JP2015013736A - Ultra low temperature automatic storage system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To inhibit heat loss, reduce the manufacturing costs, and control a temperature of a work-piece after the work-piece is taken out from a storage.SOLUTION: An ultra low temperature automatic storage system 100 includes: multiple small refrigerators 200, each of which includes a vacuum insulation material where an internal space for storing a work-piece W is formed, a cooling part which cools the internal space, a battery part which accumulates electric power supplied and supplies the electric power to the cooling part, and an individual control part which controls the cooling part, the multiple small refrigerators which may be transported; a transportation part 120 which transports the small refrigerators; a storage 102 which stores the small refrigerators so that the small refrigerators may be carried in and out by the transportation part; and a power supply part which supplies the electric power to the battery part; and an entire control part which controls transportation of the transportation part.

Description

  The present invention relates to an automatic storage system for ultra-low temperatures for storing workpieces at ultra-low temperatures.

  2. Description of the Related Art Conventionally, automatic warehouses (unmanned warehouses) in which a plurality of workpieces are stored while they are kept warm and a workpiece is loaded and unloaded by a transfer device have become widespread. In particular, since raw materials for biopharmaceuticals and the like may be produced in a variety of small quantities, the management of loading and unloading becomes complicated, and there is a risk that an incorrect raw material may be obtained by loading and unloading through manual labor. Therefore, the development of an automated warehouse for biopharmaceuticals is desired. However, the raw materials and products of biopharmaceuticals are stored at an extremely low temperature of −40 to −100 ° C., and the electrical elements and actuators of the transport device that transports such workpieces in a storage room maintained at an extremely low temperature are normal. May not work.

  In view of this, a technique has been proposed in which the temperature of the transfer device is maintained at a temperature at which the transfer device functions normally using a heat retaining box provided in the storage (for example, Patent Document 1). Furthermore, a technique is disclosed in which a holding unit that suspends and holds a workpiece is provided in the storage, the driving unit is driven, and a driving motor that transports the workpiece held in the holding unit is provided outside the storage ( For example, Patent Document 2).

  In addition, biopharmaceutical raw materials may be stored at different temperatures for each workpiece. As a technique for such temperature management, for example, in a cold storage warehouse, each work is housed in a separate container, and by a fan provided in the container, the cold air in the warehouse is blown into the container, An automatic warehouse that pressurizes and cools a workpiece is disclosed (for example, Patent Document 3).

Japanese Patent No. 4438491 JP 2002-128212 A JP 2012-56659 A

  As described above, when developing an automated warehouse that keeps a workpiece while keeping the workpiece at an ultra-low temperature, the conveyance device that conveys the workpiece requires measures as disclosed in Patent Documents 1 and 2. For this reason, the number of parts increases or a general-purpose transport device cannot be used, resulting in an increase in manufacturing cost.

  In addition, the raw materials for biopharmaceuticals often require strict temperature control before being used after being delivered from an automatic warehouse. In the automatic warehouse described in Patent Document 3, temperature management for each workpiece is possible, but temperature management for workpieces before and after loading / unloading is impossible.

  Furthermore, in any of the techniques disclosed in Patent Documents 1 to 3, since the outside air flows into the storage every time a workpiece is loaded and unloaded, particularly when the storage is cooled to an ultra-low temperature, heat loss increases.

  An object of the present invention is to provide an automatic storage system for ultra-low temperature capable of suppressing heat loss, suppressing manufacturing cost, and managing the temperature of a workpiece in a warehouse.

  In order to solve the above problems, an automatic storage system for ultra-low temperature according to the present invention stores a vacuum heat insulating material in which an internal space for accommodating a work is formed, a cooling unit for cooling the internal space, and stored electric power. In addition, a battery unit that supplies power to the cooling unit, and an individual control unit that controls the cooling unit, a plurality of small freezers that can be transported, a transport unit that transports the small freezers, and a small freezer by the transport unit It is characterized by comprising a storage for storing in a loadable or unloadable state, a power supply unit that supplies power to the battery unit, and an overall control unit that controls the transfer of the transfer unit.

  The overall control unit may be configured to transmit a control instruction for the cooling unit to the individual control unit of the small freezer.

  The overall control unit lowers the temperature of the internal space to the first temperature before the time when the work is stored frozen in the small freezer, and after the work is accommodated in the internal space, the temperature of the internal space is changed to the first temperature. The temperature may be lowered to a second temperature lower than the temperature.

  The small freezer may further include a temperature sensor that measures the temperature of the internal space, and a history generation unit that generates a temperature history of the temperature of the internal space measured by the temperature sensor and stores the temperature history in the storage unit.

  The power supply unit is configured by a contactless power transmission mechanism that transmits power to the battery unit in a contactless manner, and the small freezer further includes a power reception unit configured by a contactless power reception mechanism that receives power from the power supply unit in a contactless manner. May be.

  ADVANTAGE OF THE INVENTION According to this invention, while suppressing a heat loss and suppressing manufacturing cost, the temperature of the workpiece | work after leaving a warehouse can be managed.

It is explanatory drawing for demonstrating the structure of the automatic storage system for ultra-low temperatures. It is a functional block diagram of the automatic storage system for ultra-low temperatures. It is explanatory drawing for demonstrating the structure of a small freezer. It is a functional block diagram of a small freezer. It is explanatory drawing for demonstrating the relationship between the accommodation rate of a workpiece | work, and inflow heat amount. It is the flowchart which showed the flow of the control processing of the whole control part. It is explanatory drawing for demonstrating the temperature transition of the internal space before and after warehousing. It is explanatory drawing for demonstrating the structure of the small freezer in a 1st modification. It is explanatory drawing for demonstrating the structure of the small freezer in a 2nd modification. It is explanatory drawing for demonstrating the structure of the small freezer in a 3rd modification.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. The dimensions, materials, and other specific numerical values shown in the embodiments are merely examples for facilitating the understanding of the invention, and do not limit the present invention unless otherwise specified. In the present specification and drawings, elements having substantially the same function and configuration are denoted by the same reference numerals, and redundant description is omitted, and elements not directly related to the present invention are not illustrated. To do.

  The storage temperature of conventional automatic warehouses with refrigeration functions is generally low in the field of refrigeration, whereas work such as raw materials for biopharmaceuticals must be stored at ultra-low temperatures in the field of refrigeration. However, simply increasing the output of the refrigerator has problems such as an increase in heat loss and the work transfer device not functioning properly. Low temperature is defined as -20 to -40 ° C and ultra low temperature is defined as -40 to -100 ° C. The ultra-low temperature automatic storage system of the following embodiment solves such a problem, and can store workpieces such as raw materials for biopharmaceuticals at an ultra-low temperature, and can automatically perform temperature management and loading / unloading.

(Automatic storage system for ultra-low temperature 100)
FIG. 1 is an explanatory diagram for explaining the structure of an ultra-low temperature automatic storage system 100. FIG. 1 (a) shows a front view of the ultra-low temperature automatic storage system 100, and FIG. The cross section along line I (b) -I (b) in FIG. In the following description, regarding the automatic storage system 100 for ultra-low temperature, the left side of FIG. Further, in FIG. 1 (a), for easy understanding, illustration of a front wall of a storage 102 described later and a conveyance stand 130 described later is omitted.

  As shown in FIG. 1, the ultra-low temperature automatic storage system 100 includes a storage 102. The storage 102 is an outline of the ultra-low temperature automatic storage system 100, that is, the upper surface of the ultra-low temperature automatic storage system 100 in FIGS. 1 (a) and 1 (b), the left and right sides in FIG. 1 (a). It is comprised by the both sides | surfaces located in a both-ends side, the rear surface located in the right end side in FIG.1 (b), and the front surface located in the left end side in FIG.1 (b).

  A plurality of fan filter units 104 are arranged on the upper surface of the storage 102. The fan filter unit 104 sucks outside air and removes dust, microorganisms, and the like contained in the air, and then flows into the storage 102. Therefore, the atmosphere in the storage 102 is clean air.

  A storage shelf 106 is provided in the storage 102. The storage shelf 106 is composed of, for example, a shelf having a frame structure such as a steel rack, and a vertical pipe 106a arranged upright in the vertical direction, and a horizontal pipe 106b arranged in a direction in which the longitudinal direction becomes the horizontal direction. And the shelf board 106c. In addition to the vertical pipe 106a and the horizontal pipe 106b, a pipe that forms a truss structure and reinforces the storage shelf 106 may be provided. In addition, a plurality of horizontal pipes 106b are arranged apart from each other in the vertical direction. Here, in order to facilitate understanding, the horizontal pipes 106b arranged on portions other than the upper surface of the storage shelf 106 are not shown.

  The shelves 106c are placed on the horizontal pipes 106b arranged on portions other than the upper surface of the storage shelf 106, and a plurality of shelves 106c are arranged at regular intervals apart in the vertical direction. The inside of the housing of the storage shelf 106 is divided into a plurality of accommodation spaces S by the shelf plate 106c and the vertical pipe 106a.

  As shown in FIG. 1B, the storage shelf 106 has a length in the front-rear direction that is approximately half of the length in the front-rear direction inside the storage 102, and the rear side in the storage 102 It is arranged in.

  FIG. 2 is a functional block diagram of the ultra-low temperature automatic storage system 100. Hereinafter, the cryogenic automatic storage system 100 will be described with reference to FIGS. 1 and 2.

  As shown in FIG. 2, the ultra low temperature automatic storage system 100 includes a first battery unit 108, a power feeding unit 110, an operation unit 112, a display unit 114, an overall control unit 116, and a first wireless communication unit 118. The transport unit 120 and the small freezer 200 are included.

  As shown in FIG. 1, the first battery unit 108 is provided further below the shelf plate 106 c arranged in the lowest vertical direction, and stores electric power supplied from a power supply unit (not shown). The first battery unit 108 functions as an auxiliary power source during a power failure.

  The power feeding unit 110 is configured by a non-contact power transmission mechanism, and is electrically connected to the first battery unit 108 and the power source unit via a wiring (not shown).

  The operation unit 112 includes a keyboard, a pointing device, a cross key, a joystick, a touch panel superimposed on the display unit 114, and the like, and receives an operation input from an operator. The display unit 114 includes a liquid crystal display, an organic EL (Electro Luminescence) display, and the like, and displays an operation menu screen and the like according to the control of the overall control unit 116.

  The overall control unit 116 is composed of a semiconductor integrated circuit including a CPU (Central Processing Unit), reads programs and parameters for operating the CPU itself from the ROM, and cooperates with the RAM as a work area and other electronic circuits. Thus, the entire ultra-low temperature automatic storage system 100 is managed and controlled. Specifically, the overall control unit 116 controls the conveyance of the small freezer 200 by the conveyance unit 120.

  The first wireless communication unit 118 includes a wireless antenna and a wireless communication circuit, and performs wireless communication with a second wireless communication unit (to be described later) of the small freezer 200. The overall control unit 116 transmits, for example, a control instruction such as a set temperature of the internal space C of the small freezer 200 to the small freezer 200 via the first wireless communication unit 118.

  The transport unit 120 enters and exits the small freezer 200 containing the workpiece W based on the control of the overall control unit 116. Specifically, the conveyance unit 120 includes a traveling carriage 122, a rail 124, an elevator 126, a robot arm, and the like.

  As shown in FIG. 1B, the traveling carriage 122 has a length in the front-rear direction that is approximately half of the length in the front-rear direction inside the storage 102, and The space is moved in the left-right direction in FIG.

  A rail 124 is provided on the traveling carriage 122. The rail 124 extends vertically above the traveling carriage 122 to a height that exceeds the uppermost level of the storage shelf 106. The elevator 126 moves up and down along the rail 124 by power such as a motor. When the elevator 126 moves up and down while the small freezer 200 containing the workpiece W is placed on the elevator 126, the small freezer 200 moves up and down together with the elevator 126. The small freezer 200 will be described in detail later.

  By the movement of the traveling carriage 122 and the elevator 126, the elevator 126 can move in front of any accommodation space S of the storage shelf 106.

  On the front side of the storage 102, a transport port 128 that is used to carry in and out the small freezer 200 is provided. The transport port 128 is formed at a position facing the position where the small freezer 200 is placed on the elevator 126 with the elevator 126 lowered most. The transfer port 128 is provided with an open / close door (not shown) that can be opened and closed, and is temporarily opened when the small freezer 200 is carried in and out.

  A transport stand 130 is arranged outside the storage 102 and vertically below the transport port 128. The conveyance stand 130 is substantially flush with the lower part of the conveyance port 128 and is almost flush with the lower part. When the small freezer 200 is stored in the ultra-low temperature automatic storage system 100, when the small freezer 200 is placed on the transfer table 130, the traveling carriage 122 moves to a position facing the transfer port 128. When the transfer port 128 is opened, a robot arm (not shown) provided in the elevator 126 moves the small freezer 200 from the transfer platform 130 onto the elevator 126 with the elevator 126 lowered most.

  Thereafter, the traveling carriage 122 moves to the front of the row where the storage space S for storing the small freezer 200 is located in the storage shelf 106, and the elevator 126 moves up to make the small freezer 200 face the storage space S. Then, the robot arm moves the small freezer 200 to the accommodation space S.

  On the other hand, when the small freezer 200 is removed from the automatic storage system 100 for ultra-low temperature, the traveling carriage 122 moves to the front of the row where the storage space S in which the target small freezer 200 is stored is located in the storage shelf 106. 126 rises and moves to the same height as the shelf 106c located in the lower part of the accommodation space S. Then, a robot arm (not shown) provided in the elevator 126 moves the small freezer 200 from the shelf plate 106c onto the elevator 126.

  Then, after the elevator 126 is moved down to the position where the traveling carriage 122 moves to a position facing the transfer port 128, the transfer port 128 is opened, and the robot arm moves the small freezer 200 to the transfer table 130.

  Thus, the storage 102 stores the small freezer 200 by the transport unit 120 so that it can be loaded or unloaded.

(Small freezer 200)
3 is an explanatory diagram for explaining the structure of the small freezer 200. FIG. 3A shows a state before the small freezer 200 is accommodated in the accommodation space S of the storage shelf 106, and FIG. (B) shows a state after the small freezer 200 is accommodated in the accommodating space S of the storage shelf 106.

  As shown to Fig.3 (a), since the housing | casing 202 is formed in the rectangle and the small freezer 200 is comparatively small, conveyance is easy. The housing 202 is provided with an opening 202a for carrying in and out the work W, and an accommodation door 202b for opening and closing the opening 202a is provided outside the housing 202. For example, the hinge mechanism 202c is rotated in the direction indicated by the arrow in FIG. Here, the case where the accommodation door 202b rotated by the hinge mechanism 202c is provided has been described, but any opening / closing mechanism may be provided as long as the opening 202a can be opened and closed. Further, the position of the opening 202a may be the upper wall portion of the housing 202 or may be provided at any other position.

  In addition, a vacuum heat insulating material 206 is disposed inside the housing 202 at a position where the opening 202 a of the housing 202 is not blocked. The vacuum heat insulating material 206 has an internal space C in which the work W is accommodated. By providing the vacuum heat insulating material 206, the cooling efficiency of the small freezer 200 can be significantly improved. Furthermore, the housing door 202b is provided with a vacuum heat insulating material (not shown) inside, which contributes to an improvement in cooling efficiency.

  In FIG. 3A, the vacuum heat insulating material 206 is arranged so as to be biased to the left side inside the housing 202, and a cooling unit 208 is arranged on the right side of the vacuum heat insulating material 206 inside the housing 202. ing.

  FIG. 4 is a functional block diagram of the small freezer 200. Hereinafter, the small freezer 200 will be described with reference to FIGS. 3 and 4.

  As shown in FIG. 4, the small freezer 200 includes a cooling unit 208, a power receiving unit 210, a second battery unit 212, a radiator 214, a temperature sensor 216, a storage unit 218, and a second wireless communication unit 220. And an individual control unit 222.

  The cooling unit 208 is composed of a refrigerator and has the ability to cool the refrigerant to an ultra-low temperature. Inside the vacuum heat insulating material 206 and outside the internal space C, piping (not shown) is embedded, and the refrigerant circulates through the cooling unit 208. Therefore, the internal space C is cooled to an ultra-low temperature by the refrigerant cooled by the cooling unit 208 flowing through the pipe.

  The power feeding unit 110 described above is disposed on the shelf plate 106 c of the storage shelf 106. In addition, a power receiving unit 210 is provided below the cooling unit 208 inside the housing 202 of the small freezer 200.

  The power reception unit 210 is configured by a non-contact power reception mechanism, and when the small freezer 200 is accommodated in the accommodation space S as shown in FIG. 3B, the power supply unit 110 and the power reception unit 210 The electric power is efficiently transmitted from the power feeding unit 110 to the power receiving unit 210 because of the positional relationship facing each other.

  The 2nd battery part 212 is distribute | arranged in the housing | casing 202 similarly to the cooling part 208, and the 2nd battery part 212 and the power receiving part 210 are electrically connected through the wiring not shown. The second battery unit 212 stores the electric power supplied from the power supply unit through the power supply unit 110 and the power receiving unit 210 during normal times, and stores the electric power supplied from the first battery unit 108 during a power failure. .

  In this way, the power feeding unit 110 and the power receiving unit 210 perform non-contact power transmission (power reception) of the power, so that the power supply to the second battery unit 212 of the small freezer 200 is performed only by transporting the small freezer 200 to the accommodation space S. It can be performed. Compared to the contact-type power supply method, the non-contact-type power supply method has a wider range of positions where power supply can be performed and can reliably supply power. Wide tolerance for misalignment. In addition, the non-contact type power supply method can prevent deterioration of the metal terminal because there is no contact between components on the power transmission side and the power reception side, and the lifetime of the components is maintained longer than that of the contact type power supply method.

  Then, as described above, the cooling unit 208 operates with the power supplied from the power receiving unit 210 in a normal state. When the power supply from the power receiving unit 210 is stopped, the cooling unit 208 uses the power supplied from the second battery unit 212. Operate.

  The radiator 214 is fixed from the outside of the housing 202 to a surface of the housing 202 opposite to the surface facing the lid portion 204. As shown in FIG. 3B, when the small freezer 200 is installed at a position where power can be supplied on the shelf, the radiator 214 comes to a position facing an exhaust duct (not shown).

  The heat sink 214 is disposed between the cooling unit 208 and the power receiving unit 210 disposed inside the housing 202, and the housing 202, and heat transferred from the cooling unit 208 and the power receiving unit 210 is illustrated in FIG. Exhaust heat in the direction of the white arrow.

  The temperature sensor 216 is disposed in the internal space C of the vacuum heat insulating material 206, and the temperature of the internal space C can be measured by the temperature sensor 216. The output value of the temperature sensor 216 is transmitted to the individual control unit 222.

  The storage unit 218 includes a flash memory, a nonvolatile RAM, and the like. The second wireless communication unit 220 includes a wireless antenna and a wireless communication circuit that is a part of the semiconductor integrated circuit, and performs wireless communication with the first wireless communication unit 118.

  The individual control unit 222 is configured by a semiconductor integrated circuit including a CPU (central processing unit), reads programs and parameters for operating the CPU itself from the ROM, and cooperates with the RAM as a work area and other electronic circuits. Thus, the entire small freezer 200 is managed and controlled. Further, the individual control unit 222 controls the output of the cooling unit 208 based on the output value of the temperature sensor 216. Specifically, when the individual control unit 222 acquires a control instruction from the overall control unit 116 via the second wireless communication unit 220, the output value of the temperature sensor 216 becomes the set temperature indicated by the control instruction. Thus, for example, closed loop control is performed on the cooling unit 208.

  The individual control unit 222 also operates as the history generation unit 222a by operating the program. The history generation unit 222 a generates a temperature history of the temperature of the internal space C measured by the temperature sensor 216 and stores it in the storage unit 218. Here, the temperature history is data in which output values of the temperature sensor 216 are collected in time series.

  The process of causing the history generation unit 222a to store the temperature history in the storage unit 218 can be performed with minute power consumption. Therefore, for example, when the remaining battery capacity of the second battery unit 212 decreases at the time of a power failure or when leaving, the history generation unit 222a stores the storage unit 218 even if the cooling process by the cooling unit 208 cannot be performed. The process of storing the temperature history can be continued. Therefore, even if the temperature of the workpiece W is increased due to a shortage of the remaining battery capacity of the second battery unit 212, the temperature increase of the workpiece W is confirmed by checking the temperature history stored in the storage unit 218. If it is within an allowable range as a raw material or the like, the workpiece W can be used without being discarded.

  As described above, each of the small freezers 200 includes the cooling unit 208, and the work W can be individually cooled for each small freezer 200. Therefore, depending on the accommodation rate of the work W stored in the ultra-low temperature automatic storage system 100, heat loss is significantly suppressed as compared with the case where the entire ultra-low temperature automatic storage system 100 is cooled. Hereinafter, regarding the heat loss reduction effect of the ultra-low temperature automatic storage system 100, the case where the workpiece W is cooled for each small freezer 200 is compared with the case where the entire ultra-low temperature automatic storage system 100 is collectively cooled as in the past. Show.

(Calculation conditions)
The trial calculation of FIG. 5 was calculated based on the following conditions.
・ Room temperature: 20 ℃
・ Freezing temperature: -80 ℃
・ Size of the housing 202: W 0.5 m × D 0.7 m × H 0.13 m
The storage shelf 106 can accommodate 20 stages × 25 rows × 2 = 1000 pieces and a small freezer 200.

(When a small freezer 200 is used to individually cool a plurality of workpieces W)
With respect to the vacuum heat insulating material 206, when the thermal conductivity is λ = 0.002 W / mK and the thickness is 0.095 m, the thermal resistance is 47.5 m ² K / W. Further, when the dimensions of the casing 202 are 0.5 m in width, 0.7 m in length, and 0.13 m in height, the surface area of the casing 202 is 2.24 m ² .

As a result, the inflow heat amount from the outer surface of the housing 202 is (20 ° C .− (− 80 ° C.)) ÷ 47.5 m ² K / W × 2.24 m ² = 4.7 W. When the number of the small freezers 200 accommodated in the ultra-low temperature automatic storage system 100 is N, the amount of heat flowing into the ultra-low temperature automatic storage system 100 is 4.7 W × N.

(When the storage 102 is cooled and a plurality of workpieces W are cooled at once)
The dimensions of the accommodation space S are as follows: width = 0.7 m × 2 + 1 m = 2.4 m, length = 0.5 m × 25 = 12.5 m, and height = 0.13 m × 20 + 1 m = 3.6 m. Here, the width of the storage space S is calculated with a margin of 1 m in order to transport the small freezer 200 with a crane or the like.

Moreover, the clearance gap between the storage shelf 106 which comprises the storage space S, and the outer wall of the storage 102 is 0.5 m. The outer wall of the storage 102 is a heat insulating material such as urethane foam, and has a thermal conductivity λ = 0.024 W / mK and a thickness of 0.2 m. At this time, the thermal resistance of the outer wall is 8.33 m ² K / W.

Further, it is assumed that a heat insulating material such as urethane foam is also provided on the floor surface of the storage 102, and the thermal conductivity is λ = 0.024 W / mK and the thickness is 0.1 m. At this time, the thermal resistance of the floor surface is 4.17 m ² K / W. If the dimensions of the outer wall of the storage 102 are 3.8 m in width, 13.9 m in length, and 4.4 m in height, the area of the outer surface other than the floor surface of the storage 102 is 208.6 m ² . Moreover, the area of a floor surface will be 52.8 m < ² >.

As a result, the inflow heat quantity from the outer surface of the storage 102 is (20 ° C .− (− 80 ° C.)) ÷ 8.33 m ² K / W × 208.6 m ² + (20 ° C .− (− 80 ° C.)) ÷ It is derived by the calculation of ^{4.17m 2 K / W × 52.8m 2} , the approximate 3.8 kW.

  The above calculation results when the work W is individually cooled and when the work W is collectively cooled are compared by changing the accommodation rate of the work W. Here, the accommodation rate is a ratio of the number of workpieces W actually accommodated in the ultra-low temperature automatic storage system 100 to the total number of workpieces W that can be accommodated in the ultra-low temperature automatic storage system 100.

  FIG. 5 is an explanatory diagram for explaining the relationship between the accommodation rate of the workpiece W and the inflow heat amount. In FIG. 5, the horizontal axis indicates the accommodation rate of the workpiece W, and the vertical axis indicates the amount of heat (heat loss) flowing into the storage 102. In FIG. 5, legend a is an example in which workpieces W are individually cooled, and legend b is an example in which workpieces W are collectively cooled.

  As shown in FIG. 5, the individual cooling can suppress the inflow heat amount as the accommodation rate decreases with the accommodation rate as low as about 82%. Thus, since the ultra-low temperature automatic storage system 100 performs the individual cooling by the small freezer 200, it is possible to greatly improve the efficiency.

  Further, even when the accommodation rate is increased, when the collective cooling is performed, when the frequency of loading and unloading of the workpiece W increases, the cold air escapes to the outside each time and the heat loss increases. However, since the ultra-low temperature automatic storage system 100 of the present embodiment performs individual cooling, it is possible to avoid such heat loss.

  Furthermore, since the small freezer 200 includes the second battery unit 212 as described above, the work W can be cooled while the capacity of the battery remains even after the delivery. Therefore, it becomes possible to manage the temperature of the work W after leaving.

  In the ultra-low temperature automatic storage system 100, the space driven by the traveling carriage 122, the rail 124, the elevator 126, the robot arm, and the like described above does not need to be cooled to an ultra-low temperature. It is possible to reduce the cost without requiring a special mechanism.

  Subsequently, a flow of control processing of the overall control unit 116 in entering and leaving the workpiece W will be described.

  FIG. 6 is a flowchart showing a flow of control processing of the overall control unit 116. As shown in FIG. 6, the overall control unit 116 determines whether or not the work W entry schedule has been input via the operation unit 112 or the like (S300). When there is a warehousing schedule (YES in S300), the overall control unit 116 determines whether or not it is within the first cooling period for cooling the internal space C of the small freezer 200 that is a warehousing schedule object (S302).

FIG. 7 is an explanatory diagram for explaining the temperature transition of the internal space C before and after warehousing. As shown in FIG. 7, the first cooling period T ₁ is set before the actual time at which the workpiece W is receipts housed in cryogenic automatic storage system 100 in a small freezer 200. First cooling period T ₁ may be started immediately after the receiving plan is set, from the time that the workpiece W is warehousing, preset time period may be started from the previous time.

In the first cooling determination step S302, if it is determined not to be the first in the cooling period _{T 1} (NO in S302), the process moves to the second cooling determination step S306. When it is determined that the first inner cooling period _{T 1} (YES in S302), the overall control section 116 sends a control instruction to the individual control unit 222, a first temperature at the end of the first cooling period _{T 1} The internal space C of the small freezer 200 is cooled so as to be A (S304). Then, the process proceeds to the second cooling determination step S306. Here, the first temperature A is a temperature that the internal space C should reach when the work W is accommodated in the internal space C.

Subsequently, the overall control unit 116 determines whether the second inner cooling period _{T 2} to cool the internal space C of the small-sized freezer 200 after goods receipt (S306). The second cooling period T ₂ are, started after accommodating the workpiece W into the internal space C of the small freezer 200. If the second inner cooling period _{T 2} (NO in S306), and terminates the control process. If the second inner cooling period _{T 2} (YES in S306), the overall control section 116 sends a control instruction to the individual control unit 222, so that the second temperature B at the end of the second cooling period _{T 2} Then, the internal space C of the small freezer 200 is cooled (S308), and the control process ends. Here, the second temperature B is a temperature that the internal space C should reach in order to cool the workpiece W to a temperature at which the workpiece W is frozen and stored, and is lower than the first temperature A.

As shown in FIG. 7, than the temperature drop speed of the internal space C (first rate of decrease) in the first cooling period T _1, the temperature drop speed of the internal space C in the second cooling period T ₂ (second reduction of (Speed) is slower. This is to prevent the workpiece W from being damaged by rapidly cooling the workpiece W accommodated in the internal space C.

Thus, the overall control unit 116, before goods receipt, in a first cooling period T _1, allowed to cool an interior space C advance rapidly, after warehousing, in the second cooling period T _2, gradually the internal space C Cooling. Therefore, the ultra-low temperature automatic storage system 100 can quickly cool the workpiece W while avoiding damage to the workpiece W when the workpiece W is received.

  In the warehousing determination step S300, if there is no warehousing schedule (NO in S300), the overall control unit 116 determines whether or not there is a warehousing schedule (S310). If there is no plan to leave (NO in S310), the control process ends. If there is a delivery plan (YES in S310), the overall control unit 116 determines whether or not it is the work W thawing period (S312). If it is not the thawing period (NO in S312), the control process is terminated. If it is the thawing period (YES in S312), the overall control unit 116 controls the individual control unit so as to weaken the cooling of the internal space C of the small freezer 200 so as to reach the third temperature by the end of the thawing period. A control instruction is transmitted to 222 (S314). Then, the control process ends.

  As described above, according to the ultra-low temperature automatic storage system 100 of the present embodiment, it is possible to suppress heat loss, reduce manufacturing costs, and manage the temperature of the workpiece W after leaving the warehouse.

(First modification)
FIG. 8 is an explanatory diagram for explaining the structure of the small freezer 400 in the first modification. FIG. 8A shows a state before the small freezer 400 is accommodated in the accommodation space S of the storage shelf 106. FIG. 8B shows a state after the small freezer 400 is stored in the storage space S of the storage shelf 106.

  In the above-described embodiment, the case where the storage space S is opened even when the small freezer 200 is stored in the storage space S has been described. In the first modification, a lid 404 is detachably attached to the storage door 202b of the small freezer 400. Further, the vertical interval between the shelves 106 c, that is, the height of the accommodation space S is approximately equal to the height of the housing 202 of the small freezer 400.

  As shown in FIG. 8B, when the small freezer 400 is stored in the storage space S, the housing 202 is fitted in the storage space S. Further, the lid 404 has an end on the housing 202 side fitted in the accommodation space S, and an end on the opposite side larger than the opening of the accommodation space S is located outside the accommodation space S, It functions as a lid for sealing S.

  As described above, the configuration in which the small freezer 400 is fitted in the accommodation space S stabilizes the position of the small freezer 400 and suppresses the falling of the small freezer 400 from the storage shelf 106 even when there is vibration such as an earthquake. Is possible. Further, since the lid 404 is integrally formed with the small freezer 400, if the small freezer 400 is accommodated in the accommodation space S, the flow of cold air from the small freezer 400 to the lid 404 is suppressed, and the cooling efficiency is improved. It becomes possible to do. Further, in order to close the accommodation space S, a separate operation of moving the lid member by a robot arm or the like is not necessary.

(Second modification)
FIG. 9 is an explanatory diagram for explaining the structure of the small freezer 500 in the second modification. FIG. 9A shows a state before the small freezer 500 is accommodated in the accommodation space S of the storage shelf 106. FIG. 9B shows a state after the small freezer 500 is stored in the storage space S of the storage shelf 106. Further, FIG. 9C shows the power receiving unit 510 and the vicinity of the power feeding unit 610 extracted from the cross section taken along line IX (c) -IX (c) in FIG. 9B.

  In the above-described embodiment, the case where the power feeding unit 110 is configured with a non-contact power transmission mechanism and the power receiving unit 210 is configured with a non-contact power transmission mechanism has been described. In the second modification, the power receiving unit 510 and the power feeding unit 610 are in contact with each other to transmit and receive power.

  Specifically, as shown in FIG. 9A, the power feeding unit 610 is fixedly disposed on the shelf board 106c. The power feeding unit 610 includes an insertion plug 610a through which power is transmitted. In addition, the housing 202 of the small freezer 500 is provided with a through-hole through which the plug 610a is inserted.

  The power receiving unit 510 is provided with an insertion port 510 a into which the insertion plug 610 a is fitted, and the insertion port 510 a is arranged at a position facing the through hole of the housing 202. The insertion port 510a is provided with a conductive plate (not shown) through which power is supplied.

  As shown in FIG. 9B, when the small freezer 500 is accommodated in the accommodation space S, the plug 610a of the power feeding unit 610 is connected to the power receiving unit 510 as shown in FIG. 9C. It is inserted through the inlet 510a. Then, the plug 610 a and the conductive plate in the plug 510 a are energized, and power is sent from the power feeding unit 610 to the power receiving unit 510.

  The shelf board 106c is provided with a guide (not shown) that regulates the movement of the casing 202 of the small freezer 500. When the small freezer 500 is accommodated in the accommodation space S, the case 202 guides the housing 202 of the small freezer 500 so that the insertion plug 610a does not deviate from the position where it is inserted into the insertion port 510a.

  In addition, here, the case where three plugs 610a and three insertion ports 510a are provided has been described, but one plug plug 610a and one insertion port 510a may be provided, respectively. It may be provided.

(Third Modification)
FIG. 10 is an explanatory diagram for explaining the structure of the small freezer 700 according to the third modification. FIG. 10A shows a state before the small freezer 700 is accommodated in the accommodation space S of the storage shelf 106. FIG. 10B shows a state after the small freezer 700 is stored in the storage space S of the storage shelf 106.

  In the second modification described above, the configuration in which power is transmitted and received by inserting the plug 610a into the plug 510a has been described. In the third modified example, an opening 702a is formed in the right side portion of the bottom surface in FIG. 10 (a) of the housing 702 of the small freezer 700. The power receiving unit 710 is exposed to the outside of the housing 702 through the opening 702a.

  The power supply unit 810 is configured by a contact terminal, is disposed in an arrangement hole 812 provided in the shelf plate 106c, and is electrically connected to the first battery unit 108 and the power supply unit via wiring (not shown). Further, the power feeding unit 810 is bent in a direction protruding upward in FIG. 10A, and the bent portion is easily elastically deformed.

  As shown in FIG. 10B, when the small freezer 700 is accommodated in the accommodation space S, the power receiving unit 710 and the power supply unit 810 come into contact with each other, and due to the weight of the small freezer 700, the power supply unit 810 is shown in FIG. It is pushed down inside and down. Thus, a sufficient contact pressure is ensured at the contact portion between the power receiving unit 710 and the power feeding unit 810, and power is transmitted from the power feeding unit 810 to the power receiving unit 710.

  Since the configuration of the power feeding unit 810 and the power receiving unit 710 of the third modification has a wide range of positions where power feeding can be performed, there is a wide allowable range for the deviation of the horizontal position between the power transmission side and the power receiving side.

  As mentioned above, although preferred embodiment of this invention was described referring an accompanying drawing, it cannot be overemphasized that this invention is not limited to this embodiment. It will be apparent to those skilled in the art that various changes and modifications can be made within the scope of the claims, and these are naturally within the technical scope of the present invention. Is done.

Further, in the above embodiment, the overall control section 116, the workpiece W is in the first cooling period T ₁ of the prior time stored frozen small freezer 200, to a first temperature an internal space C in the cooling unit 208 allowed to cool, the workpiece W is in the second cooling period T ₂ of the after being housed in the inner space C, lower than the first temperature to a second temperature, has been described for the case of cooling the interior space C in the cooling unit 208. However, the overall control unit 116, the internal space C in the cooling unit 208, have allowed to cool from the beginning to a second temperature to the first cooling period T ₁ of the prior time the workpiece W is stored frozen small freezer 200 Also good. Further, the overall control unit 116, the internal space C in the cooling unit 208, without cooling the first cooling period T ₁ of the prior time the workpiece W is stored frozen small freezer 200, the workpiece W is internal space C the second may be cooled to a cooling period T ₂ of the after housed.

  In the embodiment described above, the case where the overall control unit 116 is configured to be able to transmit the control instruction of the cooling unit 208 to the individual control unit 222 of the small freezer 200 has been described. However, the overall control unit 116 may not transmit a control instruction for the cooling unit 208 to the individual control unit 222 of the small-sized freezer 200. In that case, for example, a means for instructing control of the cooling unit 208 may be separately provided for each individual control unit 222 of the small freezer 200.

  Further, in the above-described embodiment, a description will be given of a case where the ultra low temperature automatic storage system 100 includes the history generation unit 222 a and the storage unit 218, and the history generation unit 222 a generates a temperature history of the internal space C and stores it in the storage unit 218. However, the ultra-low temperature automatic storage system 100 may not include the history generation unit 222a and the storage unit 218.

  INDUSTRIAL APPLICABILITY The present invention can be used for an ultra-low temperature automatic storage system for storing workpieces at an ultra-low temperature.

A 1st temperature B 2nd temperature C Internal space W Work 100 Automatic storage system 102 for ultra low temperature Storage 110, 610, 810 Power supply unit 116 Overall control unit 120 Transport unit 200, 400, 500 Small freezer 206 Vacuum heat insulating material 208 Cooling unit 210, 510, 710 Power receiving unit 212 Second battery unit (battery unit)
216 Temperature sensor 218 Storage unit 222 Individual control unit 222a History generation unit

Claims (5)

A vacuum heat insulating material in which an internal space for accommodating a workpiece is formed; a cooling unit that cools the internal space; a battery unit that stores supplied power and supplies power to the cooling unit; and the cooling unit And a plurality of small freezers that can be transported,
A transport unit for transporting the small freezer;
A storage for storing the small freezer in the transportable portion so that it can be carried in or out, and
A power feeding unit for feeding power to the battery unit;
An overall control unit for controlling conveyance of the conveyance unit;
An ultra-low temperature automatic storage system characterized by comprising:   2. The ultra-low temperature automatic storage system according to claim 1, wherein the overall control unit is configured to be able to transmit a control instruction for the cooling unit to the individual control unit of the small freezer.   The overall control unit lowers the temperature of the internal space to the first temperature before the time when the work is stored frozen in the small freezer, and after the work is accommodated in the internal space, The automatic storage system for ultra-low temperature according to claim 1 or 2, wherein the temperature of the space is lowered to a second temperature lower than the first temperature. The small freezer is a temperature sensor that measures the temperature of the internal space;
A history generation unit that generates a temperature history of the temperature of the internal space measured by the temperature sensor, and stores the history in a storage unit;
The automatic storage system for ultra-low temperature according to any one of claims 1 to 3, further comprising: The power feeding unit is configured by a non-contact power transmission mechanism that transmits power in a non-contact manner to the battery unit,
The ultra-low temperature according to any one of claims 1 to 4, wherein the small-sized freezer further includes a power receiving unit configured by a non-contact power receiving mechanism that receives power from the power feeding unit in a non-contact manner. Automatic storage system.

Images