JP3654417B2 - Goods storage facility - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a storage shelf provided with a plurality of article storage units in parallel in the vertical direction and the horizontal direction, and an article transfer device for transferring articles between the article storage unit and itself. An elevating frame that is movably supported in the direction and is driven up and down by the elevating drive means, and the elevating drive means includes a cord-like body that suspends and supports both longitudinal ends of the elevating frame; The present invention relates to an article storage facility provided with a cord driving means for feeding and driving the cord.
[0002]
[Prior art]
Such an article storage facility moves and drives the article transfer device supported by the elevating frame in the horizontal direction of the storage shelf and drives the elevating frame up and down to move the article transfer device to each article storage section of the storage shelf. This equipment is located at the loading position, and stores, stores, and unloads articles.
The raising / lowering drive of the raising / lowering frame is performed by sending and driving the cord-like body which suspends and supports the both longitudinal ends of the raising / lowering frame by the cord-like body driving means.
Therefore, the elevating frame may be slightly tilted due to reasons such as the extension of the cords with the passage of time varies between the cords.
[0003]
This inclination of the lifting frame causes a stop positioning error when the article transfer device is positioned at the article transfer position with respect to each article storage unit. Conventionally, the lifting frame is guided up and down at both longitudinal ends. When a pair of detection plates are installed at a set height of each of the pair of lifting guides, and a pair of detection sensors that detect the detection plates are provided at both longitudinal ends of the lifting frame, and the lifting frame is driven up and down In addition, there has been considered a configuration in which the lift position of the lift frame is corrected by detecting the inclination of the lift frame from the difference in timing when each of the pair of detection sensors detects each of the detected plates.
[0004]
[Problems to be solved by the invention]
However, in the above-described conventional configuration, it is not only necessary to accurately position and install the plate to be detected and the detection sensor for detecting it, but the tilt of the lifting frame cannot be detected unless the lifting frame is driven up and down to the set height. There is a disadvantage that the lifting control of the lifting frame becomes complicated.
The present invention has been made in view of the above circumstances, and its purpose is to easily perform correction of the lifting position of the lifting frame caused by uneven stretching between the cords with a simple configuration. There is in point to do.
[0005]
[Means for Solving the Problems]
When the distance measuring means measures the distance in the vertical direction from the reference position set on the storage shelf side while moving along the lifting frame by using the configuration according to claim 1 above, from the detection information The vertical position of the article transfer device when the article transfer device is moved along the lifting frame can be detected regardless of the tilt or deflection of the lifting frame.
Therefore, the elevating drive means for raising and lowering the elevating frame can drive the elevating frame up and down using the detection information of the distance measuring means so that the article transfer device is located at the proper transfer position.
Thus, the correction of the lifting position of the lifting frame due to uneven stretching between the cords can be easily performed regardless of the lifting position of the lifting frame with a simple configuration simply by providing distance measuring means.
In addition, with the configuration according to claim 1, the light-reflecting distance measuring device is driven to move along the elevating frame, and is a long object to be detected installed in a horizontal posture at the upper end of the storage shelf. The distance to the member is measured and used for lifting control of the lifting frame.
Since the upper end of the storage shelf has a larger space than the lower end, it is easy to install the detection plate.
In addition, since the main body portion of the distance measuring device projects light horizontally by providing the configuration according to the first aspect, dust accumulates in the light emitting portion of the main body portion, and the light emission efficiency decreases. In addition, the reflection surface of the light reflection portion that bends the traveling direction of the light emitted from the main body portion vertically upward can be relatively suppressed because the reflection surface is inclined.
[0006]
In addition, since the distance measuring means is provided in the article transfer device by providing the configuration according to claim 2, the distance measuring means moves along the lifting frame by the movement of the article transfer device. The means for moving and driving the distance measuring means can also be used as the means for moving and driving the article transfer device. In addition, since the distance measurement is performed from the position of the article transfer device itself, the vertical position of the article transfer device is directly measured, and the measurement accuracy can be further improved.
[0008]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the article storage facility of the present invention will be described below with reference to the drawings.
In FIG. 1, a container C as an example of an article can be stored in one of the article storage sections 1 of the article storage sections 1 of the storage shelves 2 </ b> A and 2 </ b> B provided at a predetermined interval in the front and rear direction. In addition, there is shown an article storage facility according to the present invention in which a container C stored in predetermined storage shelves 2A and 2B can be taken out. In the container C, for example, small parts and the like are loaded for each type.
[0009]
A plurality of article storage units 1 are provided in parallel with each other in the vertical direction and the horizontal direction in each of the pair of storage shelves 2A and 2B. The upper and lower two-stage article loading / unloading section 4 is provided using the article storage section 1 on the lower side of the storage shelf 2A located on the front side.
In addition, a main part of a transport device TR that transports the container C between each article storage section 1 and the article loading / unloading section 4 is provided at the front and rear intermediate portions of the pair of storage shelves 2A and 2B.
Each of the upper and lower two-stage article loading / unloading sections 4 has a function as an article loading section IN for loading the container C from the outside, and an article loading / unloading section for unloading the container C from the storage shelves 2A and 2B to the outside. It has the function of the part OT. For example, the upper article carrying-in / out part 4 is used as the article carrying-in part IN, and the lower article carrying-in / out part 4 is used as the article carrying-out part OT. Can be set.
[0010]
The main part of the transport device TR provided in the front and rear intermediate part of the pair of storage shelves 2A, 2B is an article transfer device 6 for transferring and transporting the container C to and from each of the article storage units 1 and the like, and an article The lifting / lowering frame 5 includes a lifting / lowering frame 5 that guides and supports the transfer device 6 over substantially the entire width of the storage shelves 2A and 2B. The lifting / lowering frame 5 is a lifting / lowering drive unit UD that forms part of the transport device TR. Therefore, the storage racks 2A and 2B can be moved up and down over almost the entire vertical height.
[0011]
The pair of storage shelves 2 </ b> A and 2 </ b> B are spaced at predetermined intervals to support the columns 8, the plurality of horizontal frames 9 that are erected and connected to each of the columns 8 at predetermined intervals in the vertical direction, and the left and right bottoms of the container C. It is composed of a number of locking members 10 that are pierced and connected along the front-rear direction, and a reed 11 that connects the upper ends of the columns 8.
The locking member 10 is formed in a substantially L-shaped cross section so as to prevent the container C from moving laterally.
In the article loading / unloading section 4, a roller conveyor RC for loading / unloading the container C to / from the storage shelves 2A and 2B is connected to the roller conveyor RC. A centering device for positioning the container C to be positioned at the center in the conveyance lateral width direction is provided.
[0012]
Next, the elevating means UD that drives the elevating frame 5 up and down will be described.
As shown in FIG. 2, the elevating frame 5 is supported by being suspended by connecting wires 30 a and 30 b as cords at both ends in the longitudinal direction. One connection wire 30a is wound around guide drums 29a and 29b that are rotatable around a horizontal axis, and is then connected to a winding drum 29c installed at the lower end of the storage shelf 2A. The wire 30b is a guide drum 29d that is rotatable around a horizontal axis, a guide drum 29e that is rotatable around a vertical axis, and further wound around the guide drum 29b. 29c. The take-up drum 29c is rotationally driven by the electric motor M1, and the elevating frame 5 is raised and lowered by the drive of the electric motor M1. Therefore, the electric motor M1 and the take-up drum 29c function as cord-like body driving means WD that feeds and drives the connecting wires 30a and 30b.
As shown in FIG. 2, the elevating frame 5 is such that the guided grooves 40a of the guided portions 40 attached to the left and right ends of the elevating frame 5 project to the elevating frame 5 side on the guide plate support frame 41 shown in FIG. Is engaged and guided by the guide rail 41a for raising / lowering attached, and the posture thereof is regulated. The guide plate support frame 41 and the lifting guide rail 41a are integrally formed of an aluminum material, and the surface of the lifting guide guide rail 41a is subjected to surface treatment such as electroplating or anodizing.
[0013]
Next, the lateral movement operation structure of the article transfer device 6 will be described.
As shown in FIGS. 3 to 5, the article transfer device 6 is mainly attached to the frame 48 in a state of covering both the front and rear side portions and the upper side of the lifting frame 5 having a substantially H-shaped cross section, and the upper portion of the frame 48. Four running wheels 49, three guide wheels 50 mounted on one side of the frame 48 so as to be rotatable around the axis of the vertical axis, and a total of six guide wheels 50 on the side of the frame 48, rotate around the horizontal axis on the side of the frame 48. It is composed of two guide wheels 51 that are movably attached and come into contact with the elevating frame 5 from below, and a fork mechanism 52 that is attached on the frame 48.
[0014]
The frame 48 is connected to both ends of the elevating frame 5 at both ends of a drive belt 54 wound around pulleys 53, 53 that are rotatably supported around the longitudinal axis. Is driven by the electric motor M2, so that the drive belt 54 is moved in the longitudinal direction, and the article transfer device 6 is moved laterally. The drive belt 54 is disposed so as to be accommodated in a side space formed by the substantially H-shaped lifting frame 5 to save space.
[0015]
In addition, in order to specify the conveyance position of the article transfer device 6 in the lifting frame 5, a rotary encoder 55 is provided in an interlocking manner with the rotating shaft of the electric motor M2 that moves the drive belt 54, and the article transfer is performed. The device 6 is provided with a transmissive photoelectric sensor 58 that is partitioned by a shielding plate 56 provided at an appropriate position of the lifting frame 5. In addition, in order to specify the raising / lowering position of the lifting frame 5 by the lifting means UD, a rotary encoder 60 is provided in an interlocking connection with the rotating shaft of the take-up drum 29c. Near the guide portion 40, a photoelectric sensor 62 is provided that is partitioned by a shielding plate 61 provided at an appropriate position along the guide rail 41a for ascending / descending guidance.
The detection signals of the rotary encoders 55 and 60 and the photoelectric sensors 58 and 62 are input to the controller CO as shown in FIG. The controller CO recognizes the raising / lowering origin position of the raising / lowering frame 5 and the lateral movement origin position of the article transfer device 6 from the detection information of the photoelectric sensors 58 and 62, and uses the detection information of the rotary encoders 55 and 60 as the reference position. Is recognized, and the lift position of the lift frame 5 and the transport position of the article transfer device 6 are specified.
[0016]
The fork mechanism 52 can be moved back and forth with respect to the respective article storage portions 1 of the pair of storage shelves 2A and 2B. When the container C is mounted on the article transfer device 6 by the fork mechanism 52, the container C has a center position in the lateral direction of the container C (coincident with the lateral direction of the storage shelves 2A and 2B) and the lateral direction of the fork mechanism 52. When it is located at a standard mounting position that substantially coincides with the center position of the sensor, it does not contact any of the four contact sensors 57, but shifts from the standard mounting position in either the left or right direction and contacts the contact sensor 57. By doing so, it is possible to detect that the container C has shifted more than the setting.
As shown in FIG. 6, the detection information of the contact sensor 57 is input to the controller CO and used for the operation of correcting the stop position of the article transfer device 6.
[0017]
The article transfer device 6 is further provided with a light reflection type distance measuring device DS as distance measuring means DM for measuring a distance in the vertical direction from a reference position set on the storage shelf 2A, 2B side. .
As shown in FIG. 3 and the like, the light reflection type distance measuring device DS is a main body composed of a laser range finder that is supported by a support frame 65 and projects a beam light for distance measurement in the longitudinal direction of the lifting frame 5, that is, horizontally. A portion 66 and a light reflecting portion 68 that is supported by an extension frame 67 extending from the support frame 65 and bends the traveling direction of light projected from the main body portion 66 vertically upward. The device DS projects light vertically upward.
[0018]
On the other hand, the reference position set on the side of the storage shelves 2A and 2B to be distance-measured by the distance measuring device DS is set at the upper end of the storage shelves 2A and 2B, and is specifically sandwiched between the storage shelves 2A and 2B. It is defined by a long light reflecting plate 70 that is a detected member of the distance measuring device DS attached to the lower surface side of a support rod 69 installed at a position above the lifting space of the lifting frame 5.
The detection information of the distance measuring device DS is input to the controller CO and used for the lifting control of the lifting frame 5.
[0019]
Next, the carrying-in work and carrying-out work of the container C to the article storage facility under the control of the controller CO will be described.
The controller CO measures the inclination of the lifting frame 5 in the longitudinal direction after the installation of the article storage facility and before the start of operation and periodically.
That is, as schematically shown in FIG. 7, the article transfer device 6 is moved to the longitudinal end portion (point A in FIG. 7) of the lifting frame 5, and a ranging command is sent to the ranging device DS, The distance measurement result (“y1” in FIG. 7 but ignoring the horizontal portion of the light beam) is received from the distance measuring device DS.
Thereafter, the article transfer device 6 is moved to the other end (point B in FIG. 7) of the lifting frame 5 to send a distance measurement command to the distance measuring device DS, and the distance measurement result (“y2” in FIG. 7). However, the horizontal portion of the beam light is ignored), and the inclination “θ” of the lifting frame 5 is obtained from the above “y1”, “y2” and the movement distance “x” of the article transfer device 6.
[0020]
After the operation of the article storage facility is started, when the container C is loaded into the article loading / unloading section 4 on the upper stage side or the lower stage side, the electric motors M1 and M2 are controlled to drive the lifting frame 5 and the article transfer device 6 Then, the fork mechanism 52 provided in the article transfer device 6 is moved so that the upper surface of the fork mechanism 52 is positioned at a proper transfer position slightly below the lower surface of the container C of the article carry-in / out section 4.
In the raising / lowering control of the raising / lowering frame 5, the controller CO has information on the stop position in the lateral direction of the storage shelf of the article transfer device 6 according to the position of the article storage unit 1 to which the container C is to be transferred, as described above. From the latest value of “θ” obtained as described above, a difference in height as to how much the article transfer device 6 is positioned as compared with the case where the lifting frame 5 is accurately horizontal is obtained. Thus, the lifting frame 5 is stopped at a position higher by the height difference.
Next, the fork mechanism 52 is protruded to a position below the container C of the article loading / unloading unit 4, and then the lifting frame 5 is raised by the electric motor M <b> 1, and the container C is placed on the upper surface of the fork mechanism 52. State.
When the fork mechanism 52 in a state where the container C is placed is retracted to the article transfer device 6 side, the container C is mounted on the article transfer device 6. The same operation as described above is performed when the container C is transferred from the article storage unit 1 to the article transfer device 6.
[0021]
With the container C mounted on the fork mechanism 52, the lifting frame 5 and the article transfer device 6 are moved to the empty article storage unit 1. At this time, the height of the elevating frame 5 is set at an appropriate transfer position where the height of the lower surface of the container C mounted on the article transfer device 6 is slightly higher than the upper surface of the locking member 10 of the article storage unit 1. Set. Also in this case, the lift position of the lift frame 5 is corrected using the information of “θ” as described above.
In this state, the fork mechanism 52 is protruded toward the article storage unit 1, the container C is positioned above the locking member 10, and further, until the container C is placed on the locking member 10. After the elevating frame 5 is lowered, the fork mechanism 52 is retracted toward the article transfer device 6 side.
When the container C stored in the storage shelves 2A and 2B is unloaded from the article loading / unloading unit 4, an operation substantially reverse to the above-described loading operation is performed.
Therefore, the controller CO also functions as a part of the lift drive means UD.
[0022]
[Another embodiment]
Hereinafter, other embodiments of the present invention will be listed.
(1) In the above embodiment, in order to use the detection information of the light-reflecting distance measuring device DS for raising / lowering control of the lifting / lowering frame 5, the inclination “θ” of the lifting / lowering frame 5 is obtained in advance, and the storage shelf lateral direction Is corrected from the stop position of the article transfer device 6 to the other, but the light transfer type 6 is moved while moving the article transfer device 6 from one end side to the other end side of the lift frame 5. The distance measuring device DS measures the distance to the light reflecting plate 70 at intervals corresponding to the horizontal intervals of the respective article storage units 1, and obtains not only the inclination of the lifting frame 5 but also the deflection with respect to the light reflecting plate 70 as a reference. Thus, the stop position of the lifting frame 5 is corrected based on the information on the height difference between the stop position with respect to each article storage unit 1 and the end of the lifting frame 5 (the side where the electric motor M1 is present). Also good.
[0023]
(2) In the above embodiment, the inclination “θ” of the lifting frame 5 is obtained in advance based on the distance measurement information of the light reflection type distance measuring device DS, and the lifting stop position of the lifting frame 5 is determined based on the information. The case of correcting is illustrated, but first, the article transfer device 6 is moved to the storage shelf lateral position corresponding to the article storage unit 1 to be transferred, and then the distance measuring device while raising and lowering the lifting frame 5. When the distance to the light reflection plate 70 is measured by DS and the distance measurement result is an appropriate height for transferring the article storage unit 1 to be transferred, the lifting frame 5 You may make it stop raising / lowering.
[0024]
{Circle around (3)} In the above embodiment, the article transfer device 6 exemplifies the case where the fork mechanism 52 transfers the container C to and from each article storage unit 1. The specific configuration for transferring the container C can be variously changed, for example, a part of the container C can be locked and a container C can be transferred with a hook that can be moved back and forth.
(4) In the above embodiment, the light reflecting distance measuring device DS is exemplified as the distance measuring means, but the specific configuration of the distance measuring means such as an ultrasonic distance measuring device can be variously changed. .
[Brief description of the drawings]
FIG. 1 is a partially cutaway external perspective view of an article storage facility according to an embodiment of the present invention. FIG. 2 is a schematic configuration diagram of a lifting drive means of a lifting frame according to an embodiment of the present invention. FIG. 4 is a plan view of the main part according to the embodiment of the present invention. FIG. 5 is a side view of the article transfer device according to the embodiment of the present invention. Block configuration diagram according to an embodiment of the present invention. FIG. 7 is an explanatory diagram of tilt detection of a lifting frame according to an embodiment of the present invention.
C Article DM Distance measuring means DS Light reflection type distance measuring device UD Lifting drive means WD Cord-like body driving means 1 Article storage unit 2A, 2B Storage shelf 5 Lifting frame 6 Article transfer device 30a, 30b Cord-like body 66 Main body 68 Light Reflector 70 Detected Member

Claims (2)

A storage shelf provided with a plurality of article storage units in a state of being parallel in the vertical direction and the horizontal direction;
An article transfer device for transferring an article between the article storage unit and itself is supported so as to be movable in the lateral direction of the storage shelf, and an elevating frame that is driven up and down by an elevating drive means is provided,
The elevating drive means is an article storage facility comprising a cord-like body that suspends and supports both longitudinal ends of the elevating frame, and a cord-like body driving means that feeds and drives the cord-like body. There,
A distance measuring means for measuring a distance in a vertical direction from a reference position set on the storage shelf side is provided so as to be freely movable along the lifting frame,
The distance measuring means includes a main body part that projects light horizontally and a light reflection part that bends the traveling direction of the light projected from the main body part vertically upward, and is a light reflection type that projects light vertically upward It consists of a distance measuring device of
The reference position is installed in a horizontal position on the lower surface side of a support rod installed at a position above the elevating space of the elevating frame at the upper end of the storage shelf, and is a long shape that reflects the projection light from the distance measuring device. Set by the detected member of
The elevating drive means is configured to elevate and lower the elevating frame so that the article transfer device is positioned at an appropriate transfer position based on detection information of the distance measuring means. .   The article storage facility according to claim 1, wherein the distance measuring means is provided in the article transfer device.

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