JPH10236610A - Automatic transfer storage method and automatic storage position determination method - Google Patents

Abstract

(57) [Problem] To provide an automatic transfer / storage method and an automatic storage position determination method that can efficiently carry in / out using a storage stand for stacking, front and rear trolleys, and overhead cranes. SOLUTION: When the storage position in the storage trolley and the storage stand is set in the setting device, the load on the trolley is lifted by the overhead crane after the sensor detects and confirms that there is no load on the storage position. Is carried into the designated storage position, and is automatically carried into the designated storage position. If the storage position in the storage trolley and the storage stand is set on the setting device, the sensor detects and confirms that there is no load above the storage position, and then lifts the load at the specified storage position using an overhead crane and sets it. Is carried out on the designated trolley, and is automatically carried out from the designated storage position.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic carrying and storing method and an automatic storing position determining method, which can automatically carry and store paper rolls and the like.

[0002]

2. Description of the Related Art Rolling rolls, papermaking rolls, and the like are temporarily stored side by side on a pedestal provided on a floor surface from the preceding process to the next process, and then transported as required in the next process. It was done and needed a lot of storage space.

[0005] Therefore, as shown in FIG. 5, a storage stand 11 is installed as a transport storage facility 10 and a plurality of papermaking rolls are stacked and stored.
Carriers 12 and 13 are provided before and after, respectively, and an overhead crane 14 is provided for carrying in and out.

[0004]

However, the storage stand 11, the transport trolleys 12, 13 and the overhead crane 14
Although the storage space can be greatly reduced by using, there is a problem that the two trolleys 12, 13 and the overhead crane 14 cannot be used efficiently in an orderly manner, and it takes time to carry in and carry out. .

When a stored papermaking roll is taken out and another papermaking roll is stored on the designated papermaking roll, the specified papermaking roll needs to be transferred. In some cases, the roll cannot be easily unloaded.

Further, even when the papermaking roll is stored in the designated storage position of the storage stand 11, it is necessary to confirm that there is no papermaking roll stored above, and the papermaking roll cannot be easily carried in. There are also problems.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems of the prior art, and has an automatic transport / storage method and an automatic transport / storage method capable of efficiently carrying in / out using a storage stand for stacking, front and rear trolleys and overhead cranes. It is intended to provide a storage location determining method.

[0008]

According to a first aspect of the present invention, there is provided an automatic transport / storage method, comprising: a carriage in front of and behind a storage stand; and an overhead crane moving between the carriages. In the transfer storage facility, when storing from the trolley to the storage stand, set the trolley to be used and the storage position of the storage stand on the setting device, detect the state of loading in the storage stand with a sensor, and set the storage position The overhead crane is automatically operated to detect the absence of the cargo from above, and the overhead crane is automatically operated to take out the luggage from the cart and carry the luggage to the set storage position of the storage stand.

According to this automatic transport and storage method, when the storage position in the storage trolley and the storage trolley is set in the setting device, it is detected and confirmed by a sensor that there is no load above the storage position, and then the load on the storage trolley is determined. Is lifted by an overhead crane and carried into a set position, and is automatically carried into a designated storage position.

According to a second aspect of the present invention, there is provided an automatic transport and storage method, wherein the automatic transport and storage equipment includes an overhead traveling crane provided between the storage stands and front and rear trolleys. When transporting to a trolley, set the trolley to be used and the storage position of the storage stand on the setting device, and then use the sensor to detect the status of the storage in the storage stand and make sure that it is not above the set storage position. Is detected, the overhead crane is automatically operated, the luggage is taken out of the storage stand, and is carried out on a trolley at a set position.

According to this automatic transport and storage method, when the storage position in the trolley and the storage stand is set in the setting device, the sensor detects and confirms that there is no load above the storage position, and then stores the specified storage position. The load at the position is lifted by an overhead crane and carried out on a set trolley, and is automatically carried out from the designated storage position.

Further, according to a third aspect of the present invention, in addition to the configuration of the second aspect, when an article is present above the storage position of the storage stand, the upper load is most effectively stored. It is characterized by moving to a nearby vacant storage position.

According to this automatic transport storage method, even if there is a load stored on the load to be unloaded, the load is automatically moved, and the load at the designated storage position is taken out and transported. Will be able to

According to a fourth aspect of the present invention, there is provided an automatic transport and storage method according to the third aspect, further comprising the step of loading a load on a position other than the reserved storage position among the vacant storage positions. It is characterized by moving.

According to this automatic transport storage method, even if there is a load stored on the load to be unloaded, the load is automatically moved to a storage position that is not reserved and the specified storage position is stored. It becomes possible to take out the load and carry it out.

According to a fifth aspect of the present invention, in addition to the configuration of the third aspect, in addition to the configuration of the third aspect, the upper load is moved to the empty storage position, and the position is already reserved. If it is, the display indicates that the reserved storage is not possible.

According to this automatic carrying and storing method, even if there is a load stored on the load to be unloaded, the load is automatically moved, and if the position is already reserved, the reservation is made. A message indicating that the next storage at the specified storage location is not possible is displayed, and the load at the specified storage location can be taken out and carried out.

According to a sixth aspect of the present invention, in addition to the configuration of any of the third to fifth aspects, the automatic storage and storage method according to any one of the third to fifth aspects further comprises: It is characterized in that it is set close to the load without becoming inconsistent.

According to this automatic transport and storage method, even if there is a load stored on the load to be unloaded, the load is automatically emptied at the storage position where it is vacant, and it is placed in the same row as the load to be removed at the bottom. Instead, the load is set close to the load, so that the load on the upper part can be moved efficiently, and the load at the designated storage position can be taken out and carried out.

Further, in the automatic storage position determining method according to the present invention, when determining the storage position when the storage positions are directly stacked in a plurality of rows and a plurality of storage positions, a unique number is determined for the load and the storage position is determined. , A unique address is set for each storage location, and based on the result of detection by the load sensor, a vacant storage location is determined by a storage command from the setting device, and the load number and storage address are stored. It is characterized by the following.

According to this automatic storage position determination method, when determining a storage position in the case of stacking directly in a plurality of rows and a plurality of storage positions, a unique number is determined for the load,
A unique address is set for each storage location, and it is stored in a vacant storage location by an inventory sensor, and the number and storage address of the load are stored, so that the storage location can be automatically determined and Be able to manage.

According to a seventh aspect of the present invention, there is provided an automatic storage position determining method according to the seventh aspect, further comprising the step of setting the storage position closest to the bogie at the lowest stage among the empty storage positions. It is a feature.

According to this automatic transfer position determination method, the storage position is determined to be the storage position closest to the cart at the lowest level, so that the storage position can be automatically determined to be an efficient position. Become.

According to a ninth aspect of the present invention, in addition to the configuration of the seventh aspect, the automatic storage position determination method further comprises determining whether the vacant storage position is a storage position other than a reserved storage position. Alternatively, a reserved storage position is set, and it is displayed that storage at the reserved storage position is not possible.

According to this automatic transfer position determination method, when the storage position is set to a storage position other than the storage position already reserved, or when the storage position is set to the reserved storage position, the next storage position to the reserved storage position is set. Is displayed, indicating that the next storage is not possible, so that the storage position can be automatically determined without interfering with the next storage.

According to a tenth aspect of the present invention, in addition to the configuration of the seventh aspect, the automatic storage position determining method is further characterized in that the empty storage position is set to the storage position having the shortest transport time. Is what you do.

According to this automatic transfer position determination method, the storage position is determined to be the storage position having the shortest transfer time among the vacant storage positions, and the storage position is determined, so that the storage position is automatically determined to a more efficient position. Will be able to

[0028]

Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a schematic configuration diagram of a transporting trolley before and after a storage stand and a control device of an overhead crane to which an embodiment of the automatic transport storage method and the automatic storage position determination method of the present invention is applied.

The control device 20 includes a transfer control panel 21, a plurality of overhead crane control panels 22, a plurality of bogie control panels 23, and a plurality of automatic transfer setting panels (displays 25) so that transfer control can be performed from a plurality of locations. With 24)
The transport control panel 21 includes a limit switch 2 as a load detection sensor provided at each storage position of the storage stand 11.
6 is input.

The storage stand 11 has, for example, FIG.
As shown in (b), each storage position in the case of 8 rows and 3 rows is 1
-1,1-2, ..., 1-8,2-1,2-2, ..., 2-
8, 3-1, 3-2,..., 3-8.

The automatic transfer and storage in the transfer and storage facility 10 by the control device 20 is performed according to, for example, a flowchart shown in FIG.

(1) In this automatic transport storage method, first,
A transfer route is determined by the automatic transfer setting panel 24, and a pickup position and a load position are set. First, a transport route is determined, for example, as follows.

Transport / storage from the trolley 12 to the storage stand 11. In this case, the loading position is on the trolley 12, and the loading position is the storage position of the storage stand 11 (for example, each storage position in the case of eight rows and three stages: 1-1, 1-2,..., 1).
-8,2-1,2-2, ..., 2-8,3-1,3-2
.., 3-8), for example, 1-1.

Then, the control device 20 determines (2) whether or not the loading position is on the trolley. In this case, since the loading position is on the trolley 12, the following (3) It is determined whether or not there is a load at the picking-up position. (4) The display 25 indicates that it cannot be transported without the load.

When it is detected that there is a load on the trolley 12, it is confirmed (5) that there is no load at the storage position 1-1 of the storage stand 11, which is the load position, and (6) that there is a load. In this case, the display 25 indicates that the sheet cannot be transported.

Thereafter, the control device 20 outputs (7) an automatic operation command of the overhead crane 14, and the overhead crane 14 allows the load from the carriage 12 to the storage position 1 of the storage stand 11.
-1 is automatically conveyed.

Therefore, the load can be automatically transported only by setting the transport route, the loading position and the loading position, and the load can be stored at the set position. The trolley 1
The transport and storage from 3 to the storage stand 11 is performed in the same manner.

(1) In the case of carrying out from the storage stand 11 to the carriage 12. In this case, the unloading position is set to the storage position of the storage stand 11 (for example, each storage position in the case of eight rows and three stages: 1-1, 1-
2, ..., 1-8,2-1,2-2, ..., 2-8,3-
1, 3-2,..., 3-8), for example, storage position 1-
1, and the loading position is set on the trolley 12.

Then, the control device 20 determines (2) whether or not the loading position is on the trolley. In this case, since the loading position is the storage stand 11, the storage is performed in the next (8). It is determined whether there is no load above the loading position of the stand 11, and after it is confirmed that there is no load above, it is determined in the next (3) whether or not there is a load at the loading position. ) The display 25 indicates that it cannot be transported without a load.

Thus, the storage position 1 of the storage stand 11
When it is detected that there is a load on the trolley 12, (5) it is confirmed that there is no load on the trolley 12, which is the loading position. Is done.

When there is no load on the trolley 12, the controller 20 outputs (7) an automatic operation command of the overhead crane 14, and the overhead crane 14 moves the overhead crane 14 from the storage position 1-1 of the storage stand 11 onto the trolley 12. The load is automatically transferred to.

Therefore, only by setting the transport route, the loading position and the loading position, the load is automatically transported, and the load can be unloaded to the set position. The transfer from the storage stand 11 to the carriage 13 is performed in the same manner. In this way, basic automatic transport and automatic storage of the load are performed.

There is a case where there is a load above the storage position set by the storage stand 11, and it is necessary to move the upper load when removing the load.

Therefore, (9) the moving position of the load is determined, and the storage position to be moved is determined as follows.

(10) It is determined whether or not the storage stand 11 has an empty storage position. If there is no empty storage position, (1)
1) The display 25 indicates that the sheet cannot be transported.

Further, (12) it is determined whether or not the vacant storage position has already been reserved for storage of the next load. If there is a storage position that has not been reserved, (13) the storage position closer to the load Alternatively, store them in order from the lower storage position.

On the other hand, if there is a vacant storage position, but the storage of the next load has already been reserved, (14) a message to that effect is displayed on the display 25 and whether or not the storage is permitted. (15) Movement is stopped or (1)
6) Even if it is reserved, after moving to the vacant storage position, it indicates that the storage based on the next reservation is not possible.

Even when there is a vacant storage position, even when the storage of the next load has already been reserved, the reservation is automatically made (16) In some cases, even if the storage is performed, after the upper cargo is moved to the empty storage position, it is displayed that storage based on the next reservation cannot be performed.

Further, when the position to be stored is reserved, it may be displayed that the storage cannot be automatically performed and the fact is displayed.

After the upper load is moved in this way, the load to be transferred is transferred by the overhead crane.

Incidentally, the movement of the upper load after the moving position is determined is also performed by the automatic transfer by the overhead crane.

As described above, the load can be automatically transported and stored only by setting the transport route, the loading position and the loading position, and the load is stored on the storage stand. Can also transport and store the load on it.

Next, an example of a method of determining a moving position when a load is present on a load to be taken out will be described in detail.

The storage status of the storage stand 11 is, for example,
FIG. 3B shows a case where the destination of the load at the upper storage position 2-4 is determined in order to take out the load at the storage position 1-4. ).

Here, the storage position 3-5 is set as the reservation setting.
Is carried out and the cargo at the storage position 1-6 is carried out.

A. Weighting according to the step position is performed. In order to move to the lower stage as much as possible, a weight of 3 to 1 is assigned to the upper stage from the lower stage, and the lower stage is increased to three.

B. Weighting is performed on whether or not on the unloading route. Weighting is performed to prevent the load from moving on the route of the load to be taken out.

In this case, since the load at the storage position 2-4 is moved, the position where it cannot be placed is set to 0 so that it is not placed at that stage (1-4, 2-4, 3-4). Weighting is performed with a good position as 1.

C. Weighting is performed according to whether or not it is on the unloading schedule route. In order to minimize the effect on the reserved schedule, the next reservation is set to 7, the next is set to 5, (the next is set to 3, and the next is set to 1), and the position where there is no reservation is set to 10, and the weight is set. Do.

D. Weighting based on the traversing distance from the loading position is performed. In order to move the load as close as possible, the next to -2,
The weight next to it is -4, -6, -8.

E. The presence or absence of the load is added to the condition. Since a load cannot be moved to a place where there is already a load, the place with a load is set to 1 and the place without a load is set to 0.

F. A comprehensive evaluation is performed based on the above conditions. The overall evaluation here is calculated by the following formula,
Calculation results for all the storage positions, which are performed based on B, C, and D, are described in F in FIG.

Comprehensive evaluation = (A + C + D) * B Masking based on the presence or absence of a load. Among the storage locations evaluated comprehensively, E.I. , F. Only places where there is no cargo will be evaluated.

H. Masking is performed according to the presence or absence of the load on the lower stage. The above G. In the result obtained in the above, only the lowest stage among the empty stages in each column is determined, and the position of the largest value among them is determined as the destination.

Then, since the value of the storage position 1-3 becomes the maximum value of 11, this position is determined as the destination.

By determining the destination in this way,
The destination can be determined at the optimum position.

It is also possible to change the value of the weight for determining the destination of the load. By changing this weight, the load can be stored preferentially from the lower storage position or the overhead crane can be stored. Various changes can be easily made, such as storing preferentially from the side or storing preferentially from a storage position where no reservation is made.

Next, an embodiment of the automatic transport position determining method according to the present invention will be described. In the automatic transport and storage method described above, the storage position of the storage stand 11 has to be designated as the loading position or the loading position. However, in the present invention, the storage position is automatically determined to make it easier. Automatic transportation is possible.

FIG. 4 is a flow chart according to an embodiment of the method for determining an automatic transfer position according to the present invention.

In this automatic transfer position determination method, (1) a unique number is set for the load and the storage position of the storage stand 11.

The unique number assigned to the load may be determined according to the degree necessary for managing the load, and the same number may be used for loads having the same specification, or different numbers may be used for the respective loads. For example, in the case of the storage stand 11 having eight rows and three tiers, the numbers (addresses) of the storage positions are the same as those of the already used 1-1, 1
-2, ..., 1-8,2-1, ..., 2-8,3-1, ... 3
What is necessary is just to determine like -8.

After setting such a load and storage position number, (2) when a load storage command is issued, the storage position is determined as follows.

In the simplest case, (3) if there is a vacant storage position, (4) store the load there, and if there is no vacant storage position, (5) store the load. Show what you can't do.

In the case of storing from a position close to the transport source as a storage condition, it is determined whether or not it is close to the transport source at the lowest stage in (6) without storing in (3), and (7) It is stored from the bottom of the storage location where it is near the transport source.

When the reservation schedule is considered as the storage condition, (8) it is determined whether or not there is a reservation for storage. If there is no reservation, (9) it is stored there, but there is already a reservation. In such a case, (10) whether or not to save can be set by an external command, but (11) even if there is a reservation, store it for the time being, and indicate that storage based on the next reservation is not possible .

If the reservation is prioritized by an external setting, (12) if there is a reservation, it is displayed that it cannot be stored there.

When the position to be stored is not reserved, it may be displayed that the storage cannot be automatically performed and the fact is displayed.

When the time required for storage is taken into consideration as a storage condition, (13) it is determined whether the time required for storage is the shortest, and (14) the storage is performed from a position that can be stored in the shortest time.

Incidentally, a specific method of such automatic determination of the storage position is performed by using the same algorithm as the above-described method of determining the movement position when moving the load on the storage stand 11. Will be

The unique number of the storage location determined as described above and the unique number of the load stored therein are stored, respectively, and in the case of unloading from the storage location, it is automatically performed based on these numbers. It is possible to carry out a predetermined load.

[0081]

As described above in detail with the embodiment, according to the automatic transport and storage method according to the first aspect of the present invention, only the setting position of the trolley to be used and the storage position in the storage stand are set. After detecting and confirming that there is no load above the storage position with a sensor, the load on the trolley can be lifted with an overhead crane and brought into the set position, automatically to the specified storage position Can be carried in.

Further, according to the automatic transport and storage method of the present invention, only by setting the storage position in the trolley and the storage stand on the setting device, it is detected that there is no load on the storage position. After detecting and confirming the above, the load at the designated storage position can be lifted by the overhead crane and carried out to the set truck, and can be automatically carried out from the designated storage position.

Further, according to the automatic transport / storage method of the third aspect of the present invention, even if there is a load stored on the load to be unloaded, the load is automatically moved to the designated storage. The load at the position can be taken out and carried out.

According to the automatic transport storage method according to the fourth aspect of the present invention, even if there is a load stored on a load to be unloaded, the load is automatically transferred to a storage position that is not reserved. It can be moved to take out the load at the designated storage position and carry it out.

Further, according to the automatic transport storage method according to the fifth aspect of the present invention, even if there is a load stored on the load to be unloaded, the load is automatically moved and the position is already set. If the reservation has been made, it can be displayed that the next storage at the reserved storage location is not possible, and the load at the designated storage location can be taken out and carried out.

According to the automatic transport storage method according to the sixth aspect of the present invention, even if there is a load stored on a load to be unloaded, the load is automatically stored in a storage position where the load is automatically vacant. Since the cargo is not located in the same row as the cargo to be taken out at the lowermost stage and is set at a position close to the cargo, the cargo at the designated storage position can be taken out and carried out efficiently by moving the upper cargo efficiently.

Further, according to the automatic storage position determination method of the present invention, when determining the storage position when the storage position is directly stacked in a plurality of rows and a plurality of storage positions, a unique number for the load is determined. In addition to setting a unique address for each storage location and storing it in a vacant storage location using the load sensor, the number and storage address of that load are stored, so it is automatically stored Be able to determine and manage locations.

According to the automatic storage position determination method of the present invention, the storage position is set to the storage position closest to the bogie at the lowest level, so that the storage is automatically performed at an efficient position. The position can be determined.

Further, according to the automatic storage position determination method of the ninth aspect of the present invention, when the storage position is set to a storage position excluding the storage position already reserved or when the storage position is set to the reserved storage position Since it is displayed that the next storage at the reserved storage position is not possible, the storage position can be automatically determined without hindering the next storage.

According to the automatic storage position determination method of the present invention, the storage position is determined to be the storage position having the shortest transport time among the empty storage positions, so that the storage is more efficient. The location can automatically determine the storage location.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram of a transport trolley before and after a storage stand and a control device of an overhead crane to which an embodiment of an automatic transport storage method and an automatic storage position determination method of the present invention is applied.

FIG. 2 is a flowchart of an embodiment of an automatic transport storage method according to the present invention.

FIG. 3 is a flowchart of an example of a method of determining a moving position when a load is present on a load to be taken out according to an embodiment of the automatic transport / storage method of the present invention.

FIG. 4 is a flowchart of an embodiment of an automatic storage position determination method according to the present invention.

FIG. 5 is a schematic configuration diagram of a transport carriage and an overhead crane before and after a storage stand to which an embodiment of the automatic transport storage method and the automatic storage position determination method of the present invention is applied, and an explanatory diagram of a storage position. .

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Transport storage equipment 11 Storage stand 12 truck 13 truck 14 overhead crane 20 control device 21 transport control panel 22 overhead crane control panel 23 truck control panel 24 automatic transport setting panel 25 display 26 limit switch (load detection sensor)

Claims (10)

[Claims] Claims: 1. An automatic transport storage facility equipped with trolleys before and after a storage stand and an overhead crane moving between the trolleys, and when storing the trolley from the trolley to the storage stand, the storage positions of the trolley and the storage stand. After setting in the setting device, the presence condition in the storage stand is detected by the sensor, it is detected that there is no cargo above the set storage position, and the overhead crane is automatically operated to load the luggage Automatic transfer and storage method, wherein the automatic transfer and storage method is carried out by taking out from a storage stand of a storage stand. 2. An automatic transport and storage facility comprising a carriage in front of and behind a storage stand and an overhead crane moving between the storage stands, and when the storage stand is transported from the storage stand to the carriage, storage positions of the used carriage and the storage stand. After setting on the setting device, the sensor detects the loading status in the storage stand, detects that there is no loading above the set storage position, and automatically operates the overhead crane to store the luggage An automatic transportation and storage method, wherein the method is taken out of a stand and carried out on a trolley at a set position. 3. The automatic transport storage according to claim 2, wherein when a load is present above the storage position of the storage stand, the upper load is moved to a nearest empty storage position. Method. 4. The automatic transport and storage method according to claim 3, wherein the upper load is moved to a position other than the reserved storage position among the vacant storage positions. 5. The method according to claim 3, further comprising: moving the upper cargo to the empty storage position, and displaying that the reserved storage cannot be performed if the position is already reserved. Automatic transport storage method. 6. The automatic conveyance according to claim 3, wherein the empty storage position is not located in the same row as the load to be taken out at the lowermost stage, and is set near the load. Storage method. 7. When deciding a storage position when stacking directly in a plurality of rows and a plurality of storage positions, a unique number is determined for the load, and a unique address is set for each storage position. In accordance with the storage command, the storage location is determined based on the detection result by the presence sensor,
An automatic storage position determining method, wherein the number and storage address of the load are stored. 8. The automatic transfer position determination method according to claim 7, wherein the storage position closest to the bogie is determined at the lowest stage among the empty storage positions. 9. A storage location other than a reserved storage location among the vacant storage locations, or a reserved storage location, indicating that storage cannot be performed at the reserved storage location. The method according to claim 7, wherein: 10. The storage position having the shortest transport time among the vacant storage positions.
Automatic transfer position determination method according to the description.