JPH0325361B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention is an article selection method in an automated warehouse system, etc., in which position errors such as device assembly errors and selection/transfer mechanism positioning errors can be reset with high precision and reliability. It is about the mechanism.

(Prior Art) When determining the dimensions and shape of a storage shelf in an automated warehouse system, etc. that includes a storage shelf that stores and stores articles and a selection/transfer mechanism that selectively transfers the articles, it is necessary to determine the size and shape of the storage shelf. It is necessary to fully consider positional errors such as assembly errors, selection/transfer mechanism assembly errors, and positioning errors. As an example, a case will be described in which an article on an arbitrary storage shelf is selectively transferred to another arbitrary storage shelf.

FIG. 1 shows the positional relationship of the articles, storage shelves, and selection mechanism in the standard state during takeout and storage. In FIG. 1, 1 is an article, 2 is a storage shelf, 3 is a selection mechanism, and 4
is the transfer/positioning direction, 5 is the virtual absolute reference line, W
is the width of the article, Cm is the average clearance between the article and the inner wall of the storage shelf, and l is the frontage of the storage shelf 2. In the reference state, each reference line of the article 1, storage shelf 2, and selection mechanism 3 coincides with the virtual absolute reference line 5. If items are always taken out and stored in this manner, and the position of the item relative to the storage shelf does not change due to external forces such as earthquakes while the item is being stored, then the inner walls of item 1 and storage shelf 2 The average clearance Cm may be any value, and when narrowing the width l of the storage shelf 2 to store as many items as possible, only the friction and wear between the items 1 and the inner wall of the storage shelf 2 should be considered. , the average clearance Cm should be made as small as possible.

However, in actual devices, there are positional errors such as storage shelf assembly errors, selection/transfer mechanism assembly errors, and positioning errors, resulting in the following problems. FIG. 2 shows the positional relationship of the articles, storage shelves, and selection mechanism in the actual device. Figure 2a
Figure 2b shows the image immediately before being taken out, and Fig. 2b shows the image immediately before being stored. In FIG. 2, 6 is the reference line of the article 1, 7 is the reference line of the storage shelf 2, 8 is the reference line of the selection mechanism 3, 10 is the storage shelf to be re-stored, and 11 is the reference line of the other storage shelf 10. , C1, and C2 are clearances between the article 1 and the inner wall of the storage shelf 2. In the actual apparatus, as shown in FIG. 2, the respective reference lines 6, 7, and 8 of the article 1, the storage shelf 2, and the selection mechanism 3 do not coincide with the virtual absolute reference line 5. Now, if the maximum value of the error between the virtual absolute reference line 5 and the reference line 7 of the storage shelf 2 is δ1, and the maximum value of the error between the virtual absolute reference line 5 and the reference line 8 of the selection mechanism 3 is δ2, then The maximum value of the error between the reference line 7 of the shelf 2 and the reference line 8 of the selection mechanism 3 is δ1+δ2. Also, reference line 7 of storage shelf 2
The maximum error between the reference line 6 of the article 1 and the reference line 6 is (C
1+C2)/2, that is, Cm, so when the selection mechanism 3 takes out the article 1, the maximum error between the reference line 8 of the selection mechanism 3 and the reference line 6 of the article 1 is δ1+δ2+Cm becomes. Furthermore, in order to store the article 1 in another storage shelf 10, the reference line 11 of the other storage shelf 10 and the reference line 8 of the selection mechanism 3 when the selection mechanism 3 is positioned on the other storage shelf 10 are Since the maximum error is also δ1 + δ2, in the worst case, the reference line 6 of the article and the reference line 1 of the other storage shelf 10
The maximum error of 1 is 2(δ1+δ2)+Cm. On the other hand, in order for the article 1 to be stored in the storage shelf 10,
The error between the reference line of the article and the reference line of the storage shelf must be less than or equal to the average clearance Cm between the inner wall of the storage shelf and the article. However, as described above, in order to re-store the article, the selection mechanism 3 selects another storage shelf 10.
The maximum value of the error between the reference line 6 of the article and the reference line 11 of the other storage shelves 10 when the article is positioned is 2.
(δ1 + δ2) + Cm, so the item may not be able to be stored again in the storage shelf. Conventionally, in order to solve this problem, a method has been used in which the clearance between the item and the storage shelf is widened from the back of the storage shelf toward the entrance, and the positional error is reset when storing the item. Ta.

FIG. 3 shows the shape of a storage shelf used in the conventional position error reset method. In FIG. 3, 9 is the inner wall of the storage shelf 2, and Co is the clearance between the article 1 at the entrance of the storage shelf 2 and the inner wall 9 of the storage shelf 2. The inner wall 9 of the storage shelf 2 is made so that the clearance with the article 1 becomes zero at the deepest part of the storage shelf 2. When such a storage shelf 2 is used, the reference line 6 of the item and the reference line 7 of the storage shelf always match when the item 1 is stored on the storage shelf, so that the item 1 is stored in the selection mechanism 3. The maximum value of the error between the reference line 6 of the article and the reference line 8 of the selection mechanism when the article is taken out by is δ1+δ2. When an article is stored in another storage shelf, the maximum value of the error between the reference line 7 of the storage shelf and the reference line 8 of the selection mechanism 3 is also δ1 + δ2, so the reference line 6 of the article and the reference line 7 of the storage shelf are The worst value of the maximum error is 2(δ1+δ2). Therefore, if the clearance Co between the article 1 and the inner wall of the storage shelf 2 at the entrance of the storage shelf 2 is designed to be larger than this worst-case value, it is guaranteed that the article 1 will be stored again in the storage shelf 2. become. In this case, the storage shelf frontage l is W
+4 (δ1 + δ2).

(Problem to be Solved by the Invention) However, in such a conventional method, when an article is stored in a storage shelf by a selection mechanism, friction and wear of the inner wall between the article and the storage shelf are inevitable. However, there were disadvantages in that damage to articles and storage shelves and a decrease in reliability were unavoidable. Furthermore, due to the frictional force generated by the friction between the article and the inner wall of the storage shelf, an excessive load is placed on the actuator of the selection mechanism 3 that takes out and stores the article. Friction and abrasion also occur between the article and the member holding the article in the selection mechanism, resulting in unavoidable damage to the article and the holding member and a decrease in reliability. Furthermore, since the shape of the storage shelf is complicated, manufacturing costs are high.

In order to eliminate the above-mentioned conventional drawbacks, the present invention aims to provide an article selection mechanism that can minimize article position errors due to device assembly errors, selection/transfer mechanism assembly errors, positioning errors, etc. .

(Means for Solving the Problems) In order to achieve the above object, the present invention has an article selection/transfer mechanism that takes out articles from a storage shelf of an automated warehouse system or the like and transfers them to another storage shelf. An upper grasping member for grasping in a direction, a lower grasping member capable of vertical movement, an actuator for moving the lower grasping member up and down, and a gap in the center thereof through which the lower grasping member can pass, supporting the article. An article selection mechanism is proposed that includes a plate, a pair of movable members arranged oppositely on the support plate so as to move the article whose position error is to be reset to a reference position in the reset direction, and a drive means for driving the movable members. .

(Function) According to the present invention, the article taken out by the upper grasping member and the lower grasping member descends as the lower grasping member operates based on the operation of the actuator, and the lower grasping member supports the article. When it descends below the top surface of the plate, it is placed on the support plate. When the drive means is operated in this state, the pair of movable members move, and the article is always positioned at the reference position on the support plate, thereby resetting the positional error during storage.

(Embodiment) FIG. 4 is a schematic diagram of an automatic warehouse system, for example, a mass storage device, equipped with the article selection mechanism of the present invention. In the figure, reference numerals 51 and 52 denote a left garage and a right garage, which are provided at both ends of the device, and are provided with a main control circuit, a selection/transfer mechanism drive circuit, and the like. 53 are each honeycomb frames;
Storage shelves 2 for magnetic tape cartridges are provided on both walls, and guide rails 56, 56' of a transfer mechanism 54 are provided at the upper and lower portions. Some of the honeycomb frames 53 have a recording/reproducing mechanism (not shown) or an entry mechanism (not shown) for inputting a new magnetic tape cartridge from the outside, and a mechanism for ejecting unnecessary magnetic tape cartridges to the outside. An exit mechanism is provided. A rack gear is formed on the side surface of the lower guide rail 56', and a pinion gear meshing with the X drive motor 57 provided on the base 55 of the transfer mechanism 54 is coupled to rotate the X drive motor 57. By doing so, the transfer mechanism 54
moves in the direction of arrow 59.

Next, a mechanism for moving the selection mechanism 3 up and down will be explained using FIG. 5. 61 is a column fixed to the base 55 of the transfer mechanism 54, 58 is a Y drive motor installed on the base 55, 62 is the base of the selection mechanism 3, 6
3 is a rope, 64 is a roller whose axis is fixed to the base 62 and is installed to sandwich the pillar 61;
Reference numeral 5 indicates a fixing jig for fixing a part of the rope to the base 62, and reference numerals 66 and 67 each have their shafts connected to the transfer mechanism 54.
This is a pulley fixed to the upper part of the Y drive motor 58. If such a mechanism is used, the selection mechanism 3 can be moved in the vertical direction 60 by rotating the Y drive motor 58.

6a, b, and c are respectively a plan view, a side view, and a rear view of the article selection mechanism having a position error reset function according to the present invention, and FIG. 7 is a perspective view of the main parts thereof. In the figure, 12 is an upper gripping member, 13 is a lower gripping member, 14 is a motor that moves the lower gripping member 13 up and down, 15 is a pinion gear, 16 is a rack gear,
17 is a linear bearing on the movable side, 18 is a linear bearing on the fixed side, 80 is a base of the linear movement mechanism,
Reference numeral 19 denotes a pair of movable members arranged opposite to each other so as to move the article 1 to a reference position in the reset direction, which are movably attached to a support frame 19a fixed to the base 80, and a pair of solenoids also attached to the support frame 19a. Connecting rod 19d to operating rod 19c of 19b
are connected via. 20 is a support plate that supports the article 1, and has a gap in the center through which the lower grasping member 13 passes. 21 is an upper grasping member 12, a lower grasping member 13, a motor 14, a pinion gear 15,
This is a grasping mechanism consisting of a rack gear 16 and linear bearings 17 and 18. 68 is a bearing that engages with rails 69 provided on both sides of the grasping mechanism 21;
Reference numeral 72 denotes a linear movement motor, which is provided on the base 80 and moves the grasping mechanism 21 in the front and rear directions. 8
2, 83 is a wire support pulley, and base 8
Provided at both ends of 0. A wire rope 70 is connected to the grasping mechanism 21 by a connecting fitting 85, and is connected to pulleys 82, 83 and a drive pulley 84.
is engaged with. Further, the base 80 is fixed to the base 62 via a bearing 81. 7
3 is a motor that rotates the base 80, 87 is a pulley provided on the base 80, and 86 is a motor 73.
A drive pulley 71 provided in the drive pulley 71 is engaged with a pulley 87 and a drive pulley 86 through a wire cable.

According to the mechanism configured as described above, the motor 14 performs the vertical movement and the position error reset operation of the lower gripping member 13, and the motor 72 controls the gripping mechanism 2.
The motor 73 performs straight movement along the guide 69 of 1.
Since the base 80 can be rotated with respect to the base 62, the vertical and horizontal movements of the transfer mechanism 54 can be combined to make it possible to take out and store articles from any storage shelf to any storage shelf.

Next, the position error reset operation will be explained in detail with reference to FIG. The lower gripping member 13 has linear bearings 17 and 18 relative to the upper gripping member 12 on the fixed side.
While being guided by the motor 14 and gears 15, 16
It goes up and down depending on. grasping mechanism 21 and base 80,
Motor 72, drive pulley 84, pulley 8
2, 83, the article 1 taken out from the storage shelf into the selection mechanism 3 by the linear moving mechanism consisting of the wire rope 70 descends as the lower gripping member 13 moves downward, and the lower gripping member 13 , support plate 20
When it descends below the top surface of the , it is placed on the support plate 20 . When the solenoid 19b is operated in this state, the movable member 19 moves, and the article 1 is always positioned at the reference position on the support plate 20. Therefore, by placing the article 1 on the support plate 20 and picking it up again by the lower grasping member 13, the positional error of the article 1 can be reset.

Next, the position error reset operation when using the present invention will be explained in more detail with reference to FIG.
FIG. 8 shows articles, storage shelves, and the like when using the present invention.
This shows the worst positional relationship of the selection mechanisms. FIG. 8a shows when the selection mechanism is positioned on the desired storage shelf 2, FIG. 8b shows when the article 1 is removed from the storage shelf 2 by the selection mechanism, and FIG. FIG. 8d shows the state of the article 1 after it has been positioned on the storage shelf 10 to be stored, after the position of the article 1 has been reset to the reference position of the selection mechanism.

When the selection mechanism is positioned on a desired storage shelf 2 and the article 1 is taken out from the storage shelf 2 by the selection mechanism, the maximum error between the reference line 6 of the article and the reference line 8 of the selection mechanism is the virtual absolute reference line 5. and storage shelf reference line 7
Using the maximum error δ1 of
becomes. Next, the storage shelf 10 to be reheated by the selection mechanism
When positioned, the relationship between the reference line 11 of the storage shelf and the reference line 8 of the selection mechanism with respect to the virtual absolute reference 5 is, in the worst case, opposite to that at the time of removal (FIG. 8a). Therefore, the reference line 6 of the article at this time
The maximum error between the storage shelf reference line 11 and the storage shelf reference line 11 is 2 (δ1
+δ2) +Cm. Then, as explained earlier,
By lowering and raising the lower grasping member 13 and moving the movable member 19, the position of the article 1 is reset to the reference position of the selection mechanism. That is, the error between the reference line 6 of the article and the reference line 8 of the selection mechanism is made zero. As a result, the maximum value of the error between the article reference line 6 and the storage shelf reference line 11 is reduced to δ1+δ2. Therefore, in order to reliably store the article 1 in the storage shelf 10 again, the average clearance Cm between the article and the inner wall of the storage shelf should be designed to be larger than the maximum value of this error.

From the above results, the frontage l of the storage shelf is W + 2 (δ1
+δ2). This value is 2 times higher than that of the conventional method using the storage rack 3 shown in Figure 3.
Since it is smaller by (δ1 + δ2), the storage efficiency of the storage shelf can be increased by this amount. Furthermore, according to the present invention, since it is possible to reset the article relative to the selection mechanism immediately before the storage operation, the position of the article relative to the selection mechanism may change due to inertial force generated by acceleration or deceleration of the selection mechanism while the article is being transferred. However, there is also the advantage that there will be no positional error during the storage operation. Furthermore, since there is no friction or wear when storing articles, there is no problem of damage to articles, storage shelves, etc. or reduction in reliability. Furthermore, since no excessive load is placed on the actuator of the selection mechanism that takes out and stores articles, there is no problem of reduced reliability of the actuator.

In addition, in this explanation, a mechanism using a motor, a pinion, a rack gear, and a linear bearing is shown as a mechanism for raising and lowering the lower grasping member, but it is possible that the same effect can be obtained by using other known means. Needless to say. Furthermore, although the upper grasping member has been described as being of a non-movable type, it may be of a vertically movable type like the upper grasping member.

(Effects of the Invention) As explained above, according to the present invention, since the article is grasped in the vertical direction, that is, in the direction of gravity, by the upper and lower grasping members, a load greater than the weight of the article is applied to the grasping members and their actuators. There is no risk of damaging the article, the gripping member, or its actuator, or reducing reliability. Furthermore, since the reset operation is performed on the support plate by a pair of movable members separate from the grasping member, positional errors are reliably reset, and the frictional force between the article and other members during the reset operation is reduced. can be made smaller, so
The load applied to the movable member and its driving means can be reduced, and there is no risk of damaging the article, the movable member, or its driving means or reducing reliability. Further, since positional errors of articles can be reliably reset, the opening of the storage shelf can be narrowed, and high storage efficiency of the storage shelf can be realized. Furthermore, by using the article selection mechanism according to the present invention, it is possible to reset the positional error of the article immediately before storing the article, so that the positional error that occurs during the transportation of the article does not become a positional error when performing the article storage operation. There is an advantage.
Furthermore, since it is possible to use a storage shelf with parallel inner walls, there is no friction or wear between the items and the storage shelf when the items are stored in the storage shelf, and there are no problems such as damage or reduction in reliability. Furthermore, if the present invention is used, the inner wall is parallel from the entrance to the deepest part, and the shape is simple.
There is also the advantage of being able to use storage shelves that are inexpensive to manufacture.

In the above explanation, an automatic warehouse system was given as an example, but it goes without saying that the present invention can also be applied to assembly robots in automatic assembly factories and the like.

[Brief explanation of the drawing]

Figure 1 is a diagram showing the positional relationship of the standard state of articles, storage shelves, and selection mechanism during takeout and storage in an automated warehouse system, etc. Figures 2a and b are the actual equipment of articles, storage shelves, and selection mechanism. 3 is a diagram showing the shape of a storage shelf used in the conventional position error reset, FIG. 4 is a schematic configuration diagram of a mass storage device to which the present invention is applied, and FIG. Main part configuration diagram of the mechanism that moves the selection mechanism up and down, No. 6
Figures a, b, and c show the article selection mechanism of the present invention, where figure a is a plan view, figure b is a side view, figure c is a rear view, and figure 7 is a perspective view of the main parts. Figure 8a,
b, c, and d are positional relationship diagrams of articles, storage shelves, and selection mechanisms when using the article selection mechanism according to the present invention. 1... Article, 2... Storage shelf, 3... Selection mechanism,
4... Transfer positioning direction, 5... Virtual absolute reference line, 6... Reference line of article, 7... Reference line of storage shelf, 8... Reference line of selection mechanism, 9... Inner wall of storage shelf, 10 ...Storage shelf, 11...Reference line of storage shelf,
12... Upper grasping member, 13... Lower grasping member,
14...Motor, 15...Pinion gear, 16...
... rack, 17 ... linear bearing, 18 ... linear bearing, 19 ... movable member, 20 ... support plate, 21 ... grasping mechanism.

Claims (1)

[Claims] 1. In an article selection/transfer mechanism that takes out articles from a storage shelf in an automated warehouse system and transfers them to another storage shelf, an upper grasping member that grasps the article in the vertical direction and a lower grasping member that can move up and down. an actuator for moving the lower grasping member up and down; a support plate for the article having a gap in the center thereof through which the lower grasping member can pass; An article selection mechanism comprising: a pair of movable members disposed opposite to each other on the support plate; and a drive means for driving the movable members.