JPH0577563B2 - - Google Patents
Info
- Publication number
- JPH0577563B2 JPH0577563B2 JP62185890A JP18589087A JPH0577563B2 JP H0577563 B2 JPH0577563 B2 JP H0577563B2 JP 62185890 A JP62185890 A JP 62185890A JP 18589087 A JP18589087 A JP 18589087A JP H0577563 B2 JPH0577563 B2 JP H0577563B2
- Authority
- JP
- Japan
- Prior art keywords
- light
- photoelectric switch
- receiver
- detection device
- obstacle detection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 238000001514 detection method Methods 0.000 claims description 34
- 230000005540 biological transmission Effects 0.000 claims description 2
- 108091008695 photoreceptors Proteins 0.000 claims description 2
- 230000003287 optical effect Effects 0.000 description 9
- 230000000903 blocking effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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Description
【発明の詳細な説明】
（産業上の利用分野）
本発明は、例えば回転棚の物品出し入れ口に設
置して、内部のトレーが回転するときに前記物品
出し入れ口に作業者の手や物品等の障害物がある
か否かを検出させ、障害物がなければトレーの回
転を開始させるように使用することの出来る障害
物検出装置、特に複数組の透過形光電スイツチを
適当間隔置きに並設した障害物検出装置に関する
ものである。DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention can be installed, for example, at an article loading/unloading port of a rotating shelf, so that when an internal tray rotates, a worker's hand or an article, etc. Obstacle detection device that can be used to detect whether or not there is an obstacle and to start rotating the tray if there is no obstacle, especially multiple sets of transmission type photoelectric switches arranged in parallel at appropriate intervals. This invention relates to an obstacle detection device.
（従来の技術及びその問題点）
前記のような障害物検出装置を構成する各透過
形光電スイツチは投光器と受光器との組み合わせ
から成り、投光器から受光器に入射している光線
を障害物が遮つたとき、当該受光器の出力端が
ON状態からOFF状態に変化するものである。然
して従来のこの種の障害物検出装置では、各光電
スイツチの受光器出力端各々にリレーを接続し、
各リレーのON，OFF信号をマイクロコンピユー
ター等の制御装置に入力していた。(Prior art and its problems) Each transmission-type photoelectric switch constituting the above-mentioned obstacle detection device consists of a combination of a light emitter and a light receiver. When interrupted, the output end of the receiver
It changes from ON state to OFF state. However, in this type of conventional obstacle detection device, a relay is connected to each photoreceiver output end of each photoelectric switch.
The ON/OFF signals of each relay were input to a control device such as a microcomputer.
このような従来の構成では、光電スイツチと同
一数のリレーが必要であるばかりでなく、前記制
御装置との接続配線数が多いため、コスト高にな
る欠点があつた。 Such a conventional configuration not only requires the same number of relays as photoelectric switches, but also requires a large number of wiring lines to connect to the control device, resulting in high costs.
（問題点を解決するための手段）
本発明は上記のような従来の問題点を解決し得
る障害物検出装置を提案するものであつて、その
特徴は、各光電スイツチの受光器と次段の光電ス
イツチの投光器とを、前記受光器の受光時に前記
投光器が点灯するように接続し、最終段の光電ス
イツチの受光器の出力端をこの障害物検出装置全
体の検出出力端とした点にある。(Means for Solving the Problems) The present invention proposes an obstacle detection device capable of solving the conventional problems as described above. The light emitter of the photoelectric switch is connected so that the light emitter lights up when the light receiver receives light, and the output end of the light receiver of the final stage photoelectric switch is made the detection output end of the entire obstacle detection device. be.
（発明の作用）
各光電スイツチに於ける投光器と受光器との間
の光線路を遮断する障害物がない場合は、第１段
目の光電スイツチに於ける受光器が投光器からの
光線を受けて次段の光電スイツチに於ける投光器
を点灯させる。従つてこの投光器からの光線を受
ける受光器は更に次の段の光電スイツチに於ける
投光器を点灯させる。以下、同様に次々と各段光
電スイツチの投光器が点灯し、最終段の光電スイ
ツチの受光器が受光状態となつて当該受光器の出
力端がON状態となる。即ち、最終段の光電スイ
ツチに於ける受光器がON状態となることから、
各光電スイツチに於ける投光器と受光器との間の
光線路の全てが障害物で遮断されていない状態が
検出される。(Operation of the invention) If there is no obstacle blocking the optical path between the emitter and the receiver in each photoelectric switch, the receiver in the first stage photoelectric switch receives the light from the emitter. and lights up the floodlight in the next stage photoelectric switch. Therefore, the light receiver receiving the light beam from the light emitter lights up the light emitter in the photoelectric switch in the next stage. Thereafter, the light emitters of the photoelectric switches at each stage are turned on one after another in the same manner, and the light receiver of the photoelectric switch at the final stage enters the light receiving state, and the output end of the light receiver becomes the ON state. In other words, since the photodetector in the final stage photoelectric switch is in the ON state,
A state in which all of the optical paths between the light projector and the light receiver in each photoelectric switch are not blocked by an obstacle is detected.
前記各段光電スイツチに於ける光線路の一つで
も障害物によつて遮断されると、当該光線路の受
光器が非受光状態となり、次段の光電スイツチに
於ける投光器が消灯する。従つて当該光電スイツ
チに於ける受光器が非受光状態となり、更に次段
の光電スイツチの投光器が消灯する。以下、同様
に次々と各段光電スイツチの投光器が消灯し、最
終段の光電スイツチに於ける受光器が非受光状態
となつて当該受光器の出力端がOFF状態となる。
即ち、最終段の光電スイツチに於ける受光器が
OFF状態となることから、各光電スイツチに於
ける投光器と受光器との間の光線路の少なくとも
一つが障害物で遮断されたことが検出される。 If even one of the optical paths in each of the photoelectric switches is interrupted by an obstacle, the light receiver of the optical path becomes non-receiving, and the light emitter in the next photoelectric switch is turned off. Therefore, the light receiver in the photoelectric switch is in a non-light receiving state, and the light emitter of the next photoelectric switch is turned off. Thereafter, the light emitters of the photoelectric switches at each stage are turned off one after another in the same manner, and the light receiver in the photoelectric switch at the final stage enters the non-light receiving state, and the output end of the light receiver becomes OFF.
In other words, the photodetector in the final stage photoelectric switch
Since it is in the OFF state, it is detected that at least one of the optical paths between the light projector and the light receiver in each photoelectric switch is blocked by an obstacle.
従つて、この障害物検出装置の検出結果をマイ
クロコンピユーター等の制御装置に入力する場
合、光電スイツチの段数が多くとも、最終段の光
電スイツチに於ける唯一つの受光器の出力端のみ
を制御装置に接続すれば良い。 Therefore, when inputting the detection results of this obstacle detection device to a control device such as a microcomputer, even if there are many stages of photoelectric switches, only the output end of the only photoreceiver in the final stage photoelectric switch is input to the control device. All you have to do is connect to .
（実施例）
以下に本発明の一実施例を添付の例示図に基づ
いて説明する。(Example) An example of the present invention will be described below based on the attached illustrative drawings.
第１図及び第２図に示すように一般的な垂直循
環回転棚１は、ケーシング２内に設けられた垂直
循環経路３を回動する多数のトレー４を備えてい
る。各トレー４は周知のように駆動チエン５に等
間隔置きに連結され、当該駆動チエン５が駆動歯
輪６によつて回動せしめられることにより、前記
垂直循環経路３を回動する。７は遊転歯輪、８は
駆動歯輪６を駆動するモーターである。前記ケー
シング２の正面には開閉自在なシヤツター９と作
業台１０とを備えた物品出し入れ口１１が設けら
れており、この物品出し入れ口１１に呼び出され
た特定のトレー４に対し作業者が前記物品出し入
れ口１１を通じて物品を出し入れすることが出来
る。 As shown in FIGS. 1 and 2, a general vertical circulation carousel 1 includes a large number of trays 4 that rotate in a vertical circulation path 3 provided in a casing 2. As is well known, each tray 4 is connected to a drive chain 5 at regular intervals, and the drive chain 5 is rotated by a drive toothed wheel 6, thereby rotating the vertical circulation path 3. Reference numeral 7 indicates an idle gear wheel, and reference numeral 8 indicates a motor that drives the driving gear wheel 6. At the front of the casing 2, there is provided an article loading/unloading port 11 having a shutter 9 that can be opened and closed and a work table 10. Articles can be taken in and out through the loading/unloading port 11.
第３図に示すように前記物品出し入れ口１１の
上側でケーシング２の外側には、当該物品出し入
れ口１１に呼び出されたトレー４の各区間４ａ〜
４ｅに対応して、物品取り出し区画を作業者に指
示する作業指示灯１２ａ〜１２ｅと、各作業指示
灯１２ａ〜１２ｅと対を成す作業完了押し釦スイ
ツチ１３ａ〜１３ｅとが付設されている。又、前
記物品出し入れ口１１の左右両側辺には、本発明
による障害物検出装置１４が付設されている。 As shown in FIG. 3, above the article loading/unloading port 11 and outside the casing 2, each section 4a to 4 of the tray 4 called out to the article loading/unloading port 11 is provided.
4e, there are provided work indicator lights 12a to 12e for instructing the worker on the article removal section, and work completion push button switches 13a to 13e that form pairs with each of the work indicator lights 12a to 12e. Further, on both left and right sides of the article loading/unloading port 11, obstacle detection devices 14 according to the present invention are attached.
前記障害物検出装置１４は、物品出し入れ口１
１の高さ方向に等間隔置きに配設された複数組の
光電スイツチ１５1〜１５oを有する。第４図に示
すように各光電スイツチ１５1〜１５oは、物品出
し入れ口１１の一側辺に位置する投光器１６1〜
１６oと物品出し入れ口１１の他側辺に於いて前
記投光器１６1〜１６oに対向する受光器１７1〜
１７oとから構成されている。この実施例では後
述の接続配線を短くするために、投光器と受光器
とを各段毎に左右逆配置としている。 The obstacle detection device 14 is connected to the article loading/unloading port 1
It has a plurality of sets of photoelectric switches 15 1 to 15 o arranged at equal intervals in the height direction of the switch 1 . As shown in FIG. 4, each photoelectric switch 15 1 to 15 o is connected to a light projector 16 1 to 16 located on one side of the article loading/unloading port 11.
16 o and the light receivers 17 1 - facing the light emitters 16 1 - 16 o on the other side of the article loading/unloading port 11
It consists of 17 o . In this embodiment, in order to shorten the connection wiring to be described later, the light projector and the light receiver are arranged with the right and left reversed in each stage.
第１段目の光電スイツチ１５1の投光器１６1と
各光電スイツチ１５1〜１５oの受光器１７1〜１
７oとは、各々の電源入力端ｎ，ｐを電源端子Ｎ
極（0V）とＰ極（24V）とに接続し、第２段目
以下の投光器１６2〜１６oは、その電源入力端ｎ
を前段の光電スイツチ１５1〜１５o-1の受光器１
７1〜１７o-1の出力端（受光時に電源入力端ｎに
導通する）opに接続すると共に、電源入力端ｐ
を前記電源端子Ｐ極に接続している。そして最終
段の光電スイツチ１５oに於ける投光器１７oの出
力端opをこの障害物検出装置１４としての検出
信号出力端子OPに接続している。１８は前記検
出信号出力端子OPから検出信号を入力するシス
テムコントローラー（マイクロコンピユーター利
用の制御装置）であり、１９は前記トレー４を循
環駆動するモーター８を制御するモーターコント
ローラーであつて、前記システムコントローラー
１８によつて制御される。 Emitter 16 1 of the first stage photoelectric switch 15 1 and receiver 17 1 of each photoelectric switch 15 1 to 15 o
7 o means that each power input terminal n, p is connected to the power supply terminal N.
pole (0V) and P pole (24V), and the second stage and lower floodlights 16 2 to 16 o are connected to their power input terminal n.
The front photoelectric switch 15 1 ~ 15 o-1 photoreceiver 1
7 1 to 17 o-1 output terminal (conducts to power input terminal n when receiving light) and connects to power input terminal p
is connected to the power terminal P pole. The output end OP of the light projector 17o in the final stage photoelectric switch 15o is connected to the detection signal output terminal OP as the obstacle detection device 14. 18 is a system controller (control device using a microcomputer) that inputs a detection signal from the detection signal output terminal OP; 19 is a motor controller that controls the motor 8 that circulates the tray 4; 18.
上記のように構成された障害物検出装置１４に
於いては、電源投入により第１段目の光電スイツ
チ１５1の投光器１６1は常時点灯し、この投光器
１６1の光線を受けた受光器１７1の出力端opが電
源入力端ｎと導通するため、当該受光器１７1を
通じて次段の光電スイツチ１５2に於ける投光器
１６2に電源電圧が印荷され、点灯する。この投
光器１６2の光線は対向する受光器１７2に入射
し、当該受光器１７2の出力端opが電源入力端ｎ
と導通するため、この受光器１７2を通じて次段
の光電スイツチ１５3に於ける投光器１６3に電源
電圧が印荷され、点灯する。以下同様に、次々と
光電スイツチの投光器が点灯し、最終段の光電ス
イツチ１５oの投光器１６oが点灯することによ
り、当該光電スイツチ１５oに於ける受光器１７o
の出力端opが電源入力端ｎと導通するON状態に
なり、検出信号出力端子OPが電源端子Ｎ極と導
通するON状態になる。 In the obstacle detection device 14 configured as described above, when the power is turned on, the light emitter 16 1 of the first stage photoelectric switch 15 1 is always turned on, and the light receiver 17 receives the light from the light emitter 16 1 . Since the output terminal OP of 1 is electrically connected to the power supply input terminal n, a power supply voltage is applied to the light emitter 16 2 of the next-stage photoelectric switch 15 2 through the light receiver 17 1 and the light is turned on. The light beam from the light emitter 16 2 enters the opposing light receiver 17 2 , and the output terminal OP of the light receiver 17 2 is connected to the power input terminal n.
Therefore, a power supply voltage is applied to the light projector 16 3 in the next stage photoelectric switch 15 3 through this light receiver 17 2 and the light is turned on. Similarly, the light emitters of the photoelectric switches are turned on one after another, and the light emitter 16 o of the photoelectric switch 15 o at the final stage is turned on, so that the light receiver 17 o of the photoelectric switch 15 o is lit.
The output terminal OP of is in an ON state in conduction with the power supply input terminal n, and the detection signal output terminal OP is in an ON state in conduction with the power supply terminal N pole.
若し光電スイツチ１５1〜１５oの内、少なくと
も一つの光電スイツチ、例えば光電スイツチ１５
２に於ける投光器１６2から受光器１７2に至る光
線路が障害物によつて遮断されると、当該受光器
１７2の出力端opはOFF（電源入力端ｎとは切り
離される）状態となり、従つて次段の光電スイツ
チ１５3に於ける投光器１６3には電源電圧が供給
されず、消灯する。この結果、光電スイツチ１５
３に於ける受光器１７3の出力端opがOFF状態とな
り、以下同様に次々と各段光電スイツチの投光器
が消灯し、最終段の光電スイツチ１５oの受光器
１７oの出力端opがOFF状態となり、検出信号出
力端子OPが電源端子Ｎ極から切り離されたOFF
状態となる。 If at least one photoelectric switch among the photoelectric switches 15 1 to 15 o , for example, the photoelectric switch 15
When the optical path from the emitter 16 2 to the receiver 17 2 in 2 is interrupted by an obstacle, the output terminal op of the receiver 17 2 becomes OFF (disconnected from the power input terminal n). Therefore, the power supply voltage is not supplied to the projector 16 3 of the photoelectric switch 15 3 in the next stage, and the light is turned off. As a result, the photoelectric switch 15
The output terminal OP of the optical receiver 17 3 in 3 is turned OFF, and the emitters of the photoelectric switches at each stage are turned off one after another in the same manner, and the output terminal OP of the optical receiver 17 o of the final stage photoelectric switch 15 o is OFF. state, and the detection signal output terminal OP is disconnected from the power supply terminal N pole.
state.
システムコントローラー１８は、設定された特
定のトレー４を物品出し入れ口１１に呼び出すよ
うにモーターコントローラー１９を介してモータ
ー８を駆動すると共に、呼び出されたトレー４の
出荷区画を作業指示灯１２ａ〜１２ｅの点灯によ
り作業者に指示する。作業者は、物品出し入れ口
１１に呼び出されたトレー４の各区画４ａ〜４ｅ
の内、択一的に点灯する作業指示灯１２ａ〜１２
ｅが指示する区画から所定の物品を所定個数取り
出す作業を行う。当該作業の後、作業完了押し釦
スイツチ１３ａ〜１３ｅの内、点灯している作業
指示灯と対を成すスイツチを押すことになるが、
このとき前記のように、物品出し入れ口１１に於
ける障害物検出装置１４の上下複数段の光線路の
一つでも作業者の手や物品等によつて遮られる
と、検出信号出力端子OPがOFF状態に切り換わ
るので、作業完了押し釦スイツチ１３ａ〜１３ｅ
が押されたときに前記障害物検出装置１４の検出
信号出力端OPのON，OFF状態をシステムコン
トローラー１８に於いてチエツクさせ、ON状態
であるときのみ、次の入出庫作業対象のトレー４
を物品出し入れ口１１に呼び出すべくモーターコ
ントローラー１９を介してモーター８を駆動さ
せ、トレー４を垂直循環経路３に於いて回動させ
る。即ち、物品出し入れ口１１の内側でトレー４
が回動しても安全であるか否かを障害物検出装置
１４によりチエツクさせることが出来る。 The system controller 18 drives the motor 8 via the motor controller 19 to call the set specific tray 4 to the article loading/unloading port 11, and also controls the shipping section of the called tray 4 by using the work instruction lights 12a to 12e. Instruct workers by lighting. The worker enters each compartment 4a to 4e of the tray 4 called to the article loading/unloading port 11.
Work instruction lights 12a to 12 that are selectively lit among the
A task is performed to take out a predetermined number of predetermined items from the compartment indicated by e. After the work is completed, one of the work completion push button switches 13a to 13e that is paired with the lit work instruction light is pressed.
At this time, as described above, if one of the upper and lower optical paths of the obstacle detection device 14 at the article loading/unloading port 11 is blocked by the worker's hand or article, the detection signal output terminal OP The work complete push button switches 13a to 13e are switched to the OFF state.
When is pressed, the system controller 18 checks the ON/OFF state of the detection signal output terminal OP of the obstacle detection device 14, and only when it is in the ON state, the tray 4 for the next loading/unloading operation is checked.
The motor 8 is driven via the motor controller 19 to call the article to the article loading/unloading port 11, and the tray 4 is rotated in the vertical circulation path 3. That is, the tray 4 inside the article loading/unloading port 11
The obstacle detection device 14 can check whether it is safe to rotate.
（発明の効果）
以上のように活用し得る本発明の障害物検出装
置によれば、光電スイツチの使用個数が如何に多
くとも、最終段の光電スイツチに於ける受光器の
出力端のみがこの障害物検出装置全体の検出信号
出力端となるのであるから、仮に検出信号を取り
出すのにリレーを併用するとしても唯一つのリレ
ーを使用すれば良く、制御装置への検出信号入力
数も唯一つとなるので、構造が極めて簡単で非常
に安価に実施することは出来る。(Effects of the Invention) According to the obstacle detection device of the present invention that can be utilized as described above, no matter how many photoelectric switches are used, only the output end of the photoreceptor in the final stage photoelectric switch is connected to this device. Since this is the detection signal output terminal of the entire obstacle detection device, even if a relay is used in combination to extract the detection signal, only one relay needs to be used, and the number of detection signals input to the control device is only one. Therefore, the structure is extremely simple and can be implemented at a very low cost.
第１図は垂直回転棚の構成を説明する概略縦断
側面図、第２図は同横断平面図、第３図は物品出
し入れ口の構成を説明する斜視図、第４図は本発
明の実施例を説明する配線図である。
１４……障害物検出装置、１５1〜１５o……光
電スイツチ、１６1〜１６o……投光器、１７1〜
１７o……受光器、ｎ，ｐ……投光器及び受光器
の電源入力端、op……受光器の出力端、Ｎ，Ｐ
……電源端子、OP……検出信号出力端子。
Fig. 1 is a schematic longitudinal side view illustrating the configuration of a vertical rotating shelf, Fig. 2 is a sectional plan view thereof, Fig. 3 is a perspective view illustrating the configuration of the article loading/unloading port, and Fig. 4 is an embodiment of the present invention. FIG. 14... Obstacle detection device, 15 1 to 15 o ... Photoelectric switch, 16 1 to 16 o ... Light projector, 17 1 to
17 o ...Receiver, n, p...Power input terminal of emitter and receiver, op...Output terminal of receiver, N, P
...Power supply terminal, OP...Detection signal output terminal.
Claims (1)
に並設した障害物検出装置に於いて、各光電スイ
ツチの受光器と次段の光電スイツチの投光器と
を、前記受光器の受光時に前記透光器が点灯する
ように接続し、最終段の光電スイツチの受光器の
出力端をこの障害物検出装置全体の検出出力端と
して成る障害物検出装置。1. In an obstacle detection device in which a plurality of sets of transmission type photoelectric switches are arranged in parallel at appropriate intervals, the light receiver of each photoelectric switch and the light emitter of the next photoelectric switch are connected to each other when the light receiver receives light. An obstacle detection device in which the output end of the photoreceptor of the final stage photoelectric switch is connected to the device so that it lights up, and the output end of the light receiver of the photoelectric switch at the final stage serves as the detection output end of the entire obstacle detection device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18589087A JPS6428107A (en) | 1987-07-24 | 1987-07-24 | Obstacle detecting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18589087A JPS6428107A (en) | 1987-07-24 | 1987-07-24 | Obstacle detecting device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6428107A JPS6428107A (en) | 1989-01-30 |
| JPH0577563B2 true JPH0577563B2 (en) | 1993-10-27 |
Family
ID=16178671
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP18589087A Granted JPS6428107A (en) | 1987-07-24 | 1987-07-24 | Obstacle detecting device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6428107A (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2785539B2 (en) * | 1991-09-02 | 1998-08-13 | 株式会社ダイフク | Work position display device for carousel |
| JP7064174B2 (en) * | 2018-10-31 | 2022-05-10 | 株式会社ダイフク | Transfer device |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61103700A (en) * | 1984-10-24 | 1986-05-22 | Komori Anzenki Kenkyusho:Kk | Safety device by detecting obstacle for press apparatus |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61203608U (en) * | 1985-06-07 | 1986-12-22 |
-
1987
- 1987-07-24 JP JP18589087A patent/JPS6428107A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61103700A (en) * | 1984-10-24 | 1986-05-22 | Komori Anzenki Kenkyusho:Kk | Safety device by detecting obstacle for press apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6428107A (en) | 1989-01-30 |
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