JPH04260510A - Automatic warehouse facility - Google Patents

Abstract

PURPOSE:To pile up pallets to be stored on shelves of a three-dimensional warehouse based on arbitrary organization. CONSTITUTION:A three-dimensional warehouse 30 which has a shelf 31 on which pallets are stored and a stacker crane 40 are provided. Each pallet to be piled up is provided with a pin which can adjust height and supports pallet on the upper step. By inputting data on height of this pin into a controller, the controller controls data concerning a take-up position and a take-down position of all the pallets to be stored on each shelf. A fork device of the stacker crane which receives command for operation from the controller handles target pallet and constitutes pile-up pallet which is organized arbitrarily in shelf.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to automatic warehouse equipment installed in a production system equipped with automatic processing equipment.

0002

[Prior Art] A so-called FMS (Flexible Manufacturing System) is known, which automatically produces a wide variety of workpieces using a multi-tasking machine tool and a device for transporting setup members such as workpieces and jigs. . FM
S is equipped with automated warehouse equipment that includes a stacker crane that connects the multi-level warehouse and multi-tasking machine tools, allowing unmanned processing of a wide variety of workpieces over long periods of time. Multi-tasking machine tools themselves are also becoming more and more cellular, in which automatic setup and processing can be accomplished unmanned by receiving pallets containing workpieces and jigs and tools. In this type of FMS, a plurality of pallets that have been set up are prepared in a stacked state, and the stacked pallets are carried into a cell, thereby achieving long-term unmanned processing.

0003

In conventional automatic warehouse equipment, groups of pallets stacked in advance are simply carried into or out of the shelves of a multi-level warehouse. Therefore, it has not been possible to rearrange the stacked pallets stored on the shelves using a stacker crane to construct a stacked pallet with a desired combination of pallets. The present invention provides a device that can arbitrarily organize pallets stored in shelves to form stacked pallets.

0004

[Means for Solving the Problems] In a production system implementing the present invention, a control device manages data regarding scooping positions and unloading positions of all pallets stored on each shelf of a multi-level warehouse. The stacker crane handles target pallets based on operation commands from the control device, and organizes arbitrary pallets within the shelves of the multi-level warehouse to form stacked pallets.

[0005]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Examples of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view showing the entire production system of the present invention, and FIG. 2 is a plan view. The production system, which is generally designated by the reference numeral 1, includes a plurality of automatic processing devices 10. As will be described later, the automatic processing device 10 includes a compound machining lathe and a component conveyance device, and the conveyance device supplies jigs and tools such as jaws and tools to the compound machining lathe to achieve automatic setup. It has the ability to automatically process a wide variety of workpieces supplied in stacked pallets. Hereinafter, this automatic processing device 10 will be referred to as a lathe cell. In this embodiment, a case is shown in which two lathe cells 10 are provided, but the number of equipment may be increased or decreased as necessary.

FIG. 3 is a perspective view showing an outline of the lathe cell 10, and FIG. 4 is a plan view. The lathe cell 10 includes a composite machining lathe 100 having two opposing main spindles. The compound machining lathe 100 includes a first main shaft 111 and a second main shaft 113 that face each other. The first main shaft 111 is movable in the axis Z1 direction, and cooperates with the tool rest 120 that moves in the axis X1 direction to process the workpiece gripped by the chuck 112 using the tools of the turret 112. Execute the first step. The chuck 114 of the second spindle 113 receives the workpiece after the first step from the chuck 112 of the first spindle, and works with the tool of the turret 117 of the tool rest 116 to hold the workpiece. Perform the second processing step. The conveying device includes a guide rail 120 and a gantry 122 that runs on the guide rail 120. The gantry 122 conveys jigs, tools, workpieces, etc. on a pallet 800 to the multitasking lathe 100. The stocker device 130 includes a stocker 132 that moves along an axis X3 and a traveling cart 140 that moves along an axis X4. The stocker 130 has tools 160,
A tool hand 135 and a jaw are equipped to accommodate the jig 170 and are replaceably mounted on the arm of the gantry 122.
A hand 136 and a work hand 137 are accommodated. A measuring device 180 connected to the stocker 132 measures the finished workpiece. A fork device 142 mounted on a traveling truck 140 has arms 143 projecting from both sides of a girder 144, and holds a pallet 800. The entire lathe cell 10 is controlled by a control device 182, and the combined machining lathe 100 is controlled by an NC device 184. The jigs and workpieces are set up on pallets in advance.
For example, 10 pallets are stacked on top of each other and stored on the shelves of the multi-level warehouse 30.

FIG. 5 is a front view showing the overall structure of the stacker crane 40. The stacker crane 40 has a rail 4
1 is supported by a driving wheel 402 and a driven wheel 406, and a traveling motor 404 and a carriage 4 are supported on the frame 400.
50 lifting devices 410 and a control device 446 are provided. Two columns 440 are erected on the frame 400,
The upper ends of the columns 440 are connected by an upper frame 445. A carriage 450 is supported on the column 440 via rollers 422 so as to be able to rise and fall freely.
is suspended by a chain 415. carriage 450
A fork device 460 is attached on top. The fork device 460 carries the stacked pallets 80 into and out of the shelves 31. The stacker crane 40 is in a traveling mode.
It is driven on the rail 41 by the motor 404. A chain 415 for suspending the carriage 420 is extended over an upper sprocket 416 and a lower sprocket 417, and as the lower sprocket 417 is driven by the lifting device 410, the carriage 450 is raised and lowered. The amount of rotation of the upper sprocket 416 is controlled by, for example, the rotary encoder 4.
By detecting at 18, the carriage 450 can be accurately positioned at an arbitrary height. A loading station 50 is disposed opposite the rail 41 of the stacker crane 40. loading station 50
In the process, the operator places tools and workpieces on the pallet.
Attach/remove to/from the A work instruction device 60 is disposed adjacent to the loading station 50. The work instruction device 60 includes, for example, a CRT display device, and provides instructions for setup work to the operator. Data is supplied to the work instruction device 60 from a system control device 70 that controls the entire production system 1, but data can also be supplied from a memory element attached to each pallet.

FIG. 6 shows an overview of the loading station 50 and work instruction device 60. The upper surface of the base 500 of the loading station 50 forms a guide surface 502, and the table 504 placed on the guide surface 502 allows the pallets 800 supplied from the stacker crane 40 to be
Equipped with a function to move in the direction of the arrow. A stopper 505 is provided at the end of the base, and the pallet 800 is
The operator attaches and detaches members onto the pallet 800 at the position where they come into contact with the pallet 800. The pallet 800 has a rectangular planar shape and includes a memory element 815 on the side. The stopper 505 is a read/write device (read/write device) 5.
10, and reads and writes information to and from the storage element 815 of the pallet 800. Therefore, if information such as the workpieces and jigs to be prepared on the pallet 800 is written in the memory element 815 of the pallet 800 in advance, the read/write device 510 of the loading station 50
reads this information and displays it on the work instruction device 60. The work instruction device 60 is, for example, a CRT display 60.
2 and an operation panel 630. The work instruction device 60 is connected to the loading station 50, and information about the pallet 800 read by the read/write device 510 of the loading station 50 is displayed on the screen. A setup confirmation device 610 is connected to the work instruction device 60. The setup confirmation device 610 has a hole 6 into which the tool 160 and jaw 170 are inserted.
14, and a reading/writing device 620 is provided in the hole 614. For example, tools 160 and jaws 17 are placed on pallet 800.
When setting up 0, the numbers of the tools and jaws to be set up and their positions are indicated on the display 602. The operator moves the tool 160 to the setup confirmation device 61.
When inserted into the hole 614 of the tool 160, the read/write device 620 reads information from the memory element 160a of the tool 160. Operator
The data processor can check the results to see if the tool matches the requested tool. Further, a lamp 612 or the like may be used to display whether or not the tool or jaw is correct. By using this setup confirmation device 610, accurate setup can be easily achieved. When the setup work for the pallet 800 is completed, the operator operates the operation panel of the work instruction device 60 to write setup information (for example, "height dimension of pallet pins") from the read/write device 510 into the memory element 815. , updates the information in the storage element 815.

FIG. 7 illustrates items of information to be written to storage element 815 of the palette. Pallet 80 with completed setup
0 are stacked on predetermined shelves in the multi-level warehouse 30 by the stacker crane 40. The next pallet 800 is supplied to the empty loading station 50, and necessary setup is performed. Repeat the above steps, for example 10
Once a set of stacked pallets 80 consisting of one pallet 800 is formed, this stacked pallet 80 is stored on a predetermined shelf in the multi-level warehouse 30 by the stacker crane 40 and waits until it is sent to the lathe cell 10. do. In addition,
In the illustrated embodiment, there are two loading stations 50.
is displayed, but it can be increased or decreased as necessary. Further, the loading station may have a function of stacking pallets.

FIG. 8 is a block diagram showing the configuration of the production system. The system control device 70
40, lathe cell 10, loading station 50
, and are connected to the work instruction device 60 by circuits. The system control device 70 sends operation commands to the stacker crane 40 and receives status reports from the stacker crane 40. The transfer program and machining program within the lathe cell 10 are sent to the lathe cell 10, and status reports are received. The lathe cell 10 includes a pallet storage element reading/writing device 156 and tool, jaw, and hand storage device reading/writing devices 150, 152, and 154 for reading and writing data on each member. . Operation commands are sent to the loading station 50 and status reports are received. The loading station 50 includes an operation panel 5
20, sends operation commands to the loading station 50, and receives status reports. Work instructions are sent to the work instruction device 60, and status reports are received. The work instruction device 60 is connected to a pallet storage device read/write device 510 provided at the loading station 50, and also connected to a tool/jaw storage device read/write device 620 of the setup confirmation device 610. The stocker device installed in the lathe cell 10 is provided with an exchangeable hand that is attached to the arm of the transfer robot of the lathe cell 10. These hands are prepared in the stocker device by the operator. therefore,
Information in the memory element of each member is also reported to the system control device 70 via the work instruction device 60. The work completion instruction switch 630 is operated by the operator to notify the system control device 70 via the work instruction device 60 that the setup work has been completed. At this time, "setup information" is sent to the system control device 70. This production system is equipped with the apparatus described above, and works, tools, and jaws are placed on a stacked pallet 80, and each pallet 800, tool, and jaw has its own memory element that holds its own information. Therefore, various tables are created for controlling the system.

FIG. 9 shows a table for managing the positions of the stacked pallets 80 on each shelf 31, loading station 50, and lathe cell 10 of the multi-level warehouse 30, and the positions of the pallets 800 constituting each stacked pallet 80. It is. The system control device 70 manages the positions of the stacked pallets 80 stored on each shelf 31 of the multi-level warehouse 30 and the number and number of pallets stacked on which stage of the stacked pallets 80. Similarly, loading station 5
The numbers of the pallets 800 being sent to the stacker crane 40 and the pallets being transported by the stacker crane 40 are also managed. The pallets 800 in the lathe cell 10 are managed by the cell controller of the lathe cell 10, and the information is reported to the system controller 70. By querying this table, the current position of a pallet with a particular number is retrieved.

FIG. 10 is a table showing the status of each pallet. Each pallet 800 of the stacked pallets 80 accommodates works and tools as members either exclusively or in a mixed manner. The type of each member, the placement position, data regarding the member, etc. are written in the memory element 815 of the pallet 800 and are managed by the system control device 70.

FIG. 11 shows a management table for tools and jaws within the lathe cell 10. Among the workpieces, tools, and jaws stored in the stacked pallet 80 carried into the lathe cell, the tools and jaws are once sent to a tool stocker and a jaw stocker that function as buffers. Thereafter, the tools are supplied to the tool post and the jaws are supplied to the spindle chuck, but these tools and jaws are managed by the cell control device by reading their respective memory elements with the read/write device. If the stocker also accommodates workpieces, the workpieces are also temporarily stocked in the stocker and then sent to the lathe.

FIG. 12 is a tool management table,
Information about all tools in the system is compiled into a table.

FIG. 13 is a jaw management table,
Information about all the jaws in the system is compiled into a table.

FIG. 14 shows the organic relationship between the above-mentioned tables, and a specific tool or jaw can be searched by pallet number and data number. The stacker crane used in the present invention has the following features in the production system described above:
It has a function of forming a stacked pallet by arbitrarily combining the pallets stacked on the shelves 31 of the multi-level warehouse 30.

FIG. 15 is an explanatory diagram showing details of the carriage 450, with half omitted from the center line, FIG. 16 is a plan view showing the fork device 460 partially omitted, and FIG. It is a front view with some parts omitted. Two fork devices 460 are installed on the carriage 450. The fork device 460 includes a first fork member 470 disposed on the outside, a second fork member 480 that slides with respect to the first fork member, and a second fork member 480 disposed on the inside. The third sliding against
Fork member 490 is provided. First fork member 4
70 is fixed to the carriage 450 and slidably supports the second fork member 480 by a roller 478 provided vertically and a roller 479 provided horizontally. A shaft 473 is rotatably supported by the first fork member 470, and a driving pulley 472 and a driving first pinion gear 474 are attached to both ends of the shaft 473. A motor (not shown) is disposed on the carriage 450,
A pinion gear 474 is driven via a drive pulley 472 via an appropriate power transmission mechanism. The second fork member 480 includes a second rack gear 482, and the second rack gear 482 meshes with the drive pinion gear 474. The second fork member 480 includes a plurality of second pinion gears 484 having vertical rotation axes, and includes an idle gear 484.
They are connected to each other via 86. Second pinion gear 4
84 simultaneously meshes with a first rack gear 476 attached to the first fork member 470 and a third rack gear 492 attached to the third fork member 490. The third fork member 490 includes a roller 49 disposed vertically.
5 and a roller 494 arranged in the horizontal direction, it is slidably supported with respect to the second fork member 480. A hook 498 that engages with a pallet is fixed to the lower end of the third fork member 490.

FIGS. 18 to 20 are explanatory diagrams showing the operation of the fork device. FIG. 18 shows a state in which the fork device is in a neutral position, with the second fork member 48 located at the center position LO of the first fork member 470 fixed to the carriage.
0 and the center position of the third fork member 490 coincide.

FIG. 19 shows the fork device moved to the intermediate position. The motor drives the first pinion gear 4
74 is driven, the second rack gear 4 that meshes with it
82 through which the second fork member 480 slides. When the second fork member 480 slides a distance L1, the second pinion gear 484 drives the third rack gear 492 while meshing with the first rack gear 476. Since the first rack gear 476 is fixed, the third fork member 490 moves at twice the speed in the same direction as the second fork member 480. Therefore, the moving distance L2 of the third fork member 490 is twice the distance L1.

FIG. 20 shows the fork device extended to its maximum length, and the pallet 800 is transported by the third fork device 490 to a position indicated by a distance L20.
The items are transferred to shelves or loading stations. A pallet hook 498 is attached to the lower end of the third fork member 490. The pallet 800 includes a frame 805 whose planar shape is, for example, a quadrilateral, and has legs 820 at the four corners of the lower surface of the frame 805. Also, frame 8
05 has a hook 49 of the third fork member 490.
A contact member 840 that 8 abuts is attached. Pins 810 are provided upright at the four corners of the upper surface of the frame 805. This pin 810 can be adjusted in height. Therefore, the height of the pin 810 can be adjusted according to the size of the workpiece 850 accommodated in the frame 805 to avoid interference with pallets stacked on the upper stage. By adjusting the height dimension of this pin 810, the height dimension H between it and the upper pallet changes. However, pin 810
By registering the height dimension of H in a file, the dimension H can be managed by a computer. Each palette also includes a storage element 815 and holds data regarding itself. Therefore, the computer can manage the height positions of all the pallets in the pallet group stacked on each shelf.

FIG. 21 shows that the fork device is installed on a shelf 31 of a multi-storey warehouse.
A case is shown in which three stacked pallets 800 are handled in the interior. Position P1 in FIG. 21 is the position of the third fork device 49.
0 is at an upper level position in the shelf 31 while holding the lowest pallet of the three stacked pallets 800. The shelf 31 has a pallet receiving member 312 mounted on a base 310, and receives a pallet 800 from the fork device when the carriage is processed to the lower level position indicated by position P2. Position P3 indicates the lower level position where the fork device 490 engages with the third pallet located at the uppermost level. handle.

FIGS. 22 and 23 show the operation of forming stacked pallets in any combination on the shelves of a multi-level warehouse using a stacker crane. To simplify the explanation, 1.
This shows a case where a pallet with only sheets can be rearranged. In FIG. 22, the first shelf 31A has three pallets A1, A2,
Pallets A3 are stacked, and two pallets B1 and B2 are stacked on the second shelf 31B. Third shelf 31C
is empty. First, a case will be described in which the third pallet A3 on the first shelf 31A is transported to the loading station 50 and the setup is actually carried out. The system control device 70
Access the pallet group position management table and check the height position H of the third pallet A3 at the top of the first shelf 31A.
1 and gives a command to the stacker crane 40. The stacker crane 40 takes out the third pallet A3 from the shelf 31A and transports it to the loading station 50. The pallet A3 whose setup at the loading station 50 has been completed is carried to the lowermost stage of the third shelf 31C, as shown in FIG. 17. Next, the second
The second pallet B2 at the top of the shelf 31B is similarly sent to the loading station 50. Pallet B2, which has been completely set up at loading station 50, is sent to third shelf 31C and stacked on top of pallet A3, which has been carried in earlier. Through the above operations, it is possible to form a stacked pallet by combining arbitrary pallets. If the pallets stored on the first shelf 31A and the second shelf 31B have already been set up, the pallets A3 and B2 are moved to the loading station 5.
0, the stacker crane 40 forms a stacked pallet by targeting only the three shelves 31A, 31B, and 31C.

FIG. 24 shows the flow of processing. Step 1
In the process started at 000, in step 1010, the target pallet scooping position and the number of pallets to be scooped are input. In step 1020, the rake height (H1
, H2) are calculated. At step 1030, the unloading position of the pallet is input, at step 1040 the unloading height (H5, H6) is calculated, and at step 1050 the calculated data is transmitted to the operation control section of the stacker crane. In the operation control started in step 2000, the input of operation data is confirmed in step 2010, the stacker crane moves to the scooping position in step 2020, and the pallet scooping operation is executed in step 2030. When the completion of the scooping operation is confirmed in step 1060,
At step 1070, data regarding the scoop position height is updated. In the case of unloading work, the stacker crane moves to the unloading position in step 2040, and then moves to the unloading position in step 2050.
The pallet unloading operation is carried out. Step 1080
When completion of the unloading work is confirmed in step 1090, data regarding the unloading position height is updated. Data on the scooping position and unloading position of each pallet is managed by a pallet group position management table, but if the stacker crane is equipped with a read/writer, the same data can be written to the memory element of each pallet.

[0024]

[Effects of the Invention] As described above, the automatic warehouse equipment of the present invention has the following features:
The pallets supplied to the processing cell in a stacked state can be freely rearranged using empty shelves in a multi-level warehouse to form a desired stacked pallet. Therefore, it is possible to make effective use of pallets and to operate the FMS processing machine unmanned for a long period of time.

[Brief explanation of the drawing]

FIG. 1 is a perspective view of a production system.

FIG. 2 is a plan view of the production system.

FIG. 3 is a perspective view of a lathe cell.

FIG. 4 is a plan view of a lathe cell.

FIG. 5 is an explanatory diagram showing an overall outline of the stacker crane.

FIG. 6 is an explanatory diagram of a setup station.

FIG. 7: Information written to storage elements of a palette.

FIG. 8 is a configuration diagram of the production system.

FIG. 9 is a pallet group position management table.

FIG. 10 is a table showing the status of pallets.

FIG. 11 is a management table in a lathe cell.

FIG. 12 is a tool management table.

FIG. 13: Jaw management table.

FIG. 14 is an explanatory diagram showing the relationship between each table.

FIG. 15 is an explanatory diagram cut in half from the center line showing details of the carriage of the stacker crane.

FIG. 16 is a plan view with a portion of the fork device omitted.

FIG. 17 is a front view showing the fork device with a portion omitted.

FIG. 18 is an explanatory diagram showing the operation of the fork device.

FIG. 19 is an explanatory diagram showing the operation of the fork device.

FIG. 20 is an explanatory diagram showing the operation of the fork device.

FIG. 21 is an explanatory diagram showing the relationship between a fork device and stacked pallets.

FIG. 22 is an explanatory diagram showing how pallets are rearranged.

FIG. 23 is an explanatory diagram showing how pallets are rearranged.

FIG. 24 is a flow diagram showing control processing.

[Explanation of symbols]

1 Production system 10 Lathe cell 30 Multi-story warehouse 31 Shelf 40 Stacker crane 50 Loading station 80 Stacked pallets 170 Rotary encoder 300 chain 320 Chain 400 Drive device 450 Carriage 460 Fork device 470 First fork member 474 First pinion gear 476 First rack gear 480 Second fork member 482 Second rack gear 484 Second pinion gear 490 Third fork member 492 Third rack gear 498 Pallet hook 800 pallets 805 frame 820 Legs 810 pin 850 work

Claims (5)

[Claims] Claim 1: Automatic warehouse equipment installed in a production system equipped with a multi-tasking machine tool, a multi-level warehouse, and a stacker crane, wherein the control device of the system controls the scooping position of pallets stored on the shelves of the multi-level warehouse. A stacker crane is an automated warehouse facility that is equipped with a fork device that handles pallets on the shelves of a multi-story warehouse based on operation commands from a control device. 2. The automated warehouse equipment according to claim 1, wherein the pallet comprises a frame having a quadrilateral planar shape for accommodating workpieces and jigs, legs provided on the lower surface of the four corners of the frame, and upper surfaces of the four corners of the frame. A pallet provided with a height-adjustable pin that engages with the legs of a pallet stacked on an upper stage. 3. The stacker crane for automatic warehouse equipment according to claim 1, wherein the fork device includes a first fork member fixed to the carriage and slidably supported on a side surface of the first fork member. a second fork member; a third fork member that is slidably supported on the side surface of the second fork member and has a hook that engages with the pallet; and by driving the second fork member; A fork device comprising a double speed mechanism for driving a third fork member in the same direction as a second fork member at double speed. 4. The speed doubler mechanism includes a rack gear provided on the first fork member, a rack gear provided on the third fork member, and a pinion gear provided on the second fork member that meshes with the two rack gears simultaneously. 4. The fork device according to claim 3. 5. The automated warehouse equipment according to claim 1, which has a capacity for accommodating a group of pallets formed by stacking a plurality of pallets, and which stores a group of pallets by transporting the pallets to an empty shelf using a stacker crane. Automatic warehouse equipment that achieves recombination.