JP2005138956A - Goods input method in automatic warehouse - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a goods input method in an automatic warehouse, in which the utilization factor of storage space can be improved even when empty space is generated due to output as output is increasing, and in which even a load of load width size larger than the load widthwise size of the empty space can be inputted in emergency. <P>SOLUTION: A plurality of loads to be stacked on a shelf based on input commands are stacked in order at a prescribed interval (n) by forward loading from one column PL2. Regarding the shelf where empty space is generated due to output based on output commands, the loads are stacked in the empty space in a case where the load widthwise size L4 of the empty space is larger than the load width size (w) of the load to be stacked. In a case where total load widthwise size of all the space usable for stacking loads including the empty space in the shelf is larger than the load width size of the load to be stacked, the loads on the shelf are re-stacked to be forward loaded, so that the space is eliminated, and the load is then inputted to the shelf. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to an warehousing method in an automatic warehouse in which loads are loaded into and unloaded from a loading shelf by a transfer device that travels in a direction crossing the front of a plurality of loading racks from a loading / unloading station based on a command from a control device. About.

  In an automatic warehouse that loads and unloads cargo to and from the loading rack using a transfer device, when loading the cargo into the loading rack partitioned by two struts, the load that has various widths sequentially from one strut Since the empty space of the last remaining cargo rack varies from one rack to another and it is not determined how much of the load width size can be received, the conventional load width Items of almost the same size are grouped into several groups, and the load of the same group is placed on the load shelf so as to eliminate the empty space of the load shelf, thereby effectively using the storage space (Patent Document 1). reference).

JP 2002-120993 A (paragraph 0040, FIG. 5)

  However, because the loading method described above has different loading shelves depending on the load width size, for example, when a large number of loads in a specific group must be received due to circumstances, Only the shelves of the predetermined area to be placed are used, and the other shelves are loaded with a small amount of loads other than that specific group, so a lot of free space remains, and the effective use of the storage space is necessarily achieved It was not always there.

  For this reason, the applicant manages the empty space, so that the storage space can be placed in order from one column to the next without regard to the load width size. We developed a method for receiving goods in an automated warehouse that aims to make effective use of. However, even if this improved warehousing method is adopted, when the number of warehousing increases to some extent, it is inevitable that each shelf will have an empty space between the cargo due to the warehousing, and the utilization rate of the original storage space will be reduced. In addition, when goods having a load width dimension larger than the dimension in the load width direction of the empty space are to be received, it is necessary to search for a load rack having sufficient empty space, and such a load rack cannot be searched. Even if it is far from the loading / unloading station, it sometimes takes time to store.

  The present invention has been made in view of such a situation, and even when the number of outgoings increases and empty spaces are generated due to outgoings on each shelf, the utilization rate of the storage space can be improved and the load of the empty spaces can be improved. It is an object of the present invention to provide a warehousing method in an automatic warehouse capable of emergency warehousing even a load having a larger load width dimension than a width direction dimension.

In order to solve the above-mentioned problem, the storage method in the automatic warehouse according to claim 1 of the present invention is based on a command from the control device, and is transferred from the loading / unloading station in a direction crossing the front of a plurality of loading shelves. A loading method in an automatic warehouse that loads and unloads cargo to and from the loading shelf by the device, wherein each loading shelf is partitioned between a plurality of support columns standing in the traveling direction of the transfer device, and a loading command A plurality of loads placed on the load shelf are packed in order from one strut, with a predetermined interval between the struts and between the loads and the load. For load racks with space, if the dimension in the load width direction of the empty space is larger than the load width dimension of the load to be placed, place the empty space on the load shelf. The total dimensions in the width direction of all the spaces that can contain the load should be placed Is greater than the load width is characterized in that the receipts from the re-re-placed 該荷 shelf load so as to pack the space before packed state.
According to this feature, if it can be placed in an empty space, it can be placed directly in the empty space, or if there is a load shelf on which the load can be placed if the empty space is packed, the empty space is packed and the load is reloaded to the pre-packed state. Since an effective space was created by placing it again and the load was placed on the load shelf, the wasteful empty space formed between the load and the load was used so that an emergency receipt was required. There is no need to go far away from the exit station to enter a loading shelf with empty space.

The warehousing method in the automatic warehouse according to claim 2 of the present invention is the warehousing method in the automatic warehouse according to claim 1, wherein each time the load is loaded / unloaded and remounted, It is characterized in that the dimension in the load width direction of the empty space formed between the other struts and the dimension in the load width direction of the empty space are updated and stored as sequential data.
According to this feature, it is possible to easily select an optimal load shelf for a load to be stored based on the empty space formed between the load and the other support column and the dimension data in the load width direction of the empty space.

The storage method in the automatic warehouse according to claim 3 of the present invention is the storage method in the automatic warehouse according to claim 2, wherein the dimension data in the load width direction of the empty space is the distance between the columns and the load width dimension. And an arithmetic processing based on the amount of movement of the transfer device.
According to this feature, accurate empty dimension data can be calculated by taking into account the amount of movement of the transfer device.

A method for warehousing in an automatic warehouse according to claim 4 of the present invention is the warehousing method in an automatic warehouse according to any one of claims 1 to 3, wherein the side edge of the one column and the pre-packed load The load is sequentially placed at a predetermined interval by a detection means provided in the placement device for detecting the side edge.
According to this feature, it is possible to always form an accurate predetermined interval by providing the mounting device with the detecting means for detecting the side edge of one of the columns or the side edge of the previous load.

The automatic warehouse storage method according to claim 5 of the present invention is the automatic warehouse storage method according to any one of claims 1 to 4, wherein the predetermined interval is obtained by holding a load from a transfer device. It has the width | variety which can enter / exit the clamping arm provided in the transfer apparatus mounted on a load shelf or carried out.
According to this feature, loading and unloading of the load is easy because the predetermined intervals between the column and the load and the load and the load have a width that allows the holding arm provided in the transfer device to enter and exit. In addition, it is possible to efficiently load the cargo rack without leaving an excessive gap.

The warehousing method in the automatic warehouse according to claim 6 of the present invention is the warehousing method in the automatic warehouse according to any one of claims 1 to 5, wherein when a plurality of re-loadable loading racks are selected. It is characterized in that re-loading is performed on a load shelf closer to the loading / unloading station.
According to this feature, if the load shelf close to the loading / unloading station is remounted, the traveling distance of the transfer device can be shortened and efficiently loaded.

  Examples of the present invention will be described below.

  An embodiment of the present invention will be described with reference to the drawings. First, FIG. 1 is a side view of an automatic warehouse to which the warehousing method is applied, FIG. 2 is a plan view of the automatic warehouse to which the warehousing method is applied, and FIG. FIG. 4 is a partial plan view showing a relationship between a stacker crane and a load having different width dimensions placed on a load shelf, and FIG. 4 is a partial perspective view of an automatic warehouse where loading and unloading is performed by a stacker crane via a station. 5 is a detailed explanatory view of the stacker crane, FIG. 6 is a system configuration diagram from receiving the received load to receiving it into the automatic warehouse, and FIG. 7A is accommodated in the automatic warehouse loading rack. It is a table in which data such as position data or load width dimensions corresponding to registered code numbers of various loads is described, and (b) is a table of dimensions and empty dimension data in the load width direction of empty spaces corresponding to support numbers. . FIG. 8 is an explanatory view showing the storage state of the load shelf, and FIGS. 9A and 9B are views in which the dimension in the load width direction of the empty space formed in each storage shelf by the load delivery is based on the load width of the incoming load. FIGS. 10 (a) and 10 (b) are illustrations of the storage method when it is large, and the dimensions of the empty space formed in each storage shelf by the delivery of the load are narrower than the load width of the incoming goods, and the total empty dimensions 11 is an explanatory diagram of a storage method when the load is larger than the load width of the received goods, FIG. 11 is a flow chart of the incoming warehouse to the automatic warehouse related to the normal incoming goods instruction, and FIG. 12 is a flow chart of the incoming warehouse to the automatic warehouse related to the emergency incoming goods command is there.

  First, FIG. 1 shows an automatic three-dimensional warehouse 1 as an embodiment of the present invention, and this automatic three-dimensional warehouse (hereinafter referred to as “automatic warehouse 1”) has a plurality of loads as four transfer devices in the same configuration. The stacker cranes 2a, 2b, 2c, and 2d automatically store and store freely, and the automatic warehouse 1 has four stacker cranes 2a, 2b, 2c, and 2d sandwiched between them. A plurality of cargo racks 4a, 4b and 5a, 5b to 6a, 6b and 7a, 7b are arranged to face each other, and these cargo racks 4a, 4b and 5a, 5b to 6a, 6b and 7a, 7b are mutually facing. Each of them is constituted by a block unit, and each is called a storage shelf block 4, 5, 6, 7 and is constructed as a high-rise structure extending in the front-rear direction.

  At one end entrance side of these storage shelf blocks 4, 5, 6 and 7, loading / unloading stations for loading and unloading are provided respectively. In these loading / unloading stations, as shown in FIG. System controllers SC1, SC2, and SC3 that operate based on MC commands are provided. In addition, branch transfer devices 8a, 8b, and 8c branched from the transfer device 8 for carrying in / out the load C to be entered and shipped are arranged in the loading / unloading station up to a nearby position.

  On the other hand, the four stacker cranes 2a, 2b, 2c, and 2d are arranged so that the front surfaces of the cargo racks 4a and 4b, 5a and 5b, 6a and 6b, and 7a and 7b are opposed to each other according to instructions from the system controllers SC1, SC2, and SC3. Travel in the crossing direction, automatically travel in the shortest distance in the front-rear and up-down directions, stop positioning, and then load and unload.

  Next, the stacker crane 2a will be described in detail with reference to FIGS. This stacker crane 2a is used exclusively for the cargo racks 4a and 4b of the storage rack block 4, and is controlled to move based on a command from the system controller SC1, and faces the cargo racks 4a and 4b facing each other. A traveling carriage 14 that automatically travels on one rail R installed on the floor surface by a driving device (not shown) such as an inverter motor, and a pair of masts 15a and 15b that are erected before and after the traveling carriage 14, The moving table 10 is configured as a transfer device that stops moving up and down with respect to the masts 15a and 15b and loads and unloads the cargo shelves 4a and 4b.

  As shown in FIG. 5, the movable table 10 includes support bodies 16a and 16b that are guided and supported by a drive device such as an inverter motor so as to be movable up and down, and a support frame 18 that is horizontally supported between the support bodies 16a and 16b. A pair of frame bodies 20a and 20b that are arranged side by side on the upper surface of the support frame 18 and are erected and held so as to be capable of moving forward and backward simultaneously toward the center of the support frame 18, and supported by the frame bodies 20a and 20b. It is composed of plate-like sandwiching moving bodies 22a and 22b that serve as sandwiching arms that are perpendicular to the moving direction of the stacker crane 2a and simultaneously move forward and backward toward the opposite loading shelves 4a and 4b.

  Further, the stacker crane 2a is provided with, for example, an encoder as detection means for detecting the vertical movement distance of the moving base 10 and the front-back movement distance of the traveling carriage 14, and the distance data detected by these encoders is the system controller. Feedback is made to SC1.

  Similarly, the amount of movement that moves forward and backward toward the center of the pair of frame bodies 20a and 20b is also detected by the encoder, and the load width dimension is determined by holding the load between the frame bodies 20a and 20b. At the same time, and has the function of detecting the original positions of the sandwiching moving bodies 22a and 22b and the front and rear moving ends.

  On both sides of the movable table 10 facing the cargo racks 4a and 4b, optical sensors (columns and pillars) that detect the positions of the columns that partition the cargo racks 4a and 4b and the loads on the cargo racks 4a and 4b. It may be a device that only detects whether or not there is a load).

  On the other hand, as shown in FIG. 4, the cargo racks 4 a and 4 b to be loaded and unloaded by the stacker crane 2 a are arranged on both sides in the traveling direction of the stacker crane 2 a. The loading rack 4a is arranged on the left side with respect to the movement of the stacker crane 2a in the front-rear direction, the loading rack 4b is arranged on the right side, and the left loading rack 4a has columns PL2, PL3 in order from the column PL1 on the loading / unloading station side. In addition, the columns PR2 and PR3 are arranged in order from the column PR1 on the loading / unloading station side to the right loading shelf 4b, and the loading racks 4a-1, 4a-2, 4b-1, 4b-2,. Is divided between the columns.

  Loads 4a-1 store loads CR1, CR2, and CR3 having various load width dimensions with a predetermined interval n from one of the reference pillars PL1 in a front-packed state, and the last load CR3 It is calculated in the host computer MC whether the load CR4 to be stored in the empty space formed with the other column PL2 is larger or smaller than the width of the empty space (hereinafter referred to as empty dimension). When processed and stowable, the load CR4 is transferred from the stacker crane 2a by the moving table 10.

  In addition, the load width dimension as used in this invention is the load width of the direction along the front-back direction (movement direction of the traveling trolley | bogie 14) of a stacker crane, ie, the length of the load of the direction between pillars. Other dimensions of the load are also stored in the database of the host computer MC. For example, the calculation is performed to determine whether a tall load fits between the shelves, and the load is placed.

  Then, as shown in FIG. 4, the total load width including a predetermined interval between the loads CR5 and CR6 stored in the load rack between the next column PL2 and the other column PL3 in the load rack 4a-2 is calculated as the two columns PL2 and PL3. Even if the remaining vacant dimension subtracted from the dimension between them is larger than the load width of the new load CR4, loading the pallet 4a-1 with a program that prioritizes the vacant space in the shed near the loading / unloading station The CR4 can be placed, and the travel distance of the stacker crane 2a can be shortened for efficient loading and unloading.

  Next, the host computer MC and the system controllers SC1, SC2, SC3 constituting the control device of the present invention will be described.

  The host computer MC shown in FIG. 6 has a CPU for executing various calculations and controls, and a ROM (read only memory) in which a control program is stored. As various data, for example, FIG. The type of loaded goods shown in (CR is a part, for example), dimensional data such as width dimensions, the number of storage rack blocks (4, 5, 6, 7), the number of stages, and from which column Further, data such as the order of the front-filling position is accumulated for each shipment code (for example, 00001, 00002, 00003... 0000N). For example, it is understood that the load code 00001 is a CR1 part having a load width dimension of 500 mm, and is currently stored first from the column PL1 in the fourth stage of the fourth storage shelf block.

  The predetermined interval n formed between the loads is set as a necessary width dimension formed on both sides of the load so as to load and unload the load into the load shelf 4b by the sandwiching moving bodies 22a and 22b. And the load stored in each load shelf is the last loaded load that is sequentially placed in a front-packed manner while forming a predetermined interval n with reference to each one of the columns (for example, the PL1 side in FIG. 4). The vacant dimension P formed between the end and the other strut is calculated by subtracting the total dimension M of the load width and the total N of the predetermined interval from the inner dimension S between the struts, and is continuously updated to the host computer MC. Registered and saved.

  The cargo stored in each loading rack in the automatic warehouse of the present invention is managed to be stored so that it is sequentially placed in a front-packed manner with reference to one of the columns (for example, the loading / unloading station side). The loads to be loaded are sequentially stored in an empty space formed between the end of the last load that is sequentially placed in the pre-packing and the other end strut. Thereafter, empty spaces are created in the cargo racks in which several loads are delivered and arranged in a front-packed state.

  In the present invention, the load width dimension of the load is detected in such a manner that the load shelf in which the empty space is generated by the delivery instruction is detected and the dimension in the load width direction of the empty space (hereinafter simply referred to as the empty space dimension) is desired to be received. If it is larger, it will enter the empty space, and if the empty space size is too small to enter, the shelf will be rearranged in the front-packed state to create an empty size between the other column and enter the warehouse. I have to. Needless to say, if the empty dimension is larger than the load width dimension without searching for an empty space or rearranging it to the front-packed state, the goods will be stored in the normal front-packed state.

  For this purpose, an empty space dimension and empty dimension data table corresponding to the column numbers shown in FIG. This table is a table showing a part of the arrangement state of the load in FIG. 8. For example, the table is partitioned by the columns PL1 and PL2 of the sixth storage shelf block (abbreviated as PL1-2 for short). The load code of 00011,00013 is stored in the first shelf from the bottom, indicating that the empty space dimension (L1) is 500 mm and the empty dimension is 200 mm.

  And the empty space dimension and the empty dimension are zero (except for the predetermined interval n) in the third shelf from the bottom divided by the columns PL1 and PL2, and four loads are pre-packed in this shelf. You can see that they are stored together. In addition, the first shelf from the bottom divided by the pillars PL2 and PL3 contains only one cargo number 0,030, which is 1500 mm when combined with an empty space dimension (L3) of 900 mm and an empty dimension of 600 mm. It can be seen from this table. A large storage space is secured on the right side when the load on the shelf is packed to the left and rearranged.

  On the other hand, the system controllers SC1, SC2, and SC3 are terminal control devices that control the storage shelf blocks 4, 5, 6, and 7 based on instructions issued from the host computer MC.

  Therefore, for example, based on FIG. 4 and FIG. 6, the system controller SC1 that has received an instruction from the host computer MC to load the load CR4 into the load shelf 4a-1 confirms the load CR4 transported to the loading / unloading station. And a conveyance instruction is given to the empty space position of the cargo rack 4a-1 designated to the controller of the stacker crane 2a. The stacker crane 2a that has received the instruction moves in the shortest distance toward the column that serves as a reference for the load shelf. Next, the stacker crane 2a is horizontally moved forward from the reference column (PL1 in FIG. 4) and stopped at the front of the empty space position to be stored, and the sandwiching moving bodies 22a and 22b are moved forward to move. The load CR4 on the table 10 is stored in the corresponding empty space. After the load CR4 is stored, the moving platform 10 returns to the loading / unloading station, and the moving history including the moving path is stored in the host computer MC via the system controller SC1.

  Conversely, when the system controller SC1 receives a command from the host computer MC to issue the load CR2 to the load shelf 4a-1, the stacker crane 2a moves toward the reference column of the load shelf, and the front surface of the load CR2 Then, the load is moved from the load shelf 4a-1 to the loading table 10, and returned to the loading / unloading station. The movement history including the movement route is stored in the host computer MC via the system controller SC1. At this time, an empty space is formed where the load CR2 is present. When there is loading / unloading in units of these partitioned shelves, the vacant space dimensions and vacant dimensions change, and are updated and registered in the host computer MC and stored and managed each time.

  Next, referring to FIGS. 9 and 10, an explanation will be given of a loading method for locating a load shelf having a vacant space dimension or a total vacant dimension corresponding to the load width of the loaded goods so that it can be urgently stored. . FIG. 9A shows a state before loading the load number 0950 into the third load shelf from the bottom of the column number PL2-3 in FIG. 8, and the load width w of the load number 0050 is 480 mm and the empty space dimension. Since L4 is 600 mm, it is possible to load the empty space as it is, and the result is as shown in FIG. 9B.

  On the other hand, FIG. 10A shows a state before loading the load number 0660 in the same load shelf, and the load width w ′ of the load number 0660 is 620 mm, and the free space dimension L4 is 600 mm. It is not possible to put the load in the position. In this case, the load number 0402 and the load number 0405 are pre-packed after the load number 0388 to create a space having a total empty dimension of 1100 mm, which is a sum of the empty space dimension L4 and the empty dimension 500 mm. When the load is stored, four loads are stored in a state as shown in FIG.

  This makes it possible to store in a storage rack with a large vacant dimension or a storage rack close to the storage station without searching for a storage rack that has no storage, so it is convenient when you want to store the load urgently. In addition to this, it is possible to effectively use the space of the partially unloaded cargo rack.

  Next, a normal warehousing method for warehousing goods in an automatic warehouse will be described in detail based on the flowchart of FIG.

  First, in step ST1, the barcode (ID) of the load C received from the outside is read by the reader 12 to check the type (for example, parts or food), and at the same time, various data are taken into the host computer MC. In step ST2, important data such as a load width dimension in the process of transporting the load C shown in FIG. 6 is measured by a measuring device (not shown) and recorded in the host computer MC in association with the load code.

  Next, in step ST3, it is determined whether or not there is a load shelf having an empty space (space that can be pre-packed) in which the received load C can be stored. If there is no load shelf, the load is waited until an empty space is formed, If there is a load shelf having the corresponding empty space, the corresponding load shelf position is instructed by a command from the host computer MC in step ST4.

  In step ST5, it is determined whether or not the load C transported to the loading / unloading station matches the barcode of the load to be stored in the empty space in the loading rack of the corresponding storage rack block.

  Next, in step ST6, in response to a command from the system controller, the traveling cart of the stacker crane is moved in the front-rear direction, and at the same time, the moving platform is moved in the up-down direction to move to the corresponding empty space on the cargo rack at the shortest distance. To do.

  When moving the stacker crane toward an empty space, in step ST7, after moving to the reference column of the corresponding load rack, the distance that the load should be stored by the traveling carriage on the moving table that holds the load from this support column Just move horizontally. The horizontal movement distance to the empty space at the center of the moving table is the distance from the reference column to the end of the last empty space on the side of the empty space, a predetermined interval n and a dimension that is 1/2 of the load width of the load to be stored. It becomes the distance which added.

  In step ST8, when the load from the stacker crane is stored in the corresponding empty space on the load shelf, the position and the load code are fed back to the host computer MC, the database is rewritten, and the empty dimensions are recalculated and stored. Is done.

  Thus, according to the storage method in the automatic warehouse as the present embodiment, the empty space information of the load rack is sequentially updated and stored as empty dimension information formed between the load and the other support column. If the size is smaller than this empty size, the load can be sequentially prepended and the storage space can be used effectively.

  Further, if the vacant dimension data is calculated based on the distance between the struts, the load width dimension, and the amount of movement of the stacker crane 2a from the strut whose one reference is the reference, the actual movement amount of the stacker crane 2a is obtained. Feedback is reflected on the host computer MC, and accurate vacancy size data can be calculated.

  Furthermore, by detecting the side edge of one of the columns and the side edge of the load with a detection device provided on the moving platform 10 of the stacker crane 2a, the load can be sequentially loaded so that an accurate predetermined interval n is formed. .

  When the load is stored in the load shelf, a predetermined interval is formed on both sides of the load. The predetermined interval is determined by the sandwiching moving bodies 22a and 22b for holding the load and placing it on the load shelf. It is possible to enter and exit, and the load can be easily and efficiently stored in the load shelf.

  In addition, a plurality of loads placed on the load shelf are controlled so as to be sequentially loaded from the load shelf close to the loading / unloading station, so that the travel distance of the stacker crane 2a can be shortened and efficiently loaded. be able to.

  Next, description will be made based on the flowchart of FIG. First, in step ST11, it is searched whether there is a load shelf having an empty dimension larger than the load width size of the load to be received. If there is such a load shelf, in step ST12, the stacker crane is connected to the stacker crane via the system controller. Instructing goods storage to have empty dimensions.

  If such a load shelf does not exist, it is searched in step ST13 whether or not there is a load shelf having an empty space size larger than the load width size of the load to be received. If there is such a load shelf, the process goes to step ST12. The stacker crane is instructed to enter the cargo rack having the empty space size via the return system controller.

  If there is no corresponding load shelf in step ST13, the process proceeds to step 14, and this time, it is searched whether there is a load shelf whose sum of the empty space size and the empty size is larger than the load width size of the load to be received. For example, in step ST15, the stacker crane is instructed to pre-pack the load shelf, and in step 16, after confirming the pre-pack work, the process proceeds to step 17 to instruct the storage of the load shelf pre-packed in the stacker crane.

  When there is no corresponding load shelf in step 14, the process proceeds to step 18 to instruct the stacker crane to enter a new load shelf where no load is placed. When the warehousing instruction is completed in step 12, step 17 and step 18 and the arrangement state of the load is changed, the empty dimension of the shelf is newly recalculated in step 19 and updated and stored in the control device.

  As described above, according to the emergency storage method in the automatic warehouse according to the present embodiment, nothing is placed by using the empty space that can be generated by this output or the empty space that can be generated between the other struts and the cargo by front-entry storage. It is possible to enter a loading shelf that is already in use near the loading / unloading station without loading into a new loading shelf.

  As described above, the embodiments of the present invention have been described with reference to the drawings. However, the specific configuration is not limited to these embodiments. For example, when loading a load into a load shelf, the embodiment uses a stacker crane as a reference. Although it was made to run to a support | pillar and moved horizontally from there, you may drive | work to an empty space directly according to the instruction | indication from a host computer. In addition, the movement result detected by the encoder of the stacker crane is fed back to the host computer to recalculate the empty dimension value, but it is also possible to process only with the dimension obtained from the load width dimension and the predetermined interval n. It is. Moreover, you may use other well-known conveying apparatuses other than a stacker crane as a load transfer means.

It is a side view of the automatic warehouse where the warehousing method in the Example of this invention is applied. It is a top view of the automatic warehouse where the storage method in an Example is similarly applied. It is a fragmentary perspective view of the automatic warehouse where loading / unloading is performed by a stacker crane via a loading / unloading station. It is a fragmentary top view which shows the relationship between a stacker crane and the load from which the width dimension mounted in the load shelf differs. It is a detailed explanatory view of a stacker crane. It is a system block diagram from receipt of the received load to receipt in an automatic warehouse. (A) is a table in which position data corresponding to registered code numbers or data such as load width dimensions of various loads accommodated in a load rack of an automatic warehouse is described, and (b) is a vacant space corresponding to a pillar number. It is the dimension of the width direction of a space, and an empty dimension data table. It is explanatory drawing which showed the storage condition of the load shelf. (A), (b) is explanatory drawing of the storage method in case the empty space dimension formed in each storage shelf by delivery of a load is larger than the load width of an incoming load. (A), (b) is explanatory drawing of the storage method when the empty space dimension formed in each storage shelf by delivery of a load is narrower than the load width of an incoming load, and a total empty dimension is larger than the load width of an incoming load. is there. It is a flowchart from receipt of the received load to receipt in an automatic warehouse. It is a warehousing flow figure to the automatic warehouse concerning an emergency warehousing instruction.

Explanation of symbols

1 Automatic warehouse (automatic three-dimensional warehouse)
2a-2d Stacker cranes 4-7 Storage rack blocks 4a, 4b Cargo racks 4a-1, 4a-2 Cargo racks 4b-1, 4b-2 Cargo racks 5a, 5b Cargo racks 6a, 6b Cargo racks 7a, 7b Cargo shelf 8 Transport device 8a, 8b, 8c Branch transport device 10 Moving table (transfer device)
12 Reader 14 Traveling cart 15a, 15b Mast 16a, 16b Support 18 Support frame 20a, 20b Frame body 22a, 22b Clamping moving body C, CR load CR1-CR6 Load ID Barcode L1-L4 Empty space size n Predetermined interval MC Host Computers PL1 to PL3 Left column PR1 to PR3 Right column R Rail S Inside dimension SC1, SC2, SC3 System controller w, w 'Load width dimension

Claims (6)

  Based on the command of the control device, the loading method in the automatic warehouse that loads and unloads the load to or from the load shelf by the transfer device that runs in the direction crossing the front of the multi-stage load shelf from the loading and unloading station, Each of the load shelves is partitioned between a plurality of support columns standing in the traveling direction of the transfer device, and a plurality of loads placed on the load shelf according to the warehousing instruction are pre-packed from one support column, For load racks that are sequentially placed with a predetermined interval between them and between the loads, and that have been released by the delivery command and have generated empty spaces, the dimensions in the load width direction of the empty spaces are mounted. If it is larger than the load width dimension of the load to be loaded, the load is placed in the empty space, and the total dimension in the load width direction of all the spaces where the load including the empty space on the load rack can be loaded is If it is larger than the load width dimension, the load is refilled to the pre-packed state by filling the space. Receipt method in automatic warehouses, which comprises receipts from re-location in 該荷 shelf.   Each time the loading / unloading and re-loading of the load in the control device, the dimension in the load width direction of the empty space formed between the load and the other support column and the dimension in the load width direction of the empty space are sequentially used as data. The method for warehousing in an automatic warehouse according to claim 1, which is updated and stored.   The warehousing method in the automatic warehouse according to claim 2, wherein the dimension data in the load width direction of the empty space is calculated based on a distance between struts, a load width dimension, and a moving amount of the transfer device.   4. The load according to any one of claims 1 to 3, wherein the load is sequentially placed at a predetermined interval by a detection means provided in a transfer device that detects a side edge of the one column and a side edge of the pre-packed load. Receipt method in the automatic warehouse described in 2.   The said predetermined space | interval has the width | variety which can go in and out of the clamping arm provided in the transfer apparatus which hold | grips a load from a transfer apparatus and mounts or carries out to a load shelf. In the automatic warehouse described.   6. The loading / unloading management method in an automatic warehouse according to any one of claims 1 to 5, wherein when a plurality of re-loadable load shelves are selected, re-loading is performed on a load rack closer to the loading / unloading station.

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