JPH0556811U - Shelf structure in automated warehouse - Google Patents

Abstract

(57) [Summary] [Purpose] To determine the stop position of the elevator in the traveling direction in response to the distortion of the shelves. [Structure] The lifting platform 2 of the stacker crane 1 travels in front of the shelf 5. The cantilever 8 on which the article W is placed is composed of a first square pipe 9 and a second square pipe 10.
A cap 11 is fitted in the opening at the end of the. Since the end surface of the cap 11 is a light reflecting surface and reflects the optical axis L emitted by the photoelectric sensors 12, 12 provided on the lifting table 2, the stop position can be detected by detecting the cap 11.

Description

[Detailed description of the device]

[0001]

[Industrial application]

 The present invention relates to a rack structure of an automatic warehouse that can accurately determine a stop position in a traveling direction of a stacker crane of the automatic warehouse.

[0002]

[Prior Art]

 Stacker cranes, which perform loading and unloading operations in automated warehouses, travel and ascend and descend in front of the openings of multiple shelves arranged in a matrix of shelves. The stacker crane lift is equipped with a fork to transfer articles to and from the shelves. When delivering goods, stop the elevating table at an accurate position with respect to the shelf that is going to be delivered, and avoid an accident such as an extended fork colliding with a member that constitutes the shelf. We must be able to carry out the delivery work without any occurrence. In order to control the positioning of this traveling / elevation, a plurality of shielding plates are provided on the floor surface and on the mast of the stacker crane, and the optical sensor provided on the stacker crane side detects the shielding plate, etc. The reference position of was detected.

[0003]

[Problems to be solved by the device]

 According to the method of determining the traveling stop position based on the position of the shielding plate arranged on the floor surface, there is no problem if the shelves are lined up correctly, but in reality, due to the inclination of the columns, Is distorted. Due to the inclination of the columns, the positions of the front shelves of the lower shelves and the front shelves of the upper shelves are considerably displaced along the traveling direction of the stacker crane. Therefore, the traveling stop positions of the stacker cranes must be changed between the lower shelves and the upper shelves, and when the automatic warehouse is installed, the stacker cranes are manually stopped to stop at the shelving positions for all shelves. Initialization work was required to make the device remember the stop position. This initial setting work was very dangerous because it took time and labor and a person climbed up a high shelf to work.

Therefore, an object of the present invention is to provide a shelf structure of an automatic warehouse having a structure capable of stopping a stacker crane at an accurate position in response to a distortion of a shelf without requiring a troublesome initial setting work. is there.

[0005]

[Means for Solving the Problems]

 In order to achieve the above object, the present invention provides a structure in which a first rectangular pipe extending horizontally to a side of an upright prism and a first rectangular pipe extending in the same direction in a set of prisms are bridged to each other. The second square pipe includes a cantilever, and the open end of the second square pipe facing the traveling path of the stacker crane has a surface that reflects the optical axis emitted by the reflective photoelectric sensor provided on the stacker crane side. The automated warehouse shelving structure was constructed by covering the cap with the.

[0006]

[Action]

 Since the present invention has the above-mentioned configuration, it has the following effects.

In the shelf structure of the automated warehouse according to the present invention, the opening end of the second square pipe forming the cantilever is covered with a cap. This cap is covered for safety and aesthetic purposes, but it also has a light-reflecting surface to reflect the optical axis emitted by the reflective photoelectric sensor on the stacker crane side. , Detects the position of the stacker crane in the traveling direction.

[0008]

【Example】

 The illustrated embodiment will be described below.

1 and 2 are a plan view and a front view showing a part of an automated warehouse to which an embodiment of the shelf structure of the automated warehouse according to the present invention is applied, respectively.

In FIG. 1, the stacker crane 1 travels in the left-right direction as viewed in FIG. 1, and the lifting platform 2 moves up and down along the masts 3, 3. The elevating table 2 is provided with a fork 4 for delivering articles. The shelf 5 is composed of a plurality of pillars 6 and 7 and a plurality of canches 8 bridged between a set of prisms 6 and 7 in the front and rear view of FIG. Adjacent canches 8 and 8 form a shelf on which an article W is placed, and a space is provided between the canches 8 and 8 so that the forks 4 can scoop the article W from below. There is.

The cantilever 8 is arranged in the same direction as the first square pipes 9 and 9 fixed to the opposite side surfaces of the front and rear prisms 6 and 7 so as to have a horizontal posture and the front and rear prisms 6 and 7, respectively. The first rectangular pipes 9, and the second rectangular pipes 10, 10 that are installed at the ends of the nine pipes. The second square pipes 10 and 10 extend beyond the attachment portion 2 to which the first square pipes 9 and 9 are attached. Since the ends of the second square pipes 10 and 10 are open, a cap 11 is fitted at each end for ensuring safety and improving aesthetics. The end surface of the cap 11 is a reflective surface that reflects light.

Reflection-type photoelectric sensors 12, 12 are attached to the lift table 2 with a space therebetween, and each emits an optical axis L. The distance between the two is substantially the same as the distance between the caps 11, 11. Since the optical axis L is reflected by the end surface of the cap 11, the photoelectric sensors 12 and 12 can detect the cap 11. The photoelectric sensors 12 and 12 are respectively connected to the control device (not shown) of the stacker crane 1.

According to this structure, when the photoelectric sensors 12, 12 simultaneously detect the caps 11, 11, the fork 4 is located between the canches 8, 8 and is in a position where the articles W can be delivered. Since it is arranged, it is possible to detect the stop position of the lifting platform 2 in the horizontal direction.

By detecting the caps 11 and 11 in this way, the positions of the canches 8 and 8 are directly detected. Therefore, even if the tray 5 is distorted due to the inclination of the prisms 6 and 7, The lifting platform 2 can be stopped at the correct transfer position with respect to the cantilevers 8.

Although the embodiment of the present invention has been described above, it is needless to say that the present invention is not limited to the above embodiment and can be appropriately modified within the scope of the gist of the present invention.

For example, in the illustrated embodiment, two photoelectric sensors 12 are provided at intervals, but even one photoelectric sensor 12 can be positioned.

[0018]

[Effect of the device]

 As described above, according to the shelf structure of the automatic warehouse according to the present invention, the cap fitted in the second corner pipe of the canch is detected, so that the fork position is properly determined according to the distortion of the shelf, It is possible to prevent an accident in which the fork collides with a member forming the shelves and to reliably perform the transfer operation. Therefore, a troublesome initial setting is not required, and manpower and time can be saved.

[Brief description of drawings]

FIG. 1 is a plan view showing a part of an automated warehouse to which an embodiment of the shelf structure of the automated warehouse according to the present invention is applied.

FIG. 2 is a front view showing the automated warehouse shown in FIG.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Stacker crane 2 Elevating table 4 Fork 5 Shelf 6, 7 Each pillar 8 Cantilever 9 1st square pipe 10 2nd square pipe 11 Cap 12, 12 Photoelectric sensor W Article L Optical axis

Claims (1)

[Scope of utility model registration request] 1. A first square pipe extending horizontally to the side of an upright prism, and a second square pipe spanning the ends of the first square pipes extending in the same direction of a set of prisms. Including the cantilever consisting of, the opening end of the second square pipe facing the traveling path of the stacker crane is covered with a cap having a surface that reflects the optical axis emitted by the reflective photoelectric sensor provided on the stacker crane side. Characteristic automated warehouse shelf structure.