JP3764246B2 - Three-dimensional warehouse - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
This invention relates to steric warehouse.
[0002]
[Prior art]
Conventionally, in a crane provided in a three-dimensional warehouse, when a material placed on a support arm provided in a three-dimensional shelf is picked up or down by a crane hawk provided in the crane, from the tip of the crane hawk to the material. The machine needs to know the distance.
[0003]
That is, as shown in FIG. 9, if the distance A dimension from the tip of the crane fork 103 provided on the crane 101 to the side surface of the material W stored on the support arm 107 provided on the three-dimensional shelf 105 is known. If the crane fork 103 is advanced by the total of the diameter dimension of the material W in addition to the dimension A, the material W can be taken up as shown in FIG.
[0004]
As a method for detecting the distance of the dimension A, a position is estimated on the coordinate axes by data management by a computer. Alternatively, as shown in FIG. 11, the first photoelectric switch 109 </ b> A is provided at the tip of the crane hawk 103, and the second photoelectric switch 109 </ b> B that receives the optical axis of the photoelectric switch 109 protrudes from the crane body 111 of the crane 101. The switch bracket 113 is provided. Then, the A dimension can be detected by detecting the side surface of the material W with a pair of photoelectric switches 109A and 109B.
[0005]
Furthermore, as shown in FIG. 12, it is also known that an ultrasonic sensor 117 is provided at the lower part of the crane main body 111 having the shifting arm 115 and the A dimension is detected by the ultrasonic sensor 117.
[0006]
[Problems to be solved by the invention]
By the way, in the material detection means of the storage shelf in the above-described conventional three-dimensional warehouse, in the means for estimating the position with the coordinate axis by the data management by the computer, there is a possibility that the position may be largely shifted due to the input error of the material data due to human error. . Further, in the detection means using the photoelectric switch, as shown in FIG. 13, the crane hawk 103 and the photoelectric switch bracket 113 supporting the photoelectric switches 109A and 109B provided above and below are provided on the three-dimensional shelf 105 for fixing. If the height pitch of the support arm 107 changes, there is a problem that it cannot be handled, and the shifting arm cannot be used.
[0007]
Furthermore, the detection means using the ultrasonic sensor can cope with the change in the height pitch of the support arm 107 and the shifting arm, but there is a problem that the cost is high and the accuracy is several millimeters due to the ultrasonic wave.
[0008]
An object of the present invention is to provide a material storage method and a three-dimensional warehouse in a three-dimensional warehouse in a three-dimensional warehouse that can cope with various shelf heights and shifting arms, is highly accurate, safe, and reduces costs. .
[0010]
[Means for Solving the Problems]
In view of the above problems, the three-dimensional warehouse according to the first aspect of the present invention detects the side surface of the material stored in the storage shelf at the tip of one side of the crane hawk provided in the crane provided in the three-dimensional warehouse. A first driving device that is provided with one sensor and a second sensor that receives the optical axis of the first sensor at a tip of a sensor bracket provided on a crane main body that constitutes the crane, and positions the sensor bracket in a vertical direction; It is provided in the crane main body.
[0011]
Therefore, since the sensor bracket provided with the second sensor provided at the tip of the crane body can be positioned in the vertical direction by the first driving device, it can cope with the change in the shelf pitch of the storage shelf, and various shelf height pitches are provided. Therefore, the storage efficiency can be improved.
[0012]
Further, the side surface of the material stored in the storage shelf is detected by the optical axis of the sensor constituted by the first and second sensors, and the crane hawk is moved to the storage shelf side by adding this measured value and the diameter of the material. Since the material is taken in and taken out by the crane hawk, since it is directly measured by the sensor, positioning can be performed with high accuracy and the material can be taken out safely.
[0013]
A three-dimensional warehouse according to a second aspect of the present invention is the three-dimensional warehouse according to the first aspect , wherein the crane body is provided so as to be movable in the left-right direction, a first sensor is provided at the tip of the other side of the crane hawk, The crane main body is provided with a second drive device for positioning the turning movement from one side to the other side.
[0014]
Accordingly, since the sensor bracket can be swung and positioned by the second driving device, it can be adapted to a structure for shifting the crane arm, and the cost can be reduced.
[0015]
Warehouse of the invention according to claim 3 is the warehouse of claim 1, wherein the first driving device rotates the threaded rod from the drive motor, the sensor bracket via a screwed nut member of the screw rod It is characterized by moving and positioning in the vertical direction.
[0016]
Therefore, the rotation of the drive motor is transmitted to the screw rod, and the rotation of the screw rod is converted into the vertical movement of the sensor bracket via the nut member. Is positioned.
[0017]
Warehouse of the invention according to claim 4 is the warehouse of claim 2, wherein the second driving apparatus, the provided driving motor to rotate the bracket provided on the crane body, via a gear mechanism from the drive motor The rotating bracket is rotated, and the sensor bracket provided in the rotating bracket is rotated and positioned.
[0018]
Therefore, the rotating bracket is rotated from the drive motor via the gear mechanism, and the sensor bracket provided in the rotating bracket is rotated and positioned in the left-right direction. The sensor bracket is reliably positioned.
[0019]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
[0020]
First, in order to facilitate understanding, the overall configuration of a three-dimensional warehouse will be schematically described.
[0021]
7 and 8, the three-dimensional warehouse 1 includes a plurality of rows of three-dimensional shelves 3 and a left-right direction (in the left-right direction in FIG. 7, orthogonal to the drawing in FIG. 8) across the three-dimensional shelves 3. The crane 5 is movable in the direction).
[0022]
The three-dimensional shelf 3 is provided with a storage shelf 11 composed of a plurality of support arms 9 arranged in the vertical direction on both sides of a support column 7 erected on the floor. For example, a round bar, a shape steel, etc. are accommodated as a plurality of materials.
[0023]
In the crane 5, a rail 15 extending in the left-right direction is laid on a pedestal 13 provided on the floor, and a crane body 19 rides on the rail 15 via a plurality of wheels 17, and the crane body 19 extends in the left-right direction. It is free to move.
[0024]
The crane body 19 has a gate shape so as not to interfere with the support column 7, and a traveling motor 21 is provided on the upper frame body 19 </ b> A of the crane body 19. The wheel 17 is rotated via a shaft and a bevel gear, and the crane 5 is moved in the left-right direction. The traveling motor 21 includes an encoder E as a position detector, and always detects the position of the crane 5.
[0025]
In addition, an elevator motor 29 is provided on one side of the side frame 19B of the crane body 19 to raise and lower a lifter beam 27 having a lifter arm 25. A drum 33 is rotated by a lifting motor 29 via a rotation transmission member 31 (pulley and chain), and a wire 35 having one end locked to the drum 33 is connected to the lifter beam 27.
[0026]
With the above configuration, when the lifting / lowering motor 29 is rotated, the drum 33 is rotated, and the lifter beam 27 is lifted / lowered by winding and rewinding the wire 35 with the drum 33.
[0027]
A lifter arm 25 provided in the lifter beam 27 has a pinion 37 rotated by a motor (not shown), and a rack (not shown) meshed with the pinion 37 is provided on the lifter arm 25. The lifter arm 25 is moved in the left-right direction by driving the motor. Will be moved. For this reason, the material supported on the lifter arm 25 can be transferred onto the support arm 9, and the material supported on the support arm 9 can be transferred onto the lifter arm 25.
[0028]
Next, the crane provided with the material detection apparatus which is the principal part of this invention is demonstrated in detail.
[0029]
5 and 6, the lifter beam 27 provided in the crane 5 is provided with a lifter arm 25 that is movable in the left-right direction (vertical direction in FIG. 5 and direction orthogonal to the drawing in FIG. 6). The lifter arms 25 are arranged in a plurality of lifter beams 27, and the tip of the lifter arms 25 at two positions on one side (right side in FIGS. 5 and 6) of the plurality of lifter arms 25 and 2 provided on the lifter beam 27. A sensor 43 is provided at the tip of the sensor bracket 41 of the pair of material detection devices 39.
[0030]
As a driving member for moving the lifter arm 25 in the left-right direction, rotation is transmitted to a rotating shaft 47 from a driving motor 45 fixed to the lifter beam 27, and the pinion 37 locked to the rotating shaft 47 rotates. The lifter beam 27 is provided so as to be movable in the left-right direction while being guided by a lifter arm receiver 49 through a rack (not shown) meshed with the pinion 37. In addition, although two sets of the material detection devices 39 are provided, the number is not limited to the number of installed units, and one set is also possible.
[0031]
The details of the material detection device 39 will be described with reference to FIGS. 1, 2 and 3. First, as shown in FIG. 1, a plurality of lifter arms 25 are arranged in line with the lifter beam 27. Although not shown, the rotation shaft 47 is rotated by the drive motor 45. The lifter arm 25 is movable in the left-right direction (left-right direction in FIG. 1) while being guided by the lifter arm receiver 49 through the rack 51 from the pinion 37 locked to the rotating shaft 47. The first sensor 43 </ b> A of the pair of sensors 43 is provided at both ends of the lifter arm 25.
[0032]
On the other hand, a rotating bracket 53 is rotatably mounted on the lifter beam 27 via a bearing 55. The rotating bracket 53 has a U-shape, and the U-shape is movable up and down. A sensor bracket 41 is provided, and a second sensor 43B is provided at the tip of the sensor bracket 41 so as to be opposed to the first sensor 43A.
[0033]
The structure of the first drive device 57 that moves and positions the sensor bracket 41 in the vertical direction is such that the shaft 63 is connected to the output shaft 61 of the drive motor 59 with a brake provided with an encoder E that is suspended from the lifter beam 27. Has been. The shaft 61 is inserted into the bearing 55 and connected to a screw rod 65, and the upper and lower ends of the screw rod 65 are supported by the rotating bracket 53 via bearings 67 and 69.
[0034]
A nut member 71 is screwed onto the screw rod 65, and the nut member 71 is fixed to the sensor bracket 41. Guide rods 73 are erected in parallel on both sides of the screw rod 65, and a bush 75 is fitted to the guide rod 73, and the bush 75 is fixed to the sensor bracket 41. A deceleration limit switch 77A and a stop limit switch 77B are provided on the upper and lower limits of the sensor bracket 41 on the rotating bracket 53 side.
[0035]
When the brake-equipped drive motor 59 having the encoder E is driven by the above configuration, the screw rod 65 rotates through the shaft 63, and the sensor bracket 41 guides through the nut member 71 screwed to the screw rod 65. It is moved up and down while being guided by the rod 73. The sensor bracket 41 can accurately set the stop position by the encoder E attached to the drive motor 59 and the limit switches 77A and 77B for deceleration and stop. In FIG. 1, the position indicated by the solid line is the lower limit position of the sensor bracket 41, and the position indicated by the two-dot chain line is the upper limit position.
[0036]
Next, the second drive device 79 that turns the sensor bracket 41 will be described in detail.
[0037]
Referring to FIGS. 2 and 3, a brake-equipped drive motor 81 having an encoder E that constitutes the second drive device 79 is provided to hang from an L-shaped bracket 83 provided on the side surface of the rotating bracket 53. It has been. A first gear 85A, which is a gear mechanism 85, is fixed to the output shaft of the drive motor 81. The second gear 85B is engaged with the first gear 85A, and the second gear 85B is connected to the screw rod 65. It is fixed to the tip.
[0038]
With the above configuration, since the screw rod 65 is fixed without being rotated by the stop of the drive motor 59, the second gear 85B is fixed. When the drive motor 81 is driven in this state, the first gear 85A rotates and moves along the second gear 85B and the rotation bracket 53 rotates, so that the sensor bracket 41 rotates 90 degrees as indicated by an arrow in FIG. You can turn one by one. The 90-degree turning stop positioning can be performed by the encoder E provided in the drive motor 81, but can also be performed by an appropriate positioning sensor.
[0039]
With the configuration as described above, as the operation, referring to FIG. 4, the sensor bracket 41 can be positioned so as to be movable up and down, so that the change in the pitch P of the support arm 9 provided on the support column 7, that is, the support arm The sensor bracket 41 can be positioned at an optimum position depending on the size of the material W on the 9. Then, the lifter arm 25 at a preset position is moved to the storage shelf 11 side, and is irradiated between the first sensor 43A provided at the tip of the lifter arm 25 and the second sensor 43B provided at the tip of the sensor bracket 41. The optical axis K detects the side surface of the material W and measures the distance A between the sensor 43 and the side surface of the material W.
[0040]
The lifter arm 25 provided in the crane 5 is advanced by a value obtained by adding the measured A value and the diameter of the material W, and the material W can be taken out by the lifter arm 25.
[0041]
Further, when the lifter arm 25 is shifted to the opposite side and the material W stored in the storage shelf 11 on the opposite side is taken out, the sensor bracket 41 is rotated 180 degrees by the drive of the second driving device 79, and the structure shown in FIG. Position to the position indicated by the two-dot chain line. Then, the side surface of the material W is detected by the optical axis K irradiated between the first sensor 43A provided at the tip of the lifter arm 25 and the second sensor 43B provided at the tip of the sensor bracket 41. It can be taken out.
[0042]
In the present embodiment, the lifter arm 25 is a shifting type that can be moved in the left-right direction, but it can also be a fixed lifter arm.
[0043]
Thus, since measurement can be performed with the sensor 43 with high accuracy and positioning can be performed, the material W can be safely operated without dropping, and the lifter arm 25 has a shifting shape. Costs can be reduced and functions can be improved.
[0044]
The present invention is not limited to the embodiment of the invention described above, and can be implemented in other modes by making appropriate modifications. For example, although the sensor bracket 41 can be moved up and down by the drive motor 59, it may be replaced with the drive motor 59 as a fluid pressure operated cylinder. Although the sensor bracket 41 can be swung by the drive motor 81, the sensor bracket is extended to both sides, the second sensor 43B is provided on both sides thereof, and the sensor bracket is provided on the lifter arm 25 so as to be movable in the horizontal direction. You may make it respond | correspond to 43 A of 1st sensors.
[0045]
【The invention's effect】
As can be understood from the above description of the embodiment, according to the present invention, the sensor bracket provided with the second sensor provided on the crane body at the tip can be positioned in the vertical direction by the first driving device. Therefore, it is possible to cope with changes in the shelf pitch of the storage shelves, and it is possible to provide various shelf height pitches, thereby improving the storage efficiency.
[0046]
Further, the side surface of the material stored in the storage shelf is detected by the optical axis of the sensor constituted by the first and second sensors, and the crane hawk is moved to the storage shelf side by adding this measured value and the diameter of the material. Since the material is taken in and taken out by the crane hawk, since it is directly measured by the sensor, positioning can be performed with high accuracy and the material can be taken out safely.
[0047]
According to the second aspect of the present invention, since the sensor bracket can be swung and positioned by the second drive device, it is possible to cope with the structure of shifting the crane arm and to reduce the cost.
[0048]
According to the third aspect of the present invention, the rotation of the drive motor is transmitted to the screw rod, and the rotation of the screw rod is converted to the vertical movement of the sensor bracket via the nut member. It is cheap and can position the sensor bracket reliably.
[0049]
According to the fourth aspect of the present invention, the rotating bracket is rotated by the drive motor via the gear mechanism, and the sensor bracket provided in the rotating bracket is rotated and positioned in the left-right direction. The configuration is inexpensive and the sensor bracket can be positioned reliably.
[Brief description of the drawings]
FIG. 1 is a front view showing a main part of the present invention and showing a material detection device.
FIG. 2 is a plan view of FIG.
FIG. 3 is an enlarged side view of a portion indicated by an arrow III in FIG.
FIG. 4 is an operation explanatory diagram.
FIG. 5 is a plan view showing a lifter beam of a crane.
6 is a side view of FIG. 5. FIG.
FIG. 7 is a front view of a three-dimensional warehouse according to one embodiment of the present invention.
8 is a side view of FIG.
FIG. 9 is an explanatory view showing a conventional example and showing a relationship between a crane hawk and a material.
FIG. 10 is an explanatory view when a material is taken out by a crane hawk in FIG. 9;
FIG. 11 is an explanatory diagram showing a conventional example in which a photoelectric switch is provided in a crane hawk in order to detect a side surface of a material.
FIG. 12 is an explanatory diagram in which an ultrasonic sensor is provided on a lifter beam in order to detect a side surface of a material according to a conventional example.
FIG. 13 is an operation explanatory diagram.
[Explanation of symbols]
1 Three-dimensional warehouse 5 Crane 11 Storage shelf 19 Crane body 25 Lifter arm (crane hawk)
41 sensor bracket 43 sensor 43A first sensor 43B second sensor 53 rotation bracket 57 first drive device 59 drive motor 65 screw rod 71 nut member 79 second drive device 81 drive motor 85 gear mechanism W material K optical axis

Claims (4)

  A first sensor for detecting the side surface of the material stored in the storage shelf is provided at the tip of one side of the crane hawk provided in the crane provided in the three-dimensional warehouse, and a second sensor for receiving the optical axis of the first sensor is provided. A three-dimensional warehouse comprising a first drive device provided at a tip of a sensor bracket provided in a crane main body constituting the crane and positioning the sensor bracket in a vertical direction. The crane hawk is provided movably in the left-right direction, a first sensor is provided at the tip of the other side of the crane hawk, and a second drive device is provided on the crane body for positioning the sensor bracket from one side to the other side. The three-dimensional warehouse according to claim 1, wherein The first driving device rotates the threaded rod from the drive motor, warehouse of claim 1, wherein a for moving the positioning of the sensor bracket in the vertical direction via a screwed nut member of the screw rod. The second drive device includes a drive motor provided on a rotation bracket provided on the crane body, the rotation motor rotating the rotation bracket via a gear mechanism, and the sensor provided in the rotation bracket. The three-dimensional warehouse according to claim 2 , wherein the bracket is pivotally positioned.

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