JP2003063609A - Packing style detection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a packing style detection device capable of decreasing the number of parts of a device and decreasing a setting space. SOLUTION: This packing style detection device 6 has a pair of pillars 10 erected with an interval to clamp a pallet P to be carried, a pallet tip end detection sensor 11 to detect a tip end of the pallet P and a load front and rear end detection sensor 13 to detect length L of the load M which are provided on the pillars 10, a load side end detection sensor 14 to detect depth W and a load upper end detection sensor 15 to detect height H and detects whether the height, depth and length dimensions of the load are the specified dimensions or not.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a package type detection device, and more particularly, to a package type storage device for storing the size of a package to be stored on a shelf of an automated warehouse, whether the package is within a specific size or in a specific package. The present invention relates to a package shape detection device applied to an automated warehouse or the like that detects whether or not there is a package.

[0002]

2. Description of the Related Art As shown in the schematic configuration of FIG. 5, an automatic warehouse system includes a rack 2 in which a large number of storage shelves 1 are arranged in a row, and a stacker crane 4 traveling in a passage 3 formed between the racks 2. The loading / unloading device 5 is provided, and a detection zone is provided in front of the loading / unloading device 5 to install the package shape detection device 6.
In this automatic warehouse system, the depth W, the height H, and the width (length) L of the storage shelf 1 are usually the same, and the load M is placed on the cargo receiving beam of the storage shelf 1 using the pallet P. I put it and store it.

By the way, luggage that does not have a three-dimensional packing form within a predetermined range, that is, a packing form in which the depth W, height H, and length L deviate from the specified range is stored in a shelf or a common stacker. It cannot be transported by crane because of obstacles. Therefore, conventionally, a detection zone has been installed in front of the loading / unloading device 5, and a package shape detection device as shown in FIG. 4 has been provided to detect the package shape, and packages whose dimensions are over have not been stored.

A conventional package appearance detection apparatus 60 shown in FIG. 6 has a pair of first pillars (a pair of first pillars standing upright with a package conveying path sandwiched therebetween so as to sandwich a package conveyed by a conveyor 7). Tip-side pillars 61, 61 and a pair of second pillars (rear-side pillars) 6 erected from the pillars at a rear side in the traveling direction.
2, 62, pallet front end detection sensor 63, lengthwise front end detection sensors 64, 64, and rear end detection sensor 6
5, 65 and left and right load side end detection sensors 66, 6
6 and a load upper end detection sensor 67.

The first pillar 61 is provided with a pallet tip detection sensor 63 and two load front end detection sensors 64, 64 for detecting the length L of the load M, and the second pillar 62 is provided with the load M of the load M. Two load rear end detection sensors 6 for detecting the length L
5, 65 and left and right load side end detection sensors 66, 6
6 and a load upper end detection sensor 67 are provided.

The pallet tip sensor 63 includes a pallet tip sensor projector 63a and a pallet tip sensor light receiver 6.
3b and. The pallet tip sensor light emitter 63a and the pallet tip sensor light receiver 63b detect the tip of the pallet toward the inside (opposing side) below the column 62 on the left (right) side or the right (left) side, respectively. It is installed in. When the pallet tip detection sensor 63 detects the tip of the pallet P, the load front end detection sensors 64, 64
The load rear end detection sensors 65 and 65 detect the load and detect the presence or absence of the front end and the rear end of the load.

The front end sensor projector 64a of the one front end detection sensor 64 is below (upper) the first pillar 62 on the left (right) side.
The front end sensor light receiver 64b of the one front end detection sensor 64 is provided on the right (left) side of the first pillar so as to be obliquely provided across the cargo conveyance path. It is provided in the lower part. Similarly, the front end sensor light projector 64a of the other load front end detection sensor 64 is provided in the lower (upper) part of the first pillar on the right (left) side, and is obliquely crossed with this with the load carrying path interposed therebetween. As described above, the tip sensor light receiver 64b of the other load front end detection sensor 64 is located above (below) the first pillar on the left (right) side.
It is provided in the section.

Similarly, one rear end sensor light projector 65a of the rear load end detection sensor 65 is provided at the lower (upper) part of the second pillar on the left (right) side, and sandwiches this and the cargo transport path. The rear end sensor light receiver 65b of one of the load rear end detection sensors 65 is on the right (left) side of the first pillar so as to be diagonally crossed.
It is provided in the section. Similarly, the rear-end sensor light projector 65a of the other load rear-end detection sensor 65 is provided in the lower (upper) part of the second pillar on the right (left) side, and is obliquely intersected with the second end of the second pillar. Therefore, the rear end sensor light receiver 65b of the other load rear end detection sensor 65 is provided on the upper (lower) part of the second pillar on the left (right) side. The interval between the load front end detection sensor 64 and the load rear end detection sensor 65 is set to the maximum allowable dimension Lm of the load M.

When it is detected that the light emitted from the tip sensor light projectors 64a, 64a of the load front end detection sensors 64, 64 is shielded by one of the tip sensor light receivers 64b, 64b, the tip portion protruding baggage is detected. As a result, the loading / unloading device is stopped. Further, when the light emission of the rear end sensor light projectors 65a, 65a of the load rear end detection sensors 65, 65 is detected even by one of the rear end sensor light receivers 65b, 65b, the rear end portion is projected as a baggage. Stop the storage device.

The left (right) side load side end detection sensor 66 comprises a load side end detection sensor light projector 66a and a load side end detection sensor light receiver 66b. They are arranged on the inside (opposite sides of the columns) with a sufficient vertical gap. Similarly, the load side edge detection sensor on the right (left) side also has a load side edge detection sensor light projector 66a and a load side edge detection sensor light receiver 6.
6b, and is disposed inside the right (left) side column 62 (on the side facing the column) with a sufficient vertical interval. The distance between the left load side edge detection sensor and the right load side edge detection sensor is set to an allowable value of the depth W of the package.
If the light from the load side edge detection sensor light projectors 66a and 66a is received by the load side edge detection sensor light receivers 66b and 66b, respectively, the width is within the specified range, and the width is stored in the storage rack by the stacker crane from the loading / unloading device. It If any one of them is shielded from light, the load side edge detection sensor light receiver 66b, 66b
If the light is not received at, it means that the width dimension is over, and the storage device is stopped.

The load upper end detection sensor 67 is composed of a load upper end detection sensor projector 67a and a load upper end detection sensor light receiver 67b, and the pillar 62 on the left (right) side or the right (left) side, respectively.
Is arranged at a prescribed height on the inner side (opposite side of the pillar).
If the horizontal light projection from the load upper end detection sensor light projector 67a is received by the load upper end detection sensor light receiver 67b, the height H is within the specified range, and the height H is stored in the storage rack by the stacker crane from the loading / unloading device. If the load is shielded from light and the light is not received by the load upper end detection sensor light receiver 67b, the height H is over, and the loading / unloading device is stopped.

[0012]

By the way, in the above-mentioned conventional package shape detecting apparatus, in order to detect the length L, two pairs of pillars are provided at intervals corresponding to the length of the load, so that the apparatus is large. In addition, a large number of sensors and a large number of machine parts are required. As shown in FIG. 7, in the configuration in which the loading zone S and the loading zone T are provided in front of and behind the load detection device, the conveyor must be lengthened to detect the load, which is large. Needed a detection zone.

The present invention was devised in view of the above circumstances, and an object thereof is to provide a package shape detecting device for an automatic warehouse, which can reduce the number of parts of the device and the installation area.

[0014]

According to a first aspect of the present invention, when a load placed on a pallet moves horizontally, a load length along the moving direction of the load is detected. A package type detection device for detecting whether or not a dimension is within a specified range, wherein a pallet tip detection sensor for detecting a front end of the pallet in a moving direction, and a pallet moving along the moving direction. When the pallet rear end detection sensor that detects the rear end on the rear side in the moving direction and the pallet front end detection sensor detect the front end of the pallet, it detects whether the front end of the load is on the front side in the moving direction. In addition, when the rear end of the pallet is detected by the pallet rear end detection sensor, a load front and rear end detection sensor that detects whether or not the rear end of the load is on the rear side in the moving direction is provided. Characterize.

According to a second aspect of the present invention, there is provided a package shape detection device for an automated warehouse according to the first aspect of the invention, wherein each of the pallet front end detection sensor, the pallet rear end detection sensor, and the load front and rear end detection sensor. Is a light emitting sensor consisting of a light emitting device for emitting the detection light and a light receiving device for receiving the emitted detection light, and the light emitting sensor and the light receiving device are respectively arranged so as to be able to emit and receive the moving load between them. It is set up.

According to a third aspect of the present invention, there is provided a package shape detecting device,
In the invention according to the claim, a pair of detection sensor mounting portions are disposed with the moving load sandwiched therebetween, and one of the pair of detection sensor mounting portions includes the pallet front end detection sensor, the pallet rear end detection sensor and the load. One of the light emitter and the light receiver of each front and rear end detection sensor is disposed, and the light emitter of each of the pallet front end detection sensor, the pallet rear end detection sensor, and the load front and rear end detection sensor is provided on the other of the pair of detection sensor mounting portions. Alternatively, the other of the light receivers is provided.

Since the package appearance detecting device of the present invention is constructed as described above and does not detect the front end and the rear end of the package at the same time, the number of columns on which the sensors are installed is reduced to one pair, and the length of the device is reduced. The number of sensors, and hence the number of parts, can be reduced and the installation area can be reduced. It should be noted that the pallet front end detection sensor for detecting the pallet may be configured to detect the front end and the rear end of the pallet respectively, so that the number of sensors for detecting the length of the pallet is reduced and the pallet shape is accurately detected. It is preferable for easy detection.

[0018]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. (First Embodiment) FIGS. 1 to 3 are views for explaining a package shape detection apparatus for an automatic warehouse according to a first embodiment of the present invention, and FIG. 1 is a schematic configuration of an automatic warehouse system. 2 is a perspective view showing the package appearance detecting device according to the present invention, and FIG. 3 is a side view showing a moving state of a pallet loaded with cargo for explaining the operation of the package appearance detecting device. Is.

The automatic warehouse system to which the package detecting device for an automated warehouse of this embodiment is applied has a rack 2 in which a large number of storage shelves 1 are arranged in a row, as in a warehouse using a conventional package detecting device. The stacker crane 4 has a stacker crane 4 that travels in the space 3 between the racks 2 and carries the luggage M, and a loading / unloading device 5 that delivers the luggage to the stacker crane 4. The package appearance detection device 6 determines whether or not the dimensions of the packages M placed on the pallet P are within the permissible ranges of the depth W, the height H, and the width L of the storage shelves 1 having the same configuration. , Detection before delivering to the storage / receipt device 5.

The package shape detection device 6 is a pillar 1 as a mounting portion for a pair of detection sensors, which are erected on both sides of a cargo conveyance path with a space therebetween so as to sandwich the cargo conveyed by the conveyor 7.
0, 10, pallet front end detection sensor 11, pallet rear end detection sensor 12, and load front and rear end detection sensors 13, 13
And the left and right load side end detection sensors 14, 14 and the load upper end detection sensor 15.

The pallet P is detected by the pallet tip detection sensor 11.
When the front end of the pallet is detected, the pallet rear end detection sensor 12 and the load front and rear end detection sensors 13 and 13 are activated to detect the presence or absence of the front end of the load M. When the pallet rear end detection sensor 12 detects the rear end of the pallet P, the load front and rear end detection sensors 13 and 13 are activated again to detect the rear end of the load M.

The pallet front end detection sensor 11 is composed of a front end detection sensor projector 11a and a front end detection sensor light receiver 11b, and the pillar 1 on the left (right) side or the right (left) side, respectively.
It is arranged so as to face the front side below 0 and detect the tip of the pallet P.

The pallet rear end detection sensor 12 is composed of a rear end detection sensor light projector 12a and a rear end detection sensor light receiver 12b, and the pillar 1 on the left (right) side or the right (left) side, respectively.
It is arranged so as to face the rear side below 0 and detect the rear end of the pallet.

The load front / rear end detection sensor floodlight 13a of the load front / rear end detection sensor 13 is provided in the lower (upper) part of the left (right) column 10 so as to be obliquely intersected with the load conveyance path. The load front-rear end detection sensor light receiver 13b of the load front-rear end detection sensor 13 is provided on the upper (lower) portion of the right (left) column 10. Similarly, the load front-rear end detection sensor floodlight 13a of the other load front-rear end detection sensor 13 is provided in the lower (upper) part of the right (left) column 10 and is obliquely crossed with the load-carrying path. As described above, the load front / rear end detection sensor light receiver 13b of the load front / rear end detection sensor 13 is provided on the upper (lower) portion of the left (right) pillar 10.

The load front and rear end detection sensors 13 and 13 are used for the load M.
Moves when the light is moved from the rear end detection sensor light projector 12a to the rear end detection sensor light receiver 12b without being blocked by the pallet P. If the light emitted from the load front / rear end detection sensor light projector 13a is received by the load front / rear end detection sensor light receiver 13b, the rear end of the load M is within the allowable range. If the light emitted from the load front / rear end detection sensor light projector 13a cannot be received by the load front / rear end detection sensor light receiver 13b, there is a rear end of the package, the length L is out of the standard, and the loading / unloading device is stopped to stop the package. Do not hand over to the stacker crane.

The light emitted from the tip detection sensor light projector 11a is blocked by the pallet P so that the tip detection sensor light receiver 1 is provided.
When the light cannot be received by 1b, the load front and rear end detection sensors 13 and 13 are activated, and the pallet rear end detection sensor 12 is activated at the same time. At this time, the light projected from the rear-end detection sensor light projector 12a to the rear-end detection sensor light receiver 12b is not shielded by the pallet P at first, but is immediately shielded by the pallet P when the luggage M moves. .

The load side end detection sensor 14 on the left (right) side is composed of a load side end detection sensor light projector 14a and a load side end detection sensor light receiver 14b, and is located inside (opposed to) the left (right) side of the pillar 10. On the pillar side) with sufficient vertical spacing. Similarly, the load side edge detection sensor 14 on the right (left) side also has a load side edge detection sensor projector 14a and a load side edge detection sensor light receiver 14b.
And is disposed inside the right (left) side pillar 10 (on the side facing the pillar) with a sufficient vertical interval. The distance between the left side load side end detection sensor 14 and the right side load side end detection sensor 14 is set to an allowable value of the depth W of the load. While the load M is moving, the load side edge detection sensor projector 14a,
Each of the light emitted from 14a is a load side end detection sensor light receiver 1
If the light is received by 4b and 14b, the depth W is within the specified range, and the product is stored in the storage rack by the stacker crane from the loading / unloading device. If either one of them is shielded from light and the light is not received by the load side end detection sensor light receivers 14b and 14b, the depth dimension is over, and the loading / unloading device is stopped. The load side edge detection sensor 14 is in a light emitting state while the conveyor 7 is operating.

The load upper end detection sensor 15 is composed of a load upper end detection sensor projector 15a and a load upper end detection sensor light receiver 15b, and the pillar 10 on the left (right) side or the right (left) side, respectively.
Is disposed at a specified height so as to face the inside of the. If the horizontal light projection from the load upper end detection sensor light projector 15a is received by the load upper end detection sensor light receiver 15b, the height H is set within the specified range, and the height H is stored in the storage rack by the stacker crane from the loading / unloading device. If the light is blocked by the baggage and the light is not received by the light receiver 15b, it means that the height H is over, and the storage device is stopped.

Next, the operation of the package appearance detecting device 6 will be described with reference to FIG. The cargo M carried while being placed on the pallet P by a carrier vehicle such as a forklift is placed on the conveyor 7 together with the pallet P (FIG. 3).
(A)). At this time, the pallet tip detection sensor 11 is turned off.
N Then, when it is conveyed to the package shape detection device 6 by the conveyor 7, the light emitted from the front end detection sensor light projector 11a is blocked by the pallet P and the front end detection sensor light receiver 11b.
At the moment when it can no longer receive light,
13 works to detect the tip of the luggage M (see FIG. 3).
(B)). At this time, the load front and rear end detection sensor floodlight 13a
If the light from the front is received by the load front / rear end detection sensor light receiver 13b, it is assumed that the front end of the load M is within the allowable range. If the light from the load front / rear end detection sensor light projector 13a cannot be received by the load front / rear end detection sensor light receiver 13b, the front end of the package is out of the standard, the loading / unloading device is stopped, and the package is not delivered to the stacker crane.

When the front end of the luggage M is within the allowable range, the rear end detection sensor light projector 12a to the rear end detection sensor light receiver 12
At first, the light projected to b is not blocked by the pallet P, but
Immediately after the luggage M moves, it is shielded from light by the pallet P, and this state continues (FIG. 3 (c)). At this time, the load front and rear end detection sensors 13 and 13 are off.

Next, when the load M moves and the light emitted from the rear end detection sensor light projector 12a is not blocked by the pallet P and reaches the rear end detection sensor light receiver 12b, the front and rear end detection sensor of the load is detected. 13 and 13 work (FIG. 3 (d)). If the light from the load front / rear end detection sensor light projector 13a is received by the load front / rear end detection sensor light receiver 13b, it is assumed that the rear end of the load M is within the allowable range. Front and rear load detection sensor Floodlight 1
If the light emitted from 3a cannot be received by the front and rear end detection sensor light receiver 13b, there is a rear end of the package, the length L is out of the standard, the loading / unloading device is stopped, and the package is not passed to the stacker crane. .

(Second Embodiment) FIG. 4 shows a second embodiment of the present invention.
It is a figure explaining other application of the package appearance detection apparatus which concerns on embodiment of this. The package shape detection device of the present embodiment has the same configuration as the package shape detection device according to the first embodiment described above, and thus detailed description thereof will be omitted.

The package shape detection device 6 is installed with the conveyor 7 interposed therebetween. The conveyor 7 has a load placement zone S on the upstream side of the package style detection device 6 and a load pickup zone T on the downstream side. There is. As described above, since the package shape detecting device of the present invention is small, the length for detecting the package shape may be short, so that the space for handling the package can be reduced and the use efficiency can be improved.

The permissible values for the protrusion of the leading end and the trailing end are determined by the distance between the pallet leading end detecting sensor 11 and the load front and rear end detecting sensor 13, and the pallet rear end detecting sensor 12 and the load front and rear end detecting sensor 13, respectively. It can be changed appropriately by changing the interval.

Since the package appearance detecting device of the present invention includes the pallet front end detection sensor, the pallet rear end detection sensor, and the load front and rear end detection sensor for detecting the protrusion of the front and rear ends of the load,
The installation area can be reduced and the number of parts of the device can be reduced as compared with a conventional device in which two pairs of pillars are installed at a distance corresponding to the size of the luggage. In addition, by using a non-contact sensor to determine whether the packing style is within the specified range and stop the loading / unloading device, the device can be simplified, and it is possible to ensure that non-specified loads are not put into the warehouse. The automatic warehouse can be operated safely.

In the above description, an example in which the pallet rear end detection sensor is installed on the rear side (front side in the traveling direction) of the pillar has been described, but it may be on the side opposite the pillar or on the front side, and the load and the pallet It may be determined as appropriate depending on the size relationship. Further, the arrangement of the light transmitter and the light receiver of each sensor may be reversed and is not particularly limited.

[0037]

As described above, according to the first aspect of the present invention.
Since the package shape detection device according to (1) includes a pallet front end detection sensor, a pallet rear end detection sensor, and a load front / rear end detection sensor that detects the protrusion of the load front / rear end, , It is possible to detect in the height direction, it is possible to reliably prevent the out-of-specification luggage from entering the warehouse, and it is possible to operate the automated warehouse safely. In addition, the installation area can be reduced, and the number of parts of the device can be reduced.

Further, the package shape detecting apparatus according to claim 2 can detect the package shape in a non-contact manner, can handle the package without damaging it, and can surely prevent the package from being out of regulation from entering the warehouse. The automated warehouse can be operated safely.

Since the package appearance detecting device according to claim 3 is configured by providing various sensors on the pair of mounting portions, the number of parts and sensors of the device can be reduced, the installation area can be reduced, and the cost can be reduced. Reduction can be measured.

[Brief description of drawings]

FIG. 1 is a perspective view with a part omitted for explaining a schematic configuration of an automatic warehouse system to which a package shape detection device of the present invention is applied.

FIG. 2 is a perspective view showing a package shape detection device according to the present invention.

FIG. 3 is a side view showing a moving state of a pallet on which a load is placed for explaining the operation of the load state detection device according to the present invention.

FIG. 4 is a side view showing another application example of the package shape detection device according to the present invention.

FIG. 5 is a perspective view with a part omitted for explaining a schematic configuration of an automatic warehouse system to which a conventional package shape detection device is applied.

FIG. 6 is a perspective view showing a conventional package shape detection device.

FIG. 7 is a side view showing another application example of the conventional package shape detection device.

[Explanation of symbols] 1 storage shelf 2 racks 3 passages 4 Stacker crane 5 Storage and retrieval device 6 Package type detector 7 conveyor 10 pillars (detection sensor mounting part) 11 Pallet tip detection sensor 12 Pallet rear edge detection sensor 13 Load front and rear detection sensor 14 Load side edge detection sensor 15 Load top detection sensor 11a Tip detection sensor floodlight 11b Tip detection sensor Receiver 12a Rear end detection sensor floodlight 12b Rear end detection sensor Receiver 13a Load front / rear detection sensor floodlight 13b Load front / rear detection sensor light receiver 14a Load side edge detection sensor floodlight 14b Load side edge detection sensor Light receiver 15a Load top detection sensor floodlight 15b Load top detection sensor Receiver M luggage P pallet

Claims (3)

[Claims] 1. A package shape detection device for detecting, when a load placed on a pallet moves in a horizontal direction, whether or not the length dimension of the load along the moving direction is within a specified range. There is a pallet tip detection sensor that detects a tip on the front side in the moving direction of the pallet, a pallet rear end detection sensor that detects a rear end on the rear side in the moving direction of the pallet that has moved along the moving direction, and When the front edge of the pallet is detected by the pallet front edge detection sensor, it is detected whether the front edge of the load is forward in the moving direction, and the pallet rear end detection sensor detects the rear edge of the pallet. And a load front-and-rear end detection sensor that detects whether or not the rear end of the load is rearward in the moving direction. 2. The pallet front end detection sensor, the pallet rear end detection sensor, and the load front / rear end detection sensor each include a light projector that projects detection light and a light receiver that receives the projected detection light. 2. The package shape detection device according to claim 1, wherein the package projector is configured to be capable of projecting and receiving light with the moving load sandwiched therebetween. 3. A pair of detection sensor mounting portions are arranged sandwiching the moving load, and one of the pair of detection sensor mounting portions includes the pallet front end detection sensor, the pallet rear end detection sensor, and the load front and rear ends. One of the light emitter and the light receiver of each detection sensor is disposed, and the light emitter or the light receiver of each of the pallet front end detection sensor, the pallet rear end detection sensor, and the load front and rear end detection sensor is provided on the other of the pair of detection sensor mounting portions. The package appearance detection device according to claim 2, wherein the other of the containers is provided.