JPH0521802B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to an automatic storage and retrieval device that is capable of automatically storing, storing, searching and retrieving articles in a warehouse or the like.

(Prior art and its problems) As a conventional example of this type of automatic storage and retrieval device, two storage areas, each consisting of shelves serving as article storage areas arranged vertically and horizontally in a matrix, are arranged so that their front faces face each other. A vertical column is run along the front of the two storage areas in the opposing space, and a picker installed on this column so as to be movable up and down allows each shelf of the two storage areas to be placed on the shelf. A device configured to allow articles to be taken in and taken out is known.

However, in the conventional configuration described above, in order to move the picker to the desired shelf, it is necessary to drive a large vertically extending column, which requires a large amount of electricity and increases operating costs. have a problem Further, since the next loading/unloading operation cannot be started until the loading/unloading of articles to/from a desired shelf is completed, loading/unloading processing takes time and is inefficient. Furthermore, since it is necessary to connect the column, picker, and a predetermined control device that controls them with control wiring, there is also the problem that the wiring process at the time of installation is troublesome.

(Purpose of the Invention) This invention was made to solve the above-mentioned problems, and is an automatic system that requires less electricity for operation, allows efficient loading/unloading operations, and simplifies wiring during installation. The purpose is to provide a storage and retrieval device.

(Means for Achieving the Object) In order to achieve the above-mentioned object, the automatic storage and retrieval device of the present invention includes a storage area in which a plurality of shelves are arranged in a matrix shape, and a storage area for each shelf in this storage area. It is installed so that it can run freely along the open side of the shelf.
A picker having an in/out mechanism for taking articles in and out of the shelf, an optical communication unit disposed facing the picker on each shelf toward the traveling space of the picker, and an optical communication unit and the optical communication unit. The optical communication unit includes an optical communication unit provided on the picker side so as to control the picker, and a picker control means for controlling the picker by transmitting and receiving optical signals between these optical communication units.

(Embodiment) FIG. 1 shows a perspective view of an automatic storage and retrieval device which is an embodiment of the present invention.

This automatic storage and retrieval device has storage areas 2 and 3 on the right and left sides of a housing 1, and each storage area 2 and 3 is composed of shelves 4, which serve as article storage areas, arranged in a matrix in a vertical and horizontal manner. has been done. The left and right storage areas 2 and 3 are arranged so that the open sides of the shelves 4 face each other, and in the intermediate area between these left and right storage areas 2 and 3, there are shelves for each shelf of the storage areas 2 and 3. Container 5 on shelf 4
An inner picker 6 that is inserted into and taken out of the inner picker 6 is provided so as to be freely movable in the front and rear directions. That is, a pair of rails 7 are arranged in parallel in the front and back direction at the height positions corresponding to the shelves of the left and right storage areas 2 and 3, and the inner picker 6 is mounted on these rails 7 so as to be able to run freely. has been done. This inner picker 6 is provided with a well-known loading/unloading mechanism (not shown), and this loading/unloading mechanism allows containers 5 stored on the shelves 4 of the left and right storage areas 2, 3 to be taken onto the inner picker 6, The container 5 can be inserted into the shelf 4 from above the container 6.

On the other hand, in front of the housing 1, a column 8 is erected to face the running space of the inner picker 6, and on the rear side of the column 8, each column 8 is positioned at a height opposite to the inner picker 6 of each shelf. An optical communication unit 9 is provided, and each inner picker 6 is also provided with an optical communication unit 9 that faces the optical communication unit 9 on the column 8 side. Each optical communication unit 9 on the column 8 side is connected to a main computer 10 that controls the entire automatic storage and retrieval device, and the optical communication unit 9 exchanges optical signals between the column 8 and the inner picker 6. By doing this, the operation of the inner picker 6 is controlled. Further, the power source for driving each inner picker 6 is obtained through a trolley duct (not shown) extending along each rail 7 and the like.

Furthermore, on both sides of the column 8, there are shelf groups 4' (only the left shelf group 4' is shown in FIG. 1) for loading and unloading located at the front row of the left and right storage areas 2 and 3 of the housing 1. Outer Picker 1 to face
1 are provided so that they can be raised and lowered. That is, the outer picker 11 engages with a guide rod 8a vertically installed on the side surface of the column 8, and is driven up and down under the control of the main computer 10 described above. This outer picker 11 is also provided with a loading/unloading mechanism similar to that of the inner picker 6, and the container 5 carried by the external conveyor 12 to one side of the column 8 is stored in the loading/unloading shelf group 4'.
It is transferred to a desired shelf tier and inserted into the shelf 4 from the side side of the shelf group 4' for loading and unloading, or brought into the shelf 4 of the group 4' of shelves for loading and unloading from another shelf 4 using the inner picker 6. The container 5 can be taken out and transferred onto an external conveyor 12.

FIG. 2 shows a block diagram of a schematic configuration of the above-mentioned optical communication unit 9 provided on the column 8 side and the inner picker 6 side, respectively. This optical communication unit 9 has two systems, a transmission system and a reception system, installed in parallel.The transmission system modulates the input electrical signal S _i into a predetermined mode by the modulation circuit 13, and then
The optical signal a is converted into an optical signal by a drive circuit 14 including a light emitting element, and the optical signal a is passed through a filter 15 and output. On the other hand, in the receiving system, the input optical signal b is taken in through an optical system 16 including a filter and a lens, photoelectrically converted into an electrical signal by a drive circuit 17 including a light receiving element, and the electrical signal is applied to a filter circuit 18. amplifier 1
9, the received level unifying circuit 20 adjusts the signal level to a predetermined signal level, and the demodulation circuit 21 further demodulates this signal into an electric signal S ₀ of a predetermined mode. The optical signal output from the transmission system of the optical communication unit 9 on the column 8 side is input to the reception system of the corresponding optical communication unit 9 on the inner picker 6 side, and is also output from the transmission system of the optical communication unit 9 on the inner picker 6 side. The transmitting system and the receiving system are opposed to each other so that the optical signal sent to the column 8 is input to the receiving system of the optical communication unit 9 on the corresponding column 8 side.
As shown in FIG. 3, bidirectional communication is carried out between the inner picker 6 and each inner picker 6 by a polling selection method.

In this embodiment, as shown in FIG. 4, the signals transmitted from the main computer 10 to the inner picker 6 include an address D ₁ specifying the inner picker 6, command contents D ₂ such as taking out or returning the container 5, and putting in and taking out the container. A data format consisting of the address _D3 of the container 5 (or shelf 4), etc. is used. This signal is, for example, column 8
Each optical communication unit 9 on the side may transmit signals to all inner pickers 6 at the same time, and in this case, each inner picker 6 not only transmits signals designated to itself but also signals designated to other inner pickers 6. However, each inner picker 6 selects only the signal specified for itself from among these signals based on the above address _D1 and executes the command. Furthermore, as shown in FIG. 5, the signal may be sent only to the corresponding inner picker 6. In this case, as shown by the dotted line in FIG. 5, signal interference with adjacent inner pickers 6 may occur. , this can be solved by adopting the signal format shown in FIG. 4 mentioned above.

Next, the operation of this automatic storage and retrieval device will be explained with reference to flowcharts shown in FIGS. 6 to 8.

(1) Removal of the container 5 In the flowchart shown in _FIG .
When the desired item is requested to be removed from the storage area 2, 3 by input to 0, the step
In step _S2 , the main computer 10 determines the location address of the container 4 containing the article from the item number of the article, that is, the number and row number of the shelf 4 in which the container 4 is stored. Then, in step _S3 , a command is transmitted to the inner picker 6 of the corresponding stage through the optical communication unit 9. Sending this command is recommended when there are many items requested to be taken out and the number of shelves corresponding to each item is different.
For example, the signals are transmitted to the inner pickers 6 of each stage in parallel. Upon receiving this command, the inner picker 6 starts traveling toward the desired position of the shelf ₄ in step S4. Before the inner picker 6 starts running, it is waiting at the arbitrary position where the previous operation was completed in the relevant stage. When the inner picker 6 arrives in front of the target shelf 4 and stops traveling in step _S5 , the next step is started.
At _S6 , the ejecting/extracting mechanism of the inner picker 6 is actuated to start taking out the container 5 from the shelf 4. When the container 5 is loaded onto the inner picker 6 in step _S7 and the unloading is completed, the inner picker 6 moves toward the unloading home position, that is, the front row loading/unloading shelf group 4' in the next step _S8 . Start. When the inner picker 6 arrives at the home position and completes its travel in step _S9 , the loading/unloading mechanism of the inner picker 6 is activated again in the next step _S10 , and the transported container 5 is moved to the loading/unloading shelf group. 4' shelf 4. Container 5 by step S ₁₁
When the insertion is completed, in the next step _S12 , an operation completion signal is transmitted from the inner picker 6 to the main computer 10 via the optical communication unit 9, and the inner picker 6 waits there until receiving the next command.

The container 5 inserted into the shelf 4 of the loading/unloading shelf group 4' is taken out by the outer picker 11 which operates asynchronously with the movement of the inner picker 6.
It is transferred to the external conveyor 12 and carried outside.

(2) Returning the container 5 The container 5 transported by the external conveyor 12 is first transferred to the outer picker 6, and then
It is inserted into the shelf 4 of the front row loading/unloading shelf group 4'.
In this work, the container 5 is moved to the storage area 2,
If the method of returning to the shelf 4 of No. 3 is a fixed location method, that is, the method of returning to the shelf 4 at a specified position, the return to the shelf 4 of the specified number of stages among the shelves 4 of the loading/unloading shelf group 4' Container 5 is inserted.

On the other hand, in the case of a free location method in which the container 5 is returned to the empty shelf 4 in which the container 5 can be returned in the shortest time without specifying the shelf 4 to be returned to, the container 5 is returned to that shelf 4, as shown in FIG. The container 5 is transferred to the loading/unloading shelf group 4' according to the flowchart shown in FIG. That is, in FIG. 7, first, in step _S21 , the container 5 is transferred from the external conveyor 12 to the outer picker 12. Next, in step _S22 , the waiting position of the inner picker 6, which has completed its operation and is currently waiting, is checked, and furthermore, in step _S23 , the storage areas 2 and 3 are checked.
The position of each empty shelf 4 is confirmed. and,
Based on the data of the standby position and the position of the empty shelf 4, in the next step _S24 , the inner picker 6 picks up the container 5 from the current standby position to the loading/unloading shelf group 4' and picks up the container 5. The stage with the shortest reciprocating distance to be transported to the shelf 4 is determined. Based on this determination, in the next step _S25 , the container 5 is inserted from the outer picker 11 into the shelf 4 of the relevant stage of the loading/unloading shelf group 4'.

The operation of returning the container 5 transferred to the shelf 4 of the loading/unloading shelf group 4' to the empty shelf 4 of the storage areas 2 and 3 is performed according to the flowchart shown in FIG. In the figure, when the return of the container 5 is first requested in step _S31 , a check is made to see if the container 5 is placed on the shelf 4 of the loading/unloading shelf group 4'. When it is confirmed that the container 5 is contained, the location address of the shelf 4 that stores the container 5 is determined in the next step _S32 . Next, in step _S33 , the optical communication unit 9 is connected to the inner picker 6 of the corresponding stage.
The return command is sent through. Upon receiving this command, the corresponding inner picker 6 starts traveling toward the loading/unloading shelf group 4' in step _S34 . When the inner picker 6 arrives and stops in front of the loading/unloading shelf group 4' in step _S35 , the loading/unloading mechanism of the inner picker 6 is activated in the next step _S36 , and the shelf 4 of the loading/unloading shelf group 4' is activated. From there, the container 5 is taken onto the inner picker 6.
When the loading of the container 5 into the inner picker 6 is completed in step _S37 , the next step
By _S38 , the inner picker 6 starts traveling toward the target shelf 4. When the inner picker 6 arrives in front of the target shelf 4 in step _S39 and travel is completed, the output mechanism of the inner picker 6 is activated again in the next step _S40 , and the transported container 5 is moved to the shelf 4. inserted within. step
When the insertion of the container 5 is completed in _S41 , the next step _S42 is to transfer the information from the inner picker 6 to the main computer 10 through the optical communication unit 9.
An operation completion signal is sent to the inner picker 6, and the inner picker 6 waits there until receiving the next command.
In this way, after returning the device, the next command is received at that position without returning to the home position, resulting in a reduction in access time.

(Effects of the Invention) As described above, according to the automatic storage and retrieval device of the present invention, articles can be taken in and out of each shelf in the storage area by simply operating the inner picker, so that they remain integrated with the column. In addition to significantly reducing the power required for operation compared to the conventional method of moving pickers, the shelf structure in the storage area is simplified, making it easy to add and relocate, and allows for a close-contact layout that takes up limited space. can be used effectively. In addition, since an inner picker is provided for each stage of the storage area and is operated independently, a plurality of items can be taken in and taken out at the same time, greatly improving efficiency. Furthermore, since the inner pickers are controlled by exchanging signals between each inner picker and the control device using optical communication, the wiring process when installing the device can be greatly simplified. can get.

[Brief explanation of the drawing]

FIG. 1 is a perspective view of an automatic storage and retrieval device that is an embodiment of the present invention, and FIG. 2 is a block diagram showing a schematic configuration of an optical communication unit used in the device.
FIG. 3 is an explanatory diagram showing an example of communication between the main computer and each inner picker, and FIG. 4 is a diagram showing the format of signals used for the communication.
Fig. 5 is an explanatory diagram showing another example of communication between the main computer and each inner picker, Fig. 6 is a flow diagram showing the container retrieval operation of this automatic storage and retrieval device, and Fig. 7 is an explanatory diagram showing another example of communication between the main computer and each inner picker. FIG. 8 is a flowchart showing the operation of the return pre-processing in the free location method of 1. FIG. 8 is a flowchart showing the container return operation of this automatic storage and retrieval device. 2, 3... Storage area, 4... Shelf, 5... Container, 6... Inner picker, 9... Optical communication unit, 10... Main computer (picker control means), 11... Outer picker.

Claims (1)

[Claims] 1. A storage area in which a plurality of shelves are arranged in a matrix in the vertical and horizontal directions, and a loading/unloading mechanism that is movable along the open side of the shelf for each shelf in this storage area and that allows articles to be taken in and out of the shelf. an optical communication unit arranged so as to face the pickers on each shelf toward the running space of the picker; and an optical communication unit provided on the picker side to perform optical communication with the optical communication unit. 1. An automatic storage and retrieval device comprising a picker unit and a picker control means for controlling the picker by transmitting and receiving optical signals between the two optical communication units.