JPH09175605A - Automatic storage warehouse system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To rapidly perform the warehousing and taking-out operation by shortening the time of preliminary work involving the warehousing and taking- out operation of goods for a high-raised warehouse. SOLUTION: A goods housing part is provided with a warehousing and taking-out part for storing an unmanned travel carriage for delivery in one side part of a storage shelf unit formed in a matrix-like form of length and breadth and a slacker crane with a conveyance unit which moves lengthwise and breadthwise along the front surfaces of the receiving part of the storage shelf unit and the unmanned travel carriage inside the warehousing and taking- out part to deliver goods. The unmanned travel carriage is provided with a carriage controller 40, a stop position sensor 25 for the stop position mark of the warehousing and taking-out part, a memory 48 for storing goods position data relating to the position of a holder mounted on the unmanned travel carriage and an optical communication means 45 for transmitting the data to a slacker controller 35 mounted on the slacker crane, and at the time of the warehousing and the taking-out operation, the stop position data inside the warehousing and taking-out part of the unmanned travel carriage and goods position data are transferred to the slacker controller 35 side.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a storage rack unit capable of storing a load such as a medical record sheet, a card, a file holder capable of storing a plurality of documents (hereinafter simply referred to as a holder) in a multi-stage storage portion. The present invention relates to a configuration of an automatic storage warehouse system having an entrance / exit section of an unmanned traveling vehicle for delivering and transporting luggage on the side.

[0002]

2. Description of the Related Art The applicant of the present invention has previously filed Japanese Utility Model No. 6-46881.
In the publication, a pair of storage rack units capable of storing loads in vertical and horizontal matrix shelves are arranged across a passage of a stacker crane, and a machine frame fitted in vertical and vertical columns of the stacker crane is moved up and down. The transport unit (Vicker) is horizontally rotatably mounted on the arm projecting horizontally from the machine frame, and the storage unit for stopping the unmanned traveling carriage is provided on one side of the one storage rack unit. The present invention proposes an automatic storage warehouse system that is equipped with an unmanned traveling trolley and the storage section of the storage shelf unit for taking out and storing luggage.

In this case, the stacker crane first arrives in the loading / unloading section and waits for the unmanned traveling vehicle to enter, and the unmanned traveling vehicle first arrives in the loading / unloading section and is stopped. Assuming that the transport unit of the stacker crane is closer to the position, we propose a configuration with positioning marks on the front of the storage shelf unit and on the unmanned traveling vehicle side, and with a position reading head on the stacker crane and transport unit side. did.

[0004]

However, in this configuration, even if the unmanned traveling vehicle arrives first in the loading / unloading section, the stacker crane and the transport unit are brought close to the unmanned traveling vehicle, Since the positioning mark is detected by the position reading head, there is a problem that it takes a lot of time to perform a pre-operation before the position of the unmanned traveling vehicle, and eventually the load in the loading / unloading section is taken into the transport unit, which is troublesome.

Further, in the conventional automatic storage warehouse system, a central controller provided at another position is used to control the traveling of the unmanned vehicle, the movement of the stacker crane, and the data management of the cargo to be put in and out. Since the central controller performs centralized management and control because it is executed in place, there is a problem that it is not possible to control each part at the same time and the central controller is overloaded.

[0006] It is an object of the present invention to provide an automatic storage warehouse system capable of executing a quick warehousing control so as to solve the above conventional problems.

[0007]

In order to achieve the above object, the automatic storage warehouse system according to the invention of claim 1 is
A storage rack unit in which luggage storage units are formed in a matrix shape in the vertical and horizontal directions, a loading / unloading unit that stores an unmanned traveling vehicle for cargo delivery on one side of the storage rack unit, and a storage unit of the storage rack unit and a storage unit. An automatic storage warehouse system comprising an unmanned traveling trolley in a warehousing section and a load carrier that moves vertically and horizontally along the front of the unmanned trolley. A stop position sensor, a storage unit for storing load position data relating to the position of a load to be mounted on the unmanned traveling vehicle, and a communication unit for transmitting the data to the load carrier. , And the stop position data in the loading / unloading section of the unmanned traveling vehicle and the load position data are transferred to the controller side of the load carrier.

The invention described in claim 2 is the same as claim 1.
In the automatic storage warehouse system described in, the load carrier side is provided with communication means for transmitting data to an unmanned traveling vehicle,
At the time of leaving the warehouse, the controller of the load carrier transmits the data of the parcel to be unloaded to the unmanned traveling carriage in the loading / unloading unit based on the leaving command from the main controller.

[0009]

BEST MODE FOR CARRYING OUT THE INVENTION Next, an embodiment of the present invention will be described. In FIG. 1, a flat rectangular holder 2 such as a file holder for storing a medical record in a hospital or the like is suspended and stored. A pair of storage shelf units 1 for storing, and one side surface of the storage shelf unit 1 along the left and right sides in the traveling direction of the unmanned traveling vehicle 4 in the loading / unloading section 13 provided on one side of each storage shelf unit 1 and the front surface of the storage shelf unit 1. It is a partially broken perspective view of a three-dimensional warehouse A for automatically taking out and storing a holder, which is composed of a moving transport unit 3.

In a passage 17 between the two storage rack units 1 and 1, a stacker crane 10 as a load carrier that moves along a floor rail 18 is arranged, and a stacker crane 10 is vertically moved along a column 11 of the stacker crane 10. The transport unit 3 is horizontally rotatably mounted on a horizontal arm protruding from the moving machine frame 15, so that the doorway of the holder 2 in the transport unit 3 can be connected to either one of the storage shelf units 1 and 1. The holder 2 can be taken out and stored in any stage.

Further, on one side of each storage rack unit 1,
A storage / reception section 13 for accommodating an unmanned traveling vehicle 4 in which a holder 2 as a luggage is suspended and stored is provided, and the holder 2 is provided on one side of at least one of the storage shelf units 1.
An emergency delivery section 14 is provided for taking out the articles one by one in an emergency. In the embodiment of FIG. 1, only one set including one transport unit 3 for the pair of left and right storage rack units 1 and 1 is shown, but a plurality of these sets may be arranged in parallel. good.

Each storage shelf unit 1 has a plurality of upper and lower shelves, and suspension support rails (not shown) are arranged at regular intervals on the lower surface of each shelf. Between the two adjacent suspension support rail bodies, a suspending and suspending portion is configured so as to suspend and support the overhanging reinforcement portion which is the upper end portion of each holder 2. An unmanned traveling vehicle 4 for carrying the holder 2 in a suspended state is provided with wheels 5 such as casters, and a box body having a lateral opening 9 on either the left or the right with respect to the traveling direction of the unmanned traveling vehicle. The middle part of the height direction is partitioned by the shelf plate 8. Further, suspension support rail bodies having the same configuration as described above are provided in parallel on the top plate of the box body and the lower surface of the shelf plate 8 so that the operator can arbitrarily insert the holder 2 and suspend it from the opening 9 side. Is configured.

As shown in FIGS. 2 and 3, on the front surface of the storage rack unit 1, horizontal position marks 20 are provided at regular intervals in the horizontal direction (X direction) from an origin (not shown), and in the vertical direction ( A vertical position mark (not shown) attached to the Y direction), and an X direction address sensor 21 provided on the traveling carriage 16 of the stacker crane 10 and a Y direction address sensor 22 provided on the machine frame 15 Detect vertical position.

Further, on the front surface of the transport unit 3, there is provided a storage position sensor 23 for reading the suspension support position mark on the front surface of the suspension support rail body so that the storage position (address) of the holder 2 can be detected. A stop position mark 24 for detecting the position from the origin (the side where the unmanned traveling carriage 4 enters, not shown) of the storing / discharging portion 13 is provided on the passage 17 side of the unmanned traveling carriage 13 on the side surface of the unmanned traveling carriage 4. Stop position sensor 25 provided
By detecting the stop position mark 24, the stop position of the unmanned traveling vehicle 4 can be detected. The X-direction address sensor 21, the Y-direction address sensor 22, the storage position sensor 23, and the stop position sensor 25 are each of a light reflection type, and the position from each origin is known by counting the number of each mark. Is something that can be done.

FIG. 4 is a block diagram of the control mechanism of the present system. The main controller 30 installed at another place outside the storage shelf unit has an input unit 31 such as a keyboard.
Data communication with a display unit 32 such as a CRT, an external memory 33 such as a hard disk for storing various data, an optical communication unit 36 of a stacker controller 35 mounted on a stacker crane 10 as a load carrier as described later. It is connected to the optical communication means 34.

In the external memory 33, the individual recognition data (ID data) of the holder 2 stored in each of the storage rack units 1 and the data of the storage address thereof, and the input section 31.
The ID data and the like of the holder 2 to be delivered are stored. In the stacker controller 35, in addition to the optical communication means 36, the X-direction address sensor 21, the Y-direction address sensor 22, the storage position sensor 23, the traveling drive motor 37 of the stacker crane 10, the lifting drive motor 38 of the machine frame 15, The drive means 39 of the transport unit 3 and the optical communication means 41 for data communication with the carriage controller 40 mounted on the unmanned traveling carriage 4 are connected to the memory 42. In the memory 42, data regarding the holder 2 relating to loading and unloading to be transferred to the main controller 30 side, stop position data in the loading and unloading section transferred from the unmanned traveling vehicle 4 side, and the like are stored, as described later. It is a thing.

In addition to the stop position sensor 25, the bogie controller 40 mounted on the unmanned bogie 4 has a traveling drive motor 43 for driving the bogie 4, a loading / unloading section 3 and an external holder ejecting suspension support. Data communication with a route sensor 44 for detecting a traveling path mark (not shown) laid along a traveling route laid on the floor between the working unit and the optical communication means 41 on the trolley controller 40 side. Optical communication means 45, data input section 4 such as a keyboard
6 and a display unit 47 such as a liquid crystal are connected.

The carriage controller 40 is provided with a built-in or external memory 48, and the memory 48 stores stop position data from the stop position sensor 25 and the unmanned traveling carriage 4.
The interval data of the suspension rail corresponding to the thickness of the holder 2 that can be suspended inside, the suspension position for each type of holder to be delivered (for example, the upper suspension rail of the unmanned traveling carriage 4 has a surgical position. Data, for internal medicine, etc.), address data of an empty storage section in the storage rack unit 1, etc. are stored.

It should be noted that, as shown in FIG.
Optical communication means 4 for communicating data with the optical communication means 45 of
The transmission / reception unit 41a of No. 1 is disposed in the storage / reception unit 13 of each storage shelf unit 1 and is disposed at a position facing the transmission / reception unit 45a provided at the end of the unmanned traveling vehicle 4 that has entered the storage / reception unit 13. Has been done. Next, a data transmission / reception operation between the main controller 30, the stacker controller 35, and the carriage controller 40 at the time of warehousing and warehousing will be described. Prior to the warehousing, an operator suspends the holder 2 to be warehousing on the unmanned traveling vehicle 4 in a working unit (not shown). By inputting data from an input unit such as a keyboard, the position of the suspended holder 2 is stored, the position of the loading / unloading unit 13 is designated, and the unmanned traveling vehicle 4 is started. On the other hand, the stacker crane 1 between the storage shelf units 1 and 1 for which a storage command is designated by the input unit 31 of the main controller 30.
Optical communication means 3 to the stacker controller 35 mounted on
Take out via 4,36. The stacker controller 35 that has received the warehousing command operates the traveling drive motor 37 to cause the traveling carriage 16 to travel so as to approach the specified warehousing / unloading unit 13, and the lifting drive motor 38 and the transport unit driving means 3 are provided.
9 is operated to move the transport unit 3 to the designated loading / unloading section.

A storage section 13 in which the unmanned traveling vehicle 4 is designated.
Enter the inside and insert the stop position mark 24 into the stop position sensor 25.
When it is detected by and stopped, the stop position data is stored in the memory 48.
The optical communication means 45, 41 stores the stop position data and the data regarding the holder (the load position data regarding the load position) such as the suspension rail distance in the unmanned traveling vehicle 4.
It is stored in the memory 42 on the stacker controller 35 side via. The detection signal of the stop position sensor 25 may be stored in the memory 42 on the stacker controller 35 side without interposing the memory 48.

In the stacker controller 35, the position of the predetermined suspended holder 2 in the stopped unmanned traveling vehicle 4 is calculated from the data stored in the memory 42, and the transport unit 3 is moved to the predetermined position in the loading / unloading section 13. To
Take in the holder 2. At this time, in the transport unit 3,
The ID data is read by the bar code attached to the side surface of the holder 2 by a bar code reader (not shown), and the memory 4
Store it in 2. After that, the transport unit 3 is moved to the address of the empty storage section in the storage rack unit 1 and stored. This operation is repeated to store all the holders 2 from the unmanned traveling vehicle 4. Then, the stored ID data of the holder 2 and the stored address data of the accommodating portion are transferred to the main controller 30 via the optical communication means 36 and 34.
It is transferred to the side memory 33.

As described above, at the time of warehousing, the stop position data of the unmanned trolley 4 stopped in the warehousing / unloading unit 13 and the data regarding the holder such as the suspension rail distance in the unmanned trolley 4 (related to the luggage position) Load position data)
Are transferred to the stacker controller 35 side, so that the transport unit 3 in the stacker crane 10 can immediately approach the predetermined suspended position of the holder in the unmanned traveling carriage 4, and the transport unit 3 once The waiting time such as stopping can be shortened, and the storage operation can be speeded up.

At the time of warehousing, the unmanned traveling vehicle 4 is designated by the warehousing command from the main controller 30 to enter and exit the warehousing section 13.
Put it in and stop it. In this case, the storage section 13
The stop position data of the unmanned traveling vehicle 4 and the data regarding the holder such as the suspension rail distance in the unmanned traveling vehicle (load position data regarding the luggage position) are stored in the optical communication means 4.
5 and 41, and is stored in the memory 42 on the stacker controller 35 side. And the main controller 3
When the name or the like of the holder 2 to be delivered is input through the input unit 31 on the 0 side, the corresponding ID data and the address data of the storage unit are transferred to the stacker controller 35 side via the communication means 34, 36, and the memory 42 is transferred. Remember. Based on the stored data, the stacker crane 10 is moved, the transport unit 3 is moved to the front of a predetermined accommodating portion, the predetermined holder 2 is taken out, and it is transferred to the stopped unmanned traveling carriage 4. Also in this case, the position data of the suspension rails of the unmanned traveling vehicle 4 can be immediately calculated on the stacker controller 35 side to move the transport unit 3 to a predetermined position, and the same type of holder 2 can be used for the unmanned traveling vehicle 4 as well. Can be gathered in the area of a given suspension rail in. For example, fifteen surgical holders can be grouped in the upper left area and the internal medicine holder 2 can be set in the other area.

When the transfer of the holder 2 to the unmanned traveling carriage 4 is completed, the data concerning the holder 2 to be unloaded is transferred via the optical communication means 41 and 45, and the carriage controller 4 is moved.
The data is stored in the memory 48 on the 0 side, the data is displayed on the display unit 47 of the unmanned traveling vehicle 4, and the unmanned traveling vehicle 4 is caused to travel to the working unit. By doing so, the holder of the same type can be taken out very easily from the display of the display unit 47 in the working unit. In addition, since the unmanned traveling vehicle 4 stores the data regarding the holders 2 to be carried out, when there are a plurality of external working parts, the unmanned traveling vehicle is located at the optimum position for the shipping operation based on the data. It is also possible to control the vehicle so that it can run.

In the above-mentioned embodiment, the holder 2 is explained as the luggage to be loaded and unloaded. However, in the case of luggage loaded in a corrugated cardboard box, the transport unit as a cargo carrier is configured to correspond to each of the storage rack units. The section may have a shelf board structure in which luggage is slid and transferred.

[0026]

As described above, in the automatic storage warehouse system according to the first aspect of the present invention, there is provided a storage rack unit in which luggage storage portions are formed in a matrix of vertical and horizontal directions, and one side of the storage rack unit. Storage unit for storing an unmanned traveling carriage for cargo delivery, and a cargo transporter for vertically and horizontally moving along the front of the accommodation unit of the storage rack unit and the front of the unmanned traveling carriage in the shelving unit. An automatic storage warehouse system comprising: an unmanned traveling vehicle, a stop position sensor for a stop position mark of a loading / unloading section, and storage means for storing load position data relating to a position of a load mounted on the unmanned traveling vehicle. And a communication means for transmitting data to the load carrier, and at the time of loading and unloading, the controller of the unmanned traveling vehicle is used to store the stop position data in the loading and unloading section of the unmanned traveling vehicle and the loading position data. The door is intended to be transferred to the controller side of the load transporter.

According to this structure, the load carrier can be immediately approached to the loading position of the luggage on the unmanned traveling vehicle stopped in the loading / unloading section, and the load carrier is once stopped as in the prior art. It is possible to shorten the waiting time such as for example, shorten the time required for the load transfer between the unmanned traveling vehicle and the load carrier, and speed up the loading / unloading operation.

The invention described in claim 2 is the same as claim 1
In the automatic storage warehouse system described in, the load carrier side is provided with communication means for transmitting data to an unmanned traveling vehicle,
At the time of leaving the warehouse, the controller of the load carrier transmits the data of the parcel to be unloaded to the unmanned traveling carriage in the loading / unloading unit based on the leaving command from the main controller. Therefore, as described above, it is possible to shorten the time required for the delivery of cargo between the unmanned traveling trolley and the load carrier, to speed up the loading / unloading operation, and to store the unmanned traveling trolley in the storage unit at the time of unloading. Since the data regarding the loaded luggage is stored, the effect is that the data can be utilized to facilitate the unloading work for the external work.

[Brief description of the drawings]

FIG. 1 is a partially broken perspective view of a three-dimensional warehouse.

FIG. 2 is a sectional view taken along the line II-II of FIG.

FIG. 3 is a plan sectional view showing a position of an unmanned traveling vehicle in another loading / unloading section.

FIG. 4 is a functional block diagram of a control system.

[Explanation of symbols]

 A three-dimensional warehouse 1 storage shelf unit 2 holder 3 transfer unit 4 unmanned traveling trolley 10 stacker crane 13 loading / unloading section 23 storage position sensor 25 stop position sensor 30 main controller 34, 36, 41, 45 optical communication means 35 stacker controller 40 trolley controller 42,48 memory

Claims (2)

[Claims] 1. A storage rack unit in which luggage storage portions are formed in a matrix shape in the vertical and horizontal directions, a loading / unloading unit for storing an unmanned traveling vehicle for cargo delivery on one side of the storage rack unit, and the storage rack unit. In the automatic storage warehouse system, which is equipped with a storage section and an unmanned trolley in the loading and unloading section, and a load carrier that moves vertically and horizontally along the front and back of the unmanned trolley, the unmanned trolley will be The vehicle includes a stop position sensor for the stop position mark, a storage unit for storing load position data on the position of the luggage mounted on the unmanned traveling vehicle, and a communication unit for transmitting the data to the load carrier. The automatic storage warehouse, which transfers the stop position data in the loading / unloading section of the unmanned vehicle and the load position data from the controller to the controller side of the load carrier. Stem. 2. The cargo carrier side is provided with communication means for transmitting data to an unmanned traveling vehicle, and at the time of warehousing, the data of the cargo to be unloaded from the controller of the cargo carrier based on a shipping command from the main controller. The automatic storage warehouse system according to claim 1, wherein the automatic storage warehouse system transmits the information to an unmanned traveling vehicle in the loading / unloading section.