JP2003321103A - Automatic warehouse - Google Patents
Automatic warehouseInfo
- Publication number
- JP2003321103A JP2003321103A JP2002130393A JP2002130393A JP2003321103A JP 2003321103 A JP2003321103 A JP 2003321103A JP 2002130393 A JP2002130393 A JP 2002130393A JP 2002130393 A JP2002130393 A JP 2002130393A JP 2003321103 A JP2003321103 A JP 2003321103A
- Authority
- JP
- Japan
- Prior art keywords
- loading
- rack
- unloading
- light
- light projecting
- 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.)
- Granted
Links
Landscapes
- Warehouses Or Storage Devices (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】この発明は、ラックの両面か
ら物品を入出庫するようにした自動倉庫に関するもので
ある。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic warehouse in which articles are loaded and unloaded from both sides of a rack.
【０００２】[0002]
【従来の技術】自動倉庫において、スタッカクレーン等
による物品の移載は、ラックの正面側から行うようにし
ている。多数のラックが並ぶ場合、並びの中間のラック
は、２つずつ背合わせに配置し、各ラックに対して正面
側から移載を行う。2. Description of the Related Art In an automated warehouse, transfer of articles by a stacker crane or the like is performed from the front side of a rack. When a large number of racks are lined up, two racks in the middle of the line are arranged back to back, and each rack is transferred from the front side.
【０００３】[0003]
【発明が解決しようとする課題】しかし、片面側からだ
けの移載では効率が悪い。そのため、入出庫のサイクル
タイムを向上させるために、ラックの正面と背面の両側
にスタッカクレーンを配置し、両面から任意に移載する
ことを考えた。しかし、誤って、ラックの同じ棚に両側
のスタッカクレーンが同時にフォークを出し、衝突を生
じる恐れがある。このような衝突は、各スタッカクレー
ンを制御する制御装置に、移載する棚を正しく指定する
ことで回避される。しかし、プログラムの作成ミス等に
より、同じ棚に両面から同時に移載作業を行う場合か考
えられる。However, transfer from only one side is inefficient. Therefore, in order to improve the loading and unloading cycle time, we considered placing stacker cranes on both sides of the front and back of the rack and transferring them arbitrarily from both sides. However, there is a risk that the stacker cranes on both sides simultaneously eject the forks on the same shelf of the rack, causing a collision. Such a collision can be avoided by correctly designating the shelves to be transferred to the control device that controls each stacker crane. However, it is conceivable that the transfer work is performed from both sides to the same shelf at the same time due to a mistake in creating the program.
【０００４】この発明の目的は、ラックの両面から入出
庫を行うようにした自動倉庫において、同じ棚に対して
２つの入出庫装置が両側から同時に移載作業を行うこと
を防止することである。この発明の他の目的は、簡単な
構成で、対面して位置する他方の入出庫装置を確実に検
出できるものとすることである。この発明のさらに他の
目的は、簡単な構成で、同じ棚に対して移載作業が行わ
れるか否かを認識できるようにすることである。An object of the present invention is to prevent two loading / unloading devices from simultaneously performing transfer operations on both sides of the same shelf in an automatic warehouse in which loading / unloading is performed from both sides of a rack. . Another object of the present invention is to make it possible to reliably detect the other storage / receipt device that is located facing each other with a simple configuration. Still another object of the present invention is to make it possible to recognize with a simple configuration whether or not a transfer operation is performed on the same shelf.
【０００５】[0005]
【課題を解決するための手段】この発明の自動倉庫は、
複数の棚を備えたラックと、ラックの正面側から物品を
移載する第１の入出庫装置と、ラックの背面側から物品
を移載する第２の入出庫装置とを備えた自動倉庫であっ
て、少なくとも一方の入出庫装置に、ラックを挟んで対
面する位置に他方の入出庫装置が有ることを検出する検
出手段を設けたことを特徴とする。入出庫装置は、例え
ば水平に走行可能なものである。この構成によると、対
面位置に他方の入出庫装置が有ることを検出する検出手
段を設けたため、対面位置の入出庫装置の存在有無が認
識できる。したがって、この認識結果に応じて制御する
ことにより、ラックの同じ棚に対して、ラックの正面側
と裏面側から２つの入出庫装置が同時に移載作業を行う
ことが防止され、入出庫装置の備えるフォーク等の移載
手段等が衝突することが防止される。The automatic warehouse of the present invention comprises:
An automatic warehouse including a rack having a plurality of shelves, a first loading / unloading device for transferring articles from the front side of the rack, and a second loading / unloading device for transferring articles from the back side of the rack It is characterized in that at least one of the loading / unloading devices is provided with detection means for detecting that the other loading / unloading device is located at a position facing each other across the rack. The loading / unloading device is, for example, a device that can travel horizontally. According to this configuration, since the detection means for detecting the presence of the other loading / unloading device at the facing position is provided, the presence / absence of the loading / unloading device at the facing position can be recognized. Therefore, by controlling according to the recognition result, it is possible to prevent two loading / unloading devices from the front side and the back side of the rack from simultaneously performing the transfer work on the same shelf of the rack, and It is possible to prevent a transfer means such as a fork provided from colliding.
【０００６】上記検出手段は、対面側の入出庫装置に設
けられた投光手段からの光を受光する受光手段としても
良い。このように、対面検出に投光手段と受光手段とを
用いることで、簡単な構成で、両入出庫装置が対面して
いることを確実に検出することができる。なお、一般的
に自動倉庫のラックにおいて、棚の下面近傍位置などの
定まった位置に、物品のない空間が生じるため、そのよ
うな空間を投光手段の光の通過空間として利用すること
ができる。The detecting means may be a light receiving means for receiving light from a light projecting means provided on the facing storage / receipt device. As described above, by using the light projecting means and the light receiving means for the face-to-face detection, it is possible to reliably detect that the two storage / receipt devices face each other with a simple configuration. In general, in a rack of an automated warehouse, a space without articles occurs at a fixed position such as a position near the lower surface of a shelf, and such a space can be used as a light passage space of the light projecting means. .
【０００７】検出手段として上記のように受光手段を用
いる場合に、上記入出庫装置がスタッカクレーンであっ
て、走行台車に上記投光手段が設けられ、自らが移載作
業を行う棚の段数を、上記投光手段から投光する光信号
によって送信する作業段数送信手段を有するものとして
も良い。入出庫装置がスタッカクレーンである場合、上
下に並ぶ任意の段の棚に対して移載が行える。２台のス
タッカクレーンがラックを挟んで対面する位置にあって
も、移載する段の異なる棚であれば、同時に移載作業を
行っても支障がない。このため、対面位置にスタッカク
レーンがあることを検出しただけで作業を禁止するので
は効率が悪く、作業を行う棚の段を認識することが必要
になる。上記のように、自らが移載作業を行う棚の段数
を、投光手段から投光する光信号によって送信するよう
にすると、対面側の入出庫装置において、同じ棚に対し
て移載作業が行われるか否かを認識することができる。
また、移載する棚の段数が認識できるため、昇降動作を
行わない走行台車の部分に投光手段を設置することがで
き、昇降台に設置する場合に比べて、配線等が簡単であ
る。When the light receiving means is used as the detecting means as described above, the loading / unloading device is a stacker crane, the traveling vehicle is provided with the light projecting means, and the number of shelves on which the transfer work is performed by the stacking crane itself is performed. It is also possible to have working stage number transmitting means for transmitting by the optical signal emitted from the light emitting means. When the loading / unloading device is a stacker crane, the loading / unloading can be performed on any of the shelves at any of the upper and lower rows. Even if the two stacker cranes face each other across the rack, if the shelves have different stages to be transferred, the transfer operations can be performed at the same time without any problem. For this reason, it is inefficient to prohibit work simply by detecting that there is a stacker crane at the facing position, and it is necessary to recognize the shelf steps on which work is to be performed. As described above, if the number of shelves on which the transfer operation is performed is transmitted by the optical signal emitted from the light projecting means, the transfer operation can be performed on the same shelf in the facing storage device. It can be recognized whether or not it is done.
Moreover, since the number of shelves to be transferred can be recognized, the light projecting means can be installed in the portion of the traveling carriage that does not perform the lifting operation, and the wiring and the like are simple as compared with the case where it is installed on the lifting platform.
【０００８】[0008]
【発明の実施の形態】この発明の第１の実施形態を図１
〜図５と共に説明する。図２に平面図で示すように、こ
の自動倉庫は、複数の棚１を有するラック２と、ラック
２の正面側から物品Ｗ（図３）を移載する第１の入出庫
装置３Ａと、ラック２の背面側から物品Ｗを移載する第
２の入出庫装置３Ｂとを備えている。ラック２は、図３
に正面図で示すように、複数の棚１が上下に複数段、左
右に複数列にわたってマトリックス状に並べられたもの
であり、その正面側および背面側の両側から、物品Ｗを
棚１に対して出し入れできるようにされている。棚１に
載せる物品Ｗは、パレットＰ上に収納物Ｍを載せたパレ
ット積み体である。1 is a block diagram of a first embodiment of the present invention.
~ It demonstrates together with FIG. As shown in a plan view in FIG. 2, this automatic warehouse has a rack 2 having a plurality of shelves 1, and a first loading / unloading device 3A for transferring an article W (FIG. 3) from the front side of the rack 2. The rack 2 includes a second loading / unloading device 3B that transfers the articles W from the back side of the rack 2. The rack 2 is shown in FIG.
As shown in the front view, a plurality of shelves 1 are arranged in a matrix in a plurality of vertical rows and a plurality of left and right columns, and the articles W are attached to the shelves 1 from both front and back sides. It can be taken in and out. The articles W to be placed on the shelf 1 are pallet stacks in which the stored items M are placed on the pallets P.
【０００９】第１および第２の入出庫装置３Ａ，３Ｂ
は、例えば図４に示すようなスタッカクレーンからな
り、ラック２の正面および裏面に対して平行に設置され
た走行レール４および走行ガイドレール５に沿って走行
自在に設置されている。このスタッカクレーンからなる
入出庫装置３Ａ，３Ｂは、走行台車１０と、この走行台
車１０に昇降自在に設置された昇降台１２とを有する。
走行台車１０は、走行レール４およびその上方のガイド
レール５に沿って走行自在に設置され、走行駆動装置１
１が設けられている。走行台車１０は、下枠６、上枠
７、および左右一対の側枠８，９を矩形に組んだものと
され、下枠６および上枠７が、上記走行レール４および
ガイドレール５に走行自在に設置される。昇降台１２
は、走行台車１０の側枠８，９に沿って昇降自在に設置
され、走行台車１０に搭載された昇降駆動装置１３によ
り昇降駆動される。昇降台１２の上には、ラック２と昇
降台１２との間で物品Ｗを移載する移載装置１４が設け
られている。この移載装置１４は、ラック２に向けて進
退自在なスライド式のフォーク１４ａと、これらフォー
ク１４ａを進退駆動するフォーク駆動装置１５とで構成
される。走行台車１０の下部には、上記走行駆動装置１
１、フォーク駆動装置１５等の制御を行う機上制御盤１
６が設けられている。First and second loading / unloading devices 3A, 3B
Is composed of, for example, a stacker crane as shown in FIG. 4, and is movably installed along a traveling rail 4 and a traveling guide rail 5 that are installed parallel to the front and back surfaces of the rack 2. The loading / unloading devices 3A and 3B including the stacker crane include a traveling carriage 10 and an elevating platform 12 installed on the traveling carriage 10 so as to be vertically movable.
The traveling carriage 10 is movably installed along the traveling rail 4 and the guide rail 5 above the traveling rail 4, and the traveling drive device 1
1 is provided. The traveling vehicle 10 is formed by assembling a lower frame 6, an upper frame 7, and a pair of left and right side frames 8 and 9 into a rectangle, and the lower frame 6 and the upper frame 7 travel on the traveling rail 4 and the guide rails 5. It is installed freely. Lift 12
Is installed so as to be able to move up and down along the side frames 8 and 9 of the traveling carriage 10 and is driven up and down by an elevator drive device 13 mounted on the traveling carriage 10. A transfer device 14 that transfers the article W between the rack 2 and the elevating table 12 is provided on the elevating table 12. The transfer device 14 includes a slide-type fork 14a that can move forward and backward toward the rack 2, and a fork drive device 15 that drives the fork 14a to move forward and backward. At the bottom of the traveling carriage 10, the traveling drive device 1 is provided.
1. On-board control panel 1 for controlling the fork drive device 15 and the like
6 is provided.
【００１０】昇降台１２上のフォーク１４ａは、パレッ
ト積み体である物品ＷのパレットＰの底面を支持した状
態で、物品Ｗを昇降台１２上に載置し、フォーク１４ａ
の進出動作により物品Ｗをラック２の棚１上に移載す
る。また、棚１上の物品Ｗを、そのパレットＰの底面を
支持して持ち上げてから後退させることにより、昇降台
１２上に移載する。The fork 14a on the lift 12 places the article W on the lift 12 with the bottom surface of the pallet P of the articles W, which is a pallet stack, supported.
The article W is transferred onto the shelf 1 of the rack 2 by the advancing operation of. Further, the article W on the shelf 1 is transferred onto the elevating table 12 by supporting the bottom surface of the pallet P, lifting it, and then retracting it.
【００１１】図２に示すように、各入出庫装置３Ａ，３
Ｂには、ラック２を挟んで対面する位置に他方の入出庫
装置が有ることを検出する検出手段１７と、対面側の入
出庫装置に向けて投光する投光手段１８が設けられてい
る。検出手段１７は、投光手段１８からの光を受光する
受光手段からなる。これら検出手段１７および投光手段
１８は、走行台車１０における非昇降部分に、例えば走
行台車１０の下枠６に左右に離れて設置されている。投
光手段１８には識別符号を光信号として示すことが可能
なものが使用され、検出手段１７には、この光信号を識
別可能に受光できるものが用いられている。このような
投光手段１８として、例えば、複数の発光部（図示せ
ず）を有していて、これら発光部の点灯と消灯の組み合
わせにより、符号を示すものが用いられる。２つの発光
部を有するものでは、２ビットの２進数として４種類の
識別が可能であり、４つの発光部を有するものでは、４
ビットの２進数として１６種類の識別が可能である。検
出手段１７には、投光手段１８の個々の発光部に対応す
る受光が可能なものが用いられる。As shown in FIG. 2, each of the loading / unloading devices 3A, 3
B is provided with a detection means 17 for detecting that the other storage / receipt device is located at a position facing each other with the rack 2 interposed therebetween, and a light projecting means 18 for projecting light toward the opposite storage / receipt device. . The detecting means 17 is a light receiving means for receiving the light from the light projecting means 18. The detecting means 17 and the light projecting means 18 are installed in the non-elevating portion of the traveling carriage 10, for example, in the lower frame 6 of the traveling carriage 10 so as to be separated from each other in the left and right directions. The light projecting means 18 is capable of showing an identification code as an optical signal, and the detecting means 17 is capable of discriminatingly receiving the optical signal. As such a light projecting unit 18, for example, a unit having a plurality of light emitting units (not shown) and having a reference numeral depending on a combination of turning on and off the light emitting units is used. In the case of having two light emitting parts, four kinds of identification are possible as a 2-bit binary number, and in the case of having four light emitting parts, it is 4
16 types of identification are possible as binary numbers of bits. The detecting means 17 is capable of receiving light corresponding to each light emitting portion of the light projecting means 18.
【００１２】図１は、各入出庫装置３Ａ，３Ｂに設けら
れた対面動作回避制御手段１９と、検出手段１７および
投光手段１８との関係を示す模式図である。対面動作回
避制御手段１９は、例えば機上制御盤１６（図４）設け
られる。対面動作回避制御手段１９は、両入出庫装置３
Ａ，３Ｂが同じ棚１に対して同時に物品Ｗの移載作業を
行うのを回避する制御手段であって、作業段数送信手段
２０とインターロック手段２１とを有する。作業段数送
信手段２０は、各入出庫装置３Ａ，３Ｂが自ら移載作業
を行う棚１の段数を、自らの投光手段１８から光信号と
して送信する手段である。この段数を示す光信号は、上
記のように複数の発光部を有する投光手段１８を用いた
場合、２進数の符号して示される。インターロック手段
２１は、検出手段１７が相手側の入出庫装置の投光手段
１８からの投光を受光したときに、物品Ｗの移載作業を
行わないように制御する手段である。この制御は、次の
条件で行われる。すなわち、インターロック手段２１
は、検出手段１７で相手側の投光手段１８から作業段数
を示す光信号を受信したときに、その信号で示された段
数と、自己側の作業段数とを比較し、両側の作業段数が
一致する場合に、自己側の物品Ｗの移載作業を行わない
ように制御するものとしてある。FIG. 1 is a schematic diagram showing the relationship between the face-to-face motion avoidance control means 19 provided in each of the loading / unloading devices 3A and 3B, the detecting means 17 and the light projecting means 18. The face-to-face action avoidance control means 19 is provided, for example, onboard control panel 16 (FIG. 4). The face-to-face motion avoidance control means 19 is provided for both the loading / unloading devices
The control unit A and 3B prevent the articles W from being transferred to the same shelf 1 at the same time, and include a work stage number transmission unit 20 and an interlock unit 21. The work stage number transmission means 20 is a means for transmitting the number of stages of the shelf 1 on which each of the loading / unloading apparatuses 3A and 3B performs the transfer work by itself from the light projecting means 18 as an optical signal. The optical signal indicating the number of steps is represented by a binary code when the light projecting unit 18 having a plurality of light emitting units is used as described above. The interlock means 21 is a means for controlling so that the transfer work of the article W is not carried out when the detecting means 17 receives the light projected from the light projecting means 18 of the receiving / outgoing device on the partner side. This control is performed under the following conditions. That is, the interlock means 21
When the detecting means 17 receives an optical signal indicating the number of working steps from the light projecting means 18 on the other side, the number of steps indicated by the signal is compared with the number of working steps on the self side, and the number of working steps on both sides is If they match, the transfer work of the article W on the self side is controlled not to be performed.
【００１３】上記構成の動作を説明する。各入出庫装置
３Ａ，３Ｂは、搬入・搬出装置（図示せず）により昇降
台１２上に物品Ｗが移載され、自動倉庫全体を制御する
メインコンピュータ（図示せず）によりそれぞれれラッ
ク２におけるその物品Ｗの収納棚１が指定されると、目
的の棚１を有する棚列まで走行し、さらに目的の棚段ま
で昇降台１２を昇降させる。これにより、目的の棚１に
昇降台１２が対向すると、フォーク駆動装置１５の作動
でフォーク１４ａが進出して、棚１へ物品Ｗを移載す
る。この入庫作業を、第１の入出庫装置３Ａはラック２
の正面側から、第２の入出庫装置３Ｂは裏面側から、そ
れぞれ個別に行う。また、メインコンピュータから各入
出庫装置３Ａ，３Ｂに、出庫する物品Ｗの収納されてい
る棚１が指定されると、各入出庫装置３Ａ，３Ｂは目的
の棚１を有する棚列まで走行し、さらに目的の棚段まで
昇降台１２を昇降させる。これにより、目的の棚１に昇
降台１２が対向すると、フォーク駆動装置１５の作動で
フォーク１４ａが進出し、この状態で昇降台１２が若干
上昇することにより、棚１の載置物品ＷのパレットＰの
底面を支持して持ち上げる。次にフォーク１４ａを後退
させることにより、棚１から昇降台１２上に物品Ｗを移
載する。この後、昇降台１２の昇降動作と走行台車１０
の走行とにより、搬入・搬出装置の待機位置まで物品Ｗ
を移動させ、搬入・搬出装置に移載して出庫する。この
ように、１つのラック２に対して２つの入出庫装置３
Ａ，３Ｂが個別に入出庫作業を行うので、入出庫を能率
良く行うことができる。The operation of the above configuration will be described. In each of the loading / unloading devices 3A and 3B, an article W is transferred onto the lift 12 by a loading / unloading device (not shown), and a main computer (not shown) that controls the entire automatic warehouse is used to move the articles W in the rack 2. When the storage rack 1 for the article W is designated, the storage rack 1 travels to the rack row having the target rack 1 and further raises and lowers the lifting platform 12 to the target rack. As a result, when the lift table 12 faces the target shelf 1, the fork 14a is advanced by the operation of the fork drive device 15, and the article W is transferred to the shelf 1. This warehousing operation is performed by the first warehousing / unloading apparatus 3A on the rack 2
From the front side, the second loading / unloading device 3B is individually performed from the back side. When the shelf 1 in which the articles W to be unloaded are stored is designated from the main computer to each of the loading and unloading devices 3A and 3B, the loading and unloading devices 3A and 3B travel to the shelf row having the target shelf 1. Further, the elevator 12 is moved up and down to the desired shelf. As a result, when the lift table 12 faces the target shelf 1, the fork 14a is advanced by the operation of the fork drive device 15, and the lift table 12 is slightly raised in this state, whereby the pallet of the articles W placed on the shelf 1 is moved. Support the bottom of P and lift. Next, the article W is transferred from the shelf 1 onto the lift table 12 by retracting the fork 14a. After that, the lifting operation of the lift 12 and the traveling carriage 10
By moving the article W to the standby position of the loading / unloading device
Is moved, and it is transferred to the carry-in / carry-out device and taken out. In this way, two storage devices 3 for one rack 2
Since A and 3B individually carry out the warehousing and unloading work, warehousing and unloading can be performed efficiently.
【００１４】このような入出庫動作において、プログラ
ムミス等の何らかの制御誤動作により、ラック２の同じ
棚１に対して、第１の入出庫装置３Ａの昇降台１２と第
２の入出庫装置３Ｂの昇降台１２とが対面して、それぞ
れ物品Ｗの移載作業を行おうとすることがある。その場
合、第１の入出庫装置３Ａの検出手段１７は、第２の入
出庫装置３Ｂの投光手段１８から投光される光信号を受
光し、その受光信号が対面動作回避制御手段１９のイン
ターロック手段２１に入力される。インターロック手段
２１は、その受光した光信号で示される棚１の段数と、
自己側つまり第１の入出庫装置３Ａで行う作業段数とが
一致するか否かを比較し、一致すると、フォーク１４ａ
による物品Ｗの移載作業を中止する。第２の入出庫装置
３Ｂでも、第１の入出庫装置３Ａと同様のインターロッ
ク動作により、物品の移載作業を中止する。これによ
り、同じ棚１に対して２つの入出庫装置３Ａ，３Ｂが同
時に物品Ｗの移載作業を行うのを確実に防止でき、フォ
ーク１４ａの衝突などによりラック２や物品Ｗが破損す
る事態を回避することができる。In such a loading / unloading operation, the elevator 12 of the first loading / unloading apparatus 3A and the second loading / unloading apparatus 3B are set on the same shelf 1 of the rack 2 due to some control malfunction such as a programming error. The lifting table 12 may face each other, and the transfer work of the article W may be attempted. In that case, the detection means 17 of the first loading / unloading apparatus 3A receives the optical signal emitted from the light projecting means 18 of the second loading / unloading apparatus 3B, and the received light signal of the facing operation avoidance control means 19 is received. It is input to the interlock means 21. The interlock means 21 has the number of stages of the shelf 1 indicated by the received optical signal,
The self-side, that is, the number of work steps performed by the first loading / unloading device 3A is compared, and if they match, the fork 14a
The transfer work of the article W is stopped. Also in the second loading / unloading apparatus 3B, the transfer operation of the article is stopped by the interlock operation similar to that of the first loading / unloading apparatus 3A. As a result, it is possible to reliably prevent the two loading / unloading devices 3A and 3B from carrying out the transfer work of the article W on the same shelf 1 at the same time, and the rack 2 or the article W may be damaged due to the collision of the fork 14a or the like. It can be avoided.
【００１５】入出庫装置３Ａ，３Ｂの移載作業停止状態
は、対面状態を回避してからオペレータによるリセット
動作で動作可能な状態に回復させてもよいが、各入出庫
装置３Ａ，３Ｂのインターロック手段２１から例えばメ
インコンピュータに対して、対面動作回避による停止状
態にあることを送信して、いずれの入出庫装置の移載作
業を優先させるかをメインコンピュータに選択させるよ
うにしても良い。また、対面した場合に、予め第１，第
２のいずれかの入出庫装置３Ａ，３Ｂに優先して動作さ
せるように、対面動作回避制御手段１９等に定めておい
ても良い。The transfer operation stopped state of the loading / unloading devices 3A, 3B may be restored to an operable state by the reset operation by the operator after avoiding the facing state, but the interworking of the loading / unloading devices 3A, 3B may be restored. The lock means 21 may transmit to the main computer, for example, that the vehicle is in the stopped state due to the avoidance of the facing operation, and the main computer may select which of the loading and unloading devices should be prioritized for the transfer operation. Further, when facing each other, the facing movement avoidance control means 19 or the like may be set in advance so as to operate in priority to either the first or second storage / unloading apparatus 3A, 3B.
【００１６】このように、この実施形態では、両入出庫
装置３Ａ，３Ｂがラック２の同じ棚１を挟んで対面状態
にあることを検出する検出手段１７として、対面側の入
出庫装置に設けられた投光手段１８からの光を受光する
受光手段を用いているので、簡単な構成により、両入出
庫装置３Ａ，３Ｂが対面していることを確実に検出する
ことができる。As described above, in this embodiment, the storage device on the facing side is provided as the detection means 17 for detecting that the storage devices 3A and 3B are facing each other with the same shelf 1 of the rack 2 interposed therebetween. Since the light receiving means for receiving the light from the projected light projecting means 18 is used, it is possible to reliably detect that both the loading / unloading devices 3A and 3B face each other with a simple configuration.
【００１７】また、この実施形態では、スタッカクレー
ンからなる入出庫装置３Ａ，３Ｂの走行台車１０に投光
手段１８を設け、自らが移載作業を行う棚１の段数を、
作業段数送信手段２０によって前記投光手段１８から投
光する光信号として送信するようにしているので、簡単
な構成により、同じ棚１に対して対面側の入出庫装置で
移載作業が行われるか否かを認識することができる。ま
た、投光手段１８および検出手段１７は、走行台車１０
の下部に設置しており、この高さ位置は、一般にラック
２において物品Ｗが載置されない箇所となるため、投光
手段１８から投光する光が物品Ｗで遮られることがな
い。Further, in this embodiment, the traveling carriage 10 of the loading / unloading devices 3A, 3B comprising stacker cranes is provided with the light projecting means 18, and the number of steps of the shelf 1 on which the transfer work is carried out by itself is
Since the work stage number transmitting means 20 transmits the light signal as the light signal emitted from the light projecting means 18, the transfer operation is performed by the storage device on the opposite side to the same shelf 1 with a simple configuration. You can recognize whether or not. Further, the light projecting means 18 and the detecting means 17 are provided in the traveling carriage 10.
Since the article W is not placed on the rack 2 at this height position, the light projected from the light projecting means 18 is not blocked by the article W.
【００１８】なお、上記実施形態では、検出手段１７お
よび投光手段１８を作業台車１０に設置した場合につき
説明したが、図６に示すように、検出手段１７および投
光手段１８は昇降台１２に設けても良い。この場合、検
出手段１７および投光手段１８は、例えば昇降台１２に
おける下方に設置し、昇降台１２が対応する棚１よりも
１段下の棚１に載せられた物品Ｗの上方に生じる空間を
光の通過空間として利用する。このように昇降台１２に
検出手段１７および投光手段１８を設けた場合は、ラッ
ク２を介して対面する相手側の入出庫装置３Ａ，３Ｂと
昇降台１２同士が同じ段の棚１に対向するときに、投光
手段１８の光を受光することになる。そのため、段数の
信号を送る必要はなく、図１の作業段数送信手段２０は
不要である。また、投光手段１８および検出手段１７
は、単に投光および受光が行えるものであれば良い。こ
の場合、インターロック手段２１は、検出手段１７で相
手側の投光手段１８の光を受光したときに、棚段数を比
較することなく、移載作業を中止させる。In the above embodiment, the case where the detecting means 17 and the light projecting means 18 are installed on the work carriage 10 has been described. However, as shown in FIG. It may be provided in. In this case, the detecting means 17 and the light projecting means 18 are installed, for example, in the lower part of the lifting table 12, and a space generated above the article W placed on the shelf 1 one step lower than the shelf 1 to which the lifting table 12 corresponds. Is used as a light passage space. When the detecting means 17 and the light projecting means 18 are provided on the lift table 12 in this way, the other loading and unloading devices 3A and 3B facing each other via the rack 2 and the lift table 12 face the shelf 1 on the same stage. The light of the light projecting means 18 is received at the time. Therefore, it is not necessary to send the signal of the stage number, and the work stage number transmitting means 20 of FIG. 1 is unnecessary. Further, the light projecting means 18 and the detecting means 17
Need only be capable of projecting and receiving light. In this case, when the detecting means 17 receives the light of the light projecting means 18 on the other side, the interlock means 21 stops the transfer operation without comparing the number of shelves.
【００１９】図７は、この発明のさらに他の実施形態を
示す。この実施形態は、ラック２の正面側および背面側
からそれぞれ移載する入出庫装置２３Ａ，２３Ｂが、ラ
ック２の各棚段ごとに、レール２４上を水平に走行する
段別走行台として構成されている。入出庫装置２３Ａ，
２３Ｂの走行経路の一端には、各段の入出庫装置２３
Ａ，２３Ｂのとの間で物品Ｗを移載可能なエレベータ２
２が設けられている。各入出庫装置２３Ａ，２３Ｂに、
投光手段１８と、対面側の入出庫装置２３Ａ，２３Ｂに
設けられた投光手段１８からの光を受光する受光手段か
らなる検出手段１７とが設けられている。また、検出手
段１７で検出した場合に移載動作を行わないようにさせ
るインターロック手段（図示せず）が設けられている。
このような段別の水平走行型の入出庫装置２３Ａ，２３
Ｂを備えた自動倉庫においても、上記各実施形態と同様
に、同じ棚１に対して２つの入出庫装置２３Ａ，２３Ｂ
が両側から同時に移載作業を行うことを防止することが
できる。FIG. 7 shows still another embodiment of the present invention. In this embodiment, the loading / unloading devices 23A and 23B transferred from the front side and the back side of the rack 2 are configured as a stage-specific traveling platform that horizontally travels on the rail 24 for each shelf of the rack 2. ing. Loading / unloading device 23A,
At one end of the traveling route of 23B, the loading / unloading device 23 of each stage is provided.
Elevator 2 capable of transferring article W between A and 23B
Two are provided. In each of the loading / unloading devices 23A, 23B,
A light projecting unit 18 and a detecting unit 17 including a light receiving unit that receives light from the light projecting unit 18 provided on the facing storage / reception devices 23A and 23B are provided. Further, an interlock means (not shown) is provided to prevent the transfer operation when detected by the detection means 17.
Such horizontal traveling type loading / unloading devices 23A, 23
Also in the automated warehouse equipped with B, as in each of the above-described embodiments, two loading / unloading devices 23A, 23B are provided for the same shelf 1.
It is possible to prevent simultaneous transfer work from both sides.
【００２０】なお、上記各実施形態では、両側の入出庫
装置３Ａ，３Ｂ，２３Ａ，２３Ｂに検出手段１７および
投光手段１８を設けたが、これに限らず、一方の入出庫
装置には検出手段１７だけを、他方の入出庫装置には投
光手段１８だけを設け、片方の入出庫装置の移載動作を
優先させるようにしても良い。また、検出手段１７とし
て反射型のものを用いても良く、その場合は、相手側の
入出庫装置３Ａ，３Ｂ，２３Ａ，２３Ｂに投光手段１８
を設けなくて良い。ただし、その場合、棚段数を相手側
に知らせることはできない。In each of the above-mentioned embodiments, the detecting means 17 and the light projecting means 18 are provided in the storage / receipt devices 3A, 3B, 23A, 23B on both sides. It is also possible to provide only the means 17 and only the light projecting means 18 to the other storage / receipt device so as to prioritize the transfer operation of one of the storage / receipt devices. In addition, a reflection type may be used as the detection means 17, and in that case, the light projecting means 18 is provided to the receiving / storing apparatuses 3A, 3B, 23A, 23B on the other side.
Need not be provided. However, in that case, the number of shelves cannot be notified to the other party.
【００２１】[0021]
【発明の効果】この発明の自動倉庫は、ラックの正面側
から物品を移載する第１の入出庫装置と、ラックの背面
側から物品を移載する第２の入出庫装置とを備えた自動
倉庫であって、少なくとも一方の入出庫装置に、ラック
を挟んで対面する位置に他方の入出庫装置が有ることを
検出する検出手段を設けたため、ラックの同じ棚に対し
て、ラックの正面側と裏面側から２つの入出庫装置によ
り同時に移載作業が行われることが防止でき、入出庫装
置の備えるフォーク等の移載手段が衝突することが防止
される。上記検出手段を、対面側の入出庫装置に設けら
れた投光手段からの光を受光する受光手段とした場合
は、簡単な構成により、両入出庫装置が対面しているこ
とを確実に検出することができる。上記入出庫装置がス
タッカクレーンであって、走行台車に上記投光手段が設
けられ、自らが移載作業を行う棚の段数を、前記投光手
段から投光する光信号によって送信する作業段数送信手
段を有するものとした場合は、簡単な構成により、同じ
棚に対して対面側の入出庫装置で移載作業が行われるか
否かを認識することができる。The automatic warehouse of the present invention comprises a first loading / unloading device for transferring articles from the front side of the rack and a second loading / unloading device for transferring articles from the back side of the rack. In an automated warehouse, at least one of the loading / unloading devices is provided with a detecting means for detecting that the other loading / unloading device is located at a position facing the other side of the rack. It is possible to prevent the transfer operation from being performed simultaneously by the two loading / unloading devices from the side and the back side, and it is possible to prevent the transfer means such as a fork provided in the loading / unloading device from colliding. When the detection means is a light receiving means for receiving light from the light projecting means provided on the facing storage / receipt device, the simple configuration surely detects that both the storage / receipt devices face each other. can do. The loading / unloading device is a stacker crane, the traveling carriage is provided with the light projecting means, and the number of shelves on which the transfer work is carried out by itself is transmitted by an optical signal transmitted from the light projecting means. When the means is provided, it is possible to recognize with a simple configuration whether or not the transfer operation is performed on the same shelf by the facing storage device.
【図１】この発明の一実施形態にかかる自動倉庫の各入
出庫装置の制御系を示す模式図である。FIG. 1 is a schematic diagram showing a control system of each loading / unloading device of an automated warehouse according to an embodiment of the present invention.
【図２】同自動倉庫の部分平面図である。FIG. 2 is a partial plan view of the same automated warehouse.
【図３】同自動倉庫におけるラックの部分正面図であ
る。FIG. 3 is a partial front view of a rack in the automated warehouse.
【図４】同自動倉庫における入出庫装置の斜視図であ
る。FIG. 4 is a perspective view of a loading / unloading device in the automated warehouse.
【図５】同入出庫装置への検出手段および投光手段の設
置例を示す斜視図である。FIG. 5 is a perspective view showing an example of installation of a detection unit and a light projecting unit in the loading / unloading apparatus.
【図６】この発明の他に実施形態における入出庫装置に
おける昇降台とラックの棚との位置関係を示す説明図で
ある。FIG. 6 is an explanatory view showing the positional relationship between the lifting table and the rack of the rack in the loading / unloading apparatus according to the embodiment other than the present invention.
【図７】この発明のさらに他の実施形態にかかる自動倉
庫を示す斜視図である。FIG. 7 is a perspective view showing an automated warehouse according to still another embodiment of the present invention.
１…棚 ２…ラック ３Ａ…第１の入出庫装置 ３Ｂ…第２の入出庫装置 １０…走行台車 １２…昇降台 １４…移載装置 １４ａ…フォーク １７…検出手段 １８…投光手段 ２０…作業段数送信手段 ２３Ａ…第１の入出庫装置 ２３Ｂ…第２の入出庫装置 1 ... Shelf 2 ... rack 3A ... 1st loading / unloading device 3B: second storage device 10 ... Truck 12 ... Lifting platform 14 ... Transfer device 14a ... fork 17 ... Detecting means 18 ... Projection means 20 ... Work stage number transmission means 23A ... 1st loading / unloading device 23B ... Second storage device
Claims (3)
面側から物品を移載する第１の入出庫装置と、ラックの
背面側から物品を移載する第２の入出庫装置とを備えた
自動倉庫であって、少なくとも一方の入出庫装置に、ラ
ックを挟んで対面する位置に他方の入出庫装置が有るこ
とを検出する検出手段を設けたことを特徴とする自動倉
庫。1. A rack provided with a plurality of shelves, a first loading / unloading device for transferring articles from the front side of the rack, and a second loading / unloading device for transferring articles from the back side of the rack. An automated warehouse provided with at least one of the loading / unloading device, and a detection means for detecting that the other loading / unloading device is present at a position facing the other loading / unloading device.
設けられた投光手段からの光を受光する受光手段である
請求項１記載の自動倉庫。2. The automatic warehouse according to claim 1, wherein the detecting means is a light receiving means for receiving light from a light projecting means provided in the facing storage / receipt device.
って、走行台車に上記投光手段が設けられ、自らが移載
作業を行う棚の段数を、上記投光手段から投光する光信
号によって送信する作業段数送信手段を有するものとし
た請求項２記載の自動倉庫。3. The loading / unloading device is a stacker crane, the traveling carriage is provided with the light projecting means, and the number of shelves on which the transfer work is carried out is determined by an optical signal projected from the light projecting means. The automatic warehouse according to claim 2, further comprising a means for transmitting the number of work stages for transmission.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2002130393A JP4023205B2 (en) | 2002-05-02 | 2002-05-02 | Automatic warehouse |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2002130393A JP4023205B2 (en) | 2002-05-02 | 2002-05-02 | Automatic warehouse |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2003321103A true JP2003321103A (en) | 2003-11-11 |
| JP4023205B2 JP4023205B2 (en) | 2007-12-19 |
Family
ID=29543470
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2002130393A Expired - Fee Related JP4023205B2 (en) | 2002-05-02 | 2002-05-02 | Automatic warehouse |
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| Country | Link |
|---|---|
| JP (1) | JP4023205B2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006001653A (en) * | 2004-06-15 | 2006-01-05 | Ishikawajima Transport Machinery Co Ltd | Interlock system for article carrying device |
| JP2011219191A (en) * | 2010-04-06 | 2011-11-04 | Fujitsu Ltd | Control program, control method, and control device |
-
2002
- 2002-05-02 JP JP2002130393A patent/JP4023205B2/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006001653A (en) * | 2004-06-15 | 2006-01-05 | Ishikawajima Transport Machinery Co Ltd | Interlock system for article carrying device |
| JP2011219191A (en) * | 2010-04-06 | 2011-11-04 | Fujitsu Ltd | Control program, control method, and control device |
Also Published As
| Publication number | Publication date |
|---|---|
| JP4023205B2 (en) | 2007-12-19 |
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