JPH05270621A - Automated warehouse system - Google Patents

Abstract

PURPOSE:To accurately move and position a bucket when the bucket is carried in and out by a transfer device, by installing a position detecting sensor on X axis and Z axis for the confirmation of a traveling position. CONSTITUTION:When a bucket B is carried in and out to a storage rack 10 which consists of multiple partition rooms divided respectively by a transfer device, an X axis transfer device 50 which moves in the X axis direction and an X axis sensor 51 which detects an X axis traveling position are formed, and a Z axis transfer device 60 and a Z axis sensor which detects a Z axis traveling position are formed for the X axis direction travel to confirm the traveling positions. It is thus possible to perform positioning accurately and promptly even if a traveling displacement occurs due to elongation of a drive belt 47 which transmits the driving force from a motor 45 and positioning at the time of high-speed traveling. Besides, a picking device 40 is formed with a bucket sensor 41 which detects a bucket B in the partition room 11 and foreign materials, so it is possible to avoid installing sensors for respective partition rooms 11, and prevent carrying-in and-out from being overlapped even when carrying-in and-out are performed manually.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic storage and shelving apparatus for automatically moving and positioning a bucket on a storage shelf formed of a large number of compartments divided by a transfer device. Regarding warehouse system.

[0002]

2. Description of the Related Art Today, there is an automatic warehouse system that automates the process of storing and unloading buckets that are transported from production lines by conveyors, etc., to a storage shelf formed of a number of compartments that are individually partitioned. Developed and used.
As a result, it has become possible to reduce the number of personnel required for storage and unloading, speed up storage and unloading, and perform collective management with the production line. In such a system configuration, a picking device for picking up and setting a bucket is placed in front of a storage shelf composed of a plurality of compartments toward the storage shelf in a lateral (X axis) direction and a vertical (Z axis) direction. There is provided a transfer device that moves in the direction and the picking device moves in the front-back (Y-axis) direction. Further, a carry-in conveyor that is connected to a manufacturing line or the like for carrying the buckets into the storage shelves and a carry-out conveyor for carrying out the buckets are provided, and the control device controls the operation of these automatic warehouse systems.

Since the motor for moving the X-axis, Y-axis, and Z-axis of this system requires accurate positioning when storing and unloading a bucket on a storage rack, a servomotor that rotates a certain angle by one pulse is used. It is used. The advantage of using a servo motor in an automated warehouse system is that if you apply accurate pulses, you can move it accurately without having to perform positioning again. It is used.

However, even in the automatic warehouse in such a case, if it is used for a long time, when the driving belt or the like which transmits the driving force from the servo motor is stretched or is moved at a high speed. Due to the action of weight of the picking device, the transfer device, and the like, a displacement occurs, which causes a problem that accurate positioning cannot be performed.

Further, in these automatic warehouse systems, in order to determine the designated compartment, the compartment display provided on each compartment is detected and recognized by a sensor or the like. In this case, there is a problem that the processing time is delayed because the detection is performed by the sensor after stopping in front of the designated compartment, and there is a problem that it is necessary to provide a compartment display to each compartment.

Further, the determination as to whether or not the bucket is stored in the compartment is recorded in the memory provided in the control device every time the bucket is stored and carried out, and the determination is made based on this recorded data. In this case, what is forcibly stored and carried out manually is not recorded in the control device, and the problem of storing it in the already stored compartment and damaging the bucket and the device and removing the bucket from the already delivered compartment Even so, there is a problem that a system error occurs. Therefore, in order to solve these problems, there is a system in which a sensor for detecting the presence or absence of a bucket is attached to each compartment. In this case, the same number of sensors is required as the number of compartments, and when there are a large number of compartments, there is a problem that the load on the control device is increased and the cost is increased because the sensors for the compartments are controlled.

[0007]

As described above, in the automatic warehouse system, as a first problem, when the drive belt or the like transmitting the driving force from the motor is stretched or is moved at a high speed. In such a case, if a displacement occurs due to the action of the weight of the picking device and the transfer device, accurate positioning cannot be performed.

The second problem is that the compartment display provided on each compartment for detecting the designated compartment is detected by a sensor or the like and recognized, so that the front of the designated compartment is recognized. It took time to stop and detect by the sensor, and it was necessary to provide a compartment display to each compartment.

Further, as a third problem, whether or not the bucket is stored in the compartment is recorded in the control device, but cannot be judged for the manually processed one. Although there is a method of attaching a sensor to each compartment, there is a problem that if there are many compartments, the load on the control device becomes large and the same number of sensors as the compartments are required.

The present invention focuses on the above problems and provides an accurate and safe automatic warehouse system.

[0011]

In order to solve the above-mentioned problems, a storage formed by dividing the top, bottom and sides individually and forming a large number of compartments on the rear surface of which bucket fall prevention processing has been performed. It has a shelf and takes out the bucket that is carried in from the carry-in conveyor at the carry-in port according to the command of the control device, conveys it to the specified compartment and stores it, and stores the bucket stored in the compartment according to the command of the control unit In an automatic warehouse that is carried out from the carry-out conveyor to the carry-out conveyor at the take-out and carry-out port, a picking device that carries out a process of taking out the bucket from the carry-in conveyor and the compartment, and a process of storing and carrying out the taken-out bucket in the compartment and the carry-out conveyor, and the picking device. And an X-axis transfer device for moving the picking device in the lateral direction of the front of the storage shelf, and the X-axis transfer device for mounting the picking device. A Z-axis transfer device that moves the X-axis in the vertical direction on the front surface of the storage rack while the device is placed, and a Z-axis transfer device that is attached to the picking device and corresponds to the lateral position of the compartment. An X-axis sensor for detecting the X-axis position display unit provided, and a Z-axis sensor attached to the X-axis transfer device.
A Z-axis sensor for detecting a Z-axis position display section provided on the Z-axis guide of the axis transfer apparatus or a storage shelf and corresponding to the vertical position of the compartment, and the X-axis position section is detected by the X-axis sensor. An X-axis position calculating means for calculating the X-axis moving position from the number of times and a Z-axis position calculating means for calculating the Z-axis moving position from the number of times of detecting the Z-axis position display portion by the Z-axis sensor are provided. It provides an automated warehouse system.

Further, in the second invention, the X-axis transfer device and the Z-axis transfer device are moved to the first invention, and the picking device is designated by the control device to be a compartment, a carry-in port and a carry-in port. When stopped at the front of the exit, the X-axis sensor and Z
Each axis sensor confirms whether or not each position display section is detected. When the X-axis sensor and the Z-axis sensor detect each position display section, the picking device is instructed by the control device to the compartment. It is determined that the automatic warehouse system is provided with means for carrying out storage in a compartment, carrying out processing, carrying out processing from a carry-in entrance, or carrying out processing to a carry-out exit.

Further, the picking device is provided with a bucket in the compartment and a sensor for detecting a foreign substance, and when carrying out processing for storing and carrying out in the compartment, the carry-in port and the carry-out port, the bucket is provided in the compartment, the carry-in port and the carry-out port. The present invention also provides an automatic warehouse system according to the first or second aspect of the present invention, which is provided with processing means for confirming whether there is a foreign matter.

[0014]

In the automatic warehouse of the present invention, the X-axis and Z-axis are provided with position detecting sensors to confirm the movement position. Therefore, the extension of the drive belt transmitting the driving force from the motor, Even if displacement occurs due to positioning during high-speed movement, accurate and quick positioning can be performed. Further, since the picking device is provided with the sensor for detecting the compartment, it is not necessary to provide the sensor or the like in each compartment, and further, the case where the storage / removal process is performed by the human being beyond the control of the system is performed. However, duplicate storage / removal processing is not performed.

[0015]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is an overall configuration diagram showing an embodiment of an automatic warehouse system, in which the X-axis moving in the lateral (X-axis) direction toward a storage shelf 10 composed of a plurality of storage chambers 11. The transfer device 50, the Z-axis transfer device 60 that moves in the vertical (Z-axis) direction, and the picking device that moves in the front-rear (Y-axis) direction toward the storage rack to take out, store, and carry out the bucket B. 40, a carry-in conveyor 20 that carries in the bucket B from a manufacturing line or the like (not shown), and the bucket B.
The control device 70 controls these operations. And the X axis, Y
An X-axis motor 54, a Y-axis motor 45, and a Z-axis motor 65 that move the respective axes are provided. These motors 54, 45, 65 are used to store and carry out the bucket B, the compartment 11, the carry-in conveyor 20, and the carry-out conveyor 3.
Since a precise positioning is required for 0, a servo motor that rotates a fixed angle with one pulse is used.

The construction of the picking device 40 mounted on the X-axis transfer device 50 and the Z-axis transfer device 60 is shown in FIG. Bucket holding portion 44 provided with a hook 43 for hooking the handle portion of the bucket B when storing and carrying out the bucket B
And a lateral movement belt 46 for moving the bucket holder 44 back and forth. And this lateral movement belt 46
Is connected to the Y-axis motor 45 via a drive belt 47. Reference numeral 48 in the figure stores the bucket B from the storage chamber 11.
The bucket guide 48 is for carrying out, and 49 is an X-axis rail guide 49 for guiding the X-axis rail 53 from both sides. Furthermore, in the picking device 40 of the present invention,
A bucket sensor 41 for detecting whether or not the bucket B exists in the compartment 11, and a hook sensor 42 for detecting whether or not the hook 43 has a handle portion of the bucket B,
An X-axis sensor 51 that detects an X-axis position display section 52 provided on the X-axis rail 53 is attached. Although not shown, a Y-axis sliding rail that slides when the bucket holder 44 moves back and forth and a bucket guide that slides the bottom of the bucket B are provided.

FIG. 3 shows the positional relationship between the sensor for detecting whether the picking device 40 is moving to the compartment 11 designated by the control device 70 and the position display device at the time of storage and unloading in this embodiment. It is a schematic diagram. The storage rack 10 has four rows on the X axis and six stages on the Z axis, and a total of 21 compartments 11 are provided. Regarding the number of each compartment, the top compartment (Z-axis first stage) compartment 11 on the left (X-axis first row) toward the storage box 10 is the No 1 compartment, and the X-axis-Z-axis parameters are set. 1-
Set to 1. The compartment to the right of the No 1 compartment is the No 2 compartment,
The parameter is 2-1 and the right next to No 2 is No 3 compartment, the parameter is 3-1 and the shelf at the bottom (Z axis 6th) is No 21 compartment and the parameter is 6-3. Becomes

A sensor and a position display device for detecting the position of the picking device 40 are provided for each of the X axis and the Z axis. In the case of the X-axis, X-axis position display devices 52A, 52B, 52C and 52D are provided on the X-axis rail 53 of the X-axis transfer device 50 at positions corresponding to the X-axis row of the compartment. An X-axis sensor 51 that detects the X-axis position display devices 52A to 52D is provided in the picking device 40. For the Z axis, the Z axis position display gauge 6 is attached to the storage rack 10.
4 is provided, and a Z-axis position display device is provided on the Z-axis position display gauge 64 at a position corresponding to the Z-axis step of the compartment. In this Z-axis position display device, the bucket B is divided into compartments 11
In order to operate the Z-axis transfer device 60 up and down when picking and setting from the
Since the position display section is required, the upper position display section 6
2A, 62B, 62C, 62D, 62E, 62F and lower position display portions 63A, 63B, 63C, 63D, 63
E, 63F are provided. The Z-axis sensor 62 that detects the upper position display portions 62A to 62F and the lower position display portions 63A to 63F is provided on the X-axis rail 53. Incidentally, reference numeral 65 in the drawing denotes a Z-axis rail of the Z-axis transfer device 60.

Using this automatic warehouse system,
4 to 13 show the process of carrying out the product, and FIG. 4 is a flowchart showing the process of storing and carrying out the bucket B of the automatic warehouse system. When the system is started in S100, the automatic mode or the manual mode is selected in S110. The automatic mode referred to here means that the bucket B is stored and carried out in accordance with an instruction from the control device 70, and the manual mode is designated by the keys of the control device 70 for storing and carrying out the bucket B, respectively. It indicates that the processing of 1 is performed one by one. When the manual mode is selected in S110, the manual mode is set in S190, and when the manual mode ends, the process proceeds to S180 and the system ends. If the automatic mode is selected in S110, S120
XYZ origin return processing is performed. When this process is completed, the origin return process of the picking device 40 (X axis), the X axis transfer device 50 (Z axis), and the bucket holding unit 44 (Y axis) of the picking device 40 is performed in S130, and the X axis,
Confirm that the origin has been returned for all Z and Y axes.
The process proceeds to S140 of the next process. If the return has not been performed for one of the X-axis, Z-axis, and Y-axis, the origin return process is performed again. In S140, the storage / unloading instruction is received from the control device 70. Then, in S150, it is determined whether it is a storage process or an unloading process. If it is a storage process, the process proceeds to the S200 storage process, and if it is a discharge process, the process proceeds to a S300 carry-out process. When each processing ends, the process proceeds to S160, and if the next storage / unloading process is instructed from the control device 70, the process proceeds to S140, and the storage / unloading process is performed again. If there is no next process, the X and Z axes are returned to the origin, and the system ends in S180.

FIG. 5 is a flowchart showing in detail the storage process of FIG. 4, and the storage process starts in S201. Then, in S202, the instruction of the storage destination shelf address is confirmed from the control device 70, and in S203, it is detected whether or not there is the bucket B at the carry-in port 21. When the bucket B is detected, the picking device 40 is carried in in S204. Move to the position of mouth 21. In this case, it is the movement of the X and Z axes,
When the positioning is completed by the X-axis transfer device 50 and the Z-axis transfer device 60, the bucket pickup process of S400 is performed. When the bucket B is taken out from the carry-in port 21, the picking device 40 is moved to the front of the compartment 11 designated in S205. In this case also, the movement is in the X-axis and Z-axis, and the X-axis transfer device 50 and the Z-axis transfer device 60.
When the positioning is completed, the bucket setting process of S500 is performed. When the bucket B is stored in the designated compartment 11, the Y-axis origin return is performed in S206, and the storage process ends in S211.

FIG. 6 is a flow chart showing the carry-out process of FIG. 4 in detail. The carry-out process starts in S301. First, the instruction of the storage destination shelf address from the control device 70 is confirmed in S302, and the instruction of the carry-out conveyor is confirmed in S303. Then, in S304, the picking device 4
Move 0 to the front of the designated compartment 11. In this case, it is the movement of the X-axis and the Z-axis, which is performed by the X-axis transfer device 50 and the Z-axis transfer device 60, and when the positioning is completed, S
400 bucket pick-up processing is performed. When the bucket B is taken out from the compartment 11, the picking device 40 is moved to the front of the carry-out port 21 designated in S307. In this case as well, the movement is in the X-axis and Z-axis, and is performed by the X-axis transfer device 50 and the Z-axis transfer device 60, and when the positioning is completed, the process proceeds to S306. In S306, it is detected whether or not the carry-out conveyor is full. If it is full, the detection is continued, and if there is an empty space, the bucket setting process in S500 is performed. When the bucket B is designated and carried out to the carry-out port 21, Y-axis origin return is performed in S307, and S30 is performed.
At 8, the carry-out process ends.

FIG. 7 shows S being processed in FIGS. 5 and 6.
It is a figure showing the details of the bucket picking processing of 400. First, in S401, the bucket picking process starts, and in S402, the picking device 40 causes the control device 7 to operate.
It is confirmed whether it is positioned in the compartment 11 instructed to be 0, and the process proceeds to S403. In S403, it is detected whether or not the bucket B is stored in the compartment 11 to be taken out, and if there is no bucket B in the compartment 11, S is detected.
Proceeding to 410, an alarm notifying an abnormality is sounded, an error message is displayed on the display, and the bucket picking process is ended in S408. If there is a bucket B in the compartment 11, the bucket holder 44 of the picking device 40 is moved forward toward the compartment 11 in S404 (Y
(The shaft is moved forward) so that the hook 43 is located below the handle position of the bucket B. Then, in S405, it is confirmed that the positioning is completed, and the Z-axis upward movement process of S810 is performed. This Z-axis upward movement processing is performed by the Z-axis transfer device 60.
The ascending movement distance is such that the bucket B is slightly elevated from the bottom surface of the compartment 11. When the Z-axis has been raised, the hook sensor 42 detects whether the hook 43 holds the handle of the bucket B in S406. When it is confirmed that the hook 43 holds the handle of the bucket B, in S407, the bucket holding unit 44 of the picking device 40 is moved rearward toward the compartment 11 (Y-axis origin return), and the X-axis, The bucket picking process is terminated in S408 as the movable state in the Z-axis direction. When it is confirmed in S406 that the hook 43 does not hold the handle of the bucket B, the Z-axis lowering process of S820 is performed, the Y-axis origin return process is performed in S409, and then the abnormality is notified in S410. An alarm is sounded, an error message is displayed on the display, and the bucket picking process is ended in S408.

FIG. 8 shows the S processed in FIGS. 5 and 6.
It is the figure which showed the detail of the bucket setting process of 500. First, the bucket setting process is started in S501, and it is confirmed in S502 whether the picking device 40 is positioned in the compartment 11 instructed by the control device 70, and the process proceeds to S503. In step S503, it is detected whether or not the bucket B is stored in the compartment 11 to be taken out. If the compartment B has the bucket B, the process proceeds to step S510 to sound an alarm notifying the abnormality that the compartment B has already been stored in the display. An error message to that effect is displayed, and the bucket picking process is terminated in S508. If there is no bucket B in the compartment 11, S504
Then, the bucket holding part 44 of the picking device 40 is moved forward (Y-axis forward movement) toward the compartment 11 to bring the bucket B to the storage position of the compartment 11. Then, in S505, it is confirmed that the positioning is completed, and in S82
The Z-axis downward movement processing of 0 is performed. This Z-axis downward movement processing is performed by the Z-axis transfer device 60, and the downward movement distance is such that the bucket B is installed on the bottom surface of the compartment 11 and the hook 43 is disengaged from the handle of the bucket B. When the lowering of the Z axis is completed, the hook 43 moves to the bucket B in S506.
The hook sensor 42 detects whether the hook sensor 42 is released from the handle. When it is confirmed that the hook 43 is released from the handle of the bucket B, in S507, the bucket holding unit 44 of the picking device 40 is moved rearward toward the compartment 11 (Y-axis origin return), and the X-axis, The bucket picking process is terminated in S508 in a state where the bucket picking process is possible. When it is confirmed in S506 that the hook 43 is not released from the handle of the bucket B, the Z-axis raising process of S810 is performed, the Y-axis origin return process is performed in S509, and then the abnormality is notified in S510. An alarm is sounded, an error message is displayed on the display, and the bucket picking process is ended in S508.

FIG. 9 shows steps S204, S205, and S30 which are processed in the storage and carry-out processing flow shown in FIGS.
FIG. 4 is a diagram showing the details of the X-axis in the X-Z axis movement positioning process of S305, and the X-axis positioning process starts in S601. Then, in S602, the current X-axis coordinate position of the picking device 40 is confirmed. The current coordinate data of the X axis is recorded in the memory of the control device 70 and is constantly updated after the positioning is completed. Then, the X-axis moving distance is calculated from the current X-axis coordinate and the X-axis coordinate of the compartment 11 designated by the control device 70, and the control device 70 causes the X-axis motor 54 to generate a pulse corresponding to the calculated moving distance. A signal is sent and the process of starting the movement is performed in S603. In S604, the number of times the X-axis sensor 51 provided in the picking device 40 detects the X-axis position display unit 52 provided on the X-axis rail 53 during movement is counted. In S605, at the same time when the movement of the calculated distance is completed, the X-axis coordinate after the movement is calculated from the number of times the X-axis position display unit 52 is detected and the X-axis coordinate before the movement. X-axis coordinates calculated in S606 and control device 7
0 is compared with the X-axis coordinate of the compartment 11, and if there is a difference, the result is S607. If there is no difference, the result is S.
Proceed to 609. If the X-axis coordinates are compared and there is a difference,
The difference amount is calculated in S607, the X axis is moved by the difference amount in S608, and then the process returns to S606. If the X-axis coordinates are compared and there is no difference, the X-axis sensor 51 is operated in S609 to detect the X-axis position display section 52. If the X-axis position is detected, it is determined in S610 that positioning is completed, and S
The X-axis positioning process end of 610 is executed. At this time, the X-axis coordinate data recorded in the memory of the control device 70 is updated. In S610, the X-axis position display unit 5
If 2 cannot be detected, the X-axis movement is started again in S611, and the X-axis position display unit 52 displays the X-axis sensor 5 in S612.
It moves until it is detected in 1, and when it is detected, the movement is stopped in S614, the positioning is completed, and the ending process of S614 is performed.

FIG. 10 shows steps S204, S205, and S30 that are processed in the storage and carry-out processing flow shown in FIGS.
4 is a diagram showing details of the Z-axis in the X-Z axis movement positioning process in S305, and the Z-axis positioning process starts in S701. Then, in S702, the current Z-axis coordinate position of the picking device 40 is confirmed. This Z
The current coordinate data of the axis is recorded together with the X-axis coordinate in the memory of the control device 70, and is constantly updated after the positioning is completed. Then, the Z-axis movement distance is calculated from the current Z-axis coordinates and the Z-axis coordinate of the compartment 11 designated by the control device 70, and the control device 70 causes the Z-axis motor 66 to generate a pulse corresponding to the calculated movement distance. A signal is sent and the process of starting the movement is performed in S703. In S704, the Z-axis sensor 61 provided in the X-axis compression device 50,
Z-axis position display gauge 6 provided on the storage rack 10 during movement
The number of times the Z axis position display units 62 and 63 of No. 4 are detected is counted. In S705, the movement of the calculated distance is completed, and at the same time, the Z-axis coordinate after the movement is calculated from the number of times the Z-axis position display portions 62 and 63 are detected and the Z-axis coordinate before the movement. The Z-axis coordinate calculated in S706 is compared with the Z-axis coordinate of the compartment 11 instructed by the control device 70. If there is a difference, the step S707 is performed. If there is no difference, the step S709 is performed.
Proceed to. If the Z-axis coordinates are compared and there is a difference, S70
The difference amount is calculated in step 7, the Z axis is moved by the difference amount in step S708, and the process returns to step S706. If the Z-axis coordinates are compared and there is no difference, the Z-axis sensor 51 is operated in S709 to detect the Z-axis position display section.
The axis positioning process ends. At this time, the Z-axis coordinate data recorded in the memory of the control device 70 is updated. If the Z-axis position display unit cannot be detected in S710, the Z-axis movement is started again in S711, and S712 is started.
Then, the Z-axis position display unit 52 moves until it is detected by the Z-axis sensor 51, and when it is detected, the movement is stopped in S714, the positioning is completed, and the ending process of S714 is performed.

FIG. 11 is a diagram showing the details of the processing for raising the Z axis when the bucket B of S810 shown in FIG. 7 is hooked on the hook 43, and S810 shown in FIG.
In the case of, the bucket B is not hooked on the hook 43, but the same raising process is performed. This process starts in S811, and at this time, the lower Z-axis position display portion 63 of the Z-axis position display gauge 64 is being detected by the Z-axis sensor 61. Then, in S812, the upward movement of the Z axis is started.
During the ascending movement, the upper Z-axis position display unit 62 provided above the lower Z-axis position display unit 63 is detected in S813. Here, if the upper Z-axis position display portion 62 is detected, it is determined that the upper Z-axis position display portion 62 has been positioned at the raised position, and the Z
Stop the ascending movement of the axis. Finally, in S815, the Z-axis coordinate data recorded in the memory of the control device 70 is updated, and the ascending process ends.

FIG. 12 is a diagram showing details of the processing for lowering the Z-axis when the bucket B in S820 shown in FIG. 8 is released from the hook 43, and S820 shown in FIG.
In the case of, the bucket B is not released from the hook 43, but the same descending process is performed. This process starts in S821, and at this time, the upper Z-axis position display portion 62 of the Z-axis position display gauge 64 is being detected by the Z-axis sensor 61. Then, in S822, the downward movement of the Z axis is started.
During the downward movement, the lower Z-axis position display portion 63 is detected in S823. Here, when the lower Z-axis position display portion 63 is detected, it is determined that the lower Z-axis position display portion 63 is positioned at the lowered position, and S8 is set.
At 24, the downward movement of the Z axis is stopped. Finally, in S825, the Z-axis coordinate data recorded in the memory of the control device 70 is updated, and the descending process ends.

Hereinafter, FIGS. 13 to 15 are views showing the process of returning to the origin of each axis. The process of returning to the origin S12 of FIG.
In 0, all the processes for these three axes are performed.

FIG. 13 is a diagram showing the details of the origin return of the Y-axis, which starts at S910. By selecting the Y-axis processing in S911, the Y-axis motor 45 is activated,
The movement starts at S912 at the origin set by the system. The origin return is executed in S913, and the Y-axis coordinate data recorded in the memory of the control device 70 is cleared.
Then, when the movement to the origin is completed in S914, the Y-axis coordinate data is recorded as the Y-axis origin coordinate, and the process ends in S915.

FIG. 14 is a diagram showing the details of the origin return of the Z axis, which starts at S920. By selecting the Z-axis processing in S921, the Z-axis motor 66 is activated.
In S922, it is confirmed whether or not the Y axis is returned to the origin.
Then, if the return is completed, the process proceeds to the next process, and if the return is not completed, the confirmation is performed until it is completed. If the return is completed, the flow advances to S923 to start moving to the origin set in the system. Perform home return in S924,
The Z-axis coordinate data recorded in the memory of the control device 70 is cleared. When the movement to the origin is completed in S925, the Z-axis coordinate data is recorded as the Z-axis origin coordinate.
It ends at 26.

FIG. 15 is a diagram showing details of the origin return on the X-axis, which starts at S930. By selecting the X-axis processing in S931, the X-axis motor 54 is brought into the operating state,
In S932, it is confirmed whether or not the Y axis is returned to the origin.
Then, if the return is completed, it is confirmed in S933 whether the Y-axis is returned to the origin, and if the return is completed, the process proceeds to S934. In this way, the X-axis origin return cannot be executed unless the Y-axis and Z-axis have been completely returned. S93
At 4, the movement to the origin set in the system is started. The origin return is executed in S935, and the X-axis coordinate data recorded in the memory of the control device 70 is cleared. Then, when the movement to the origin is completed in S936, the X-axis coordinate data is recorded as the X-axis origin coordinate, the X-axis origin return is completed in S937, and the origin return for all the axes is completed.

As described above, the automatic storage system having the configuration and processing as in this embodiment has the following problems.
The second and third problems can be solved, and the processing time is accurate and the processing time can be shortened.

The present invention is not limited to the above embodiments, and can be modified without changing the scope of the claims.

[0035]

As described above, according to the present invention, the automatic warehouse system is provided with the sensors for detecting the X-axis and Z-axis positions and confirms the movement position. Therefore, the drive belt or the like which transmits the driving force from the motor. When extended, accurate and quick positioning can be performed when moving at high speed.

Further, since the picking device is provided with the sensor for detecting the compartment, it is not necessary to provide the sensor or the like in each compartment, and it is possible to deal with the case where a manual process which is not managed by the system is performed. It is possible.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram showing an embodiment of an automated warehouse system.

FIG. 2 is a diagram showing a picking device according to an embodiment of the present invention.

FIG. 3 is a diagram showing the positions of a sensor and a display unit of the present invention.

FIG. 4 is a flow chart showing the storing / unloading process of the present invention.

FIG. 5 is a flowchart showing a bucket storage process of the present invention.

FIG. 6 is a flow chart showing a bucket unloading process of the present invention.

FIG. 7 is a flowchart showing a bucket picking process of the present invention.

FIG. 8 is a flowchart showing a bucket setting process of the present invention.

FIG. 9 is a flowchart showing an X-axis positioning process of the present invention.

FIG. 10 is a flowchart showing a Z-axis positioning process of the present invention.

FIG. 11 is a flowchart showing the Z-axis upward movement processing of the present invention.

FIG. 12 is a flowchart showing the Z-axis downward movement processing of the present invention.

FIG. 13 is a flowchart showing the Y-axis origin return processing of the present invention.

FIG. 14 is a flowchart showing the Z-axis origin return process of the present invention.

FIG. 15 is a flowchart showing an X-axis origin return process of the present invention.

[Explanation of symbols]

 10 ... Storage rack 11 ... Storage room 20 ... Carry-in conveyor 30 ... Carry-out conveyor 40 ... Picking device 41 ... Bucket sensor 42 ... Hook sensor 43 ... Hook 44 ...・ Bucket holding unit 45 ・ ・ ・ Y-axis motor 46 ・ ・ ・ Transverse belt 47 ・ ・ ・ Drive belt 48 ・ ・ ・ Bucket guide 49 ・ ・ ・ X-axis rail guide 50 ・ ・ ・ X-axis transfer device 51 ・・ X-axis sensor 52 ・ ・ ・ X-axis position display device 53 ・ ・ ・ X-axis rail 54 ・ ・ ・ X-axis motor 60 ・ ・ ・ Z-axis transfer device 61 ・ ・ ・ Z-axis sensor 62 ・ ・ ・ Upper Z-axis Position display unit 63 ... Lower Z-axis position display unit 64 ... Z-axis position display gauge 65 ... Z-axis rail 66 ... Z-axis motor 70 ... Control device B ... Bucket

Claims (3)

[Claims] 1. A top part, a bottom part and a side part are individually partitioned, and a rear surface has a storage shelf formed of a number of compartments subjected to bucket drop prevention processing, and a carry-in port is instructed by a control device. Take out the bucket carried in from the carry-in conveyor of
In an automated warehouse that transports and stores a designated compartment in a compartment and stores it in a compartment in response to a command from the control device, removes the bucket from the carry-in conveyor and the compartment in an automated warehouse that carries it to the carry-out conveyor at the carry-out exit. A picking device for carrying out a process and a process for storing and carrying out the taken out bucket in the compartment and the carry-out conveyor; and an X-axis transfer device for mounting the picking device and moving the picking device in the lateral direction of the front of the storage shelf. A Z-axis transfer device that mounts the X-axis transfer device and moves the X-axis in the vertical direction on the front surface of the storage shelf while the picking device is mounted, and a Z-axis transfer device attached to the picking device. An X-axis sensor for detecting an X-axis position display section provided on the X-axis transfer device corresponding to the horizontal position of the Z-axis transfer device, and a Z-axis transfer device attached to the X-axis transfer device. From the Z-axis sensor provided on the Z-axis guide of the device or the storage shelf and detecting the Z-axis position display unit corresponding to the vertical position of the compartment, and the number of times the X-axis position display unit is detected by the X-axis sensor. X-axis position calculation means for calculating the X-axis movement position, and Z-axis position calculation means for calculating the Z-axis movement position from the number of times the Z-axis position detection unit is detected by the Z-axis sensor. Automatic warehouse system characterized by. 2. The X-axis transfer device and the Z-axis transfer device are moved, and when the picking device is stopped in front of a compartment, a carry-in entrance and a carry-out exit designated by a control device, the X-axis transfer device. Each of the sensor and the Z-axis sensor confirms whether or not each position display section is detected. When the X-axis sensor and the Z-axis sensor detect each position display section, the picking device is instructed to the control device. 2. The storage device according to claim 1, further comprising means for determining that it has been positioned in the compartment and carrying out storage in the compartment, carry-out processing, storage processing from a carry-in entrance, or carry-out processing to a carry-out exit. Automatic warehouse system. 3. A bucket in the compartment and a sensor for detecting foreign matter are provided in the picking device, and when carrying out and carrying out processing in the compartment, the carry-in port and the carry-out port, the bucket is provided in the compartment, the carry-in port and the carry-out port. The automatic warehouse system according to claim 1 or 2, further comprising processing means for confirming whether or not there is a foreign matter.