JPH06340312A - Initial stock article storing method for article storing system - Google Patents

Abstract

PURPOSE:To prevent double storage of article by storing whether or not the article is stored in each area of an article storing shelf before an article storing system is started to use for the first time. CONSTITUTION:In an initial stock article storing method, a conveying table 23 is run before an article storing system 21 in which the conveying table 23 is run along an article storage shelf 22 provided with multiple storing areas 30 for storing articles and the articles are transferred between the storing areas 30 and the conveying table 23 is started to use for the first time. Whether the article is stored in the storing areas 30 or not is detected by an article detection sensor 73 installed on the conveying table 23, and the presence and absence of storage of the article in each storing area 30 is stored in a presence memory circuit for storing the presence and absence of storage of article for each storing area 30.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for storing whether or not an article has been loaded into each storage area of an article storage rack after the assembly of the article storage system and before the first use.

[0002]

2. Description of the Related Art Conventional article storage systems (not shown)
The articles are transferred between the storage areas of the article storage shelves and the transport table that runs along the article storage shelves, and the articles are stored in the storage areas. In this article storage system, in order to prevent double loading, whether or not an article is loaded in each storage area is stored in a storage circuit. This storage circuit is configured to store "no article" as an article is not carried into the storage area when the article storage system is newly installed or when the storage area of the article storage rack is increased or decreased.

[0003]

However, in such an article storage system, when the article storage system is newly installed, or when the storage area of the article storage shelf is increased or decreased, it is assumed that the articles are not carried into the storage area. Since it is stored as "no items", if the items that have been experimentally loaded are left loaded in the storage area for adjustment of the shelf position, the spacing of the storage area, etc. When the transport table is moved to load the articles, there are problems that double loading is performed and the transport table wastefully travels.

[0004]

SUMMARY OF THE INVENTION According to the present invention, a transport table runs along an article storage rack having a plurality of storage areas for storing articles, and the articles are transferred between the storage areas and the transport table. Before the first use of the article storage system in which is carried out, the transport table is run, and it is detected by an article detection sensor provided on the transport table whether or not an article is carried into the storage area, and the storage is performed. The above problem is solved by a method of storing presence / absence of an article in each storage area in a seated storage circuit that stores presence / absence of an article in each area.

[0005]

Before the first use of the article storage system, the worker travels the transport table in advance to check whether or not articles have been carried into each storage area by means of the article detection sensor, and detects the presence memory circuit. Is stored in each storage area as to whether or not an article is carried in. After that, the information stored in the attendance memory circuit is displayed every time an article is loaded or unloaded.
It is changed after the article detection sensor confirms that the article has been carried in and out.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An embodiment of the present invention will be described below with reference to FIGS. The seat confirmation device 70 (see FIG. 8) is incorporated in the article storage system 21 (see FIG. 1). First, the article storage system 21 (see FIG. 1) will be described. The article storage system 21 sorts and stores the articles W. The articles W are stored in the tray T as they are stored. Article storage system 21
Is composed of an article storage shelf 22, a transport table 23, a pulse encoder 24 (see FIG. 2), a stop position correction device 20, and the like. A known transfer device (not shown) is installed on the transport table 23 to transfer an article to and from a shelf plate 31 described later.

The article storage shelf 22 is a shelf having a plurality of storage areas 30 for storing articles in the vertical direction. The storage area 30 is partitioned by a shelf plate 31. The article storage shelf 22 is formed with an entry / exit port 32 for articles. or,
A control box 33 is provided above the loading / unloading port 32.

The transport table 23 is provided at 4 of the article storage shelf 22.
The columns 34, 34 (only two are shown because they appear to overlap in FIG. 1) are used as a guide for traveling up and down. The transport table 23 is connected to a chain 36 that reciprocates by a motor 35. The pulse encoder 24 (see FIG. 2) is a known encoder that is connected to the motor 35 and performs pulse conversion of the rotation speed and the rotation angle of the motor 35.

Next, the stop position correction device 20 will be described. In the stop position correction device 20, the article storage shelf 22 and the transport table 23 are deformed due to long-term use, the chain 36 is extended, and the relative positional relationship between the article storage shelf 22 and the transport table 23 is incorrect. Even if it occurs, it is a kind of automatic control device that constantly stops the transport table 23 on the shelf plate 31 at the optimum transfer position.

The stop position correction device 20 (see FIG. 2) includes a pair of optical sensors 51 and 52 and a base point striker 53 and 5.
4, a plurality of positioning strikers 55, a traveling control circuit 2
It is composed of 5 etc. A pair of optical sensors 51, 52
Is a transmissive optical sensor and is provided on the side surface of the transport table 23 so as to be spaced apart in the vertical direction.

The base point strikers 53 and 54 (see FIGS. 1 and 2) are plate-like members projecting from the upper and lower ends of the article storage shelf 22. The vertical length (width) dimension L1 of the base point strikers 53 and 54 (see FIG. 2) is determined by the pair of optical sensors 5
It is set wider than the interval L2 of 1,52. The position where the base point strikers 53 and 54 are provided becomes the traveling base point position of the transport table 23.

The positioning striker 55 is also a plate-like member provided on the side surface of each shelf 31. As shown in FIG. 2, the vertical length (width) dimension L3 of the positioning striker 55 is set to be narrower than the interval L2 between the pair of optical sensors 51 and 52. Further, letting L4 (see FIG. 5) be the allowable step difference in the vertical direction that allows smooth transfer of articles between the shelf plate 31 and the transport table 23, (L4 = L
2-L3).

The adjustment of the positions of the shelves, the intervals between the storage areas, and the like, which are performed when the article storage system is newly installed or when the storage areas of the article storage shelves are changed, are carried in by carrying the articles into the storage areas on a trial basis.

Next, the seat confirmation device 70 will be described. The seat confirmation device 70 (see FIG. 8) is used for the transport table 2
3, a reflection type photoelectric sensor (article detection sensor) 73, an occupancy detection unit 74 incorporated in the traveling control circuit 25 described later, and an occupancy storage unit (occupancy storage circuit) 72. ing.

The traveling control circuit 25 (see FIG. 8) is housed in the control box 33 (see FIG. 1). The traveling control circuit 25 includes an addition / subtraction counter 60 and a target value storage unit 61.
A current position calculation unit 62, a command unit 63, a lift control unit 64, a sensor operation state detection unit 65, and a seat storage unit 7
2 and the presence detection unit 74.

The addition / subtraction counter 60 is a counter for counting the pulses from the pulse encoder 24. That is, the addition / subtraction counter 60 is configured to add the pulse number when the transport table 23 rises and subtract the pulse number when the transport table 23 descends.

The target value storage unit 61 is provided with the transport table 23 obtained by learning traveling of the transport table 23 described later.
This is a circuit that stores the distance from the travel base point position of each of the shelves 31, that is, the stop position of the transport table 23 to the storage area 30, as an absolute address. The current position calculator 62 is a circuit that calculates how far the transport table 23 is from the shelf 31 of the designated storage area 30. Therefore, when the transport table 23 travels to the designated storage area 30, the current position calculator 62 calculates "0".

The command section 63 sends a storage command signal P1 for storing the absolute address of each shelf 31 to the target value storage section 61 when the transport table 23 is running for learning, and further, the absolute value stored in the target value storage section 61. It is a circuit that sends a calling signal P2 for calling an address to the target value storage unit 61. In addition, the command unit 63 sends up / down command signals P3 and P4 designating the ascending / descending direction of the transport table 23 to the lift control unit 64, and further clears the addition / subtraction counter 60 to “0” at the start of the learning travel of the transport table 23. Reset signal P5 to add / subtract counter 6
It is also a circuit to send to 0. Further, the command unit 63 is configured to send to the seat storage unit 72 a seat storage command signal P8 that stores whether or not an article has been carried into each shelf 31.

The sensor operating state detector 65 determines whether or not the pair of optical sensors 51, 52 detect the base striker 53, 54 or the positioning striker 55.
It is a circuit that reports to 3. The presence detection unit 74 notifies the instruction unit 63 that the photoelectric sensor 73 detects the article W.
It is a circuit to send to.

Next, the operation will be described. First, each shelf 3
The learning traveling of the transport table 23, which stores the optimum transfer position of the transport table 23 with respect to 1 and stores whether or not an article has been carried into each shelf plate 31, will be described.

The worker pushes a teaching button (not shown) on the control box 33. The command unit 63 sends the descending command signal P4 to the ascending / descending control unit 64 and sends the storage command signal P1 to the target value storage unit 61. Further, the command unit 63 sends the stock storage command signal P8 to the stock storage unit 72. The elevating controller 64 controls the motor 3 so that the transport table 23 descends.
Activate 5.

Transport table 2 to the lower end of article storage shelf 22
When 3 descends, the pair of optical sensors 51 and 52 detect the base striker 53 by blocking the light from the base striker 53. Vertical dimension L1 of the base point striker 53
(See FIGS. 1 and 2) is set to be wider than the distance L2 between the pair of optical sensors 51 and 52, so that the pair of optical sensors 51 and 52 simultaneously detect the base striker 53. The sensor operating state detection unit 65 (see FIG. 8) notifies the command unit 63 that the pair of optical sensors 51 and 52 have detected the base striker 53. The command unit 63 sends the reset signal P5 to the addition / subtraction counter 60 to set the value of the addition / subtraction counter 60 to “0”. In addition, the command unit 63 causes the lift control unit 64 to lift the lift table signal P to lift the transport table 23.
Send 3.

The motor 35 raises the carrying table 23. By the rotation of the motor 35, the pulse encoder 24
Is activated. The addition / subtraction counter 60 starts addition counting of the pulses sent from the pulse encoder 24. When the transport table 23 rises and the upper optical sensor 51 detects the positioning striker 55 provided near the first shelf 31 (see FIG. 4), the sensor operating state detection unit 65 (see FIG. 8). ), The detection signal P6 is sent to the command unit 63 and the inventory storage unit 72.

The command unit 63 adds the correction pulse number ZA to the pulse number Z1 at that time Z1A = (Z1 + Z
A) is stored in the target value storage unit 61 as an absolute address.
As a result, the absolute address of the first-stage shelf board 31 is stored in the target value storage unit 61. The correction pulse number ZA corresponds to the distance L5 that raises the transport table 23 from the solid line state in FIG. 6 to the imaginary line state so that the positioning striker 55 is located at the center between the pair of optical sensors 51 and 52. Is the number of pulses to perform. In the example, L5 equals L4.

On the other hand, the detection signal P6 of the sensor operating state detecting section 65 is also sent to the inventory storage section 72. The photoelectric sensor 73 checks whether or not the article that has been experimentally loaded into the first-stage shelf plate 31 is still loaded. When an article is detected, the inventory detection section 74 sends an article detection signal P9 to the inventory storage section 72. Inventory storage 72
Is a detection signal P6 from the sensor operating state detection unit 65.
And the article detection signal P9 from the inventory detection unit 74, it is stored that "the article is present in the storage area of the first stage".
When the article detection signal P9 has not been sent, the stock storage unit 72 stores "no article in the first-stage storage area".

After that, the transport table 23 continues to move upward, and the upper optical sensor 51 detects the positioning striker 55 of the second shelf 31. The target value storage unit 61 stores the correction pulse number ZA in the pulse number Z2 from the base point striker 53 to the positioning striker 55 of the second stage shelf 31 as in the case of storing the absolute address of the first stage shelf 31. The pulse number Z2A to which is added is stored as an absolute address of the shelf plate 31 of the second stage. Further, the inventory storage unit 72 stores whether or not the articles are still carried in the second-stage shelf plate 31.

In the same manner, the number of pulses of the shelf plate 31 of each stage is stored as an absolute address, and whether or not articles are stored in the shelf plate 31 is stored. The absolute address of the shelf board 31 is also the absolute address of the storage area 30. Finally, when the pair of sensors 51 and 52 detect the base striker 54 at the same time, the sensor operating state detection unit 6
5 informs the command unit 63 of this fact. The command unit 63 is
A motor stop signal for stopping the motor 35 is sent to the lift control unit 64, and the target value storage unit 61 and the stock storage unit 7 are also sent.
A learning completion signal is sent to 2 and.

The operation of storing the absolute address and whether or not the article has been carried in may be performed by using the base point striker 54 provided at the upper end of the article storage rack 22 as the traveling base point position.

Next, the operation of carrying the article into the desired storage area 30 from the carrying table 23 will be described. The operator designates the desired storage area 30 by the control box 33 (see FIG. 1). The command unit 63 reads from the inventory storage unit 72 whether or not an article has been carried into the shelf board 31 of the designated storage area 30. The read information is displayed on the control box 33. The worker confirms whether or not the article is carried into the shelf 31 of the designated storage area 30, and then presses the carry-in start button (not shown) on the control box 33. At this time, when the worker mistakenly presses the carry-in start button despite the fact that the article is carried in, the command unit 63 causes the worker (not shown) on the control box 33 to not carry in the product. Report what is possible.

When no article is carried into the shelf board 31 of the designated storage area 30, the command section 63 (see FIG. 8)
In order to call the absolute address of the designated storage area 30, the calling signal P2 is sent to the target value storage unit 61. The target value storage unit 61 stores the desired storage area 3 in accordance with the calling signal P2.
The absolute address of 0 is called and the current position calculation unit 62 is notified. On the other hand, the current position calculation unit 62 includes an addition / subtraction counter 6
The number of pulses at the current position of the transport table 23 has been sent from 0. The current position calculation unit 62 subtracts the number of pulses at the current position of the transport table 23 from the absolute address, obtains the difference, and sends the value to the command unit 43.

The difference between the positive value and the negative value is
Sometimes it is "0". When the difference is a positive value, it means that the transport table 23 is below the designated storage area 30. Therefore, the command unit 63 sends the lift control unit 64 a lift command signal P3 for lifting the transport table 23. On the other hand, when the difference is a negative value, it means that the transport table 23 is above the designated storage area 30.
The command unit 63 sends a lowering command signal P4 for lowering the transport table 23 to the lifting control unit 64. Further, when the difference is “0”, it means that the transport table 23 is stopped at the designated storage area 30, so the command unit 63 does not send a signal to the lift control unit 64, and the transport table 23 is stopped. So that items can be carried in from the storage area 30 to the shelf board 31.
A transfer control signal is sent to another transfer control circuit (not shown).

The lift control unit 64 controls the motor 35 so that the transport table 23 moves up or down in accordance with the above-described ascending / descending command signals P3 and P4 from the command unit 63.
As the transport table 23 moves up and down, the addition / subtraction counter 60
When the count value approaches the absolute address of the designated storage area 30 and the difference approaches "0", the command unit 63 sends a deceleration signal to the lift control unit 64 to decelerate the transport table 23, and the difference becomes "0". ", The transport table 23 is stopped.

At this time, one of the optical sensors 51,
If the light of 52 is once blocked by the positioning striker 55 and then enters the light-transmitting state, and if the other optical sensor 51, 52 remains in the light-transmitting state, positioning is performed between the pair of optical sensors 51, 52. Since the striker 55 is located, the relative positional relationship between the article storage rack 22 and the transport table 23 is not disturbed. In this case, it is not necessary to correct the position of the transport table 23, and the article is loaded from the transport table 23 to the shelf board 31.

Further, when the transport table 23 is stopped while the light of the upper optical sensor 51 is blocked, or the light of the lower optical sensor 52 is blocked, the article storage shelves 22 And the transport table 23 are displaced relative to each other, the transport table 23 is below the predetermined position,
Or, it has stopped at the top. In such a case, the command unit 63 raises the transport table 23 so that the upper optical sensor 51 is in the light-transmitting state or transports the lower optical sensor 52 in the light-transmitting state. Table 2
The position of the transport table 23 is corrected by lowering the position 3.

As a result, the carrying table 23 is brought into a state in which articles can be carried in between the carrying table 23 and the shelf board 31. At this time, the addition / subtraction counter 60 is
The count value is added or subtracted by the amount by which 3 is increased or decreased. Therefore, the difference between the count value of the addition / subtraction counter 60 and the absolute address of the designated storage area 30 does not become "0", but the transfer table 23 to the shelf 3
The article is carried in to item 1.

If both the pair of sensors 51 and 52 are not shielded by the positioning striker 55 of the designated storage area 30 or if they remain in a light-transmitting state after being shielded, they are conveyed. Table 23 is shelf 3
To the extent that you can not carry in goods smoothly with 1
The stop position is out of order. In such a case, it is displayed in the control box 33 that it cannot be carried in.

The article is carried into the storage area 30 from the transport table 23 after the photoelectric sensor 73 confirms whether or not the designated storage area is empty. If another article has already been carried into the designated storage area, the inventory detection unit 74 sends the article detection signal P9 to the instruction unit 63. The command unit 63 sends a transfer stop signal to another transfer control circuit (not shown) to stop the transfer, and an alarm (not shown) in the control box 33 makes it impossible for the worker to carry it in. To report.

When the article is normally carried in, the information in the seat storage section 72 regarding the storage area 30 is changed to the information "the article is present". The above description is for the operation of carrying in an article, but since the same applies to the case of carrying out an article, its operation description will be omitted.

The stop position correcting device 20 not only corrects the position of the transport table which moves up and down along the article storage rack having the storage area in the vertical direction, but also stores the article storage shelf having the storage area in the horizontal direction (not shown). It is also possible to correct the position of a transport table (for example, a stacker crane) that travels left and right along the path.

Similarly, the seating confirmation device 70 not only grasps the storage status of the articles on the transport table that moves up and down along the article storage shelf having the storage area in the vertical direction, but also has the storage area in the horizontal direction. It is also possible to grasp the storage status of articles on a transport table (for example, a stacker crane) that travels left and right along a storage shelf (not shown).

[0041]

The initial stock article storage method of the present invention is a method of storing whether or not an article has been carried into each storage area before the first use of the article storage system, and therefore has the following effects. . (1) It is possible to prevent double loading of articles when the articles that are experimentally loaded at the time of assembling the article storage system remain as they are. (2) Since it is possible to prevent double loading, it is possible to prevent wasteful traveling of the transport table. (3) Even if the storage area of the article storage shelf is covered with a decorative plate and the storage state of the article is not visible from the outside, the storage state of the article can be grasped. (4) Even if the number of article storage shelves is increased or decreased and the storage situation of the articles is changed, it is possible to easily and accurately memorize them.

[Brief description of drawings]

FIG. 1 is a front view of an article storage system.

FIG. 2 is a schematic view showing a part of a pair of optical sensors, a base point striker, a positioning striker, and a photoelectric sensor used in the initial stock article storage method of the present invention.

3 is a partially enlarged view of a pair of optical sensors, a positioning striker, and a photoelectric sensor in FIG.

FIG. 4 is an enlarged view of a pair of optical sensors and a positioning striker.

FIG. 5 is a diagram showing a positional relationship between a pair of optical sensors and a positioning striker.

FIG. 6 is a diagram showing a positional relationship between a pair of optical sensors and a positioning striker.

FIG. 7 is a diagram showing a positional relationship between a pair of optical sensors and a positioning striker.

FIG. 8 is a block diagram of a travel control circuit having an attendance storage circuit used in the initial stock article storage method of the present invention.

FIG. 9 is a flowchart of learning traveling of the transport table.

FIG. 10 is a view for correcting the stop position of the transport table,
It is a flowchart.

[Explanation of symbols]

 W article 21 article storage system 22 article storage shelf 23 transport table 30 article storage area 72 inventory storage unit (inventory storage circuit) 73 photoelectric sensor (article detection sensor)

Claims (1)

[Claims] 1. A first article storage system in which a transport table runs along an article storage shelf having a plurality of storage areas for storing articles and the articles are transferred between the storage area and the transport table. The traveling table is run before the start of use, and whether or not an article is carried into the storage area is detected by an article detection sensor provided on the transportation table, and whether or not the article is carried into each storage area is detected. An initial stocked article storage method for an article storage system, characterized in that the presence / absence of the article in each of the storage areas is stored in a seated storage circuit for storing.