JP7230418B2 - Safety fence for self-driving equipment - Google Patents

Description

TECHNICAL FIELD The present invention relates to safety fences, particularly to safety fences for automatic driving equipment.

For example, safety fences for preventing entry are provided around automatic driving equipment such as automatic driving machine tools and automatic driving equipment (see Patent Document 1, for example).
Patent Literature 1 discloses a safety fence provided around a stacker crane in an automated warehouse.

Japanese Patent No. 5445369

As an automatic operation device, there is a cross belt sorter that conveys cargo on the top surface. With this device, loads may fall out of the device.
Conventionally, in order to collect fallen objects on the floor, a worker would have to stop the equipment and then enter the safety fence through a door with an interlock.
However, if the facility is frequently stopped, the transportation efficiency will decrease.

An object of the present invention is to enable a worker to pick up a fallen object inside a safety fence for automatically operating equipment without stopping the automatically operating equipment.

A plurality of aspects will be described below as means for solving the problem. These aspects can be arbitrarily combined as needed.

A safety fence for an automatic operation device according to one aspect of the present invention is arranged around an automatic operation device and includes a fixed fence and an opening/closing fence.
The fixed fence is fixed to the bearing and extends in a first horizontal direction. The fixed fence has an opening. The bearing part is, for example, a floor surface.
The opening/closing fence extends in the first direction and is supported by a portion of the fixed fence corresponding to the opening so as to open and close the opening by rotating around a rotation axis parallel to the first direction. .
The opening/closing fence has a projecting portion that projects from the fixed fence side toward the automatic operation device side when the fixed fence and the opening/closing fence are in an open state in which the opening/closing fence is perpendicular to the fixed fence when viewed from the first direction.

With this safety fence, when a load is dropped from an automatically operating device, a worker can pick up the load by opening the opening/closing fence near the dropped object. In other words, the worker does not have to enter the safety fence through the worker access door provided on the fixed fence. As a result, there is no need to stop the automated driving equipment.
Furthermore, the protruding part of the opening/closing fence prevents the operator from touching the automatic operation equipment.

The opening/closing fence may have a first portion and a second portion. The first part overlaps the fixed fence in a second direction view perpendicular to the first direction in the horizontal direction when the fixed fence and the opening/closing fence are in a parallel closed state in the first direction view. The second part does not overlap the fixed fence in the above case.
In this safety fence, the 1st part or 2nd part of an opening-and-closing fence functions as a projecting part.

The first portion may be a protruding portion and positioned between the fixed fence and the autonomous driving device in the second direction.
With this safety fence, the opening/closing fence can be reliably opened. Since the first part as the protruding part is on the side of the automatic driving device, the end of the protruding part in the second direction moves downward from the top when the opening/closing fence is moved from the closed state to the open state. This is because there is little possibility of coming into contact with a falling object.

The safety fence may further comprise a biasing member that biases the first portion toward one side of the fixed fence in the second direction.
In this safety fence, the urging member prevents the open/close door from opening arbitrarily.

The opening/closing fence may have a side portion that is closer to the automatic operation device than the rotating shaft in the second direction and protrudes toward the support portion at the end portion in the first direction when the opening/closing fence is in the open state.
In this safety fence, by providing the opening/closing fence with the side portion, the operator is prevented from reaching further from the opening/closing door to the end side of the opening/closing fence in the first direction.

With the safety fence for an automatically operating device according to the present invention, a worker can pick up a fallen object inside the safety fence without stopping the automatically operating device.

FIG. 2 is a schematic front view of the crossbelt sorter and safety fence of the first embodiment; FIG. 2 is a schematic side view of the crossbelt sorter and safety fence of the first embodiment; FIG. 2 is a schematic front view of the crossbelt sorter and safety fence of the first embodiment; FIG. 2 is a schematic side view of the crossbelt sorter and safety fence of the first embodiment; FIG. 10 is a schematic front view of a crossbelt sorter and a safety fence according to the second embodiment; FIG. 10 is a schematic front view of a crossbelt sorter and a safety fence according to the second embodiment; The typical perspective view of a simple door. FIG. 11 is a schematic front view of a crossbelt sorter and a safety fence according to a third embodiment; FIG. 11 is a schematic front view of a crossbelt sorter and a safety fence according to a third embodiment;

1. First Embodiment A sorting conveyor system 1 will be described with reference to FIGS. 1 to 4. FIG. 1 and 3 are schematic front views of the crossbelt sorter and the safety fence of the first embodiment. 2 and 4 are schematic side views of the crossbelt sorter and the safety fence of the first embodiment.
The sorting conveyor system 1 has a cross belt sorter 3 (an example of an automatic operation device) which is a transport sorting device.
In the following description, the X direction (an example of the second direction) and the Y direction (an example of the first direction) that are orthogonal to each other are used as horizontal directions.

Around the cross belt sorter 3, a safety fence 21 for automatic operation equipment (hereinafter referred to as safety fence 21) is provided. The safety fence 21 is a fence for preventing workers from coming into contact with the crossbelt sorter 3 .
The crossbelt sorter 3 extends in the Y direction, and the safety fence 21 extends in the Y direction along the crossbelt sorter 3 . In the X direction, the inside of the safety fence 21 (right side in FIG. 1) is the fence inside, and the outside of the safety fence 21 (left side in FIG. 1) is the fence outside.

The safety fence 21 is supported by a support member (not shown, an example of a support) fixed to a floor F (an example of a support). A safety fence 21 is fixed to the floor surface F as a support, and the cross belt sorter 3 is provided. Further, the floor surface F has either one or both of the seismic isolation frame and the non-seismic isolation frame in whole or in part.
The safety fence 21 has a height of, for example, about 2 m, which a worker cannot pass through. The safety fence 21 consists of a mesh fence. A mesh fence is a grid-like member in which metal wires are arranged vertically and horizontally.
The above mesh fence is just an example. For example, mesh fences other than the grid shape, such as those with multiple vertical bars arranged on the horizontal bars at the top and bottom ends, and those with multiple horizontal bars arranged on the left and right pillars, are also available. Included in the mesh fence of the present invention. Moreover, even if it is a lattice shape, it may be a polygon other than a quadrangle such as a triangle or a hexagon instead of a quadrangle.

The safety fence 21 includes a fixed fence 23 (an example of a fixed fence) and a plurality of simple doors 25 (an example of an opening/closing fence).
The fixed fence 23 is fixed to a support member (not shown) and extends in the Y direction. A plurality of openings 23 a are provided in the lower portion of the fixed fence 23 . The opening 23a has a rectangular shape elongated in the lateral direction. The height dimension of the opening 23a is, for example, about 20 to 40 cm.
The shape and position of the opening are not particularly limited. Specifically, the fixed fence may have a gate shape with an opening at the bottom or a square shape with an opening above the floor surface.

The simple door 25 is a member for switching the opening 23a between an open state and a closed state. The simple door 25 extends in the Y direction and is supported by a portion of the fixed fence 23 corresponding to the opening 23a so as to open and close by rotating around a rotating shaft 29 parallel to the Y direction. . Specifically, the simple door 25 is supported by the lower portion of the fixed fence 23 that defines the upper portion of the opening 23a. The simple door does not need to be supported by the lower portion of the fixed fence, and may be supported at a position spaced downward from the lower portion of the fixed fence. That is, the simple door is provided in the middle of the opening in the vertical direction, and the openings are present above and below the simple door in the closed state. In this case, the load W can be taken from the lower opening, but the information opening is designed so that hands cannot be put into it.

The simple door 25 will be explained in more detail.
The simple door 25 has a main body 25a (an example of a second portion). The body 25a has a rectangular shape corresponding to the opening 23a. The main body 25a is rotatably connected to a portion corresponding to the opening 23a of the fixed fence 23 (specifically, the edge portion defining the upper portion of the opening 23a) at the end thereof about a rotation shaft 29. there is

It should be noted that the shape of the main body of the simple door need not correspond to the opening. For example, the main body of the simple door may be smaller than the opening if the operator's hand cannot enter when the simple door is closed. Also, the main body of the simple door may be larger than the opening as long as it does not interfere with the closed state.
As shown in FIGS. 1 and 2, the main body 25a is positioned parallel to and substantially coplanar with the safety fence 21 to close the opening 23a. On the other hand, as shown in FIGS. 3 and 4, the main body 25a has its lower portion extending outside the fence, thereby opening the opening 23a. As described above, the main body 25a does not overlap with the fixed fence 23 in the X-direction view in both the open state and the closed state.
The main body 25a functions as a handle for opening the simple door 25. As shown in FIG. As another embodiment, if the simple door does not have a mesh structure and is difficult to hold, a handle or the like may be provided to facilitate opening.

As described above, the main body 25a of the simple door 25 has its upper end rotatably fixed to the portion corresponding to the opening 23a of the fixed fence 23, and rotates to the outside of the safety fence 21 to open the opening 23a. can be opened.
2, the safety fence 21 has a plurality of hinges 27 as a structure for rotatably connecting the simple door 25 to the fixed fence 23 as described above.

The simple door 25 has an integrated extension portion 25b (first portion, an example of a projecting portion) extending from the pivot shaft 29 into the safety fence 21 . The extension part 25b is a member for ensuring the safety of the worker who picks up the fallen load W when the simple door 25 is opened. It should be noted that ensuring safety specifically means preventing the operator from touching the crossbelt sorter 3 even if the operator extends his/her arm (obstructing further entry of the operator's arm).
The extension 25b is integrally formed from the main body 25a and has the same mesh structure. The extension 25b is rectangular like the body 25a. However, the extension need not be rectangular.
The size of the extension is not particularly limited as long as it is large enough not to interfere with the opening and closing of the adjacent simple door and is large enough not to touch the crossbelt sorter 3 with the operator's hand in the open state. .

As shown in FIGS. 1 and 2, when the simple door 25 is closed, the extended portion 25b is positioned parallel to the fixed fence 23 and substantially on the same plane as viewed in the Y direction. Moreover, when the simple door 25 is closed, the extended portion 25b overlaps the fixed fence 23 as viewed in the X direction. Furthermore, as shown in FIGS. 3 and 4, when the simple door 25 is open, the extension part 25b is perpendicular to the fixed fence 23 when viewed in the Y direction, and projects from the fixed fence 23 side toward the cross belt sorter 3 side. do. In other words, the extension 25b extends inside the fence at the height of the upper portion of the opening 23a, thereby forming a safe first space S1 for the crossbelt sorter 3 inside the fence of the opening 23a. In FIG. 3, the X-direction length of the extended portion 25b is, for example, about 15 to 30 cm.
In addition, in the open state of the simple door 25, the main body 25a forms the second space S2 outside the fence. In FIG. 3, the X-direction length of the main body 25a is, for example, about 20 to 40 cm.

More specifically, the extension 25b is arranged between the fixed fence 23 and the cross belt sorter 3 in the X direction. In this case, the simple door 25 can be reliably opened. That is, since the extended portion 25b as a projecting portion is located on the side of the cross belt sorter 3, the end portion of the extended portion 25b in the X direction moves downward when the simple door 25 is moved from the closed state to the open state. This is because the extension 25b is less likely to come into contact with the load W.

As described above, with the safety fence 21, when the load W falls from the crossbelt sorter 3, the worker can take the load W by opening the simple door 25 near the load W. can. Specifically, a worker can take out a load to the outside of the fence by putting an arm, a stick, or the like into the second space S2 and the first space S1 from the outside of the fence. In other words, the worker does not have to enter the safety fence 21 through a worker access door (not shown) provided on the fixed fence 23 .
As a result, it is not necessary to stop the cross belt sorter 3 . That is, the load W within the safety fence 21 can be easily obtained without stopping the crossbelt sorter 3 .

Further, the extended portion 25b of the simple door 25 prevents the operator from touching the crossbelt sorter 3. As shown in FIG.
The simple door 25 is normally kept closed. Therefore, a magnet 30 (an example of a biasing member) is provided to bias the main body 25a toward one side surface of the fixed fence 23 in the X direction. In addition, the magnet 30 prevents the simple door 25 from being opened at a timing not intended by the operator.

2. 2nd Embodiment In 1st Embodiment, although the extension part 25b of the simple door 25 was a flat shape, you may improve safety by having a three-dimensional shape.
Such an example will be described as a second embodiment with reference to FIGS. 5 to 7. FIG. FIG. 5 is a schematic front view of the crossbelt sorter and the safety fence of the second embodiment. FIG. 6 is a schematic front view of the crossbelt sorter and the safety fence of the second embodiment. FIG. 7 is a schematic perspective view of a simple door.
Since the basic structure is the same as that of the first embodiment, different points will be mainly described.

The simple door 25 has a main body 25a, an extension portion 25b, and side portions 25c. The side portion 25c is formed at the Y-direction end of the extension portion 25b from the tip to the intermediate portion. Note that the intermediate portion of the extension portion 25b is a portion between the tip of the extension portion 25b and the rotation shaft 29 in the X direction. The side portion 25c is a portion that is bent at right angles from the Y-direction end portion of the extension portion 25b. 6 and 7, when the simple door 25 is open, the side portion 25c is closer to the cross belt sorter 3 than the rotating shaft 29 in the X direction and projects toward the floor surface F. ing.
In this case, by providing the side portion 25 c to the simple door 25 , the operator cannot reach beyond the simple door 25 toward the end portion side of the simple door 25 in the Y direction. In other words, workers are less likely to touch the cross belt sorter 3, and safety is further enhanced.
The shape and position of the side portion are not particularly limited. Also, the bending angle of the side portion is not particularly limited.

3. Third Embodiment In the first embodiment, the simple door 25 was kept closed by a magnet, but may be kept closed by other means.
Such an example will be described as a third embodiment with reference to FIGS. 8 and 9. FIG. FIG. 8 is a schematic front view of the crossbelt sorter and safety fence of the third embodiment. FIG. 9 is a schematic front view of the crossbelt sorter and the safety fence of the third embodiment.
Since the basic structure is the same as that of the first embodiment, different points will be mainly described.

The safety fence 21 further includes a tension spring 31 (an example of a biasing member). The tension spring 31 urges the extension 25b toward one side surface of the fixed fence 23 in the X direction. Thereby, as shown in FIG. 8, the simple door 25 maintains the closed state. That is, the simple door 25 is prevented from opening without permission.
Furthermore, the tension spring 31 allows the opening and closing direction of the simple door 25 to be set in one direction.
The type of spring as the biasing member is not limited. The biasing member may be an elastic member such as rubber.

4. Common Matters of Embodiments The first to third embodiments have the following configurations and functions in common.
The safety fence for automatic operation equipment (for example, safety fence 21) is arranged around the automatic operation equipment (for example, cross belt sorter 3), and includes a fixed fence (for example, fixed fence 23) and an opening/closing fence. (For example, a simple door 25).
The fixed fence is fixed to a support (for example, floor surface F) and extends in a first horizontal direction (for example, Y direction). The fixed fence has an opening (for example, opening 23a).
The open/close fence extends in the first direction, and rotates around a rotation axis (for example, a rotation axis 29) parallel to the first direction to open and close the opening of the fixed fence. supported by the part corresponding to
When the opening/closing fence is in an open state in which the fixed fence and the opening/closing fence are perpendicular to each other when viewed in the first direction (for example, FIGS. 3, 4, 6 and 9), the opening/closing fence protrudes from the fixed fence side toward the automatic driving device side. It has a portion (eg extension 25b).

With this safety fence, when a load (for example, a load W) falls from an automatic driving device, a worker can pick up the load by opening the opening/closing fence in the vicinity of the fallen object. In other words, the worker does not have to enter the safety fence through the worker access door provided on the fixed fence. As a result, there is no need to stop the automated driving equipment.
Furthermore, the protruding part of the opening/closing fence prevents the operator from touching the automatic operation equipment.

5. Other Embodiments Although a plurality of embodiments of the present invention have been described above, the present invention is not limited to the above embodiments, and various modifications are possible without departing from the gist of the invention. In particular, multiple embodiments and modifications described herein can be arbitrarily combined as needed.
In the first embodiment, multiple simple doors are spaced apart from each other, but multiple simple doors may be provided continuously or close to each other.
The safety fence may be composed of at least a part or the whole of a transparent plate other than the mesh fence. Also in this case, it is possible to know from the outside of the fence that the load has fallen. In that case, specifically, part of the simple door and/or fixed fence may be a transparent member.
The simple door may have a structure that opens only to the open state of the first embodiment, for example, by providing a hinge structure or a member that regulates the opening/closing direction. Furthermore, the main body may be made heavier than the extension so that the closed state can be maintained.

Also, a mechanism such as a cylinder may be provided to keep the simple door open.
Furthermore, the structure may be such that the simple door is kept closed by the magnet, and when the simple door is removed from the magnet by the operator, the simple door is kept open by a spring that biases in the direction opposite to the magnet. In this case, it is necessary to provide a member for regulating the opening/closing angle of the simple door. For example, a wire can be used to maintain an open state or maintain an angle.

For example, a stopper may be provided to restrict the opening and closing direction of the simple door in one direction from the closed state. In this case, for example, the stopper has a stepped structure in order to regulate the opening/closing direction without interfering with the closed state. As another example, the opening and closing direction may be regulated by a hinge structure.
The opening and the simple door may be provided at locations other than the bottom of the safety fence (near the floor surface). For example, if it is predicted that the load will fall not at the support but at another location due to the structure inside the fence, an opening and a simple door may be provided at the predicted drop position.

You may combine 2nd Embodiment and 3rd Embodiment.
The arrangement position and the number of simple doors are not particularly limited. However, it is highly effective if the simple door is provided in correspondence with, for example, the curved portion of the conveying route where the load is likely to fall from the device.
In the closed state of the simple door, the extension part may be arranged outside the fixed fence.

The rotating structure of the simple door is not limited to the structure of the first embodiment. For example, the simple door may have an L-shaped structure that folds around a rotation axis like the mouth of a post. In this case, a stopper is provided to prevent the simple door from being pulled forward.
The simple door may be rotatably connected to the fixed fence by a comb tooth structure. In this case, the opening also has comb teeth.
The automatically operating device may be an automatically traveling device such as a stacker crane or a transport vehicle, or may be an automatic transport device such as another conveyor device. Other than the cross belt sorter, a tilt tray sorter may be used. In the tilt tray sorter, trays are transported and the loads are discharged by tilting the trays.

INDUSTRIAL APPLICABILITY The present invention can be widely applied to safety fences for automatic driving equipment.

1: Sorting conveyor system 3: Cross belt sorter 21: Safety fence for automatic driving equipment 23: Fixed fence 23a: Opening 25: Simple door 25a: Main body 25b: Extension 25c: Side part 27: Hinge 29: Rotating shaft F : Floor W : Load

Claims (5)

A safety fence for an automatic driving device arranged around the automatic driving device,
a fixed fence fixed to the bearing, extending in a first horizontal direction and having an opening;
Opening and closing supported by a portion of the fixed fence corresponding to the opening so as to open and close the opening by rotating around a rotation axis extending in a first direction and parallel to the first direction fence and
with
The opening/closing fence has a protruding portion that projects from the fixed fence side toward the automatic operation device side when the fixed fence and the opening/closing fence are in an open state in which the fixed fence and the opening/closing fence are perpendicular when viewed from the first direction,
When the opening/closing fence is in a closed state in which the fixed fence and the opening/closing fence are parallel when viewed in the first direction,
A safety fence for an automatic driving device, having a first portion that overlaps with the fixed fence and a second portion that does not overlap with the fixed fence when viewed in a second direction perpendicular to the first direction in the horizontal direction. The safety fence for automatic operation equipment according to claim 1 , wherein the first portion is the projecting portion and is arranged between the fixed fence and the automatic operation equipment in the second direction. The safety fence for automatic driving equipment according to claim 1 or 2 , further comprising a biasing member that biases the first portion toward one side surface of the fixed fence in the second direction. Claims 1 to 3, wherein the opening/closing fence has a side portion protruding toward the support portion at an end portion in the first direction when the opening/closing fence is in an open state, the side portion being closer to the automatic operation device than the rotating shaft in the second direction. Safety fence for automatic driving equipment according to any one of. A safety fence for an automatic driving device arranged around the automatic driving device,
a fixed fence fixed to the bearing, extending in a first horizontal direction and having an opening;
Opening and closing supported by a portion of the fixed fence corresponding to the opening so as to open and close the opening by rotating around a rotation axis extending in a first direction and parallel to the first direction fence and
with
The opening/closing fence has a protruding portion that projects from the fixed fence side toward the automatic operation device side when the fixed fence and the opening/closing fence are in an open state in which the fixed fence and the opening/closing fence are perpendicular when viewed from the first direction,
When the opening/closing fence is in the open state, the safety for automatic driving equipment has a side part that is closer to the automatic driving equipment than the rotating shaft in the second direction and that protrudes to the support side at the end part in the first direction. fence.

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