JPS62153003A - Warehouse facilities - Google Patents

Abstract

PURPOSE:To prevent any damage on an article by arranging the constitution in such a way that a fork is provided with a downward rocking regulating stopper and an upward rocking detector and an article detector at its tips, in a warehouse having a storing shelf arranged in three dimensions and a taking in and out device free in elevation. CONSTITUTION:Objects to be stopped 40A, 40B are provided in the lower parts of the bases of fork 37A, 37B and stoppers 41A, 41B are provided in front of mounts 32A, 32B and by the contact of both 40A, 40B with 41A, 41B the lower limit rocking of fork 37A, 37B is regulated. Further, detectors 42A, 42B for upward rocking of the fork are provided at the tips of the mounts 32A, 32B for regulating upward rocking of the fork 37A, 37B. Likewise detectors 45A, 45B are provided at the tips of the fork 37A, 37B and thereby, when the tips of the fork make contact with an article, guide rods 47A, 47B are pushed in and microswitches 50A, 50B are operated to stop a driving device 24. By this constitution, it is made possible to handle an article without causing any damage on the article.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to warehouse equipment for storing and storing articles.

Conventional technology Conventional warehouse equipment includes a storage shelf that has a plurality of compartment storage spaces in the vertical and horizontal directions, and a loading/unloading device that can move freely along the front surface of the storage shelf and that can move in and out laterally on a lifting platform. It consists of a delivery device and a delivery device. Then, by a combination of the running action of the delivery device, the lifting/lowering movement of the lifting platform, and the lateral entry and exit of the loading/unloading device, goods are delivered to and taken out of the target storage space. These operations are automatically controlled, and each operation is performed almost accurately.

However, in rare cases, a shift in the elevation stop position or a shift in the travel stop position occurs.

Problems to be Solved by the Invention In the conventional system as described above, when an article is handled directly or via a pallet and the fork acts on the bottom surface to scoop up the article, some misalignment occurs in the vertical and horizontal directions. There is no problem as there is leeway to allow for this. However, for example, if the article has an engaged part on the upper part and high precision is required for stopping on the transfer device side, the fork may collide with the article if the fork's starting position is not the normal position. This may damage the item. Also, depending on the model, the fork movement is detected due to the resistance when the fork touches the object, and an abnormality is detected when the subsequent time measurement times out, but in this case, if the object is lightweight, Items will be thrown away in the event of a collision, and if the time is over, you will be asked to return.

An object of the present invention is to provide warehouse equipment that can detect an abnormality when a fork comes into contact with an article without damaging the article.

Means for Solving the Problems In order to solve the above-mentioned problems, the warehouse equipment of the present invention includes a storage shelf having a plurality of compartment storage spaces vertically and horizontally, and a storage shelf that is movable along the front surface of the storage shelf. and a delivery device having a loading/unloading device that can move in and out in the horizontal direction on the lifting platform, and the loading/unloading device is arranged on the lifting platform so as to be movable in the lateral direction, and the movable platform is connected to each other in the traveling direction. A pair of mounts that can be moved closer and further apart, forks that are attached to these mounts so that they can swing up and down about their axes in the running direction, stoppers that limit the downward swing of these forks, and 1st to detect motion
It consists of a detector and a second detector provided at the tips of both forks.

According to the configuration of the present invention, the running action of the delivery device,
Articles can be stored in or taken out of the target storage space by a combination of the lifting and lowering movement of the lifting platform, the lateral movement of the loading and unloading device, and the approaching and separating movement of the fork. When performing such work, if the lifting platform is displaced vertically and stopped, the second detector installed at the tip of the fork may come into contact with an object when the fork is moved to protrude. By detecting the movement and moving the fork in and out (return movement) based on the detected movement, the position shift of the lifting platform is corrected and the fork is moved out again (retry).
It can be done. When the fork moves downward after the protruding movement, if the lifting platform is misaligned in the traveling direction, when the fork is lowered, one of the forks will come into contact with the article from above, causing it to move in the traveling direction. It will swing relative to the movable base around the axis, and this will be detected by the first detector. Therefore, based on this, the fork can be moved upward (return movement).Thus, after correcting the positional deviation in the traveling direction of the lifting platform, the fork can be moved downward (retry) again.

EXAMPLE An example of the present invention will be described below based on the drawings. (+) is a storage shelf, which includes an outer frame (2) and an outer frame (2).
A vertical partition plate (3) that divides the interior into multiple sections horizontally, and an outer frame (2) that divides the interior vertically? Article receiving plate divided into U numbers (
4), forming a plurality of partitioned storage spaces (5) in the vertical and horizontal directions. (6) indicates the processing area.

(7) is an article (such as a case), which has a flange-like engaged portion (8) on its upper part. (9) is a delivery device that can freely travel along a certain path (lLh) along the front surface of the storage shelf (1);
A traveling aircraft @ supported and guided by the floor rail Ql), a support frame Q3 erected from above this traveling aircraft (6), a lifting platform 04 supported and guided by this support frame (to) side, and the traveling aircraft @
It is composed of an elevating drive device Oυ mounted on the side, and an ejecting/removing device αQ provided on the elevating platform ai so as to be movable laterally. α force indicates the travel drive. .

The loading/unloading device μG is configured as follows.

That is, a pair of upper and lower lateral guide rods (E) are disposed on both sides of the elevator platform α4 in the running direction, and these guide rods (A) are supported by the elevator platform 0 through brackets Cη. The i5J moving base C is supported and guided by each guide rod (7) via the sliding part (2)! , ) is provided,
An egress and egress drive device (
C) consists of a geared motor (to) attached to the bottom side of the lifting platform (b), an arm (5) whose base end is attached to the output shaft (4) facing the traveling direction, and the tip of this arm (b). It consists of a roller (2) with a recessed part and a groove rail into which this roller fits, and the groove rail is attached to the side surface of the movable metal plate in the vertical direction. A rail (■) along the running direction is laid on the +Jukimachi Ryomachi moving platform), and a pair of mounting stands (32A) are supported and guided by the rail (7) through sliding bodies (aIA) (81B), respectively. (82B) is provided. Both mounting bases (32A) (82B) are attached to the cylinder device (34A) attached to the bracket (to) from the lifting base (14).
) (84B), they can freely approach and separate from each other, and the closest position is regulated by a stopper. Forks (37A) (3'7N3) that are vertically swingable around the traveling direction axes (86A) (36B) are attached to the mounting bases (82A) (82B), respectively. In other words, the mounting bases (32A) (82B) have running direction axes (88A) (
88B) is rotatably mounted via bearings (89A) (89B), and these running direction axes (8aA) (88B
) The proximal forked portions of forks (87A) (87B) are fixed to both ends of the forks (87A) (87B). Said fork (87A) (&7B)
(7) At the bottom of the proximal end, there are objects to be stopped (40A) (40B).
) are provided, and these stopped objects (40A) (40B
) can freely come into contact with the stopper (4 prisoners (41B)) on the mounting base (+
2A) (82B). Then, the stopper body (4DA) (40B) is the stopper (41AX4
1B), the fork (throat (87B)) is restricted to the horizontal or almost horizontal downward swing limit.
7A)<87B') The first detector (
42A) (42B) are provided. These first detectors (
42A) (42B) are, for example, microswitches, and actuated tools (44
A) (44B) can be freely contacted from above.

A second detector (45A) (8) is provided at the tip of the fork (87A) (vrB). These second detectors (
45A) (45B) is a detection plate (4) located in front of the tip.
6A) (46B) and this detection plate (46A) (46B)
The guide rods (47A) (47B) extend rearward from
A guide body attached to the tip to support and guide the (Yuga 48B)
, springs (49A) (49B) that urge the detection plates (46A) (46B) to protrude, and a guide rod (47A).
This guide rod (47A) is opposite to the rear end of (47B).
) (47B) and a microswitch (5QA) (50B) that detects the approach of the microswitch (5QA) (50B).

Next, the loading and unloading operations in the above embodiment will be explained.

To store the articles (7) on the handling area (6), first the delivery device (9) is moved and stopped facing the handling area (6). Next, lower the lifting platform a4 and lower the fork (8
'7A) (87B) to face each other. In this state, operate the ejection/retraction drive device (to) and move the fork (87A) (87B)
1, that is, the arm (2) is swung upward and forward by the operation of the geared motor (1), and the movable table 61 is moved toward the processing station (6) via the roller () and the groove rail. At this time, the forks (87A) <87B> are advanced. At this time, the forks (37A) (37B) are spaced apart from each other. When the stop level of the lifting platform Q→ is below the predetermined position, the fork moving forward (
The second detector (45A) installed at the tip of 87A) (87B)
) (45B) when the detection plates (46A) (46B) of the article (7
) and the fork from here (37A) (87B)
The forward movement of is absorbed by the springs (49A) (49B).

In other words, the guide rods (47A) (47B) move backward relative to the forks (87A) (87B),
This movement is detected by the microswitches (50A) (50B), and the egress/retreat drive device (c) is stopped as an abnormality. Furthermore, the egress/retreat drive device (c) is operated in reverse, and the forks (87A) (87B) are returned to the elevating platform α. after that,
Raise and lower the lifting platform α, and then lift the fork (, 97A) (8
Make 7B) move and try again.

When the forks (37-(87B)) are at the normal level, the forks (37-(87B) plunge into the upper part of the engaged part (8) of the target article (7).Then, the forks (87A) ) (87B) is slightly lowered together with the lifting platform Q4 and positioned below the engaged part (8).At this time, if the traveling stop position of the traveling body (6) is slightly shifted in either direction, Fork (87A) (87
One of B) in the shifted direction contacts the engaged portion (8) from above, and the subsequent fork (87A) (87B)
decline will be prevented. Therefore, the mounting base (m
By lowering the (32B) side, the fork (87A) (brocade) is moved to the traveling direction axis (86A) as shown in the imaginary line in FIG.
) (86B), the actuated tool (44A) (
44B), the actuating parts (4aA) (48B) are in a state of escaping downward, and the first detector is detected and moved to detect an abnormality and stop the descent of the elevator platform o4. Raise the stand α small and fork (87A) (87B
) to its original position above the engaged part (8). After that, the traveling body @ is made to travel slightly, and the fork C87A) C8 is again
Lower 'rB> together with the elevator platform a< and try again.

In this way, the forks (87A) (a7B) are positioned below both sides of the secured part (8) of the target article (7), but in most cases, such a state can be achieved with a single operation. However, it is rare that the above-mentioned retry is required.In the above-mentioned positional relationship, the cylinder installation fi (MA) (3
4B) is retracted, and both forks (87A) (87B) are moved closer to each other via the mounting base Cl2A) (82B). This positions both forks (87A) and (87B) below the engaged portion (8), but the limit of their approach is regulated by the stopper. Then lift platform 0
4 and lift the article (7) via the fork (87A037B). and fork (87A) (87
By moving B) in and out, the articles (7) in the handling area (6) are drawn into the elevator platform α4 as shown by the imaginary line in FIG. After that, the running behavior of the traveling aircraft (2) and the lifting platform 0
The goods (7) can be stored in the intended compartment storage space (5) by the combined movement of the vertical movement of the fork (87A) CFm3) and the lateral movement of the fork (87A) CFm3).

In addition, the delivery from the compartment storage space (5) to the handling area (6) is as follows:
This can be done by a reverse operation to the warehousing operation, but if there is any misalignment at that time, a retry as described above is performed.

Effects of the Invention According to the present invention having the above configuration, when the lifting platform shifts in the vertical direction and stops, when the fork is moved to protrude, the second detector provided at the tip comes into contact with an article or the like and detects the object. Based on this, the fork is returned to its original position, the positional shift of the lifting platform is corrected, and the fork can be made to project again (try again). In addition, when the fork shifts in the running direction and stops, one of the forks will come into contact with the article from above and swing around the axis in the running direction when the fork is lowered after the projecting movement. By returning the fork to its original position and correcting the positional deviation in the running direction based on the detection by the first detector, the fork can be caused to move downward again (try again). In this manner, when the fork comes into contact with an article, an abnormality can be detected without damaging or knocking the article away, and the error can be corrected and then tried again.

[Brief explanation of drawings]

The drawings show one embodiment of the present invention, with the first figure being a front view and the second figure being a front view.
The figure is a plan view, FIG. 8 is a partially cutaway plan view of the egress/retraction drive unit, FIG. 4 is a front view of the same, and FIGS. 5 and 6 are enlarged sectional views of the main parts. (1)... Storage shelf, (4)... Article receiving plate, (5)...
-・Compartment storage space, (6)...Disposal area, (7)...
Article, (8)... Engaged part, (9)... Delivery device, α1... Fixed route, @... Traveling aircraft, Q4...
・Elevating platform, 0 o'clock... Loading/unloading device, (To)... Movable platform, (Foundation)... Loading/exiting drive device, (81A, BIB)
...Sliding body, (a2A 82B) ...Mounting base, (8
4A, 84B>...Cylinder device, (86A, 8
6B) - Running direction axis, (87A, 87B)...Fork, (88A, 88B)... Running direction axis, (4
OA, 40B) ... Stopped body, (41A, 4
1B)... Stopper, (42A, 42B)...
First detector, (4aA, 48B) --- Actuation part, (4
4A. 44B)...Actuated tool, (4rA, 45B)--
-Second detector, (46A, 46B)--detection plate, (49A, 49B)--spring, (50A, 50B)--v micro switch

Claims (1)

[Claims] 1. Consists of a storage shelf having a plurality of divided storage spaces in the vertical and horizontal directions, and a delivery device that is movable along the front surface of the storage shelf and has a loading/unloading device that can move in and out of the lifting platform laterally, A movable platform on which the loading/unloading device is disposed on a lifting platform so as to be movable laterally, and the movable platform includes:
A pair of mounting bases that can move toward and away from each other in the running direction, forks that are attached to these mounting bases so that they can swing up and down about their respective axes in the running direction, and a stopper that restricts the limit of the downward swing of these forks. , and a first detector for detecting upward swinging, and a second detector provided at the tips of both forks.