JPH09132305A - Intrusion detecting device for automatic warehouse - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect intrusion of a person to a stacker crane passage or a fixed station by a simple structure. SOLUTION: An optical axis L of a reflection type photoelectric sensor 41, which intersects the entrance to a stacker crane passage, passes through a through hole 56 of a light-shielding member 55. The light-shielding member 55 is mounted to a detecting plate 51, and the detecting plate 51 is suspended from a fixed height by drag springs 52. Intrusion of an intruder to the stacker crane passage can be detected by directly shielding the optical axis L by the intruder, and the intrusion to a fixed station 3 can be detected by pressing down the detecting plate 51 to allow the light-shielding member 55 to shield the optical axis L.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic warehouse including a rack and a stacker crane that travels in front of the rack, and more particularly to an intrusion detection device for an automatic warehouse for preventing accidents due to intrusion of people.

[0002]

2. Description of the Related Art In a factory, a warehouse, etc., in order to temporarily store products and semi-processed products, racks composed of a plurality of frontages arranged in a matrix form An automated warehouse consisting of a stacker crane that transports and is used. The goods are transported between each frontage and the station to be loaded and unloaded.

[0003]

As a station for loading and unloading, there is an automatic warehouse of a type in which a fixed station is provided. The fixed station is a station on which articles to be put in and out are simply placed, and is delivered by a forklift at a fixed position near the ground and also delivered by a stacker crane. In the vicinity of this fixed station, an entry port that allows a person to enter the stacker crane passage opens because the stacker crane delivers articles. It is dangerous for the stacker crane to run into the stacker crane passage when, for example, a person is entering the stacker crane for maintenance or load collapse correction. Is provided. Further, similarly, there are cases where a person enters the fixed station for maintenance and the like, and even in that case, it is dangerous for the stacker crane to operate. Therefore, an intrusion sensor for the fixed station must be provided. Therefore, it is necessary to provide both an intrusion sensor to the stacker crane passage and an intrusion sensor to the fixed station in the automatic warehouse provided with the fixed station, the number of sensors increases, and it takes time to install and adjust. The cost was increased.

Therefore, an object of the present invention is to provide an intrusion detecting device for an automatic warehouse which can detect intrusion into a stacker crane passage and intrusion into a fixed station with a simple structure.

[0005]

In order to achieve the above-mentioned object, the invention according to claim 1 is a photoelectric sensor which runs an optical axis across an entrance to a stacker crane passage near a fixed station of an automatic warehouse. Intrusion into the automated warehouse from the detection member that is displaceable by an external force near the bottom of the fixed station and the light blocking member that moves in conjunction with the displacement of the detection member and blocks the optical axis of the photoelectric sensor by moving The detector was constructed.

According to a second aspect of the present invention, the detection member is guided so as to be vertically movable along each of the columns that form the fixing station, and holds a constant height near the bottom of the fixing station. The intrusion detection device for an automatic warehouse according to claim 1 is configured to have a flat plate shape that is biased as described above.

According to a third aspect of the present invention, the intrusion detection of the automatic warehouse according to the first aspect is such that the detection member is hung near the bottom of the fixed station and is horizontally movable. Configured the device.

Since the present invention has the above-mentioned structure, it has the following operation.

According to the intrusion detection device for an automatic warehouse of the first aspect of the present invention, when a person invades the stacker crane passage in the vicinity of the fixed station, the intruder directly interrupts the optical axis that crosses the entrance. It is detected by a photoelectric sensor. When a person enters the fixing station, the detecting member disposed displaceably by the external force near the bottom of the fixing station is displaced. Due to the displacement of the detection member, the light blocking member moves in conjunction with each other to block the optical axis of the photoelectric sensor, so that the intrusion of a person into the fixed station can be detected.

In the automatic warehouse intrusion detection device according to the second aspect of the present invention, the flat plate-shaped detection member urged to maintain a constant height near the bottom of the fixed station is the fixed station. It is guided so that it can move up and down along the columns that make up the. When a person enters the fixed station, the detection member is pushed down by the weight of the person against the bias, and the light blocking member moves in conjunction.

In the intrusion detection device for an automated warehouse according to the third aspect of the present invention, the flat plate-shaped detection member hung near the bottom of the fixed station is movable in the horizontal direction. When a person enters the fixed station, the detection member moves in the horizontal direction when the person gets on, and the light blocking member moves in conjunction.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The embodiments shown in the drawings will be described below.

FIG. 1 is a perspective view showing a part of an automatic warehouse to which the first embodiment of the automatic warehouse intrusion detecting device according to the present invention is applied.

In FIG. 1, the stacker crane 1 travels along the rails 11 on the front surface of the rack 2. The traveling machine body 12 is provided with a control device 13, and also has a mast 14,
14 are erected. A slide fork 16 is provided on a lift table 15 that moves up and down along the masts 14. An operation panel 17 for giving instructions to the control device 13 is arranged near the end of the rail 11. Operation panel 1
Safety fences 18 and 19 are provided on the side of 7. The rack 2 includes a plurality of frontages 21, each of which can store an article W, and the article W is loaded and unloaded by the stacker crane 1.

A fixing station 3 is provided near the end of the rack 2. The fixing station 3 includes four columns 31, two columns 32 adjacent to each other, two beams 32 bridged between the columns 31, and two columns 31 adjacent to each other with no needle 32 bridged therebetween. , 31 and supporting members 33, 33 which are hung on the upper ends of the members. At both ends of the support members 33, 33, guides 34 that open to the upper outside and position the article W that descends from above are provided. On the ground near the fixed station 3, wheel stops 35, 3 for positioning a forklift (not shown).
5 is fixed. The article W is placed on the fixed station 3, and the stacker crane 1 and the forklift deliver the article W.

Since the fixed station 3 is near the ground, there is a gap between the safety fence 19 and the rack 2, which serves as an entrance to the stacker crane passage. At this entry,
For safety, an intrusion sensor including a reflective photoelectric sensor 41 attached to the safety fence 19 and a mirror 42 attached to the rack 2 is provided. The reflective photoelectric sensor 41 emits an optical axis L that crosses the entrance and detects the optical axis L reflected from the mirror 42. When the optical axis L is shielded by an intruder, the reflective photoelectric sensor 41 outputs. The reflective photoelectric sensor 41 is connected to the control device 13, and the control device 13 causes the stacker crane 1 to make an emergency stop by the output of the reflective photoelectric sensor 41.

The stationary station 3 is provided with a detection plate 51 so as to cover the entire bottom of the stationary station 3. The detection plate 51 has a flat plate shape, and both sides thereof are bent downward as shown in FIG. The detection plate 51 is suspended from the support member 33 by four pulling springs 52 near the four corners and is held at a constant height. Crank-shaped stoppers 53, 53 are attached to the beam 32 so that the horizontal portion of the tip abuts on the edge of the bent portion of the detection plate 51 and prevents further lowering. If an external force is applied from above, the detection plate 51 moves downward against the bias of the pulling spring 52 until it is stopped by the stopper 53.

An L-shaped connecting member 54 as viewed in FIG. 2 is attached to one end of the detecting plate 52. A light shielding member 55 is fixed to the tip of the connecting member 54. The light blocking member 55 is provided with a passage hole 56 through which the optical axis L emitted from the reflective photoelectric sensor 41 passes. The optical axis L passes through the passage hole 56 when the detection plate 51 is held at a constant height.

Next, the operation of the first embodiment will be described.

When a person enters the stacker crane passage,
Since the optical axis L is directly shielded from light, the reflective photoelectric sensor 41 outputs, and the control device 13 which has detected the output immediately stops the operation of the stacker crane in an emergency, thus preventing an accident.

When a person P enters the fixed station 3, the detection plate 51 is pushed down by the weight. Since the light shielding member 55 is attached to the detection plate 51 via the connecting member 54, the light shielding member 55 moves downward. The optical axis L that has passed through the passage hole 56 is shielded by the light shielding member 55, and the reflective photoelectric sensor 41 outputs. As a result, the control device immediately stops the stacker crane in an emergency, so that it is possible to prevent an accident from occurring due to a person invading the fixed station 3. When the person P withdraws from the fixed station 3, the light shielding member 55 returns to its original position by the force of the pulling spring 52, and the optical axis L passes through the passage hole 56, so that the return is also easy.

According to the first embodiment as described above,
Human ingress into the station corridor and into the stationary station 3 can be detected by one photoelectric sensor.
Therefore, it is possible to realize a safety measure that has a simple structure and is inexpensive.

FIG. 3 is a view similar to FIG. 2 showing a second embodiment of the intrusion detection device according to the present invention applied to the automated warehouse of FIG. The same members as those in FIG. 2 are designated by the same reference numerals.

In the figure, a plate-shaped detection plate 61 that covers the entire bottom of the fixing station 3 is supported by four pressing springs 62 at a fixed height above the stopper 63. Both sides are bent toward the horizontal portion of the lower stopper 63, and a light shielding member 65 having a passage hole 66 is attached to one end through a connecting member 64.

The second embodiment has the same effects as the first embodiment shown in FIGS.

FIG. 4 shows a third embodiment of the intrusion detection device according to the present invention applied to the automated warehouse of FIG. FIG.
The same members as those in are denoted by the same reference numerals.

In FIG. 1, the flat plate-shaped detection plate 71 almost covers the bottom of the fixing station 3, but the width in the lateral direction is slightly smaller than the distance between the beams 32. Four holes are formed near the four corners of the detection board 71, and one end of the wire 72 is connected to each of them. The other ends of the wires 72 are connected to brackets 73 attached to the columns 31, respectively, so that the detection plate 71 is suspended from the brackets 73 and can move in the horizontal direction to some extent. A light shielding member 75 having a passage hole 76 is attached to one end of the detection plate 71 via a connecting member 74.

Next, the operation of the third embodiment will be described.

Intrusion into the stacker crane passage is detected by the reflective photoelectric sensor 41. When the person P enters the fixed station 3, the detection plate 71 moves in the arrow direction.
Since the light blocking member 75 is attached to the detection plate 71, the light blocking member 75 also moves in the direction of the arrow and the optical axis L is blocked, so that the stacker crane 1 is brought to an emergency stop.

According to this embodiment, one reflective photoelectric sensor 41 can detect not only the entry into the stacker crane passage but also the entry into the fixed station 3.
The structure is very simple and the cost can be reduced.

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

For example, the photoelectric sensor is a reflection type and the mirror 41 reflects the optical axis L, but a combination of an LED and a phototransistor may be used. Further, although the respective light shielding members are directly attached to the respective detection plates, they may be interlocked with each other, for example, via an arm or the like.

[0033]

As described above, according to the automatic warehouse intrusion detection device of the first aspect of the present invention, it is possible to prevent human intrusion into the stacker crane and human intrusion into the fixed station.
Since it can be detected by two photoelectric sensors, the structure of the device can be simplified, and safety measures can be realized at low cost.

According to the intrusion detection device for the automatic warehouse of the second aspect of the present invention, the intrusion of a person can be detected by pushing down the detection member, so that the structure is simple and a certain height can be obtained by urging. Because it returns, you can quickly return.

According to the automatic warehouse intrusion detection device of the third aspect of the present invention, the detection member moves in the horizontal direction when a person gets on it, and the intrusion is detected by this, so the structure is very simple. Is.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a part of an automatic warehouse to which a first embodiment of an automatic warehouse intrusion detection device according to the present invention is applied.

FIG. 2 is a cross-sectional view showing a main part of the intrusion detection device shown in FIG.

FIG. 3 is a view similar to FIG. 2 showing a second embodiment of the intrusion detection device for the automatic warehouse according to the present invention.

FIG. 4 is a perspective view showing a part of an automatic warehouse to which the third embodiment of the automatic warehouse intrusion detection device according to the present invention is applied.

[Explanation of symbols]

 3 Fixed Station 41 Reflective Photoelectric Sensor 51 Detection Plate 52 Pulling Spring 55 Light-shielding Member 56 Passage Hole L Optical Axis

Claims (3)

[Claims] 1. A photoelectric sensor that runs an optical axis across an entrance to a stacker crane passage near a fixed station in an automated warehouse, a detection member that is arranged near the bottom of the fixed station and is displaceable by an external force, and a detection unit. An intrusion detection device for an automated warehouse, comprising: a light-blocking member that moves in conjunction with the displacement of the member and that blocks the optical axis of the photoelectric sensor by moving. 2. The detection member is guided so as to be movable up and down along each column that constitutes a fixed station,
The intrusion detection device for an automated warehouse according to claim 1, wherein the intrusion detection device has a flat plate shape and is urged so as to maintain a constant height near the bottom of the fixing station. 3. The intrusion detection device for an automated warehouse according to claim 1, wherein the detection member is a plate-like member that is hung near the bottom of the stationary station and is horizontally movable.