JP2002356207A - Automated storage and retrieval warehouse - Google Patents

Abstract

PROBLEM TO BE SOLVED: To fully bring out the ability of a vertical circulating lift and improve shipping ability in an automated storage and retrieval warehouse provided with the vertical circulating lift for shipping. SOLUTION: When an m-th (a shipment number) load W from an o-th temporary storage part 36 for shipping is retrieved onto an n-th lifter 44 and a load W with a shipping number larger than m+1 is in an upper stage from the o-th temporary storage part 36 shipping, the load W with the shipping number larger than m+1 is placed on a lifer 44 in advance. Since circulation of lifters 44 in empty states can be suppressed, shipping efficiency can be improved.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic warehouse provided with a vertical circulation type lift device for taking out of a warehouse, and to controlling the exit of the warehouse.

[0002]

2. Description of the Related Art In an automatic warehouse, a vertical circulation type lift device (transport device) in which a large number of lifters move in a vertical direction has been proposed as a means for loading or unloading cargo (for example, Japanese Patent Application Laid-Open No. 64-22708). Gazette and Patent No. 312509
No. 0).

[0003]

By the way, the order of unloading the cargo varies depending on each shelf, for example, the third shelf, the seventh shelf, the sixth shelf, and the ninth shelf. As such, the order of retrieval is not fixed.

[0004] In the case of unloading from the shelves of each stage by the vertical circulation type lift apparatus, conventionally, the shelves are simply referred to as a third shelf, a seventh shelf, a sixth shelf, and a ninth shelf. The cargo was put out on the lifter in order.

Therefore, looking at the loads on the lift device, there are a number of empty lifters between lifters on which adjacent loads are placed, in accordance with the number of steps on the shelf on which those loads are placed. Was. That is, conventionally, the number of lifters that pass in front of each shelf while being empty is large, and the performance of the vertical circulation type lift device cannot be fully utilized.

The present invention has been made in order to improve such a situation, and it is an object of the present invention to fully exploit the capability of a vertical circulation type lift device to improve a delivery efficiency.

[0007]

According to the first aspect of the present invention, there is provided an automatic warehouse, comprising: a hangar in which shelves each having a temporary storage section at one end are arranged in multiple stages; A vertical circulation type lift device for delivery provided with a large number of lifters capable of carrying one load discharged from the storage device, and a lowermost temporary storage portion for delivery to receive the load from each of the lifters. The system includes a delivery conveyor arranged below, and a control device for setting (assigning) the order of transferring the loads from the temporary storage sections for storage to the lifters.

[0008] When the load having the larger delivery sequence number is located above the load having the smaller delivery sequence number, the control device may secure the lifter on which the load having the smaller delivery sequence number is placed, and then execute the removal sequence. It is set so that a load with a large number is put on a lifter in advance.

According to a second aspect of the present invention, in the first aspect of the invention, a plurality of lifters in the vertical circulation type lift device are set to have the same distance between vertically adjacent lifters as the distance between vertically adjacent shelves. It is possible to simultaneously discharge the load from multiple temporary storage units to the lifter.

[0010]

According to the present invention, a load having a large shipment number can be pre-loaded on the lifter while securing the shipment order, so that the use efficiency of the lifter can be improved. As a result, it is possible to improve the shipping efficiency of the load.

[0011] In particular, according to the second aspect of the present invention, for example, when a load having a continuous shipment number is vertically continuous, the plurality of loads can be simultaneously loaded on the lifter. Since the control of the timing of discharging the load from the temporary storage section to the lifter is simple, the shipping efficiency can be further improved.

[0012]

Next, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a schematic perspective view of an automatic warehouse viewed from a storage unit, and FIG. 2 is a schematic plan view of the automatic warehouse near the storage unit. Yes, first, an outline of the automatic warehouse excluding the exit unit will be described based on these drawings.

(1). Outline The automatic warehouse is composed of a hangar 2 provided with multiple shelves 1 capable of arranging and arranging the loads W in the frontage direction in multiple stages, a bogie traveling unit 3 arranged so as to overlap the front surface of the hangar 2, and a hangar. 2 and a storage temporary storage unit 4 arranged so as to be arranged in series in plan view. FIG. 1 shows a state in which two automatic warehouses are arranged back to back.

The hangar 2 has a main frame composed of a number of front and rear columns 5 and a front frame 6 and a rear frame 7 arranged for each shelf. On the other hand, each bogie traveling unit 3 has a main frame composed of columns 5 and front and rear rails 6, 8 arranged for each shelf.
The self-propelled carriage 9 runs on the pair of rails 6 and 8.

The front frame 6 of the hangar 2 and the front rail 6 of the carriage traveling unit 3 are the same members, and are therefore denoted by the same reference numerals.

The storage temporary storage section 4 comprises a main frame composed of front and rear columns 5 and front and rear rails 10 arranged for each shelf, and a pair of rails 10 includes a temporary storage cart (traverser, Or, it may be rephrased as a mobile temporary storage shelf) 11.

The carriage traveling section 3 extends to a substantially intermediate portion of the storage temporary storage section 4, so that the load W can be transferred from the temporary storage carriage 11 to the self-propelled carriage 9. Note that the storage temporary storage section 4 is not limited to the carriage type, but may be a roller conveyor type or the like.

(2) Storage part A storage elevating table (reservoir) 13 is moved up and down through a pair of columns 12 at a position along the front surface of the temporary storage part 4 for storage and beside the carriage traveling part 3. Arranged freely. Further, below the storage temporary storage section 4, a storage temporary storage conveyor 15 connected to the end of the storage conveyor 14 is provided.

As shown in the schematic perspective view of FIG. 3, the loading elevator 13 has a main body frame 16, and five sets of transfer units 17 are provided on the main body frame 16.
Each elevating unit 17 has a large number of forks 18, and the five transfer units 17
The robot moves forward in the descending state and then moves up and down, or moves forward in the rising state and then descends and recedes.

Elevating guides 19 are provided at both left and right ends of the main body frame 16, and guide rollers 20 for elevating and lowering along the columns 16 are provided on the elevating guides 19.
The elevating guide body 19 is hung on a chain 21 wound around a sprocket that is pivotally supported on the upper end of the column 12. be able to.

The storage temporary conveyor 15 is of a roller conveyor type, and a fork 18 of the storage elevator 13 is inserted between adjacent rollers. Therefore, by moving the transfer unit 17 forward in the lowered state, then raising and retreating it, the five loads W can be simultaneously transferred to the storage elevator 13.

(3) Temporary Storage Part and Temporary Storage Cart As shown in FIG. 4, the temporary storage cart 11 has a body frame 23 having a rectangular shape in plan view.
And a support 24 formed by bending a pipe in a laterally L-shape.
Are juxtaposed.

Five loads W can be placed side by side on the temporary placing cart 11. And the trolley 11 for temporary placement
Since the loading portion is formed in a comb-like shape by a large number of supports 24, the loading elevator 13 is raised, and then each transfer unit 17 is advanced in the raised state, and then lowered to be retracted. As a result, the five loads W can be simultaneously loaded on the temporary storage cart 11.

Although not shown, the vehicle body frame 23
A plurality of pairs of wheels are provided that run on the rails 10 of the storage temporary storage unit 4. As shown in FIG. 2, the storage temporary storage unit 4
Each of the sprockets 25 is attached to a support post 5 located at the end of the bracket and a bracket (not shown) provided on the rear rail 10.
Is rotatably mounted, and a chain 26 is wound around both sprockets 25. The chain 26 is driven by a motor 27 disposed at an end of the storage temporary storage unit 4.

As shown in FIGS. 2 and 4, the end of the vehicle body frame 23 is fixed to a part of the chain 26 via a bracket 28. Therefore, by rotating the motor 27 in the forward and reverse directions, the temporary storage cart 14 can be moved forward or backward to a position on the carriage traveling unit 3.

(4) Structure of Shelf As shown in FIG. 5, the shelf 1 is provided with a large number of supports 24 extending in the depth direction, similarly to the temporary trolley 11.

The front and rear ends of each support 24 are supported frame 2
9, the front support frame 29 is fitted in the upward groove 6 a of the front frame 6, and the rear support frame 29 is fixed to the inner surface of the rear frame 7.

(5) Self-propelled trolley As shown in FIG. 6, the self-propelled trolley 9 has a main body frame 30 formed in a rectangular shape in plan view.
0, a pair of running wheels 32 driven by a motor 31
And five transfer units 33 having the forks 18.

Each of the transfer units 33 has a drive motor 34. When the motor 34 is rotated forward, the transfer unit 33 moves forward in the descending state, then moves upward and retreats. Thus, the load W can be reloaded from the storage temporary storage cart 13. Conversely, when the motor 34 is rotated in the reverse direction, the transfer unit 33 moves forward in the ascending state, then turns down and retreats. Thereby, the load W can be replaced on the shelf 1.

The reason that each transfer unit 33 can be independently driven in the self-propelled trolley 9 is that the shelves 1 do not always have a space for accommodating a plurality of loads W at the time of storing the loads W. This is because the loads W to be delivered are not always arranged.

(6) Outline of retrieval section Next, an outline of the retrieval section to which the present invention is applied will be described with reference to FIGS.

As shown in both figures, at a portion located on the opposite side of the temporary storage section 4 with the hangar 2 interposed therebetween, a length capable of simultaneously transferring five loads W from the self-propelled carriage 9. Are provided for each shelf. The delivery temporary storage conveyor 36 is an example of a storage temporary storage section, and is a roller conveyor system in which a number of rollers 37 are driven by a chain 38.

Each shelf temporary storage conveyor 36 is sandwiched between shelves 1
A belt conveyor type discharge conveyor 39 is disposed on the side opposite to the discharge conveyor 39, and a discharge type circulation lift device is disposed on the side opposite to the temporary storage conveyor 36 for discharge with the group of discharge conveyors 39 interposed therebetween. 40 are arranged.

The circulating lift device 40 includes a pair of guide frames 41 extending vertically, a sprocket 42 rotatably mounted between upper and lower ends thereof, and a chain 43 wound around the upper and lower sprockets 42. A number of lifters 44 are attached to the chain 43 at the same interval as the vertical interval of the shelf 1.

The guide frame 41 is held by a support frame 45 so as not to fall down. Although not shown, a motor for driving the chain 43 is attached to the lower end of the guide frame 41. Each lifter 44 has a comb-shaped receiving fork 44a.

Below the discharge conveyor 39 and the temporary storage conveyor 36 at the lowermost stage, a comb-shaped delivery conveyor 46 and a relay conveyor 47 connected thereto are arranged.

The receiving fork 44a of the lifter 44 passes through the groove of the delivery conveyor 47, whereby the load W is transferred from the lifter 44 to the discharge conveyor 46 and the relay conveyor 47, and then, like a pusher. By means of a simple horizontal moving means (not shown), it is replaced on the delivery conveyor 49 via the relay stand 48.

(7). Outgoing control Next, an outgoing control method will be described with reference to FIG.

FIG. 9A shows the order of shipment of the load W in the temporary storage section 36 at each stage. In this drawing, five pieces of W are temporarily placed in each of the temporary storage sections 36, and 50 loads W are shipped according to the numbers. Needless to say, when the first load W is released, the next load W becomes the first.

Further, in order to determine the control standard, the lifter 44 corresponding to the first-stage temporary storage section 36 at the first stage is set as the first lifter at the start of operation, and the numbers are sequentially increased upward. (Since the lifter 44 circulates, the same lifter 44 may have a plurality of numbers).

When the load W is transported from the shelf 1 to the temporary storage section 36 by the self-propelled carriage 9, the five transfer units 33 are used.
Then, by transferring the loads W from the end close to the temporary storage section 36 for shipping in a shipping order, the loads W can be efficiently transferred to the temporary storage section 36 for shipping. Of course, the load W to be transported to the temporary storage section 36 for unloading by one run of the self-propelled carriage 9
Is not limited to five, and can be set appropriately as needed.

Prior to the description of the present embodiment, a shipping order according to a conventional method is shown based on FIG. 10 for comparison.

That is, in this conventional example, in the same shipping order as in FIG. 9A, the first load W is taken out by the third lifter 44, the second load W is taken out by the seventh lifter 44, and 8 The third loader 44 is controlled to take out the third load W, and the twelfth lifter 44 takes out the fourth load W.

That is, when the m-th load W is taken out from the o-th temporary storage section 36 by the n-th lifter 44, the (m + 1) -th load W becomes the p-th temporary storage section 3
6, the (m + 1) th load W
Is taken out by the (n + 1) th lifter 44, and (m +
If the (1) th load W is located at the k-th upper stage, the (m + k) -th lifter 44 takes it out.

Since the (m + 1) -th load W is often positioned higher than the o-th temporary storage section 36, the number of lifters 44 circulating unnecessarily and empty is large. The delivery efficiency is poor.

FIG. 9B shows an embodiment of the present invention. In this embodiment, while continuously circulating the lifter 44, (1) loading the first load W on the third lifter 44 and loading the fourth load W on the tenth-stage lifter 44 at the same time. (2). Load the second load W on the seventh lifter 44, (3). Load the third load W on the eighth lifter 44, (4). The twelfth lifter At the same time as loading the sixth load W on the 44, the seventh load W is loaded on the 13th lifter 44, (5). The fifth load W is loaded on the 11th lifter 44, (6). The ninth load W is previously placed on the fifteenth lifter 44, (7). The tenth load W is placed on the sixteenth lifter 44, (8). The fourteenth load W is placed on the twentieth lifter 44. (9). Place the eighth load W on the 14th lifter 44. (10). Place the 11th load on the 17th lifter 44. At the same time as loading W, the twelfth load W is loaded on the eighteenth lifter 44, (11). The thirteenth load W is loaded on the nineteenth lifter 44, and so on. By calculating the relationship between the load W already released and the load W on standby,
The load W is preliminarily loaded on the lifter 44 so as to fill the space.

That is, when generalized, based on taking out the m-th load W from the o-stage outgoing temporary storage section 36 to the n-th lifter 44, the load W having a shipment number larger than (m + 1) is equal to o. If the m-th load W is taken out, or if the m-th load W is taken out and the lifter 44 is run, the load W The load W located on the upper stage is discharged to the lifter 44 in advance within a range that does not impair the order of shipment.

Therefore, it is possible to remarkably suppress that the lifter 44 circulates in an empty state, and to remarkably improve the delivery efficiency.

In this case, if the order of shipping too many loads W is controlled at once, the calculation formula becomes extremely complicated and the calculation speed becomes slow. Therefore, an appropriate number (for example, load W
(Approximately 20 to 50) is preferably assigned to the lifter 44 by the badge processing method.

(8) Others The present invention can be variously embodied in addition to the above embodiment. For example, the lifter is not limited to the comb type as in the embodiment, but may be a plate shape or the like. Of course, the shelves need not be comb-shaped.

The delivery conveyor and the discharge conveyor are not limited to the belt type, but may be the roller type.

[Brief description of the drawings]

FIG. 1 is a schematic perspective view of an automatic warehouse according to an embodiment of the present invention as viewed from a storage unit side.

FIG. 2 is a schematic plan view of a portion of the automatic warehouse near a storage unit.

FIG. 3 is a schematic perspective view of a storage elevator.

FIG. 4 is a partial perspective view of a temporary storage part for storage.

FIG. 5 is a partially exploded perspective view of a shelf.

FIG. 6 is a schematic perspective view of the self-propelled carriage.

FIG. 7 is a perspective view of a delivery section of the automatic warehouse.

FIG. 8 is a plan cross-sectional view of a delivery unit.

FIG. 9 is a diagram showing a retrieval control method.

FIG. 10 is a diagram showing a delivery control method according to a conventional example.

[Brief description of reference numerals]

 REFERENCE SIGNS LIST 1 shelf 2 hangar 3 trolley traveling unit 4 temporary storage unit for storage 9 self-propelled trolley 11 temporary storage trolley for storage 13 elevating platform for storage 15 temporary storage conveyor for storage 36 temporary storage conveyor for storage 37 discharge conveyor 38 circulating lift device 44 Lifter 46 Delivery conveyor 47 Relay conveyor 49 Outbound conveyor

Claims (2)

[Claims] 1. A hangar in which shelves provided with a temporary storage section for delivery at one end are arranged in multiple stages, and a lifter capable of loading one load discharged from the temporary storage section for storage at an arbitrary stage and descending. A vertical circulation type lift device for delivery provided with a large number of units, a delivery conveyor arranged below the lowermost temporary storage unit for delivery to receive the load from each of the lifters, and a temporary storage unit for each delivery. A control device for setting a transfer order of the load to each lifter, wherein the control device is configured to, when a load having a large outgoing sequence number is located above a load having a small outgoing sequence number, perform a shipping An automatic warehouse in which a loader with a large outgoing order number is set in advance on a lifter while securing a lifter for a load with a small number. 2. A plurality of temporary storage units for unloading a plurality of lifters in a plurality of lifters by setting an interval between vertically adjacent lifters in the vertical circulation type lift apparatus to be equal to an interval between vertically adjacent shelves. 2. The automatic warehouse according to claim 1, wherein it is possible to simultaneously discharge the goods from the warehouse.