JPH042887Y2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a control device for an elevator in an automated warehouse that can efficiently carry out and carry in and out stored items.

[Conventional technology]

Storage shelves in automated warehouses are generally constructed by linearly arranging multiple stacked shelves. Conventionally, as a method for storing stored items (products, mechanical parts, etc., or items placed on a pallet) in a storage shelf having such a configuration, there is a method shown in FIGS. 2 and 3.

Storage shelf A in Fig. 2 has one storage P on each shelf 1.
It is designed so that only the following information can be stored. With this structure, for example, by raising or lowering the fork of a crane to the shelf where the desired stored item is stored, it is possible to immediately take out only one stored item from that shelf.

However, with the storage shelf A having this structure, each shelf 1 must be provided corresponding to each stored item, so the number of shelves is large, the structure is complicated, and a large amount of structural material is required for the entire storage shelf A. , which increases the overall weight and also increases the cost.

In addition, since only one stored item P can be stored on each shelf 1, it takes time to bring in the stored item P, and the fork of the crane operates inefficiently.

There is a storage shelf B having a structure shown in FIG. 4 as a storage shelf that solves these problems.

This storage shelf B has wide vertical intervals between each shelf 2 so that a plurality of stored items P stacked on each shelf 2 can be stored.

[Problem that the invention attempts to solve]

With the storage shelf having the structure shown in Fig. 3, it is possible to store a plurality of stored items P in a stacked state at one time, which has the advantage of improving the operation efficiency of the fork of the crane and simplifying the structure of the storage shelf. . However, on the other hand, it is not possible to carry out the stored items P one by one, and they must be carried out in a stacked state. For this reason, peripheral equipment such as a tiering machine or a forklift (not shown) is required to take out the stacked items one by one, which reduces work efficiency, increases costs, and requires a lot of work. This had the problem of requiring space.

As described above, in conventional automated warehouses, various problems have arisen because the automatic stopping position of the fork of the crane is only at the height of each shelf.

In order to solve the above-mentioned problems, the present invention aims to provide a control device for an elevator in an automated warehouse that can automatically stop the fork of a crane not only at the height of each shelf but also at the position between the shelves. do.

[Means for solving problems]

The automatic warehouse elevator control device of the present invention determines the number of shelves on which stored items are carried in and out by raising and lowering the elevator, and the number of shelves that are configured by arranging multiple stacked shelves. target value calculation means for calculating the lifting stop position of the elevator based on the quantity of stored items and settings for carrying in or out of the storage items to the shelf and setting it as a target value; and a position for measuring the current position of the elevator in the lifting direction. and an elevator control means that determines the difference between the target value and the current position of the elevator, drives the elevator in the direction of the target value, and stops the elevator when the difference reaches a predetermined value. It is something that

[Effect]

According to the above configuration, among the storage shelves configured by arranging a plurality of stacked shelves, the number of shelves on which stored items are carried in and out by raising and lowering the elevator, the quantity of stored items to be carried in and out of the shelves, and the storage Based on the settings for loading or unloading objects to the shelf, the target value calculating means calculates the lifting stop position of the elevator and sets it as a target value, and the position measuring means calculates the lifting stop position of the elevator based on this target value and the lifting and lowering of the elevator. The elevator control means determines the difference between the measured current position of the elevator and drives the elevator in the direction of the target value, and when the difference reaches a predetermined value (for example, zero), the elevator control means controls the elevator. Performs lifting/lowering stop control.

As a result, the elevator can be automatically stopped not only at the height of each shelf but also at a position between the shelves.

[Example] Hereinafter, an example of the present invention will be described based on FIGS. 1 and 2.

The storage shelves C of the automated warehouse shown in FIG. 1 have shelves 10 in multiple rows in the horizontal direction and in multiple stages in the vertical direction (however, only one row is shown here).

Crane with fork 11 (not shown)
moves laterally and vertically along this shelf 10.

Each shelf 10a, 10b, 10c, 10d... is set at a height of ha, hb, hc, hd..., respectively,
It has a height that allows a plurality of stored items 12 placed on pallets 20 to be stacked and stored.

One pallet 13 and one stored item 12 placed on it are considered as one handling unit.

Each handling unit has a height of d.
Further, each pallet 13 has a cavity 14 of height c into which a fork 11 is inserted.

The control device 15 controls the height of the fork 11 (lateral control is performed by another control device not shown), and the stored object quantity storage section 16;
It is composed of a target value calculation section 17, a height measurement section 18, and a fork control section 19.

The storage quantity storage section 16 stores the number of handling units currently stored on each shelf 10.

The target value calculation unit 17 calculates and sets the target height (H in FIG. 1) of the fork 11 as a target value based on the command value given from the outside and the storage in the storage quantity storage unit 16. The command value is a command for how many units to handle and to which shelf 10 to carry it into, and how many units to handle from which shelf 10 to carry out from the shelf 10. This is a command to remove the unit. These commands are given by an operator using a keyboard or the like.

The height measurement unit 18 is composed of, for example, a rotary encoder (not shown), and measures the height (h in FIG. 1) of the fork 11 from the floor FL by detecting the rotation of the motor M that drives the fork 11 up and down. It is something to do.

The fork control unit 19 compares the calculated value in the target value calculation unit 17 with the measured value in the height measurement unit 18, and when the two values match, outputs a stop control signal S ₁
Power up every week. Further, when the fork 11 enters the area of the target shelf 10, a control signal _S2 is outputted to decelerate the fork 11 and move it up and down. Furthermore, by comparing the target value H and the current height h of the fork, H>h
When , fork up command S _U is output, and when H<h, fork down command S _D is output.

The fork drive unit 20 controls the fork lifting motor M based on command signals S ₁ , S ₂ , S _U , and _SD from the fork control unit 19 .

Next, in the above configuration, the operation of loading and unloading the handling unit to and from the shelf 10b in FIG. 1, for example, will be explained. When carrying in and out handling units, it is assumed that the number of handling units stored on each shelf 10 of storage shelf C is stored in advance in the storage quantity storage section 16 of the control device 15. .

First, the case where handling units are carried into the shelf 10b will be explained.

The shelf to be carried into the target value calculating section 17 and the number of handling units to be carried into the shelf are input as command values. Based on the command signal, the target value calculation unit 1
7 is shelf 1 stored in the storage quantity storage unit 16
Reads the number of handling units currently stored in 0b. Assuming that the read storage number of handling units is zero, the target value calculating section 17 sets the target value H = h _b + a ₁ ...(1) (however, a ₁ is the number of handling units stored on the shelf 10b). When loading, the height is sufficient to avoid the pallet 13 hitting the shelf 10b, and a ₁ >c.)

At the same time, the height h _b of the target shelf 10b is set as the ascending speed deceleration position of the fork 11, and the height h _c of the shelf 10c one step above the target shelf 10b is set as the descending speed deceleration position of the fork 11.

Next, the current height h of the fork 11 and the target value H
The fork control unit 19 compares the two.

For example, when lifting handling units stacked on the floor FL with the fork 11 and storing them, h=0.
Therefore, H>h, and the fork lift command signal S _U is output to the fork drive unit 20.

When a handling unit stored on a shelf above the target shelf 10b is transferred to the target shelf 10b, H<h, and a fork lowering command signal S _D is output to the fork drive unit 20.

Now, if the handling unit on the floor is to be carried to the target shelf 10b, the fork 11 ascending command signal
Based on the S _U , the fork 11 picks up the stacked handling units and begins to ascend. that time,
Based on the output pulse from a rotary encoder (not shown) accompanying the rotation of the fork lifting motor M, the height measuring unit 18 measures the floor FL of the fork 11.
Measure the height h from

When the height h of the fork 11 reaches the target height h _b of the shelf 10b due to the rise of the fork 11, a fork rise speed deceleration control signal S2 is output from the fork control unit 19 to the fork drive unit 20, The motor M is decelerated to slow down the rising speed of the fork 11.

Further, when the height h of the fork 11 matches the target value H=h _b +a ₁ due to the rise of the fork 11, the fork control section 19 controls the fork driving section 20.
A stop control signal _S1 is output to stop the fork elevating motor M to stop the fork 11 from rising.

After that, after the handling unit has entered the shelf 10b, the fork 11 is lowered from the shelf 10b to a position slightly lower than the height a, and the handling unit is moved to the shelf 10b.
By placing the fork on the pallet 13 and removing the fork from the pallet 13, storage of the handling unit is completed.

In the above explanation, we have explained the case where the handling unit placed on the floor FL is carried into the target shelf, but when the handling unit placed on the shelf above the target shelf is to be carried out and carried into the target shelf, the following It is done as follows.

When the handling unit is carried out from the upper shelf by the method described later, since H<h, the fork lowering command signal S _D is output to the fork drive unit 20, and the fork 11 starts lowering.

When the height measuring unit 18 measures that the fork 11 has descended to the position h _c of the shelf 10c above the target shelf 10b, the descending speed of the fork 11 is decelerated and the descending stops at the target position H. do.

Thereafter, the fork 11 is extracted from the pallet 13 and the handling unit is stored in the same manner as described above.

Note that the storage quantity storage unit 1 indicates that some handling units are already stored on the target shelf 10b.
6, and assuming that the number is two, the target value calculating section 17 sets the target value H=h _b +2d+a ₁ (2).

At the same time, h _b and h _c are set as the ascending and descending speed deceleration positions.

Thereafter, when the fork 11 rises to the target shelf 10b, the rising speed of the fork 11 slows down and stops at the target value H in the same manner as when no handling unit is stored on the shelf 10b described above. Conversely, when the fork 11 descends from above the target shelf 10b to the height h _c of the upper shelf 10c, the descending speed of the fork 11 slows down to the target value H.
Stop at. Also, conversely, fork 11 is the target shelf 1
When the fork 11 descends from above 0b to the height h _c of the upper shelf 10c, the descending speed of the fork 11 decelerates and stops at the target value H. As a result, the handling unit is carried in. After the handling units are carried into the target shelf 10b, the number of stored handling units stored in the storage quantity storage section 16 is automatically rewritten.

In order to prevent overloading, when a command value is given, the target value calculation unit 17 determines whether or not loading is possible based on the storage in the storage quantity storage unit 16 in advance.

For example, if the maximum number of items loaded on one shelf is N, the number recorded in the stored item quantity storage unit 16 is n, and the command quantity is _n1 , then if N≧(n+ _n1 ), then move to the carry-in operation. do.

If N<(n+n ₁ ), the carry-in command is rejected and the carry-in operation is not performed.

Next, the unloading of the handling unit will be explained.

The quantities of the shelves to be carried out and the handling units to be carried out are inputted to the target value calculating section 17 as command values.

Assume that only one unit is to be transported. Introduction Shelf 1
The number of handling units stored in 0b is read from the storage quantity storage section 16. For example, the first
Assuming that three handling units are stored as shown in the figure, the target value of the fork 11 can be set above the second unit, so the target value H is H=h _b +2d+a ₂ ...( 3) becomes. (However, a ₂ is the height at which the fork 11 enters the gap 14 of the pallet 13 without colliding with it, and a ₂ <c.) At the same time, as in the case of carrying in the fork 11 described above, the rising speed deceleration position of the fork 11 is determined. h _b , descending speed deceleration position
Set as h _c .

After this, the height measuring section 18
The fork control unit 1 uses the measured value, the target value H of the target value calculation unit 17, and the ascending or descending positions h _d and h _c .
A command signal is issued at 9 to control the fork drive section 20.

That is, the fork 11 moves up or down, decelerates at the speed deceleration positions h _b and h _c , and stops at the target position H.

The fork 11, which has stopped at the target position H, enters the gap 14 of the pallet 13, rises slightly, lifts the handling unit above the handling unit below, and then carries it out.

In the above case, we have explained the case where only one unit is being carried out, but when two units are being carried out,
The target value is H=h _b +d+a ₂ ...(4). In addition, the target value when transporting 3 units is H = h _b + a ₂ ...(5), and subsequent operations are performed in the same way as described above.

After the handling unit is taken out from the target shelf, the storage of the handling unit stored in the storage quantity storage section 16 is automatically rewritten.

As described above, according to this embodiment, since the fork of the crane can be stopped between the shelves of the storage rack, the handling units can be carried into the storage shelf by the fork in a stacked state, and only one unit can be carried out. This can be done individually or with multiple units.

Therefore, the operating efficiency of the fork of the crane when carrying the handling unit into the storage shelf is improved.

Further, a large number of handling units can be stored on the shelf, the number of shelves can be reduced, the structure of the storage shelf is simplified, the number of structures of the storage shelf is reduced, and the storage shelf is lightweight and costs are reduced.

Furthermore, since each handling unit can be transported one by one, there is no need for conventional peripheral equipment such as a tiering machine or a forklift.

Further, since the fork can be stopped in the space of the pallet into which the fork is inserted between the handling units, the stored items can be carried out reliably.

[Effect of idea]

The automatic warehouse elevator control device of the present invention allows the forks of the crane to be stopped between the shelves of the storage racks, so the fork can carry in stored items in a stacked state, and unload them one by one.

Therefore, the operating efficiency of the forks of the crane when carrying in stored items is improved. At the same time, you can store a large number of items on the shelves at once, so you can widen the space between the shelves.
It is possible to reduce the number of shelves, and the storage shelves are simplified.

Furthermore, since the stored items can be taken out one by one at the time of unloading, peripheral equipment such as conventionally used tiering machines and forklifts is no longer required, and the entire automated warehouse is simplified.

[Brief explanation of the drawing]

Fig. 1 is a block diagram showing an embodiment of the present invention, Fig. 2 is a perspective view showing the state of loading and unloading of stored items in a conventional storage shelf, and Fig. 3 is a diagram of other conventional automated warehouses. FIG. 3 is a perspective view showing a loading/unloading state. A, B, C...Storage shelf, P...Storage item, 1,
2, 10...shelf, 11...fork, 12...stored item, 13...pallet, 15...control device, 1
6...Storage quantity storage unit, 17...Target value calculation unit, 18...Height measurement unit, 19...Fork control unit, 20...Fork drive unit.

Claims (1)

[Scope of utility model registration request] Among the storage shelves that are arranged with multiple stacked shelves, the number of shelves on which stored items are carried in and out by lifting and lowering an elevator, the quantity of stored items to be carried in and out of the shelves, and the location of the stored items on the shelves. a target value calculating means for calculating the lifting stop position of the elevator based on the loading or unloading settings and setting it as a target value; a position measuring means for measuring the current position of the elevator in the lifting direction; an elevator control device for driving an elevator in the direction of a target value, and stopping the elevator when the difference reaches a predetermined value. .