JPH09249302A - Load collapse detector for automated warehouse crane - Google Patents

Abstract

PROBLEM TO BE SOLVED: To avoid malfunction due to a tag and a string of cargo or insect and dust which come flying and improve the reliability of a cargo collapse detection device of a crane for automatic warehouse. SOLUTION: When a cargo collapse detection signal 10 is output from a cargo collapse detector 8 for more than the set time, the cargo collapse detection signal 10 is delayed from the time when it is output after the set time elapses to output a cargo collapse generation signal 16. On the other hand, when the cargo collapse detection signal 10 is output from the cargo collapse detector 8 for less than the set time, a delay circuit 17 which does not output the cargo collapse generation signal 16 is provided between the cargo collapse detector 8 and a controller 11 to output an alarm operation signal 13 from the controller 11 to an alarm device 12 based on the cargo collapse generation signal 16 form the delay circuit 17 and output an abnormality stop signal 14 to a drive system 15 of a crane.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a load collapse detector for an automatic warehouse crane.

[0002]

2. Description of the Related Art Generally, as shown in FIGS. 4 to 6, a crane 1 of an automated warehouse used in a physical distribution field has a traveling rail 4 laid between shelves 2 and 3 in which a load 7 is stored. The crane main body 1a is disposed so as to be able to travel along the upper guide rails 5, and the loading platform 1c on which the fork type transfer device 1d is mounted is disposed to be movable up and down on the mast 1b of the crane main body 1a. The crane main body 1a has a structure.
After receiving the load 7 from the loading / unloading stand 6 by the transfer device 1d provided on the loading platform 1c, the crane body 1a is moved to a desired position on the shelves 2 and 3, and the loading platform 1c is moved along the mast 1b. And lift it to the desired height position
, Or conversely to the above, the load 7 stored in the desired shelf is loaded onto the loading platform 1c by the transfer device 1d, and the loading 7 loaded on the loading platform 1c is loaded. It is designed to be handed over to the delivery table 6.

As shown in FIGS. 7 to 9, when the load 7 is transferred between the load 1c and the loading / unloading table 6 or the shelves 2 and 3 by the transfer device 1d, the load 1c is transferred to the load 1c. A load collapse detector 8 for detecting a load collapse by detecting a shift of 7 in the width direction is provided.

The load collapse detector 8 is provided with a light projector 8a which emits light 9 downwards at an upper position in the vicinity of the four corners of the loading platform 1c, and at the lower position near the four corners of the loading platform 1c. When a light receiver 8b for detecting the light 9 emitted from the light source 8a is provided, the light 9 emitted from the light projector 8a is blocked by the load 7 and does not reach the light receiver 8b. If the load collapse occurs, the load collapse detector 8 outputs the load collapse detection signal 10 to the controller 11, as shown in FIG.
An alarm activation signal 13 is output from 1 to the alarm device 12, and an abnormal stop signal 14 is output to the drive system 15 of the crane 1.

[0005]

However, as described above, the light 9 emitted from the projector 8a of the load collapse detector 8 is used.
When the load 7 is blocked by the load 7 and does not reach the light receiver 8b, the load collapse detection signal 10 is immediately output to the controller 11. For example, the load tag or the string of the load 7 or the insects or dusts flying in And the like cut off the light 9, there is a drawback that although the load collapse does not actually occur, an alarm is issued as the load collapse occurs and the operation of the crane 1 is stopped. Was there.

In view of the above situation, the present invention is capable of avoiding erroneous operation due to a load tag or string of a load, or insects and dust that have come in, and improving reliability of the load collapse detecting device for an automatic warehouse crane. Is to provide.

[0007]

SUMMARY OF THE INVENTION According to the present invention, a crane main body is movably arranged along a rack row in which loads are stored, and the crane main body can be loaded with a load between a loading / unloading table or a rack row. A load collapse detection device for an automated warehouse crane, wherein a loading platform equipped with a transfer device that can be delivered and received is arranged so that it can be raised and lowered.
A load collapse detection that detects a load collapse by detecting a shift in the width direction of the load when transferring the load between the load platform and the loading / unloading platform or the rack row by the transfer device provided on the load platform When a load collapse detection signal is output from the container and the load collapse detector for a set time or longer, the load collapse detection signal is delayed as a set time after the output and is output as a load collapse occurrence signal. On the other hand, when the cargo collapse detection signal is output from the cargo collapse detector for less than the set time, a delay circuit that does not output the cargo collapse occurrence signal, and an alarm to the alarm device based on the cargo collapse occurrence signal from the delay circuit A load collapse detector for an automatic warehouse crane, comprising: a controller that outputs an operation signal and outputs an abnormal stop signal to a drive system of the crane.

In the load collapse detecting device for the automatic warehouse crane, it is desirable to change the set time of the delay circuit according to the transfer speed of the load by the transfer device.

According to the above means, the following effects can be obtained.

When a load collapse actually occurs, the load collapse detector outputs a load collapse detection signal for a set time or longer. Therefore, the delay circuit outputs the load collapse detection signal for a set time. After the lapse of time, the load collapse occurrence signal is output to the controller, the controller outputs an alarm activation signal to the alarm device, and an abnormal stop signal is output to the crane drive system. When the load collapse detector operates due to the load tag or string of the load, or insects or dust that came in, not the load occurred, because the load collapse detection signal is output from the load collapse detector for less than the set time, No load collapse signal is output from the delay circuit, no alarm activation signal is output from the controller to the alarm device, and no abnormal stop signal is output to the crane drive system.

If the setting time of the delay circuit is changed according to the transfer speed of the load by the transfer device, the transfer device transfers the load between the loading platform and the loading / unloading table or the rack row. At this time, the time when the load collapse detection signal is output from the load collapse detector by the load tag or the string of the load can be shortened as the load transfer speed of the transfer device decreases.

[0012]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is an example of an embodiment for carrying out the present invention. In the figure, the parts designated by the same reference numerals as those in FIG. 10 represent the same parts, and the basic structure is the same as that of the conventional example shown in FIG. 1 is similar to that of FIG.
As shown in FIG. 3, when the load collapse detection signal 10 is output from the load collapse detector 8 for a set time or longer, the load collapse detection signal 1 is output.
When the load collapse detector 8 outputs the load collapse detection signal 10 for less than the set time, it outputs 0 as the load collapse occurrence signal 16 after a set time has elapsed from the time when the load collapse occurred. The delay circuit 17 that does not output the generation signal 16 is interposed between the load collapse detector 8 and the controller 11, and the load collapse generation signal 16 from the delay circuit 17 is generated.
Based on the above, the alarm activation signal 1 is sent from the controller 11 to the alarm device 12.
3 is output, and the abnormal stop signal 14 is output to the drive system 15 of the crane 1.

With the configuration as described above, when a load collapse actually occurs, as shown in FIG. 2, the load collapse detector 8 outputs the load collapse detection signal 10 for a set time or more.
The delay circuit 17 outputs the cargo collapse occurrence signal 16 to the controller 11 after a lapse of a set time from the time when the cargo collapse detection signal 10 is output, and the controller 11 outputs the alarm activation signal 13 to the alarm device 12. At the same time, the abnormal stop signal 14 is output to the drive system 15 of the crane 1.

On the other hand, instead of the actual collapse of the load, the light 9 emitted from the projector 8a of the load collapse detector 8 is intercepted by the tag or string of the load 7, or insects or dust that have come in and received. If the vessel 8b is no longer reached,
As shown in, the load collapse detector 8 outputs the load collapse detection signal 10 for less than the set time. Therefore, the delay circuit 17 does not output the load collapse occurrence signal 16, and the controller 11 issues an alarm to the alarm device 12. Signal 13 is not output and
The abnormal stop signal 14 is no longer output to the drive system 15 of the crane 1.

In this way, malfunctions due to the tag or string of the load 7, or insects or dust that have come in can be avoided, and reliability can be improved.

The transfer speed of the transfer device 1d is about 20.
In the case of about [m / min], the set time of the delay circuit 17 may be set to about 100 [msec], but the loading device 1d is used to load the loading platform 1c and the loading / unloading platform 6 or the racks 2, 3 When the load 7 is delivered to and from the load collapsing detection signal 1 from the load collapse detector 8 by the tag or the string of the load 7.
The time when 0 is output becomes shorter as the transfer speed of the load 7 by the transfer device 1d becomes faster. Therefore, when the transfer speed of the transfer device 1d is about 40 [m / min], the delay The set time of the circuit 17 can be set to about 50 [msec], and thus the set time of the delay circuit 17 is changed according to the transfer speed of the load 7 by the transfer device 1d. Is effective.

The load collapse detecting device for an automatic warehouse crane according to the present invention is not limited to the above-mentioned illustrated example, and various modifications can be made without departing from the scope of the present invention. Is.

[0019]

As described above, according to the load collapse detecting device for an automatic warehouse crane of the present invention, a load tag, a string,
Alternatively, it is possible to prevent malfunctions due to flying insects, dust, and the like, and to achieve an excellent effect of improving reliability.

[Brief description of drawings]

FIG. 1 is a block diagram illustrating an example of an embodiment of the present invention.

FIG. 2 shows the relationship between the detection signal of the load collapse detector and the load collapse occurrence signal of the delay circuit when the detection signal is output from the load collapse detector for a set time or longer in an example of an embodiment of the present invention. It is a diagram.

FIG. 3 shows the relationship between the detection signal of the load collapse detector and the load collapse occurrence signal of the delay circuit when the detection signal is output from the load collapse detector for less than a set time in an example of an embodiment of the present invention. It is a diagram.

FIG. 4 is a plan view showing an example of a general automated warehouse crane.

5 is a front view showing an example of a general automatic warehouse crane, and is a view corresponding to the arrow VV in FIG. 4. FIG.

FIG. 6 is a side view showing an example of a general automatic warehouse crane, and is a view corresponding to the arrow VI-VI in FIG. 5.

FIG. 7 is a plan view showing an example of a load collapse detector provided on a bed of a general automated warehouse crane.

8 is a front view showing an example of a load collapse detector provided on a bed of a general automated warehouse crane, and is a view corresponding to an arrow VIII-VIII in FIG. 7. FIG.

9 is a side view showing an example of the load collapse detector provided on the bed of a general automated warehouse crane, and is a view corresponding to the arrow IX-IX in FIG. 8. FIG.

FIG. 10 is a block diagram of a conventional example.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Crane 1a Crane main body 1c Loading platform 1d Transfer device 2 Shelf row 3 Shelf row 6 Loading / unloading stand 7 Load 8 Load collapse detector 10 Load collapse detection signal 11 Controller 12 Alarm device 13 Alarm activation signal 14 Abnormal stop signal 15 Drive system 16 Load collapse occurrence signal 17 Delay circuit

Claims (2)

[Claims] 1. A crane main body is movably arranged along a row of shelves in which loads are stored, and a transfer device capable of transferring loads to and from a loading / unloading stand or a row of shelves is mounted on the crane main body. Collapse detection device for an automated warehouse crane in which the loaded cargo platform can be moved up and down, and the load is provided between the cargo platform and the loading / unloading platform or the rack row by the transfer device provided on the cargo platform. When carrying out delivery, a load collapse detector that detects a load collapse by detecting a shift in the width direction of the load, and when a load collapse detection signal is output from the load collapse detector for a set time or more, When the load collapse detection signal is output from the load collapse detector for less than the set time while the load collapse detection signal is delayed and output as the load collapse occurrence signal after a set time has elapsed from the time when the load collapse detection signal is output. A delay circuit that does not output the generated signal, An automatic warehouse crane characterized by comprising a controller that outputs an alarm actuation signal to an alarm device based on a load collapse occurrence signal from the delay circuit and also outputs an abnormal stop signal to a drive system of the crane. Load collapse detection device. 2. The load collapse detection device for an automatic warehouse crane according to claim 1, wherein the set time of the delay circuit is changed according to the transfer speed of the load by the transfer device.