JPH0419129B2 - - Google Patents

Description

Detailed Description of the Invention (Field of Industrial Application) The present invention relates to a traveling crane for loading and unloading used in automated warehouses, that is, a crane that is movably supported on a guide rail for guiding the crane laid at least on the floor. A detection device for controlling a traveling crane for loading and unloading, which travels along a travel route along a shelf, that is, a control consisting of a detected member installed at a predetermined position on the travel route side and a detector attached to the crane side. The present invention relates to a detection device for use.

(Prior Art) In conventional detection devices for controlling traveling cranes of this type, detecting members installed on the crane traveling route side, such as fixed position detection devices installed at each crane stopping position for loading and unloading operations, are used. Detected members such as a detected plate or a limit switch actuation dog for making an emergency stop of the crane at the end of the crane travel path are described in, for example, Japanese Patent Publication No. 50-12829 and Japanese Patent Application Laid-open No. 58-47702. It is fixed on the floor using a hole-in anchor, etc. as described in , or attached to the side of a guide rail for crane guidance laid on the floor as described in JP-A No. 52-41368. Or, it was attached to the support of a shelf erected next to the crane travel route.

(Problem to be Solved by the Invention) When installing a member to be detected on the floor as described above, the detector on the crane side running on a guide rail laid on the floor and the detector on the floor In order to normalize the positional relationship with the detection member, the installation position of the detection member at a predetermined distance from the guide rail laid on the floor must be accurately determined on site, and the installation position of the detection member must be accurately determined on site. It is necessary to attach a detection member. Furthermore, when installing a detected member on the floor, it is necessary to fix it with at least two anchor bolts to prevent the detected member from rotating, even if the detected member is small.
A large mounting seat is required.

Furthermore, when attaching the detected member to the side surface of the guide rail as described above, a surface for attaching the detected member to the guide rail must be secured, and the cross-sectional shape of the guide rail is constrained.
There may be cases where this cannot be done using existing guide rails. Further, there are also restrictions on the size and shape of the member to be detected.

When attaching the detected member to the shelf support, if the horizontal distance and vertical positional relationship between the guide rail and the shelf support are not sufficiently accurate, the detected member must be placed at the specified location on the shelf support with sufficient precision. Even if it is installed properly, an abnormality will occur in the positional relationship between the detector on the crane shelf and the member to be detected on the shelf side.

(Means for Solving the Problems) In order to solve the above-mentioned conventional problems, the present invention provides a system that is movably supported by a guide rail for guiding a crane laid on at least the floor surface and mounted on a shelf. In a traveling crane for entering and exiting a warehouse that travels along a traveling route, a detected member for control is attached to a side end surface of a base plate for installing a guide rail for guiding the crane on the floor surface, and a detected member for control is attached to the side of the traveling crane. This invention proposes a detection device for controlling a traveling crane, which is equipped with a control detector for detecting members.

(Embodiment) An embodiment of the present invention will be described below based on the attached illustrative drawings. In FIG. This traveling crane for loading and unloading runs guided by rails 3, and is equipped with an elevating carriage 5 on which a cargo transfer means 4 such as a running fork is mounted. Reference numeral 6 denotes a shelf erected beside the travel path of the crane 1, and has a large number of storage compartments 7 divided into a grid pattern in the vertical direction and in the horizontal direction parallel to the crane travel path.

As shown in FIG. 2, on the lower frame 8 of the crane 1, idle wheels 9 and drive wheels 10 that fit into the guide rails 2 on the floor are supported, and a motor 11 drives the drive wheels 10. is installed. At the front end of the lower frame 8, a third
Guide rail 2 as shown in detail in Figures and Figure 4.
A gate-shaped bracket 12 that straddles the cutter is attached to one end of the bracket 12, and a detector 13 for forward limit high-speed cutting is attached to the other end of the bracket 12, and a detector 14 for backward limit high-speed cutting and a detector 14 for medium-speed cutting are attached to the other end of the bracket 12. The detector 15 is attached with a shifted position in the lateral direction. Further, as shown in detail in FIGS. 5 and 6, a bracket 16 is provided at one side of the longitudinally central position of the lower frame 8 (the side where the forward limit high-speed cutting detector 13 is located). A pair of front and rear fixed position detection detectors 17 and 18 are installed at a position closer to the guide rail 2 than the forward limit high speed cutting detector 13, and are further connected to an emergency stop limit switch 19 via the bracket 16. However, the actuating piece 19 is located at a position shifted toward the guide rail 2 from the center position between the two detectors 17 and 18.
It is attached so that a is located. The operating piece 19a of the limit switch 19 is swung back and forth in the crane traveling direction from a neutral position hanging directly below.

As shown in FIG. 7, on the travel path side of the crane 1, there are a reverse limit high-speed cut detector 14 and a medium-speed cut detector 14 near the crane stop position HP at the end on the home position side. A detection plate 20 for high-speed cutting and a detection plate 21 for medium-speed cutting of a predetermined length are arranged side by side at positions where 15 can be detected respectively, and a crane stop position OP at the opposite end is installed.
In the vicinity of the forward limit high speed cutting detector 13
and the detection plate 22 for high-speed cutting with a predetermined length at a position that can be detected by the detector 15 for medium-speed cutting and the detector 15 for medium-speed cutting.
and a medium-speed cutting detection plate 23 are arranged in parallel. At the crane stop positions HP, OP at both ends of the travel route, and at each crane stop position P set at predetermined intervals between them, the pair of front and rear position detection detectors 17, 18 simultaneously detect both ends. A fixed position detection plate 24 having a length that can be detected is installed. Further, a reverse limit emergency stop dog 25 and a forward limit emergency stop dog 26, on which the operating piece 19a of the emergency stop limit switch 19 rides, are installed near the crane stop positions HP and OP at both ends of the traveling route. 27 and 28 are stoppers attached to both ends of the guide rail 2.

The detection plates 21 and 23 for medium-speed cutting and each fixed position detection plate 24 are connected to the guide rail 2 in order to fix the guide rail 2 on the floor surface, as shown in FIGS. 4 to 7. Of the base plates interposed at appropriate intervals between the base plate and the floor, each detection plate 2
It is directly attached to the side end surface of the base plate 29 located at the installation positions 1, 23, and 24 by bolts 30. Note that each fixed position detection plate 24 can be attached to one base plate 29, but each of the long detection plates 21 and 23 can be attached to the seventh base plate 29.
Preferably, each is attached to at least two base plates 29 as shown.

The high-speed cutting detection plate 20 is attached to the medium-speed cutting detection plate 21 via spacers 31 with bolts 32 at multiple locations in the length direction, as shown in FIGS. 4 and 7. The detection plate 22 for high-speed cutting is attached to the ends of a plurality of base plates 29 located at the installation position of the detection plate 22 by bolts 32 via spacers 31, respectively.

The emergency stop dogs 25 and 26 touch the bottom part of the fixed position detection plate 24 installed at the fixed positions HP and OP adjacent to these dogs 25 and 26, as shown in FIGS. 7 to 9. It extends forward and backward, and is attached to one of the extending portions 24a, 24b with a bolt 32 via a spacer 31. Incidentally, as shown in FIG. 7, one end of the detection plate 22 for high-speed cutting can be attached to the fixed position detection plate 24 installed at the fixed position OP via a spacer 31, but in this case, the Of the extending portions 24a and 24b of the detection target plate 24, the extending portion on the side that is not used for attaching the emergency stop dog 26 can be used.

The crane 1 travels forward toward a stop position OP at the end opposite to the home position by driving the driving wheels 10 in the normal direction by the motor 11, and then reversely driving the driving wheels 10. The vehicle travels backward toward the stop position HP at the end of the home position side, and when it reaches the desired stop position P, OP, HP, it moves forward and backward as shown in Figure 5 or Figure 8. fixed position detection detector 17,1
8 detects both the front and rear ends of the detection plate 24 for fixed position at the same time, it is automatically stopped.

Crane 1 is automatically controlled to change speed from high speed to medium speed and then from medium speed to low speed before reaching the set stopping position.
While traveling at high speed, when the detector 13 detects the detection plate 22 for forward limit high-speed cutting, or when the detector 14 detects the detection plate 20 for backward limit high-speed cutting, the detection signal is detected based on the detection signal. Then, a separate control mechanism forcibly performs a high-speed cut and decelerates the speed to a medium speed. Further, while the crane 1 is traveling at a medium speed, the detector 15 detects the detection plate 2 for medium speed cutting at the forward limit.
3 or the backward limit medium-speed cutting detection plate 21 is detected, the crane 1 is forcibly decelerated to a low speed. And if crane 1 is in the fixed position OP, HP
If the actuating piece 19a rides on the emergency stop dog 26 or 25 and the emergency stop limit switch 19 does not stop even after reaching the
When 6 or 25 is detected, an emergency stop is applied to the crane 1 by another control mechanism.

(Operations and Effects of the Invention) According to the control detection device of the present invention that can be implemented as described above, the detected member detected by the detector on the traveling crane side can be detected by the detection member on the floor guide rail that guides the crane. Since it is attached to the side end surface of the installation base plate, the following effects can be obtained.

That is, the base plate is provided with guide rail fastening bolt holes in advance, and the horizontal distance and vertical positional relationship between the guide rail attached to the base plate and the side end surface of the base plate are constant. There is no variation in the horizontal distance and vertical positional relationship between the detected member attached to the side end surface of the base plate and the guide rail. On the other hand, since the horizontal distance and vertical positional relationship between the detector on the traveling crane guided by the guide rail and the guide rail are constant, as a result, the detector on the traveling crane and the base plate The horizontal distance and vertical positional relationship between the detector and the detected member attached to the side end face of the detector are constant, and as long as the mounting position of the detector is correct, the detector can reliably detect the detected member without any trouble. I can do it.

That is, when attaching the member to be detected, there is no need to consider the horizontal distance and the vertical positional relationship between the member and the guide rail as in the conventional case, and the member to be detected can be attached simply and easily. Moreover, by simply bringing the lower end of the detected member attached to the side end surface of the base plate into contact with the floor surface, rotation of the detected member can be prevented even if the detected member is attached to the base plate with a single bolt. The cost of installing the member to be detected can be reduced.

[Brief explanation of drawings]

Figure 1 is an elevation view showing the traveling crane and shelves, Figure 2 is a side view showing details of the lower part of the crane, and Figure 3 is a side view showing details of the lower part of the crane.
Figures 5 and 8 are side views of the main parts;
, FIG. 6, and FIG. 9 are longitudinal sectional front views of the main parts, and FIG. 7 is a partially cutaway plan view showing the arrangement of detected members. 1... Traveling crane for loading and unloading, 2... Floor guide rail, 6... Shelf, 8... Crane lower frame, 12, 16... Bracket, 13, 14...
...Detector for high-speed cutting, 15...Detector for medium-speed cutting, 19...Emergency stop limit switch, 2
0, 22...Detection plate for high-speed cutting, 21, 23
...Detection plate for medium speed cutting, 24...Detection plate for fixed position, 25, 26...Emergency stop dog, 29
...Base plate for guide rail installation, 3
0, 32... Bolt, 31... Spacer.

Claims (1)

[Claims] 1. In a warehouse loading/unloading traveling crane that is movably supported by at least a crane guiding guide rail laid on the floor surface and travels along a traveling path along a shelf, the crane guiding guide rail on the floor surface A detection device for controlling a traveling crane, comprising: a detection member for control attached to a side end face of a base plate for installation; and a control detector for detecting the member to be detected on the traveling crane side.