JPH09100005A - Automatic warehouse - Google Patents

Abstract

PROBLEM TO BE SOLVED: To clear up a location of cylindrical cargoes, and improve efficiency of an operator by warehousing and delivering the cylindrical cargoes by a taking in and out device to cargo housing spaces of a shelf and cargo housing spaces of a carriage moved to and stopped at a warehousing delivering cargo receiving position, and controlling data of the cargoes in the cargo housing spaces of the shelf and data on the cargoes of the cargo housing spaces of the carriage by a control means. SOLUTION: An automatic warehouse is provided with a shelf 1 having plural cargo housing spaces 4 of cylindrical cargoes and a taking in and out device 10 to warehouse and deliver the cargoes between it and the cargo housing spaces 4 of the shelf by advancing and retreating a taking in and out tool while self-traveling along this shelf 1, and is provided with a carriage 12 in which plural carriage housing spaces 11 are set and which has plural cargo housing spaces of the cylindrical cargoes and warehouses and delivers the cylindrical cargoes by the taking in and out device 10 by stopping at the carriage housing spaces 11 and a control device 31 to control data on the cargoes of the cargo housing spaces 4 of the shelf and data on the cargoes of the cargo housing spaces of the carriage.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automated warehouse for storing and storing a cylindrical (or columnar) shaped load installed in, for example, a factory.

[0002]

2. Description of the Related Art Conventionally, as an automatic warehouse for cylindrical loads, as shown in, for example, Japanese Patent Laid-Open No. 63-17704, a plurality of cylindrical objects are arranged in parallel in a depth direction with respect to a load storage space of a shelf. For storing books, and forming a trolley storage space in a part of the rack's load storage space, a trolley that can be carried into this trolley storage space is provided with a support base for simultaneously supporting a plurality of cylindrical objects,
A configuration is disclosed in which a loading / unloading device for loading and unloading a plurality of cylindrical objects is provided in the load storage space of the support base and the shelves at the same time.

According to this conventional type, the loading and unloading device simultaneously supports and conveys a plurality of cylindrical objects on the basis of the loading and unloading command signal, and the cylindrical objects are placed in the intended load storage space of the shelf and the support base of the carriage. Carry in and out. In addition, by letting the trolley move in and out of the trolley storage space of the rack's load storage space,
Loading and unloading of cylindrical objects.

[0004]

However, according to the above-mentioned conventional method, the relationship between the storage position in the load storage space and the storage position of the supporting base of the truck is not clear for each cylindrical object. The loading and unloading device loads and unloads a plurality of cylindrical objects at the same time, so that at the time of unloading, cylindrical objects other than the target cylindrical object are also loaded to the support table, and which cylindrical object is the target cylindrical object is unknown. There was an occasion.

Further, since there are only two spaces for loading and unloading, there are cases in which trolleys are queued at the time of loading and unloading, so that workers also have to wait, which lowers work efficiency.

[0006] Therefore, an object of the present invention is to provide an automatic warehouse in which the location of a target cylindrical load is clarified and the efficiency of workers can be improved.

[0007]

In order to achieve the above-mentioned object, the automatic warehouse according to claim 1 of the present invention is a shelf having a plurality of cylindrical load storage spaces for a load and a shelf along the shelf. A self-propelled warehouse, which is equipped with a loading and unloading device for loading and unloading a load with the load storage space of the shelf by moving in and out of the loading and unloading device, and a plurality of loading and unloading load receiving positions are set, and A trolley having a plurality of cylindrical load storage spaces for loading and unloading the cylindrical load by the loading / unloading device that is stopped at the loading / unloading load receiving position, It is characterized by comprising management means for managing the data and the data of the load in the load storage space of the truck.

Here, the cylindrical load is, for example, a bobbin or roll paper around which an electric wire is wound. The trolley is composed of a hand truck or an automated guided vehicle having traveling means. According to the above configuration of the present invention, a cylindrical load is loaded / unloaded by the loading / unloading device into / from the load storage space of the shelf and the load storage space of the truck that has moved to the loading / unloading load receiving position and stopped. Further, the management means manages the data of the load in the rack's load storage space and the data of the load in the truck's load storage space, and the position of each load is tracked and confirmed.

The invention according to claim 2 of the present invention is
2. The automated warehouse according to claim 1, wherein the load storage space of each trolley is configured to be able to store a plurality of cylindrical loads, and the management means sets data of a plurality of loads in the load storage space of each trolley to 1 The feature is that each item is managed.

According to the above configuration of the present invention, the management means manages the data of the load in the rack's load storage space and the data of each of the plurality of loads in the load storage space of the trolley, one by one, and the position of each load. Will be tracked and confirmed.

[0011]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a plan view of an automated warehouse showing an embodiment of the present invention, and FIG. 2 is a front view.

The pair of left and right frame-shaped shelves 1 form a plurality of load storage spaces 4 in vertical and horizontal directions by vertical columns 2 and arms 3 attached to the columns 2. The bobbin 6 is supported by the arm 3 and both stoppers 5 provided in the arm 3 in the depth direction. The bobbin 6 has a cylindrical shape or a cylindrical shape, and is supported by the stopper 5 on its side surface with the circular surface as the front surface.

Further, at the center between the pair of shelves 1 and on the shelves 1
Is supported and guided by a floor rail and an upper guide rail (not shown) laid on the floor surface F along the front of the vehicle, and is self-propelled on a fixed path 7 to elevate and lower the elevating body 8 and to be installed on the elevating body 8. A loading / unloading device 10 for loading / unloading the bobbin 6 is arranged between the loading / unloading tool 9 and the load storage space 4 on the shelf.

In addition, a part of the cargo storage space 4 on one of the shelves 1 is removed, and a trolley storage space is provided at six loading / unloading positions.
11 are formed. As shown in FIG. 3, the carriage 12 that can be carried in and out of the carriage storage space 11 from the outside is
A plurality of wheels (14) are provided at the bottom of the vehicle body (13), and a hand pushing portion (15) is provided at a side end of the vehicle body (13) for manual operation. Further, on the vehicle body 13, load storage spaces 16 for supporting a plurality of (two) bobbins 6 side by side are provided in two rows and three columns.
The load storage space 16 is a frame 17 mounted on the vehicle body 13.
And the arms 18 attached to the frame 17 and the beam 19 connecting the upper ends of the frames 16 to each other.
A stopper 20 is provided on the top in the depth direction. In addition, a stopper rod 21 is provided at the rear end of the lower surface of the vehicle body 13 and can be raised and lowered by manual operation.

A tag 22 on which the number of the truck 12 and a bar code representing the truck number is printed is attached to one end of the beam of the truck 12, and a number indicating the position of each load storage space 16 and A card 22A on which the bar code is printed is attached. In addition, the bobbin 6 is provided on the front surface and the back surface of each bobbin 6, respectively.
And a bar code 23 on which a bar code representing the code of this bobbin number is printed.

A rail guide 24 for guiding the wheels 14 is arranged on the floor in the trolley storage space 11.
On the inner end side of the rail guide 24, there is provided a fixed position detector 25 consisting of a limit switch that is operated by the contact of the wheels 14, and a stopper cylinder into which the stopper rod 20 can be inserted / removed.
26 are provided. Further, a bar code reader 27 for reading the bar codes of the tag 22 of the bogie 12 and the tag 23 of the bobbin 6 is provided for each bogie storage space 11.

With this configuration, the dolly 12 is placed in the dolly storage space 11
Guided by the rail guide 24 and loaded, the stopper rod 20
Is inserted into the stopper tube 26 so that its position does not move, that is, it is fixed at a predetermined position. At this time, the fixed position detector 25 is operating.

A safety fence 28 is provided in front of and behind the shelf 1 to prevent workers from entering and exiting the device 10 from entering the fixed path 7 (inside the passage) and to protect safety.
An optical transmission device 29 that performs data transmission to and from the access device 10 is provided inside, and a control device 31 on the ground side of the access device 10 is provided outside the front safety fence 28. .

As shown in FIG. 4, the ground-side control device 31 comprises a controller 32 composed of a microcomputer and a liquid crystal display 34 with a touch panel 33 forming an operation panel. It is connected to the touch panel 33 and the liquid crystal display 34, is also connected to the loading / unloading device 10 via the optical transmission device 29, and is also a fixed position detector 25 and a bar code reader 27 in each trolley storage space 11.
Is connected to the host computer 36 via the communication device 35.

As shown in FIG. 5, the controller 32 includes a controller 41 (details of which will be described later), a number (code) of the bogie 12 parked in each carriage storage space 11, and a bobbin 6 for each load storage space 16. Bogie data storage sections 42 for storing the data (codes) of the bobbin 6 for each load storage space 4 on the shelf 1
Data storage section 43 for storing data (code), storage / receipt data storage section 44 for storing storage / receipt data, screen display section
45 (details will be described later), and a screen data storage unit 46 in which data of a plurality of preset screen formats is stored.

A liquid crystal display 34 is connected to the screen display unit 45, and the screen format data designated by the screen data storage unit 46 is first searched in response to the drive signal from the control unit 41, and then the trolley is used. Data storage unit 42 or shelf data storage unit
The necessary data is retrieved from the storage data storage unit 43 or the storage / reception data storage unit 44, and this data is incorporated into the screen format data and output to the liquid crystal display 34 to display the target screen.

The control unit 41 is connected to the touch panel 33, the optical transmission device 29, the communication device 35, the fixed position detector 25 and the bar code reader 27 of each trolley storage space 11, and responds to the operation signal of the touch panel 33 according to the operation signal. The work data is set, and a loading / unloading signal is output to the loading / unloading device 10 via the optical transmission device 29, the screen display unit 45 is driven, the data in the loading / unloading data storage unit 44 is managed, and the carriage storage space 11 The code of the bogie 12 and the code of the bobbin 6 for each load storage space 16 and the code of the bobbin 6 for each load storage space 4 on the shelf 1 are managed.

In the control unit 41, the carriage 12 and the shelf 1
Data management will be described in detail with reference to the flowcharts of FIGS. 6 to 9 together with the operation of the worker and the operation of the access device 10. [Management of trolley data when moving in and out by remote mode (command to host computer 36)] (see FIGS. 6 and 7) In remote mode, the code of the dolly 12 that is loaded from the host computer 36 and the code of the bobbin 6 that is loaded Is input and stored in the storage / storage data storage unit 44, and automatic storage / storage is performed.

When a trolley 12 for loading and unloading by a worker is carried into the trolley storage space 11 and fixed, and the fixed position detector 25 of the trolley storage space 11 operates and inputs its signal (step -1), the trolley Check the trolley storage space 11 where 12 was stopped (step-2), and then the barcode reader 27
When the bar code reading work of the tag 22 is performed by the, and the code of the dolly 12 is input from the bar code reader 27 of the dolly storage space 11 (step-3), this code is stored in the corresponding dolly data storage unit 42 ( In step -4), the warehousing / discharging data storage unit 44 is searched to determine whether the dolly 12 having this code is a dolly for warehousing or a dolly for leaving (step -5). * At the time of warehousing When it is confirmed that it is the dolly 12 for warehousing (step-
6) Output the code of the dolly 12 to the host computer 36 through the communication device 35, request the code of the bobbin 6 for each load storage space 16 (step-7), and input this code from the host computer 36. Then, it is stored in the trolley data storage unit 42 (step-8) (step-9).

Next, the number of codes in the bobbin 6 stored in the trolley data storage section 42 is counted (step -10), the shelf data storage section 43 is searched, and the empty load storage space 4 corresponding to this number of codes is obtained. Is calculated (step-11), and the number is stored in the entry / exit data section 44 (step-12).

Next, the position of the trolley storage space where the trolley 12 is stopped, the position of the load storage space 16 of the trolley 12, and the bobbin 6
(Reverse) and the position of the empty load storage space 4 of the above-mentioned shelves 1 is formed (step-1)
3) Transmitting to the access device 10 via the optical transmission device 29 (step -14).

An in / out device 10 based on this warehousing data
By this, the bobbin 6 of the dolly 12 is loaded into the load storage space 4 of the shelf 1, and when the loading / unloading device 10 inputs a warehousing end signal through the optical transmission device 29 (step -15), it is stored in the dolly data storage unit 42. The stored code of the bobbin 6 is transferred to the shelf data storage unit 43 to update the data (step -16), and the data of the dolly data storage unit 42 and the warehousing warehousing code of the warehousing / discharging data storage unit 44 which have completed the warehousing are stored. Erase (step-17),
A warehousing end signal including the code of the dolly 12 for which warehousing is completed is output to the host computer 36 via the communication device 35 (step -18), and the process ends. * At the time of delivery When it is confirmed that the cart 12 is to be delivered at step-6, the shelf data storage 43 is searched and stored by the code of the 12 bobbins 6 sequentially stored in the entry / exit data storage 44. To find the load storage space 4 (Step-1
9), which is stored in the storage / storage data storage unit 44 (step-2
0).

Next, the delivery data including the position of the trolley storage space where the trolley 12 is parked and the position of the stored load storage space 4 of the shelf 1 is formed (step-21), and the optical transmission device is formed. It is transmitted to the access device 10 via 29 (step-22).

An in / out device 10 based on this shipping data
By this, the warehousing is carried out to the load storage space 16 of the bogie 12 of the bobbin 6 of the shelf 1 in a preset order, and when the warehousing completion signal is inputted from the unloading / inserting device 10 through the optical transmission device 29 (step -23), 12 stored in the outgoing data storage unit 44 in order
The code of each bobbin 6 is sequentially transferred to the dolly data storage unit 42 and updated (step -24), and the code of the bobbin 6 in the warehousing / outgoing data storage unit 44 and the shelf data storage unit 43 is erased and updated (step). -25).

Then, when the worker carries out the carriage 12 from the carriage storage space 11 and the operation signal of the fixed position detector 25 in the carriage storage space 11 is turned off (step-26), it is stored in the carriage data storage unit 42. A delivery completion signal including the code of the truck 12 and the code of the bobbin 6 and the position data of the load storage space 16 is output to the host computer 36 via the communication device 35 (step -27), and then to the truck data storage unit 42. The stored data of the dolly 12 is erased (step-28), and the process ends. [Management of trolley data when moving in and out by offline mode (command to touch panel 33)] (see FIGS. 8 and 9) In the offline mode, the trolley 12 is carried in by the worker to the vicinity of the trolley storage space 11, and the touch panel 33 is It is operated, and a loading / unloading command is input. * At the time of warehousing When a worker inputs a warehousing command signal through the touch panel 33 (step-1), the warehousing mode is stored in the warehousing / leaving data storage unit 44 (step-2), and then the bar code reader 27 is operated by the worker. When the tag 22 of the dolly 12 is read using and the code of the dolly 12 is entered from the bar code reader 27 (step-3), the dolly corresponding to the dolly storage space 11 in which this bar code reader 27 is located. The code of the truck 12 is stored in the data storage unit 42 (step-
4). Furthermore, the worker uses the bar code reader 27 to code the card 22A of the dolly 12, then the tag of the bobbin 6.
When the code of 23 is entered (step-5), the card 22
The code of the bobbin 6 is stored in the trolley data storage unit 42 as the load storage space 16 indicated by the code A and other data before and after (step-6).

Then, the trolley is carried into the trolley storage space 11 by the worker and fixed, and the fixed position detector 25 corresponding to the trolley storage space 11 is operated and the signal is input (step -7). The number of codes of the bobbin 6 stored in the data storage unit 42 is counted (step-8), the shelf data storage unit 43 is searched, and an empty load storage space 4 matching the number of codes is obtained (step-9). The number is stored in the entry / exit data section 44 (step-10).

Next, the position of the trolley storage space where the trolley 12 is stopped, the position of the load storage space 16 of the trolley 12 and the bobbin 6
(Reverse) and the position of the empty load storage space 4 of the above-mentioned shelves 1 is formed (step-1)
1) Transmitting to the access device 10 via the optical transmission device 29 (step-12).

A loading / unloading device 10 based on this warehousing data
By this, the bobbin 6 of the dolly 12 is loaded into the load storage space 4 of the shelf 1, and when the loading / unloading device 10 inputs a warehousing end signal through the optical transmission device 29 (step -13), it is stored in the dolly data storage unit 42. The stored code of the bobbin 6 is transferred to the shelf data storage unit 43 to update the data (step -14), and the data of the trolley data storage unit 42 and the storage mode of the storage data storage unit 44 that have completed storage are deleted. Then (step-15), the process ends. * At the time of shipping In step-1, when the shipping command signal is input from the touch panel 33, the shipping mode is set to the shipping data storage unit.
It is stored in 44 (step -16), the worker reads the tag 22 of the dolly 12 using the bar code reader 27, and inputs the code of the dolly 12 from the bar code reader 27 (step -17). The code of the truck 12 is stored in the truck data storage unit 42 corresponding to the truck storage space 11 in which the barcode reader 27 is located (step-18).

Next, when the code of the bobbin 6 to be delivered is input from the touch panel 33 (step -19), the data is sequentially stored in the entry / exit data storage unit 44 (step -20). The storage unit 43 is searched to obtain the stored load storage space 4 (step-21) and stored in the warehousing / unloading data storage unit 44 (step-22).

Then, the trolley 12 is carried into the trolley storage space 11 and fixed by the worker, and the fixed position detector 25 corresponding to the trolley storage space 11 is operated to input the signal (step -23). Delivery data including the position of the trolley storage space where 12 is parked and the position of the retrieved storage space 4 of the shelf 1 is formed (step -24), and the storage device 10 is transferred via the optical transmission device 29. To (Step-2
Five).

An in / out device 10 based on this shipping data
By this, the goods are sequentially output to the cargo storage space 16 of the bogie 12 of the bobbin 6 of the shelf 1, and when the exit / completion signal is input from the entrance / exit device 10 via the optical transmission device 29 (step-26), the entry / exit data storage unit. The data of the bobbin 6 sequentially stored in 44 is sequentially transferred to the trolley data storage unit 42 to update the data (step -27), and the data of the warehousing / discharging data storage unit 44 and the shelf data storage unit 43 that have finished warehousing are stored. Erase and update (step-28).

Then, the dolly 12 is carried out by the worker,
When the operation signal of the fixed position detector 25 in the trolley storage space 11 is turned off (step-29), the code of the trolley 12 and the code of the bobbin 6 and the position data of the load storage space 16 stored in the trolley data storage unit 42 are stored. The shipping data including the data is output to the host computer 36 via the communication device 35 (step -30), and then the data of the dolly 12 stored in the dolly data storage unit 42 is erased (step-31), and the process ends.

As described above, in each loading / unloading mode, the code of the truck 12 and the code of the bobbin 6 of the load storage space 16 are managed together with the data of the load storage space 4 of the shelf 1 and output to the host computer 36. Accordingly, it is possible to confirm which bobbin 6 is in which cargo storage space 16 of which cart 12 the target bobbin 6 is located at, and it is possible to solve the problem that the bobbin 6 is missing. In addition, by providing trolley storage spaces 11 at 6 locations, and by providing a fixed position detector 25 and a bar code reader 27 in each trolley storage space 11, it is possible to eliminate the problem of queuing trolleys at the time of storage, and also in remote mode. At this time, if the bar code of the tag 22 of the dolly 12 is read and the bar code is stopped in the dolly storage space 11, the work efficiency of the worker can be improved by the automatic loading / unloading. Further, by managing the data of the bobbins 6 before and after the load storage space 16 of the carriage 12, the location of the target bobbin 6 can be confirmed.

Although the touch panel 33 is used as the operating means in this embodiment, a push button switch or a keyboard can also be used. A CRT may be used instead of the liquid crystal display 34. Further, by connecting a printer to the controller 32, the display content displayed on the liquid crystal display 34 can be printed out and can be recorded.

[0040]

According to the first aspect of the present invention, the loading and unloading of the cylindrical load is carried out by the loading and unloading device with respect to the load storage space of the shelf and the load storage space of the trolley that has been stopped at the loading and unloading load receiving position. In addition, the management means can track and confirm the position of each load by managing the load data of the load storage space of the shelf and the load data of the load storage space of the trolley. It is possible to recognize which load storage space of which cart the target load is in, and it is possible to solve the problem that the load is missing. In addition, since the trolley storage spaces are provided at a plurality of locations, it is possible to solve the problem that the trolleys are queued at the time of warehousing and improve the work efficiency of the worker.

According to the second aspect of the present invention, the management means manages the data of the load in the rack's load storage space and the data of a plurality of loads in the load storage space of the dolly, whereby the load storage space of the dolly is stored. Even when a plurality of loads are placed on the load, the location of each load can be reliably tracked and confirmed.

[Brief description of the drawings]

FIG. 1 is a plan view of an automated warehouse showing an embodiment of the present invention.

FIG. 2 is a front view of the same automated warehouse.

FIG. 3 is a front view and a side view of a cart of the automated warehouse.

FIG. 4 is a control configuration diagram of the automatic warehouse.

FIG. 5 is a block diagram of a controller of the control device of the automatic warehouse.

FIG. 6 is a flowchart illustrating an operation of the controller of the automatic warehouse.

FIG. 7 is a flowchart illustrating an operation of the controller of the automatic warehouse.

FIG. 8 is a flowchart illustrating an operation of the controller of the automatic warehouse.

FIG. 9 is a flowchart illustrating an operation of the controller of the automatic warehouse.

[Explanation of symbols]

 1 Shelf 2 Struts 3 Brackets 4 Shelf load storage space 6 Bobbin (cylindrical load) 7 Fixed route 10 Loading / unloading device 11 Truck storage space 12 Trucks 16 Trucks cargo storage space 22,23 Tag 22A card 24 Rail guide 25 Fixed position detector 27 Bar code reader 29 Optical transmission device 31 Control device 32 Controller 33 Touch panel 34 Liquid crystal display 35 Communication device 36 Computer

Claims (2)

[Claims] 1. A shelf having a plurality of cylindrical load storage spaces and a self-propelled shelf along which the load / unload tool is moved to and from the rack to load and unload the load. An automatic warehouse equipped with a loading / unloading device for carrying out a plurality of loading / unloading load receiving positions, having a plurality of load storage spaces for the cylindrical load, and holding the loading / unloading load receiving position in the loading / unloading device. According to the present invention, there is provided a trolley for loading and unloading the cylindrical load by a trolley, and a management unit for managing the data of the load of the rack's load storage space and the data of the load of the trolley's load storage space. Warehouse. 2. The automatic warehouse according to claim 1, wherein the load storage space of each trolley is configured to be able to store a plurality of cylindrical loads, and the management means is configured to store a plurality of load storage spaces of each trolley. The feature is that the data of the cargo is managed one by one.