JP3599165B2 - Article storage facility - Google Patents

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention includes a storage rack having a plurality of article storage portion is provided, and a handling apparatus for handling articles of goods movements for the storage rack, provided respectively and said the handling device of the article storage portion An article transfer device for transferring articles between the receiving table and the self is provided, and a stacker crane for transferring articles between each of the article storage units and the unloading device is provided. It relates to an article storage facility.
[0002]
[Prior art]
When the articles are stored in or taken out of the storage shelf, the article storage facility loads the articles to be loaded into the handling apparatus or unloads the articles from the handling apparatus.
A stacker crane conveys articles between the cargo handling device and each article storage unit.
As the above-mentioned handling apparatus, for example, in addition to being configured as a simple receiving tray, articles that enter and leave the article storage facility, such as those that are configured to be movable and those that include a swivel table There are various types corresponding to the transport type and the like.
[0003]
The goods transfer device of the stacker crane transfers goods to be loaded and unloaded to and from the cargo handling device having the above-described configuration.Conventionally, in performing this transfer operation, the stacker crane side Information on whether or not an article exists on the side of the cargo handling apparatus is given, and when the article is received but the article is not present in the cargo handling apparatus, or the article is ejected upon receipt of the ejection command. When an article to be transferred to a cargo handling device is to be transferred to a cargo handling device, if the article already exists in the cargo handling device, the transfer operation is stopped because an abnormality has occurred.
[0004]
[Problems to be solved by the invention]
However, in the above-described conventional configuration, it is assumed that a state suitable for the transfer operation is maintained during the transfer operation, and it is determined whether or not the transfer operation can be performed before the transfer operation. In particular, if the handling device is erroneously operated during the transfer operation, such as when the handling device is equipped with movable parts, the transfer may not be performed properly, May damage the article transfer device.
The present invention has been made in view of the above circumstances, and an object of the present invention is to effectively prevent improper transfer between a stacker crane and a cargo handling device. is there.
[0005]
[Means for Solving the Problems]
With the configuration according to the first aspect, the load receiving table is configured to be movable between a delivery position for delivering and receiving articles to and from the crane main body of the stacker crane and a position opposite to the delivery position . The cargo handling-side control device provided in the device is configured such that, based on the operation signal of the article transfer device received from the crane-side control device provided in the stacker crane, the article transfer device moves to a load receiving table located at the delivery position . If an operation abnormality in which the load receiving table moves from the delivery position occurs on the cargo handling device side while detecting that the transfer operation is being performed, an abnormality occurrence signal is transmitted to the crane-side control device.
On the other hand, the crane-side control device stops the operation of the article transfer device in response to receiving the abnormality occurrence signal.
Therefore, when the worker or the like accidentally moves the load receiving table from the delivery position during the transfer operation by the article transfer device, the transfer operation of the articles is stopped, so that the stacker crane and the device for unloading the goods are connected. It is possible to avoid improper transfer of unsuitable articles between them, and to reliably prevent damage to the article transfer apparatus.
[0006]
In addition, with the configuration according to the second aspect, whether or not the transfer operation by the article transfer device is possible through the presence confirmation signal line is determined based on the detection signal of the presence detection means for detecting the presence or absence of the article. And transmitted to the crane control device.
Specifically, if there is an article in the handling apparatus, the transfer of the article from the handling apparatus by the article transfer apparatus to the stacker crane side is allowed, but the handling is performed from the stacker crane side. The transfer of articles to the device is prohibited, and conversely, if there is no article in the handling device, the transfer of articles from the handling device to the stacker crane side by the article transfer device is prohibited. The transfer of articles from the stacker crane to the cargo handling device is permitted.
[0007]
The information based on the detection information of the presence detecting means is necessary information before the transfer operation is started by the article transfer device, and is not used as any useful information once the transfer operation is started. Therefore, when the article transfer device detects that the transfer operation is being performed with respect to the cargo handling device, an operation abnormality occurs on the cargo handling device side, and the presence confirmation signal line is generated. An abnormality occurrence signal is transmitted to the crane-side control device via. Therefore, information necessary before the article transfer apparatus starts the transfer operation and information necessary during the transfer operation are rationally combined and transmitted using the signal line for checking the presence of goods. In addition, it is possible to accurately notify the stacker crane side of whether or not the transfer operation is possible before and during the transfer operation while suppressing an increase in the number of signal lines connecting the stacker crane side and the cargo handling device side.
[0008]
In addition, with the configuration according to the third aspect, the unloading-side control device sends one of the two signal levels, high and low, to the signal line for checking the presence based on the detection information of the presence detection means. At the signal level, a permission signal for the transfer operation by the article transfer apparatus is transmitted, and at the other signal level, a signal for inhibiting the transfer operation by the article transfer apparatus is transmitted.
Then, when the transfer operation by the article transfer device is started during the transmission of the permission signal, the permission signal is maintained regardless of the change in the detection information of the presence detecting means, and the operation is performed on the unloading device side. An abnormality occurrence signal is transmitted by changing the permission signal to a prohibition signal when an abnormality occurs.
[0009]
That is, when information on whether or not the transfer operation is possible based on the detection information of the presence detection means and information on occurrence of an abnormality during the transfer operation are transmitted through the presence check signal line, these two pieces of information are transmitted. Although a configuration in which the signals are transmitted as completely separate and independent signals is also conceivable, as described above, the information as to whether or not the transfer operation is possible based on the detection information of the presence detection means can be expressed by two signal levels, high and low, by its nature. However, by transmitting information on the occurrence of an abnormality during the transfer operation using the signal state for transmitting the information on whether or not the transfer operation is possible, the two types of information can be formed into an extremely simple signal configuration. Can be sent.
[0010]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of an article storage facility of the present invention will be described with reference to the drawings.
As shown in FIG. 1, the article storage facility LS stores a pair of storage shelves 1 a and 1 b arranged in a state where the articles L enter and exit and faces the article L to and from the pair of storage shelves 1 a and 1 b. A stacker crane ST for performing the operation, and a cargo handling device LT disposed on the lateral side of the storage shelf 1a are provided.
Each of the storage shelves 1a and 1b is configured by arranging a plurality of article storage sections 3 provided with a pair of left and right support rods 3a for placing and supporting the articles L in the vertical and horizontal directions.
[0011]
The stacker crane ST includes a crane main body 2 having a space between a pair of storage shelves 1a and 1b as a traveling passage, management of entry and exit of articles L to and from the storage shelves 1a and 1b, and an entry / exit command for the crane main body 2. And a shelf management device SC that functions as a crane-side control device.
The crane body 2 of the stacker crane ST includes a traveling vehicle 5 on which two lifting masts 4 are erected, and a lifting platform 6 guided up and down by the two lifting masts 4. The vehicle travels while being guided by the traveling rail 7 laid on the floor surface and the guide rail 8 on the ceiling side. The lifting platform 6 is provided with a slide fork device 9 as an article transfer device for transferring an article L between each of the article storage units 3 of the storage shelves 1a and 1b and the cargo handling apparatus LT and itself. I have.
[0012]
The cargo handling device LT is a device for handling articles L entering and leaving the storage shelves 1a and 1b. In the present embodiment, as shown in FIG. 1, a movable cargo receiving table 10 is exemplified.
The movable receiving tray 10 is configured such that a receiving truck 11 provided with a traveling wheel 11b below a receiving tray frame 11a is movable by being guided by a rail 12 laid on the floor, and is operated by a worker. Thus, the receiving cart 11 can be moved. The loading cart 11 transfers the article L to and from the crane body 2 at the end of the storage rack 1a, 1b in the moving range thereof, and transfers the article L to a transporting means such as a forklift at the opposite side. To deliver the article L.
[0013]
The movable load receiving table 10 includes a roller type load detecting sensor 13 as load detecting means for detecting the presence or absence of the article L by contacting the detecting roller with the article L, and a load receiving cart 11 including the crane main body 2. And a photo-interrupter-type fixed position detection sensor 14 for detecting whether or not the article L is at a position where the article L is to be delivered. As shown in FIG. The information is input to the device 15, and the unloading-side control device 15 transmits information necessary for transfer of the articles L to the stacker crane ST (specifically, the shelf management device SC) based on the information.
[0014]
As shown in FIG. 2, the shelf management device SC and the unloading-side control device 15 are connected by a movement permission signal line 16 and a signal line 17 for confirming presence of goods.
The movement permission signal line 16 informs the shelf management device SC to the handling-side control device 15 that the loading forklift 11 must not be moved when the slide fork device 9 performs the transfer operation to the loading forklift 11. Normally, an "ON" signal is output to permit the movement of the receiving trolley 11, and an "OFF" signal is output when the slide fork device 9 performs a transfer operation with respect to the receiving trolley 11. Then, the movement signal of the slide fork device 9 is transmitted by prohibiting the movement of the receiving cart 11.
[0015]
The signal line 17 for confirming the presence of goods is used to transmit whether or not the transfer operation is normally performed by the slide fork device 9 from the cargo handling side control device 15 to the shelf management device SC. When transmitting the propriety of the operation, the transfer of the article L from the load receiving cart 11 to the crane main body 2 side is permitted by the “ON” output, and the transfer from the load receiving cart 11 to the crane main body 2 side is performed by the “OFF” output. A "rake OK" signal line 17a for prohibiting the transfer of the article L, and an "ON" output permits the transfer of the article L from the crane body 2 to the receiving cart 11 and an "OFF" output for the crane body. And a "grated OK" signal line 17b for prohibiting transfer of the article L from the second side to the receiving cart 11.
The “Rake OK” signal line 17 a outputs “OFF” based on the detection information of the roller-type presence detection sensor 13 if the article L is not present on the receiving cart 11, and outputs “OFF” if the article L is present on the receiving cart 11. The output is “ON”, and the “Grated OK” signal line 17 b is “ON” output if the article L is not present in the receiving cart 11, and is “OFF” output if the article L is present in the receiving cart 11.
[0016]
Next, the control operations of the shelf management device SC and the cargo handling side control device 15 when transferring the articles L between the crane main body 2 and the movable load receiving table 10 will be described with reference to flowcharts shown in FIGS. This will be schematically described based on the above.
The shelf management device SC is operated by a worker inputting an entry or exit instruction from a console of the shelf management device SC (not shown), and the crane main body 2 is moved to a position for transferring the articles L with the movable receiving table 10. When the movement is completed, the processing shown in the flowchart of FIG. 3 is executed.
That is, when the movement of the crane main body 2 to the transfer position is completed, the shelf management device SC first checks whether the signal on the signal line 17 for confirming the presence of the product is a signal permitting transfer. Then, it is determined whether or not the transfer operation can be started (step # 1). Specifically, when performing the warehousing operation, the “rake OK” signal line 17a is set to the “ON” signal input, and when performing the warehousing operation, the “grated OK” signal line 17b is set to the “ON” signal input. And if it is not in such a signal state, it stands by as it is.
[0017]
On the other hand, the unloading-side control device 15 is executing the process of the flowchart shown in FIG. 4, and in the normal state where the “ON” signal is input from the movement permission signal line 16, the roller-type unloading detection sensor 13 As described above, "ON" and "OFF" of the "rake OK" signal line 17a and the "grated OK" signal line 17b are set based on the detection information (step # 10). Every time the processing of step 10 is executed, the output signals of the "rake OK" signal line 17a and the "grated OK" signal line 17b are updated.
[0018]
FIG. 5A which is a timing chart when the slide fork device 9 transfers the articles L placed on the load receiving cart 11 to the crane main body 2 side, and FIG. As shown in FIG. 5B, which is a timing chart when transferring to the load 11, the presence check signal line 17 is connected to one of the high and low signal levels (specifically, “H”). Level), a signal for permitting the transfer operation by the slide fork device 9 is transmitted, and a signal for inhibiting the transfer operation by the slide fork device 9 is transmitted at the other signal level (specifically, “L” level). I do.
More specifically, referring to FIG. 5A described above, before the signal of the movement permission signal line 16 becomes “OFF” input, the roller type presence detection sensor 13 detects the presence of the article L. In the case of "OFF", the "rake OK" signal line 17a outputs an "OFF" signal, and as the roller type presence detection sensor 13 detects the presence of the article L and turns "ON", The "Rake OK" signal line 17a switches to a state of outputting an "ON" signal.
Further, as shown in FIG. 5 (b), before the signal of the movement permission signal line 16 becomes the “OFF” input, the roller type presence detection sensor 13 does not detect the presence of the article L and is “OFF”. Output an "ON" signal.
[0019]
If the signal of the signal line 17 for confirming the presence of the shelf is a signal permitting transfer (step # 1), the shelf management device SC outputs an “OFF” signal to the movement permission signal line 16 and the receiving cart. 11 is transmitted (step # 2).
Receiving this signal, the unloading control device 15 detects that the slide fork device 9 is performing a transfer operation to the unloading cart 11 (step # 11). It is monitored whether or not the receiving cart 11 has moved from the end position on the storage shelves 1a and 1b side (the transfer position between the crane main body 2) based on the conditions (Steps # 12 to # 15). ).
Therefore, after receiving the "OFF" signal from the movement permission signal line 16 in step # 11, the processing in step # 10 is not executed, and therefore, the presence confirmation signal regardless of the detection signal of the roller type presence detection sensor 13. The output signal state of line 17 is maintained.
[0020]
In other words, as shown in FIG. 5A, when the articles L of the receiving cart 11 are transferred to the crane main body 2 side, the slide fork device 9 scrapes the articles L of the receiving cart 11 so that the roller is removed. Even if the detection signal of the type presence detection sensor 13 is turned "OFF", the "rake OK" signal line 17a maintains the state of "ON" signal output (that is, the permission signal) (in FIG. 5A, (At the time indicated by the symbol “A”).
As shown in FIG. 5 (b), when the articles L on the crane main body 2 are transferred to the receiving cart 11, the slide fork device 9 lowers the articles L onto the receiving cart 11, so that the roller type is used. Even if the detection signal of the in-stock detection sensor 13 is turned “ON”, the “grated OK” signal line 17b maintains the “ON” signal output state (that is, the permission signal) (in FIG. (At the time indicated by "B").
[0021]
During the above-described monitoring until the signal on the movement permission signal line 16 turns “ON” and becomes movable (step # 13), based on the detection information of the fixed position detection sensor 14, the loading cart 11 When the movement is detected (step # 12), one of the "rake OK" signal line 17a and the "grated OK" signal line 17b which outputs the "ON" signal is switched to the "OFF" signal output (step # 12). 14).
When an operation abnormality occurs in which the carriage 11 moves during the transfer operation of the slide fork device 9 with respect to the carriage 11, the “OK” signal line 17 a or the “OK” signal line 17 b is turned “ON”. The signal output is switched to the "OFF" signal output (that is, the permission signal is changed to the prohibition signal), and the abnormality occurrence signal is transmitted. This situation occurs, for example, when the slide fork device 9 transfers the articles L of the load receiving cart 11 to the crane body 2 side, the slide fork apparatus 9 lifts the articles L of the load receiving cart 11. This is the case where the worker has moved the receiving cart 11 at the moment.
[0022]
After outputting the “OFF” signal to the movement permission signal line 16 in step # 2 of the flowchart of FIG. 3, the shelf management device SC sends the signal to the crane body control unit CC provided in the crane body 2 and controlling its operation. On the other hand, a transfer operation by the slide fork device 9 is instructed (step # 3).
Thereafter, until the "transfer complete signal" is received from the crane main body control section CC (step # 5), the "rake OK" signal line 17a or the "grated OK" signal line 17b is turned from the "ON" signal output to "OFF". It is monitored whether or not to switch to the signal output (step # 4). If the signal is switched to the "OFF" signal output, the crane body control unit CC is instructed to stop the operation of the slide fork device 9 immediately. Command (Step # 7).
When the "ON" signal is maintained and the "transfer completion signal" is received from the crane main body control unit CC, the movement permission signal line 16 is switched to the "ON" signal output, and the movement of the receiving cart 11 is permitted. (Step # 6).
[0023]
When the movement permission signal line 16 is switched to the “ON” signal output as described above in step # 13 of the flowchart of FIG. Then, the state returns to the state of setting the signal on the signal line 17 (step # 10).
Therefore, as shown in FIG. 5 (a), when the articles L of the load receiving cart 11 are transferred to the crane main body 2 side, the articles L of the load receiving cart 11 are skimmed by the slide fork device 9 and the roller type is used. Since the detection signal of the presence detection sensor 13 is “OFF”, the “Rake OK” signal line 17a is switched to the “OFF” signal output state (in FIG. 5A, the symbol “C” is used). At the time indicated by.
As shown in FIG. 5B, when the articles L on the crane main body 2 are transferred to the receiving cart 11, the articles L are lowered onto the receiving cart 11 by the slide fork device 9, so that the roller type Since the detection signal of the load detection sensor 13 is “ON”, the “Grated OK” signal line 17b is switched to the “OFF” signal output state (in FIG. Time point).
[0024]
When an error occurs during the transfer operation by the slide fork device 9 and the "rake OK" signal line 17a or the "grated OK" signal line 17b is switched from the "ON" signal output to the "OFF" signal output. When the worker completes the restoration work and receives a “restoration completion signal” from the shelf management device SC, the worker sends the signal on the signal line 17 for confirming the presence based on the detection information of the roller-type presence detection sensor 13. It returns to the state to be set (step # 10). This "restoration completion signal" may be provided with a separate signal line. However, by switching the output signal of the movement permission signal line 16 from the "OFF" output to the "ON" output, the completion of the restoration work is handled. The information may be transmitted to the side control device 15.
[0025]
[Another embodiment]
Hereinafter, other embodiments of the present invention will be listed.
{Circle around (1)} In the above-described embodiment, the movable load receiving platform 10 of a type in which the load receiving vehicle 11 is manually moved is exemplified as the cargo handling device LT, but the load receiving vehicle 11 is moved along the rail 12. A motor may be provided. Also in this case, similarly to the above-described embodiment, the movement of the load receiving cart 11 during the transfer operation of the slide fork device 9 may be detected as abnormal and transmitted to the shelf management device SC.
In addition, as the cargo handling device LT, the load receiving frame 11a in the above embodiment may be supported so as to be capable of turning drive operation around the vertical axis, and may be configured as a turning type load receiving table. In this case, the turning movement of the load receiving table during the transfer operation of the slide fork device 9 may be detected as abnormal and transmitted to the shelf management device SC.
Further, as the cargo handling apparatus LT, the cargo receiving table frame 11a in the above embodiment may be supported so as to be capable of driving up and down, and may be configured as a so-called lifting table with a lifter. In this case, the ascending and descending movement of the load receiving table during the transfer operation of the slide fork device 9 may be detected as abnormal and transmitted to the shelf management device SC.
[0026]
{Circle around (2)} In the above embodiment, the slide fork device 9 is exemplified as the article transfer device provided in the stacker crane ST. However, the specific configuration of the article transfer device can be variously changed. A hook for locking the formed locked portion may be provided so as to be able to move in and out, and may be constituted by a so-called hook type transfer device.
{Circle around (3)} In the above-described embodiment, in the cargo handling apparatus LT, the roller type presence detection sensor 13 is exemplified as the presence detection means for detecting the presence or absence of the article L, but the specific configuration of the presence detection means is as follows. Various changes can be made. For example, an optical sensor that detects the presence of the article L by blocking the detection light by the placed article L may be provided on the receiving frame 11a.
[0027]
{Circle around (4)} In the above-described embodiment, the signal line 17 for confirming the presence of goods is exemplified by a general wired type, but it is not necessary to configure all of them as wired. It may be configured wirelessly.
(5) In the above-described embodiment, the shelf management device SC is exemplified as the crane-side control device, and an abnormality occurrence signal is transmitted and received between the shelf management device SC and the cargo handling-side control device 15. The cargo handling side control device 15 may be configured to transmit and receive the abnormality occurrence signal to and from the crane body control unit CC that controls the crane body unit 2. In this case, the crane body control unit CC functions as a crane-side control device.
[0028]
{Circle around (6)} In the above embodiment, the signal line 17 for confirming the presence of goods is constituted by the "rake OK" signal line 17a and the "grated OK" signal line 17b, but is always constituted by two signal lines. It is not necessary to use only one signal line, for example, only the transfer of the article L from the crane main body 2 to the receiving cart 11 is permitted by the signal of the “H” level, and the signal of the “L” level is used. It may be configured such that only the transfer of the article L from the receiving cart 11 to the crane main body 2 is permitted.
In the case of such a configuration, when an abnormality occurs during the transfer operation by the slide fork device 9, the transfer to the load receiving cart 11 is started with the output signal of the in-stock confirmation signal line 17 being "H" level. Is switched to the "L" level, and the transfer to the crane main body 2 is started when the output signal of the signal line 17 for confirming the presence of the cargo is at the "L" level. By switching it to the “H” level, an abnormality occurrence signal can be transmitted.
[Brief description of the 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 diagram of an embodiment of the present invention. FIG. 3 is a flowchart according to an embodiment of the present invention. FIG. 5 is a flow chart according to the embodiment of the present invention. FIG. 5 is a timing chart for explaining the operation according to the embodiment of the present invention.
LT Handling device SC Crane-side control device ST Stacker crane 1a, 1b Storage shelf
2 crane main body 3 article storage section 9 article transfer device 10 load receiving table 13 presence detection means 15 cargo handling side control device 17 presence confirmation signal line

Claims (3)

A storage shelf provided with a plurality of article storage units, a cargo handling device for handling articles entering and leaving the storage shelf, and a cargo receiving table provided in each of the article storage units and the cargo handling device. An article storage facility provided with an article transfer device for transferring articles between itself and a stacker crane for transferring articles between each of the article storage units and the unloading device. So,
The load receiving platform is configured to be movable between a delivery position for delivering articles to and from a crane body of the stacker crane and a position on the opposite side thereof,
The cargo handling side control device provided in the cargo handling device is configured such that the article transfer device moves the delivery position based on an operation signal of the article transfer device received from a crane side control device provided in the stacker crane. While detecting that the transfer operation is being performed with respect to the load receiving table located at a time, with the occurrence of an operation abnormality in which the load receiving table moves from the delivery position on the loading apparatus, It is configured to transmit an abnormality occurrence signal to the crane-side control device,
The article storage facility, wherein the crane-side control device is configured to stop the operation of the article transfer device in response to receiving the abnormality occurrence signal. The cargo handling device is provided with a cargo detection means for detecting the presence or absence of an article,
A signal line for confirming whether or not a transfer operation can be performed by the article transfer device to the crane-side control device based on a detection signal of the load detection means; Is configured to output the abnormality occurrence signal to the presence confirmation signal line,
The crane-side control device, when performing the transfer operation of the article transfer device to the unloading device, while determining whether or not to start the transfer operation by the signal of the signal line for the presence check, 2. The article storage facility according to claim 1, wherein the article storage apparatus is configured to stop operating the article transfer apparatus in response to receiving the abnormality occurrence signal during the transfer operation. The unloading side control device transmits a permission signal of a transfer operation by the article transfer device at one of two high and low signal levels to the presence check signal line, and At the signal level of, while transmitting a prohibition signal of the transfer operation by the article transfer device,
When the transfer operation by the article transfer device is started during the transmission of the permission signal, the permission signal is maintained regardless of a change in the detection information of the presence detecting means, and the material handling device side 3. The article storage facility according to claim 2, wherein the abnormality generation signal is transmitted by changing the permission signal to the prohibition signal in accordance with the occurrence of the operation abnormality .

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