WO2011070881A1 - 物品保管設備及びその運転方法 - Google Patents

物品保管設備及びその運転方法 Download PDF

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Publication number
WO2011070881A1
WO2011070881A1 PCT/JP2010/069850 JP2010069850W WO2011070881A1 WO 2011070881 A1 WO2011070881 A1 WO 2011070881A1 JP 2010069850 W JP2010069850 W JP 2010069850W WO 2011070881 A1 WO2011070881 A1 WO 2011070881A1
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WO
WIPO (PCT)
Prior art keywords
article
storage
height
reading
mounting body
Prior art date
Application number
PCT/JP2010/069850
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
安部健史
Original Assignee
株式会社ダイフク
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社ダイフク filed Critical 株式会社ダイフク
Priority to US13/513,772 priority Critical patent/US8928481B2/en
Priority to CN201080055464.2A priority patent/CN102656101B/zh
Priority to KR1020127014060A priority patent/KR101702411B1/ko
Priority to EP10835803.7A priority patent/EP2511200B1/en
Priority to SG2012039475A priority patent/SG181119A1/en
Publication of WO2011070881A1 publication Critical patent/WO2011070881A1/ja

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0435—Storage devices mechanical using stacker cranes with pulling or pushing means on either stacking crane or stacking area
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
    • G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
    • G06K19/067—Record carriers with conductive marks, printed circuits or semiconductor circuit elements, e.g. credit or identity cards also with resonating or responding marks without active components
    • G06K19/07—Record carriers with conductive marks, printed circuits or semiconductor circuit elements, e.g. credit or identity cards also with resonating or responding marks without active components with integrated circuit chips
    • G06K19/0723—Record carriers with conductive marks, printed circuits or semiconductor circuit elements, e.g. credit or identity cards also with resonating or responding marks without active components with integrated circuit chips the record carrier comprising an arrangement for non-contact communication, e.g. wireless communication circuits on transponder cards, non-contact smart cards or RFIDs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/042—Sensors
    • B65G2203/046—RFID

Definitions

  • a storage unit in which a plurality of storage units for placing and supporting the article storage container are arranged side by side, and the article transport space on the front side of the storage unit can be moved along the alignment direction of the storage units.
  • an article storage facility comprising a transfer means provided with transfer means operable to transfer the article storage container to the storage section, a control means for controlling the operation of the transfer means, and an operating method thereof About.
  • the above-mentioned transfer means is an article mounting body that can be driven back and forth and can be driven up and down in a retracted state positioned in the article transporting space and a protruding state protruding into the storage section. And taking out the article storage container placed in the storage section, and storing the article storage container placed on the article placement body in the storage section.
  • the storage portion is constituted by a plate-shaped body for placing a metal container having an opening for passing the placing body through which the article placing body in the protruding state can pass vertically, and the control means
  • the article mounting body is protruded into the protruding state at the extraction height that is lower than the plate-like body by a set amount, and then, only the increase amount for extraction is greater than the extraction height. Raise the article mounting body to a high target height for removal, and After the order to retire the article mounting body in the retracted state, operation is equipment that is configured to control the conveying means.
  • the transfer means included in the transfer means is moved to the transfer target storage unit by moving the transfer unit provided in the front side of the storage unit along the arrangement direction of the storage unit, and In the article mounting body constituting the transfer means, an extraction process for taking out the article storage container stored in the storage section and a storage process for storing the article storage container in the storage section are performed.
  • the article storage container there are a container and a bucket for storing various articles, and a FOUP for storing a substrate.
  • the article storage container taken out by the take-out process is generally transported to the article carry-in / out section with respect to the storage section, but may be transported to another storage section.
  • the article storage container stored in the storage unit in the storage process is generally conveyed from the article carry-in / out section with respect to the storage unit, but may be taken out from another storage unit.
  • the control means projects the article placement body into the storage portion at a take-out height that is lower than the set amount of the plate-like body for container placement constituting the storage portion. Protruding into the protruding state.
  • the control means raises the article mounting body to a target height for extraction that is higher than the height for extraction by an increase amount for extraction.
  • the control means controls the operation of the conveying means so as to retreat the article mounting body to the retreated state.
  • the height for taking out is determined so that the article mounting body protruding in the protruding state does not come into contact with the plate-like body constituting the storage unit.
  • the target height for take-out is determined so that the article placement body that retreats to the retreated state does not come into contact with the plate-like body that constitutes the storage unit.
  • an article confirmation process may be performed by mounting a tag indicating identification information of an article storage container on the article storage container and reading the identification information of the tag.
  • a conventional example of performing such an article confirmation process is described in Japanese Patent Laid-Open No. 5-105204.
  • Japanese Patent Laid-Open No. 5-105204 describes an article storage facility provided with a stacker crane as a conveying means.
  • a bar code label as a tag indicating identification information is mounted on an article storage container, and a bar code reader as a reader for reading the identification information of the tag is equipped with a fork as a article mounting body.
  • the article storage container stored in the storage unit to be checked is taken out to the lifting platform by the extraction process, and the bar mounted on the article storage container is installed.
  • the code label is read by a bar code reader, and then the article storage container is stored in the storage unit by storage processing.
  • International Publication No. 2006/059675 describes an article storage facility including a stacker crane as a conveying means.
  • an RFID tag as a tag indicating identification information is mounted on an article storage container
  • an RFID reader as a reader for reading the identification information of the tag is provided on the lifting platform. Then, when an article confirmation process is instructed by the control means for controlling the operation of the conveying means, the storage container stored in the storage unit is taken out to the lifting platform, and the RFID tag equipped in the article storage container is used as an RFID reader. Then, the article storage container is stored in the storage unit by storage processing.
  • a barcode label as a tag indicating identification information may be easily damaged. Further, in order to read a barcode label with a barcode reader, it is necessary to accurately position the barcode label and the barcode reader at a position suitable for reading. As a result, when a bar code label and a bar code reader are used, there is a possibility that the article confirmation process is difficult to be performed satisfactorily due to poor reading. On the other hand, when an RFID reader and an RFID tag are used, the RFID tag as a tag indicating identification information does not cause a reading failure due to contamination. Further, even if the positional relationship between the RFID reader and the RFID tag varies somewhat, the RFID tag can be read by the RFID reader, so that the article confirmation process can be easily performed. Japanese Patent Laid-Open No. 5-105204 International Publication No. 2006/059675
  • the article storage container stored in the storage unit is taken out of the lifting platform, the article is confirmed, and then the article storage is taken out.
  • the procedure of storing the container in the storage unit was necessary.
  • the processing time of the article confirmation processing becomes longer due to the fact that the article storage container has to be taken out to the lifting platform.
  • the article confirmation processing is usually transferred to each of a plurality of storage units. While moving the loading means, the article storage containers stored in all the storage units are confirmed. Therefore, it takes a long time to perform the article confirmation process for all the storage units.
  • the present invention has been made in view of the above problems, and an object of the present invention is to provide an article storage facility capable of reducing the time required for the processing while accurately performing the article confirmation processing. And an operation method thereof.
  • the characteristic configuration of the article storage facility includes a storage section in which a plurality of storage sections for placing and supporting the article storage container are arranged in parallel, and an article transport on the front side of the storage section.
  • a transfer means including a transfer means that is movable in the space along the direction in which the storage sections are arranged and is operable to transfer the article storage container to the storage section, and the operation of the transfer means.
  • Control means for controlling, The transfer means can be driven to move in and out of a retracted state positioned in the space and a protruding state protruding into the storage portion, and can be driven up and down, and an article mounting body on which the article storage container can be mounted.
  • the article placement body takes out the article storage container placed in the storage section, and stores the article storage container placed on the article placement body in the storage section.
  • the storage portion includes a metal plate-like body on which the article storage container to be stored is placed, and the plate-like body is an opening through which the article placement body in the protruding state can pass in the up-down direction.
  • the control means when performing the take-out process, causes the article mounting body to protrude into the protruding state at a take-out height lower than the plate-like body of the storage portion by a set amount, and then the take-out state.
  • the article storage container is a passive type in which identification information of the article storage container is stored at a portion overlapping the upper side of the plate-like body in a state where the article storage container is placed on the storage portion on the outer periphery.
  • RFID tag The article mounting body has an RFID reader that reads the identification information stored in the RFID tag, When the article checking process for reading the identification information of the RFID tag included in the article storage container stored in the storage unit by the RFID reader is instructed, the control means removes the article mounting body for the removal.
  • a reading operation process for controlling the operation of the conveying means is executed so as to be lowered to the take-out height and retracted to the retracted state.
  • a passive format that stores identification information of an article storage container in a portion overlapping the upper side of the plate-like body in a state where the article storage container is placed on the plate-like body of the storage section on the outer peripheral portion of the article storage container
  • the RFID tag is equipped, and the article mounting body is equipped with an RFID reader that reads the identification information stored in the RFID tag.
  • the article mounting body is projected into the storage section and moved up and down. To.
  • the article mounting body is taken out. Projecting into a projecting state at a height, and then raising the article mounting body to a reading target height that is higher than the taking-out height by a reading rise amount, and then removing the article mounting body to the taking-out height In order to lower and retreat to the retracted state, a reading operation process for controlling the operation of the conveying means is executed, during which the RFID reader installed in the article mounting body stores the RFID tag installed in the article storage container. Read the identification information.
  • the article placement body When performing the article confirmation processing in this way, the article placement body is protruded in a protruding state at the removal height, and then the article placement body is placed at a reading target height that is higher than the removal height by a reading increase amount. The body is raised, and then the article placement body is lowered to the extraction height to be retired. Therefore, the article confirmation processing can be performed while the article storage container is positioned in the storage section without taking the trouble of taking out the article storage container stored in the storage section from the storage section and storing it again. The time required for the confirmation process can be shortened.
  • the article placement body is set to the height for taking out the article placement body.
  • the article mounting body is raised to a reading target height that is higher than the ejection height by a reading increase amount. Therefore, the influence of the radio wave transmitted from the RFID reader being blocked or the radio wave being returned from the RFID tag to the RFID reader being blocked by the metal container mounting plate constituting the storage unit. As a result, the identification information stored in the RFID tag can be accurately read by the RFID reader.
  • the RFID reader mounted on the article mounting body and the RFID tag mounted on the article storage container are connected by the RFID reader.
  • the tag is located in an area where the identification information stored in the tag can be read.
  • the plate-like body for placing the container constituting the storage unit is located between the RFID reader and the RFID tag, the radio wave transmitted from the RFID reader or the RFID tag is placed on the plate-like body. There is a possibility that the identification information stored in the RFID tag cannot be read accurately by the RFID reader due to the influence of the weakened or blocked radio waves returned from the RFID tag.
  • the article placement body in addition to causing the article placement body to protrude in the protruding state at the removal height, the article placement body is set to a reading target height that is higher than the removal height by a reading increase amount. By raising, it is possible to avoid the influence that the radio wave transmitted from the RFID reader and the radio wave returned from the RFID tag are weakened or blocked by the plate-like body. As a result, the identification information stored in the RFID tag is accurately read by the RFID reader.
  • passive type RFID tags do not require a power supply and are small and inexpensive
  • the RFID tag and the RFID reader are brought close to each other, and It is necessary that there be no object that shields radio waves between them.
  • the article placement body in addition to causing the article placement body to protrude in the protruding state at the removal height, the article placement body is read higher than the removal height by a reading increase amount.
  • the RFID reader is The identification information stored in the RFID tag can be read accurately.
  • the article storage container itself may weaken or shield the radio wave transmitted from the RFID reader and the radio wave returned from the RFID tag. That is, since the article storage container is generally made of synthetic resin, radio waves are transmitted through the article storage container to some extent, but the RFID tag is used by the RFID reader due to the influence of the article storage container shielding the radio waves. It may be difficult to read the identification information stored in. Even in such a case, the article placing body is raised to a reading target height that is higher than the taking height by a reading rise amount, and the article storage container is placed in the container-mounting plate-like body. As a result, the space through which radio waves pass can be formed between the article storage container and the plate-like body of the storage unit. As a result, the identification information stored in the RFID tag can be accurately read using the RFID reader.
  • the leg part is formed in the bottom part of an article storage container, etc., and the plate body of an article storage container and a storage part If there is a space through which radio waves pass, or if the article storage container is highly permeable to radio waves, it is not always necessary to lift the article storage container from the plate-like body of the storage unit. . Even if the article storage container is not lifted from the plate-like body of the storage section, the RFID reader is raised by raising the article placement body to a target height for reading which is higher than the height for reading by a reading increase amount. This is because the identification information stored in the RFID tag can be read by the RFID reader.
  • Another characteristic configuration of the article storage facility according to the present invention is that the reading increase amount is set smaller than the extraction rising amount.
  • the article mounting body in addition to causing the article mounting body to protrude in the protruding state at the extraction height, the article mounting body is more for reading than the extraction height.
  • the reading increase amount is set to be smaller than the extraction increase amount when the extraction process for extracting the article storage container from the storage unit is performed. Accordingly, in the reading operation process for the article confirmation process, the amount by which the article placement body is lifted from the height for extraction is reduced, so that the time required for the article confirmation process can be further shortened.
  • the reading rise amount is set smaller than the take-up rise amount when the take-out process for taking out the article storage container from the storage unit is performed, but by raising the article mounting body from the take-out height.
  • the RFID tag is stored in the RFID reader by reducing the influence that the radio wave transmitted from the RFID reader and the radio wave returned from the RFID tag are weakened or blocked by the plate for mounting the container. The identification information can be read accurately.
  • the reading rise amount is smaller than the take-up rise amount when the take-out process for taking out the article storage container from the storage unit is performed, but the article storage container may be levitated from the container-mounting plate-like body of the storage unit. You can set it to the amount you can lift. As a result, a space through which radio waves pass is formed between the article storage container and the plate-shaped body of the storage unit, so that the identification information stored in the RFID tag can be accurately read by the RFID reader. Become.
  • the article storage container and the storage unit plate-like body are formed by a leg portion being formed at the bottom of the article storage container. If there is a space through which radio waves pass, the radio wave transmitted by the RFID reader is not lifted from the plate for mounting the article storage container on the container. Is set to a height that can be positioned at a height that allows easy passage through the space between the article storage container and the plate of the storage unit, the identification information stored in the RFID tag by the RFID reader is accurately determined. Can be read.
  • Still another characteristic configuration of the article storage facility according to the present invention is such that the opening of the plate-like body is formed in a shape along an outer peripheral edge of a tip end of the article placing body in the protruding state, The body is formed with a notch that is continuous with the opening and is recessed toward the side where the RFID tag is present in a state where the article storage container is placed on the storage portion.
  • the opening for passing the mounting body formed in the plate-like body for placing the container in the storage portion is formed in a shape along the outer peripheral edge of the tip of the protruding article mounting body.
  • the plate-like body is more appropriately supported to support the article storage container. Strength can be increased.
  • the plate for mounting the container is formed with a notch that is continuous with the opening and is recessed toward the side where the RFID tag is present in a state where the article storage container is mounted on the storage unit. ing.
  • the notch is useful for allowing radio waves transmitted from the RFID reader to pass or for allowing radio waves returned from the RFID tag to pass. Therefore, the opening formed in the plate-like body is formed in a shape along the outer peripheral edge of the tip of the article mounting body in the protruding state, but the reading height is higher than the height for removing the article mounting body.
  • the reading target height is increased by an amount, the reading increase amount can be made as small as possible to shorten the time required for the article confirmation processing.
  • the notch formed in the plate-like body is a large notch that is wide and greatly enters the side where the RFID tag is present. It is also possible to read the identification information of the RFID tag. However, in that case, the strength of the plate-like body is lowered due to the formation of a large notch, so that it is difficult to practically use.
  • the control unit causes the article mounting body to protrude in the protruding state at the extraction height in the reading operation process, and When the reading height is raised from the extraction height to the reading target height, reading of the identification information of the RFID tag by the RFID reader is started, and the reading height is raised to the reading target height.
  • reading of the identification information of the RFID tag by the RFID reader is completed, the rising of the article mounting body is stopped, the article mounting body is lowered to the take-out height, and retreated to the retraction state. It is in the point where it is constituted so that.
  • the RFID when the reading operation process is performed for the article confirmation process, when the article mounting body is protruded in the protruding state at the extraction height, the RFID is moved to the reading target height from the extraction height. Reading of identification information of the RFID tag by the reader is started. Then, when reading of the RFID tag identification information by the RFID reader is completed in the middle of raising from the extraction height to the reading target height, even if the reading height of the article mounting body is not increased, The ascent is stopped, the article placement body is lowered to the removal height, and retreated to the retired state.
  • the target height for reading that raises the article mounting body is the RFID tag identification information by the RFID reader even if the condition such as the state when the article storage container is stored in the storage section changes slightly. It is obtained and set by experiment or the like so that the height can be surely read.
  • the RFID tag identification information cannot be read by the RFID reader unless the article placement body is raised to the reading target height.
  • the article storage container is in a state suitable for reading. In some cases, it can be performed while the article placement body is raised to the target height for reading due to the reason that the article placement body is housed.
  • the article storage container is a FOUP that stores a substrate, and the RFID tag is placed on the back in a state where the RFID tag is placed on the article placing body in the FOUP. It is equipped in the place corresponding to A positioning pin is provided on the plate-like body so as to engage with a positioning recess formed in the bottom surface of the FOUP.
  • the RFID tag when the article storage container is a FOUP for storing a substrate, the RFID tag is installed at a position corresponding to the back in a state where the RFID tag is placed on the article placement body in the FOUP in accordance with the SEMI standard.
  • the positioning pin engaged with the positioning crevice formed in the bottom face part of FOUP is standingly arranged in the plate-shaped object, The FOUP is placed on the plate-like body in a state where the FOUP is positioned in the horizontal direction by the positioning pins provided on the plate-like body.
  • the RFID tag when the article storage container is a FOUP, the RFID tag is installed at a position corresponding to the back in a state where the RFID tag is placed on the article placing body in the FOUP. For this reason, the plate-like body weakens or blocks the passage of radio waves by simply protruding the article placement body into the storage unit at the height for extraction, so that the RFID reader equipped on the lower surface side of the article placement body can be used. It becomes difficult to read the identification information stored in the RFID tag. However, by executing the reading operation process, the identification information stored in the RFID tag can be read by the RFID reader.
  • the positioning formed on the bottom surface of the FOUP The FOUP is slightly lifted from the upper surface of the plate-like body because the positioning pin needs to be engaged with the concave portion for use.
  • the article placement body in raising the article placement body from the removal height to the reading target height in the reading operation process, it is not necessary to raise the article placement body until the FOUP is lifted from the article placement body. There is a case. Further, when it is necessary to raise the article mounting body until the FOUP floats from the article mounting body, the article placement is performed in a state where the amount by which the FOUP floats from the article mounting body is small. You can raise your body. In particular, when the notch is formed in a plate-like body, it is possible to reduce the reading increase amount by which the article mounting body is raised from the extraction height to the reading target height.
  • the characteristic configuration of the operation method of the article storage facility includes a storage unit in which a plurality of storage units for placing and supporting the article storage container are arranged in parallel, and a front side of the storage unit.
  • Conveying means comprising transfer means that is movable in a space for conveying articles along the direction in which the storage sections are arranged and operable to transfer the article storage container to the storage section; and the transport means Control means for controlling the operation of The transfer means can be driven to move in and out of a retracted state positioned in the space and a protruding state protruding into the storage portion, and can be driven up and down, and an article mounting body on which the article storage container can be mounted.
  • the article placement body takes out the article storage container placed in the storage section, and stores the article storage container placed on the article placement body in the storage section.
  • the storage portion includes a metal plate-like body on which the article storage container to be stored is placed, and the plate-like body is an opening through which the article placement body in the protruding state can pass in the up-down direction.
  • the control means when performing the take-out process, causes the article mounting body to protrude into the protruding state at a take-out height lower than the plate-like body of the storage portion by a set amount, and then the take-out state.
  • the article storage container is a passive type in which identification information of the article storage container is stored at a portion overlapping the upper side of the plate-like body in a state where the article storage container is placed on the storage portion on the outer periphery.
  • RFID tag The article mounting body has an RFID reader that reads the identification information stored in the RFID tag, When an article confirmation process for reading the identification information of the RFID tag included in the article storage container stored in the storage section with the RFID reader is instructed, the article placement body is moved at the take-out height.
  • the article mounting body Projecting into a projecting state; Subsequent to the projecting step, the article mounting body is raised to a reading target height that is higher than the removal height by a reading increase amount, and reading of identification information of the RFID tag by the RFID reader is started.
  • the step of lowering the article mounting body to the removal height Subsequent to the ascending step, the method includes a step of retracting the article mounting body to the retracted state at the extraction height.
  • Another characteristic configuration of the operation method of the article storage facility according to the present invention is that, in the ascending step, reading of identification information of the RFID tag by the RFID reader is started, and the reading target is determined from the extraction height.
  • the reading of the identification information of the RFID tag by the RFID reader is completed in the middle of raising the height, the raising of the article mounting body is stopped and the lowering process is started.
  • This characteristic configuration can provide a method for operating an article storage facility that can further reduce the time required for the article confirmation process, as described above.
  • the article storage facility is for transporting articles between a storage shelf 1 including a pair of front and rear storage units A and the front side of the pair of storage units A, that is, a pair of storage units A.
  • a stacker crane K serving as a transport unit installed in the space F and a control unit H (see FIG. 10) serving as a control unit that controls the operation of the stacker crane K are provided.
  • the storage shelf 1 is covered with a wall at the outer periphery.
  • Each of the pair of storage units A includes storage units S that support and place a FOUP (Front Opening Unified Unified Pod) (hereinafter abbreviated as a container) U that stores substrates as article storage containers. Have multiple. A part of one side of the pair of storage parts A is provided with a carry-in / out part 1A for carrying the container U from the outside and carrying it out to the outside.
  • the control unit H uses the stacker crane K to convey the container A between each storage unit S of the pair of storage units A and the carry-in / out unit 1A, that is, the container U carried into the article carry-in / out unit 1A.
  • the operation of the stacker crane K is controlled so as to perform the warehousing process stored in the storage section S and the warehousing process for taking out the container U stored in the storage section S to the article carry-in / out section 1A.
  • control unit H operates the stacker crane K so as to perform an article confirmation process for reading the identification information of the containers U stored in the plurality of storage units S as will be described later. Is configured to control.
  • the control unit H carries the container U stored in the storage unit S to another storage unit S, that is, performs a storage position change process for changing the storage position of the container U. In this embodiment, the description of the storage position changing process is omitted.
  • the container U that is, the FOUP, is a synthetic resin sealed container that conforms to the SEMI (Semiconductor Equipment and Materials Institute) standard, and is used to store a semiconductor wafer as a substrate.
  • SEMI semiconductor Equipment and Materials Institute
  • an opening for opening and closing the substrate that is opened and closed by a detachable lid is formed on the front surface of the container U, and the upper surface of the container U is gripped by a hoist type conveying means.
  • a top flange is formed, and three engaging grooves N with which positioning pins P and Q (see FIG. 5) are engaged are formed on the bottom surface of the container U as shown in FIGS. Yes.
  • One of the three engagement grooves N formed on the bottom surface of the container U is formed on the back side of the container U and in the center in the width direction with its longitudinal direction facing the front-rear direction. The remaining two are formed on the front side of the container U and on both the left and right side portions in a state where the longitudinal direction faces the center side portion of the container U.
  • Each of the three engagement grooves N is formed such that the longitudinal cross-sectional shape becomes narrower toward the back side (upper side).
  • the stacker crane K includes a traveling carriage 3 that can reciprocate along the traveling rail 2 on the floor side, a post 5 that is erected from the traveling carriage 3 and that is guided by a guide rail 4 on the ceiling side. 5, a lifting platform 6 that is driven up and down while being guided along 5, and a transfer means R equipped on the lifting platform 6.
  • the transfer means R is moved along the direction in which the storage units S are arranged in the space F for conveying articles by the traveling of the traveling carriage 3 and the raising and lowering of the lifting platform 6, that is, the horizontal direction and the vertical direction of the storage unit A.
  • the container U is configured to operate to transfer the container U to the storage unit S.
  • the transfer means R is formed on an aluminum article mounting body 8 that can be driven back and forth and moved up and down in a retracted state that retracts into the space F for conveying articles and a protruding state that protrudes into the storage portion S.
  • the container U is used to perform a take-out process for taking out the container U placed in the storage unit S, and to perform a storage process for storing the container U placed on the article mounting body 8 in the storage unit S. It is comprised so that it may be used for.
  • this take-out process is performed by scooping the container U from below with the article mounting body 8. It is processing.
  • this storage processing is performed by the article mounting body 8. Is a lowering process in which the container U placed and supported from below is lowered onto the plate-like body of the storage unit S.
  • the transfer means R is used to perform the take-out process and the storage process with respect to the article carry-in / out section 1A.
  • the transfer means R When the transfer means R performs the take-out process or the storage process, the transfer means R moves to the set transfer position in the horizontal width direction with respect to the transfer target storage section S or the article loading / unloading section 1A by the traveling of the traveling carriage 3.
  • the article placement body 8 In the take-out process, as shown in FIG. 7, the article placement body 8 is positioned at the take-out height B1 with respect to the storage unit S to be transferred and the article carry-in / out section 1A.
  • the lifting platform 6 In the storage process, as shown in FIG. 8, the lifting platform 6 is positioned so that the article mounting body 8 is positioned at the storage height C1 with respect to the storage section S to be transferred and the article loading / unloading section 1A. It is moved by raising and lowering.
  • the transfer means R is first moved to the set transfer position with respect to the article carry-in / out section 1A and the article placement body 8 is placed. Is positioned at the extraction height B1, and in this state, the extraction process is performed. Next, the transfer means R is moved to the set transfer position with respect to the storage portion S for storing the container U, and the article placement body 8 is positioned at the storage height C1. In this state, the storage process is performed. Is called.
  • the transfer means R moves to the set transfer position for the storage unit S for storing the container U to be unloaded.
  • the article placement body 8 is positioned at the takeout height B1, and in this state, the takeout process is performed.
  • the transfer means R is moved to the set transfer position for the article carry-in / out section 1A, and the article placement body 8 is located at the storage height C1, and in that state, the storage process is performed.
  • the article carry-in / out section 1A includes, for example, three container placement sections arranged side by side.
  • the control unit H selects three container placement units and controls the operations of the stacker crane K and the transfer means R.
  • the scalar arm 10 is attached to the swivel base 9 that is swiveled around the vertical axis with respect to the lift base 6.
  • An article mounting body 8 is attached to the tip of the scalar arm 10.
  • the scalar arm 10 includes a first arm 10A attached to the swivel base 9 so as to be swingable around a vertical axis, and a second arm 10B attached to the tip of the first arm 10A so as to be swingable around a vertical axis.
  • An article placing body 8 is provided at the tip of the second arm 10B so as to be swingable about the longitudinal axis.
  • the article mounting body 8 is operated to be withdrawn and retracted between the protruding state and the retracted state.
  • interlocking means for interlocking the first arm 10A, the second arm 10B, and the article placement body 8 is provided inside the first arm 10A and the second arm 10B.
  • the swing operation of the swivel base 9 switches the form in which the article mounting body 8 protrudes toward one side of the pair of storage parts A and the form protrudes toward the other side.
  • the three container placement parts of the storage part A of the storage part A and the article carry-in / out part 1 ⁇ / b> A are used for passing the placing object through which the protruding article placing body 8 can pass vertically. It is comprised with the plate-shaped body 11 for metal container mounting provided with this opening W. That is, the tip of the article mounting body 8 constituting the transfer means R is formed in a trapezoidal shape, and the opening W for passing the mounting body formed in the plate-like body 11 for placing the container is in a protruding state. It is formed in the trapezoidal shape along the outer periphery of the front-end
  • the article mounting body 8 and the container mounting plate-like body 11 are engaged with three engaging grooves N formed on the bottom surface of the container U, and the positioning pins P and Q described above. Is erected.
  • the article placement body 8 is configured to place and support the container U in a state of being positioned by the positioning pins P.
  • the plate 11 for placing the container is configured to place and support the container U in a state of being positioned by the positioning pins Q. Since the positioning pin P erected on the article mounting body 8 is engaged with the container center side in the engagement groove N rather than the positioning pin Q erected on the plate body 11 for container mounting, Both positioning pins P and Q can simultaneously engage with the engaging groove N of the container U.
  • the container U In the state where the article placing body 8 is positioned by the positioning pin P and the container U is placed and supported, that is, in the state where the positioning pin P is engaged with the engagement groove N of the container U, the container U is There is a gap (for example, about 1 to 2 mm) between the bottom of the container U and the upper surface of the article mounting body 8, which floats with respect to the article mounting body 8.
  • a gap for example, about 1 to 2 mm
  • the container U is There is a gap (for example, about 1 to 2 mm) between the bottom of the container U and the upper surface of the plate-like body 11 as it floats with respect to the article mounting body 8 and the plate-like body 11.
  • the above-described take-out height B1 in the take-out process by the transfer means R is a set amount than the upper surface of the plate-like body 11.
  • the height is set lower by J1 (for example, about 19 mm).
  • the control part H makes the articles
  • the above-described target height for extraction B2 is set to a height higher than the upper surface of the plate-like body 11 by a set amount J2 (for example, about 26 mm). Accordingly, the lifting amount for extraction is about 45 mm.
  • the storage unit S places the container U on the plate-like body 11 for placing the container, the above-described storage height C1 in the storage process by the transfer means R is higher than the upper surface of the plate-like body 11.
  • the height is set higher by a set amount (for example, about 26 mm).
  • the control unit H causes the article mounting body 8 to protrude in a protruding state at a storage height C1 that is higher than the plate-like body 11 by a set amount as the storage process (see FIG. 8).
  • the stacker crane K is actuated to lower the article placement body 8 to a storage target height C2 lower than the storage height C1 by a storage fall amount (see FIG. 7), and then to retract the article placement body 8 to the retracted state.
  • the above-mentioned storage target height C2 is set to be lower than the upper surface of the plate-like body 11 by a set amount (for example, about 19 mm). Accordingly, the storage downward amount is about 45 mm.
  • the storage height C1 in the storage process and the target height B2 for extraction in the extraction process are the same height, and the target height C2 for storage in the storage process.
  • the extraction height B1 in the extraction process is the same height.
  • a passive type that stores the identification information of the container U in a place overlapping above the plate 11 for placing the container.
  • An RFID tag (hereinafter simply referred to as a tag) T is equipped.
  • the article placement body 8 in the transfer means R is equipped with an RFID reader (hereinafter simply referred to as a reader) D that reads the identification information stored in the tag T.
  • the tag T is attached at a position corresponding to the back portion of the container U in a state where the container U is placed on the plate-like body 11 of the storage unit C and on the lower side. ing.
  • the reader D is connected to the amplifier unit 26 for driving the reader, the amplifier unit 26 is connected to the controller 27, and the controller 27 is connected to the control unit H. Then, when a reading start command is instructed from the control unit H, the controller 27 operates the amplifier unit 26 to repeatedly perform transmission from the reader D and reception by the reader D, and the identification stored in the tag T When the information is read, the operation of the amplifier unit 26 is stopped.
  • the reader D is bolted to the article mounting body 8 in a state of being recessed into a recess V ⁇ b> 1 formed in the upper surface side portion of the tip portion of the article mounting body 8.
  • the amplifier unit 26 is installed in an equipment storage box 8 ⁇ / b> A provided on the base end side of the article mounting body 8.
  • a connection line 28 for connecting the amplifier unit 26 and the reader D is disposed inside a concave groove V2 formed in the upper surface side portion of the article placing body 8.
  • the reading of the tag T by the reader D is performed by the controller 27 transmitting a radio wave including a control signal from the reader D. That is, when the tag T receives a radio wave from the reader D, the tag T generates an electromotive force with the received radio wave, reads the content of the control signal with the generated electromotive force, and uses the received radio wave as a carrier wave to identify information. Modulate it so that it can be placed on the radio wave.
  • the reader D receives the radio wave returned from the tag T
  • the received radio wave is amplified by the amplifier unit 26, and the controller 27 decodes the signal from the amplifier unit 26 to obtain the identification information of the tag T. Analysis is performed and the identification information is transmitted to the control unit H.
  • the controller 27 When the reading start command is instructed from the control unit H, the controller 27 repeatedly reads the tag T until the identification information of the tag T is analyzed or until a reading stop command is instructed from the control unit H. Configured to do.
  • the article confirmation process described above is a process of reading the identification information of the tag T mounted on the container U stored in the storage unit S by the reader D. Then, when the article checking process is instructed, the control unit H moves the transfer means R to the set transfer position with respect to the storage unit S for storing the container U to be checked as shown in FIG.
  • the mounting body 8 is positioned at the extraction height B1, and in that state, the article mounting body 8 is protruded into a protruding state, and then, as shown in FIG. 9, the reading rise is higher than the extraction height B1.
  • the stacker crane K is operated to raise the article mounting body 8 to the reading target height B3 that is higher by the amount, and then lower the article mounting body 8 to the extraction height B1 to retract it to the retracted state.
  • the reading operation process to be controlled is executed.
  • the target reading height B3 is set to a height that is higher by a set amount J3 (for example, about 10 mm) than the upper surface of the plate 11 for placing the container.
  • the extraction height B1 is set to a height that is lower than the upper surface of the plate 11 for placing the container by a set amount J1 (for example, about 19 mm).
  • the increase amount for use is about 29 mm, which is smaller than the above-described increase amount for extraction, which is about 45 mm. That is, in this embodiment, the reading increase amount is set smaller than the extraction increase amount.
  • the article confirmation process needs to be performed on the containers U stored in all the storage units S included in the storage shelf 1.
  • the control unit H moves the transfer means R to all the storage units S in a predetermined order and executes the above-described reading operation processing.
  • the lifting platform 6 of the stacker crane K is equipped with an optical container detection sensor that detects the presence or absence of the container U stored in the storage unit S.
  • the presence or absence of the container U in each storage unit S is also confirmed by the container detection sensor.
  • the control unit H performs the above-described reading operation process for the storage unit S in which the container U exists, but performs the above-described reading operation process for the storage unit S in which the container U does not exist. Canceled.
  • V640-HS62 manufactured by OMRON Corporation that transmits a 135 KHz radio wave is used as the reader D.
  • the reader D can be read over a wide range if the outer peripheral setting area E is made free of a ferromagnetic material to remove noise and has no shield.
  • the range M is configured to be ensured.
  • the tag T is present in the state in which the container placing plate-like body 11 is connected to the opening W for passing the placing body and the container U is placed in the storage portion S.
  • a notch Z that is recessed toward the side is formed with a size corresponding to the size of the setting region E in a state where the reader D is positioned at a height corresponding to the plate-like body 11.
  • the control unit H loads the article at that time. It is comprised so that the mounting body 8 may be returned to a retirement state.
  • control unit H causes the article mounting body 8 to protrude in the protruding state at the extraction height B1 in the reading operation process and then raises it from the extraction height B1 to the reading target height B3
  • the reading of the identification information of the tag T by the reader D is completed while the reading of the identification information of the tag T by the reader D is started and the reading height B1 is raised to the target height B3 for reading.
  • the rising of the mounting body 8 is stopped, and the article mounting body 8 is lowered to the extraction height B1 and retracted to the retracted state.
  • the control unit H includes a microcomputer. As shown in FIG. 7, the control unit H includes a traveling motor 15 that drives the traveling carriage 3 of the stacker crane K, a lifting motor 16 that drives the lifting platform 6 up and down, and a turning motor that drives the swiveling platform 9 to rotate. 17 and the first arm 10 ⁇ / b> A of the scalar arm 10 are swung to control the operation of the exit / retreat motor 18 that drives the article placement body 8 of the transfer means R to exit / retreat. Yes.
  • control unit H includes a travel position detection sensor 21 that detects a position of the stacker crane K on the travel path of the travel carriage 3, a lift position detection sensor 22 that detects a position of the lift base 6 on the lift path, Detection information of the turning position detection sensor 23 for detecting the turning position of the turntable 9 and the exit / retreat position detection sensor 24 for detecting the exit / retreat position of the article mounting body 8 of the transfer means R is input.
  • Each detection information is memorize
  • the storage unit stores various information handled by the control unit H so that the control unit H can write and read the information.
  • the storage means also stores information related to the extraction height B1, the extraction target height B2, the reading target height B3, the storage height C1, the storage target height C2, and the like.
  • the travel position detection sensor 21 is configured using a reed switch that detects a travel reference body provided at a reference position on the travel route and a rotary encoder that detects the rotation amount of the travel motor. Is done.
  • the lift position detection sensor 22 includes a reed switch that detects a lift reference body provided at a reference position on the lift path and a rotary encoder that detects the amount of rotation of the lift motor. Has been.
  • the turning position detecting sensor 23 detects a left position reference body that determines a position where the transfer means R faces the left side, and a right position reference body that determines a position where the transfer means R faces the right side.
  • the reed switch is used.
  • the exit / exit position detection sensor 24 is configured using a reed switch that detects an exit / exit reference body that determines an exit / exit reference position and a rotary encoder that detects the amount of rotation of the exit / exit motor. Yes.
  • the carry-in / out section 1A of the storage shelf 1 is provided with an operation section G (see FIG. 1) that performs a warehousing instruction, a warehousing instruction, and an article confirmation processing instruction. Therefore, the control unit H is configured to perform a warehousing process, a warehousing process, and an article confirmation process based on a command from the operation unit G.
  • control unit H based on the detection information of the sensors 21 to 24, the travel position of the stacker crane K, the lift position of the lift platform 6, the direction of the transfer means R, and the article placement body 8 Warehousing process for storing the container U loaded in the article loading / unloading section 1A in the storage section S by operating the plurality of motors 15 to 18 based on the program information stored in advance while confirming the exit / retreat position
  • the unloading process for taking out the container U stored in the part S to the article loading / unloading part 1A and the article confirmation process for reading the identification information of the containers U stored in the plurality of storage parts S are performed.
  • step # 1 it is determined whether or not an article confirmation command is instructed. If an article confirmation process is instructed, an article confirmation process is executed (# 2). In step # 1, if the article confirmation process is not instructed, it is determined whether or not the warehousing instruction is instructed (# 3). If the warehousing instruction is instructed, the warehousing process is executed. (# 4). In step # 3, if a warehousing instruction is not instructed, it is determined whether or not a warehousing instruction is instructed (# 5). If a warehousing instruction is instructed, a warehousing process is executed. (# 6).
  • the process (# 12) is repeatedly performed until the article confirmation for all the storage units S of the storage shelf 1 is completed (# 13).
  • the movement process (# 11) to the target storage unit is a process for moving the transfer means R to the storage unit S to be confirmed, which is determined by the order information set in advance for the plurality of storage units S. Specifically, the transfer means R is moved to the set transfer position in the horizontal width direction with respect to the storage unit S to be confirmed, and the article placement body 8 is positioned at the removal height B1.
  • FIG. 13 shows a flowchart of the reading operation process.
  • the control unit H reads the identification information of the RFID tag T included in the container U stored in the storage unit S using the RFID reader D.
  • a projecting step of projecting 8 into a projecting state at the extraction height is executed. Specifically, the control unit H first starts the protruding operation of the article mounting body 8 (# 21), and the current position of the article mounting body 8 is a target protruding position corresponding to the protruding state described above. Is determined (# 22), the protrusion operation of the article mounting body 8 is stopped (# 23).
  • the control unit H raises the article mounting body 8 to a reading target height that is higher than the extraction height by a reading increase amount, and the RFID tag T of the RFID tag T is read by the RFID reader D.
  • An ascending process for starting reading the identification information is executed. Specifically, the control unit H starts tag reading for reading the identification information of the tag T by the reader D (# 24), and starts the ascending operation of the article mounting body 8 in this state.
  • control unit H starts reading the identification information of the RFID tag T by the RFID reader D in the ascending process, and in the middle of raising the reading height from the extraction height to the reading target height,
  • the rising of the article mounting body 8 is stopped, and a lowering process described later is executed.
  • the controller H completes reading the identification information of the tag T with the reader D (# 26), or the height of the article mounting body 8 exceeds the target height for reading B3. Then, the raising operation of the article mounting body 8 is stopped (# 29).
  • control part H is not in the abnormal state when the height of the article mounting body 8 exceeds the reading target height B3 without reading the identification information of the tag T by the reader D.
  • the abnormality process to be output is executed (# 28).
  • the control unit H executes a descending step of lowering the article mounting body 8 to the removal height following the above ascending step. Specifically, after stopping the raising operation of the article placing body 8 in Step # 29, the control unit H starts the lowering operation of the article placing body 8 (# 30). When the height of the body 8 reaches the removal height B1 (# 31), the lowering operation of the article mounting body 8 is stopped (# 32).
  • control unit H executes a retirement process for retracting the article placement body 8 to a retirement state at the extraction height following the descending process. Specifically, the control unit H starts the retraction operation of the article mounting body 8 (# 33), and when it is determined that the target retraction position corresponds to the above-described retraction state (# 34), the article The retraction operation of the mounting body 8 is stopped (# 35).
  • RFID is placed in a state where the container-mounting plate-shaped body constituting the storage unit is connected to the opening for passing the mounting unit and the article storage container is mounted on the storage unit.
  • this notch may not be formed. In other words, even when notches are not formed, the RFID reader is not affected by the container mounting plate if the article storage container is sufficiently floated from the container mounting plate. It is also possible to read the identification information of the RFID tag.
  • the reading operation of the RFID reader is started before starting the lifting operation of the article mounting body in the reading operation processing has been described. After that, the reading operation of the RFID reader may be started. In short, the reading operation of the RFID reader may be started while the article placement body is being lifted from the extraction height to the reading target height. Alternatively, it is possible to start the reading operation of the RFID reader after the article mounting body has been raised to the reading target height in order to suppress energy consumption due to the reading operation of the RFID reader. .
  • the length over the full width of the width direction of a storage part is provided in the front side of the storage part which arranges a storage part vertically and horizontally.
  • the present invention can also be applied to an article storage facility in which the guide rail is provided so as to be movable up and down and the transfer means is moved in the lateral width direction of the storage unit along the guide rail.
  • the storage unit provided with the storage units arranged in the vertical and horizontal directions is exemplified.
  • the present invention is provided in the storage unit in which the storage unit is provided only in the horizontal width direction and the storage unit in which the storage unit is provided only in the vertical direction. May be applied.
  • a storage part that has a storage part only in the lateral width direction in the longitudinal direction of the traveling path, on the lateral side part of the traveling path of a so-called hoist type transport carriage that travels in a state suspended from the traveling rail on the ceiling side.
  • a storage unit in which the storage units are arranged can be cited.
  • the hoist type transport carriage is equipped with transfer means including an article placement body that is withdrawn and withdrawn.
  • the article storage facility and the operation method thereof according to the present invention can be used to shorten the time required for the process while accurately performing the article confirmation process.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Computer Hardware Design (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
PCT/JP2010/069850 2009-12-07 2010-11-08 物品保管設備及びその運転方法 WO2011070881A1 (ja)

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US13/513,772 US8928481B2 (en) 2009-12-07 2010-11-08 Article storage equipment and method of operating same
CN201080055464.2A CN102656101B (zh) 2009-12-07 2010-11-08 物品保管设备及其运转方法
KR1020127014060A KR101702411B1 (ko) 2009-12-07 2010-11-08 물품 보관 설비 및 그 운전 방법
EP10835803.7A EP2511200B1 (en) 2009-12-07 2010-11-08 Article storage equipment and transport method for same
SG2012039475A SG181119A1 (en) 2009-12-07 2010-11-08 Article storage equipment and method of operating same

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JP2009277733A JP5321913B2 (ja) 2009-12-07 2009-12-07 物品保管設備
JP2009-277733 2009-12-07

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US8928481B2 (en) 2015-01-06
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