JP2005306499A - Double storage prevention device for automatic warehouse - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a double storage prevention device for an automatic warehouse capable of certainly detecting whether or not a baggage exists in a storage part of a rack regardless of a shape and a dimension of the baggage. <P>SOLUTION: The double storage prevention device 23 has a sensor (reflection type optical sensor) 24 for detecting existence of a baggage provided on a stacker crane 3; and a swing arm 25 pivotably bonded to respective arm parts 6 of the rack 2 through a shaft part 27. An engagement projection part 28 engaged with an iron core 17 when the iron core 17 is placed on the arm part 6 is provided on an end on an opposite side of the stacker crane 3 on the swing arm 25. A reflection plate 26 for reflecting the light irradiated from the sensor 24 toward the sensor 24 is mounted to an end on the stacker crane 3 side on the swing arm 25. When the iron core 17 is placed on the arm part 6, the engagement projection part 28 is pushed down by weight of the iron core 17 and the reflection plate 26 is raised accompanying with this. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to an automatic storage double storage prevention device for preventing a load from being stored twice in an automatic warehouse rack.

  The automatic warehouse is a storage facility that automatically stores a load in a rack (storage shelf) using, for example, a stacker crane. Automatic warehouses usually perform inventory management using a computer, etc., and when receiving goods, they are controlled so that the goods are stored in an empty storage part among a plurality of storage parts provided in the rack. ing. However, if an error occurs in the inventory information for various reasons, even if there is a load in the storage unit to be stored, the storage unit may be stored as being empty. In this case, since the stacker crane tries to store the load in the storage unit, the load is dropped or damaged. In order to avoid this problem, it is necessary to prevent the load from being stored twice in each storage unit.

As an apparatus for preventing such double storage, for example, an in-shelf detection apparatus described in Patent Document 1 is known. This device detects the presence or absence of a pallet in the shelf by installing an optical sensor having a projector and a light receiver on the crane, and installing a reflector on the shelf that reflects the light emitted from the projector toward the light receiver. Is.
JP-A-10-265008

  By the way, there are various loads stored in the rack. For example, a roll-shaped load such as toilet paper is stored in a state where an iron core is passed through the hollow portion. However, in the above prior art, no consideration is given to the detection of the presence or absence of such a roll-shaped load.

  An object of the present invention is to provide a double storage prevention device for an automatic warehouse capable of reliably detecting whether or not a load is present in a rack storage section regardless of the shape or size of the load. is there.

  The present invention relates to a double storage prevention device which is provided in an automatic warehouse for storing loads in a rack storage unit by a transfer device, and prevents the double storage of loads in the storage unit. And a sensor that detects whether or not the load is stored in the storage unit by transmitting a detection signal, and is swingably coupled to the rack via the shaft portion, and the load is stored when the load is stored in the storage unit. A swing member having an engagement portion that engages with a load, and a reflection member that is attached to the swing member and reflects a detection signal transmitted from the sensor toward the sensor. .

  In such a double storage prevention device, it is determined whether there is a load in the storage unit by utilizing the fact that the position of the reflecting member is different between when the load is stored in the storage unit of the rack and when it is not. To detect. For example, in a state in which no load is stored in the storage unit, the reflecting member is in a position that does not reflect a detection signal (such as light) from the sensor. In this case, the detection signal is not received by the sensor. Is judged to have no load. On the other hand, when the load is stored in the storage unit, the swinging member swings by engaging (contacting) the load with the engaging portion of the swinging member, and the position of the reflecting member changes accordingly. In this case, the detection signal from the sensor is reflected by the reflecting member, and the reflected signal is received by the sensor, so that it is determined that there is a load in the storage unit. Whether or not there is a load in the storage unit without being affected by conditions such as the shape and dimensions of the load is configured by displacing the reflecting member via the swinging member according to the presence or absence of the load. Can be reliably detected.

  Preferably, the swing member is swingably coupled to the rack so as to extend from the rack toward the transfer device side, and the engaging portion is at an end of the swing member on the opposite side of the transfer device. The reflection member is provided and attached to the end of the swinging member on the transfer device side. Thereby, since the distance between the sensor and the reflecting member is shortened, even when a small and inexpensive sensor is used, it is possible to reliably detect the presence / absence of luggage using the detection signal.

  At this time, the shaft portion is preferably disposed closer to the engaging portion than the center position of the swinging member. Thereby, the amount of swinging of the swinging member on the reflecting member side is increased, and accordingly, the amount of displacement of the reflecting member is increased, so that the presence / absence of a load can be detected more accurately. Further, when the reflecting member is displaced upward when a load is stored in the storage unit, it is necessary to return the swinging member to the original state in which the reflecting member is lowered when the storage unit is empty. By disposing the shaft portion closer to the engaging portion than the center position of the swinging member, the reflecting member is easily lowered by the weight of the reflecting member.

  Preferably, an elastic body is provided between the rack and the swinging member to swing the swinging member so that the engaging portion can engage with the load. Thereby, when the storage part becomes empty, the swinging member can be easily and reliably returned to the original state in which the engaging part can be engaged with the load.

  According to the present invention, it is possible to reliably detect whether or not a load is present in the rack storage section regardless of the shape or size of the load. As a result, it is possible to reliably prevent double storage of the load in each storage unit.

  DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the automatic storage double storage preventing apparatus according to the present invention will be described below in detail with reference to the drawings.

  FIG. 1 is a schematic perspective view showing an automatic warehouse equipped with an embodiment of the double storage prevention device according to the present invention. In the figure, an automatic warehouse 1 includes a rack (storage shelf) 2 for storing a plurality of loads, and a stacker crane 3 for loading and unloading the racks 2.

  The rack 2 has a pair of frame assemblies 4 installed on both left and right sides with the stacker crane 3 interposed therebetween. The frame assemblies 4 include arm portions 6 that form a plurality of storage portions 5 in which loads are stored. Are combined. A plurality of arm portions 6 are provided in the vertical direction and the front-rear direction of the rack 2. Each storage portion 5 is formed by two arm portions 6 adjacent to each other in the front-rear direction of the rack 2 (hereinafter, the rack front-rear direction). In addition, a part of frame assembly 4b and the storage part 5 (arm part part 6) are abbreviate | omitted and shown.

  A traveling rail 7 extending in the rack front-rear direction is laid between the pair of frame assemblies 4. The stacker crane 3 is provided on the traveling rail 7 so as to be able to travel. The stacker crane 3 includes a traveling base 8 that travels along the traveling rail 7, a pair of masts 9 that are erected on both front and rear sides of the traveling base 8, and a lifting body that is supported by each mast 9 so as to be movable up and down. 10. On the rear side of the traveling table 8, a traveling motor 11 that travels the traveling table 8 and a lifting motor 12 that lifts and lowers the lifting body 10 are arranged.

  The lifting body 10 includes two bases 13 (see FIG. 3), a pair of lift brackets 14 fixed to both front and rear ends of the base 13 and moving up and down along each mast 7, and the base 13 And a fork 15 for delivering a load between the elevating body 10 and the storage part 5 (arm part 6).

  Here, the load stored in the rack 2 is a roll body 16 such as toilet paper as shown in FIG. The roll body 16 is stored in the rack 2 with the iron core 17 passed through the hollow portion. At this time, only the iron core 17 may be stored in the rack 2. Therefore, in this embodiment, the iron core 17 is also included in the load. An attachment 18 that supports both side portions of the iron core 17 is attached to the fork 15 (not shown in FIG. 1).

  As shown in FIG. 3 and FIG. 4, the arm 6 defines the mounting position of the iron core 17 and suppresses the rolling of the iron core 17 in the left-right direction of the rack 2 (hereinafter, the rack left-right direction). There are provided a positioning member 19 and a restraining member 20 for restraining the iron core 17 in the rack front-rear direction. Thereby, when the iron core 17 is placed on the brace 6, it is possible to prevent the iron core 17 from shifting. In addition, the positioning member 19 and the restraining member 20 are provided in the rack left-right direction center part of the arm part 6.

  Returning to FIG. 1, the automatic warehouse 1 further includes a ground control panel 21 disposed in front of the traveling rail 7 and a crane controller 22 disposed on the front side of the traveling platform 8 in the stacker crane 3. The ground control panel 21 operates or controls the stacker crane 3 manually or automatically. The crane controller 22 controls the stacker crane 3 based on instructions from the ground control panel 21.

  In such an automatic warehouse 1, when a load (a roll body 16 including the iron core 17 or the iron core 17 alone) is stored in the rack 2 by the stacker crane 3, the iron core 17 is first supported by the attachment 18 of the lifting body 10. In this state, the stacker crane 3 is moved along the traveling rail 7 to the position of the storage unit 5 to be stored. Subsequently, the elevating body 10 is raised along the mast 9 until the iron core 17 reaches a position corresponding to the upper side of the storage portion 5 to be stored. At this time, the elevating body 10 is controlled by the crane controller 22 so as to stop at a height position such that the distance D (see FIG. 3) between the iron core 17 and the brace 6 becomes a predetermined value. In this state, the fork 15 is extended toward the frame assembly 4 and the iron core 17 is placed in the frame assembly 4, and then the elevating body 10 is lowered. Thereby, the both ends of the iron core 17 will be in the state which was mounted on the brace part 6 (refer FIG. 2).

  Further, as shown in FIGS. 3 and 4, the automatic warehouse 1 prevents the load from being stored twice when the load is stored in the storage unit 5 of the rack 2 by the stacker crane 3 as described above. A double storage prevention device 23 is further provided. The double storage prevention device 23 includes a load detection sensor 24 provided on the stacker crane 3, a swing arm 25 provided on each arm 6 of the rack 2, and a reflector attached to each swing arm 25. 26.

  The sensor 24 detects whether or not there is a load in the storage unit 5 to be stored, and is fixed to the side surface of the lift bracket 14 of the stacker crane 3. The sensor 24 is a reflective optical sensor composed of a light emitter and a light receiver (not shown). When light is emitted from the light emitter, the presence or absence of a load depends on whether the light is received by the light receiver. Is detected.

  The swing arm 25 is swingably coupled to the side surface of the arm portion 6 via the shaft portion 27 so as to extend from the center portion of the arm portion 6 in the left-right direction of the rack toward the stacker crane 3 side. When the iron core 17 is placed at one end of the swing arm 25 (the end opposite to the stacker crane 3) at the placement position of the arm member 6 defined by the positioning member 19, the swing arm 25 is engaged with the iron core 17. Engaging protrusions 28 are provided.

  The reflector 26 is fixed to the other end of the swing arm 25 (the end on the stacker crane 3 side). The reflection plate 26 is a flat plate that reflects light emitted from the light emitter of the sensor 24 toward the light receiver.

  In a state where the iron core 17 is not placed at the mounting position of the arm member 6, the swing arm 25 is configured such that the engaging protrusion 28 protrudes from the upper surface of the arm member 6 due to the weight of the reflection plate 26 ( (See the lower swing arm 25 in FIG. 3). When the iron core 17 is placed at the mounting position of the arm 6, the engaging projection 28 is pushed down by the weight of the iron core 17, and the reflecting plate 26 on the opposite side is raised accordingly (see FIG. 3 upper swing arm 25).

  As shown in the drawing, the shaft portion 27 is preferably disposed closer to the engaging projection portion 28 than the center position in the longitudinal direction in the swing arm 25. Thereby, in a state where the iron core 17 is not placed at the mounting position of the arm member 6, the weight of the swing arm 25 acts in addition to the weight of the reflection plate 26, so that the reflection plate 26 is easily lowered. Further, since the swing amount on the reflecting plate 26 side of the swing arm 25 is increased, the displacement amount of the height position of the reflecting plate 26 is increased.

  When the iron core 17 is present in the storage unit 5 when the elevating body 10 is raised to a predetermined height position with respect to the specified storage unit 5 in order to store the iron core 17 in the specified storage unit 5. Is in a state where the reflector 26 is raised as described above. In this state, the sensor 24 and the reflection plate 26 provided on the lifting body 10 face each other at substantially the same height position. At this time, the light emitted from the light emitter of the sensor 24 is reflected by the reflecting plate 26, and the reflected light is received by the light receiver of the sensor 24, thereby determining that the iron core 17 is present.

  On the other hand, if the iron core 17 does not exist in the storage unit 5 when the elevating body 10 is raised to a predetermined height position with respect to the specified storage unit 5, the weight of the reflector 26 and the like is as described above. Thus, the reflector 26 is in a lowered state. In this state, the light emitted from the light emitter of the sensor 24 is not reflected by the reflecting plate 26, so the light receiver of the sensor 24 does not receive the reflected light from the reflecting plate 26, and thus there is no iron core 17. Judged to be empty.

  At this time, by disposing the shaft portion 27 closer to the engaging projection 28 than the center position of the swing arm 25 as described above, the amount of displacement of the height position of the reflector 26 increases, so the reflector 26 Then, it is sufficiently lowered from the height position when the iron core 17 is present in the storage unit 5. For this reason, the detection which is hardly influenced by the directivity characteristics of the sensor 24 is possible.

  FIG. 5 shows a conventional general double storage prevention device as a comparative example. In the figure, the double storage prevention device 100 has a load presence / absence detection sensor 101 attached to the lifting body 10. The sensor 101 is a reflection type optical sensor including a light emitter and a light receiver (not shown). The light is directly emitted from the light emitter to the iron core 17 and the light reflected by the iron core 17 is received by the light receiver. By receiving light, it is detected whether the iron core 17 is present in the storage unit 5.

  In this case, since the iron core 17 is placed at the center of the arm 6, the distance from the sensor 101 to the iron core 17 is long and the detection range of the sensor 101 is widened, but the outer diameter of the iron core 17 is very large. It is difficult to detect because it is small. Therefore, in order to reliably detect the presence or absence of the iron core 17 by the sensor 101, the expensive sensor 101 having a detection range up to the vicinity of the center of the arm 6 is used, and the sensor is set at a position and an angle at which the iron core 17 is aimed. 101 needs to be attached. Further, since the iron core 17 has a cylindrical shape, even if the sensor 101 irradiates the iron core 17 with light, the iron core 17 is reflected by the iron core 17 depending on the position where the light hits or the color or gloss of the iron core 17. In some cases, the emitted light does not accurately return to the sensor 101.

  On the other hand, in the present embodiment, the swing arm 25 having the engaging projection portion 28 that engages with the iron core 17 is attached to the arm 6 of the rack 2, and the reflector 26 is further attached to the swing arm 25, thereby The height of the reflector 26 is configured to be different depending on the presence or absence of 17. The presence or absence of the iron core 17 is detected based on whether the light emitted from the sensor 24 is reflected by the reflecting plate 26 and returns to the sensor 24.

  At this time, since the reflecting plate 26 is fixed to the end of the swing arm 25 on the stacker crane 3 side, the presence or absence of the iron core 17 is detected by directly irradiating the iron core 17 with light as shown in FIG. As compared with the above, the distance between the sensor 24 and the light irradiation target is shortened. Accordingly, even when a small and inexpensive sensor 24 is used, the iron core is stored in the storage unit 5 without much concern about the mounting position and angle of the sensor 24, the shape, size, color, and gloss of the iron core 17. Whether or not 17 is present can be reliably detected. As a result, the double storage of the iron core 17 is surely prevented, so that the iron core 17 can be prevented from being dropped or damaged.

  FIG. 6 is a view showing a part of another embodiment of the double storage preventing device according to the present invention together with a rack. In the drawing, the same reference numerals are given to the same or equivalent members as those of the above-described embodiment, and the description thereof is omitted.

  In the figure, the double storage prevention device 40 of the present embodiment includes a tension spring 41 provided between the arm portion 6 of the rack 2 and the swing arm 25 in addition to the configuration of the double storage prevention device 23 described above. have. The tension spring 41 is an elastic body for returning the swing arm 25 to a state in which the engagement protrusion 28 of the swing arm 25 can be engaged with the iron core 17. That is, the tension spring 41 urges the swing arm 25 to swing in the direction in which the engaging projection 28 of the swing arm 25 is raised and the reflecting plate 26 is lowered. By providing such a tension spring 41, when the iron core 17 is not placed at the mounting position of the arm member 6, the swing arm 25 returns to the original state in which the engaging protrusion 28 protrudes from the upper surface of the arm member 6. It will come back easily and reliably.

  Note that the elastic body provided between the brace 6 and the swing arm 25 is not limited to a tension spring, and a torsion spring or the like may be used.

  As mentioned above, although preferred embodiment of the double storage prevention apparatus of the automatic warehouse concerning this invention has been described, this invention is not limited to the said embodiment. For example, in the above embodiment, an optical sensor is used as a load presence / absence detection sensor, but an infrared sensor, an ultrasonic sensor, or the like may be used. Moreover, in the said embodiment, although the swing arm 25 was attached to the arm part 6 of the rack 2, you may attach to the frame assemblies 4a and 4b of the rack 2 via a bracket.

  In the above embodiment, when the iron core 17 is stored in the storage unit 5, the light reflected by the reflecting plate 26 is directed to the sensor 24. When the core 17 is not stored, the light reflected by the reflecting plate 26 is directed to the sensor 24. When the iron core 17 is stored in the storing unit 5, the light from the sensor 24 is transmitted to the reflecting plate 26. You may make it not hit.

  Furthermore, in the said embodiment, although the load stored in the rack 2 was only the roll body 16 or the iron core 17 containing the iron core 17, this invention is applicable also to the various loads which have another shape. is there.

  Moreover, although the automatic warehouse of the said embodiment is a stacker crane system which transfers a load with the stacker crane 3, this invention is applicable also to the automatic warehouse of a trolley | bogie system which has the trolley | bogie for transfer.

It is a schematic perspective view which shows the automatic warehouse provided with one Embodiment of the double storage prevention apparatus concerning this invention. It is a side view of the automatic warehouse shown in FIG. It is a front view which shows the double storage prevention apparatus with which the automatic warehouse shown in FIG. 1 was equipped with the automatic warehouse. It is a top view which shows the double storage prevention apparatus shown in FIG. 3 with a rack. It is a front view which shows the conventional common double storage prevention apparatus with an automatic warehouse. It is a front view which shows a part of other embodiment of the double storage prevention apparatus concerning this invention with a rack.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Automatic warehouse, 2 ... Rack, 3 ... Stacker crane (transfer apparatus), 5 ... Storage part, 16 ... Roll body (load), 17 ... Iron core (load), 23 ... Double storage prevention device, 24 ... Sensor for detecting presence / absence of load, 25 ... swing arm (swing member), 26 ... reflector (reflective member), 27 ... shaft portion, 28 ... engagement protrusion (engagement portion), 40 ... double storage prevention device 41 ... tension springs (elastic body).

Claims (4)

In a double storage prevention device that is provided in an automatic warehouse for storing a load in a rack storage unit by a transfer device, and prevents the load from being stored twice in the storage unit,
A sensor provided in the transfer device for detecting whether a load is stored in the storage unit by transmitting a detection signal;
A swinging member coupled to the rack via a shaft part so as to be swingable, and having an engaging part that engages with the load when the load is stored in the storage part;
A device for preventing double storage of an automatic warehouse, comprising: a reflection member attached to the swing member and configured to reflect the detection signal transmitted from the sensor toward the sensor. The swing member is swingably coupled to the rack so as to extend from the rack toward the transfer device side,
The engaging portion is provided at an end of the swinging member opposite to the transfer device,
2. The double storage preventing apparatus for an automatic warehouse according to claim 1, wherein the reflecting member is attached to an end of the swinging member on the transfer device side.   The automatic storage double storage preventing apparatus according to claim 2, wherein the shaft portion is disposed closer to the engaging portion than a center position of the swinging member. An elastic body is provided between the rack and the swinging member to swing the swinging member so that the engaging portion can engage with the load. The double storage prevention apparatus of the automatic warehouse as described in any one of Claims 1-3.

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