JPS583764Y2 - Safety device for three-dimensional storage device - Google Patents

Description

[Detailed description of the invention] Without unloading the containers stored three-dimensionally in the shelves from the loading platform of the carrier, parts etc. in the container are picked as appropriate while the pallet is placed on the loading platform of the carrier. After completion, the container is required to be stored on a shelf using a transporter.

In this case, as shown in Figures 1 and 2, the shelf and the picking position are partitioned by a wall a, and a window d is provided in the wall a corresponding to the stopping position of the loading platform C of the stacker crane b, which is the transport machine. If it is left open, stacker crane B, which moves rapidly, will be blocked by wall a, and there will be no risk of the worker coming into contact with stacker crane b, making it extremely safe. However, loading platform C is retracted deeper than window d. Therefore, the worker cannot put his hand into the container e on the loading platform C without stretching his hand long enough.
The work efficiency was extremely poor and fatigue was inevitable within a short period of time; to solve this problem, as shown in Figures 3 and 4, the lower part of the window 2 installed in the wall 1 was , the container 20 on the loading platform 4 of the stacker crane 3 may be exposed outward from the window 2 by expanding outward, but in such a protection device, the height of the loading platform 4 corresponds to the window 2. If the heights did not match, there was a risk that the loading platform 4 would collide with the wall 1 and the wall 1 would be damaged.

This proposal relates to the improvement of a three-dimensional storage device that prevents such accidents from occurring.In a three-dimensional storage device that is equipped with a conveyor that carries items in and out of shelves that store items three-dimensionally, the intermediate passage between the shelves and the protective A stopper is disposed between the picking position surrounded by a wall and removably engages with the transporter to prevent the transporter from traveling, and the loading platform of the transporter is at a picking setting height. a picking setting height detecting means for detecting a picking setting height, a fine movement section detecting means for detecting that the carrier is located in a fine movement section near the picking position, and a fine movement section detecting means for detecting that the conveyor is located in a fine movement section near the picking position; 'If the lifting is prohibited, a control circuit that moves the stopper back and forth when the picking setting height detecting means and the fine movement section detecting means operate to permit the conveying machine to travel between the intermediate path and the picking position. The object of the present invention is to provide a three-dimensional storage device that prevents the conveyor from colliding with a protective wall.

As described above, the present invention is a three-dimensional storage device in which a shelf for three-dimensionally storing articles is provided with a conveyor for transporting the articles through holes.
a stopper disposed between an intermediate passage of the shelf and a picking position surrounded by a protective wall and removably engaging with the carrier to prevent the carrier from traveling; Picking setting height detection means for detecting that the picking height is at the picking setting height, fine movement area detection means for detecting that the carrier is located in a fine movement area near the picking position, and fine movement area detection means for detecting that the conveyor is located in a fine movement area near the picking position When the picking setting height detecting means and the fine movement section detecting means operate, the stopper is retracted to prevent the transporter from moving up and down between the intermediate passage and the picking position. Since the control circuit is provided with a control circuit that allows traveling, when the carrier is located in the fine movement section and the loading platform of the carrier is at the picking setting height, the fine movement section detection means and the picking height detection means When the stopper is operated and the lifting and lowering of the loading platform is prohibited, the stopper is retracted, and as a result, the loading platform is held at a predetermined picking height between the intermediate path and the picking position. The transport machine can travel, and the loading platform is exposed to the outside through a predetermined window provided at the picking position, making it possible to pick items in containers on the loading platform through the window or the like.

Further, in the present invention, when the loading platform is at a height other than the picking setting height, the stopper is projected by the control circuit, and the transport machine is caused to travel from the intermediate path to the picking position by the stopper. This prevents the loading platform of the carrier from colliding with a protective wall or the like.

Furthermore, in the present proposal, when the carrier is located in the slight movement zone near the picking position, the loading platform is prohibited from rising and lowering, so that the operator's hand or hand cannot be caught between the loading platform and the window, etc. If the cargo platform is not thrown over, the cargo platform will not collide with windows, etc., and damage to the cargo platform, windows, etc. is prevented, making it much safer.

The present invention will be described below with reference to the illustrated embodiment. In a protective wall 1 extending between an intermediate passage of a three-dimensional shelf (not shown) and a picking work area 5, a stacker crane 3 is mounted on a guide rail 6 constructed across both. It is set up so that it can be moved freely.

Thus, the stacker crane 3 includes a traveling frame 8 supported by the rail 6 via wheels 7 so as to be able to travel along the guide rail 6, and a traveling frame 8 which is supported by the rail 6 through wheels 7 so as to be able to travel along the guide rail 6. It consists of a traveling motor 9 for running, a loading platform 4 attached to the traveling frame 8 so as to be movable up and down, a lifting motor 10 for raising and lowering the loading platform 4, and a loading/unloading device (not shown).

Further, as shown in FIG. 5, on one side of the floor adjacent to the guide rail 6, horizontal absolute address dogs 11 indicating absolute addresses in the horizontal direction are arranged at predetermined intervals along the guide rail 6, and on the opposite side. On the side, horizontal position dogs (not shown) are arranged at predetermined intervals.

The absolute address dog 11 is formed in accordance with the binary code so that each digit has an O cut out and an l protruding, and the horizontal fixed position dog is formed in a rectangular shape.

Further, the stacker crane 3 is provided with a horizontal absolute address detector 12 and a horizontal fixed position detector 13 which are opposed to the horizontal absolute address dog 11 and the horizontal fixed position dog and respectively detect the dogs. 3 travels and the fixed position detector 13 passes the fixed position dog, the fixed position detector 13 sends a passing detection signal, and the stacker crane 3 is stopped at the fixed position, and the fixed position detector 13 13 accurately faces the fixed position dog, the fixed position detector 13 transmits a fixed position detection signal, and the absolute address detector 12 also transmits an absolute address detection signal.

Furthermore, the fixed position detector 13 is a horseshoe-shaped photoelectric switch PS□, ps2 consisting of two pairs of emitter and receiver, and when the light from the emitter is blocked by the fixed position dog and does not enter the receiver, the horseshoe-shaped photoelectric switch When outputs are transmitted from the switches PS□ and PS2, and conversely, the light from the emitter is directly incident on the receiver, the horseshoe-shaped photoelectric switch ps1. ps
No output is transmitted from 2.

Furthermore, the horizontal absolute address detector 12 is also a horseshoe-shaped photoelectric switch PS3, PS4, . PS5. P
When the stacker crane 3 is stopped at a fixed position by the fixed position detector 13, the four pairs of floodlights and photoelectric switches PS3...PS6 are set relative to each digit of the absolute address dog 11. However, in each digit of the absolute address dog 11, the light from the floodlight enters the photoelectric switch in the notched digit and no output is transmitted, and the light from the floodlight is blocked in the protruding digit and the output is not transmitted. Thus, the absolute address is detected in accordance with the combination of the presence or absence of a signal due to the notch or protrusion in each digit of the absolute address dog 11.

Further, vertical absolute address dogs 14 and vertical fixed position dogs 15, which are configured in the same manner as the horizontal absolute address dogs 11 and the horizontal fixed position dogs, are arranged at predetermined intervals in the vertical direction on both sides of the traveling frame 8. A vertical absolute address detector 16 and a vertical fixed position detector 17 are provided on the loading platform 4 of the stacker crane 3 for detecting the address dog 14 and the vertical fixed position dog 15, respectively. The detector 16 and the vertical fixed position detector 17 are constructed in the same manner as the horizontal absolute address detector 12 and the horizontal fixed position detector 13, and the vertical fixed position detector 17 includes two horseshoe-shaped photoelectric switches PS7. PS8, vertical absolute address detector 16 is three horseshoe type photoelectric switches PS
9. PS1o, PS1, respectively, which are a vertical fixed position detector 17 and a vertical absolute address detector 16.
operates in the same manner as the detector 1312 described above.

Furthermore, as shown in FIG. 4, the picking position Y□ spans the horizontal absolute address of the position where the container 20 on the loading platform 4 of the stacker crane 3 can be exposed through the window 2, and the horizontal absolute address straddles the horizontal absolute address from the shelf. When the stacker crane 3 is present in the fine movement section 2 between the temporary stop position Y2 and the stacker crane 3, a fine movement section detector 18 equipped with a horseshoe-shaped photoelectric switch PS It is provided as shown in the figure.

Furthermore, in this embodiment, the picking height of the loading platform 4 is the third stage from the bottom, but the setting height can be freely changed in response to changes in the setting height of the picking height. A picking setting height detector 19 (see FIG. 3) is provided on the stacker crane 3, and this detector 19 comprises a horseshoe photoelectric switch PS13.

As shown in FIG. 5, a rubber buffer 21 is fixed to the stacker crane 3, and a guide rail is installed so that it can collide with the rubber buffer 21 when the stacker crane 3 is located at the picking position Y1. A fixed stopper 22 is fixed to the terminal end of 6.

Further, a movable stopper 23 is provided on the floor so that it can be releasably engaged with the rubber buffer 21 when the stacker crane 3 is located in the fine movement section 2 near the temporary stop position Y2.

As shown in FIGS. 6 and 7, the movable stopper 23 includes a bracket 24 fixed to the guide rail 6, and a stopper pivotally connected to the bracket 24 via a gear shaft 25 so as to be able to rise and fall freely. 26, a rack 28 meshing with the gear 27 integral with the gear shaft 25, and the rank 28.
a frame 29 that slidably supports the frame 29;
a link 30 which is pivotably supported to be tiltable and whose one end is pivotally connected to the base end of the rack 280; a solenoid 31 which is installed on the frame 29 and whose movable piece is pivotally connected to the other end of the link 30; A reciprocating spring 32 that urges the rack 28 in the direction of driving the rack 28 (direction A in FIG. 6) so as to raise the stopper 26, a striker 33 that integrally projects and is fixed to the rack 28, and the stopper 26. It consists of a standing limit switch LS1 which is turned on by contacting the striker 33 when the stopper 26 is raised, and a fall limit switch LS2 which is turned on by contacting the striker 33 when the stopper 26 is laid down.

Next, to explain the electric circuit of the control device, cpl,
cp2. CP3 is a no-fuse breaker installed in each AC power supply, and as shown in FIG. Contactor Mg
Each a contact of U, MgD mgf, mgbamgu, mgd
They are interposed in series.

Further, a key switch PB is interposed on the primary side of the transformer TR, and a 24V DC current is obtained on the secondary side of the transformer TR by a full-wave rectifier SRF.

Further, as shown in FIG. 9, the horseshoe-shaped photoelectric switch PS1. PS2...ps, relay X1. X2...X13 are operated, and limit switches LS1. LS2 causes relay X14. X, 5 is set to be operated.

Furthermore, the key switch PB and the relay X1. X
2...X15 relay a contact X1a, X2a・
...X 15 a is programmable logic.
It is installed on the input side of the controller (hereinafter referred to as PLO), and on the output side of the same PLC, the stacker crane 3's forward command relay X06, reverse command relay X17, ascending command relay X18, descending command relay X□9, A picking position return command relay X241 and a start command relay X26 are interposed.

In addition, the 1st address detection relay X21 detects that the stacker crane 3 is located at the 1st address, the 3rd stage detection relay X22 detects that the loading platform 4 is located at the 3rd stage, and the conditions for allowing the stacker crane 3 to advance are The power supply circuits of the forward enable setting relay X23 to set, the backward enable setting relay X24 to set the reverse enable conditions for the Stadtskirk V-n 3, the solenoid operation setting relay X25 to set the solenoid operating conditions, and the solenoid 27 are It is configured as shown in FIG.

Note that T is a timer.

Since the illustrated embodiment is configured as described above, when the key switch PB is turned off, the solenoid 31
is in a non-operating state, and the stopper 26 is erected by the elastic restoring force of the double-acting stripe 9fufu 320, and the erecting limit switch LS□ is closed.

In this state, when you turn on the key switch PB and turn on the power, the PLC starts and relay X works according to the program of the same PLc.

...X20=X26 operates as appropriate.

First, when the stacker crane 3 is stopped at the picking position Y□, the stacker crane 3 is at address 1, so the photoelectric switch PS12 of the fine movement section detector 18 is activated, and the fine movement section detection relay X12 is activated. death,
Also, the photoelectric switch PS1 of the horizontal fixed position detector 13. P.S.
2 is activated and horizontal position detection relay X1#X2
operates, and the photoelectric switch PS of the horizontal absolute address detector 12
3 becomes operational, its relay X3 operates, and as a result, address 1 detection V-X21 operates.

In this case, since the loading platform 4 of the stacker crane 3 is on the third stage, the photoelectric switch PS13 of the picking setting height detector 19 is activated, the picking setting height detection relay X13 is activated, and the vertical positioning The photoelectric switches P S7 ePS8 of the position detector 17 are activated, and the vertical fixed position detection relay X7. X8 is activated, and the photoelectric switch PS9 of the vertical absolute address detector 16 is activated. PS1
o is in the operating state, and the vertical absolute address detection relay X9-
XIO operates, and as a result, the third stage detection relay X2□ operates.

In this state where the stacker crane 3 is stopped at picking 3 is transmitted, the start command relay X26 is excited, and the a contact X26a of the relay X26 is turned on, so that after the time set by the timer T, the solenoid operation setting relay X25 is activated.

Then, the solenoid 31 is energized, and the movable stopper 2
3 is laid down, the lodging detection limit switch LS2 is turned on, the stopper lodging detection relay X1ti is operated,
As a result, the advance enable setting relay X23 is operated, and the advance command relay X16 and the same setting relay X23 are operated to self-hold the same setting relay X23.

Therefore, the forward traveling electromagnetic contactor MgF is excited, the traveling motor 9 rotates forward, and the stacker crane 3 moves forward.

When the Statzkirk V-n 3 enters the shelf, the fine movement section detection relay Ru.

If the stacker crane 3 enters the shelf in this way,
Slight movement section detection relay X1□ becomes inactive, and relay b contact
12b is turned on, and the up/down command relay X18. X□9
Due to the selective operation of , the loading platform 4 is freely raised and lowered 5, but if the stacker crane 3 is located within the fine movement zone Z, the relay b contact x12b is turned off and the loading platform 4 cannot be raised or lowered. It's safe.

In addition, when the stacker crane 3 is located inside the shelf, the fine movement section detection relay X02, stopper collapse detection relay X05, picking position return relay X2o and 1
Address detection relay X2□ is inactive, and stopper standing detection relay
By operating X17 appropriately, the stacker crane 3 can freely move back and forth within the shelf.

Furthermore, if a return command is not issued from the PLC, the stacker
Even if the crane 3 accidentally attempts to move from inside the shelf to the picking position Y1, the movable stopper 23 remains upright.
Therefore, the rubber buffer 21 of the stacker crane 3 is locked by the movable stopper 23, the stacker crane 3 is forcibly stopped, and a collision with the protection wall 1 is prevented.

If the stacker crane 3 is inside the shelf,
As mentioned above, the movable stopper 23 is in an upright position,
For example, when the loading platform 4 is at the fourth stage or above, when the PLC issues a reverse command, return command, and descend command,
Backward command relay X lower command relay X19 and picking position return relay X20 are operated.

The descending electromagnetic contactor MgD is activated by the operation of the descending command relay Transmission of the lowering command from the PLC is stopped, the lowering command relay X19 becomes inactive, and the loading platform 4 is stopped at the third stage.

Since the reverse movement enable setting relay X24 is activated by the operation of the stacking position return relay X20, the a contact X17asX24a in the power supply circuit of the backward movement electromagnetic contactor MgB is turned on, and the stacker crane 3 moves backward toward the picking position Y1.

When the stacker crane 3 approaches the temporary stop position Y2, if the loading platform 4 is stopped at the third stage, the picking setting height detection relay X13 and the third stage detection relay X22 are in the operating state, and the timer T is activated. is operating, and the reverse command relay X17 and picking position return relay X2o are operating, so the solenoid operation setting relay It is possible to enter the fine movement section 2 without being forced to stop.

When the stacker crane 3 reaches address 1, the detection signals of the horizontal absolute address detector 12 and the horizontal fixed position detector 13 are transmitted to the PLO, and a control signal is transmitted from the PLc, and the reverse command relay X1. is set to a non-operating state, and the stacker crane 3 is automatically stopped.At the same time, the movable stopper 23 is erected when the solenoid operation setting relay X25 is not operated.

However, when the stacker crane 3 approaches the temporary stop position Y2, which is the second address, if the loading platform 4 is not located at the third stage, the picking setting height detection relay X□3 and the horizontal absolute address detector 12 The PLC is activated appropriately by the relay signals of relays X3 to X6, and reverse command relay X1.
7 is set to a non-operating state, and the stacker crane 3 stops.

Then, when the loading platform 4 moves up and down and stops at the third stage, the picking setting height detection relay X□3 and the third stage detection relay
2□ operates, the movable stopper 23 falls down, and the stacker crane 3 can enter into the fine movement section Z.

In this case, the PLC malfunctions and the reverse command relay
17 is not set to the non-operating state, the movable stopper 23 remains erected, and the stacker crane 3 cannot enter into the slight movement zone Z while the loading platform 4 is at a height other than the third stage. , the loading platform 4 is prevented from colliding with the protection wall 1.

In this way, in the embodiment, it is possible to prevent the loading platform 4 from entering the fine movement section 2 from inside the shelf while the loading platform 4 is not located at the set height of the picking position. 4 collision can be reliably prevented.

In the above-mentioned embodiment, the loading platform 4 can only be moved up and down, but the present invention is of course applicable to an arrangement in which the loading platform 4 can be moved in the left and right horizontal directions that are perpendicular to the traveling direction of the stacker crane 30. be.

[Brief explanation of the drawing]

Figure 1 is a slope view of a conventional three-dimensional storage system, Figure 2 is a vertical side view cut along the line ■-■ in Figure 1, and Figure 3 is an implementation of the safety device of the three-dimensional storage system according to the present invention. A slope view showing an example, Fig. 4 is a longitudinal side view cut along the line IV-■ in Fig. 3, Fig. 5 is an enlarged slope view of the main part, and Fig. 6 is a side view of the main part.
Furthermore, FIG. 7 is an enlarged perspective view of the main part of the figure, FIG. 7 is a view taken in the direction of the ■ arrow in FIG.
The figures are a relay circuit diagram and a PLC circuit diagram of the embodiment, FIG. 10 is another relay circuit diagram of the embodiment, FIG. 11 is a circuit diagram of the electromagnetic contactor of the embodiment, and FIG. 12 is a circuit diagram of the electromagnetic contactor of the embodiment. It is a flow yard. 1...protective wall, 2...window, 3...
...Stacker crane, 4...Loading platform, 5...
...Picking workshop, 6...Guide rail, 7...Wheels, 8...Traveling frame, 9.
...Travel motor, 10... Lifting motor,
11...Horizontal absolute address dog, 12...
・Horizontal absolute address detector, 13...Horizontal fixed position detector, 14...Vertical absolute address dog, 15...
... Vertical fixed position dog, 16 ... Vertical absolute address detector, 17 ... Vertical fixed position detector, 18
...Fine movement section detector, 19...Picking setting height detector, 20...Container, 21...
... Rubber buffer, 22 ... Fixed stopper, 23 ... Movable stopper, 24 ...
...Bracket, 25...Gear shaft, 26...
...stopper, 27...gear, 28...
... Rack, 29 ... Frame, 30 ...
...Link, 31...Solenoid, 32.
...Returning spring, 33...Striker, CPl, CF2 e CF3...No fuse breaker, LS□...Elevation detection limit switch, LS2... ... Lodging detection limit switch, MgF ... Forward traveling magnetic contactor, MgB
...Reverse traveling magnetic contactor, MgD...
Descending electromagnetic contactor, MgU... Ascending electromagnetic contactor,
PLC...Programmable logic controller, PB...Key switch, PS1~PS□
3... Horseshoe type photoelectric switch, THL, TH2.
...Thermal relay, T...Timer X
1. X2...Horizontal fixed position detection relay, X3~X
6...Horizontal absolute address detection relay, X7. X8・
...Vertical fixed position detection relay, X9~Xll...
... Vertical absolute address detection relay, X12 ... Fine movement section detection relay, X13 ... Picking setting height detection relay, X14 ... Stopper standing detection relay, X15 ... ...Stopper fall detection relay, X□6...Forward command relay, X07...
... Reverse command relay, X18 ... Ascent command relay, X19 ... Descend command relay, X2o ...
...Picking position return relay, X2□...
・1st address detection relay, X2□...3rd stage detection relay, X23...Advance possible setting relay, X24
...Rapid advance setting relay, X25...Trenoid operation setting relay, X26...Start command relay, Yl...Picking position, Y2...
...temporary stop position, 2...slight movement section.

Claims (1)

[Scope of utility model registration request] In a three-dimensional storage device that is provided with a conveyor for loading and unloading articles on shelves for three-dimensionally storing articles, a container is disposed between an intermediate passage of the shelf and a picking position surrounded by a protective wall and is connected to the conveyor. a stopper that is removably engaged to prevent the conveyor from traveling; a picking setting height detection means that detects that the loading platform of the conveyor is at a picking setting height; and a fine movement section near the picking position. a fine movement section detecting means for detecting that the carrier is located at a position of
and a control circuit that moves the stopper in and out when the picking setting height detecting means and the fine movement section detecting means operate, thereby allowing the conveying machine to travel between the intermediate path and the picking position. Features safety device for three-dimensional storage device.