JP2011042438A - Article carrying facility - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an article carrying facility preventing a worker from contacting an article carrying body. <P>SOLUTION: An entrance detecting means K is arranged for detecting an entrance of the worker into a monitoring area E from a non-monitored area N, by detecting the presence of the worker in a place separated from an article taking in and out port 15 more than an installation place of a loading space D. A control means is constituted to control opening-closing operation of an intrusion preventive opening-closing door 16 for putting the intrusion preventing opening-closing door 16 in an opening state when transferring an article between an article carrying body 1 and the loading space D and putting the intrusion preventing opening-closing door 16 in a closing state in response to the fact of detecting that the worker enters the monitoring area E from the non-monitored area N by the entrance detecting means K. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention is installed in a state in which an article transport body that travels along a travel route and transports an article between a plurality of load receivers, and the travel route is separated from the outside thereof, and corresponds to the load receiver. Switching between an intrusion prevention body having an article loading / unloading port for transferring an article to and from the cargo receiving table at the article conveying body, and an open state where the article loading / unloading port is opened and a closed state where the article loading / unloading port is closed The present invention relates to an article conveying facility provided with a freely opening / closing door for preventing intrusion and a control means for controlling the opening / closing operation of the door for preventing intrusion.

Such an article transport facility transports an article to a load receiving platform by an article transport body, and performs an operation such as picking work or transfer by an operator or a picking device on the article transported to the load receiving platform. . Therefore, since the worker will work near the article entry / exit for the work on the article and the maintenance work on the picking device, an intrusion prevention body is provided in a state in which the traveling path is separated from the outside thereof. By providing the intrusion prevention opening / closing door at the formed article loading / unloading port, the worker is prevented from entering the travel path from the outside, and the article carrier is prevented from coming into contact with the worker.
Specifically, conventionally, when an article is transferred between the article carrier and the cargo cradle, the intrusion prevention opening / closing door is opened and the article carrier is placed between the article carrier and the cargo cradle through the article loading / unloading port. If the article is transferred and the article transporter does not transfer the article to and from the cargo cradle, the intrusion prevention opening / closing door is closed and the operator enters the travel route from the outside. (For example, refer to Patent Document 1).

JP-A-4-292308

However, in the above-described conventional article transport equipment, the intrusion prevention opening / closing door is opened when the article is transferred between the article carrier and the cargo cradle. It was in a state where it was possible to enter the travel route from the outside through the mouth. Therefore, there is a possibility that an operator may enter the traveling route and come into contact with the article transporter.
Further, it is conceivable that a detection means for detecting that an operator has entered the travel route is provided at the article insertion / removal port, and the article carrier is stopped based on the detection information. However, when the article carrier is traveling to the vicinity of the article insertion / removal port to transfer the article through the article insertion / removal port, the article carrier may be immediately stopped based on the detection information of the detection means. There is a possibility that the article transporter may come into contact with the worker who has entered the travel route without stopping in time.

  This invention is made in view of the said actual condition, The objective is to provide the article conveyance equipment which can prevent that an operator contacts an article conveyance body beforehand.

The article transport facility according to the present invention is installed in a state in which an article transport body that travels along a travel path and transports an article between a plurality of load receiving pedestals, and the travel path and the outside thereof is partitioned, and An intrusion prevention body having an article loading / unloading port for transferring an article to / from the cargo receiving table at the article carrier at a portion corresponding to the cargo receiving table, and an open state and a closing state for opening the article loading / unloading port An intrusion prevention opening / closing door that can be switched to a closed state, and a control means for controlling the opening / closing operation of the intrusion prevention opening / closing door.
The load receiving platform is installed in a monitoring area set adjacent to the lateral side of the travel route, and detects the presence of an operator at a location farther from the article loading / unloading port than the installation location of the cargo receiving platform. An entry detecting means for detecting an entry of an operator from a non-monitoring area that is outside the travel route and outside the monitoring area to the monitoring area is provided, and the control means is provided at the article carrier. When the article is transferred to or from the cargo receiving table, the intrusion prevention opening / closing door is opened, and the entry detecting means detects that an operator has entered the monitoring area from the non-monitoring area. Accordingly, the opening / closing operation of the intrusion prevention opening / closing door is controlled so that the intrusion prevention opening / closing door is closed.

  That is, when an article is transferred between the article carrier and the cargo receiving table, the article entry / exit port is opened with the intrusion prevention door open, and therefore, the article carrier is placed between the article carrier and the cargo receiving platform. The article can be transferred and conveyed by the article carrier. As the intrusion detection means detects that the operator has entered the monitoring area from the non-monitoring area, the intrusion prevention opening / closing door is closed and the article access port is closed.

  And since the operator's entry from the non-monitoring area to the monitoring area is detected by the entry detecting means at a location farther from the article loading / unloading port than the installation location of the cargo receiving platform, the entry detecting means enters the operator. Since the detection location is detected from the article entry / exit port and there is time to move the operator from the detection location to the article entry / exit port, entry is prevented before the operator moves to the item entry / exit port. By closing the article access opening with the open / close door closed, it is possible to accurately prevent the operator from entering the travel route.

In short, when it is detected that an operator has entered the monitoring area near the article entry / exit port on the cargo cradle, etc., the detection point is close to the article entry / exit port, so the intrusion prevention door is switched from the open state to the closed state. However, there is a risk that the operator may enter the travel route before closing the article loading / unloading port. However, by detecting that an operator has entered the monitoring area from the non-monitoring area at a location away from the article loading / unloading port, the article loading / unloading port is closed before the worker moves to the article loading / unloading port. Can be closed, and the operator can be prevented from entering the travel route accurately.
Therefore, it has become possible to provide an article transport facility that can appropriately prevent an operator from entering the travel route and prevent the worker from coming into contact with the article transport body.

  According to a second characteristic configuration of the article conveying facility according to the present invention, in the first characteristic configuration, a part of the plurality of cargo receiving stands is installed in a form to be installed in the monitoring area, and the control means is the entry detecting means. As a result of detecting that an operator has entered the monitoring area from the non-monitoring area, the monitoring area is installed in the monitoring area where the entry of the worker is detected among the plurality of load receiving platforms. Actuation of the article transport body so as to prohibit transfer of the article by the article transport body to the load receiving base and allow transfer of the article by the article transport body to a load receiving base other than the load receiving base subject to transfer restriction. It is in the point comprised so that it may control.

  That is, when the entry detecting means detects that the worker has entered the monitoring area from the non-monitoring area, the load receiving base installed in the monitoring area where the worker has entered is detected among the plurality of receiving stands. However, the transfer of the article by the article transporter to the load receiving table other than the load receiving table subject to the transfer restriction is permitted.

In other words, when the entry detecting means detects that an operator has entered the monitoring area from the non-monitoring area, the goods receiving / closing port installed in the monitoring area where the operator's entry has been detected is closed. Since the article cannot be transferred to or from the article transport body, the transfer of the article by the article transport body with respect to the load receiving table installed in the monitoring area is prohibited. Further, since it is possible to transfer the article to a receiving platform other than the receiving receptacle subject to the transfer restriction that prohibits the transfer of the article, the transfer of the article by the article carrier to such a receiving platform is allowed. Thus, even when an operator enters the monitoring area, the article can be continuously conveyed by the article carrier.
Therefore, even when an operator enters the monitoring area from the non-monitoring area, an article conveying facility that can continuously convey the article by the article conveying body while preventing the worker from contacting the article conveying body. It came to be able to offer.

  A third feature configuration of the article transport facility according to the present invention is the first or second feature configuration, wherein a plurality of the monitoring areas are provided, and a part of the plurality of receiving platforms is installed in the plurality of monitoring areas. The load receiving stand installed in the form and outside the monitoring area is composed of a storage unit for storing articles arranged side by side vertically and horizontally on an article storage shelf, on one side in the lateral direction of the travel path, The article storage shelf and the plurality of monitoring areas are arranged in parallel along the longitudinal direction of the travel route.

That is, the load receiving stand installed outside the monitoring area among the plurality of load receiving stands is configured by the storage unit of the article storage shelf, and the article receiving body and the article storage shelf installed in the monitoring area by the article transporter. Articles can be transported to and from the storage section. Further, since the article storage shelf and the plurality of monitoring areas are arranged in parallel along the longitudinal direction of the traveling path on one side in the lateral direction of the traveling path, for example, a pair of monitoring areas are spaced along the traveling path. The installation space can be used effectively, for example, when an article storage shelf is provided between the pair of monitoring areas.
By the way, by configuring as in the second feature configuration, even when an operator enters the monitoring area, the article is transported between the receiving platform installed in the other monitoring area and the storage section of the article storage shelf. can do.

  A fourth feature configuration of the article transporting facility according to the present invention is set in a state of surrounding the monitoring region so as to partition the monitoring region and the non-monitoring region in any one of the first to third feature configurations. And a partition having an operator entrance for an operator to enter the monitoring area from the non-monitoring area, and an entrance that can be switched between an open state in which the worker entrance is opened and a closed state in which the worker entrance is closed. There is an open / close door, and the entry detecting means is constituted by a door state detecting means for detecting an open / closed state of the entry open / close door.

In other words, the monitoring area and the non-monitoring area are partitioned by a partition body, and the worker entrance provided in the partition body is closed by the entrance door, so that the worker enters the monitoring area from the non-monitoring area. In such a case, the entrance door in the closed state is switched to the open state and enters through the worker entrance. The entry detection means is constituted by a door state detection means for detecting an open / close state of the entry door (for example, a state where the entry door is switched to a closed state, etc.), so that the worker can work non-workingly. In order to detect whether the operator has entered the monitoring area from the non-monitoring area by detecting the open / closed state of the entry door that the operator operates reliably or substantially when entering the work area from the area, The entry detection means can accurately detect that the worker has entered the monitoring area from the non-monitoring area.
Accordingly, it has become possible to provide an article transport facility that can accurately detect that an operator has entered the monitoring area from the non-monitoring area.

  According to a fifth characteristic configuration of the article conveying facility according to the present invention, in the fourth characteristic configuration, an artificially operated intrusion prevention opening / closing door opening operation tool is freely operated by an operator located in the non-monitoring area. Provided in the monitoring area, the control means, as the door opening detection tool for intrusion prevention is operated in the state in which the closed state of the door for entrance is detected by the door state detection means, The opening / closing operation of the intrusion prevention opening / closing door is controlled to open and operate the intrusion prevention opening / closing door.

In other words, an intrusion prevention opening / closing door that has been switched to a closed state when an operator enters the monitoring area from a non-monitoring area has an intrusion prevention opening / closing door opening operation tool that has been switched to the closed state. By operating, the intrusion prevention door can be switched to the open state.
The intrusion prevention opening / closing door opening operation tool is provided in the non-monitoring area so that it can be operated freely by an operator located in the non-monitoring area. In order to operate the tool, it is operated after moving from the monitoring area to the non-monitoring area.
In other words, the worker who has entered the monitoring area moves to the non-monitoring area through the worker entrance and exits the monitoring area in order to switch the intrusion prevention opening / closing door that has been switched to the open state to the open state. It is necessary to operate the opening / closing door opening operation tool for preventing intrusion in a state where the opening / closing door is switched to the closed state.
Therefore, when switching the intrusion prevention door to the open state, the worker has left the monitoring area and the entry door has been switched to the closed state. The closed state of the intrusion prevention opening / closing door can be maintained, and the operator can be accurately prevented from entering the travel route.

  A sixth feature configuration of the article transporting facility according to the present invention is the monitoring device according to any one of the first to fifth feature configurations, wherein a work device that performs work on the article on the load receiving platform is provided in the monitoring area, The control means closes the intrusion prevention opening / closing door while the work device performs an operation on an article placed on the load receiving table provided in the monitoring area, and is provided in the monitoring area. And controlling the opening / closing operation of the intrusion prevention opening / closing door so that the intrusion prevention opening / closing door is opened while the work device does not work on the article placed on the load receiving platform. It is in the point which is comprised.

  That is, while the work device does not work on the articles placed on the load receiving table provided in the monitoring area, the article entry / exit opening is opened with the intrusion prevention door open, so The article can be transferred to and from the table through the article loading / unloading port, and the article can be conveyed by the article conveyance body. And while the work device is working on the article placed on the receiving stand provided in the monitoring area, the entry door is closed with the intrusion prevention opening / closing door closed. Even when an article on the load receiving platform is pushed to the traveling path side by the work device, the pushed article can be received by the intrusion prevention opening / closing door, and the article is prevented from falling to the traveling path. Can do.

Top view of the goods transport facility A plan view showing the article outlet and its surroundings Side view showing intrusion prevention door Plan view showing surveillance area Control block diagram Open / close control flowchart

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
As shown in FIG. 1, the article transport facility includes a stacker crane 1 as an article transporter that travels along a linearly set travel path S and transports articles, and a storage unit 2 a for storing articles. Article storage shelves 2 arranged side by side vertically, a plurality of fixed bases 3 for placing and supporting articles to be picked, and a picking device 4 as a working device for performing picking work on the articles on the fixed base 3 And a cart 5 for loading / unloading goods.

  Each of the plurality of storage units 2 a, the fixed base 3, and the loading / unloading cart 5 is provided as a load receiving table D, and articles are transferred to and from the stacker crane 1 in each of the load receiving tables D. The article thus transferred is placed and supported. The stacker crane 1 transports articles between the storage unit 2a and the fixed base 3 or between the storage unit 2a and the loading / unloading carriage 5 so that the stacker crane 1 can be used between the plurality of receiving platforms D. The article is configured to be conveyed. Incidentally, the article is a pallet on which a plurality of items are placed or a pallet on which no items are placed.

  A plurality of monitoring areas E are set adjacent to the lateral side of the travel route S. The outside of the plurality of monitoring areas E and the outside of the travel route S are set as non-monitoring areas N. In each of the plurality of monitoring areas E, a pair of fixed bases 3 and a single picking device 4 that are arranged in parallel along the longitudinal direction of the travel route S are installed, and the non-monitoring areas An article storage shelf 2 and a loading / unloading cart 5 are installed in N. As described above, a plurality of the receiving pedestals D are installed in such a manner that a part thereof is installed in the monitoring area E, and the receiving pedestals D installed outside the monitoring area E are stored in the storage section 2a of the article storage shelf 2 or in / out It is comprised by the trolley | bogie 5 for use.

  A pair of article storage shelves 2 are provided adjacent to the travel route S on both sides of the travel route S in the width direction. The fixed base 3 is provided in a state adjacent to the travel path S on one side in the lateral width direction of the travel path S, and the loading / unloading carriage 5 is adjacent to the travel path S on the other side in the lateral width direction of the travel path S. It is provided in the state to do. Then, the article storage shelf 2 provided on one side of the travel route S in the width direction, the monitoring region E, and the fixed base 3 provided thereon are provided in a state of being aligned along the longitudinal direction of the travel route S. . Similarly, the article storage rack 2 and the loading / unloading cart 5 provided on the other side of the travel path S in the lateral width direction are provided in a state of being aligned along the longitudinal direction of the travel path S. Incidentally, the article storage shelf 2 and the fixed base 3 are fixed on the floor surface F, and the carry-in / out carriage 5 is moved along the travel path formed between the travel path S and the wall W of the stacker crane 1. It is provided to be movable along.

  As shown in FIG. 2, the stacker crane 1 includes a traveling carriage 8 that travels along the longitudinal direction of the traveling path S, and a lifting platform 10 that is movable up and down along a column 9 that is erected on the traveling carriage 8. And is configured. The lifting platform 10 includes a transfer device 11 for transferring articles between the load receiving table D and itself.

  Then, the articles conveyed by the loading / unloading cart 5 are conveyed from the loading / unloading cart 5 to the storage unit 2a by the stacker crane 1, and the articles stored in the storage unit 2a are stacked. The article is carried out by being transported to the carry-in / out carriage 5 by the crane 1. Further, picking work (depalletizing) is performed by the picking device 4 on an article that is transported from the storage unit 2 a to the fixed base 3 by the stacker crane 1 and is placed and supported on the fixed base 3. Articles that have been picked by the picking device 4 are transported from the fixed base 3 to the storage unit 2a by the stacker crane 1. Incidentally, the goods dropped from the pallet placed and supported on the fixed base 3 by the picking work are placed on another pallet on the loading / unloading conveyor 12 and are carried out by the loading / unloading conveyor 12 together with this other pallet.

  As shown in FIG. 1, an intrusion prevention body 14 that prevents an operator from entering the travel route S from outside the travel route S is installed in a state of partitioning the travel route S from the outside. The prevention body 14 is installed in a portion around the travel route S where the article storage shelf 2 is not provided. Further, the shelf partition 13 is installed in a state in which the region portion where the article storage shelf 2 is installed in the non-monitoring region N and the other region portion are separated, and the shelf partition 13 and the intrusion prevention body 14 Are connected at connection point C.

  As shown in FIGS. 1 and 2, the intrusion prevention body 14 is provided with an article loading / unloading port 15 for transferring an article between the stacker crane 1 and the load receiving table D at a portion corresponding to the fixed table 3. Therefore, when an article is transferred to or from the fixed base 3 by the stacker crane 1, it is performed through the article insertion / removal port 15. An intrusion prevention opening / closing door 16 that can be switched between an opened state in which the article loading / unloading port 15 is opened and a closed state in which the article loading / unloading port 15 is closed is provided for the article loading / unloading port 15.

  A partition body 17 that prevents an operator from entering the monitoring area E from the non-monitoring area N is installed in a state of surrounding the monitoring area E so as to partition the monitoring area E and the non-monitoring area N. The body 17 is provided with a worker entrance 18 for a worker to enter the monitoring region E from the non-monitoring region N. In addition, an entrance door 19 that can be switched between an open state in which the worker entrance 18 is opened and a closed state in which the worker entrance 18 is closed is provided for the worker entrance 18.

  A carriage entry / exit 20 is formed between the intrusion prevention body 14 and the wall W for the carrying-in / out carriage 5 to move. An opening / closing door 21 for movement that can be switched between an open state in which the bogie doorway 20 is opened and a closed state in which the bogie doorway 20 is closed is provided for the bogie doorway 20.

  Next, each of the intrusion prevention body 14, the intrusion prevention opening / closing door 16, the partition body 17, and the entry opening / closing door 19 will be described.

[Intrusion prevention body]
As shown in FIG. 1, the intrusion prevention body 14 is provided with an article loading / unloading port 15 for transferring an article between the stacker crane 1 and the fixed base 3 at a part that partitions the monitoring area E and the traveling route S. It has been. A portion of the intrusion prevention body 14 that divides the monitoring region E and the travel route S is installed along the longitudinal direction of the travel route S, and the article loading / unloading port 15 is opened toward the lateral width direction of the travel route S. . And the fixed base 3 is provided in the state which enters into the goods insertion / removal port 15 of the intrusion prevention body 14. Incidentally, the article loading / unloading port 15 is not provided for the storage unit 2a of the article storage shelf 2 or the loading / unloading carriage 5, but is provided only for the fixed base 3 that is a part of the plurality of cargo receiving stands D. It has been.

  The intrusion prevention body 14 is partially installed around the travel route S at a place where an operator may enter the travel route S from the outside of the travel route S. That is, for example, there is no possibility that the operator enters the travel route S from the outside of the travel route S or enters due to the presence of the article storage shelf 2 or the shelf partition 13 or the presence of the wall W. The intrusion prevention body 14 is not installed in a place where there is little fear.

(Open / close door for intrusion prevention)
As shown in FIGS. 2 and 3, the intrusion prevention opening / closing door 16 has a closed position (see FIG. 4B) for closing the article access opening 15 and an open position for opening the article access opening 15 (FIG. 4A). ))), And a moving operation means 24 for moving the door main body 23 between a closed position and an open position. Thus, the door main body 23 is configured as a sliding door that is slid. The intrusion prevention opening / closing door 16 is located adjacent to the travel path S side of the intrusion prevention body 14 and is installed in the travel path S.

  When the article is transferred between the stacker crane 1 and the fixed base 3, the door body 23 is moved to the open position by the moving operation means 24 so that the intrusion prevention opening / closing door 16 is opened. When the crane 1 does not transfer an article to or from the fixed base 3, the door body 23 is moved to the closed position by the moving operation means 24 so that the intrusion prevention door 16 is closed. ing.

  As shown in FIG. 3, the door body 23 is formed in a plate shape including a mesh portion formed in a lattice shape and a frame portion surrounding the periphery thereof. The shelf partition 13, the intrusion prevention body 14, the partition body 17, and the entrance door 19 are also provided with a net portion and a frame portion, like the door body 23. Incidentally, the net portion and the frame portion are made of a synthetic resin material, a metal material, or the like. Each of the shelf partition 13, the intrusion prevention body 14, the intrusion prevention opening / closing door 16, the partition body 17 and the entry opening / closing door 19 is formed so that the height from the floor surface F is about 2000 mm. Has been.

  The movement operation means 24 is provided on the floor surface F so as to support the lower end portion of the door body 23 and move the door body 23 to the closed position and the open position along the longitudinal direction of the travel route S. The moving operation means 24 is composed of an air-type rodless cylinder that guides the moving body 24a that connects and supports the door main body 23 along the longitudinal direction of the traveling path S. In the longitudinal direction of the traveling path S, It is provided along. In addition, you may provide the guide body which guides the upper end part of the door main body 23 along the longitudinal direction of the driving path S. FIG.

  Further, the moving operation means 24 is configured to place and support the door main body 23 by connecting the lower end portion of the door main body 23 to the central portion in the lateral width direction on the upper surface of the moving body 24a. When the description is added, the thickness of the door body 23 in the width direction is formed to be thinner than the width of the movement operation means 24, and the movement operation means 24 is such that the door body 23 fits within the width of the movement operation means 24. Thus, the door body 23 is configured to be placed and supported. The moving operation means 24 is configured such that the door body 23 moves along the traveling route S as the moving body 24a moves along the traveling route S. The lateral width direction of the door main body 23 and the lateral width direction of the moving operation means 24 are the same direction as the lateral width direction of the travel route S.

[Partition body]
As shown in FIG. 1, the partition body 17 is partially installed around the monitoring area E so as to partition the non-monitoring area N and the monitoring area E. In other words, the partition body 17 is not installed at a location adjacent to the travel route S around the monitoring area E, and the U-shaped partition body 17 is installed for the rectangular monitoring area E in plan view. Yes. An operator doorway 18 is formed at an end of the partition body 17 on the side away from the travel route S so as to enter the monitoring area E from a location away from the article loading / unloading port 15.

[Entry door]
The entrance door 19 is in a closed posture (see FIG. 4A) for closing the worker entrance 18 by an operator's operation and an open posture (see FIG. 4B) for opening the worker entrance 18. It is configured to be swingable, and is configured as a swingable door that is swingable by an operator.

  And the door state detection means 25 (refer FIG. 5) which detects the opening / closing state of the door 19 for an entrance is provided with respect to the door 19 for an entrance. The door state detection means 25 is configured by a contact type sensor such as a limit switch that is turned on when the entry door 19 is switched from the open position to the closed position, and the entry door 19 is closed. The opening / closing door 19 is detected to be opened and the closing door 19 is closed to the closed posture. And this door state detection means 25 is located far from the article loading / unloading port 15 than the place where the fixed base 3 is installed (the entrance door 19 is installed) when the entry door 19 is opened from the closed position. ) Functioning as an entry detecting means K that detects the presence of the worker at the non-monitoring area N and detects the entry of the worker from the non-monitoring area N to the monitoring area E.

  The manually operated intrusion prevention opening / closing door opening operation tool 26 is provided in the non-monitoring area N and can be operated by an operator located in the non-monitoring area N, and cannot be operated by an operator located in the monitoring area E. . Therefore, an operator located in the monitoring area E cannot operate the intrusion prevention opening / closing door opening operation tool 26 unless the worker moves from the worker entrance 18 to the non-monitoring area N and exits from the monitoring area E.

  The article conveying facility is provided with a control means H for controlling the operation of the stacker crane 1 and the opening / closing operation of the intrusion prevention opening / closing door 16. Next, the control means H will be described. Incidentally, FIG. 6 is a flowchart of the opening / closing control of the intrusion prevention opening / closing door 16.

[Control means]
As shown in FIG. 6, the control means H closes the intrusion prevention opening / closing door 16 while the picking device 4 performs the picking operation on the article placed on the fixed base 3, and places it on the fixed base 3. While the picking device 4 does not perform a picking operation on the placed article, the operation of the intrusion prevention door 16 is controlled so that the intrusion prevention door 16 is opened.
That is, when the picking device 4 performs a picking operation on an article placed on the fixed base 3, an intrusion prevention opening / closing door 16 (specifically, for example, In the case of the fixed base 3 installed on the left side of the left monitoring area E in FIG. 1, picking is performed with the intrusion prevention opening / closing door 16) that closes the left and right article loading / unloading port 15) in the left monitoring area E closed. When the article or article is prevented from falling into the travel path S during the operation by the intrusion prevention opening / closing door 16 and the article placed on the fixed base 3 is not picked by the picking device 4, The intrusion prevention opening / closing door 16 provided for the fixed base 3 is opened, and the article can be conveyed between the article storage shelf 2 and the fixed base 3 by the stacker crane 1. Yes.
By the way, switching from the open state to the closed state of the intrusion prevention opening / closing door 16 based on the picking work is performed as the picking work for the corresponding fixed base 3 starts and the intrusion prevention opening / closing door 16 is opened. The switching from the closed state to the open state is performed as the picking operation on the corresponding fixed base 3 is completed.

Further, the control means H detects that the operator has entered the monitoring area E from the non-monitoring area N by the entry detecting means K (the door opening / closing door 19 is opened from the closed state by the door state detecting means 25). The state in which the intrusion prevention opening / closing door 16 is closed and the door state detecting means 25 detects the closing state of the entry opening / closing door 19 is detected. The operation of the intrusion prevention opening / closing door 16 is controlled so that the intrusion prevention opening / closing door 16 is opened as the intrusion prevention opening / closing door opening operation tool 26 is operated.
That is, when an operator enters the monitoring area E from the non-monitoring area N for maintenance work or the like of the picking device 4, an intrusion prevention opening / closing door provided for the monitoring area E that the operator has entered. 16 (specifically, for example, in the case of the monitoring area E on the left side in FIG. 1, the pair of intrusion prevention opening / closing doors 16 that close the pair of article access ports 15 in the monitoring area E on the left side) An operator is prevented from entering the travel route S through the article loading / unloading port 15, and when the worker who has finished the maintenance work or the like of the picking device 4 leaves the monitoring area E to the non-monitoring area N, The opening / closing door 19 is closed and the intrusion prevention opening / closing door opening operation tool 26 is operated to open the intrusion prevention opening / closing door 16 provided for the monitoring area E from which the operator has exited. It is adapted to allow the transport of goods between the article storage rack 2 and the fixed base 3 by car crane 1.

Further, the control means H operates the stacker crane 1 to execute carry-in / out conveyance control for conveying articles between the carry-in / out carriage 5 and the storage unit 2a based on a carry-in / out command from the host controller. Is configured to control.
Further, based on a picking command from the host controller, the stacker crane 1 is controlled so as to execute picking transport control for transporting articles between the storage shelf 2b and the fixed base 3 with the intrusion prevention opening / closing door 16 open. It is configured to control operation. That is, in the picking transport control, the transfer of the article by the stacker crane 1 to the fixed base 3 on which the picking device 4 performs the picking work on the mounted article among the plurality of fixed bases 3 is prohibited. In addition, the stacker crane 1 is operated so as to allow the article to be transferred to the fixed base 3 other than the fixed base 3 to be picked by the stacker crane 1 and to carry the article by the article carrier 1 continuously. Configured to control.

  In short, when the operator has entered the monitoring area E or when the picking device 4 performs the picking work on the article placed on the fixed base 3, the intrusion prevention door 16 is closed. When the operator does not enter the monitoring area E and the picking device 4 does not perform the picking operation on the article placed on the fixed base 3, the intrusion prevention opening / closing door 16 is opened. It is configured to be in a state. Then, the entrance door 19 provided farther from the article insertion / exit opening 15 than the place where the fixed base 3 is installed is operated from the closed state to the open state side, so that the non-monitoring area N is changed to the monitoring area E. Since the entry of the worker is detected, the intrusion prevention opening / closing door 16 can be switched to the closed state before the worker who has entered the monitoring area E moves to the article loading / unloading port 15, and the worker can Intrusion into S can be prevented appropriately.

[Another embodiment]
(1) In the above-described embodiment, as the entry detection means K detects that an operator has entered the monitoring area E from the non-monitoring area N, the operator's entry among the plurality of consignments D is detected. The transfer of the article by the article carrier 1 to the load receiving table D installed in the detected monitoring area E is prohibited, and the article by the article carrier 1 to the load receiving table D other than the load receiving table D subject to the transfer restriction. Allowing the transfer, the article detector 1 continues to carry the article even after the entry detection means K detects that the worker has entered the non-monitoring area N into the monitoring area E. However, as the entry detection means K detects that an operator has entered the monitoring area E from the non-monitoring area N, the article conveying body 1 is stopped and the article conveying body 1 stops conveying the article. You may make it do.

(2) In the above embodiment, the access door 19 for closing the worker entrance 18 is provided, and the entrance detection means K is configured by the door state detection means 25 for detecting the open / close state of the entrance door 19. Without entering the open / close door 19, the entry / exit detection means K is provided by, for example, a photoelectric sensor installed at a set height from the floor F, a mat sensor installed on the floor F, an ID tag reader, or the like. Alternatively, it may be configured to detect the presence or absence of a worker located in the vicinity thereof, and the intrusion prevention opening / closing door 16 may be closed as the worker located at the worker entrance 18 is detected by the entry detection means K. Good.

(3) Although the partition body 17 is provided in the above embodiment, the entry detection means K is installed on the photoelectric sensor or the floor surface F installed at a set height from the floor surface F, for example, without providing the partition body 17. The mat sensor or RFID tag reader is used to detect an operator located on the boundary line between the non-monitoring area N and the monitoring area E. The intrusion prevention opening / closing door 16 may be closed as an operator located on the boundary line is detected.
Incidentally, the entry detecting means K is located near the worker entrance 18 in the monitoring area E, on the boundary line between the non-monitoring area N and the monitoring area E, or on the inner side of the article receiving place D. Any location apart from 15 is acceptable.

(4) In the above embodiment, the manually operated intrusion prevention opening / closing door opening operation tool 26 is provided in the non-monitoring area N so that it can be operated by an operator located in the non-monitoring area N. The intrusion prevention opening / closing door 16 is opened as the intrusion prevention opening / closing door opening operation tool 26 is operated in a state in which the closed state of the entry opening / closing door 19 is detected. The intrusion prevention opening / closing door 16 is opened as the closed state of the entry opening / closing door 19 is detected by the door state detecting means 25 without providing the intrusion prevention opening / closing door opening operation tool 26. It may be.

(5) In the above embodiment, the work device 4 is provided in the monitoring area E. However, the work device 4 may not be provided in the monitoring area E. In the above embodiment, the picking device is provided as the working device 4. However, a label sticking device for performing a label sticking operation for sticking a label to an article, a transport device for carrying a carrier work for placing and transporting the article, You may provide the working apparatus which performs another operation | work.

(6) In the embodiment described above, the intrusion prevention opening / closing door 16 is closed while the work device 4 performs an operation on the article placed on the load receiving table D provided in the monitoring area E. The intrusion prevention opening / closing door 16 is configured to be opened when the work device 4 does not perform an operation on the article placed on the load receiving table D provided in FIG. You may comprise so that the intrusion prevention opening-and-closing door 16 may be made into an open state irrespective of whether the working device 4 performs work with respect to the articles placed on the load receiving platform D.

(7) In the above embodiment, the fixed table 3, the storage unit 2 a of the article storage shelf 2, and the loading / unloading cart 5 are provided as the load receiving table D. A lifting platform for moving the conveyor and articles up and down may be provided, and the configuration of the loading platform D may be changed as appropriate, such as providing a transport conveyor as the loading platform D in the monitoring area E.

(8) In the above embodiment, the stacker crane is provided as the article transport body 1. However, in the case where the article storage shelf 2 is not provided, an article transport vehicle that does not have a lifting function for moving the article up and down is used as the article transport body 1. It may be provided.

DESCRIPTION OF SYMBOLS 1 Goods conveying body 2 Goods storage shelf 2a Storage part 4 Working device 14 Intrusion prevention body 15 Article entrance / exit port 16 Intrusion prevention opening / closing door 17 Partition body 18 Worker entrance / exit 19 Ingress opening / closing door opening operation tool D Receiving platform E Monitoring area H Control means K Entry detection means N Non-monitoring area S Traveling route

Claims (6)

An article transporter that travels along a travel path and transports an article between a plurality of receiving trays;
An article loading / unloading port is provided to transfer the article between the article carrier and the cargo receiving base at a part corresponding to the cargo receiving base, which is installed in a state of partitioning the travel route and the outside. An intrusion prevention body,
An intrusion prevention opening / closing door that is switchable between an open state for opening the article access opening and a closed state for closing;
An article conveying facility provided with control means for controlling the opening and closing operation of the intrusion prevention opening and closing door,
The cargo receiving platform is installed in a monitoring area set adjacent to a lateral side of the travel route,
The presence of an operator is detected at a location farther away from the article loading / unloading port than the installation location of the cargo receiving platform, and from the non-monitoring area that is outside the traveling route and outside the monitoring area to the monitoring area An entry detection means for detecting the entry of the worker is provided,
When the control means transfers an article between the article transporter and the cargo receiving table, the intrusion prevention opening / closing door is opened, and the entry detection means changes the non-monitoring area to the monitoring area. An article transporting facility configured to control an opening / closing operation of the intrusion prevention opening / closing door so that the intrusion prevention opening / closing door is closed when it is detected that an operator has entered. A part of the plurality of consignments is installed in a form to be installed in the monitoring area,
As the control means detects that the operator has entered the monitoring area from the non-monitoring area by the entry detecting means, the operator's entry is detected among the plurality of cargo receiving platforms. Further, the transfer of the article by the article transporter to the load receiving base installed in the monitoring area is prohibited, and the transfer of the article by the article transporter to the load receiving base other than the load receiving base subject to the transfer restriction is permitted. Thus, the article conveyance equipment according to claim 1, which is configured to control the operation of the article carrier. A plurality of the monitoring areas are provided,
A part of the plurality of receiving pedestals is installed in a form to be installed in the plurality of monitoring areas,
The load receiving stand installed outside the monitoring area is constituted by a storage unit for storing articles arranged side by side in the vertical and horizontal directions on the article storage shelf,
The article conveyance facility according to claim 1 or 2, wherein the article storage shelf and the plurality of monitoring areas are arranged side by side along a longitudinal direction of the traveling path on one side in a lateral width direction of the traveling path. A partition body provided in a state of surrounding the monitoring area so as to partition the monitoring area and the non-monitoring area, and having a worker entrance for an operator to enter the monitoring area from the non-monitoring area; ,
An entrance door that can be switched between an open state for opening the worker entrance and a closed state for closing is provided,
The article conveyance facility according to any one of claims 1 to 3, wherein the entry detection unit is configured by a door state detection unit that detects an open / closed state of the entry door. A human-operated intrusion prevention opening / closing door opening operation tool is provided in the non-monitoring area so that it can be operated by an operator located in the non-monitoring area,
The intrusion prevention opening / closing door is operated as the intrusion prevention opening / closing door opening operation tool is operated in a state where the door state detection means detects the closed state of the entry opening / closing door. The article conveyance facility according to claim 4, wherein the opening / closing operation of the intrusion prevention opening / closing door is controlled so as to open the door. A working device for performing work on the goods of the consignment table is provided in the monitoring area,
The control means closes the intrusion prevention opening / closing door while the work device performs an operation on an article placed on the load receiving table provided in the monitoring area, and is provided in the monitoring area. And controlling the opening / closing operation of the intrusion prevention opening / closing door so that the intrusion prevention opening / closing door is opened while the work device does not work on the article placed on the load receiving platform. The article conveying facility according to any one of claims 1 to 5, wherein

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