JP2013177217A - Article conveying facility - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an article conveying facility capable of preventing an article with an abnormality caused therein from being conveyed to a processing place, even if the abnormality is caused in the article during conveyance to the processing place by a conveying device according to a conveyance command.SOLUTION: If an abnormality of an article is detected by an article-abnormality detection means before the article to be processed is conveyed to a processing place at a conveying destination after a conveyance command is issued, the conveying destination of the article to be processed is changed to a working place and the article is conveyed to the working place.

Description

  The present invention is based on a processing device that performs processing on an article that is provided corresponding to a plurality of processing locations and is positioned at the processing location, a transport device that transports the product to the processing location, and a transport command. The present invention relates to an article conveyance facility provided with conveyance control means for controlling the operation of the conveyance device to convey an article to be processed to the processing location of a conveyance destination.

Such an article transport facility controls the operation of the transport apparatus by the transport control means, transports the article to a processing location, and processes the article positioned at the processing location by the processing apparatus.
And in such an article transport apparatus, a secondary battery that is transported by the transport apparatus as an article with a holding container holding a plurality of plate-like secondary batteries arranged in a horizontal orientation in a vertical posture and located at a processing location A device connected to the electrode tab is provided as a processing device, and the processing device charges or discharges an article located at a processing location. (For example, refer to Patent Document 1).

JP 2012-025557 A

By the way, when an abnormal article is conveyed to a processing place and the processing apparatus processes the article, there is a possibility that the processing apparatus may become abnormal.
As a specific example, in Patent Document 1, when an abnormal holding container in which the electrode tab of the secondary battery being held is bent is conveyed to the processing device, the electrode tab in the charging device is bent because the electrode tab is bent. There is a possibility that the connection body connected to the cable will be damaged.
Therefore, it is conceivable to provide an article abnormality detecting means for detecting an article abnormality and to configure the transport device as follows. That is, when an abnormality is detected in an article to be conveyed, the operation of the conveying device is controlled based on a conveyance command that designates a work location for payout as a conveyance destination, and the article is conveyed to the work location. If no abnormality is detected in the article to be conveyed, the operation of the conveying device is controlled based on a conveyance command that designates a processing location for the processing apparatus as a conveyance destination, and the article is conveyed to the processing location. It is conceivable to configure as follows. In this way, it is possible to prevent an abnormality from occurring in the processing apparatus due to the abnormal article being conveyed to the processing location.
However, when an abnormality occurs in an article after a conveyance command that designates a processing location for the processing apparatus as a conveyance destination is issued, the operation of the conveyance apparatus is controlled based on the conveyance command, so that the abnormal article Since it is transported to the processing location, it is impossible to prevent the processing apparatus from being abnormal.

  The present invention has been made in view of the above circumstances, and the purpose of the present invention is to ensure that even if an abnormality occurs in an article while the transport device is transporting to a processing location based on a transport command, the abnormality is not detected. The object is to provide an article conveyance facility capable of preventing the produced article from being conveyed to a processing location.

An article transporting facility according to the present invention includes a processing device that performs processing on an article that is provided in correspondence with a plurality of processing locations and is positioned at the processing location, a transport device that transports an article to the processing location, A transport control means for controlling the operation of the transport device to transport the article to be processed to the processing location of the transport destination based on a transport command, and the first characteristic configuration is
An article abnormality detection unit for detecting an abnormality of the article is provided, and the conveyance control unit conveys the article to be processed to the processing location of the conveyance destination after the conveyance command is instructed. When the article abnormality detecting means detects an abnormality of the article, the delivery destination of the article to be processed is changed to a delivery work place and the article is delivered to the work place. It is in the point comprised so that a conveyance process may be performed.

That is, when an article abnormality is detected by the article abnormality detection means between the time when a conveyance command is commanded and the time when the article to be processed is conveyed to the processing location of the conveyance destination by the conveyance device, the payout conveyance process Is executed, the conveyance destination of the article to be processed is changed to the work location, and the article in which the abnormality is detected is conveyed to the work location. Therefore, even if an abnormality occurs in the article while the article is being conveyed to the processing location by the conveying device after the conveyance command is issued, the abnormality of the article to be processed is detected by the article abnormality detecting means and paid out. By executing the transport process, the article is transported to the work location.
Therefore, even if an abnormality occurs in the article while the article is being conveyed by the conveyance device based on the conveyance command, the abnormal article can be conveyed to the work location, and the article is conveyed toward the processing location. In the meantime, even when an abnormality occurs in the article, it is possible to prevent the article in which the abnormality has occurred from being conveyed to the processing location.

  A second feature configuration of the article transport facility according to the present invention is the first feature configuration, in which the article abnormality detection unit is configured such that the shape of the article to be processed is different from the shape of the article stored in advance. The point is that it is configured to detect an abnormality.

  That is, when the shape of the article to be processed is different from the shape of the article stored in advance, the abnormality of the article can be detected as the article is deformed from the normal shape. When the article to be processed is deformed from a normal shape, the processing apparatus interferes with the deformed portion of the article located at the processing location and the processing apparatus is damaged. It can be prevented in advance.

  A third feature configuration of the article transporting facility according to the present invention is the first or second feature configuration, wherein the article is a holding container that holds a plurality of objects to be processed in a holding portion, and the article abnormality detecting unit is configured as described above. It is configured to detect an abnormality in each of a plurality of processing objects, and the work location is a location where the processing object detected as abnormal by the article abnormality detection means is taken out from the holding container from the holding container, The conveyance control means is configured to execute a re-input conveyance process for controlling the operation of the conveyance device to convey the article at the work location to the processing location as a conveyance destination based on a re-input conveyance command. The article management means for managing the management unit manages the holding part in which the processing object detected as abnormal by the article abnormality detection means is managed as an empty holding part in which the processing object is not held. The article abnormality detection means is configured to detect an abnormality of the article based on detection information about each of the plurality of processing objects and management information of the empty holding unit of the article management means. It is in.

That is, the article abnormality detection means sets any one of the plurality of processing objects between the time when the re-injection transport command is issued and the time when the processing target holding container is transported to the processing location of the transport destination. Even if it is detected that there is an abnormality, if the holding unit for the processing object detected as having an abnormality is managed as an empty holding unit, the abnormality is detected due to the presence of the empty holding unit. As an object, it is possible not to detect the abnormality of the processing object.
Therefore, since the processing object is not held in the holding unit, it is possible to prevent erroneous detection that the processing object cannot be detected and is detected as abnormal.
Therefore, it is possible to prevent the processing object from being erroneously recognized as an abnormal processing object by erroneously recognizing the empty holding part as the processing object is not held in the holding unit.

  According to a fourth feature configuration of the article transport facility according to the present invention, in any one of the first to third feature configurations, the article is held in a state in which a plurality of plate-like secondary batteries are arranged in the horizontal direction in a vertical posture. A storage container that is connected to an electrode tab of the secondary battery to perform charging or discharging, and the article abnormality detection means is configured to store the shape of the electrode tab in advance. The configuration is such that an abnormality is detected when the shape is different from the shape of the tab.

That is, if the electrode tab of the secondary battery held in the holding container is deformed, the processing apparatus may be damaged if the holding container is transported to the processing location and connected to the processing apparatus. high. Therefore, when the shape of the electrode tab is different from the shape of the electrode tab stored in advance, it is determined that the shape of the electrode tab is deformed from the normal shape, and the holding container including the electrode tab is detected as abnormal. Is configured to do.
In this way, the abnormality of the holding container based on the deformation of the electrode tab is accurately detected by the article abnormality detecting means in order to detect the abnormality of the holding container in comparison with the shape of the electrode tab stored in advance. Can be detected.

  According to a fifth characteristic configuration of the article conveying facility according to the present invention, in any one of the first to fourth characteristic configurations, a shelf including a plurality of storage units in which the processing points are set is provided, and the conveying device The article is between a traveling carriage that can travel in a moving space on the front side of the shelf along the lateral width direction of the shelf, a lifting platform that can move up and down the moving space, and the storage unit and the work location. And an article transfer device configured to move the moving space along the horizontal width direction and the vertical direction by the traveling movement of the traveling carriage and the up-and-down movement of the lifting platform. The article abnormality detecting means is provided in the conveying apparatus so as to be movable integrally with the article transfer apparatus.

  That is, the article transfer device and the article abnormality detection means move horizontally as the traveling carriage moves, and the article transfer apparatus and the article abnormality detection means come together as the elevator table moves up and down. Move up and down. Therefore, the article on the article transfer device can be appropriately inspected by the article abnormality detecting means even while the article is being conveyed by the conveying device.

  According to a sixth feature configuration of the article transport facility according to the present invention, in any one of the first to fifth feature configurations, an apparatus abnormality detection unit that detects an abnormality of the processing apparatus is provided, and the transport control unit includes: An abnormality is detected in the article to be processed by the article abnormality detecting means between the time when the conveyance command is issued and the time when the article to be processed is conveyed to the processing location to be conveyed by the conveying device. If an abnormality of the processing apparatus is detected by the apparatus abnormality detection means, an alternative conveyance process for conveying the article to be processed to a processing location different from the processing location to be conveyed is executed. The point is that it is configured to do.

That is, if an abnormality of the processing apparatus is detected by the apparatus abnormality detecting means between the time when the conveyance command is issued and the time when the article to be processed is conveyed to the processing location of the conveyance destination by the conveyance apparatus, The transport destination of the article is changed to another processing location, and the article in which the abnormality is detected is transported from the initially set processing location to the changed processing location. Therefore, even if an abnormality is detected in the processing apparatus at the transport destination, the article can be transported to a processing location of a normal processing apparatus.
Therefore, even if an abnormality occurs in the processing apparatus while the article is being conveyed by the conveying apparatus based on the conveyance instruction, the article to be processed can be conveyed to a normal processing location.

  A seventh feature configuration of the article transport facility according to the present invention is the holding container in the sixth feature configuration, in which the article is held in a state in which a plurality of plate-like secondary batteries are arranged in the vertical direction in the horizontal direction. The apparatus is an apparatus that is connected to the electrode tab of the secondary battery and performs charging or discharging, and the apparatus abnormality detection means is configured to detect an abnormality of the connection body connected to the electrode tab. In the point.

  In other words, when an abnormality such as deformation occurs in the connection body of the processing apparatus connected to the electrode tab, there is a high possibility that the electrode tab is also abnormal such as deformation when the electrode tab is connected to the processing apparatus. . Therefore, when there is an abnormality in the connection body, by preventing the holding container from being transported to the processing location corresponding to the processing apparatus of the abnormal connection body, there is an abnormality such as deformation in the electrode tab of the secondary battery. It can be prevented from occurring.

  According to an eighth feature configuration of the article transport facility according to the present invention, in the sixth or seventh feature configuration, the transport control unit has the processing part corresponding to the processing device detected as abnormal by the device abnormality detection unit. In the point of not being selected as the processing location of the transport destination.

  That is, when an abnormality is detected in the processing apparatus by the apparatus abnormality detecting means, the article is not conveyed to the processing location corresponding to the processing apparatus. Therefore, it is possible to prevent the article from being processed by the abnormal processing apparatus because the article is not conveyed to the processing location corresponding to the abnormal processing apparatus.

Top view of the goods transport facility Perspective view of a storage section that does not store articles Perspective view of a storage unit storing articles Perspective view of the article Transfer operation diagram of article transfer device Transfer operation diagram of article transfer device The figure which shows the imaging state with the imaging camera Control block diagram Conveying action diagram of goods before processing Conveying action diagram of articles after processing Flow chart of pre-processing transport processing Flow chart of post-processing transport processing Flowchart of re-feeding conveyance process

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
As shown in FIG. 1, a plate-like secondary battery 1 is stored in a storage unit 4 of a shelf 3 in a state where the plate-like secondary battery 1 is held in a magazine 2 (see FIG. 3). The shelf 3 is provided with a charging device 5 for charging the secondary battery 1, and the secondary battery 1 stored in the storage unit 4 is connected to the chuck mechanism 6 of the charging device 5 (FIG. 2). To be charged. Note that a magazine 2 (hereinafter sometimes simply referred to as magazine 2) holding plate-like secondary batteries 1 arranged in a vertical orientation in a horizontal direction corresponds to an article. The magazine 2 corresponds to a processing object, and the magazine 2 corresponds to a holding container. The charging device 5 is a device that is connected to the electrode tab 1 a of the secondary battery 1 and performs charging, and corresponds to a processing device that performs processing on the magazine 2.

In addition to the shelf 3, the article transport facility is provided with a stacker crane 9 that travels and moves the moving space 8 formed in front of the shelf 3 to transport the magazine 2. The stacker crane 9 is configured to convey the magazine 2 between the loading / unloading location E1 of the loading / unloading conveyor 10, the processing location E2 of the storage unit 4, and the work location E3 of the work table 11. The stacker crane 9 corresponds to a transport device that transports the magazine 2 to the processing location E2.
The shelf 3 is provided with a plurality of storage units 4 in which processing points E2 are set in a state of being arranged vertically and horizontally, with a pair of shelves 3 facing each other, and between the pair of shelves 3. A moving space 8 is formed at the bottom. And the charging device 5 is provided corresponding to the some process location E2.

〔magazine〕
As shown in FIG. 3, the magazine 2 is formed in a box shape having a rectangular shape in plan view. A plurality of secondary batteries 1 are held in the magazine 2 in a stacked manner along the width direction, and a gap is formed between adjacent secondary batteries 1.
If it demonstrates, as shown in FIG. 4, the slit 15 as a holding part is formed in the magazine 2 along the front-back direction, and the slit 15 is formed in multiple numbers along the horizontal width direction. The upper surface of the magazine 2 is formed with an inlet / outlet 12 for inserting / removing the secondary battery 1. The secondary battery 1 is inserted from the inlet / outlet 12 into the slit 15 in a vertical position from above, and the secondary battery 1 is inserted. It is held in the slit 15 of the magazine 2.
In this way, the plurality of secondary batteries 1 are held in the magazine 2 in a state of being spaced apart in the lateral width direction (horizontal direction).

  As shown in FIGS. 3 and 4, the magazine 2 holds the magazine 2 on the side surface located on the front side in the front-rear direction of the magazine 2 (the side opposite to the side where the electrode tab 1 a of the held secondary battery 1 exists). The inspection opening 13 for inspecting the secondary battery 1 is formed, and the side surface portion located on the back side of the magazine 2 in the front-rear direction (the side where the electrode tab 1a of the held secondary battery 1 is present) is formed. A connection opening 14 formed to connect the chuck mechanism 6 to the electrode tab 1a of the secondary battery 1 is formed. Incidentally, no openings are formed in the side portions located on both sides in the left-right direction.

  The entrance / exit 12 is formed over the entire width of the existence range of the plurality of secondary batteries 1 stacked in the lateral width direction (alignment direction of the secondary batteries 1). Therefore, it is easy to insert the secondary battery 1 into all the slits 15 from the entrance 12. Further, each of the inspection opening 13 and the connection opening 14 is formed in the same manner as the entrance / exit 12, and all the secondary batteries 1 can be inspected from the inspection opening 13 and the connection opening 14. It is like that.

[Storage section]
As shown in FIGS. 2 and 3, the storage portion 4 has a guide rail 16 that contacts the lateral side surface of the magazine 2 and guides the magazine 2 in the front-rear direction, and an insertion hole 17 formed in the magazine 2 (see FIG. 2). 4), guide pins 18 for guiding the magazine 2 in the front-rear direction in a state where the position in the width direction is restricted, and the magazine 2 located at the processing point E2 from the back side of the storage unit 4 A positioning contact 19 that contacts and positions the magazine 2 at the processing location E2 and a movement restricting member 20 that regulates the movement of the processing location E2 toward the front side (movement path side) of the magazine 2 are provided. Yes.

As shown in FIGS. 4 and 5, when the magazine 2 is transferred from the article transfer device 25 to the processing location E2 of the storage unit 4, the movement restricting member 20 is attached to the magazine 2 that moves toward the processing location E2. When the magazine 2 is pushed down against the biasing force of the spring and moved to the retracted position, and the magazine 2 is transferred to the processing point E2, the push-down force by the magazine 2 is released and the spring biasing force is released. Is configured to move to the restriction position.
The movement restricting member 20 located at this restricting position is located close to the front side with respect to the magazine 2 at the processing location E2, and the magazine 2 moves forward by contacting the movement restricting member 20. It is regulated.

  The movement restricting member 20 is also retracted from the restricting position against the biasing force of the spring even when the restrictor operating tool 30 provided on the lifting platform 53 of the stacker crane 9 protrudes and moves. It is configured to be moved to a position. Thus, by moving the movement restricting member 20 to the retracted position, the magazine 2 can be transferred from the processing location E2 of the storage unit 4 to the article transfer device 25 by the article transfer device 25.

The processing point E <b> 2 is set corresponding to the chuck mechanism 6 on the front side of the chuck mechanism 6 in the charging device 5. The charging device 5 charges the magazine 2 located at the processing location E2, specifically, the plurality of secondary batteries 1 held in the magazine 2 located at the processing location E2. It has become.
Although a specific description of the chuck mechanism 6 is omitted, the chuck mechanism 6 is provided with a clip-like connection body 6 a that holds the electrode tab 1 a, and the connection body 6 a is a plurality of pieces held by the magazine 2. A plurality of electrode tabs 1a of the secondary battery 1 are provided correspondingly. The connecting body 6a is configured to be switchable between a released state in which the distal end portion is separated and the clamping with respect to the electrode tab 1a is released, and a sandwiched state in which the distal end portion approaches and sandwiches the electrode tab 1a. The electrode tab 1a is sandwiched by switching to the electrode tab 1a so as to be connected to the electrode tab 1a.

[Stacker crane]
As shown in FIG. 1, the stacker crane 9 includes a traveling carriage 51 that can travel in the moving space 8 along the lateral direction of the shelf 3 along the traveling rail 24, and a column 52 that is erected on the traveling carriage 51. A lifting platform 53 that can be moved up and down along the moving space 8 and an article transfer device 25 installed on the lifting platform 53 are provided.
The article transfer device 25 is configured such that the magazine 2 can be transferred between the loading / unloading location E1 of the loading / unloading conveyor 10, the processing location E2 of the storage unit 4, and the work location E3 of the worktable 11, and the traveling cart 51. The moving space 8 is configured to be movable in the horizontal width direction and the vertical direction of the shelf 3 by the traveling movement and the vertical movement of the lifting platform 53.
Then, the stacker crane 9 moves the article transfer device 25 to a location corresponding to the loading / unloading location E1, the processing location E2, and the work location E3 by running the traveling carriage 51 and raising and lowering the lifting platform 53, and the article transfer device. The magazine 2 is transferred between each location and the article transfer device 25 by the transfer operation of 25, and the magazine 2 is moved into and out of the loading / unloading conveyor E10 and the processing location E2 of the storage unit 4. It is comprised so that it may convey between work places E3 of stand 11.

Next, although the article transfer device 25 will be described, the direction (the lateral width direction of the shelf 3, the traveling carriage 51) that is orthogonal to the direction in which the pair of article holders 27 exits and retracts (the longitudinal direction of the shelf 3) in plan view. Is referred to as the width direction.
As shown in FIGS. 5 and 6, the article transfer device 25 is distributed and arranged on both sides of the transport conveyor 28 for loading and transporting the magazine 2 along the exit / retreat direction and the pair of transport conveyors 28 in the lateral width direction. A pair of movable parts 29 that are provided and can be moved close to and away from each other, a pair of article holders 27 supported by the movable part 29 so as to be movable in and out along the retracting direction, and the movement restricting member 20 at the restricting position. And a restricting body operating tool 30 that is moved to the retracted position.

  A pair of transport conveyors 28 are arranged side by side in the width direction, and the magazine 2 to be mounted and transported is placed and supported across the pair of transport conveyors 28. Then, by rotating the rotation belt of each of the pair of conveyors 28 by forward / reverse driving of a single conveyor motor (not shown), the magazine 2 that is placed and supported is placed and conveyed along the exit / retreat direction. Is configured to do. Each of the pair of transport conveyors 28 is constituted by a belt conveyor.

  The pair of movable portions 29 are provided on the outer side in the lateral width direction with respect to the pair of transport conveyors 28 at intervals wider than the lateral width of the magazine 2. The pair of movable portions 29 are configured to move in the opposite direction in the lateral width direction by forward and reverse driving of a single perspective motor (not shown). And it is comprised so that a pair of goods holding body 27 supported by these pair of movable parts 29 may be moved to a distance by moving a pair of movable parts 29 far and near.

Each of the pair of article holders 27 is supported by the movable portion 29 so as to be movable in the retracting direction, and is moved out of the movable portion 29 by forward / reverse driving of a retracting motor (not shown). It moves along the retreat direction, and a reference position (see FIGS. 5B and 5C) and a protruding position (FIGS. 6D and 6E) protruding from the reference position to the transfer target location E side. )) And a standby position (see FIGS. 5 (a) and 6 (f)) set between these positions. Incidentally, the standby position is set as a position when the traveling carriage 51 is moved and moved, or when the lifting platform 53 is moved up and down.
Each of the pair of article holders 27 includes an engaging claw 54 that engages with both end portions of the magazine 2 from the outer side in the lateral width direction. In other words, on the lateral side surface portion of the magazine 2, an engaged portion 55 to be engaged with the engaging claw 54 is formed at the lower end portion of each of the front end portion and the rear end portion. The engaging claw 54 is formed to engage with the engaged portion 55 of the magazine 2.

The engaged portions 55 are formed on both lateral side surfaces of the magazine 2, and each of the engaging claws 54 in the pair of article holders 27 is connected to the engaged portions 55 of the magazine 2 in the lateral width direction. The two ends of the magazine 2 in the horizontal width direction are held by engaging with each other.
Then, the pair of article holders 27 are moved closer to each other so that the engaging claws 54 are engaged with the engaged portions 55 of the magazine 2 as shown in FIGS. 5C and 7D. Are moved away from each other and moved away from each other so that the engaging claws 54 are engaged with the engaged portion of the magazine 2 as shown in FIGS. 5 (a) and 5 (b) and FIGS. 6 (e) and 6 (f). It is configured to move to a holding release position that is released from 55.

In the article transfer device 25, the article transfer device 25 is operated in the wholesale transfer process in which the magazine 2 is transferred from the article transfer device 25 to a place such as the processing place E2 in the following manner.
That is, as shown in FIG. 5A, the magazine 2 is positioned on the article transfer device 25, and the pair of article holders 27 are positioned at the standby position in the retracting direction and at the holding release position in the lateral width direction. From the position, first, as shown in FIG. 5B, a pair of article holders so that the position of the engaging claw 54 is the same position as the engaged portion 55 of the magazine 2 in the retracting direction. 27 is moved to the reference position.
Next, as shown in FIG. 5C, the pair of article holders 27 are moved close to each other and moved to the holding position, and the engaging claws 54 are engaged with the engaged portions 55 of the magazine 2. 6 (d), the pair of article holders 27 are moved from the reference position toward the protruding position, and the magazine 2 is transferred to the transfer target position E. At this time, the transport conveyor 28 is also operated synchronously, and the magazine 2 is transferred by the cooperation of the article holder 27 and the transport conveyor 28.
Thereafter, as shown in FIG. 6E, after the pair of article holders 27 are moved away from each other and moved to the holding release position, the engaging claws 54 are separated from the engaged portions 55 of the magazine 2. As shown in FIG. 6 (f), the pair of article holders 27 are retreated to the standby position.
In the scooping transfer process in which the magazine 2 is transferred from the place such as the processing place E2 onto the article transfer apparatus 25 by the article transfer apparatus 25, the magazine 2 is moved from the article transfer apparatus 25 to the place such as the processing place E2. This is done in the reverse procedure when transferring.

  Further, as shown in FIGS. 5 and 7, the article transfer device 25 is moved by the transfer operation of the transfer conveyor 28, so that the transfer position (refer to FIG. 5) is located at the center in the withdrawal / retreat direction on the article transfer device 25. ) And an inspection position (see FIG. 7) located on one side in the retracting direction from the transfer position. When the traveling carriage 51 travels or when the lifting platform 53 moves up and down, the magazine 2 is positioned at the transfer position, and when the abnormality detection means 31 detects an abnormality in the magazine 2 (with the imaging camera 32). When the magazine 2 is imaged), the magazine 2 is positioned at the transfer position.

[Abnormality detection means]
The lifting platform 53 of the stacker crane 9 is provided with an abnormality detection means 31 for detecting an abnormality of the magazine 2 and an abnormality of the chuck mechanism 6. By providing the abnormality detection means 31 on the lifting platform 53, the abnormality detection means 31 moves in the lateral direction integrally with the article transfer device 25 by the traveling movement of the traveling carriage 51, and by the lifting movement of the lifting platform 53. The abnormality detection means 31 moves up and down integrally with the article transfer device 25, and the abnormality detection means 31 is provided on the stacker crane 9 so as to be movable together with the article transfer device 25.

  As shown in FIG. 7, the abnormality detection means 31 has a posture (see FIG. 7A) for imaging the magazine 2 where the imaging camera 32 is positioned on the lifting platform 53 and a posture for imaging the chuck mechanism 6 (FIG. 7). (Refer to (b)). In addition, as the imaging camera 32, when the magazine 2 is transferred to or from one shelf 3, the imaging camera 32 for imaging the magazine 2 and the chuck mechanism 6 and the magazine between the other shelf 3 are used. A pair of imaging cameras 32 with an imaging camera 32 for imaging the magazine 2 and the chuck mechanism 6 when the 2 is transferred is provided.

The abnormality detection means 31 includes an imaging camera 32 and an imaging control device 33. The imaging control device 33 is a magazine based on imaging information of the magazine 2 obtained by imaging the magazine 2 with the imaging camera 32. 2 abnormality, specifically, the abnormality of each of the plurality of secondary batteries 1 held in the magazine 2 is detected.
Further, the imaging control device 33 of the abnormality detecting unit 31 detects an abnormality of the chuck mechanism 6 based on imaging information obtained by imaging the chuck mechanism 6 with the imaging camera 32, specifically, a plurality of units provided in the chuck mechanism 6. The connection body 6a is configured to detect an abnormality.
That is, the abnormality detection unit 31 corresponds to an article abnormality detection unit that detects an abnormality of an article and an apparatus abnormality detection unit that detects an abnormality of the processing apparatus.

In the imaging control device 33, image information indicating an appropriate shape and color of each of the plurality of secondary batteries 1 held in the magazine 2 is stored in advance. Then, the imaging control device 33 compares the imaging information of the magazine 2 captured by the imaging camera 32 with the image information of the magazine 2 of an appropriate shape stored in advance, and a plurality of images held in the magazine 2 that has been captured. When the shape or color of one of the electrode tabs 1a of the secondary battery 1 is different from the threshold value or more of the plurality of electrode tabs 1a indicated by the image information of the magazine 2 stored in advance, the magazine 2 It is configured to detect abnormalities.
For example, when the position of the electrode tab 1a of the magazine 2 in the imaging information and the position of the electrode tab 1a of the magazine 2 in the image information are shifted by 2 mm (threshold) or more in terms of the actual size, the electrode The secondary battery 1 having the tab 1 a is detected as an abnormal secondary battery 1, and the magazine 2 holding the secondary battery 1 is detected as an abnormal magazine 2.
In this way, when the electrode tab 1a is bent from an appropriate shape, or when the electrode tab 1a is discolored from an appropriate color due to the presence of a spark mark or a welding mark, an abnormality is detected by the abnormality detection means 31. The secondary battery 1 can be detected, and the abnormality detection means 31 is configured to detect an abnormality in the shape or color of the electrode tab 1a.

Further, the imaging control device 33 stores in advance image information indicating an appropriate shape and color of each of the plurality of connection bodies 6 a provided in the chuck mechanism 6. The imaging control device 33 compares the imaging information of the chuck mechanism 6 imaged by the imaging camera 32 with the image information of the chuck mechanism 6 stored in advance, and the imaging control device 33 includes a plurality of imaging mechanisms provided in the chuck mechanism 6. When the shape or color of any of the connecting bodies 6a is different from the threshold or more of the plurality of connecting bodies 6a indicated by the image information of the chuck mechanism 6 stored in advance, the chuck mechanism 6 is detected as abnormal. Is configured to do.
As described above, similarly to the secondary battery 1, the abnormality detection unit 31 is configured to detect a shape abnormality or a color abnormality of the connection body 6 a. In addition, you may comprise so that the abnormality detection means 31 may detect abnormality of other states, such as temperature.

  The work location E3 of the work table 11 is a location where the operator takes out the secondary battery 1 detected as abnormal by the abnormality detection means 31 from the magazine 2, and in the vicinity of the work location E3, the operator's work information is displayed. And a re-insertion switch 37 that is operated by the operator when the magazine 2 is re-input after completion of the extraction operation. On the monitor 36, an abnormal secondary battery 1 is newly detected by the abnormality detecting means 31, or an abnormality among the plurality of secondary batteries 1 held in the magazine 2 conveyed to the work location E3. An image showing the secondary battery 1 is displayed.

  Empty slit information, which is information of empty slits that do not hold the secondary battery 1, is transmitted from the conveyance management device 40 to the imaging control device 33. And the imaging control apparatus 33 is the sky where the secondary battery 1 is not hold | maintained based on the imaging information (detection information about each of the some secondary battery 1) imaged by the imaging camera 32, and empty slit information. Regarding the slit, even if an abnormality of the secondary battery 1 is detected, the magazine 2 is not detected as an abnormal magazine 2.

〔Control device〕
In the article transport facility, the crane control device 38 that controls the operation of the stacker crane 9, the conveyor control device 39 that controls the operation of the loading / unloading conveyor 10, and the state of the magazine 2 and the plurality of storage units 4 are managed. At the same time, a transport management device 40 for instructing a transport command to the crane control device 38 and the conveyor control device 39, a charge control device 41 for controlling the operation of the charging device 5, and managing a plurality of charging devices 5 and a plurality of chargings. A charge management device 42 is provided for instructing a charge command to the control device 41. The detection information of the abnormality detection means 31 is configured to be input to the transport management device 40 via the crane control device 38.
The transfer management device 40 corresponds to an article management unit that manages the magazine 2 and a command unit that issues a transfer command to the transfer control unit. The crane control device 38 selects an article to be processed based on the transfer command. It corresponds to a transfer control unit that controls the operation of the transfer device to transfer to the processing point E2 of the transfer destination, and the charge management device 42 corresponds to a device management unit that manages the processing device.

The transfer management device 40 manages the slit 15 holding the secondary battery 1 as an actual slit for the magazine 2 that is stored by the loading / unloading conveyor 10, and the slit 15 that does not hold the secondary battery 1 as an empty slit. Is configured to manage as.
When the magazine 2 is transported to the work location E3 of the work table 11 because the secondary battery 1 detected as abnormal by the abnormality detection means 31 is present, the abnormal secondary battery 1 is removed from the work table 11. Therefore, the holding information is updated so as to manage the slit 15 in which the secondary battery 1 detected as abnormal is held as an empty slit in which the secondary battery 1 is not held.

(Conveyance control before processing)
Next, control of the transport management device 40 and the crane control device 38 when transporting the unprocessed magazine 2 that is the processing target magazine 2 to be charged by the charging device 5 to the processing location E2 will be described.
The conveyance management device 40 is configured to manage the processing location E2 corresponding to the chuck mechanism 6 detected as abnormal by the abnormality detection means 31 as a prohibited conveyance destination that is not selected as the processing location E2 of the conveyance destination.

  And the conveyance management apparatus 40 selects the process location E2 which is not managed as a prohibition conveyance destination among the process locations E2 in which the magazine 2 does not exist as the process location E2 of the transfer destination, and processes the transfer destination from the loading / unloading location E1. The crane control device 38 is configured to instruct a pre-processing transport command for transporting the magazine 2 to the location E2.

Based on the pre-processing transfer command, the crane control device 38 is configured to transfer the unprocessed magazine 2 located at the loading / unloading location E1 to the transfer destination processing location E2 as shown in FIG. 9A. It is comprised so that the pre-process conveyance process which controls the action | operation of may be performed.
In the pre-processing transport process, first, the article transfer device 25 is moved to a position corresponding to the loading / unloading location E1 by the scooping movement operation, and then the magazine is transferred from the loading / unloading location E1 to the article transfer device 25 by the scooping transfer operation. Then, the operation of the stacker crane 9 is controlled so that the article transfer device 25 is moved to a position corresponding to the processing point E2 of the transport destination by the wholesale movement operation.

Then, the article transfer device 25 is held in the magazine 2 on the article transfer device 25 by the imaging camera 32 of the abnormality detection means 31 in a state where the article transfer device 25 is positioned at the position corresponding to the processing location E2 of the transport destination. The electrode tabs 1a of the plurality of secondary batteries 1 taken are imaged, and the plurality of connectors 6a provided in the chuck mechanism 6 corresponding to the processing location E2 of the transfer destination are imaged. An abnormality detection process for the tab 1a and an abnormality detection process for the connector 6a are executed.
An abnormality is detected in the chuck mechanism 6 provided corresponding to the electrode tabs 1a of the plurality of secondary batteries 1 held in the magazine 2 on the article transfer device 25 and the processing location E2 of the transfer destination by the abnormality detection means 31. If not detected, the operation of the stacker crane 9 is controlled to complete the transfer of the magazine 2 so as to transfer from the article transfer device 25 to the processing location E2 of the transfer destination by the transfer operation for wholesale.

  The transfer completion information indicating that the transfer is completed is transmitted to the charge management device 42. Based on the transfer completion information, the charge management device 42 operates the charging device 5 corresponding to the processing location E2 of the transfer destination. Therefore, when a charging command is instructed to the charging control device 41 of the charging device 5 and predetermined charging by the charging device 5 is completed, charging completion information indicating that charging is completed is transmitted to the transport management device 40. It is like that.

(When an abnormality in magazine 2 is detected before processing)
When the abnormality detection unit 31 detects an abnormality in the magazine 2, the transfer management device 40 is configured to instruct a payout transfer command for transferring the magazine 2 to the work location E 3 of the work table 11. ing.
As shown in FIG. 9B, the crane control device 38 cancels the pre-processing transport process based on the payout transport command, and sets the unprocessed magazine 2 located on the article transfer device 25 to the work location E3. In order to convey the stacker crane 9, the payout conveyance process for controlling the operation of the stacker crane 9 is executed.
In this paying out and carrying process, the article transfer device 25 is moved to a position corresponding to the work location E3, and then the magazine 2 is transferred from the article transfer device 25 to the work location E3 to complete the conveyance of the magazine 2. .

As described above, the crane control device 38 detects an abnormality between the time when the pre-processing conveyance command as the conveyance command is issued and the time when the magazine 2 before processing is conveyed to the processing location E2 of the conveyance destination by the stacker crane 9. When an abnormality of the magazine 2 is detected by the detection means 31, the transfer destination of the magazine 2 before processing is changed to the payout work location E3, and the payout transfer processing for transferring the magazine 2 to the work location E3 is executed. It is configured as follows.
And the conveyance management apparatus 40 is comprised so that the slit 15 in which the secondary battery 1 detected by the abnormality detection means 31 was hold | maintained may be managed as an empty slit in which the secondary battery 1 is not hold | maintained. Yes.

(When abnormality of chuck mechanism 6 is detected before processing)
If the abnormality detection means 31 detects an abnormality in the chuck mechanism 6 without detecting an abnormality in the magazine 2, the conveyance management device 40 manages the processing point E2 corresponding to the chuck mechanism 6 as a prohibited conveyance destination. The processing location information is updated as much as possible, and the processing location E2 that has been selected as the transport destination is selected as the processing location E2 that is not managed as the prohibited transport destination, and the processing location E2 of the new transport destination is selected. An alternative transport command for transporting the magazine 2 to the processing location E2 is instructed to the crane control device 38.

The crane control device 38 performs an alternative conveyance process for controlling the operation of the stacker crane 9 in order to convey the magazine 2 on the article transfer device 25 to the new processing destination E2 based on the pre-treatment alternative conveyance command. Is configured to run.
In the pre-processing alternative conveyance process, the operation of the stacker crane 9 is controlled so as to move the article transfer device 25 to a position corresponding to the new processing point E2. The processing after the article transfer device 25 is moved to the position corresponding to the new processing location E2 by the pre-processing alternative transfer operation corresponds to the processing location E2 in the article transfer device 25 in the pre-processing transfer processing. Since it is the same as the process after moving to a position, description is abbreviate | omitted.

  In this way, the crane control device 38 receives the magazine 2 before processing as a transport command for instructing to transport the magazine 2 to the processing location E2, and the magazine 2 before processing is processed by the stacker crane 9 as a transport target. When no abnormality is detected in the magazine 2 before the processing by the abnormality detection means 31 and the abnormality of the chuck mechanism 6 is detected by the abnormality detection means 31 before being conveyed to the processing location E2, It is configured to execute a pre-processing alternative transport process for transporting the unprocessed magazine 2 to a processing location E2 different from the processing location E2 to be transported.

(Transport control after processing)
Next, the control of the transport management device 40 and the crane control device 38 when the processed magazine 2 that has been charged by the charging device 5 is transported to the loading / unloading location E1 will be described.
The transport management device 40 commands the crane control device 38 to perform a post-processing transport command for transporting the magazine 2 from the processing location E2 of the transport source to the loading / unloading location E1 based on the information on the completion of charging from the device management device. It is configured as follows.
The crane control device 38 controls the operation of the stacker crane 9 to transport the processed magazine 2 located at the processing point E2 of the transfer source to the loading / unloading point E1 as the transfer destination based on the post-processing transfer command. The post-processing conveyance process is configured to be executed.
In the pre-processing transport process, first, the article transfer device 25 is moved to a position corresponding to the processing location E2 of the transport source, and then the magazine 2 is transferred from the loading / unloading location E1 to the product transfer device 25. The operation of the stacker crane 9 is controlled.

Then, the article transfer device 25 is held in the magazine 2 on the article transfer device 25 by the imaging camera 32 of the abnormality detection means 31 in a state where the article transfer device 25 is positioned at the position corresponding to the processing point E2 of the conveyance source. The electrode tabs 1a of the plurality of secondary batteries 1 are imaged, and the plurality of connectors 6a provided in the chuck mechanism 6 corresponding to the processing point E2 of the transfer source are imaged.
If the abnormality detection means 31 does not detect the abnormality of the magazine 2 or the abnormality of the chuck mechanism 6, the stacker crane 9 is used to continue the post-processing transport process and transport the magazine 2 to the loading / unloading location E1. Is completed, and the conveyance of the magazine 2 is completed.

(When abnormality of magazine 2 or chuck mechanism 6 is detected after processing)
If the abnormality detection means 31 detects an abnormality in the magazine 2 or the chuck mechanism 6, the transfer management device 40 updates the processing location information so as to manage the processing location E2 of the transfer source as a prohibited transfer destination. A payout conveyance command for conveying the magazine 2 to the work location E3 of the work table 11 is instructed.
As shown in FIG. 9B, the crane control device 38 cancels the post-processing transport process based on the payout transport command, and sets the processed magazine 2 located on the article transfer device 25 to the work location E3. In order to convey the stacker crane 9, the payout conveyance process for controlling the operation of the stacker crane 9 is executed.
In this paying out and carrying process, the article transfer device 25 is moved to a position corresponding to the work location E3, and then the magazine 2 is transferred from the article transfer device 25 to the work location E3 to complete the conveyance of the magazine 2. .

In this way, the crane control device 38 detects the abnormality detection means 31 during the period from when the post-processing conveyance command is instructed until the magazine 2 processed by the stacker crane 9 is conveyed to the loading / unloading location E1. When an abnormality is detected in the magazine 2 and when an abnormality is detected in the chuck mechanism 6 by the abnormality detection means 31, the transport destination of the magazine 2 after processing is changed to the work location E3 and changed to the work location E3. The payout carrying process for carrying the magazine 2 is executed.
And the conveyance management apparatus 40 is comprised so that the slit 15 in which the secondary battery 1 detected by the abnormality detection means 31 was hold | maintained may be managed as an empty slit in which the secondary battery 1 is not hold | maintained. Yes.

(When reinserting the magazine)
When the completion information of the removal operation of the abnormal secondary battery 1 is input by the re-insertion switch 37, the transport management device 40 is managed as a prohibited transport destination in the processing location E2 where the magazine 2 does not exist. It is configured to select a processing location E2 that is not present as the processing location E2 as the transport destination, and to instruct the crane controller 38 to perform a re-feed transport command for transporting the magazine 2 from the work location E3 to the processing location E2 as the transport destination Yes. Incidentally, the processing point E2 of the transport destination to be selected may be the same as or different from the processing point E2 of the transport destination in the pre-processing transport command previously commanded.

The crane control device 38 controls the operation of the stacker crane 9 to transport the unprocessed magazine 2 located at the work location E3 to the processing location E2 to the processing location E2 based on the pre-processing re-input conveyance command. It is configured to perform processing.
In this re-loading and transporting process, the article transfer device 25 is moved to a position corresponding to the work location E3, then the magazine 2 is transferred from the work location E3 to the article transfer device 25, and then the article transfer device 25. Is moved to a position corresponding to the processing point E2 of the transport destination, the operation of the stacker crane 9 is controlled. The processing after the article transfer device 25 is moved to the position corresponding to the processing location E2 by the re-input transport operation before processing is moved to the position corresponding to the processing location E2 in the pre-processing transfer processing. Since it is the same as the process after making it carry out, description is abbreviate | omitted.

[Another embodiment]
(1) In the above embodiment, the article abnormality detection means applies the article to be processed to the article to be processed from when the conveyance command is issued until the article to be processed is conveyed to the processing point E2 to be conveyed. In the case where no abnormality is detected and an abnormality of the processing apparatus is detected by the apparatus abnormality detecting means, the alternative conveyance process is executed. In such a case, the payout conveyance process is executed. You may comprise.

(2) In the above-described embodiment, for the holding container transported to the work location, the holding unit in which the processing object detected as abnormal by the article abnormality detecting unit is held in the empty holding in which the processing object is not held. However, it may be configured not to be managed as an empty holding unit.
Incidentally, the article abnormality detecting means may be configured not to detect an abnormality in the article held in the holding unit for the holding unit in which the existence of the processing object cannot be confirmed.

(3) In the above-described embodiment, the article is a holding container that holds the plate-like secondary batteries 1 in a state of being arranged horizontally in a vertical posture. In addition, a holding container that is held in a vertically aligned state, a holding container that holds a secondary battery 1 of another shape, a device that incorporates the secondary battery 1 and operates by the secondary battery 1 may be used. Also, an apparatus whose operation is confirmed by the processing apparatus, an article to which paint is applied by the processing apparatus, or the like may be used.
In the above embodiment, the processing device is connected to the electrode tab 1a of the secondary battery 1 and performs charging. However, the processing device is connected to the electrode tab 1a of the secondary battery 1 and performs discharging. It is good also as a device which performs an apparatus, an impregnation, application | coating, or apparatus operation | movement confirmation.

(4) In the above embodiment, the stacker crane 9 is provided as the transport device. However, as the transport device, the lift body that is formed in a long shape along the longitudinal direction of the moving space 8 and is movable up and down, and the lift body May be provided with a transfer device including a movable body movable along the longitudinal direction thereof and an article transfer device 25 supported by the movable body. An automatic traveling vehicle that travels above may be provided.
When an automatic traveling vehicle is provided as a transfer device, the processing point E2 may be provided in each of a plurality of stations provided along the longitudinal direction of the moving space.

(5) In the above embodiment, one type of processing device (charging device 5) is provided in the article transport facility, but a plurality of types of processing devices (for example, charging device 5 and impregnation device) are provided in the article transport facility. Also good. And although the conveyance source of the article before processing and the conveyance destination of the article after processing were used as the loading / unloading location E1, the conveyance source of the article before processing may be used as a processing location (for example, an impregnation location) that performs processing one step before. Alternatively, the transport destination of the processed article may be a processing location (for example, an aging location) where the processing after one step is performed.

(6) In the above embodiment, the article abnormality detection means is configured to detect the article shape abnormality and the color abnormality. However, the article abnormality detection means detects either the article shape abnormality or the color abnormality. You may comprise so that it may detect, and you may comprise so that other abnormalities, such as temperature abnormality of articles | goods, may be detected.
Similarly, the apparatus abnormality detecting means may be configured to detect other abnormality such as a temperature abnormality of the processing apparatus.

(7) In the above embodiment, one imaging camera 32 is used as both the article abnormality detecting means and the apparatus abnormality detecting means. However, the imaging camera 32 for the article abnormality detecting means and the imaging camera 32 for the apparatus detecting means are used. It may be provided individually.
In the above embodiment, the article abnormality detecting means and the apparatus abnormality detecting means are provided on the lifting platform 53. However, either one or both of the article abnormality detecting means and the apparatus abnormality detecting means correspond to each of the processing points E2. A plurality of them may be provided.

1 Secondary battery (object to be treated)
1a Electrode tab 2 Holding container (article)
DESCRIPTION OF SYMBOLS 3 Shelf body 5 Processing apparatus 8 Moving space 9 Conveyance apparatus 15 Holding part 25 Article transfer apparatus 31 Article abnormality detection means, apparatus abnormality detection means 39 Conveyance control means 40 Article management means, command means 51 Traveling carriage 53 Elevating stand E2 Processing location E3 work location

Claims (8)

A processing device that performs processing on an article that is provided in correspondence with a plurality of processing locations and is located at the processing location;
A transport device for transporting an article to the processing location;
An article conveyance facility provided with conveyance control means for controlling the operation of the conveyance device to convey the article to be processed to the processing location of the conveyance destination based on a conveyance command,
An article abnormality detection means for detecting an abnormality of the article is provided,
The article control unit detects the article by the article abnormality detection unit between the time when the article command is issued and the time when the article to be processed is conveyed to the processing location of the destination. An article transport facility configured to execute a payout transport process of transporting an article to the work location by changing the transport destination of the processing target article to a payout work location when an abnormality is detected.   The article conveyance facility according to claim 1, wherein the article abnormality detection unit is configured to detect an abnormality when the shape of the article to be processed is different from a shape of an article stored in advance. The article is a holding container that holds a plurality of processing objects in a holding unit,
The article abnormality detection means is configured to detect an abnormality of each of the plurality of processing objects,
The work location is a location where the processing object detected as abnormal by the article abnormality detection means is taken out from the holding container,
The transport control means is configured to execute a re-feed transport process for controlling the operation of the transport device to transport an article at the work location to the processing location as a transport destination based on a re-feed transport command,
The article management means for managing the articles is configured to manage the holding section that holds the processing object detected as abnormal by the article abnormality detecting means as an empty holding section that does not hold the processing object. ,
The article abnormality detection means is configured to detect an abnormality of an article based on detection information about each of the plurality of processing objects and management information of an empty holding unit of the article management means. Item conveying equipment of 1 or 2. The article is a holding container that holds a plurality of plate-like secondary batteries arranged in a vertical orientation in the horizontal direction,
The processing device is a device that is connected to the electrode tab of the secondary battery and performs charging or discharging,
4. The apparatus according to claim 1, wherein the article abnormality detection unit is configured to detect an abnormality when the shape of the electrode tab is different from the shape of the electrode tab stored in advance. 5. The article conveying facility as described. A shelf provided with a plurality of storage units in which the processing points are set is provided,
The transport device includes a traveling carriage that can travel in a moving space on the front side of the shelf along the lateral width direction of the shelf, a lifting platform that can move up and down the moving space, the storage unit, and a work location. And an article transfer device that can move the moving space along the horizontal width direction and the vertical direction by moving the traveling carriage and moving the lifting platform up and down. And
The article conveyance facility according to any one of claims 1 to 4, wherein the article abnormality detection means is provided in the conveyance device so as to be movable integrally with the article transfer device. An apparatus abnormality detecting means for detecting an abnormality of the processing apparatus is provided,
During the period from when the conveyance command is instructed until the article to be processed is conveyed to the processing location to be conveyed by the conveyance device, the article abnormality detection unit performs the processing target. When the abnormality of the processing apparatus is detected by the apparatus abnormality detecting means, the article to be processed is transported to a processing location different from the processing location to be transported. The article conveyance facility according to claim 1, wherein the article conveyance facility is configured to execute an alternative conveyance process. The article is a holding container that holds a plurality of plate-like secondary batteries arranged in a vertical orientation in the horizontal direction,
The processing device is a device that is connected to the electrode tab of the secondary battery and performs charging or discharging,
The article conveyance facility according to claim 6, wherein the apparatus abnormality detection means is configured to detect an abnormality of a connection body connected to the electrode tab.   The prohibited transport destination in which the command means for instructing the transport command to the transport control means does not select the processing location corresponding to the processing apparatus in which the abnormality is detected by the device abnormality detection means as the processing location of the transport destination. The article transport facility according to claim 6 or 7, wherein the article transport facility is configured to be managed as:

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