JPH08143112A - Automatic warehouse - Google Patents

Abstract

PURPOSE: To provide an automatic warehouse capable of storing works densely to the maximum in every three dimensional direction, and making use of the storage space without waste. CONSTITUTION: In an automatic warehouse 2, parts boxes 50 of four kinds A-D are loaded and carried into the I-lane 30, and successively abutted on a stopping plate 30a. A traverser body 14 is moved above the I-lane 30 by a horizontally moving mechanism 10 or the like, and a clamp body 26 is lowered by an elevating mechanism 22. The parts box at the highest position is held by clamping members 28a, 28b, and the kind of the part box is simultaneously read. The clamp body 26 is elevated, and the traverser body 14 is moved above storing lanes 32-38, the clamp body 26 is lowered to load the parts box 50 on table parts 32d-38d of the lane. When the parts boxes of the prescribed number are loaded, they are pushed by pushers 32e-38e, and moved in X1 direction by roller conveyors 32a-38a, and stopped by fixed stoppers 32b-38b.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic warehouse, and more particularly, to an automatic warehouse which can utilize a storage space without waste.

[0002]

2. Description of the Related Art An automated warehouse is used for the purpose of three-dimensional storage of products and the like (hereinafter referred to as "workpieces") and quick receipt and shipment. An example of such an automated warehouse is shown in FIG.
Will be described with reference to. FIG. 5 is a perspective view showing the structure of a conventional automated warehouse 202. Inside the automatic warehouse 202, a plurality of automatic stack buildings (hereinafter referred to as “shelf”) 204.
A, 204B, 204C, 204D, ... Are provided at intervals. These shelves 204A and the like have storage spaces 206 to 206 that are classified according to the type of work, and between the shelves 204A and 204B, an auto stack crane that conveys the work to a predetermined storage space of the shelves. 210 is provided. The auto stack crane 210 is composed of two rails 2 which are parallel to the horizontal direction and extend vertically.
It has 12a, 212b and a crane body 214 that runs along these rails. Crane body 214
Is two rails 216a, 2 extending parallel to the vertical direction.
16b and a lifter 2 that can move up and down along these rails
Have eighteen. The lifter 218 includes a load receiving platform on which a work is placed, and a fork that moves back and forth in the x1 and x2 directions in the drawing to receive the work and unload it.
An automatic stack crane 220 having the same configuration as the automatic stack crane 210 is provided between the shelves 204C and 204D.

In the automatic warehouse 202 having such a structure, the work 200 carried in from a carry-in port (not shown) is
It is conveyed to the vicinity of the ends of the rails 212a and 212b of the auto stack crane 210 by a conveyer conveyor, a carriage, or the like. Here, the type of the work 200 is automatically discriminated by a discriminating device provided near the entrance of the automatic warehouse 202 or outside, or visually discriminated by an operator, and the type data is stored in the automatic stack crane 210. It is input to the control device. The auto stack crane 210 receives the work 200 with the fork of the lifter 218 and mounts it on the load receiving stand. Then, based on the type data input to the control device, the crane main body 214 travels in the horizontal direction, the lifter 218 moves up and down, and the work 20
Move 0 to the desired storage space position on the shelf. Further, the fork of the lifter 218 pushes out the work 200 in the x1 or x2 direction, and the shelf 204A or the shelf 204B.
The work 200 is stored in the predetermined storage space 206. The auto stack crane 220 also stores the work on the shelves 204C and 204D by the same procedure.

[0004]

However, in such an automatic warehouse 202, the shelves 204A, 204B and 20
Spaces for installing the auto stack cranes 210 and 220 are required between the 4C and the shelves 204D. Therefore, it is possible to store the work in the y direction and the z (vertical) direction in FIG. 5 sufficiently densely, but there is waste in the storage space in the x direction. Therefore, when the number of types of work is large, the automatic warehouse having such a structure is effective, but when the number of types of work is relatively small, the shelf 20 is used.
Since there is a space between 4A and the shelves 204B and between the shelves 204C and the shelves 204D, the number of works that can be stored is relatively smaller than the size of the automated warehouse 202. Further, since the auto stack cranes 210 and 220 themselves do not have a function of discriminating the type of work, in order to automate the type discrimination, a work type discriminating device must be separately provided near the carry-in entrance of the automatic warehouse 202, There was a problem that the entire automated warehouse was complicated and large in size.

Therefore, claim 1 and claim 2 of the present application
An object of the present invention is to provide an automatic warehouse in which works can be stored densely in all three-dimensional directions and the storage space can be utilized efficiently. Further, in the invention according to claim 2 of the present application, it is an object to provide an automatic warehouse capable of reliably discriminating and supporting a work type with a simple and compact structure and stacking the work in a corresponding storage space. To do.

[0006]

Therefore, in order to solve the above-mentioned problems, in the invention according to claim 1 of the present application, there is provided an automatic warehouse for storing a plurality of kinds of work carried in by type, Work type determination means for determining the type of the work, a plurality of type-specific work storage means arranged in the horizontal direction for stacking and storing a predetermined number of the works for each type, and a work support means for supporting the work. A vertical moving means for moving the work supporting means up and down, a horizontal moving means for moving the vertical moving means in the horizontal direction across the plurality of types of work storing means, and the loaded work. A work supporting height detecting means for detecting a height to be supported by the work supporting means, and a wafer detecting means for detecting a height at which the work is to be placed on the type-specific work storing means. Support height detecting means, moving means inside the storing means for moving the work in the type-specific work storing means, and the work supporting means by the up-and-down moving means according to the detection result of the work supporting height detecting means. Means for lowering the means to support the work carried in by the work supporting means to raise the work, and the horizontal movement means for moving the work supporting means according to the discrimination result of the work type discriminating means. The work is moved to the storage means, and the work supporting means is lowered by the vertical movement means according to the detection result of the work mounting height detecting means to place the supported work on the work storing means by type. A control for moving the work in the type-specific work storing means by the moving means in the storing means when the number of stacked works reaches a predetermined number. And creating automated warehouse characterized by having a stage.

Here, the "automatic warehouse" includes small-scaled ones for storing various parts and boxes for transporting parts, and large-scaled ones for storing larger products. Also,
Examples of the "work type discrimination means" include a bar code reader that discriminates the type of the work by reading a bar code attached to the outer surface of the work, and the outer shape of the work when the work is held by a plurality of limit switches. An apparatus for discriminating various kinds of works including those based on the discrimination method is included. Further, as the "workpiece supporting height detecting means" or the "workpiece mounting height detecting means", any mechanism can be used as long as it can detect the existing height of the carried-in workpiece or the already placed workpiece. Various means such as a photoelectric switch and a proximity switch, which are arranged to face each other in the horizontal direction, are included.

In order to solve the above-mentioned problems, the invention according to claim 2 provides the automatic warehouse according to claim 1, wherein a clamping mechanism for clamping the work is provided as the work supporting means. , The clamp mechanism, the work type determination means, the work support height detection means,
An automatic warehouse is created which is provided with the work placement height detecting means.

[0009]

The automatic warehouse according to the first aspect of the present invention is an automatic warehouse that sorts a plurality of types of loaded workpieces by type and stores them by type. In this automated warehouse,
A plurality of types of work storage means for stacking and storing a predetermined number of works for each type are arranged horizontally.
Each type of work storing means has a moving means in the storing means for moving the work in the type of work storing means.
Horizontal moving means is provided across these type of work storing means, and the vertical moving means moves the vertical moving means in the horizontal direction, and the vertical moving means supports the work. Moves up and down. Further, a work type discriminating means for discriminating the type of the work, a work supporting height detecting means for detecting a height at which the carried-in work should be supported by the work supporting means, and a work placed on the type-specific work storing means. Work placement height detection means for detecting the height to be placed is provided. Each of these means is controlled by the control means, and the work is stored as follows.

First, the work support height detection means detects the height at which the work carried in should be supported, and the vertical movement means operates according to the detection result to lower the work support means to the required height. , The work is supported and rises. Next, the horizontal moving means operates according to the discrimination result of the work type discriminating means, and the work supporting means moves together with the vertical moving means onto the corresponding work accommodating means by type. Then, the vertical movement means operates according to the detection result of the work placement height detection means, the work support means descends to the required height, and the supported work is placed on the type-specific work storage means. . Since the number of steps of the stacked works can be known from the detection result of the work placement height detection means, when the number of steps reaches a predetermined number, the movement means in the storage means moves the work in the type-specific work storage means. , The work storing means for each type is stored in order from the back without any space therebetween. In such an automated warehouse, the type-specific work storage means can be installed densely without spacing from each other, and a predetermined number of stacked work pieces can be stored in the type-based work storage means without spacing from each other. It Therefore, it is possible to store the work pieces in the three-dimensional directions as close as possible. In this way, the work can be stored as densely as possible in all three-dimensional directions and the storage space can be utilized efficiently without waste.

Further, according to the invention of claim 2, a clamp mechanism for clamping a work is provided as the work supporting means in the automatic warehouse according to claim 1, and the clamp mechanism is provided with a work type discriminating means and a work supporting height detecting means. A means and a work placement height detecting means are attached. With this configuration, when the clamp mechanism descends, the work support height detection means determines whether or not the clamp mechanism has reached a position where the work can be clamped. If it is detected that the work can be clamped, the work is clamped by the clamp mechanism, so that the carried-in work is always reliably clamped. Similarly, the work placement height detecting means surely releases the clamp mechanism on the already placed works to stack the works. Further, when clamping, the type of work is discriminated by the work type discriminating means, and according to the discrimination result, the control means moves the work supporting means onto the corresponding type-specific work storing means. Therefore, it is not necessary to separately provide a device for discriminating the types of works in the automatic warehouse, and the types of the works can be discriminated and sorted, and the works can be reliably stored in the corresponding type-specific work storage means. Furthermore, since all of these means are attached to the clamp mechanism, the structure of the automated warehouse can be made extremely simple and compact. In this way, an automatic warehouse is provided that can easily identify and support the types of works with a simple and compact structure and stack them in the corresponding storage space.

[0012]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, one embodiment of the automatic warehouse of the present invention will be described with reference to FIGS. First,
The overall configuration will be described with reference to FIG. Figure 1
It is a perspective view showing the whole composition of parts box storage device 2 which is one example of an automatic warehouse of the present invention. The parts box storage device 2 of the present embodiment is a box for transporting parts that are emptied and collected (hereinafter, referred to as
Abbreviated as “parts box”. ) A device that sorts 50 to 50 by type and stores them by type. As shown in FIG. 1, the parts box storage device 2 includes six lanes 30, 32, 34, 36, 38, 40 having roller conveyors, and an unstacker traverser 4, which is a device for moving the parts box.
It is configured around 44. The unstacker traverser 4 includes the clamp mechanisms 26, 28a, 2 of the parts box 50.
8b and its moving mechanism (guide rails 10, 12, etc.). The unstacker traverser 44 on the front side of the drawing shows only a part of the columns and guide rails for the sake of easy understanding of the drawing, but its structure is similar to the structure of the unstacker traverser 4 which will be described in detail later. .

Of the six lanes 30 to 40, the I lane 30 is a lane into which the recovered component boxes 50 to 50 are loaded. There are four types of component boxes 50, A, B, C, and D, depending on the types of components to be accommodated. As shown in FIG. 1, these four types of component boxes 50 to 50 are mixed and stacked. It is carried in the I lane 30 in the state where it was covered. The parts box 50 is
The size of the upper opening and the size of the lower surface are made common for all types so that different types of component boxes can be stably stacked. In addition, "A", "B", shown on the side surface of each component box 50 to 50 in FIG.
The letters "C" and "D" are entered for ease of explanation, and these letters are not always used in the parts boxes 50 to 50.
It does not mean that 50 is actually written. The I lane 30 is a roller conveyor over its entire length, and at the end of the I lane 30, a stop for positioning and stopping the parts box 50 to 50 carried in the X2 direction by the roller conveyor at this end. A plate 30a is provided.

A lane 32, B lane 34, C lane 3
The 6, D lane 38 is a lane for housing the component boxes 50-50. A lane 32 has a type A parts box,
The B lane 34 stores a type B component box, the C lane 36 stores a type C component box, and the D lane 38 stores a type D component box. These storage lanes 32-3
8 is a roller conveyor part 32a, 34a, 36a,
38a and table portions 32d, 34d, 36d, 38
It is divided into d. Roller conveyor parts 32a-3
8a includes fixed stoppers 32b, 34b, 36b, 38.
b and the stoppers 32c, 34c, 36c, 3 for separation
8c is provided. Detaching stopper 32c-3
8c descends to a position below the conveyor surface as indicated by an imaginary line when the parts box is loaded.

On the other hand, the table portions 32d to 38d are provided with pushers 32e, 34e, 36e and 38e. The pushers 32e to 38e push out the component boxes 50 to 50 placed on the table portions 32d to 38d by the unstacker traverser 4 in the X1 direction and carry them into the roller conveyor portions 32a to 38a. Parts box 50 pushed out by pushers 32e to 38e
The rollers 50 to 50 are conveyed in the X1 direction by the roller conveyors 32a to 38a, contact the fixed stoppers 32b to 38b, and are sequentially stored from the right end of each storage lane. The E lane 40 is a lane for carrying out the component boxes 50 to 50 stored in the storage lanes 32 to 38. E
The lane 40 is also a roller conveyor over its entire length, and carries the component boxes 50 to 50 placed at the right end portion 40a by the unstacker traverser 44 in the Y2 direction and carries them out from the left end. The roller conveyors in the lanes 30 to 40 are always operating.

An unstacker traverser 4 is provided near the left ends of the I lane 30 to the D lane 38. In this unstacker traverser 4, a traverser main body 14 is horizontally slidably attached to two upper and lower guide rails 10 and 12 that are passed in parallel between a pair of columns 6 and 8 fixed to the floor surface. It will be. The traverser body 14 includes a pair of upper guide members 16a, 1a.
6b and a pair of lower guide members 18a, 18b are attached to the guide rails 10, 12 so as to be slidable in the horizontal direction (Y1, Y2 direction). A ball screw 22 is vertically attached to the traverser body 14 by an upper bearing and a lower bearing 20 which do not appear in FIG. A clamp body 26 is attached to the ball screw 22 and can be vertically moved (Z direction) with respect to the traverser body 14. Further, the clamp body 26 includes a pair of clamp members 28a and 28b.
Are attached so as to be slidable in the Y1 and Y2 directions.

The structure of the unstacker traverser 4 will be described in more detail with reference to FIG. Figure 2
It is a side view which shows the unstacker traverser 4 of the component box storage device 2 of a present Example. In FIG. 2, a control unit 60 is provided above the traverser body 14.
The control unit 60 has a built-in computer system and controls each operation of the unstacker traverser 4 described below. The control unit 60 includes a flexible cable for accommodating wiring, piping, etc. in order to prevent troubles such as electric wiring to each part, air piping, etc. being entangled when the traverser body 14 is pulled as the traverser body 14 moves. The bear 62 is attached.

Next, a mechanism for sliding the traverser body 14 in the horizontal direction will be described. Traverser body 1
Three guide wheels 80a, 80b, 80c are attached to the lower second upper guide member 16b of the pair of upper guide members 16a, 16b fixed to No. 4.
Of these, the guide wheel 80b is the second upper guide member 16b.
Directly, and guide wheels 80a and 80c are mounted via brackets 76a and 76c, respectively. These guide wheels 80a, 80b, 80c are attached so that their outer peripheral surfaces come into contact with the side surfaces or the lower surface of the upper guide rail 10 and rotate. The bracket 76
A motor base 64 is fixed on c, and a traveling motor 66 is fixed to the motor base 64. A pinion gear 68 is attached to the rotating shaft of the traveling motor 66, and the pinion gear 68 meshes with a rack 70 fixed to the upper surface of the upper guide rail 10 over the entire length. Furthermore, the upper first upper guide member 16
An auxiliary wheel 74 is rotatably attached to the lower surface of a with its outer peripheral surface in contact with the upper surface of the upper guide rail 10.

On the other hand, guide wheels 80d, 8 are provided on the lower surface of the upper first lower guide member 18a of the pair of lower guide members 18a, 18b fixed to the traverser body 14.
0e are attached via brackets 76d and 76e, respectively. These guide wheels 80d, 80e
Is attached so that its outer peripheral surface contacts the side surface of the lower guide rail 12 and rotates. With the above structure, when the rotating shaft of the traveling motor 66 rotates, the pinion gear 68 rotates and moves in the horizontal direction while meshing with the rack 70, and the traverser body 14 also moves in the horizontal direction accordingly. At this time, the guide wheels 80a, 80
The traverser body 14 slides smoothly as the b, 80c, 80d, 80e and the auxiliary wheel 74 make contact with the surfaces of the upper and lower guide rails 10, 12 and roll. Depending on the rotation direction of the traveling motor 66, the traverser body 14 moves in the Y1 direction or the Y2 direction in FIG. The rotation direction and rotation speed of the traveling motor 66 are controlled by a control signal from the control unit 60. A cover 90 is provided over the entire length of the upper and lower guide rails 10 and 12 in order to protect the mounting portions of the guide wheels 80a to 80e from dust and the like.

A pair of proximity switches 84a and 84b are attached to the upper surface of the lower second lower guide member 18b by brackets (not shown). On the other hand, on the lower surface of the lower guide rail 12,
A pair of dogs (proximity switch actuation plates) 82a, 82b are attached near the position where the proximity switches 84a, 84b pass when the traverser body 14 moves horizontally. Although not shown in FIG. 1, these dogs 82a, 82b are not shown in the storage lanes 32, 34, 36, 3 respectively.
A pair is provided for every eight. Proximity switch 84a
The dog 82a is for stopping, and is arranged so that the proximity switch 84a detects the dog 82a and outputs a signal when the traverser body 14 reaches a predetermined position with respect to each of the lanes 32 to 38. On the other hand, the proximity switch 84b and the dog 82b are for deceleration, and the proximity switch 84b detects the dog 82b and outputs a signal when the traverser main body 14 comes slightly before the stop position for each of the lanes 32 to 38. It is arranged. These detection signals are input to the control unit 60, and the rotation of the traveling motor 66 is decelerated and stopped.

Next, a mechanism for raising and lowering the clamp body 26 will be described with reference to FIGS. 2 and 3A. FIG. 3A is a plan view of the unstacker traverser 4. As shown in FIG. 2, the traverser body 14 includes
The upper bearing 106 and the lower bearing 20 are fixed, and a ball screw 22 is rotatably attached to the bearings 106 and 20. As shown in FIG. 3A, a pair of L's are provided in parallel with the ball screw 22.
The M guide rails 100a and 100b are the traverser main body 1
It is fixed directly to 4. In FIG. 2, only the front LM guide rail 100b is shown. These LM guide rails 100a and 100b have a pair of LM guides 1
02a and 102b are slidably fitted together. LM
The guides 100a and 100b are the bracket 10 respectively.
It is fixed to the clamp body 26 via 1a and 101b. Further, as shown in FIG. 2, the clamp body 2
6 is a ball screw nut 1 that meshes with the ball screw 22.
04 is fixed.

On the other hand, a lifting motor 94 is fixed to the lower end of the traverser body 14 via a motor bracket 92. A motor pulley 95 is fixed to the rotating shaft of the lifting motor 94, and the motor pulley 95 is connected by a timing belt 96 to a timing pulley 98 fixed to the lower end of the ball screw 22. With the above structure, when the rotation shaft of the lifting motor 94 rotates, the rotational force is transmitted via the motor pulley 95, the timing belt 96, and the timing pulley 98,
The ball screw 22 rotates. As a result, the ball screw nut 104 moves up and down while meshing with the ball screw 22, and the clamp body 26 moves up and down with respect to the traverser body 14 as shown in FIG. Ball screw 2
A decelerator 24 is attached to the upper end of 2, and an encoder 110 is provided therein. This encoder 1
It is determined by 10 how much the clamp body 26 has descended before the component box 50 is clamped, that is, what stage the clamped component box 50 is.

Next, a mechanism for sliding the clamp members 28a and 28b will be described with reference to FIG. FIG. 3A is a plan view of the unstacker traverser 4, and FIG. 3B is a plan view showing only the slide mechanism of the clamp members 28a and 28b. Next Figure 4
As shown in FIG. 3, a clamp cylinder 132 is attached to the lower surface of the clamp body 26.
As shown in (B), a rod plate 134 is fixed to the tip of the piston rod 133 of the clamp cylinder 132. Then, with the rod plate 134 sandwiched vertically,
The left and right crank plates 136a and 136b are rotatably connected by a pin 135. These crank plates 1
36a and 136b are pins 137a and 137b, respectively.
Is rotatably connected to the mounting members 138a and 138b. Mounting members 138a, 138b
Are fixed to the upper surfaces of the clamp members 28a and 28b, respectively.

On the lower surface of the clamp body 26, a pair of left and right LM guide rails 120a, 120 are provided in total.
b, 120c, 120d are fixed. These L
Each of the M guide rails 120a to 120d has two LM guides 122a, 124a, 122b, 124.
b, 122c, 124c, 122d and 124d are shown in FIG.
It is fitted so that it can slide in the left-right direction. These L
., 124d, the M guides 122a ,.
It is fixed to the upper surface of a or 28b. With the above structure, when the clamping cylinder 132 operates and the piston rod 133 moves in the direction of coming out, the rod plate 13
4 also moves downward in FIG. Clamp member 28
Since the a and 28b cannot be moved in the vertical direction of FIG. 3 by the LM guides 122a, ..., 124d, the crank plate 1
36a and 136b rotate to clamp members 28a and 28
Slide b. That is, the state shown in FIG. 3A is changed to the state shown in FIG.
8b slide toward each other. On the contrary, if the piston rod 133 moves in the retracted direction, the clamp members 28a and 28b slide in the directions away from each other.

Next, a mechanism for the clamp members 28a and 28b to detect and clamp the position of the component box 50 and the component box 50.
A mechanism for discriminating the type will be described with reference to FIG. FIG. 4 is a front view showing the clamp mechanism of the unstacker traverser 4. As shown in FIG. 4, the clamp members 28a and 28b are lowered together with the clamp body 26 by the elevating mechanism described above with respect to the stacked component boxes 50 to 50. Here, the clamp member 28
A photoelectric tube 140a is attached to the lower portion of a, and the infrared projector 14 is provided at a position facing the clamp member 28b.
0b is attached. When there is no obstacle between the phototube 140a and the infrared projector 140b, the infrared light emitted from the infrared projector 140b is received by the phototube 140a and a current signal is sent to the control unit 60, as indicated by an imaginary line. There is.

Now, when the clamp members 28a, 28b descend to the position shown in FIG. 4, the uppermost parts box 50
Since the infrared rays are blocked by, the control unit 60 determines that the clamp position has been reached. Therefore, the clamp body 2 is controlled by a control signal from the control unit 60.
The descent of 6 is stopped. And the cylinder for clamping 1
32 is actuated to move the piston rod 133 in the direction of coming out, and the uppermost component box 50 is clamped by the clamp members 28a and 28b. Further, the clamp member 2
A bar code reader 144 is fixed to the lower end of 8b by a mounting member 142, and the bar code 146 attached to the side surface of the component box 50 is read at the clamp position of FIG. As a result, the type (A, B,
C, D) are discriminated and this data is transmitted to the control unit 60.

Now, a procedure for storing and carrying out a component box in the component box storage device 2 having such a configuration will be described with reference to FIGS. First, as shown in FIG. 1, four types of component boxes 50 to 50 of A, B, C, and D are loaded in the I lane 30 in a stacked state. Here, the mountains 52a, 52b, 52c, 52d of each component box are
In each case, four types of component boxes 50 to 50 are mixed and stacked. Mountains 52b are of types A, D, C, from top to bottom.
The parts box of A is piled up, and the mountain 52d is of type C, A,
The parts box B is stacked. Pile 52 of these parts boxes
a to 52d are the stop plates 30 from the mountain 52d that was previously loaded.
The I-lane 30 comes into contact with a and is packed in order from the left end of the I lane 30. Here, the traverser body 14 is moved to above the I lane 30 by the horizontal movement mechanism described above, and the clamp body 26 is lowered by the elevation mechanism described above. Then, by the mechanism described in FIG. 4, the clamp body 26 is stopped when the uppermost component box 50 of the mountain 52d is lowered to the clamp position, and the uppermost component box 50 is clamped by the clamp members 28a and 28b. . At this time,
The barcode reader 144 reads that the uppermost component box 50 is of type C.

Then, the clamp body 26 is raised and the mountain 5
Only the uppermost component box 50 (type C) is lifted from 2d, and the traverser body 14 moves to above the corresponding C lane 36. Then, the clamp body 26 descends, the type C component box 50 is placed on the table portion 36d of the C lane 36, and the clamp is opened. In this way, the component boxes 50 are stacked on the tables 32d to 38d for each type. At this time, how much the clamp body 26 has descended is measured by the encoder 110, and this measurement data is sent to the control unit 60, and each table 32d
The number of the component boxes 50 stacked in each of the to 38d is calculated and stored for each type. Then, a pile of component boxes of a type in which a predetermined number (five in this embodiment) is stacked is pushed out by the pushers 32e to 38e to the conveyor portions 32a to 38a. Since the roller conveyors 32a to 38a are constantly moving, the ridges of the parts box pushed out move in the X1 direction and are stopped by the fixed stoppers 32b to 38b. FIG. 1 shows a state in which five component boxes of type C are stopped by the fixed stopper 36b. Pushers 32e-38e
Is in its original position when pushing out a pile of 5 parts boxes (state in Figure 1)
Then, the next parts box 50 is stacked on the tables 32d to 38d.

In this way, the piles of the component boxes are pushed out by the conveyor portions 32a to 38a every time 5 pieces are stacked, and are sequentially packed from the fixed stoppers 32b to 38b side.
The roller conveyor parts 32a to 38a are filled with piles of the parts box 50, and the table 32d to 38d parts are filled with 5 parts.
When the individual component boxes 50 are stacked, the storage for that type is terminated. In this way, the component box storage device 2 of the present embodiment can store the component box 50 until each of the storage lanes 32 to 38 is filled with the pile of five component boxes. Here, the widths of the storage lanes 32 to 38 are substantially the same as the width of the parts box 50, and the storage lanes 32,
34, 36 and 38 are arranged in parallel with almost no gap. Further, the length including the roller conveyor portions 32a to 38a to the table portions 32d to 38d is designed so that there is almost no surplus when the component boxes 50 are arranged in the X direction without any gap. Therefore, in the component box storage device 2 of the present embodiment, the component boxes 50 can be stored as densely as possible in any of the X, Y, and Z directions, and the storage space can be utilized without waste.

Next, a procedure for carrying out the stored component box 50 will be described. First, as shown by the phantom line in FIG. 1, the separating stoppers 32c to 38c located below the conveyor surface rise as shown by the solid line.
This creates a gap between the crest of the endmost parts box and the adjacent crest, preventing contact with the next crest when the parts box 50 is lifted. Next, as in the case of the unstacker traverser 4, the horizontal movement mechanism of the unstacker traverser 44 moves the traverser body to a position above the storage lane of the type to be carried out, and the elevating mechanism lowers the clamp body. The clamp body stops when the uppermost parts box 50 is lowered to the clamp position, and the uppermost parts box 50 is clamped by the clamp member. Subsequently, the clamp body moves up and the traverser body moves to a position above the E lane 40, and the clamp body moves down to place the component box 50 on the right end portion 40 a of the E lane 40 to open the clamp. Then, the component box 50 is carried in the Y2 direction by the roller conveyor of the E lane 40 and is carried out from the left end of the E lane 40.

As described above, in this embodiment, the unstacker traverser 44 having the same structure as the unstacker traverser 4 lifts the stored component boxes one by one from the top and carries them out. On the other hand, the unstacker traverser 44 may have a length such that five component boxes can be clamped so that the five component boxes can be lifted at a time and carried to the E lane 40 and carried out. Further, in the present embodiment, an example in which five component boxes 50 are stacked and housed has been described, but any number may be stacked as long as the height is stable. By increasing the number of stacks, it is possible to obtain an effect that the number of storages can be significantly increased without expanding the installation space in the XY directions. However, depending on the stacking height, it is necessary to increase the height of the traverser body 14 and the upper limit of the clamp body 26 that can be raised.

In the present embodiment, the case where the automatic warehouse of the present invention is embodied as the parts box storage device 2 has been described, but the automatic warehouse according to claims 1 to 4 of the present invention is applicable to parts. The present invention is not limited to a small-scale device such as a box storage device, but can be applied to a large-scale automated warehouse that stores a large product. Therefore, the work is not limited to the parts box in the present embodiment, and various articles can be targeted. Further, in this embodiment, the I lane 30 which is the carry-in lane is provided at the end of the component box storage device 2, but the carry-in lane does not have to be the end lane, and the inner lane may be the carry-in lane. Further, although the E lane 30 which is a carry-out lane is provided in a direction perpendicular to the other lanes 30 to 38, the E lane 30 is arranged in parallel with the other lanes,
It is also possible to adopt a method of carrying out in the X1 direction or the X2 direction of FIG. Thus, by arranging all the lanes in parallel, the installation space in the Y direction can be saved. Further, by providing the carry-in lane and / or the carry-out lane between the storage lanes, the total traveling distance when the unstacker traverser 4, 44 accesses all the storage lanes is shortened, and the cycle time can be shortened. can get.

Further, in this embodiment, the construction is such that the I-lane 30 is carried in and the E-lane 40 is carried out, but the carry-in and carry-out may be carried out in the same lane. In this case, the carry-in / out lanes and the conveyors of the storage lanes can be reversed so that the table portions (32b, 34b, 36b, 38b in the present embodiment) of the storage lanes are replaced by pushers 32c, 34c, 36c, 38c. In addition, it is necessary to provide a mechanism for putting the component boxes 50 to 50 into and out of the conveyor. As a result, since the carry-out lane 40 and the carry-out unstacker traverser 44 can be omitted, the cost of the component box storage device can be significantly reduced, and the installation space can be reduced. Further, in this embodiment, the storage lanes are arranged in four rows and one lane is provided for each type, but the storage lane may be any number of rows, and a plurality of storage lanes may be provided for one type.

Further, the width of the storage lane conveyor is set to the width of one component box 50, but the width of the conveyor can be expanded so that a plurality of component boxes 50 can be placed in the Y direction. As a result, it is possible to significantly increase the number of storages for each type without increasing the length of the conveyor. This method is particularly effective when the installation space in the X direction is limited. On the contrary, when the installation space in the Y direction is limited, the number of storages for each type can be increased by increasing the length of the conveyor. The structure, shape, size, material, number, arrangement and operation sequence of the other parts of the automated warehouse are not limited to those in this embodiment.

[0035]

According to the first aspect of the invention, the means for stacking and storing a predetermined number of works for each type, the means for moving the works in the storing means, the type of the work, the supporting height, etc. Since the automatic warehouse having the means for detecting and the means for supporting the work to move up and down or move horizontally is created, the work can be stored in the three dimensional directions in the maximum density. As a result, it becomes an extremely practical automated warehouse that can make full use of the storage space.

Further, in the invention according to claim 2, a clamp mechanism is provided as a work supporting means in the automatic warehouse according to claim 1, and a means for detecting the kind of the work, a supporting height and the like is attached to the clamp mechanism. Since an automated warehouse has been created, the loaded work is always clamped securely, and it is not necessary to provide a distinction device, and the work type is determined and the work is securely stored in the corresponding type work storage means. be able to. by this,
It is an extremely practical automated warehouse that can reliably support the work with a simple and compact structure and can surely identify the work type and store it by type.

[Brief description of drawings]

FIG. 1 is a perspective view showing the overall configuration of an embodiment of an automated warehouse of the present invention.

FIG. 2 is a side view showing a work moving mechanism and the like of one embodiment of the automatic warehouse.

FIG. 3 is a plan view showing a clamp mechanism and the like of one embodiment of the automatic warehouse.

FIG. 4 is a front view showing a clamp mechanism and the like of one embodiment of the automatic warehouse.

FIG. 5 is a perspective view showing an example of a conventional automated warehouse.

[Explanation of symbols]

2 Automatic warehouse 10, 12, 66, 68, 70 Horizontal moving means 20, 22, 24, 94, 95, 96, 98, 104
Vertical movement means 26, 28a, 28b Work support means 32, 34, 36, 38 Work storage means by type 32a, 32e, 34a, 34e, 36a, 36e, 3
8a, 38e moving means in storage means 50 work 60 control means 140a, 140b work support height detection means 140a, 140b work placement height detection means 144 work type determination means

Claims (2)

[Claims] 1. An automatic warehouse for storing a plurality of types of loaded work by type, the work type determining means for determining the type of the work, and a horizontal type for storing a predetermined number of the works in piles for each type. A plurality of types of work storage means arranged in a direction, a work support means for supporting the work, a vertical movement means for moving the work support means up and down, and a vertical movement means for the plurality of types of work storage means Horizontal moving means for moving in the horizontal direction straddling above, work supporting height detecting means for detecting a height at which the loaded work should be supported by the work supporting means, and the work is of the type Work placement height detection means for detecting a height to be placed on another work storage means, and storage means for moving the work in the type-specific work storage means Moving means, and the work supporting means is lowered by the vertical moving means in accordance with the detection result of the work supporting height detecting means, and the carried work is supported by the work supporting means to raise the work supporting means. The horizontal moving means moves the work supporting means to the corresponding type-specific work storing means in accordance with the determination result of the determining means, and the vertical moving means in accordance with the detection result of the work placement height detecting means. The work supporting means is lowered to place the supported works on the work storing means for each type, and when the number of stages of the stacked works reaches a predetermined number, the work is moved to the kind by the moving means in the storing means. An automatic warehouse, comprising: a control means for moving the separate work storage means. 2. The automatic warehouse according to claim 1, wherein a clamp mechanism for clamping the work is provided as the work support means, and the work mechanism type determination means and the work support height detection means are provided in the clamp mechanism. An automatic warehouse characterized in that the work placement height detecting means is attached.