TWI644267B

TWI644267B - Automated warehousing method

Info

Publication number: TWI644267B
Application number: TW106129735A
Authority: TW
Inventors: 許宣揚; 歐明宗
Original assignee: 上銀科技股份有限公司
Priority date: 2017-08-31
Filing date: 2017-08-31
Publication date: 2018-12-11
Also published as: TW201913472A

Abstract

一種自動化倉儲的運作方法，包含下列步驟：(a)回到復歸位置；(b)掃描料盤位置；(c)出、入庫作業。藉此，無論是大料件或小料件皆能擺放在料盤上而由料車承載移動，且經過掃描料盤位置的步驟可以記錄各料盤位置，再進行出、入庫作業，能夠因應少量且多樣化料件的取放作業。An automated storage operation method comprising the steps of: (a) returning to a reset position; (b) scanning a tray position; and (c) discharging and storing operations. Thereby, whether the large material or the small material can be placed on the tray and carried by the skip, and the step of scanning the position of the tray can record the position of each tray, and then carry out the loading and warehousing operations. Handling and handling of small and diverse materials.

Description

自動化倉儲的運作方法Automated warehousing method

本發明係與自動化倉儲有關，特別是指一種自動化倉儲的運作方法，可以因應少量且多樣化料件的取放作業。 The present invention relates to automated warehousing, and in particular to an automated warehousing operation method that can accommodate small and diverse material handling operations.

隨著工業自動化的不斷發展，廠商對於重複性高且動作單純的作業已有朝向使用機器人取代人力的趨勢，例如數值控制工具機(CNC)的上料和下料作業，其僅是將加工完成的料件取下擺放在預定位置，或是將未加工的料件架上數值控制工具機的作業型態，係相當適合採用機械手臂運作來取代人工作業。此外，若要夠有效的減少人力，機械手臂在完成料件上、下料作業後，還要搭配自動化倉儲設備完成加工的料件入庫、出庫作業，才能有效地減省人工作業。 With the continuous development of industrial automation, manufacturers have a tendency to use robots instead of manpower for repetitive and simple operations, such as loading and unloading of numerical control machine tools (CNC), which only complete the processing. The placement of the material in the predetermined position, or the operation of the numerical control machine on the unprocessed material rack, is quite suitable for the manual operation of the robot arm. In addition, if it is necessary to effectively reduce the manpower, the robotic arm must be equipped with the automatic storage equipment to complete the processing of the materials into the warehouse and out of the warehouse after the completion of the material loading and unloading operations, in order to effectively reduce the manual work.

然而，市面上各家自動化倉儲設備，多採用固定空間大小的方式設置料件的儲存空間。對於少量且多樣化的料件而言，若料件尺寸大於儲存空間將無法容納；若料件遠小於儲存空間時，則浪費儲存空間。對此，設計能夠因應料件大小且配合機械手臂取放的自動化倉儲設方法來改善前述問題，仍是市場所需要的解決方案。 However, various automated storage equipment on the market mostly use a fixed space to set the storage space of the materials. For small and diverse materials, if the material size is larger than the storage space, it will not be able to accommodate; if the material is much smaller than the storage space, the storage space will be wasted. In this regard, the design of the automated storage method that can accommodate the size of the material and the mechanical arm pick-and-place to improve the aforementioned problems is still the solution required by the market.

本發明之主要目的乃在於提供一種自動化倉儲的運作方法，其可因應少量且多樣化料件的取放作業。 The main object of the present invention is to provide an automated storage operation method that can accommodate small and diverse pieces of material handling operations.

緣是，依據本發明所提供之一種自動化倉儲的運作方法，係運用在一倉儲系統，該倉儲系統包含一料倉，具有一開口；一升降模組，設置在該料倉並位於該開口旁，該升降模組具有一移動平台和一馬達，該移動平台受該馬達驅動在一上限位置和一下限位置之間移動，且在該上限位置和該下限位置之間預訂一復歸位置；一載物座固設在該移動平台；一取放模組係設置在該載物座，能夠從該開口進入該料倉內取放物體；一感測器，係設置在該載物座朝向該開口；一控制器，係電性連接該升降模組、該取放模組、該感測器；一料車，被置入該料倉內；複數料盤分別設置在該料車；該自動化倉儲的運作方法包含有下列步驟：(a)回到復歸位置：操作該控制器控制該升降模組，讓該馬達驅動該移動平台回到該復歸位置；(b)掃描料盤位置：該控制器控制該升降模組，讓該馬達驅動該移動平台移動，也帶動該載物座移動，途中，該感測器感測位在該料車上的各該料盤，該控制器記錄各該料盤位置記錄複數位置資訊；(c)出、入庫作業：當要進行出庫作業時，該控制器依據各該位置資訊控制該升降模組，讓該馬達驅動該移動平台移動到料盤位置後，再控制該取放模組取出料盤；當要進行入庫作業時，該控制器控制該取放模組拿取料盤，依據各該位置資訊控制該升降模組，讓該馬達驅動該移動平台移動到料盤位置後，再控制該取放模組放置料盤到該料車。 According to the present invention, an automated storage operation method according to the present invention is applied to a storage system, the storage system including a silo having an opening, and a lifting module disposed at the silo and located adjacent to the opening. The lifting module has a moving platform and a motor, the moving platform is driven by the motor to move between an upper limit position and a lower limit position, and a reset position is reserved between the upper limit position and the lower limit position; The seat is fixed on the mobile platform; a pick-and-place module is disposed in the carrier, and can enter and receive the object from the opening; a sensor is disposed at the opening facing the opening; a controller electrically connecting the lifting module, the pick-and-place module, the sensor; a skip is placed in the silo; the plurality of trays are respectively disposed in the skip; the automated storage The operation method comprises the following steps: (a) returning to the reset position: operating the controller to control the lift module, causing the motor to drive the mobile platform back to the reset position; (b) scanning the tray position: the controller controls Lifting die The motor drives the mobile platform to move, and also drives the carrier to move. During the process, the sensor senses each of the trays located on the skip, and the controller records each of the tray positions to record the plurality of positions. (c) Outbound and warehousing operations: When the warehouse operation is to be performed, the controller controls the lifting module according to each position information, so that the motor drives the mobile platform to move to the tray position, and then controls the loading and unloading mode. The group takes out the tray; when the warehousing operation is to be performed, the controller controls the pick-and-place module to take the tray, and controls the lifting module according to the position information, so that the motor drives the mobile platform to move to the tray position Then, the pick and place module is controlled to place the tray to the skip.

藉此，無論是大料件或小料件皆能擺放在料盤上而由料車承載移動，且經過掃描料盤位置的步驟可以記錄各料盤位置，再進行出、入庫作業，能夠因應少量且多樣化料件的取放作業。 Thereby, whether the large material or the small material can be placed on the tray and carried by the skip, and the step of scanning the position of the tray can record the position of each tray, and then carry out the loading and warehousing operations. Handling and handling of small and diverse materials.

值得一提的是，在步驟(b)中，該移動平台係從該復歸位置移動至該上限位置或該下限位置，進行步驟(b)掃描料盤位置。 It is worth mentioning that in step (b), the mobile platform moves from the reset position to the upper limit position or the lower limit position, and step (b) scans the tray position.

此外，步驟(b)中，該控制器被輸入一料盤數量上限，待產生各該位置資訊後，該控制器判斷位置資訊是否超過該料盤數量上限；若是，則產生一錯誤訊息並暫停後續作業；若否則繼續進行步驟(c)。此舉可以預防料盤數量超過數量上限。 In addition, in step (b), the controller is input with an upper limit of the number of trays. After the position information is generated, the controller determines whether the position information exceeds the upper limit of the number of trays; if yes, an error message is generated and paused. Subsequent operations; otherwise proceed to step (c). This will prevent the number of trays from exceeding the upper limit.

還有，在步驟(b)中，該位置資訊係以陣列格式記錄在該控制器，可以明確記錄各料盤的位置。 Also, in the step (b), the position information is recorded in the array format in the controller, and the position of each tray can be clearly recorded.

另外，更能夠配合一機械手臂，該機械手臂電性連接該控制器；在該上限位置和該下限位置之間還預定一取放位置；在步驟(c)中，進行出庫作業後還要再讓該控制器控制該移動平台移動到該取放位置，再通知該機械手臂取料；當要進行入庫作業前，需先讓該控制器控制該移動平台移動到該取放位置，並且讓該取放模組拿取料盤，待該機械手臂放料後通知該控制器，再進行入庫作業。藉由搭配機械手臂，形成自動化上、下料系統。 In addition, it is more suitable to cooperate with a mechanical arm, the mechanical arm is electrically connected to the controller; a pick-and-place position is further predetermined between the upper limit position and the lower limit position; and in step (c), after the unloading operation is performed, Having the controller control the mobile platform to move to the pick-and-place position, and then notifying the robot arm to take the material; before the warehousing operation is performed, the controller is required to control the mobile platform to move to the pick-and-place position, and let the The pick-and-place module takes the take-up tray, and after the robot arm releases the material, notifies the controller, and then performs the warehousing operation. By matching the robot arm, an automatic loading and unloading system is formed.

10‧‧‧倉儲系統 10‧‧‧Warehouse system

11‧‧‧料倉 11‧‧‧ silo

111‧‧‧開口 111‧‧‧ openings

12‧‧‧升降模組 12‧‧‧ Lifting module

122‧‧‧馬達 122‧‧‧Motor

13‧‧‧載物座 13‧‧‧Terrace

14‧‧‧取放模組 14‧‧‧ pick and place module

141‧‧‧載板 141‧‧‧ Carrier Board

15‧‧‧感測器 15‧‧‧ Sensor

16‧‧‧控制器 16‧‧‧ Controller

17‧‧‧料車 17‧‧‧Car

171‧‧‧料盤 171‧‧‧Tray

第1圖係本發明第一較佳實施例之立體圖，顯示倉儲系統。 BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a perspective view of a first preferred embodiment of the present invention showing a storage system.

第2圖係本發明第一較佳實施例之立體圖，顯示倉儲系統。 Figure 2 is a perspective view of a first preferred embodiment of the present invention showing a storage system.

第3圖係本發明第一較佳實施例之方塊流程圖，顯示自動化倉儲運作方法。 Figure 3 is a block flow diagram of a first preferred embodiment of the present invention showing an automated storage operation method.

第4圖係本發明第一較佳實施例之方塊流程圖，顯示自動化倉儲運作方法。 Figure 4 is a block flow diagram of a first preferred embodiment of the present invention showing an automated storage operation method.

為了詳細說明本發明之技術特點所在，茲舉以下之較佳實施例並配合圖式說明如後，其中：如第1-2圖所示，本發明一較佳實施例所提供之一種自動化倉儲的運作方法，係運用在一倉儲系統10。該倉儲系統10包含：一料倉11，具有一開口111。 In order to explain the technical features of the present invention in detail, the following preferred embodiments are described with reference to the accompanying drawings, wherein: FIG. 1-2 shows an automated storage provided by a preferred embodiment of the present invention. The method of operation is applied to a storage system 10. The warehousing system 10 includes a silo 11 having an opening 111.

一升降模組12，設置在該料倉11並位於該開口111旁，該升降模組12具有一移動平台(圖中未顯示)和一馬達122，該移動平台受該馬達122驅動在一上限位置和一下限位置之間移動，且在該上限位置和該下限位置之間預訂一復歸位置。須說明的是本實施例中，該升降模組12的馬達122採用伺服馬達用以精確控制作動，並透過滾珠螺桿來帶動該移動平台。 A lifting module 12 is disposed at the bin 11 and located beside the opening 111. The lifting module 12 has a moving platform (not shown) and a motor 122. The moving platform is driven by the motor 122 to an upper limit. A position is moved between the position and a lower limit position, and a reset position is reserved between the upper limit position and the lower limit position. It should be noted that in the embodiment, the motor 122 of the lifting module 12 uses a servo motor for precise control of the actuation and drives the mobile platform through the ball screw.

一載物座13，固設在該移動平台，隨著該移動平台上下移動。 A carrier 13 is fixed to the moving platform and moves up and down with the moving platform.

一取放模組14係設置在該載物座13，能夠從該開口111進入該料倉11內取放物體。在此，該取放模組14係使用氣壓缸驅動一載板141從該開口111伸入該料倉11後，再由該載物座13上移，讓該載板141撐起物體產生拿取效果。此外，也可以使用機械手臂，裝設夾爪型的末端效應器，直接夾取物體。不前述方式為限，能達成取放功效的裝置即可作為該取放模組14。 A pick-and-place module 14 is disposed in the carrier 13 and can enter and receive the object from the opening 111. Here, the pick-and-place module 14 is driven from the opening 111 into the silo 11 by using a pneumatic cylinder, and then moved up by the carrier 13 to allow the carrier 141 to support the object. Take the effect. In addition, it is also possible to use a robot arm and a jaw-type end effector to directly grip the object. The device capable of achieving the pick-and-place function can be used as the pick-and-place module 14 without limitation.

一感測器15，係設置在該載物座13朝向該開口111，用以感測該料倉11內物體。 A sensor 15 is disposed at the carrier 13 facing the opening 111 for sensing an object in the magazine 11.

一控制器16(圖中未顯示)，係電性連接該升降模組12、該取放模組14、該感測器15。 A controller 16 (not shown) is electrically connected to the lifting module 12, the pick-and-place module 14, and the sensor 15.

一料車17，被置入該料倉11內。 A skip 17 is placed in the bin 11.

複數料盤171分別設置在料車17。 The plurality of trays 171 are respectively disposed in the skip 17.

如第3圖所示，該自動化倉儲的運作方法包含有下列步驟： As shown in Figure 3, the automated warehousing method includes the following steps:

(a)回到復歸位置：操作該控制器16控制該升降模組12，讓該馬達122驅動該移動平台回到該復歸位置。如此一來，該控制器16將產生歸零的效果。 (a) Returning to the reset position: operating the controller 16 to control the lift module 12 to cause the motor 122 to drive the mobile platform back to the reset position. As such, the controller 16 will produce a zeroing effect.

(b)掃描料盤位置：該控制器16控制該升降模組12，讓該馬達122驅動該移動平台移動，也帶動該載物座13移動，途中，該感測器15感測位在該料車17上的各該料盤171，該控制器16記錄各該料盤171位置記錄複數位置資訊。 (b) scanning tray position: the controller 16 controls the lifting module 12, and the motor 122 drives the moving platform to move, and also drives the carrier 13 to move. During the process, the sensor 15 senses the position. Each of the trays 171 on the cart 17 records the position information of each of the trays 171.

(c)出、入庫作業：當要進行出庫作業時，該控制器16依據各該位置資訊控制該升降模組12，讓該馬達122驅動該移動平台移動到料盤171位置後，再控制該取放模組14取出料盤171；當要進行入庫作業時，該控制器16控制該取放模組14拿取料盤171，依據各該位置資訊控制該升降模組12，讓該馬達122驅動該移動平台移動到料盤171位置後，再控制該取放模組14放置料盤171到該料車17。 (c) Outbound and warehousing operations: When the warehouse operation is to be performed, the controller 16 controls the lifting module 12 according to the position information, and the motor 122 drives the mobile platform to move to the position of the tray 171, and then controls the The pick-and-place module 14 takes out the tray 171; when the warehousing operation is to be performed, the controller 16 controls the pick-and-place module 14 to take the tray 171, and controls the lifting module 12 according to the position information to make the motor 122 After the mobile platform is driven to move to the position of the tray 171, the pick-and-place module 14 is controlled to place the tray 171 to the skip 17.

藉此，無論是大料件或小料件皆能擺放在料盤171上而由料車17承載移動，且經過掃描料盤位置的步驟可以記錄各料盤171位置，再進行出、入庫作業，能夠因應少量且多樣化料件的取放作業。 Thereby, whether the large material or the small material can be placed on the tray 171 and carried by the skip 17 , and the step of scanning the position of the tray can record the position of each tray 171, and then carry out and store the tray. The work can be handled in response to small and diverse materials.

如第4圖所示，值得一提的是，還可以在步驟(b)中，該控制器16被輸入一料盤數量上限，待產生各該位置資訊後，該控制器16判斷位置資訊是否超過該料盤數量上限；若是，則產生一錯誤訊息並暫停後續作業；若否則繼續進行步驟(c)。此外，步驟(b)中，該位置資訊係以陣列格式記錄在該控制器16，可以明確記錄各料盤的位置。 As shown in FIG. 4, it is worth mentioning that, in step (b), the controller 16 is input with an upper limit of the number of trays. After the position information is generated, the controller 16 determines whether the position information is Exceeding the upper limit of the number of trays; if so, an error message is generated and the subsequent operation is suspended; otherwise, step (c) is continued. Further, in the step (b), the position information is recorded in the array format in the controller 16, and the position of each tray can be clearly recorded.

另外，本發明還可以更配合一機械手臂(圖中未顯示)，該機械手臂電性連接該控制器16。在該上限位置和該下限位置之間還預定一取放位置；在步驟(c)中，進行出庫作業後還要再讓該控制器16控制該移動平台移動到該取放位置，再通知該機械手臂取料；當要進行入庫作業前，需先讓該控制器16控制該移動平台移動到該取放位置，並且讓該取放模組14拿取料盤171，待該機械手臂放料後通知該控制器16，再進行入庫作業。藉由搭配機械手臂，形成自動化上、下料系統。 In addition, the present invention can further cooperate with a mechanical arm (not shown) that is electrically connected to the controller 16. Between the upper limit position and the lower limit position, a pick-and-place position is further predetermined; in step (c), after the outbound operation, the controller 16 is further controlled to move the mobile platform to the pick-and-place position, and then notify the The robot arm takes the material; before the warehousing operation is performed, the controller 16 is first controlled to move the mobile platform to the pick-and-place position, and the pick-and-place module 14 is taken to take the tray 171, and the robot arm is discharged. The controller 16 is then notified and the warehousing operation is performed. By matching the robot arm, an automatic loading and unloading system is formed.

Claims

一種自動化倉儲的運作方法，係運用在一倉儲系統，該倉儲系統包含一料倉，具有一開口；一升降模組，設置在該料倉並位於該開口旁，該升降模組具有一移動平台和一馬達，該移動平台受該馬達驅動在一上限位置和一下限位置之間移動，且在該上限位置和該下限位置之間預訂一復歸位置；一載物座，固設在該移動平台；一取放模組係設置在該載物座，能夠從該開口進入該料倉內取放物體；一感測器，係設置在該載物座朝向該開口；一控制器，係電性連接該升降模組、該取放模組、該感測器；一料車，被置入該料倉內；複數料盤分別設置在該料車；該自動化倉儲的運作方法包含有下列步驟：(a)回到復歸位置：操作該控制器控制該升降模組，讓該馬達驅動該移動平台回到該復歸位置；(b)掃描料盤位置：該控制器控制該升降模組，讓該馬達驅動該移動平台移動，也帶動該載物座移動，途中，該感測器感測位在該料車上的各該料盤，該控制器記錄各該料盤位置記錄複數位置資訊；(c)出、入庫作業：當要進行出庫作業時，該控制器依據各該位置資訊控制該升降模組，讓該馬達驅動該移動平台移動到料盤位置後，再控制該取放模組取出料盤；當要進行入庫作業時，該控制器控制該取放模組拿取料盤，依據各該位置資訊控制該升降模組，讓該馬達驅動該移動平台移動到料盤位置後，再控制該取放模組放置料盤到該料車。 An automated storage operation method is applied to a storage system, the storage system comprising a silo having an opening; a lifting module disposed at the silo and located adjacent to the opening, the lifting module having a mobile platform and a motor, the mobile platform is driven by the motor to move between an upper limit position and a lower limit position, and a reset position is reserved between the upper limit position and the lower limit position; a carrier is fixed on the mobile platform; a pick-and-place module is disposed in the carrier, and can enter and receive the object from the opening; a sensor is disposed on the carrier facing the opening; a controller is electrically connected The lifting module, the pick-and-place module, the sensor; a skip is placed in the silo; the plurality of trays are respectively disposed in the skip; the automated storage operation method comprises the following steps: a) returning to the reset position: operating the controller to control the lift module to cause the motor to drive the mobile platform back to the reset position; (b) scanning the tray position: the controller controls the lift module to allow the motor Drive the move The movement of the table also drives the movement of the carrier. During the process, the sensor senses each of the trays located on the skip, and the controller records the position information of each of the trays; (c) exiting and storing Homework: When the warehouse operation is to be performed, the controller controls the lifting module according to each position information, so that the motor drives the mobile platform to move to the tray position, and then controls the pick-and-place module to take out the tray; When performing the warehousing operation, the controller controls the pick-and-place module to take the tray, and controls the lifting module according to the position information, so that the motor drives the moving platform to move to the tray position, and then controls the pick-and-place module. The group places the tray to the skip.

依據申請專利範圍第1項之自動化倉儲的運作方法，步驟(b)中，該移動平台係從該復歸位置移動至該上限位置或該下限位置。 According to the operation method of the automated storage according to the first aspect of the patent application, in the step (b), the mobile platform moves from the reset position to the upper limit position or the lower limit position.

依據申請專利範圍第1項之自動化倉儲的運作方法，步驟(b)中，該控制器被輸入一料盤數量上限，待產生各該位置資訊後，該控制器判斷位置資訊是否超過該料盤數量上限；若是，則產生一錯誤訊息並暫停後續作業；若否則繼續進行步驟(c)。 According to the operation method of the automated warehousing in the first application of the patent scope, in the step (b), the controller is input with an upper limit of the number of trays. After the position information is generated, the controller determines whether the position information exceeds the tray. The upper limit; if yes, an error message is generated and the subsequent job is suspended; otherwise, step (c) is continued.

依據申請專利範圍第1項之自動化倉儲的運作方法，步驟(b)中，該位置資訊係以陣列格式記錄在該控制器。 According to the operation method of the automated warehousing according to item 1 of the patent application, in step (b), the position information is recorded in the array format in the controller.

依據申請專利範圍第1項之自動化倉儲的運作方法，更配合一機械手臂，該機械手臂電性連接該控制器；在該上限位置和該下限位置之間還預定一取放位置；在步驟(c)中，進行出庫作業後還要再讓該控制器控制該移動平台移動到該取放位置，再通知該機械手臂取料；當要進行入庫作業前，需先讓該控制器控制該移動平台移動到該取放位置，並且讓該取放模組拿取料盤，待該機械手臂放料後通知該控制器，再進行入庫作業。 According to the operation method of the automated warehousing according to claim 1, the robot arm is electrically connected to the controller; and a pick-and-place position is predetermined between the upper limit position and the lower limit position; c), after performing the unloading operation, the controller is further controlled to move the mobile platform to the pick-and-place position, and then the robot arm is notified to take the material; before the warehousing operation is performed, the controller is required to control the movement first. The platform is moved to the pick-and-place position, and the pick-and-place module is taken to take the tray, and the controller is notified after the robot arm is discharged, and then the storage operation is performed.