving unit driven and at least control advance and retreat driving device Device.

Electrical storage device 90a be it is identical with the electrical storage device 90 in above embodiment, to advance and retreat driving device and control Unit feeding electric power processed, without the electrical storage device to travel driving unit supply for the electric power of walking.

The mode of such power supply, for example, as shown in figure 4, by making electrical storage device 90a and driving dress of retreating It sets and control device connects and makes electrical storage device 90a not with travel driving unit connection to realize.Moreover, for example such as Fig. 6 It is shown such, it can also cut off to supply from electrical storage device 90a to travel driving unit by the control by control device and use In walking electric power and realize.

In addition, maintaining electrical storage device 90a, but the position about electrical storage device 90a in the inside in trolley portion 132 in Fig. 7 It sets and is also not particularly limited, electrical storage device 90a can also for example be exposed to external state and be configured at trolley portion 132.

The conveying carrier 130 for example have along the vertical direction (Z-direction) arrangement multiple shelf sections bracket, match It is placed on the walking road 160 of the position of each shelf section and walks.Moreover, being conveyed on each walking road 160, such as configured with each one Trolley 130, each conveying carrier 130 carry out cargo between the shelf section of the height and position on the walking road 160 for corresponding to walking 10 transfer.

Here, conveying carrier 130 is identical as above-mentioned stack crane 30 and drives walking and arm by external power 150 advance and retreat.That is, the conveying operation of cargo 10 (includes cargo 10 when occurring to have a power failure or instantaneous voltage declines Conveying and transfer) it interrupts, therefore, it is desirable to restore as early as possible.Moreover, there is also the conveying carriers in relatively high position walking 130, thus, for example, operating personnel stores the difficulty of operation as arm 150 by handwork, also, from the sight of safety It is also not preferred from the point of view of point.

Therefore, in conveying carrier 130, when power failure etc. occurs, the case where arm 150 is in the state for stretching out (elongation) Under, make arm 150 back to normal position (150 quilt of arm in shifting apparatus 140 by from the electric power that electrical storage device 90a is supplied Storage).

That is, conveying carrier 130 by having electrical storage device 90a, is capable of abending and extremely for preventing arm 150 It is able to carry out the storage of arm 150 less.Time required for recovery whens power failure etc. occurring thereby, it is possible to shorten.

Moreover, not consuming the electric power of electrical storage device 90a in the driving of the walking of conveying carrier 130, therefore can make The capacity of electrical storage device 90a is smaller.I.e. it is capable to realize the miniaturization of electrical storage device 90a.Moreover, can also utilize Such as cheap electrical storage device 90a.

Industrial availability

The waggon of automated warehouse according to the present invention is the conveying and transfer that cargo is carried out in automated warehouse Waggon, the conveying that electrical storage device can be made to minimize used when being the problems such as generating power failure in the supply of external power Vehicle.Therefore, waggon according to the present invention as the multiple cargos moved in depository and moves out taken care of multiple It is useful that waggons such as the stack crane of conveying operation of cargo etc. are carried out in the automated warehouse of cargo.

Claims

1. a kind of waggon of automated warehouse, is configured at automated warehouse, cargo is carried out by the external power being externally supplied Handover and conveying,

The waggon of the automated warehouse has:

Shifting apparatus, have carried out by retreating the backward member of the transfer of cargo and to the advance and retreat of above-mentioned backward member into The first driving device of row driving；

Second driving device drives the walking of above-mentioned waggon；

Control device at least controls the movement of above-mentioned first driving device；And

Electrical storage device supplies electric power above-mentioned first driving device and above-mentioned control device, without filling to above-mentioned second driving The electric power that supply is used for above-mentioned walking is set,

Above-mentioned electrical storage device is electrically connected by electric circuit with above-mentioned first driving device and above-mentioned control device, and is used for The electric circuit for being electrically connected above-mentioned electrical storage device and above-mentioned second driving device is not configured in above-mentioned waggon, thus to above-mentioned One driving device and above-mentioned control device supply electric power, the electricity without being used for above-mentioned walking to the supply of above-mentioned second driving device Power.

2. the waggon of automated warehouse as described in claim 1, wherein

Above-mentioned electrical storage device is, during not driving above-mentioned backward member to retreat by above-mentioned first driving device, by upper External power is stated to charge, during driving above-mentioned backward member to retreat by above-mentioned first driving device, by right Above-mentioned first driving device and above-mentioned control device supply electric power to discharge.

3. the waggon of automated warehouse as described in claim 1, wherein

The waggon of the automated warehouse is also equipped with first sensor, which indicates above-mentioned to the output of above-mentioned control device Whether backward member is located at the entopic signal in above-mentioned shifting apparatus,

Above-mentioned electrical storage device also supplies electric power above-mentioned first sensor.

4. the waggon of automated warehouse as claimed in claim 2, wherein

5. the waggon of automated warehouse as claimed in claim 3, wherein

The waggon of the automated warehouse is also equipped with:

Test section is reduced and is detected to power failure or instantaneous voltage occur in the supply of said external electric power；And

Second sensor, Xiang Shangshu control device export dynamic other than in above-mentioned waggon and above-mentioned backward member advance and retreat Make relevant signal,

Above-mentioned control device is to detect that there is a situation where above-mentioned power failure or the reductions of above-mentioned instantaneous voltage by above-mentioned test section Under, ignore the signal exported from above-mentioned second sensor.

6. the waggon of automated warehouse as claimed in claim 4, wherein

The waggon of the automated warehouse is also equipped with:

7. such as the waggon of automated warehouse according to any one of claims 1 to 6, wherein

Above-mentioned waggon is the lifting platform having at least configured with above-mentioned shifting apparatus and drives to the lifting of above-mentioned lifting platform The stack crane of dynamic third driving device,

Above-mentioned electrical storage device at least to comprising it is including above-mentioned first driving device, be configured at above-mentioned lifting platform it is more than one Electrical equipment supplies electric power, without supplying electric power to above-mentioned second driving device and above-mentioned third driving device.