JP5487614B2 - Automatic warehouse - Google Patents

Description

  The present invention relates to a frame shelf having a plurality of storage units, a stacker crane that moves relative to the frame shelf and loads / unloads workpieces into / from the storage unit, and an automatic warehouse having a main controller that controls the stacker crane.

  The automatic warehouse includes, for example, a frame shelf, a load receiving stand provided near the frame shelf, and a stacker crane (see Patent Document 1). The stacker crane has two forks. A small work is loaded and unloaded with one fork, and a large work is loaded and unloaded with two forks. The load receiving table is provided with three sensors. Based on detection signals from the three sensors, the control device determines whether the work installed on the load receiving table is a large work or a small work. Therefore, the control device controls the stacker crane based on the detection signal from the sensor, the stacker crane picks up the work from the load receiving platform by the fork, and carries the work from the load receiving table to the frame shelf.

Conventionally, an automatic warehouse in which a sensor is provided on the stacker crane side is also known (see Patent Documents 2 and 3). For example, a workpiece placed on the load receiving platform is detected by a sensor, and the work is prevented from being placed twice on the load receiving platform from the stacker crane (see Patent Document 2). Alternatively, the vertical column of the frame shelf is detected by a sensor, and the fork is slid to a position where it does not hit the vertical column (see Patent Document 3). As a result, the work can be efficiently carried into and out of the frame shelf.
JP-A-6-227611 JP 63-12507 A JP-A-7-25412

  However, there is a desire to carry in and out workpieces without fail. SUMMARY OF THE INVENTION An object of the present invention is to provide an automatic warehouse that can definitely carry in and out a workpiece between a frame shelf and a stacker crane.

  In order to solve the above-mentioned problems, the present invention is an automatic warehouse having a configuration as described in each claim. That is, according to the first aspect of the present invention, the stacker crane includes a plurality of forks that move forward and backward with respect to the accommodating portion, a sensor that is provided between the forks and that can detect an object on the frame shelf side, and a fork. It has a crane controller to control, and is configured to convey a small work by one fork and to convey a large work by a plurality of forks. The main controller transmits a command signal including information on the size of the workpiece to the crane controller. The crane controller controls a plurality of forks based on the command signal and a detection signal from the sensor.

  Therefore, the crane controller can determine whether the command signal from the main controller is correct based on the detection signal from the sensor. For example, in a stacker crane, a fork moves in front of a predetermined accommodating portion in response to a command signal from a main controller. Then, it is detected by a sensor whether or not there is an object in the predetermined accommodating portion. When the crane controller determines that the object is not to be carried out, the fork is not advanced or retracted. Alternatively, there is a pillar in front of the two forks, and when the work placed on the two forks is advanced, the fork is not advanced or retracted when it is determined that the work hits the pillar. As a result, the workpiece can be reliably loaded and unloaded between the frame shelf and the stacker crane.

According to the first aspect of the present invention, the sensor detects a large work housed in the housing portion and located in front of the forks , and is disposed on either the left or right of the housing portion and is not located in front of the forks. so as not to detect a small work Ru provided between the plurality of forks. Prevent the crane controller from moving the fork when the main controller sends a command signal to carry out a small work from a predetermined storage part and the sensor detects that a large work is stored in the predetermined storage part. Control. Therefore, the operation of carrying out a small work by one fork based on the command signal can be prevented by the crane controller based on the detection signal from the sensor. Therefore, it is possible to prevent a large work from being rolled up by one fork and thereby causing the large work to fall (load collapse).

(Embodiment 1)
The first embodiment will be described with reference to FIGS. As shown in FIG. 1, the automatic warehouse 1 has a pair of frame shelves 2, a stacker crane 3 that moves relative to the frame shelves 2 and carries a workpiece 10, and a main controller 5 that controls the stacker crane 3. Yes.

  As shown in FIGS. 1 and 2, the frame shelf 2 has a plurality of vertical columns 2b extending in the vertical direction and a horizontal column 2c extending in the horizontal direction. The frame shelf 2 includes a plurality of upper and lower storage portions 2a partitioned by vertical columns 2b and horizontal columns 2c and a plurality of rows in the horizontal direction. The receiving portion 2a is provided with receiving plates 2d and 2e on which the workpiece 10 is placed.

  The receiving plates 2d and 2e extend in the depth direction below the accommodating portion 2a as shown in FIGS. The receiving plate 2d is attached to the vertical column 2b and is located on both the left and right sides of the accommodating portion 2a. The receiving plate 2e is attached to the horizontal column 2c, and is located at the substantially right and left center of the accommodating portion 2a. The small work 10a is placed on the receiving plates 2d and 2e so as to straddle them. The large work 10b is placed on the three receiving plates 2d and 2e across the three receiving plates 2d and 2e. Therefore, two small workpieces or one large workpiece 10b can be accommodated in the accommodating portion 2a.

  As shown in FIGS. 1 and 2, a receiving platform 6 is provided at a position adjacent to the frame shelf 2. A work 10 that is to be carried into the frame shelf 2 by the stacker crane 3 or a work 10 that has been carried out from the frame shelf 2 can be placed on the load receiving platform 6.

  As shown in FIG. 1, the stacker crane 3 includes a traveling platform 3b, a pair of masts 3a standing on both ends of the traveling platform 3b, and a connecting portion 3c that couples the upper portions of the pair of masts 3a. The traveling table 3b is provided with wheels installed on a traveling rail 7a provided on the floor and a traveling motor 3e that applies driving force to the wheels. The connecting portion 3c is provided with traveling wheels that are installed on a guide rail 7b provided between the upper portions of the frame shelf 2 so as to be able to travel. Therefore, the stacker crane 3 travels between the pair of frame shelves 2 along the traveling rail 7a and the guide rail 7b by controlling the traveling motor 3e.

  An elevating carriage 3d is provided between the pair of masts 3a so as to be elevable. The elevating carriage 3d is provided with an elevating motor 3f, and the elevating carriage 3d moves up and down along the mast 3a by controlling the elevating motor 3f. The elevating carriage 3d is provided with a fork device 3g. The fork device 3g includes a plurality of (for example, two) forks 3g1 and a fork motor 3g2 that moves each fork 3g1.

  The fork 3g1 moves forward and backward with respect to the housing portion 2a by the fork motor 3g2. When the small work 10a is carried into or out of the accommodating portion 2a, the small work 10a is conveyed by one fork 3g1. Therefore, the stacker crane 3 can also transport two small workpieces 10a simultaneously. When carrying in / out the large workpiece 10b, the large workpiece 10b is conveyed by the two forks 3g1.

  The stacker crane 3 is controlled by a main controller 5 that is a host control device and a crane controller 4 that is a lower control device. The main controller 5 is provided on the entrance side of the automatic warehouse 1, and an input unit for an operator to input information, a display unit for displaying the input information and the like, a storage unit for storing information, and a command signal It has a transmission part which transmits. The command signal includes information on whether to load or unload the workpiece, information on the size of the workpiece 10, information on the loading / unloading destination, and the like.

  The crane controller 4 is provided in the stacker crane 3 as shown in FIGS. The crane controller 4 is electrically connected to the main controller 5, and controls the stacker crane 3 based on the receiving unit that receives the command signal from the main controller 5, the storage unit that stores the command signal, and the command signal. It has a control part to do. Therefore, when the stacker crane 3 is controlled by the crane controller 4, the traveling platform 3b travels and the lifting carriage 3d moves up and down. As a result, the elevating carriage 3d moves in front of the predetermined accommodating portion 2a. The workpiece 10 can be carried into and out of the accommodating portion 2a by moving the fork 3g1 back and forth in the predetermined accommodating portion 2a and elevating the elevating carriage 3d.

  A sensor 9 for detecting an object on the frame shelf 2 side is attached to the lifting carriage 3d as shown in FIG. The sensor 9 is, for example, a reflection type optical sensor, and includes a light emitting unit that emits light and a light receiving unit that detects light reflected from an object, and the crane controller 4 detects when the light receiving unit detects light. Send a signal. The sensor 9 is located between the forks 3g1, that is, substantially at the center of the right and left of the elevating carriage 3d, and faces the frame shelf 2 side. Therefore, when the large workpiece 10b is accommodated in the accommodating portion 2a, the large workpiece 10b can be detected by the sensor 9.

  The crane controller 4 controls the stacker crane 3 based on a command signal from the main controller 5. The crane controller 4 determines whether the command signal is an abnormal command based on the detection signal from the sensor 9. When it is determined that the command is abnormal, the movement of the fork 3g1 is restricted.

  For example, when the small work 10a is carried out from the predetermined accommodating portion 2a, the crane controller 4 controls the stacker crane 3 based on a command signal from the main controller 5. Thereby, the raising / lowering carriage 3d moves in front of the predetermined accommodating part 2a. When the sensor 9 detects that the large workpiece 10b is accommodated in the predetermined accommodating portion 2a, the crane controller 4 determines that the command signal is an abnormal command, and restricts the fork 3g1 to advance or retreat.

  Accordingly, the crane controller 4 can prevent the operation of carrying out the large workpiece 10b by the single fork 3g1 based on the command signal based on the detection signal from the sensor 9. Therefore, it is possible to prevent the large work 10b from being rolled up by one fork 3g1 and thereby causing the large work 10b to fall (load collapse).

  Further, the crane controller 4 transmits an abnormal signal to the main controller 5 when determining that the command signal is an abnormal command. When the main controller 5 receives the abnormality signal, the main controller 5 displays an abnormality on the display unit and notifies the operator that the abnormality is instructed. When the crane controller 4 determines that the command signal is not an abnormal command, the crane controller 4 controls the stacker crane 3 to move the fork 3g1 back and forth based on the command signal.

  When the work 10 is carried into the predetermined accommodating portion 2 a, the crane controller 4 controls the stacker crane 3 based on a command signal from the main controller 5. As a result, the elevating carriage 3d moves in front of the predetermined accommodating portion 2a. When the sensor 9 detects that the large workpiece 10b is housed in the predetermined housing portion 2a, the crane controller 4 determines that the command signal is an abnormal command. Then, the fork 3g1 is restricted from moving forward and backward, and an abnormal signal is transmitted to the main controller 5. Accordingly, it is possible to prevent the workpiece 10 from being double-loaded into the accommodating portion 2a.

  As described above, the stacker crane 3 has a plurality of forks 3g1, a sensor 9, and a crane controller 4 as shown in FIGS. 1 and 3, and conveys a small work 10a by one fork 3g1. The large workpiece 10b is conveyed by the fork 3g1. The main controller 5 transmits a command signal including information on the size of the workpiece 10 to the crane controller 4. The crane controller 4 controls the plurality of forks 3g1 based on the command signal and the detection signal from the sensor 9.

  Therefore, the crane controller 4 can determine whether or not the command signal from the main controller 5 is correct based on the detection signal from the sensor 9. For example, in the stacker crane 3, the elevating carriage 3d moves in front of the predetermined accommodating portion 2a in response to a command signal from the main controller 5. Then, the sensor 9 detects whether or not there is a large workpiece 10b in the predetermined accommodating portion 2a. When the crane controller 4 determines that the large workpiece 10b is not to be carried out, the fork 3g1 is not advanced or retracted. Thereby, the workpiece | work 10 can be carried in / out definitely between the frame shelf 2 and the stacker crane 3.

  Further, as shown in FIG. 2, two small workpieces 10a or one large workpiece 10b is accommodated in the accommodating portion 2a. Therefore, the small work 10a and the large work 10b can be efficiently accommodated in the accommodating portion 2a as compared with the case where the small work 10a and the large work 10b are accommodated in the dedicated accommodating portion 2a.

(Embodiment 2)
The second embodiment is formed in substantially the same manner as the first embodiment. However, the framed shelf 2 according to the second embodiment is different from the first embodiment in that the frame shelves 2 have storage portions 2a (small storage portions 2a1, large storage portions 2a2) having different frontage. Hereinafter, the second embodiment will be described with reference to FIGS.

  As shown in FIG. 4, the frame shelf 2 has a plurality of vertical columns 2b and 2f and a horizontal column 2c. The vertical columns 2b are erected at substantially equal intervals, and the vertical columns 2f are erected between the vertical columns 2b. Therefore, the frame shelf 2 has a small accommodating portion 2a1 whose opening is narrowed by being partitioned by the vertical pillar 2f, and a large accommodating portion 2a2 whose opening is wide without being partitioned by the vertical pillar 2f. The small accommodating portion 2a1 accommodates one small work 10a and cannot accommodate the large work 10b. Two small workpieces 10a or one large workpiece 10b can be accommodated in the large accommodating portion 2a2.

  As shown in FIG. 5, when the elevating carriage 3d moves in front of the small accommodating portion 2a1, the sensor 9 is positioned in front of the vertical column 2f. Therefore, the sensor 9 can detect whether or not the accommodating portion 2a is the small accommodating portion 2a1. The crane controller 4 controls the stacker crane 3 based on a command signal from the main controller 5. The crane controller 4 determines whether the command signal is an abnormal command based on the detection signal from the sensor 9.

  For example, when the large workpiece 10 b is carried into the predetermined accommodating portion 2 a, the crane controller 4 controls the stacker crane 3 based on a command signal from the main controller 5. As a result, the elevating carriage 3d moves in front of the predetermined accommodating portion 2a. When it is detected by the detection signal from the sensor 9 that the predetermined housing portion 2a is the small housing portion 2a1, the crane controller 4 determines that the command signal is an abnormal command. The crane controller 4 restricts the fork 3g1 from moving back and forth and transmits an abnormal signal to the main controller 5.

  Therefore, the operation of carrying in the large workpiece 10b by the fork 3g1 based on the command signal can be prevented by the control of the crane controller 4 based on the detection signal from the sensor 9. Therefore, it can be prevented that the fork 3g1 is advanced and the large workpiece 10b hits the vertical column 2f.

(Other embodiments)
The present invention is not limited to the first and second embodiments, and may be the following forms.
(1) The stacker crane 3 of the above embodiment has two forks 3g1. However, it may be a form having three or more forks.
(2) The stacker crane 3 of the above embodiment carries in and out the large workpiece 10b with the two forks 3g1, and detects the large workpiece 10b with the sensor 9 provided between the forks 3g1. However, a configuration may be adopted in which three or more forks are provided, a large workpiece is carried in and out by a plurality of forks, and the size of the workpiece is detected by a sensor provided between the forks.
(3) The sensor 9 of the first embodiment detects the large workpiece 10b, and the sensor 9 of the second embodiment detects the vertical column 2f. However, the configuration may be such that both the large workpiece and the vertical column can be detected separately depending on the intensity of the light reflected by the sensor, or the sensor for detecting the large workpiece and the vertical column is separately provided.
(4) The sensor 9 according to the second embodiment detects that the accommodating portion 2a is the small accommodating portion 2a1 by detecting the vertical column 2f. However, the frame shelf may have another component that constitutes the small accommodating portion, and the sensor may detect the small accommodating portion by detecting the component.

It is a perspective view of an automatic warehouse. It is a partial front view of the automatic warehouse in the II-II line of FIG. It is a partial top view of a frame shelf and a stacker crane. It is a partial front view of the automatic warehouse which concerns on Embodiment 2 equivalent to FIG. It is a partial top view of a frame shelf and a stacker crane according to the second embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Automatic warehouse 2 ... Frame shelf 2a ... Accommodating part 2a1 ... Small accommodating part 2a2 ... Large accommodating part 2b, 2f ... Vertical column 2c ... Horizontal column 3 ... Stacker crane 3d ... Lifting carriage 3g ... Fork device 3g1 ... Fork 4 ... Crane Controller 5 ... Main controller 6 ... Receiver 9 ... Sensor 10 ... Work 10a ... Small work 10b ... Large work

Claims (1)

An automatic warehouse having a frame shelf having a plurality of storage units, a stacker crane that moves relative to the frame shelf and carries workpieces into and out of the storage unit, and a main controller that controls the stacker crane,
The stacker crane includes a plurality of forks that move forward and backward with respect to the housing portion, a sensor that is provided between the forks and that can detect an object on the frame shelf side, and a crane controller that controls the forks. The small fork is transported by the one fork, and the large work is transported by the plurality of forks,
The main controller transmits a command signal including information on the size of the workpiece to the crane controller,
The crane controller controls the plurality of forks based on the command signal and a detection signal from the sensor,
The sensor detects the large workpiece housed in the housing portion and positioned in front of the forks , and is disposed on either the left or right of the housing portion and detects the small workpiece not positioned in front of the forks. Provided between the plurality of forks so as not to detect,
When the main controller transmits a command signal for carrying out a small work from the predetermined storage part, and the sensor detects that the large work is stored in the predetermined storage part, the crane controller An automatic warehouse characterized in that the fork is controlled not to advance.

Images