CN113619963A

CN113619963A - Ginseng and bai device

Info

Publication number: CN113619963A
Application number: CN202110492594.2A
Authority: CN
Inventors: 新中秀信; 佐藤英纪
Original assignee: Daifuku Co Ltd
Current assignee: Daifuku Co Ltd
Priority date: 2020-05-08
Filing date: 2021-05-06
Publication date: 2021-11-09
Also published as: JP2021177052A; JP7226391B2

Abstract

The invention provides a debarking apparatus which can carry out more rapid article conveying between a storage area and a debarking position. The debarking device is provided with: a first conveying mechanism capable of conveying the article between the first holding rack and the first conveying mechanism; a second conveying mechanism capable of conveying the article between the second storage rack and the second conveying mechanism; a third conveyance mechanism capable of conveying the article in the debarking chamber or between the debarking position and the first delivery position on the opposite side of the first conveyance path from the second conveyance path; and a fourth conveying mechanism that penetrates an intermediate frame, which is a part of at least one of the first holding rack and the second holding rack, between the first conveying mechanism and the second conveying mechanism, and is capable of conveying the article between a second delivery position for delivering the article to the first conveying mechanism and a third delivery position for delivering the article to the second conveying mechanism.

Description

Ginseng and bai device

Technical Field

The invention relates to a debarking device.

Background

Conventionally, a debarking facility has been known in which a plurality of storage racks for storing articles such as bones are stored in a storage area (see, for example, patent document 1).

Documents of the prior art

Patent document

Patent document 1: japanese patent laid-open No. 2014-234616

Disclosure of Invention

Problems to be solved by the invention

In such a debarking apparatus, for example, in the case where the number of storage areas per debarking chamber is large, it is necessary to more quickly convey articles between the storage areas and the debarking positions.

Accordingly, an object of the present invention is to provide a debarking apparatus that can be improved more quickly, for example, to convey articles between a storage area and a debarking position.

Means for solving the problems

The debarking device of the invention comprises: a first storage rack having a plurality of first storage areas provided along a first conveyance path extending so as to intersect with the first direction, the plurality of first storage areas being capable of storing articles, respectively; a first transport mechanism that has a first support section that supports the articles and transports the articles along the first transport path, and that is capable of transporting the articles between each storage area of the first storage area and a first support position in the first transport path at which the articles are supported by the first support section; a second storage rack which is provided to be shifted from the first storage rack in the first direction and has a plurality of second storage areas which are provided along a second conveyance path extending so as to intersect with the first direction and in which articles can be stored; a second transport mechanism that is provided separately from the first transport mechanism in the first direction, has a second support portion that supports the articles and transports the articles along the second transport path, and is capable of transporting the articles between each storage area of the second storage area and a second support position in the second transport path at which the articles are supported by the second support portion; a third conveying mechanism capable of conveying the article between a debarking position provided in the debarking chamber on the opposite side of the first conveying path from the second conveying path or adjacent to the debarking chamber and a first delivery position provided corresponding to the debarking position and capable of delivering the article between the first conveying mechanism and the third conveying mechanism; and a fourth conveying mechanism that penetrates an intermediate rack located between the first conveying mechanism and the second conveying mechanism as a part of at least one of the first holding rack and the second holding rack, and that is capable of conveying the article between a second delivery position where the article is delivered to and from the first conveying mechanism and a third delivery position where the article is delivered to and from the second conveying mechanism.

Drawings

Fig. 1 is an exemplary and schematic top view of one floor of an embodiment debarkation apparatus.

Fig. 2 is an exemplary and schematic side view of a holding rack and a stacker crane of the debarking apparatus of an embodiment.

Fig. 3 is a schematic and exemplary side view of an intermediate frame of an embodiment of the debye apparatus.

Fig. 4 is a schematic and exemplary side view of a debarkation chamber side holding rack of the debarkation apparatus of an embodiment.

Fig. 5 is a V-V sectional view of fig. 1.

Fig. 6 is a block diagram of a debye facility of an embodiment.

Fig. 7 is a flowchart showing an example of a processing procedure in the debarking process in the debarking apparatus according to the embodiment.

Fig. 8 is an exemplary and schematic top view of one floor of the debarking apparatus of the first variation.

Fig. 9 is a schematic and exemplary side view of an intermediate frame of the debye apparatus of the second variation.

Fig. 10 is an exemplary and schematic top view of one floor of the debarking apparatus of the third variation.

Description of reference numerals:

1 storage area (first storage area, second storage area)

3 Shenbai chamber

4-1 conveyor (fourth conveying mechanism)

4-2 conveyer (third conveying mechanism)

5a processing determination part (assignment determination part)

10. 10A, 10B and 10C debarking equipment

20-11, 20-12 stacker crane (first conveying mechanism)

20-2 stacker crane (second conveying mechanism)

24a support part (first support part, second support part)

A. A1, A2 article

Pd1 Handover position (first Handover position)

Pd2 Handover position (second Handover position)

Pd3 Handover position (third Handover position)

Ph support position (first support position, second support position)

Pxm intermediate position (first intermediate position)

Pzm neutral position (second neutral position)

R11 storage rack (first storage rack)

R12 rack (first rack, middle rack)

R21 storage rack (second storage rack, middle rack)

R22 storage rack (second storage rack)

T1 conveying line (first conveying line)

T2 conveying path (second conveying path)

xf front end

xb back end

zf front end

zb rear end

X direction (second direction)

Y direction (first direction)

Z direction (third direction).

Detailed Description

Hereinafter, exemplary embodiments and modifications of the present invention are disclosed. The configurations of the embodiments and the modifications described below, and the operation and results (effects) obtained by the configurations are examples. The present invention can be realized by a configuration other than the configurations disclosed in the following embodiments and modifications. Further, according to the present invention, at least one of various effects (including derivative effects) obtained by the following configuration can be obtained.

In the present specification, the ordinal numbers are given as convenience for distinguishing the components, parts, and the like, and do not indicate the order of priority or sequence.

In addition, in the respective drawings, the respective directions in the debye apparatus are indicated by arrows. The X direction, the Y direction and the Z direction intersect and are orthogonal to each other. The Z direction is substantially along the vertical direction, and the arrow Z points vertically upward. The X-direction and the Y-direction are substantially along the horizontal direction. The X direction is referred to as the left-right direction or the longitudinal direction, the Y direction is referred to as the front-back direction or the short-side direction, and the Z direction is referred to as the vertical direction.

In the drawings, reference numerals indicating positions of the article a are sometimes attached to reference numerals indicating the article a and indicated in parentheses.

[ embodiment ]

[ article, conveyance route, storage rack, storage area, and worship room ]

Fig. 1 is a plan view of one floor of the debarking apparatus 10, and more particularly, a plan view obtained by viewing the debarking apparatus 10 in a direction opposite to the Z direction at the line I-I of fig. 5. As shown in fig. 1, the debarking apparatus 10 is provided with a plurality of racks R. The storage racks R each have a plurality of storage areas 1 for storing the articles a. In the following drawings, the storage area 1 is shown by a simple quadrangle for the sake of simplicity.

In the debarking apparatus 10, the article a is, for example, a container for storing a bone ash can, a relic, a brand, and the like, in which a remains are stored.

Each article a has an identifier (not shown) indicating identification information of the article a, and a reader 51 (see fig. 6) for acquiring the identification information is provided in each storage area 1. The identification body is, for example, a label to which a code such as a barcode or a two-dimensional code is given, or an rfid (radio frequency identifier) tag that holds identification information. The reader 51 is, for example, a code reader having a camera for capturing a code image, or an RFID reader for acquiring identification information by wireless communication with an RFID tag. In the present embodiment, the storage position of one article a is provided in each storage area 1, but the present invention is not limited to this, and a plurality of storage positions shifted from each other in the Y direction may be provided in each storage area 1.

The debarking apparatus 10 is provided with a conveyance path T as a space for the stacker crane 20 to move and convey the article a. The conveyance path T extends in the X direction and in the Z direction with a substantially constant width in the Y direction. That is, the conveyance path T extends in the X direction and the Z direction, in other words, the conveyance path T extends so as to intersect the Y direction. The stacker crane 20 is an example of a conveying mechanism that conveys the article a. The Y direction is an example of the first direction, the X direction is an example of the second direction, and the Z direction is an example of the third direction.

As shown in fig. 1, the debarking apparatus 10 is provided with two conveying paths T (T1, T2). Storage racks R are provided on both sides of each conveyance path T in the Y direction. Each storage rack R is provided with a plurality of storage areas 1 along the conveyance path T. The conveyance path T1 is offset from the conveyance path T2 in the Y direction. The conveyance path T1 is an example of a first conveyance path, and the conveyance path T2 is an example of a second conveyance path.

The debarking apparatus 10 has a plurality of racks R (R11, R12, R21, R22). The storage racks R11 and R12 can transfer the article a to and from the stacker cranes 20-11 and 20-12 that transport the article a on the transport route T1, and the storage racks R11 and R12 are examples of the first storage rack. The storage area 1 provided in the storage racks R11 and R12 is an example of the first storage area. The stacker cranes 20-11 and 20-12 are examples of the first transport mechanism.

The storage racks R21 and R22 can transfer the article a to and from the stacker crane 20-2 that transports the article a on the transport route T2, and the storage racks R21 and R22 are examples of the second storage rack. The storage area 1 provided in the storage racks R21 and R22 is an example of the second storage area. The stacker crane 20-2 is an example of the second transport mechanism.

The debarking facility 10 is provided with conveyors 4-1 and 4 capable of conveying an article A between stacker cranes 20-11 and 20-12 and a stacker crane 20-2. The conveyor 4-1 penetrates the racks R12 and R21 in the Y direction. Specifically, the conveyor 4-1 conveys the article a between the delivery position Pd2 and the delivery position Pd 3. The delivery position Pd2 faces the conveyance path T1, and enables delivery of an article to and from both the stacker cranes 20-11 and 20-12. The delivery position Pd3 faces the conveyance path T2, and enables the article a to be delivered to and received from the stacker crane 20-2. In the storage racks R12 and R21, the storage area 1 is not provided at the position where the conveyor 4-1 is provided. The conveyor 4-1 penetrates a portion in the Y direction, for example, where a space having substantially the same size as the one storage area 1 in the storage rack R12 and a space having substantially the same size as the one storage area 1 in the storage rack R21 are aligned in the Y direction. The stacker cranes 20-11, 20-12, and 20-2 have the same structure. The method and procedure for delivering the article a between the stacker crane 20 and the delivery positions Pd2 and Pd3 are the same as those for delivering the article a between the storage area 1. Storage racks R12 and R21 are examples of intermediate racks. The conveyor 4-1 is an example of the fourth conveying mechanism, and may be referred to as a rack penetration conveyor. The handover position Pd2 is an example of the second handover position, and the handover position Pd3 is an example of the third handover position.

A row L of the debarking chambers 3 arranged in the X direction is provided on the opposite side of the conveyance path T2 with respect to the conveyance path T1. In other words, the conveying path T1 is closer to the row L of the debye chamber 3 than the conveying path T2. The row L of the debarking chambers 3 is provided on the opposite side of the conveying path T1 with respect to the storage rack R11. That is, the storage rack R11 is provided between the line L of the debarkation chamber 3 and the conveyance path T1.

In the row L, as an example, the plurality of debarking chambers 3 are arranged in a row at substantially constant intervals along the X direction. That is, the lengths of the plurality of debye chambers 3 in the X direction are substantially the same. Each of the debarkation rooms 3 is provided with a reader 52 (see fig. 6) for reading identification information of the debarker from a portable information terminal, an RFID tag, or the like held by the debarker by wireless communication.

The debarking facility 10 includes conveyors 4-2(4) through which the storage rack R11 passes in the Y direction, corresponding to the debarking chambers 3. The conveyor 4-2 conveys the article a between each debarking chamber 3 and the conveying path T. Specifically, the conveyor 4-2 conveys the article a between the delivery position Pd1 and the debye position Po corresponding to the debye chamber 3. The delivery position Pd1 faces the conveying path T1 and can be stored in a stackAt least one of the cranes 20-11 and the stacker crane 20-12 transfers the article A. Position of debarkation P_oFor example, within the chamber 3, facing the chamber 3, or adjacent to the chamber 3. In the storage rack R11, the storage area 1 is not provided at a portion where the conveyor 4-2 is provided. The conveyor 4-2 penetrates a space having substantially the same size as the one storage area 1 in the storage rack R11, for example, in the Y direction. The method and procedure for delivering the article a between the stacker crane 20 and the delivery position Pd1 are the same as those for delivering the article a between the storage area 1. The conveyor 4-2 is an example of a third conveying mechanism, and may be referred to as a debarking chamber conveyor. The handover position Pd1 is an example of the first handover position.

In each storage rack R, a plurality of storage areas 1 are arranged in a matrix having rows in the X direction and columns in the Z direction, except for the locations where the conveyors 4(4-1, 4-2) are provided. In other words, in each storage rack R, the plurality of storage areas 1 are arranged in the X direction and also in the Z direction. Further, between two storage racks R facing in the Y direction with the conveyance path T therebetween, the storage areas 1 are arranged in the Y direction with the conveyance path T therebetween.

[ stacker crane ]

Fig. 2 is a side view of the storage rack R and the stacker crane 20. As shown in fig. 1 and 2, the stacker crane 20 includes a traveling body 21, a mast 22, a cargo bed 23, and a transfer device 24. A guide rail 25 extending in the X direction is provided at least one of the lower portion and the upper portion of the conveyance path T. The stacker crane 20 is movable in the X direction along the guide rail 25.

The traveling body 21 is supported on the guide rail 25 so as to be movable in the X direction. Two masts 22 are fixed to the traveling body 21, and the two masts 22 are separated from each other in the X direction and extend in the Z direction. The traveling body 21 and the mast 22 can move in the X direction along the guide rail 25 in accordance with the rotation of a motor (not shown) as a driving source for moving the traveling body 21 and the mast 22 in the X direction, and can be stopped at a plurality of positions in the X direction in accordance with the stop of the motor.

The platform 23 is supported by the two masts 22 so as to be movable in the Z direction. A cargo bed 23 is erected between the two masts 22. The cargo bed 23 can move in the Z direction along the mast 22 in accordance with the rotation of a motor (not shown) as a driving source for moving the cargo bed 23 in the Z direction, and can be stopped at a plurality of positions in the Z direction in accordance with the stop of the motor.

The transfer device 24 is attached to the cargo bed 23 so as to be extendable and retractable in the Y direction. The transfer device 24 has a support portion 24a for supporting the article a. The support portion 24a and the position of the article a supported by the support portion 24a in the Y direction change in accordance with the expansion and contraction of the transfer device 24 in the Y direction. The expansion/contraction state of the transfer device 24 changes in accordance with the rotation of a motor (not shown). That is, the support portion 24a can move in the Y direction in accordance with the rotation of the motor, and can stop at a plurality of positions in the Y direction in accordance with the stop of the motor. The support portion 24a of the stacker cranes 20-11 and 20-12 is an example of a first support portion, and the support portion 24a of the stacker crane 20-2 is an example of a second support portion.

As shown in fig. 2, in the contracted state (accommodated state) of the transfer device 24, the support portion 24a and the article a are positioned in the conveyance path T. By controlling the motors that drive the traveling body 21 and the mast 22 and controlling the motors that drive the load bed 23 in the contracted state, the article a can be moved to the opposing position Pf facing each storage area 1 in the transport path T and stopped. Each opposing position Pf is also a support position Ph at which the article a is supported by the support portion 24a in the conveyance path T. The support position Ph of the stacker cranes 20-11 and 20-12 is an example of the first support position, and the support position Ph of the stacker crane 20-2 is an example of the second support position.

The movement of the article a between the support portion 24a and each storage area 1 can be realized by a combination of the movement of the support portion 24a in the Y direction and the movement of at least a part of the transfer device 24 in the direction intersecting the Y direction.

As an example, the conveyance of the article a will be described in a case where the transfer device 24 is a known slide fork having a plurality of members slidable in the Y direction, the support portion 24a is a tip member of the slide fork, and the transfer device 24 is configured to be movable in the Z direction without interfering with each storage area 1. In this case, the articles a can be transferred between the support portion 24a and each storage area 1 by a combination of the movement of the support portion 24a in the Y direction caused by the expansion and contraction of the transfer device 24 and the movement of the support portion 24a in the Z direction accompanying the movement of the cargo bed 23 in the Z direction. The transfer device 24 is extendable and retractable in both Y-direction sides with respect to the transport path T, and is extendable to a length corresponding to the storage position of the article a in the storage area 1 with respect to the storage area 1 in both Y-direction sides. When the article a is carried out from the storage area 1 to the opposing position Pf, the support portion 24a that does not support the article a first moves slightly below the article a stored in the storage area 1 in accordance with the extension of the transfer device 24 in the Y direction. Next, the support portion 24a slightly moves upward as the cargo bed 23 moves in the Z direction (upward), and receives the article a from the storage area 1. Then, the support portion 24a moves along the Y direction toward the conveyance path T in accordance with contraction of the transfer device 24 in the Y direction, and moves the article a toward the opposing position Pf. On the other hand, when the article a is carried into the storage area 1 from the opposing position Pf, the support portion 24a that supports the article a first moves slightly above the predetermined storage position of the article a in the empty storage area 1 in accordance with the extension of the transfer device 24 in the Y direction. Then, the support portion 24a moves slightly below the storage area 1 in accordance with the movement of the platform 23 in the direction opposite to the Z direction (downward), and delivers (places) the article a to the storage area 1. Then, the support portion 24a moves along the Y direction toward the conveyance path T in association with the contraction of the transfer device 24 in the Y direction. The transfer device 24 can transport the article a between the support position Ph (facing position Pf) of the article a in the transport path T and the storage areas 1 on both sides in the Y direction with respect to the transport path T.

The mechanism for conveying the article a between the support position Ph (opposing position Pf) and each storage area 1 is not limited to the fork. For example, when the storage area 1 and the cargo bed 23 include a free roller conveyor that assists movement of the article a in the Y direction, the article a may be moved on the free roller conveyor by expansion and contraction of the transfer device 24. In this case, the connection state in which the connection portion is connected to the article a and the separated state in which the connection portion is separated from the article a may be switched by moving the connection portion, which is at least a part of the transfer device 24, in a direction intersecting the Y direction, for example, the Z direction. In the connected state, the transfer device 24 can move the article a, and in the separated state, the transfer device 24 cannot move the article a.

[ workable Range of stacker crane and Relay of article ]

As is clear from fig. 1, (the support portion 24a of) the stacker crane 20-11 and (the support portion 24a of) the stacker crane 20-12 that move on the same guide rail 25 cannot pass each other in the X direction.

Fig. 3 is a side view of the storage area 1 of the storage rack R12 corresponding to the conveyance path T1 viewed in the Y direction. The operable ranges of the stacker cranes 20 are set so as not to interfere with each other. In the example of fig. 3, the operable range C1 of the stacker crane 20-11 (not shown in fig. 3) located on the relatively right side in fig. 3 is a range from the rightmost row of the storage area 1 to a row located five rows to the right side of the leftmost row in fig. 3 so as to avoid interference with the stacker crane 20-12 (not shown in fig. 3) located on the relatively left side. Similarly, the operable range C2 of the stacker crane 20-12 on the left side in fig. 3 is a range from the leftmost column of the storage area 1 to a column located five columns to the left side of the rightmost column in fig. 3 so as to avoid interference with the stacker crane 20-11 on the right side. That is, the stacker crane 20-11 can transport the article a between the storage areas 1 in the operable range C1, the stacker crane 20-12 can transport the article a between the storage areas 1 in the operable range C2, and both the stacker crane 20-11 and the stacker crane 20-12 can transport the article a between the storage areas 1 in the overlapping range Co overlapping with the operable range C1 and the operable range C2. Further, the stacker crane 20-11 cannot transport the article a between the storage areas 1 located in the unreachable range Cn1 located at the front end in the X direction outside the operable range C1, and the stacker crane 20-12 cannot transport the article a between the storage areas 1 located in the unreachable range Cn2 located at the rear end in the X direction outside the operable range C2. The unreachable region Cn1 may also be referred to as a first unreachable region, the unreachable region Cn2 may also be referred to as a second unreachable region, and the repeated region Co may also be referred to as an intermediate region.

Fig. 4 is a side view of the storage area 1 of the storage rack R11 corresponding to the transport path T1 viewed in the direction opposite to the Y direction. As shown in fig. 4, the storage areas 1 belonging to the storage rack R11 are also set with the operable ranges C1, C2, the overlap range Co, and the unreachable ranges Cn1, Cn2 in ranges that are substantially aligned in the Y direction with respect to the operable ranges C1, C2, the overlap range Co, and the unreachable ranges Cn1, Cn2 of the storage rack R12, respectively. As is clear from fig. 4, some of the handover locations Pd1 are located within the sub-ranges Cn1 and Cn 2. Therefore, the stacker crane 20-11 cannot transport the article a between the storage area 1 and the delivery position Pd1 within the unreachable range Cn1, and the stacker crane 20-12 cannot transport the article a between the storage area 1 and the delivery position Pd1 within the unreachable range Cn 2.

Therefore, in the present embodiment, as shown in fig. 3 and 4, the relay position Pr is assigned to the empty storage area 1 located within the overlap range Co. Thus, the stacker crane 20-11 transports the article a between the relay position Pr and the storage area 1 in the unreachable range Cn1, and the stacker crane 20-12 transports the article a between the relay position Pr and the storage area 1 in the unreachable range Cn1, so that the article a can move between the support portion 24a of the stacker crane 20-11 and the storage area 1 in the unreachable range Cn 1. Similarly, the stacker crane 20-12 transports the article a between the relay position Pr and the storage area 1 within the unreachable range Cn2, and the stacker crane 20-11 transports the article a between the relay position Pr and the storage area 1 within the unreachable range Cn2, so that the article a can move between the support portion 24a of the stacker crane 20-12 and the storage area 1 within the unreachable range Cn 2.

The relay position Pr is also used for transporting the article a between the delivery position Pd1 out of the ranges Cn1 and Cn 2. That is, the stacker crane 20-11 transports the article a between the relay position Pr and the delivery position Pd1 in the unreachable range Cn1, and the stacker crane 20-12 transports the article a between the relay position Pr and the delivery position Pd1 in the unreachable range Cn1, so that the article a can move between the support portion 24a of the stacker crane 20-11 and the delivery position Pd1 in the unreachable range Cn 1. Similarly, the stacker crane 20-12 conveys the article a between the relay position Pr and the delivery position Pd1 within the unreachable range Cn2, and the stacker crane 20-11 conveys the article a between the relay position Pr and the delivery position Pd1, whereby the article a can move between the support portion 24a of the stacker crane 20-12 and the delivery position Pd1 within the unreachable range Cn 2. The allocation of the relay positions Pr to the empty storage areas 1 can be changed according to the storage status of the articles a in the debarking apparatus 10, that is, the empty status of the storage area 1 of the storage rack R. The relay position Pr may be set to an arbitrary position within the overlap range Co. The relay position Pr may be assigned to the empty delivery position Pd2 at which the article a is not waiting.

Fig. 5 is a longitudinal sectional view of the debye apparatus 10, and more particularly, a sectional view of the debye apparatus 10 viewed along the X direction at line V-V of fig. 1. As shown in fig. 5, a plurality of floors F are stacked in the debarking apparatus 10. The debarking facility 10 has the same structure as that of fig. 1 on each floor F. The attendee can access each floor F via a staircase, an escalator, an elevator, and the like, which are not shown. The stacker crane 20 (see fig. 2) extends in the Z direction on the conveyance path T and can deliver the article a to and from a delivery position Pd1 of the conveyor 4-2 provided corresponding to the debarkation chambers 3 of the plurality of floors F. As an example, in the rakah apparatus 10 of the present embodiment, since the number of rakah chambers per floor F is 5 as shown in fig. 1 and the number of floors F is 2 as shown in fig. 5 with respect to the transportation path T1, the stacker cranes 20-11 and 20-12 operate in correspondence to the rakah chamber 3 which is 10 (5 × 2) in total. The number of the debarking chambers 3 and the number of the floors F are not limited to these.

[ control device ]

Fig. 6 is a block diagram of the debye device 10. As shown in fig. 6, the debarking apparatus 10 is provided with a control device 5. The control device 5 includes a processing determination unit 5a, a conveyance control unit 5b, reading

units

5c and 5d, an input control unit 5e, and an output control unit 5 f.

The processing determination unit 5a determines the processing order by the stacker crane 20 and the conveyor 4 as the conveying means, the allocation of the article a to each storage area 1, the allocation of the relay position Pr to the storage area 1, and the like. The processing determination unit 5a is an example of the assignment determination unit.

The conveyance control unit 5b controls the stacker crane 20 and the conveyor 4 to operate according to the processing procedure and setting determined by the processing determination unit 5 a.

The reading unit 5c acquires information read by the reader 51, and the reading unit 5d acquires information read by the reader 52.

The input control unit 5e acquires information input by the operation of the input device 53 such as a touch panel, a switch, a button, and a keyboard by the participant.

The output control unit 5f controls the output device 54 such as a display, a lamp, and a speaker to perform a predetermined output.

The control device 5 may be constituted by a computer. The computer includes at least a processor (circuit), a main storage unit 5g such as a ram (random access memory) and a ROM (read only memory), and an auxiliary storage unit 5h such as a hdd (hard disk drive) and a ssd (solid state drive), and the processor reads and executes programs (application programs) stored in the ROM of the main storage unit 5g and the auxiliary storage unit 5 h. The processor operates as a processing determination unit 5a, a conveyance control unit 5b, reading

units

5c and 5d, an input control unit 5e, and an output control unit 5f by operating according to a program. In this case, the program includes program modules corresponding to the processing determination unit 5a, the conveyance control unit 5b, the reading

units

5c and 5d, the input control unit 5e, and the output control unit 5 f. The auxiliary storage device 5h stores information indicating the presence or absence (storage or empty) of the article a in each storage area 1, information indicating the article a stored in the storage area 1 (hereinafter referred to as storage status information), identification information of the article a being transported, identification information of the article a located at the place of participation Po, identification information of the storage area 1 assigned as the relay position Pr (hereinafter referred to as assignment information), attribute information of the article a stored in the equipment for participation 10 (hereinafter referred to as an article database), and the like. Each piece of information can be rewritten by, for example, the processing determination unit 5a as needed. The storage status information may also be referred to as idle status information.

The program can be provided in a file recorded in an installable format or an executable format in a recording medium that can be read by a computer. The recording medium may also be referred to as a program product. In addition, the program may be stored in a storage portion of a computer connected to a communication network, and downloaded via the network to be introduced into the computer. The program may be loaded in advance into a ROM or the like.

In addition, when at least a part of the computer is constituted by hardware, the computer may include, for example, an fpga (field programmable gate array), an asic (application specific integrated circuit), and the like.

The ROM of the main storage unit 5g or the auxiliary storage device 5h stores information used for arithmetic processing performed by the processing determination unit 5a, the conveyance control unit 5b, the reading

units

5c and 5d, the input control unit 5e, and the output control unit 5 f. Information used in the arithmetic processing may be described in a program.

[ treatment sequence during Shenbai ]

Fig. 7 is a flowchart showing an example of the processing procedure in the case of debarkation. In the example of fig. 7, when the reading unit 5d acquires information corresponding to the detection signal of the reader 52 provided in the debye chamber 3 or the input control unit 5e acquires information input to the input device 53 in a predetermined start standby state (S1), the processing determination unit 5a searches the article database for the information acquired in step S1 (S2). The information acquired in step S1 is, for example, attribute information of the article a such as the identification information of the bystander.

In the search at step S2, if it is determined that the information acquired at step S1 is present in the article database and that an article a corresponding to the information acquired at step S1 is present in the debarking apparatus 10 (yes at S3), the processing determining unit 5a determines the processing procedure when transporting the article a from the storage area 1 to the debarking position Po of the corresponding debarking chamber 3 (S4). In step S4, the processing determination unit 5a determines the stacker crane 20 and the conveyor 4 used for conveying the article a, and the order of operation thereof. When relaying is necessary, the processing determination unit 5a refers to the storage status information (empty status information) and assigns the relay position Pr to the empty storage area 1 in which the article a is not stored within the overlap range Co. In other words, the processing determination unit 5a determines the storage area 1 used as the relay position Pr from the empty storage areas 1 in which the articles a are not stored in the overlap range Co.

In step S4, after the determination of the processing procedure, the processing determination unit 5a cancels the assignment to the storage area 1 in which the article a is stored. Specifically, the processing determination unit 5a changes the current status of the storage area 1 from "storage" to "free" in the storage status information, for example, and deletes the identification information of the stored article a to thereby eliminate the association between the storage area 1 and the article a.

Next, the conveyance controller 5b controls the stacker crane 20 and the conveyor 4 so as to convey the article a from the storage area 1 to the position of debarking Po in accordance with the processing procedure determined in step S4 (S5). Then, the input control unit 5e enters a standby state in which information indicating the end of the debt process is acquired.

When the debt by the debt participant is over and the input control unit 5e acquires information indicating the end of the debt corresponding to the operation of the input device 53 by the debt participant (S6), the conveyance control unit 5b determines the storage area 1 in which the article a is stored and the processing procedure when the article a is conveyed from the debt position Po to the storage area 1 (S7). In step S7, the processing determination unit 5a can refer to the storage status information (empty status information) and assign (store) the article a to the empty storage area 1 in the storage rack R. In other words, the processing determination unit 5a can determine the storage area 1 of the article a to be carried into the storage rack R from the position of debarkation Po. Specifically, the processing determination unit 5a changes the current state of the storage area 1 from "free" to "stored" in the storage status information, for example, and associates the storage area 1 with the article a by adding identification information of the stored article a to the storage area 1 as information corresponding to the storage area 1.

Next, the conveyance controller 5b controls the stacker crane 20 and the conveyor 4 so that the article a is conveyed from the position of debarking Po to the determined (allocated) storage area 1 in accordance with the processing procedure determined in step S7 (S8).

In the search at step S2, if the information acquired at step S1 does not exist in the goods database (no at S3), the output controller 5f controls the display, the speaker, and the like to output error information (S9).

Through the above-described step S8 or step S9, the series of processing sequences ends. In step S4, the conveyance control unit 5b may determine the conveyance order of the article a when returning. In this case, step S7 is omitted, and in step S8, the conveyance controller 5b controls the stacker crane 20 and the conveyor 4 so that the article a is conveyed from the position of debarking Po to the determined (allocated) storage area 1 in accordance with the processing procedure determined in step S4.

As described above, the debarking apparatus 10 of the present embodiment includes the conveyance path T2 (second conveyance path) and the storage racks R21 and R22 on the opposite side of the transfer path T1 (first conveyance path) and the storage racks R11 and R12 from the debarking chamber 3, and includes the conveyor 4-1 (fourth conveyance mechanism) through which the storage racks R12 and R21 (intermediate racks) penetrate. The conveyor 4-1 is capable of conveying the article a between the stacker cranes 20-11, 20-12 (first conveying mechanisms) that convey the article a in the conveying path T1 and the stacker crane 20-2 (first conveying mechanism) that conveys the article a in the conveying path T2.

With this configuration, even if the conveyance path T2 and the storage racks R21 and R22 are provided on the opposite side of the transfer path T1 and the storage racks R11 and R12 from the debarking chamber 3, the article a can be more quickly conveyed between the stacker cranes 20-11 and 20-12 and the stacker crane 20-2 by the conveyor 4-1. Therefore, a conveyance delay of the articles a can be suppressed, and the debarking apparatus 10 having a large number of storage areas 1 per debarking chamber 3 can be configured.

The debarking facility 10 according to the present embodiment includes, for example, a plurality of stacker cranes 20-11 and 20-12 (first conveyance mechanisms) for conveying the articles a on the conveyance path T1 facing the delivery position Pd1 corresponding to the debarking chamber 3.

With such a configuration, for example, in a configuration in which the number of the debarking chambers 3 is large, or in a case in which there are many debarkers, the conveyance delay of the article a is easily suppressed.

In the debarking facility 10 according to the present embodiment, the number of the stacker cranes 20-11 and 20-12 (2) is larger than the number of the stacker cranes 20-2 (1), for example.

In the configuration of the present embodiment, the number of times the stacker crane 20 transports the article a per unit time on the transport path T1 is generally larger than the number of times the stacker crane 20 transports the article a per unit time on the transport path T2. Therefore, according to such a structure, for example, the following advantages can be obtained: it is possible to suppress a delay in conveying the article a, or to prevent unnecessary installation of the stacker crane 20 on the conveying path T2, thereby suppressing increase in manufacturing labor and cost.

In the debarking apparatus 10 according to the present embodiment, as shown in fig. 3, for example, the conveyor 4-1 is provided at an intermediate position Pxm (first intermediate position) between the front end xf and the rear end xb in the X direction (second direction) of the storage rack R12 (intermediate rack), and is provided at an intermediate position Pzm (second intermediate position) between the front end zf and the rear end zb in the Z direction (third direction) of the storage rack R12. The intermediate position Pxm is a position separated from the front end xf and the rear end xb and is not limited to the central position, and the intermediate position Pzm is a position separated from the front end zf and the rear end zb and is not limited to the central position.

If the conveyor 4-1 is located at the end in the X direction or the Z direction, depending on the storage area 1 or the delivery position Pd1, it may take time for the stacker crane 20 to convey the article a between the delivery positions Pd2 and Pd 3. In this regard, in the present embodiment, for example, since the conveyor 4-1 is located at the intermediate position Pxm in the X direction and the intermediate position Pzm in the Z direction, it is possible to suppress a conveyance delay of the article a between the storage area 1 or the delivery position Pd1 and the delivery positions Pd2 and Pd 3.

In the debarking facility 10 according to the present embodiment, for example, as shown in fig. 1 and 3, a plurality of conveyors 4-1 are adjacent to each other. In this case, the plurality of delivery positions Pd2 at which the article a is delivered to and received from the stacker cranes 20-11 and 20-12 are adjacent to each other, and the plurality of delivery positions Pd3 at which the article a is delivered to and received from the stacker crane 20-2 are adjacent to each other.

With this configuration, for example, the stacker crane 20-11 or the stacker crane 20-12 can receive the article a from the adjacent delivery position Pd2 after delivering the article a to one delivery position Pd 2. Further, the stacker crane 20-2 can receive the article a from the adjacent delivery position Pd3 after delivering the article a to one delivery position Pd 3. Therefore, compared to a configuration in which the plurality of delivery positions Pd2 are separated from each other and the plurality of delivery positions Pd3 are separated from each other, the operation of delivering the article a and the operation of receiving the article a can be performed continuously more quickly, and therefore, the effect of further improving the conveyance speed of the article a can be obtained. In the present embodiment, the plurality of delivery positions Pd2 are adjacent to each other in the X direction and the plurality of delivery positions Pd3 are adjacent to each other in the X direction, but the present invention is not limited to this, and they may be adjacent to each other in the Z direction or adjacent to each other in the direction between the X direction and the Z direction. In addition, in the case where two conveyors 4-1 are adjacent, one conveyor 4-1 of the two conveyors 4-1 can carry out conveyance of article a from the delivery position Pd2 to the delivery position Pd3, and the other conveyor 4-1 can carry out conveyance of article a from the delivery position Pd3 to the delivery position Pd 2. However, the conveying direction of the article a by the conveyor 4-1 may be fixed, or may be changed according to the conveying state.

In the rakah apparatus 10 of the present embodiment, for example, in a situation where the total number of articles a being stored is small and the storage racks R21 and R22 (second storage racks) are not used, such as when a time period not much elapses from the installation of the rakah apparatus 10, only the storage racks R11 and R12 (first storage racks) in the storage rack R may be used for storing the articles a, and the delivery position Pd2 (second delivery position) may be used for storing the articles a. Specifically, the processing determination unit 5a (allocation determination unit) allocates storage of the article a to the delivery position Pd2 when the total number n (n: an integer equal to or greater than 1) of the articles a stored in the debye facility 10 is equal to or less than the threshold Th (first threshold, an integer equal to or greater than Th: 1), that is, when n is less than Th. In the present embodiment, the threshold Th may be, for example, the number m (an integer equal to or greater than m: 1) of storage areas 1 (first storage areas) of the storage shelves R11 and R12. This is to secure any one of the storage areas 1 and the delivery position Pd2 of the storage racks R11 and R12 as the relay position Pr between the stacker cranes 20-11 and 20-12. The threshold Th may be set as appropriate depending on the configurations of the racks R11 and R12 and the number of delivery positions Pd 2.

With this configuration, for example, in a state where the number of articles a is small, the racks R21 and R22 (second racks) are not used, and thus energy required for the operation of the stacker crane 20-2 (second conveying means) and the conveyor 4-1 (fourth conveying means) is not consumed, and the number of storage positions of the articles a that can be conveyed by the stacker cranes 20-11 and 20-12 (first conveying means) can be increased. The delivery position Pd2 is an example of the placement position of the article a on the conveyor 4-1. Here, the placement position of the article a on the conveyor 4-1 refers to a position where the article a is placed on the conveyor 4-1. Therefore, not only the delivery position Pd2 but also the delivery position Pd3 and the positions between the delivery position Pd2 and the delivery position Pd3 are included in the placement positions of the articles a on the conveyor 4-1. However, for example, the operation of the conveyor 4-1 is required for the conveyance of the article a between the position where the article a cannot be directly conveyed by the stacker cranes 20-11, 20-12, such as the delivery position Pd3, and the stacker cranes 20-11, 20-12.

When n is equal to or less than Th, the processing determination unit 5a can cancel the storage allocation of the article a to the delivery position Pd2 each time the article a is carried out from the delivery position Pd 2.

[ first modification ]

Fig. 8 is a plan view of one floor of the debarking apparatus 10A of the first modification. As shown in fig. 8, in the present modification, the pair of conveyors 4-1 adjacent to each other are provided so as to be separated from each other in the X direction. In other words, the conveyors 4-1 adjacent to each other are provided at a plurality of installation locations separated from each other. Except for this point, the debarking apparatus 10A has the same structure as the debarking apparatus 10. According to such a configuration, for example, since the number of the conveyors 4-1 is larger than that of the above embodiment, conveyance delay of the article a can be further suppressed in some cases. Further, for example, (a pair of) the plurality of conveyors 4-1 are disposed so as to be separated from each other, that is, so as to be dispersed, and therefore, compared with a case where the plurality of conveyors 4-1 are disposed in a concentrated manner, the distance between the conveyor 4-1 and the storage area 1 can be further shortened, and the conveyance delay of the article a can be further suppressed in some cases. Further, for example, since the plurality of conveyors 4-1 are adjacent to each other in each of the combined pairs of conveyors 4-1, the same effects as those of the above-described embodiment can be obtained.

[ second modification ]

Fig. 9 is a side view of the storage area 1 of the storage rack R12 of the debarking apparatus 10B according to the second modification as viewed in the Y direction. As shown in fig. 9, in the present modification, the pair of conveyors 4-1 adjacent to each other are provided so as to be separated from each other in the Z direction. In other words, the conveyors 4-1 adjacent to each other are provided at a plurality of installation locations separated from each other. Except for this point, the debarking apparatus 10A has the same structure as the debarking apparatus 10. Even in this modification, although the direction of separation is different from that in the first modification, since the pair of conveyors 4-1 adjacent to each other are separated from each other, in other words, are dispersed, the same effect as in the first modification can be obtained.

[ third modification ]

Fig. 10 is a plan view of one floor of the debarking apparatus 10C of the third modification. As shown in fig. 10, in the present modification, a plurality of storage positions P1 and P2 aligned in the Y direction are set in each storage area 1 of the storage rack R11 and the storage rack R12. The storage positions P1 and P2 are shifted in the Y direction, and the storage position P1 is closer to the conveyance path T1 than the storage position P2. In such a configuration, when article a (hereinafter article a1) is located at storage position P1, article a (hereinafter article a2) cannot be carried out from storage position P2 and article a2 cannot be carried into storage position P2. Therefore, in this case, the stacker cranes 20-11 and 20-12 carry out carrying out the article a2 from the storage position P2 or carrying in the article a2 to the storage position P2 after moving the article a1 at the storage position P1 to the empty storage position P1 in the other storage area 1. With this configuration, the number of storage areas 1 for the articles a can be further increased for each stacker crane 20. In the other storage area 1, when both the storage position P1 and the storage position P2 are empty, the article a1 may be moved to the storage position P2. In this case, the processing determination unit 5a may set the destination of article a1 moved for carrying in or out article a2 at storage position P2 to new storage positions P1 and P2 (storage area 1) of article a1, or may return article a1 to the original storage position P1. Although not shown, a plurality of storage positions P1 and P2 arranged in the Y direction may be set in the storage racks R21 and R22.

In the present modification, in a state where the number of articles a is small, processing determination unit 5a (allocation determination unit) may allocate storage of articles a to the placement positions of articles a on conveyor 4-1, such as positions between delivery position Pd2, delivery position Pd3, delivery position Pd2, and delivery position Pd 3. The processing determination unit 5a may set two storage positions in the Y direction on the conveyor 4-1. However, in this case, similarly to the above-described cases of the articles a1 and a2, the article a (a2) conveyed between the loading position distant from the conveyance path T1 may need to be temporarily retreated from the article a (a1) stored at the loading position near the conveyance path T1.

The embodiments of the present invention have been described above, but the embodiments are only examples and are not intended to limit the scope of the invention. The above embodiments can be implemented in other various ways, and various omissions, substitutions, combinations, and changes can be made without departing from the spirit of the invention. Further, the specifications (structure, type, direction, pattern, size, length, width, thickness, height, number, arrangement, position, material, and the like) of each structure, shape, and the like may be modified as appropriate.

For example, the article is not limited to a container. On the other hand, in the case where the article is a container, the debarking facility may manage the storage state of the storage portion stored in the container.

In addition, the layout of the article worship apparatus may be variously set.

The debarking apparatus may further include a plurality of conveying mechanisms capable of passing in the second direction. In this case, the present invention may be applied to a plurality of conveyance mechanisms that need to be relayed or a plurality of conveyance mechanisms that cannot pass in the second direction. The transport mechanism is not limited to the stacker crane, and may be, for example, a self-propelled carriage having a lifting device.

The number of the first conveyance means may be 3 or more, and the number of the second conveyance means may be 2 or more.

Claims

1. A kind of Shenbai equipment is disclosed, in which,

the debarking device is provided with:

a first storage rack having a plurality of first storage areas provided along a first conveyance path extending so as to intersect with the first direction, the plurality of first storage areas being capable of storing articles, respectively;

a first transport mechanism that has a first support section that supports the articles and transports the articles along the first transport path, and that is capable of transporting the articles between each storage area of the first storage area and a first support position in the first transport path at which the articles are supported by the first support section;

a second storage rack which is provided to be shifted from the first storage rack in the first direction and has a plurality of second storage areas which are provided along a second conveyance path extending so as to intersect with the first direction and in which articles can be stored;

a second transport mechanism that is provided separately from the first transport mechanism in the first direction, has a second support portion that supports the articles and transports the articles along the second transport path, and is capable of transporting the articles between each storage area of the second storage area and a second support position in the second transport path at which the articles are supported by the second support portion;

a third conveying mechanism capable of conveying the article between a debarking position provided in or adjacent to the debarking chamber on a side opposite to the second conveying path with respect to the first conveying path and a first delivery position provided corresponding to the debarking position and capable of delivering the article between the first conveying mechanism and the third conveying mechanism; and

and a fourth conveying mechanism that penetrates an intermediate rack located between the first conveying mechanism and the second conveying mechanism as a part of at least one of the first holding rack and the second holding rack, and that is capable of conveying the article between a second delivery position where the article is delivered to and from the first conveying mechanism and a third delivery position where the article is delivered to and from the second conveying mechanism.

2. The debye apparatus of claim 1, wherein,

the debarking apparatus is provided with a plurality of first conveying mechanisms as the first conveying mechanism.

3. The debye apparatus of claim 2, wherein,

the number of the first conveying mechanisms is larger than that of the second conveying mechanisms.

4. The debye apparatus of claim 1, wherein,

the fourth conveying mechanism penetrates the intermediate frame at a first intermediate position between a front end of the intermediate frame in the second direction and a rear end of the intermediate frame in the second direction, the first intermediate position being separated from both the front end of the intermediate frame in the second direction and the rear end of the intermediate frame in the second direction, the second direction intersecting the first direction.

5. The debye apparatus of claim 2, wherein,

6. The debye apparatus of claim 4,

the fourth conveying mechanism penetrates the intermediate frame at a second intermediate position between a front end of the intermediate frame in a third direction and a rear end of the intermediate frame in the third direction, the second intermediate position being separated from both the front end of the intermediate frame in the third direction and the rear end of the intermediate frame in the third direction, the third direction intersecting the first direction and being orthogonal to the second direction.

7. The debye apparatus of claim 5, wherein,

8. The debarking apparatus of any one of claims 1-7, wherein,

the debarking apparatus includes a plurality of fourth conveying mechanisms adjacent to each other as the fourth conveying mechanism.

9. The debarking apparatus of any one of claims 1-7, wherein,

the debarking apparatus includes a plurality of fourth conveying mechanisms separated from each other as the fourth conveying mechanism.

10. The debarking apparatus of any one of claims 1-7, wherein,

the debarking apparatus is provided with a plurality of fourth conveying mechanisms adjacent to each other as the fourth conveying mechanism at a plurality of installation positions separated from each other.

11. The debarking apparatus of any one of claims 1-7, wherein,

the debt-participating facility includes an allocation determination unit that determines allocation of the articles carried into the first storage rack to the first storage area,

the allocation determination unit may be configured to allocate storage of the articles to the second delivery position or the placement position of the articles on the fourth transport mechanism when the total number of the articles stored in the debarking facility is equal to or less than a threshold value.