JP2017088316A - Automatic warehouse system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent a fork lift accessing a station from interfering with a surrounding facility by simple structure in an automatic warehouse.SOLUTION: An automatic warehouse system has a rack, a ceiling rail, a station 101, and a carriage. The ceiling rail is arranged along the surroundings of the rack, a main track part 103, and a sub-track part 105 branching and joining from the main track part 103 are arranged in it. The station 101 is arranged along the sub-track part 105, can load cargoes on it, entrance/exit 101b extends to the main track part 103, and turns to a direction having an angle. A first stacker crane 11 travels by being guided to the ceiling rail, and has a front side carriage 13A and a rear side carriage 13B each having a branching mechanism. The front side carriage travels on the sub-track part 105, the rear side carriage travels on the main track part 103, and the front side carriage and the rear side carriage stop at positions approaching the station 101 in a state of branching into the sub-track part 105 and the main track part 103 and transfer the cargoes between the station 101 and themselves.SELECTED DRAWING: Figure 18

Description

  The present invention relates to an automatic warehouse system, and more particularly to an automatic warehouse system having a rack and a station on which articles are placed.

  The automatic warehouse has a rack having a plurality of shelves, a station arranged in the vicinity of the rack, and a stacker crane that travels around the rack. A station is a luggage placement place for delivering and receiving luggage to and from a stacker crane. At the time of warehousing, for example, a forklift carries a load into the station, and then a stacker crane transports the load to a rack shelf. At the time of delivery, the stacker crane conveys the load to the station, and then the forklift unloads the load from the station (see, for example, Patent Document 1).

Japanese Utility Model Publication No. 06-20307

In an automatic warehouse such as that shown in Patent Document 1, the rack extends long in one direction in plan view, and the station is disposed on the outer side in the extension direction of the end of the rack in the extension direction. In addition, a safety fence is provided at the end of the stacker crane passage in the extension direction so that an operator cannot enter the passage. With this arrangement, the station is close to the safety fence. Therefore, the safety fence may become an obstacle when the forklift approaches the station.
In order to solve this problem, the automatic warehouse described in Patent Document 1 is provided with a rail for moving the station in a direction away from the safety fence. When the forklift delivers the station and the load, an operator can move the station to a position away from the safety fence using the rail. Therefore, when the forklift accesses the station, the safety fence does not interfere with the forklift.
However, since the rail for moving said loading / unloading station needs to be provided as special equipment, the cost becomes high.

  An object of the present invention is to prevent interference between, for example, a forklift accessing a station and surrounding equipment with a simple structure in an automatic warehouse.

  Hereinafter, a plurality of modes will be described as means for solving the problems. These aspects can be arbitrarily combined as necessary.

An automated warehouse system according to an aspect of the present invention includes a rack, a track, a station, and a transport vehicle.
The rack has a plurality of shelves on which luggage can be placed.
The track is arranged along the periphery of the rack, and has a main track portion and a sub track portion that branches off from the main track portion and further merges.
The station is arranged along the sub track part and can place a load, and the entrance or exit port with respect to the outside is oriented in a direction having an angle with respect to the direction in which the main track part extends.
The conveyance vehicle is a mechanism that travels while being guided by a track, and includes a front carriage and a rear carriage each having a branching mechanism. One of the front carriage and the rear carriage travels on the sub track section, and the other can travel on the main track section. The transport vehicle has a front carriage and a rear carriage divided into a main track portion and a sub track portion or divided into a sub track portion and a main track portion, and loads a baggage between the stations while stopping at a position close to the station. Transfer.

  In this system, the station is arranged along the secondary track portion and can load a load. Therefore, the station is arranged near the secondary track portion, but away from the safety fence, for example. In addition, the station is directed in a direction in which the entrance or exit port with the outside has an angle with respect to the direction in which the main track portion extends. Accordingly, the path of the forklift and the track and / or the safety fence can be separated from each other. As a result, interference between, for example, a forklift that accesses the station and a safety fence is prevented. This makes it easier for the forklift to access the station.

A plurality of sub track portions may be provided with respect to the main track portion. The station is provided corresponding to the sub orbit part.
In this system, a plurality of sub track portions are provided for the main track portion, and a station is provided for each. The stations are arranged in a staircase pattern by being arranged obliquely with respect to the main track portion. Thereby, a plurality of forklifts can access a plurality of stations simultaneously.

The secondary track section has a curved track and a straight track,
There are multiple front and rear trolleys,
At least one of the front trolley and the rear trolley may stop on a straight track when the transport vehicle is transferring a load to or from the station.
In this system, at least one of the front trolley and the rear trolley stops on the straight track of the sub track. That is, both the front and rear trolleys stop at the straight portion. Therefore, even if an error occurs in the stop position, the angle of the transport vehicle with respect to the station does not change greatly. Therefore, the load transfer accuracy is improved.
The secondary track section has a curved track and a straight track,
The center of one of the front carriage and the rear carriage may be stopped on a straight track when the transport vehicle is transferring a load to or from the station.

A plurality of stations may be arranged with respect to the sub track portion.
In this system, for example, a pair of stations are arranged on both sides in the traveling direction of the protruding portion of the sub track portion. In this way, the number of stations can be increased.

  The automatic warehouse system according to the present invention can prevent interference between, for example, a forklift that accesses a station and surrounding equipment with a simple structure.

1 is a schematic plan view of an automatic warehouse system as one embodiment of the present invention. The schematic front view of the automatic warehouse of an automatic warehouse system. The schematic plan view of a 1st stacker crane. The schematic plan view of a 2nd stacker crane. The perspective view of a 1st stacker crane. The perspective view of the upper part of a 1st stacker crane. The perspective view of a 2nd stacker crane. The perspective view of the upper part of a 2nd stacker crane. The schematic sectional drawing which shows schematic structure of a drive trolley | bogie. The perspective view of a drive trolley | bogie. The front view of a drive trolley | bogie. The side view of a drive trolley | bogie and a 1st bogie structure. The schematic side view which shows schematic structure of a 1st bogie structure. The schematic side view which shows schematic structure of a 2nd bogie structure. The perspective view of the linear structure of a ceiling rail. The perspective view of the branch part of a ceiling rail. The schematic plan view which shows typically the branch operation | movement of a drive trolley. It is the elements on larger scale of FIG. 1, and is a figure which shows the planar positional relationship of a sub orbit part and a station. The elements on larger scale of FIG. The side view of a station. The block diagram which shows the control structure of an automatic warehouse. The figure which shows the shape of a sub orbit part in 2nd Embodiment. The figure which shows the planar positional relationship of a sub orbit part and a station in 3rd Embodiment. The elements on larger scale of FIG. The figure which shows the planar positional relationship of a sub orbit part and a station in 5th Embodiment.

1. 1st Embodiment (1) Automatic warehouse system The automatic warehouse system 1 is demonstrated using FIG.1 and FIG.2. FIG. 1 is a schematic plan view of an automatic warehouse system as one embodiment of the present invention. FIG. 2 is a schematic front view of the automatic warehouse of the automatic warehouse system.

  The automatic warehouse 3 of the automatic warehouse system 1 has a plurality of racks 5. The rack 5 has a plurality of shelves 5a. In FIG. 1, the plurality of racks 5 extend in the left-right direction and are arranged in parallel. As shown in FIG. 2, the shelf 5 a can store the collection shelf member 25. Note that the shelf 5a can also store, for example, a product storage box 28 containing a dozen products using the pallet P. The container 23 is also referred to as a case or a bucket, and is a member that can store a product. The collection shelf member 25 is also called a carrier and can store a plurality of containers 23. The collection shelf member 25 has a shelf structure having a plurality of stages of support portions. The number of containers that can be stored in the collection shelf member 25 and the structure of the collection shelf member 25 are not particularly limited. However, the bottom surface of the collection shelf member 25 has the same structure as the bottom surface of the pallet P, and is thereby supported and transported by the first stacker crane 11. Further, in FIG. 1, the alphabet P is a palette P.

The automatic warehouse 3 has a ceiling rail 7 (an example of a track) provided along the rack 5.
The height position of the ceiling rail will be schematically described. The ceiling rail 7 is disposed above the passage 5 b between the racks 5. The ceiling rail 7 is provided at a position higher than the rack 5, that is, at a position higher than the uppermost portion of the multi-stage shelf 5 a.
The layout of the ceiling rail 7 will be schematically described. The ceiling rail 7 has a plurality of orbits. The orbit is disposed along the periphery of the rack 5 and includes a main track portion 103 and a sub track portion 105 that branches off from the main track portion 103 and further merges.

The automatic warehouse 3 has two types of stacker cranes, that is, a first stacker crane 11 and a second stacker crane 17. In FIG. 1, one first stacker crane 11 and one second stacker crane 17 are shown, but the number of each is not particularly limited.
The first stacker crane 11 travels along the ceiling rail 7. As shown in FIG. 2, the first stacker crane 11 is a suspended stacker crane that travels in a state of being suspended from the ceiling rail 7. The first stacker crane 11 drives and branches using the ceiling rail 7. As shown in FIG. 2, a lower guide rail 18 may be provided to support the lower side of the first stacker crane 11. For example, the lower guide rail 18 is provided in a straight path portion on the front surface of the rack in the passage 5b.

  As shown in FIG. 3, the first stacker crane 11 has a plurality of drive carts 13 arranged in the traveling direction (indicated by white arrows). In this embodiment, eight drive carts 13 are provided. FIG. 3 is a schematic plan view of the first stacker crane.

The second stacker crane 17 travels along the ceiling rail 7. As shown in FIG. 2, the second stacker crane 17 is a suspended stacker crane, and travels while being suspended from the ceiling rail 7. As shown in FIG. 4, the second stacker crane 17 has a plurality of drive carts 13 arranged in the traveling direction. The drive cart 13 of the second stacker crane 17 has the same structure as the drive cart 13 of the first stacker crane 11. In this embodiment, four drive carts 13 are provided. That is, the number of drive carts 13 of the second stacker crane 17 is smaller than the number of drive carts 13 of the first stacker crane 11. FIG. 4 is a schematic plan view of the second stacker crane.
The second stacker crane 17 has a second transfer device 21 that is suspended from the plurality of drive carriages 13 so as to be lifted and lowered. The second transfer device 21 can transfer the container 23.

As described above, the first stacker crane 11 and the second stacker crane 17 travel on the same track. The reason why this is possible is that the track is shared by modularizing the traveling mechanism.
The first stacker crane 11 and the second stacker crane 17 realize correspondence to loads having different weights by changing the number of drive carts. In other words, by adopting a structure in which the same type of drive cart is used and the number of them is different, two types of stacker cranes that can load loads having different weights can travel on the same track. As a result, a low-cost automatic warehouse 3 is realized.

(2) First Stacker Crane The first stacker crane 11 will be described with reference to FIGS. 5 and 6. FIG. 5 is a perspective view of the first stacker crane. FIG. 6 is a perspective view of the upper portion of the first stacker crane.
As shown in FIG.5 and FIG.6, the eight drive trolley | bogies 13 are arrange | positioned along with the running direction. Further, the drive carriage 13 constitutes a first bogie structure 29 as shown in FIGS. 3 and 13. The first bogie structure 29 includes a first member 201 on which two drive carriages 13 adjacent to each other in the traveling direction are supported so as to be rotatable about a vertical axis.
The two drive carriages 13 are supported by the first bogie structure 29 so as to be rotatable with respect to the first member 201. With such a configuration, the first stacker crane 11 and the second stacker crane 17 can travel stably on the curve of the orbit. Details of the first bogie structure 29 will be described later.

The first stacker crane 11 has an upper base member 31 provided with a drive carriage 13. The upper base member 31 extends long in the traveling direction. The first stacker crane 11 further has a pair of masts 33 extending downward from both ends of the upper base member 31. The mast 33 extends to the vicinity of the ground. The pair of masts 33 are supported by pins with respect to the upper base member, and can swing in the traveling direction. With the structure described above, vibration suppression control and body weight reduction are realized.
The first stacker crane 11 has an elevating device 35 for elevating the first transfer device 15. The elevating device 35 includes an elevating table 37 supported by the mast 33 and an elevating unit 39 for elevating the elevating table 37. The first transfer device 15 is provided on the lifting platform 37. The elevating unit 39 is a known device including a motor, a belt, a guide roller, and the like.

In this embodiment, four drive trolleys 13 are arranged corresponding to the mast 33 on the front side in the traveling direction to constitute the front trolley 13A, and the four drive trolleys 13 are arranged on the rear side in the traveling direction. The rear carriage 13 </ b> B is configured by being arranged corresponding to the mast 33. In particular, the four drive carts 13 are arranged such that the center of the four drive carts 13 in the traveling direction corresponds to the mast 33. With the above configuration, the drive carriage 13 can uniformly support the load acting from the mast 33.
However, the number and arrangement of the drive carts 13 are not limited to the above embodiment.

(3) Second Stacker Crane The second stacker crane 17 will be described with reference to FIGS. 7 and 8. FIG. 7 is a perspective view of the second stacker crane. FIG. 8 is a perspective view of the upper portion of the second stacker crane.
As shown in FIG.7 and FIG.8, the four drive trolley | bogies 13 are arrange | positioned along with the running direction. Further, the drive carriage 13 constitutes a second bogie structure 41. The second bogie structure 41 includes a first member 301 on which two drive carriages 13 adjacent to each other in the traveling direction are supported so as to be rotatable about a vertical axis.
The two drive carriages 13 are rotatably supported with respect to the first member 301 by the second bogie structure 41. With such a configuration, the first stacker crane 11 and the second stacker crane 17 can travel stably on the curve of the orbit. Details of the second bogie structure 41 will be described later.

The basic structure of the second stacker crane 17 and the structure of the lifting device are the same as those of the first stacker crane 11, but have different points to cope with different loads. Specifically, in the base structure and the lifting device of the second stacker crane 17, each member is smaller and lighter than those of the first stacker crane.
In this embodiment, two drive carriages 13 are arranged corresponding to the mast 33 on the front side in the traveling direction, and two drive carriages 13 are arranged corresponding to the mast 33 on the rear side in the running direction. Yes. In particular, the two drive carts 13 are arranged such that the center of the two drive carts 13 in the traveling direction corresponds to the mast 33. With the above configuration, the drive carriage 13 can uniformly support the load acting from the mast 33.
However, the number and arrangement of the drive carts 13 are not limited to the above embodiment.

(4) Drive Cart The drive cart 13 will be described with reference to FIGS. FIG. 9 is a schematic cross-sectional view showing a schematic configuration of the drive carriage. FIG. 10 is a perspective view of the drive carriage. FIG. 11 is a front view of the drive carriage. FIG. 12 is a side view of the drive carriage and the first bogie structure. In the following description, the direction orthogonal to the traveling direction is referred to as “left-right direction”.

If it demonstrates schematically using FIG. 9, the drive cart 13 has the linear motor 49 which consists of a coil facing the permanent magnet 47 provided in the ceiling 69 side. Specifically, the permanent magnet 47 is fixed to the support member 67 and is fixed to the lower surface of the plate 68 extending in the traveling direction. The drive carriage 13 has a power receiving coil 51 at a position provided on the ceiling rail 7 and facing the non-contact power supply line 50. Further, the drive carriage 13 has traveling wheels 53. The traveling wheel 53 is placed on a traveling wall 65 a (described later) of the ceiling rail 7.
The drive carriage 13 will be described in more detail with reference to FIGS. The drive carriage 13 has a guide roller 55. The guide roller 55 is guided by an inner surface of a side wall 65b (described later) of the ceiling rail 7. In this embodiment, a pair of guide rollers 55 are provided side by side in the traveling direction, for a total of four.

The drive carriage 13 has a branch / merging switching device 57. The branching / merging switching device 57 is a device for selecting a travel route at a branching / merging point in a circular track. The branch / merging switching device 57 includes a switching roller 59. In this embodiment, a pair of switching rollers 59 are provided side by side in the traveling direction, and a total of four are provided. The switching roller 59 is disposed above the guide roller 55. The distance between the switching rollers 59 in the left-right direction is shorter than the distance between the guide rollers 55 in the left-right direction. The switching rollers 59 are connected to each other by a plate 61, and the plate 61 can slide in the left-right direction. The branching / merging switching device 57 has a motor 63 that generates power for slidingly driving the plate 61.
As described above, each of the drive carts 13 is provided with the power receiving coil 51, the switching roller 59, and the linear motor 49, so that it is easy to cope with an increase or decrease in the number of drive carts. Further, since each drive carriage can be controlled, the control becomes easy and accurate.

(5) Bogie Structure The first bogie structure 29 will be described in detail with reference to FIG. FIG. 13 is a schematic side view showing a schematic configuration of the first bogie structure.

The first bogie structure 29 has a first member 201 on which a drive carriage shaft 13a extending downward from the drive carriage 13 is rotatably supported. The lower end of the drive carriage shaft 13a is rotatably supported by the first member 201, and supports the load of the first member 201. The first member 201 extends in the traveling direction, and the drive carriage shaft 13a is rotatably supported at both ends in the traveling direction. That is, the first member 201 supports the pair of drive carriages 13 so as to be rotatable. In this way, in the first stacker crane 11, the first stage bogie structure 205 is realized for each drive carriage 13, and the total number is eight.
Further, the first bogie structure 29 has a second member 203 on which a first shaft 201a extending downward from the first member 201 is rotatably supported. The lower end of the first shaft 201a is rotatably supported by the second member 203 so as to support the load of the second member 203. The second member 203 extends in the traveling direction, and the first shaft 201a is rotatably supported at both ends in the traveling direction. That is, the second member 203 supports the pair of first members 201 so as to be rotatable.
Thus, in the 1st stacker crane 11, the 2nd stage bogie structure 207 is realized for every 1st member 201, and the number is four in total.

Further, the first bogie structure 29 has support portions 31a at which both ends of the upper base member 31 in the traveling direction are rotatably supported by a second shaft 203a extending downward from the second member 203. The lower end of the second shaft 203a is rotatably supported by the support portion 31a, and supports the load of the support portion 31a. That is, the support portion 31a supports the pair of second members 203 so as to be rotatable. In this manner, in the first stacker crane 11, the third stage bogie structure 209 is realized for each second member 203, and the total number is two.
In the above structure, the second shaft 203a on the front side in the traveling direction is the center in the traveling direction of the front carriage 13A. The second shaft 203a on the rear side in the traveling direction is the center in the traveling direction of the rear carriage 13B.

  The 2nd bogie structure 41 is demonstrated in detail using FIG. FIG. 14 is a schematic side view showing a schematic configuration of the second bogie structure.

  The second bogie structure 41 includes a first member 301 on which a drive carriage shaft 13a extending downward from the drive carriage 13 is rotatably supported. The lower end of the drive carriage shaft 13a is rotatably supported by the first member 301 so as to support the load of the first member 301. The first member 301 extends in the traveling direction, and the drive carriage shaft 13a is rotatably supported at both ends in the traveling direction. That is, the first member 301 supports the pair of drive carriages 13 so as to be rotatable.

In this way, in the second stacker crane 17, the first stage bogie structure 305 is realized for each drive carriage 13, and the total number is four. That is, the number of bogie structures of the second stacker crane 17 is smaller than that of the first stacker crane 11.
Further, the second bogie structure 41 has support portions 31a on which the first shaft 301a extending downward from the first member 301 is rotatably supported at both travel ends of the upper base member 31. The lower end of the first shaft 301a is rotatably supported by the support portion 31a, and supports the load of the support portion 31a. That is, the support portion 31a supports the pair of first members 301 so as to be rotatable. In this way, in the second stacker crane 17, the second stage bogie structure 307 is realized for each first member 301, and the total number is two.

(6) Structure of ceiling rail The structure of the ceiling rail 7 is demonstrated using FIG. FIG. 15 is a perspective view of the linear structure of the ceiling rail.
As is clear from FIG. 15, the ceiling rail 7 has a rail body 65. The rail body 65 mainly has a running wall 65a and a side wall 65b. The travel wall 65a forms a pair of travel surfaces that are spaced apart in the left-right direction. The side wall 65b forms a pair of guide surfaces provided on both sides of the running surface. The ceiling rail 7 has a plurality of support members 67. The support member 67 suspends the rail body 65 from the ceiling 69.

(7) Planar Layout of Ceiling Rail As shown in FIG. 1, the orbital track has a main track portion 103 and a plurality of sub track portions 105. The main track portion 103 is a circular track. A plurality of sub track portions 105 are provided outside the straight portion of the main track portion 103. The sub track portions 105 are adjacent to each other.
However, the sub-orbital part 105 may be single and may be arranged apart.

(8) Branch switching structure The branch switching structure 75 will be described with reference to FIGS. 16 and 17. FIG. 16 is a perspective view of a branch portion of the ceiling rail. FIG. 17 is a schematic plan view schematically showing the branching operation of the drive carriage. In the following, only the operation of one switching roller 59 of one drive carriage 13 will be described for the sake of simplicity.
As shown in FIG. 16, the ceiling rail 7 has a first straight path 91 on the upper right side of the figure, a second straight path 93 on the lower left side of the figure, a curved path 95 on the lower right side of the figure, and a branching portion 97. doing. The branching portion 97 corresponds to, for example, a portion where the main track portion 103 and the sub track portion 105 are branched.

  In FIG. 16, for example, the drive carriage 13 moves the first straight path 91 from the upper right side of the drawing to the left side of the drawing, and selects whether to move linearly or branch at the branching portion 97. As shown in FIG. 16, in the branch part 97, the clearance 66 between the left and right traveling walls 65a is divided into a straight-side clearance 66a and a curved-side clearance 66b. Further, a branching guide rail 79 is provided above the traveling wall 65a of the curved portion. The branching guide rail 79 is arranged in a curved shape so as to secure a predetermined gap between the branching guide rail 79 and the side wall 65b of the branch side curved portion. Further, as shown in FIG. 17, a straight guide rail 80 is provided above the traveling wall 65a of the straight portion. The straight guide rail 80 is arranged in a straight line so as to secure a predetermined gap between the straight guide rail 80 and the side wall 65b of the straight portion.

The branching operation will be described with reference to FIG. When the drive carriage 13 comes before the branching portion 97, the switching roller 59 is moved to the right side in the figure. Then, the switching roller 59 enters between the branching guide rail 79 and the side wall 65b. Therefore, the drive carriage 13 is restrained by the branching guide rail 79 and moves to the curved path 95 side. As a result, the drive carriage shaft 13a enters the straight-side clearance 66a on the curved path 95 side. With the above operation, the branching operation of the drive carriage 13 is completed.
Although not shown, when the drive carriage 13 travels linearly on the branch portion 97, when the drive carriage 13 comes before the branch portion 97, the switching roller 59 is moved to the left side in FIG. Then, the switching roller 59 enters between the straight guide rail 80 and the side wall 65b. Accordingly, the drive carriage 13 is restrained by the straight guide rail 80 and moves to the second straight path 93 side. As a result, the drive carriage shaft 13a enters the straight-side clearance 66a on the second straight path 93 side. Go. With the above operation, the linear movement operation of the drive carriage 13 is completed.

(9) Station The automatic warehouse system 1 has a plurality of stations 101. Hereinafter, the station 101 will be described with reference to FIGS. FIG. 18 is a partial enlarged view of FIG. 1 and shows a planar positional relationship between the sub track portion and the station. FIG. 19 is a partially enlarged view of FIG. FIG. 20 is a side view of the station.
The station 101 is disposed on the outer peripheral side of the main track portion 103 of the circular track, and specifically, is provided corresponding to the sub track portion 105. More specifically, the station 101 is provided so as to correspond to the rear portion of the sub track portion 105 in the traveling direction.
The station 101 is a place where a package that is received from the outside into the automatic warehouse 3 is placed. Further, the station 101 is a place where a package to be taken out from the automatic warehouse 3 is placed.
The first stacker crane 11 uses the first transfer device 15 to transfer a load (for example, the product storage box 28 mounted on the collection shelf member 25 or the pallet P) from the station 101 to the first transfer device 15. Can be loaded. Furthermore, the first stacker crane 11 can load and unload a load from the first transfer device 15 to the station 101.

As shown in FIG. 20, the station 101 has a plurality of luggage placement portions 101a arranged in the height direction. For this reason, the forklift 109 can execute the loading and unloading of the baggage continuously in the station 101 by properly using the plurality of baggage placement units 101a of the station 101 for loading and unloading. For example, in FIG. 20, the first-stage luggage placement unit 101a is dedicated to entry, and the second-stage luggage placement unit 101a is dedicated to delivery. Further, in this embodiment, the third or higher-level baggage placement unit 101a is used as a storage.
The luggage placement unit 101a includes a loading / unloading port 101b that can be accessed from the outside of the automatic warehouse, and a rack-side access port 101c that can be accessed from the inside of the automatic warehouse. The direction of the loading / unloading port 101b and the direction of the rack side access port 101c form an angle of 90 degrees in plan view. This is because the transfer direction of the forklift and the fork transfer direction of the stacker crane are shifted by 90 degrees in the pallet transportation / storage using the automatic warehouse.

The safety fence 107 is arranged along the side of the station 101. However, a safety fence is not provided on the entrance / exit 101b side of the station 101.
In the station 101, the loading / unloading port 101b is oriented in a direction having an angle with respect to the direction in which the main track portion 103 extends. As a result, the forklift 109 can access the station 101 at a position close to the safety fence 107. The inclination angle of the station 101 with respect to the main track portion 103 is preferably in the range of 30 to 50 degrees. In this embodiment, the angle is 45 degrees. Therefore, the loading / unloading port 101b can be directed to the side away from the main track portion 103, so that the path of the forklift 109 and the main track portion 103 and / or the safety fence 107 can be separated from each other. As a result, a sufficient distance between the forklift 109 and the safety fence 107 is ensured, and workability is good.
In this system, a plurality of sub track portions 105 are provided for the main track portion 103, and a station 101 is provided for each. The stations 101 are arranged in a step shape by being arranged obliquely with respect to the main track portion 103. That is, the directions of the entrance / exit 101b of each station 101 are arranged in parallel to each other. As a result, the flow lines of the forklifts 109 do not intersect with each other, and as a result, a plurality of forklifts 109 can access a plurality of stations 101 simultaneously. As a result, the working efficiency of the forklift 109 is improved. In the above arrangement, there is no obstacle that obstructs the transfer operation of the forklift 109 with respect to the loading / unloading port 101b.
In addition, since the stations 101 are arranged in a staircase pattern, the space away from the main track portion 103 in the vertical direction can be reduced. Further, the forklift 109 can change direction in the space in the direction in which the main track portion 103 extends. Furthermore, the installation interval between the stations 101 can be shortened.

(10) Control Configuration of Automatic Warehouse System The control configuration of the automatic warehouse system will be described with reference to FIG. FIG. 21 is a block diagram showing a control configuration of the automatic warehouse.
The first stacker crane 11 has a first controller 81. The first controller 81 is a computer that includes a CPU, a RAM, a ROM, and the like and executes a program.

  The first controller 81 controls the operation of each drive carriage 13 of the first stacker crane 11. The first controller 81 is connected to the linear motor 49 and the branch / merging switching device 57 of each drive carriage 13. Furthermore, the 1st transfer apparatus 15 and the raising / lowering apparatus 35 are connected to the 1st controller 81, and the 1st controller 81 can transmit a drive signal to them. The first transfer device 15 is, for example, a conventional slide fork type, and has a slide fork 15a (FIG. 5).

The second stacker crane 17 has a second controller 82. The second controller 82 is a computer that includes a CPU, a RAM, a ROM, and the like and executes a program.
The second controller 82 controls the operation of each drive carriage 13 of the second stacker crane 17. The second controller 82 is connected to the linear motor 49 and the branching / merging switching device 57 of each drive carriage 13. Further, the second transfer device 21 and the lifting device 35 are connected to the second controller 82, and the second controller 82 can transmit drive signals to these motors.

  The second transfer device 21 includes a piece transfer conveyor 151 and a case transfer conveyor 153. The piece transfer conveyor 151 includes a piece conveyor 155 and a conveyor slide device 157. The piece conveyor 155 is a conveyor that can convey commodities. The conveyor slide device 157 is a device that can slide the piece conveyor 155 itself. The case transfer conveyor 153 includes an arm driving device 159 and a case conveyor 161. The arm driving device 159 is a device that transfers the container 23 by extending and contracting the arm in the left-right direction. The case conveyor 161 can convey the containers 23 in the left-right direction, and is, for example, a belt conveyor.

  The first controller 81 and the second controller 82 can communicate with the host controller 83. The host controller 83 is a computer that includes a CPU, a RAM, a ROM, and the like and executes a program. The host controller 83 controls the entire automatic warehouse 3, and in particular, transfers and transports the containers 23 and the collection shelf members 25 by the first stacker crane 11 and the second stacker crane 17, and the assortment of goods delivered by these. Control. The host controller 83 has a function of managing the first stacker crane 11 and the second stacker crane 17 and assigning a travel command or a transport command to them. The “conveyance command” includes a travel command and a transfer command including the load holding position and the unloading position.

(11) Access operation of the first stacker crane to the station In the first stacker crane 11, one of the front carriage 13 </ b> A and the rear carriage 13 </ b> B travels on the sub track portion 105, and the other can travel on the main track portion 103. . The first stacker crane 11 is located near the station 101 in a state where the front carriage 13A and the rear carriage 13B are separated into the main track portion 103 and the sub track portion 105 or the sub track portion 105 and the main track portion 103. A load (for example, the collection shelf member 25) is transferred to and from the station 101 while stopping.
In the example shown in FIG. 18, the front carriage 13A travels on the secondary track section 105, the rear carriage 13B travels on the main track section 103, and the front carriage 13A and the rear carriage 13B are the main track section 103 and the secondary track section, respectively. In a state divided into 105, the vehicle stops at a position approaching the station 101. Then, the first transfer device 15 transfers the luggage (for example, the collection shelf member 25) to and from the station 101.

In the example of FIG. 18, when the front carriage 13A enters the secondary track portion 105, the second shaft 203a that is the center of the traveling direction of the front carriage 13A moves corresponding to the secondary track portion 105. The transfer device 15 approaches the station 101 and the sub track portion 105.
When the second shaft 203a reaches the vicinity of the apex of the sub track portion 105, the first stacker crane 11 stops. At this time, the first transfer device 15 is closest to and parallel to the rack side access port 101c of the station 101. In this state, the first transfer device 15 performs transfer. At this time, since the first transfer device 15 is close to the station 101, it is not necessary to lengthen the stroke of the slide fork 15a.
As is clear from FIG. 18, when the first stacker crane 11 further advances, the second shaft 203a moves corresponding to the sub track portion 105, and in the process, the first transfer device 15 moves to the station 101 and the sub track. Move away from part 105.

  In this apparatus, the station 101 is disposed along the sub-orbital part 105 and can load a luggage (for example, the collection shelf member 25). Therefore, although the station 101 is in the vicinity of the sub-track part 105, it is arranged away from the safety fence 107, for example. In addition, the station 101 is oriented in a direction in which the entrance / exit 101 b with the outside has an angle with respect to the direction in which the main track portion 103 extends. Therefore, the path of the forklift 109 and the ceiling rail 7 and / or the safety fence 107 can be separated from each other. As a result, interference between, for example, the forklift 109 accessing the station 101 and the safety fence 107 is prevented. As a result, the forklift 109 can easily access the station 101.

2. Second Embodiment The sub track portion may have a straight portion. A second embodiment relating to the shape of the sub-orbital portion will be described with reference to FIG. FIG. 22 is a diagram illustrating the shape of the sub track portion in the second embodiment.
The sub orbit portion 105 has a curved orbit 105a and a straight orbit 105b. The front carriage 13A stops on the straight track 105b.
That is, both the front side carriage 13A and the rear side carriage 13B stop at the straight portion. In this state, the first stacker crane 101 transfers the load to and from the station 101. Therefore, even if an error occurs in the stop position, the angle of the first stacker crane 11 with respect to the station 101 does not change significantly. That is, the load transfer accuracy is improved.

In this embodiment, the first stacker crane 11 is stopped in a state where the first two drive carts 13 of the front cart 13A are in the straight track 105b, but at least one drive cart is a straight track. Therefore, the number and position of the drive carriages that stop on the straight track are not particularly limited. In particular, it is the mast position (in the embodiment, the front shaft 13A that is the center of the bogie and the second shaft 203a that is the center of the traveling direction of the rear vehicle 13B) that greatly affects the angle of the lifting platform 37, which is located in the straight line portion. Then, the error of the stop position of the first stacker crane 11 is an error of only the distance without affecting the angle.
In this embodiment, the straight track 105b is provided on the front side in the traveling direction from the apex of the sub track portion 105, but the straight track may correspond to any front carriage, and therefore the position of the straight track is particularly limited. Not.

3. Third Embodiment In the first embodiment, the embodiment in which the front carriage enters the sub track portion has been described. In the third embodiment, an embodiment in which the rear carriage enters the sub track portion will be described with reference to FIGS. 23 and 24. FIG. 23 is a diagram illustrating a planar positional relationship between the sub track portion and the station in the third embodiment. 24 is a partially enlarged view of FIG.

The station 101 is disposed on the outer peripheral side of the main track portion 103 of the circular track, and specifically, is provided corresponding to the sub track portion 105. More specifically, the station 101 is provided corresponding to the front side portion of the sub track portion 105 in the traveling direction.
The luggage placement unit 101a of the station 101 includes a loading / unloading port 101b that can be accessed from the outside of the automatic warehouse, and a rack-side access port 101c that can be accessed from the inside of the automatic warehouse. The direction of the loading / unloading port 101b and the direction of the rack side access port 101c form an angle of 90 degrees in plan view.

The safety fence 107 is arranged along the side of the station 101. However, a safety fence is not provided on the entrance / exit 101b side of the station 101.
In the station 101, the loading / unloading port 101b is oriented in a direction having an angle with respect to the direction in which the main track portion 103 extends. As a result, the forklift 109 can access the station 101 at a position close to the safety fence 107. The inclination angle of the station 101 with respect to the main track portion 103 is preferably in the range of 30 to 50 degrees. In this embodiment, the angle is 45 degrees. Therefore, the loading / unloading port 101b can be directed to the side away from the main track portion 103, so that the path of the forklift 109 and the main track portion 103 and / or the safety fence 107 can be separated from each other. As a result, a sufficient distance between the forklift 109 and the safety fence 107 is ensured, and workability is good.
In this system, a plurality of sub track portions 105 are provided for the main track portion 103, and a station 101 is provided for each. The stations 101 are arranged in a step shape by being arranged obliquely with respect to the main track portion 103. That is, the directions of the entrance / exit 101b of each station 101 are arranged in parallel to each other. As a result, the flow lines of the forklifts 109 do not intersect with each other, and as a result, a plurality of forklifts 109 can access a plurality of stations 101 simultaneously. As a result, the working efficiency of the forklift 109 is improved. In the above arrangement, there is no obstacle that obstructs the transfer operation of the forklift 109 with respect to the loading / unloading port 101b.
In addition, since the stations 101 are arranged in a staircase pattern, the space away from the main track portion 103 in the vertical direction can be reduced. Further, the forklift 109 can change direction in the space in the direction in which the main track portion 103 extends. Furthermore, the installation interval between the stations 101 can be shortened.

In the first stacker crane 11, one of the front carriage 13 </ b> A and the rear carriage 13 </ b> B travels on the sub track portion 105, and the other can travel on the main track portion 103. The first stacker crane 11 is located near the station 101 in a state where the front carriage 13A and the rear carriage 13B are separated into the main track portion 103 and the sub track portion 105 or the sub track portion 105 and the main track portion 103. A load (for example, the collection shelf member 25) is transferred to and from the station 101 while stopping.
In the example shown in FIG. 23, the front carriage 13A runs on the main track section 103, the rear carriage 13B runs on the sub-track section 105, and the front carriage 13A and the rear carriage 13B are the sub-track section 105 and the main track section, respectively. In a state divided into 103, the robot stops at a position approaching the station 101. Then, the first transfer device 15 transfers the luggage (for example, the collection shelf member 25) to and from the station 101.

In the example of FIG. 23, when the rear carriage 13B enters the secondary track portion 105, the second shaft 203a that is the center of the traveling direction of the rear carriage 13B moves corresponding to the secondary track portion 105, and the process Thus, the first transfer device 15 approaches the station 101 and the sub track portion 105.
When the second shaft 203a reaches the vicinity of the apex of the sub track portion 105, the first stacker crane 11 stops. At this time, the first transfer device 15 is closest to and parallel to the rack side access port 101c of the station 101. In this state, the first transfer device 15 performs transfer. At this time, since the first transfer device 15 is close to the station 101, it is not necessary to lengthen the stroke of the slide fork 15a.
As is clear from FIG. 23, when the first stacker crane 11 further advances, the second shaft 203a moves corresponding to the sub track portion 105, and in the process, the first transfer device 15 moves to the station 101 and the sub track. Move away from part 105.

  In this apparatus, the station 101 is disposed along the sub-orbital part 105 and can load a luggage (for example, the collection shelf member 25). Therefore, although the station 101 is in the vicinity of the sub-track part 105, it is arranged away from the safety fence 107, for example. In addition, the station 101 is oriented in a direction in which the entrance / exit 101 b with the outside has an angle with respect to the direction in which the main track portion 103 extends. Therefore, the path of the forklift 109 and the ceiling rail 7 and / or the safety fence 107 can be separated from each other. As a result, interference between, for example, the forklift 109 accessing the station 101 and the safety fence 107 is prevented. As a result, the forklift 109 can easily access the station 101.

4). Fourth Embodiment As in the first and second embodiments, a station provided at a position accessible by the front bogie entering the sub track portion, and the rear bogie in the sub track portion as in the third embodiment. Stations provided at positions accessible by entering the station may be mixed in one main track portion.

5. Fifth Embodiment A plurality of stations may be arranged for one sub-track portion. Specifically, as in the first and second embodiments, a station provided at a position accessible when the front carriage enters the sub-track section, and the rear carriage in the sub-track as in the third embodiment. A station provided at a position accessible by entering the portion may be provided in one sub-track portion.
A fifth embodiment relating to the arrangement of stations will be described with reference to FIG. FIG. 25 is a diagram illustrating a planar positional relationship between the sub track portion and the station in the fifth embodiment.
As shown in FIG. 25, a pair of stations 101A and 101B are arranged on the outer peripheral side of the main track portion 103 of the circular track, and specifically, are arranged on both sides in the traveling direction of the protruding portion of the sub track portion 105. The More specifically, the station 101 </ b> A is provided corresponding to the rear side portion of the sub track portion 105 in the moving direction, and the station 101 </ b> B is provided corresponding to the front portion of the sub track portion 105 in the moving direction. . In this way, the number of stations can be increased. In this embodiment, when the station accessed by the first stacker crane 11 is the station 101 </ b> A, the front carriage 13 </ b> A travels on the sub track portion 105. On the other hand, when the station accessed by the first stacker crane 11 is the station 101B, the rear carriage 13B travels on the sub track part 105.

6). Common Items of Embodiments The first to fifth embodiments have the following configurations and functions in common.

The automatic warehouse system (for example, the automatic warehouse system 1) has the following configuration.
The rack (for example, rack 5) has a plurality of shelves (for example, shelves 5a) on which luggage can be placed.
The track (for example, the ceiling rail 7) is arranged along the periphery of the rack, and the main track portion (for example, the main track portion 103) and the sub track portion (for example, the sub track portion) that branches off from the main track portion and further merges. Track portion 105).
The station (for example, the station 101) is arranged along the sub-track portion and can place a load, and the entrance / exit port (for example, the entrance / exit port 101b) with the outside extends in the direction in which the main track portion extends. It faces in the direction that has an angle.
The transport vehicle (for example, the first stacker crane 11) is a mechanism that travels while being guided by a track, and includes a front cart (for example, the front cart 13A) and a rear cart (for example, the rear cart 13B) each having a branch mechanism. have. One of the front carriage and the rear carriage travels on the sub track section, and the other can travel on the main track section. The transport vehicle moves between the stations while stopping at a position close to the station with the front carriage and the rear carriage divided into the main track section and the sub track section or the sub track section and the main track section. (See, for example, FIG. 18).

  In this system, the station is arranged along the secondary track portion and can load a load. Therefore, the station is arranged near the secondary track portion, but away from the safety fence, for example. In addition, the station is directed in a direction in which the entrance or exit port with the outside has an angle with respect to the direction in which the main track portion extends. Accordingly, the path of the forklift and the track and / or the safety fence can be separated from each other. As a result, interference between, for example, a forklift that accesses the station and a safety fence is prevented. This makes it easier for the forklift to access the station.

7). Other Embodiments Although a plurality of embodiments of the present invention have been described above, the present invention is not limited to the above embodiments, and various modifications can be made without departing from the scope of the invention. In particular, a plurality of embodiments and modifications described in this specification can be arbitrarily combined as necessary.
(1) In the above embodiment, there are a plurality of front trolleys and rear trolleys, but each may be singular. In that case, in the second embodiment, the center of one of the front and rear trolleys is stopped on a straight track when the transport vehicle is transferring a load to and from the station.
(2) In the above-described embodiment, a plurality of sub track portions 105 are provided adjacent to the main track portion 103, and the station 101 is provided for each. However, the number, position, and shape of the sub track portions are not limited to the above embodiment. For example, a single sub orbit portion may be provided. Further, the sub track portions may be separated from each other. Furthermore, the shape of the sub track portion is arbitrary.

(3) In the above-described embodiment, the station is used for both loading and unloading. However, the station may be dedicated for loading or unloading.
(4) In the above embodiment, the track is a ceiling rail that is installed on the ceiling and from which the transport vehicle is suspended. However, the track may be a ground rail that is installed on the ground and on which the transport vehicle runs.
(5) In the above-described embodiment, two types of stacker cranes having different numbers of drive carts are used, but only one type of other stacker cranes having the same number of drive carts may be used. There may be three or more types of stacker cranes with different numbers of drive carts.

(6) In the above-described embodiment, all the drive trolleys are combined with the bogie structure. However, the drive trolleys may be composed of only the drive trolley that does not use the bogie structure, or the drive trolley and the bogie structure combined with the bogie structure. Drive carts that are not combined with may be mixed.
(7) The specific configurations of the first transfer device and the second transfer device are not limited to the above embodiment. A known transfer device may be used.
(8) The structure of the branching / merging switching device is not limited to the above embodiment. A known branch / merging / switching device may be used.

  The present invention can be widely applied to an automatic warehouse system, in particular, an automatic warehouse system having racks and stations on which articles are placed.

1: Automatic warehouse system 3: Automatic warehouse 5: Rack 5a: Shelf 5b: Passage 7: Ceiling rail 11: First stacker crane 13: Drive carriage 13A: Front carriage 13B: Rear carriage 13a: Drive carriage shaft 15: First Transfer device 15a: Slide fork 17: Second stacker crane 18: Lower guide rail 21: Second transfer device 23: Container 25: Collection shelf member 28: Product storage box 29: First bogie structure 31: Upper base member 31a: Supporting part 33: Mast 35: Lifting device 37: Lifting table 39: Lifting part 41: Second bogie structure 47: Permanent magnet 49: Linear motor 50: Non-contact power supply line 51: Power receiving coil 53: Traveling wheel 55: Guide Roller 57: Branch and junction switching device 59: Switching roller 61: Plate 63: Motor 65: Rail body 65a: Traveling wall 65 : Side wall 66: Gap 66a: Straight side gap 66b: Curved side gap 67: Support member 68: Plate 69: Ceiling 75: Branch switching structure 79: Branch guide rail 80: Straight guide rail 81: First controller 82: First 2 controller 83: host controller 91: first straight path 93: second straight path 95: curved path 97: branching section 101: station 101a: luggage placing section 101b: loading / unloading port 101c: rack side access port 103: main track Part 105: Sub track part 105a: Curved track 105b: Linear track 107: Safety fence 109: Forklift 151: Piece transfer conveyor 153: Case transfer conveyor 155: Piece conveyor 157: Conveyor slide device 159: Arm drive device 161: Case Conveyor 201: First member 201a: First 1 shaft 203: second member 203a: second shaft 205: bogie structure 207: bogie structure 209: bogie structure 301: first member 301a: first shaft 305: bogie structure 307: bogie structure P: pallet

Claims (5)

A rack having a plurality of shelves on which luggage can be placed;
A track disposed along the periphery of the rack, the track having a main track portion, and a sub track portion that branches off from the main track portion and further merges;
A station that is arranged along the sub-track part and is capable of placing the load, and a garage entrance or exit port with the outside is oriented in a direction having an angle with respect to a direction in which the main track part extends,
A mechanism that travels while being guided by the track, and has a front carriage and a rear carriage each having a branching mechanism, wherein one of the front carriage and the rear carriage travels on the sub-track section, and the other The luggage can travel between the stations while being able to travel on the main track and stopping at a position close to the station in a state where the front and rear carts are separated into the main track and the sub track. A transfer vehicle,
Automatic warehouse system equipped with.   2. The automatic warehouse system according to claim 1, wherein a plurality of the sub track sections are provided with respect to the main track section, and the stations are provided corresponding to the sub track sections. The secondary track portion has a curved track and a straight track,
A plurality of the front carts and the rear carts are provided,
The at least one of the front carriage and the rear carriage is stopped on the linear track when the transport vehicle is transferring the cargo to and from the station. 2. Automatic warehouse system according to 2. The secondary track portion has a curved track and a straight track,
The center of one of the front carriage and the rear carriage is stopped on the linear track when the transport vehicle is transferring the cargo to and from the station. The automatic warehouse system described.   The automatic warehouse system according to any one of claims 1 to 4, wherein a plurality of the stations are arranged with respect to the sub track portion.

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