JPH0520322B2 - - Google Patents
Info
- Publication number
- JPH0520322B2 JPH0520322B2 JP60075163A JP7516385A JPH0520322B2 JP H0520322 B2 JPH0520322 B2 JP H0520322B2 JP 60075163 A JP60075163 A JP 60075163A JP 7516385 A JP7516385 A JP 7516385A JP H0520322 B2 JPH0520322 B2 JP H0520322B2
- Authority
- JP
- Japan
- Prior art keywords
- carriage
- fixed position
- unloading
- elevating
- loading
- Prior art date
- 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.)
- Expired - Fee Related
Links
- 230000003028 elevating effect Effects 0.000 claims description 63
- 238000001514 detection method Methods 0.000 claims description 47
- 238000000034 method Methods 0.000 description 8
- 230000006870 function Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Landscapes
- Warehouses Or Storage Devices (AREA)
Description
【発明の詳細な説明】
（産業上の利用分野）
立体棚に対する入出庫作業を当該立体棚に沿つ
て走行する入出庫用走行クレーンに設けられた昇
降キヤレツジ上の荷出し入れ装置（例えばランニ
ングフオーク）によつて自動的に行うようにした
自動倉庫や、回転棚に対する入出庫作業を回転棚
脇に設置された移載機の昇降キヤレツジ上に設け
られている荷出し入れ装置により自動的に行う格
納設備が知られている。[Detailed Description of the Invention] (Industrial Application Field) A loading/unloading device (for example, a running fork) on an elevating carriage provided on a traveling crane for loading/unloading a three-dimensional shelf that travels along the three-dimensional shelf. Automated warehouses that automatically carry out loading and unloading operations to and from the carousel, and storage equipment that automatically loads and unloads onto and from the carousel using a loading/unloading device installed on the elevating and lowering carriage of a transfer machine installed beside the carousel. It has been known.
本発明の入出庫用昇降キヤレツジの昇降制御用
検出装置は、このような自動倉庫の入出庫用走行
クレーンや回転棚の移載機に使用されている昇降
キヤレツジの昇降制御を安全に行わせるために利
用することが出来る。 The detection device for controlling the elevation of an elevating carriage for loading and unloading storage according to the present invention is designed to safely control the elevation of an elevating carriage used in a traveling crane for loading and unloading an automated warehouse or a transfer machine for a rotary shelf. It can be used for.
（従来の技術）
この種の入出庫用昇降キヤレツジの昇降経路に
は、棚側の各段の荷収納区画ごとに、出庫作業用
下側定位置と入庫作業用上側定位置とが設定され
ており、例えば出庫作業の場合には、目的の荷収
納区画に於ける前記出庫作業用下側定位置で昇降
キヤレツジを自動停止し、そしてランニングフオ
ーク等の荷出し入れ装置を進出運動させた後に再
び昇降キヤレツジを前記下側定位置から入庫作業
用上側定位置まで上昇せしめ、この後、前記荷出
し入れ装置を後退させることにより、前記荷出し
入れ装置による出庫作業が完了する。又、入庫作
業の場合には、目的の荷収納区画に於ける前記入
庫作業用上側定位置で昇降キヤレツジを自動停止
し、そして荷を支持したランニングフオーク等の
荷出し入れ装置を進出運動させた後に再び昇降キ
ヤレツジを前記上側定位置から出庫作業用下側定
位置まで下降せしめ、この後、前記荷出し入れ装
置を後退させることにより、前記荷出し入れ装置
による入庫作業が完了する。(Prior art) In the elevating path of this type of elevating carriage for loading and unloading, a lower fixed position for unloading work and an upper fixed position for loading work are set for each cargo storage compartment of each shelf side. For example, in the case of unloading work, the elevating and lowering carriage is automatically stopped at the lower fixed position for unloading work in the target cargo storage compartment, and after the loading/unloading device such as a running fork is advanced, it is lifted and lowered again. The carriage is raised from the lower fixed position to the upper fixed position for warehousing work, and then the loading/unloading device is retreated, thereby completing the unloading operation by the loading/unloading device. In addition, in the case of warehousing work, the elevating carriage is automatically stopped at the upper predetermined position for warehousing work in the target cargo storage compartment, and after the loading/unloading device such as a running fork that supports the cargo is moved forward. The elevating carriage is again lowered from the upper fixed position to the lower fixed position for unloading work, and then the loading/unloading device is moved backward, thereby completing the loading work by the loading/unloading device.
上記のように昇降キヤレツジを昇降制御する場
合、当該昇降キヤレツジが前記出庫作業用下側定
位置又は入庫作業用上側定位置に停止したか否か
をチエツクするだけでなく、これら定位置から所
定の方向、即ち出庫作業の場合には上昇方向、入
荷作業の場合には下降方向、に昇降キヤレツジが
誤りなく昇降駆動されているか否かをチエツク
し、若し、誤つた方向に昇降キヤレツジが昇降運
動を開始したときは、速やかに停止させて必要な
対策を講じなければならない。 When controlling the elevating carriage as mentioned above, it is not only necessary to check whether the elevating carriage has stopped at the lower fixed position for unloading work or the upper fixed position for warehousing work, but also to check whether the elevating carriage has stopped at the lower fixed position for unloading work or the upper fixed position for warehousing work. Check whether the lifting carriage is being moved up and down correctly in the correct direction, that is, in the upward direction for unloading work, and in the downward direction for receiving work, and if the lifting carriage is moved up and down in the wrong direction. Once started, it must be stopped immediately and necessary measures taken.
そこで、昇降キヤレツジが前記出庫作業用下側
定位置又は入庫作業用上側定位置に停止したか否
かを検出する検出機能と、前記両定位置間の荷出
し入れ装置出限昇降OKゾーン内で昇降キヤレツ
ジが昇降運動しているか否かを検出する検出機能
とを備えた検出装置が必要となるのであるが、従
来、前記２つの検出機能を備えた検出装置として
は、実開昭58−45205号公報に記載されたものが
知られている。 Therefore, we have developed a detection function that detects whether the elevating carriage has stopped at the lower fixed position for unloading work or the upper fixed position for warehousing work, and a detection function that detects whether the elevating carriage has stopped at the lower fixed position for unloading work or the upper fixed position for warehousing work, and for lifting and lowering within the lifting limit OK zone of the loading/unloading device between the two fixed positions. A detection device equipped with a detection function to detect whether the carriage is moving up and down is required, and conventionally, a detection device equipped with the above two detection functions is disclosed in Japanese Utility Model Application Publication No. 58-45205. Those described in the official gazette are known.
この従来周知の検出装置は、棚側の各段の荷収
納区画ごとに独立して昇降キヤレツジの走行経路
脇に付設された被検出板と、昇降方向に直列する
ように昇降キヤレツジ側に取付けられた３個の検
出器とを備え、３個の検出器の内、中央の検出器
が前記昇降OKゾーン内での昇降キヤレツジの昇
降をチエツクし、上下両端にある２個の検出器で
前記上側定位置と下側定位置とを検出するように
構成されたものである。 This conventionally known detection device has a detection plate that is attached to the side of the travel path of the elevating carriage independently for each storage compartment of each shelf side, and a detection plate that is attached to the elevating carriage side in series in the elevating direction. Of the three detectors, the central one checks whether the elevator carriage is moving up or down within the up/down OK zone, and the two detectors at both the top and bottom ends check the upper/lower area. It is configured to detect the home position and the lower home position.
（発明が解決しようとする課題）
上記のような従来の検出装置では、３個の検出
器を使用することにより、昇降キヤレツジの停止
位置が上側定位置か下側定位置かの判別も可能と
なるメリツトはあるが、検出器の個数が多いこ
と、数多くの被検出板を一つの垂直仮想線上で精
度良く取付けなければならない、等の理由でコス
ト高になる。又、被検出板が各段の荷収納区画ご
とに独立して取付けられているので、取付け強度
の弱まつた被検出板が不測に脱落して、該当する
荷収納区画に対する入出庫作業が行えなくなる恐
れもある。(Problem to be Solved by the Invention) In the conventional detection device as described above, by using three detectors, it is possible to determine whether the stopping position of the elevating carriage is the upper fixed position or the lower fixed position. However, the cost is high due to the large number of detectors and the need to mount a large number of detection plates on one vertical imaginary line with high precision. In addition, since the detection plates are installed independently in each storage compartment of each tier, the detection plates, whose mounting strength has weakened, may unexpectedly fall off, making it difficult to carry out loading/unloading operations for the corresponding compartment. There is a risk that it will disappear.
（課題を解決するための手段）
本発明は、従来周知のパルス計数方式、即ち、
昇降キヤレツジの昇降駆動用モーターに連動する
パルスエンコーダーの発信パルスの計数値と設定
値との比較による昇降キヤレツジの昇降停止制御
方式や、後述する本発明の実施例に於いて説明す
るような通過定位置計数方式、即ち、前記各荷収
納区画ごとの上下一対の定位置の通過計数値と設
定値との比較による昇降キヤレツジの昇降停止制
御方式等により、昇降キヤレツジの昇降停止制御
が行われるので、昇降キヤレツジの停止位置が上
下一対の定位置の何れか一方であることさえチエ
ツク出来れば、その停止位置が上側定位置である
か下側定位置であるかの判別が行えなくとも全く
問題がない点に鑑みて、上記従来例に於ける諸問
題点を解決するために成されたものであり、その
特徴は、後述する実施例の参照符号を付して示せ
ば、棚に対する入出庫用昇降キヤレツジの昇降経
路脇に取付けられた帯状板１１と、前記昇降キヤ
レツジに同一レベルで前記帯状板１１の巾方向に
並設された２個の透過形光電式検出器Ａ，Ｂとを
備え、前記帯状板１１は前記昇降経路の全長にわ
たつて連続し、この帯状板１１には、前記２個の
検出器Ａ，Ｂの内の一方の検出器Ａによつて検出
される上下一対の切り抜き被検出部１２，１３
と、他方の検出器Ｂによつて検出される縦長の切
り抜き被検出器１４とが設けられ、前記上下一対
の切り抜き被検出部１２，１３は、前記棚の各段
の荷収納区画に於ける出庫作業用下側定位置LP
と入庫作業用上側定位置UPとに対応して設けら
れ、前記縦長の切り抜き被検出部１４は、前記出
庫作業用下側定位置LPと入庫作業用上側定位置
UPとの間の荷出し入れ装置出限昇降OKゾーン
に対応して設けられて成る点にある。(Means for Solving the Problems) The present invention utilizes a conventionally well-known pulse counting method, that is,
A lifting/lowering stop control system for a lifting carriage by comparing a set value with a count value of pulses sent from a pulse encoder linked to a driving motor for lifting/lowering the lifting carriage, and a passing constant as explained in the embodiments of the present invention to be described later. Since the lifting and lowering stop control of the lifting carriage is performed by a position counting method, that is, a lifting and lowering stop control method of the lifting carriage by comparing the passing count value of a pair of upper and lower fixed positions for each load storage compartment with a set value, etc. As long as it can be checked that the lifting carriage stops at one of the pair of upper and lower fixed positions, there is no problem even if it cannot be determined whether the stopped position is the upper fixed position or the lower fixed position. In view of this, this was developed to solve the various problems in the conventional example described above, and its features are indicated by the reference numerals of the embodiments described later. A strip plate 11 is attached to the side of the elevating path of the carriage, and two transmissive photoelectric detectors A and B are arranged side by side in the width direction of the strip plate 11 at the same level on the elevating carriage. The strip plate 11 is continuous over the entire length of the lifting path, and has a pair of upper and lower cutouts detected by one of the two detectors A and B. Detection parts 12, 13
and a vertically elongated cut-out detection device 14 that is detected by the other detector B, and the pair of upper and lower cut-out detection portions 12 and 13 are arranged in the cargo storage section of each stage of the shelf. Lower fixed position LP for unloading work
and the upper fixed position UP for warehousing work, and the vertically elongated cutout detection part 14 is provided corresponding to the lower fixed position LP for warehousing work and the upper fixed position UP for warehousing work.
The loading/unloading device is provided in correspondence with the lifting/lowering OK zone between the UP and the loading/unloading device.
（実施例）
以下に本発明の一実施例を添付の例示図に基づ
いて説明する。(Example) An example of the present invention will be described below based on the attached illustrative drawings.
第１図に於いて、１は立体棚であつて、入出庫
用走行クレーン２の走行通路に沿つて立設され、
前記クレーン２の走行方向と垂直方向とに碁盤目
状に区画された多数の荷収納区画３を備えてい
る。前記走行クレーン２は、荷出し入れ装置とし
てのランニングフオーク４を備えた昇降キヤレツ
ジ５と、その昇降駆動手段６とを有する。７は前
記昇降キヤレツジ５を案内する前後一対のクレー
ン支柱であり、８は走行クレーン２の走行駆動手
段である。 In FIG. 1, 1 is a three-dimensional shelf, which is erected along the traveling path of the traveling crane 2 for loading and unloading,
A large number of cargo storage compartments 3 are provided which are divided into a grid pattern in a direction perpendicular to the traveling direction of the crane 2. The traveling crane 2 has an elevating carriage 5 equipped with a running fork 4 as a loading/unloading device, and an elevating drive means 6 for the elevating carriage. Reference numeral 7 represents a pair of front and rear crane supports for guiding the elevating carriage 5, and reference numeral 8 represents a travel drive means for the traveling crane 2.
前記立体棚１に於ける各荷収納区画３は、第２
図にも示すように、クレーン走行方向に隣接する
各荷収納区画３間のクレーン走行通路側に立設さ
れた支柱９と、反対側に立設された支柱（図外）
とによつて支持された左右一対の荷受具１０ａ，
１０ｂを備えている。 Each cargo storage section 3 in the three-dimensional shelf 1 has a second
As shown in the figure, there are struts 9 erected on the side of the crane travel path between the load storage compartments 3 adjacent in the crane traveling direction, and struts 9 erected on the opposite side (not shown).
A pair of left and right cargo receivers 10a supported by
10b.
第３図に示すように、前記立体棚１に於ける各
段の荷収納区画３ごとに出庫作業用下側定位置
LPと入庫作業用上側定位置UPとが設定され、こ
の上下一対の定位置間が荷出し入れ装置（ランニ
ングフオーク４）の出限状態での昇降OKゾーン
となるが、第２図及び第３図に示すように、前後
一対の前記クレーン支柱７の一方には、昇降キヤ
レツジ５の昇降経路の全長にわたつて連続する帯
状板１１が取付けられ、当該帯状板１１には、前
記出庫作業用下側定位置LPに対応する切り抜き
被検出部１２と、入庫作業用上側定位置UPに対
応する切り抜き被検出部１３と、前記昇降OKゾ
ーンに対応する長さで前記両被検出部１２，１３
の一端どうしをつなぐ縦長の切り抜き被検出部１
４とから成るコの字形切り抜き部１５が、各段の
荷収納区画３ごとに対応して形成されている。 As shown in FIG.
LP and the upper fixed position UP for warehousing work are set, and the area between this pair of upper and lower fixed positions is the OK zone for lifting and lowering when the loading/unloading device (running fork 4) is in the extended state. As shown in FIG. 2, a continuous strip plate 11 is attached to one of the pair of front and rear crane supports 7 over the entire length of the elevating path of the elevating carriage 5. A cutout detected part 12 corresponding to the fixed position LP, a cutout detected part 13 corresponding to the upper fixed position UP for warehousing work, and both detected parts 12, 13 with a length corresponding to the lifting OK zone.
Vertically long cutout to be detected part 1 connecting one end of the
A U-shaped cutout 15 consisting of 4 is formed corresponding to each storage compartment 3 of each stage.
一方、昇降キヤレツジ５側には、２個の透過形
光電式検出器Ａ，Ｂが同一レベルで並設されてい
る。各検出器Ａ，Ｂは、互いに対向する投光器１
７ａ，１８ａと受光器１７ｂ，１８ｂとから成
り、投光器１７ａ，１８ａは、前記帯状板１１を
挟むように昇降キヤレツジ５に取付けられたコの
字形部材１６の一方の脚部に支持され、受光器１
７ｂ，１８ｂは、前記コの字形部材１６の他方の
脚部に支持されている。 On the other hand, on the elevating carriage 5 side, two transmission type photoelectric detectors A and B are arranged side by side at the same level. Each detector A, B has a light projector 1 facing each other.
7a, 18a and light receivers 17b, 18b, the projectors 17a, 18a are supported by one leg of a U-shaped member 16 attached to the elevating carriage 5 so as to sandwich the strip plate 11 therebetween. 1
7b and 18b are supported by the other leg of the U-shaped member 16.
而して、前記第一検出器Ａは、昇降キヤレツジ
５の昇降移動に伴つて、各段の下側定位置検出用
の切り抜き被検出部１２と上側定位置検出用の切
り抜き被検出部１３とを順次検出するものであ
り、前記第二検出器Ｂは、昇降キヤレツジ５の昇
降移動に伴つて、各段の昇降OKゾーン検出用の
縦長切り抜き被検出部１４を検出するものであ
る。 As the elevating carriage 5 moves up and down, the first detector A has a cutout detection section 12 for detecting the lower fixed position of each stage and a cutout detection section 13 for detecting the upper fixed position of each stage. As the elevating carriage 5 moves up and down, the second detector B detects the vertically elongated cut-out detected portion 14 for detecting the OK zone for elevating each stage.
上記のように構成された検出装置を利用した昇
降キヤレツジの昇降制御方法の一例を説明する
と、昇降キヤレツジ５が昇降移動することにより
第一検出器Ａが各段の上下一対の被検出部１２，
１３を順次検出するので、第４図に示すように、
この第一検出器Ａの検出信号を加減算カウンター
１９により、上昇時には加算し下降時には減算す
るように計数させることによつて、当該カウンタ
ー１９から昇降キヤレツジ５の現在レベル番地が
得られる。一方、入出庫作業対象の荷収納区画３
の高さと入庫作業であるか出庫作業であるかによ
つて、昇降キヤレツジ５を停止させるべき定位置
に対応する目標レベル番地を予め設定しておくこ
とにより、比較手段２０により前記現在レベル番
地と前記目標レベル番地とを比較させ、両番地が
一致したとき前記比較手段２０より昇降停止指令
２２を出力させ、この昇降停止指令２２を受ける
キヤレツジ昇降制御手段２１により昇降キヤレツ
ジ５を目標レベル番地に於いて自動停止させるこ
とが出来る。 An example of a method for controlling the elevation of an elevating carriage using the detection device configured as described above will be explained. As the elevating carriage 5 moves up and down, the first detector A detects the pair of upper and lower detected parts 12 of each stage,
Since 13 are detected sequentially, as shown in Fig. 4,
The current level address of the elevating carriage 5 can be obtained from the counter 19 by counting the detection signal of the first detector A by an addition/subtraction counter 19 in such a manner that it is added when it goes up and subtracted when it goes down. On the other hand, cargo storage compartment 3 for loading and unloading work
By setting in advance a target level address corresponding to the fixed position at which the elevating carriage 5 should be stopped depending on the height of the warehouse and whether it is a loading operation or an unloading operation, the comparing means 20 can compare the current level address and the target level address. The target level address is compared with the target level address, and when the two addresses match, the comparison means 20 outputs a lift stop command 22, and the carriage lift control means 21 receiving this lift stop command 22 moves the lift carriage 5 to the target level address. It can be stopped automatically.
一方、前記入出庫用走行クレーン２は、従来周
知の制御方法により、入出庫作業対象の荷収納区
画３に隣接する位置まで走行して自動停止するの
で、前記のように昇降制御されて目標レベル番地
で昇降キヤレツジ５が停止することにより、当該
昇降キヤレツジ５上のランニングフオーク４は、
入出庫作業対象の荷収納区画３に於ける出庫作業
用下側定位置LP又は入庫作業用上側定位置UPに
対応することになる。 On the other hand, the traveling crane 2 for loading and unloading is automatically stopped by a well-known control method after traveling to a position adjacent to the cargo storage section 3 to be loaded and unloaded, and is controlled to move up and down as described above to reach the target level. When the elevating carriage 5 stops at the address, the running fork 4 on the elevating carriage 5
This corresponds to the lower fixed position LP for unloading work or the upper fixed position UP for warehousing work in the cargo storage section 3 where the loading and unloading work is performed.
昇降キヤレツジ５が所定レベルで停止し、キヤ
レツジ昇降制御手段２１によりフオーク進出指令
（キヤレツジ停止完了信号）２３が出力されると、
フオーク出退制御手段２４がランニングフオーク
４を出退位置まで進出移動させるように制御す
る。 When the lifting carriage 5 stops at a predetermined level and the carriage lifting control means 21 outputs a fork advancement command (carriage stop completion signal) 23,
A fork advancing/retracting control means 24 controls the running fork 4 to advance and move to an advancing/retracting position.
ランニングフオーク４が出限位置で停止すれば
出限到達信号２５が出力されるが、前記のように
昇降キヤレツジ５が出庫作業用下側定位置LP又
は入庫作業用上側定位置UPで停止しているとき
には、第二検出器Ｂは、昇降OKゾーン検出用の
縦長切り抜き被検出部１４の一端にあつて検出信
号２６を出力しているので、この検出信号２６と
前記出限到達信号２５の両方がANDゲート２８
に入力され、当該ANDゲート２８からキヤレツ
ジ昇降指令２７が出力される。 If the running fork 4 stops at the exit limit position, the limit reaching signal 25 is output, but as mentioned above, the elevating carriage 5 stops at the lower fixed position LP for unloading work or the upper fixed position UP for warehousing work. Since the second detector B is located at one end of the vertically cut-out detected part 14 for detecting the OK zone and outputs the detection signal 26, both this detection signal 26 and the limit reaching signal 25 are detected. is AND gate 28
is input, and the carriage lift command 27 is output from the AND gate 28.
キヤレツジ昇降指令２７によつて前記キヤレツ
ジ昇降制御手段２１が昇降キヤレツジ５を、入庫
作業時には下降運動させ、出庫作業時には上昇運
動させるように昇降駆動させる。この昇降キヤレ
ツジ５の昇降運動方向が、その運動開始前の昇降
キヤレツジ５の停止位置に照らして正しい方向で
あれば、前記第二検出器Ｂは昇降OKゾーン検出
用の縦長切り抜き被検出器１４の一端から他端に
向かつて移動するので、検出信号２６は継続して
出力される。従つて、前記キヤレツジ昇降指令２
７も継続して出力される。 In response to the carriage lift command 27, the carriage lift control means 21 drives the lift carriage 5 up and down so that it moves downward during storage operations and moves upward during storage operations. If the direction of the lifting/lowering movement of the lifting carriage 5 is correct in comparison with the stop position of the lifting/lowering carriage 5 before the start of the movement, the second detector B detects the vertically cut out detection object 14 for detecting the lifting/lowering OK zone. Since it moves from one end to the other end, the detection signal 26 is continuously output. Therefore, the carriage lift command 2
7 is also output continuously.
若し、ランニングフオーク４が出限位置にある
状態で昇降キヤレツジ５がキヤレツジ昇降指令２
７に基づいて昇降駆動されるとき、制御系の誤動
作で誤つた方向に昇降すると、第二検出器Ｂが昇
降OKゾーン検出用の縦長切り抜き被検出部１４
の一端から外れ、検出信号２６が消滅する。従つ
て、ANDゲート２８からのキヤレツジ昇降指令
２７も消滅するので、キヤレツジ昇降制御手段２
１は昇降キヤレツジ５の昇降を停止させる。 If the elevating carriage 5 receives the carriage elevating command 2 while the running fork 4 is at the extension limit position,
7, if the control system malfunctions and lifts or lowers in the wrong direction, the second detector B detects the vertically cut out detected part 14 for detecting the OK zone for lifting/lowering.
is removed from one end, and the detection signal 26 disappears. Therefore, since the carriage lift command 27 from the AND gate 28 also disappears, the carriage lift control means 2
1 stops the elevating carriage 5 from moving up and down.
昇降キヤレツジ５が出庫作業用下側定位置LP
又は入庫作業用上側定位置UPから昇降OKゾー
ンの長さだけ昇降移動すると、第二検出器Ｂが昇
降OKゾーン検出用の縦長切り抜き被検出部１４
の端部から外れ、検出信号２６が消滅する。従つ
てANDゲート２８からのキヤレツジ昇降指令２
７も消滅するので、キヤレツジ昇降制御手段２１
は昇降キヤレツジ５の昇降を停止させる。 The elevating carriage 5 is in the lower fixed position LP for unloading work.
Or, if you move up and down by the length of the up/down OK zone from the upper fixed position UP for warehousing work, the second detector B detects the vertically cut out detected part 14 for detecting the up/down OK zone.
, and the detection signal 26 disappears. Therefore, the carriage lift command 2 from the AND gate 28
7 also disappears, the carriage elevation control means 21
stops the elevating carriage 5 from moving up and down.
この昇降キヤレツジ５の停止完了によりフオー
ク退入指令２９が出力されると、フオーク出退制
御手段２４は出限位置にあるランニングフオーク
４を昇降キヤレツジ５上の元位置まで後退移動さ
せるように制御する。ランニングフオーク４が元
位置まで後退復帰することにより、一連のフオー
キング作用による入庫用荷移載作用又は出庫用荷
移載作用が完了する。そして作業完了信号３０が
出力され、走行クレーン２をホームポジシヨンに
戻す等の必要な制御が引続き行われる。 When the fork retraction command 29 is output upon completion of the stop of the elevating carriage 5, the fork egress/retreat control means 24 controls the running fork 4 at the extension limit position to move backward to the original position above the elevating carriage 5. . When the running fork 4 returns to its original position, the loading and unloading load transfer operations and the loading and unloading load transfer operations based on a series of forking operations are completed. Then, a work completion signal 30 is output, and necessary controls such as returning the traveling crane 2 to its home position continue to be performed.
尚、昇降キヤレツジ５を目標のレベルで停止さ
せるための制御方法としては、先に説明した従来
周知のパルスエンコーダー利用のパルス計数方式
を利用することも出来る。この場合、前記出庫作
業用下側定位置LPの切り抜き被検出部１２と前
記入庫作業用上側定位置UPの切り抜き被検出部
１３とを検出する第一検出器Ａの検出信号は、学
習作業時や実働作業時に昇降キヤレツジ５が前記
出庫作業用下側定位置LP又は入庫作業用上側定
位置UPで停止したか否かを確認するのに利用す
ることが出来る。又、前記第一検出器Ａの検出信
号は、フオーキング作用のために昇降する昇降キ
ヤレツジ５が前記上下一対の定位置LP，UPの一
方から他方に到達したことを知るための信号、延
いてはフオーキング作用に於ける昇降キヤレツジ
５の昇降を停止させる信号として、利用すること
も出来る。 As a control method for stopping the elevating carriage 5 at a target level, it is also possible to use the previously described pulse counting method using a well-known pulse encoder. In this case, the detection signal of the first detector A that detects the cutout detected part 12 at the lower fixed position LP for the unloading operation and the cutout detected part 13 at the upper fixed position UP for the warehousing operation is transmitted during the learning operation. It can be used to confirm whether the elevating carriage 5 has stopped at the lower fixed position LP for unloading work or the upper fixed position UP for warehousing work during actual work. Further, the detection signal of the first detector A is a signal for knowing that the elevating carriage 5, which is raised and lowered due to the forking action, has reached the other of the pair of upper and lower fixed positions LP and UP, and furthermore, It can also be used as a signal to stop the lifting and lowering of the elevating carriage 5 during forking action.
（発明の作用及び効果）
以上のように本発明の昇降キヤレツジの昇降制
御用検出装置によれば、前記実施例の参照符号を
付して示せば、昇降キヤレツジ５側の検出器Ａと
昇降経路側の帯状板１１に設けられている上下一
対の切り抜き被検出部１２，１３とで、昇降キヤ
レツジ５の位置が棚の各段の荷収納区画に於ける
出庫作業用下側定位置LP又は入庫作業用上側定
位置UPであるか否かのチエツクが行えると共に、
昇降キヤレツジ５側の検出器Ｂと前記帯状板１１
に設けられている縦長の切り抜き被検出器１４と
で、昇降キヤレツジ５の位置が前記出庫作業用下
側定位置LPと入庫作業用上側定位置UPとの間の
昇降OKゾーン内にあるか否かをチエツクするこ
とが出来る。(Operations and Effects of the Invention) As described above, according to the detection device for controlling the elevation of the elevating carriage of the present invention, the detector A on the elevating carriage 5 side and the elevating path A pair of upper and lower cutout detection parts 12 and 13 provided on the side strip plate 11 allow the position of the elevating carriage 5 to be set at the lower fixed position LP for unloading work in the cargo storage compartment of each stage of the shelf or at the lower fixed position LP for storage. You can check whether the upper working position is UP or not, and
Detector B on the elevating carriage 5 side and the strip plate 11
The position of the elevating carriage 5 is within the elevating OK zone between the lower fixed position LP for unloading work and the upper fixed position UP for warehousing work with the vertically long cutout detected device 14 provided in the You can check whether
このように検出機能としては、必要且つ十分な
機能を持つものでありながら、本発明の構成によ
れば次のような効果が得られる。 Although the detection function has a necessary and sufficient function as described above, the configuration of the present invention provides the following effects.
Ａ 昇降キヤレツジ側には２個の透過形光電式検
出器Ａ，Ｂのみを取付ければ良く、そして昇降
経路側には昇降経路の全長にわたつて連続する
一つの帯状板１１を取付ければ良いので、３個
の検出器を必要とするものや、各段の荷収納区
画ごとに独立して被検出板を取付けなければな
らないものと比較して、部品コストや取付けコ
ストが大幅に軽減され、全体を安価に実施する
ことが出来る。A Only two transmission type photoelectric detectors A and B need to be installed on the elevating carriage side, and one strip plate 11 that is continuous over the entire length of the elevating path can be installed on the elevating path side. Therefore, compared to systems that require three detectors or systems that require detection plates to be installed independently in each storage compartment of each stage, parts and installation costs are significantly reduced. The whole process can be carried out at low cost.
Ｂ 各段の荷収納区画ごとに独立して被検出板を
取付けなければならないもののように、被検出
板の一部が不測に脱落して或るレベルの荷収納
区画に対する入出庫作業が出来なくなる恐れも
皆無である。B: In cases where a detection plate must be installed independently in each storage compartment of each level, a part of the detection plate may unexpectedly fall off, making it impossible to carry out loading/unloading operations for the storage compartment at a certain level. There is no fear at all.
Ｃ 帯状板に設けられる被検出板を帯状板の側縁
から突出する舌片状部分で構成するときは、前
記検出器Ａで検出される上下一対の被検出部１
２，１３は上下巾の小さな小巾舌片状となるの
で、変形や折損の恐れが大きく、耐久性及び動
作の安定性の面で実用的ではなくなるが、本発
明では、帯状板１１に各被検出部１２〜１４を
切り抜きで形成するのであるから、前記検出器
Ａで検出される上下一対の被検出部１２，１３
の上下巾を十分に小さくして検出精度を高めた
場合でも、被検出部そのものの強度に影響する
ことはなく、被検出板全体としては、昇降経路
全長にわたつて連続していることと相俟つて十
分な強度を持たせ、耐久性及び動作の安定性を
高めることが出来る。C. When the detection plate provided on the strip plate is composed of a tongue-shaped portion protruding from the side edge of the strip plate, a pair of upper and lower detection plates 1 detected by the detector A.
2 and 13 are in the form of small tongue pieces with small upper and lower widths, so there is a large risk of deformation or breakage, making it impractical in terms of durability and stability of operation. However, in the present invention, each strip plate 11 is Since the detected parts 12 to 14 are formed by cutouts, the pair of upper and lower detected parts 12 and 13 detected by the detector A is
Even if the vertical width of the plate is made sufficiently small to improve detection accuracy, it will not affect the strength of the detected part itself, and the detected plate as a whole will be continuous over the entire length of the lifting path. In addition, sufficient strength can be provided, and durability and stability of operation can be improved.
第１図は立体棚と入出庫用走行クレーンとを示
す正面図、第２図は要部の拡大横断平面図、第３
図は検出手段の構成を説明する図、第４図は制御
手段の構成を説明するブロツク図である。
１……立体棚、２……入出庫用走行クレーン、
３……荷収納区画、４……ランニングフオーク
（荷出し入れ装置）、５……昇降キヤレツジ、７…
…昇降キヤレツジ案内支柱、１０ａ，１０ｂ……
荷受具、１１……帯状板、１２……下側定位置検
出用の切り抜き被検出部、１３……上側定位置検
出用の切り抜き被検出部、１４……フオーク出限
昇降OKゾーン検出用の縦長切り抜き被検出部、
１５……コの字形切り抜き部、１６……コの字形
部材、１７ａ，１８ａ……投光器、１７ｂ，１８
ｂ……受光器、１９……加減算カウンター、２０
……比較手段、２１……キヤレツジ昇降制御手
段、２４……フオーク出退制御手段、２８……
ANDゲート、LP……出庫作業用下側定位置、
UP……入庫作業用上側定位置、Ａ，Ｂ……透過
形光電式検出器。
Figure 1 is a front view showing the three-dimensional shelf and the traveling crane for loading and unloading, Figure 2 is an enlarged cross-sectional plan view of the main parts, Figure 3
This figure is a diagram for explaining the configuration of the detection means, and FIG. 4 is a block diagram for explaining the configuration of the control means. 1... Three-dimensional shelf, 2... Traveling crane for loading and unloading,
3... Cargo storage compartment, 4... Running fork (loading/unloading device), 5... Lifting carriage, 7...
...Elevating carriage guide column, 10a, 10b...
Load receiver, 11...Strip plate, 12...Cut out detection part for lower fixed position detection, 13...Cut out detection part for upper fixed position detection, 14...Fork limit lift OK zone detection Vertical cutout detected part,
15... U-shaped cutout portion, 16... U-shaped member, 17a, 18a... Floodlight, 17b, 18
b...Receiver, 19...Addition/subtraction counter, 20
. . . Comparison means, 21 . . . Carriage elevation control means, 24 . . .
AND gate, LP...Lower fixed position for shipping work,
UP... Upper fixed position for warehousing work, A, B... Transmissive photoelectric detector.
Claims (1)
路脇に取付けられた帯状板１１と、前記昇降キヤ
レツジに同一レベルで前記帯状板１１の巾方向に
並設された２個の透過形光電式検出器Ａ，Ｂとを
備え、前記帯状板１１は前記昇降経路の全長にわ
たつて連続し、この帯状板１１には、前記２個の
検出器Ａ，Ｂの内の一方の検出器Ａによつて検出
される上下一対の切り抜き被検出部１２，１３
と、他方の検出器Ｂによつて検出される縦長の切
り抜き被検出部１４とが設けられ、前記上下一対
の切り抜き被検出部１２，１３は、前記棚の各段
の荷収納区画に於ける出庫作業用下側定位置LP
と入庫作業用上側定位置UPとに対応して設けら
れ、前記縦長の切り抜き被検出部１４は、前記出
庫作業用下側定位置LPと入庫作業用上側定位置
UPとの間の荷出し入れ装置出限昇降OKゾーン
に対応して設けられて成る入出庫用昇降キヤレツ
ジの昇降制御用検出装置。1. A band plate 11 attached to the side of the elevating path of the elevating carriage for loading and unloading from the shelf, and two transmissive photoelectric detectors A arranged in parallel in the width direction of the band plate 11 at the same level on the elevating carriage. . A pair of upper and lower cutout detected parts 12 and 13
and a vertically elongated cut-out detected part 14 that is detected by the other detector B, and the pair of upper and lower cut-out detected parts 12 and 13 are arranged in the cargo storage section of each stage of the shelf. Lower fixed position LP for unloading work
and the upper fixed position UP for warehousing work, and the vertically elongated cutout detection portion 14 is provided corresponding to the lower fixed position LP for warehousing work and the upper fixed position UP for warehousing work.
A detection device for controlling the elevation of the loading/unloading carriage, which is installed in correspondence with the loading/unloading device output limit lifting/lowering OK zone between the UP and the loading/unloading device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60075163A JPS61235302A (en) | 1985-04-08 | 1985-04-08 | Elevating carriage control method for carring in and out to/from storage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60075163A JPS61235302A (en) | 1985-04-08 | 1985-04-08 | Elevating carriage control method for carring in and out to/from storage |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS61235302A JPS61235302A (en) | 1986-10-20 |
| JPH0520322B2 true JPH0520322B2 (en) | 1993-03-19 |
Family
ID=13568258
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP60075163A Granted JPS61235302A (en) | 1985-04-08 | 1985-04-08 | Elevating carriage control method for carring in and out to/from storage |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61235302A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07221008A (en) * | 1994-01-31 | 1995-08-18 | Nec Corp | Spinner type coating apparatus |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5845205B2 (en) * | 1974-08-23 | 1983-10-07 | セイコーエプソン株式会社 | Manufacturing method of mesa crystal resonator |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5845205U (en) * | 1981-09-24 | 1983-03-26 | 三菱重工業株式会社 | Position detection device for mobile machinery |
-
1985
- 1985-04-08 JP JP60075163A patent/JPS61235302A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5845205B2 (en) * | 1974-08-23 | 1983-10-07 | セイコーエプソン株式会社 | Manufacturing method of mesa crystal resonator |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07221008A (en) * | 1994-01-31 | 1995-08-18 | Nec Corp | Spinner type coating apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS61235302A (en) | 1986-10-20 |
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