JP3764242B2 - Material storage method on shelf in three-dimensional warehouse and three-dimensional warehouse - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a material storage method on a shelf in a three-dimensional warehouse and a three-dimensional warehouse.
[0002]
[Prior art]
Conventionally, in a crane provided in a three-dimensional warehouse, when the material placed on a support arm provided on a three-dimensional shelf is picked up or down by a crane hawk provided in the crane, the distance from the tip of the crane hawk to the material Needs to be known on the machine side.
[0003]
That is, as shown in FIG. 13, if the distance A dimension from the tip of the crane fork 103 provided in the crane 101 to the side surface of the material W stored on the support arm 107 provided on the three-dimensional shelf 105 is known. If the crane hawk 103 is advanced by the total diameter of the material W in addition to the A dimension, the material W can be taken up as shown in FIG.
[0004]
As a method of detecting the A dimension distance, a method of estimating a position with coordinate axes by data management by a computer. Alternatively, as shown in FIG. 15, the first photoelectric switch 109A is provided at the tip of the crane fork 103, and the second photoelectric switch 109B receiving the optical axis of the first photoelectric switch 109A is protruded from the crane body 111 of the crane 101. It was provided on the provided photoelectric switch bracket 113. Then, the A dimension can be detected by detecting the side surface of the material W with a pair of photoelectric switches 109A and 109B.
[0005]
Further, as shown in FIG. 16, it is known that an ultrasonic sensor 117 is provided in the lower part of a crane main body 111 having a shifting arm 115 and the A dimension is detected by the ultrasonic sensor 117.
[0006]
[Problems to be solved by the invention]
By the way, in the above-described shelf material detection means in the conventional three-dimensional warehouse, the position of the means for estimating the position with the coordinate axis by the data management by the computer may be largely shifted due to the input error of the material data due to human error. In the detection means using photoelectric switches, as shown in FIG. 17, the crane hawk 103 and the photoelectric switch bracket 113 that support the photoelectric switches 109 </ b> A and 109 </ b> B provided above and below are provided on the three-dimensional shelf 105 for fixing. If the height pitch of the support arm 107 changes, there is a problem that it cannot be handled, and the shifting arm cannot be used.
[0007]
Furthermore, the detection means using the ultrasonic sensor can cope with the change in the height pitch of the support arm 107 and the shifting arm, but there is a problem that the cost is high and the accuracy is several millimeters due to the ultrasonic wave.
[0008]
An object of the present invention is to provide a material storage method and a three-dimensional warehouse in a three-dimensional warehouse in a three-dimensional warehouse that can cope with various shelf heights and shifting arms, is highly accurate, safe, and reduces costs. .
[0009]
[Means for Solving the Problems]
The present invention has been made in view of the conventional problems as described above . The crane is moved to the material storage shelf in a position where it does not interfere with the material storage shelf in the three-dimensional warehouse , and the crane and the crane are provided so as to be able to move forward and backward. The side surface of the material stored in the storage shelf with the optical axis of the light beam is irradiated obliquely or horizontally in a plane perpendicular to the forward and backward direction of the crane hawk from a sensor provided at the tip of the crane hawk. It detects the distance between the optical axis and the side surface of the detected material measured in a preset position, the crane fork with the crane by a value obtained by adding the size of the measured values and materials it is characterized in that retrieving the material allowed entry in the crane Hawk a.
[0010]
Further, the tip of the crane Hawk provided retractably in Oite vertically movable Rifutabimu a crane having a warehouse, provided with a first sensor for detecting the side face of the held in the holding shelving, the first sensor of Ri Na a second sensor for receiving the optical axis is provided at the tip of the sensor bracket provided on the side plate of the Rifutabimu, the optical axis between the first sensor and the second sensor, relative to moving direction of the crane Hawk It is the structure which irradiates diagonally or horizontally within the orthogonal plane .
[0011]
Therefore, by tilting the optical axes of the first sensor provided on the crane hawk and the second sensor provided on the crane body, positioning with no interference with the storage shelf is possible, and there is no material dropping and so on. Can be operated.
[0014]
Further, in addition to the one set of sensors constituted by the first sensor and the second sensor, another set of sensors whose positions are shifted and the optical axis is inclined is provided as a separate sensor bracket provided on the side plate. And provided at the tip of a separate crane hawk .
[0015]
Accordingly, by selecting and using two sets of sensors with the optical axis inclined according to the diameter of the material, a variety of shelf height pitches can be provided, and storage efficiency can be improved.
[0016]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below in detail with reference to the drawings.
[0017]
First, in order to facilitate understanding, the overall configuration of a three-dimensional warehouse will be schematically described.
[0018]
11 and 12, the three-dimensional warehouse 1 includes a plurality of rows of three-dimensional shelves 3 and a left-right direction (in the left-right direction in FIG. 11, the direction orthogonal to the drawing in FIG. 12) across the three-dimensional shelf. And a crane 5 that can be moved to
[0019]
The three-dimensional shelf 3 is provided with a storage shelf 11 constituted by a plurality of support arms 9 arranged in the vertical direction on both sides of a support column 7 erected on the floor, and the support arm 9 is provided in the storage shelf 11. For example, a round bar, a shape steel, etc. are accommodated as a plurality of materials.
[0020]
In the crane 5, a rail 15 extending in the left-right direction is laid on a pedestal 13 provided on the floor, and a crane body 19 rides on the rail 15 via a plurality of wheels 17, and the crane body 19 extends in the left-right direction. It is free to move.
[0021]
The crane body 19 has a gate shape so as not to interfere with the support column 7, and a traveling motor 21 is provided on the upper frame body 19 </ b> A of the crane body 19. The wheel 17 is rotated via a shaft and a bevel gear, and the crane 5 is moved in the left-right direction. The traveling motor 21 includes an encoder E as a position detector, and always detects the position of the crane 5.
[0022]
In addition, an elevator motor 29 is provided on one side of the side frame 19B of the crane body 19 to raise and lower a lifter beam 27 having a lifter arm 25. A drum 33 is rotated by a lifting / lowering motor 29 via a rotation transmission member 31 (pulley and chain), and a wire 35 having one end locked to the drum 33 is connected to the lifter beam 27.
[0023]
With the above configuration, when the lifting motor 29 is rotated, the drum 33 is rotated, and the lifter beam 27 is lifted and lowered by winding and rewinding the wire 35 with the drum 33.
[0024]
A lifter arm 25 provided in the lifter beam 27 has a pinion 37 rotated by a motor (not shown), and a rack (not shown) meshed with the pinion 37 is provided in the lifter arm 25. The lifter arm 25 is moved in the left-right direction by driving the motor. Will be. For this reason, the material supported on the lifter arm 25 can be transferred onto the support arm 9, and the material supported on the support arm 9 can be transferred onto the lifter arm 25.
[0025]
Next, the material detection device 39 which is a main part of the present invention will be described in detail.
[0026]
Figure 1, in 2 and 3, the material detection device 39, as shown in Figure 3, the direction perpendicular to the drawing in the horizontal direction (FIG. 3 Rifutabimu 27 having vertically movably to the crane 5 ) Is provided with a lifter arm 25 that can be moved ( moved forward and backward ) . A plurality of lifter arms 25 are arranged in line with a plurality of lifter arms 27, and an optical axis is inclined with respect to the tip of the lifter arm 25 at one end (left end in FIG. 3) and the side plate 27 A of the lifter beam 27 among the plurality of lifter arms 25. The material detection device 39 (not shown) is provided.
[0027]
As a driving member for moving the lifter arm 25 in the left-right direction, the rotation is transmitted to the rotating shaft 43 from the driving motor 41 fixed to the lifter beam 27, and the pinion 37 locked to the rotating shaft 43 rotates. The lifter beam 27 is provided so as to be movable in the left-right direction while being guided by a lifter beam receiver 45 through a rack (not shown) meshed with the pinion 37.
[0028]
For details of the material detection device 39, referring to FIGS. 1 and 2, a plurality of lifter arms 25 are arranged on the lifter beam 27. Among these, a first sensor 47A is provided.
A second sensor 47B that passes through the optical axis K1 obliquely facing the first sensor 47A is provided on a sensor bracket 49 provided on the side plate 27A of the lifter beam 27. As is clear from FIG. 1, the optical axis K1 is included in a vertical plane orthogonal to the moving direction of the lifter arm 25, and in the plane, as shown in FIG. Irradiated.
[0029]
With the above configuration, by making the optical axes K1 of the first sensor 47A and the second sensor 47B oblique, there is no interference with the support arm 9 on which the material W provided on the three-dimensional shelf 3 is placed, and the side surface of the material W The distance between the optical axis at a preset position and the side surface of the detected material W is measured, and the lifter arm 25 enters the three-dimensional shelf 3 side by adding the measured distance and the diameter of the material W. The material W can be taken out by caulking. In the example of the present embodiment, the lifter arm 25 is a shifting type that is movable in the left-right direction, but may be a fixed lifter arm.
[0030]
Thus, since the measurement is performed by the sensor 47, the measurement can be performed with high accuracy and the positioning can be performed. Therefore, the material W can be safely operated without being dropped.
[0031]
Further, the lifter arm 25 is of a shifting type, so that the cost can be reduced and the function can be improved.
[0032]
4 and 5 show another embodiment.
[0033]
That is, this is an example in which two sets of sensors with the optical axes of the sensors inclined are provided. One set as a material detection device 39 is provided at the tip of the leftmost lifter arm 25 among a plurality of the lifter arms 25 arranged in the lifter beam 27. Among these sensors 51, a first sensor 51A is provided.
[0034]
A second sensor 51B that passes through the optical axis K2 obliquely facing the first sensor 51A is provided on a sensor bracket 53 provided on the side plate 27A of the lifter beam 27.
[0035]
Further, the lifter arm 25 adjacent to the lifter arm 25 provided with the first sensor 51A is provided with the first sensor 55A among the pair of sensors 55 as the material detection device 39. A second sensor 55B passing through the optical axis K3 obliquely facing the first sensor 55A is provided on a sensor bracket 57 provided on the side plate 27A of the lifter beam 27.
[0036]
FIG. 4 shows a state in which the material W having a small diameter (for example, 20 to 50 mm) is taken out from the support arm 9 provided on the storage shelf 11, and FIG. 5 shows a material having a large diameter (for example, 50 to 320 mm). The state at the time of taking out is shown. That is, when taking out the small-diameter material W, the side surface of the small-diameter material W is detected by the optical axis K3 of the sensor 55 and taken out. When taking out the large-diameter material W, as shown in FIG. The side surface of the large-diameter material W is detected and taken out by the optical axis K2 of the sensor 51.
[0037]
Thus, even if the pitch of the support arms 9 provided in the storage shelf 11 that stores the small-diameter material W is small or the pitch of the support arms 9 that store the large-diameter material W is large, both can be supported. Various shelf height pitches can be provided, and the storage efficiency can be improved.
[0038]
6 and 7 show a state when the material W is stored in the storage shelf 11, and FIG. 6 shows a state where the material W with a small diameter (for example, 20 to 100 mm) is stored. In FIG. 7, the diameter of the material W can be measured using the optical axis K2 of the sensor 51 in a state in which the material W having a large diameter (100 to 320 mm) is accommodated.
[0039]
8, 9 and 10 show still another embodiment.
[0040]
That is, sensor brackets 59 are provided on both sides of a side plate 27A of a lifter beam 27 having a plurality of lifter arms 25, and a sensor 61 that is a material detection device 39 is provided on the sensor bracket 59, and a first sensor constituting the sensor 61 is provided. A second sensor 61B is provided opposite to 61A, and the optical axis K4 passes in the horizontal direction between the first sensor 61A and the second sensor 61B.
[0041]
Therefore, since the side surface of the material W is detected by the optical axis K4 and the amount of insertion of the lifter arm 25 is detected and the material W is taken out, the material W can be safely operated without dropping and the shelf height pitch can be increased. Various types can be provided, and the storage shelf efficiency is improved.
[0042]
Moreover, it can respond also to a shifting arm, and can aim at cost reduction and a function improvement.
[0043]
The present invention is not limited to the embodiment of the invention described above, and can be implemented in other modes by making appropriate changes.
[0044]
【The invention's effect】
As can be understood from the description of the embodiments of the invention as described above, according to the present invention, the optical axes of the first sensor provided on the crane hawk and the second sensor provided on the sensor bracket are inclined. Thus, positioning with no interference with the storage shelf can be performed, and the material can be safely operated without dropping.
[0046]
In addition, by selecting and using two sets of sensors with the optical axis inclined, depending on the diameter of the material, various shelf height pitches can be provided, and the storage efficiency can be improved.
[Brief description of the drawings]
FIG. 1 is a front view showing a main part of the present invention and showing a material detection device.
FIG. 2 is an enlarged side view of a portion taken along an arrow II in FIG.
FIG. 3 is a side view showing a lifter beam of a crane.
FIG. 4 is a side view showing a material detection device when taking out a small-diameter material, showing an example of another embodiment of the present invention.
FIG. 5 is a side view showing a material detection device having the same configuration as that of FIG. 4 and taking out a large-diameter material.
FIG. 6 is an operation explanatory diagram.
FIG. 7 is an operation explanatory diagram.
FIG. 8 shows an example of another embodiment of the present invention and is a plan view of a lifter beam constituting a crane.
9 is a side view of FIG. 8. FIG.
FIG. 10 is an enlarged sectional view taken along line X-X in FIG.
FIG. 11 is a front view of a three-dimensional warehouse showing an embodiment for carrying out the present invention.
12 is a side view of FIG. 11. FIG.
FIG. 13 is an explanatory view showing a conventional example and showing a relationship between a crane hawk and a material.
FIG. 14 is an explanatory diagram when the material is taken out with a crane hawk in FIG. 13;
FIG. 15 is an explanatory diagram showing a conventional example in which a photoelectric switch is provided in a crane hawk to detect a side surface of a material.
FIG. 16 is an explanatory view showing a conventional example, in which an ultrasonic sensor is provided on a lifter beam in order to detect a side surface of a material.
FIG. 17 is an operation explanatory diagram.
[Explanation of symbols]
1 Three-dimensional warehouse 5 Crane 11 Storage shelf 19 Crane body 25 Lifter arm (crane hawk)
47, 51, 55, 61 Sensors 47A, 51A, 55A, 61A First sensors 47B, 51B, 55B, 61B Second sensors K1, K2, K3, k4 Optical axis

Claims (3)

The crane is moved to the material storage shelf side in a position not interfering with the material storage shelf in the three-dimensional warehouse, and the light beam is emitted from the crane and a sensor provided at the tip of the crane fork that is provided in the crane so as to freely advance and retract. The side surface of the material stored in the storage shelf is detected with the optical axis of the light beam in a plane orthogonal to the optical axis, and the optical axis at the preset position is detected. solid which measures the distance between the side surfaces, and wherein the retrieving the material allowed entering the crane fork with the crane by a value obtained by adding the size of the measured values and materials in the crane Hawk How to store materials on shelves in a warehouse. The tip of the crane Hawk provided retractably in Oite vertically movable Rifutabimu a crane having a warehouse, provided with a first sensor for detecting the side face of the held in the holding shelving, light of the first sensor Ri second sensor for receiving the shaft name provided to the tip of the sensor bracket provided on the side plate of the Rifutabimu, the optical axis between the first sensor and the second sensor is orthogonal to the moving direction of the crane Hawk A three-dimensional warehouse characterized by being irradiated obliquely or horizontally in a plane . In addition to a set of sensors composed of the first sensor and the second sensor, another set of sensors whose positions are shifted and the optical axis is inclined is separated from a separate sensor bracket provided on the side plate. The three-dimensional warehouse according to claim 2, wherein the three-dimensional warehouse is provided at the tip of the crane hawk .

Images