JPS62157102A - Automatic warehouse - Google Patents

Abstract

PURPOSE:To make it possible to detect occurrence of an error in control immediately to aim at enhancing the safety of cargo handling, by introduced or delivered, in accordance with the numbers and positions of detection of detectors for confirming a cargo in association with variations in the positions of detection by cargo presence detectors when an introduction and delivery device is projected. CONSTITUTION:When a large cargo 6 on a cargo bed 25 is introduced, four cargo confirming detectors 25A through 25D detect the cargo 6 so that the support of the large cargo 6 is confirmed, and therefore, an introduction and delivery device 18 is opposed to a desired storage partition space 2 and a predetermined introduction in carried out. When the uppermost stage movable part 22 of the introduction and delivery device is projected, the projecting side one of inventory detectors 24A, 24B detects the presence of a cargo while it changes its detecting position. That is, when the large cargo 6 is introduced into the front section of the desired storage partition space 2, if the cargo presence detectors 24A, 24B actuate during projecting operation, which means the presence of a cargo, the projecting operation is stopped simultaneously with the detection so that double introduction may be prevented. Further, when the movable part 22 is projected and stopped below the large cargo 6 during delivery of the large cargo 6 onto the cargo bed 27 from the space 2, if the detectors 25A through 25D are actuated, the movable part 22 is opposed to the large cargo 6.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to an automatic warehouse for automatically loading and unloading goods into and from storage spaces in toga compartments.

Conventional technology Conventional automated warehouses are equipped with shelves that have multiple compartment storage spaces in the vertical direction that can freely store multiple items in the depth direction, and a lifting platform installed on the front side of this shelf that allows for loading and unloading. It is configured with equipment. Then, by automatic control, by performing a combination of the lifting and lowering operations of the lifting platform and the loading and unloading operations of the loading/unloading device, it is possible to carry in and out loads of different shapes (sizes) into and out of the target compartment storage space. do.

At that time, a load detector is installed at the end of the platform to detect whether there is a load at the front of the divided storage space. This system detects whether or not there is a problem and prevents double import.

Furthermore, when handling loads of different sizes in a divided storage space that can accommodate a plurality of items, the ejection/removal stroke of the loading/unloading device is controlled on the ground side.

Problems to be Solved by the Invention According to the conventional method as described above, the presence detector can only detect the load at the front, so if there is a load at the back and a control error occurs, the load may be carried into the back. There is a risk of double import. Additionally, if the stroke of the loading/unloading device is disrupted due to a control error, for example, it may perform an operation corresponding to a large tube even though it is handling a small load, or it may perform an operation corresponding to a small load even though it is handling a large tube. Furthermore, when a plurality of items are stored, the user must carry out the items at the back to remove items from the front, and safe and reliable operation cannot be expected.

An object of the present invention is to provide an automatic warehouse that can immediately detect when a control error occurs when performing a desired operation by controlling from the ground side.

Means for Solving the Problems In order to solve the above problems, the automatic warehouse of the present invention is provided with shelves having a plurality of compartment storage spaces in the vertical direction, and each compartment storage space can freely store a plurality of items in the depth direction. A lifting platform is provided on the front side of the plate, and a loading/unloading device that can be freely moved in and out is provided on the lifting platform, and the uppermost movable part of the loading/unloading device has a length corresponding to the largest size of the loads to be handled. A load detector is installed at the tip of the uppermost movable part,
Detectors for checking cargo are installed at multiple locations in the exit/exit direction.

Effects According to the configuration of the present invention, when the loading/unloading device is protruded, the load detector provided at the tip of the uppermost movable part detects the load while sequentially changing the detection position according to the protruding movement, and also detects the load. Depending on the number of detections and the detection position of the confirmation detector, the shape of the load to be carried on the uppermost movable part,
Or the shape of the load in the compartment storage space that you are trying to carry out,
Furthermore, it can be confirmed whether the uppermost stage movable part has the desired protruding position, thereby preventing dangerous operations due to control errors (instruction errors).

Example An embodiment of the present invention will be described below based on the drawings.

In Figures 1 to 3, (1) is a shelf having multiple compartment storage spaces (2) vertically and horizontally, with vertical frames (3) erected at predetermined intervals, and these vertical frames (3). ) The cargo receivers attached to the inner surface of the container are composed of plates (4), etc., and are arranged in pairs parallel to each other with one passage (5). The divided storage space (2) has a plurality of loads in the depth direction, in this case two large cylinders (
The depth dimension (Ll) is set so that it can accommodate 6) or 3 small items (7). A receiving and transferring device (9) is disposed within the passageway (5) and is movable along a fixed path (8) along the front surface of the shelf (1). This receiving and passing device (9) consists of a traveling machine body (6) supported on the floor rail 01 via wheels αυ, a traveling drive device side interlocked with the wheels (11), and a post erected from the traveling machine body Q4. fJ4), the elevating platform guide guided by this guide rail αG, this elevating platform (elevating drive device Q''I linked to 1 (9)), and the lateral extension on the elevating platform Lily. It consists of a retractably arranged loading and unloading device and a control panel.The loading and unloading device is a multi-stage fork type, and includes a lowermost movable part (7) supported and guided by a lifting platform (lQ), Middle stage movable part ev supported and guided by this lowest stage movable part (E)
And this middle moving part? The uppermost movable part (c) is supported and guided by V, and the side moving device (not shown) that moves these movable parts 41η (2) to and from work in conjunction with each other, and the uppermost movable part (2) is The largest size load among the handled loads, in this case the length L3) corresponding to the length L2) of the large tube (6)
It is formed. As shown in FIGS. 1 and 4 to 6, at both ends of the uppermost stage movable part (C) in the extending and retracting direction and inside the center in the width direction, there is a shelf (1) in the form of a photoelectric switch that detects the detection direction. Side facing load detectors (24A) (24B) are provided. Furthermore, inside the - side of the uppermost movable part (2),
Load confirmation detectors (25A), (25B), (25C), and (25D) are provided at a plurality of locations in the exit/exit direction, four locations in this case. These cargo confirmation detectors (25A) (25B) (
25C) (25D) is a photoelectric switch type, and has through holes (26A) (26B) (
26C) (26D), the detection direction is set at the center in the width direction and diagonally upward. The outer load confirmation detectors (25A) (25D) and the inner load confirmation detectors (25B) (25C) are arranged at equal length el), and the inner load confirmation detectors (25B) (25C) are arranged at equal intervals. Vessel (25
B) The arrangement interval of (25C) is the length g2) which is shorter than the length 11) mentioned above. (Incorporated) indicates a loading platform placed outside the end of the shelf (1).

Next, the operation of the above embodiment will be explained.

Basically, cargo handling is carried out by a combination of the running action of the traveling machine (a) on a fixed path (8), the lifting and lowering movement of the lifting platform (ltj), and the lateral movement of the loading/unloading device (g). As a result, cargo can be received and transferred between the intended compartment storage space (2) and the cargo receiving platform □□□.

For example, when carrying a large cylinder (6) on a cargo receiving platform (B) into a divided storage space (2), the entire length of the uppermost movable part (A) is utilized. That is, as shown by the solid line in FIG. 6, when the large cylinder (6) on the loading platform β is received, the four load confirmation detectors (25A), (25B), (25(:), and 25D) are in the detection state. It is confirmed that the large cylinder (6) is supported.Then, the loading/unloading device (to) is opposed to the target compartment storage space (2), and moves on to the intended loading operation.This uppermost movable part ( When 2) protrudes, inventory detection (24A) (
24B) on the protruding side sequentially changes its detection position to detect whether or not it is in stock. As shown in the right-hand diagram of Figure 6, the compartment storage space (2)
When the large cylinder (6) is carried into the front part of the cylinder, if the load detectors (24A) (24B) detect the movement during the projecting movement, this means that there is a load in the front part. , double loading can be prevented by stopping the protruding movement at the same time as the detection. Further, as shown in the left half view of FIG. 6, double loading is similarly prevented when there is a load in the front or rear part of the compartment storage space (2) in carrying it into the rear part.

For example, when transporting a large cylinder (6) in the divided storage space (2) to the loading platform (b), the uppermost movable part (2) is placed below the target large cylinder (6) as shown in Fig. 7. However, when it is projected and stopped, all cargo confirmation detectors (25A) (25I3) (25C) (251))
When the detection movement is detected, a large cylinder (
6). However, when the protrusion is stopped, all the load confirmation detectors (25A) (25B) (2
5C) When (25D) is not detected, it is assumed that the operation is a mistake.

This includes the front large cylinder (6) and the rear large cylinder (6).
), and the same applies when the uppermost movable part protrudes and stops to take out the front large cylinder (6) even though there is only a large cylinder (6) at the rear. It is. In addition, when the uppermost stage movable part (4) protrudes and stops to accommodate the rear large object cylinder (6) when there are large object cylinders (6) in both the front and rear parts, each load confirmation detector (2)
5A), (25B), (25C), and (25D) detect the two large cylinders (6) (double detection), which confirms the erroneous operation.

Carrying in and out of the small cargo (7) is carried out in the same manner as the large cargo tube (6). The difference is that when using a large cylinder (6), there are two types of strokes for the loading/unloading device (G).
Since three small items (6) can be stored in the divided storage space (2), the stroke of the loading/unloading device (to) is controlled in three ways. The detection operations of the cargo presence detectors (24A) and (24B) are the same, but the three detectors for cargo confirmation are on the protruding side,
That is, as shown in the solid line in Figure 8, (25A) (25B)
(25C) or (2) as shown in the solid line in Figure 9.
5B), (25C), and (25D) are the objects of detection motion.

Therefore, the small cargo (7) supported in the transfer device (9) is transported to the uppermost movable part It is unevenly distributed on the shelf (1) side. In addition, positional deviation during delivery (
uneven distribution) is achieved by adjusting the placement position on the receiving platform.

Effects of the Invention According to the present invention having the above configuration, when the loading/unloading device is protruded, the inventory detector provided at the tip of the uppermost movable part detects the inventory while sequentially changing the detection position according to the protruding movement. This will prevent double imports. In addition, depending on the number of detections and the detection position of the load confirmation detector, the shape of the load to be placed on the uppermost movable part (large or small), or the shape of the load in the compartment storage space to be carried out, You can check whether the top movable part is facing the load with the desired amount of protrusion.
Therefore, dangerous operations due to control errors (instruction errors) can be prevented. Due to these, when performing the desired loading and unloading operations by controlling from the ground side,
When a control error occurs, it can be detected immediately, and safe and reliable operation can be expected.

[Brief explanation of drawings]

The drawings show one embodiment of the present invention, with FIG. 1 being a plan view and FIG.
The figure is a side view, Figure 3 is a front view, Figure 4 is a plan view of the uppermost movable part, Figure 6 is a view taken along arrow A-A in Figure 4, and Figure 6 is a schematic front view when carrying in a large cylinder. Fig. 7 is a schematic front view when carrying out large items, Fig. 8 is a schematic front view when carrying in small items, and Fig. 9 is a schematic front view when carrying in small items.
The figure is a schematic front view when carrying out small items. (1)...Shelf, (2)...Divided storage space, (4)...
...The cargo receiver is a board, (6)...Large tube, (7)...Small cargo, (8)...A fixed path, (9)...The receiver is a passing device, α...Elevating and lowering Stand, a barrel... loading/unloading device, 4...
・Lowermost movable part, Cυ...Middle movable part, (A)...
Top movable part, (25A) (25B) (25C) (25
D)...Detector for cargo confirmation, ■...Cargo receiving stand

Claims (1)

[Claims] 1. Provide a shelf with multiple compartment storage spaces in the vertical direction,
Each compartment storage space is formed so as to be able to store a plurality of items in the depth direction, and an elevating platform is provided on the front side of the shelf, and an elevating and elevating platform is provided with a loading/unloading device that can be freely moved in and out, and the uppermost stage movable part of the loading/unloading device is provided. is formed to a length corresponding to the largest load among the loads to be handled, and is equipped with a load detector at the tip of the uppermost movable part, as well as load confirmation detectors at multiple locations in the loading/unloading direction. An automated warehouse characterized by: