JP3531721B2 - 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 unit for detecting entry of another object into the article transport-in / out portion from an inlet for loading an article to be loaded into / from the article transport-in / out portion from the outside, and the transport device. Managing the operation of the storage of the article, and managing means for executing an abnormality monitoring process for stopping the operation of the transport device when the entry detection means detects the entry of another article. The present invention relates to an article storage facility provided with.

[0002]

2. Description of the Related Art Such an article storage facility is equipped with a carrier device.
The article is conveyed between each article storage section and the article carry-in / out section of the article storage shelf to store the article in the article storage shelf and store the article in the article storage shelf. It is conceivable that another object may enter the article loading / unloading section that is the transfer target of the equipped article loading / unloading apparatus, or another object may further enter the moving space of the transport apparatus from the article loading / unloading section. There is also a possibility that another object may come into contact with the transport device including the article transfer device and damage the transport device. Therefore, there is provided an entrance detection means for detecting entry of another article into the article loading / unloading section from the receiving port for loading the article to / from the article loading / unloading section from the outside, the operation of the transport device, and the loading / unloading of the article. The management unit that manages the process executes an abnormality monitoring process that stops the operation of the transport device when the entrance detection unit detects the entrance of another object.

In carrying out such an abnormality monitoring process, since the work of carrying in the goods to be stored in the goods storage rack from the receiving port to the goods carrying-in / out section may be detected by the entrance detecting means, the carrying-in work is carried out. In this case, it is necessary to stop the abnormality monitoring process so that it will not be executed. Conventionally, the abnormality monitoring process is stopped at the time when the worker inputs information to the management means to start the work of loading articles.

[0004]

However, in the above-mentioned conventional configuration, even if the operator inputs the information to start the carrying-in work, for example, the carrying device carries out the loading / unloading work instructed first. In some cases, depending on the operating status of the transport device, it may not be possible to immediately start loading the articles into the article loading / unloading section, and the period for stopping the abnormality monitoring process may be longer than necessary. . The present invention has been made in view of the above circumstances, and an object thereof is to shorten the suspension period of the abnormality monitoring processing.

[0005]

With the configuration according to the above-mentioned claim 1, when the management means is instructed to store an article by an input operation of an operator or the like, the management means unloads the article from the conveying device. Instruct to store the goods in the store. In this warehousing command, the transport device is instructed to move to the article loading / unloading section, moves to the article loading / unloading section, and when the movement is completed and the article can be transferred, the management unit is instructed. To transmit a movement completion signal.

Based on the detection information of the entrance detecting means, the managing means executes an abnormality monitoring process for stopping the operation of the carrying device when another article enters the article loading / unloading section through its receiving port. Upon receiving the movement completion signal, the abnormality monitoring process is stopped to permit the loading / unloading operation of the article into / from the article loading / unloading section. Then, when the work of loading the article into the article loading / unloading unit is completed and a work completion signal indicating that the loading / unloading work is completed is received, the abnormality monitoring process is restarted, and another operation is performed from the receiving port of the loading / unloading unit. When an object enters, stop the operation of the transportation device. Therefore, the abnormality monitoring process is not stopped during the operation of the transport device, and the abnormality monitoring process is stopped when the transport device is ready for the transfer operation with respect to the article loading / unloading unit. The stop period of the abnormality monitoring process can be shortened.

Further, by providing the configuration according to the above-mentioned claim 2, the management means can measure the time measured by the time measuring means on the basis of the detection information of the time measuring means for measuring the elapsed time after stopping the abnormality monitoring processing. When the work completion signal is not received before the set time is reached, the abnormality monitoring process is restarted as the set time is reached. Therefore, after receiving the movement completion signal from the transport device and stopping the abnormality monitoring processing, if the work completion signal is not received for the set time for some reason, the abnormality monitoring processing is restarted and the abnormality monitoring processing is stopped. It is possible to prevent the period for which the operation is performed from becoming longer than necessary.

[0008]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the article storage facility of the present invention will be described below with reference to the drawings. Goods storage facility LS
1A, 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 a stacker crane ST as a transfer device for loading and unloading the article L to and from the pair of article storage shelves 1a and 1b and an operation of the stacker crane ST to manage the loading and unloading of the article L. Shelf management device SC as management means
And a pair of fixed load receiving trays 10 arranged in the article carry-in / out section LT located on the lateral sides of the article storage shelves 1a and 1b.
And are provided and configured. In addition, in FIG. 1A, a part of the article storage rack 1a is cut away to show the stacker crane ST. Article storage shelf 1
Each of a and 1b is configured by arranging 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 in the vertical direction and the lateral direction.

The stacker crane ST has 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 article 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.

A fence 11 is installed on the side of the fixed load receiving base 10 of the article carrying-in / out section LT and on both sides of the shelf management device SC, and the fence 11 is not provided on one side of the fixed load receiving base 10. The loading / unloading port 10a of the article L with respect to the loading / unloading section LT is formed. Therefore, the carry-in / out port 10a is provided with the articles L to be stored in the article carry-in / out section LT.
Functions as a receiving port IN for carrying in from outside. The carry-in / out entrance 10a is provided with an entrance detecting means IS for detecting the entrance of another object into the article carry-in / out section LT. As shown in FIG. 1B, the entrance detecting means IS is a loading / unloading port 10
The detection light is projected horizontally on the upper and lower two stages on the poles 12 installed on both sides of a, and is detected diagonally so as to intersect with each other within the upper and lower range sandwiched by the detection light on the two stages. Despite projecting light, a total of 4 sets of optical sensors 1
3 is 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 entry detecting means IS will be schematically described.
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 worker carries in the articles L to be loaded from the loading / unloading port 10a to the fixed load receiving tray 10 by using a forklift or the like, and when the article is transported from the article storage unit 3 to the fixed load receiving tray 10 by the stacker crane ST. When carrying out the article L from the carry-in / out port 10a, the abnormality monitoring process is stopped so that the above-mentioned abnormality monitoring process is not executed by the carrying-in / out work. The stop of the abnormality monitoring process is performed by the receiving port IN for loading or unloading the article L.
Is performed by prohibiting the acceptance of the detection information of the intrusion detection means IS corresponding to the above. However, the interrupt input is set separately for each of the two intrusion detection means IS, and the interrupts are disabled individually. It may be configured to perform the above-mentioned stop processing by disabling interrupts.

3 and 4 showing a part of the control operation of the shelf management device SC, and the control operation executed by the crane control device 2a which is provided in the crane main body 2 and controls the operation thereof. Will be described based on the flowchart of FIG. The shelf management device SC is shown in FIG.
And the processing shown in FIG. 4 is repeatedly executed, and at that time, the stacker crane ST is not in the loading / unloading operation (step #
1) If a request for entering and exiting the goods has been input (step #
2) In response to the instruction, the crane control device 2a is instructed to enter or exit by specifying which of the article storage unit 3 to be entered or unloaded and the two fixed cargo trays 10 to be targeted. Is issued (step # 3).

Whether or not the stacker crane ST is in the loading / unloading work is determined by issuing a loading / unloading instruction to the crane controller 2a as described above, and then issuing a loading / unloading completion signal from the crane controller 2a. It is determined by whether or not it is the period until reception. Further, the input / output request instruction to the shelf management device SC is input from the operation console 14 provided in the shelf management device SC, and a plurality of storage / unloading instructions can be stored. When there are multiple instructions, will process in order from oldest to newest. In addition to simple instructions for warehousing and warehousing, you can enter instructions for entering and exiting requests.
Temporary unloading in which the article L in the article storage unit 3 is conveyed to the fixed load receiving table 10 and the worker carries out picking work or replenishment work on the article L and then returns the article L to the original article storage unit 3. It is also possible to instruct, and when the temporary unloading is instructed, the unloading and warehousing of the instructed article L of the article storage unit 3 are continuously stored.

The crane controller 2a is a shelf management device SC.
When receiving the above-mentioned storage / unloading instruction from, the processing shown in FIG. 5 is executed. First, the case of warehousing will be described. In the case of warehousing, the traveling motor M1 and the elevating motor M2 provided in the traveling carriage 5 are provided until the position of the lifting platform 6 reaches the first target position, that is, the transfer position for the fixed load receiving platform 10.
Is operated to cause the traveling carriage 5 to travel and the lifting platform 6 to be raised and lowered (steps # 30, # 31). Since the first target position is the fixed load receiving tray 10, a movement completion signal indicating that the movement to the article loading / unloading unit LT is completed is transmitted to the rack management device SC (steps # 32, # 33), and the rack management is performed. It waits until it receives a transfer command from the device SC (step # 34). The movement completion signal is transmitted by switching the movement completion signal line from "OFF" output to "ON" output, as shown in "Movement completion signal" in FIG.

The shelf management device SC receives the movement completion signal during the warehousing operation (step # 4), that is, detects the switching of the movement completion signal line from "OFF" to "ON" (step # 5). The timer TM, which is a built-in time measuring means, starts time measurement, and FIG.
In (a), the entry detection means I for the receiving port IN that carries in the article L to be stored at the timing indicated by the symbol A.
The abnormality monitoring process based on the detection information of S is stopped (steps # 6 and # 7). That is, the shelf management device SC receives the above-mentioned movement completion signal from the stacker crane ST after instructing the stacker crane ST to move to the article carry-in / out section LT when storing the goods L, by instructing the stacker crane ST to store the goods. Along with this, the abnormality monitoring process is stopped and the work of loading the article L into the article loading / unloading unit LT is permitted. Then, the shelf management device SC informs that the carrying-in work is permitted by a lamp, voice, or the like (not shown) (step # 8).

According to this guide, the worker carries out the carrying-in work of placing the goods L to be loaded on the fixed load receiving base 10 by a forklift or the like, and when the carrying-in work is completed, the work completion button (not shown) is pressed. During the carrying-in work by this worker, the detection information itself of the entry detection means IS is
Although it fluctuates as shown as “entry detection” in FIG. 6A, it has no effect. The pressing operation of the work completion button is input to the shelf management device SC as a work completion signal (step # 9), and the abnormality monitoring processing is restarted at the timing indicated by the symbol B in FIG. 6A (step # 9). 10), a transfer command is transmitted to the stacker crane ST (step # 11). Crane control device 2
When a receives this transfer command (step # 34),
Before the transfer operation is started by the slide fork device 9, a signal for starting the transfer operation is transmitted (step # 3
5) After that, the slide fork device 9 is operated to move in and out to receive the article L (step # 36), and after the slide fork device 9 is retired and the transfer is completed, a signal indicating that the transfer operation is completed is transmitted ( Step # 37).

The signals indicating the start and end of this transfer operation are
By switching the transfer signal line from the crane control device 2a to the shelf management device SC from "OFF" output to "ON" output, as shown as "transfer signal" in FIGS. 6 (a) and 6 (b). The start of the transfer operation is transmitted, and the end of the transfer operation is transmitted by switching from the “ON” output to the “OFF” output.

When the article L on the fixed cargo tray 10 is received,
After moving the article L to the article storage section 3 which is the second target position for unloading the article L, the slide fork device 9 is operated to transfer the article L (steps # 38 to # 42). 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 of the articles L to the specified article storage unit 3 is completed, a completion signal of the loading / unloading operation is transmitted to the shelf management device SC (step # 43).

On the other hand, the shelf management device SC, after stopping the abnormality monitoring processing in step # 7 of the flowchart of FIG. 3, until the time measured by the timer TM reaches the set time,
When the worker does not press the work completion button and does not receive the work completion signal (steps # 9, # 12), a return processing request including resetting of the storage processing at that time is displayed on the CRT of the shelf management device SC. After displaying, the abnormality monitoring process is restarted (steps # 13 and # 14), and the "in / out process" shown in FIGS. 3 and 4 is stopped.

Next, the case of warehousing will be described. The crane control device 2a uses the lift table 6 when the goods are unloaded.
Is moved to the first target position, that is, the transfer position for the article storage unit 3 designated as the delivery target, and the slide fork device 9 receives the article L in the article storage unit 3 (steps # 30 to # 37). . After that, the slide fork device 9 is moved to the transfer position for the fixed load platform 10 which is the second target position (steps # 38, # 39).
Before the transfer operation is started, the signal for starting the transfer operation is transmitted (step # 40), and then the slide fork device 9 is operated to move in and out to load the article L onto the fixed load receiving base 10.
Transfer (step # 41), and after the transfer operation is completed, a signal indicating that the transfer operation is completed is transmitted (step # 4).
2). When the transfer operation is completed, the warehousing operation is completed, so a completion signal of the warehousing / leaving operation is transmitted to the shelf management device SC (step # 43).

When the shelf management device SC receives a signal indicating that the transfer operation has been completed during the delivery operation (step # 4), that is, the transfer signal line changes from "ON" to "O".
When the switch to "FF" is detected (step # 15),
If the transfer operation is for the fixed load receiving base 10 (step # 16), the timer TM starts the time measurement, and at the same time, the article L to be delivered is placed at the timing indicated by the symbol C in FIG. The above-mentioned abnormality monitoring processing by the entry detection means IS for the fixed cargo platform 10 is stopped (steps # 17, # 18). And the shelf management device S
C guides by a lamp, voice, or the like (not shown) that the operation of carrying out the article L from the fixed load receiving table 10 is permitted (step # 19).

According to this guide, the worker receives the article L to be delivered, which is placed on the fixed load receiving base 10 by a forklift or the like, and when the delivery operation is completed, the operator presses a work completion button (not shown). This pressing operation of the work completion button is input to the shelf management device SC as a work completion signal (step # 20), and the abnormality monitoring processing is restarted at the timing indicated by the symbol D in FIG. 6B (step # 21). ).

On the other hand, in the shelf management device SC, after stopping the abnormality monitoring processing in step # 18 of the flowchart of FIG. 4, the worker presses the work completion button until the time measured by the timer TM reaches the set time. If no work completion signal is received (steps # 20, # 2)
2), a return processing request including resetting of the delivery processing at that time is displayed on the CRT of the shelf management device SC on the screen, and the abnormality monitoring processing is restarted (step # 21), and also shown in FIGS. 3 and 4. Stop the "in / out process".

[Other Embodiments] Other embodiments of the present invention will be listed below. In the above-described embodiment, the stacker crane ST of the type in which the traveling carriage 5 that supports the elevating platform 6 so as to be vertically movable travels on the traveling rail 7 laid on the floor is illustrated as a transportation device that transports the article L. However, for example, a guide rail is provided to support a trolley provided 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 and 1b. The specific configuration of the transporting device can be variously changed, such as the configuration for vertically moving.

In the above-described embodiment, the slide fork device 9 is exemplified as the article transfer device provided in the carrying device, but for example, a hook that engages with a part of the article L is directed to the article storage unit 3 or the like. A specific configuration of the article transfer device, such as a configuration in which the hook and a part of the article L are engaged with each other to move the article L between the article storage unit 3 and the elevating table 6 so that the article can be retracted and retracted. Can be changed in various ways. In the above-described embodiment, the entry detecting means IS for detecting entry of another object from the receiving port IN into the article loading / unloading section LT is provided.
Although the detection light is blocked by another object, it is configured by using an optical sensor that detects the presence of another object.For example, a plurality of contact switches equipped with a retractable detection piece are arranged side by side. The specific configuration of the entry detecting means IS can be changed in various ways.

In the above-described embodiment, the article carry-in / out section L
The case of installing the fixed load receiving base 10 on the T is shown as an example, but it is applied to the case of installing various types such as a movable load receiving base, one equipped with a conveyor, or one equipped with a swivel base. it can. When the article carry-in / out section LT is provided with a conveyor and the article L carried into the article carry-in / out section LT is conveyed to the conveyor and passes through the receiving port IN, the work of carrying the article L into the article carry-in / out section LT is carried out. The work completion signal indicating that the process has been completed is configured to be input to the shelf management device SC from the control device of the conveyor, the superordinate management computer, or the like, and the passage of the article L at the receiving port IN can be detected. The detection information of the entry detection means IS may be used to input the work completion signal to the shelf management device SC.

[Brief description of drawings]

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

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

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

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

FIG. 5 is a flowchart according to the embodiment of the present invention.

FIG. 6 is an explanatory diagram of signals according to the embodiment of the present invention.

[Explanation of symbols]

IS approach detection means LT article carrying in / out section SC management means ST transport device TM timekeeping means 1a, 1b article storage shelves 3 article storage 9 Article transfer device

─────────────────────────────────────────────────── ─── Continuation of the front page (58) Fields surveyed (Int.Cl. ⁷ , DB name) B65G 1/00-1/20

Claims (2)

(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 between the article carry-in / out section and each of the article storage sections, a carrying apparatus for carrying articles, and a receiving port for carrying in articles to and from the article carry-in / out section from the outside An entry detecting means for detecting entry of another article into the article carrying-in / out section; and an operation of the transport device to manage loading / unloading of the article, and the entry detection means to enter another article. Is a goods storage facility provided with a management means for executing an abnormality monitoring process for stopping the operation of the carrying device in accordance with the detection of the The above items for the device After instructing the movement to the carry-in / carry-out section, the abnormality monitoring process is stopped and the article carry-in / carry-out section is stopped by receiving a movement completion signal indicating that the movement to the article carry-in / carry-out section is completed. An article storage facility configured to allow the carrying-in work of an article and to restart the abnormality monitoring process when a work completion signal indicating that the carrying-in work is finished is received. 2. A time measuring means for measuring the elapsed time after stopping the abnormality monitoring processing is provided, and the managing means transmits the work completion signal until the time measured by the time measuring means reaches a set time. The article storage facility according to claim 1, wherein when the set time is not received, the abnormality monitoring process is restarted when the set time is not reached.