JPS6392504A - Automatic warehouse - Google Patents

Abstract

PURPOSE:To efficiently carry in and out a storage article, by providing an outlet and an inlet in the side surface of an article rack and a carry-out bed outside the outlet and a return bed outside the inlet while a photoelectric device the end part of the carry-out bed. CONSTITUTION:An article rack is a fixed rack, and its inside is equipped with many storage chambers 11. While the article rack 1 provides an outlet and an inlet in the side surface and a carry-out bed 2 outside the outlet while a return bed 3 outside the inlet. Accordingly, when an article is carried out, the article rack 1, first rotating a servomotor by a control unit moves a lift rail 4 and a carry in-out running structure 5 to a predetermined position of the storage chamber 11. Next the article rack 1, retracting a slide truck, pulls out a vessel to be placed on the carry-out bed 2. And the article rack 1, in which a photoelectric device 9 detects the vessel if its quantity increases to the fully placed condition on the carry-out bed 2, starts returning work, always preferentially performing carry-out work.

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a mobile automated warehouse in which stored items are taken in and taken out by running traveling bodies on the sides of fixed shelves.

<Prior Art> An automatic warehouse is a device that can take out items stored in a shelf by aligning a retrieval arm with a target address on a shelf in response to an input signal.

These automated warehouses can be roughly divided into types with movable shelves and types with fixed shelves and movable arms.

Problems to be Solved by the Present Invention> The conventional automated warehouse described above is not suitable for high-speed operation and has a low operating speed.

In addition, there is a problem in that the farther the storage position of the stored items to be transported, the longer the driving distance and the longer time it takes to transport them.

OBJECTS OF THE INVENTION It is an object of the present invention to provide an automated warehouse that can efficiently carry out and return stored items and is compatible with high-speed operation.

Configuration of the Present Invention> An embodiment of the present invention will be described below with reference to the drawings.

Kui〉Product shelf (Figure 1) The article shelf 1 is a fixed shelf fixed on the floor.

[Storage Chamber] The interior of the goods shelf 1 is divided into a number of storage chambers 11 by partition walls arranged in the vertical and horizontal directions, and inside each storage chamber 11 are containers K, which are stored objects, as shown in FIG. Store it.

Furthermore, two windows, an exit and an entrance, are provided on the side surface of the goods shelf 1.

A carry-out table 2 is provided outside the exit, and a return table 3 is provided outside the entrance.

A photoelectric device 9 is installed at the end of the carry-out table 2 on the article shelf 1 side.

[Carry-out stand] The carry-out stand 2 is a dedicated stand on which the containers K carried out from the goods shelf 1 are placed, and is a groove-shaped body having a certain distance.

The carry-out table 2 is arranged so that the groove of the carry-out table 2 is parallel to the direction in which the containers are carried out, and at the end of the carry-out table 2 that is far from the goods shelf l, there is a groove to prevent the containers K that are being carried out one by one from falling. A plate-shaped stopper 21 is provided at the.

Therefore, when placing a newly arrived container K on the carry-out table 2, the container K already placed on the carry-out table 2 can be pushed out, so that a plurality of containers K can be placed on the carry-out table 2.

Note that by attaching a plurality of rollers to the unloading table 2, extrusion into the container can be performed smoothly.

[Return stand] The return stand 3 is a groove-shaped body located outside the entrance and having a certain distance.

The return stand 3 is arranged in a direction that intersects with the direction in which the container is taken into the container.

In this embodiment, a case will be described in which the return table 3 and a belt-type conveyor 31 arranged on the side of the return table 3 are combined, but it is also possible to employ other known mounting means.

Further, in this embodiment, a case will be explained where the return table 3 is provided above the carry-out table 2, but in addition, the carry-out table 2 and the return table 3 are provided above the carry-out table 2.
Of course, it is also possible to reverse the arrangement or to provide them at arbitrary positions on both sides of the article shelf 1.

[Photoelectric device] (Figs. 1 to 3) The photoelectric device 9 is a device that always gives priority to carrying out containers and returns them during free time.

In detail, when the container K is fully loaded on the unloading platform 2, the unloading operation is automatically stopped and the return operation is started, and space for loading the containers is created on the unloading platform 2. It acts as a changeover switch to automatically stop the return operation and start the carry-out operation.

In other words, the linkage between the carry-out work and the return work is switched.

The photoelectric device 9 can use a method of detecting the reflection of a light beam emitted from a built-in phototube when it hits the container K, or other known devices.

Entrance〉Lifting/lowering rail (Fig. 1) The goods shelf 1 is provided with a lifting rail 4 that moves up and down while maintaining horizontality in front of the goods shelf 1.

The following configuration is adopted as means for raising and lowering this lifting rail 4.

Vertical guides 12 are provided on both sides of the article shelf 1, and an annular vertical feeding belt 14 is wound between rollers 13 provided above and below each of the vertical guides 12, respectively.

Between the vertical feeding belts 14 wound vertically around the goods shelves 1,
Both ends of the horizontally arranged elevating rail 4 are connected, and the elevating rail 4 is configured to be movable up and down using one of the upper and lower rollers 13 as a driving source.

In this embodiment, a servo motor M1 for lifting and lowering is arranged between the lower rollers 13, and the rotational force of this servo motor M1 is used as a rotational drive source for both vertical feed belts 14.

Since currently manufactured servo motors are capable of rotation control over extremely small angles, by inputting a signal to this servo motor M1, the elevation and stop position of the elevating rail 4 can be accurately controlled.

(kuha) Carrying in/out traveling body A carrying in/out traveling body 5 is mounted on the lifting rail 4 so as to be freely movable.

The carry-in/out vehicle 5 includes a rotating platform 7 placed on a sliding platform 6 having a traveling means, and a sliding platform 8 that slides on the rotating platform 7.

[Sliding Dolly] The sliding dolly 6 is a carry-out machine for carrying out the containers K in the article shelf 1, and is configured to be able to run along the lifting rail 4 via running wheels 61.

As shown in FIG. is fixed, and a servo motor M2 for horizontal travel is arranged on the way of the transverse belt 42, so that the sliding carriage 6 can accurately travel on the elevating rail 4 by rotating the servo motor M2 in the forward or reverse direction. .

[Rotating stand 1 A rotating platform 7 is rotatably mounted on the sliding carriage 6.

The rotating frame 7 has a rotating support shaft 62 installed on the sliding carriage 6.
It is fixed to the upper part of the sliding carriage G, and is configured to be able to turn by any angle on the sliding carriage G by receiving rotation from a turning servo motor M3 attached to the sliding carriage 6.

Furthermore, a belt 72 for forward and backward feeding wound between rollers 71 and a servo motor M4 for rotating this belt 72 are installed inside the rotating frame 7.

[Sliding Cart] (Fig. 4.5) A sliding cart 8 is mounted on the upper part of the rotating frame 7 so as to be movable back and forth.

An upward hook 81 and a roller 82 are attached to the front surface of the slide truck 8.

The roller 82 is provided so as to slightly protrude from the front surface of the hook 81.

Further, an engagement shaft 83 is attached to the lower part of the slide carriage 8, and the slide carriage 8 is connected to the rotating frame 7 via this engagement shaft 83.
A member extending downward from the slide cart 8 is connected to the belt 72.

Then, a servo motor M4 connected to the middle of the belt 72
The slide cart 8 is moved forward or backward by selecting forward or reverse rotation.

Container (Figure 5) A container is a box with only the top open, for storing items.

On the front of the container, there is a handle with only the bottom open.
Attach.

Control device The control device is a device that sets rotation angles and gives start and stop signals to the four types of servo motors M1 to M4 described above for carrying out and returning operations to containers.

A known commercially available computer is used as this control device.

In order to control each of the servo motors M1 to M4 with the control device, it is necessary to convert the position of each storage chamber of the article shelf 1 into coordinates and input the coordinates to the control device.

Next, a method for transporting the stored items will be explained.

1> Determine coordinates in the X and Y directions for each partition provided in the vertical and horizontal directions of the shelf 1 for items to be carried out.

Then, the relationship between the containers in each storage chamber 11 and the coordinates is clarified and input into the control device (.

In addition, the lifting rail 4 and loading/unloading vehicle 5 are returned to their predetermined positions and left on standby (.

Of course, it may be stopped at the last position it moved to last time.

2> Move the sliding carriage to the specified position When the coordinates of a specific storage room 11 are input and commanded to the control device,
A control device calculates the rotation directions and rotation angles of the servo motors M1 and M2 and outputs them to each of the servo motors M1 and M2.

[Movement of Elevating Rail] When the servo motor M1 rotates based on a signal from the control device, the elevating rail 4 rises or descends by a predetermined distance and stops at a predetermined horizontal position.

[Movement of the sliding trolley] When a travel signal is input from the control device to the servo motor M2 at the same time as input to the servo motor M1 for lifting/lowering, the drawer traveling body 5 travels a predetermined distance on the lifting rail 4. Stop.

Since the vertical movement of the lifting rail 4 and the horizontal movement of the sender traveling body 5 can proceed simultaneously, the distance between the sender traveling body 5 from the position before it starts traveling to the target storage room 11 is You can also move in the shortest straight line.

The stop position of the elevating rail 4 is such that the tip of the hook 81 of the dispenser traveling body 5 is below the handle of the container.

3> Rotation of the rotating pedestal (Fig. 4.6) Before or after the drawer traveling body 5 stops at a predetermined coordinate position, a signal is input from the control device to the servo motor M3, and the rotating pedestal 7 rotates the article. 90 to the position perpendicular to shelf 1
°Rotate and stop.

As a result of the rotation of the rotating platform 7, the slide cart 8 moves into the storage chamber 1.
You will be facing 1.

4> Forward movement of the slide cart When the rotation of the rotating frame 7 is completed, a forward movement signal for the slide cart 8 is input to the servo motor M4, and the slide cart 8 moves forward toward the target container K in the storage chamber 11, and the roller 8
2 and the container K come into contact with each other.

5> Once the lifting slide carriage 8 of the lifting rail moves forward and stops, a rising signal for the lifting rail 4 is input to the servo motor M1, and the lifting rail 4 moves up a short distance and stops.

When the elevating rail 4 rises, the hook 81 located below the handle 1 enters into the container K from the opening side of the handle 1 and engages with it.

When the hook 81 engages with the handle 1 at high speed, that is, when the roller 82 rises at high speed while in contact with the container K, the roller 82 precedes the hook 81 while making point contact with the outer periphery of the container. Run.

Therefore, even if the hook 81 is raised at high speed, the frictional resistance will not increase due to rolling friction, so there is no need to worry about the container K being thrown up.

(6) Slide truck retreats (Fig. 5.6) Immediately after this, a reverse rotation signal is input to the servo motor M4, and the slide truck 8 retreats to its original position at high speed.

A predetermined container K is pulled out from the storage chamber 11 by the retreat of the slide cart 8, and placed on the upper surface of the rotating pedestal 7.

7> Loading container K onto unloading table After pulling out the container K, the controller sends an activation signal in the reverse order of the above process to move the drawer traveling body 5 onto the unloading table 2.
Move to the position.

That is, the steps of rotating the rotary frame 7, raising or lowering the elevating rail 4, and horizontally moving the sliding carriage 6 are performed in parallel, and the drawer traveling body 5 is made to travel to the position of the carry-out table 2.

At this time, the container is stopped with its bottom surface aligned with the unloading table 2.

When the sliding cart 6 reaches the unloading platform 2, the sliding cart 8 of the drawer traveling body 5 holding the container K is advanced, and then the lifting rail 4 is slightly lowered to place the container K on the unloading platform 2. hand over.

The above operations are repeated to place a plurality of containers K on the carry-out table 2.

8> Returning Containers (FIG. 7) After taking out the predetermined stored items from the container K, the container K is loaded onto the conveyor 31 and guided to the return table 3.

Next, the return position of the container to be returned is input into the control device.

The entered number of the container to be returned is stored in the control device.

When the unloading operation to the container is completed, the control device detects this end and sends an operation signal for the return operation to each motor M1 to M1.
Call M4.

Then, vertical and horizontal running signals of the dispenser traveling body 5 are input from the control device to the respective motors M1 to M4, and the dispenser traveling body 5 holds the container K placed on the return table 3. and then transported to a predetermined storage chamber 11 and stored therein.

Each operation until the container K is transferred to the predetermined storage chamber 11 and stored is as follows.

[Container holding operation] The slide cart 8 is moved forward to position the hook 81 below the handle 1, and then the lifting rail 4 is raised to hold the container K.
lift up.

Next, the slide cart 8 is moved backward and the container K is placed on the rotary frame 7.

[Return Travel] After the container K is placed on the drawer moving body 5, the drawer moving body 5 is moved to the destination storage room 11 while rotating the rotary pedestal 7 by 90 degrees.

When reaching the predetermined width 4 room 11, the container K is returned to the storage room 11 by moving the slide cart 8 forward, lowering the elevating rail 4, and retreating the slide cart 8 in this order.

9〉Activation of the charging device (Fig. 2.3) The work of unloading and returning containers is carried out as described above, but since the number of unloaded containers is greater than the number that can be loaded on the unloading platform 2, it is necessary to When it is necessary to perform unloading and return operations, the photoelectric device 9 sends a signal to start unloading and returning to the control device, so that the unloading and return operations are automatically switched and interlocked.

When the containers K are carried out one after another to the carrying-out table 2 and the carrying-out table 2 is full of containers K, the last container placed on the carrying table is located in the irradiation area of the light beam, so as mentioned above, A built-in phototube detects reflected light.

Therefore, a return start signal is sent from the photoelectric device N9 to the control device, and then a signal is transmitted from the control device to each of the servo motors M1 to M4 to start the return operation.

Furthermore, if there is space on the loading platform 2 for containers to be placed, there will be no reflection of the light beam.

Therefore, a signal to start unloading is sent from the phototube to the control device, and then a signal is transmitted from the control device to each of the servo motors M1 to M4 to start the unloading operation.

As described above, when the unloading table 2 is full of containers K, the unloading operation is stopped and the containers K on the return table 3 are returned, and when there is space on the unloading table 2 for loading the containers. The configuration is such that the container K is placed on the unloading table 2 again and the unloading and returning operations are repeated.

In other words, the return operation is performed only when the containers K are fully loaded on the unloading platform 2 and the unloading operation cannot be performed, and the interlocking of unloading and return is switched using the photoelectric device 9 so that the unloading operation always takes priority. That's what we're doing.

Effects of the Present Invention> Since the present invention is configured as described above, the following effects can be expected.

A carry-out platform was provided outside the exit with its groove extending a certain distance parallel to the direction in which the stored items were carried out.

Therefore, a plurality of stored items can be placed at one time.

Entrance> Multiple stored items can be placed on a return table provided outside the entrance.

At the same time, since each stored item's number etc. can be memorized, once the stored item has been removed, the stored item can be returned to a predetermined storage room based on a return command signal from the control device.

Therefore, free time can be used effectively and stored items can be carried in and out efficiently.

(kuha) If the number of items to be removed is greater than the number that can be loaded on the unloading platform and continuous unloading and return work is required, the charging device sends a signal to the control device to start unloading and returning. This allows the unloading and return operations to be automatically switched and linked.

In other words, the return work is performed only when the unloading table is full of items and the unloading operation cannot be performed, and a photoelectric device can be used to switch the interlock between unloading and return so that the unloading operation always takes priority. It can be done.

Therefore, when carrying out a large number of stored items, the operator does not have to worry about switching between carrying out and returning.

2〉Because it is a method in which only the loading/unloading vehicle runs,
It is now possible to drive at high speeds, and it also allows you to choose the shortest distance to your destination.

Therefore, the time required to reach the destination can be significantly shortened.

Kuho〉The shelf does not rotate horizontally or vertically.

The goods shelf is fixed on the floor, and only a lightweight arm moves to retrieve the goods.

Therefore, compared to a device that rotates a shelf, it is possible to carry out and carry in stored items extremely quickly and accurately.

All movements and rotations of the sliding carriage in the X and Y directions and forward and backward movement of the sliding carriage can be performed by only a small number of servo motors.

Since servo motors are capable of extremely accurate angle settings, complex motion settings can be easily performed simply by exchanging signals from the control device to the servo motor.

[Brief explanation of the drawing]

Figure 1: Perspective view of an embodiment of the automatic warehouse of the present invention No. 2.3
Figure: An explanatory diagram of the functions of the photoelectric device. Figure 4: An explanatory diagram of the loading and unloading vehicle. Figure 5: An explanatory diagram of the end of the elevating rail. Diagram of time

Claims (1)

[Claims] A lifting rail that moves up and down along the surface of the storage shelf is provided for a storage shelf that stores stored items, and a traveling body that slides on the lifting rail is mounted on the lifting rail. A rotating pedestal is provided on top of the traveling body, and the rotating pedestal is configured to reach the position of the stored items in the goods shelf by the lifting and lowering of the lifting rail, the sliding of the traveling body, and the rotation of the rotating pedestal. There are two windows on the side of the goods shelf, a take-out table and a return table, and a photoelectric device is attached to the end of the take-out table on the goods shelf side. An automated warehouse characterized by being configured so that unloading and returning are performed in conjunction with each other.