JPS6366003A - Automatic warehousing device - Google Patents

Abstract

PURPOSE:To provide a warehousing device which is increased in space utilizing efficiency, by a method wherein an aerial rail is disposed in relation to the warehousing position of a fluid shelf, plural self-running cars, each having a cargo suspending part, are suspended from the rail, and plural transfer units are disposed in the warehousing position. CONSTITUTION:An aerial rail 1 is disposed in relation to the warehousing position of a fluid shelf 2, and is supported in a proper level position. Plural motor self-cars 3, each having a cargo suspension part 35, is suspended from the rail 1, and a suspension cargo (cargo box) 20 provided with a discriminating means, e.g. bar code, is engageably supported. Plural transfer units 41-43, each having a cargo receiving part 401 elevating along a stay 402 and horizontally movable, are disposed in a position below the running area of the self-running car 3. Further, the reading unit, not shown, of a discriminating means is disposed on the upper stream side of the transfer car in the running area of the self- running car 3. Based on an output signal from the reading unit, the propriety of the stop of the self-running car in a transfer unit mounting position is decided, and according to its result, running and the stop of the self-running car 3 is controlled.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a device that automatically performs warehousing, and more specifically, it moves an article to be managed for warehousing or a packing box containing the article in a two-dimensional manner, and stores it in a predetermined position. The present invention proposes a device that is stored at a predetermined height position in a storage position.

The present invention will be explained below based on drawings showing embodiments thereof.

This example is an exhibition model produced to introduce its functions, and is configured so that both loading and unloading can be performed automatically.

FIG. 1 is an overall external view of this embodiment, in which a rail 1 is suspended at an appropriate height by support means (not shown). The rail l has a rectangular shape with curved corners, and the back part 13
A switching portion 15, 16 is provided halfway between the back portion 13 and the right side portion 14, and a branch line 17 is provided that goes around the corner of the back portion 13 and the right side portion 14 inward, and runs along the back portion of the flow shelf 2, which will be described later.
Air cylinders 15a, 16a provided in the switching section 15.16
(See Fig. 11), the inner branch line 17 and the outer main line can be switched and used. Rail 1 has two power lines i on its side as shown in Figure 3.
8a, 18b and two signal lines 19a, 19b are attached.

Such a rail 1 is shown in FIG. 2 as a rear view (rear side in the direction of travel) and in FIG. 3 as a side view. Multiple electric self-propelled vehicles 3 are suspended and supported on rails l.

6. guided and receives control signals via signal lines 19a, 19b. It also receives electric power for driving the motor 31 via power lines 18a and 18b, and runs in the direction of the white arrow.

The self-propelled vehicle 3 has front and rear wheel parts 32, 33, a connecting part 34 that rotatably connects the two wheel parts 32 and 33, and a connecting part 34 that can swing laterally. It consists of a suspended load hanging part 35. The wheels of the wheel portions 32 and 33 are the second wheels.
Rail 1 with a single-character cross-sectional shape as shown by the two-dot chain line in the figure
The main wheels 36, 36 are in rolling contact with the upper surface, and the secondary wheels 37 for steady rest are in rolling contact with the side surfaces of the upper and lower flange portions of the rail 1 with an appropriate clearance for rotation of the curved portion.
The sub-wheels 37 are provided below the main shaft 36 with four wheels on the front, rear, left and right sides, and these are provided in two stages, upper and lower.
A total of 16 units are provided for each self-propelled vehicle.

The front wheel part 32 is the driven side, and the rear wheel part 33 is the driving side.As shown in FIG. A motor 31 is attached, and a pulley 38 fitted to the output shaft of a reduction gear coupled to the motor 31 and a pulley 311 fitted to the axle 39 of the main wheel 36 of the wheel section 33 move the belt 312. When the motor 31 rotates, the main 136
This self-propelled vehicle 3 is driven by the following.

The pulleys 38, 311 and belt 312 are covered with appropriate covers.

The upper secondary wheel 37 is attached to the upper side of the E-shaped frame outside the main wheel 365 and the military shaft 39° pulley 311.
A lower auxiliary wheel 37 is attached to the middle passage portion. Therefore, this self-propelled vehicle 3 is suspended such that the rail 1 is located between the upper side portion and the middle portion.

A vertical shaft 313 that pivotally supports the connecting portion 34 is provided astride between the middle portion and the lower side portion.

The structure of the front wheel section 32 is the same as that of the wheel section 33 except that it does not include a drive system such as a motor 31, and has a power line 18a,
18b and the signal lines 19a, 19b are provided with a rotating brush 314 for electric current.

The connecting part 34 consists of a frame 340, which has a cylindrical part 341 rotatably fitted onto the vertical shaft 313 of each of the wheel parts 32 and 33 at the front and rear ends, and a control circuit box 342 attached to the frame 340. There is. A drive z' control circuit for the motor 31 is housed in the box 342, and this circuit and the signal line 19a are connected to each other.

It stops and rotates at high speed by the signal given from 19b.

Rotate at low speed, etc.

As shown in FIG. 2, the load hanging part 35 is a flat U-shaped molded iron plate facing downward in rear (front) view, the lower end extends inward for a suitable length, and the terminal part is bent upward. The length of the control box 342 is approximately the same as that of the control box 342. FIGS. 2 and 3 show a state in which a rectangular parallelepiped-shaped cargo box 20 is suspended from a cargo hanging portion 35. FIG. The loading box 20 has hanging fittings 20a and 20a, each of which is bent and formed at the upper end in a corner shape, attached to the slotted surface.
'' section should be engaged from below. This hanging fitting 2
The lower portions of 0a and 20a are bent into an L-shape so as to have a required gap between them and the side wall of the packing box 20.

A plurality of self-propelled vehicles 3 having the above-mentioned configuration are suspended from the rail 1, and in this example, one vehicle is suspended for each of a vehicle exclusively for leaving the warehouse and a vehicle exclusively for entering the warehouse.

Next, the above-mentioned packing box 20 is placed into a fluidized shelf 21, a rotating multi-row, multi-tiered shelf 2.
The structure of the transfer machine for storing the boxes 20 in and taking them out from them will be explained. However, since this example is an exhibition model, the movement of the boxes 20 is different from that in an actual warehouse management system, and is a little special. Therefore, the flow of the cargo box 20 will be explained first.

First, to explain the case of shipping, when the code of the item to be shipped is inputted into the freezing device 52, the shelf 21 containing the packing box 20 containing the item is placed in the 9th column.
The transfer machine 41 rotates to the front side position shown in the figure and is installed so as to face the stop reference position of the shelf 21. The cargo box 20 is moved up and down so as to face the rack on which it is located, and the cargo box 20 is taken out from the shelf by the structure and operation described later, and the self-propelled vehicle 3 dedicated to taking out the warehouse takes care of the cargo box 20. The self-propelled vehicle 3 with the cargo box 20 suspended thereon travels to a transfer machine 42 arranged behind the oldest row of the flow shelves 2 and stops. The transfer machine 42 transfers the cargo box 20 to the cargo box receiving part 401 by the operation described below,
This packing box 2 is placed on the stage of the fluidized shelf 2 inputted from the operating device 52.
Push o. In other words, the delivery destination is each stage in the rightmost column of the flow 4M2. In addition, in the actual system, transfer machine 41
The above-mentioned self-propelled vehicle that receives the empty cargo box 20 does not need to be used exclusively for delivery, and the selected delivery destination may be designated as a stop position of the self-propelled vehicle 3, and may be a plurality of planar vehicles that are controlled. It is generally located at

Next, to explain the case of warehousing, a transfer machine 43 is arranged in front of the right end row of the fluidic shelves 2, and the transfer machine 43 selects the boxes 20 of a predetermined stage according to the input from the operating device 52 or in a certain order. (Flowing down to the front side and facing the transfer machine 43)
is taken out and suspended from a self-propelled vehicle 3 dedicated to warehousing.

The self-propelled vehicle 3 travels to the transfer machine 41, but during that time the load N is
The contents of the barcode sheet 20b (corresponding to the stored articles) are read, and the shelf row of the shelves 21 corresponding to the read contents is driven so as to face the transfer ta 41. Control is performed, and transfer #B41 is controlled so that the current cargo box is stored in a predetermined stage of this shelf row. Note that in an actual system, the self-propelled vehicle does not need to be used exclusively for warehousing, and the method for suspending the load W320 to be warehousing on the self-propelled vehicle is the transfer machine 43.
Of course, it is not necessary to rely on Note that the identification of a packing box or article is not limited to a bar code, and may be performed using a magnetic mark or other known method.

As described above, in this embodiment, in order to introduce the functions of warehousing and warehousing, the operation is slightly unnatural compared to the actual system. It performs the same function as a warehousing transfer machine. Of course, in an actual system, separate transfer machines for unloading and warehousing may be provided, or a plurality of them may be provided.

On the other hand, transfer machines 42 and 43 are used for special purposes in this exhibition model or are stored in storage.

This is to assist with shipping.

Now, the structures of these transfer machines 41, 42, and 43 are basically the same. The transfer machine 41 etc. consists of a column 402 erected at the loading and unloading positions, a cargo box receiver 401 that is guided up and down by the column, and a servo motor 403 that serves as a driving source for this lifting and lowering. The servo motor 403 is driven in the forward and reverse directions by a predetermined amount in accordance with the supplied signal, and this rotation causes a chain 404 provided along the column 402 to rotate.
The cargo box receiver 4 is connected to a chain 404.
01 is designed to move up and down.

FIG. 4 shows the side surface of the transfer machine 41 and the elevation of a part of the rotary multi-row, multi-tiered shelf 21 (which is stopped at a position facing the transfer machine 41 for loading and unloading). It shows. The box receiver 401 is located at a position facing each of the four shelves 21 (the solid line in the drawing shows the top shelf, and the two-dot chain line shows the bottom shelf), The top stitching position is such that the upper bent part of the hanging fitting 20a of the cargo box 20 is slightly above the passage area of the lower bent part of the load hanging part 35 of the self-propelled vehicle 3 (only a portion is shown by the two-dot chain line) Then, the loading surface of the cargo box receiving part 401 is controlled so as to stop at a lower transfer position (indicated by a chain line) where the receiving surface of the cargo box receiving part 401 is slightly lower than the lower surface of the cargo box 20 on which the self-propelled vehicle 3 is suspended. be done. Note that limit switches (not shown) for detecting runaway are provided below the stop position facing the lowest shelf and above the upper sewing position, and their operation causes the servo motor 403 to be driven. will be stopped. Furthermore, since the rail I is installed horizontally and the height of the fluidized shelf 2 is at the same level as the shelf 21, the transfer tff142, 43 is also controlled so that the stopping position is equal to the above-mentioned position.

FIG. 5 is an enlarged side view of the cargo box receiving section 401. The cargo box receiving part 401 is a frame board 41 arranged parallel to the support column.
Two arm rods with horizontal upper edges at the bottom of the front of 1 (located in the front and back directions of the drawing, only l/l are visible in the drawing) 4
12 is fixed so as to extend in the direction of the shelf 21 or the fluidized shelf 2, and the cargo box 20 is received on this arm rod 412. In addition, on both arm rods 112, there are holes on the outer II+ end and the board side to prevent the cargo box 20 from falling to the side (front and back directions in the drawing) and to limit the movement of the cargo box toward the base Fj and 411 side. A guard plate 413 made of a thin steel plate with an upwardly bent end is attached.

An air cylinder 414 is installed approximately at the center of the back surface (support side) of the board 411, and its operating rod 414a extends horizontally through the board 411.

It is installed in such a way that it goes in and out. Figure 6 shows the operating rod 414a.
It is a top view of the tip part of. A mounting bracket 415 is fixed to the tip of the operating rod 414a in such a manner that the opening of the channel material faces downward and the flanges on both sides are located on the sides, and the outer surface of the flange on the negative side has a low reactor unique. 416 is attached, and its output shaft 416a is passed between the flange parts. A hook 417 is fixed to the lower side of the output shaft 416a, and has a claw portion that extends toward the cargo box and bends upward. It is designed to be able to take two positions: a pulled position in which it engages with the bent portion of the lower end of the hanging fitting 20a, and a retracted position in which it rotates downward, as shown by the two-dot chain line in FIG. Packing box 20 for mounting bracket 415
On the side surface, a push metal fitting 418 which is trowel-shaped in plan view and has a wider facing gap than the hanging metal fitting 2Qa is provided on the side surface so as not to impede the rotation of the flap 417 and to prevent it from coming into contact with the hanging metal fitting 2Qa.
is fixed, and the distance between the tip of the hook 417 and the tip of the hook 417 in the towing position is set to be slightly shorter than the gap between the bent portion of the lower end of the hanging fitting 20a and the side wall of the cargo box.

The operation of the transfer machine with such a configuration is as follows.

That is, first, to explain how to take out boxes from the shelves 21 and 2, when the servo motor 403 stops and other conditions are satisfied, the control device controls the solenoid valve 414b for controlling the operation of the air cylinder 414, and starts the operation rod 414a. Let's advance.

At this time, the control device gives a predetermined signal to the electromagnetic valve 416b for controlling the operation of the low reactor unique 416 to keep the hook 417 in the retracted position.

When the operating rod 414a advances until a limit switch (not shown) is activated, the solenoid valve 414b is controlled and the advancing of the operating rod 414a is stopped. In this state, 2
As shown by the dotted chain line, the pusher 418 is attached to the packaging box 20 such as the shelf 21.
It is in contact with the side wall. Next, the solenoid valve 416b is controlled to operate the row reactor 416, and the hook 4
17 from the retracted position to the towed position. hook 41
7 is located between the hanging fitting 20a and the cargo box 112.

After a predetermined period of time has passed after controlling the solenoid valve 416b, the solenoid valve 414b
is controlled so that the operating rod 414a of the air cylinder 414 is retracted, and this advance is stopped when a limit switch (not shown) is activated. As the operating rod 414a moves back and forth, the cargo box 20 is pulled toward the support column 402 and is transferred to the arm rod 412. Note that the position where the operating rod stops retracting is when the loading box 20 is at the base plate 411 of the guard plate 413.
It is set at a position where it abuts the side bending part. Air cylinder 4
Following the deactivation of 14, the solenoid valve 116b is controlled;
The hook returns to the retracted position.

The above operations complete the transfer from the shelf 21 etc. to the box receiving section 40i.

Conversely, the transfer of cargo from the box receiver 401 to the shelf 21 or the like is performed by advancing and retracting the air cylinder 414.

Next, the transfer from the cargo box receiving section 401 to the self-propelled vehicle 3 is performed as follows. That is, before the self-propelled vehicle 3 reaches the installation position of the transfer machine 41 etc., the cargo box receiving portion 401 is raised to the upper sliding position, and waits for the arrival of the self-propelled vehicle 3.
is stopped at the installation position of the transfer machine 41. As a result, the bent end portion of the load hanging portion 35 is positioned below the upper bent portion of the hanger I:Jc20a. When this stop is completed, the control device issues a predetermined signal to the servo motor 403 to
is moved to the underpass sewing position, and the hanging fitting 20a becomes suspended by the load hanging part 35, and the transfer is completed.

On the contrary, when transferring from the self-propelled vehicle 3 to the cargo box receiving section 401,
The cargo box receiving part 401 is kept in standby at the bottom stitching position, and the cargo box 2
After the self-propelled vehicle 3 suspending the loader 3 stops at the transfer machine installation position, the servo motor 403 is driven to raise the cargo box receiver 401 to the upper receiver sewing position, and lift the hanging fitting 20a from the load lifting section 35. Then, the self-propelled vehicle 3 is started. As a result, the cargo box 20 is left on the cargo box receiver 401, and the transfer is completed.

FIG. 7 shows a stopper 2a of a cargo box 20 provided at the downstream end of the fluidized shelf 2, that is, the end facing the transfer machine 13.
FIG. 8 is a plan view thereof. This stopper 2
a is used to prevent the cargo boxes 20 from falling from the end of the fluidized shelf 2 that is inclined downward toward this end, and to prevent the loading and unloading [43
It is provided to ensure smooth transfer to the transfer machine 4.
3 includes an air cylinder 41 in addition to the above-mentioned configuration of the transfer machine 41.
A push plate 419 that moves forward and backward in conjunction with the operating rod 414a of No. 4 is provided. This push plate 419 is connected to the hook 41 in the towing position.
The hook 41 is below the tip of the board 411 side than the tip of the hook 41.
7 and the movement of the cargo box 2o. An operating rod 2b is arranged at the end of the fluidizing shelf 2 so that its tip protrudes at the tip of the movement range of the push plate 419. This operating rod 2b is supported so as to be able to move approximately horizontally in the direction of box movement, and a push spring 2c is interposed between the appropriate position of the fluidizing shelf 2 and a spring seat provided at an appropriate position near the tip of the operating rod 2b. This is then biased forward. The proximal end is provided with a drop-in recess 2d having an upper edge that is a suitable length and lower than the upper edge of the distal end, into which a roller (cam follower) 2f attached to the striker/7 bar frame 2e is inserted. It's Nishide. On the proximal end side B of the recess 2d! ;! roller 2f
Eave part 2g that extends above recess 2d to prevent separation of
is formed.

The stopper frame 2e has a tip bent upward into a hook shape, and is connected to a pair of locking rods 2h, 2 disposed on the lower side of both sides of the cargo box 20.
h and both locking rods 2h, 2h are connected to each other at the upper end of the distal end and at a position slightly closer to the proximal end than the center.
t, 21, a pivot shaft 2j that rotatably connects both locking rods 2h, 2h at approximately the center, and a sleeve 2k that is loosely fitted on the pivot shaft 2j, with the tip end facing upward. It consists of a coil spring 2Il that urges the actuating rod 2b, and a roller 2f that is mounted inward at a position slightly closer to the proximal end of the proximal connecting rod 21 of the locking rod 2h on the operating rod 2b side.

When the box receiving part 401 of the transfer machine 43 is separated from the flow shelf 2, the operating rod 2b is moved by the action of the push spring 2c! The roller 2r protrudes toward the 143 side, and the roller 2r is sunk into the recess 2d as shown by the broken line. At this time, the stopper frame 2e maintains a locking position in which the flat upper edges of the locking rods 2h, 2h extending from the bent end portion to the pivot shaft 2j are substantially horizontal, as shown by solid lines in FIG. The one-dot chain line in FIG. 7 indicates the level of the upper edge of the roller of the fluidizing shelf 2, in other words, the level of the lower surface of the packing box 20, and in the above-mentioned locking position, the upper part of the bent tip of the locking rod 2h, 2h or The connecting rod 21 spanning between these parts contacts or opposes the lower end of the surface of the cargo box 2o on the transfer machine 43 side, and prevents it from falling.

On the other hand, when the air cylinder 414 of the transfer machine 43 is actuated and the push plate 419 pushes the operating rod 2b against the push spring 2c, the roller 2r comes out of the recess 2d and is placed on the operating rod 2b facing the roller 2f. The edge portion becomes higher and reaches the level shown by the two-dot chain line. Therefore, the stopper frame 2e rotates downward around the pivot shaft 2j, and the bent ends of the locking rods 2h, 2h are retracted below the lower surface of the cargo box, and the hook 417 of the transfer fi 43
This does not impede the towing of the cargo box 20 by.

By designing the position and rotation range of the base end of the locking rods 2h, 2h in accordance with the position of the cargo box 20' described in the next section, the base end can be adjusted as shown by the two-dot chain line in Fig. 7. It acts as a stopper for the load 820' and prevents the load box 20' from moving while the stopper frame 2e is in the retracted position.

Furthermore, one side of the rail 1 (the wheel portion 32
, 33 is provided with a positioning device as shown in FIG. 9. As shown in FIGS. 2 and 3, a roller 341 is installed in the connecting portion 34 so that the passage area is a position that is approximately at the same height as the lower flange portion of the rail 1 and is separated from the flange portion by an appropriate length. It is supported and mounted on a horizontal axis. When the center of the transfer machine 41 and the like is aligned with the center of the self-propelled vehicle 3 or the load hanging portion 35, the web portions of the rails I are used on both sides in the traveling direction of the self-propelled vehicle above the location where the rollers 343 are located. Gears 421 and 422 of equal size are pivotally supported using a horizontal shaft, and both gears 421 and 422 are in mesh with each other.

Drooping arms 423 and 424 are fixed to the transfer machine side shaft end surfaces of both gears 421 and 422.
, 422. The arm 423 of the gear 421 example includes a zlI arm portion 423a extending upward, and the sub arm portion 423a has an operating rod 425 of an air cylinder 425 supported by a substantially horizontal trunnion using the rail 1.
The tip of a is rotatably connected. The mutual relationship between these members is as shown by the solid line in FIG. 9, when the operating rod 425a of the air cylinder 425 is extended to the maximum, the arms of the arms 423 and 424 hang vertically, and the roller 341 is sandwiched between them. When the centers of the transfer machine 41 etc. and the self-propelled vehicle 3 are aligned, and the operating rod 425a is retracted, the arms of the arms 423 and 424 are expanded in a V-shape and the rollers 34
It is set to evacuate from the movement area of No. 1. The air cylinder 425 normally has its operating rod 425a retracted, and detects the arrival of the self-propelled vehicle 3 using a sensor 507 such as a metal proximity switch (see FIG. 10) placed near the installation position of the transfer device 41, etc. is detected (stopping of the self-propelled vehicle 3 is controlled separately), the air cylinder 425 is operated and the operating rod 425a is activated.
The arms 423 and 42, which had been expanded until then, were advanced.
4 are brought closer together, the rollers 343 between them are sandwiched between the arms 423 and 424, and the arms 423 and 424 are forcibly moved to a fixed position, thereby centering the transfer machine 41, etc. and the self-propelled vehicle 3. This increases the certainty of inheritance of shipping boxes between the two parties.

The self-propelled vehicle of this embodiment is not equipped with a braking device, and the power is cut off in order to stop high-speed travel before the transfer machine that needs to be stopped (an earlier section to be described later). After that, when the necessary conditions are met, low-speed travel is resumed, and at '2u, the power is cut off to stop low-speed travel due to the activation of a sensor near the aircraft. Since the vehicle travels at low speed, there is little variation in the inertial travel distance due to the amount of suspended load, and this variation is compensated for by the positioning device.

In other words, the self-propelled vehicle's speed governor and positioning device enables highly accurate stopping position control and the omission of a braking device.

FIG. 10 is a layout diagram of the main sensors arranged around the rail 1. In order to determine whether the self-propelled vehicle 3 is intended exclusively for exiting or entering the warehouse, magnetic switch dogs for identification are provided at different heights of the self-propelled vehicle 3. It is designed to be detected and determined by a sensor (using a reed switch).

In other words, the sensor 501 for detecting a self-propelled vehicle exclusively for delivery is the transfer machine 4.
1, the same 502 is provided at the corner from the left side 12 to the back 13 of the rail 1, and the same 503 is provided slightly upstream of the transfer machine 42 on the branch line 17. Sensors 504 and 505 for detecting self-propelled vehicles exclusively for warehousing are sensors 50, respectively.
1,502, 506 is provided at the corner of the rail 1 from the right fNIJ section 14 to the front section 11.

Sensors 507°, 508, and 509 are installed at the installation positions of the transfer machines 41, 42, and 43 to detect the arrival of the self-propelled vehicle 3. The electromagnetic field *425b (see FIG. 11) is controlled to operate the air cylinder 425 provided correspondingly. Sensors 510, 511, and 512 (using metal proximity switches) are provided slightly downstream of each transfer machine 41, 42, and 43 to confirm the exit of the self-propelled vehicle 3 from each transfer machine. In addition to this, a sensor 51 for detecting passage using a full-bending proximity switch is located slightly downstream of the switching section 16.
3 is provided, and the switching timing of the switching unit 15, 16 is determined by the detection of this sensor 513. sensor 5
Sensors 514 and 515 are provided in the vicinity of 06 and in the vicinity of the sensor 504 to detect whether or not the load box 20 is suspended on the load hanging part 35 using a photo sensor. A barcode sheet 20 is placed slightly upstream of the transfer machine 41.
A barcode reader 51 is provided to read the barcode shown in Fig.b, and a self-propelled vehicle detection sensor 516 using a metal proximity switch is provided upstream of the barcode reader 51. Barcode reader 5
1 starts reading. In addition to this, a switch is provided at the boundary point indicated by Δ so that the position of the self-propelled vehicle can be monitored for each traveling section indicated by a circle with a number such as ■.

FIG. 11 is a block diagram schematically showing the entire control system of the apparatus of the present invention, and 5 is a control device equipped with a microcomputer and its interface, and FFs for loading and unloading.
Commands are given from an operating device 52 consisting of a keyboard.

The rotary multi-row, multi-stage shelf 21 is controlled by a rotation control device 53, and the rotation control device 53 is given data regarding its stop position from the control device 5. Regarding the configuration of the rotation control device 53 and the stop control of the shelf 21 using it, see Utility Model Application No. 53-775 proposed by the present applicant.
This was revealed in issue 45.

Signals from the aforementioned sensors 501 to 516 and the like are input to the control device 5, and read data from the barcode reader 51 is also input. Conversely, the control device 5 sends start/stop control signals to the motor 31 of the self-propelled vehicle 3, air cylinders 444,
Solenoid valves 4Eb and 425b that control the supply of compressed air to 425
switching control signal for low reactor actuator 416
a switching control signal to the solenoid valve 416b that controls supply of compressed air to the air cylinder 15a, a drive control signal to the servo motor 403, the actuator of the switching unit 15.16,
Solenoid valves 15b and 16 for controlling the supply of compressed air to 16a
It is designed to issue a switching control signal, etc. for b.

Next, the self-propelled vehicles 3, 3 and the transfer machine 41.4 are controlled by the control device 5.
2. Regarding the operation control of 43 etc., firstly, the case of leaving the warehouse is
This will be explained using the flowchart shown in the figure. When the code of the item to be delivered is keyed in by the operation device 52, the control device 5 enters the identification of the self-propelled vehicle, the sensor 501 detects that it is a self-propelled vehicle exclusively for delivery, and the sensor 515 detects that the vehicle is unloaded. The self-propelled vehicle 3 that was detected not to be suspended is placed in section■
The vehicle will be stopped at The control device 5 also controls a rotary multi-row, multi-tier shelf 21 that stores the article code and the cargo boxes containing the product code.
It is provided with data corresponding to shelf rows and shelf tiers, and provides the data of the shelf row corresponding to the input code to the rotation control device 53, and also controls the servo motor 40 according to the data of the shelf tiers.
The rotation control device 53 controls the drive system so that the corresponding shelf row stops in front of the transfer machine 41 based on the given data. and returns a stop completion signal to the control device 5. In response to this, the control device 5 controls the operating rod 414 of the air cylinder 414.
A signal is sent to the electromagnetic valve 414b to advance the hook 41, and then the row actuator 416 is driven to advance the hook 41.
7 to engage with the hanging fitting 20a of the cargo box 20.
16a, and then the actuating rod 4 to the solenoid valve 414b.
A signal is issued to cause 14a to withdraw. As a result, the shipping box to be shipped has been received by the shipping box receiving section 401. The control device 5 then issues a signal to the servo motor 403 to move the cargo box receiver 401 to the upper transfer position.

On the other hand, for the self-propelled vehicle 3, a transfer machine 41 is set to prohibit it from entering a certain section ■, and it is kept on standby in the section ■, and after moving the cargo box receiver 401 to the upper transfer position. The prohibition will be lifted and the vehicle will be allowed to enter section ■ again at low speed. As a result, the self-propelled vehicle 3 dedicated to leaving the warehouse enters section ■ from section ■, but when the sensor 507 detects its arrival, the control device 5 stops the rotation of the motor 31 or the traveling of the self-propelled vehicle 3, and the air cylinder 425 is activated. A signal is sent to the solenoid valve 425b to advance the operating rod 425a, and the arm 42 of the positioning device is activated.
3. Bring the 424 closer and position the self-propelled vehicle.

Next, a signal is issued to the electromagnetic valve 416b to automatically retract the hook 417 downward, and a signal is then issued to the servo motor 403 to lower the cargo box receiver 401 to the lower transfer position. This means that the required cargo box has been transferred to the self-propelled vehicle 3.

Next, a signal is issued to the solenoid valve 425b to spread out the arms 423, 424 of the positioning device. If there is no other self-propelled vehicle 3 in the section (3) that is in contact with the signal direction, a drive signal is issued to the motor 31, and the self-propelled vehicle heads to the destination input from the operating device 52. The control device 5 is a sensor 51
0 detection operation, it is recognized that the series of unloading operations related to the transfer machine 41 has been completed, and necessary data updates and the like are performed.

In addition, in this embodiment, the shipping destination is determined to be the installation position of the transfer machine 42. The II control device 5 performs the following control operations. That is, when the sensor 502 detects the passing of the self-propelled vehicle 3 for leaving the warehouse, a signal is sent to the electromagnetic valve 15b of the switching section 15 to operate the air cylinder 15a and switch to the branch line 17. In section I2, when the sensor 503 recognizes that the vehicle is a self-propelled vehicle for leaving the warehouse, the self-propelled vehicle is stopped and positioned in the same manner as described above. The cargo box receiving part 401, which has been kept in a standby position, is raised to the upper transfer position. Next, the arms 423 and 424 of the positioning device are expanded and the self-propelled vehicle 3 is started. Thereafter, the box receiving part 401 is lowered, and the box 20 is transferred to a vacant step at the upper end of the fluidizing shelf 2.

An empty space in the flow shelf 2 is detected by a photoelectric sensor (not shown), and empty stages are filled from the top.

Next, the case of warehousing will be explained. The storage is carried out automatically or manually at any location along the rail route for two cargo boxes suspended from the self-propelled vehicle 3 by a transfer machine 41 or the like, as will be described later. However, in this exhibition model, it was transferred to the liquid shelf 2 by the transfer machine 42, and the cargo box that slipped to the transfer machine 43 was transferred to the transfer machine 8 machine 43.
The cargo box is taken out from the warehouse, suspended by a self-propelled vehicle 3 dedicated for storage, and automatically stored. So first,
Self-propelled vehicle 3 with transfer #M43 in the preparation stage for automatic warehousing
An overview of the control of transfer to

When the sensor 506 detects a self-propelled vehicle 3 dedicated to warehousing, and the sensor 514 detects that a cargo box is hung, the vehicle is temporarily stopped in section (3) and the cargo box 20 taken out from the floating shelf 2 is placed thereon. Then, the cargo box receiver 401, which has been waiting in the lower receiver vertical position, is raised to the upper receiver sewing position. Then, the self-propelled vehicle 3 is started and enters the section, and when the sensor 509 detects its arrival, the drive of the motor 31 is cut off and the vehicle is stopped.
．． 424 to center the self-propelled vehicle 3 and the transfer machine 43, and then send a signal to the solenoid valve 416b to drive the row actuator 416 and move the hook 41
7 is rotated and retracted downward, and then the cargo box receiving part 401 is lowered to the lower receiving vertical position. and arm 42 of the positioning device.
3° 424 is expanded and the self-propelled vehicle 3 with the RRF box suspended starts, while the empty cargo box receiver 401 is lowered to a position facing the lowest stage of the fluidized shelf 2, and the The next load box to be stored is taken out, giving priority to the lower shelf. In this case, the solenoid valves 414b and 416b are controlled when the transfer F2 machine 43 takes out the load box from the shelf 21. When the cargo box receiving section 401 is transferred, the cargo box receiving section 401 rises to the lower receiving vertical position and waits for the arrival of the next self-propelled vehicle.

Next, warehousing by the transfer machine 43 and the like will be explained with reference to the flowchart of FIG. When the control device 5 detects the intrusion of a self-propelled vehicle dedicated to warehousing into section (2) using the sensor 504, and detects that the cargo box 20 is hanging using the sensor 515, it starts the following control for warehousing. . First, check the position of the cargo box receiver 401 of the transfer machine 43, and if it is not in the lower receiver vertical position, stop the self-propelled vehicle 3, and ensure that the cargo box receiver 401 is in the lower receiver vertical position (after the series of operations are completed). Wait until it reaches the standby position (which is the standby position) and then launch it again. When the sensor 516 disposed at the downstream end of section (2) detects the arrival of a self-propelled vehicle, the barcode reader 51 is caused to read the barcode. If the self-propelled vehicle needs to be stopped or decelerated during this reading, the motor 31 is controlled as required.

The control device 5 searches for the shelf row and shelf rack of the shelves 21 in which the packing box is to be stored based on the barcode reading data, outputs data regarding the shelf row to the rotation control device 53, and stores data regarding the shelf rack in a predetermined register. The rotation control device 53 receives the above data and performs control to stop the required row of shelves in front of the transfer machine 41 based on this data.

On the other hand, when the self-propelled vehicle 3 is detected by the sensor 507, the control device 5 stops the vehicle, sends a signal to the solenoid valve 425b to operate the air cylinder 425, and causes the arms 423 and 424 of the positioning device to approach. .

When the rotation control device 53 completes the control to stop the required row of shelves in front of the transfer machine 41, it sends a warehousing instruction signal to the control device 5. Upon receiving this signal, the control device 5 issues a signal to the servo motor 403 to raise the cargo box receiving portion 401 to the top stitching position, and issues a signal to rotate the solenoid valve 416b and the heft knob 417 to the traction position. Next, the solenoid valve 42
5b, the arms 423 and 424 are expanded, and if there is no other vehicle in front in the section (2), the self-propelled vehicle 3 is started. When the sensor 510 detects that the self-propelled vehicle 3 has left the transfer machine 41, the box receiver 401 of the transfer machine 41
Control begins to transfer the cargo boxes received at the time to the required shelves. That is, first, a signal is issued to the servo motor 403 to lower the cargo box holder 401 to a position facing the relevant shelf, and when the box receiver 401 has been moved to this stage, the solenoid valve 414b is activated.
.

A control signal is issued to air cylinder 414.416b. Activate the low reactor 416 and press the push metal fitting 418
, the hook 417 is released, and the pusher 418 is moved back in sequence. As a result, the cargo box 20 has been transferred to the first shelf in the corresponding column. Then, the empty cargo box receiving section 401 is raised to the lower receiving vertical position to wait for the next storage.

In the above-mentioned embodiment, both the receiving position and the unloading position were set at one location for the transfer tJ3141, but it is also possible to install the transfer tJ3141 at multiple locations, and if there are multiple receiving positions, the barcode league is set to a common barcode league. The self-propelled vehicle stop position may be selected and determined based on the data read by the user.If there is a plurality of exit positions, one may be selected and commanded.

Furthermore, in the above-described embodiment, the shelf rows and shelves are searched from the article code input in the control device 5, and the shelf rows and shelves 411 are searched from the barcode league read data. The product code and reading data may be transferred to the rotation control device 53, the rotation control device 53 will perform a search, and the shelf data will be returned to the control device 5. Frequently, vehicles are loaded and unloaded, and in this case the rotation control device can be used as an operating terminal. In other words, the rotation control device 53 is provided with comparison data and a search function between the article code, the shelf row, and the shelf rack so that the shelf row of the packing box containing the article can be stopped at a predetermined position by inputting the article code. This is because it is rational. Note that the multi-row, multi-stage shelves are not limited to rotary types, and may be reciprocating types.

Furthermore, it is also possible to designate the warehousing light by an operator's input without relying on a bar code or other means for loading the cargo box 1Δ. Furthermore, it goes without saying that the hanging load is not limited to the above-mentioned cargo boxes.

As described in detail above, in the case of the apparatus of the present invention, warehousing can be carried out freely and automatically at three-dimensional warehousing locations efficiently. In addition, self-propelled vehicles are used to move cargo boxes.
Since the transfer machine can be managed, it is possible to manage not only the logistics of warehousing but also inventory and other data related to logistics. Furthermore, since the planar conveyance means of the apparatus of the present invention is a self-propelled vehicle suspended on an overhead rail, the present invention has excellent effects such as extremely high space utilization efficiency.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention, and FIG. 1 is a schematic external view showing one embodiment of the present invention, FIG. 2 is a rear view of a self-propelled vehicle, and FIG. 3 is a side view thereof. Fig. 4 is a side view for explaining the operation of the transfer machine, Fig. 5 is a side view of the cargo box receiving section, Fig. 6 is a partial plan view thereof, Fig. 7 is a side view showing the stopper of the flow shelf, Fig. 8 is a plan view of the same, Fig. 9 is a front view of the positioning device for the self-propelled vehicle stop position, Fig. 10 is a layout diagram of the main sensors around the rail 1, Fig. 11 is a block diagram showing the entire control system, FIG. 12 is a flowchart for leaving the warehouse, and FIG. 13 is a flowchart for receiving the warehouse. 1...Rail 2...Fluid shelf 3...Self-propelled vehicle 5.
...Control device 20...Cargo box 21...Multi-row, multi-tier shelf 41, 42.43...Transfer f2 machine 51...Barcode reader 52...Operation device 53...Rotation control device Patent Applicant Tsubakimoto Chain Co., Ltd. Agent Patent Attorney Noboru Kono

Claims (1)

[Scope of Claims] 1. An aerial rail arranged in relation to the storage position, and a self-propelled rail that is suspended from the rail and travels independently, and supports a hanging load attached with identification means in a detachable manner. a vehicle, one or more transfer machines arranged at the warehousing position and equipped with hanging load support means that ascends and descends below the self-propelled vehicle travel area and moves horizontally for warehousing; and a self-propelled vehicle. Based on the reader of the identification means disposed upstream of the transfer machine in the vehicle travel area and the output signal of the reader, it is determined whether or not the self-propelled vehicle needs to stop at the transfer machine installation position, and based on the result, An automatic warehousing device characterized by comprising means for controlling running and stopping of a self-propelled vehicle and means for controlling the position of the hanging load supporting means based on an output signal from a reader.