JP4712121B2 - Goods receipt management system and terminal used in the system - Google Patents

Description

  The present invention relates to an article receipt management system for controlling an instruction for receiving and replenishing an appropriate article, for example, a part necessary for assembling a product, among articles stored in a storage space such as an article storage shelf, It relates to the terminal used for the system.

  As a typical example of the article receipt management system, there is a picking system widely used in an assembly production process, particularly in a cell production process. The picking system controls an instruction for receiving a part necessary for assembling a product from among articles stored in the storage shelf of the article and conversely replenishing the storage shelf. More specifically, a terminal having a means for inputting notification information indicating that the article has been carried out is displayed on each of the plurality of storage shelves. The terminal is connected to a host computer via a control device. Then, the host computer transmits an instruction for picking up the parts to the control device, and the control device indicates the instruction state by a lamp or a display of the terminal mounted on the parts delivery shelf where the pick-up instruction is issued. . On the other hand, an operator or robot or automated guided vehicle that has completed taking instructed parts operates a lever switch of a terminal as a take-up completion input, and the operation signal reaches the host computer via the control device. In this way, work progress, prevention of erroneous work, replenishment of parts to the parts delivery shelf, inventory management of parts, ordering of spare parts, and the like are performed. Various types of indicators and confirmation switches in the terminal are used.

The cell production method, that is, a method in which one worker is in charge of a plurality of processes is a method that has become widespread in recent years. As a picking system used there, for example, it is disclosed in JP-A-2002-12309 There is a centralized display type product storage and picking system in the cold region for the frozen products of the refrigerated warehouse. In this system, for a large number of goods arranged on the shelves of goods warehouses that store goods or refrigerated and frozen warehouses, the host computer and the picking work of the stored goods are switched and the contents of the work are input to the host computer. Confirmation of sending and work is done.
JP 2002-12309 A

  In the article receipt management system including the conventional picking system, a lid may be provided on the storage shelf in order to prevent an error in the receiving operation. That is, by receiving only the storage shelves in which the articles to be received are stored and closing the other storage shelves, erroneous receipt of the articles is prevented.

  However, when lids are provided on storage shelves, these lids are normally opened and closed by pneumatic cylinders or the like. Therefore, when this is controlled by a conventional system, the lid can simply be “open”. Only “Closed” was selected. Therefore, precise control relating to the lid cannot be performed, and there is a problem that, for example, there is a risk that the operator's arm may be pinched by the lid.

  Then, an object of this invention is to provide the terminal used for the picking system which can control the cover body provided in accommodation spaces, such as a storage shelf, more precisely.

An article receipt management system according to the present invention includes a rotating shaft provided with a marker on a circumferential surface, a driving device for the rotating shaft, a non-contact sensor provided at a measurement position for reading the marker, and a calculation means. Equipped with an on-board terminal. Moreover, the said drive device is a non-contact type sensor Ru is connected to the calculating means. The computing means controls an opening / closing speed and an opening / closing angle of the lid interlocked with the rotating shaft through an electric signal output to the driving device based on reading information of the sign by the non-contact type sensor .

The terminal according to the present invention constitutes an article receipt management system according to the present invention and is equipped with a calculation means . Then, the rotary shaft via the electric signal output to the driving unit of the rotary shaft on the basis of the read information of the non-contact sensor labels provided in the circumferential direction surface that reading at a predetermined measurement position of the rotary shaft The opening / closing speed and opening / closing angle of the interlocking lid are controlled.

Driving device for rotating shaft in the present invention controls the rotation of the rotary shaft by an electric signal, for example, although the electric motor and the like, as long as it electrically started or can be stopped in its structure There is no limitation and other structures may be used. However, it is not preferable that a signal intended to be stopped is not immediately stopped due to the influence of the inertia of the component parts after the signal intended to be stopped is input. On the other hand, as the rotation control, it is preferable not only to start and stop rotation but also to change the rotation speed.

  A well-known structure can be adopted for the interlocking between the lid and the rotating shaft. For example, a structure in which the edge of the lid is connected to the rotating shaft and the plate-like lid is swung around the rotating shaft, or a structure in which the cloth-like lid is suspended or wound may be employed.

  In the present invention, the sign may be an absolute code that includes the position information of the rotation axis and can independently grasp the position of the rotation axis, or a relative code that can grasp the position of the rotation axis from the relationship with other signs. It may be. As the absolute code, a so-called 1248 code or the like may be used, and the relative code is composed of a plurality of bars arranged at intervals, and the number of passes of the bar is counted. Information may be obtained.

In the present invention , the terminal is equipped with storage means, and the storage means stores the read information corresponding to a predetermined opening / closing angle, and the computing means stores the actual read information and the stored read information. The electrical signal may be output according to the difference.

In the article receipt management system according to the present invention, when the difference exceeds a predetermined value , the calculation means sends a signal indicating an abnormal operation to a control means provided at a position away from the terminal as a data signal. May be communicated via a line . The stored data in the storage means may be rewritable from a control means provided at a position away from the terminal .

The control means provided at a position away from the terminal is capable of remotely controlling a large number of lids collectively, and converts signals between a host computer or PLC in a known picking system or between these devices and the terminal. Applicable to the master station that performs.

Further, Oite the present invention, a drive mechanism for the rotating shaft is included, a reading mechanism that includes the non-contact type sensor, may be one that separated.

Furthermore, Oite the present invention, the indicator is constituted by a plurality of bars which are spaced, the read information, a pulse signal in which the non-contact sensor is output when detecting the labeled It may be the number of arrivals of the sign at the measurement position obtained by detection.

  A well-known sensor can be adopted as the sensor. For example, a sensor that emits light toward the rotation axis and optically detects the sign by the presence or absence of light reflected from the sign may be used, or a magnetic substance may be included in the sign so that the magnetic field lines are strong and weak. A sensor for detecting a sign may be used.

Furthermore, the article receiving management system according to the present invention, the control means provided in a position away from the terminal, may be a shall issue compute the total number of revolutions of the rotary shaft than the number of times of opening and closing of the cover .

  According to the article receipt management system or the terminal according to the present invention, the sign provided on the circumferential surface of the rotating shaft is read at a predetermined measurement position, and the lid is opened and closed based on information obtained from the sign. In order to control the speed and the opening / closing angle, the rotation angle of the rotation shaft can be controlled by relating the rotation angle of the rotation shaft to the information obtained from the sign. For example, it is possible to stop the arm at an angle immediately before it is completely closed so as not to pinch the operator's arm. Therefore, according to the article receipt management system of the present invention, the lid provided on the storage shelf can be controlled more precisely.

  In addition, when the absolute code that includes the position information of the rotation axis and can grasp the position of the rotation axis alone is adopted as a sign, when returning after the system stops for some reason, to return to the state just before the stop Advantages such as shortening the time required can be obtained.

  In addition, the current value, voltage value, and opening / closing angle during normal operation of the rotating shaft drive device corresponding to the information obtained from the sign are stored, and the actual current value or voltage value of the drive device is stored in the stored current. And the voltage value, and by controlling the rotational speed of the rotating shaft according to the difference and adjusting the lid to a predetermined opening / closing angle, the lid can be operated as expected. Can be controlled. For example, when the current value or voltage value is large, the switching speed is larger than the expected speed, and when it is small, the switching speed is smaller than the expected speed. Controls the rotation speed of the rotating shaft. Therefore, by performing such a comparison, it is possible to control the lid provided on the storage shelf more precisely.

  Furthermore, when the difference exceeds a predetermined value, it is determined that the operation is abnormal, and the safety is indispensable for precise control of the lid by transmitting to a control means provided at a position away from the lid. . For example, if the current value or voltage value is higher than that during normal operation even though the number of arrivals has not reached the closed state, movement of the lid may be hindered for some reason. There is sex. Therefore, when it is determined that the operation is abnormal when the difference exceeds a predetermined value, it is immediately transmitted to the control means provided at a position away from the lid. Upon receiving the information, the control means immediately gives an instruction to stop the electric motor, and the operation of the lid is stopped to prevent the lid from being damaged or an operator having an arm caught in the lid from being injured. it can.

  Furthermore, in the article receipt management system of the present invention, the stored data of current value and / or voltage value and opening / closing angle during normal operation can be rewritten from the control means provided at a position away from the lid. Thus, even when it becomes necessary to change the operation of the lid for reasons such as changing the usage of the storage shelf, it can be flexibly handled with an extremely easy operation. Therefore, precise control of the lid can be performed regardless of changes in the situation.

  Furthermore, in the article receipt management system of the present invention, if the total number of rotations of the rotating shaft is calculated from the number of opening and closing of the lid and the life of the driving device of the rotating shaft is predicted, before the drive device breaks down. Can be replaced at an appropriate time. Therefore, it is possible to prevent the lid body from performing an abnormal operation when the drive device fails, and it is possible to maintain precise control of the lid body from a long-term viewpoint.

  Although the article receipt management system and terminal of the present invention have an excellent effect that the lid provided in the storage space such as a storage shelf can be controlled more precisely, reading from the sign required for the control is possible. A reading mechanism for obtaining information is required. Since this reading mechanism is different from the drive mechanism that rotates the rotating shaft and moves the lid, the article receiving management system and the terminal of the present invention are composed of two different mechanisms, and the production and replacement repairs are complicated. There is. However, if the drive mechanism including the rotating shaft and the reading mechanism for obtaining the reading information from the sign are separated, the production and replacement of each mechanism can be performed, and its drawbacks are solved. Is possible. In reading the sign, if a non-contact type sensor is provided at the measurement position and the sign is detected in a non-contact manner, the drive mechanism and the reading mechanism can be easily separated.

  When a non-contact type sensor is used for reading a sign, the sign is made up of a plurality of bars arranged at intervals, and the pulse signal output when the sensor detects the sign is detected. If the number of arrivals at the measurement position is information necessary for control, the present invention can be realized with a very simple configuration.

  An embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a perspective view conceptually showing a structure for controlling a rotation of a rotating shaft by measuring a sign in an embodiment of a terminal according to the present invention, FIG. 2 is a block diagram of the terminal, and FIG. 3 uses the terminal FIG. 4 is a conceptual view of the mechanical configuration of the terminal. FIG. 4 is a front view showing an overview of a storage shelf in which the article receipt management system according to the present invention is adopted. FIG. 1 conceptually shows the structure. In order to facilitate understanding of the structure, a predetermined part is enlarged, and the positional relationship of each part is adjusted and shown. The relative sizes and positions of the parts do not coincide with the terminals shown in FIG.

This terminal is installed in the storage rack, rotated by an electric signal comprises a rotary shaft 1 to be controlled. The rotating shaft 1 is connected to an electric motor 2 through a gear (not shown), and the rotation of the rotating shaft 1 is controlled by controlling the electric motor 2 with an electric signal. The electric motor 2 corresponds to the drive device of the present invention.

The rotating shaft 1 is also provided with a marker 3 composed of a plurality of bars arranged at intervals on the circumferential surface thereof. A plurality of bars constituting the sign 3 shown in FIG. 1 includes a start display 31 and an end display 32 arranged at both ends in the circumferential direction, and a plurality of angle displays arranged between the start display 31 and the end display 32. 33. The start display 31 and the end display 32 are an upper limit value and a lower limit value of a preferable rotation angle. When these displays are detected by the optical sensor 5 described later, the rotation of the rotary shaft 1 is stopped. On the other hand, the number of the angle displays 33 may be adjusted as appropriate according to a desired control form. For example, the control range (the range sandwiched between the start display 31 and the end display 32) is 120 degrees and every 45 degrees. If precise control is desired, five angle displays 33 may be arranged at intervals of 45 degrees. In this case, for example, start to rotate from the start display 31, until the angle display 33 is two pass a slower rotational speed, up to two of the following passes faster the rotational speed, until the end view 32 is Control such as reducing the rotation speed again to increase the safety of the operator is possible.

  Further, a plate-like lid 4 that opens and closes the storage shelf is joined to the rotary shaft 1. The lid 4 has one edge joined along the length direction of the rotary shaft 1, and swings about the rotary shaft 1 as the rotary shaft 1 rotates.

  Three optical sensors 5 a, 5 b, and 5 c as non-contact sensors are arranged at equal intervals in the length direction of the rotating shaft 1 at a position that is orthogonal to the axis of the rotating shaft 1 and overlaps the sign 3. The optical sensors 5a, 5b, and 5c are known ones that include a light-emitting diode 51 and a phototransistor 52, and can read the sign 3 by using the difference in shading between the sign 3 and the other portions. . The positions where the optical sensors 5a, 5b, 5c are arranged are the measurement positions of the present invention.

  One end of each of the start display 31 and the end display 32 protrudes in the length direction of the rotary shaft 1 than the angle display 33. However, the protruding end portion is different between the start display 31 and the end display 32. When the optical sensor 5 is viewed from the back, the start display 31 is in the right direction (the lid 4 side), and the end display 32 is It protrudes to the left (electric motor 2 side). The angle display 33 is read only by the optical sensor 5b arranged at the center, whereas the start display 31 is read by the optical sensor 5b and the optical sensor 5a arranged on the lid 4 side, and is displayed as an end display. 32 is read by two of the optical sensor 5b and the optical sensor 5c arranged on the electric motor 2 side. Therefore, it is possible to detect the rotation limit and the start display 31 side or the end display 32 side based on the reading patterns of the three optical sensors 5a, 5b, and 5c. However, as long as the number of times the marker 3 passes is accurately measured, there is no need to distinguish and read the angle display 33, the start display 31, and the end display 32. It may be only one.

The optical sensors 5a, 5b, and 5c are connected to a microcomputer control unit (MCU) 6. When the marker 3 is read, a pulse signal is output to the MCU 6. The MCU 6 includes a CPU, a RAM, and a ROM, has an arithmetic function, and performs processing for obtaining information necessary for control. The sign 3 shown in FIG. 1 is a relative code, and each display 31, 32, 33 itself does not include position information. Therefore, the MCU 6 counts the pulse signal from the optical sensor 5b, and the optical sensor 5b is arranged. The number of times that the marker 3 has reached the measured position (number of times of arrival) is stored. Since the optical sensor 5a reads only the start signal display 31 and the optical sensor 5c reads only the end signal display 32, the presence or absence of a pulse signal from the optical sensors 5a and 5c is a switch signal in the control of the rotation limit. .

  The MCU 6 stores in advance the number of times of reaching the control process of the electric motor 2 and continues counting until the number of times reaches the stored value. When the arrival frequency reaches a predetermined value, an electric signal is output to the electric motor 2 in order to perform the stored control process. For example, in the case of the sign 3 shown in FIG. 1, when the start display 31 is in the initial state, that is, the rotation is started with the angle being 0 degree, the sign 3 is rotated to the electric motor 2 when the number of arrivals reaches two times. An electric signal for increasing the speed is output. When the number of arrivals reaches four times, an electric signal for decreasing the rotation speed is output. When the number of times reaching the end display 32 reaches six times, an electric signal for stopping the electric motor 2 is output. Output. In addition, when a time lag arises after the electric signal is sent from MCU6 until the electric motor 2 stops, the timing which outputs an electric signal from MCU6 may be shifted. For example, an electrical signal may be output to the electric motor 2 when the number of arrivals reaches 5.

  In this way, by controlling the electric motor 2 based on the number of times the marker 3 reaches the measurement position, the operation of the lid body 4 joined to the rotary shaft 1 and interlocked with the rotary shaft 1 can be controlled. For example, as shown in FIG. 1, the sign 3 reaches the measurement position a predetermined number of times when the lid 4 is in a state of hanging from the rotation shaft 1 and closing the storage shelf (indicated by a broken line in FIG. 1) at the start of rotation. By rotating the rotating shaft 1 until it is done, the storage shelf can be opened by inclining upward. The same applies when returning the storage shelf from the open state to the closed state.

  Further, the MCU 6 stores a current value and a voltage value during normal operation of the electric motor 2 and an opening / closing angle of the lid 4 corresponding to the value of the number of times of arrival. On the other hand, current value and voltage value data are taken from the electric motor 2. Therefore, by comparing the actual current value and voltage value of the electric motor 2 with the stored current value and voltage value, it is possible to determine whether or not the expected operation is being performed. For example, when the current value or voltage value is large, the opening / closing speed of the lid 4 is larger than the assumed speed, and conversely, when it is small, the opening / closing speed is judged to be smaller than the assumed speed. The value is adjusted to control the rotation speed of the rotary shaft 1.

  When the difference between the stored current value and voltage value and the actual current value and voltage value of the electric motor 2 exceeds a predetermined value, there is a possibility of an abnormal operation. And the information is transmitted to the control device 10 described later. For example, if the number of arrivals does not reach the closed state of the lid body 4 but the current value or voltage value is higher than that during normal operation, the lid body 4 is moved for some reason. May be hindered. Therefore, when such an abnormality is detected, the information is transmitted to the control device 10 and a response determination is asked to the control device 10. In the control device 10, when the operation is abnormal, the operation of the lid body 4, that is, the operation of the electric motor 2 is stopped immediately, and the lid body 4 is damaged or an operator whose arm is sandwiched between the lid body 4 is injured. To prevent that.

  This terminal also includes a display lamp 7 for giving an instruction to the operator and a lever switch 8 for checking the work. The display lamp 7 and the lever switch 8 are connected to the MCU 6 and operate under the control of the control device 10 described below.

  As shown in FIG. 3, this terminal is fixed to the pipe rack 13 of the storage shelf. The terminal MCU 6 is connected to the master station 9 through common data signal lines DP and DN. Further, the master station 9 is connected to the control device 10.

  Control data such as turning on / off of the display lamp 7 and opening / closing of the lid 4 is transmitted from the control device 10. The master station 9 converts the control data from the control device 10 into a control signal and transmits it to each terminal. In each terminal, control data is extracted from this control signal, and processing instructed by the control device 10, for example, turning on / off the display lamp 7 and opening / closing the lid 4 are performed. If the lid 4 is to be opened and closed, the MCU 6 of the terminal that receives the control data transmits an electric signal to the electric motor 2 to start it. The processing after starting is as described above.

  On the other hand, at each terminal, the state of each storage shelf is transmitted as a monitoring signal, and the master station 9 converts this monitoring signal into monitoring data and inputs it to the control device 10. For example, when an operator who takes out an article from the storage shelf turns on the lever switch 8, the signal is input to the MCU 6 and sent from the MCU 6 to the data signal lines DP and DN as a monitoring signal. In this terminal, the monitoring signal is sent out as a current signal. Since a known method may be adopted for communication from the terminal to the master station 9, a detailed description thereof will be omitted, but the outline of the terminal of the present invention will be described in a low voltage period in a control signal which is a pulse voltage signal. The capacitor 11 inserted in parallel between the data signal lines DP and DN is used for discharging to send out a current signal as a monitoring signal. Since the diode 12 is inserted between the data signal line DP side terminal of the capacitor 11 and the data signal line DP, the high voltage period in the control signal is from the data signal line DP through the diode 12 to the data signal line DN. A charging current flows to the side, and the capacitor 11 is charged. On the other hand, during the low voltage period in the control signal, the diode 12 is turned off and the current for charging the capacitor 11 does not flow (cut off) from the data signal line DP to the data signal line DN. Therefore, the capacitor 11 is discharged during the low voltage period, and the current signal can be superimposed on the low voltage period of the control signal. However, the communication method between the terminal and the master station 9 is not limited, and other methods may be adopted.

  The monitoring signal sent from the terminal also includes information on the state of the lid body 4, that is, whether the lid body 4 is open or closed. 4 status information is transmitted, and the value is stored in the control device 10 for each terminal. Then, the total number of rotations of the rotating shaft 1 is calculated by accumulating the number of times the lid 4 is opened and closed, and the life of the electric motor 2 is predicted. Therefore, the electric motor 2 can be replaced at an appropriate timing before it fails. Therefore, it is possible to prevent the lid body 4 from performing an abnormal operation when the electric motor 2 fails, and it is possible to maintain precise control of the lid body 4 from a long-term viewpoint.

  Further, as described above, in the monitoring signal transmitted from the terminal, the difference between the current value and voltage value stored in the MCU 6 and the actual current value and voltage value of the electric motor 2 exceeds a predetermined value. Thus, a signal indicating the abnormal operation when the abnormal operation is determined is also included. When this signal is sent, the control device 10 immediately sends out control data indicating that the operation of the electric motor 2 is stopped, so that the lid body 4 is broken or an operator whose arm is sandwiched between the lid body 4. To prevent injury.

  Data stored in the MCU 6 for current value, voltage value, and opening / closing angle during normal operation can be rewritten from the control device 10. Therefore, for example, even when it becomes necessary to change the operation of the lid body 4 by changing the usage of the storage shelf, the setting can be changed by an extremely easy operation.

  This terminal includes a reading mechanism 14 for obtaining information read from the marker 3 necessary for controlling the lid 4, and a driving mechanism 15 that includes the rotating shaft 1 and rotates the rotating shaft 1 to move the lid 4. It consists of two different mechanisms. Having two mechanisms inherently has the disadvantage of complicated production and replacement, but a non-contact sensor 5 (photosensors 5a, 5b, 5c) is employed for reading the sign 3, and the sign 3 Is read in a non-contact manner (arrow line indicated by a one-dot chain line in FIG. 4), the two different mechanisms 14 and 15 are not physically joined and are easily separated. . Therefore, production and replacement repair for each mechanism is possible, and the drawbacks are solved.

In the Example of the terminal which concerns on this invention, it is a perspective view which shows notionally the structure which measures a label | marker and controls rotation of a rotating shaft. It is a block diagram of the terminal. It is a front view which shows the general view of the storage shelf by which the picking system based on this invention using the terminal was employ | adopted. It is a conceptual diagram of the mechanical structure of the terminal.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Rotating shaft 2 Electric motor 3 Marking 4 Cover body 5a, 5b, 5c Optical sensor 6 MCU
7 Indicator lamp 8 Lever switch 9 Master station 10 Controller 11 Capacitor 12 Diode 13 Pipe rack 14 Reading mechanism 15 Drive mechanism 31 Start display 32 End display 33 Angle display 51 Light emitting diode 52 Phototransistor DP, DN Data signal line

Claims (11)

A rotary shaft provided with a marker on a circumferential surface; a drive device for the rotary shaft; a non-contact sensor provided at a measurement position for reading the marker; and a terminal equipped with computing means; the drive device; The non-contact sensor is connected to the computing means, and the computing means is a lid that is linked to the rotating shaft via an electrical signal that is output to the driving device based on reading information of the sign by the non-contact sensor. An article receipt management system for controlling an opening / closing speed and an opening / closing angle of a body. The terminal is equipped with storage means, and the storage means stores the read information corresponding to a predetermined opening / closing angle, and the calculation means is responsive to a difference between the actual read information and the stored read information. The goods receipt management system according to claim 1 which outputs said electric signal . The article according to claim 2, wherein when the difference exceeds a predetermined value , the calculation means transmits a signal indicating an operation abnormality to a control means provided at a position away from the terminal via a data signal line. Receipt management system. 4. The article receipt management system according to claim 2, wherein the storage data of the storage means is rewritable from a control means provided at a position distant from the terminal . Control means provided in a position away from the terminal, the article receives management system of claim 1, 2, 3 or 4 that issues compute the total number of revolutions of the rotary shaft than the number of times of opening and closing of the lid. The article receipt management system according to claim 1, 2, 3, 4, or 5, wherein a drive mechanism including the rotation shaft and a reading mechanism including the non-contact sensor are separated. The sign is composed of a plurality of bars arranged at intervals, and the reading information is obtained by detecting a pulse signal output when the non-contact sensor detects the sign. It is the frequency | count of arrival in the said measurement position, The goods receipt management system as described in any one of Claims 1-6 . Constitutes an article receipt management system according to claim 1, equipped with calculation means, based on the read information of the non-contact type sensor that reads the label provided on the circumferential surface of the rotary shaft at a predetermined measurement position A terminal for controlling an opening / closing speed and an opening / closing angle of the lid interlocking with the rotating shaft via an electric signal output to the driving device of the rotating shaft. Equipped with storage means, said the storage means and the read information corresponding to the predetermined opening angle are stored, said calculating means, the actual of the read information, depending on the difference of the stored read information The terminal according to claim 8 which outputs said electric signal . The terminal according to claim 8 or 9 , comprising a drive mechanism including the rotation shaft and a read mechanism for obtaining read information from the sign , and the drive mechanism and the read mechanism are separated. The sign is composed of a plurality of bars arranged at intervals, and the information is obtained by detecting a pulse signal output when the sensor detects the sign, at the measurement position of the sign. The terminal according to claim 8, 9 or 10 , which is the number of times of arrival.

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