JPS643761B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a fluidized shelf system capable of transporting articles by intermittently supplying compressed air,
In particular, compared to the conventional method of detecting the approach of cargo handling machines, this method eliminates the need for sensors for both entry and exit of each bay, reducing costs and ensuring reliable operation.

Generally, when using a stacker crane, the number of lanes increases, but some of the blocks can be activated at will.

This invention relates to an improved system that has advantages such as the following, and allows the system to be simplified when warehousing and unloading operations are automated.

As is well known, for example, in a pallet truck system in which goods (cargoes) loaded on pallets are stored in pallet units and then taken out again, the goods (cargos) that have been stored are moved by gravity to the exit. A so-called fluidized shelf system has come into use. As shown in Fig. 1, this fluidized shelf system consists of rails 1 that are generally stacked in multiple stages (5 stages in the case shown) with an inclination.
1, and when cargoes 13 are received in pallets 14 from the storage entrance 12 side of this rail 11, the cargoes 13 are automatically conveyed along the slope of the rail 11 to the storage exit side so that they can be taken out. This has various advantages, such as being able to utilize space effectively and effectively implementing a first-in, first-out system.

When moving the load 13 along the rail 11, in a system that uses compressed air to prevent the load 13 from accelerating too much, it is generally necessary to transfer the load 13 intermittently while applying braking. Therefore, conveyance means as shown in FIGS. 2 and 3 have been considered. First, the one shown in FIG. 2 has a plurality of rollers 1 in a groove 16 formed in a rail 11.
A roller unit 19 which is rotatably supported by a substantially U-shaped support 18 and an air hose 20 are installed, and when compressed air is fed into the air hose 20, the air hose 20 expands and the roller unit 1
9 is pushed up, the rollers 17 come into contact with the pallet 14, and the pallet 14 is separated from the upper surface of the rail 11 and transported by gravity along the slope of the rail 11. On the other hand, when the supply of compressed air into the air hose 20 is stopped and the compressed air is discharged, the roller unit 19 is lowered into the groove 16 and the pallet 14 is
is placed on the rail 11 and braking is applied.

Further, in the case shown in FIGS. 3a and 3b, as shown in FIG. 3a, a leg portion 21 is formed on the pallet 14, and this leg portion 21 is placed on the rail 11. The rail 11 is hollow as shown in FIG. 3b, and through holes 22 and 23 are formed in the upper center of the rail 11, respectively. In other words, when compressed air is sent into the central part, it is blown out from the through holes 22 and 23, and a thin film of air is formed between the leg part 21 and the rail 11, reducing friction, and the pallet 14
is transported along the slope of the rail 11 by gravity. On the other hand, when discharging or feeding the compressed air is stopped, the legs 21 are placed closely on the rails 11 and braking is applied.

Therefore, if the conveying means shown in FIG. 2 and FIG. This is advantageous in terms of structure and efficiency, and when the compressed air is discharged or the supply is stopped, the pallet 1
4 is placed on the rail 11 and is in a stopped state, so it is also good in terms of safety. Hereinafter, one block in the vertical direction will be referred to as a bay, and each stage of each bay (that is, the transport direction of the load 13) will be referred to as a lane.

However, the fluidized shelf system using the conventional conveying means as described above is still in the development stage, and although it has various advantages as mentioned above, it is difficult to fully utilize its advantages. There is no such control. In particular, in conventional systems, forklifts are generally used to carry out loading and unloading of pallets into and out of lanes, and in the case of loading operations in particular, the forklift and its driver are generally held up for long periods of time. do. Furthermore, since the openings for both the entrance and exit are narrow, precise driving skills are required by the forklift operator. Furthermore, the number of lanes cannot be set higher than the maximum height of the forklift. Therefore, it is strongly desired to be able to easily carry out warehousing and unloading operations without using a forklift, and to make effective use of the space at the installation site.

This invention has been made in consideration of the above-mentioned circumstances, and it is an object of the present invention to provide a fluid shelving system that can easily carry out warehousing and unloading operations and can effectively utilize the space at the installation site. With the goal.

That is, the fluid shelf system according to the present invention is
a first state in which the article is transported by gravity along the rail with compressed air being supplied to the rail; In a system comprising a plurality of lanes equipped with a conveying means that intermittently conveys the articles by alternately repeating a supply state and a second state in which the transfer of the articles is stopped, the warehousing of the system A large number of stopping positions are provided at at least one of the exit and the exit exit, and a number of stopping positions are provided according to each position of the lane, and the required goods are stored or taken out by repeatedly moving to an arbitrarily designated stopping position and stopping. an article processing machine that performs the above operations; article processing control means that specifies a stop position for the article processing machine and controls the drive of the machine;
The present invention is characterized by comprising a conveyance control means for detecting the completion of the warehousing or unloading by the article processing machine and starting the conveyance means.

Hereinafter, before describing embodiments of the present invention, a fluidized shelf system to which the present invention is applied will be described with reference to FIGS. 4 to 7.

FIG. 4 is an external view of the above fluidized shelf system. The system shown in the figure is composed of eight bays 24a to 24h, and each bay 24 to 24h is composed of four lanes 25a to 24d, that is, the entire system is composed of 32 lanes. ing. For each of these bays 24a to 24h, the lanes 25a to 2
Load 13 loaded onto pallet 14 from one end of 5d
At the same time, the goods 13 are taken out from the other end of the lanes 25a to 25d. In addition, the transport operation of the load 13 is
Each bay 24a to 24h can be controlled independently.

Here, as shown in FIG. 5, one bay 24a is taken out from among the bays 24a to 24h, and its transport operation will be explained. In addition, the conveyance operation of the other bays 24b to 24h is carried out by the above-mentioned bay 24a.
Since it is the same as that, its explanation will be omitted.

That is, each lane 25a to 25d of this bay 24a is provided with a rail 11 with an inclination as described above.
1 is supported by a plurality of columns 26. This rail 11 is equipped with a roller unit 19 and an air hose 20 as shown in FIG. It is designed so that it can be transported intermittently. In this case, an air pipe (not shown) for sending compressed air to the air hose 20
The air hose 20 is also piped along the pillar 26, and the air hose 20 is opened and closed by controlling a solenoid valve (not shown) provided at the base of the air pipe.
The compressed air is supplied and stopped.

Each pillar 26 adjacent to the front of the bay 24a on the storage entrance 12 side and the storage exit 15 side, respectively.
Optical sensors 27 and 28 are installed on unillustrated crosspieces installed in the bay direction (the back side of the drawing is not shown). These sensors 27 and 28 normally output L (low) level signals, and for example, when a fork list approaches, they output an H (high) level signal, which indicates whether input/output warehouse work is in progress. It determines whether or not it is. The output signals of the sensors 27 and 28 are respectively supplied to both input ends of an OR circuit 29, as shown in FIG. The output terminal of this OR circuit 29 is connected to a set-reset type flip-flop circuit (hereinafter referred to as an S-RFF circuit) after passing through a timer circuit 30.
31, and is also connected to one input terminal of an AND circuit 33 via a NOT circuit 32. Further, the output terminal Q of this S-RFF circuit 31 is connected to the other input terminal of the AND circuit 33. The output terminal of the AND circuit 33 is connected via a switch 34 to a terminal 35 to which an H level signal is applied, and is also connected to one input terminal of each of two AND circuits 36 and 37. S- through circuit 38
It is connected to the reset input terminal R of the RFF circuit 31.

Here, the output terminal of the AND circuit 36 is connected to a first input terminal of an AND circuit 40 and one input terminal of an AND circuit 41 after passing through a timer circuit 39 . Further, the output terminal of the AND circuit 37 is connected to the second input terminal of the AND circuit 40 via the timer circuit 42 and the other input terminal of the AND circuit 41 via the NOT circuit 43. It is connected to the.

The output terminal of the AND circuit 40 is first connected to a relay circuit 45 via an amplifier circuit 44. This relay circuit 45 turns on a switch 46 when an H-level amplified signal is supplied, and applies the output voltage of the AC power source 47 to the electromagnetic coil 48 of the electromagnetic valve. Then,
The electromagnetic coil 48 operates to open the electromagnetic valve, and compressed air is sent into the air hose 20 via the air pipe, so that the load 13 is conveyed. In addition, the AND circuit 4
The output terminal of 0 is connected to the timer circuit 49 and the note circuit 5.
0 to the other input terminal of the AND circuits 36 and 37, and is connected to the output terminal of the AND circuit 41 via the timer circuit 51. The connection point between the output terminal of the timer circuit 51 and the output terminal of the AND circuit 41 is S-
It is connected to the set input terminal S of the RFF circuit 52. The output terminal Q of this S-RFF circuit 52 is connected to the third input terminal of the AND circuit 40 via a knot circuit 53 and also to a display section 55 via an amplifier circuit 54. In addition, the above S-
The reset input terminal R of the RFF circuit 52 is connected to the terminal 5 to which an H level signal is applied via the switch 56.
7 is connected.

Here, each of the above timer circuits 30, 38, 39,
42, 49, and 51 are input signals from L level to H level.
The timer operation starts when the level rises, and after the predetermined time determined for each timer has passed, the
It operates to generate a high level output signal, and if the input signal goes to L level before the above predetermined time has elapsed, it is reset at that point, and when the input signal rises to H level again, it will start again. The timer operation is started from this point. In other words, each timer circuit 30, 38, 3
9, 42, 49, and 51 can be said to detect that the H level state continues for a predetermined time after the input signal rises from the L level to the H level, and output an H level signal. Further, the timer circuits 30, 38, 39, 42, 49, 51 are as follows:
When the input signal is inverted to L level while outputting an H level signal, the output is immediately set to L level in real time without performing a timer operation.

In this case, the timer circuits 30, 3
The predetermined times of 8, 39, 42, 49, and 51 are 4 seconds for timer circuit 30, 30 seconds for timer circuit 38, 4 seconds for timer circuit 39, and 3.9 seconds for timer circuit 42.
The timer circuit 49 is set to 0.7 seconds and the timer circuit 51 is set to 0.8 seconds, and as will be explained below, these times are adjustable.

The operation of the above configuration will be described below with reference to the time chart shown in FIG.
In this case, a to n in FIG. 7 are different from a to n in FIG.
Each point represents a signal.

First, if a fork list approaches the exit 15 at an arbitrary time T1 and performs the exit operation, the output of the sensor 28 becomes H level, and the output of the OR circuit 29 also goes to H level as shown in FIG. 7a. becomes. If the unloading operation continues for 4 seconds or more, at time T2, 4 seconds after time T1,
As shown in FIG. 7b, the output of the timer circuit 30 becomes H level, the S-RFF circuit 31 is set, and its output becomes H level as shown in FIG. 7c. At this time, since an L level signal obtained by inverting the H level output of the timer circuit 30 by the NOT circuit 32 is supplied to the AND circuit 33, the output of the AND circuit 33 becomes an L level as shown in FIG. 7d. ing.

In this state, if the unloading operation ends at time T3 and the fork list moves away from the unloading port 15, the output of the sensor 28 becomes L level, and the output of the OR circuit 29 is also shown in FIG. 7a. It becomes L level. Then, the output of the timer circuit 30 becomes L level in real time as shown in FIG. 7b, but the output of the S-RFF circuit 31 becomes the L level as shown in FIG. 7c.
It is held at H level as shown in FIG. Since the H level signal obtained by inverting the L level output of the timer circuit 30 by the NOT circuit 32 is input to the AND circuit 33, the output of the AND circuit 33 becomes H level as shown in FIG. 7d. At this time, the timer circuit 38 starts its timer operation, and its output is kept at the L level as shown in FIG. 7e.

Then, at time T3 when the output of the AND circuit 33 becomes H level, the output of the NOT circuit 50 is at the H level, as will be clear from the explanation given later, so the outputs of the AND circuits 36 and 37 are at the H level. As shown in FIG. 7 f and j, both become H level. Then, at time T4, which is 3.9 seconds after time T3, the timer circuit 4 is activated as shown in FIG.
The output of timer circuit 2 becomes H level, and then at time T5, 4 seconds after time T3, the output of timer circuit 39 becomes H level as shown in FIG. 7g. here,
Considering the case where the S-RFF circuit 52 is not set, its output terminal Q is at the L level as shown in FIG.
The H level signal inverted at is supplied to the third input terminal of the AND circuit 40.

Therefore, in synchronization with the output of the timer circuit 39 going high, the output of the AND circuit 40 goes high as shown in FIG. 7h. Then,
This H level output signal is amplified by the amplifier circuit 44 and then supplied to the relay circuit 45, and as described above, the electromagnetic coil 48 is energized, the electromagnetic valve is opened, and compressed air is sent to the air hose 19. The load 13 is then transported.

Here, if the period during which compressed air is supplied to the air hose 19 and the load 13 is being transported is referred to as on-time, this on-time is defined by the timer circuit 49. That is, the timer circuit 49 starts its timer operation at time T5 when the output of the AND circuit 40 becomes H level, and at time T6 after 0.7 seconds, its output becomes H level as shown in FIG. 7i. Then, the output of the NOT circuit 50 goes to the L level, and the outputs of the AND circuits 36 and 37 go to the L level as shown in FIG. 7f and j.
The outputs of the timer circuits 39 and 42 also go to L level in real time as shown in FIG. 7g and k. Therefore, the output of the AND circuit 40 becomes L level as shown in FIG. 7h, the supply of compressed air to the air hose 19 is stopped, and the conveyance of the load 13 is stopped. In other words, the on-time is designed to continue for 0.7 seconds as defined by the timer circuit 49.

Furthermore, when the output of the AND circuit 40 becomes L level, the output of the timer circuit 49 becomes L level in real time, and this L level is inverted to H level by the NOT circuit 50, so that the AND circuits 36, 37 is set to H level again as shown in FIG. 7f and j. Here, at time T6, the output of the timer circuit 49 becomes H level, and the AND circuit 36,
The operation in which the output of 37 once goes to L level and then goes back to H level is performed in real time of the circuit element in an extremely short time, and in FIG. 7, it is shown to be performed approximately at time T6. .

Then, the outputs of the AND circuits 36 and 37 go high again.
In the state where the level has been reached, there is no correction, and the state is the same as that shown at time T3. Therefore, at time T7, 4 seconds after time T6, the output of the AND circuit 40 becomes H level (on time), and at time T8, 0.7 seconds after time T7, the output of the AND circuit 40 becomes L level. This operation is repeated thereafter. That is, if the period during which the conveyance of the load 13 is stopped with respect to the above-mentioned on-time is referred to as off-time, then the off-time of 4 seconds defined by the timer circuit 39 and the 0.7 seconds defined by the timer circuit 49 are defined as off-time. The load 13 is conveyed by repeating alternating on-time and on-time.

Here, when the off-time and on-time are stably repeated as described above, as is clear from FIG. 7, the output of the timer circuit 39 is at the H level and the output of the timer circuit 42 is at the L level. Since there is no such period, the output of the AND circuit 41 is at the L level as shown in FIG. 7l. Further, for example, at time T5, the output of the AND circuit 40 is H.
When the level is reached, the timer circuit 51 as well as the timer circuit 49 starts timer operation, but the timer time (0.8 seconds) of this timer circuit 51 is 0.7 seconds.
At time T6 when seconds have elapsed, the output of the AND circuit 40 is inverted to the L level due to the action of the timer circuit 49, so the output of the timer circuit 51 is also maintained at the L level as shown in FIG. 7n. For this reason,
In a state where off-time and on-time are stably repeated, the S-RFF circuit 52 is not set, and its output becomes L as shown in FIG. 7m.
It is maintained at a level.

Then, at time T9, 30 seconds have passed since the output of the AND circuit 33 became H level at time T3.
Then, the output of the timer circuit 38 becomes H level as shown in FIG. 7e. Then, the S-RFF circuit 31
is reset, its output terminal Q goes to the L level as shown in FIG. 7c, and the output of the AND circuit 33 also goes to the L level as shown in FIG. 7d. The pulsing operation, that is, the conveyance operation corresponding to the work is completed.

During the series of conveyance operations from time T3 to time T9, the output of the AND circuit 40 becomes H level (that is, on time) at time Tn in FIG.
Assume that the on-time continues for 0.7 seconds or more. Then, at time Tn+1, 0.8 seconds have passed since time Tn,
The output of the timer circuit 51 becomes H as shown in FIG.
level, the S-RFF circuit 52 is set,
This output becomes H level as shown in FIG. 7m. When this happens, the output of the knot circuit 53 is inverted to the L level, and the output of the AND circuit 40 becomes the L level as shown in FIG. 52
The H level output of is sent to the display unit 5 via the amplifier circuit 54.
5 and indicates that an abnormality has occurred.

On the other hand, during the series of conveyance operations from time T3 to T9, at time Tm in FIG.
After the output of 6 reaches H level as shown in FIG.
At time Tm+1, when 3.9 seconds have not elapsed, timer circuit 39
Suppose that the output of the output becomes H level as shown in FIG. 7g. In other words, assume that the off time was less than 3.9 seconds. Then, at this time, the output of the timer circuit 42 remains at the L level as shown in FIG. 7k, so the output of the AND circuit 40 is suppressed to the L level as shown in FIG. 7h, and does not become on-time. At the same time, the output of the AND circuit 41 becomes H level as shown in FIG.
2 is set, and its output becomes H level as shown in FIG. 7m. For this reason, as mentioned above,
The output of the NOT circuit 53 is inverted to the L level, the output of the AND circuit 40 is thereafter held at the L level, and the display section 55 indicates that an abnormality has occurred.

For example, when the switch 56 is turned on after the repair of the abnormal part is completed, the S-RFF circuit 5
2 is reset, the output of the NOT circuit 53 becomes H level, and the display section 55 stops displaying, returning the state to a state in which transport operation is possible.

Here, in the above explanation, when a forklift or the like approaches the exit 15 and the exit operation is completed and the forklift moves away from the exit 15, that is, when the output of the sensor 28 is reversed from H level to L level, As mentioned above, the conveyance operation is automatically performed, but this occurs in the case of warehousing work, that is, when the forklift approaches the warehousing port 12 and the warehousing operation is completed, the forklift moves to the warehousing port 12.
It can be easily seen from the above description that the conveyance operation is similarly automatically started when the sensor 27 moves away from the object (when the output of the sensor 27 is reversed from the H level to the L level).

Furthermore, if the forklift approaches the entrance 12 or exit 15 during the above-mentioned conveyance operation, that is, during pulsing of compressed air, the sensor 2
When the output of the timer circuit 7 or 28 is inverted from the L level to the H level and this state continues for 4 seconds or more, the output of the timer circuit 30 becomes the H level, and the not circuit 3
The output of 2 becomes L level. Therefore, the output of the AND circuit 33 becomes L level, and the above-mentioned transport operation is automatically stopped.

Here, the timer circuit 30 determines whether, for example, a forklift or the like has simply passed near the entrance 12 or the exit 15, or whether a warehousing or unloading operation has been performed on the entrance 12 or the exit 15. It performs the function of determining whether or not it is happening based on time. That is,
If the forklift remains at the storage entrance 12 or the storage exit 15 for 4 seconds or more, it is assumed that the work is in progress, and the S-RFF circuit 31 is set to a set state so that the transport operation is performed after the work is completed. If the time is full at the end of the second, the S-RFF circuit 31 is not set because it is assumed that the signal has simply passed through.

Further, when the user turns on the switch 34, the output of the AND circuit 33 becomes high.
It is possible to achieve the same state as when the level is reached, and also to manually start the conveyance operation, that is, pulsing. in this case,
The start of pulsing can be manually set using the switch 34, but the on-time is automatically set using each timer circuit 39,49.

Here, as described above, each timer circuit 30,
38, 39, 42, 49, and 51 have adjustable setting times. Therefore, the on-time and off-time can be adjusted as appropriate depending on the weight, amount, etc. of the load 13.

The control device for the fluidized shelf system shown in FIG. 6 is installed in each of the bays 24a to 24h, and can perform pulsing control independently for each bay 24a to 24h. Further, depending on the scale of the bays 24a to 24h, for example, about two bays may be controlled in pulsing by the same control device at any one time.

In other words, in the control device for the fluid shelf system as described above, during the warehousing or warehousing operation, the sensor 2
Since the pulsing is stopped when the outputs of 7 and 28 are at H level, there is no line pressure in which the following load 13 is pushed by the load 13 that is about to be discharged, especially at the exit 15 side, and the load 13 and pallet 14 are This can prevent damage and improve the safety of loading and unloading operations.

Hereinafter, one embodiment of the present invention will be described in detail with reference to FIGS. 8 to 12.

Figures 8 and 9 show the present invention applied to a fluidized shelf system with 10 bays and 9 lanes, respectively; Figure 8 is a side view;
FIG. 9 is a view seen from the storage entrance 12 side. That is, this liquid shelf system has stacker cranes (hereinafter referred to as "stackers") 60a and 60 located close to the storage entrance 12 and the storage exit 15, although the details will be described later.
b is provided, and furthermore, these stackers 60a, 6
Cargo storage areas 64 and 65 are provided at predetermined positions across the traveling paths 62 and 63 of 0b. All the lanes provided in the first to ninth stages of the first to tenth bays 24a to 24j are arbitrarily divided into the first to eighteenth blocks 1 to 18, as shown in FIG. Each block 1 to 18 is provided with a pulsing control circuit and a solenoid valve for pulsing, and each block 1 to 18 is provided with a pulsing control circuit and a solenoid valve for performing pulsing.
The conveyance operation of each is controlled independently.

Here, the storage entrance stacker 60a is the first
As shown in Figure 0, the bays 24a to 24j are arranged so that they can freely run between guide rails 66 installed on the ground and on the ceiling in parallel to the arrangement direction of the bays 24a to 24j. Traveling frame 6 engaged with rail 66 via wheels 601
02, and this traveling frame 602 is connected to the guide rail 6.
6, a lifting platform 604 that is attached to the mast of the traveling frame 602 so as to be able to move up and down, a lifting motor 605 that lifts and lowers this lifting platform 604, It is composed of a fork 606 that can protrude freely in and out (in/out direction), and a fork drive motor that drives this fork 606. The stacker 60a has a stop position corresponding to each position on the lane, and repeatedly moves and stops at an arbitrarily designated stop position to take in and take out the required articles. Storage area 64
This is an article processing machine that automatically loads the cargo 13 placed on a lifting table 604, moves the lifting table 604 to the storage entrance of a designated lane, and then automatically stores the cargo 13.

Further, the exit stacker 60b has the same configuration as the above-mentioned storage entrance stacker 60a, and automatically takes out the cargo 13 in the designated lane and loads it onto the elevating platform 604. The cargo 13 is moved to a position 65 and placed on this cargo storage area 65. Although not shown, each of the stackers 60a and 60b at the entrance and exit entrance is provided with a sensor necessary for controlling travel, elevation, and fork operation, respectively.

FIG. 11 shows the configuration of a control device for controlling the driving of the stackers 60a, 60b and controlling the pulsing operation of the fluidizing shelves. In the figure, 70 is an operation for specifying the stop position of the stackers 60a, 60b. It is a board. This operation panel 70 is installed near the system, and when the operator specifies loading and unloading, bay number, and stage number,
The control device 71 generates the specified information signal a.
It is designed to supply

This control device 71 controls the above-mentioned liquid shelf system in general, and the main control section 712 reads the information signal a from the operation panel 70 via the input/output circuit 711 and stores the stacker stored in advance in the storage section 713. Information signal b such as number, bay number, stage number number, etc.
Check with Further, the main control section 712 outputs a designation signal c including information on the bay number and stage number and a start signal d to the designated storage entrance stacker control section 714a or exit stacker control section 714b. The storage entrance stacker control unit 714a and the storage exit stacker control unit 714b
are the above designated number c and start signal d, respectively.
Accordingly, a drive signal e is generated, and this drive signal e is outputted to the storage entrance stacker 60a or the storage exit stacker 60b via drive circuit sections 715a and 715b, respectively, to operate each stacker 60a and 60b. In addition, each stacker control unit 714
a, 714b are input/output circuit sections 716a, 716
According to the signal from the sensor input via b, the entrance stacker 60a or the exit stacker 6
After controlling the operation of 0b and positioning the elevator platform 604 in the designated lane, the arrival signal f is sent to the main controller 7.
12.

Further, when the main control section 712 receives the arrival signal f, it determines the block including the arrived lane, generates a block activation command signal h specifying the block number, and outputs it to the output circuit section 717. The output circuit section 717 provides pulsing drive signals K1 to K18 to the pulsing control circuits 72a to 72r of blocks 1 to 18 designated by the block start command h, and when the block start command signal h is input, The pulsing operation is stopped, and the pulsing operation is restarted when the command signal h is no longer input.

The pulsing control circuits 72a to 72r are
The above pulsing drive signals K1 to K18 respectively
The pulsing operation of the solenoid valves 73a to 73r for supplying, stopping or discharging compressed air is controlled for a set period of time in response to the occurrence of the compressed air, and its configuration is shown in FIG. 12. Furthermore, the first
Figure 2 shows the pulsing control circuit 7 of the first block 1.
The pulsing drive signal K1 is supplied to the set terminal S and the not circuit 32 of the S-RFF circuit 31, and the subsequent configuration is the same as the circuit shown in FIG. Therefore, the same parts are denoted by the same reference numerals and the explanation thereof will be omitted. The same applies to the pulsing control circuits 72b to 72r of the second to 18th blocks 2 to 18, so a description thereof will be omitted.

In the above configuration, its operation and control means will be explained below.

First, when performing warehousing work, load cargo 13 into warehousing 1.
Place the goods in the storage area 64 on the 2nd side, store them on the operation panel 70,
Input and specify the bay number and stage number. Then, the specified information signal a is generated from the operation panel 70 and supplied to the control device 71. In this control device 71, a bay number and stage number designation signal c specified by the information signal a from the operation panel 70 and a start signal d are sent from the main control unit 712.
is supplied to the storage entrance stacker control section 714a. This storage entrance stacker control unit 714
A drive signal e is generated from a, and this drive signal e is sent to the storage entrance stacker 6 via a drive circuit section 715a.
It will be supplied to 0a. Therefore, the storage entrance stacker 60a automatically loads the goods 13 placed in the storage area 64 and moves to the designated lane position.

When this stacker 60a arrives at the designated lane position, the storage entrance stacker controller 71
4a outputs the arrival signal f to the main control section 712.
Then, a block start command signal h specifying a block including the arrived lane is supplied from the main control section 712 to the output circuit section 717. This block activation command signal h remains supplied to the pulsing control circuit via the output circuit 717 as a pulsing drive signal.

When the stacker 60a finishes warehousing the cargo 13, the warehousing port stacker control 714
a outputs a work completion signal g to the main control section 712. Then, the main control section 712 stops generating the block start command signal h, so the output circuit 7
The pulsing drive signal from No. 17 to the block including the lane that has been stocked is stopped, and the pulsing operation of the block that includes the lane that has been stocked is thereby started. This pulsing operation is performed by the timer circuit 3.
It will stop at the time set to 8.

Further, when carrying out the unloading operation, the operator inputs and specifies the unloading, bay number, and stage number on the operation panel 70. Then, the specified information signal a is generated from the operation panel 70 and supplied to the control device 71. In this control device 71, the main control section 7
12, a bay number and stage number designation signal c designated by the information signal a from the operation panel 70 and a star car signal d are supplied to the exit stacker control section 714b. A drive signal e is generated from the exit stacker control section 714b, and this drive signal e is supplied to the exit stacker 60b via the drive circuit section 715b. Therefore, the exit stacker 60b moves to the designated lane position.

When this stacker 60b arrives at the designated lane position, the exit stacker controller 71
4b outputs the arrival signal f to the main control section 712.
Then, a block start command signal h specifying a block including the arrived lane is supplied from the main control section 712 to the output circuit section 717. This block activation command signal h is transmitted through an output circuit 717,
It remains supplied to the pulsing control circuit as a pulsing drive signal.

Then, when the stacker 60b finishes the unloading operation of automatically loading the cargo 13 on the lane,
The exit stacker control section 714b outputs a work completion signal g to the main control section 712. Then, the generation of the block start command signal h from the main control section 712 is stopped, so the pulsing drive signal from the output circuit section 717 to the block including the lane that was taken out of the warehouse is stopped. pulsing operation is started. This pulsing operation comes to stop at the time set in the timer circuit 38.

Therefore, the fluidized shelving system configured as described above uses a stacker crane for warehousing and unloading operations, and can drive and control the pulsing operation in response to the operation of the stacker crane. It is economical because it eliminates the need for a sensor to detect warehouse entry and exit operations, as is the case with normal systems, and also ensures reliable pulsing activation. In addition, the forklift operator only needs to move the cargo to the storage area, which makes it easier to carry out warehousing and unloading operations.
Furthermore, the space where the fluidic shelf system is installed can be effectively utilized upward as well.

Incidentally, the present invention is not limited to the above-mentioned embodiment, and for example, a stacker crane may be provided only on one side.

As detailed above, according to the present invention, there is provided a fluid shelving system that can easily carry out warehousing and unloading operations without using a forklift, and can effectively utilize the space at the installation location. be able to.

[Brief explanation of the drawing]

FIG. 1 is an explanatory diagram of the fluidized shelf system, FIGS. 2 and 3 are block diagrams showing the conveying means used in the fluidized shelf system, and FIG. 4 is an external view of the fluidized shelf system to which the present invention is applied. 5 is a side view showing one bay taken out from the same fluidic shelf system, FIGS. 6 and 7 are block circuit diagrams showing the conveyance control means for the bay, and FIGS. 8 to 12 are Each shows an embodiment of the fluidized shelf system according to the present invention, FIG. 8 is a side view, and FIG. 9 is a side view.
The figure is an external view as seen from the storage entrance side, Fig. 10 is an external view of the stacker crane used in the same embodiment, Fig. 11 is a block circuit diagram showing the control device of the same embodiment, and Fig. 12 is the same implementation. FIG. 2 is a block circuit diagram showing the configuration of a pulsing control circuit of an example pulsing control circuit. 11...Rail, 12...Warehouse entrance, 13...Cargo, 14
...Pallet, 15...Outlet, 16...Groove, 17...Roller, 18...Support, 19...Roller unit, 2
0... Air hose, 21... Leg, 22, 23... Through hole, 24a to 24j... Bay, 27, 28... Sensor, 29... OR circuit, 30, 38, 39, 42,
49...Timer circuit, 34, 56...Switch, 3
5, 57... terminal, 44, 54... amplifier circuit, 45...
Relay circuit, 47... AC power supply, 48... Electromagnetic coil, 55... Display section, 60a, 60b... Stutz car crane, 601... Wheel, 602... Traveling frame, 60
3... Traveling motor, 604... Lifting platform, 605... Lifting motor, 606... Fork, 607... Fork drive motor, 62, 63... Traveling path, 64, 65... Cargo storage area, 70... Operation panel, 71... Control device, 711 …
Input/output circuit, 712... Main control unit, 713... Reading storage unit, 714a... Warehousing entrance stacker control unit, 7
14b...Exit stacker control unit, 715a, 7
15b...drive circuit section, 716a, 716b...input/output circuit section, 717...output circuit section, 72a to 72r
...Pulsing control circuit, 73a-73r...Solenoid valve.

Claims (1)

[Claims] 1 A rail on which an article is placed and installed with an inclination, and a first rail for transporting the article by gravity along the rail while compressed air is supplied to the rail.
and a second state in which transport of the article is stopped in a state where compressed air is discharged from the rail or is not supplied. In an individual fluid shelf system, the system has a stop position corresponding to each position of the lane provided at at least one of the storage entrance and the storage exit of the system, and repeatedly moves to and stops at an arbitrarily designated stop position. Goods processing machines 60a, 60 which carry out the storage of the necessary goods into the lane or take them out from the lane.
b, and article processing control means 70, 711, 712, 71 for specifying the stop positions of the article processing machines 60a, 60b and controlling the drive of the articles processing machines 60a, 60b.
3,714a,714b,715a,715b,
716a, 716b and the article processing machine 60
A fluid shelf system characterized by comprising: transport control means 712, 714a, 714b, 717 for detecting completion of the storage or retrieval by the storage units 60a and 60b and starting the transport means.