JP2021172491A - Auto-storing module and auto-storing system - Google Patents

Abstract

To provide an auto-storing module and an auto-storing system capable of storing much more articles while enhancing flexibility concerning the overall size.SOLUTION: Auto-storing modules 1 adjacently placed so as to transfer a tray 9 between adjacent auto-storing modules 1, each comprise: a depository 2 in which storage portions 5 for accommodating the tray 9 are overlaid in multi-stages; and a robot storage unit 3 in which a plurality of depositories 2 is set up in a surrounding and a carrier robot 15 for bringing the tray 9 into/out of each of the storage portions 5 is stored. At least one of the depositories 2 includes a delivery port 11 for bringing a tray 9 into the auto-storing module 1 or bringing the tray 9 out of the auto-storing module 1 so that the carrier robot 15 can transfer the tray 9 between adjacent auto-storing modules 1 through the delivery port 11.SELECTED DRAWING: Figure 10

Description

The present invention relates to an automatic storage module and an automatic storage system.

Conventionally, as an automatic storage system capable of storing a large number of articles and taking out an arbitrarily selected article, a large number of high-rise shelves in which storage sections for storing articles are stacked in multiple stages are arranged in a row in one direction. Configuration is used. The configuration includes rails arranged in parallel on a large number of high-rise shelves, and a transport unit that moves horizontally along the rails in one direction and moves up and down along the high-rise shelves, and is positioned at a predetermined position by the transport unit. Take out the article stored in (for example, Patent Document 1).

In the conventional automatic storage system as disclosed in Patent Document 1, the size of the system is determined by the length of the rail, and it is difficult to increase or decrease the size. In addition, since the entire automatic storage system is huge, it is necessary to destroy the walls of the factory when the automatic storage system is brought into the factory.

Therefore, in recent years, as a configuration that gives flexibility to the number of high-rise shelves, at least one warehousing / delivery module and a polygonal prism type structure are provided around the storage module that stores the tray handling robot that takes out the articles stored in the storage section. An automatic storage system is proposed in which a plurality of high-rise shelves are arranged (for example, Patent Document 2). In this configuration, the size of the automatic storage system and the number of items that can be stored can be increased or decreased to some extent by changing the number of high-rise shelves arranged around the storage module. In addition, the automatic storage system is of an appropriate size so that it can pass through the door, so it can be easily carried into the factory.

Japanese Unexamined Patent Publication No. 2007-131383 Japanese Unexamined Patent Publication No. 2017-105631

However, in the case of the conventional example having such a configuration, there are the following problems.

In the conventional configuration according to Patent Document 2, since the space where the high-rise shelves can be arranged is limited around the storage module, the number of high-rise shelves provided in the automatic storage system is limited. Therefore, the upper limit of the number of items that can be stored is low.

The present invention has been made in view of such circumstances, and an object of the present invention is to provide an automatic storage module and an automatic storage system capable of storing a larger number of articles while increasing flexibility in terms of overall size. And.

The present invention has the following configuration in order to achieve such an object.
That is, the present invention is an automatic storage module configured to form an automatic storage unit capable of transporting articles between the adjacent automatic storage modules by adjoining a plurality of automatic storage modules. The automatic storage module includes a storage unit in which storage units for storing articles are stacked in multiple stages, and a transfer robot in which a plurality of the storage units are arranged around the storage units and the articles are taken in and out of each of the storage units. It is provided with a stored robot storage unit, and at least one of the storage units is a delivery port for carrying the article into the automatic storage module or carrying the article out of the automatic storage module. The transfer robot is configured to enable transfer of the article between the adjacent automatic storage modules via the delivery port.

In this configuration, a plurality of storage units in which storage units for storing articles are stacked in multiple stages are arranged around the robot storage unit in which the transfer robot is stored. At least one of the storages is provided with a delivery port, and by adjoining a plurality of automatic storage modules via the delivery port, it is possible to transport articles between the adjacent automatic storage modules.

By enabling the transportation of articles between a plurality of adjacent automatic storage modules, the entire plurality of automatic storage modules can be operated as one automatic storage system. Therefore, by increasing or decreasing the number of automatic storage modules, the number of articles that can be stored in the entire automatic storage system can be arbitrarily increased or decreased. Therefore, the automatic storage system composed of the automatic storage modules can be easily expanded and contracted.

Further, in an automatic storage system as described in Patent Document 1, one transfer robot moves to all storage units and takes out articles. Therefore, the transfer robot needs to move quickly in the horizontal direction, and therefore requires a large motor with high output. On the other hand, in the automatic storage module according to the present invention, each of the automatic storage modules 1 is provided with a transfer robot, and each transfer robot delivers the article by a relay method, so that the article is transferred between adjacent automatic storage modules.

Therefore, even when a relatively small motor is arranged in the transfer robot, the article can be easily and quickly transferred from the automatic storage module arranged on one end side to the automatic storage module arranged on the other end side. .. Therefore, it is possible to realize miniaturization and cost reduction of each automatic storage module.

Further, since the transfer robot that puts in and takes out the article to and from the storage unit is surrounded by the storage, there is no possibility that the operator interferes with the transfer robot during the operation of the transfer robot. Therefore, since equipment for shutting off the transfer robot from the outside, which is an example of a guard fence, is not required, it is possible to avoid the increase in size and complexity of the automatic module.

Further, in the above-described invention, the transfer robot includes a rotation drive mechanism that rotates around the central axis of the automatic storage module, an elevating mechanism that moves up and down along the storage, and the storage portion. The fork portion for scooping up the article and holding the article and a horizontal drive mechanism for moving the fork portion in the horizontal direction are provided, and the fork portion includes an extrusion portion for pushing out the article from the delivery port. It is preferable that the article is conveyed to the delivery port of the adjacent automatic storage module by pushing the article out of the delivery port.

[Action / Effect] According to the automatic storage module according to the present invention, the transfer robot takes out an article from the storage unit by rotational movement by a rotation drive mechanism, up / down movement by an elevating mechanism, and horizontal movement of a fork portion. That is, the transfer robot itself does not need to move horizontally. Therefore, since the article can be taken out from the storage portion without using a high-power motor, the transfer robot can be easily miniaturized.

In addition, by pushing out the article with the extrusion section, the article is conveyed to the delivery port of the adjacent automatic storage module. Therefore, the horizontal movement distance of the fork portion can be shortened. Therefore, both the increase in size and the complexity of the fork portion can be avoided.

Further, in the above-described invention, it is preferable that each of the robot storage unit and the storage unit is provided with wheels at the bottom.

[Action / Effect] According to the automatic storage module according to the present invention, each of the robot storage unit and the storage unit can be easily moved by wheels. Therefore, the automatic storage module can be easily relocated.

Further, in the above-described invention, it is preferable that the robot storage unit is formed in a regular octagonal columnar shape and includes eight storage units arranged around the robot storage unit.

[Action / Effect] According to the automatic storage module according to the present invention, since the robot storage unit has a regular octagonal columnar shape, a plurality of automatic storage modules can be arranged more orderly. In addition, a route for transporting the article to the adjacent automatic storage module via the delivery port can be easily set.

Further, since the robot storage unit has a regular octagonal columnar shape, the transfer robot can secure a sufficiently wide movable range inside the robot storage unit even when a large article is taken out from the storage unit. Therefore, the storage unit arranged in the storage can be made larger. Therefore, it is possible to increase the size and quantity of the articles to be stored.

Further, in the above-described invention, it is preferable that the robot storage unit and the first unit including the five storages and the second unit consisting of the three storages are separably configured.

[Action / Effect] According to the automatic storage module according to the present invention, by separating the first unit and the second unit, it is possible to interfere with the robot storage unit on the first unit side from the outside. Therefore, it becomes easy to perform various maintenance on the robot storage unit which is surrounded by the storage and cannot interfere with the robot during operation. Further, since the automatic storage module is asymmetrically separated, it is possible to prevent the transfer robot arranged in the robot storage unit from being separated.

Further, in the above-described invention, it is preferable to provide a heat insulating material that covers the automatic storage module and a temperature control mechanism that adjusts the inside of the space covered with the heat insulating material to a predetermined temperature.

[Action / Effect] According to the automatic storage module according to the present invention, the entire inside of the automatic storage module can be maintained at a predetermined temperature by the heat insulating material and the temperature control mechanism. Therefore, it is possible to prevent the article to be stored from deteriorating due to a temperature change.

Further, the automatic storage system according to the present invention includes a plurality of the above-mentioned automatic storage modules, and each of the plurality of the automatic storage modules can transport the article to each other through the delivery port provided in the storage. Each of the transfer robots so as to transfer the article connected to the automatic storage module and stored in any of the automatic storage modules to any of the automatic storage modules selected from the plurality of automatic storage modules. It is provided with a transport control unit for controlling the above.

[Action / Effect] According to the automatic storage system according to the present invention, an article can be transported between a plurality of adjacent automatic storage modules by a transfer control unit. That is, the entire plurality of automatic storage modules can be operated as one automatic storage system. Therefore, by increasing or decreasing the number of automatic storage modules, the number of articles that can be stored in the entire automatic storage system can be arbitrarily increased or decreased. Therefore, the automatic storage system composed of the automatic storage modules can be easily expanded and contracted.

Further, when the automatic storage system is carried into a factory or the like, each automatic storage module can be carried into the factory, and after the carry-in, each automatic storage module can be connected to form an automatic storage system. That is, since the automatic storage system can be carried in and out in a state of being disassembled into automatic storage modules, it is not necessary to destroy the walls of the factory. Therefore, the automatic storage system can be operated flexibly.

Further, the automatic storage system according to the present invention includes a plurality of the above-mentioned automatic storage modules, and each of the plurality of the automatic storage modules can transport the article to each other through the delivery port provided in the storage. Each of the transfer robots so as to transfer the article connected to the automatic storage module and stored in any of the automatic storage modules to any of the automatic storage modules selected from the plurality of automatic storage modules. A transport control unit for controlling the above and a temperature control unit for controlling the internal temperature of the plurality of automatic storage modules to an arbitrary temperature by independently controlling each of the temperature control mechanisms. ..

[Action / Effect] According to the automatic storage system according to the present invention, the temperatures of a plurality of automatic storage modules constituting the automatic storage system are independently adjusted by the temperature control unit. Therefore, in the automatic storage system, articles can be stored at different temperatures for each automatic storage module. Further, under the control of the transport control unit, articles are transported between a plurality of adjacent automatic storage modules 1. Therefore, by transporting the article between the automatic storage modules adjusted to different temperatures, the temperature of the article can be changed in the automatic storage system. Therefore, the operation method of the article in the automatic storage system can be further diversified.

According to the automatic storage module and the automatic storage system according to the present invention, a plurality of storage units in which storage units for storing articles are stacked in multiple stages are arranged around the robot storage unit in which the transfer robot is stored. At least one of the storages is provided with a delivery port, and by adjoining a plurality of automatic storage modules via the delivery port, it is possible to transport articles between the adjacent automatic storage modules.

By enabling the transportation of articles between a plurality of adjacent automatic storage modules, the entire plurality of automatic storage modules can be operated as one automatic storage system. Therefore, by increasing or decreasing the number of automatic storage modules, the number of articles that can be stored in the entire automatic storage system can be arbitrarily increased or decreased. Therefore, the automatic storage system composed of the automatic storage modules can be easily expanded and contracted, and the flexibility of the size of the automatic storage system can be improved. In addition, by adjoining a new automatic storage module to an existing automatic storage module, more items can be easily stored, so that the upper limit of the items that can be stored in the automatic storage system can be significantly increased. can.

It is a top view explaining the whole structure of the automatic storage module which concerns on Example 1. FIG. It is a perspective view of the storage which concerns on Example 1. FIG. It is a vertical cross-sectional view of the storage which concerns on Example 1. FIG. It is a perspective view of the storage which concerns on Example 1. FIG. It is a vertical sectional view of the automatic storage module which concerns on Example 1. FIG. It is a perspective view of the tray which concerns on Example 1. FIG. It is a front view of the tray which concerns on Example 1. FIG. It is a left side view of the transfer robot which concerns on Example 1. FIG. It is a top view of the transfer robot which concerns on Example 1. FIG. It is sectional drawing of the automatic storage module which concerns on Example 1. FIG. It is a top view of the automatic storage system which concerns on Example 1. FIG. It is sectional drawing explaining the structure which connects the automatic storage module which concerns on Example 1. FIG. It is a figure explaining the 2nd step which concerns on Example 1. FIG. It is a figure explaining the 2nd step which concerns on Example 1. FIG. It is a figure explaining the 3rd step which concerns on Example 1. FIG. It is a figure explaining the 4th step which concerns on Example 1. FIG. It is a figure explaining the 5th step which concerns on Example 1. FIG. It is a figure explaining the 5th step which concerns on Example 1. FIG. It is a figure explaining the 6th step which concerns on Example 1. FIG. It is a figure explaining the path which a tray is conveyed between automatic storage modules in the automatic storage system which concerns on Example 1. FIG. It is a perspective view of the automatic storage module which concerns on Example 2. FIG. It is a vertical sectional view of the automatic storage module which concerns on Example 2. FIG. It is a vertical sectional view of the temperature control unit which concerns on Example 2. FIG. It is sectional drawing of the automatic storage module which concerns on Example 2. FIG. It is a perspective view of the automatic storage system which concerns on Example 2. FIG. It is a figure explaining the operation example of the automatic storage system which concerns on Example 2. FIG. It is sectional drawing explaining the effect based on the shape of the robot storage part which concerns on Example 1 and Example 2. FIG. It is a top view explaining the separation form of the automatic storage module which concerns on Example 1 and Example 2. FIG. It is a top view of the automatic storage system which concerns on the modification. It is a figure explaining the 5th step which concerns on the modification.

Hereinafter, Example 1 of the present invention will be described with reference to the drawings. FIG. 1 is a plan view of the automatic storage module according to the first embodiment.

<Explanation of the overall configuration>
The automatic storage module 1 according to the first embodiment includes a plurality of storages 2 and a robot storage unit 3. Each of the storages 2 is arranged around the robot storage unit 3. In this embodiment, the automatic storage module 1 includes eight storages 2, and the robot storage unit 3 has a regular octagonal prism shape. Let M be the length of one side of the robot storage unit 3 in the horizontal direction.

In the first embodiment, each of the storage 2 is a square columnar having a square bottom surface, and the storage 2 is in contact with the robot storage unit 3. Further, in this embodiment, the length of one side of the storage 2 in the horizontal direction is equal to the length M of one side of the robot storage unit 3.

At least one of the plurality of storages 2 is provided with a delivery port 11 described later. A reference numeral 2a is attached to the storage 2 that does not have the delivery port 11, and a reference numeral 2b is attached to the storage 2 that has the delivery port 11 to distinguish between the two. In this embodiment, as shown in FIG. 1, storage 2b is arranged on the front, back, left, and right of the robot storage unit 3, and storage 2a is arranged in each oblique direction. That is, the automatic storage module 1 includes four storages 2a and four storages 2b. In FIG. 1, the left-right direction of the automatic storage module 1 is the x direction, and the front-back direction is the y direction. Then, the vertical direction is the z direction.

Of the storage 2, the configuration of the storage 2a will be described. FIG. 2 is a perspective view of the storage 2a, and FIG. 3 is a vertical cross-sectional view of the storage 2a as seen from the direction AA of FIG. The storage 2a includes a support column 4, a storage unit 5, a side plate 6, and wheels 7.

The columns 4 are erected at the four corners of the storage 2a, and are configured to be connectable to the columns 4 provided in the other storage 2. Each of the storage portions 5 stores the tray 9. The storage 2a has a structure in which the storage portions 5 are laminated in multiple stages, and in the first embodiment, the five storage portions 5 are laminated. That is, the storage 2a can store five trays 9 as a whole. The side plate 6 is arranged on the side surface of the storage unit 5 on the side far from the robot storage unit 3 to prevent the tray 9 from falling. The tray 9 corresponds to the article in the present invention.

The wheels 7 are arranged at the bottom of the storage 2a. By providing the wheels 7, the storage 2a can be moved by being pushed by an operator or the like. Further, the wheel 7 is provided with a stopper (not shown), and the storage 2a can be fixedly arranged on the floor surface or the like by operating the stopper.

Next, the configuration of the storage 2b of the storage 2 will be described. FIG. 4 is a perspective view of the storage 2b. A vertical cross-sectional view of the storage 2b is shown in FIG. Since the configuration of the storage 2b is almost the same as the configuration of the storage 2a, the description of the common configuration will be omitted, and the delivery port 11 and the transport passage 13 which are the differences will be described.

The delivery port 11 is arranged on the side surface of the storage 2b on the side far from the robot storage unit 3. The position (height) at which the delivery port 11 is arranged in the z direction may be appropriately changed. In the first embodiment, it is assumed that the delivery port 11 and the transport passage 13 are arranged at the position where the storage portion 5 at the third stage from the top is arranged in the storage 2a. That is, in the storage 2b, a two-stage storage portion 5 is arranged below the delivery port 11, and a two-stage storage portion 5 is arranged above the delivery port 11. Therefore, the storage 2b can store four trays 9 as a whole.

The delivery port 11 functions as an entrance for carrying the tray 9 into the automatic storage module 1 and also as an outlet for carrying the tray 9 to the outside of the automatic storage module 1. The transport passage 13 functions as a passage that connects the internal space of the robot storage unit 3 and the delivery port 11.

The configuration of the robot hangar 3 will be described. FIG. 5 is a vertical cross-sectional view of FIG. 1 as viewed from the BB direction. The robot hangar 3 includes a transfer robot 15, a ball screw 17, a guide pillar 19, a rotating shaft 21, and wheels 23.

The transfer robot 15 receives the tray 9 stored in the storage unit 5 and transfers the tray 9 to a designated position. Further, as will be described later, the transfer robot 15 is configured to be able to transfer the tray 9 between the adjacent automatic storage modules 1 via the delivery port 11. The detailed configuration of the transfer robot 15 will be described later.

The ball screw 17 and the guide pillar 19 are erected so as to extend in the z direction. The ball screw 17 is rotated about an axis in the z direction by the motor 18. One of the transfer robots 15 is supported by the ball screw 17, and the rotation of the ball screw 17 allows the transfer robot 15 to move up and down along the ball screw 17 in the z direction. The guide pillar 19 supports the other side of the transfer robot 15. The upper ends of the ball screw 17 and the guide pillar 19 are connected by a gantry 24. The ball screw 17 and the lower end of the guide pillar 19 are connected by a gantry 25.

The rotating shaft 21 is arranged on the gantry 24 and the gantry 25, respectively. The rotating shaft 21 is rotated around the axis of the central axis P by the motor 26. The motor 26 is arranged on the gantry 24 and is connected to the rotating shaft 21 via an endless belt (not shown). The central axis P is an axis extending in the z direction through the center S of the robot storage unit 3 in the horizontal plane. That is, according to the rotation of the rotating shaft 21, the pedestal 24 and the pedestal 25 rotate around the axis of the central axis P. As a result, the transfer robot 15 supported by the ball screw 17 and the guide pillar 19 can be rotationally moved around the central axis P by the rotating shaft 21.

The wheels 23 are arranged at the bottom of the robot housing portion 3. By providing the wheels 23, the robot storage unit 3 can be moved by being pushed by an operator or the like. Further, the wheel 23 is provided with a stopper (not shown), and the robot storage portion 3 can be fixedly arranged on the floor surface or the like by operating the stopper.

Next, the configuration of the tray 9 will be described. FIG. 6 is a perspective view of the tray 9, and FIG. 7 is a front view of the tray 9. Since the side view of the tray 9 is the same as the front view of the tray 9, the illustration is omitted.

The tray 9 includes a body portion 27, a bottom portion 28, and a protrusion 29. The body portion 27 has an opening formed at the upper portion, and stores an object to be stored inside. An example of a storage object is an electronic component or the like. The bottom 28 is provided at the bottom of the body 27. The diameter of the bottom portion 28 is configured to be smaller than the diameter of the body portion 27. Therefore, a recess 30 is formed below the outer peripheral portion of the body portion 27. The recess 30 is configured so that a fork portion 43, which will be described later, can be inserted.

The protruding portion 29 is arranged on the outer peripheral surface of the body portion 27 and projects toward the outside of the tray 9. The protrusion 29 is made of a rigid material, and prevents the body 27 from being deformed when the fork portion 43, which will be described later, presses the protrusion 29. Further, it is preferable that the constituent materials of the tray 9 and the transport passage 13 are selected so that the tray 9 can move quickly in the horizontal direction by pressing the protrusion 29 in the horizontal direction by the fork portion 43. As an example, the floor surface of the transport passage 13 is preferably made of a material having a small frictional force.

Next, the configuration of the transfer robot 15 will be described. FIG. 5 shows a front view of the transfer robot 15, and FIG. 8 is a left side view of the transfer robot 15. FIG. 9 is a plan view of the transfer robot 15. Note that FIG. 10 shows a cross section seen from the CC direction in FIG. That is, FIG. 10 shows a cross section of the storage 2 and the robot storage unit 3 passing through the delivery port 11.

The transfer robot 15 includes a base portion 31, a rail 33, a slide plate 35, a motor 37, a screw receiving portion 39, and a guide portion 41. The base portion 31 is a flat plate-shaped member extending in one direction (for example, the y direction in FIG. 9). The rail 33 is mounted on the base portion 31 and extends in the longitudinal direction of the base portion 31. The slide plate 35 is a flat plate-shaped member, and reciprocates along the rail 35 in the longitudinal direction of the base portion 31. The motor 37 moves the slide plate 35 in the horizontal direction via an endless belt (not shown). That is, the rotation of the motor 37 allows the slide plate 35 to reciprocate along the rail 33.

A pair of fork portions 43 are provided at the tip of the slide plate 35. The fork portion 43 has a function of holding the tray 9 and a function of pushing out the tray 9. That is, the slide plate 35 is raised while the fork portion 43 is inserted into the recess 30 of the tray 9, so that the fork portion 43 holds the body portion 27 of the tray 9 so as to be scooped up. Further, the tip of the fork portion 43 is an extruded portion 44. When the pushing portion 44 presses the protruding portion 29 of the tray 9 in the horizontal direction, the tray 9 is pushed away from the transfer robot 15.

The screw receiving portion 39 is provided on one side surface of the base portion 31. Inside the screw receiving portion 39, a nut (not shown) screwed with the ball screw 17 is arranged. That is, when the ball screw 17 penetrating the screw receiving portion 39 in the vertical direction is screwed with the nut, the transfer robot 15 can move up and down according to the rotation of the ball screw 17.

The guide portion 41 is provided on the other side surface of the base portion 31. The guide portion 41 is provided with a through hole that penetrates vertically, and the guide pillar 19 penetrates in the vertical direction through the through hole. Further, the guide portion 41 slides on the guide pillar 19. The transfer robot 15 can move in a horizontal posture in the vertical direction by being supported by the ball screw 17 via the screw receiving portion 39 and being guided by the guide pillar 19 via the guide portion 41.

<Configuration of automatic storage system>
Here, the configuration of the automatic storage system 51 including a plurality of automatic storage modules 1 will be described. As shown in FIG. 11, the automatic storage system 51 includes an automatic storage unit 52, an input unit 53, and a control unit 55. The automatic storage unit 52 is a group of automatic storage modules formed by adjoining a plurality of automatic storage modules 1. In the automatic storage unit 52, by placing a plurality of automatic storage modules 1 adjacent to each other, the tray 9 can be transported between the adjacent automatic storage modules 1. Each of the automatic storage modules 1 is adjacent to each other with the delivery port 11 facing each other. In this embodiment, it is assumed that the automatic storage unit 52 is formed by eight automatic storage modules 1 arranged adjacent to each other in a 2 × 4 row.

When distinguishing each automatic storage module 1, reference numerals 1A to 1H will be used for description. In FIG. 11, the automatic storage module 1 arranged at the position farthest from the door D of the storage chamber R is designated by the reference numeral 1A, and the automatic storage module 1 arranged at the position closest to the door D is designated with the reference numeral 1H. do.

In the automatic storage system 51, the trays 9 stored in each automatic storage module 1 are configured to be movable to the adjacent automatic storage module 1 via the delivery port 11. That is, the tray 9 stored in the automatic storage module 1A can be moved to each of the automatic storage modules 1B to 1H by repeating the transfer through the delivery port 11. That is, the transfer robot 15 is configured to enable the transfer of the tray 9 between the adjacent automatic storage modules 1 via the delivery port 11. The operation of transporting the tray 9 through the delivery port 11 will be described later.

The input unit 53 inputs various instructions of the worker F. Examples of the input unit 53 include a keyboard input type panel, a touch input type panel, a push button type switch, a switch type switch, and the like. The operator F gives various instructions for operating the automatic storage system 51 by appropriately operating the input unit 53.

The control unit 55 includes, for example, an information processing means such as a central processing unit (CPU: Central Processing Unit). The control unit 55 comprehensively controls the operation of each unit constituting the automatic storage module 1 based on the content of the instruction input to the input unit 53 and the like. Further, the control unit 55 independently and simultaneously controls each of the automatic storage modules 1A to 1H. The control unit 55 corresponds to the transport control unit in the present invention.

In this embodiment, the input unit 53 is a person arranged in the vicinity of the automatic storage module 1H. That is, the operator F appropriately operates the input unit 53 to convey the arbitrary tray 9 housed in the automatic storage modules 1A to 1H to the automatic storage module 1H. Then, the worker F takes out the conveyed tray 9 from the delivery port 11 on the front side provided at the position indicated by the reference numeral M and uses it for various operations.

A configuration for connecting the storage 2b to each other in the adjacent automatic storage module 1 will be described. As shown in FIG. 12, the support column 4 provided in the storage 2 is provided with a recess 57 on the outer peripheral portion. A nut 59 is arranged in the recess 57. Then, the two bolts 63 are screwed into the nut 59 provided in one storage 2b and the nut 59 provided in the other storage 2b via the plate-shaped connecting plate 61 in which the two through holes 60 are formed. As a result, the adjacent storage 2b is connected. By connecting the adjacent storage 2b, the robot storage unit 3 of the automatic storage module 1 is connected to the robot storage unit 3 of the adjacent automatic storage module 1 via the delivery port 11.

<Tray transfer operation>
Here, the operation of transporting the tray 9 stored in the automatic storage module 1 to the adjacent automatic storage module 1 via the delivery port 11 will be described. Here, a case where the tray 9 is transported from the automatic storage module 1A to the automatic storage module 1B will be described as an example.

First, as the first step, the transfer robot 15 of the automatic storage module 1A is moved to the storage position of the tray 9 to be transferred. That is, the transfer robot 15 is moved up and down by operating the motor 18, and the transfer robot 15 is rotationally moved around the rotation axis P by operating the motor 26. By appropriately raising and lowering and rotating the transfer robot 15, the fork portion 43 of the transfer robot 15 faces the recess 30 of the tray 9 (see FIGS. 8 and 9).

As a second step, the tray 9 is taken out from the storage portion 5 while holding the tray 9 using the fork portion 43. That is, as shown in FIG. 13, the motor 37 is operated to slide the slide plate 35 to the tip side (left side in FIG. 13). By sliding the slide plate 35, the fork portion 43 is inserted into the recess 30.

After the fork portion 43 is inserted into the recess 30, the motor 18 is further operated to slightly raise the transfer robot 15. As a result, the fork portion 43 holds the tray 9 by scooping up the body portion 27 from below.

While the fork portion 43 holds the tray 9, the slide plate 35 is slid to the base end side to return to the initial position. As a result, as shown in FIG. 14, the tray 9 is taken out from the storage unit 5 by the transfer robot 15.

When the tray 9 is taken out from the storage portion 5, the transfer robot 15 rotates by the rotating shaft 21 and moves up and down by the ball screw 17. On the other hand, for horizontal movement, the base portion 31 itself does not need to move, and the tray 9 can be taken out by simply sliding the slide plate 35 in the horizontal direction by a short distance. Therefore, the horizontal movement motor 37 provided in the transfer robot 15 is not required to have a high output, so that the transfer robot 15 can be easily miniaturized.

After the tray 9 is taken out from the storage unit 5 by the transfer robot 15, the transfer robot 15 holding the tray 9 is moved as a third step. That is, by operating the motor 18 and the motor 26, the transfer robot 15 is moved up and down and rotated as appropriate. As a result, as shown in FIG. 15, the transfer robot 15 holding the tray 9 faces the delivery port 11. At this time, the transfer robot 15 arranged in the automatic storage module 1B is appropriately moving so as to face the transfer robot 15 arranged in the automatic storage module 1A.

As a fourth step, the tray 9 is placed in the transport passage 13. As shown in FIG. 16, the motor 37 is operated to slide the slide plate 35 to the tip side (right side in FIG. 16). Due to the movement of the slide plate 35, the tray 9 moves to the upper side of the transport passage 13 together with the slide plate 35. After that, the tray 9 is placed in the transport passage 13 on the automatic storage module 1A side by slightly lowering the transport robot 15.

As a fifth step, the tray 9 is moved from the automatic storage module 1A side to the automatic storage module 1B side via the delivery port 11. That is, as shown in FIG. 17, the slide plate 35 is returned to the base end side and the transfer robot 15 is raised. As a result, the fork portion 43 disposed at the tip of the slide plate 35 is in a state of facing the protrusion 29 of the tray 9.

After the fork portion 43 faces the protrusion 29 of the tray 9, the slide plate 35 is slid and moved toward the tip side again as shown in FIG. Due to the slide movement, the extruded portion 44, which is the tip end portion of the fork portion 43, comes into contact with the protruding portion 29 and further presses the protruding portion 29. As a result, the tray 9 is pushed out by the fork portion 43 and moves from the transport passage 13 on the automatic storage module 1A side to the transport passage 13 on the automatic storage module 1B side.

As a sixth step, the transfer robot 15 of the adjacent automatic storage module 1 holds the tray 9. That is, as shown in FIG. 19, in the transfer robot 15 included in the automatic storage module 1B, the slide plate 35 is slid to the tip side (left side in FIG. 19) and the fork portion 43 is inserted into the recess 30. Then, the transfer robot 15 is slightly raised to hold the tray 9. After that, the tray 9 is taken out from the delivery port 11 by sliding the slide plate 35 toward the base end side.

As described above, by performing the steps related to the first step to the sixth step, the tray 9 stored in the automatic storage module 1A is conveyed to the automatic storage module 1B. Further, by repeating the third to sixth steps, the tray 9 is delivered from the transfer robot 15 included in the automatic storage module 1B to the transfer robot 15 included in the automatic storage module 1C.

Hereinafter, by repeating the third step to the sixth step, the tray 9 is sequentially delivered to the adjacent automatic storage module 1, and is arranged on the front side of the automatic storage module 1H as shown in FIG. Move to the storage 2b with the symbol M. The worker F collects the tray 9 from the delivery port 11 provided in the storage 2b.

By connecting the automatic storage modules 1A to 1H via the delivery port 11 in this way, the worker F can move the tray 9 stored in the automatic storage module 1A without moving from the vicinity of the automatic storage module 1H. Can be recovered. That is, since it is not necessary to secure a moving space for the worker F in order to collect the trays 9 stored in each automatic storage module 1, the automatic storage modules 1 are arranged more densely to construct the automatic storage system 51. can. Therefore, the amount of the storage object with respect to the size of the storage room R can be improved, and the storage efficiency is improved.

The worker F can also sequentially transport the second tray 9 to the automatic storage module 1F while transporting the first tray 9 to the automatic storage module 1H by appropriately operating the input unit 53. .. In this case, the second tray 9 is conveyed to the delivery port 11 on the front side of the automatic storage module 1F while the first tray 9 is collected from the delivery port 11 on the front side of the automatic storage module 1H. Therefore, by moving from the vicinity of the automatic storage module 1H to the vicinity of the automatic storage module 1F, the two trays 9 can be collected in a short time, so that the work efficiency can be improved.

If it is desired to expand the automatic storage system 51 to increase the amount of articles to be stored, a new automatic storage module 1 is carried in from the door D to the storage room R, and one of the automatic storage modules 1A to 1H and the delivery port 11 are connected to each other. Connect in a state of facing each other. On the other hand, when it is desired to reduce the automatic storage system 51, the automatic storage module 1 is appropriately separated from the automatic storage system 51 as necessary, and is carried out from the storage room R through the door D. In this way, the automatic storage system 51 can be arbitrarily expanded or contracted without breaking the wall of the storage chamber R, so that the versatility of the automatic storage system 51 can be improved.

Next, Example 2 of the present invention will be described. FIG. 21 is a perspective view of the automatic storage module 1 included in the automatic storage system 51 according to the second embodiment. FIG. 22 is a vertical cross-sectional view of the automatic storage module 1 according to the second embodiment. The same components as those in the first embodiment are designated by the same reference numerals, and different components will be described in detail.

The automatic storage module 1 according to the second embodiment includes a heat insulating material 71 and a temperature control unit 73 in addition to the configuration according to the first embodiment. By providing the heat insulating material 71 and the temperature control unit 73, the automatic storage module 1 according to the second embodiment is configured so that the internal temperature can be adjusted.

The heat insulating material 71 covers the entire eight storage units 2 and the robot storage unit 3 constituting the automatic storage module 1, and has a regular octagonal columnar shape as a whole. However, an opening is formed in each of the delivery ports 11 so as not to hinder the transportation of the tray 9.

Further, the automatic storage module 1 includes a shutter 75 arranged in the vicinity of the delivery port 11. The shutter 75 can be slidably moved as an example, and by moving the shutter 75 to cover the delivery port 11, it is possible to prevent heat from escaping from the delivery port 11. By returning the shutter 75 to the initial position and opening the delivery port 11, the tray 9 can be conveyed through the delivery port 11.

As shown in FIG. 23, the temperature control unit 73 includes an intake fan 77, a heat exchanger 79, a Perche element 81, a fan 83, and a blower tube 85. The intake fan 77 takes in air EA from the outside of the automatic storage module 1 and sends it to the heat exchanger 79. The heat exchanger 79 sandwiches the Pelche element 81 from above and below, and exchanges heat between the air EA and the air IA inside the automatic storage module 1. The surface of the heat exchanger 79 facing the Pelche element 81 is corrugated as an example. An example of the heat exchanger 79 is a heat sink.

The air IA inside the automatic storage module 1 is adjusted to a predetermined temperature (for example, a low temperature) by receiving heat exchange in the heat exchanger 79. The air IA adjusted to a predetermined temperature is sent to the blower tube 85 by the fan 83.

The blower tube 85 extends in the vertical direction inside the automatic storage module 1. The position where the blower tube 85 is arranged can be appropriately selected. As an example, as shown in FIG. 24, the blower tube 85 is arranged in the gap between the storage 2a and the storage 2b. A large number of openings are provided on the side surface of the blower tube 85, and air (for example, cold air) IA adjusted to a predetermined temperature is diffused through the openings to the entire internal space of the automatic storage module 1. NS.

The air EA that has undergone heat exchange by the heat exchanger 79 is diffused by the intake fan 77 and is discharged again to the outside of the automatic storage module 1 through the exhaust port 87 formed on the upper surface of the temperature control unit 73. .. The temperature of the internal space of the automatic storage module 1 is maintained at a predetermined temperature determined by the heat insulating material 71 and the temperature control unit 73.

The automatic storage system 51 according to the second embodiment has a configuration in which a plurality of automatic storage modules 1 including a heat insulating material 71 and a temperature control unit 73 are connected. As an example, in the automatic storage system 51 according to the second embodiment, as shown in FIG. 25, three automatic storage modules 1 are connected so as to be arranged in a row. The three automatic storage modules 1 are distinguished from each other by using reference numerals 1J to 1L. Further, the automatic storage modules 1J to 1L are configured so that the trays 9 can be internally delivered to each other via the delivery port 11 as in the automatic storage modules 1A to 1H according to the first embodiment.

In the second embodiment, the internal temperature of the automatic storage modules 1J to 1L is independently controlled by the control unit 55. As an example, as shown in FIG. 25, the internal temperature of the automatic storage module 1J is adjusted to −20 ° C., the internal temperature of the automatic storage module 1K is adjusted to 5 ° C., and the internal temperature of the automatic storage module 1L is adjusted to 25 ° C.

In the second embodiment, by making the temperatures of the plurality of automatic storage modules 1 different, it is possible to appropriately change the temperature of the trays 9 while transporting the trays 9 between the adjacent automatic storage modules 1. That is, as shown in FIG. 26, the tray 9 which has been frozen and stored at −20 ° C. for a long period of time in the storage portion 5 of the automatic storage module 1J is conveyed to the automatic storage module 1K via the delivery port 11 and is transported to the automatic storage module 1K. It is stored in the 1K storage unit 5 for a certain period of time (see the transport path G1).

The tray 9 can be gradually thawed by storing it in the automatic storage module 1K kept at 5 ° C. After the tray 9 is thawed, the tray 9 is transported from the automatic storage module 1K to the storage portion 5 of the automatic storage module 1L via the delivery port 11 (see the transport path G2). The temperature of the tray 9 can be returned to room temperature by transporting the tray 9 to the automatic storage module 1L kept at 25 ° C. Then, the tray 9 is conveyed from the storage portion 5 of the automatic storage module 1L to the delivery port 11 indicated by the reference numeral M along the transfer path G3.

Worker F takes out the tray 9 that has been returned to room temperature from the delivery port 11, and even if the tray 9 is stored frozen for a long period of time, the worker F suffers frostbite by touching the cooled tray 9. You can avoid the situation. In addition, other disadvantageous situations such as a situation in which the storage object is deteriorated due to the rapid defrosting of the tray 9 can be avoided.

Further, in the conventional automatic storage system, it is difficult to adjust only a part of the automatic storage system to a predetermined temperature. Therefore, in order to maintain the storage object at a predetermined temperature, it is necessary to carry the entire automatic storage system into a room adjusted to a predetermined temperature. On the other hand, in the automatic storage system 51 according to the second embodiment, the temperature of each of the automatic storage modules 1 can be adjusted independently. That is, since the temperature of the number of automatic storage modules 1 may be adjusted according to the amount of trays 9 that need to be temperature-controlled, the cost required for temperature control of the automatic storage system 51 can be reduced.

Here, with reference to FIG. 27, the effect of the robot housing unit 3 having a regular octagonal columnar shape will be described in detail. When the transfer robot 15 takes out the tray 9 from the storage unit 5 in each embodiment, one side of the tray 9 closer to the robot storage unit 3 is in contact with the center S of the automatic storage module 1 as shown by the dotted line. The slide plate 35 moves horizontally. At this time, the length of one side of the robot storage unit 3 and the length of one side of the storage 2 in the horizontal direction are both M. for that reason. The maximum value of one side of the tray 9 is M.

When the transfer robot 15 rotates around the central axis P while holding the tray 9 whose one side is in contact with the center S, the area through which the tray 9 passes is centered on the center S and the length of the radius is set to TA. It becomes a circle to do. Here, assuming that the length of the radius of the circle inscribed in the robot storage unit 3 is PA, since the robot storage unit 3 has a regular octagonal columnar shape, even if the length of one side of the tray 9 is the maximum value M, the PA The length is greater than the length of TA. Therefore, when the transfer robot 15 rotates while holding the tray 9, the tray 9 does not interfere with the robot storage unit 3 even if the length of one side of the tray 9 is the maximum value M. Therefore, since the size of the tray 9 for storing the storage object can be increased, the storage capacity of the automatic storage module 1 can be improved.

The automatic storage module 1 according to each of the first and second embodiments is configured to be separable into the first unit 101 and the second unit 102 as shown in FIG. 28. The first unit 101 includes five storages 2 and a robot storage unit 3. The second unit 102 includes three storages 2. The first unit 101 and the second unit 102 can be assembled as the automatic storage module 1 by using screws or the like.

By separating the automatic storage module 1 into the first unit 101 and the second unit 102, it is possible to interfere with the robot storage unit 3 surrounded by the storage 2 from the outside. That is, by separating the first unit 101 and the second unit 102, it becomes easy to perform various maintenance on the robot storage unit 3. Further, since the automatic storage module 1 is asymmetrically separated, it is possible to prevent the transfer robot 15 arranged in the center of the robot storage unit 3 from being separated when the first unit 101 and the second unit 102 are separated. .. That is, the automatic storage module 1 can be separated with the entire transfer robot 15 included in the relatively large first unit 101.

<Effect of the configuration of the embodiment>
(Clause 1) In the present embodiment, an automatic storage module configured to form an automatic storage unit capable of transporting articles between adjacent automatic storage modules by adjoining a plurality of automatic storage modules. The automatic storage module is a transfer robot in which a storage unit in which storage units for storing articles are stacked in multiple stages and a plurality of storage units are arranged around the storage unit, and articles are taken in and out of each of the storage units. The robot storage unit is provided, and at least one of the storages is provided with a delivery port for carrying the goods inside the automatic storage module and carrying the goods out of the automatic storage module. The robot is configured to allow the transfer of goods between adjacent automatic storage modules via a delivery port.

According to the automatic storage module according to the first item, a plurality of storage units in which storage units for storing articles are stacked in multiple stages are arranged around the robot storage unit in which the transfer robot is stored. At least one of the storages is provided with a delivery port, and by adjoining a plurality of automatic storage modules via the delivery port, it is possible to transport articles between the adjacent automatic storage modules.

By enabling the transportation of articles between a plurality of adjacent automatic storage modules, the entire plurality of automatic storage modules can be operated as one automatic storage system. Therefore, by increasing or decreasing the number of automatic storage modules, the number of articles that can be stored in the entire automatic storage system can be arbitrarily increased or decreased. Therefore, the automatic storage system composed of the automatic storage modules can be easily expanded and contracted.

Further, in an automatic storage system as described in Patent Document 1, one transfer robot moves to all storage units and takes out articles. Therefore, the transfer robot needs to move quickly in the horizontal direction, and therefore requires a large motor with high output. On the other hand, in the automatic storage module described in paragraph 1, each of the automatic storage modules is provided with a transfer robot, and each transfer robot delivers the article by a relay method, so that the article is transferred between adjacent automatic storage modules. ..

Therefore, even when a relatively small motor is arranged in the transfer robot, the article can be easily and quickly transferred from the automatic storage module arranged on one end side to the automatic storage module arranged on the other end side. .. Therefore, it is possible to realize miniaturization and cost reduction of each automatic storage module.

Further, since the transfer robot that puts in and takes out the article to and from the storage unit is surrounded by the storage, there is no possibility that the operator interferes with the transfer robot during the operation of the transfer robot. Therefore, since equipment for shutting off the transfer robot from the outside, which is an example of a guard fence, is not required, it is possible to avoid the increase in size and complexity of the automatic module.

(Item 2) Further, in the automatic storage module according to the first item, the transfer robot includes a rotary drive mechanism that rotates around the central axis of the automatic storage module and an elevating mechanism that moves up and down along the storage. A fork portion for scooping up the article and holding the article and a horizontal drive mechanism for moving the fork portion in the horizontal direction are provided, and the fork portion delivers the article. A push-out portion for pushing out from the mouth is provided, and by pushing the article out of the delivery port with the push-out portion, the article is conveyed to the delivery port of the adjacent automatic storage module 1.

According to the automatic storage module according to the second item, the transfer robot takes out an article from the storage portion by rotational movement by a rotation drive mechanism, up / down movement by an elevating mechanism, and horizontal movement of a fork portion. That is, the transfer robot itself does not need to move horizontally. Therefore, since the article can be taken out from the storage portion without using a high-power motor, the transfer robot can be easily miniaturized.

In addition, by pushing out the article with the extrusion section, the article is conveyed to the delivery port of the adjacent automatic storage module. Therefore, the horizontal movement distance of the fork portion can be shortened. Therefore, both the increase in size and the complexity of the fork portion can be avoided.

(Section 3) Further, in the automatic storage module according to the first or second paragraph, each of the robot storage unit and the storage storage unit is provided with wheels at the bottom.

According to the automatic storage module described in paragraph 3, each of the robot storage unit and the storage unit can be easily moved by wheels. Therefore, the automatic storage module can be easily relocated.

(Item 4) Further, in the automatic storage module according to any one of the items 1 to 3, the robot storage unit is formed in a regular octagonal columnar shape, and is arranged around the robot storage unit 8 It has two of the above-mentioned storages.

According to the automatic storage module according to the fourth item, since the robot storage unit has a regular octagonal columnar shape, a plurality of automatic storage modules can be arranged more orderly. In addition, a route for transporting the article to the adjacent automatic storage module via the delivery port can be easily set.

Further, since the robot storage unit has a regular octagonal columnar shape, the transfer robot can secure a sufficiently wide movable range inside the robot storage unit even when a large article is taken out from the storage unit. Therefore, the storage unit arranged in the storage can be made larger. Therefore, it is possible to increase the size and quantity of the articles to be stored.

(Clause 5) Further, in the automatic storage module according to the fourth item, the robot storage unit and the first unit consisting of the five storages and the second unit consisting of the three storages are separably configured. Will be done.

According to the automatic storage module according to the fifth item, by separating the first unit and the second unit, it is possible to interfere with the robot storage unit on the first unit side from the outside. Therefore, it becomes easy to perform various maintenance on the robot storage unit which is surrounded by the storage and cannot interfere with the robot during operation. Further, since the automatic storage module is asymmetrically separated, it is possible to prevent the transfer robot arranged in the center of the robot storage unit 3 from being separated.

(Section 6) In the automatic storage module according to any one of claims 1 to 5, the heat insulating material covering the automatic storage module and the inside of the space covered with the heat insulating material are adjusted to a predetermined temperature. It is equipped with a temperature control mechanism.

According to the automatic storage module according to the sixth item, the entire inside of the automatic storage module can be maintained at a predetermined temperature by the heat insulating material and the temperature control mechanism. Therefore, it is possible to prevent the article to be stored from deteriorating due to a temperature change.

(Section 7) Further, the automatic storage system according to the present embodiment includes a plurality of automatic storage modules according to any one of claims 1 to 6, and each of the plurality of automatic storage modules has the storage. The article, which is connected to each other so as to be able to transport the article through the delivery port provided and is stored in any of the automatic storage modules, is arbitrarily selected from the plurality of automatic storage modules. It is provided with a transport control unit that controls each of the transport robots so as to transport the robots to the automatic storage module.

According to the automatic storage system according to the seventh item, an article can be transferred by a transfer control unit between a plurality of adjacent automatic storage modules. That is, the entire plurality of automatic storage modules can be operated as one automatic storage system. Therefore, by increasing or decreasing the number of automatic storage modules, the number of articles that can be stored in the entire automatic storage system can be arbitrarily increased or decreased. Therefore, the automatic storage system composed of the automatic storage modules can be easily expanded and contracted.

Further, when the automatic storage system is carried into a factory or the like, each automatic storage module can be carried into the factory, and after the carry-in, each automatic storage module can be connected to form an automatic storage system. That is, since the automatic storage system can be carried in and out in a state of being disassembled into automatic storage modules, it is not necessary to destroy the walls of the factory. Therefore, the automatic storage system can be operated flexibly.

(Item 8) Further, the automatic storage system according to the present embodiment includes a plurality of automatic storage modules according to claim 6, and each of the plurality of automatic storage modules is provided through the delivery port provided in the storage. The articles, which are connected to each other so as to be able to transport the articles and are stored in any of the automatic storage modules, are transferred to any of the plurality of automatic storage modules selected from the automatic storage modules. By independently controlling each of the transfer control unit that controls each of the transfer robots and the temperature control mechanism so as to transfer, the temperature inside the plurality of automatic storage modules is controlled to an arbitrary temperature. It includes a control unit.

According to the automatic storage system described in item 8, the temperatures of the plurality of automatic storage modules constituting the automatic storage system are independently adjusted by the temperature control unit. Therefore, in the automatic storage system, articles can be stored at different temperatures for each automatic storage module. Further, under the control of the transport control unit, articles are transported between a plurality of adjacent automatic storage modules. Therefore, by transporting the article between the automatic storage modules adjusted to different temperatures, the temperature of the article can be changed in the automatic storage system. Therefore, the operation method of the article in the automatic storage system can be further diversified.
<Other embodiments>
It should be noted that the examples disclosed this time are examples in all respects and are not restrictive. The scope of the present invention includes the scope of claims and all modifications within the meaning and scope equivalent to the scope of claims. As an example, the present invention can be modified as follows.

(1) In the above-described embodiment, the robot storage unit 3 is not limited to a regular octagonal columnar shape. As an example, as shown in FIG. 29, the robot storage unit 3 may have a regular hexagonal columnar shape. In this case, the automatic storage module 1 shown by the dotted line in the upper right is the robot storage unit 3 having a regular hexagonal columnar shape.
And six storages 2 arranged adjacent to each other around the robot storage unit 3. In addition, it is assumed that each storage 2 is provided with a delivery port 11.

In the automatic storage system 51 shown in FIG. 29, five automatic storage modules 1 according to a modified example are connected to each other via a delivery port 11. That is, the automatic storage unit 52 is formed by adjoining five automatic storage modules 1 having a regular hexagonal column as a whole. Since the automatic storage module 1 has a regular hexagonal columnar shape as a whole, the transport direction of the tray 9 stored in the storage portion 5 of the automatic storage module 1 is not limited to the front, back, left, and right. That is, the tray 9 can be transported in an oblique direction along the transport path G4. Therefore, when the worker F transfers the tray 9 to the desired automatic storage module 1, the time required for the transfer can be further shortened.

As another example of the shape of the robot storage unit 3, polygonal pillars such as triangular pillars, square pillars, and hexagonal pillars can be mentioned.

(2) In the above-described embodiment, the transfer robot 15 places the tray 9 in the transfer passage 13 on the automatic storage module 1A side in the fourth step. Then, in the fifth step, the transport robot 15 pushes the protrusion 29 of the tray 9 with the push-out portion 44 to move the tray 9 to the transport passage 13 on the adjacent automatic storage module 1B side. However, the process of transporting the tray 9 between the adjacent automatic storage modules 1 is not limited to this.

As another example of the configuration in which the tray 9 is transported between the adjacent automatic storage modules 1, as shown in FIG. 30, the transport robot 15 is configured in a multi-stage slide type in which a plurality of slide plates 35 are laminated, and in the horizontal direction. An example is a configuration in which the movable distance of the slide plate 35 is increased. In this case, by horizontally moving each of the slide plates 35, the tray 9 can be directly placed in the transport passage 13 of the adjacent automatic storage module 1B. Further, the configuration for transporting the tray 9 between the adjacent automatic storage modules 1 is not limited to these, and the tray 9 may be directly delivered between the transport robots 15.

(3) In the above-described embodiment, the transfer robot 15 holds the tray 9 so as to be scooped up by the fork portion 43, but the configuration for holding the tray 9 is not limited to this. Examples of other configurations include a configuration in which the transfer robot 15 grips the tray 9, a configuration in which the transfer robot 15 sucks and holds the tray 9, and the like.

(4) In the above-described embodiment, the shape and configuration of the tray 9 may be changed as appropriate. As an example, the tray 9 is not limited to the configuration including the protrusion 29, and the tray 9 having no protrusion 29 may be used. When the tray 9 having no protrusion 29 is used, the pushing portion 44 of the transfer robot 15 can push out and move the tray 9 by pressing the body portion 27 of the tray 9.

1 ... Automatic storage module 3 ... Storage 3 ... Robot storage 4 ... Support 5 ... Storage 7 ... Wheels 9 ... Tray (article)
11… Delivery port 13… Transfer passage 15… Transfer robot 17… Ball screw 18… Motor 19… Support 21… Rotating shaft 23… Wheel 24… Stand 25… Stand 26… Motor 27… Body 28… Bottom 29… Protrusion 30 … Recessed 31… Base plate 33… Rail 35… Slide plate 37… Motor 43… Fork part 44… Extruded part 51… Automatic storage system 52… Automatic storage unit 53… Input unit 55… Control unit (convey control unit, temperature control unit) )
57 ... Recess 59 ... Nut 63 ... Bolt 71 ... Insulation material 73 ... Temperature control unit (temperature control mechanism)
101 ... 1st unit 102 ... 2nd unit

Claims (8)

An automatic storage module configured to form an automatic storage unit capable of transporting articles between adjacent automatic storage modules by adjoining a plurality of automatic storage modules.
The automatic storage module
A storage compartment with multi-tiered storage compartments for storing goods,
A plurality of the storage units are arranged around the storage unit, and each of the storage units is provided with a robot storage unit in which a transfer robot for loading and unloading the article is stored.
At least one of the storages is provided with a delivery port for carrying the article inside the automatic storage module and carrying the article out of the automatic storage module.
The transfer robot is an automatic storage module configured to enable transfer of the article between adjacent automatic storage modules via the delivery port. In the automatic storage module according to claim 1,
The transfer robot
A rotary drive mechanism that rotates around the central axis of the automatic storage module,
An elevating mechanism that moves up and down along the storage
A fork portion that scoops up the article stored in the storage portion and holds the article, and a fork portion that holds the article.
A horizontal drive mechanism that moves the fork portion in the horizontal direction,
With
The fork portion includes an extrusion portion that pushes the article out of the delivery port, and by pushing the article out of the delivery port by the extrusion portion, the article is conveyed to the delivery port of the adjacent automatic storage module. Automatic storage module. In the automatic storage module according to claim 1 or 2.
Each of the robot storage unit and the storage unit is an automatic storage module having wheels at the bottom. In the automatic storage module according to any one of claims 1 to 3.
The robot storage unit is configured in a regular octagonal columnar shape.
An automatic storage module including eight storages arranged around the robot storage unit. In the automatic storage module according to claim 4.
An automatic storage module that is separably configured into a first unit consisting of the robot storage unit and five storages, and a second unit consisting of three storages. In the automatic storage module according to any one of claims 1 to 5.
The heat insulating material that covers the automatic storage module and
A temperature control mechanism that adjusts the inside of the space covered with the heat insulating material to a predetermined temperature,
Automatic storage module with. A plurality of automatic storage modules according to any one of claims 1 to 6 are provided.
Each of the plurality of automatic storage modules is connected so as to be able to transport the article to each other through the delivery port provided in the storage.
A transfer control unit that controls each of the transfer robots so as to transfer the article stored in any of the automatic storage modules to an arbitrary automatic storage module selected from the plurality of automatic storage modules. Automatic storage system with. A plurality of automatic storage modules according to claim 6 are provided.
Each of the plurality of automatic storage modules is connected so as to be able to transport the article to each other through the delivery port provided in the storage.
A transfer control unit that controls each of the transfer robots so as to transfer the article stored in any of the automatic storage modules to an arbitrary automatic storage module selected from the plurality of automatic storage modules. When,
An automatic storage system including a temperature control unit that controls the internal temperature of the plurality of automatic storage modules to an arbitrary temperature by independently controlling each of the temperature control mechanisms.

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