JP2000128307A - Article storage facility - Google Patents

Abstract

PROBLEM TO BE SOLVED: To effectively avoid the unproper transfer between a stucker crane and a goods disposal device. SOLUTION: This article storage facilities are equipped with a goods disposal device LT for handling article L to be stocked/delivered to housing shelves 1a and 1b, and a stacker crane 2 equipped with an article transfer device 9 to carry the article L between respective article housing parts 3 and the device LT. In the facilities, when the device 9 is detected under its transfer work to the device LT based on the received actuation signal of the device 9, the goods disposal side control device of the device LT sends an abnormality occurring signal to a crane side control device SC following the occurrence of action abnormality on the device LT side, and the device SC stops the actuation of the device 9 following receiving the latter signal.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a storage shelf provided with a plurality of article storage sections, a cargo handling apparatus for handling articles that enter and leave the storage shelf, and each of the article storage sections and the article storage section. An article transfer device for transferring articles between the handling apparatus and the self is provided, and a stacker crane for transporting articles between each of the article storage units and the handling apparatus is provided. Related to article storage facilities.

[0002]

2. Description of the Related Art Such an article storage facility carries goods into and out of a storage shelf by loading the goods into or out of the goods handling apparatus. A stacker crane conveys articles between the cargo handling device and each article storage unit. As the above-mentioned cargo handling apparatus, for example, in addition to being configured as a mere receiving tray, articles that enter and leave the article storage facility, such as those configured to be movable and those equipped with a swivel table There are various types corresponding to the transport type and the like.

An article transfer device of a stacker crane transfers articles to be loaded and unloaded to and from a cargo handling device having the above-described structure. Conventionally, when performing this transfer operation, a stacker is used. The crane is provided with information as to whether or not there is an article on the cargo handling device side. When an article to be received and delivered is to be transferred to a cargo handling apparatus, if the article already exists in the cargo handling apparatus, the transfer operation is stopped because an abnormality has occurred.

[0004]

However, in the above-described conventional configuration, it is assumed that a state suitable for the transfer operation is maintained during the transfer operation, and that the transfer operation can be performed before the transfer operation. It is only necessary to check whether or not the product has been moved. Loading is not performed properly, and in some cases, the article transfer device may be damaged. The present invention has been made in view of the above circumstances, and has as its object to effectively avoid improper transfer between a stacker crane and a cargo handling device. is there.

[0005]

According to the first aspect of the present invention, the cargo handling side control device provided in the cargo handling device is provided with an article received from the crane side control device provided in the stacker crane. If the article transfer device detects that the transfer operation is being performed with respect to the handling device based on the operation signal of the transfer device, and an operation error occurs on the handling device side, the crane side Transmit an abnormality occurrence signal to the control device. On the other hand, the crane-side control device stops the operation of the article transfer device in response to receiving the abnormality occurrence signal. Therefore, during the transfer operation by the article transfer device, if an operator or the like erroneously operates the cargo handling device or the like, the article transfer operation is stopped, so that the stacker crane and the cargo handling device are not connected to each other. Avoid transfer of unsuitable goods between
Damage of the article transfer device can be reliably prevented.

In addition, with the configuration according to the second aspect of the present invention, whether or not the transfer operation by the article transfer apparatus is possible is determined based on the detection signal of the presence detection means for detecting the presence or absence of the article. It is transmitted to the crane side control device via the line. Specifically, if there is an article in the cargo handling device, the transfer of the article from the cargo handling device to the stacker crane by the article transfer device is allowed, Transfer of articles to the device is prohibited, and conversely, if there is no article in the handling device, the transfer of articles from the handling device to the stacker crane by the article transfer device is prohibited. The transfer of articles from the stacker crane to the cargo handling device is permitted.

[0007] The information based on the detection information of the presence detecting means is necessary information before the transfer operation is started by the article transfer device, and once the transfer operation is started, any useful information is as follows. Not used. Therefore, when the article transfer device detects that the transfer operation is being performed with respect to the cargo handling device, an operation abnormality occurs on the cargo handling device side, and the presence confirmation signal line is used. An abnormality occurrence signal is transmitted to the crane-side control device via. Therefore, the information necessary before the article transfer apparatus starts the transfer operation and the information necessary during the transfer operation are rationally combined and transmitted using the signal line for the presence check. In addition, it is possible to accurately inform the stacker crane side of whether or not the transfer operation is possible before and during the transfer operation while suppressing an increase in the number of signal lines connecting the stacker crane side and the cargo handling device side.

In addition, with the configuration according to the third aspect of the present invention, based on the detection information of the presence detecting means, the cargo handling side control device sends the presence / absence confirmation signal line out of two high and low signal levels. At one of the signal levels, a permission signal for the transfer operation by the article transfer device is transmitted, and at the other signal level, a signal for inhibiting the transfer operation by the article transfer device is transmitted. Then, when the transfer operation by the article transfer apparatus is started during the transmission of the permission signal, the permission signal is maintained and the permission signal is changed to the prohibition signal regardless of the change of the detection information of the presence detecting means. Thus, an abnormality occurrence signal is transmitted.

That is, when information on whether or not the transfer operation is possible based on the detection information of the presence detection means and information on the occurrence of an abnormality during the transfer operation are transmitted through the presence check signal line,
Although a configuration in which these two pieces of information are transmitted as completely independent signals is also conceivable, as described above, the information as to whether or not the transfer operation is possible based on the detection information of the presence detection means is, due to its nature, two high and low signal levels. However, by transmitting information on the occurrence of an abnormality during the transfer operation using the signal state for transmitting the information on whether or not the transfer operation is possible, two types of information can be expressed. It can be transmitted with a very simple signal configuration.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of an article storage facility according to the present invention will be described below with reference to the drawings. Article storage equipment LS
As shown in FIG. 1, a pair of storage shelves 1a and 1b arranged in a state where articles L are put in and out facing each other, and a stacker for carrying in and out of articles L to and from the pair of storage shelves 1a and 1b. A crane ST and a cargo handling device LT arranged on the lateral side of the storage shelf 1a are provided. Each of the storage shelves 1a and 1b is configured by arranging a plurality of article storage sections 3 in which a pair of left and right support rods 3a for mounting and supporting the articles L are arranged vertically and horizontally.

The stacker crane ST has a pair of storage shelves 1.
a crane body 2 having a space between a and 1b as a traveling passage
And a shelf management device SC that manages the entry / exit of articles L to / from the storage shelves 1a and 1b, and issues an entry / exit command to the crane main body 2 and functions as a crane-side control device. The crane main body 2 of the stacker crane ST has a traveling bogie 5 on which two lifting masts 4 are erected.
And a lifting platform 6 that is guided up and down by two lifting masts 4, and travels while being guided by a travel rail 7 laid on the floor surface of the travel path and a guide rail 8 on the ceiling side. . Each of the article storage units 3 of the storage shelves 1a and 1b is
Further, a slide fork device 9 as an article transfer device for transferring the article L between the cargo handling apparatus LT and the self is provided.

The cargo handling device LT is a device for handling articles L that enter and leave the storage shelves 1a and 1b. In the present embodiment, as shown in FIG. ing. The movable receiving tray 10 is configured such that a receiving truck 11 having a traveling wheel 11b provided under a receiving tray frame 11a is movable by being guided by a rail 12 laid on the floor surface, and is operated by a worker. Thus, the receiving cart 11 can be moved. The loading cart 11 transfers the article L to and from the crane main body 2 at the end on the storage shelf 1a, 1b side in the movement range thereof, and transfers the article L to a transporting means such as a forklift at the opposite side. To deliver the article L.

The movable load receiving table 10 includes a roller type load detecting sensor 13 as load detecting means for detecting the presence or absence of the article L when a detection roller comes into contact with the article L, and a load receiving cart 11 comprising a crane. A photo-interrupter-type fixed-position detection sensor 14 for detecting whether or not the article L is located at a position where the article L is delivered to and from the main body 2 is provided. As shown in FIG. Side controller 15
Is transferred to the stacker crane ST (specifically, the shelf management device SC) based on these information.

As shown in FIG. 2, the shelf management device SC and the cargo handling side control device 15 are connected by a movement permission signal line 16 and a signal line 17 for confirming the presence of goods. The movement permission signal line 16 informs the shelf management device SC that the loading forklift 11 should not be moved when the slide fork device 9 performs the transfer operation to the loading forklift 11 to the handling side control device 15. And usually "ON"
When the slide fork device 9 performs a transfer operation with respect to the receiving truck 11 by outputting a signal to permit the movement of the receiving truck 11, an “OFF” signal is output to prohibit the movement of the receiving truck 11, An operation signal of the slide fork device 9 is transmitted.

The signal line 17 for confirming the presence of goods is used to transmit whether or not the transfer operation by the slide fork device 9 is normally possible from the cargo handling side control device 15 to the shelf management device SC. In this case, the transfer of the article L from the load carrier 11 to the crane body 2 is permitted with the output “ON”, and the load 11 is transferred from the load carrier 11 with the output “OFF”.
"Rake OK" signal line 1 prohibiting transfer of article L to the side
7a, the "ON" output permits the transfer of the article L from the crane body 2 to the load receiving trolley 11 and the "OFF" output allows the transfer of the article L from the crane main body 2 to the load receiving trolley 11. And a prohibited "grated OK" signal line 17b. The “Rake OK” signal line 17 a outputs “OFF” based on the detection information of the roller-type presence detection sensor 13 if the article L is not present on the receiving cart 11,
When the article L is present on the receiving cart 11, the output becomes “ON”. When the article L is not present on the receiving cart 11, the “ON” output is output. The output is "OFF".

Next, the control operation of the shelf management device SC and the cargo handling side control device 15 when transferring the articles L between the crane main body 2 and the movable loading table 10 will be described with reference to FIGS. This will be schematically described based on the flowchart shown in FIG. In the shelf management device SC, the operator inputs and operates an entry or exit instruction from the console of the shelf management device SC (not shown), and the crane body 2 moves the article L with the movable receiving table 10.
When the movement to the transfer position is completed, the processing shown in the flowchart of FIG. 3 is executed. That is, the shelf management device SC
When the movement of the crane main body 2 to the transfer position is completed, first, it is checked whether or not the signal on the signal line 17 for confirming the presence of the crane is a signal permitting the transfer, and It is determined whether or not start is possible (step # 1). Specifically, when performing the warehousing operation, the “rake OK” signal line 17 a
N "signal input, and when performing the outgoing work,
It is confirmed that the "grated OK" signal line 17b is "ON" signal input, and if such a signal state is not established, the process stands by.

On the other hand, the unloading-side control device 15 executes the processing of the flowchart shown in FIG. 4, and in a normal state where the "ON" signal is input from the movement permission signal line 16, the roller-type unloading device As described above, based on the detection information of the detection sensor 13, “ON” and “OF” of the “rake OK” signal line 17 a and the “grated OK” signal line 17 b respectively.
F "is set (step # 10), and every time the process of step # 10 is executed, the output signals of the" rake OK "signal line 17a and the" grated OK "signal line 17b are updated.

The slide fork device 9 is used as a receiving cart 11
FIG. 5B is a timing chart when the article L placed on the crane body 2 is transferred to the crane main body 2 side, and the timing when the article L on the crane main body 2 side is transferred to the load receiving cart 11. As shown in the chart of FIG. 5B, the signal line 17 for confirming the presence of the stock is one of the two signal levels of high and low (specifically, the “H” level).
Then, the permission signal of the transfer operation by the slide fork device 9 is transmitted, and the other signal level (specifically, “L”)
Level), a signal for prohibiting the transfer operation by the slide fork device 9 is transmitted. More specifically, referring to FIG. 5A, the signal of the movement permission signal line 16 is “O
Before the input of "FF", when the roller type presence detection sensor 13 does not detect the presence of the article L and is "OFF", the "rake OK" signal line 17a outputs an "OFF" signal and the roller type The load detection sensor 13 detects the presence of the article L and
As the signal becomes "N", the "rake OK" signal line 17a switches to a state of outputting an "ON" signal. Further, FIG.
As shown in (b), the signal on the movement permission signal line 16 is "O
Before the “FF” input, when the roller-type presence detection sensor 13 is “OFF” without detecting the presence of the article L,
Outputs an "ON" signal.

The shelf management device SC is provided with an in-stock confirmation signal line 17.
Is a signal permitting transfer (step # 1), an "OFF" signal is output to the movement permission signal line 16 to notify that the loading cart 11 cannot be moved. (Step # 2). Handling control device 1
The slide fork device 9 receives the signal.
Detects that the transfer operation is being performed on the receiving cart 11 (step # 11), and based on the detection information of the fixed position detection sensor 14, the receiving cart 11 is moved to the end positions on the storage shelves 1a and 1b side. It is monitored whether or not it has moved from (the transfer position with the crane body 2) (steps # 12 to # 12).
# 15). Therefore, after receiving the "OFF" signal from the movement permission signal line 16 in step # 11, the process in step # 10 is not executed, so that the presence confirmation signal is regardless of the detection signal of the roller type presence detection sensor 13. The output signal state of line 17 is maintained.

That is, as shown in FIG. 5A, when the articles L of the load receiving cart 11 are transferred to the crane main body 2 side, the articles L of the load receiving cart 11 are skimmed by the slide fork device 9. As a result, even if the detection signal of the roller type presence detection sensor 13 becomes "OFF", the "rake OK" signal line 17a maintains the state of "ON" signal output (that is, the permission signal) (FIG. 5 (a)). In the figure, the point indicated by the symbol “A”). Further, as shown in FIG.
1, the slide fork device 9
Even if the detection signal of the roller type presence detection sensor 13 is turned “ON” due to the lowering of the article L on the receiving cart 11, the “Grated OK” signal line 17 b is in the “ON” signal output state (that is, the permission signal). ) Is maintained (Fig. 5 (b)
In the figure, the time point indicated by the symbol “B”).

During the above-described monitoring until the signal on the movement permission signal line 16 turns “ON” and becomes movable (step # 13), the cargo is received based on the detection information of the fixed position detection sensor 14. When it is detected that the carriage 11 has moved (step # 12), one of the "rake OK" signal line 17a and the "grated OK" signal line 17b which outputs the "ON" signal is switched to the "OFF" signal output. (Step # 14). When an operation abnormality such that the carriage 11 moves during the transfer operation of the slide fork device 9 with respect to the carriage 11 occurs, the “Rake OK” signal line 1
The abnormality generating signal is transmitted by switching the 7a or the "OK" signal line 17b from the "ON" signal output to the "OFF" signal output (that is, changing the permission signal to the prohibition signal). In this case, for example, when the slide fork device 9 transfers the articles L of the load receiving cart 11 to the crane main body 2 side, the slide fork apparatus 9 lifts the articles L of the load receiving cart 11. This is a case where the worker has moved the receiving cart 11 at the moment.

In step # 2 of the flowchart shown in FIG. 3, the shelf management device SC sets "OF" on the movement permission signal line 16.
After outputting the "F" signal, the crane main body control section CC provided in the crane main body section 2 and controlling the operation thereof,
The transfer operation by the slide fork device 9 is instructed (step # 3). Thereafter, until a “transfer completion signal” is received from the crane body control unit CC (step # 5).
It is monitored whether the "OK" signal line 17a or the "OK" signal line 17b is switched from the "ON" signal output to the "OFF" signal output (step # 4).
When the signal output is switched, the operation of the slide fork device 9 is immediately stopped so that the crane body control unit C
A command is issued to C (step # 7). When the “ON” signal is maintained and the “transfer completion signal” is received from the crane main body control unit CC, the movement permission signal line 16 is turned “ON”.
Switching to the signal output allows the movement of the receiving cart 11 (step # 6).

When the movement permission signal line 16 is switched to the "ON" signal output as described above in step # 13 of the flow chart of FIG. The state returns to the state of setting the signal on the signal line 17 for checking the presence of the goods based on the information (step # 10). Therefore, as shown in FIG. 5 (a), when the articles L of the receiving cart 11 are transferred to the crane main body 2 side, the articles L of the receiving cart 11 are skimmed by the slide fork device 9 and the roller type is used. Since the detection signal of the presence detection sensor 13 is “OFF”,
The "rake OK" signal line 17a is switched to the "OFF" signal output state (at the time indicated by the symbol "C" in FIG. 5A). Further, as shown in FIG. 5B, when the articles L on the crane main body 2 are transferred to the load receiving truck 11, the load receiving truck 1 is moved by the slide fork device 9.
Roller-type presence detection sensor 13
Is "ON", the "grated OK" signal line 17b switches to the "OFF" signal output state (at the time indicated by the symbol "D" in FIG. 5B). .

When an error occurs during the transfer operation by the slide fork device 9, the "rake OK" signal line 17a or the "grated OK" signal line 17b is switched from the "ON" signal output to the "OFF" signal output. When the worker completes the recovery work and receives a “recovery completion signal” from the shelf management device SC, the worker checks the presence signal line 17 based on the detection information of the roller presence sensor 13. To the state of setting the signal (step # 10). This "restoration completion signal" may be provided with a separate signal line. However, by switching the output signal of the movement permission signal line 16 from the "OFF" output to the "ON" output, the completion of the restoration work is handled. The information may be transmitted to the side control device 15.

[Other Embodiments] Hereinafter, other embodiments of the present invention will be listed. In the above-described embodiment, as the cargo handling device LT, the movable carrier 10 of a type in which the carrier 11 is manually moved is exemplified.
2 may be provided. Also in this case, similarly to the above-described embodiment, the movement of the load receiving cart 11 during the transfer operation of the slide fork device 9 may be detected as abnormal and transmitted to the shelf management device SC.
Further, as the cargo handling device LT, the cargo receiving frame 11a in the above-described embodiment may be supported so as to be capable of rotating and operating around the vertical axis, and may be configured as a rotating type cargo receiving table. In this case, the turning movement of the load receiving table during the transfer operation of the slide fork device 9 is detected as abnormal,
It may be transmitted to the shelf management device SC. Further, as the cargo handling device LT, the cargo receiving frame 1 in the above embodiment is used.
1a may be supported so as to be able to be driven up and down, and may be configured as a so-called loader with a lifter. In this case, the ascending and descending movement of the load receiving table during the transfer operation of the slide fork device 9 is detected as abnormal, and the shelf management device SC is detected.
May be sent to

In the above-described embodiment, the slide fork device 9 is exemplified as the article transfer device provided in the stacker crane ST. However, the specific configuration of the article transfer device can be variously changed. A hook for locking the formed locked portion may be provided so as to be able to move out and retreat, and may be constituted by a so-called hook type transfer device. In the above embodiment, in the cargo handling device LT,
Although the roller type presence detection sensor 13 is illustrated as the presence detection means for detecting the presence or absence of the article L, the specific configuration of the presence detection means can be variously changed. An optical sensor that detects the presence of the article L when the detection light is blocked by the article L may be provided.

In the above-described embodiment, the case where the signal line 17 for confirming the presence of goods is a general wired type is illustrated. However, it is not necessary to configure all of them as wired. It may be configured wirelessly. In the above-described embodiment, the shelf management device SC is illustrated as the crane-side control device, and an abnormality occurrence signal is transmitted and received between the shelf management device SC and the cargo-handling-side control device 15. The side control device 15 may be configured to transmit and receive the abnormality occurrence signal to and from the crane main body control unit CC that controls the crane main body 2. In this case, the crane main body control unit CC functions as a crane-side control device.

In the above-described embodiment, the signal line 17 for confirming the presence of goods is a “rake OK” signal line 17 a and a “grated O”
Although it is configured with the "K" signal line 17b, it is not always necessary to configure with two signal lines, and a single signal line, for example, a "H" level signal from the crane main body 2 side. Only the transfer of the article L to the receiving truck 11 may be permitted, and only the transfer of the article L from the receiving truck 11 to the crane main body 2 side may be permitted by an "L" level signal.
In such a configuration, when an abnormality occurs during the transfer operation by the slide fork device 9, the transfer to the load receiving cart 11 is started when the output signal of the signal line 17 for checking stock is at the "H" level. Is switched to the "L" level, and the transfer to the crane main body 2 is started when the output signal of the in-stock confirmation signal line 17 is at the "L" level. By switching it to the “H” level, an abnormality occurrence signal can be transmitted.

[Brief description of the drawings]

FIG. 1 is an external perspective view of an article storage facility according to an embodiment of the present invention.

FIG. 2 is a block diagram according to an embodiment of the present invention.

FIG. 3 is a flowchart according to the embodiment of the present invention;

FIG. 4 is a flowchart according to the embodiment of the present invention.

FIG. 5 is a timing chart for explaining an operation according to the embodiment of the present invention;

[Explanation of symbols]

 LT Handling device SC Crane side control device ST Stacker crane 1a, 1b Storage shelf 3 Article storage section 9 Article transfer device 13 Load detection means 15 Handling side control device 17 Signal line for checking presence

Claims (3)

[Claims] 1. A storage shelf provided with a plurality of article storage units, a cargo handling device for handling articles that enter and leave the storage shelf, and each of the article storage units and the cargo handling device and An article storage facility provided with an article transfer apparatus for transferring articles between the apparatus and a stacker crane for transferring articles between each of the article storage units and the unloading apparatus. The handling side control device provided in the handling device, the article transfer device based on the operation signal of the article transfer device received from the crane side control device provided in the stacker crane, the article transfer device When detecting that the transfer operation is being performed on the cargo handling device, an abnormality occurrence signal is transmitted to the crane-side control device in accordance with the occurrence of an operation abnormality on the cargo handling device side. Is configured as the clay Side control apparatus, the with the reception of the abnormality occurrence signal, Configured article storage facility to stop the operation of the article transfer device. 2. The cargo handling apparatus according to claim 1, wherein said cargo handling apparatus further comprises a presence detection unit for detecting presence / absence of an article, and based on a detection signal of said presence detection means, determines whether or not a transfer operation by said article transfer apparatus is possible. A signal line for checking the presence of the cargo to be transmitted to the crane-side control device, wherein the handling-side control device is configured to output the abnormality occurrence signal to the presence-of-stock confirmation signal line; The side control device determines whether or not the transfer operation can be started based on the signal of the in-stock confirmation signal line when performing the transfer operation of the article transfer device with respect to the unloading device. The article storage facility according to claim 1, wherein the article storage device is configured to stop operating the article transfer device in response to receiving the abnormality occurrence signal during operation. 3. The unloading side control device transmits a permission signal for a transfer operation by the article transfer device to the presence check signal line at one of two high and low signal levels. And, at the other signal level, while transmitting a prohibition signal of the transfer operation by the article transfer device, when the transfer operation by the article transfer device is started during the transmission of the permission signal, 3. The abnormality occurrence signal according to claim 2, wherein the permission signal is maintained irrespective of a change in detection information of the presence detection means, and the abnormality occurrence signal is transmitted by changing the permission signal to the prohibition signal. 4. Goods storage facilities.