JPH0240001Y2 - - Google Patents
Info
- Publication number
- JPH0240001Y2 JPH0240001Y2 JP1786185U JP1786185U JPH0240001Y2 JP H0240001 Y2 JPH0240001 Y2 JP H0240001Y2 JP 1786185 U JP1786185 U JP 1786185U JP 1786185 U JP1786185 U JP 1786185U JP H0240001 Y2 JPH0240001 Y2 JP H0240001Y2
- Authority
- JP
- Japan
- Prior art keywords
- loading
- transport vehicle
- unloading station
- light beam
- unloading
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 238000013459 approach Methods 0.000 claims description 11
- 230000002265 prevention Effects 0.000 claims description 3
- 230000032258 transport Effects 0.000 description 23
- 238000010586 diagram Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
Landscapes
- Warehouses Or Storage Devices (AREA)
Description
【考案の詳細な説明】
〔考案の利用分野〕
本考案は、自動倉庫の入出庫ステーシヨンにお
けるスタツカクレーンと搬送台車との干渉を防止
するに好適な自動倉庫における干渉防止装置に関
する。[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to an interference prevention device in an automatic warehouse, which is suitable for preventing interference between a stacker crane and a transport vehicle in a loading/unloading station of an automatic warehouse.
〔考案の背景〕
自動倉庫の各棚列間を走行し、入出庫ステーシ
ヨンにある荷物（パレツト等）の所定の棚に入庫
したり、あるいは所定の棚にある荷物を入出庫ス
テーシヨンに出庫するものとしてスタツカクレー
ンが多用化されている。[Background of the invention] A system that travels between each shelf row in an automated warehouse and stores cargo (pallets, etc.) on a loading/unloading station to a designated shelf, or unloads cargo on a designated shelf to a loading/unloading station. As such, static cranes are being widely used.
なお、自動倉庫においてスタツカクレーンによ
る入出庫を行なう技術は、例えば、特開昭56−
43106号、特開昭56−43107号、特開昭56−56402
等に開示されている。 Note that the technology for loading and unloading warehouses using stacker cranes in automated warehouses is known, for example, from Japanese Patent Application Laid-Open No. 1986-
No. 43106, JP-A-56-43107, JP-A-56-56402
etc. are disclosed.
さて、入出庫ステーシヨンと棚との間の入出庫
作業にスタツカクレーンを用い、しかもその入出
庫ステーシヨンと他のステーシヨンとの間の搬送
作業に搬送台車（特に無人搬送台車）を用いた自
動倉庫システムを考えると、入出庫ステーシヨン
においてスタツカクレーンと搬送台車とが干渉す
る可能性がある。つまり、スタツカクレーンが入
出庫ステーシヨンにおいて動作中であるのに搬送
台車が入出庫ステーシヨンに進入して荷物の移載
などの動作を行なうような場合、これをそのまま
許すと種々の不都合が生じる。 Now, an automated warehouse uses stacker cranes for loading and unloading work between the loading/unloading station and shelves, and also uses transport vehicles (particularly automatic guided vehicles) for transport work between the loading/unloading station and other stations. Considering the system, there is a possibility that the stacker crane and the transport vehicle may interfere with each other at the loading/unloading station. In other words, if a transport vehicle enters the loading/unloading station and performs an operation such as transferring cargo while the stacker crane is operating at the loading/unloading station, various inconveniences will occur if this is allowed to continue.
本考案の目的は、入出庫ステーシヨンにおける
スタツカクレーンと搬送台車の干渉を防止するこ
とを可能とした自動倉庫における干渉防止装置を
提供することである。
An object of the present invention is to provide an interference prevention device in an automated warehouse that can prevent interference between a stacker crane and a transport vehicle at a loading/unloading station.
本考案は、搬送台車が入出庫ステーシヨンに進
入する方向に光線を発すると共に、該入出庫ステ
ーシヨンにスタツカクレーンのフオークが侵入し
た状態で該光線をさえぎる位置に投光器を設け、
搬送台車には該光線を受光できる位置の受光器を
設け、さらに搬送台車が入出庫ステーシヨンに近
づいた状態で該受光器が光線を受光できない場合
には搬送台車の進入を禁止する如き判断部を設け
たことを特徴とする。
The present invention emits a light beam in the direction in which the transport vehicle enters the loading/unloading station, and also provides a floodlight at a position that blocks the beam when the fork of the stacker crane enters the loading/unloading station.
The transport vehicle is provided with a light receiver located at a position where it can receive the light beam, and is further provided with a judgment unit that prohibits the transport vehicle from entering if the light receiver cannot receive the light beam when the transport vehicle approaches the loading/unloading station. It is characterized by having been established.
以下、本考案の一実施例を図面により詳細に説
明する。
Hereinafter, one embodiment of the present invention will be described in detail with reference to the drawings.
まず、第２図により自動倉庫システム例を説明
する。第２図において、１は倉庫の棚列を示し、
２は棚を示す。３はスタツカクレーンであり、４
は入出庫ステーシヨンを示す。５は搬送台車であ
り、図示しない他のステーシヨンと入出庫ステー
シヨン４との間の荷物４（パレツト等）の搬送を
行なう。第２図におけるＡの部分を詳細に示すの
が第３図（平面図）、第４図（正面図）である。 First, an example of an automated warehouse system will be explained with reference to FIG. In Fig. 2, 1 indicates a row of shelves in a warehouse;
2 indicates a shelf. 3 is a static crane, 4
indicates the loading/unloading station. Reference numeral 5 denotes a transport vehicle, which transports cargo 4 (pallets, etc.) between the loading/unloading station 4 and another station (not shown). 3 (plan view) and 4 (front view) show the portion A in FIG. 2 in detail.
第３図および第４図において、３１はスタツカ
クレーン３のフオークである。１０と１１は夫々
投光器であり、入出庫ステーシヨン４よりも倉庫
の棚側（この例では棚の側面）に設けられ、光線
がいずれも搬送台車５の入出庫ステーシヨン４へ
の進入方向に発せられている。そして、投光器１
０は、入出庫ステーシヨン４上に載置されたパレ
ツト６によつて光がさえぎられる位置に設けられ
ている。また、投光器は、スタツカクレーンのフ
オーク３１を図のように入出庫ステーシヨン４に
侵入させたときに光をさえぎる位置に設けられて
いる。１２と１３は搬送台車５に取付けられる受
光器であり、夫々投光器１０，１１からの光を受
光できる位置に設置されている。１４は搬送台車
５が入出庫ステーシヨン４に近づいたことを検知
する接近検知器である。この接近検知器として
は、図示した如き近接スイツチ等で直接検知する
ものはもちろん、目的位置と現在位置との差が一
定値以下になつたことにより搬送台車が入出庫ス
テーシヨンに近づいたことを間接的に検出するも
のでも良い。 In FIGS. 3 and 4, 31 is a fork of the stacker crane 3. Reference numerals 10 and 11 are floodlights, respectively, which are installed on the shelf side of the warehouse (in this example, on the side of the shelf) rather than the loading/unloading station 4, and both emit light beams in the direction in which the transport vehicle 5 approaches the loading/unloading station 4. ing. And floodlight 1
0 is provided at a position where the light is blocked by the pallet 6 placed on the loading/unloading station 4. Further, the projector is provided at a position to block light when the fork 31 of the stacker crane enters the loading/unloading station 4 as shown in the figure. Reference numerals 12 and 13 indicate light receivers attached to the transport vehicle 5, and are installed at positions where they can receive the light from the projectors 10 and 11, respectively. Reference numeral 14 denotes an approach detector that detects when the carrier vehicle 5 approaches the loading/unloading station 4. As for this approach detector, of course there is one that directly detects the proximity switch as shown in the figure, but also one that indirectly detects that the transport vehicle is approaching the loading/unloading station when the difference between the target position and the current position becomes less than a certain value. It may also be something that can be detected.
次に、第１図により干渉防止を行なう構成例を
説明する。第１図において、１０〜１４は第３図
および第４図に示された位置に設置されているも
のとする。１５は判定部であり、搬送台車とスタ
ツカクレーンの干渉の可能性がある場合に搬送台
車の進入を禁止する進入禁止指令を出力する。こ
の例では、アンド回路１６および１７によつて構
成している。 Next, a configuration example for preventing interference will be explained with reference to FIG. In FIG. 1, it is assumed that 10 to 14 are installed at the positions shown in FIGS. 3 and 4. Reference numeral 15 denotes a determination unit, which outputs an entry prohibition command to prohibit entry of the transport vehicle when there is a possibility of interference between the transport vehicle and the stacker crane. In this example, it is composed of AND circuits 16 and 17.
いま、搬送台車５が入出庫ステーシヨン４に近
づくと、接近検出器S1の出力Ｓはオン状態とな
る。この状態において、投光器１０，１１からの
光線を少なくとも受光器１２，１３のいずれかが
受光できないき（S2あるいはS3がオフ状態）、判
定部１５は進入禁止指令を発生する。すなわち、
アンド回路１６の出力は、S2およびS3がオン状態
のときのみ出力しないものとすると、それ以外の
ときはオン状態となる。これにより、アンド回路
１６の出力がオン状態のときアンド回路１７の出
力はオン状態となり、進入禁止指令が出力され
る。 Now, when the carrier vehicle 5 approaches the loading/unloading station 4, the output S of the approach detector S1 is turned on. In this state, if at least one of the light receivers 12 and 13 cannot receive the light beam from the light emitters 10 and 11 (S 2 or S 3 is in the OFF state), the determination unit 15 issues an entry prohibition command. That is,
Assuming that the output of the AND circuit 16 is not outputted only when S 2 and S 3 are in the on state, it is in the on state at other times. As a result, when the output of the AND circuit 16 is in the on state, the output of the AND circuit 17 is in the on state, and an entry prohibition command is output.
なお、上述の例では、投光器１０および１１の
光線を受光しない条件で進入禁止指令を出した
が、第５図に示すように投光器１１のみの光線を
受光しないときに進入禁止指令を出すようにして
も良い。すなわち、少なくともスタツカクレーン
のフオーク動作中における搬送台車の進入を阻止
するためには、受光器１３が受光できないことに
よつて進入禁止指令を出力することで十分であ
る。 In the above example, the entry prohibition command was issued under the condition that the light beams from the projectors 10 and 11 were not received, but as shown in FIG. 5, the entry prohibition command was issued when only the light beam from the projector 11 was not received. It's okay. That is, in order to prevent the transport vehicle from entering at least during the fork operation of the stacker crane, it is sufficient to output an entry prohibition command when the light receiver 13 cannot receive light.
このように、スタツカクレーンが入出庫ステー
シヨンで動作中に搬送台車が入出庫ステーシヨン
に近づくと、搬送台車のそれ以上の進入を禁止す
ることが可能となり、スタツカクレーンと搬送台
車の干渉は生じない。スタツカクレーンの動作が
終了すると受光器が光線を受光できるので、進入
禁止指令は解除され、搬送台車は入出庫ステーシ
ヨンに更に接近し、予定の作業を実行する。例え
は、搬送車は、入出庫ステーシヨン中心へ移動
し、パレツトを載荷後通信点へ移動開始する。 In this way, if the transport vehicle approaches the loading/unloading station while the stacker crane is operating at the loading/unloading station, it is possible to prohibit further entry of the transport truck, and interference between the stacker crane and the transport truck will not occur. do not have. When the operation of the stacker crane is completed, the light receiver can receive the light beam, so the entry prohibition command is canceled, and the transport vehicle approaches the loading/unloading station and executes the scheduled work. For example, the carrier moves to the center of the loading/unloading station, loads the pallet, and then starts moving to the communication point.
本考案によれば、入出庫ステーシヨンにおける
スタツカクレーンと搬送台車の干渉を防止するこ
とができる。これにより、安全性の向上が期待で
きるとともに、自動化の面でも寄与するところ大
である。
According to the present invention, it is possible to prevent interference between the stacker crane and the transport vehicle at the loading/unloading station. This can be expected to improve safety and will also greatly contribute to automation.
第１図は本考案の一実施例を示す図、第２図は
自動倉庫システム例を示す図、第３図および第４
図は第２図の一部を詳細に示す図、第５図は本考
案の他の実施例を示す図である。
１……棚列、２……棚、３……スタツカクレー
ン、４……入出庫ステーシヨン、５……搬送台
車、６……パレツト、１０，１１……投光器、１
２，１３……受光器、１４……接近検出器、１５
……判定部、１８……判定部、３１……フオー
ク。
Fig. 1 is a diagram showing an embodiment of the present invention, Fig. 2 is a diagram showing an example of an automated warehouse system, Figs.
The figure shows a part of FIG. 2 in detail, and FIG. 5 shows another embodiment of the present invention. 1...Shelf row, 2...Shelf, 3...Stack crane, 4...Input/output station, 5...Transportation truck, 6...Pallet, 10, 11...Floodlight, 1
2, 13... Light receiver, 14... Proximity detector, 15
... Judgment Department, 18... Judgment Department, 31... Folk.
Claims (1)
物を入庫または出庫するための入出庫ステーシヨ
ンと、該入出庫ステーシヨンと他のステーシヨン
間の荷物の搬送を行なう搬送台車とを有してお
り、該搬送台車の該入出高ステーシヨンへの進入
方向に光線を発し、該スタツカクレーンのフオー
クを該入出庫ステーシヨンに侵入させたとき該フ
オークによつて光線をさえぎる位置に設けられる
投光器と、該搬送台車が該入出庫ステーシヨンに
近づいたとき該投光器からの光線を受光可能な位
置であつて該搬送台車上に設置される受光器と、
該搬送台車が該入出庫ステーシヨンに一定距離以
内に近づいたとき該受光器が光線を受光しなかつ
たことにより該搬送台車のそれ以上の進入を禁止
すると共に該受光器が光線を受光したとき該進入
を許下する判断部とを設けたことを特徴とする自
動倉庫における干渉防止装置。 It has a stacker crane that travels between warehouse shelf rows, a loading/unloading station for loading and unloading cargo, and a transport cart for transporting luggage between the loading/unloading station and other stations. a floodlight that emits a light beam in the direction in which the transport vehicle enters the loading/unloading height station, and is provided at a position where the fork of the stacker crane blocks the light beam when the fork enters the loading/unloading station; and the transport vehicle. a light receiver installed on the transport vehicle at a position where it can receive the light beam from the projector when the vehicle approaches the loading/unloading station;
When the transport vehicle approaches the loading/unloading station within a certain distance, the light receiver does not receive the light beam, so the transport vehicle is prohibited from entering any further, and when the light receiver receives the light beam, the light receiver prohibits the transport vehicle from entering further. An interference prevention device for an automated warehouse, characterized in that it is provided with a judgment unit that allows entry.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1786185U JPH0240001Y2 (en) | 1985-02-13 | 1985-02-13 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1786185U JPH0240001Y2 (en) | 1985-02-13 | 1985-02-13 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS61135809U JPS61135809U (en) | 1986-08-23 |
| JPH0240001Y2 true JPH0240001Y2 (en) | 1990-10-25 |
Family
ID=30505961
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1786185U Expired JPH0240001Y2 (en) | 1985-02-13 | 1985-02-13 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0240001Y2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6806031B2 (en) * | 2017-10-25 | 2020-12-23 | 株式会社ダイフク | Goods storage facility |
-
1985
- 1985-02-13 JP JP1786185U patent/JPH0240001Y2/ja not_active Expired
Also Published As
| Publication number | Publication date |
|---|---|
| JPS61135809U (en) | 1986-08-23 |
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