CN109775210A - Component warehouse system - Google Patents

Abstract

The present invention provides component warehouse system, can suitably manage component.Component warehouse system includes automated warehouse, has the door region passed through for the pallet being supported to component；And elevator gear, with lifting part and moving parts, which can be supported pallet, and the moving parts is mobile by pallet between lifting part and door region.

Description

Component warehouse system

Technical field

The present invention relates to component warehouse systems.

Background technique

In the manufacturing process of electronic instrument, such as disclosed component installation system in patent document 1 is used.

Patent document 1: No. 5963863 bulletins of Japanese Patent No.

The component delivered from component provider is put in storage to warehouse.The component used in apparatus for mounting component goes out from warehouse Behind library, it is delivered to apparatus for mounting component.The input work or Delivery of component are cumbersome.Implement input work in operator or goes out In the case where the operation of library, it is possible to mistake occur.In case of mistake, by the component storage of mistake or outbound, then The manufacture for being likely to occur electronic instrument is unqualified.

Summary of the invention

The purpose of mode of the invention is, provides the component warehouse system that can suitably manage component.

Mode according to the invention provides a kind of component warehouse system, includes automated warehouse, has for component The door region that the pallet being supported passes through；And elevator gear, with lifting part and moving parts, the lifting unit Part can be supported the pallet, which moves the pallet between the lifting part and the door region It is dynamic.

The effect of invention

Mode according to the present invention provides the component warehouse system that can suitably manage component.

Detailed description of the invention

Fig. 1 is the oblique view for showing schematically an example of component installation system involved in present embodiment.

Fig. 2 is the structure chart for indicating an example of component installation system involved in present embodiment.

Fig. 3 is the oblique view for indicating an example of component involved in present embodiment.

Fig. 4 is the oblique view for indicating an example of component involved in present embodiment.

Fig. 5 is illustrated for the summary of the movement routine to component conveying apparatus involved in present embodiment Figure.

Fig. 6 is the oblique view of an example of the component warehouse system involved in present embodiment that indicates.

Fig. 7 is the front view of an example of the component warehouse system involved in present embodiment that indicates.

Fig. 8 is the figure for showing schematically automated warehouse and elevator gear involved in present embodiment.

Fig. 9 is the in-built oblique view for indicating outbound elevator involved in present embodiment.

Figure 10 is the in-built oblique view for indicating outbound elevator involved in present embodiment.

Figure 11 is to indicate tray support involved in present embodiment in the oblique view of the state of lifting part.

Figure 12 is to indicate tray support involved in present embodiment in the oblique view of the state of lifting part.

Figure 13 is the oblique view for indicating an example of outbound moving parts involved in present embodiment.

Figure 14 is the in-built oblique view for indicating outbound elevator involved in present embodiment.

Figure 15 is the in-built side view for indicating outbound elevator involved in present embodiment.

Figure 16 is the figure for showing schematically an example of the movement of outbound moving parts involved in present embodiment.

Figure 17 is the oblique view for observing from below a part of outbound elevator involved in present embodiment.

Figure 18 is the figure for showing schematically an example of movement for lifting part involved in present embodiment.

Figure 19 is the in-built oblique view for indicating storage elevator involved in present embodiment.

Figure 20 is the in-built oblique view for indicating storage elevator involved in present embodiment.

Figure 21 is the oblique view for indicating an example of storage moving parts involved in present embodiment.

Figure 22 is the in-built oblique view for indicating storage elevator involved in present embodiment.

Figure 23 is the in-built side view for indicating storage elevator involved in present embodiment.

Figure 24 is the figure for showing schematically an example of the movement of storage moving parts involved in present embodiment.

Figure 25 is the oblique view for indicating an example of component conveying apparatus involved in present embodiment.

Figure 26 is the side view for indicating an example of component conveying apparatus involved in present embodiment.

Figure 27 is the oblique view for indicating an example of component conveying apparatus involved in present embodiment.

Figure 28 is the oblique view for indicating an example of component conveying apparatus involved in present embodiment.

Figure 29 is the oblique view for indicating an example of component conveying apparatus involved in present embodiment.

Figure 30 is the oblique view for indicating an example of component conveying apparatus involved in present embodiment.

Figure 31 is the oblique view for indicating an example of link mechanism involved in present embodiment.

Figure 32 is the top view for indicating an example of link mechanism involved in present embodiment.

Figure 33 is the functional block diagram for indicating an example of management and control device involved in present embodiment.

Figure 34 is the functional block diagram for indicating an example of warehouse control device involved in present embodiment.

Figure 35 is the functional block diagram for indicating an example of conveying control device involved in present embodiment.

Figure 36 is the functional block diagram for indicating an example of terminal installation involved in present embodiment.

Figure 37 is the flow chart for indicating an example of the processing of outbound involved in present embodiment.

Figure 38 is the flow chart for indicating an example of storage processing involved in present embodiment.

Figure 39 is the timing diagram for indicating an example of part management method involved in present embodiment.

Figure 40 is the timing diagram for indicating an example of part management method involved in present embodiment.

Figure 41 is the timing diagram for indicating an example of part management method involved in present embodiment.

Figure 42 is the figure for indicating an example of display unit involved in present embodiment.

Figure 43 is the block diagram for indicating an example of computer system involved in present embodiment.

The explanation of label

1 ... component installation system, 2 ... parts managing systems, 3 ... production lines, 4 ... component warehouse systems, 4A ... automatic storehouse Library, 4B ... elevator gear, 5 ... component conveying apparatus, 6 ... management and control devices, 7 ... warehouse control devices, 8 ... conveying controls Device, 9 ... terminal installations, 10 ... travel routes, 11 ... outbound regions, 12 ... garage entering areas, 13 ... production line regions, 14 ... connect Prepare regions by region, 15 ..., 16 ... charged areas, 17 ... operation posts, 18 ... unified replacement trolleys, 19 ... charging units, 20 ... material containing bands, 21 ... tep reels, 21A ... tep reel, 21B ... tep reel, 22 ... surfaces, 23 ... identification labels, 30 ... pallets, 30A ... Pallet, 30B ... pallet, 31 ... plate portions, the upper surface 31A ..., the lower surface 31B ..., the side 31C ..., 32 ... partition board portions, on 32A ... Surface, 34 ... notches, 41 ... outbound elevators, 42 ... storage elevators, 43 ... path spaces, 43G ... guiding mechanism, 44 ... shelfs, 45 ... door regions, 46 ... conveying devices, 47 ... plates, 48 ... lifting parts, 49 ... moving parts, 51 ... carriers, 52 ... unmanned waggons, 53 ... loading devices, 54 ... link mechanisms, 55 ... stop components, 61 ... receiving units, 62 ... desired signals Acquisition unit, 63 ... production plan acquisition units, 64 ... production actual quantity acquisition units, 65 ... transportation program generating units, 66 ... warehouses Command signal output section, 67 ... conveying command signal output sections, 68 ... transmission units, 71 ... receiving units, the control of 72 ... moving parts Portion, 73 ... lifting part control units, 74 ... outbound tray position adjustment sections, 75 ... storage tray position adjustment sections, 76 ... tep reels Position adjustment section, 77 ... conveying tray position adjustment sections, 78 ... management storage units, 79 ... transmission units, 81 ... receiving units, 82 ... rows Sail control unit, 83 ... holding member control units, 84 ... limitation signal output sections, 85 ... transmission units, 91 ... receiving units, 92 ... inputs Portion, 93 ... desired signal generating units, 94 ... display control sections, 95 ... display units, 96 ... transmission units, 401 ... pillars, 402 ... beams, 403 ... frames, 410 ... the 1st driving devices, 411 ... support members, 412 ... guide members, 413 ... motor, 414 ... power Transmission mechanism, 420 ... the 2nd driving devices, 421 ... guide members, 422 ... motor, 423 ... power transfer mechanisms, 430 ... drive Dynamic device, 431 ... support plates, 432 ... support rods, 433 ... sliding blocks, 434 ... linear guide portions, 435 ... the 1st brackets, 436 ... the 2 brackets, 437 ... motor, 438 ... power transfer mechanisms, 439 ... claws, 440 ... driving devices, 441 ... guide members, 442 ... motor, 443 ... power transfer mechanisms, 450 ... outbound tray position sensors, 450A ... injection part, 450B ... light Portion, 460 ... conveying tray position sensors, 460A ... injection part, 460B ... acceptance part, 470 ... storage tray position sensors, 471 ... outbound plates, 472 ... storage plates, 480 ... identification devices, 481 ... the 1st lifting parts, 482 ... the 2nd lifting parts, 483 ... Flat part, 483A ... front panel portion, 483B ... back plate portion, 484 ... lower board units, 485 ... flat parts, 485A ... front panel portion, 485B ... Back plate portion, 486 ... lower board units, 490 ... tep reel position sensors, 490A ... injection part, 490B ... acceptance part, 491 ... outbounds are used Moving parts, 492 ... storage moving parts, 511 ... pillars, 512 ... upper frames, 513 ... lower frames, 514 ... wheels, 515 ... castor wheel forks, 516 ... corner connection components, 517 ... sliding equipments, 521 ... driving wheels, 522 ... driven wheels, 531 ... carry Portion, 531B ... ontology, whether there is or not sensor, 533 ... holding members, the 1st holding member of 533A ..., 533B ... the 2nd to protect for 532 ... pallets Component is held, the 3rd holding member of 533C ..., the 4th holding member of 533D ..., 534 ... driving devices (the 3rd driving device), 535 ... draw Lead component, 536 ... slide units, 541 ... the 1st components, 542 ... the 2nd components, 543 ... cover members, 544 ... linear guide portions, 545 ... elastomeric elements, 546 ... base components, 546W ... wall portion, 547 ... openings, 548 ... axis, 1000 ... computer systems, 1001 ... processors, 1002 ... main memories, 1003 ... reservoirs, 1004 ... interfaces, Ha ... height, Hb ... height, La ... are long Degree, Lb ... length, Wa ... width, Wb ... width, WM ... operator.

Specific embodiment

In the following, be illustrated on one side to embodiment according to the present invention on one side referring to attached drawing, but the present invention and unlimited Due to this.The structural element for the embodiment being illustrated below can be appropriately combined.In addition, sometimes without using the knot of a part Structure element.

In the following description, XYZ orthogonal coordinate system is set, referring to XYZ orthogonal coordinate system to the positional relationship in each portion It is illustrated.The direction for the X-axis being parallel in predetermined surface is set as X-direction, it is orthogonal to X-axis in predetermined surface by being parallel to The direction of Y-axis is set as Y direction, and the direction for being parallel to the Z axis orthogonal with X-axis and Y-axis is set as Z-direction.In this embodiment party In formula, it is set as predetermined surface and is parallel to horizontal plane, Z-direction is vertical direction.In addition, predetermined surface can also with respect to the horizontal plane and Inclination.In addition, in the following description, predetermined surface is properly termed as X/Y plane.

[summary of component installation system]

Fig. 1 is the oblique view for showing schematically an example of component installation system 1 involved in present embodiment.Fig. 2 It is the structure chart for indicating an example of component installation system 1 involved in present embodiment.Component installation system 1 is set to work Factory's facility.As shown in Figures 1 and 2, component installation system 1 includes parts managing system 2, is managed to component；And it is raw Producing line 3 manufactures electronic instrument using component.

Parts managing system 2 includes component warehouse system 4, component conveying apparatus 5, management and control device 6, warehouse control Device 7, conveying control device 8 and terminal installation 9.

Production line 3 includes the apparatus for mounting component that component is installed on to substrate.Apparatus for mounting component is for example in Japanese Unexamined Patent Publication It is disclosed in 2013-162102 bulletin etc. in this way, comprising: feeder, supply part；Mounting head, having can be to from confession The suction nozzle kept to the component that device supplies；And base board delivery device, substrate is conveyed.Apparatus for mounting component is logical It crosses mounting head and component is installed on substrate.

The component of 4 pairs of component warehouse system storages is taken care of.In addition, component warehouse system 4 by taken care of component into Row outbound.Component warehouse system 4 includes automated warehouse 4A, accommodates to component；And elevator gear 4B, to portion Part carries out being put in storage/outbound.Elevator gear 4B goes up and down component.Elevator gear 4B includes: outbound elevator 41, to from The component of automated warehouse 4A outbound is conveyed；And storage use elevator 42, opposite direction automated warehouse 4A be put in storage component into Row conveying.In plant facilities, component warehouse system 4 is arranged multiple.In the present embodiment, component warehouse system 4 is in X-axis side To setting 7.In addition, component warehouse system 4 may not be 7, can be any number of.

Warehouse control device 7 exports the command signal controlled component warehouse system 4.It is defeated from warehouse control device 7 Command signal out is sent to component warehouse system 4 via the communications cable.

Component conveying apparatus 5 conveys component.In plant facilities, multiple component conveying apparatus 5 are operated.

Conveying control device 8 exports the command signal controlled component conveying apparatus 5.Conveying control device 8 and portion Part conveying device 5 carries out wireless communication.The command signal exported from conveying control device 8 is sent to via wireless communication system Component conveying apparatus 5.Wireless communication system includes wireless local area network (WLAN) system as such as Wi-Fi.

Terminal installation 9 is operated by operator WM.Terminal installation 9 provides data to operator WM.In plant facilities, terminal Device 9 is arranged multiple.

Production line 3 and component warehouse system 4 are set to the ground of plant facilities.Ground is parallel to X/Y plane.Component conveying Device 5 is in ground run.Ground is the tread that component conveying apparatus 5 travels.Component conveying apparatus 5 is in the row for being specified in ground Sail the traveling of route 10.

In plant facilities, to outbound region 11, garage entering area 12, production line region 13, region of acceptance 14, prepare region 15 and charged area 16 provided.Component conveying apparatus 5 can be moved to outbound region 11, garage entering area 12, production line area Domain 13, region of acceptance 14, each region for preparing region 15 and charged area 16.

Outbound region 11 is to implement that outbound place of component conveying apparatus 5 will be given from the component of 4 outbound of component warehouse system The region of reason.Outbound region 11 is specified in outbound elevator 41.Component conveying apparatus 5 is moved to outbound region 11, from component 4 receiving member of warehouse system.Component is given the component conveying apparatus 5 for being configured at outbound region 11 by component warehouse system 4.

Garage entering area 12 is to implement to receive the storage processing to the automated warehouse 4A component being put in storage from component conveying apparatus 5 Region.Garage entering area 12 is specified in storage elevator 42.Component conveying apparatus 5 is moved to garage entering area 12, and component is given Component warehouse system 4.Component warehouse system 4 is from 5 receiving member of component conveying apparatus configured in garage entering area 12.

Production line region 13 is the region for implementing to supply processing to the component of the feeder set parts of apparatus for mounting component. Production line region 13 is specified near production line 3.It is present in the operator WM in production line region 13, in the component of production line 3 The feeder of mounting device is configured component.

Region of acceptance 14 is the region of the receiving processing for the component for implementing to receive to deliver from component provider.In region of acceptance 14 pairs of operation posts 17 are configured.Component is delivered to plant facilities from component provider by carrying vehicle.It is present in receiving The operator WM in region 14 receives the component delivered.

Preparing region 15 is implemented multiple component mountings in the region of the preparation processing of unified replacement trolley 18.Preparing The unified replacement trolley 18 in 15 pairs of region configures.It is present in the operator WM for preparing region 15, by multiple component mountings in system One replacement trolley 18.

Charged area 16 is the region for implementing the charging process charged to the battery of component conveying apparatus 5.It is charging Region 16 is configured charging unit 19.When the charge volume of battery is reduced, component conveying apparatus 5 is moved to charged area 16 And it is charged the battery by charging unit 19.

Terminal installation 9 is set to production line region 13, region of acceptance 14 and each region for preparing region 15.In addition, eventually End device 9 also can be set near management and control device 6, connect with management and control device 6.

[component]

Fig. 3 and Fig. 4 is the oblique view for indicating an example of component involved in present embodiment.Such as Fig. 3 and Fig. 4 institute Show, component is held in material containing band 20.Material containing band 20 keeps multiple components.Material containing band 20 is wound in tep reel 21.

The material containing band 20 kept to component is delivered with the state for being wound in tep reel 21 from component provider.To component The material containing band 20 kept is utilized in the state of being wound in tep reel 21.

Identification data for being identified to component are given to component.Identification data packet contains on the surface of tep reel 21 22 The identification label 23 of setting.By identifying that label 23 identifies the component for being held in tep reel 21.Identify that label 23 is, for example, One-dimensional bar code or two-dimensional bar.In addition, identification label 23 is also possible at least one of number, text and figure.

In parts managing system 2, component is processed in the state of being supported in pallet 30.Component is being wound in tep reel 21 In the state of be supported in pallet 30.The pallet 30 of multiple skies is configured near operation post 17.It is present in the work of region of acceptance 14 The tep reel 21 of delivery is set to pallet 30 in operation post 17 by dealer WM.

Pallet 30 includes plate portion 31, with upper surface 31A and lower surface 31B；And partition board portion 32, it is set to plate At least part of the peripheral edge margin of the upper surface 31A in portion 31.Tep reel 21 is set to the upper surface 31A in plate portion 31.Partition board portion 32 Upper surface 32A be flat surface.In the state that the upper surface 31A in plate portion 31 is configured with tep reel 21, the upper surface of partition board portion 32 32A is configured in the substantial the same face in surface 22 with tep reel 21 or the position higher than the surface 22 of tep reel 21.As a result, in tep reel 21 are supported in the state of pallet 30, can be overlapped multiple pallets 30 and load.

In addition, a part setting notch 34 of the side 31C in plate portion 31.Notch 34 is arranged multiple.

As shown in Figures 3 and 4, parts managing system 2 can utilize 2 kinds of tep reels 21 of different sizes.Tep reel 21 includes Fig. 3 Shown in large-scale tep reel 21A and small-sized tep reel 21B shown in Fig. 4.Pallet 30 includes the pallet being supported to tep reel 21A The 30A and pallet 30B that tep reel 21B is supported.

As shown in figure 3, pallet 30A is supported 1 tep reel 21A.As shown in figure 4, pallet 30B to 2 tep reel 21B into Row support.The size of pallet 30A and pallet 30B's is of different sizes.The width Wa of pallet 30A is greater than the width Wb of pallet 30B.Support The height Hb of the height Ha and pallet 30B of disk 30A are different.In addition, the height Hb of the height Ha and pallet 30B of pallet 30A can also With equal.The length Lb of the length La and pallet 30B of pallet 30A are equal.

[summary of the movement routine of component conveying apparatus]

Fig. 5 is illustrated for the summary to the movement routine of component conveying apparatus 5 involved in present embodiment Figure.Component conveying apparatus 5 conveys pallet 30.Component conveying apparatus 5 conveys pallet 30, thus to be wound in The component that the state of tep reel 21 is supported in pallet 30 is conveyed.

In Fig. 5, movement routine Ra is component when conveying from region of acceptance 14 to garage entering area 12 to pallet 30 The movement routine of conveying device 5.Movement routine Rb is when conveying from outbound region 11 to region of acceptance 14 to pallet 30 The movement routine of component conveying apparatus 5.

It is present in the operator WM of region of acceptance 14, the tep reel 21 delivered from component provider is set to pallet 30.Make The pallet 30 for being supported by tep reel 21 is equipped on the component conveying apparatus 5 for being moved to region of acceptance 14 by dealer WM.Equipped with pallet 30 component conveying apparatus 5 is moved to the garage entering area 12 of component warehouse system 4 by movement routine Ra.Component warehouse system 4 implement the storage processing for receiving pallet 30 from the component conveying apparatus 5 for being configured at garage entering area 12.

Component warehouse system 4 is contained in the pallet 30 being supported to the tep reel 21 for needing to return to component provider When, component conveying apparatus 5 is moved to outbound region 11.Pallet 30 is given in the implementation of component warehouse system 4 is configured at outbound region The outbound of 11 component conveying apparatus 5 is handled.Component conveying apparatus 5 equipped with pallet 30 is moved to by movement routine Rb Region of acceptance 14.It is present in the operator WM of region of acceptance 14, receives tep reel 21 from component conveying apparatus 5 and return to component and supply To person.Component provider recycles tep reel 21.

In Fig. 5, movement routine Rc is portion when conveying from outbound region 11 to production line region 13 to pallet 30 The movement routine of part conveying device 5.Movement routine Rd is to convey from production line region 13 to garage entering area 12 to pallet 30 When component conveying apparatus 5 movement routine.

When the pallet 30 that will be contained in component warehouse system 4 is conveyed to production line 3, component conveying apparatus 5 is moved to out Base area 11.The implementation of component warehouse system 4 gives pallet 30 at the outbound for the component conveying apparatus 5 for being configured at outbound region 11 Reason.Component conveying apparatus 5 equipped with pallet 30 is moved to production line region 13 by movement routine Rc.It is present in production line The operator WM in region 13 is loaded into the feeder of apparatus for mounting component from the reception tep reel 21 of component conveying apparatus 5.

When the tep reel 21 for needing Returning part warehouse system 4 is present in production line region 13, it is present in production line region Tep reel 21 is set to pallet 30 by 13 operator WM.The pallet 30 for being supported by tep reel 21 is equipped on and is moved to life by operator WM The component conveying apparatus 5 in producing line region 13.Component conveying apparatus 5 equipped with pallet 30 is moved to portion by movement routine Rd The garage entering area 12 of part warehouse system 4.The implementation of component warehouse system 4 connects from the component conveying apparatus 5 for being configured at garage entering area 12 It is handled by the storage of pallet 30.

In Fig. 5, movement routine Re is when conveying from production line region 13 to region of acceptance 14 to pallet 30 The movement routine of component conveying apparatus 5.Movement routine Rf is carried out from region of acceptance 14 to production line region 13 to pallet 30 The movement routine of component conveying apparatus 5 when conveying.

It is present in production line region 13 in empty pallet 30, when the pallet 30 of operator's WM demand sky of region of acceptance 14, Empty pallet 30 is equipped on the component conveying dress for being moved to production line region 13 by the operator WM for being present in production line region 13 Set 5.Component conveying apparatus 5 equipped with pallet 30 is moved to region of acceptance 14 by movement routine Re.It is present in region of acceptance The operator WM in domain 14 receives empty pallet 30 from component conveying apparatus 5.

It is present in region of acceptance 14 in empty pallet 30, when the pallet 30 of operator's WM demand sky in production line region 13, Empty pallet 30 is equipped on the component conveying apparatus 5 for being moved to region of acceptance 14 by the operator WM for being present in region of acceptance 14. Component conveying apparatus 5 equipped with pallet 30 is moved to production line region 13 by movement routine Rf.It is present in production line area The operator WM in domain 13 receives empty pallet 30 from component conveying apparatus 5.

In Fig. 5, movement routine Rg is from outbound region 11 to the portion prepared when region 15 conveys pallet 30 The movement routine of part conveying device 5.Movement routine Rh is to convey from preparation region 15 to garage entering area 12 to pallet 30 When component conveying apparatus 5 movement routine.

In the pallet 30 that will be contained in component warehouse system 4 to when preparing the conveying of region 15, component conveying apparatus 5 is moved to Outbound region 11.Component warehouse system 4 implements the outbound that pallet 30 is given to the component conveying apparatus 5 for being configured at outbound region 11 Processing.Component conveying apparatus 5 equipped with pallet 30 is moved to by movement routine Rg prepares region 15.It is present in area in preparation The operator WM in domain 15 receives tep reel 21 from component conveying apparatus 5 and is loaded into unified replacement trolley 18.

When the tep reel 21 for needing Returning part warehouse system 4 is present in preparation region 15, it is present in and prepares region 15 Tep reel 21 is set to pallet 30 by operator WM.The pallet 30 for being supported by tep reel 21 is equipped on and is moved to area in preparation by operator WM The component conveying apparatus 5 in domain 15.Component conveying apparatus 5 equipped with pallet 30 is moved to component warehouse by movement routine Rh The garage entering area 12 of system 4.Component warehouse system 4 is implemented to receive pallet from the component conveying apparatus 5 for being configured at garage entering area 12 30 storage processing.

In Fig. 5, movement routine Ri is the portion when being conveyed from preparation region 15 to region of acceptance 14 to pallet 30 The movement routine of part conveying device 5.Movement routine Rj is to convey from region of acceptance 14 to region 15 is prepared to pallet 30 When component conveying apparatus 5 movement routine.

It is present in empty pallet 30 and prepares region 15, when the pallet 30 of operator's WM demand sky of region of acceptance 14, deposits It is that empty pallet 30 is equipped on by the operator WM for preparing region 15 and is moved to the component conveying apparatus 5 for preparing region 15.It takes The component conveying apparatus 5 for being loaded with pallet 30 is moved to region of acceptance 14 by movement routine Ri.It is present in region of acceptance 14 Operator WM receives empty pallet 30 from component conveying apparatus 5.

When empty pallet 30 is present in region of acceptance 14, prepares the pallet 30 of operator's WM demand sky in region 15, deposit It is the operator WM of region of acceptance 14, empty pallet 30 is equipped on to the component conveying apparatus 5 for being moved to region of acceptance 14.It takes The component conveying apparatus 5 for being loaded with pallet 30 is moved to by movement routine Rj prepares region 15.It is present in and prepares region 15 Operator WM receives empty pallet 30 from component conveying apparatus 5.

In Fig. 5, movement routine Rk is the movement routine of the component conveying apparatus 5 to charged area 16 when mobile.Right When the battery of component conveying apparatus 5 is charged, component conveying apparatus 5 is moved to charged area 16 by movement routine Rk. The component conveying apparatus 5 of charging complete restarts the conveying of pallet 30 by movement routine Rk.

In addition, in production line region 13 and preparing between region 15, tep reel 21 is equipped on unified replacement trolley 18, passes through work Dealer WM is conveyed.

[component warehouse system]

Fig. 6 is the oblique view of an example of the component warehouse system 4 involved in present embodiment that indicates.Fig. 7 is to indicate The front view of one example of component warehouse system 4 involved in present embodiment.

Component warehouse system 4 includes automated warehouse 4A, accommodates the pallet 30 being supported to tep reel 21；And lifting Machine device 4B conveys pallet 30 between automated warehouse 4A and component conveying apparatus 5.

Elevator gear 4B includes: outbound elevator 41, makes to decline from the pallet 30 of automated warehouse 4A outbound；And Storage elevator 42 rises the pallet 30 being put in storage to automated warehouse 4A.Outbound is with elevator 41 and storage elevator 42 are configured at X-direction.In addition, outbound elevator 41 and storage elevator 42 are configured at the side-Y of automated warehouse 4A.

Outbound elevator 41 and storage elevator 42 respectively have the access that can enter for component conveying apparatus 5 empty Between 43.The path space 43 of outbound elevator 41 is set to the lower part of outbound elevator 41.Storage elevator 42 leads to Road space 43 is set to the lower part of storage elevator 42.Path space 43 is the space of channel shape.Path space 43 is in the side-Y With opening.Component conveying apparatus 5 is travelled in tread, can enter to path space 43 from the opening of the side-Y.

Outbound region 11 is provided in the path space 43 of outbound elevator 41.Enter to the access of outbound elevator 41 The component conveying apparatus 5 in space 43, is configured at outbound region 11.Component conveying apparatus 5 rises in outbound region 11 from outbound Drop machine 41 receives pallet 30.The component conveying apparatus 5 of pallet 30 is received in outbound region 11, it being capable of opening via the side-Y Mouthful and exited from the path space of outbound elevator 41 43.

Garage entering area 12 is provided in the path space 43 of storage elevator 42.Enter to the access of storage elevator 42 The component conveying apparatus 5 in space 43, is configured at garage entering area 12.Component conveying apparatus 5 hands over pallet 30 in garage entering area 12 Give storage elevator 42.The component conveying apparatus 5 that pallet 30 is given to completion in garage entering area 12, can be via the side-Y Opening and exited from the path space of storage elevator 42 43.

Fig. 8 is the figure for showing schematically automated warehouse 4A and elevator gear 4B involved in present embodiment.To pallet 30 shelfs 44 being supported are configured at the inside of automated warehouse 4A.Shelf 44 is multiple in the setting of the inside of automated warehouse 4A.? Multiple shelfs 44 are respectively supported pallet 30.Pallet 30 is taken care of in the state of being supported in shelf 44 in automated warehouse 4A.

Automated warehouse 4A includes a region 45, for be put in storage/pallet 30 of outbound passes through；And conveying device 46, It conveys pallet 30 between door region 45 and shelf 44.Door region 45 is set to the top of automated warehouse 4A.Door area Domain 45 includes the upper surface for the plate 47 that pallet 30 passes through.Plate 47 is set to the top of automated warehouse 4A.From automated warehouse 4A outbound Pallet 30 or to automated warehouse 4A be put in storage pallet 30 moved in the upper surface of plate 47.

Elevator gear 4B includes lifting part 48, can support pallet 30；And moving parts 49, it is going up and down Moved pallet 30 between component 48 and door region 45.Lifting part 48 can be supported pallet 30 and go up and down.Portion The path space 43 that part conveying device 5 is able to enter is configured at the lower section of lifting part 48.In Z-direction, lifting part 48 exists It can be moved between door region 45 and path space 43.That is, the movable range of the lifting part 48 in Z-direction is, it is specified that in door Between region 45 and path space 43.

When from automated warehouse 4A by specific 30 outbound of pallet, conveying device 46 is moved to specific shelf 44, will prop up The pallet 30 supportted in shelf 44 is moved out from shelf 44.The pallet 30 moved out from shelf 44 is delivered to the upper of plate 47 by conveying device 46 Surface.Pallet 30 is set to the upper surface of plate 47.Lifting part 48 is moved to the top of the movable range of lifting part 48.It is mobile Component 49 is supported at least part for the pallet 30 being arranged in the upper surface of plate 47, and pallet 30 is moved to lifting part 48.Pallet 30 on one side plate 47 upper surface slide, while be moved to lifting part 48.Specific pallet 30 is via door as a result, Region 45 is supported in lifting part 48 from automated warehouse 4A outbound.Lifting part 48 to by moving parts 49 from automated warehouse The pallet 30 of 4A outbound is supported and declines.Pallet 30 is given the component conveying for being configured at path space 43 by lifting part 48 Device 5.Component conveying apparatus 5 equipped with pallet 30 is exited from path space 43.

When pallet 30 to be put in storage to automated warehouse 4A, the component conveying apparatus 5 equipped with pallet 30 enters to access sky Between 43.Lifting part 48 is moved to the lower part of the movable range of lifting part 48.Lifting part 48 is from being configured at path space 43 Component conveying apparatus 5 receive pallet 30.Lifting part 48 is supported pallet 30 and rises.Moving parts 49 is to being supported in At least part of the pallet 30 of lifting part 48 is supported and is moved to the upper surface of plate 47.Pallet 30 is via door as a result, Region 45 and to automated warehouse 4A be put in storage, be set to the upper surface of plate 47.Conveying device 46 will be set to the upper surface of plate 47 Pallet 30 is moved out from plate 47, until being delivered to specific shelf 44.Pallet 30 is taken care of in the state of being supported in shelf 44.

Door region 45 is respectively arranged between automated warehouse 4A and outbound elevator 41 and automated warehouse 4A is used with storage Between elevator 42.In the following description, automated warehouse 4A and outbound will be carried out with the door region 45 between elevator 41 Defined plate 47 is properly termed as outbound plate 471, by automated warehouse 4A and storage with the door region 45 between elevator 42 into Plate 47 as defined in row is properly termed as storage plate 472.From the pallet 30 of automated warehouse 4A outbound by the upper table of outbound plate 471 Face.The pallet 30 being put in storage to automated warehouse 4A passes through the upper surface of storage plate 472.

In addition, in the following description, the movement of pallet 30 will be made between automated warehouse 4A and outbound elevator 41 Moving parts 49 is properly termed as outbound moving parts 491, will make to hold in the palm between automated warehouse 4A and storage elevator 42 The mobile moving parts 49 of disk 30 is properly termed as storage moving parts 492.Outbound moving parts 491 will be in outbound plate The pallet 30 of 471 upper surface setting is moved to lifting part 48 from outbound plate 471.Storage moving parts 492 will be supported in The pallet 30 of lifting part 48 is moved to the upper surface of storage plate 472 from lifting part 48.

[outbound elevator]

Fig. 9 and Figure 10 is the in-built oblique view for indicating outbound elevator 41 involved in present embodiment.Such as Shown in Fig. 6, Fig. 7, Fig. 8, Fig. 9 and Figure 10, outbound elevator 41 includes multiple pillars 401；Beam 402, by adjacent pillar 401 top is linked；And multiple frames 403, the middle part of adjacent pillar 401 is linked.

Outbound elevator 41 has the lifting part 48 that can support pallet 30.Lifting part 48 props up pallet 30 It supports and can move and (can go up and down) in Z-direction.

Lifting part 48 includes: the 1st lifting part 481, is supported to a part of the lower surface 31B of pallet 30； And the 2nd lifting part 482, a part of the lower surface 31B of pallet 30 is supported.1st lifting part 481 and the 2nd Lifting part 482 is configured at X-direction.1st lifting part 481 and each comfortable Z-direction of the 2nd lifting part 482 and X-direction It can move.

1st lifting part 481 includes flat part 483, has table that can be opposite with the side of the side-X of pallet 30 Face；Lower board unit 484 is connect with the end of the side-Z of flat part 483, and having can be with the lower surface 31B of pallet 30 at least A part of opposite upper surface；Front panel portion 483A is connect with the end of the side-Y of flat part 483；And back plate portion 483B, It connect with the end of the side+Y of flat part 483.

2nd lifting part 482 includes flat part 485, has table that can be opposite with the side of the side+X of pallet 30 Face；Lower board unit 486 is connect with the end of the side-Z of flat part 485, and having can be with the lower surface 31B of pallet 30 at least A part of opposite upper surface；Front panel portion 485A is connect with the end of the side-Y of flat part 485；And back plate portion 485B, It connect with the end of the side+Y of flat part 485.

The surface of the flat part 485 on the surface and the 2nd lifting part 482 of the flat part 483 of the 1st lifting part 481 is respectively It is flat surface, it is orthogonal to X-axis.The surface of the flat part 483 of 1st lifting part 481 and the flat part 485 of the 2nd lifting part 482 Surface it is opposite.

The lower board unit 484 of 1st lifting part 481 is supported the edge of the side-X of the lower surface 31B of pallet 30.2nd The lower board unit 486 of lifting part 482 is supported the edge of the side+X of the lower surface 31B of pallet 30.

In the state of being configured with pallet 30 between flat part 483 and flat part 485, with the surface peace of flat part 483 The close mode in the surface in plate portion 485 moves at least one of the 1st lifting part 481 and the 2nd lifting part 482 in X-direction Dynamic, thus the lower surface 31B of pallet 30 is supported in lower board unit 484 and lower board unit 486.Pallet 30 is supported in lifting part as a result, 48.In the state that the lower surface 31B of pallet 30 is supported in lower board unit 484 and lower board unit 486, pallet 30 is configured at flat part Between 483 and flat part 485.

In the present embodiment, lifting part 48 is supported pallet 30 and refers to, the lower board unit of the 1st lifting part 481 The edge of the side-X of the lower surface 31B of 484 pairs of pallets 30 is supported and the lower board unit 486 of the 2nd lifting part 482 is to pallet The edge of the side+X of 30 lower surface 31B is supported.Lower board unit 484 and lower board unit 486 to the lower surface 31B of pallet 30 into Row support in the state of, the flat part 485 of the flat part 483 and the 2nd lifting part 482 of the 1st lifting part 481 at least one It can not be contacted with the side 31C of pallet 30.In this case, flat part 483 and flat part 485 can will be moved in Z-direction Dynamic pallet 30 works as guide member.In addition, lower board unit 484 and lower board unit 486 to the lower surface 31B of pallet 30 into In the state of row support, both flat parts 485 of the flat part 483 of the 1st lifting part 481 and the 2nd lifting part 482 can be with The side 31C of pallet 30 is contacted.

In addition, making the 1st lifting part 481 and the in such a way that the surface of flat part 483 and the surface of flat part 485 separate At least one of 2 lifting parts 482 is mobile in X-direction, and the support for the pallet 30 realized from there through lifting part 48 is solved It removes.

Outbound elevator 41 includes the 1st driving device 410, makes the 1st lifting part 481 and the 2nd lifting part 482 Synchronously go up and down；And the 2nd driving device 420, make at least one of the 1st lifting part 481 and the 2nd lifting part 482 in X Axis direction is mobile and is adjusted to the distance of the 1st lifting part 481 and the 2nd lifting part 482 in X-direction.

1st driving device 410 includes support member 411, is supported to lifting part 48；Guide member 412, Support member 411 is guided in Z-direction；Motor 413 is generated for keeping support member 411 mobile in Z-direction Power；And power transfer mechanism 414, the power generated by motor 413 is transferred to support member 411.

Guide member 412 is the shaft member extended in Z-direction.There is support member 411 guided member 412 to be drawn The sliding part led.Support member 411 and guide member 412 are respectively arranged at the 1st lifting part 481 and the 2nd lifting part 482. Motor 413 includes servomotor.Power transfer mechanism 414 includes belt wheel and synchronous belt.Motor 413 works, by This support member 411 guides on one side guided member 412, while the Z-direction that exists it is mobile.Support member 411 is moved in Z-direction Dynamic, lifting part 48 and the support member 411 for being thus supported in support member 411 are mobile in Z-direction together.Power transmits machine Structure 414 it is synchronous with the 2nd lifting part 482 by the 1st lifting part 481 and in such a way that Z-direction is mobile, will be by motor 413 The power of generation is transferred to support member 411.

2nd driving device 420 includes guide member 421, is set to support member 411, in X-direction to lifting unit Part 48 guides；Motor 422 generates the power for keeping lifting part 48 mobile in X-direction；And power transmitting The power generated by motor 422 is transferred to lifting part 48 by mechanism 423.Guide member 421 is extended in X-direction Linear guide portion.The sliding part that there is lifting part 48 guided member 421 to guide.Guide member 421, motor 422 and Power transfer mechanism 423 is respectively arranged at the 1st lifting part 481 and the 2nd lifting part 482.Motor 422 includes servo-electric Machine.Power transfer mechanism 423 includes belt wheel and synchronous belt.Motor 422 works, and thus lifting part 48 is guided on one side Component 421 guides, is mobile in X-direction on one side.With the flat of the flat part 483 of the 1st lifting part 481 and the 2nd lifting part 482 The close mode in plate portion 485 keeps at least one of the 1st lifting part 481 and the 2nd lifting part 482 mobile in X-direction, thus Pallet 30 is supported in the 1st lifting part 481 and the 2nd lifting part 482.With the flat part 483 of the 1st lifting part 481 and the 2nd liter The mode that the flat part 485 of drop component 482 is isolated makes at least one of the 1st lifting part 481 and the 2nd lifting part 482 in X-axis Direction is mobile, and the support for the pallet 30 realized from there through the 1st lifting part 481 and the 2nd lifting part 482 is released from.

2nd size of the driving device 420 based on pallet 30, to the 1st lifting part 481 and the 2nd lifting unit in X-direction The distance of part 482 is adjusted.Parts managing system 2 can utilize 2 kinds of pallet 30A and pallet 30B of different sizes.X-axis side The size of the size of the upward pallet 30A, that is, width Wa and pallet 30B in X-direction, that is, width Wb is different.2nd driving device 420 are based on width Wa and width Wb, adjust to the distance of the 1st lifting part 481 and the 2nd lifting part 482 in X-direction It is whole.

Guide member 404 is configured in the side-Y for being supported in the pallet 30 of lower board unit 484 and lower board unit 486, is configured in the side+Y Guide member 405.Guide member 404 and each comfortable X-direction of guide member 405 extend, such as are fixed on beam 402 or frame 403.The pallet 30 for being supported in lifting part 48 passes through flat part 483, flat part 485, guide member 404 and guide member 405, It is positioned in X/Y plane.

Figure 11 is to indicate that pallet 30A involved in present embodiment is supported in the oblique view of the state of lifting part 48.Figure 12 be to indicate that pallet 30B involved in present embodiment is supported in the oblique view of the state of lifting part 48.As shown in figure 11, exist When being supported by lifting part 48 to pallet 30A, the 2nd driving device 420 is with the flat part 483 of the 1st lifting part 481 The surface of the flat part 485 of surface and the 2nd lifting part 482 is in a manner of the 1st distance separation, to the 1st lifting in X-direction The distance of component 481 and the 2nd lifting part 482 is adjusted.As shown in figure 12, by lifting part 48 to pallet 30B into When row support, the 2nd driving device 420 is with the flat of the surface of the flat part 483 of the 1st lifting part 481 and the 2nd lifting part 482 The surface in plate portion 485 by than the 1st apart from the 2nd short distance separation in a manner of, to the 1st lifting part 481 and in X-direction The distance of 2 lifting parts 482 is adjusted.

The size of flat part 483 in Z-direction and the size of flat part 485, height Ha and pallet greater than pallet 30A The height Hb of 30B.Multiple pallets 30 of 48 pairs of lifting part overlapping mountings are supported and can go up and down.

Figure 13 is the oblique view for indicating an example of outbound moving parts 491 involved in present embodiment.Outbound The pallet 30 for the outbound plate 471 for being supported in automated warehouse 4A is moved to lifting part 48 with moving parts 491.Such as Fig. 9, Figure 10 And shown in Figure 13, outbound elevator 41 has the driving device 430 for keeping outbound moving parts 491 mobile in Y direction.

Driving device 430 includes support plate 431, connect with the end of the side-Y of outbound moving parts 491；Support Bar 432 is connect with the end of the side+Z of support plate 431, is extended in Y direction；Sliding block 433 is set to support rod 432 Upper surface；Linear guide portion 434 guides sliding block 433；Support rod 432 can be moved twelve Earthly Branches by the 1st bracket 435 Support；2nd bracket 436 is supported linear guide portion 434；Motor 437, generation make outbound moving parts 491 exist The mobile power of Y direction；And power transfer mechanism 438, the power generated by motor 437 is transferred to support rod 432。

1st bracket 435 and the 2nd bracket 436, such as it is fixed on the frame 403 or automated warehouse 4A of outbound elevator 41 At least part.Linear guide portion 434 guides sliding block 433 in Y direction.Motor 437 includes servomotor. Power transfer mechanism 438 includes belt wheel and synchronous belt.The power generated by motor 437 is passed via power transfer mechanism 438 It is handed to support rod 432.Support rod 432 is mobile in Y direction relative to the 1st bracket 435 and the 2nd bracket 436.With sliding block 433 support rod 432 on one side by the guidance of linear guide portion 434, while the Y direction that exists it is mobile.Outbound with moving parts 491 via Support plate 431 and be fixed on support rod 432.Support rod 432 is mobile in Y direction, and thus outbound is with moving parts 491 in Y-axis Direction is mobile.

Outbound moving parts 491 has claw 439, which is inserted into the notch 34 formed in pallet 30.Claw 439 are arranged 2 in X-direction.Notch 34 is also arranged 2 in pallet 30.Pallet 30 is hooked in pawl by outbound moving parts 491 Portion 439 and move.

Outbound elevator 41 has the driving device 440 for keeping claw 439 mobile in X-direction.Driving device 440 has Have: guide member 441 is set to outbound moving parts 491, guides in X-direction to claw 439；Motor 442, generate the power for keeping claw 439 mobile in X-direction；And power transfer mechanism 443, it will be produced by motor 442 Raw power is transferred to claw 439.Motor 442 includes servomotor.Power transfer mechanism 443 includes belt wheel and synchronization Band.The power generated by motor 442 is transferred to claw 439 via power transfer mechanism 443.Claw 439 is guided on one side Component 441 guides, is mobile in X-direction on one side.

Notch 34 is set to the side of the side-Y of pallet 30.In the state of claw 439 and opposite notch 34, outbound is used Moving parts 491 is mobile to +Y direction, and thus claw 439 is inserted into notch 34.After claw 439 is inserted into notch 34, driving Device 440 is mobile in X-direction by claw 439, and thus claw 439 is contacted with the inner surface of pallet 30, can to pallet 30 into Row hooks.After claw 439 is hooked by pallet 30, driving device 430 is mobile to -Y direction with moving parts 491 by outbound, by This pallet 30 for being supported in the upper surface of outbound plate 471 is moved to lifting part 48.Pallet 30 is in the state for being hooked in claw 439 Under, it is mobile to -Y direction.

Figure 14 is the in-built oblique view for indicating outbound elevator 41 involved in present embodiment.Figure 15 is table Show the in-built side view of outbound elevator 41 involved in present embodiment.As shown in Figure 14 and Figure 15, outbound is used Elevator 41 has outbound tray position sensor 450, and the outbound tray position sensor 450 is to being supported in lifting part 48 It is detected the position of the upper surface 32A of pallet 30.Outbound tray position sensor 450 is will be from the support of automated warehouse 4A outbound The overlapping of disk 30 is placed in the upper surface 32A for the pallet 30 that lifting part 48 is supported, to the support for being supported in lifting part 48 It is detected position in the Z-direction of the upper surface 32A of disk 30.

Outbound tray position sensor 450 includes injection part 450A, will test light emission and goes out；And acceptance part 450B, It is configured at the position that light can be carried out to the detection light projected from injection part 450A.Injection part 450A and acceptance part 450B are respectively It is fixed on pillar 401 or frame 403.Injection part 450A will test light emission in X-direction and go out.The detection projected from injection part 450A Light is advanced in X-direction.In Z-direction, the optical path of the detection light projected from injection part 450A is set in and outbound plate 471 Upper surface is identical or slightly below.

In the state of will test light emission out from injection part 450A, the lifting part 48 of pallet 30 is supported by Z-direction It is mobile.The detection light in the state that optical path of detection light is configured with the state and no configuration of pallet 30, in acceptance part 450B By light state difference.Outbound tray position sensor 450 based on acceptance part 450B by light state, to the support in Z-direction It is detected the position of the upper surface 32A of disk 30.

In addition, outbound tray position sensor 450 can be to the upper surface 32A's for the pallet 30 for being supported in lifting part 48 It is detected position.Outbound tray position sensor 450 for example can be reflection sensor.

The detection data of outbound tray position sensor 450 is exported to warehouse control device 7.Warehouse control device 7 is based on The detection data of outbound tray position sensor 450, export so that be supported in the upper surface 32A of the pallet 30 of lifting part 48 with Compare the command signal that mode arranged below is adjusted the position of lifting part 48 in the upper surface of outbound plate 471.1st Signal is adjusted the position of the lifting part 48 in Z-direction to driving device 410 based on instruction, so that pallet 30 is upper Surface 32A is configured at lower section compared with the upper surface of outbound plate 471.

Figure 16 is an example for showing schematically the movement of outbound moving parts 491 involved in present embodiment Figure.Lifting part 48 can be supported multiple pallets 30 of overlapping mounting.Outbound is with moving parts 491 by pallet 30 from out Library plate 471 is singly moved to lifting part 48.As shown in figure 16, outbound moving parts 491 can move pallet 30 It moves on the pallet 30 that lifting part 48 is supported.Will be from the pallet 30 of automated warehouse 4A outbound to being supported in lifting part When being moved on 48 pallet 30, outbound moving parts 491 the pallet 30 for being supported in lifting part 48 upper surface 32A with go out The upper surface of library plate 471 is compared under state arranged below, and pallet 30 is moved to lifting part 48 from outbound plate 471.It rises Drop component 48 is adjusted the position of the pallet 30 in Z-direction, so that being supported in the upper of the pallet 30 of lifting part 48 Surface 32A is configured at lower section compared with the upper surface of outbound plate 471 with specified amount.In addition, specified amount e.g., less than or equal to 5 [mm].In addition, upper surface 32A and outbound plate 471 of the outbound moving parts 491 in the pallet 30 that is supported in lifting part 48 In the state that upper surface is configured in same plane, pallet 30 can be moved to lifting part 48 from outbound plate 471.

If the upper surface 32A for being supported in the pallet 30 of lifting part 48 is configured at compared with the upper surface of outbound plate 471 Top, then the pallet 30 mobile from outbound plate 471 to lifting part 48 is possible to and is supported in 30 hook of pallet of lifting part 48 It hangs.As a result, outbound moving parts 491 is possible to successfully move pallet 30.

As shown in figure 16, the upper surface 32A of the pallet 30 of lifting part 48 is supported in compared with the upper surface of outbound plate 471 It is configured at lower section, thus pallet 30 successfully can be moved to lifting part from outbound plate 471 by outbound moving parts 491 48。

Figure 17 is the oblique view for observing from below a part of outbound elevator 41 involved in present embodiment.As above The path space 43 described, that component conveying apparatus 5 enters, is set to the lower section of lifting part 48.Lifting part 48 with configuration Pallet 30 can be conveyed between the component conveying apparatus 5 of path space 43.In outbound in elevator 41, lifting unit Part 48 can decline in the state of to being supported from the pallet 30 of automated warehouse 4A outbound, give and configure in path space 43 Component conveying apparatus 5.

Outbound elevator 41 has conveying tray position sensor 460,460 pairs of conveying tray position sensor carryings It is detected in the position of the upper surface 32A of the pallet 30 of component conveying apparatus 5.Conveying tray position sensor 460 is set to The lower surface of the support member 411 for the outbound elevator 41 that lifting part 48 is supported.Convey tray position sensor 460 is mobile in Z-direction together with support member 411 and lifting part 48.

Conveying tray position sensor 460 includes injection part 460A, will test light emission and goes out；And acceptance part 460B, It is configured at the position that light can be carried out to the detection light projected from injection part 460A.Injection part 460A and acceptance part 460B phase It is right.Injection part 460A will test light emission in X-direction and go out.The detection light projected from injection part 460A is advanced in X-direction.

It gives by the pallet 30 for being supported in lifting part 48 in the component conveying apparatus 5 that path space 43 configures, penetrates Portion 460A will test light emission and go out out, and decline to the support member 411 that lifting part 48 is supported.In component conveying apparatus 5 equipped with pallet 30 when, support member 411 declines, and the pallet 30 for being thus equipped on component conveying apparatus 5 is configured at conveying The optical path of the detection light of tray position sensor 460.It is not configured configured with the state of pallet 30 and in the optical path of detection light Under state, detection light in acceptance part 460B by light state difference.It conveys tray position sensor 460 and is based on acceptance part 460B By light state, the position of the upper surface 32A of the pallet 30 in the Z-direction for being equipped on component conveying apparatus 5 is detected.

In addition, conveying tray position sensor 460 can be to the upper surface for the pallet 30 for being equipped on component conveying apparatus 5 It is detected the position of 32A.Conveying tray position sensor 460 for example can be reflection sensor.

In the present embodiment, conveying tray position sensor 460 is set to outbound elevator 41.Convey tray position Sensor 460 can be set in component conveying apparatus 5.

Figure 18 is the figure for showing schematically an example of the movement of lifting part 48 involved in present embodiment.Such as figure Shown in 18, carried pallet 30 in component conveying apparatus 5, lifting part 48 on the pallet 30 of component conveying apparatus 5, to from The pallet 30 of automated warehouse 4A outbound is loaded.To the lifting part being supported from the pallet 30 of automated warehouse 4A outbound 48, declined in the mode close with component conveying apparatus 5.By the decline of support member 411, it is equipped on component conveying apparatus 5 Pallet 30 be configured at conveying tray position sensor 460 detection light optical path.Conveying tray position sensor 460 will prop up It supports when the pallet 30 of lifting part 48 is equipped on component conveying apparatus 5, it can be to the pallet 30 for being supported in lifting part 48 It is detected the position of upper surface 32A.

The detection data of conveying tray position sensor 460 is exported to warehouse control device 7.Warehouse control device 7 is based on The detection data of tray position sensor 460 is conveyed, output is conveyed to component in the pallet 30 that will be supported in lifting part 48 and filled The command signal that the position of lifting part 48 is adjusted when setting 5 carrying.1st driving device 410 based on instruction signal and to Z The position of lifting part 48 in axis direction is adjusted, so that the pallet 30 for being supported in lifting part 48 is equipped on by component On the pallet 30 that conveying device 5 is kept.

1st driving device 410 is identifying the position for being equipped on the Z-direction of the pallet 30 of component conveying apparatus 5 Under state, decline lifting part 48, by the pallet 30 for being supported in lifting part 48 to the pallet for being equipped on component conveying apparatus 5 It is carried on 30.Inhibit the power or impact to 30 overaction of pallet as a result,.

[storage elevator]

Figure 19 and Figure 20 is the in-built oblique view for indicating storage elevator 42 involved in present embodiment.

Storage elevator 42 has the lifting part 48 that can support pallet 30.Lifting part 48 includes: the 1st lifting unit Part 481 is supported a part of the lower surface 31B of pallet 30；And the 2nd lifting part 482, under pallet 30 A part of surface 31B is supported.In addition, storage elevator 42 includes the 1st driving device 410, make the 1st lifting unit Part 481 and the 2nd lifting part 482 are synchronously gone up and down；And the 2nd driving device 420, the size based on pallet 30 make the 1st liter At least one movement of component 481 and the 2nd lifting part 482 drops and to the 1st lifting part 481 and the 2nd lifting part 482 away from From being adjusted.Lifting part 48, the 1st driving device 410 and the 2nd driving device 420 of storage elevator 42 be and outbound With the lifting part 48 of elevator 41, the 1st driving device 410 and the identical construction of the 2nd driving device 420, and the description is omitted.

Storage has with elevator 42 carries out pallet 30 between lifting part 48 and the storage plate 472 of automated warehouse 4A Mobile storage moving parts 492.

Figure 21 is the oblique view for indicating an example of storage moving parts 492 involved in present embodiment.Storage The pallet 30 for being supported in lifting part 48 is moved to the storage plate 472 of automated warehouse 4A with moving parts 492.Such as Figure 21 institute Show, storage elevator 42 has the driving device 430 for keeping storage moving parts 492 mobile in Y direction.Storage lifting The driving device 430 of machine 42 is construction identical with the driving device 430 of outbound elevator 41, and and the description is omitted.

When the pallet 30 for making to be supported in lifting part 48 is mobile to the storage plate 472 of automated warehouse 4A, with pallet 30 The opposite mode in side of the side-Y storage is configured with moving parts 492.The side-Y of pallet 30 side and enter With moving parts 492 with respect in the state of, storage is mobile to +Y direction with moving parts 492 in library.Pallet 30 is by storage movement Component 492 is pressed and is moved to +Y direction.Pallet 30 is moved to storage plate 472 from lifting part 48 as a result,.

In the driving device 440 that storage moving parts 492 is not provided with claw 439 and keeps claw 439 mobile.Outbound is used Claw 439 is hooked in the notch 34 of pallet 30 and stretched to -Y direction by moving parts 491, moves pallet 30 from outbound plate 471 It moves to lifting part 48.Therefore, in outbound in moving parts 491, claw 439 is effective.On the other hand, storage uses moving parts 492 press pallet 30 to +Y direction, and pallet 30 is made to be moved to storage plate 472 from lifting part 48.Therefore, in storage movement In component 492, claw 439 can be omitted.In storage in moving parts 492, claw 439 and driving device 440 are omitted, by This installation cost is reduced.

Figure 22 is the in-built oblique view for indicating storage elevator 42 involved in present embodiment.Figure 23 is table Show the in-built side view of storage elevator 42 involved in present embodiment.

As shown in FIG. 22 and 23, storage has identification device 480 with elevator 42, and the identification device 480 is opposite automatic The identification data for the component that the pallet 30 of warehouse 4A storage is supported are detected.In the present embodiment, identification data be The identification label 23 that the surface 22 of tep reel 21 is arranged.Identification device 480 includes the filming apparatus shot to identification label 23. In the present embodiment, identification label 23 is bar code, and identification device 480 is barcode reader.

The tep reel position that storage with elevator 42 there is the position to the surface 22 of the tep reel 21 in Z-direction to be detected Sensor 490.Tep reel position sensor 490 is in the state that tep reel 21 is supported in pallet 30, to the position on the surface 22 of tep reel 21 It sets and is detected.In addition, tep reel position sensor 490 is supported in lifting part 48 in the pallet 30 being supported to tep reel 21 Under state, the position on the surface 22 of tep reel 21 is detected.

Tep reel position sensor 490 includes injection part 490A, will test light emission and goes out；And acceptance part 490B, configuration In the position that can carry out light to the detection light projected from injection part 490A.Injection part 490A and each self-retaining of acceptance part 490B In the pillar 401 or frame 403 of storage elevator 42.Tep reel position sensor 490 is passed with above-mentioned outbound tray position The identical construction of sensor 450, therefore omit detailed description.

The detection data of tep reel position sensor 490 is exported to warehouse control device 7.Warehouse control device 7 is based on tep reel The detection data of position sensor 490 exports focal position and identification the label 23 so that optical system of identification device 480 The command signal that the mode of position consistency is adjusted the position of lifting part 48.1st driving device 410 is believed based on instruction Number, the position of the lifting part 48 in Z-direction is adjusted, so that on the surface 22 for the tep reel 21 for being supported in pallet 30 The identification label 23 of setting is configured at the focal position of the optical system of identification device 480.In the optical system of identification device 480 Focal position to identification label 23 configure, thus identification device 480 can accurately detect identification label 23.

In addition, as shown in FIG. 22 and 23, storage elevator 42 has storage tray position sensor 470, the storage Tray position sensor 470 detects the position of the lower surface 31B for the pallet 30 for being supported in lifting part 48.It is put in storage pallet The pallet 30 for being supported in lifting part 48 is being moved to storage plate to be put in storage to automated warehouse 4A by position sensor 470 When 472, the position of the Z-direction of the lower surface 31B for the pallet 30 for being supported in lifting part 48 is detected.

Storage tray position sensor 470 is disposed above compared with being put in storage plate 472.It is put in storage tray position sensor 470 Such as it is supported in the beam 402 of storage elevator 42.Storage tray position sensor 470 includes injection part, to pallet 30 The upper surface 31A in plate portion 31 projects detection light；And acceptance part, light is carried out to the detection light reflected in upper surface 31A. Light of the tray position sensor 470 based on the detection light by acceptance part light is put in storage as a result, to the plate portion 31 in Z-direction It is detected the position of upper surface 31A.The thickness in plate portion 31 is given data.Therefore, by the upper surface in Z-direction The position of 31A is detected, so that the position of the lower surface 31B in Z-direction be exported.That is, storage tray position sensor 470 position datas based on the upper surface 31A detected and to upper surface 31A irradiating and detecting light and known plate portion 31 Thickness (distance of upper surface 31A and lower surface 31B), examines the position of the lower surface 31B in the plate portion 31 in Z-direction It surveys.

In addition, storage tray position sensor 470 can be to the lower surface 31B's for the pallet 30 for being supported in lifting part 48 Position is detected, can be to the lower surface 31B directly irradiating and detecting light of pallet 30.In addition, storage tray position passes Sensor 470 can be infiltration type sensor.

The detection data of storage tray position sensor 470 is exported to warehouse control device 7.Warehouse control device 7 is based on Be put in storage the detection data of tray position sensor 470, export so that be supported in the lower surface 31B of the pallet 30 of lifting part 48 with Compare the command signal that the mode being disposed above is adjusted the position of lifting part 48 in the upper surface of storage plate 472.1st Driving device 410 based on instruction signal and the position of the lifting part 48 in Z-direction is adjusted so that pallet 30 Lower surface 31B is disposed above compared with the upper surface of storage plate 472.

Figure 24 is an example for showing schematically the movement of storage moving parts 492 involved in present embodiment Figure.Lifting part 48 can be supported multiple pallets 30 of overlapping mounting.Storage is with moving parts 492 by pallet 30 from liter Drop component 48 is singly moved to storage plate 472.As shown in figure 24, storage moving parts 492 can load overlapping The pallet 30 of the top in multiple pallets 30 of lifting part 48 is moved to storage plate 472.Lifting part will be supported in When 48 pallet 30 is mobile to storage plate 472, storage moving parts 492 is placed in multiple pallets of lifting part 48 in overlapping In the state that the lower surface 31B of the pallet 30 of the top in 30 is disposed above compared with the upper surface of storage plate 472, it will hold in the palm Disk 30 is moved to storage plate 472 from lifting part 48.Lifting part 48 is adjusted the position of the pallet 30 in Z-direction, So that the lower surface 31B and storage plate of the pallet 30 for the top that overlapping is placed in multiple pallets 30 of lifting part 48 It compares and is disposed above with specified amount in 472 upper surface.In addition, specified amount e.g., less than or equal to 5 [mm].In addition, storage is used Moving parts 492 is configured at same in the lower surface 31B for the pallet 30 for being supported in lifting part 48 and the upper surface of storage plate 472 In the state of in plane, pallet 30 can be moved to storage plate 472 from lifting part 48.

If the lower surface 31B for being supported in the pallet 30 of lifting part 48 is configured at compared with the upper surface of storage plate 472 Lower section then is possible to hook with storage plate 472 from lifting part 48 to the mobile pallet 30 of storage plate 472.As a result, storage is used Moving parts 492 is possible to successfully move pallet 30.

As shown in figure 24, it is supported in the lower surface 31B of the pallet 30 of the top in multiple pallets 30 of lifting part 48 It is disposed above compared with the upper surface of storage plate 472, thus storage moving parts 492 can be by pallet 30 successfully from liter Drop component 48 is moved to storage plate 472.

In addition, being supported in the pallet 30 of lifting part 48 in the case where lifting part 48 is only supported by 1 pallet 30 Lower surface 31B is disposed above compared with the upper surface of storage plate 472, and thus storage moving parts 492 also can be by pallet 30 are successfully moved to storage plate 472 from lifting part 48.

[component conveying apparatus]

Figure 25 is the oblique view for indicating an example of component conveying apparatus 5 involved in present embodiment.Figure 26 is table Show the side view of an example of component conveying apparatus 5 involved in present embodiment.Figure 27 is indicated involved by present embodiment And component conveying apparatus 5 an example oblique view.Figure 25 and Figure 26 is indicated in component conveying apparatus 5 equipped with pallet 30 State.Figure 27 indicates not carrying the state of pallet 30 in component conveying apparatus 5.

As shown in Figure 25, Figure 26 and Figure 27, component conveying apparatus 5 includes carrier 51, carries to pallet 30； And unmanned waggon 52 can relatively movably link via link mechanism 54 with carrier 51.

Link mechanism 54 links carrier 51 and unmanned waggon 52 in a manner of it can relatively move.In this embodiment party In formula, link mechanism 54 is by carrier 51 and unmanned waggon 52 can relatively move in the X/Y plane parallel with tread Mode link.

Unmanned waggon 52 (AGV:Automated Guided Vehicle) plant facilities tread (ground) from Dynamic traveling.Unmanned waggon 52 has driving wheel 521 and driven wheel 522.Unmanned waggon 52, which has, drives driving wheel 521 Dynamic actuator, being capable of oneself traveling.Unmanned waggon 52 is travelled by defined induction mode in tread.To unmanned conveying The induction mode that vehicle 52 is incuded can be the electromagnetism sense incuded using the metal wire for flowing through electric current for being set to tread Mode is answered, the optical sensor mode incuded using the line of induction for being depicted in tread is can be, can be use and be set to row The magnetic induction way sailing the magnet in face and incuding is also possible to the figure incuded using the image for being set to tread or ceiling face As identification method.

Carrier 51 includes multiple pillars 511；Upper frame 512 is connect with the top of pillar 511；Lower frame 513, it is connect with the lower part of pillar 511；And wheel 514, it can be with traveling face contact.

Pillar 511 configures multiple around unmanned waggon 52.Upper frame 512 is configured at the upper of unmanned waggon 52 Side.Lower frame 513 is supported wheel 514.

Carrier 51 can not oneself traveling.Wheel 514 be concomitantly rotated with the movement of unmanned waggon 52 it is driven Wheel.Wheel 514 is arranged 4 around unmanned waggon 52.

Carrier 51 has the castor wheel fork 515 that can be pivotally supported to wheel 514.Castor wheel fork 515 supports In lower frame 513.When travelling on tread, wheel 514 is pivoted about with rotary shaft.Castor wheel fork 515 can Pivotally wheel 514 is supported centered on the rotating shaft that the rotary shaft with wheel 514 is intersected.

Carrier 51 has the loading device 53 carried to pallet 30.Loading device 53 includes ontology 531B, branch It supports in upper frame 512；Equipped section 531 is set to ontology 531B, carries to pallet 30；And holding member 533, It is supported in ontology 531B, keeps to pallet 30.

The shape of ontology 531B is rectangular-shape.The side of the side+X of ontology 531B and the side of the side-X are via corner connection (angle) component 516 and be fixed on upper frame 512.Equipped section 531 is set to the upper surface of ontology 531B.

Loading device 53 has pallet whether there is or not sensor 532, the pallet whether there is or not sensor 532 to equipped section 531 whether It is detected equipped with pallet 30.Whether there is or not the upper surfaces that sensor 532 is configured at ontology 531B for pallet.Whether there is or not sensors for pallet 532 include injection part, project detection light to +Z direction；And acceptance part, light can be carried out to detection light.It is carrying In the case that portion 531 is equipped with pallet 30, from pallet, whether there is or not the detection lights that the injection part of sensor 532 projects, in pallet 30 Lower surface 31B is reflected, by acceptance part light.On the other hand, in the case where pallet 30 are not carried in equipped section 531, from The detection light that pallet is projected whether there is or not the injection part of sensor 532 is not by acceptance part light.As described above, being taken in equipped section 531 It is loaded in the state of the state and no carrying of pallet 30, whether there is or not the acceptance parts of sensor 532 by light state difference for pallet.Cause This, whether there is or not sensors 532 can detect equipped with pallet 30 in equipped section 531 for pallet.

Holding member 533 configures multiple around equipped section 531.Holding member 533 is to the support for being equipped on equipped section 531 The side 31C of disk 30 is kept.In the present embodiment, holding member 533 respectively carries out for 4 corners to pallet 30 It keeps and is arranged 4.Holding member 533 includes: the 1st holding member 533A, keeps to the 1st corner of pallet 30；2nd Holding member 533B keeps the 2nd corner of pallet 30；3rd holding member 533C, to the 3rd corner of pallet 30 It is kept；And the 4th holding member 533D, the 4th corner of pallet 30 is kept.

The size of holding member 533 in Z-direction is greater than height Ha, Hb of 1 pallet 30.It equipped section 531 can be right Multiple pallets 30 of overlapping mounting are carried.

Loading device 53 has driving device (the 3rd driving device) 534, and the driving device 534 is by multiple holding members 533 At least one movement, the distance of multiple holding members 533 is adjusted.Driving device 534 includes the 1st guide member 535, the 1st holding member 533A and the 2nd holding member 533B are guided in X-direction；2nd guide member 535, X-direction guides the 3rd holding member 533C and the 4th holding member 533D；Slide unit 536, is set to maintaining part The respective lower part of part 533, guided member 535 guide；And actuator, generate for by holding member 533 in X-direction Mobile power.

Size of the driving device 534 based on the pallet 30 for being equipped on equipped section 531, holding member 533 is mobile, to multiple The distance of holding member 533 is adjusted.

Figure 28 is the oblique view for indicating an example of component conveying apparatus 5 involved in present embodiment.Such as Figure 27 and Shown in Figure 28, driving device 534 can be adjusted the distance of multiple holding members 533.In the present embodiment, driving dress The distance of the 1st holding member 533A and the 2nd holding member 533B in X-direction can be adjusted by setting 534, can be to X The distance of the 3rd holding member 533C and the 4th holding member 533D in axis direction are adjusted.

As shown in figure 27, multiple holding members 533 separate, and thus multiple holding members 533 can be to 4 of pallet 30A Corner is respectively kept.Pallet 30A is configured between multiple holding members 533.As shown in figure 28, multiple holding members 533 Close, thus multiple holding members 533 can respectively keep 4 corners of pallet 30B.Pallet 30B is configured at multiple Between holding member 533.

In the present embodiment, whether there is or not the detection data of sensor 532, it is being judged to taking in equipped section 531 based on pallet When being loaded with pallet 30, the driving of driving device 534 is limited.That is, when equipped section 531 is equipped with pallet 30, driving dress It sets 534 not work, holding member 533 does not move.Although can also be prevented for example in equipped section 531 equipped with pallet 30 as a result, Multiple holding members 533 are mobile and approach.

Component conveying apparatus 5 comprising carrier 51 and unmanned waggon 52, enters to and is set to elevator gear 4B's Path space 43 conveys pallet 30 between lifting part 48.Elevator gear 4B has opposite path space 43 The guiding mechanism 43G that the carrier 51 of entrance guides (referring to Fig. 7).Carrier 51 is arranged at path space 43 on one side Guiding mechanism 43G guidance, one side entering path space 43.Guiding mechanism 43G is in path space 43, in Y direction to loading Vehicle 51 guides.

Carrier 51 has the sliding equipment 517 for being guided mechanism 43G guidance.Sliding equipment 517 is respectively arranged at loading The side of the side+X of the ontology 531B of the loading device 53 of vehicle 51 and the side of the side-X.In the present embodiment, sliding equipment 517 rollers comprising corner connection component 516 can be rotatably supported at.

In addition, elevator gear 4B has stop component 55 (0 and Figure 20 referring to Fig.1), the stop component 55 is in access sky Between approach axis, that is, Y direction of component conveying apparatus 5 in 43 carrier 51 is positioned.Stop component 55 is fixed on+Y The frame 403 of side.Component conveying apparatus 5 is mobile from the opening of the side-Y of path space 43 to +Y direction, enters to path space 43.Component conveying apparatus 5 is mobile to +Y direction in path space 43, thus at least part and stop component of carrier 51 55 contacts.Carrier 51 is contacted with stop component 55, is thus limited the movement of the +Y direction of carrier 51, in Y-axis side It is positioned to carrier 51.In addition, the skate machine being respectively arranged in the side of the side+X of ontology 531B and the side of the side-X The guiding mechanism 43G of structure 517 and elevator gear 4B contact, therefore also carrier 51 is positioned in X-direction.

Carrier 51 and unmanned waggon 52 can be relatively moved by link mechanism 54 in X/Y plane.It is conveyed in component When device 5 enters to path space 43, by guiding mechanism 43G and stop component 55, to the position of the carrier 51 in X/Y plane It sets and is fixed.When being conveyed between lifting part 48 and the carrier 51 for being configured at path space 43 to pallet 30, XY The position of carrier 51 in plane is fixed, therefore the conveying of pallet 30 is successfully implemented.

When giving pallet 30 to component conveying apparatus 5 from lifting part 48, the 1st lifting part 481 is in the 1st holding member It is moved between 533A and the 3rd holding member 533C, the 2nd lifting part 482 is in the 2nd holding member 533B and the 4th holding member It is moved between 533D.Pallet 30 is equipped on the pallet 30 carried in equipped section 531 or equipped section 531 by lifting part 48 On.It is equipped on the pallet 30 that equipped section 531 or equipped section 531 have been carried in the pallet 30 for being supported in lifting part 48 Afterwards, the support for the pallet 30 realized by lifting part 48 is released from.1st lifting part 481 and the 2nd lifting part 482 are from portion Part conveying device 5 exits.

When lifting part 48 receives pallet 30 from component conveying apparatus 5, the 1st lifting part 481 is in the 1st holding member It is moved between 533A and the 3rd holding member 533C, the 2nd lifting part 482 is in the 2nd holding member 533B and the 4th holding member It is moved between 533D.The lower surface of 1st lifting part 481 and the 2nd lifting part 482 to the pallet 30 for being equipped on equipped section 531 31B is supported.1st lifting part 481 by lower board unit 484 between the 1st holding member 533A and the 3rd holding member 533C, Between the lower surface 31B from equipped section 531 to overlapping and equipped section 531 of the pallet 30 for the bottom in multiple pallets 30 for being placed in It is inserted into and the edge of the side-X of the lower surface 31B of pallet 30 is supported, make the 1st holding member 533A and the 3rd holding member The side 31C and flat part 483 of pallet 30 between 533C are opposite.2nd lifting part 482 is by lower board unit 486 from the 2nd maintaining part Between part 533B and the 4th holding member 533D, the pallet for the bottom in multiple pallets 30 for being placed in equipped section 531 to overlapping It is inserted between 30 lower surface 31B and equipped section 531 and the edge of the side+X of the lower surface 31B of pallet 30 is supported, make The side 31C and flat part 485 of pallet 30 between 2nd holding member 533B and the 4th holding member 533D are opposite.It takes as a result, The pallet 30 for being loaded in equipped section 531 is supported in lifting part 48.The lifting part 48 for being supported by pallet 30 rises.

[link mechanism]

Next, being illustrated to link mechanism 54.Figure 29 and Figure 30 is to indicate that component involved in present embodiment is defeated Send the oblique view of an example of device 5.Figure 31 is an example for indicating link mechanism 54 involved in present embodiment Oblique view.Figure 32 is the top view for indicating an example of link mechanism 54 involved in present embodiment.

Link mechanism 54 includes the 1st component 541, is supported in carrier 51；And the 2nd component 542, it is supported in nothing People's waggon 52 is restricted by the moving range of the 2nd component 542 of the 1st component 541.As shown in figure 29, component conveying apparatus 5 under operating condition, and at least part of the 1st component 541 is covered by cover member 543.

1st component 541 is the component of plate.1st component 541 is fixed on the end of the side+Y of upper frame 512.1st Part 541 is protruded from the end of the side+Y of upper frame 512 to +Y direction.1st component 541 has opening 547.Opening 547 is in X-axis Direction is arranged 2.

2nd component 542 is the component of plate.2nd component 542 is configured at the upper surface of unmanned waggon 52.2nd component 542 are configured in the lower section of the 1st component 541, opposite with the 1st component 541.2nd component 542 is supported in base component 546.Pedestal Component 546 is fixed on the upper surface of unmanned waggon 52.2nd component 542 has the axis 548 configured to opening 547.Axis 548 is in X Axis direction is arranged 2.1 axis 548 is respectively configured to 2 openings 547.

The diameter of axis 548 is less than the diameter of opening 547.The inner edge portion and axis 548 of opening 547 can relatively move.That is, axis 548 can move in X/Y plane in the inside of opening 547.

Carrier 51 and unmanned waggon 52 are concatenated at opening 547 and axis 548.Therefore, carrier 51 is defeated with nobody Send vehicle 52 that can relatively move in X/Y plane.The moving range that carrier 51 and unmanned waggon 52 can relatively move is The difference of diameter based on axis 548 and the diameter of opening 547 and it is defined.

Unmanned waggon 52 includes linear guide portion 544, can be slidably supported the 2nd component 542 in Y direction； And elastomeric element 545, generate the elastic force for keeping the 2nd component 542 mobile to +Y direction relative to unmanned waggon 52.

To the 2nd component 542 not external force action, when only acting on the elastic force of flexible component 545, the 2nd component 542 passes through Elastomeric element 545, is stretched to +Y direction.The wall portion of base component 546 is configured in the side+Y compared with the 2nd component 542 546W, therefore the 2nd component 542 is positioned.

If 5 entering path space 43 of component conveying apparatus, mobile to +Y direction, then carrier 51 connects with stop component 55 Touching, the movement of opposite +Y direction are limited.After carrier 51 and stop component 55 contact, unmanned waggon 52 does not stop immediately Only, if mobile to +Y direction, in the state that the inner edge portion of the side+Y of opening 547 and axis 548 contact, generation makes axis 548 The power mobile to +Y direction.As a result, it is possible that the power of 548 overaction of inner edge portion and axis to opening 547.

In the present embodiment, the 2nd component 542 can movably be supported in linear guide portion 544 in Y direction.Therefore, 2nd component 542 is mobile to -Y direction relative to unmanned waggon 52, so that in the carrier 51 for entering to path space 43 Movement limited by stop component 55 in the state of unmanned waggon 52 it is mobile to +Y direction, generation makes axis 548 to+Y When the power of direction movement, the power that will act on axis 548 is offset.Inhibit to make to the inner edge portion and axis 548 of opening 547 as a result, used The power of degree.In addition, unmanned waggon 52 is mobile to -Y direction, 547 inner edge portion of being open is released from the contact of axis 548, thus 2nd component 542 can be back to original position by the effect of the elastic force of elastomeric element 545.

[control device]

Figure 33 is the functional block diagram for indicating an example of management and control device 6 involved in present embodiment.Such as Figure 33 Shown, management and control device 6 includes receiving unit 61, desired signal acquisition unit 62, production plan acquisition unit 63, production actual number Measure acquisition unit 64, transportation program generating unit 65, warehouse command signal output section 66, conveying command signal output section 67 and transmission unit 68。

Receiving unit 61 is received to be sent out from least one of warehouse control device 7, conveying control device 8 and terminal installation 9 Signal or data.

Desired signal acquisition unit 62 obtains the desired signal that demand is proposed to component sent out from demand region.Desired region Domain includes at least one of production line region 13 and preparation region 15.In the present embodiment, demand region includes production line area Domain 13, region of acceptance 14 and preparation region 15.In demand region, terminal installation 9 is set.And being operated to terminal installation 9 Generate desired signal.The desired signal generated and operating to terminal installation 9, is received by receiving unit 61.Desired signal Acquisition unit 62 obtains desired signal via receiving unit 61.

Production plan acquisition unit 63 obtains production plan data.Production plan data packet contains used in the demand region The predetermined quantity of component.Production plan data for example include the component used in the manufacture of electronic instrument in production line 3 Predetermined quantity and component type.

It produces actual quantity acquisition unit 64 and obtains production actual quantity data.Production actual quantity data packet contains in demand The actual quantity of the component used per unit time in region.Production plan data for example include in production line 3 in electronics The actual quantity of the component actually used in the manufacture of instrument.

Transportation program generating unit 65 generates the transportation program of the component using component warehouse system 4 and component conveying apparatus 5. Transportation program generating unit 65 is obtained based on the desired signal obtained by desired signal acquisition unit 62 and by production plan acquisition unit 63 Production plan data at least one, the transportation program of generating unit.Such as based on desired signal and generating unit it is defeated In the case where sending plan, transportation program generating unit 65 is based on desired signal, to required component and supports the pallet of the component 30 are determined.Transportation program generating unit 65 generates transportation program so that according to demand signal and the component determined is defeated It send to demand region.In addition, transportation program generating unit 65 can be based on the production plan number obtained by production plan acquisition unit 63 According to the production actual quantity data obtained by production actual quantity acquisition unit 64 and to the remainder of the component in demand region Amount is calculated, and transportation program is generated based on volume residual.

Warehouse command signal output section 66 goes out component based on the transportation program generated by transportation program generating unit 65, output The command signal in library to outbound region 11.Warehouse command signal output section 66 exports command signal via warehouse control device 7 To component warehouse system 4.In addition, determining the feelings for the pallet 30 being supported to required component being based on desired signal Under condition, 66 size based on the pallet 30 determined by desired signal of warehouse command signal output section, output fills the 2nd driving Set 420 command signals controlled.For example, in the case where required component is supported in pallet 30A, warehouse command signal Output section 66 exports the command signal controlled the 2nd driving device 420, enables to through the 1st lifting part 481 The lower board unit 486 of lower board unit 484 and the 2nd lifting part 482 is supported pallet 30A.In addition, being supported in required component In the case where pallet 30B, warehouse command signal output section 66 exports the command signal controlled the 2nd driving device 420, Enable to by the lower board unit 486 of the lower board unit 484 of the 1st lifting part 481 and the 2nd lifting part 482 to pallet 30B into Row support.

Command signal output section 67 is conveyed based on the transportation program generated by transportation program generating unit 65, output keeps component defeated It send to the command signal of demand region.Command signal output section 67 is conveyed via conveying control device 8, by command signal export to Component conveying apparatus 5.In addition, being based on desired signal, the case where determining pallet 30 being supported to required component Under, size of the command signal output section 67 based on the pallet 30 determined by desired signal is conveyed, is exported to driving device 534 The command signal controlled.For example, in the case where required component is supported in pallet 30A, conveying command signal output Portion 67 exports the command signal that is controlled driving device 534, enables to through multiple holding members 533 to pallet 30A is kept.In addition, conveying command signal output section 67 exports in the case where required component is supported in pallet 30B To the command signal that driving device 534 is controlled, enable to protect pallet 30B by multiple holding members 533 It holds.

Transmission unit 68 to warehouse control device 7, conveying control device 8 and terminal installation 9 at least one send signal or Data.The command signal exported from warehouse command signal output section 66 is sent to component warehouse system 4 by transmission unit 68.Transmission unit The command signal exported from conveying command signal output section 67 is sent to conveying control device 8 by 68.

Figure 34 is the functional block diagram for indicating an example of warehouse control device 7 involved in present embodiment.Warehouse control Device 7 processed include receiving unit 71, moving parts control unit 72, lifting part control unit 73, outbound tray position adjustment section 74, It is put in storage tray position adjustment section 75, tep reel position adjustment section 76, conveying tray position adjustment section 77, management storage unit 78 and sends Portion 79.

Receiving unit 71 is received to be sent out from least one of management and control device 6, conveying control device 8 and terminal installation 9 Signal or data.

Moving parts control unit 72 exports the command signal controlled moving parts 49.Moving parts 49 is controlled The command signal of system includes the command signal controlled driving device 430 and the instruction controlled driving device 440 Signal.

Lifting part control unit 73 exports the command signal controlled lifting part 48.In the present embodiment, right The command signal that lifting part 48 is controlled is driven comprising the command signal controlled the 1st driving device 410 and to the 2nd The command signal that dynamic device 420 is controlled.

74 detection data based on outbound tray position sensor 450 of outbound tray position adjustment section, to the 1st driving device 410, it exports so that the upper surface 32A for being supported in the pallet 30 of lifting part 48 is configured at compared with the upper surface of outbound plate 471 The command signal that the mode of lower section is adjusted the position of lifting part 48.

It is put in storage detection data of the tray position adjustment section 75 based on storage tray position sensor 470, to the 1st driving device 410, it exports so that the lower surface 31B for being supported in the pallet 30 of lifting part 48 is configured at compared with the upper surface of storage plate 472 The command signal that the mode of top is adjusted the position of lifting part 48.

76 detection data based on tep reel position sensor 490 of tep reel position adjustment section, to the 1st driving device 410, output To lifting part 48 in a manner of making the position consistency of the focal position of optical system of identification device 480 and identification label 23 The command signal that position is adjusted.

Detection data of the tray position adjustment section 77 based on conveying tray position sensor 460 is conveyed, to the 1st driving device 410, export when the pallet 30 that will be supported in lifting part 48 is carried to component conveying apparatus 5 to the position of lifting part 48 into The command signal of row adjustment.

Detection data of the storage unit 78 based on identification device 480 is managed, to the management data for the component for being equipped on pallet 30 It is stored.The management data of component include the type for being contained in the component of automated warehouse 4A, the portion for being contained in automated warehouse 4A The quantity of part and contain the pallet 30 that the tep reel 21 of holding member is supported shelf 44 position at least one.

Transmission unit 79 to management and control device 6, conveying control device 8 and terminal installation 9 at least one send signal or Data.

Figure 35 is the functional block diagram for indicating an example of conveying control device 8 involved in present embodiment.Conveying control Device 8 processed includes receiving unit 81, driving control portion 82, holding member control unit 83, limitation signal output section 84 and transmission unit 85。

Receiving unit 81 is received to be sent out from least one of management and control device 6, warehouse control device 7 and terminal installation 9 Signal or data.

Driving control portion 82 exports the command signal controlled unmanned waggon 52.Unmanned waggon 52 is controlled The command signal of system includes the command signal for being driven, being braked and being made it to turn round unmanned waggon 52.

Holding member control unit 83 exports the command signal controlled holding member 533.Holding member 533 is carried out The command signal of control includes the command signal controlled driving device 534.

Limitation signal output section 84 whether there is or not the detection data of sensor 532, is being judged to taking in equipped section 531 based on pallet When being loaded with pallet 30, the command signal limited the work of driving device 534 is exported.In equipped section 531 equipped with pallet The work of driving device 534 is limited when 30, although can also be prevented multiple thus in equipped section 531 equipped with pallet 30 Holding member 533 is mobile and approaches.

Transmission unit 85 to management and control device 6, warehouse control device 7 and terminal installation 9 at least one send signal or Data.

Figure 36 is the functional block diagram for indicating an example of terminal installation 9 involved in present embodiment.Terminal installation 9 has Have: receiving unit 91, input unit 92, desired signal generating unit 93, display control section 94, display unit 95 and transmission unit 96.

Receiving unit 91 receives at least one transmission from management and control device 6, warehouse control device 7, conveying control device 8 Signal or data out.

Input unit 92 is operated by operator WM.Input unit 92 is operated by operator WM, to generate input number According to.Input unit 92 includes input equipment as such as keyboard or touch panel.

The input data that desired signal generating unit 93 is generated based on input unit 92 by operation, raw cheek propose demand Desired signal.

Display control section 94 generates the display data for showing display unit 95.

95 pairs of display data of display unit are shown.Display unit 95, which includes that such as flat-panel monitor is such, shows equipment, Display data are provided to operator WM.

At least one the transmission letter of transmission unit 96 to management and control device 6, warehouse control device 7 and conveying control device 8 Number or data.In the present embodiment, the desired signal generated by desired signal generating unit 93 is at least sent to by transmission unit 96 Management and control device 6.

[part management method]

Next, being illustrated to part management method involved in present embodiment.Figure 37 is to indicate present embodiment The flow chart of one example of related outbound processing.

In management and control device 6, the acquirement of desired signal acquisition unit 62 is sent out from the terminal installation 9 in production line region 13 To component propose demand desired signal.Production plan acquisition unit 63 obtains production plan data.Transportation program generating unit 65 Based on desired signal and production plan data, transportation program is generated.In addition, warehouse command signal output section 66 is based on passing through demand The size for the pallet 30 that signal is determined exports the command signal controlled the 2nd driving device 420.In addition, conveying instruction Size of the signal output section 67 based on the pallet 30 determined by desired signal, what output controlled driving device 534 Command signal.Transmission unit 68 by based on transportation program command signal, the 2nd driving device 420 is controlled command signal, And to the command signal that driving device 534 is controlled, it is sent to warehouse control device 7.

In warehouse control device 7, receiving unit 71 receives the finger based on transportation program sent out from management and control device 6 The command signal (step S10) for enabling signal and the 2nd driving device 420 being controlled.

In warehouse control device 7, transmission unit 79 is based on transportation program, sends command signal to conveying device 46, so that Obtaining will support the pallet 30 of specific component to move out from shelf 44.The signal based on instruction of conveying device 46, by specific pallet 30 It is moved out from shelf 44, is delivered to outbound plate 471 (step S11).

Start the processing that pallet 30 is moved to lifting part 48 from outbound plate 471.Lifting part control unit 73 being capable of base It, will be to the opposite of the 1st lifting part 481 and the 2nd lifting part 482 in the command signal from warehouse command signal output section 66 The command signal that position is controlled is exported to the 2nd driving device 420, so that being gone up and down by the 1st lifting part 481 and the 2nd Component 482 is supported pallet 30.2nd driving device 420 and the size of the pallet 30 supplied from outbound plate 471 are matchingly The distance of 1st lifting part 481 and the 2nd lifting part 482 is adjusted.

In the present embodiment, multiple pallets 30 are successively supplied from outbound plate 471 to lifting part 48.Initial pallet 30 It is mounted directly on the lower board unit 484 and lower board unit 486 of holding member 48.Outbound tray position adjustment section 74 is based on lifting part The outbound tray position sensor 450 that the position detection of the upper surface of the upper surface and lower board unit 486 of 48 lower board unit 484 goes out Detection data exports so that the upper surface of the lower board unit 484 of lifting part 48 and the upper surface of lower board unit 486 and outbound plate 471 Upper surface compare the command signal that is adjusted to the position of lifting part 48 of mode arranged below.Outbound moving portion Part 491 is in the upper surface of the lower board unit 484 of lifting part 48 and the upper surface of lower board unit 486 and the upper surface phase of outbound plate 471 Than under state arranged below, pallet 30 is moved to lifting part 48 from outbound plate 471.

After the initial supply to lifting part 48 of pallet 30, start by next pallet 30 from the supply of outbound plate 471 to The processing of lifting part 48.Outbound tray position sensor 450 is to the upper surface 32A's of the pallet 30 for being supported in lifting part 48 It is detected position.The detection data (step S12) of the reception outbound tray position sensor 450 of receiving unit 71.

74 detection data based on outbound tray position sensor 450 of outbound tray position adjustment section is sent so that support In lifting part 48 pallet 30 upper surface 32A compared with the upper surface of outbound plate 471 mode arranged below to lifting The command signal (step S13) that the position of component 48 is adjusted.

Moving parts control unit 72 sends the command signal (step S14) for keeping outbound moving parts 491 mobile.Outbound is used Moving parts 491 is configured at compared with the upper surface of outbound plate 471 in the upper surface 32A for the pallet 30 for being supported in lifting part 48 In the state of lower section, pallet 30 is moved to lifting part 48 from outbound plate 471.

Pallet 30 until specified quantity supplies until lifting part 48, implements from from step S11 to step S14 Reason.It supplies to the pallet 30 of lifting part 48, is guided on one side by flat part 483 and flat part 485, on one side in 483 He of flat part It is mobile in Z-direction between flat part 485, it is supported in lifting part 48.In the support for being supported in lower board unit 484 and lower board unit 486 The side-X of disk 30 configures flat part 483, configures flat part 485 in the side+Y.In addition, being supported in lower board unit 484 and lower board unit The side-Y of 486 pallet 30 configures guide member 404, configures guide member 405 in the side+Y.It is supported in the support of lifting part 48 Disk 30 is positioned in X/Y plane by flat part 483, flat part 485, guide member 404 and guide member 405.It is providing After the pallet 30 of quantity is supported in lifting part 48, lifting part control unit 73 sends the lifting part 48 for making to be supported by pallet 30 The command signal (step S15) of decline.

Lifting part 48 declines, and is thus supported in the 30 one side guided member 404 of pallet and guide portion of lifting part 48 The guidance of part 405 declines on one side.

Start the processing by pallet 30 from the supply of lifting part 48 to component conveying apparatus 5.It is configured in path space 43 Component conveying apparatus 5.In the present embodiment, component conveying apparatus 5 is from multiple component warehouse systems 4 respectively with stated number Amount receives pallet 30.In the present embodiment, in the component conveying apparatus 5 for being configured at path space 43, equipped with pallet 30.Conveying tray position sensor 460 examines the position of the upper surface 32A for the pallet 30 for being equipped on component conveying apparatus 5 It surveys.Receiving unit 71 receives the detection data (step S16) of conveying tray position sensor 460.

Detection data of the tray position adjustment section 77 based on conveying tray position sensor 460 is conveyed, output will support The command signal that the position of lifting part 48 is adjusted when the pallet 30 of lifting part 48 is carried to component conveying apparatus 5 (step S17).

Detection data of 1st driving device 410 based on conveying tray position sensor 460, on one side to the position of Z-direction It is adjusted, on one side loads the pallet 30 for being supported in lifting part 48 on the pallet 30 for being equipped on component conveying apparatus 5.It rises Drop component 48 gives multiple pallets 30 to component conveying apparatus 5 simultaneously.Detection on one side based on conveying tray position sensor 460 Data are adjusted the position of lifting part 48, give pallet 30 to component conveying apparatus 5 from lifting part 48 on one side, therefore Inhibit the power or impact to 30 overaction of pallet.The component conveying apparatus 5 for receiving pallet 30 is exited from path space 43.

In addition, pallet 30 is being handed over from lifting part 48 in the state of no carrying pallet 30 in component conveying apparatus 5 When to component conveying apparatus 5, conveying tray position sensor 460 detects the position of the upper surface of equipped section 531.Conveying Tray position adjustment section 77 is based on the conveying tray position sensor 460 for going out the position detection of the upper surface of equipped section 531 Detection data, output is when the pallet 30 that will be supported in lifting part 48 is carried to component conveying apparatus 5 to lifting part 48 The command signal that position is adjusted.In addition, holding member control unit 83 is based on the finger from conveying command signal output section 67 Signal is enabled, the command signal controlled the relative position of multiple holding members 533 is exported to driving device 534, so that Pallet 30 can be kept by multiple holding members 533 by obtaining.Driving device 534 and the pallet supplied from lifting part 48 30 size is matchingly adjusted the distance of multiple holding members 533.

Figure 38 is the flow chart for indicating an example of storage processing involved in present embodiment.

Component conveying apparatus 5 equipped with multiple pallets 30 enters to path space 43.Start pallet 30 is defeated from component The processing for sending device 5 to give lifting part 48.Lifting part control unit 73 is sent for receiving pallet 30 from component conveying apparatus 5 Command signal (step S20).Lifting part 48 and component conveying apparatus 5 are close, will be equipped on the multiple of component conveying apparatus 5 Pallet 30 supports simultaneously.

Lifting part control unit 73, which is sent, makes to be supported by the command signal (step that the lifting part 48 of pallet 30 rises S21)。

Lifting part 48 rises, and is thus supported in the 30 one side guided member 404 of pallet and guide portion of lifting part 48 The guidance of part 405 rises on one side.

Tep reel position sensor 490 props up the pallet 30 of the top in the multiple pallets 30 for being supported in lifting part 48 It is detected the position on the surface 22 of the tep reel 21 of support.Detection data (the step of the reception tep reel position sensor 490 of receiving unit 71 S22)。

Tep reel position adjustment section 76 detection data based on tep reel position sensor 490 exports so that identification device 480 The finger that the mode of the position consistency of the focal position and identification label 23 of optical system is adjusted the position of lifting part 48 Enable signal (step S23).1st driving device 410 is adjusted the position for the lifting part 48 for being supported by pallet 30, so that The focal position of the optical system of identification device 480 and the position consistency of identification label 23.

480 pairs of identification labels 23 of identification device detect.Optical system of the identification device 480 in identification device 480 In the state of the position consistency of focal position and identification label 23, identification label 23 can be accurately detected.Receiving unit 71 connects Receive the detection data (step S24) of identification device 480.

Detection data of the storage unit 78 based on identification device 480 is managed, to the management data for the component for being equipped on pallet 30 Stored (step S25).

Tray position sensor 470 is put in storage to the pallet 30 of the top in the multiple pallets 30 for being supported in lifting part 48 The position of lower surface 31B detected.Receiving unit 71 receives the detection data (step of storage tray position sensor 470 S26)。

It is put in storage detection data of the tray position adjustment section 75 based on storage tray position sensor 470, is exported so that support In the mode that the lower surface 31B of the pallet 30 of lifting part 48 is disposed above compared with the upper surface of storage plate 472 to lifting The command signal (step S27) that the position of component 48 is adjusted.

Moving parts control unit 72 sends the command signal (step S28) for keeping storage moving parts 492 mobile.Storage is used Moving parts 492 is configured at compared with the upper surface of storage plate 472 in the lower surface 31B for the pallet 30 for being supported in lifting part 48 In the state of top, pallet 30 is moved to storage plate 472 from lifting part 48.

Conveying device 46 is based on the management data of component stored in management storage unit 78, by pallet 30 from storage plate 472 are delivered to specific shelf 44 (step S29).

In the present embodiment, multiple pallets 30 are successively supplied from lifting part 58 to storage plate 472.In initial pallet 30 supplies after being delivered to shelf 44, start to make next pallet 30 from the supply of lifting part 48 to storage plate to storage plate 472 472 processing.Until multiple pallets 30 are moved to storage plate 472, until being delivered to shelf 44, implement from step S21 to step The processing of S29.

Figure 39 is the timing diagram for indicating an example of part management method involved in present embodiment.

It is present in the operator WM of demand region, terminal installation 9 is operated, raw cheek proposes the demand of demand Signal.Management and control device 6 (step S101) is sent to by the desired signal that terminal installation 9 generates.

In management and control device 6, desired signal acquisition unit 62 obtains desired signal via receiving unit 61.Transportation program Generating unit 65 is based on the desired signal sent out from demand region, the transportation program (step S201) of generating unit.

In the present embodiment, component warehouse system 4 is arranged multiple, and multiple (7) are arranged in outbound region 11.For example, The component of the multiple types of demand, in the case that these components are respectively contained in different automated warehouse 4A, transportation program generating unit 65 are based on desired signal, generate the transportation program for moving component conveying apparatus 5 respectively to multiple outbound regions 11.For example, energy Following transportation programs are enough generated, which executes following actions, that is, is moved to the 1st component in 1 component conveying apparatus 5 The outbound region 11 of warehouse system 4 is received from the 1st component warehouse system 4 after being supported by the pallet 30 of the 1st kind of component, mobile To the outbound region 11 of the 2nd component warehouse system 4, receive the pallet 30 for being supported by the 2nd kind of component from the 2nd component warehouse system 4.

In addition, transportation program generating unit 65 is based on desired signal, determine to be used to demand region transfer unit The number of units of component conveying apparatus 5.The limited amount for the pallet 30 that 1 component conveying apparatus 5 can convey.Sending out demand very In the case where the desired signal of more pallets 30, transportation program generating unit 65 determines the number of units of component conveying apparatus 5 to be used, needle To each self-generating transportation program of component conveying apparatus 5 determined, enable to convey on the pallet 30 of required quantity To demand region.

Warehouse command signal output section 66 will make component outbound based on the transportation program generated by transportation program generating unit 65 Command signal to outbound region 11 is sent to warehouse control device 7 (step S202) via transmission unit 68.In addition, warehouse instructs Size of the signal output section 66 based on the pallet 30 determined by desired signal, by what is controlled the 2nd driving device 420 Command signal is sent to warehouse control device 7 via transmission unit 68.Thereby, it is possible to the sizes based on pallet 30 to the 1st lifting unit The distance of part 481 and the 2nd lifting part 482 is adjusted, and lifting part 48 is supported pallet 30.

In addition, conveying command signal output section 67 will be used based on the transportation program generated by transportation program generating unit 65 The command signal that the component in library is delivered to demand region is sent to conveying control device 8 (step S203) via transmission unit 68.Separately Outside, convey size of the command signal output section 67 based on the pallet 30 determined by desired signal, will to driving device 534 into The command signal of row control is sent to conveying control device 8 via transmission unit 68.Thereby, it is possible to the sizes based on pallet 30 to more The distance of a holding member 533 is adjusted, and holding member 533 keeps pallet 30.

Warehouse control device 7 will make the pallet for supporting specific component based on the command signal from management and control device 6 Command signal of 30 outbounds to outbound region 11, output to component warehouse system 4 (step S301).Component warehouse system 4 will be held in the palm 30 outbound of disk.

Conveying control device 8 is based on the command signal from management and control device 6, and to component conveying apparatus 5, output is used The specific component in library to outbound region 11 is delivered to the command signal (step S401) of demand region.Component conveying apparatus 5 exists Travel route 10 travels, and pallet 30 is delivered to demand region.

Figure 40 is the timing diagram for indicating an example of part management method involved in present embodiment.

It is present in the operator WM of the 1st demand region, the 1st terminal installation 9 is operated, raw cheek proposes demand Desired signal.Management and control device 6 (step S111) is sent to by the desired signal that the 1st terminal installation 9 generates.

In management and control device 6, transportation program generating unit 65 based on the desired signal sent out from the 1st demand region, The transportation program (step S211) of generating unit.

It is present in the operator WM of the 2nd demand region, the 2nd terminal installation 9 is operated, generation peremptorily mentions component The urgent need signal of demand out.6 (step of management and control device is sent to by the desired signal that the 2nd terminal installation 9 generates S112)。

In management and control device 6, transportation program generating unit 65 is based on the urgent need letter sent out from the 2nd demand region Number, regenerate the transportation program (step S212) of component.Transportation program generating unit 65 is based on urgent need signal, determines multiple The priority of demand region generates the transportation program to the high demand region of priority preferentially transfer unit.Shown in Figure 40 Example in, transportation program generating unit 65 generates the transportation program to the 2nd demand region preferentially transfer unit.

Warehouse command signal output section 66 is based on the transportation program generated by transportation program generating unit 65, via transmission unit 68 Make component outbound to the command signal (step S213) in outbound region 11 to the transmission of warehouse control device 7.

In addition, conveying command signal output section 67 based on the transportation program generated by transportation program generating unit 65, via hair Portion 68 is sent so that the component of outbound is delivered to the command signal (step S214) of demand region to the transmission of conveying control device 8.

Warehouse control device 7 is based on the command signal from management and control device 6, and to component warehouse system 4, output makes to prop up 30 outbound of pallet of specific component is supportted to the command signal (step S311) in outbound region 11.

Conveying control device 8 is based on the command signal from management and control device 6, and to component conveying apparatus 5, output is used The specific component in library to outbound region 11 is delivered to the command signal (step S411) of demand region.

Figure 41 is the timing diagram for indicating an example of part management method involved in present embodiment.

In management and control device 6, production plan acquisition unit 63 obtains production plan data.In the present embodiment, raw Producing planning data is to indicate the data of the predetermined quantity of the component used in production line 3.

In addition, production actual quantity acquisition unit 64 obtains production actual quantity data.In the present embodiment, production is practical Incremental data is the data for indicating the actual quantity of the component used per unit time in production line 3.Produce actual quantity number Management and control device 6 is sent to according to from production line 3.

Transportation program generating unit 65 is based on production plan data and production actual quantity data, in production line region 13 The volume residual of component is calculated (step S221).

Transportation program generating unit 65 is based on calculated volume residual and generates transportation program (step S222).

Warehouse command signal output section 66 is based on the transportation program generated by transportation program generating unit 65, via transmission unit 68 Make component outbound to the command signal in outbound region 11 to the transmission of warehouse control device 7.In the present embodiment, warehouse instruction letter Number output section 66 is determined as the component in production line region 13 based on the transportation program generated by transportation program generating unit 65 When volume residual is less than or equal to preset feasible value, even if demand is not believed from the terminal installation 9 in production line region 13 Number send, also can will make the component conveyed to production line region 13 carry out outbound command signal be sent to storehouse via transmission unit 68 Library control device 7 (step S223).

Command signal output section 67 is conveyed based on the transportation program generated by transportation program generating unit 65, via transmission unit 68 The component of outbound is set to be delivered to the command signal (step S224) in production line region 13 to the transmission of conveying control device 8.

Warehouse control device 7 is based on the command signal from management and control device 6, and to component warehouse system 4, output makes to prop up 30 outbound of pallet of specific component is supportted to the command signal (step S321) in outbound region 11.

Conveying control device 8 is based on the command signal from management and control device 6, and to component conveying apparatus 5, output is used The specific component in library to outbound region 11 is delivered to the command signal (step S421) in production line region 12.

In addition, component conveying apparatus 5 is based on transportation program referring to as described in Fig. 5 explanation, it can not only be to production line region 13, additionally it is possible to at least one conveying pallet 30 of region of acceptance 14 and preparation region 15.

[display unit]

Figure 42 is the figure for indicating an example of display unit 95 for terminal installation 9 involved in present embodiment.Terminal dress Operator WM can be supplied to for various data via display unit 95 by setting 9.

As shown in figure 42, the display unit 95 of terminal installation 9 is each to the multiple component conveying apparatus 5 operated in plant facilities From service data shown.Multiple projects of 95 pairs of display unit expression service datas are shown.The example shown in Figure 42 In son, as the project for indicating service data, following the description is shown: indicating the operating that component conveying apparatus 5 is implemented " the conveying type " of content is indicated to the demand region for conveying proposition demand for the component realized by component conveying apparatus 5 " source of demand ", " destination " of conveying target that indicates component conveying apparatus 5, expression component conveying apparatus 5 inherent data " state " of the current state of " AGV " and expression component conveying apparatus 5.

For example, " No. 1 vehicle " of component conveying apparatus 5 is implementing " outbound " processing, conveying target be " prepare region ", when Before " conveying " and be shown in display unit 95.

In addition, Figure 42 shows the display example of the display unit 95 for the terminal installation 9 being arranged in region of acceptance 14.Terminal installation 9 Display unit 95 to the portion for being moved to the region (in the example shown in Figure 42 for region of acceptance 14) for being provided with its terminal installation 9 The service data of part conveying device 5 is emphasized display.

The conveying target of " No. 3 vehicles " of component conveying apparatus 5 is " region of acceptance ".At " No. 3 vehicles " to reaching region of acceptance When 14, it is set to the display unit 95 of the terminal installation 9 of region of acceptance 14, at " No. 3 vehicles " to when reaching region of acceptance 14, in order to make Operator WM recognizes the case where " No. 3 vehicles " reaches, and is emphasized to the service data of the component conveying apparatus 5 of its " No. 3 vehicles " Display.In the example shown in Figure 42, indicate that the column of the service data of the component conveying apparatus 5 of " No. 3 vehicles " is shown by coloring.

[computer system]

Figure 43 is the block diagram for indicating an example of computer system 1000.Above-mentioned management and control device 6, warehouse control Device 7, conveying control device 8 and terminal installation 9 respectively contain computer system 1000.Computer system 1000 includes such as Processor 1001 as CPU (Central Processing Unit), comprising such as ROM (Read Only Memory) this The main memory of volatile memory as the nonvolatile memory of sample and such as RAM (Random Access Memory) 1002, reservoir 1003 and the interface 1004 comprising imput output circuit.The function of management and control device 6, warehouse control device 7 Function, the function of the function of conveying control device 8 and terminal installation 9 reservoir 1003 is stored in as program.Processor 1001 read program from reservoir 1003 and are unfolded in main memory 1002, and above-mentioned processing is executed according to program.In addition, program Computer system 1000 can also be sent to via network.

[effect]

As described above, according to the present embodiment, be arranged elevator gear 4B, elevator gear 4B with it is automatic Pallet 30 is conveyed between warehouse 4A.It therefore, can not be via operator WM, using elevator gear 4B, to automatic storehouse Component is put in storage by library 4A, or from automated warehouse 4A by component outbound.Therefore, mistake inhibit, to electronics The manufacture of instrument is underproof to be inhibited.

Lifting part 48 includes: the 1st lifting part 481, is supported to a part of the lower surface 31B of pallet 30； And the 2nd lifting part 482, a part of the lower surface 31B of pallet 30 is supported.1st lifting part 481 and the 2nd Lifting part 482 is configured to clip pallet 30.Thereby, it is possible to pass through the 1st lifting part 481 and the 2nd lifting part 482 to various The pallet 30 of size is supported.

Elevator gear 4B includes the 1st driving device 410, keeps the 1st lifting part 481 and the 2nd lifting part 482 same The lifting of step ground；And the 2nd driving device 420, the size based on pallet 30 is by the 1st lifting part 481 and the 2nd lifting part At least one of 482 is moved and is adjusted to the distance of the 1st lifting part 481 and the 2nd lifting part 482.Thereby, it is possible to will The pallet 30 of all size carries out being put in storage/outbound.

Lifting part 48 can be supported multiple pallets 30 of overlapping mounting and go up and down.Therefore, elevator gear 4B Transfer efficiency improve.

Elevator gear 4B includes: outbound elevator 41, makes to decline from the pallet 30 of automated warehouse 4A outbound；And Storage elevator 42 rises the pallet 30 being put in storage to automated warehouse 4B.Elevator gear 4B can be by pallet 30 as a result, Outbound processing and storage processing simultaneously implement.

Outbound moving parts 491 the pallet 30 for being supported in lifting part 48 upper surface 32A and outbound plate 471 it is upper Surface is compared under state arranged below, and pallet 30 is moved to lifting part 48 from outbound plate 471.Outbound plate 471 as a result, Pallet 30 not be supported in lifting part 48 pallet 30 hook, it will be able to be moved to lifting part 48.

By the way that the outbound pallet detected to the position of the upper surface 32A for the pallet 30 for being supported in lifting part 48 is arranged Position sensor 450 will be supported in lifting part 48 so as to the detection data based on outbound tray position sensor 450 The upper surface 32A of pallet 30 and the relative position of upper surface of outbound plate 271 adjust well.

Storage moving parts 492 the pallet 30 for being supported in lifting part 48 lower surface 31B with storage plate 472 it is upper Pallet 30 is moved to storage plate 472 from lifting part 48 compared in the state of being disposed above by surface.It is supported in liter as a result, The pallet 30 for dropping component 48 is not hooked with storage plate 472, it will be able to be moved to storage plate 472.

By the way that the storage pallet detected to the position of the lower surface 31B for the pallet 30 for being supported in lifting part 48 is arranged Position sensor 470 will be supported in lifting part 48 so as to the detection data based on storage tray position sensor 470 The lower surface 31B of pallet 30 and the relative position of upper surface of storage plate 472 adjust well.

The knowledge that the identification data of the component supported by the pallet 30 that setting opposite direction automated warehouse 4A is put in storage are detected Other device 480 suitably manages component so as to the detection data based on identification device 480.

Identification data packet contains the identification label 23 being arranged on the surface of tep reel 21 22, and thus, it is possible to based on identification label 23 Image data, manage component well.

By the way that the tep reel position sensor 490 detected to the position on the surface 22 of tep reel 21 is arranged, so as to base In the detection data of tep reel position sensor 490, make focal position and the identification mark of the optical system of identification device 480 well The position consistency of note 23.Therefore, identification device 48 can accurately obtain the image data of identification label 23.

Based on the detection data of identification device 480, the management data for being equipped on the component of pallet 30 are stored in management storage Portion 78.Therefore, based on management data, for example, can effectively to keeping have component automated warehouse 4A shelf 44, keeping in The type of the component of shelf 44 and keeping are determined in the quantity etc. of the component of automated warehouse 4A.

The path space 43 that there is elevator gear 4B component conveying apparatus 5 to be able to enter.Door region 45 is set to lifting The top of the movable range of component 48, path space 43 are set to the lower part of the movable range of lifting part 48.Lifting unit as a result, Part 48 can be smoothly transported pallet 30 between the component conveying apparatus 5 for being configured at path space 43.

Component conveying apparatus 5 includes: carrier 51, has the equipped section 531 carried to pallet 30 and can be with Travel the wheel 514 of face contact；And unmanned waggon 52 can be relatively moved via link mechanism 54 with carrier 51 Ground connection is travelled in tread.What the carrier 51 that there is elevator gear 4B opposite path space 43 to enter guided draws Lead mechanism 43G.Carrier 51 can be relatively moved relative to unmanned waggon 52, even if therefore for example unmanned 52 one side of waggon Slightly serpentine bend, one side entering path space 43 can also be guided mechanism 43G guidance, on one side in path space 43 on one side It is properly positioned.

Elevator gear 4B has the stop component positioned in the approach axis of component conveying apparatus 5 to carrier 51 55.Carrier 51 is properly positioned in path space 43 in X-direction and two side of Y direction as a result,.Therefore, lifting unit The conveying of pallet 30 between part 48 and component conveying apparatus 5 is successfully implemented.

By the way that the conveying detected to the position of the upper surface 32A for the pallet 30 for being equipped on component conveying apparatus 5 is arranged Tray position sensor 460, thus when giving pallet 30 to component conveying apparatus 5 from lifting part 48, it can be based on conveying The detection data of tray position sensor 460 is adjusted the position of lifting part 48, and by pallet 30 from lifting part 48 Component conveying apparatus 5 is given, so that not to the power or impact of 30 overaction of pallet.

Conveying tray position sensor 460 is set to elevator gear 4B.As a result, with it is each in multiple component conveying apparatus 5 The case where conveying tray position sensor 460 from setting is compared, and installation cost is reduced.

Outbound moving parts 491 has pawl 439, which is inserted into the notch 34 formed in pallet 30.Go out as a result, Pallet 30 can be hooked in claw 439 and move it successfully by library moving parts 491.

Elevator gear 4B is disposed adjacently with automated warehouse 4A.Thereby, it is possible to successfully carry out the storage of pallet 30/go out Library.

[other embodiments]

In addition, in the above-described embodiment, be set as parts managing system 2 using 2 kinds of pallets 30 of different sizes (30A, 30B).Parts managing system 2 can use it is of different sizes be greater than or equal to 3 kinds of pallets 30, also can use a kind of pallet 30.

In the above-described embodiment, it is set as that opening 547 is arranged in the 1st component 541, axis 548 is set in the 2nd component 542. Axis 548 can also be set in the 1st component 541, in the 2nd component 542 setting opening 547.Opening 547 and axis 548 can also be respective Setting 3.

In the above-described embodiment, being set as production line 3 includes apparatus for mounting component.Production line 3 can also not include portion Part mounting device.

In the above-described embodiment, being set as elevator gear 4B includes outbound with elevator 41 and storage elevator 42.It can also implement both outbound processing and storage processing by 1 elevator.

In the above-described embodiment, it is set as generating transportation program based on the desired signal from demand region.It can also Not use desired signal, such as production plan data are based only upon, generate transportation program.

Claims (20)

1. a kind of component warehouse system, includes

Automated warehouse has the door region passed through for the pallet being supported to component；And

Elevator gear, with lifting part and moving parts, which can be supported the pallet, should Moving parts is mobile by the pallet between the lifting part and the door region.

2. component warehouse system according to claim 1, wherein

The lifting part includes: the 1st lifting part is supported a part of the lower surface of the pallet；And the 2nd Lifting part is supported a part of the lower surface of the pallet.

3. component warehouse system according to claim 2, wherein

The elevator gear includes the 1st driving device, makes the 1st lifting part and the 2nd lifting part synchronously Lifting；And the 2nd driving device, the size based on the pallet is by the 1st lifting part and the 2nd lifting part At least one moves and is adjusted to the distance of the 1st lifting part and the 2nd lifting part.

4. component warehouse system according to claim 1, wherein

The lifting part can be supported multiple pallets of overlapping mounting and go up and down.

5. component warehouse system according to claim 1, wherein

The elevator gear includes: outbound elevator, makes to decline from the pallet of the automated warehouse outbound；And Storage elevator rises the pallet being put in storage to the automated warehouse.

6. component warehouse system according to claim 1, wherein

The door region includes the upper surface of the outbound plate passed through from the pallet of the automated warehouse outbound,

Upper surface and the upper surface phase of the outbound plate of the moving parts in the pallet for being supported in the lifting part Than under state arranged below, the pallet is moved to the lifting part from the outbound plate.

7. component warehouse system according to claim 6, wherein include

Outbound tray position sensor examines the position of the upper surface for the pallet for being supported in the lifting part It surveys；And

Outbound tray position adjustment section is exported based on the detection data of the outbound tray position sensor so as to be supported in The upper surface of the pallet of the lifting part compared with the upper surface of the outbound plate mode arranged below to described The command signal that the position of lifting part is adjusted.

8. component warehouse system according to claim 1, wherein

The door region includes the upper surface for the storage plate that the pallet being put in storage to the automated warehouse passes through,

Lower surface and the upper surface phase of the storage plate of the moving parts in the pallet for being supported in the lifting part In the state of being disposed above, the pallet is moved to the storage plate from the lifting part.

9. component warehouse system according to claim 8, wherein include

It is put in storage tray position sensor, the position of the lower surface for the pallet for being supported in the lifting part is examined It surveys；And

It is put in storage tray position adjustment section, based on the detection data of the storage tray position sensor, is exported so as to be supported in The mode that the lower surface of the pallet of the lifting part is disposed above compared with the upper surface of the storage plate is to described The command signal that the position of lifting part is adjusted.

10. component warehouse system according to claim 8, wherein

With identification device, the knowledge for the component that the pallet of the opposite automated warehouse storage of the identification device is supported Other data are detected.

11. component warehouse system according to claim 10, wherein

The component is supported in the pallet in the state of being wound in tep reel,

The identification data packet contains the identification label in the setting of the surface of the tep reel,

The identification device includes the filming apparatus shot to the identification label.

12. component warehouse system according to claim 11, wherein include

Tep reel position sensor detects the position on the surface of the tep reel；And

Tep reel position adjustment section is exported so that the filming apparatus based on the detection data of the tep reel position sensor The mode of the position consistency of the focal position of optical system and the identification label is adjusted the position of the lifting part Command signal.

13. component warehouse system according to claim 12, wherein

With management storage unit, the detection data of the management storage unit based on the identification device, to being equipped on the pallet The management data of the component are stored.

14. component warehouse system according to claim 1, wherein

The path space that there is the elevator gear component conveying apparatus conveyed to the pallet to be able to enter,

The lifting part carries out the pallet between the component conveying apparatus for being configured at the path space defeated It send.

15. component warehouse system according to claim 14, wherein

The component conveying apparatus includes: carrier, has the equipped section carried to the pallet and can be with traveling The wheel of face contact；And unmanned waggon can relatively movably link via link mechanism with the carrier, The tread traveling,

The guiding mechanism that the carrier that there is the elevator gear the opposite path space to enter guides.

16. component warehouse system according to claim 15, wherein

The elevator gear have stop component, the stop component the component conveying apparatus approach axis to the load Object vehicle is positioned.

17. component warehouse system according to claim 15, wherein include

Tray position sensor is conveyed, the position of the upper surface for the pallet for being equipped on the component conveying apparatus is carried out Detection；And

Tray position adjustment section is conveyed, based on the detection data of the conveying tray position sensor, output will be supported in What the pallet of the lifting part was adjusted the position of the lifting part when carrying to the component conveying apparatus Command signal.

18. component warehouse system according to claim 17, wherein

The conveying tray position sensor is set to the elevator gear.

19. according to claim 1 to component warehouse system described in any one of 18, wherein

The moving parts has the claw being inserted into the notch formed in the pallet, and the pallet is hooked in the claw And it moves.

20. component warehouse system according to claim 1, wherein

The elevator gear is disposed adjacently with the automated warehouse.