JP5796300B2 - Automatic warehouse - Google Patents

Description

  The present invention relates to an automatic warehouse that loads and unloads luggage using a transfer device.

  Conventionally, there is an automatic warehouse including a rack having a plurality of shelves and a transfer device for transferring loads. In such an automatic warehouse, the transfer device is installed in, for example, a stacker crane having a traveling carriage that moves to the left and right along the front surface of the rack and a lifting platform that moves up and down along the mast installed on the traveling carriage. Has been.

  Specifically, the transfer device is attached to a lifting platform, and can move up, down, left, and right along the front of the rack by moving the carriage in the left-right direction and moving the lifting table in the up-down direction. .

  In addition, the transfer device moves in the up / down / left / right direction along the front of the rack in this manner, so that the loading / unloading of the luggage into / from the rack can be performed.

  Specifically, the rack is provided with a warehousing port and a warehousing port for warehousing and warehousing, and the transfer device receives the luggage at the warehousing port according to the instructions of the controller provided in the automatic warehouse, and The package is transported to a predetermined shelf. Similarly, the transfer device takes out a package from a predetermined shelf and conveys the package to a delivery port according to an instruction from the controller.

  For example, the controller sequentially receives and stores a warehousing command and a warehousing command from a host computer that manages a plurality of automatic warehouses, and sequentially executes the accumulated commands in a predetermined order.

  Further, when receiving the warehousing command, the controller determines a shelf (hereinafter referred to as “a warehousing shelf”) on which the luggage indicated by the warehousing command is placed from a plurality of shelves provided in the rack. .

  For such an automatic warehouse, for example, a technique related to determination of a storage shelf is also disclosed (for example, see Patent Document 1).

  According to the technology described in Patent Document 1, the priority assigned to each of the plurality of shelves is vacant and the priority order among the plurality of shelves having a lower priority than the shelf to which the previous package was transferred. Determine the highest shelf.

  As a result, the baggage is always placed on a shelf with a low priority. In other words, it is possible to prevent the state where the low priority shelf is not used at all.

JP 2002-326707 A

  Here, it is desirable for the automatic warehouse to efficiently perform loading and unloading. Thus, for example, when a plurality of packages are sequentially received, there is a method in which packages are placed in order from a shelf close to the exit from the viewpoint of improving the delivery efficiency.

  However, for example, when there are a plurality of outlets in an automatic warehouse, it may not be possible to determine at which point in time the goods are to be delivered after which goods are to be delivered.

  For example, an automatic warehouse used in a manufacturing process of a semiconductor device or a liquid crystal panel generally receives information indicating the next transfer destination of a package to be received (for example, a carrier storing a plurality of wafers). I don't have at that time.

  That is, at the time when the parcel is received into the automatic warehouse, it is not known from which of the plurality of outlets provided in the automatic warehouse.

  Accordingly, when a certain package is received, it is not possible to determine a shelf close to the delivery port as a storage shelf for the package in anticipation of delivery from a specific delivery port.

  In addition, even when there is only one shipping port, the buffer volume at the shipping port (the number of packages that can be temporarily placed for shipping) is generally small, and a large number of packages are continuously output. Cannot be transported to

  Therefore, for example, in the case of an automatic warehouse where there is a large amount of goods in and out and the ordering of goods in and out is always stored in the controller, even if a method of preferentially assigning a shelf close to the goods outlet as the warehousing destination, It is easy to generate a situation where it is impossible to take out the placed luggage. That is, the merit of the method is reduced.

  As a result, in a transport system including an automatic warehouse, for example, a method of placing packages in order of numbers given to each shelf is adopted. However, this is not preferable from the viewpoint of improving the efficiency of loading and unloading.

  An object of the present invention is to provide an automatic warehouse capable of efficiently loading and unloading luggage in consideration of the above-described conventional problems.

  In order to achieve the above object, an automatic warehouse according to an aspect of the present invention includes a rack having a plurality of shelves, a transfer device that transfers a load to each of the plurality of shelves, and the transfer device. An automatic warehouse comprising a control device that executes a command from the outside by controlling the operation, wherein the control device is a plurality of command information that is sequentially transmitted, and each of which stores a load in the rack A receiving unit that sequentially receives a plurality of command information indicating a command or a delivery instruction of a package from the rack; a storage unit that stores the plurality of command information received by the receiving unit; and a storage unit that stores the plurality of command information received by the receiving unit. The first command information that is one of the plurality of command information, and a storage shelf that is a shelf on which the predetermined luggage indicated by the first command information indicating the storage command is placed A decision part to decide from inside, The second command information, which is one of the plurality of command information stored in the storage unit, can be executed as indicated by the second command information to be executed next to the first command information A determination unit that determines whether or not the second command information is executable by the determination unit when the determination unit determines that the command indicated by the second command information is executable. The storage shelf is determined based on the content of the command indicated in the command information, and (b) when the determination unit determines that the command indicated in the second command information is not executable, The third command information is one of the plurality of command information, and the storage shelf is determined based on the content of the command indicated in the third command information to be executed next to the second command information. decide.

  According to this configuration, when determining the warehousing shelf corresponding to a certain warehousing command, the warehousing shelf is determined based on the contents of the command that can be executed next to the warehousing command.

  That is, the first command information and the next executable command (the second command information or the third command information) can be continuously and efficiently executed. A storage shelf corresponding to one command information is determined.

  Therefore, according to the automatic warehouse of this aspect, the loading / unloading of luggage can be performed more efficiently than before.

  Further, in the automatic warehouse according to one aspect of the present invention, the rack includes a delivery port having a temporary placement place of the luggage to be delivered from the rack, and the determination unit is configured to output the second command information. When the instruction and the load indicated by the second instruction information can be placed at the temporary placement location, it is determined that the instruction indicated by the second instruction information is executable, If the load cannot be placed at the temporary placement location, it may be determined that the command indicated in the second command information is not executable.

  According to this configuration, when the command indicated in the second command information is a shipping command, it is accurately determined whether or not the shipping command can be executed.

  Moreover, in the automatic warehouse which concerns on 1 aspect of this invention, when the said 2nd command information shows a leaving command and it determines with the said leaving command being executable, the said determination part is the object of the said leaving command A shelf in the vicinity of a specific shelf that is a shelf on which a load is placed may be determined as the warehousing shelf.

  According to this configuration, the transfer apparatus can efficiently execute the warehousing command and the warehousing command continuously.

  Further, in the automatic warehouse according to one aspect of the present invention, the rack includes a warehousing port having a temporary placement place of the luggage to be admitted into the rack, and the determination unit includes the second command information as warehousing. In the case where a command is indicated and it is determined that the warehousing command can be executed, a shelf in the vicinity of a specific shelf that is the temporary placement location may be determined as the warehousing shelf.

  According to this configuration, the transfer device can efficiently execute continuous warehousing commands.

  Further, in the automatic warehouse according to one aspect of the present invention, the rack is composed of a first rack and a second rack that are arranged to face each other across the transfer device, and the specific shelf is the The shelf is provided in one of the first rack and the second rack, and the determining unit is a shelf provided in the other of the first rack and the second rack, and is opposed to the specific shelf. The opposite shelf which is a shelf provided at the position to be performed may be determined as the storage shelf.

  According to this configuration, the transfer device is immediately displayed in the second command information for unloading or warehousing without moving up and down or left and right after execution of the warehousing command indicated in the first command information. Can be loaded. That is, continuous commands can be executed more efficiently.

  Further, in the automatic warehouse according to one aspect of the present invention, the determination unit determines the facing shelf as the storage shelf when the load indicated by the second command information can be placed on the facing shelf. If the load indicated by the second command information cannot be placed on the opposite shelf, the shelf above or below the specific shelf, or the shelf above or below the opposite shelf, It may be determined as

  According to this configuration, the continuous processing of the first command information and the second command information can be executed most efficiently when the loading of the luggage on the facing shelf is not possible, such as when the facing shelf is not empty. The warehousing shelf corresponding to the first command information is determined.

  Further, in the automatic warehouse according to one aspect of the present invention, the determination unit is configured to select the first command information from among the plurality of command information according to the priority of each of the plurality of command information stored in the storage unit. One command information, the second command information, and the third command information may be specified.

  According to this configuration, since multiple pieces of command information are sequentially executed according to their priorities, goods are received in an accurate order according to the purpose of use of the automatic warehouse (such as efficient production of industrial products). And it becomes possible to carry out goods.

  Moreover, this invention can also be implement | achieved as a storage shelf determination method including the characteristic process which the automatic warehouse which concerns on one of the said aspects performs. In addition, the present invention can be realized as a program for causing a computer to execute each process included in the warehousing shelf determination method and a recording medium on which the program is recorded. The program can be distributed via a transmission medium such as the Internet or a recording medium such as a DVD.

  ADVANTAGE OF THE INVENTION According to this invention, the automatic warehouse which can carry in / out of a luggage | load efficiently can be provided.

It is a perspective view which shows the structure outline | summary of the automatic warehouse in embodiment of this invention. It is a perspective view which shows the structure outline | summary of the shelf which the automatic warehouse in embodiment has. It is a top view which shows typically the structure of the automatic warehouse in embodiment. It is a block diagram which shows the functional structure of the controller in embodiment. It is a figure which shows an example of the arrangement | sequence of the shelf in the 1st rack and 2nd rack of embodiment. It is a figure which shows the 1st example of the some command content which the automatic warehouse in embodiment should perform. It is a figure which shows an example of the usage condition of the shelf at the time of the some command content shown by FIG. 6A being performed. It is a figure which shows the 2nd example of the several command content which the automatic warehouse in embodiment should perform. It is a figure which shows an example of the usage condition of the shelf at the time of the some command content shown by FIG. 7A being performed. It is a figure which shows the 3rd example of the some command content which the automatic warehouse in embodiment should perform. It is a figure which shows an example of the usage condition of the shelf at the time of the some command content shown by FIG. 8A being performed.

  An automatic warehouse according to an embodiment of the present invention will be described with reference to the drawings.

  FIG. 1 is a perspective view showing a schematic configuration of an automatic warehouse 1 in an embodiment of the present invention.

  FIG. 2 is a perspective view showing an outline of the configuration of the shelves of the automatic warehouse 1 according to the embodiment of the present invention.

  As shown in FIG. 1, the automatic warehouse 1 includes a first rack 70 a having a plurality of shelves 75, a transfer device 30 that transfers a load to each of the plurality of shelves 75, and operations of the transfer device 30. And a controller 100 that executes a command from the outside by controlling.

  Specifically, the transfer device 30 is installed in the stacker crane 2 that moves along the traveling rails 9 and 10. The controller 100 specifically controls the overall operation of the automatic warehouse 1 including the transfer device 30.

  In the present embodiment, it is assumed that the automatic warehouse 1 is used in a semiconductor manufacturing process, for example. In this case, the load 6 placed on the shelf 75 is, for example, a carrier in which a plurality of wafers are stored.

  Moreover, the shelf 75 is comprised by a pair of support body 72, as shown in FIG. Each support 72 is fixed to the shelf frame 71.

  Although omitted in FIG. 1, the automatic warehouse 1 according to the present embodiment includes a second rack 70b disposed to face the first rack 70a with the stacker crane 2 interposed therebetween.

  The stacker crane 2 includes a traveling carriage 4, a mast 5 installed on the traveling carriage 4, and a lifting platform 34 that moves up and down along the mast 5.

  The transfer device 30 employs a scalar arm method in which the load 6 is transferred by an articulated arm unit. The transfer device 30 can transfer the load 6 to and from the shelf 75 by expanding and contracting the arm unit.

  The traveling carriage 4 includes a traveling drive motor and the like, and moves on the laid traveling rail 9 in the horizontal direction. The mast 5 includes an elevating drive belt and the like, and elevates the elevating platform 34 connected to the elevating drive belt.

  When the traveling carriage 4 moves in the left-right direction (X-axis direction) and the lifting platform 34 moves in the up-down direction (Z-axis direction), the transfer device 30 moves in front of an arbitrary shelf 75. Can do. That is, the luggage can be taken out from the arbitrary shelf 75 and the luggage 6 can be placed on the arbitrary shelf 75. Specifically, the operation of the transfer device 30 is controlled by the controller 100.

  The controller 100 is an example of a control device, and is realized by, for example, a computer including an interface for inputting and outputting information, a CPU (Central Processing Unit) for executing a control program, a memory, and the like.

  Further, the controller 100 transmits a control signal for components such as the transfer device 30 via wired communication or wireless communication, and receives signals transmitted from these components as necessary. The functional configuration of the controller 100 will be described later with reference to FIG.

  FIG. 3 is a plan view schematically showing the configuration of the automatic warehouse 1 in the embodiment of the present invention.

  As shown in FIG. 3, the transfer device 30 can transfer the load 6 between both the first rack 70a and the second rack 70b.

  The stacker crane 2 receives the cargo 6 to be received at the storage port and transports it to one of the shelves 75 of the first rack 70a and the second rack 70b. Further, the luggage 6 to be delivered is taken out from the shelf 75 on which the luggage 6 is placed, and is transported to the delivery port.

  Specifically, the automatic warehouse 1 includes a first warehousing port 77, a first warehousing port 76, and a manual warehousing port 80 arranged in the first rack 70a. Moreover, the automatic warehouse 1 is further provided with the 2nd entrance 78, the 2nd exit 79, and the manual exit 81 which are arrange | positioned at the 2nd rack 70b.

  In addition, the 1st entrance port 77, the 1st exit port 76, the 2nd entrance port 78, and the 2nd exit port 79 are provided in the upper part of the 1st rack 70a and the 2nd rack 70b, for example, with an overhead traveling vehicle Luggage 6 is delivered between them.

  That is, the luggage 6 transported by the overhead traveling vehicle is stored in the first rack 70a or the second rack 70b via the first storage port 77 or the second storage port 78.

  In addition, the luggage 6 stored in the first rack 70a or the second rack 70b is discharged through the first shipping port 76 or the second shipping port 79. That is, the luggage 6 transported to the first delivery port 76 or the second delivery port 79 and temporarily placed thereon is taken up by the overhead traveling vehicle and sent out to the next manufacturing process, for example.

  Moreover, the manual warehousing port 80 is a port into which the luggage 6 is carried in by a worker's hand, and is provided at the lower part of the first rack 70a. The manual exit port 81 is a port for carrying out the luggage 6 by a worker's hand, and is provided at the lower part of the second rack 70b.

  FIG. 4 is a block diagram showing a functional configuration of the controller 100 according to the embodiment of the present invention.

  As illustrated in FIG. 4, the controller 100 includes a reception unit 102, a storage unit 104, a determination unit 106, and a determination unit 108.

  The controller 100 also has other functional configurations for controlling various operations of the automatic warehouse 1, but illustration and explanation of these other functional configurations are omitted, and the functional configuration mainly related to the present invention. Is illustrated and described.

  The receiving unit 102 is a plurality of command information that is sequentially transmitted, each of which indicates a cargo entry command to the rack (70a, 70b) or a cargo delivery command from the rack (70a, 70b). Are received sequentially.

  Note that the command information is transmitted from, for example, a host computer that is positioned above the automatic warehouse 1 on the command system.

  The storage unit 104 stores a plurality of command information received by the receiving unit 102.

  The determining unit 106 is first command information that is one of a plurality of command information stored in the storage unit 104, and places a predetermined package indicated by the first command information indicating a warehousing command. An incoming shelf that is a shelf is determined from among the plurality of shelves.

  The determination unit 108 is second command information that is one of a plurality of command information stored in the storage unit 104, and is the command indicated in the second command information to be executed next to the first command information. Whether or not can be executed is determined.

  Here, in more detail, the determination part 106 determines a storage shelf as follows. That is, when the determining unit 108 determines that the command indicated by the second command information is executable, the determining unit 106 determines the warehousing shelf based on the content of the command indicated by the second command information. decide.

  In addition, when the determination unit 108 determines that the command indicated by the second command information is not executable, the determination unit 106 is one of a plurality of command information stored in the storage unit 104. The warehousing shelf is determined based on the content of the command indicated by the third command information to be executed next to the second command information.

  That is, when the automatic warehouse 1 executes a warehousing command among commands indicated by a plurality of command information stored in the storage unit 104 under the control of the controller 100, the determining unit 106 executes the warehousing command next to the warehousing command. The command can be predicted, and the warehousing shelf corresponding to the warehousing command can be determined according to the contents.

  Thereby, the efficiency of loading and unloading the luggage 6 in the automatic warehouse 1 is realized.

  Hereinafter, how the controller 100 in the embodiment determines the warehousing shelf will be described with reference to FIGS.

  FIG. 5 is a diagram illustrating an example of the arrangement of the shelves 75 in the first rack 70a and the second rack 70b according to the embodiment of this invention.

  In FIG. 5, the arrangement of the shelves 75 is illustrated in a plane so that the arrangement of the shelves 75 in the first rack 70 a and the second rack 70 b can be easily understood.

  As shown in FIG. 5, each of the first rack 70a and the second rack 70b includes five shelves having twelve shelves 75 arranged in the X-axis direction in the Z-axis direction. Each shelf level is assigned any one of 1-5, and each of the 12 shelves 75 in each shelf is assigned any of 1-12 serial numbers.

  Further, in order to identify each shelf 75, a shelf number of the format “ABC” is assigned to each shelf 75. Specifically, the shelf 75 included in the first rack 70a is A = “1”, and the shelf 75 included in the second rack 70b is A = “2”. B represents a serial number, and C represents a column number.

  [N] represents a package. For example, the package [2] is placed on the shelf with the shelf number “1-10-3”.

  Each of the first warehousing port 77, the first warehousing port 76, the second warehousing port 78, the second warehousing port 79, the manual warehousing port 80, and the manual warehousing port 81 is provided for temporary storage of goods to be warehoged or delivered. It has a mounting location. Specifically, up to two pieces of luggage can be temporarily placed at each of the entrances and exits.

  Processing related to the determination of the storage shelf by the controller 100 in such an environment will be described with reference to a specific example of the command.

  FIG. 6A is a diagram showing a first example of a plurality of command contents to be executed by the automatic warehouse 1, and FIG. 6B is a usage status of the shelf 75 when the plurality of command contents shown in FIG. 6A are executed. It is a figure which shows an example.

  Assume that the storage unit 104 stores a plurality of command information shown in FIG. 6A as a job queue.

  Specifically, FIG. 6A shows four pieces of command information, and each command information is given a priority. In addition, “command type” in FIG. 6A is information that specifies whether the command indicated in each command information is a warehousing command or a warehousing command. Further, “command content” in FIG. 6A is information indicating which package should be specifically transported to which position.

  The priority assigned to each command information is given by, for example, a host computer that is a transmission source of the command information, and transmitted together with the command information.

  Alternatively, for example, the controller 100 determines the priority order of each command information in accordance with the timing at which the controller 100 receives each command information, or the type of goods to be loaded or unloaded shown in each command information. May be.

  As described above, when a plurality of pieces of command information are stored in the storage unit 104, the determination unit 106 selects and processes the command information indicating the highest priority and executable command.

  Whether or not the command indicated by each command information can be executed is determined by the determination unit 108. Specifically, the determination unit 108 determines, for example, whether or not each command can be executed by referring to the warehousing and unloading history data (not shown) stored in the controller 100. Can do.

  In FIG. 6A, the command information indicating the warehousing command for the baggage [1] having the highest priority is an example of the first command information, and the shipping command for the baggage [2] having the second highest priority is issued. The command information shown is an example of second command information.

  The determination unit 108 can execute the warehousing command (first command) for the package [1] having the highest priority, as shown in FIG. 6B, because there is one or more empty shelves 75. Is determined. At the time of the determination, the package [1] is temporarily placed in the manual warehousing port 80.

  Further, as shown in FIG. 6B, the determination unit 108 vacates the manual delivery port 81 specified in the second command for the delivery command (second command) for the package [2] having the second highest priority. Therefore, it is determined that execution is possible.

  In more detail, the determination unit 108 determines that the delivery instruction can be executed, for example, when it is confirmed that the following conditions are satisfied.

  (I) The manual exit 81 is vacant in the history data. (Ii) The sensor provided in the manual exit 81 does not detect an object. (Iii) The transmission / reception system of signals such as control signals is not down. (Iv) The manual exit 81 is not registered as unusable.

  In other words, the determination unit 108 determines whether or not work involving delivery of the package through the manual exit port 81 can be performed by confirming whether the manual exit port 81 can be physically and logically used. Can do. The same applies to the other exits and entrances.

  In such a situation, the determination unit 106 determines the storage shelf corresponding to the first command, that is, the shelf 75 on which the package [1] is placed based on the content of the second command.

  Specifically, the determination unit 106 determines the shelf 75 in the vicinity of the shelf 75 (specific shelf) on which the package [2] to be delivered in the second command is placed as an entry shelf.

  In more detail, the determination part 106 determines the opposing shelf which is a shelf provided in the position facing a specific shelf as a receipt shelf.

  In the case of this example, as shown in FIG. 6B, the shelf number of the specific shelf on which the luggage [2] is placed is “1-10-3”, and the shelf number of the opposite shelf at the opposite position is “1-10-3”. 2-10-3 ".

  Further, the opposite shelf having the shelf number “2-10-3” is vacant as shown in FIG. 6B. That is, the load [1] to be stored can be placed on the opposite shelf. Accordingly, the determination unit 106 determines the shelf 75 with the shelf number “2-10-3” as the storage shelf corresponding to the first command.

  Accordingly, the transfer device 30 can move the first item [1] on the shelf 75 of the shelf number “2-10-3” and then move up and down and left and right without placing it. The package [2] to be delivered in the two commands can be taken from the shelf 75 with the shelf number “1-10-3” opposite to the shelf 75.

  That is, the distance that the transfer device 30 should move between the first command and the second command is substantially zero, and the work efficiency related to the loading and unloading of the luggage that is executed continuously is maximized. Figured.

  In addition, when the counter shelf is unusable, such as the shelf 75 of the shelf number “2-10-3” that is the counter shelf in this example is not empty, the determination unit 106 places the package [2]. The shelf 75 above or below the specific shelf or the shelf 75 above or below the opposite shelf is determined as the warehousing shelf. That is, any of the four shelves 75 with dark dots in FIG. 6B is determined as the storage shelf.

  In this case, the transfer device 30 can be positioned in front of the warehousing shelf by moving only the lifting platform 34 up or down without moving the traveling carriage 4.

  Further, which of the four shelves 75 is determined as the receiving shelf is determined by the determining unit 106 according to a predetermined rule, for example, according to the priority order of the top, bottom, top, or bottom of the specific shelf. do it.

  Furthermore, for example, when all of the four shelves 75 with dark dots are unusable, any of the twelve shelves 75 with thin dots in FIG. Is determined as a receipt shelf.

  Further, as to which of these 12 shelves 75 is determined as the receiving shelf, for example, according to a priority order such as left, right of the specific shelf, left, right of the opposite shelf,... The determination unit 106 may determine according to the above.

  FIG. 7A is a diagram showing a second example of a plurality of command contents to be executed by the automatic warehouse 1, and FIG. 7B is a usage status of the shelf 75 when the plurality of command contents shown in FIG. 7A are executed. It is a figure which shows an example.

  Assume that the storage unit 104 stores a plurality of command information shown in FIG. 7A as a job queue.

  In this case, the determination unit 108 has one or more empty shelves 75 as shown in FIG. 7B for the warehousing command (first command) for the baggage [1] having the highest priority. It is determined that execution is possible. At the time of the determination, the package [1] is temporarily placed in the manual warehousing port 80.

  Furthermore, as shown in FIG. 7B, the determination unit 108 has two or more empty shelves 75 for the warehousing command (second command) for the next highest priority baggage [4]. It is determined that execution is possible. At the time of the determination, the package [4] is temporarily placed in the second warehousing port 78.

  In such a situation, the determination unit 106 determines the warehousing shelf corresponding to the first command based on the content of the second command.

  Specifically, the determination unit 106 determines the shelf 75 in the vicinity of the shelf 75 (specific shelf) on which the cargo [2] to be stored in the second command is temporarily placed as the storage shelf.

  The specific shelf in this example is the shelf 75 of the shelf number “2-6-5” used as a temporary placement place in the second warehousing port 78.

  Further, the opposite shelf provided at the position facing the specific shelf is the shelf 75 with the shelf number “1-6-5”, and the shelf 75 is temporarily placed at the first exit port 76. It is used as a place and luggage [5] is placed.

  Further, the specific shelf is the uppermost shelf. Therefore, the determination unit 106 determines the shelf 75 below the specific shelf or the shelf 75 below the counter shelf as the warehousing shelf corresponding to the first command.

  That is, the shelf 75 of the shelf number “2-6-4” or the shelf 75 of the shelf number “1-6-4” with a dark dot in FIG. 7B is determined as the warehousing shelf.

  In this case, the transfer device 30 puts the package [1], which is a warehousing target in the first command, into the shelf 75 with the shelf number “2-6-4” or the shelf 75 with the shelf number “1-6-4”. After placing, it moves upward without moving left and right. Thereby, the transfer apparatus 30 can take in the load [4], which is the object of warehousing in the second command, from the shelf 75 of the shelf number “2-6-5” that is a temporary placement location. That is, the first command and the second command are executed efficiently continuously.

  It is assumed that the shelf 75 cannot be used, for example, the shelf 75 with the shelf number “2-6-4” and the shelf 75 with the shelf number “1-6-4” are not empty. In this case, the deciding unit 106 decides one of the eight shelves 75 with a thin dot in FIG. 7B as the warehousing shelves in the vicinity of the specific shelf on which the package [2] is placed. The

  FIG. 8A is a diagram showing a third example of a plurality of command contents to be executed by the automatic warehouse 1, and FIG. 8B is a usage status of the shelf 75 when the plurality of command contents shown in FIG. 8A are executed. It is a figure which shows an example.

  Assume that the storage unit 104 stores a plurality of command information shown in FIG. 8A as a job queue.

  In this case, the determination unit 108 has one or more empty shelves 75 as shown in FIG. 8B for the warehousing command (first command) for the package [1] having the highest priority. It is determined that execution is possible. At the time of the determination, the package [1] is temporarily placed in the manual warehousing port 80.

  Further, as shown in FIG. 8B, the determination unit 108 determines that the first delivery port 76 specified in the second command has the next highest priority for the delivery command (second command) for the package [2]. Since it is not available, it is determined that execution is impossible.

  Specifically, up to two packages can be temporarily placed in the first shipping port 76, but at the time of the determination, the first shipping port 76 has already been loaded with the packages [5] and [ 6] is placed. In other words, the package [5] and the package [6] are waiting for delivery at the first delivery port 76, and the package [2] is sent to the first delivery port 76 during execution of the first command executed first. There is no guarantee that will be ready for placement.

  Therefore, the determination unit 108 determines that the second command cannot be executed, and further determines whether or not to execute the exit command (third command) for the package [3] having the second highest priority after the second command. I do.

  In the case of this example, the second exit port 79 specified in the third command is vacant, and the luggage [3] can be placed temporarily. Therefore, the determination unit 108 determines that the third command can be executed.

  In such a situation, the determination unit 106 determines a storage shelf corresponding to the first command based on the content of the third command.

  Specifically, the determination unit 106 determines the shelf 75 in the vicinity of the shelf 75 (specific shelf) on which the package [3] to be delivered in the third command is placed as an entry shelf.

  In more detail, the determination part 106 determines the opposing shelf which is a shelf provided in the position facing a specific shelf as a receipt shelf. In the case of this example, the shelf number of the specific shelf is “2-2-4”, and the shelf number of the opposite shelf at the opposite position is “1-2-4”.

  Further, the opposite shelf having the shelf number “1-2-4” is vacant as shown in FIG. 8B. Therefore, the determination unit 106 determines the shelf 75 with the shelf number “1-2-4” as the storage shelf corresponding to the first command.

  In this case, the distance to which the transfer device 30 should move between the execution of the first command and the execution of the third command is substantially zero, and the operations related to the loading and unloading of the baggage performed continuously. Maximization of efficiency is achieved.

  In addition, when the counter shelf is unusable, such as the shelf 75 of the shelf number “1-2-4” that is the counter shelf in this example is not available, the determination unit 106 places the package [3]. The shelf 75 above or below the specific shelf or the shelf 75 above or below the opposite shelf is determined as the warehousing shelf. In other words, any of the four shelves 75 with dark dots in FIG. 8B is determined as the warehousing shelf.

  Furthermore, for example, when all of the four shelves 75 with dark dots are unusable, for example, one of the twelve shelves 75 with thin dots in FIG. 8B is determined as the storage shelf. .

  In this example, if it is determined by the determination unit 108 that the third command cannot be executed, the determination unit 108 receives the warehousing command (4) for the cargo [4], which has the second highest priority after the third command. Whether to execute the fourth command) is determined. That is, the determination unit 108 sequentially determines whether or not execution is possible according to the priority of each command.

  As described above, in the automatic warehouse 1 according to the present embodiment, the controller 100 determines a storage shelf for each of the packages to be stored.

  Specifically, the deciding unit 106 moves the shelf 75 in the vicinity of the specific shelf on which the load to be taken in by the transfer device 30 in a later command (shipping command or warehousing command) to the warehousing corresponding to the previous command. Determine as a shelf. As a result, the efficiency related to the loading and unloading of the luggage executed continuously is improved.

  For example, when an opposite shelf at a position facing a specific shelf is determined as a storage shelf, as described above, the movement distance of the transfer device 30 is minimized, so that the storage of luggage that is executed continuously is performed. In addition, the work efficiency related to shipping can be maximized.

  In addition, even if the opposite shelf is not usable, it is received from a plurality of shelves 75 in the vicinity of the specific shelf, such as the upper / lower / left / right shelf 75 of the specific shelf or the upper / lower / left / right shelf 75 of the opposite shelf. A shelf is determined.

  That is, the shelf 75 at the position that is considered to contribute most to the improvement of the work efficiency of warehousing and warehousing is determined as the warehousing shelf according to the usage situation of the plurality of shelves 75 provided in the automatic warehouse 1.

  Further, as described above, when the controller 100 sequentially processes a plurality of command information in accordance with the priority, the controller 100 waits until the command becomes possible for the command determined to be unexecutable. Instead, the instruction is skipped, and execution feasibility determination is performed for the next highest priority instruction.

  Therefore, as in warehouses used in semiconductor manufacturing processes, the frequency and timing of loading and unloading of product materials or semi-finished goods varies, and information about these cannot be obtained in advance. In addition, the automatic warehouse 1 of the present embodiment is useful.

  Specifically, even in such a case, according to the automatic warehouse 1, it is determined whether or not each of the commands to be sequentially executed can be executed, and there is a storage shelf corresponding to the storage command to be executed first. It is determined based on the content of the command that is predicted to be executed from the result of the determination. For this reason, it is possible to carry in and out more efficiently than before.

  The automatic warehouse according to the present invention has been described based on the embodiments. However, the present invention is not limited to the above embodiment. Unless it deviates from the gist of the present invention, various modifications conceived by those skilled in the art have been made in the present embodiment, or forms constructed by combining a plurality of the above-described constituent elements are within the scope of the present invention. include.

  For example, the automatic warehouse 1 includes a first rack 70a and a second rack 70b, which are two separated racks. However, the automatic warehouse 1 may include only one rack as long as it is a rack capable of storing a plurality of luggage.

  Further, for example, the automatic warehouse 1 is not used in the semiconductor manufacturing process, but for temporarily storing various packages in, for example, a storage for production of other types of industrial products or a distribution warehouse. It may be used as a vault.

  Moreover, as a transfer system of the transfer apparatus 30, it is not limited to a scalar arm system, For example, a fork system or a push pull system may be employ | adopted.

  Further, the numbers and types of the warehousing ports and the warehousing ports included in the automatic warehouse 1 are not limited to the numbers and types of the warehousing ports and the warehousing ports in the present embodiment.

  For example, a warehousing port or a warehousing port may be provided in the lower part of the first rack 70a or the second rack 70b for delivery of luggage to and from unmanned traveling vehicles traveling on the installation surfaces of these racks.

  Further, the priority order may not be associated with each of the plurality of command information stored in the storage unit 104. For example, when a plurality of command information is transmitted without being superior or inferior from the host computer, the controller 100 may sequentially select command information to be executed sequentially from the plurality of command information. .

  Moreover, the rule which determines each priority of the some command information which the automatic warehouse 1 should perform may not be constant.

  For example, in the automatic warehouse 1, when the storage amount per unit time is less than or equal to the threshold value, each of the plurality of command information is processed in the order received, and when the storage amount exceeds the threshold value, the plurality of command information is Control of processing according to the priority order corresponding to each content may be performed.

  The automatic warehouse of the present invention is an automatic warehouse having a plurality of shelves for loading and unloading a plurality of packages, and is an automatic warehouse capable of efficiently performing work related to loading and unloading a plurality of packages. Therefore, it is useful as an automatic warehouse for storing luggage in factories and distribution warehouses.

DESCRIPTION OF SYMBOLS 1 Automatic warehouse 2 Stacker crane 4 Traveling cart 5 Mast 6 Luggage 9 Traveling rail 30 Transfer device 34 Lifting platform 70a First rack 70b Second rack 71 Shelf frame 72 Support body 75 Shelf 76 First exit port 77 First entrance port 78 Second entry port 79 Second exit port 80 Manual entry port 81 Manual exit port 100 Controller 102 Receiving unit 104 Accumulating unit 106 Determining unit 108 Determination unit

Claims (7)

An automatic equipped with a rack having a plurality of shelves, a transfer device that transfers a load to each of the plurality of shelves, and a control device that executes an instruction from the outside by controlling the operation of the transfer device A warehouse,
The controller is
A plurality of command information sequentially transmitted, each of which sequentially receives a plurality of command information indicating a cargo entry command to the rack or a cargo delivery command from the rack;
An accumulator that accumulates the plurality of command information received by the receiver;
Warehousing that is first command information that is one of the plurality of command information stored in the storage unit and that is a shelf on which a predetermined package indicated by the first command information indicating the warehousing command is placed. A determination unit for determining a shelf from among the plurality of shelves;
Second command information that is one of the plurality of command information stored in the storage unit, and a command indicated by second command information to be executed next to the first command information is executable And a determination unit for determining whether or not
The determination unit
(A) When the determination unit determines that the command indicated by the second command information can be executed, a package that is a target of the delivery command that is the content of the command indicated by the second command information is placed The receiving shelf is determined based on the position of the shelf being stored or the position of the shelf that is a temporary placement of the luggage to be received ,
(B) When the determination unit determines that the command indicated by the second command information is not executable, third command information that is one of the plurality of command information stored in the storage unit And the position of the shelf on which the package targeted for the delivery command, which is the content of the command shown in the third command information to be executed next to the second command information , or the package to be stored An automatic warehouse that determines the warehousing shelves based on the position of the shelves, which are temporary placement locations . The rack includes a delivery port having a temporary placement place for luggage to be delivered from the rack,
The determination unit indicates in the second command information when the second command information indicates a delivery command and the package indicated in the second command information can be placed at the temporary placement location. The automatic operation according to claim 1, wherein it is determined that a command to be executed can be executed, and the command indicated in the second command information is not executable when the package is not mountable at the temporary placement location. Warehouse. If the second command information indicates a delivery command and it is determined that the delivery command can be executed, the determination unit is a shelf on which a package that is a target of the delivery command is placed. The automatic warehouse according to claim 1, wherein a shelf in the vicinity of the shelf is determined as the storage shelf. The rack includes a warehousing port having a temporary placement place of the luggage to be admitted into the rack,
The determination unit, when the second command information indicates a warehousing command, and when it is determined that the warehousing command is executable, the shelf near the specific shelf that is the temporary placement location, The automatic warehouse according to claim 1 or 2, which is determined as a receiving shelf. The rack is composed of a first rack and a second rack arranged facing each other across the transfer device,
The specific shelf is a shelf provided in one of the first rack and the second rack,
The determination unit determines an opposing shelf, which is a shelf provided in the other of the first rack and the second rack and provided at a position facing the specific shelf, as the storage shelf. The automatic warehouse according to claim 3 or 4. The determination unit determines the counter shelf as the storage shelf when the load indicated by the second command information can be placed on the counter shelf, and determines the cargo of the load indicated by the second command information. The automatic warehouse according to claim 5, wherein when placing on the opposite shelf is not possible, the shelf above or below the specific shelf, or the shelf above or below the opposite shelf is determined as the storage shelf. The determining unit is configured to select the first command information, the second command information, and the first command information from the plurality of command information according to respective priorities of the command information stored in the storage unit. The automatic warehouse according to any one of claims 1 to 6, wherein three command information is specified.

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