JP3628600B2 - Double storage prevention device for automatic warehouse - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a double storage prevention device for an automatic warehouse.
[0002]
[Prior art]
There are various types of automatic warehouses, but in general, a stacker crane system with a transfer table (lift) that can be moved up and down on a column (mast) that runs along the front of the hangar, and each shelf in the hangar A carriage system in which a carriage for transfer is arranged on is widely used.
[0003]
In any case, the storage state of which storage unit stores which package is stored in the control device, and the package is controlled to be stored in an empty storage unit. However, for various reasons, the luggage may remain in the storage section stored as empty, or the storage section stored as storing the luggage may be specified as the storage destination.
[0004]
For this reason, when storing a package, it is necessary to prevent double storage by detecting whether or not there is a package in the storage unit at the storage destination.
[0005]
Conventionally, a reflection type sensor using infrared rays or ultrasonic waves has been used as the luggage detection means, and the reflection type sensor is fixed to a portion of the stacker crane or cart close to the hangar. That is, in this system, when storing a package, a signal is emitted toward the storage and the presence / absence of the package is detected from the presence / absence of the signal from the front of the package.
[0006]
[Problems to be solved by the invention]
By the way, in automatic warehouses, once the mainstream method is to store luggage in a plastic or metal container and store it in the hangar. In this case, the container reflects the sensor signal well, so the sensor is erroneous. It was possible to accurately detect the existence of the container without operating and prevent double storage.
[0007]
However, in recent automated warehouses, it has become the mainstream to store packages such as cardboard boxes and wooden boxes in their packed state, and the state and size of the surface of the packages are variously different. In the detection method using signal reflection from the front of the load as shown in Fig. 2, if the surface of the load is difficult to reflect the signal, or if the load is placed in the back of the shelf, the signal There was a problem that a detection error occurred without being accurately reflected from the front surface, and it was easy to cause an accident in which the baggage and the transfer device were damaged due to double storage.
[0008]
This invention makes it a technical subject to improve this problem.
[0009]
[Means for Solving the Problems]
The automatic warehouse targeted by the present invention includes a hangar for storing a large number of loads and a transfer device for loading and unloading loads into the hangar, and the hangar includes multi-level shelves. On the other hand, a pair of left and right movable parts that can enter and retract into the hangar at the left and right outside of the luggage as seen from the loading / unloading direction of the luggage on the shelf and above the shelf on both sides of the luggage placement section of the transfer device. Arms are provided.
[0010]
A horizontal pivot type picker that pushes and pulls the load by moving the movable arm forward and backward is provided at each end of the movable arm in the forward and backward direction and near the front and rear ends. When storing, the loader is pushed by a picker rotated in a direction transverse to the load placement unit, and when picking up the load from the shelf, the loader is pulled out by the picker rotated in a direction crossing the load placement unit. It has become.
[0011]
And, in the present invention, at the end of the movable arm and at the position located on the side of the tip that enters the hangar most deeply than the rotation center of the picker, the movable arm moves on the shelf and moves forward to the hangar. A sensor is provided for detecting whether there is a load between the pair of movable arms.
[0012]
[Operation and effect of the invention]
According to the present invention, since the sensor can be brought close to the load, the load can be accurately detected regardless of the state of the surface of the load and the placement position of the load. For this reason, double storage accidents can be prevented or significantly reduced.
[0013]
In particular, when a transmission type sensor is used as in claim 2, the presence / absence of the load can be accurately detected by blocking the signal with the load, so that the load detection performance can be further improved.
[0014]
DETAILED DESCRIPTION OF THE INVENTION
Next, embodiments of the present invention will be described with reference to the drawings.
[0015]
(1). First embodiment (FIGS. 1 to 6)
1 to 6 show a first embodiment (main embodiment), and FIG. 1 shows an outline of an automatic warehouse. That is, the automatic warehouse of the present embodiment includes a pair of hangars 1 arranged opposite to each other, and a stacker crane 2 movably disposed in a passage between the hangars 1 as an example of a transfer device.
[0016]
In the following description, the horizontal traveling direction of the stacker crane 2 is expressed as the front-rear direction, and the direction orthogonal to the traveling direction in plan view is expressed as the left-right direction.
[0017]
The hangar 1 includes multi-stage shelves (flat shelves) 3, and a large number of luggage W can be placed on each shelf 3. The shelf 3 is supported by a large number of support columns (not shown). Various sizes of luggage W can be stored in the hangar 1. In this case, the luggage W is divided into several groups according to the size (especially the width dimension in the frontage direction), and the same group of luggage W is placed in the same area. It is set to be stored.
[0018]
The stacker crane 2 includes a long base 5 in plan view that travels on a ground rail 4 installed on a floor, a mast (column, column) 6 erected on both front and rear ends of the base 5, and upper ends of both masts 6. And a transfer table (lift) 8 attached to both masts 6 so as to be movable up and down.
[0019]
The base 5 includes a pair of front and rear traveling wheels 9 that roll on the upper surface of the ground rail 4, a guide roller (not shown) that contacts the side surface of the ground rail 4, a motor 10 that drives the traveling wheels 9, and a transfer table. And a motor 11 for moving up and down 8. Although not shown, one mast 6 is provided with a ladder for maintenance or the like.
[0020]
The upper connecting frame 7 is provided with a pair of front and rear guide rollers 13 that roll against the side surface of the top rail 12. In addition, the top rail 12 is being fixed to the aggregate (not shown) which comprises the hangar 1, or the ceiling surface.
[0021]
Main sprockets 14 and 15 that rotate about an axis extending in the traveling direction of the base 5 are attached to the opposite portions of the upper and lower ends of both masts 6, and the bracket 16 fixed to the lower end of the mast 6 The first and second idle sprockets 17 and 18 are pivotally supported, and an elevating chain 19 is wound around these sprocket groups, and both chains 19 are fixed to the main frame 20 of the transfer table 8.
[0022]
The two first idle sprockets 17 are connected by a drive shaft 21, and the transfer table 8 can be raised and lowered to an arbitrary height by driving the drive shaft 21 with a motor 11 with a speed reducer.
[0023]
Next, the configuration of the transfer table 8 will be described with reference to FIG. 2 is a plan sectional view, FIG. 3 is a view taken along the line III-III in FIG. 2, and FIG. 4 is a view taken along the line IV-IV in FIG.
[0024]
Brackets 23 are fixed to both front and rear ends of the main frame 20 in the transfer table 8, and a plurality of guide rollers 24 that guide the lifting and lowering of the transfer table 8 by contacting the mast 6 are provided on the bracket 23. Yes. A pair of left and right ridges 6a are provided on the opposing surfaces of both masts 6 so as to extend over the entire length, and guide rollers 24 are applied to the ridges 6a from the outside, so Shake is prevented.
[0025]
A sub-frame 25 is fixed to the upper surface of the main frame 20, and a pair of front and rear guide frames 26 extending in the left-right direction are fixed to portions near the front and rear ends of the sub-frame 25. As shown in FIG. 3, both guide frames 26 are formed in a U-shape in side view that opens in opposite directions, and an intermediate frame 27 and a movable arm 28 are arranged inside the guide frame 26. ing.
[0026]
The intermediate frame 27 is attached to the guide frame 26 via a large number of guide rollers 29 so as to be movable left and right, and the movable arm 28 is movable to the intermediate frame 27 by a large number of guide rollers 30. It is mounted so that it can be moved back and forth when viewed from the advancing and retracting direction to the hangar 1 .
[0027]
A rack 31 extending in the left-right direction (direction orthogonal to the paper surface in FIG. 3) is fixed to the lower end of the intermediate frame 27, and a pinion gear 32 is engaged with the rack 31 from below. A spline shaft 33 is fitted into the two pinion gears 32, and the spline shaft 33 is driven by a motor 34 (see FIG. 2) provided at one end of the subframe 25.
[0028]
Although details are not shown in the figure, the intermediate frame 27 and the movable arm 28 are connected via a chain, and the movable arm 28 moves in the same direction as the intermediate frame 27 at a distance twice (movable arm 28). The moving mechanism is substantially the same as, for example, JP-A-10-120116.
[0029]
A support plate 35 on which the load W is placed is fixed to the lower surface of the front / rear guide frame 26. Accordingly, the portion of the support plate 35 becomes the loading portion 36 for the load W. Although details are not shown, by configuring one guide frame 26 so as to be movable toward the other guide frame 26, it is possible to handle loads W having different width dimensions. Accordingly, the support plates 35 partially overlap.
[0030]
As shown in FIG. 4, rolls 37 are arranged on the left and right sides of the support plate 35 in order to smoothly transfer the load W between the placement portion 36 and the shelf 3.
[0031]
A plate-shaped picker 38 is attached to the left and right ends of the movable arm 28 so as to be horizontally rotatable. The picker 38 can be freely changed to a posture that enters the movable arm 28 and a posture that extends across the placement portion 36 by a driving mechanism (not shown) such as an electromagnetic solenoid.
[0032]
As shown in FIGS. 3 and 4, the lower surfaces of the left and right ends of one movable arm 28 (front and rear ends when viewed from the advancing and retracting direction to the hangar 1) , and the lower surfaces of the left and right ends of the other movable arm 28 Further, a transmission type sensor 39 is provided. One of the pair of transmissive sensors 39 is a light projecting unit (transmitting unit), and the other is a light receiving unit (receiving unit).
[0033]
The sensor 39 is not necessarily provided on the lower surface of the movable arm 28, and may be provided at another part of the end of the movable arm 28 as long as it does not interfere with the picker 38. There are no limitations on the type of transmissive sensor, and various types such as those using visible light, those using non-visible light, and those using ultrasonic waves can be used.
[0034]
Next, the operation will be described based on the schematic plan views of FIGS. FIG. 5 shows a state in the middle of storing the luggage W in the shelf 3. The luggage W is pushed by the pair of pickers 38 and moves toward the shelf 3. This figure shows a case where a luggage having the largest depth dimension is handled.
[0035]
When the luggage W is stored in this manner, if the luggage W ′ remains on the shelf 3 for some reason, the light detected by the transmission sensor 39 is blocked by the luggage W ′, so that the light is incident on the light receiving unit. A signal indicating that there is a load is input to the control device, and the forward movement of the movable arm 28 is immediately stopped based on the signal.
[0036]
Then, as shown in FIG. 6, the picker 38 on the side that has entered the shelf 3 is horizontally rotated, and then the movable arm 28 is moved backward to return the load W to the transfer table 8, so that the subsequent treatment can be performed. Do.
[0037]
As a subsequent measure, for example, after the luggage W of the transfer table 8 is stored in a temporary storage unit (not shown) or other empty storage unit, the remaining baggage W ′ is taken out to the transfer table 8. Thus, it is conceivable to investigate the cause of which package was left and why, and after carrying out or storing the package, the stored data is corrected.
[0038]
As described above, since the detection signal in the transmission type sensor 39 is detected by the baggage W ′, the presence or absence of the baggage W ′ is detected. Therefore, regardless of the surface state and the loading position of the baggage W ′, It is possible to accurately detect whether or not the luggage W ′ remains. In the case of handling a transparent baggage, a transmissive sensor of a type in which a signal is blocked by a transparent body may be used.
[0039]
(2). Other embodiments (FIGS. 7 to 9 )
In FIG. 7, 2nd Embodiment using the reflection type sensor 39 is shown, (A) is a schematic plan view, (B) is the BB view of (A).
[0040]
In this embodiment, a reflective sensor 41 in which a transmitter and a receiver are incorporated is provided at the end of one movable arm 28, and a signal (light) is efficiently reflected at the end of the other movable arm 28. A reflecting material 42 is provided. In this embodiment, since the signal light is strongly reflected by the reflecting material 42, it is possible to prevent the signal light from being mistakenly received and accurately detect the presence or absence of the luggage.
[0041]
In the third embodiment shown in FIG. 8, the transmission type sensor 39 is provided on the bracket 43 protruding from the end of the movable arm 28. If comprised in this way, since it can detect quickly when the luggage | bag remains on the shelf 3, even if the depth of the luggage | bag currently mounted in the transfer stand 8 is large, the rotation space of the picker 38 can fully be ensured. There are advantages.
[0042]
The bracket 43 may be configured to move forward / backward by an electromagnetic solenoid or the like, and the transmission sensor 39 may move forward when the movable arm 28 moves forward.
[0043]
[0044]
[0045]
[0046]
(3) Others The present invention can be embodied in various ways other than the above embodiment.
[0047]
For example, the form of the pin Kka is not limited to the plate-like, or rod-like.
[0048]
Further, the shape of the movable arm, the drive mechanism, and the like can be variously changed. Furthermore, the present invention is not limited to stacker crane type automatic warehouses, and can be widely applied to automatic traveling with movable arms, such as cart type automatic warehouses.
[Brief description of the drawings]
FIG. 1 is a schematic perspective view of an automatic warehouse according to a first embodiment.
FIG. 2 is a plan sectional view of a transfer table.
FIG. 3 is a view taken along the line III-III in FIG.
4 is a view taken along the line IV-IV in FIG. 3;
FIG. 5 is a diagram showing an operation.
FIG. 6 is a diagram showing an operation.
FIG. 7 is a diagram showing a second embodiment.
FIG. 8 is a diagram showing a third embodiment.
[Brief description of symbols]
W, W ′ Luggage 1 Hangar 2 Stacker crane 3 Shelf 5 Base 6 Mast 8 Transfer table 19 Chain for raising and lowering 25 Subframe 26 Guide frame 28 Movable arm 36 Placement part 38 Picker 39 Transmission type sensor

Claims (1)

A hangar for storing a large number of baggage, and a transfer device for loading and unloading the luggage to the hangar, one said hangar which comprises a multistage shelves Hiratana scheme,
A pair of left and right movable arms that can enter and retract into the hangar at the left and right outer sides of the load as viewed from the loading / unloading direction of the load on the shelf and above the shelf on both sides of the load mounting portion of the transfer device. A horizontal pivot type picker that pushes and pulls the load by moving the movable arm forward and backward is provided at each end of the movable arm in the forward / backward direction and near the front and rear ends . When storing a load, the loader is pushed with a picker rotated in a direction transverse to the load placement unit, and when taking out the load from the shelf, the picker rotated in a direction transverse to the load placement unit is pulled out. In an automated warehouse
At the end of the movable arm and on the side of the tip that enters the hangar most deeply than the pivot center of the picker, the movable arm moves forward on the hangar on the shelf and between the pair of movable arms. is provided with a sensor to detect whether or not there is a luggage,
Double storage prevention device for automatic warehouse.

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