Handling system

Abstract

This invention provides a handling system that facilitates system recovery while preventing the platform from operating beyond its limits. The handling system disclosed herein includes: a guide rail extending vertically; a platform engaging with the guide rail; and a lifting unit for raising and lowering the platform. Furthermore, the handling system includes: a control unit that outputs a control signal to inhibit the operation of the lifting unit when the platform reaches a first height; and a safety control unit that cuts off the power supply to the lifting unit after the platform reaches the first height and then when the platform reaches a second height.

Description

Technical Field

[0001] This disclosure relates to a material handling system. Background Technology

[0002] Patent document 1 discloses a safety control unit that detects the excessive movement of a platform that moves up and down along a guide rail and cuts off the energy supply to the lifting mechanism.

[0003] Patent Document 1: Japanese Patent Application Publication No. 2024-058735

[0004] If the energy supply to the lifting mechanism is physically cut off, there is a problem that the system recovery will take a long time. Summary of the Invention

[0005] This disclosure was made in view of the above background, and its purpose is to provide a handling system that facilitates system recovery while preventing the platform from operating beyond its limits.

[0006] The conveying system disclosed herein includes: a guide rail extending in a vertical direction; a platform engaging with the guide rail; and a lifting unit that raises and lowers the platform. The conveying system further includes: a control unit that outputs a control signal to inhibit the operation of the lifting unit when the platform reaches a first height; and a safety control unit that cuts off the power supply to the lifting unit when the platform reaches a second height after reaching the first height.

[0007] According to this disclosure, a handling system can be provided that facilitates system recovery while preventing the platform from operating beyond its limits. Attached Figure Description

[0008] The above and other objects, features and advantages of this disclosure will be more fully understood through the following detailed description and accompanying drawings.

[0009] Figure 1 This is a perspective view showing the simplified structure of the handling robot according to Embodiment 1.

[0010] Figure 2 This is a side view showing a simplified structure of the handling robot according to Embodiment 1.

[0011] Figure 3 This is a block diagram illustrating the functional structure of the handling robot involved in Implementation Method 1.

[0012] Figure 4 This is a front view showing a simplified structure of the shelf involved in Embodiment 1.

[0013] Figure 5This is a diagram illustrating the operation of the limit switch involved in Embodiment 1. Detailed Implementation

[0014] Hereinafter, specific embodiments of which this disclosure is applied will be described in detail with reference to the accompanying drawings. However, this disclosure is not limited to the embodiments described below. In addition, the following description and drawings have been appropriately simplified to make the description clearer.

[0015] Implementation Method 1

[0016] The transport system according to Embodiment 1 will now be described with reference to the accompanying drawings. The transport system includes a transport robot for transporting goods. The transport system may further include a server for managing the transport of goods by the transport robot. In this case, some of the functions of the transport robot according to Embodiment 1 may also be provided by the server. Furthermore, a system that performs processing within the transport robot may also be included in the transport system according to Embodiment 1. The transport system according to Embodiment 1 may further include shelves for storing goods.

[0017] Figure 1 This is a perspective view showing the simplified structure of the handling robot 10 according to Embodiment 1. Figure 2 This is a side view showing a simplified structure of the handling robot 10 according to Embodiment 1. Figure 3 This is a block diagram illustrating the functional structure of the handling robot 10 according to Embodiment 1. The handling robot 10 includes: a movable moving part 11, a lifting part 12, a platform 13, a telescopic arm 14, a pair of limit switches 15a and 15b, a control unit 16, and a safety control unit 17. The control unit 16 controls the moving part 11, the lifting part 12, and the telescopic arm 14. The safety control unit 17 suppresses the movement of the lifting part 12 based on the detection results of the limit switches 15a and 15b.

[0018] The moving part 11 includes: a moving body main body 111; a pair of left and right drive wheels 112 and a pair of front and rear driven wheels 113 rotatably disposed on the moving body main body 111; and a pair of motors 114 that drive each drive wheel 112 to rotate. Each motor 114 rotates each drive wheel 112 via a reducer or the like. Each motor 114 rotates each drive wheel 112 according to a control signal from the control unit 16, thereby enabling the moving body main body 111 to move to any position. Furthermore, the structure of the moving part 11 described above is an example and is not limited thereto. For example, the number of drive wheels 112 and driven wheels 113 of the moving part 11 can be arbitrary, and any structure can be applied as long as the moving body main body 111 can be moved to any position.

[0019] The lifting unit 12 raises and lowers the platform 13. The lifting unit 12 may also be configured as a telescopic mechanism.

[0020] A loading platform 13 is located at the front end of the lifting unit 12. The loading platform 13 is a platform capable of holding goods and is also referred to as a top plate. A pair of grooves 131a and 131b extending vertically are provided on the side of the loading platform 13. When not distinguishing between the pair of grooves 131a and 131b, they are sometimes simply referred to as groove 131. The pair of grooves 131a and 131b are configured to extend from the lower surface of the loading platform 13 to the upper surface. The pair of grooves 131a and 131b can engage with a pair of guide rails 23a and 23b, described later.

[0021] Telescopic arm 14 is mounted on the loading platform 13. Telescopic arm 14, for example, moves the hook of a guide rail mechanism (not shown) installed inside the loading platform 13 in a horizontal direction. Telescopic arm 14 is capable of pushing goods placed on the loading platform 13 into the shelf 20 described later, and is also capable of pulling goods housed in the shelf 20 out onto the loading platform.

[0022] Limit switch 15a is provided in slot 131a of the mounting stage 13. Limit switch 15b is provided in slot 131b of the mounting stage 13. Without distinguishing between limit switches 15a and 15b, they are sometimes simply referred to as limit switch 15. Limit switch 15 includes, for example, an actuator for mechanical displacement and a microswitch operated via the actuator. Limit switch 15 can detect the presence of guide rail 23 (described later) within slot 131.

[0023] Reference Figure 4 The shelf 20 that engages with the handling robot 10 according to Embodiment 1 will be described. Figure 2 This is a front view showing a simplified structure of shelf 20. Figure 1 The illustration is shown with the lower side of shelf 20 omitted.

[0024] The shelf 20 includes a frame 21, a pair of support members 22, and a pair of guide rails 23a and 23b. When viewed from the front surface, the frame 21 has a basic shape, for example, a roughly rectangular frame, and the front surface of the frame 21 is open.

[0025] A pair of support members 22 extending along the depth direction are provided on the inner side of the frame 21. A flange protruding from the side of cargo (e.g., a recyclable container, not shown) is mounted on the pair of support members 22. Although in Figure 1 The illustration is omitted, but multiple pairs of support members 22 can also be arranged at intervals in the vertical direction of the frame 21.

[0026] A pair of guide rails 23a and 23b extending vertically are provided on the front surface of the frame 21. When not distinguishing between guide rails 23a and 23b, they are sometimes simply referred to as guide rail 23. Guide rail 23a engages with slot 131a of the platform 13. Guide rail 23b engages with slot 131b of the platform 13. When the pair of guide rails 23 engage with the pair of slots 131, the pair of guide rails 23 engage with the platform 13. A gap may also be formed between the lower surface of the frame 21 and the lower ends of the pair of guide rails 23 for the transport robot 10 to enter when the platform 13 is lowered.

[0027] A groove 231a is formed at the upper end of guide rail 23a, and a groove 231b is formed at the upper end of guide rail 23b. Grooves 231a and 231b are recessed, for example, along the depth direction of the shelf 20. Grooves 231a and 231b extend in the vertical direction. The height of the upper end of groove 231a is equal to the height of the upper end of groove 231b. The height of the lower end of groove 231a is higher than the height of the lower end of groove 231b. The distance d indicated by the arrows on both sides represents the difference between the height of the lower end of groove 231a and the lower end of groove 231b. When the platform 13 rises to the upper end of a pair of guide rails 23, the actuator of limit switch 15a enters groove 231a, and the actuator of limit switch 15b enters groove 231b.

[0028] Reference Figure 5 The operation of limit switch 15 will be explained. First, refer to... Figure 5 In the leftmost diagram, the actuator of limit switch 15 is located slightly below the lower end of slot 231. At this time, limit switch 15 is in the ON state. Next, if the stage 13 rises, then... Figure 5 As shown in the second figure from the left, the actuator of limit switch 15 reaches the lower end of slot 231. Next, as from... Figure 5 As shown in the third figure from the left, the actuator of limit switch 15 enters slot 231, and limit switch 15 begins to switch from the on state to the off state. Next, as from... Figure 5 As shown in the fourth figure from the left, the actuator of limit switch 15 moves upward in slot 231, and the state of limit switch 15 becomes the open state.

[0029] Reference Figure 3The control unit 16 can also perform known control methods such as feedback control and robust control based on rotation information of the drive wheel 112 detected by the rotation sensor installed on the drive wheel 112, thereby controlling the movement of the handling robot 10. The control unit 16 can also control the moving unit 11 based on distance information detected by distance sensors such as cameras and ultrasonic sensors installed on the handling robot 10, map information of the moving environment, etc., thereby enabling the handling robot 10 to move autonomously. In addition, the control unit 16 supplies control signals for controlling the lifting unit 12 and the telescopic arm 14.

[0030] The control unit 16 is, for example, a hardware structure centered around a microcomputer. This microcomputer consists of a CPU 161 (Central Processing Unit) for control processing and arithmetic processing, a memory 162 containing control programs and arithmetic programs executed by the CPU 161, which is composed of ROM (Read Only Memory) and RAM (Random Access Memory), and an interface unit (I / F) 163 for inputting and outputting signals to the outside world. The CPU 161, memory 162, and interface unit 163 are interconnected via a data bus or the like.

[0031] The control unit 16 acquires the detection results of limit switches 15a and 15b. If the state of limit switch 15b switches from the on state to the off state, the control unit 16 outputs a control signal to the lifting unit 12 to inhibit its operation. The control signal may also be a signal that sets the command value of the lifting speed of the platform, such as the command value of the speed of the motor included in the lifting unit 12, to zero. Alternatively, the control signal may be a signal that decelerates the lifting speed of the platform 13.

[0032] Figure 4 The distance d can be set to be greater than the product of the speed of the platform 13 (e.g., the maximum speed) and the response time of the limit switch 15a, and the sum of the distance the platform 13 moves from the point where the control signal is output from the control unit 16 until the platform 13 stops.

[0033] The safety control unit 17 acquires the detection results of a pair of limit switches 15a and 15b. When the state of limit switch 15a changes from the ON state to the OFF state, and the state of limit switch 15b changes from the ON state to the OFF state, the safety control unit 17 cuts off the power supply to the lifting unit 12. Like the control unit 16, the safety control unit 17 may also include a processor, memory, etc. The safety control unit 17 may also be a PLC (Programmable Logic Controller). Specifically, the safety control unit 17 cuts off the power supply to the lifting unit 12. For example, the safety control unit 17 may also disconnect a relay installed in the path supplying power to the lifting unit 12. Furthermore, when using a drive source such as high-pressure air or oil instead of a power source, the safety control unit 17 may also disconnect a valve.

[0034] If the platform 13 mistakenly reaches the upper end of a pair of guide rails 23a and 23b, firstly, the actuator of the limit switch 15b enters the groove 231b of the guide rail 23b, and the control unit 16 inhibits the movement of the lifting unit 12. Since the control unit 16 can inhibit the movement of the lifting unit 12, the safety control unit 17 does not operate, and Embodiment 1 can shorten the recovery time required for the handling robot 10.

[0035] If the control unit 16 fails to suppress the movement of the lifting unit 12, the actuator of the limit switch 15a enters the groove 231a of the guide rail 23a, and the safety control unit 17 cuts off the power supply to the lifting unit 12. Therefore, even if the control unit 16 malfunctions, Embodiment 1 can safely stop the lifting unit 12. Compared with mechanically stopping the rise of the platform 13, Embodiment 1 reduces the risk of goods scattering or damage to the platform 13 and the lifting unit 12.

[0036] Furthermore, this disclosure is not limited to the above-described embodiments and can be appropriately modified without departing from the spirit of the subject.

[0037] For example, a pair of slots 231a and 231b can be arranged side-by-side on either of the pair of guide rails 23. In this case, a pair of limit switches 15a and 15b can be arranged side-by-side on either of the pair of slots 131 on the mounting stage 13. Alternatively, a pair of light reflectors can be provided instead of a pair of limit switches 15. Alternatively, a region with high reflectivity or a region with low reflectivity can be provided at the upper end of the pair of guide rails 23 instead of slots 231a and 231b. Alternatively, slots 231a and 231b can be detected by a pair of light reflectors.

[0038] Based on the above disclosure, it is obvious that the embodiments of this disclosure can be varied in many ways. These variations should not be considered as departing from the spirit and scope of this disclosure, and it will be apparent to those skilled in the art that all such modifications are intended to be included within the scope of the technical solution.

Claims

1. A transport system, wherein, have: A guide rail that extends vertically. The platform engages with the guide rail; and The lifting unit raises and lowers the platform. The transport system further includes: The control unit, when the platform reaches a first height, outputs a control signal to suppress the movement of the lifting unit; and The safety control unit cuts off the power supply to the lifting unit when the platform reaches the first height and then reaches the second height.

2. The handling system according to claim 1, wherein, The mounting platform engages with the first guide rail and the second guide rail. The mounting platform is equipped with a first sensor corresponding to the first guide rail and a second sensor corresponding to the second guide rail. The first sensor detects that the platform has reached the first height, and the second sensor detects that the platform has reached the second height.

3. The handling system according to claim 2, wherein, Within a height range from the first height to the predetermined height, a first groove is provided in the first guide rail; and within a height range from the second height to the predetermined height, a second groove is provided in the second guide rail. The first sensor detects the first slot, and the second sensor detects the second slot.

4. The handling system according to claim 3, wherein, The first sensor and the second sensor are limit switches.

5. The handling system according to claim 4, wherein, The safety control unit is configured to cut off the power supply when the actuator of the limit switch serving as the first sensor enters the first slot and the actuator of the limit switch serving as the second sensor enters the second slot.

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