JP2003063608A - Automatic warehouse - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve safety by minimizing interrupting time of an intrusion detection sensor by interrupting detection of the intrusion detection sensor only at the time of transferring a load at a deposit and delivery station. SOLUTION: A transfer detection sensor 30 to detect transfer time of the load 25 is arranged and detection motion of the intrusion detection sensor 20 is interrupted only at the time of transferring the load 25 by this transfer detection sensor 30. This transfer detection sensor 30 is constituted of a projector 31 and a light receiver 32, the projector 31 is provided on the side of a carriage 11, and the light receiver 32 is provided on the side of the deposit and delivery station 14. The detection motion of the intrusion detection sensor is interrupted by a signal from the light receiver 32 as the light receiver 32 receives light from the projector 31 at the time when a fork 10 comes to an upper position at the time of transferring the load 25. Except for the upper position of the fork 10, the light receiver 32 comes to be OFF and resumes the detection motion of the intrusion detection sensor.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic warehouse in which safety measures are taken against entry of a person into a traveling path of a stacker crane in an automatic warehouse.

[0002]

2. Description of the Related Art FIG. 7 is a perspective view of a three-dimensional automatic warehouse 1 for storing luggage. The three-dimensional automatic warehouse 1 is formed by arranging luggage shelves 2 for storing luggage in a height direction and a lateral direction. The luggage rack ridges 3 are arranged side by side, and a stacker crane 6 as shown in FIG. 8 travels between the luggage rack ridges 3 arranged to face one of the luggage rack ridges 3. The path 4 is formed. Traveling rails 5 are laid along the traveling path 4 above and below the traveling path 4, and a stacker crane 6 for transporting luggage travels in the traveling path 4 along the traveling rail 5 to form a stacker crane. The luggage is loaded and unloaded between 6 and a predetermined luggage rack 2.

As shown in FIG. 8, the stacker crane 6 is provided with a pair of masts 7 standing vertically on both sides and a fork 10 which can be freely put in and taken out on the side of the luggage rack 2, and is vertically moved between the both masts 7. The carriage 11 includes: a carriage 11; a lift drive unit 12 including a motor for controlling the carriage 11 to move up and down; a travel drive unit 13 including a motor for running along the travel rail 5; There is.

When loading and unloading luggage on a desired rack 2 in such a three-dimensional automated warehouse 1, an operator operates the operation unit 16 of the controller 15 arranged near the loading and unloading station 14 shown in FIG. It is done by operating.

FIG. 4 is a schematic block diagram of the three-dimensional automatic warehouse 1. The loading / unloading station 14 is provided with a fixed base 17 on which a pallet is temporarily placed when loading / unloading luggage. An entrance detection sensor 20 is installed between the trailing edge of the fixed base 17 and the entrance of the traveling path 4 to detect the entry of the person when the person enters the traveling path 4. The approach detection sensor 20 includes, for example, a light projector 21 and a light receiver 22, and the light receiver 22 is used when a person enters.
When the light from the projector 21 is blocked, the entry of a person is detected and the stacker crane 6 stops traveling.

The approach detection sensor 20 does not always operate, but when the stacker crane 6 loads and unloads the load, the load blocks the light of the entry detection sensor 20, so that the stacker crane 6 moves in and out. The detection operation of the entry detection sensor 20 is interrupted from the start of the operation of traveling toward the station 14 to the end of the load transfer operation.

FIG. 5 shows a flow chart at the time of warehousing in such a case, and in this case, a load is conveyed from the warehousing / unloading station 14 to a predetermined load rack 2. When carrying out the control operation of warehousing, as shown in step S21,
First, the detection operation of the entry detection sensor 20 is interrupted. The controller 15 outputs control signals for these approach detection sensors 20. After the detection by the entry detection sensor 20 is interrupted, the stacker crane 6 travels and moves up and down toward the loading / unloading station 14 as shown in step S22. Then, when the stacker crane 6 finishes picking up the load at the loading / unloading station 14 (see step S23) and the load is located outside the detection area of the entry detection sensor 20, the entry detection sensor 20 performs the detection operation as shown in step S24. It is supposed to start.

Further, FIG. 6 shows a flow chart in the case of unloading, after the stacker crane 6 is moved to and moved up and down to a predetermined position of the load rack 2 and the load is taken from the load rack 2 (see step S31). As shown in step S32, the detection operation of the entry detection sensor 20 is interrupted. Then, as shown in step S33, the stacker crane 6 travels and goes up and down toward the loading / unloading station 14, and the stacker crane 6 unloads the load on the fixed base 17 to finish the shipping operation (see step S34). After the exit operation is completed, as shown in step S35, the entry detection sensor 20 starts the detection operation.

[0009]

In the detection operation of the approach detection sensor 20, the stacker crane 6 starts the traveling / elevating operation toward the loading / unloading station 14 to the completion of the load transfer operation in the loading / unloading station 14. The detection operation of the entry detection sensor 20 was interrupted. for that reason,
While the detection operation of the approach detection sensor 20 is suspended, a person can enter the traveling path 4 when the stacker crane 6 is not located near the loading / unloading station 14, and the person can enter the traveling path 4 from the loading / unloading station 14. Even if a person enters inside, there is a problem that the entrance detection sensor 20 cannot detect it and the safety is poor.

The present invention has been provided in view of the above problems, and the detection of the entry detection sensor is interrupted only when the load is transferred at the loading / unloading station, and the interruption time of the entry detection sensor is minimized. The purpose is to provide an automated warehouse for the purpose of improving safety.

[0011]

Therefore, in an automatic warehouse according to claim 1 of the present invention, a cargo rack erected at a predetermined interval and a traveling path between the cargo rack ridges are run to move up and down. In an automatic warehouse including a stacker crane that is capable of advancing and retreating with respect to a stackable carriage and a load, and a loading / unloading station that transfers the load to and from the stacker crane, a traveling path of the stacker crane and a loading / unloading station are provided. An entry detection sensor that is provided on the boundary between the loading and unloading station and that detects the entry of a person from the loading and unloading station to the traveling path, and a transfer detection that detects that the stacker crane is transferring a load at the loading and unloading station. A sensor and a control unit that interrupts the detection of the entry detection sensor when the transfer detection sensor detects the delivery of a load.

With this configuration, the approach detection sensor is made inoperative as in the conventional case, and then the stacker crane is moved and moved up and down to restart the detection operation of the approach detection sensor after the loading and unloading of the load is completed. In contrast to this, since the transfer detection sensor detects that the load is being transferred and the detection of the entry detection sensor is interrupted by the control unit, the entry detection sensor does not operate except for delivery of the load. And
The interruption time of the detection operation of the entry detection sensor is shorter than in the conventional case, and the safety can be improved.

According to another aspect of the present invention, the transfer detection sensor detects when the stacker crane stops before the loading / unloading station. As a result, the approach detection sensor is interrupted by the detection of the transfer detection sensor immediately before the load by the stacker crane is detected by the approach detection sensor, and therefore the approach detection sensor is interrupted only for the necessary minimum time. Maximum safety can be secured.

In the automatic warehouse according to a third aspect of the present invention, the transfer detection sensor detects when the stacker crane stops at the transfer upper position by the fork in front of the loading / unloading station. This allows the approach detection sensor to be interrupted immediately before the load is loaded on the stacker crane and pulled by the fork, and when the load is placed at the loading / unloading station by the stacker crane, the approach detection sensor can be accessed immediately before the fork is extended. The detection sensor can be interrupted. Therefore, the detection can be interrupted immediately before the load crosses the approach detection sensor, whereby the approach detection sensor is interrupted only for the required minimum time, so that the maximum safety can be ensured.

According to a fourth aspect of the present invention, the transfer detection sensor is a light detection sensor including a light projector and a light receiver provided at the stacker crane and the loading / unloading station. As a result, even if the distance between the stacker crane and the loading / unloading station is relatively large, it is only necessary to align the optical axes, which makes it easier to install the transfer detection sensor and keeps the cost low. it can.

[0016]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In addition, stacker crane 6
And the structure of the loading / unloading station 14 is the same as the conventional one,
Detailed description will be omitted, and the gist of the present invention will be described in detail. FIG. 1 shows a state of loading and unloading of a load 25 by the forks 10 of the stacker crane 6 at the loading and unloading station 14, and a plurality of X marks in the vertical direction in the figure are cross-sections of light rays by the entrance detection sensor 20. Is shown.

In the present invention, the transfer detection sensor 30 for detecting the transfer of the load 25 is provided, and the transfer detection sensor 30 interrupts the detection operation of the entry detection sensor 20 only when the load 25 is transferred. Is what you are doing. The transfer detection sensor 30 includes a light projector 31 and a light receiver 32 that receives light from the light projector 31 and outputs a detection signal. In this embodiment, the light projector 31 is provided on the carriage 11 side and the light receiver 32 is provided on the loading / unloading station 14 side. However, the light projector 31 is provided on the loading / unloading station 14 side, and the light receiver 32 is provided on the carriage 11 side. May be.

Next, the control operation will be described. The operation itself of traveling / elevating the stacker crane 6 and the loading / unloading of the load 25 by the fork 10 of the carriage 11 is the same as the conventional one. First, the case of storing the load 25 will be described with reference to FIG. In step S1, the stacker crane 6 is driven by the signal from the controller 15 to travel and move up and down, and the stacker crane 6 arrives at the loading / unloading station 14. Next, as shown in step S2, the carriage 11
Of the fork 10 slides downward of the pallet on which the load 25 is loaded, and then the fork 10 starts the operation of scooping the load 25. Here, even if the fork 10 slides and moves to the fixed base 17, the vertical position of the fork 10 is located below the light of the approach detection sensor 20, so the approach detection sensor 20 is erroneously detected. It never detects 10. The distance L from the “lower position” of the loading / unloading station 14 on the fixed base 17 side to the “upper position” for picking up the load 25 indicates the transfer operation of the fork 10.

In the transfer detection sensor 30, when the transfer position by the fork 10 is reached, the light receiver 32 on the loading / unloading station 14 side receives light from the light projector 31 provided on the carriage 11. In this state, the transfer detection sensor 30 outputs an ON signal, and the fork 1
At the positions other than the transfer upper position of 0, the light receiver 32 is the light projector 31.
However, the transfer detection sensor 30 outputs an off signal. Then, as shown in step S3,
When the carriage 11 moves up and the fork 10 reaches the transfer upper position, the light receiver 32 receives the light from the light projector 31 and the transfer detection sensor 30 outputs an ON signal as described above (see step S4). The controller 15 as a control unit interrupts the detection operation of the entry detection sensor 20 by the detection signal from the transfer detection sensor 30 (see step S5).

Then, as shown in step S6, the fork 10 slides toward the carriage 11 to complete the pulling in of the load 25. However, when the load 25 is pulled in, the approach detection sensor 20 is inoperative, so There is no erroneous detection by the entry detection sensor 20 due to the load 25. Further, in this state, since the carriage 11 maintains its position, the transfer detection sensor 30 is in the ON state. Next, as shown in step S7, the stacker crane 6 travels and moves up and down toward the predetermined luggage rack 2. Here, since the carriage 11 moves due to the traveling / elevation of the stacker crane 6, the projector 31 on the carriage 11 side moves. Therefore, the light receiver 32 cannot receive the light from the light projector 31, and the transfer detection sensor 30 outputs an off signal (step S8).
reference). When the transfer detection sensor 30 is turned off, the entry detection sensor 20 restarts the detection operation as shown in step S9, and performs the normal entry detection operation.

FIG. 3 shows a flow chart in the case of unloading the load 25. As shown in step S11, the load 25 is taken from the rack 2 by the carriage 11 of the stacker crane 6, and further as shown in step S12, the stacker crane. 6 travels and goes up and down and arrives at the loading / unloading station 14. In this state, the carriage 11 is in a position corresponding to the transfer upper position of the fork 10, and the light receiver 32 is the light from the light projector 31 before the load 25 is transferred to the fixed base 17 side by the fork 10. Transfer detection sensor 3
0 is turned on (see step S13). The approach detection sensor 20 interrupts the detection operation by the ON signal of the transfer detection sensor 30 (see step S14). This allows
Even if the fork 10 is slid to the fixed base 17 side in the transfer upper position and the load 25 is transferred to the fixed base 17 side, the entry detection sensor 20 is off, so
No false detection due to transfer of No. 5 is made.

Next, as shown in step S15, when the fork 10 is lowered to the lower transfer position, the projector 31 is moved.
And the optical axis of the light receiver 32 is deviated, and the transfer detection sensor 30 is turned off (see step S16). When the transfer detection sensor 30 is turned off, the approach detection sensor 20 restarts the detection operation.

As described above, the upper position of the transfer operation of the fork 10 by the transfer detection sensor 30 is set to the loading / unloading station 1
4, the detection operation of the entry detection sensor 20 is interrupted only when the load 25 is transferred, and the detection operation of the entry detection sensor 20 is restarted when the fork 10 leaves the upper position of the transfer operation. Therefore, the approach detection sensor 20
It is possible to detect the entry of a person into the traveling path 4 due to, and improve the safety.

In particular, when the stacker crane 6 is stopped at the transfer upper position by the fork 10 in front of the loading / unloading station 14, it is detected that the load 25 is being transferred. When the load 25 is placed, the detection operation of the entry detection sensor 20 can be interrupted immediately before the load 25 is lifted and retracted by the fork 10. When the load 25 is placed on the loading / unloading station 14, the fork 1
The detection operation of the approach detection sensor 20 can be interrupted immediately before 0 is extended, whereby the detection can be interrupted immediately before the load 25 crosses the approach detection sensor 20, and the approach detection sensor 20 is interrupted only for the required minimum time. Therefore, maximum safety can be ensured.

Further, since the transfer detection sensor 30 is composed of a light detection sensor consisting of a light projector 31 and a light receiver 32,
Even if the stacker crane 6 and the loading / unloading station 14 are relatively far apart, it is only necessary to align the optical axes,
The transfer detection sensor 30 can be installed easily, and the cost can be kept low.

In the embodiment, the transfer detection sensor 30 is composed of the light projector 31 and the light receiver 32.
A limit switch or a proximity switch may be used to detect the upper position when the transfer upper position of 0 is reached.

[0027]

According to the automatic warehouse of claim 1 of the present invention, the entry detection sensor is made inoperative as in the conventional case, the stacker crane is moved and moved up and down, and after the loading and unloading of the load is finished, the stacker crane is again operated. Compared to restarting the detection operation of the entry detection sensor, the transfer detection sensor detects that the load is being transferred, and the control unit interrupts the detection of the entry detection sensor. Since the sensor is operating except for the delivery of the load, the interruption time of the detection operation of the entry detection sensor is shorter than before and the safety can be improved.

According to the automatic warehouse of the second aspect, the transfer detection sensor detects when the stacker crane stops before the loading / unloading station, so that the load by the stacker crane enters. The approach detection sensor will be interrupted by the detection of the transfer detection sensor just before the detection by the detection sensor. Therefore, the approach detection sensor will be interrupted only for the minimum required time, so ensure the maximum safety. You can

According to another aspect of the present invention, the transfer detection sensor detects when the stacker crane is stopped at the transfer upper position by the fork in front of the loading / unloading station. Therefore, when loading a load on the stacker crane, the approach detection sensor can be interrupted immediately before lifting and retracting the load with a fork, and when placing the load on the loading / unloading station with the stacker crane, the approach detection can be performed immediately before extending the fork. The sensor can be interrupted. Therefore, the detection can be interrupted immediately before the load crosses the approach detection sensor, whereby the approach detection sensor is interrupted only for the required minimum time, so that the maximum safety can be ensured.

According to the automatic warehouse of claim 4, the transfer detection sensor is a light detection sensor including a light projector and a light receiver provided at the stacker crane and the loading / unloading station. Even if the distance to the station is relatively large, it is only necessary to align the optical axes, so that the transfer detection sensor can be easily installed and the cost can be kept low.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of a loading / unloading station and a carriage according to an embodiment of the present invention.

FIG. 2 is a flowchart at the time of loading a load according to the embodiment of this invention.

FIG. 3 is a flowchart when a load is unloaded according to the embodiment of this invention.

FIG. 4 is a schematic configuration diagram of a three-dimensional automated warehouse.

FIG. 5 is a flow chart at the time of loading a load in a conventional example.

FIG. 6 is a flowchart when a load is unloaded in a conventional example.

FIG. 7 is a schematic configuration diagram of a three-dimensional automatic warehouse.

FIG. 8 is a perspective view of a stacker crane.

[Explanation of symbols]

1 three-dimensional automatic warehouse 2 luggage racks 3 luggage rack building 4 roads 5 running rails 6 Stacker crane 10 forks 11 carriage 14 loading / unloading station 20 Approach detection sensor 25 packages 30 Transfer detection sensor 31 Floodlight 32 light receiver

Claims (4)

[Claims] 1. A stacker in which a cargo rack building which is erected at a predetermined interval and a traveling path between the cargo rack buildings and which is capable of moving up and down and a fork capable of advancing and retreating with respect to the cargo are mounted on the carriage. In an automated warehouse comprising a crane and a loading / unloading station for transferring loads to and from the stacker crane, a person provided from the loading / unloading station to the running path is provided at a boundary between the traveling path of the stacker crane and the loading / unloading station. When an entry detection sensor that detects the entry of a load, a transfer detection sensor that detects that the stacker crane is transferring a load at the loading / unloading station, and a transfer detection sensor that detects the transfer of a load And a control unit for interrupting the detection of the entry detection sensor. 2. The automatic warehouse according to claim 1, wherein the transfer detection sensor is detected when the stacker crane stops before the loading / unloading station. 3. The automatic warehouse according to claim 2, wherein the transfer detection sensor detects when the stacker crane stops at a transfer upper position by a fork in front of the loading / unloading station. 4. The transfer detection sensor is a light detection sensor composed of a light projector and a light receiver provided in the stacker crane and the loading / unloading station, and the transfer detection sensor is a light detection sensor. Automatic warehouse.