JP2682998B2 - Goods distribution system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to a warehouse in which a large number of articles are stored in a box unit, and a warehouse.
A number of goods requesters, such as robot assembly equipment
Between systems that distribute the boxes containing the
Is what you do. [Prior Art] For example, from a plurality of parts such as a robot assembly device
Increases manufacturing efficiency when combining products into one product
In order to increase the efficiency
The point is whether to supply. If there is only one assembling device, manually add new parts.
There is no problem if the products are supplied, but if there are many assembly devices
Is also a large amount of parts replenishment per unit time,
In view of this, a large number of parts of various types are stocked and compiled.
Automatic warehouse that takes out the necessary parts as required by computer control,
The parts taken out from this automated warehouse are
Automated guided vehicles are being introduced. On the other hand, when replenishing parts to the assembly position on the assembly device side,
Even so, there are various modes. : The first is a device that inserts a resistor into a printed circuit board.
, A ribbon with many parts attached to it
It supplies goods. In such an assembly device,
The printed circuit board will flow as a line and gradually complete
It is something that will be achieved. : In addition, in another aspect, the number of components required for one component pallet is increased.
Store several types of parts and use one assembling device to complete the final product.
There is also something like assembling in. With this assembly device, one
When the parts in the pallet are used up, the next pallet is requested.
It seems to do. : Further, the applicant of the present invention, Japanese Patent Application No. 61-2009
No. 49, 200950, or Japanese Patent Application No. 62-196469
Like the product supply device, the same kind of parts is put in one part pallet.
Load a lot and take out the parts one by one from this pallet
If you need other parts,
Make sure you have ready-to-eat pallets. That is, a plurality of same
One part stored in one pallet,
For example, stack them in the order of steps, and start from such a pallet.
The robot hand takes out the parts one by one and
After taking out and assembling, access the next pallet,
The following parts are taken out. [Problems to be Solved by the Invention] In the above automated warehouse, the same parts are used due to the storage space.
Or you can store the same type of pallets in a stack.
Often kept. In other words, a pallet containing a certain component
For example, place them in a section with a warehouse
Also, the other component pallets are stacked in 6 levels.
It is supposed to be placed in another section. Therefore, special
Unless it is a crane with a special separation mechanism
When you take out one pallet, store it in one compartment
I have to take out all the pallets
Become. And, furthermore, if the automated warehouse is installed for each part
Basically, there is no need to say
It is common to store many parts or pallets.
It is. On the other hand, an assembler equipped with a plurality of the above-described assembling devices
In different situations, different types of pallets are different in the following cases.
Required by each assembly machine,
Therefore, it becomes necessary to replenish the parts. (I): In the above case, multiple types of different products
(Ii): In all cases above. Therefore, the pallets are stacked in the above warehouse.
The number of trays depends on the type of pallets required by one assembly device.
Basically, it does not match the number of
The number of requests from the assembly equipment and the
It is necessary to match the number of items. The need to match the number of requests and the number of retrievals
Is a problem that occurs in the relationship between a factory equipped with assembly equipment and a warehouse
Not limited to, but generally a large number of types of articles in a specified storage case
A warehouse that is put in and stored in etc., and multiple kinds of this stored
A specific number of specific items from a group of
It also occurs in the distribution system where it is supplied to a fixed request source.
It is also a problem. Therefore, in order to meet the demands of the above-mentioned prior art, the present invention
Newly proposed, the purpose of which is to store items
Requester for goods such as processing equipment and assembly equipment from the warehouse in units
In the goods distribution system for distribution to
The requirements for storage boxes in any combination of
Items that can be supplied in boxes that exactly match the demand
We are proposing a distribution system. [Means for Solving Problems] A box for accommodating an article of the present invention for achieving this object
Requester for goods such as processing equipment and assembly equipment from the warehouse in units
The goods distribution system to be distributed to the
Multiple items required to request the items required for each storage box
Request source and multiple storage boxes on multiple shelves
Random access to the warehouse for bulk storage and any shelf location in the warehouse
One or more storage boxes stored in any shelf position
Is separated from the other storage boxes in that shelf position and removed from that shelf.
Separation / removal mechanism and a plurality of types separated by the separation / removal mechanism
Receiving or receiving multiple storage boxes of the same type
Recombining knitted storage boxes into desired combinations
And a plurality of recombined knitting mechanisms that are recombined and knitted by the recombined knitting mechanism.
Receiving a container from the knitting mechanism,
A transport means for transporting the packaging box to the item request source, and the above-mentioned parts depending on the request of the storage box from any item request source.
Separation / removal mechanism, the rearrangement knitting mechanism, and the conveying means
And control means for controlling And, this control means, the accommodation box requested from the arbitrary article request source,
Control the separation and ejection mechanism to separate it from other storage boxes.
The combined knitting mechanism, and controls the combined knitting mechanism so that the plurality of collected knitting mechanisms
Reassembling the packaging box for each individual request from the above-mentioned arbitrary item request source
The transport means is controlled so that the storage is organized for each request source.
Receive the box and transport it to the requested item source
The feature is that it is controlled so as to be strict. [Operation] The request from the item request source can be set in any combination of storage boxes.
It is a request. Separation and retrieval mechanisms are used for each purpose included in the request.
Recombining knitting mechanism that separates the storage box from other storage boxes
Sequentially. This rearrangement knitting mechanism,
Received in order, and the receiving box received is included in the request
Combine all the storage boxes to be the desired combination.
Change and knit, and carry the storage box knitted for each requester
Hand it over to the means of delivery. The transport means transports the article to the request source. Separation when there are requests from multiple requesters at the same time
Order of storage boxes that the take-out mechanism passes to the recombination knitting mechanism
Is not necessarily a requester, but a recombination knitting machine
The structure rearranges and organizes the required storage boxes for each request source.
Therefore, the storage box that the transport means transports to each requesting source
This is exactly the combination of boxes that Kyogen requested. [Embodiment] Hereinafter, the configuration of an embodiment will be described in detail with reference to the accompanying drawings.
Will be described. This example is, by way of example,
This technology can be applied to a factory with multiple robot assembly positions.
Transport pallets loaded with parts to these assembly devices
Automated guided vehicles and automatic warehouses that store a large number of these pallets
It is applied to a parts supply system including a warehouse. <Palette> Figure 3 shows the parts between the robot assembly device and the warehouse.
It is a perspective view of a pallet used for supply. Figure 4 shows
4x7 = 28 parts are stored in the pallet p of
It is the figure which showed the state. This pallet has a vertical component
It is accommodated so that it can be inserted and removed along the line. And the top surface is open
The released pallet body and the transport direction of this pallet body
Overhang molding at least on both sides along
The integrated flange portion is provided. In addition, it illustrates
As you can see from the shape, this flange part is
Is formed over the entire circumference of the pallet body
Things. The pallet depends on the type of parts to be stored.
The depth and the number of stored items are different. However, the Palais
Multiple pallets can be stacked on top of each other
Yes, and even in this stacked state, the bottom of the upper pallet is lower
It does not come into contact with the parts inside the side pallet. <Assembly device and automated guided vehicle> Next, this assembly device will be briefly described with reference to FIG.
explain. This assembly device is a flexible assembly
This is called the ring center 150 (hereinafter called FAC) and is a book.
What the applicant of the invention disclosed in Japanese Patent Application No. 62-196469
It is. This FAC150 has multiple parts x ₁ , x _Two , x _Three Automatically assembles the desired product from
Automatic assembly device (hereinafter simply referred to as a robot)
Huh. ) 230 and this robot 230, depending on the assembly order
Parts x ₁ , x _Two , x _Three …, The corresponding pallet p ₁ , p _Two , p _Three …
A storage tray that is automatically supplied while stored in (Fig. 3).
The power 220 and the pallet containing parts inside the stocker 220 are worn out.
When it comes, I will supply a new pallet to this Stocker 220.
200 for storage, and an empty pallet between the buffer 200 and the stocker 220.
Elevator for smooth replacement with parts-containing pallet
Data 210. In the stocker 220, the pallet
Are stored in separate shelves one by one on the buffer 200
Pallet p ₁ , p _Two , p _Three ... are stacked and loaded
You. This FAC150 has spare parts in stocker 220
The shape stored in the pallet and the spare part on the buffer 200.
Stocked in two states called lett
You. When these spares are exhausted, new
The automated guided vehicle 100 is to replenish the pallet containing parts.
You. To reduce the number of parts in a pallet inside the stocker 220
When it disappeared, it was loaded on the buffer stand 203 of the buffer 200.
From the pallet group, it is the same as the pallet with fewer parts.
Separate the pallet that stores the same parts with the separation claws 201 and 202.
You. Since this separation position is fixed in this FAC150,
The elevator 210 picks up the pallet separated to this position.
Come to me The separated pallet was stored in the main body.
Elevator 210 is a pallet of empty stock of Stocker 220.
Move up and down to the shelf position, first, empty empty pallet elevator book
Pull it out to the bottom of your body and hold it in the empty shelf of the Stocker 220
Try to push in a new pallet. The empty pallets held at the bottom of the elevator body are transported.
It is loaded on the mechanism 212, and if necessary, when necessary,
It is moved into the lower storage section 103 of the automated guided vehicle 100. A new pallet from the automated guided vehicle 100 to the buffer 200
For replenishment, the pallet stacked on the base 102 is fixed by the roller 104.
It is done by moving and transferring. <Outline of distribution system> Fig. 1 shows the outline of this supply system, and Fig. 2 shows its outline.
It shows an example of a modified system. The system of FIG. 1 will be described first. In the figure
, There are multiple FACs installed, one for each FAC.
The automated guided vehicle 150 of the F
Walk between AC and Warehouse 1 or FAC. Parts a to e are stored in the warehouse 1 as shown in FIG. 6A.
Pallets are stacked for each part. These parts
Letts are placed in a stack, and each pile in this warehouse
Tandam is accessible every time. That is, for example,
When taking out the cartridge a, take out 6 pieces of the pellet a at the same time.
Is done. Now, in the time series as shown in Fig. 7A, from three FACs to parts
It is assumed that requests are made in the order of ab ... e. Automated guided vehicle
If there is only one, the automated guided vehicle 150 will be as shown in Fig. 7B.
Then, in order, the AFC1 is the pallet e, b and the FAC2 is the pallet d.
The pallet 3 must be replenished with pallets a and b.
No. That is, from the stacked state as shown in FIG. 6A to the one shown in FIG. 7B.
It is necessary to reorganize into individual stacked state. To perform this knitting again, the stage disassembling mechanism 2
The intermediate stocker 3 and the stacking mechanism 4. Stepping mechanism
2 is the same as the stack of pallets as shown in Fig. 6A.
For each pallet group, as shown in Fig. 6B
It is. The intermediate stocker 3 is, for example, a rotary rack described later.
Sequentially accessible temporary storage mechanism like
The inside of the pallet is separated into individual pallets.
Lett is stored. That is, in this intermediate stocker 3,
When there is a request as shown in Fig. 7A, 1
The pallets are stored one after another. Stacking mechanism
4 FAC the pallet stored in the intermediate stocker 3.
Take out one by one and stack them on the automated guided vehicle 150.
It is. In the distribution system according to the modified example of FIG.
It differs from the embodiment of FIG. 1 in that it has a random take-out mechanism 6.
You. This mechanism 6 moves vertically and horizontally in the warehouse. Soshi
In response to multiple pallet requests from one FAC,
One pallet from a group of multiple pallets stacked as shown in Figure A
Take out and hold the tray and move to the next pallet storage position
Then, one pallet is taken out again, and this operation is performed by the FA
All requests from C or loaded on an automated guided vehicle
Do as many as you can. The system shown in Fig. 1 and the system shown in Fig. 2 are installed in the warehouse.
The stacked state of the pallets delivered is the same, but
A stage to reorganize requests from several FACs for each FAC,
The former is an independent intermediate stocker 3, etc., or the latter is a warehouse.
The difference is whether it is internal. <Specific System> FIG. 8 is a specific example to which the system of FIG. 1 is applied. Outline In this system, a warehouse similar to warehouse 1 in Fig. 1
Seven 10s are prepared (in this FIG. 8). 13 is
It is located between two warehouses 10 and can move vertically and horizontally.
This is the so-called stacker crane of knowledge. 14 is Stats Kakure
The pallet taken out from the lane 13 was transferred to the automatic conveyor 18.
15 is a stacker for carrying a stack of pallets.
Detaching mechanism that separates one by one, 16 reverse stacking
It is a stacking mechanism. 11 is a collection of pallets containing parts separated one by one.
It is a rotating rack to be paid. 12 is the same carousel as 11
However, the parts recovered from the FAC are empty 1
They differ in that they are stored one by one. 17 is the stacking mechanism 16
Receive stacked pallets via conveyor 18
It is a conveyor stand for handing over to the automated guided vehicle 100.
Receives empty pallets from the automated guided vehicle 100 in a stacked state
This is a conveyor stand for the pallets received on this stand 19.
Through the conveyor 18 to the empty pallet rotary rack 12
It is sent to the living mechanism 15. Transfer order Take out a pallet containing parts from warehouse 11 and
The flow of pallets when handing over to 100 is a warehouse 10 stacks
Crane 13 Conveyor stand 14 Conveyor 18-step disassembling mechanism
15 rotation rack 11 stacking mechanism 16 conveyor 18 conveyor
A stand 17 automated guided vehicles 100. Receive empty pallets from the automated guided vehicle 100 and store them in the warehouse 10.
The flow of pallets for storage is 100 automated guided vehicles.
Nvea platform 19 Conveyor 18-stage dismounting mechanism 15 Empty pallet
Rotating rack 12-stage stacking mechanism 16 conveyor 18 conveyor table
14 Statka Crane 13 Warehouse 10. Stacker Crane Operation of warehouse 10 and stacker crane 13 is shown in Figures 9A and 9B.
Shown in the figure. Figure 9A is installed on the floor between two warehouses 10.
Stats clay that can be moved left and right on the rail 20
FIG. 13 is a conceptual diagram viewed from above. Similarly, Figure 9B shows
FIG. 3 is a conceptual diagram of the stacker crane 13 of FIG. This
The stacker crane 13 of the roller 26a, 26b is mounted on the rail 20.
Can be moved freely along the left and right lifting guides 21,
It can be moved up and down by the roller 22. Statka Crane 13
Inside, storage units 23a and 23b for storing two sets of pallets are installed.
Each storage unit has a stack of pallets inside the warehouse shelves.
Forks 25a and 25b for pulling out the
Roller core for transferring stacked pallets to the conveyor table.
Mubea 24a, 24b, etc. are provided. To remove a pallet at a certain shelf position in the warehouse,
Rollers 26a, 26b and roller 22 rotate to the above shelf position
Move the stacker crane 13 and use the forks 24a and 24b.
Take the stacked pallets into the storage compartment. Warehouse 10
What shelf is stored in which shelf
Is stored in a control device (41 in FIG. 12) described later. Rotating rack Fig. 10 shows a rotating rack that stores a pallet containing parts.
It is a top view of 11 (12). This rotating rack is a known rotation
It is the same as the rack, and there are multiple sets of vertical shelves with multiple levels above and below,
The shelves are connected side by side, and each shelf is rotated clockwise.
Or rotate counterclockwise. In each rack of this rack,
The pallets are stored one by one. What shelves on what shelves
This rack control device determines whether the lett is stored.
(42 in Fig. 12) tracks memory. That is, the step mechanism 15
When the stacked pallet arrives at the position
What kind of lettuce is when it is taken out of warehouse 10
Since the control device 42 is known, which rack of rack 11
You can calculate whether to put it. So that calculated shelf
Turn the rack 11 so that it comes to the position of the disassembling mechanism 15.
Invert. Also, take out the pallet at the shelf position in the rack.
Then, when trying to stack in the stacking mechanism 16,
Rotate the rack so that the shelves reach the 16th position of the stacking mechanism.
Let it. Stacking / Unstacking Mechanism Referring to FIGS. 11A and 11B,
Explain. The stacking mechanism 16 and the stacking mechanism 15 are
In terms of the configuration, the order of moving the let is just opposite to each other.
Is basically the same. An example of the step-out mechanism will be described. In Figures 11A and B, 3
0 is the stacking pallets from the conveyor 18 and the loading table 3
It is a fork to move to 1 and put. Mounting table 31
Is at the same height as the conveyor 18, basically
It does not move. 32 is a button fixed to the mounting table 31.
It is a screw. This ball screw 32 is a servo model not shown.
The ball nut 33 is mounted by being rotated by the motor.
It moves up and down with respect to the table 31. Left and right ball nuts 33
Is equipped with a rotating belt 34 for mounting each pallet.
Have been killed. These rotating belts 34 are attached to the air (not shown).
It is moved left and right by the cylinder mechanism. That is, the left and right
When the rotating belt 34 is biased toward the center and closed
Can hook one pallet. The ball
When the same 32 rotates, this one pallet is stored
It is moved up and down to the shelf position to be done. One in the rack
When storing pallets on the shelves, see Fig. 11B.
Then, the rotating belt 34 rotates. The stacking mechanism 15 may have the same structure as the stacking mechanism 16.
Will be easily understood. Control configuration Fig. 12 shows the overall configuration of the control system of this system (Fig. 8).
Is shown. The management CPU 40 controls the entire system. This
The computer 40 and each FAC are connected by a communication line.
From each FAC, a pallet request signal, M (f, n _i ) Is sent. Where f is the number assigned to the FAC
Where n is the part number in process i (ie, the pallet).
Number). Under the management CPU 40, the warehouse shelf management computer 41 and the department
A rack control computer that controls the rotating rack of a pallet containing products.
The computer that controls the rotating rack of the computer 42 and the empty pallet.
The computer 43 is placed. The warehouse shelf management computer manages the shelves of multiple warehouses 10.
Data 41. This management control is well known
Yes, in the memory of this computer 41, the shelf position and
It suffices to store a table of correspondence with the type of tool. Stats
The crane 13 is controlled by this computer 41,
When a pallet with parts is removed from the warehouse shelf,
When the empty pallets are stored in the storage shelves,
Bull is updated. Also, two step-out mechanisms 16 and two
The stacking mechanism 15 of the is controlled by the rack control computers 42 and 43.
Controlled. Control program The system shown in Fig. 8 stores parts and pallets.
Rotating rack 11 and rotating rack 12 for storing empty pallets
It is said to have and, but to simplify the explanation
Has only the rotating rack 11 that stores the pallet containing parts.
The system will be described below. Fig. 13 shows the component pallet request control in each FAC.
It is a program that explains the procedure related to
The program is executed by the FAC controller 239. This blog
As an example, rum is a product (called unit) U
It is for individual production, and one unit is produced.
Requires I parts (ie, I pallets) to do
And Assemble this unit for ease of explanation
The same assembly jig is used for each process
Make the assumption that parts are required. That is, the process number i
One part (this part is number n _i With) corresponds to one
The assembly of the unit is a total of I steps. In Step S2, a counter showing the current production quantity
u is initialized, and in step S4, the required number U are all manufactured.
Check if it is built. The loop of steps S8 to S20 is one unit.
Is a control for assembling, and when one unit is completed
(YES in step S8), return from step S22 to step S4
Repeat step S8 to step S20 U times
You. In step S6, the process number i is initialized. Step S10
Then, Stocker 220 (Fig. 5) is a part of process i (number n).
_i ) Is stored in the pallet drawer 237 (5th
(Fig.) Pull out. In Step S12, the robot 230
Nger 226 takes one piece out of this pallet
And assemble it to the unit being assembled. Step S14
Then, the remaining number of parts Z (i) in this pallet is updated.
You. That is, Z (i) = Z (i) -1. At step S16, the remaining number Z (i) is "0".
Find out what. If "0", step S18, buffer 2
Reinforce Stotka 220 with a new pallet that should be in 00
At the same time, in step S18, the management computer 40
Pallet request signal M (f, n _i ). After supplying a new pallet to the stocker 220,
In step S20, the process i is incremented, and the process goes to step S8.
Returning to the above, the above control is performed until the process i matches the total number I of processes.
repeat. In this program, the palette for the stocker 220 is
Replenish when the remaining quantity Z (i) reaches "0".
However, it is necessary to supply it from the buffer 200 to the stocker 220.
Considering the time, for example, when it is reduced to 1, go to Stotka
You may prepare to refuel. In addition, a warehouse automated guided vehicle
Considering the time required for the transfer process called FAC,
For example, when the number of Z (i) becomes one, the management computer
You may issue a pallet request to 40. 14A and 14B show the control program of the management computer 40.
Lamb. Step S20, this computer 40 Yes
Pallet request signal M (f, n _i ) Wait
One. Upon receipt of this request, step S22, shown in Figure 14C.
Stored in the requested table. That is, this table is
Form queuing lined up. And step S24
Then, the timer T (f, n _i )
You. This timer is a multi-channel that the computer 40 has.
Is set to the program timer of. This channel number is
The number of pallet requests expected to occur within a given time
Just prepare. Now, the time set in these timers is as follows
And decide. Robot arm movement speed, robot pair
Standing speed, etc. are known, and necessary for one unit
The number of parts is also fixed. In addition, strike from the buffer 200
The average time it takes to replenish pallets to the Tsuka 220
It can be roughly calculated. Therefore, an empty pallet at Stotka 220
Inside the Balhua 200 when the pallets are exchanged for new pallets.
Assuming that there is no spare new pallet, this exchange
The parts of the new pallet in the stocker 220 that has been replaced are worn out.
In the time until
It is only necessary to be replenished. That is, the time until this exhaustion is exhausted
Time is predictable, so this time is
It is time to set. In this system, each
FAC assumes that different units can be manufactured.
Therefore, the above timer set time is
It is preferable to set it for each manufacturing unit). Now returning to FIG. 14A. In step S26, the rack control command
The parts we have just requested for the computer 42 _i Atsuta
What should be stored from warehouse 10 to rotating rack 11
Instruct. Details of this warehousing instruction are shown in the flow chart in Figure 15A.
It is written on a part of Yart. More on controlling receipts later
As an illustration, referring to Figure 14B, the timer
The control procedure for every output will be described. This program will
For the FAC that requested a pallet for which a timeout occurred
The requirements currently held in the requirements table (Fig. 14C)
In principle, all pallets relating to
It is an instruction for what should be stored. That is, in FIG. 14B
In step S30, the table is searched to find which table
Imma T (f, n _i ) Check if timed out.
At this point, the time of the request for pallet from which FAC is
You can tell if you have timed out. Therefore, step S32 ~
As long as it can be loaded on the automated guided vehicle 100 with the loop of the step S38
(Step S38), the same FAC (Step S32)
The request for the pallet is made quickly (that is, the timer value T (f, n _i )
(Smallest)
(Step S34), request for each restore
Data M (f, n _i ) Is cleared (step S36). Then, the request M (f, n from the same FAC _i ) Is gone
Or, at that time, even if it can not be loaded on the automatic guided vehicle
Then, in step S40, the list M (f,
n _i ) To the rotary rack control computer 42. According to FIGS. 15A and 15B, the rack control computer
The control of 42 will be described. This computer 42 is a management computer.
Enter the storage instruction from the computer 40 at step S50,
Waits for a shipping instruction at step S52. Figure 14A
At step S26, management computer 40 enters computer 42
When the storage instruction is issued, the computer 42 will return to step S56.
To the request data M (f, n _i ) And request this request
Check if the let is in stock in the rotating rack 11.
This inventory check, as shown in Figure 15C, is a rotating rack 11
Stock table for all shelves of computer 42
Provided in memory, this table holds any pallets.
Memorize what has been paid and examine this stored data
Made by. In Figure 15C, the columns are
Gives the vertical, in-track position. If it is in stock, activate the Stacker Crane 13
There is no need, so return to step S50. Must be in stock
For example, in step S60, for the warehouse shelf management computer 41
Then M (f, n _i ). Then, in step S62, this pattern
Calculate which shelf location in rack 11 to store the lett
The rack position until it reaches the 16-position stacking mechanism.
Rotate 11 In response to this, the computer 41 becomes the Statka Crane 13
Start, remove a pile of the desired pallet, and
The bear 18 is placed and sent to the step-out mechanism 16. Rotating rack 11 side
Then, the stacked pallets reach the stacking mechanism 16.
And wait for the spinning rack to finish spinning. this
If the conditions are satisfied, step S66 is performed to stack the pallets.
Store each one in the rack of rack 11. At this time
The operation of the disassembling mechanism 16 will be described with reference to FIGS. 11A and 11B.
As explained. In step S68, the above rack 11
Update the inventory table (Fig. 15C). On the management computer 40 side, as described above,
The actual shipping instruction from the rotating rack 11 unless
Does not issue. So, using this time in advance,
In the rotating rack 11, store the pallets you plan to leave.
It is. Moreover, the stacker crane 13 is as described above.
Then, take out multiple pallets at once and
The let is stored in the rack 11. Therefore, within Rack 11
As long as there is stock in the
It is more efficient than going to the warehouse 10 every time. Whether the rack control computer 42 is a management computer 40
The case where the instruction to leave the warehouse is received will be described. At this time,
Go to step S50 step S52 step S54, FIG. 15B.
Execute the control of. In step S70 of Fig. 15B
Request data M (f, n of all pallets _i ) Of Figure 15D
As a table. This table is a convenience letter
Call it Bull. M (f, n) at the beginning of the issue table _i ) Is Thailand
Is the request that was detected and the earliest
Request. In step S72, the head data M (f, n
_i ) From the shipping table. In step S74,
The inventory of the rack of the let is adjusted from the inventory table in Fig. 15C.
Bell. If there is stock, step S76
Obtaining the stored shelf position, this shelf position is the stacking mechanism 15
Rotate Rack 11 until it comes to. And steps
In S78, the stacking mechanism 16 makes the pallets one by one.
Take out from the inner shelf and stack them.
Table to the relevant M (f, n _i ) Is cleared. Step S82
Now update the inventory table. In step S86, the next M (f, n _i ) From the issue table
Take out, return to step S74, and repeat the above control.
You. In this case, if there is no stock in step S74,
Proceed to S86 and move to the next M (f, n _i ), Step S74
Check inventory at. If there is no stock, the next M (f,
n _i ), And if in stock, execute steps S76 and below.
I do. That is, all M (f, n in the shipping table _i )
Repeat the above loop until all shipping is confirmed in step S84
repeat. As mentioned above, is the storage at Rack 11 FAC?
The order of the above requirements (Fig. 14A, step S26)
However, the requested M (f, n _i ) Pallets are in stock
And the requested M (f, n _i ) Pallets are not in stock
There is a possibility that there will be a
The number of pallets varies depending on the type of pallets.
This is because At the time of proceeding from step S84 to step S88,
Unattended transfer to the mechanism 16 at the time of timeout
M (f, n within the range that can be loaded in a car _i ) For
It is stacked. Therefore, this stacked pallet
Sent to the conveyor stand 17 via the conveyor 18 and further unattended
It is placed on the carrier 100. In addition, in the exit subroutine program of Fig. 15B,
I tried to issue goods in the order of the warehouse table, but as follows
May be. That is, M (f, n of the shipping table _i ) Out of
Closest to the stacking mechanism 16 in the current state of the rotating rack 11.
Items are sent out with priority. If you do this,
The amount of rotation of the rotating rack 11 is minimized, and eventually it is necessary to leave
The time to do is shortened. The rotary rack control computer 42 has a FAC
The receipt requests for other FACs may overlap during the issue for
There is a potential. In this case, the receipt request is controlled by the computer.
Try to queuing to 42. As described above, according to this embodiment, a plurality of FA
Request M (f, n generated randomly from C _i ), Against shelf 1
0 Stacker crane 13-stage dismounting mechanism 15-turn rack 1
1-stage stacking mechanism 16 Transports pallets to the automated guided vehicle 100
In the process of reassembling, as shown in Fig. 7B, reorganize each FAC.
It is. That is, a group of pallets placed in the warehouse 10 without any organization
Are efficiently reorganized for each FAC and loaded onto the automated guided vehicle 100.
Will be posted. <Modification of Embodiment of FIG. 8> Empty pallets are stored in the warehouse 10 via the rotary rack 12.
Is basically the control for the pallet containing parts.
All you have to do is reverse the procedure (Fig. 14, etc.). One more
The rotating rack of the pallet is used to store pallets containing parts and empty pallets.
If you want to share the parts with the stock table in Fig. 15C,
Set a flag that distinguishes between empty and empty pallets.
It will be possible with a kick. Further, in the embodiment shown in FIG. 8, for one rotary rack,
And a set of stacking mechanism 15 and stacking mechanism 16 are provided.
However, if you increase the number to 2 or more, you can use 2 or more FACs at a time.
It is possible to stack the required pallets. However, this
If you have two stacked piles of pallets,
In order to efficiently deliver to the FAC, an automated guided vehicle
Two or more units are required. <Example of FIG. 2> Example of FIG. 8 (the principle form is shown in FIG. 1)
Is for using the rotating racks 11 and 12 as an intermediate buffer.
is there. By using in this way,
The pile of required pallets can be piled up at high speed. When
Roller racks are expensive and occupy a large scale.
The area is also large. This embodiment of FIG. 2 has such a background.
Was born in. In FIG. 2, the warehouse 5 is a warehouse 1 shown in FIG. 1 (see FIG. 8).
Equivalent to warehouse 10). Random take-out mechanism 6
Details of stacker crane with stacking / stacking mechanism 6)
Is shown in FIG. The stacker crane 64 in Fig. 16 is
Inside the stacker crane 13 as shown in Fig. 9, Fig. 11A, Fig. 1A
Combined the stacking / stacking mechanism as shown in Figure 1B.
It has such a structure. 66 is a rotating belt, which extends inside the warehouse
Take out multiple stacked pallets. The system of this embodiment has no intermediate buffer function.
Therefore, the storage as activated by step S26 in Fig. 14A.
No action required. Then, instead of that,
When a fault occurs, a step S40 (Fig. 14B) dispatch instruction
To the Stacker Crane 64. I received this shipping instruction
Tatsuka Crane 64 is the lowest one of the mountains in the shelves of the warehouse.
The rotary belt 66 is locked to the flange portion of the pallet.
The taken-out pallet is held by the belt 66 and stacked.
Taken into the crane 64 and placed on the forks 68
You. Belt 66 will open and the pallet will engage with belt 66.
To be solved. Figure 17 shows the movement of the pallet by the stacker crane 64.
Is shown. FIG. 17 shows the state of being placed on the fork 68.
(B) of FIG. Next, move the belt 66 up and down to
Of the highest pallet of the pallet group installed on the ark 68.
Engage the belt 66 on the flange and then the ball screw 67.
Rotate and place one pallet as shown in Fig. 17 (c).
Separate upwards. In this state, drive the fork 68,
Return the remaining pallet to its original position in the warehouse (see Fig. 17
(D)). With this, one M (f, n _i ) For
Was separated. Next request data M (f, n _i ) For the
Move the stacker crane 64 on the rail 60 as shown in (e).
Move. Also, if necessary, move up and down along the rail 62.
You. Then, drive the fork 68 as shown in FIG. 17 (f).
Then, the next M (f, n _i ) Pallets corresponding to
And then lock it to the belt 66 as shown in (g).
The pallet and the pallet on the fork 68.
Body In this state, unlock the rotating belt 66,
Lock this belt on the flange of the second pallet from the top.
Then, the top two pallets are separated as shown in Fig. 17 (h).
I do. Such an operation is performed by M (f, n _i ), The bell
Place necessary pallets on top 66. That is, on the belt 66
The requested pallets are stacked. This stacking pallet
To rotate the belt 66, the equipment of the automated guided vehicle 100
Moved to a stand. <Modifications of the embodiment shown in FIGS. 1 and 2> Confirm what kind of pallet is received on the FAC side.
If there is a function that
It is not necessary to put the pallet on the automatic guided vehicle 100. this
For confirmation, for example, put a bar code at a predetermined position on the pallet.
And the barcode 200 will read the barcode on this pallet.
It is done like this. Further, in common with the above two embodiments, one unmanned conveyance
Allows vehicles to transport pallets to, for example, two or more FACs
You may. In this case, there are two loading tables 102 for the automated guided vehicle 100.
Divide into the above areas. And, for example, one automated guided vehicle
The number of pallets that can be mounted on the car is 50. Management computer
For example, the number of shipping instructions for one FAC issued from
If the number is 30 pieces, you can allocate the remaining 30 pieces to other FACs.
No. <Improvement of automated guided vehicle> The automated guided vehicle 100 in the above system (2 examples) is
Stacked state as shown in Japanese Patent Application No. 62-196469
Example of a robot assembly device that can replenish a pallet containing parts
It was applicable to. Because it is shown in Figure 5.
As shown, the buffer 200 itself has a step-out function.
Therefore, it is possible to accept stacked pallets.
It is. However, like a conventional robot assembly device
Make sure you have enough time even if you receive pallets.
Nothing like the Japanese Patent Application No. 61-200949, etc.
It is often the case that multiple pallets are replenished from a human carrier.
However, when actually receiving a pallet from an automated guided vehicle,
In some cases, you need to receive pallets one by one
You. Therefore, we installed a plurality of such robot robot assembly devices.
At the assembly plant, this system as shown in Figs.
An automated guided vehicle that is convenient to apply
This will be described with reference to FIG. FIG. 18 is a side view of the improved automated guided vehicle 70.
It is a conceptual diagram. Each palate loaded on this automatic guided vehicle 70
The tool p is placed on the roller conveyor 74.
In this case, an Nvea 74 is provided corresponding to each pallet.
The pallets are separated from each other and the automatic guided vehicle 70
It is stored in each shelf in the main body of. The position of each shelf is the lift 72
On the other hand, it is relatively fixed. The lift 72 is, for example,
Drive motor along the lift guide 73 consisting of
It moves up and down by the rotation of 71. That is, the lift 72 moves up and down
All the shelves move up and down. Fig. 19 is the rotating rack 11 etc. shown in Fig. 8 system.
Take out the pallets one by one, and combine these pallets.
Explaining how to store on each shelf of the automated guided vehicle 70 via 18
doing. The height position of the conveyor 18 in FIG. 19 is fixed
It is. Even if this height is fixed, the lifting table 72 must move up and down.
Adjust the storage shelves of the pallet to the height of the conveyor 18.
Can be made. Fig. 20 shows the robot shown in Japanese Patent Application No. 62-196469.
From the automated guided vehicle 70 to the assembly device 300,
It explains how to replenish each item one by one. This assembling device 300 has shelves from A to B sections.
The parts rack 85 and the automatic guided vehicle
Elevator mechanism 80 for replenishing the pallet shelf 85 of
Take out one pallet from the desired pallet rack 85,
Parts in the pallet pulled out by the robot hand 82
Elevator mechanism 81 that can move up and down to enable gripping
And a so-called robot 84 or the like. The A section of the pallet rack 85 is the buffer of the device shown in Fig. 5.
A. It corresponds to 200, and spare pallets are prepared for each pallet.
It is a part for temporary storage in a separated state. B
The cushion corresponds to the stocker 220 of the device shown in FIG.
The part that stores the pallet supplied to the robot 84 side.
It is. The elevator 81 depends on the required parts of the robot 84.
Then move up and down along the B section shelf to the palette shelf.
Take out the necessary pallets from 85. Palais with B section
When the floor is empty, the elevator 80 moves up and down,
Pull out and hold the empty pallet on the lower part 80b of the main body, then
Move to Section A and replace at that location
The pallet is pulled out to the drawer 80a. In addition, the elevator 8
0 moves to B section again, and A section becomes empty
Push a new pallet with parts into the shelf of the chillon
No. Thus, the exchange of the pallet is completed. That is, the elevator 80 exchanges pallets and carries out unmanned transportation.
Since it has the function of replenishing pallets from the car 70,
It is necessary to replenish the pallets one by one from the transporter 70.
There is. Therefore, such a robot assembly device
In 300, the automated guided vehicle 100 shown in FIG.
The unmanned carrier 70
By using it, it became possible to replenish the pallets.
You. In addition, as is clear from Fig. 19, the warehouse (rotary rat
(11) side and the unfolding mechanism between the automated guided vehicle 70 are unnecessary.
And Furthermore, the unmanned guided vehicle 70 has a separate pallet.
And they are loaded with random access
You. This means that there are multiple
When replenishing the pallets of the
Replenishing between pallets according to the urgency according to the remaining number of parts
Because it is possible to prioritize and control the order
is there. The distance between the shelves of the automated guided vehicle 70 is fixed in this embodiment.
It was set to a fixed height, but variable according to the height of the pallet
It may be. [Effects of the Invention] As described above, according to the present invention, an article is stored in a storage box.
Requester for goods such as processing equipment and assembly equipment from the warehouse in units
In the product distribution system for distribution to
The request source can be any combination of storage boxes or multiple
The product requester simultaneously requested the storage box in any combination.
However, there was a demand for the separation and ejection mechanism of the present invention.
For each storage box, take out the storage box from the warehouse and rearrange it.
To the organization, while the recombination organization is the source of the goods request.
Each received according to the combination of the required storage box
Reorganize the boxes and then transfer them to the individual
The combination of storage boxes requested by individual requesters
Set is the combination of the storage boxes that have been transported by the transport means.
Exactly matches with a boil. Thus efficient product distribution system
System can be provided.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a system configuration diagram of an article distribution system according to one embodiment, FIG. 2 is a system configuration diagram of an article distribution system according to another embodiment, and FIGS. FIG. 5 is a view showing the appearance of a component storage pallet used in the above two embodiments. FIG. 5 is a block diagram of a robot assembly apparatus used in the system of FIG. 1 embodiment and FIG. 2 embodiment, and FIGS. 6A and 6B. Fig. 1 is a diagram for explaining the process of separating pallets in the system of the embodiment of Fig. 1, Fig. 7A is a diagram for explaining how requests from a plurality of FACs occur in time series, and Fig. 7B is a diagram for explaining request pallets for each FAC. FIG. 8 is a diagram for explaining a state of reorganization, FIG. 8 is a system configuration diagram when the system of FIG. 1 is specifically developed, and FIGS. 9A and 9B are positions of the stacker crane 13 and the warehouse 10. Fig. 10 is a diagram for explaining the relationship, Fig. 10 is a diagram for explaining the appearance of the rotary rack, and Fig. 11A. The 11B diagram shows the structure of a stage disassembling / stacking mechanism, FIG. 12 shows a control system, Figure 13, the FIG. 14A, the 14B diagram, the FIG. 15A, second 15B figure, 8
Fig.14 Program flow chart related to the control procedure of the system, Fig. 14C is a diagram of a request table in which pallet requests are arranged in time series, Fig. 15C is a diagram of the inventory table of the rotating rack 11, and Fig. 15D is a diagram showing a delivery table. FIG. 16 is a diagram showing the configuration of a stacker crane used in the system of FIG. 2 embodiment, FIG. 17 is a diagram showing the operation of the stacker crane of FIG. 2 embodiment, and FIG. 18 is an unmanned vehicle for improvement. The side view of the vehicle, and FIGS. 19 and 20 are views for explaining the usage pattern of this unmanned vehicle. In the figure, 1,5,10 ... Warehouse, 2 ... Stacking mechanism, 3 ... Intermediate stocker, 4 ... Stacking mechanism, 6 ... Random take-out mechanism,
11 …… Pallet rotating rack with parts, 12 …… Empty pallet rotating rack, 13,64 …… Stacker crane, 14 …… Conveyor stand, 15 …… Separating mechanism, 16 …… Stacking mechanism, 17…
… Outgoing conveyor stand, 18 …… Conveyor, 19 …… Empty pallet receiving conveyor stand, 20 …… Rail, 21 …… Elevation guide, 2
2,26a, 26b …… Roller, 23a, 23b …… Storage section, 24a, 24b…
… Roller conveyor, 25a, 25b …… Fork, 30 …… Fork, 31 …… Standing table, 32 …… Ball screw, 33 …… Ball nut, 34 …… Rotary belt, 35 …… Rail, 40 …… Management computer, 41 …… Warehouse shelf management computer, 42 ……
Rotating rack control computer, 60 …… Rail, 62 …… Lifting guide, 65 …… Ball nut, 66 …… Rotating belt, 67
…… Ball screw, 68 …… Fork, 70 …… Unmanned vehicle, 71…
… Drive motor, 72… Lifting platform, 73… Lifting guide, 74…
… It's a roller conveyor.

Claims (1)

(57) [Claims] In an article distribution system that distributes articles in a storage box unit from a warehouse to a product request source such as a processing device or an assembly device, the articles are arranged at a position separated from the warehouse and stores the articles necessary for processing or assembly. A plurality of item request sources requested in a box unit, a plurality of shelves, a warehouse that stores a plurality of storage boxes collectively in a non-separated state for each type, and random access to any shelf position of the warehouse. And one or a plurality of storage boxes stored at any shelf position are separated from other storage boxes at the shelf position and taken out from the shelf, and a plurality of separation and extraction mechanisms are separated by the separation and extraction mechanism. And a plurality of storage boxes of the same type, and a rearrangement knitting mechanism for rearranging and knitting the plurality of received storage boxes in a desired combination, and a rearrangement knitting mechanism by the rearrangement knitting mechanism. Transporting means for receiving the plurality of storage boxes received from the knitting mechanism and transporting the received plurality of storage boxes to the article request source, and the separation and extraction mechanism and the aforesaid delivery mechanism according to the request of the storage box from any article request source. A control means for controlling the rearrangement knitting mechanism and the conveying means, wherein the storage box requested by the arbitrary article request source is controlled by the separation / takeout mechanism to be separated from another storage box, and the rearrangement is performed. And transfer to the knitting mechanism, and control the rearrangement knitting mechanism to rearrange and knit a plurality of delivered storage boxes for each individual request of the arbitrary item request source, and control the conveying means to make a request. An article distribution system, comprising: a control means for receiving a storage box organized for each element and controlling it so that it can be conveyed to a requested article request source. 2. In the warehouse, the storage boxes are sorted according to the same type and stored in a stacked state. The separation / removal mechanism is configured to move the separation / removal mechanism body to an arbitrary shelf position of the warehouse. Moving means, pulling out means for pulling out a desired number of storage boxes from the destination shelf, and temporarily holding the pulled-out storage boxes in the main body, and moving the storage box holding the main body to a predetermined transfer position And a means for receiving the storage box from the separating and taking out mechanism at the predetermined transfer position, and individual shelves capable of sequential access assigned to respective article request sources. It has a shelf mechanism and means for storing the received storage box in the shelf at the predetermined transfer position, and the control means receives the storage box request from an arbitrary item request source. Then, the requested storage boxes are classified according to the types of storage boxes, and the requested one storage box is taken out by controlling the pull-out means of the separation and take-out mechanism. The rearrangement knitting mechanism is controlled so that the originally assigned shelf comes to the predetermined delivery position, and the one type of storage box taken out at the delivery position is accommodated in the assigned shelf. The article distribution system according to claim 1. 3. The article according to claim 2, wherein each of the shelves of the shelving mechanism of the recombinant knitting mechanism is rotatably provided in a horizontal plane so as to be movable to the predetermined passing position. Distribution system. 4. The article distribution system according to claim 2, further comprising a stacker crane having the first moving means, the pulling means, and the second moving means. 5. It has a stacker crane as the separation and take-out mechanism and the rearrangement knitting mechanism. This stacker crane moves the stacker crane body to a target shelf.
In response to an instruction from the control means and the control means, a means for separating the desired number of storage boxes from the other storage boxes in the destination shelf and pulling it out, and the storage boxes that have been pulled out are already held in the main body. Second stacking means for stacking the storage boxes in the storage box, and second moving means for moving the main body to a predetermined transfer position when the storage boxes requested by the request source are held in response to an instruction from the control means. The article distribution system according to claim 1, further comprising: 6. The article distribution system according to any one of claims 1 to 5, wherein the storage box request from the article request source includes information specifying the type of storage box requested.