JPH0710215A - Automatic warehouse - Google Patents

Abstract

PURPOSE:To judge the stopped position of a moving body even in the case where the skipping of engagement occurs between a driving rotary body and an indexing body by detecting a detected part through a detecting section when the moving body stops correctly at a prescribed reference stopping position. CONSTITUTION:In the case where a base table 60 and an ascending body 80 stop at each fixed stopping position, and the detecting section 132 of a position detecting means 130 detects a detected part 131, and the detecting section 142 of the position detecting means detects a detected part 141, it is judged that the base table 60 and the ascending body 80 stop correctly at each fixed stopping position. At this time, a control signal is output from a driving control means 200 to a taking in and out body 90, which thereby delivers and receives an article to/from a receiving shelf 10. On the other hand, in the case where the detecting section 132 of the position detecting means 130 does not detect the detected part 131, the base table 60 is judged not to be correctly at the fixed stopping position, and in the case where the detecting section 142 of the position detecting means does not detect the detected part 141, the ascending body 80 is judged not to be correctly at the fixed position, and the stopping position is therefore corrected.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic warehouse constructed so that articles can be automatically taken in and out of a plurality of storage shelves included in a storage rack installed in the warehouse.

[0002]

2. Description of the Related Art An automatic warehouse of this type is disclosed in, for example, Japanese Patent Laid-Open No. 2-48.
As described in Japanese Patent No. 313, it is equipped with an article depositing / dispensing body that puts an article in and out of each storage shelf of a storage rack installed in a warehouse.

[0003] Generally, the article depositing / discharging body includes a moving body that can move along a storage rack and a depositing / discharging body that is provided on the moving body to take an article in and out of a storage shelf. In, the moving body is connected to a traction body such as a timing belt meshed with a toothed drive rotating body,
It is known that the moving body is configured to move along the storage rack by driving the towing body by the driving rotating body.

[0004]

By the way, when the moving body provided in the moving body moves the article in and out, and the moving body is not stopped at the correct stop position, the article can be smoothly taken in and out. I can't do it. Further, when the moving body does not stop at the correct stop position and the article moves in and out of the article, the article and the storage rack may come into contact with each other and the article and the storage rack may be damaged.

As described in the above publication, in the conventional article dispenser, the movement of the moving body is controlled based on the number of rotations of the driving rotating body and the driving motor, and the moving body is stopped at the correct stop position. It is common to do so. However, even if the number of rotations of the drive rotor is correctly grasped, if a tooth jump (misalignment) between the drive rotor and the traction body occurs, depending on such a control method, It becomes impossible to judge whether the moving body has stopped at the correct stop position.

The present invention has been made in view of the above circumstances, and an object thereof is to prevent a moving body from moving to a predetermined stop position even if a tooth jump or the like occurs between the drive rotating body and the towing body. It is to provide an automatic warehouse that can correctly determine whether or not the vehicle has stopped properly.

[0007]

In order to achieve the above object, the present invention is provided with position detecting means for directly detecting whether or not the moving body has stopped at the correct stop position.

That is, the automatic warehouse according to the first aspect of the present invention is moved along a storage rack having a plurality of storage shelves by a towing member which is meshed with a toothed drive rotor and driven by the drive rotor. A movable body, and an in / out body which is provided on the movable body to take an article in and out of the storage rack;
In an automated warehouse comprising an article depositing and receiving body, the detection unit has a detection unit and a detection unit that detects the detection unit when the detection unit is in a predetermined position with respect to the detection unit. One of the detected part and the detected part is provided on the movable body, and the other is provided at a predetermined position other than the movable body, and when the movable body is correctly stopped at a predetermined reference stop position, the detection part detects the detected part. It is characterized in that it comprises position detection means configured to detect.

Further, in the automatic warehouse according to claim 2, in addition to the structure of the automatic warehouse according to claim 1, when the moving body stops at the predetermined reference stop position, the detection part is the detected part. When the above is not detected, it is configured such that the taking in and out of the article from the storage rack is prohibited.

Further, in the automatic warehouse according to claim 3, in addition to the structure of the automatic warehouse according to claim 1, when the moving body stops at the predetermined reference stop position, the detection part detects the detected part. Is detected, the stop position of the moving body is corrected so that the detection unit detects the detected portion.

[0011]

In the automatic warehouse according to the present invention having the above-mentioned structure, when the moving body is correctly stopped at the predetermined reference stop position, the detecting portion of the position detecting means detects the detected portion. Can be determined to have stopped at a predetermined reference stop position. On the other hand, if the moving body does not properly stop at the predetermined reference stop position, the detection unit of the position detecting unit does not detect the detected portion, and thus the moving body stops correctly at the predetermined reference stop position. You can judge that not.

Whether or not the detection section detects the detected section depends on whether or not the detection section is at a predetermined position with respect to the detected section, that is, whether or not the moving body has properly stopped at a predetermined reference position. It depends on what. Therefore, even when the movement control of the moving body is performed based on the rotation speed of the drive rotating body or the like, and the control is performed correctly, the drive rotating body and the traction body If the moving body does not stop correctly at the reference stop position due to a tooth jump between and, the detecting unit does not detect the detected part, and as a result, the moving body does not stop correctly at the reference stop position. Can be surely determined.

Further, in the automatic warehouse according to the second aspect, when the moving body stops at the predetermined reference stop position and the detecting portion does not detect the detected portion, the taking in and out of the article from the storage rack is prohibited. . Therefore, by appropriately setting the above-mentioned predetermined reference stop position, the article is taken in and out of the storage shelf while the position of the entering / exiting body (moving body) with respect to the storage shelf remains displaced from the regular position. It is possible to prevent the articles and the storage shelves from being damaged by the case where the container enters and leaves the storage shelves.

In the automatic warehouse according to the present invention, when the moving body stops at a predetermined reference stop position and the detecting section does not detect the detected section, the detecting section moves so as to detect the detected section. The body stop position is corrected. Therefore, by appropriately setting the above-mentioned predetermined reference stop position, the position of the loading / unloading body (moving body) with respect to the storage rack can be always set to the regular position, and thus the loading / unloading of the article from the storage rack can be performed. It is possible to always carry out smoothly and reliably.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An embodiment of an automatic warehouse according to the present invention will be described below with reference to the accompanying drawings.

First, the basic construction of an automated warehouse according to an embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a front view showing the overall construction of an automated warehouse according to an embodiment of the present invention, FIG. 2 is a plan view thereof, and FIG. 3 is a left side view thereof. However, in FIG. 1 and FIG.
The position of 0 (described later) does not correspond.

As shown in the figure, in the automated warehouse according to this embodiment, the first storage rack 12 and the second storage rack 14 each having a large number of storage shelves 10 arranged vertically and horizontally are respectively provided. The 10 storage openings are opposed to each other and are arranged substantially in parallel. In addition, this automatic warehouse has an article loading position A for loading the articles 20 transferred from the previous process into the storage racks 12 and 14.
(See Fig. 1) Loading device 30 and loading rack 1
An unloading device 40 for unloading the article 20 transferred from the items 2 and 14 to the article unloading position B (see FIG. 1) to the next process, and each storage rack 1
The article delivery apparatus 50 is provided with an article delivery apparatus 50 for loading and unloading the articles 20 from and into the storage shelves 10 of the items 2 and 14, and for delivering the articles 20 at the article loading position A and the article unloading position B.

The carry-in device 30 includes a belt conveyor 32 installed on the floor and a roller conveyor 34 installed on the downstream end side of the belt conveyor 32 (see FIG. 1). The roller conveyor 34 changes the orientation of the placed article 20 to 90 degrees.
° It is configured so that it can be replaced, and the roller conveyor 34 is provided below the roller conveyor 34 when the article 20 is delivered.
A lifter 36 is provided for lifting the article 20 placed on.

The carry-out device 40 is a self-propelled traveling body 44 which travels along a rail 42 which is disposed at a high place a predetermined distance above the floor surface, and a traveling body 44 which can travel along the rail 42. And a loading platform 46 suspended from the rail 42 and connected to the traveling body 44. The loading platform 46 has a storage space for storing the articles 20 delivered from the article depositing / dispensing apparatus 50, and is configured to hold the articles 20 stored in the storage space until the next step.

The article depositing / dispensing apparatus 50 includes a base 60 and a base 60.
A column body 70 standing upright, an elevating body 80 vertically movable along the column body 70, and an entrance / exit body 90 provided to the vertically movable body 80 so as to be movable back and forth toward the storage rack 10. An article depositing / dispensing body 100 having: a driving means 56, 78 (described later) for driving the base 60 and the lifting body 80, and a driving control means 200 for controlling these driving means 56, 78, etc. Is equipped with.

A floor rail 52 is provided on the floor surface between the two storage racks 12 and 14 along the two storage racks 12 and 14, and the base 60 extends along the floor rail 52. The storage racks 12 and 14 are arranged on the floor rail 52 via wheels 61 so as to be movable in the left-right direction (left-right direction in FIG. 1). One end of the timing belt 54 as a towing body is fixed to one end of the base 60 in the moving direction, and the other end of the timing belt 54 is fixed to the other end.
54 is a drive means installed at one end of the floor rail 52 in the length direction
Drive gear 58 as a drive rotating body that is rotationally driven by 56
And a gear (not shown) installed at the other end of the floor rail 52 in the lengthwise direction, which is horizontally laid. The timing belt 54 meshes with the drive gear 58, and the drive gear 56 is rotationally driven by the drive means 56 so that the base 60 as a moving body is configured to move in the left-right direction along the floor rail 52. ing.

The lower end of the pillar 70 is fixed to the base 60,
A pair of guide rollers 72 are provided at the upper end of the column (see FIG. 3). A ceiling rail 53 is arranged in parallel with the floor rail 52 at a high place a predetermined distance above the floor rail 52, and the upper end of the pillar 70 is guided along the ceiling rail 53. Thus, it is supported by the ceiling rail 53 via the pair of guide rollers 72. A gear 73 is provided at the upper end of the column 70, and a gear as an intermediate drive rotor is provided at the lower end.
Each 74 is rotatably mounted.

A timing belt 76 as a traction body that meshes with the gears 73, 74 is provided between the gears 73, 74 axially supported at the upper and lower ends of the column 70, respectively.
One end of the timing belt 76 is fixed to the upper end of the elevating body 80, and the other end is fixed to the lower end of the elevating body 80. The base 60 is provided with drive means 78 for rotationally driving a drive gear 77 as a drive rotating body.
An auxiliary belt 79 as an intermediate traction body is stretched between the gear and the gear 74 at the lower end of the column 70. The rotation driving force of the driving means 78 is applied to the pillar body 70 via the driving gear 77 and the auxiliary belt 79.
Is transmitted to the gear 74 attached to the lower end of the
The rotating body 80 is configured to move up and down along the pillar body 70 by being driven to rotate. The elevating body 80 constitutes a moving body, and the elevating body 80 is moved by the horizontal movement of the base 60 and the vertical movement of the elevating body 80 itself so that the elevating body 80 is stored in each of the storage racks 12 and 14. It is possible to move between 10.

The details of the structure of the lifting body 80 and the loading / unloading body 90 will be described with reference to FIGS. Figure 4 is the lifting body
The front view which shows the structure of 80, FIG. 5 is the top view, FIG. 6 is the front view which shows the structure of the entrance / exit 90 (X direction arrow view in FIG. 4).
7 and FIG. 7 are cross-sectional views (corresponding to an enlarged view of the cross section of the loading / unloading body 90 shown in FIG. 4).

As shown in FIGS. 4 and 5, the lifting body 80 is
The saddle 81 is provided with a U-shaped cross section surrounding the three side surfaces of the pillar 70, and a pair of arms 82 each having one end fixed to the saddle 81. A plurality of guide rollers 84 are rotatably attached to the saddle 81, and a guide rail extending vertically along the pillar 70 is provided on a side surface of the pillar 70.
85 is attached, and the saddle 81 is configured to be guided by the guide rail 85 via the guide roller 84.

On the other hand, as shown in FIG. 6, the loading / unloading body 90 includes a fixed body 91 extending between the pair of arm bodies 82 and the fixed body 91.
A first movable body 92 that is movable back and forth (movable in the left-right direction in the drawing), and a second movable body 93 that is movable back and forth with respect to the first movable body 92. ing. The upper surface of the second movable body 93 is a mounting surface of the article 20, and a positioning stopper 94 in the front-rear direction (the left-right direction in the drawing) of the article 20 is attached to the mounting surface.

More specifically, as shown in FIG. 7, the fixed body 91 is
A plurality of first pinions 95 are rotatably supported in the forward and reverse directions. The first pinions 95 are the drive motors shown in FIG.
A drive gear 97 which is rotationally driven in the reverse direction by 96 (see FIG. 6)
, Through a plurality of reduction gears 98. A first rack member 99 that meshes with the first pinion 95 is extended and fixed to the first movable body 92 in the longitudinal direction of the loading / unloading body 90 (the direction perpendicular to the paper surface of FIG. 7). Further, a second pinion 101 is supported on the first movable body 92 so as to be rotatable in the forward and reverse directions, and the second pinion 101 is fixed to the fixed body 91 in parallel with the first rack member 99. It is in mesh with the member 102. Further, a third rack member 103 that meshes with the second pinion 101 is provided on the second movable body 93 so as to extend in the longitudinal direction of the loading / unloading body 90. Further, the fixed body 91 has guide rollers 104 and 105 for guiding the first movable body 92 so that the first movable body 92 can be moved back and forth, and the second movable body 93 has guide rollers 106 and 107 for guiding and supporting itself with respect to the first movable body 92. Are rotatably supported.

With the above structure, the rotational driving force of the drive motor 96 is transmitted to the first pinion 95 pivotally supported by the fixed body 91 via the drive gear 97 and the reduction gear 98. When the first pinion 95 rotates, the first movable body 92 having the first rack member 99 that meshes with the first pinion 95 moves back and forth with respect to the fixed body 91. At the same time, the second pinion 101 meshed with the second rack member 102 rotates, and the second pinion 101 rotates.
Second movable body having third rack member 103 meshed with 101
The 93 moves back and forth with respect to the first movable body 92.

Next, the features of the present invention in this embodiment will be described.

A feature of the present invention is that a base is provided so that the goods delivery work of the goods 20 by the goods delivery body 100 can be carried out smoothly and surely.
The point is that a position detection means for directly detecting whether or not the 60 and the lifting body 80 have stopped at the correct stop positions is provided.

FIG. 8 is a side view showing the lower structure of the article dispenser 100. As shown in the figure, in this embodiment, position detecting means 130 for detecting whether or not the stop position of the base 60 in the moving direction (direction perpendicular to the paper surface) is the correct stop position is provided. The position detecting means 130 includes a detected part 131 attached to a predetermined position of the rail base 52a of the floor rail 52 and a detecting part 132 attached to a predetermined position below the base 60. The detection unit 132 is, for example, a combination of a light receiving unit 132a formed of a light receiving element such as a photoelectric tube and a light projecting unit 132b provided at a position facing the light receiving unit.
When 1 is located between the light receiving part 132a and the light projecting part 132b, it is configured to detect the detected part 131, while the detected part 131 has the base 60 as shown in FIG. When correctly stopped for each storage rack 10, the detection unit 132
A plurality of rail bases 52a are arranged at predetermined intervals so as to detect

The position detecting means 130 detects whether or not the base 60 has stopped at the correct stop position. In this embodiment, it detects whether or not the lifting body 80 has stopped at the correct stop position. Second position detecting means is also provided. As shown in FIGS. 4 and 5, the second position detecting means 140 includes a detected portion 141 attached to the pillar 70 and a detecting portion 142 attached to the saddle 81 of the elevating body 80. The detection unit 142 is configured to detect the detection target unit 141 when the detection unit 141 is in a position close to the detection target unit 141, while the detection target unit 141, as shown in FIGS. The pillar body so that the detection unit 142 and the detection target unit 141 come close to each other when the storage unit 10 correctly stops with respect to each storage rack 10.
A plurality of 70 are arranged at predetermined intervals in the vertical direction.

In this embodiment, each of the position detecting means 130,
The detection signal of 140 is input to the drive control means 200 shown in FIG. 1, and the drive control means 200 detects each position detection means when the base 60 and the lifting / lowering body 80 of the article depositing / dispensing body 100 are stopped at predetermined stop positions. The detection units 132 and 142 of the 130 and 140 are the detection target unit 131.
, 141 is not detected, the loading / unloading of the article 20 by the loading / unloading body 90 is temporarily stopped, and
The detection parts 132 and 142 of the detection means 130 and 140 are the detected parts.
The driving means 56 and 78 are driven so as to detect 131 and 141, and the stop positions of the base 60 and the lifting body 80 are corrected.

Next, other features of this embodiment will be described.

FIG. 9 is a front view showing the lower structure of the article dispenser 100, and FIG. 10 is a plan view thereof. As shown in FIGS. 9 and 10, safety devices 120 are provided at both ends of the base 60 in the moving direction (left and right direction in the drawing). The safety device 120 includes a collision body 121 arranged so as to collide with an object on the movement path of the base 60 while the base 60 is moving, and a collision body 121 capable of being displaced in the movement direction of the base 60 at the time of collision. And a buffer support means 122 for supporting so as to be relaxed. Specifically, the collision body 121 is a pair of rods 123 arranged in parallel.
And a horizontal member 124 extending between the distal ends of the rods 123, while the buffer support means 122 is a base.
A support member 125 fixed to the end portion of the moving direction of 60 and through which the rod 123 of the collision body 121 is inserted;
A coil spring 126 mounted on the rod 123 is provided between (a member 125a described later in detail) and the horizontal member 124 of the collision body 121. The support member 125 is a base.
Two members arranged at a predetermined distance in the moving direction of 60
The member 125b is composed of 125a and 125b, and is configured as a stopper for the rod 123.

The safety device 120 is based on the collision body 121.
A detection means 127 for detecting displacement in the moving direction of 60 is provided. The detecting means 127 includes a detected portion 128 attached to the rear end portion of the rod 123 and a detecting portion 129 fixed to the base 60. Specifically, the detecting unit 129 and the detected unit 128 are arranged so that they are in close proximity to each other and face each other when the collision object 121 is not displaced, and
When the 121 are displaced, they are attached so as to be separated from each other, and the detection means 127 includes a detecting section 129 and a detected section 12
The collision object is detected by detecting that the distance between
It is configured to detect that 121 is displaced.
Further, in the present embodiment, the detection signal of the detection means 127 is input to drive control means (means for controlling the drive means 56 that drives the base 60) not shown, and is driven when the displacement of the collision body 121 is detected. The movement of the base 60 is stopped by the control means.

By providing such a safety device 120, there is an obstacle on the movement path of the base 60, and the article delivery / reception unit 10
Even when 0 collides with this obstacle, the collision can be mitigated, and therefore the obstacle and the article depositing / dispensing body 100 can be prevented from being damaged. In addition, even if a person is present on the moving path of the base 60, the base 60 may be immediately released when the collision object 121 collides with a person.
It is possible to secure sufficient safety by stopping the movement of.

Further, in this embodiment, as shown in FIGS. 4 and 5, the article 20 placed on the article 90 is placed in the article delivery body 100.
Clamping means 110 is provided for sandwiching from both sides in the left-right moving direction (left-right direction in the figure). This clamping means 110
Is provided with a pair of left and right clamp bases 113 including a support base 111 fixed to the arm body 82 of the lifting body 80 and a hydraulic cylinder device 112 fixed to the upper part of the support base 111 with the insertion / removal body 90 interposed therebetween. It becomes. The hydraulic cylinder device 112 has a clamp tool 114 that moves back and forth toward the article 20 by hydraulic pressure. By moving the clamp tool 114 toward the article placed on the loading / unloading body 90, the article 20 can be moved from the left and right sides. It is configured to be sandwiched. Specifically, the guide member 115 extending along the longitudinal direction of the loading / unloading body 90 is provided at the tip of the clamp tool 114.
Is attached so as to be movable back and forth together with the clamp tool 114, and the clamp means 110 is configured to clamp the article 20 by the clamp tool 114 via the guide member 115. The guide member 115 is at a position slightly apart from the article 20 when the article 20 is taken in and out, as shown in FIG. It is designed to prevent slippage. The positions of the guide members 115 when the article 20 is taken in and out are adjusted by adjusting the moving lengths of the clamp members 114 (further than the position shown in FIG. 5). (Positions approaching the article 20, etc.)
It is possible to set to.

Further, in this embodiment, the return position detecting means 15 for detecting whether or not the entering / exiting body 90 is in the correct return position.
0 is provided. FIG. 11 is a partially enlarged view of the loading / unloading body 90. As shown in the figure, the return position detecting means 150 includes a detecting portion 151 attached to the fixed body 91 of the entering / exiting body 90 and a first movable body 92.
And a detected part 152 attached to the. Detection unit
151 is configured to detect the detected portion 152 when it is in a position close to the detected portion 152, while the detected portion 152 is when the first movable body 92 is in the correct return position with respect to the fixed body 91. Further, the detection unit 151 and the detection unit 152 are attached so as to come close to each other.

In the present embodiment, the article position detecting means for detecting whether or not the article 20 is properly placed on the entrance / exit 90.
160 are provided. This position detecting means 160 is shown in FIG.
Further, as shown in FIG. 5, it is provided with a light receiving section 161 composed of a light receiving element such as a photoelectric tube, and a light projecting section 162 provided at a position facing the light receiving section 161 with the opening / closing body 90 interposed therebetween. Since the light from the light emitting unit 162 is blocked by the light receiving unit 161,
It detects that there is something between the light receiving section 161 and the light projecting section 162. The light receiving section 161 and the light projecting section 162 are arranged at predetermined intervals along the longitudinal direction of the entrance / exit 90 as shown in FIG. Are arranged three by three, and it is configured to detect whether or not the article 20 is properly placed on the entrance / exit 90.

Further, in this embodiment, as shown in FIG. 12, an elastic stopper 170 is provided to prevent the playable body 90 from rattling when it is projected toward the storage rack 10. The elastic stopper 170 includes a support member 171 attached to a predetermined position of the fixed body 91, and a first movable body 92 attached to the support member 171.
Of the abutting member 172 mounted so as to be displaceable along the moving direction of the abutting member (left-right direction in the figure), and the tip 17 of the abutting member 172
The coil spring 173 is mounted between 2a and the supporting member 171. In the elastic stopper 170, the first movable body 92 is a storage shelf.
When it projects toward 10, the contact member 172 moves to the first movable body 92.
Of the coil spring 173 while being in contact with the protrusion 174 provided at a predetermined position of the first movable body 92.
By applying a predetermined force due to the restoring behavior of the coil spring 173 in the direction opposite to the moving direction of the first movable body 92.
It is configured to prevent backlash.

Further, the present embodiment is also characterized by the structure of the first storage rack 12. As shown in FIG. 1, the article loading position A
The article carrying-out position B is set so as to be aligned with the first storage rack 12 in the left-right direction and to be vertically separated by a predetermined distance so that one is located substantially directly above the other. A part of the storage rack 10 is provided so as to project between the article carry-in position A and the article carry-out position B. By doing so, the space can be effectively utilized, and the article 20 can be carried in between the article carry-in position A and the article carry-out position B and the storage shelf 10 provided so as to project between these positions.
Carrying out can be basically performed only by moving the lifting and lowering body 80 in the vertical direction, with almost no movement of the article delivering and receiving body 100 in the left and right direction. Therefore, the articles 20 can be transferred to the storage shelves 10. It is possible to reduce the overall time for taking in and out work. The second storage rack 14 is provided with the above-mentioned article carry-in position A.
A storage rack 10 is also provided at a position facing the article unloading position B.

At the lower part of the left and right ends of the first storage rack 12 away from the article loading position A, the articles are
A take-out shelf 16 for taking out 20 is provided. As shown in FIG. 2, an openable and closable door 17 is provided on the back of the takeout shelf 16, and
A support rail 18 for pulling out the article 20 is provided, and a person or the like can take out the article 20 transferred to the taking-out shelf 16 by the article depositing / dispensing body 100. Such a take-out shelf 16
By providing, when a defective article or the like is found in the articles 20 stored in the storage shelf 10, the defective article or the like is transferred from the storage shelf 10 to the take-out shelf 16 without carrying it out to the next step, and from there. It becomes possible to take out the articles 20, and when the articles 20 are to be extracted and inspected, the articles 20 to be taken
Each article 20 can be efficiently extracted at a time by moving the article 20 to the take-out shelf 16 and taking out the article from the take-out shelf 16, so that it is possible to perform the sampling inspection efficiently.

Further, in this embodiment, the article dispenser 100 is also used.
There is also a feature in the structure. As shown in FIG.
A truss-shaped member 180 protruding from the column body 70 along the moving direction of the base 60 is provided on the column body 70 of 0 on the side opposite to the mounting side of the elevating body 80. This truss-shaped member 180 is a column 70
A main member 181 that connects the upper end of the main body 181 to the end of the base 60 in the moving direction (left-right direction in the drawing), a diagonal member 182 that obliquely connects the main member 181 and the pillar 70, and a main member 181. As shown in FIG. 8, the main member 181 side end of the horizontal member 183 and the main member 181 side end of the slant member 182 are the main members. It is fixed to 181 together. By providing such a truss-shaped member 180, the rigidity of the column 70 can be efficiently increased without significantly increasing the weight, and it is possible to effectively prevent the column 70 from swaying.

Next, the operation of the automatic warehouse according to this embodiment constructed as described above will be explained mainly with reference to FIG.

In order to load and unload the articles 20 from the predetermined storage rack 10 by the article delivery and receipt body 100, the base 60 and the lifting body 80
To move the drive control means 200 to each drive means 5
Each control signal is output to 6 and 78. The control signal output to the drive means 56 is a signal for controlling the rotation speed of the drive gear 58 driven by the drive means 56, and the drive means 56 rotates the drive gear 58 by a predetermined rotation speed according to this control signal. As the drive gear 58 rotates, the timing belt 54 meshed with the drive gear 58 is driven, and the drive of the timing belt 54 drives the base 60 connected to the timing belt 54.
Moves in the left-right direction along the storage racks 12 and 14 and stops at a predetermined stop position. On the other hand, the control signal output to the drive means 78 is a signal for controlling the rotation speed of the drive gear 77 driven by the drive means 78, and the drive means according to this control signal.
78 rotates the drive gear 77 by a predetermined number of revolutions. Drive gear
Auxiliary belt 79 meshing with this drive gear 58 as the 58 rotates
Is driven, and the drive of this auxiliary belt 79 causes the gear 74 at the lower end of the columnar body 70 meshing with this auxiliary belt 79 to rotate. gear
Timing belt that meshes with this gear 74 as 74 rotates.
76 is driven, and the lifting body 80 connected to the timing belt 76 by the driving of the timing belt 76 is a pillar body.
It moves up and down along 70 and stops at a predetermined stop position.

When the base 60 and the lift 80 are stopped at predetermined stop positions, the base 60 and the lift 80 are moved based on the detection signals input from the position detection means 130 and 140 to the drive control means 200, respectively. It is determined whether or not the vehicle has properly stopped at the predetermined stop positions. That is, when the detection unit 132 of the position detection unit 130 detects the detection target unit 131 and the detection unit 142 of the position detection unit 140 detects the detection target unit 141, the base 60 and the lifting / lowering body 80 respectively stop at predetermined intervals. It is determined that the vehicle has properly stopped at the position, and at this time, the drive control means 200 outputs a control signal to the loading / unloading body 90, and the loading / unloading body 90 moves the article 20 in and out of the storage rack 10 in accordance with this control signal. On the other hand, when the detection unit 132 of the position detection unit 130 does not detect the detected unit 131, it is determined that the base 60 is not stopped correctly at the predetermined stop position, and the detection unit 142 of the position detection unit 140 is detected. If does not detect the detected portion 141, it is determined that the lifting / lowering body 80 is not correctly stopped at the predetermined stop position. In these cases, the drive control means 200
Based on the signal output from the driving means 56 from the base unit until the detecting section 132 of the position detecting section 130 detects the detected section 131.
The stop position of 60 is corrected, or the position detection means is based on the signal output from the drive control means 200 to the drive means 78.
Until the detection unit 142 of 140 detects the detected unit 141
The stop position of 80 is corrected, and after the correction is finished, the article 20 is put in and taken out by the put-in / take-out body 90.

By providing the position detecting means 130 and 140 as described above, between the drive gear 58 and the timing belt 54, or between the gear 74 and the timing belt 76, or between the drive gear 77 and the auxiliary belt 79. Even when a deviation occurs due to tooth skipping or the like, it is possible to reliably detect the positional deviation between the loading / unloading body 90 and the storage shelf 10 due to such a cause. It is possible to prevent a situation in which the article 20 and the entering / exiting body 90 are damaged due to being taken in and out.

Although one embodiment of the automatic warehouse according to the present invention has been described above, the automatic warehouse according to the present invention is not limited to the specific mode of the embodiment, and various modifications can be made. Of course.

[Brief description of drawings]

FIG. 1 is a front view showing the overall configuration of an automated warehouse according to an embodiment of the present invention.

FIG. 2 is a plan view of the automated warehouse shown in FIG.

FIG. 3 is a left side view of the automated warehouse shown in FIG.

FIG. 4 is a front view showing a configuration of a lifting body.

5 is a plan view of the lifting body shown in FIG.

FIG. 6 is a front view showing a configuration of an entrance / exit body.

FIG. 7 is a sectional view of the body shown in FIG.

FIG. 8 is a side view showing a lower structure of the article depositing / dispensing body.

FIG. 9 is a front view showing the lower configuration of the article depositing and dispensing body.

FIG. 10 is a plan view showing a lower structure of the article depositing and dispensing body.

FIG. 11 is a diagram showing a partial configuration of an entrance / exit body.

FIG. 12 is a view showing the configuration and action of an elastic stopper attached to the entrance / exit body.

[Explanation of symbols]

 10 Storage rack 12 First storage rack 14 Second storage rack 16 Extraction rack 20 Articles 30 Loading device 40 Unloading device 50 Loading and unloading device 60 Base (moving body) 70 Pillar 80 Elevating body (moving body) 90 Loading / unloading body 100 article delivery / reception body 110 clamp means 112 hydraulic cylinder device 114 clamp tool 115 guide member 120 safety device 130, 140 position detection means 131, 141 detected part 132, 142 detection part 200 drive control means A article carry-in position B article carry-out position

Claims (3)

[Claims] 1. A moving body, which is meshed with a toothed drive rotating body and is moved along a storage rack having a plurality of storage shelves by a towing body driven by the drive rotating body, and a moving body provided on the moving body. In an automatic warehouse having an article depositing / dispensing body provided with an in-and-out body for taking an article in and out of the storage shelf, the detected section and the detected section when the article is at a predetermined position with respect to the detected section A detecting unit for detecting, one of the detecting unit and the detected unit is provided at the moving body, and the other is provided at a predetermined position other than the moving unit, and the moving body is correctly stopped at a predetermined reference stop position. An automatic warehouse, characterized in that the detection section comprises position detection means configured to detect the detected section when the above-mentioned operation is performed. 2. When the moving body stops at the predetermined reference stop position and the detection unit does not detect the detected portion, the article is prohibited from being taken in and out of the storage rack. Claim 1 characterized by the above.
The automated warehouse listed. 3. When the moving body stops at the predetermined reference stop position and the detecting section does not detect the detected section, the detecting section detects the detected section. The automated warehouse according to claim 1, wherein the automatic warehouse is configured to correct the stop position.