JPS6014725B2 - Transport platform device in automatic goods loading and unloading equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic loading and unloading device that automatically takes out articles from shelves and stores them therein.

Conventionally, a transport platform was provided so that it could move vertically and horizontally along the front surface of the storage shelf, and an address code was assigned to each shelf position, and the transport platform was controlled to move according to the specified address code. An article delivery device for transferring articles to or taking out articles from the shelves is provided above the article delivery device, and the article delivery device is controlled to operate when the conveyor is stopped, thereby taking out articles from the shelves and taking articles to the shelves. Devices that automatically perform storage are known.

In such automatic warehousing/retrieval system, when an article is taken out or stored, the address code of the storage shelf position of the article is inputted using a keyboard or the like.

In addition, a code reading device is installed at the warehouse entrance to read the code mark attached to the stored item, automatically input the address code of the shelf position of the item, and confirm by comparing it with the input from the keyboard. Some have done so.

However, if a power outage occurs in a secondary device after the warehousing operation has started, the device will stop with the items still on the conveyance platform, and even after the power outage ends, the address code that has already been input will be lost. Since it has disappeared, there is an inconvenience that the warehousing operation does not continue and stops in that state.

To solve this problem, it is possible to use a storage device that does not lose its memory even in the event of a power outage, but this increases the cost of the device. The present invention solves the above-mentioned drawbacks by providing a removal head on the conveyance table for removing the code mark attached to the article, and thereby reading the code mark on the article on the conveyance table. purpose.

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail below with reference to embodiments shown in the drawings.

This example is L Samurai Isoaki 52-32794, Mochiisoaki 52-
67342, Samurai Isoaki 52-67343, Beautiful face Sho 53-1
This example is applied to a transport table in an automatic storage for magnetic tapes such as No. 1631.

FIG. 1 shows a schematic diagram of the present invention applied to a transport platform of this type of automatic magnetic tape storage.

Referring to the figure, this conveyance platform 1' is, as is well known, mounted on a traveling column (not shown) so as to be able to slide up and down.The horizontal movement of this traveling column and the vertical movement of the conveyance platform are controlled. Thus, the conveyor table can be positioned at any desired shelf position.A pickup device 2 is provided on the head of the conveyor table to pick up the magnetic tape on the shelf so as to be moved back and forth in a controlled manner.

This pickup device may be of the type disclosed in the aforementioned patent application or of other types. The present invention does not relate to the configuration itself of this pickup device 2, so in the illustrated embodiment, the finger protrusion 21 lifts the magnetic tape and the distance between the finger portions 22 is narrowed. As shown in FIG. Thereafter, it is retreated and pulled out onto the conveyor table as shown in FIG.

A reading head 4 is attached to one side plate 3 that defines a storage chamber in which the magnetic tape pulled out and held by the pickup device 2 is contained.

Simultaneously referring to FIG.
is pivotally supported by a pin, and a shaving head 4 is attached to one end of the lever on the side of the storage chamber. The end of the bar 6 is connected to the rotary shaft 5 by a tension spring 7, thereby urging the kendori head turtle to protrude inward into the storage chamber. The bar 6' is provided with a roller 8 protruding toward the storage chamber side from the reading head 4 near the reading head turtle.
Thereby, when the magnetic tape MT is packed into the storage chamber, the distance between the end face of the magnetic tape and the cutting head 4 is maintained constant. Corresponding to the initial position of rotation due to the rotation of the rotating shaft 5 of the lever S, that is, the standby position, the press punch 9 penetrates the side plate 3 and protrudes toward the Oribe opposite to the Kendori head turtle of the lever 6. This punch 9 is provided on the side plate 3, and the punch 9 is connected to a solenoid 10 and a bar 11 provided on the side plate 3.
are connected via a compression spring 12.
The tip is thinned away from lever 6, and solenoid 1
When biased at 0, the lever 6 protrudes toward the lever 6, rotates the lever 6 against the biasing force of the tension spring 7, and operates to move the reading head 4 and roller 8 back from the storage chamber side. The rotating shaft 5 is equipped with a pulley turtle 3,
It is rotationally driven by the motor 14 via a belt 16 that is stretched between the output shaft of a motor 14 separately provided on the side plate 3 and a pulley mount.

Magnetic tape MT taken out by pickup device 2
In order to stably support the magnetic tape inside the containment chamber, a presser plate 17 is provided that is pivoted on the upper wall of the containment chamber, and normally the magnetic tape is pulled up with a tension spring 8 to prevent it from falling into the containment chamber. The transport table is provided with a lever 19 that is engaged with and operated at the most retracted position of the pick-up device 2 so that it protrudes into the storage chamber and presses the magnetic tape when it is completely pulled out onto the transport table. The lever 19 and the presser plate 7 are connected by a chain or a narrow saddle.The operation of this device will be explained.

From the normal state shown in FIG. 1, the pickup device 2 moves forward and performs an operation to take out the magnetic tape as shown in FIG.

At this time as well, microswitch B provided as shown in the figure to engage with the pickup device is turned off and microswitch A is turned on, thereby operating the solenoid amount 0, and as described above, the operating lever 6 of Oshimura 9 is rotated, and the recording head 4 and roller 8' move back (see Fig. 2b).The finger section 22 is operated by the operation of a control circuit (not shown), and the protruding section 21 supports the lower end of the magnetic tape MT. In this state, grab the magnetic tape and move back.

During this backward movement, the solenoid neck 01 is kept in the on state. Therefore, a collision between the magnetic tape MT and the head or the roller 8 is prevented. When the pick-up device 2 moves backward and reaches the most retreated position as shown in Figure 8, the lever dragon 9 is operated and the presser plate turtle turns downward to release the suction tape MT. The magnetic tape MT is pressed from above, and is thus firmly stationary and supported by the protrusion 21 of the pickup device 2, the finger part 22, and the press plate 17. On the other hand, the pickup bag counterfeit 2 is stopped at this last retreating layer. At this time, the microswitch C is turned on by the pickup device 2, and as a result, the solenoid 10 is turned off, and the Oshimura 9 is moved backward, and as shown in FIG. rotates and presses the roller 8 against the end surface of the magnetic tape MT.As a result, the stripping head 4 approaches the end surface of the magnetic tape MT and faces it with a certain gap.Subsequently, the motor 14 is driven. , the rotary shaft 5 rotates, and as a result, the head 4 scans the surface of the magnetic tape machine.In this way, no matter what angular position on the surface of the magnetic tape machine the code mark is placed, the head 4 scans the surface of the magnetic tape machine. By scanning the rotational movement of 4,
You can definitely humble yourself.

Note that it is necessary to design the pickup device 2 so that the center of the magnetic tape in the last retreating layer and the center of the rotating shaft 5 coincide with each other. Incidentally, the rotational angle range for scanning of the reading head 4 may be set in any manner as long as it is within a range that can reliably read the code mark attached to the end surface of the magnetic tape MT.

Referring to FIG. 5, the length of the code mark 3a attached to the end surface of the magnetic tape MT is Q.

(Qo=120o in this example), the rotation of the reading head 4 is (3600
o) By performing the rotational scanning, no matter what angular position the code mark on the magnetic tape is placed with respect to the recording head 4, the code mark 3a is reliably scanned once from the tip to the end of the code mark 3a. Can be scanned across. Therefore, the motor 14 is rotated so that the reading head 4 is rotated over a rotation angle range of at least (360° x Qo).
All you have to do is control it. This control method can also be performed by controlling with a timer in relation to the rotational speed of the lever 6, but in this embodiment, this is achieved by providing a switch that detects the rotational angular position of the rotational shaft 5. There is. Referring to FIG. 4, an optical switch 23 consisting of a light source and a light receiving element is placed on the side plate 3 at a position adjacent to the rotating shaft 5, and a light shielding plate 24 that blocks the light source and the light receiving element is placed on the rotating shaft 5. A light-shielding plate 24 is provided on the top so that the light source and the light-receiving element are shielded every time the rotating shaft rotates once.

The angular relationship between the lever 6 equipped with the refutation head 4, the optical switch 23, and the light shielding plate 24 is such that when the end of the lever 6 opposite to the reading head 4 is in a position facing Oshimura 9, the optical switch 23 is light shielded. It is determined that the plate 24 is positioned.
Similarly, a similar optical switch 25 that is turned on and off by the light shielding plate 24 is connected to the optical switch 23 in the direction of rotation of the rotating shaft.
(=1200) provided at angular positions shifted from each other.

As a result, with the optical switch 23 in the off state as the initial position, the motor 14 is activated by the scan start signal, the rotation of the mooring head 4 is started, and the lowering head 4 is rotated (360° x Q).

), the optical switch 25 generates a second off signal. This second off signal causes the motor 14 to
If the motor 14 is stopped by the OFF signal of the switch 23, the head 4 will be (360o + Qo).
) is returned to the initial position. In this way, the code mark provided on the end face of the magnetic tape can be reliably trimmed. FIG. 6 shows a control system diagram, in which the pickup device control circuit 26 receives an article retrieval command signal and an article storage command signal from the main control circuit of the automatic hangar, and signals from microswitches A, B, and C.
When a take-out command signal is input to the circuit that controls the reciprocating movement of the pick-up device 2 and the gripping operation of the finger section 22,
The motor 27 that moves the pick-up device 2 is rotated in one direction, the pick-up device 2 is advanced toward the shelf, and stopped by the on signal from the micro switch A, the drive device 28 of the finger portion 22 is turned on, and then, motor 27
is reversed, and motor 2 is turned on by the on signal of micro switch C.
A series of control operations are performed to stop 7. Thus, the pickup device 2 is stopped at its most retracted position while holding the magnetic tape MT, as shown in FIG. 3a. When a storage command signal is input from this state, the pickup device control circuit 26 rotates the motor 27 in the forward direction to move the pickup device 2 toward the shelf, and the microswitch A
A sequence of temporarily stopping the motor 27 with an on signal from microswitch B, turning off the finger drive device 28, then reversing the motor 27, and stopping the rotation of the motor 27 with an on signal from microswitch B. control. In this way, the magnetic tape MT is pushed out to the shelf (or the delivery section), and the pickup device 2 is returned to the initial position shown in FIG. 1a. The solenoid control circuit 29 outputs a take-out command signal, a storage command signal, and microswitches A,
It receives signals from B and C to control the operation of the solenoid 10, and when a discharge command signal is input, it outputs a solenoid ON signal to the solenoid drive circuit 30 and turns on the solenoid I.
Keep Q operational.

After this, when the on signal of micro switch C is input,
An IJ set signal is generated to the solenoid drive circuit 30 to deactivate the solenoid 10. The reading head 4 is thus placed in the reading position as shown in FIG. When the storage command signal is input, the solenoid drive circuit 29 outputs an ON signal to the solenoid drive circuit 30 to maintain the solenoid 10 in the operating state, and the signals from the microswitches B and A change from B→A→ When input in the order of B, an off signal is generated to put the solenoid 10 in a non-operating state. In this way, the cutting head is placed in the initial state shown in FIG.
The reading head control circuit 31' controls the operation of the motor 14 and the bidding head 4, and its activation signal is generated after the solenoid control circuit 29 receives the take-out command signal. This occurs at the same time as the set signal.

When the start signal is input, the read head control circuit 31 gives a take operation signal to the reading head 4 and also starts the motor 4.
A signal is given to the motor drive circuit 32 to rotate the motor in the forward direction. In this way, the stripping head 4 performs rotational scanning facing the surface of the magnetic tape MT. During this time, the optical switch 23,
26 is controlled by the light shielding plate 24, and when the second off signal is generated from the optical switch 25, the read head control circuit 31
generates a reading stop signal to the reading head 4, and
A reverse rotation signal is output to the motor drive circuit 32. Thus, when the motor 14 reverses and an off signal is input from the microswitch 23, the motor stop signal is sent to the motor drive circuit 3.
2 and outputs a reading completion signal to the aforementioned main control circuit. In this way, the discussion head 4 completes the code transfer operation and returns to the state shown in FIG. 3.

The above-mentioned storage command signal from the main control circuit is generated after the main control circuit receives this harvesting completion signal. Used for code input.

In addition, in the above-mentioned embodiment, since the reading head 4 rotates,
The cord connected to the handle must also be allowed to move accordingly, but simply loosening the cord is undesirable as it may cause the cord to get caught.

Therefore, in this embodiment, the lever 6 and the rotating shaft 5 are made into hollow bodies, and the cord is pulled out through the hollow parts, and the cord is drawn out through the hollow part, and the cord is inserted into the weave of the rotating shaft 5, as best shown in the exploded view of FIG. 4d. A cord winding reel 61 is provided, and a cord 62 pulled out from the hollow part of the rotating shaft 5 is led out from the inside of the reel 61 through a slit 63 and connected to a flat cable 64, and this flat cable 64 is connected to the reel 61. It is loosely wound and its end is fixed with a cord attachment block 65 fixed on the fixing block 3' on the side plate, and is led out from there. With this configuration, the cord 62 does not hang down, and since the flat cable 64 moves like a clockwork when the reading head rotates, the cord does not twist or break.

In the above-mentioned embodiment, the reading head 4 is rotated relative to the magnetic tape taken out onto the transport table, but conversely,
The bidding head 4 may be fixed and the magnetic tape 3 may be rotated.

Examples in this case are shown in FIGS. 7-9. Referring to FIG. 7 and FIG.
It is equipped with

The configuration and operation of this pickup device 2 are the same as those in the previous embodiment. Both side plates 3 and 3' have shafts 33 and 33' rotatably supported through them, respectively;
A disk 34, 34' is attached to each inner chamber. The shafts 33, 33' are urged to protrude outward by springs 35, 35', while loaves 37, 37' provided at the tips of the chopping bars 36, 36' are engaged with the koji head. The ends of the levers 36, 36' are connected by chains or strips 38, 38' to a lever 39 which is operated in conjunction when the pickup device 2 reaches its final position. When the pickup device 2 reaches its final position, the shafts 33, 33' are pushed down inward to the side plates 3, 3', thereby pushing the magnetic tape MT held by the pickup device 2 onto the disk 34 from both sides. , 34'.The shafts 33, 33' are provided at positions facing the center of the magnetic tape MT when the pickup device 2 reaches the last retreating layer.One shaft 33 is connected to a gear. 40 is fixed, and this gear meshes with a gear 42 supported on the output shaft of a motor 41 supported on the side slope.
The magnetic tape MT, which is crimped and held between 4 and 34', is rotated.

A removing head 4 is fixed to one of the side plates 3' for removing code marks formed on the end surface of the magnetic tape while the magnetic tape is rotating.

The operation of this embodiment will be described below with reference to the control system diagram in FIG.

The operation of the pickup device 2 is such that when the pickup device 2 is in the last retreating layer, that is, when the microswitch C is turned on, the finger portion 22 is released from gripping the magnetic tape MT. This is the same as in the previous embodiment.

That is, the pickup control device 26' differs from the control circuit shown in FIG. 6 in that it outputs a reset signal for the finger drive circuit 28 when the microswitch C is turned on. As a result,
In the last stage of the pickup device, the magnetic tape MT is supported by the pressure-bonding parts of the discs 34, 34'. on the other hand,
After the extraction command signal is input to the extraction head control circuit 31', when the signal from the micro switch C is input, the operation signal of the motor 41 is supplied to the motor drive circuit 43, and the signal is read to the extraction head 4. A command signal is given, thus causing the magnetic tape to rotate, while the reading head reads the code marks.
The reading head 4 is fixed, and there is no need to return it to its original position as in the above-mentioned embodiment.
Ten Q.

) All you have to do is rotate it. Therefore, the read head control circuit 31' controls the motor 41 after a certain period of time determined by taking into account the rotational speed of the magnetic tape MT caused by the rotation of the motor 41, that is, after the time required for (3600 Qo) rotations. It generates an edge set signal for the drive circuit 43 and the reading head 4, and at the same time generates an edge set signal to the main control circuit. As shown in FIG. 7, the magnetic tape MT is clamped by the pivoting action of the lever 39 caused by the engagement of the lever 39 with the pickup device 2, but instead of this, a solenoid You may also use

In this case, the solenoid 'or' should be operated when the microswitch C is turned on to crimp and clamp the magnetic tape between the discs. In a modified example of the embodiment, the inside of the magnetic tape MT is
The hole is used to grip and rotate the magnetic tape MT. That is, a ball tube 44 is rotatably supported on one side plate 3' of the conveyance table, passing through the side plate 3', so as to be slidable in the track direction. The outer end of the ball tube 44 is rotatably supported by a air cylinder 45, and the movement of the cylinder moves the ball tube 44 back and forth.

Ma. A gear 46 is attached to the shaft cylinder 44, and the gear 46 is meshed with a gear 47 of the output shaft of a motor 41 installed on the side plate 3'. 44 is rotated. At the inner end of the ball tube 44, there are three arm tubes 48a extending in the light direction at intervals of 120 degrees.
48b and 48c are provided, and a rod 49 is slidably supported within each arm cylinder.

The rod 49 has a V block 50 with a V groove at its outer end and an inclined surface 51 at its inner end.A shaft 53 that is moved back and forth by a solenoid 52 is disposed inside the shaft cylinder 44.
The tip of the shaft 53 is provided with a triangular pyramid (or cone) 54 that engages with the mirror slope 51 of the rod 49.

Therefore, when the shaft 53 is pulled by the operation of the solenoid 52, the rod 49 is pushed out in the axial direction due to the sliding relationship between the triangular pyramid 54 and the mirror slope 51, and the V
The groove engages the edge of the center hole of the magnetic tape MT to support the magnetic tape. When the solenoid 52 is deenergized, the shaft 53 is returned to its original position by the force of a spring (not shown), and the rod 50 is also pulled back into the arm cylinder by a tension spring 55.

A reading head 4 for reading code marks attached to the end surface of the magnetic tape MT is fixedly supported on the inner surface of the side plate 3.

In this embodiment, in addition to the control circuit shown in FIG. 9, a cylinder control circuit and a solenoid control circuit are added as control circuits.

The operation will be explained with reference to FIG.

As before, the pickup device is operated under the control of the pickup device control circuit 26''.

However, in this case, the pickup device control circuit 26'' controls when the pickup device moves to the magnetic tape pickup retreat position and the microswitch C is turned on.
A cylinder operation signal is applied to the cylinder drive circuit 56 to move the barrel tube 44 inward. The cylinder drive circuit 56 generates a drive signal to the solenoid 52 when the cylinder 44 is moved to the final position where the tip arm cylinder 48 is located in the center hole of the magnetic strip MT, and also generates a drive signal to the read head control circuit 31'. to the pickup control circuit 26.
As a result, the pickup control circuit 26'' generates an IJ set signal to the finger control circuit 28, and the pickup head control circuit 31' generates a signal to the motor drive circuit 4.
3 and the reading head 4, and the V block 50
The magnetic tape MT supported by the magnetic tape MT is rotated, and during this time the code mark attached to the end surface of the magnetic tape MT is read by the reading head 4.

After the magnetic tape MT has rotated (3600 Q.), the operations of the motor 41 and the picking head 4 are stopped, and a reading end signal is output from the picking head control circuit. Thereafter, when the storage command signal is input to the pickup device control circuit 26'', the pickup device control circuit 26'' operates the finger portion drive circuit 28 and generates a recovery signal to the cylinder drive circuit 56.

At this time, the cylinder drive circuit 56G restores the solenoid 52, thereby releasing the support of the magnetic tape MT caused by the V block 5Q', then restores the cylinder, and after the cylinder 45 is restored, the pickup device control circuit sends the restoration signal. 26'', thereby causing the pickup device control circuit 26'' to reverse the motor 27 and feed the magnetic tape. As described above, according to the conveyance table device according to the present invention, the code mark of the article taken out onto the conveyance table can be automatically removed on the conveyance table, so that when the article is taken out from the warehouse, the shelf of the article to be taken out is placed on the shelf. Confirmation when the goods are placed on the conveyance table from the warehouse, confirmation of the goods taken from the storage entrance onto the conveyance table at the time of storage, automatic input of the address code of the warehousing position, and confirmation of the goods on the conveyance table when re-operating after a power outage. It has various applications and advantages, such as automatically inputting the address code of the storage location of goods.

In the above embodiments, the article is a magnetic tape, which is a circular article. However, the present invention is applicable not only to magnetic tapes but also to various circular articles. In addition to "things that can be applied to various other articles," especially when the code mark of an article placed on a conveyance table is always at a fixed position, the rotation mechanism of the reading head and the Rotation of the article
It is easily understood that no mechanism is required.

[Brief explanation of drawings]

Figures 1 to 6 are diagrams showing one embodiment of the present invention, and Figures 1 to 3 are diagrams showing a schematic configuration and different operating states, respectively.
The figure is a front view, figure b is a cross-sectional view, and figure 4 is a partially enlarged view.
Figure a is a front view, figure b is a rear view, figure c is a side view, figure d is a partially exploded view, figure 5 is an end view of the magnetic tape, and figure 6 is a control system diagram. Figures 7 to 9 show other embodiments, with Figure 7 being a front view and Figure 8 being a front view.
The figure is an enlarged partial sectional view, and FIG. 9 is a control system diagram. 1st
0 to 12 show still other embodiments, FIG. 10 is a partially enlarged sectional view, FIG. 11 is a partially front view, and FIG. 12 is a control system diagram. 1...Carrier device, 2...Pickup device, 3...Side plate, 4...Reading head
MT...' Magnetic tape "3a...Code mark. Hakama ↑ Figure 2 Figure 3 Groove Figure 4 (d) Figure 4 (0) Figure 4 (b) Figure 4 (C) Figure 5 Figure 6 Purple Figure 7 Figure 8 Figure 9 Figure 10 Camellia Figure 11 Figure 12

Claims (1)

[Claims] 1. An article conveyance table provided to be controlled to move vertically and horizontally along the front surface of the article storage shelf, and an article conveyor table provided on the conveyor table to take out articles from the shelf when the conveyor table is stopped at a predetermined position on the shelf. A conveyance table device characterized by an article delivery device that transfers articles on a conveyance table to a shelf, a drive source that operates the article conveyance device, and a control circuit that controls predetermined operations of the conveyance table device. In the automatic loading/unloading device for articles, the conveyance table device is equipped with a reading head for reading a code mark attached to the article on the conveyance table. A transport platform device in an automatic storage/unloading device that enables confirmation.