JP4074134B2 - Material storage method and three-dimensional warehouse system with material storage function in three-dimensional warehouse - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a material replacement method and apparatus for a three-dimensional warehouse, and more particularly to a material replacement method and apparatus for replacing a front side and a back side of a material.
[0002]
[Prior art]
In general, for example, when a material is stored in a storage shelf of a three-dimensional shelf, the material is transported and stored after the front end of the material (end on the exit direction side) is aligned with a fixed reference position such as a stopper. . That is, for the purpose of managing the material, when the length of the material is obtained, the tip of the material is brought into contact with the stopper and conveyed. For this reason, the material was always placed on the end side in the direction of delivery of the carriage. And after the material warehousing, the reference position on the near side of the storage shelf and the tip of the material were stored together.
[0003]
On the other hand, when the material is delivered, the material stored on the front side of the storage shelf is placed on the end side in the delivery direction of the cart, and the material is delivered.
[0004]
[Problems to be solved by the invention]
Such conventional methods have the following problems, for example.
[0005]
When the material is stored, the leading end of the material is stored in accordance with a fixed reference position such as a stopper, so that the material can be placed only on the end side in the unloading direction of the carriage. For this reason, even if the storage shelves are divided into a plurality of parts for the purpose of improving storage efficiency, the material can not be replaced, so that the material can be stored only in front of the storage shelves. That is, there is a problem that the space on the back side is wasted.
[0006]
In addition, as described above, since material replacement cannot be performed between the material loading / unloading device and the crane device, there is a problem that the material storage rate is not appropriate even if the storage shelves are arranged. It was.
[0007]
[Means for Solving the Problems]
The present invention has been made in view of the above-described problems, and the invention according to claim 1 includes a plurality of storage shelves provided in the three-dimensional shelf in the three-dimensional warehouse in the direction of carrying in and out the material for parts processing. The material can be stored by dividing into
Move the carriage parallel to the storage shelf by the loading / unloading device,
Moving the material between the carriage and the storage shelf by a crane device;
Detecting the tip of the material when the tip of the material contacts the stopper by a three-dimensional warehouse outside position detection sensor,
By the three-dimensional warehouse entrance position detection sensor arranged at the entrance in the three-dimensional warehouse, the tail end of the material is detected at the time of warehousing,
The three-dimensional warehouse system controller that controls the crane device and the loading / unloading device obtains the movement distance of the material based on the detection result of the tip of the material and the detection result of the tail of the material, and the total length of the material This is a material storage method in a three-dimensional warehouse that performs control for determining the storage location of the material according to the total length of the material and receiving the material.
[0008]
The invention according to claim 2 is provided in a three-dimensional shelf in a three-dimensional warehouse, a storage shelf that can be divided into a plurality of parts in the direction of carrying in and out a material for parts processing and store the material,
A carriage that can move parallel to the storage shelf;
A crane device for moving the material between the carriage and the storage shelf;
A loading / unloading device for moving the carriage,
A position detection sensor outside the three-dimensional warehouse that detects the tip of the material when the tip of the material contacts the stopper,
A three-dimensional warehouse entrance position detection sensor that is arranged at the entrance in the three-dimensional warehouse and detects the tail end of the material at the time of warehousing;
A three-dimensional warehouse system control unit for controlling the crane device and the loading / unloading device,
The three-dimensional warehouse system control unit
A means for calculating a moving distance of the material based on a detection result of the tip of the material and a detection result of the tail end of the material, and calculating a total length of the material;
Means for determining the storage location of the material according to the total length of the material;
It is a three-dimensional warehouse system with a material storage function which has a means to perform control which stocks the material.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described with reference to the drawings. 1, 2 and 3 are schematic views of the configuration of the three-dimensional warehouse system according to the present embodiment.
[0014]
A configuration of the three-dimensional warehouse system is schematically shown as follows. First, referring to the side view 1 of the three-dimensional warehouse system of FIG. 1, for example, a plurality of three-dimensional shelves 3 for storing the material M (in the present embodiment, only two are shown, but a large number are provided. Is provided in parallel.
[0015]
The three-dimensional shelf 3 includes a plurality of vertical columns 5 that are vertically arranged. The plurality of columns 5 are arranged in a direction perpendicular to the paper surface in the side view of the three-dimensional warehouse, and each column 5 is appropriately set. The connecting members are integrally connected.
[0016]
Each support column 5 is provided with a support arm 7 that supports the material M so as to protrude in the left-right direction, and is provided with a plurality of stages in the vertical direction. The plurality of support arms 7 serve to store and support a plurality of materials M in parallel, and constitute a storage shelf LK.
[0017]
By the way, in this three-dimensional warehouse system, each three-dimensional shelf 3 is provided between the material loading / unloading device 9 for loading and unloading the material M into and out of the three-dimensional warehouse and the appropriate three-dimensional shelf 3. Each storage shelf LK of the shelf 3 and a crane device 11 for carrying in / out the material M to / from the material loading / unloading device 9 are provided.
[0018]
The outline of the material loading / unloading apparatus 9 will be described with reference to the plan view 13 of the three-dimensional warehouse system of FIG. A cart guide rail 15 provided in the material loading / unloading device 9 is provided between appropriate three-dimensional shelves. A carriage CR guided in the direction of arrow 17 is provided on the carriage guide rail 15. The carriage CR is provided with a drive motor (not shown) and an encoder for calculating a travel distance. The data obtained from the encoder is transmitted to the three-dimensional warehouse system control unit 29 via the connection cable via the controller CT2 that performs data conversion and the like.
[0019]
The material loading / unloading device 9 further includes a stopper ST serving as a reference for the movement position of the material M, a three-dimensional warehouse outside position detection sensor SRA for detecting the movement position of each material M, a three-dimensional warehouse entrance position detection sensor SRB, A three-dimensional warehouse intermediate position detection sensor SRC is provided. The position data detected by these is also transmitted to the three-dimensional warehouse system control unit 29 via the controller CT2.
[0020]
On the other hand, the construction of the crane device 11 is already known, but will be briefly described with reference to FIG. 1. The crane device 11 is guided by left and right guide rails 19 provided on both sides in the longitudinal direction of the three-dimensional shelf 3. The plurality of three-dimensional shelves 3 are provided so as to be movable in the juxtaposition direction.
[0021]
That is, the crane device 11 includes wheels 25 on the leg portions 23 on both sides of the large gate-shaped frame 21 so as to straddle the three-dimensional shelf 3, and is guided to the guide rail 19 through the wheels 25 so as to be movable. It is what is done. The upper and lower guide members 27 are vertically provided inside the leg portions 23, and both end portions of the horizontally extended lifter beam LB are guided to the upper and lower guide members 27 so as to be movable up and down. A lifter arm LA is supported on the lifter beam LB, and a support arm AM capable of supporting the material M is mounted horizontally on the lifter arm LA. With the above configuration, the material M supported by an arbitrary storage shelf LK can be transferred to another shelf or the material loading / unloading device 9 or the like. And this crane apparatus 11 is connected to the said three-dimensional warehouse system control part 29 via a controller CT1 with a connection cable, and is controlled.
[0022]
The three-dimensional warehouse system configured as described above is controlled by the three-dimensional warehouse system control unit 29. Referring to FIG. 3, the three-dimensional warehouse control unit 29 includes a material loading / unloading device control unit 31 and a crane device control unit 33.
[0023]
The material loading / unloading device control unit 31 further generates a material loading / unloading device control data generation unit 35 for generating material loading / unloading device control data, and the length of the material M during the transfer of the material M into the three-dimensional warehouse. And a material length calculation unit 37 for calculation. The crane device control unit 33 further includes a crane device control data generation unit 39 that generates crane device control data for controlling the crane device 11.
[0024]
The operation of the three-dimensional shelf material loading / unloading apparatus configured as described above will be described with reference to FIGS. In this example, it is assumed that the storage shelf LK is divided into the front side and the back side, and the three-dimensional warehouse intermediate position detection sensor SRC is installed at this divided position. In the following description, the forward end means the limit position of the movement direction outside the three-dimensional warehouse in the stroke direction 17 in which the carriage CR moves between the three-dimensional warehouse and outside the three-dimensional warehouse. The term “retreat end” refers to the limit position of the moving direction in the three-dimensional warehouse in the stroke direction 17 in which the carriage CR moves in and out of the three-dimensional warehouse. The term “material tip” refers to the position of the end face in the direction in which the material M moves to the outside of the three-dimensional warehouse while being placed on the carriage CR. The term “material tail end” refers to the position of the end face in the direction in which the material M is moved into the three-dimensional warehouse while being placed on the carriage CR. In addition, the term “load” means that the support arm AM picks up the material M from the carriage CR, and the term “unload” means that the support arm AM places the material M on the carriage CR.
[0025]
First, as shown in FIG. 4A, the carriage CR provided in the material loading / unloading device 9 is manually moved to the forward end. Subsequently, as shown in FIG. 4B, the material M is manually set on the carriage CR. Here, when the loading completion button BN is pressed, the carriage CR moves in the direction of the stopper ST that is separate from the carriage CR. Then, the three-dimensional warehouse outside position detection sensor SRA provided in front of the stopper ST detects the material tip of the material M, and the carriage CR stops. Thereby, the material M contacts the stopper ST.
[0026]
Next, as shown in FIG. 4C, the carriage CR transports the material M to the inside of the three-dimensional warehouse. During the conveyance, the three-dimensional warehouse entrance position detection sensor SRB detects the material tail end of the material M. Thereby, the total length L1 of the material M can be calculated. That is, the total length L1 of the material M can be obtained as a value obtained by subtracting the movement distance ML that the carriage CR has moved from the distance L from the stopper ST to the three-dimensional warehouse entrance position detection sensor SRB. Note that the movement distance ML is calculated by the material length calculation unit 37 by transmitting information from an encoder provided in the drive motor to the three-dimensional warehouse system control unit 29.
[0027]
As shown in FIG. 4D, the carriage CR moves while calculating the length of the total length L1 of the material M. As a result of calculating the total length L1, it is determined that the material M is stored at the reference position on the near side. Thereafter, the carriage CR moves to the interior side of the three-dimensional warehouse as shown in FIG. And if position detection sensor SRB detects the tip of material M, cart CR will be stopped. As a result, the material M stops on the front side of the storage shelf LK. Subsequently, as shown in FIG. 4G, the carriage CR stops at the backward end. As shown in FIG. 4 (h), the material M is loaded on the support arm AM. Finally, as shown in FIG. 4I, the material M is stored in the storage shelf LK by the support arm AM.
[0028]
With reference to FIG. 5 and FIG. 6, a method for receiving the material M will be described. First, as shown in FIG. 5A, the carriage CR provided in the material loading / unloading device 9 is manually moved to the forward end. Subsequently, as shown in FIG. 5B, the material M is manually set on the carriage CR. Here, when the loading completion button BN is pressed, it moves in the direction of the stopper ST that is separate from the carriage CR on which the material M is placed. Then, the out-of-warehouse position detection sensor SRA provided in front of the stopper ST detects the tip of the material M, and the carriage M stops. Thereby, the material M contacts the stopper ST.
[0029]
As shown in FIG. 5 (c), the carriage CR conveys the material M to the three-dimensional warehouse. Then, the three-dimensional warehouse entrance position detection sensor SRB detects the tail end of the material M. As described above, the total length L1 of the material M can be calculated. As shown in FIG. 5D, the length of the total length L1 of the material M is calculated. As a result of calculating the total length L1, the material loading / unloading apparatus 31 determines that the material M is stored in the reference position on the back side. Thereafter, the carriage CR moves to the interior side of the three-dimensional warehouse as shown in FIG. Then, when the three-dimensional warehouse entrance position detection sensor SRB detects the tip of the material M, the carriage CR is stopped. As a result, the carriage CR stops at the backward end as shown in FIG. Subsequently, as shown in FIG. 5G, the support arm AM moves under the control of the crane device control unit 33, and as shown in FIG. 5H, the material M is loaded on the support arm AM. On the other hand, as shown in FIG. 5 (i), the intermediate position of the carriage M stops at the boundary between the three-dimensional warehouse side and the outside of the three-dimensional warehouse. In this example, the material M is appropriately replaced when the carriage CR is moved to this position.
[0030]
Then, as shown in FIG. 6A, the material M is unloaded again on the carriage CR. Thereafter, as shown in FIG. 6B, the carriage CR moves to the back side of the three-dimensional warehouse. The cart CR stops at the position where the position detection sensor SRC in the three-dimensional warehouse detects the tip of the material M. Subsequently, as shown in FIG. 6C, the material M is loaded from the carriage CR onto the support arm AM. Then, as shown in FIG. 6D, the material M is stored in the storage shelf LK from the support arm AM.
[0031]
Next, with reference to FIG. 7, an operation for unloading the material M stored in the storage shelf LK will be described. First, as shown in FIG. 7A, the carriage CR stops at the backward end. Thereafter, as shown in FIG. 7B, the material M is unloaded onto the carriage CR. Subsequently, as shown in FIG. 7C, the carriage CR stops at the forward end of the material loading / unloading device 9 by the method described above. Thus, the material M is manually taken out and completed as shown in FIG.
[0032]
A method for unloading the material M stored in the back side of the storage shelf LK will be described with reference to FIGS. First, as shown in FIG. 8A, the carriage CR stops at the retracted end of the material loading / unloading device 9. On the other hand, the support arm AM takes out the material M stored in the shelf storage LK of the three-dimensional shelf 3. Subsequently, as shown in FIG. 8B, the material M is unloaded from the support arm AM to the carriage CR. And as shown in FIG.8 (c), it stops so that the center position of the trolley | bogie CR may correspond to the position of the boundary inside a solid warehouse and a solid warehouse. Thereafter, as shown in FIG. 8D, the material M is loaded from the carriage CR onto the support arm AM.
[0033]
The cart stops at the retracted end of the material loading / unloading device 9 as shown in FIG. Then, as shown in FIG. 8 (f), the material M is unloaded onto the carriage CR. Subsequently, as shown in FIG. 9A, the carriage CR moves out of the warehouse and stops at the forward end of the material loading / unloading device 9 by the method described above. Finally, as shown in FIG. 9B, the material M is manually taken out from the material loading / unloading device 9 to complete the process.
[0034]
With reference to FIG. 10, a method of replacing the material M from the state stored on the front side of the storage shelf LK to the back side will be described. First, as shown in FIG. 10A, the carriage CR stops at a location where the center position of the carriage CR coincides with the position of the boundary between the three-dimensional warehouse and the outside of the three-dimensional warehouse. Then, the material M is transferred from the storage shelf LK to the support arm AM. Subsequently, as shown in FIG. 10B, the material M on the support arm AM is unloaded onto the carriage CR. Subsequently, as shown in FIG. 10C, the carriage CR moves to the back side, and when the three-dimensional warehouse position detection sensor SRC detects the tip of the material M, the material loading / unloading device control unit 31 stops the carriage CR. Then, as shown in FIG. 10D, the material M is loaded on the support arm AM. Furthermore, as shown in FIG. 10E, the material M is stored in the storage shelf LK under the control of the crane device control unit 39.
[0035]
With reference to FIG. 11, a method of replacing the material M from the state stored in the back side of the storage shelf LK to the front side will be described. First, as shown in FIG. 11A, the carriage CR stops at the retracted end of the material loading / unloading device 9, and the material M is taken out from the storage shelf LK. Next, as shown in FIG. 11B, the material M is unloaded from the support arm AM to the carriage CR. Then, as shown in FIG.11 (c), it stops in the place where the center position of the trolley | bogie CR corresponds to the position of the boundary between a solid warehouse and a solid warehouse. Subsequently, as shown in FIG. 11 (d), the material M is loaded on the support arm AM. Finally, as shown in FIG. 11E, the material M is stored in the storage shelf LK.
[0036]
As a result, it is possible to store and manage appropriate materials. In addition, this invention is not limited to embodiment of invention mentioned above, It can implement in another aspect by making an appropriate change.
[0037]
【The invention's effect】
As described above, according to the present invention, when the storage shelves included in the three-dimensional shelf in the three-dimensional warehouse are divided into a plurality of parts, the material on the front side and the back side can be exchanged between the material loading / unloading device and the crane device. become.
[0038]
That is, when the material is received, the material can be replaced and stored, so that it can be stored in the rear section. Then, when the material is delivered, the material stored in the rear section can be replaced and placed by temporarily placing the material in the front section. For this reason, there exists an effect that the storage rate of a three-dimensional shelf improves.
[0039]
Furthermore, since the materials on the front side and the back side can be exchanged, for example, there is an effect that the materials of the three-dimensional shelf can be properly arranged.
[Brief description of the drawings]
FIG. 1 is a schematic diagram showing a schematic configuration of a three-dimensional warehouse system.
FIG. 2 is a schematic diagram showing a schematic configuration of a three-dimensional warehouse system.
FIG. 3 is a schematic diagram illustrating a schematic configuration of a control unit of the three-dimensional warehouse system.
FIG. 4 is an explanatory diagram for explaining the movement of a material when a material is received.
FIG. 5 is an explanatory diagram for explaining movement of a material when a material is received.
FIG. 6 is an explanatory diagram continued from FIG. 5;
FIG. 7 is an explanatory diagram illustrating movement of a material when the material is delivered.
FIG. 8 is an explanatory diagram for explaining the movement of a material when the material is delivered.
FIG. 9 is an explanatory diagram continued from FIG. 8;
FIG. 10 is an explanatory diagram for explaining the movement of a material when the material is replaced.
FIG. 11 is an explanatory diagram for explaining the movement of a material when the material is replaced.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Side view of three-dimensional warehouse system Three-dimensional shelf 5 Support | pillar 7 Support arm 9 Material loading / unloading apparatus 11 Crane apparatus 13 Top view of three-dimensional warehouse system 15 Car guide rail 17 Arrow 19 Guide rail 21 Frame 23 Leg 25 Wheel 27 Vertical guide member AM Support arm LA Lifter arm LK Storage shelf M Material CR Carriage ST Stopper SRA Three-dimensional warehouse outside position detection sensor SRB Three-dimensional warehouse entrance position detection sensor SRC Three-dimensional warehouse position detection sensor

Claims (2)

The storage shelf provided in the three-dimensional shelf in the three-dimensional warehouse can be stored by dividing the storage shelf into a plurality of parts in the direction of carrying in and out the material for parts processing,
Move the carriage parallel to the storage shelf by the loading / unloading device,
Moving the material between the carriage and the storage shelf by a crane device;
Detecting the tip of the material when the tip of the material contacts the stopper by a three-dimensional warehouse outside position detection sensor,
By the three-dimensional warehouse entrance position detection sensor arranged at the entrance in the three-dimensional warehouse, the tail end of the material is detected at the time of warehousing,
The three-dimensional warehouse system controller that controls the crane device and the loading / unloading device obtains the movement distance of the material based on the detection result of the tip of the material and the detection result of the tail of the material, and the total length of the material Calculating the storage location of the material according to the total length of the material, and performing control to store the material,
The material storage method in the three-dimensional warehouse characterized by this. A storage shelf that is provided in a three-dimensional shelf in a three-dimensional warehouse, can be divided into a plurality of parts in the direction of carrying in and out the material for parts processing, and can store the material
A carriage that can move parallel to the storage shelf;
A crane device for moving the material between the carriage and the storage shelf;
A loading / unloading device for moving the carriage,
A position detection sensor outside the three-dimensional warehouse that detects the tip of the material when the tip of the material contacts the stopper,
A three-dimensional warehouse entrance position detection sensor that is arranged at the entrance in the three-dimensional warehouse and detects the tail end of the material at the time of warehousing;
A three-dimensional warehouse system control unit for controlling the crane device and the loading / unloading device;
  The three-dimensional warehouse system control unit
A means for calculating a moving distance of the material based on a detection result of the tip of the material and a detection result of the tail end of the material, and calculating a total length of the material;
Means for determining the storage location of the material according to the total length of the material;
Means for controlling the receipt of the material;
  A three-dimensional warehouse system with a material storage function, characterized by comprising:

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