JP3531720B2 - Article storage facility - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an article storage rack provided with a plurality of article storage sections arranged side by side in a vertical direction and a horizontal direction, and an article loading / unloading section for the article storage rack and the respective article storage sections and the self. An article transfer device for transferring an article is provided, and between the article carry-in / out section and each of the article storage sections,
A transport device for transporting an article, an entry detection means for detecting entry of another object into a moving space of the transport device, managing the operation of the transport device, and managing the entry and exit of the article, The present invention relates to an article storage facility provided with a management unit that executes an abnormality monitoring process that stops the operation of the transport device when the entry detection unit detects entry of another object.

[0002]

2. Description of the Related Art In such an article storage facility, an article transfer apparatus equipped with an article transfer apparatus conveys an article between an article carry-in / out section and each article storage section to carry an article in and out of an article storage rack. In order to prevent another object from entering the transfer device moving space and coming into contact with the transfer device, the transfer device is provided with an entrance detecting means for detecting the entrance of another object into the moving space. A management unit that manages the operation of the apparatus and the loading and unloading of the article executes an abnormality monitoring process that stops the operation of the transport apparatus when the entry detection unit detects the entry of another object.

Regarding such an abnormality monitoring process, since the transfer of the article by the article transfer device may depend on the detection of the entry detecting means, when the article transfer operation is performed by the article transfer device. It is necessary to cancel so that the above abnormality monitoring processing is not executed. For this reason, conventionally, as described in Japanese Utility Model Laid-Open No. 5-37711, a sensor for detecting a part of the article transfer device moving for transferring an article is provided, and the sensor is provided. The abnormality monitoring process is canceled as appropriate based on the detection information. As described above, by detecting the operation of the article transfer device and canceling the abnormality monitoring process, the period for canceling the abnormality monitoring process can be shortened.

[0004]

However, in the above-mentioned conventional configuration, when the sensor for detecting the transfer operation of the article transfer device has a failure, it is released when the abnormality monitoring process needs to be released. Or there is a risk that it may be canceled without the need for cancellation, and a dedicated sensor is required for canceling the abnormality monitoring processing. The present invention has been made in view of the above circumstances, and an object thereof is to accurately switch between execution and cancellation of abnormality monitoring processing with a simple configuration, and to shorten the cancellation period. is there.

[0005]

With the configuration according to the above-mentioned claim 1, the management means for managing the operation of the transport device and the loading / unloading of the article is that the article transfer apparatus is in the transfer operation. While outputting the transfer operation signal indicating, the abnormality monitoring process is stopped based on the detection signal of the entry detection means whose detection target is the position where the article transfer device performs the transfer operation. The article transfer device is generally used to control the operation of the article transfer device by grasping the operation of the article transfer device on the side of the management means when performing the transfer operation according to a command from the management means. In many cases, a transfer operation signal indicating that the transfer operation is being performed is output to the management means.

The management means uses this transfer operation signal to stop the abnormality monitoring process based on the detection signal of the entry detection means whose detection target is the position where the article transfer device operates. Therefore, the execution and cancellation of the abnormality monitoring process are switched based on the transfer operation signal from the article transfer device without providing a dedicated sensor. The transfer operation signal naturally corresponds to the transfer operation of the article transfer device. Therefore, it has become possible to provide an article storage facility that can accurately switch between execution and cancellation of the abnormality monitoring processing with a simple configuration and shorten the cancellation period.

Further, by providing the structure according to the above-mentioned claim 2, at the installation location of the material handling apparatus of the article carrying-in / out section, the entry detecting means detects the moving space side position of the material handling apparatus as a detection target. Detects when another object enters the moving space of the carrier from the installation location of the cleaning device. As the above-mentioned handling device, in addition to a simple loading tray,
There are various types such as those equipped with a conveyor and those equipped with a swivel base, depending on the transportation mode of the articles to be loaded and unloaded, but in any case, the movement space of the transportation device is to the outside. It can be opened and can be a place where other things such as workers can easily enter. In such a case, it is particularly effective to provide the entry detection means to execute the above-described abnormality monitoring processing and to appropriately and quickly cancel the abnormality monitoring processing.

According to the third aspect of the present invention, in the picking work storage unit in which articles can be taken in and out from the outside of the article storage rack, the entry detecting means has the moving space side of the picking work storage unit. When the position is a detection target, when another object enters the moving space of the transfer device from the picking work storage unit, it is detected. In such a picking work storage unit, an article stored in one of the article storage units is transported by the transport device to the picking work storage unit, and after the picking work is completed, the picking work storage unit is moved to the article storage unit. Returned to. Therefore, the picking work storage unit is a target of the transfer operation of the article transfer device and is also a place where an operator can enter a part of the body such as a finger. There is also the possibility of getting into the moving space of the device. Therefore, it is particularly effective to provide an entrance detection unit to execute the above-described abnormality monitoring process and to appropriately and quickly cancel the abnormality monitoring process.

Further, since the picking work accommodating section is provided in a plurality in a state of being arranged in series, the entry detecting means is provided for each picking operation accommodating section. It is not provided in the above, but is configured by an optical sensor that projects detection light over a plurality of picking work storage units, and detects entry of other objects collectively in the plurality of picking work storage units. . Therefore, even when a plurality of picking work storage units are provided, the configuration of the entry detection means can be simplified.

[0010]

BEST MODE FOR CARRYING OUT THE INVENTION [First Embodiment] A first embodiment of the article storage facility of the present invention will be described below with reference to the drawings. As shown in FIG. 1A, the article storage facility LS includes a pair of article storage shelves 1a and 1b arranged such that the loading and unloading sides of the article L face each other, and the pair of article storage shelves 1a and 1a.
1b, a stacker crane ST as a transfer device for loading and unloading the article L, and a shelf management device SC as a management unit that manages the operation of the stacker crane ST to manage the loading and unloading of the article L, The article storage shelves 1a and 1b are provided with a pair of fixed load receiving trays 10 as a material handling device arranged in the article loading / unloading section LT located on the lateral side in the lateral direction. Each of the article storage shelves 1a and 1b is
A plurality of article storage units 3 provided with a pair of left and right support rods 3a for placing and supporting the article L are arranged in the vertical and horizontal directions.

The stacker crane ST is a crane main body 2 having a space between the pair of article storage shelves 1a and 1b as a traveling passage, and a crane main body 2 laid on the floor of the traveling passage.
And a guide rail 8 for guiding the crane body 2 on the ceiling side. Stacker crane ST crane main unit 2
Is configured such that two lifting masts 4a are erected on a traveling carriage 5 traveling on a traveling rail 7, and upper ends of the two lifting masts 4a are connected by an upper beam 4b guided by a guide rail 8. Further, an elevating table 6 is provided which is vertically guided by the two elevating masts 4a.

On the lift table 6, there is a slide fork device 9 as an article transfer device for transferring the articles L between the article storage sections 3 of the article storage shelves 1a and 1b and the fixed load receiving table 10 and itself. It is equipped. The stacker crane ST, which is a transfer device, carries out articles by the traveling movement of the traveling carriage 5 guided by the traveling rails 7 and the like, the raising and lowering movement of the lifting platform 6 guided by the lifting mast 4a, and the transfer operation by the slide fork device 9. The article L is conveyed between the fixed load receiving table 10 of the entry section LT and each article storage section 3.

Stacker crane ST of fixed load receiving base 10
Position on the article transfer side, in other words, stacker crane S
At the position on the moving space side of T, the approach detection means IS for detecting the entry of another object into the moving space of the stacker crane ST.
Is provided. As shown in FIG. 1B, the entry detecting means IS is provided near the ends of the fence 11 installed on both sides of the shelf management device SC on the side of the cargo receiving table 10 and the article storage shelf 1.
a and 1b, in which the detection light is projected horizontally to the poles 12 installed in pairs in the upper and lower sides of the poles 12 respectively installed in a pair, and in the vertical range sandwiched by the detection light of the two stages,
Although the detection light is projected in an oblique direction so as to intersect with each other, a total of four sets of optical sensors 13 are attached and configured. The detection information of the entry detection means IS is input to the shelf management device SC, as shown in the block diagram of FIG.

Next, the control by the shelf management device SC based on the detection information of the above-mentioned entry detection means IS will be schematically explained.
When the entrance detecting means IS detects that one of the detection lights is blocked by another object, the shelf management device SC accepts the detection information as an interrupt input and immediately monitors the stacker crane ST for an abnormality. The process is executed as an interrupt process. However, when the stacker crane ST transfers the article L to the fixed load receiving base 10,
The abnormality monitoring process is canceled so that the above-mentioned abnormality monitoring process is not executed due to the transfer operation of the article L.

The flowchart of FIG. 3 showing a part of the control operation of the shelf management device SC and a part of the control operation executed by the crane control device 2a provided in the crane main body 2 and controlling the operation thereof. Will be described with reference to the flowchart of FIG. The shelf management device SC repeatedly executes the processing shown in FIG. 3, and at that time, the stacker crane ST
If the loading / unloading operation is not in progress (step # 1) and an instruction for loading or unloading has been input from a console (not shown) or the like (step # 2), the crane control device 2 is operated according to the instruction.
For the item a, an article entry / exit instruction is issued by designating which of the article storage unit 3 targeted for entry or exit and the two fixed load trays 10 is intended (step # 3). Whether or not the stacker crane ST is in the loading / unloading work is determined until the loading / unloading operation completion signal is received from the crane control device 2a after the loading / unloading instruction is issued to the crane control device 2a as described above. Judgment is made based on whether or not it is the period.

The crane controller 2a is a shelf management device SC.
When receiving the above-mentioned loading / unloading instruction from, the processing shown in FIG. 4 is executed. First, until the position of the lifting platform 6 reaches the first target position, the traveling motor M1 and the lifting motor M2 provided in the traveling vehicle 5 are operated to drive the traveling vehicle 5 to raise and lower the lifting platform 6 (step # 20, # 2
1). The first traveling position is a transfer position for the fixed load receiving base 10 in the case of warehousing, and in the case of unloading,
This is a transfer position for the designated article storage unit 3. When the first target position is reached, before the slide fork device 9 starts the transfer operation, a signal to start the transfer operation is transmitted (step # 22), and then the slide fork device 9 is operated to move in and out. The article L is received (step # 3), and a signal indicating that the transfer operation is completed is transmitted after the transfer is completed. The signals indicating the start and end of this transfer operation are shown in FIG.
As shown in the uppermost row, the transfer signal line from the crane control device 2a to the shelf management device SC is changed from "OFF" output to "O".
The start of the transfer operation is transmitted by switching to the “N” output, and the end of the transfer operation is transmitted by switching from the “ON” output to the “OFF” output.

When the article L is received at the first target position, the article L is moved to the second target position where the article L is lowered, and then the slide fork device 9 is operated to transfer the article L (steps # 25 to # 29). ). In this case as well, before and after the transfer by the slide fork device 9, a signal indicating the start of the transfer operation similar to the above and a signal indicating the end of the transfer operation are transmitted. When the transfer operation at the second target position is completed, a completion signal of the loading / unloading operation is transmitted to the shelf management device SC (step # 30). As described above, the crane control device 2a that controls the withdrawal operation of the slide fork device 9 also has a function as a part of the slide fork device 9.

On the other hand, the shelf management device SC monitors the signal of the transfer signal line when the stacker crane ST is in the loading and unloading operation, and the transfer at the first target position and the second transfer signal line are monitored. In any of the transfer at the target position, as shown in FIG. 5, the switching of the transfer signal line from the “OFF” signal to the “ON” signal is detected (step # 4), and the slide fork device 9 is detected. Upon recognizing that the transfer operation is started in step S5, it is determined whether or not the target of the transfer operation at that time is the fixed load carrier 10 (step # 5), and the fixed load carrier 10 is determined.
When the target is the transfer target, the above-described abnormality monitoring processing is canceled for the fixed load receiving base 10 that is the transfer target. Specifically, in order not to accept the detection information of the entry detection means IS corresponding to the fixed load platform 10 that is the transfer target,
That is, the input on the shelf management device SC side is maintained in the “OFF” state regardless of the detection information of the entry detection means IS.

Whether or not the transfer target is the fixed load receiving base 10 is whether the work at that time is a warehousing work or a warehousing work, and the transfer at the first target position or the second target position. It can be determined depending on which of the transfer is performed. For example, during the warehousing operation, the transfer at the first target position targets the fixed load receiving table 10. It should be noted that an interrupt input is set separately for each of the two intrusion detection means IS, and it is configured such that interrupts are individually disabled, so that interruption of the detection information of the intrusion detection means IS is not prohibited. The above cancellation processing may be performed by prohibition.

Furthermore, from the "ON" signal of the transfer signal line to "O"
Detecting switching to the "FF" signal (step # 7),
When recognizing that the transfer operation by the slide fork device 9 has ended, if the transfer operation for the fixed load receiving base 10 has ended (step # 8), the fixed load receiving base 10 that was the transfer target, Returns to the state of performing abnormality monitoring processing. That is, the acceptance of the detection information of the entry detection means IS is restarted. As described above, by canceling and returning the abnormality monitoring processing, the transfer signal line becomes an “ON” output, and a transfer operation signal indicating that the transfer operation is in progress is output. Slide fork device 9 while outputting
Stops the abnormality monitoring processing based on the detection signal of the entry detection means IS corresponding to the fixed load receiving base 10 to be transferred, and as shown in the middle part of FIG. Even when the transferred article L is detected and the entry detection means IS outputs “ON”, it does not affect the transfer operation.

[Second Embodiment] In the first embodiment,
The article storage facility LS of the type in which the article L is conveyed by the stacker crane ST to be loaded and unloaded between the fixed load receiving base 10 and each article storage unit 3 has been illustrated, but the second embodiment is illustrated in FIG. As shown in FIG. 5, a part of the article storage unit 3 in the first embodiment allows the picking operation to be performed by allowing the articles L to be taken in and out from the outside of the article storage rack 1a. In addition to being configured as 20, the article storage shelves 1a and 1b are provided with a cover 1c except for the portion where the picking work storage portion 20 is present.

As shown in FIG. 6, also in the second embodiment, as in the first embodiment, the article storage shelves 1a, 1b.
The fixed load receiving tray 10 is arranged on the lateral side of the article to configure the article loading / unloading section LT. Therefore, the articles L can be loaded and unloaded through the fixed load receiving base 10, and the articles L can be loaded and unloaded also in the picking work storage section 20. However, as a general operation, the article L is a container or the like containing a large number of small articles, and
From 0, loading and unloading is performed in units of containers and the like, and in the picking work storage unit 20, loading and unloading of containers and the like is not performed, and loading and unloading is performed in units of small items stored in the containers and the like. It should be noted that the configuration other than the provision of the picking work storage portion 20 and the changes accompanying it is the same as that of the first embodiment.

As shown in FIG. 7, the entry detecting means IS having the same function as that of the first embodiment is provided corresponding to the picking work storage section 20 at the position of the stacker crane ST on the moving space side. Has been. Specifically, a plurality of optical sensors 21 that project detection light in the horizontal direction are arranged side by side in the vertical direction, and as shown in FIG. Storage 20
It is configured to project the detection light over the entire area. Entry detection means I corresponding to the picking work storage rack 20
The detection information of S is, as shown in FIG.
Together with the entry detection means IS provided in correspondence with the above, the same is input to the shelf management device SC as in the first embodiment,
Similar to the first embodiment, these intrusion detection means IS
When the abnormality monitoring process is executed based on the detection information of the slide fork device 9 and the fixed loading tray 10 or the storage portion 20 for picking work is transferred by the slide fork device 9, the slide fork device 9 is transferred. The abnormality monitoring process based on the approach detection means IS whose position is to be detected is stopped.

Therefore, the control operation of the crane controller 2a in the second embodiment executes exactly the same processing as the flowchart of FIG. 4 in the first embodiment, and
The shelf management device SC is added with the determination whether or not the transfer target is the picking work storage unit 20 in the determination of Step # 5 and Step # 8 in the flowchart of FIG. 3 in the first embodiment. And the point that the input / output instruction to the shelf management device SC includes the conveyance of the article L between the picking work storage section 20 and another article storage section 3. The instruction to convey the article L between the picking work storage section 20 and another article storage section 3 can be issued from the input operation console 22 arranged on the side of the picking work storage section 20.

[Other Embodiments] Other embodiments will be listed below. In the first and second embodiments described above, as a transporting device for transporting the article L, the traveling carriage 5 that supports the elevating platform 6 so as to be vertically movable travels on a traveling rail 7 laid on the floor. Although the stacker crane ST is shown as an example,
For example, a guide rail that supports a cart equipped with an article transfer device such as a slide fork device so as to be movable over substantially the entire width of the article storage shelves 1a, 1b is provided, and the guide rail is driven up and down. The specific configuration of the transport device can be variously changed, such as the configuration.

In the first and second embodiments described above, the slide fork device 9 is illustrated as the article transfer device provided in the conveyor device. For example, a hook that engages with a part of the article L is an article. For example, the article storage unit 3 and the like are provided so as to be able to move back and forth, and the hook is engaged with a part of the article L to move between the article storage section 3 and the lifting table 6. The specific configuration of the transfer device can be changed in various ways. In the first embodiment and the second embodiment described above, the presence of the foreign object is detected by the approach detection means IS for detecting the entry of the other object into the moving space of the stacker crane ST, because the detection light is blocked by the other object. Although it is configured by using an optical sensor for detecting the entry, the concrete configuration of the entry detecting means IS can be variously changed, for example, by arranging a plurality of contact switches provided with folding detection pieces side by side.

In the above-described first and second embodiments, the fixed cargo receiving base 10 is exemplified as the material handling device, but a movable cargo receiving base, a conveyor, or a swivel base is provided. It is possible to apply various types such as the ones. The second embodiment exemplifies a configuration in which the article loading / unloading part LT located on the lateral side of the article storage shelves 1a and 1b is provided with the fixed load receiving base 10 as a material handling device. In the picking work storage section 2
0, the article L from the picking work storage section 20
Since it can be carried in and out, the fixed load receiving base 10 may not be provided. In this case, the picking work storage unit 20 also functions as the article loading / unloading unit LT.

[Brief description of drawings]

FIG. 1 is a perspective view of an article storage facility according to a first embodiment of the present invention.

FIG. 2 is a block configuration diagram according to the first embodiment of the present invention.

FIG. 3 is a flowchart according to the first embodiment of the present invention.

FIG. 4 is a flowchart according to the first embodiment of the present invention.

FIG. 5 is a timing chart according to the first embodiment of the present invention.

FIG. 6 is a perspective view of an article storage facility according to a second embodiment of the present invention.

FIG. 7 is a sectional view of essential parts according to a second embodiment of the present invention.

FIG. 8 is a schematic plan view according to a second embodiment of the present invention.

FIG. 9 is a block configuration diagram according to a second embodiment of the present invention.

[Explanation of symbols]

IS approach detection means LT article carrying in / out section SC management means ST transport device 1a, 1b article storage shelves 3 article storage 9 Article transfer device 10 Handling equipment 20 Storage for picking work 21 Optical sensor

Continuation of the front page (56) Reference JP-A-5-278807 (JP, A) JP-A-6-72511 (JP, A) JP-A-10-139108 (JP, A) JP-A-61-7103 (JP , A) Actual Kaihei 5-37711 (JP, U) Actual Kaisho 62-86305 (JP, U) Actual Kaihei 3-46406 (JP, U) (58) Fields investigated (Int.Cl. ⁷ , DB) Name) B65G 1/00-1/20

Claims (4)

(57) [Claims] 1. An article storage shelf provided with a plurality of article storage units arranged side by side in a vertical direction and a lateral direction, and an article loading / unloading section for the article storage rack, and transfer of articles between each of the article storage sections and the self. An article transfer device is provided, and a transport device that transports an article between the article loading / unloading part and each of the article storage parts, and an entry for detecting entry of another object into a moving space of the transport device. An abnormality monitor that manages the operation of the detection device and the transport device to manage the loading and unloading of the article, and stops the operation of the transport device when the entry detection device detects the entry of another object. An article storage facility provided with management means for executing processing, wherein the management means, while the article transfer device outputs a transfer operation signal indicating that the transfer operation is in progress, Detects the transfer position of the article transfer device Configured article storage facility to stop the abnormality monitoring processing based on the detection signal of the approach detecting means for elephant. 2. The article handling apparatus is provided in the article carrying-in / out section, and the entry detecting means is arranged such that the movement space side position of the article handling apparatus is a detection target.
The listed item storage facility. 3. A part of the article storage section is configured as a picking work storage section that allows articles to be taken in and out from the outside of the article storage shelf, and the entry detecting means is the picking work storage section. The article storage facility according to claim 1, wherein the position on the moving space side is configured to be detected. 4. A plurality of the picking work storage units are arranged in a line, and the entry detecting means is composed of an optical sensor that projects detection light over the plurality of picking work storage units. The article storage facility according to claim 3.