JPH05246509A - Automatic warehouse - Google Patents

Abstract

PURPOSE:To achieve a precision in assembling, and enable secure detection constantly by providing a detection device for running control at a subject body to be detected on a floor rail to face it freely under a carrying in/out device. CONSTITUTION:A subject body 55 having a subject surface 55a directed to a side is installed on a floor rail 30, and a detection device for running control to face the subject surface 55a from the side freely is disposed under a carrying in/out device 10. Supply and reception of power and control signals to/from the carrying in/out device are performed smoothly by bringing a collector of a collecting device 23 in sliding contact with a rail part of a feed unit 50. Running control to the carrying in/out device 10 is performed by detection of the subject body 55 by the detection device 25. The subject body 55 can be installed on the floor rail directly at a manufacturing factory, and as a detection direction is lateral, either one of the detection device 25 and the subject device 55 need be regulated to be apart, thereby a precision in assembling can be achieved easily.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention comprises, for example, a shelf which is installed in a factory and which has a plurality of storages, and a loading and unloading device which is supported and guided by a floor rail and can travel on a fixed path in front of the shelf. It concerns automatic warehouses.

[0002]

2. Description of the Related Art For example, in an automatic warehouse consisting of shelves and a loading / unloading device, a structure disclosed in Japanese Patent Laid-Open No. 63-12505 is provided for controlling the running of the loading / unloading device. That is, in the above-mentioned conventional example, a shelf having a plurality of load storage sections in the vertical direction and the horizontal direction is erected, and a traveling crane for loading and unloading the load is arranged on the front side of the shelf. This traveling crane is equipped with an elevating carriage which is supported by guide rails on the floor via wheels and is guided by a guide rail on the ceiling side, and which is equipped with load transfer means. Therefore, the load between the shelves and the traveling crane is combined by the combined movement of traveling along a front path of the shelves of the traveling crane, raising and lowering of the elevating carriage, and lateral movement of the load transfer means. Can be delivered.

At this time, as shown in FIG. 4, a detection plate 60 for controlling the traveling of the traveling crane is fixed to a side edge of a base plate 61 for a floor rail, and the lower frame 62 of the traveling crane is provided with the above-mentioned. Detector 63 that can detect the plate to be detected 60
Is provided. Here, for example, a reflection plate is used as the detected plate 60, and as the detector 63, a projector 65 and a light receiver that are distributed and held by a gate-shaped bracket 64 so as to be located on both sides of the detected plate 60. The photocell format consisting of 66 is adopted. Therefore, the detector 63 moving together with the traveling crane faces the plate 60 to be detected, and the optical axis 67 from the light projector 65 does not enter the light receiver 66, so that the desired detection is achieved and the traveling of the traveling crane is controlled.

[0004]

According to the above-described conventional type, the distances A and B between the projector 65 and the light receiver 66 and the plate 60 to be detected (the width direction of the traveling crane), and the light from the tip of the plate 60 to be detected. Two types of engagement are required, the distance C to the shaft 67 (in the depth direction), and accuracy cannot be easily obtained at the time of assembly. When the accuracy of the distances A and B is low, the detected plate 60 interferes with the light projector 65 and the light receiver 66, and when the accuracy of the distance C is low, the detected plate 60 is accurate on the optical axis 67. It is not possible to perform reliable detection such as not facing.

An object of the present invention is to provide an automatic warehouse which can easily obtain accuracy at the time of assembling and can always perform reliable detection.

[0006]

In order to achieve the above object, an automatic warehouse according to the present invention has a shelf having a plurality of storages and a floor rail that is supported and guided so that the warehouse can travel freely along a predetermined path in front of the shelf. An automatic warehouse comprising a device, wherein a detection object with the detection surface facing sideways is attached to the floor rail, and the traveling control is provided at the lower part of the loading / unloading device so that the detection surface can be laterally opposed to the detection surface. Detection device is provided.

[0007]

According to the structure of the present invention, the object to be detected can be directly attached to the floor rail in the manufacturing factory, and therefore, the desired layout can be achieved by laying the floor rail at the installation site. The detection device on the loading / unloading device side and the object to be detected need only adjust the lateral distance because the detection direction is the lateral direction. You can adjust the distance to or from.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. The frame-shaped shelf 1 forms a plurality of storage units 2 in the vertical direction and the horizontal direction, and each storage unit 2 is configured to support a load 3 (directly or via a pallet) via arms. ing. The shelves 1 are arranged side by side with a passage 4, and in the passage 4, a loading / unloading device 10 which can travel on a fixed path 5 is arranged.

The loading / unloading device 10 includes a lower frame 11
And the post 12 that is erected from the middle of the lower frame 11.
The traveling body is composed of and. Then, an elevating body 13 is arranged on the front side of the post 12, and an evacuation tool (fork) 14 that can be retracted to and from the storage section 2 is arranged on the elevating body 13 by the operation of the retracting device. There is. The lower frame 11 is a drive wheel that can roll on the floor rail 30.
15 and the driven wheels 16 are distributed to the front and rear, and
A guide device 17 for guiding the ceiling rail 6 is provided at the upper end of the device 12. On the lower frame 11, outside the post 12, an elevating drive device 18 interlocking with the elevating body 13, a traveling drive device 19 interlocking with the drive wheels 15, and each operating part of the loading / unloading device 10 are controlled. A control unit 20 is provided.

The floor rail 30 has an I shape composed of an upper plate portion 31 on which the wheels 15 and 16 abut from above and guide wheels 21 facing each other from both sides, a vertical web portion 32, and a lower plate portion 33. The dovetail-shaped mounting portions 34 and 35 that open laterally are formed on both side surfaces of the web portion 32 so as to project in a plurality of upper and lower steps, respectively, and on the bottom surface of the lower plate portion 33. A pair of dovetail-shaped coupling portions 36 that open downward are formed by recessing the pair of right and left portions. Here, the floor rail 30 is made of, for example, a draw-molded product made of aluminum, and the mounting portions 34 and 35 and the coupling portion 36 are integrally molded at that time.

The floor rails 30 having the above structure are laid on the floor via the floor rail support devices 40 located at predetermined intervals. That is, the floor rail support device 40 is composed of an anchor base 41 fixed on the floor, a bracket 43 and the like arranged above the anchor base 41 via a connecting tool 42 that can be adjusted up and down by a screwing operation, This bracket
A floor rail 30 is fixed on 43. Here, the connecting tool 42 has a pair of left and right tubular bodies 44 standing on the anchor base 41,
An outer screw 45 and an inner screw 46 are formed on the cylindrical body 44. And the bracket 43 is configured to be mountable from above with respect to the nut body 47 screwed to the outer screw 45,
A bolt 48, which is inserted from above into a bolt hole formed in the end portion of the bracket 43, is configured to be screwed into the inner screw 46.

Therefore, the bracket 43 is placed on the nut body 47 from above, and the bolt 48, which has passed through the bolt hole from above, is screwed into the inner screw 46 by a predetermined amount, and then the outer screw.
By moving the nut body 47 screwed to the 45 upward, and sandwiching the bracket 43 between the head of the bolt 48 and the nut body 47,
The connector 42 can fix the bracket 43 at a predetermined level with respect to the floor surface. In addition, a plate nut is attached to the connecting portion 36 of the floor rail 30.
Therefore, the floor rail 30 can be fixed on the bracket 43 by screwing a bolt 49, which is passed through a bolt hole formed in the middle portion of the bracket 43 from below, into the plate nut 37.

Plate nuts 38 and 39 are inserted into the mounting portions 34 and 35 formed on both side surfaces of the web portion 32, respectively. Therefore, the feeding unit 50 facing one side surface of the web portion 32 is fixed to one side surface of the floor rail 30 by screwing a bolt 51 passed from the outside thereof into the plate nut 38. Further, the detected body 55 for traveling control facing the other side surface of the web portion 32 has a floor rail by screwing a bolt 56 passed from the outer side thereof to a plate nut 39.
It is fixed to the other side of 30.

Here, the object 55 to be detected has an angled cross section, and the bolt 56 is passed through the bolt hole formed on one side of the object from the outside and then screwed into the plate nut 38. It is fixed to the other side of 30. And the detected object
A wide portion 55A in the vertical direction at the free end of the other horizontal side of 55
Is formed, and the outer surface of the wide portion 55A is formed as a laterally detected surface 55a. The detected object 55 is used for high-speed cutting and fixed-position / medium-speed cutting, and
Is fixed at a predetermined position in the longitudinal direction.

A current collector 23 is provided below the loading / unloading device 10.
The current collecting device 23 has a plurality of current collectors slidably contactable with the rail portion of the power feeding unit 50. Further, a detection device 25 for traveling control is provided below the loading / unloading device 10 and at a position just below the guide wheel 21 so as to oppose the detected body 55 from the lateral side. This detection device 25 is, for example, a limited reflection type photoelectric tube device, and the lower frame 11
The bracket 26 is attached to the inner surface of the bracket 26 so that its position can be adjusted in the lateral direction.

Next, the operation of the above embodiment will be described.
At the manufacturing plant, the power supply unit 50 is installed on the floor rail 30.
The detection object 55 is arranged. This is each mounting part 3
Position plate nuts 38, 39 on 4, 35 and bolts 51, 5
After passing 6 from the outside, it can be done by screwing it into the plate nuts 38 and 39 and tightening it, so that the power feeding unit 50 and the detected surface 56a are directed laterally to the predetermined position of the floor rail 30. The detected object 55 can be fixed.

The floor rail 30 is thus assembled and transported to the installation site. Then, when assembling the automated warehouse at the installation site, first, the anchor base 41 is arranged at a predetermined position on the floor and fixed by the anchor bolts, and the bracket 43 is arranged on the anchor base 41 via the connecting tool 42. To be done. The floor rail 30 is placed over the brackets 43 of the floor rail supporting device 40 assembled in this manner, and the bolt 49 is screwed into the plate nut 37, whereby the floor rail 30 is laid at a predetermined position. It
After that, the detection device 25 and the detection object 55 are engaged with each other. Since the detection direction is the horizontal direction, only the distance in the horizontal direction needs to be adjusted. That is, either the detection device 25 or the detected object 55 may be adjusted to approach or separate in the lateral direction.

In the automatic warehouse constructed as described above, the movement of the loading / unloading device 10 on the fixed path 5 and
By the combined operation of raising and lowering the elevating body 13 and lateral movement of the loading / unloading tool 14, the load 3 can be loaded / unloaded between the intended storage unit 2 of the shelf 1 and the loading / unloading device 10.

Power is supplied to and from the loading / unloading device 10 and control signals are transferred to and from the rail portion of the power feeding unit 50.
This is done smoothly by the 23 current collectors making sliding contact. In addition, traveling control of the loading / unloading device 10, that is, high-speed cutting and fixed position /
The medium speed cutting is performed by the detection device 25 detecting the detected object 55. At this time, since the detection device 25 is arranged directly below the guide wheel 21, there is almost no positional deviation in the lateral direction, and the above-described lateral detection distance is naturally maintained.

Although a limited reflection type phototube device is adopted as the detection device 25 in the above embodiment, it may be a normal reflection type phototube device. Alternatively, a magnetic sensor may be used as the detection device 25 and a magnet (magnetization body) may be used as the object 55 to be detected.

[0021]

According to the present invention having the above-described structure, the object to be detected can be directly attached to the floor rail in the manufacturing factory, and therefore, the floor rail is laid at the installation site to perform the desired arrangement. You can Further, since the detection direction is the horizontal direction, the detection device on the loading / unloading device side and the detection object may be adjusted by laterally approaching or separating one of the detection device and the detection object, that is, Since it is only necessary to deal with different types, it is possible to easily obtain accuracy during assembly. Further, since the detection is performed in the lateral direction, troubles such as interference do not occur, and reliable detection can always be performed.

[Brief description of drawings]

FIG. 1 is a partially cutaway front view of a floor rail portion in an automated warehouse according to an embodiment of the present invention.

FIG. 2 is a front view of the same automated warehouse.

FIG. 3 is a side view of the loading / unloading device.

FIG. 4 is a partially cutaway front view of a floor rail section showing a conventional automated warehouse.

[Explanation of symbols]

 1 Shelf 2 Storage 5 Fixed route 10 Loading / unloading device 16 Loading / unloading device 23 Current collector 25 Detector 26 Bracket 30 Floor rail 31 Upper plate part 32 Web part 33 Lower plate part 34 Mounting part 35 Mounting part 36 Coupling part 40 Floor rail support Device 50 Power supply unit 55 Detected object 55A Wide part 55a Detected surface

Claims (1)

[Claims] 1. An automatic warehouse comprising a shelf having a plurality of storages and a loading / unloading device which is supported and guided by a floor rail and can travel on a fixed path in front of the shelf. An automatic warehouse, in which an object to be detected whose side is directed to the side is attached, and a detection device for traveling control that is laterally opposed to the surface to be detected is provided in the lower part of the loading / unloading device.