JP2003312809A - Facility for storing article - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve storage efficiency. <P>SOLUTION: This facility is provided with a plurality of article storage parts D allowing storage under the condition where buckets F are stacked, and a stacker crane C having a fork equipment 5 for moving the buckets F in the article storage parts D and an article mounting table E2. Only the bucket F in an upper stage is delivered out of the buckets F stored under the condition stacked with two stages in the article storage part D, or delivery is allowed under the stacked condition, from the article storage parts D to the article mounting table E2, by transfer by the crane C and an operation for coming-in and going-out of the fork equipment 5 into/from the article storage part D. By this constitution, the buckets F are stored under the stacked condition, the delivery is allowed the bucket F by the bucket F, and a space for the article storage part D is thereby used effectively to improve the storage efficiency. <P>COPYRIGHT: (C)2004,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an article storage facility such as an automated warehouse.

[0002]

2. Description of the Related Art Conventionally, in the above-mentioned article storage facility, a stacker crane is usually equipped with a fork system for supporting the bottom surface of articles so that articles, for example, buckets (or containers) are stacked, For example, when storing items in a two-tier stack in the article storage unit, 2
The bottoms of the buckets stacked in layers are stored with a fork. Also, due to the function of the fork, it is not possible to handle the buckets one by one.

[0003]

However, in the construction of the conventional article storage facility, when an odd number of warehousings occurs, the bucket is unloaded from the article storage section to the loading / unloading port once in the two-stage state, and the first tier of the article storage facility. Only the bucket is taken out, and the remaining one-stage bucket is reloaded from the loading / unloading port to the original article storage section. That is, the stacker crane requires two cycle operations for one exit, which improves work efficiency. There was a problem of being bad. The 1-cycle operation is an operation of transferring an article between the loading / unloading port and the article storage unit once. Further, in the case of warehousing, if only one level of buckets is loaded, the storage efficiency (space) becomes poor because the compartment storage space of one shelf is occupied as in the case of storing the buckets in two levels. There was a problem.

Therefore, an object of the present invention is to provide an article storage facility which can improve work efficiency and storage efficiency even when storing buckets in a stacked state.

[0005]

In order to achieve the above-mentioned object, the invention according to claim 1 of the present invention comprises a plurality of article storage parts capable of storing articles in a stacked state, and the article. An article storage facility comprising a storage section and an article transfer section having a transfer section for transferring the article at a loading / unloading port, the transfer of the article transfer section and the output of the transfer section to the article storage section. By the retreating operation, only the uppermost article among the articles stored in the article storage section in a stacked state, or a configuration in which the article storage section can output from the article storage section to the loading / unloading port in the stacked state It is characterized by

According to the above construction, of the articles stored in the article storage section in the stacked state, only the uppermost article or the stacked article is unloaded from the article storage section to the loading / unloading port. . In this way, the articles are stored in a stacked state, and the articles can be taken out one by one, so that the space of the article storage section can be effectively used and the storage efficiency can be improved.

The invention according to claim 2 is the invention according to claim 1, wherein the articles stored in the article storage section by the movement of the article transfer means and the withdrawal operation of the transfer means. It is characterized in that a new article can be stacked on top of it.

According to the above construction, a new article is stacked on the article stored in the article storage section and put in a stacked state. In this way, the articles are stored in a stacked state, and it is possible to store the articles one by one, so that the space of the article storage section can be effectively used and the storage efficiency can be improved.

The invention according to claim 3 is the invention according to claim 1 or claim 2, wherein inventory management of the articles is performed for each article storage unit and for each position of the step in the stacked state. The operation of the article transfer means and the transfer means at the time of warehousing is different depending on the position of the step of the article that has been carried out and whose inventory is managed.

According to the above construction, the inventory of the articles is updated for each article storage unit and each step position in the stacked state based on the loading and unloading of the articles, and the inventory step position of the article is managed. Thereby, the operations of the article transfer means and the transfer means at the time of warehousing are changed.

The invention according to claim 4 is the invention according to any one of claims 1 to 3, wherein the articles stored in the article storage section in a stacked state are When the articles are unloaded, the articles above the lower article of the article storage section are moved to another article storage section by the movement of the article transfer means and the withdrawal operation of the transfer means, and then the article storage section is transferred. The article in the lower stage is discharged to the carry-in / out port.

According to the above configuration, first, the upper article of the lower article to be unloaded is transferred to another article storage unit, and then the desired lower article is unloaded to the carry-in / out port. As a result, as in the conventional case, there are two article transfer means for one delivery.
It is not necessary to perform the cycle operation, and the work efficiency is improved.

The invention according to claim 5 is the invention according to any one of claims 1 to 4, wherein the transfer means acts on a side surface of the article or an edge portion of the article. It is characterized by carrying out transfer.

According to the above construction, the transfer means acts on the side surface of the article or the edge portion of the article to transfer the article. The invention described in claim 6 is the above-mentioned claim 1
6. The invention according to claim 5, wherein the article is a container or a bucket, and the frequency of loading and unloading of these containers or buckets is managed, and the managed container or bucket having a low loading and unloading frequency is managed. The article storage unit is characterized in that it is stored so as to be located at the lower stage of stacking.

According to the above configuration, the frequency of loading and unloading of the container or bucket is managed, and the container or bucket having a low loading and unloading frequency among the containers or buckets is stored in the article storage unit so as to be located at the lower stage of stacking. It Therefore, when a container or bucket with a low loading / unloading frequency is stored in the upper position, the operation of transferring the container or bucket in the upper position to another article storage unit when the container or bucket in the lower position is unloaded. Can be reduced as a whole equipment, and work efficiency can be improved.

[0016]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic perspective view of an article storage facility according to an embodiment of the present invention.

As shown in FIG. 1, the article storage facility FS is formed between two storage shelves A installed at intervals such that article loading / unloading directions face each other, and between the storage shelves A. A stacker crane (an example of article transfer means) C that automatically travels along the working path B is provided. Hereinafter, the traveling direction of the stacker crane C is referred to as the front-rear direction, and the direction perpendicular to the traveling direction of the stacker crane C is referred to as the left-right direction.

In each of the storage shelves A, columns G are erected at regular intervals in the front, rear, left and right, and arms J are arranged between the columns G on the left and right to stack buckets (or containers; an example of articles) F with edges. A plurality of article storage units D that can be stored (two-tiered in the figure) are provided in a multi-tiered manner at the top and bottom and at the front and rear.

A traveling rail 1 is installed along the longitudinal direction of the storage rack A in the work passage B, and an article loading / unloading command is sent to the stacker crane C in the article loading / unloading section E installed on one end side of the work passage B. A controller E1 for inputting, and a pair of article mounting tables (an example of a loading / unloading port) E2 with the traveling rail 1 interposed therebetween.
Are provided, the stacker crane C travels along the traveling rail 1 based on the loading / unloading command, and the article loading table E
It is configured as a transfer vehicle for loading and unloading the bucket F between the item 2 and the article storage unit D. Hereafter, the side of the article carrying-in / out section E of the stacker crane C is HP,
The side opposite to the traveling direction of P is called OP.

The stacker crane C includes a traveling vehicle body 2 traveling along a traveling rail 1 and an elevating table (elevating body) 3 which is vertically moved up and down, and an elevating table for guiding and supporting the elevating table 3 in a freely movable manner. And a mast (pillar body vertically hung on the traveling vehicle body) 4, and the elevator 3 has an article storage section D.
Further, a fork device (an example of a transfer unit) 5 that supports (operates) the edge (or flange) Fa of the bucket F to perform transfer on the article mounting table E2 is provided.

A guide rail 6 is laid on the ceiling so as to face the traveling rail 1, and the guide rail 6 is sandwiched from the left and right at the upper end portion of the lifting mast 4 so that the stacker crane C can move as the stacker crane C travels. An upper frame 7 is provided to regulate the upper position of the.

As shown in FIG. 2, the elevating table 3 is suspended and supported by an elevating chain 8 connected to its end,
The lifting chain 8 is wound around a guide sprocket 9 provided on the upper frame 7 of the lifting mast 4, and is connected to a winding drum 10 equipped at one end of the traveling vehicle body 2.

Then, the winding drum 10 is driven and rotated in the forward and reverse directions by an electric motor M1 for raising and lowering, which is a so-called inverter type motor, and the raising and lowering table 3 is driven up and down by the raising and lowering operation of the raising and lowering chain 8. Is configured to let. Further, as shown in FIG. 2, the raising / lowering position of the raising / lowering stand 3 is arranged on the traveling vehicle body 2, and the distance measuring device using light,
That is, the beam information for distance measurement is projected vertically, and the distance is measured by the reflected light from a reflector (not shown) provided on the bottom surface of the elevator 3 (laser). Detection information of the elevator range finder 11. Be managed based on.

As shown in FIG. 8, the detection information of the elevator platform range finder 11 is the crane control device (an example of control means) CC.
It is input to the lifting control unit 20 of. As shown in FIG. 2, the traveling vehicle body 2 has two front and rear brake wheels 12 that can travel on the traveling rail 1, and the traveling rail 1 is sandwiched together with the wheels 12 to prevent slippage. To regulate the position in the vehicle width direction,
A pair of left and right lower position regulating rollers (backup rollers) 13 are provided at two positions before and after engaging with the traveling rail 1, and the OP side wheels 1 are further provided as traveling driving means.
A traveling electric motor M2, which is a so-called inverter type motor, connected to 2a is provided. Further, when the traveling main body 2 is stopped, the wheel becomes a wheel on the side of lighter weight H
A balance weight 15 is mounted near the wheel 12b on the P side to balance the traveling vehicle body 2, and a distance l (>) is provided between the center of the fork device 5 and the center of the wheel 12b.
0) is provided.

As shown in FIG. 2, the guide rails 6 are sandwiched from the left and right sides of the upper frame 7, and as the stacker crane C travels, a pair of left and right wheels roll around the vertical axis along the side surfaces thereof. Upper position regulating rollers 17 of the stacker crane C are provided at the front and rear ends in the traveling direction.
Is an upper position regulating roller 17 provided on the upper frame 7.
While being prevented from falling down by
It is configured to be self-propelled along the traveling rail 1 by the drive of 2).

The traveling position of the traveling vehicle body 2 is, as shown in FIG. 2, a distance measuring device using light arranged on the side surface of the traveling vehicle body 2, that is, a beam light for distance measurement is projected, and a working passage B is formed. Distance meter 18 for measuring a distance by means of reflected light from a reflector (not shown) arranged on the OP side end of the (laser)
It is managed based on the detection information of. In addition, on the running car body 2,
An HP detector 19 for detecting that the traveling vehicle body 2 is located at the delivery position (the above-mentioned HP position) of the pallet P with the conveyor device E2 by detecting an object to be detected (not shown) arranged at the HP position. Is provided.

The detection information of the traveling range finder 18 and the detection signal of the HP detector 19 are input to the traveling controller 21 of the crane controller CC, as shown in FIG. Further, as shown in FIGS. 3 and 4, the fork device 5 includes a pair of left and right rail-shaped guide members 31 arranged in the front-rear direction on the lifting table 3, and a slide member 32 on both the guide members 31.
Front moving body 34 and rear moving body 33, and front moving body 34 and rear moving body 33, which are movably guided via
A first moving device 36 and a second moving device 35, which move back and forth by a distance L, respectively, and the front moving body 34,
The retractable gripping members 37 (37A, 37) provided on the vertical frame portions 34a, 33a above the rear moving body 33, respectively.
B) and a retractable drive device 38 for retracting and retracting each of the retractable holding members 37. 2 and 3, reference numeral 39 denotes a bucket mounting table of the lifting table 3, and when the bucket F is transferred to the lifting table 3, the bucket F is transferred onto the bucket mounting table 39 by the fork device 5. To be done.

Each of the first moving device 36 and the second moving device 35 has a moving electric motor 41 provided at a front portion and a rear portion on the side of the lifting table 3, and these moving electric motors 41.
Drive-side arm member 4 whose base end is fixed to the output shaft of
2, the tip portion of the driving side arm member 42 and each moving body 3
It is composed of a driven-side arm member 43 which connects 4, 33 with each other by a pin member.

Therefore, when the moving electric motor 41 is driven to reciprocally rotate the driving side arm member 42 at a predetermined angle, the moving body 34 is driven via the driven side arm member 43, that is, the link mechanism. , 33 are moved back and forth by a distance L, and by the forward and backward movement of both the moving bodies 34, 33, gripping tools 55B, 55A, which will be described later, respectively attached to the moving bodies 34, 33 come close to each other, The bucket F is gripped and released.

The moving electric motor 41 is provided with a torque limiter (not shown) as torque limiting means so that the gripping force of the bucket F does not exceed a predetermined value, that is, the bucket F is not damaged. When the bucket F is gripped and a predetermined torque is generated, the moving electric motor 41 is stopped.

Next, the respective retractable holding members 37 (37)
B, 37A), as shown in FIG. 3, FIG. 5 and FIG.
The fixed forks 51 (51B, 51A) respectively attached to the vertical frame portions 34a, 33a above the front moving bodies 34 and the rear moving bodies 33 in the left-right direction, and the first guide mechanism 52 for the fixed forks 51. Via the first movable fork 53 (53
B, 53A) and a gripping tool 55 (55B, 55A) that is also movably held in the left-right direction with respect to the first movable fork 53 via the second guide mechanism 54 and acts on the edge Fa of the bucket F. ) Is attached to the second movable fork 56 (56B, 56A), and when the first movable fork 53 is retracted, the second movable fork 56 is retracted in conjunction with the movement of the first movable fork 53. It is composed of an outgoing / incoming interlocking mechanism 57 (FIG. 7). The relationship between the forks will be described. The first movable fork 53 is arranged on the front side of the fixed fork 51 so as to be able to move in and out in the left-right direction, and
A second movable fork 56 is arranged on the front side of the unit 3 so as to be able to move in and out in the left-right direction.

Further, as shown in FIGS. 3 and 4, the advance / retreat drive device 38 is provided rotatably around the axis of the front-rear direction in the central portion of the lifting table 3 and has spline teeth on the outer peripheral surface. Rotating shaft body (which is a spline shaft) 61
An electric motor 62 for moving in and out, which is arranged at the front end portion of the lifting table 3 to rotate the rotary shaft body 61, and the rotary shaft body 61.
Front drive-side gear 64 that is engaged and rotated via spline teeth (spline interlocking mechanism) at the front and rear positions of
And a front drive side gear 63 rotatably supported by the front drive body 34 and the rear drive body 33 and meshed with the front drive side gear 64 and the rear drive side gear 63, respectively. 66 and rear driven gear 65
And a rack member 67 (FIG. 6) having rack teeth attached to the first movable forks 53 side and meshing with the driven side gears 66, 65 (FIG. 6).

As shown in FIG. 7, the moving-out linkage mechanism 57 has a first chain 71 as a connecting member for connecting one end side of the fixed fork 51 and one end side of the second movable fork 56, and a fixed chain. A second chain 72 as a connecting member that connects the other end of the fork 51 and the other end of the second movable fork 56, and the first chain that is rotatably provided on the other end of the first movable fork 53. A first guide sprocket 73 in which the chain 71 is wound from the outside, and a second guide sprocket 74 in which the second chain 72 is rotatably provided on one end side of the first movable fork 53 and is wound from the outside.
And both of these chains 71, 72
Are provided so as to intersect (fixedly, like a pantograph) between the fixed fork 51 and the first movable fork 53 and between the first movable fork 53 and the second movable fork 56, respectively. Has been.

According to the movement mechanism 57, when the movable forks 53 and 56 are located at the center of the fixed fork 51 in the retracted state, the rotating shaft body 61 is rotated by the retracting electric motor 62. Then, when the first movable fork 53 is moved to the left side in a predetermined direction, for example, as shown in FIG. 7, via the gears 63 to 66 and the rack member 67, the first movable fork 53 is wound around the second guide sprocket 74. Since the second chain 72 is pulled toward the fixed fork 51 side, the right end of the second movable fork 56 is the second guide sprocket 74.
Therefore, the second movable fork 56 is protruded leftward with respect to the first movable fork 53. On the contrary, when the first movable fork 53 is moved to the right side, the second movable fork 56 is projected to the right side via the first chain 71 and the first guide sprocket 73 on the opposite side.

That is, by rotating the rotary shaft body 61 by the electric motor 62 for retracting / retracting, each of the gears 63-66.
The second movable forks 56 (56B, 56A) to which the grippers 55 (55B, 55A) on both sides are attached are simultaneously withdrawn via the.

In this way, the movable forks 53 and 56 are
Since the first movable fork 53 and the second movable fork 53 are arranged in stages, they are interlocked with each other by using the pair of chains 71, 72 and the guide sprockets 73, 74. Fork 5
Can be automatically moved out of 3 and thus the second
The bucket F gripped by the gripping tool 55 of the movable fork 56 can be quickly moved in and out efficiently with a stroke that is about twice the drive stroke (the amount of movement of the first movable fork).

As shown in FIGS. 1 and 2, the traveling vehicle body 2 is provided with the above-mentioned crane control device CC composed of a computer or the like at a position outside the lifting mast 4 on the OP side. A first optical transceiver 28 (FIG. 8) that is connected to the crane control device CC and transmits / receives data to / from the controller E1 of the article carry-in / out section E is provided on the side. In addition, the article carry-in / out section E is provided with the first optical transceiver 28.
A second optical transmitter / receiver 29 (FIG. 3) is provided opposite to and is connected to the controller E1.

The position (address) of the article storage unit D on the storage shelf A is the bank number (column number of the storage shelf A) and the level number (the lowest article storage unit D of the storage shelf A shown in FIG. From the HP) and the number of the bay (the number in the front-rear direction of the article storage unit D from the HP side), and the transport command for the bucket F (working data for loading and unloading) identifies these article storage units D. This is performed by designating an address formed by the bank number, the level number, and the bay number, the position of the upper or lower tier of the stacked buckets F, and the article mounting bases E2 on the left and right.

As shown in FIG. 8, the crane control device CC receives the above-mentioned transportation command (working data of loading and unloading) from the controller E1 via the optical transceivers 29 and 28,
The electric motor M1 for raising and lowering is driven to raise and lower the raising and lowering table 3 to a designated raising and lowering position (the number of the level of the article storage unit D of the transfer command and the vertical position of the bucket F, or the height position of the article placing table E2). Travel control for driving the elevating control unit 20 and the traveling electric motor M2 to move the traveling vehicle body 2 to a specified traveling position (the number of the bay of the article storage unit D of the transfer command or the traveling position of the article mounting table E2). Part 21
And a moving electric fork 53 for driving the movable forks 53, 56 in a direction designated by the bay number of the article storage unit D of the transport command or a designated article placement table E2. The crane control device CC includes a transfer control unit 22 that drives the moving electric motor 41 to move the moving bodies 33 and 34 back and forth to transfer the bucket F.
The bucket F is transported and transferred to and from each article storage unit D under the control of.

Further, the controller E1 is provided with each article storage unit D
The information (for example, product code or product name) that specifies the presence or absence of the bucket F and the items stored in the bucket F and the quantity are managed for each and each stage (lower stage and upper stage). That is, inventory management is performed. In addition, when the upper and lower two-stage buckets F are set to be loaded and unloaded, the loading and unloading is set only in the two-tier stacked state.

Then, the controller E1 is a loading / unloading device which is configured by a transfer command from a host computer or an operator (a work mode to be executed, a product code, a quantity, and an article loading table E2 for carrying in / out (left and right). Command} is entered, the statistics of the goods in and out are collected,
The frequency of warehousing and unloading is calculated for each product, and then the transportation command is formed based on the inventory management data as described below and output to the crane controller CC via the optical transceivers 29 and 28.

That is, when the work mode of the warehousing and unloading command is the warehousing mode, the frequency of warehousing and unloading of this merchandise is obtained from the merchandise code. When F is set to be stored as a set (two-tiered state), the inventory management data is searched to find the address of the empty article storage unit D, and this address and the entry position "lower" and the article When the first loading / unloading command including left and right of the loading table E2 is formed, and when the loading / unloading frequency is equal to or higher than a predetermined frequency, the address of the article storage unit D storing only the one-stage bucket F is obtained, and A second warehousing command including the address and the warehousing position “upper” and left and right of the article placing table E2 is formed. Based on the first warehousing command, the bucket F that is managed and has a low frequency of warehousing and storage is stored in the article storage unit D so as to be positioned at the lower stage of stacking (details will be described later).

Further, when the work mode of the warehousing / leaving command is the warehousing mode, the inventory management data is searched by the product code and the address and the upper and lower positions (upper or lower tier) of the article storage section D of the bucket F storing this article. ) Is obtained, and it is confirmed whether the bucket F exists in the upper stage when the position is in the lower stage. Then, when leaving from the upper tier or when leaving from the lower tier without the bucket F existing in the upper tier, a first unloading command including this address and the position of the upper tier or the lower tier and the left and right of the article placing table E2 is formed. . Further, when the bucket F is present in the upper stage and is to be unloaded from the lower stage, the inventory management data is searched for the address of the empty article storage unit D, and the address of the article storage unit D from which the bucket F is issued and the lower position and A second address including the address of an empty article storage unit D for transferring the upper bucket F and the left and right of the article placement table E2
Form an issue command. Further, when it is set that the two-stage buckets F stored in the article storage section D are to be handled as a combination (two-stage together), this address and the position of the lower stage and the left and right parts of the article placing table E2 are different. 3 Form a delivery command.

Further, when the work mode of the loading / unloading command is the picking mode, the inventory management data is searched by the product code and the quantity, and the address of the article storage section D of the bucket F storing the product and the quantity and the upper and lower sides of the article storage section D are stored. The position (upper stage or lower stage) is obtained, and when the position is the lower stage, it is confirmed whether or not the bucket F exists in the upper stage. Then, when picking from the upper bucket F, or when picking from the lower bucket F without the bucket F existing in the upper row, this address and the position of the upper or lower row and the left and right of the article placing table E2 Form one picking command. Further, when the bucket F is present in the upper stage and picking is performed from the lower bucket F, the inventory management data is searched for the vacant address of the article storage section D, and this address, the lower position, and the upper bucket F are moved. A second picking command including the address of the empty article storage unit D to be placed and the left and right of the article placing table E2 is formed. When it is necessary to pick from two or more buckets F due to a large picking quantity, a picking command is formed for each of these buckets F.

The above crane control device CC (elevation control unit 2
0, the traveling control unit 21, and the transfer control unit 22) will be described in detail with reference to the flowcharts of FIGS. 9 to 11 together with the overall operation.

The elevator control unit 20 includes the article storage unit D.
The scooping position and the unloading position of the bucket F are preset by the level number and the vertical position of the bucket F.
As for the scooping position, the "upper surface of the lifting table 3 upper gripping tool 55 (second movable fork 56) (supporting surface of the bucket)" is the article storage unit D.
Up to a height H from the lower limit of the lifting platform 3 to the arms J of each level, and a height h _L slightly lower than the edge Fa of the bucket F from the lower surface of the bucket F when scooping from the lower stage. Satoshi Ko the sum of, and the height of the bucket F when scooping from the upper high by adding to the height h _L (height of the lower bucket F) is. The wholesale position is the height H
The Satoshi Ko plus slightly higher height h _H from the lower surface of the edge portion Fa of the bucket F bucket F when unload the lower, the height of the bucket F when unload the upper and (the height of the lower bucket F) wherein The height is added to the height h _H.

Further, the raising / lowering control section 20 is provided with an article mounting table E2.
The scooping position and the wholesale position of the bucket F at are set in advance. The scooping position is as follows.
Until the mounting surface of the bucket F of the movable fork 56) of the upper surface (the support surface of the bucket) "is an article placing table E2, the height K of the lifting platform 3 to lift from the lower limit of the lifting platform 3, wherein the height h _L Satoshi Ko, also grated position obtained by adding, the the height K, is the height obtained by adding the height h _H.

In addition, the traveling position (traveling distance) from the HP is set in advance in the traveling control unit 21 for each bay number of the article storage unit D. [Departure work by the first issue command or the third issue command]
(Refer to FIG. 9) Step-1 When the travel control unit 21 inputs the first shipping command or the third shipping command, the travel position (travel distance from HP) is determined from the address of the command (the bay number of the article storage unit D). The traveling electric motor M2 is driven while the traveling distance thus obtained is set as a target value and the traveling distance from the HP measured by the traveling range finder 18 is fed back. When the target traveling position is reached, an article storage unit arrival command is output to the transfer control unit 22. Step-2 When the first evacuation command or the third evacuation command is input, the elevating / lowering control unit 20 determines that the bucket F to be delivered from the command is in the upper stage 1
Check if it is a single piece, or one or two pieces in the lower row.

When the upper bucket F is unloaded, the address (the level number of the article storage section D) and the scooping position (elevation distance) of the bucket F from this upper position are obtained from the preset scooping position, and Alternatively, when the two buckets F are unloaded, the scooping position (elevating distance) of the bucket F is obtained from the address (the level number of the article storage unit D) and the lower position thereof from the preset scooping position.

Then, the obtained ascending / descending distance is set as a target value,
When the scooping position is reached by driving the lifting electric motor M1 while feeding back the lifting distance from the lower limit measured by the lift platform distance meter 11, a protrusion command is output to the transfer controller 22. Step-3 When the transfer control unit 22 inputs the first shipping command or the third shipping command, the direction in which the fork projects from the bay number of the article storage unit D of the command and the left or right of the article mounting table E2 (left direction Or right) respectively. And
When the protrusion command is input from the lifting control unit 20 and the article storage unit arrival command is input from the traveling control unit 21, the electric motor 62 for moving in and out is driven so that the fork protrudes in the direction, and the protrusion ends. Then, the moving electric motor 41
Is driven to grip the bucket F. When the bucket F is gripped, a gripping end signal is output to the lifting control unit 20.

As a result, the movable forks 53 and 56 are projected as shown in FIGS.
As shown in (c), the lower bucket F is gripped by the gripping tool 55 attached to the second movable fork 56. Figure 1
Reference numeral 2 indicates a case in which two sets are put out (delivery in two stages). Step-4 When the gripping end signal is input, the lifting / lowering control unit 20 drives the lifting / lowering electric motor M1 to raise the lifting platform 3 by a predetermined distance (a distance until the bucket F is supported by the gripping tool 55 and floats). Then, when the ascent is completed, a retreat command is output to the transfer control unit 22.

As a result, as shown in FIG. 12D, the bucket F gripped by the gripper 55 is lifted from the article storage section D. Step-5 When the transfer control unit 22 receives this withdrawal command, it drives the electric motor 62 for withdrawal / retraction so that the fork returns to above the lift table 3, and when the withdrawal is completed, the transfer control unit 20 and the traveling control unit 20 travel. An exit completion signal is output to the control unit 21.

As a result, as shown in FIG. 12 (e), the bucket F gripped by the gripper 55 is taken into the lift table 3. Step-6 When the traveling control unit 21 receives the exit completion signal, the traveling control unit 21 drives the traveling electric motor M2 toward the article platform E2 until the HP detector 19 operates. And HP detector 1
When 9 operates, that is, when the article placement table E2 is reached, an article placement table arrival command is output to the transfer control unit 22. Step-7 When the elevating controller 20 inputs the retreat end signal from the transfer controller 22, the elevating table range finder 11 measures the unloading position (elevating distance) of the article table E2 as a target value. The electric motor M1 for elevation is driven while feeding back the elevation distance from the lower limit. Then, when the article placing table E2 reaches the unloading position, a protrusion command is output to the transfer control unit 22. Step-8 When the transfer control unit 22 inputs this protrusion command and the article control table arrival command from the travel control unit 21, the transfer electric motor 62 is moved in the direction of the transfer instruction command article transfer table E2. When the fork is driven so as to project, and the projecting is completed, a projecting end signal is output to the elevation control unit 20. Step-9 When the lifting control unit 20 receives this protrusion end signal, it drives the lifting electric motor M1 to lower the lifting table 3 by a certain distance (the distance until the bucket F contacts the article mounting table E2). When the descent is completed, a retreat command is output to the transfer control unit 22. Step-10 When the transfer control unit 22 inputs this withdrawal command, it drives the electric motor 41 for movement to release the bucket F, and when the release of the bucket F is completed, the electric motor 62 for withdrawal is moved up and down. When the fork is driven so that the fork returns to the upper position and the exit is completed, the exit signal is output to the controller E1.

The controller E1 updates the stock in response to the first shipping command or the third shipping command when the shipping completion signal is input. That is, the article storage unit D that has performed the shipping operation
Delete the data in bucket F.

As described above, the transfer / elevation of the bucket F by the traveling vehicle body 2 and the elevating table 3 and the article storage section D and the article placing table E2 of the fork device 5 according to the above steps based on the first issue command or the third issue command. The target buckets F are stacked in the article storage unit D (a set of two) or the stacked buckets F by the operation of moving in and out of
Out of the buckets F in the upper stage (uppermost stage) or in the state of one lower stage (the state in which the bucket F is not in the upper stage), the goods are stored in the designated goods placement table (carry-in / out) E2 from the goods storage section D. [Outgoing work by second shipping command] (see FIG. 10) When the second shipping command is issued, since another bucket F is placed on the lower bucket F for the purpose of shipping, first, the upper bucket F is loaded. Is transferred to the vacant article storage section D of the command. That is, the following steps are executed before step-1 of the shipping operation according to the first shipping command or the third shipping command. Step-PRE1 When the traveling control unit 21 inputs the second leaving command, the traveling position (traveling distance from HP) from the address of the command (the bay number of the article storage unit D that stores the intended bucket F to be unloaded). Then, the traveling electric motor M2 is driven while feeding back the traveling distance from the HP measured by the traveling range finder 18 with the obtained traveling distance as the target value. When the target traveling position is reached, an article storage unit arrival command is output to the transfer control unit 22. Step-PRE2 When the second evacuation control unit 20 inputs the second leaving command, the address of the command (level number of the article storage unit D storing the target bucket F to be put out) and the upper position (the upper bucket to be transferred). The scooping position (elevation distance) of the bucket F is obtained from the F position) from the preset scooping position.

Then, the obtained ascending / descending distance is set as a target value,
When the scooping position is reached by driving the lifting electric motor M1 while feeding back the lifting distance from the lower limit measured by the lift platform distance meter 11, a protrusion command is output to the transfer controller 22. Step-PRE3 When the transfer control unit 22 inputs the second leaving command, the direction (left or right direction) in which the fork is projected from the command (bay number of the article storage unit D that stores the bucket F for the purpose of leaving) Direction). And the lifting control unit 2
When the protrusion command is input from 0 and the article storage unit arrival command is input from the traveling control unit 21, the withdrawal electric motor 62 is driven so that the fork protrudes in the direction,
When the protrusion ends, the moving electric motor 41 is driven to grip the upper bucket F. When the bucket F is gripped, a gripping end signal is output to the lifting control unit 20.

As a result, the movable forks 53 and 56 are projected as shown in FIG.
The upper bucket F is gripped by the gripping tool 55 attached to 6. Step-PRE4 When the gripping end signal is input, the lifting / lowering control unit 20 drives the lifting / lowering electric motor M1 to move a certain distance (a distance until the upper bucket F is supported by the gripping tool 55 and floats),
When the lifting platform 3 is raised and the lifting is completed, the transfer control unit 2
Output the retreat command to 2.

As a result, as shown in FIG. 13B, the upper bucket F gripped by the gripper 55 is lifted from the lower bucket F. Step-PRE5 The transfer control section 22 drives the electric motor 62 for egress / retreat to return the fork to the lift table 3 when this retreat command is input, and when the retreat ends, the transfer control section 20 and the traveling control section 20 travel. An exit completion signal is output to the control unit 21.

As a result, as shown in FIG. 13C, the upper bucket F gripped by the gripping tool 55 is moved to the lift table 3
Taken up. Step-PRE6 When the travel control unit 21 inputs this exit completion signal, the travel control unit 21 determines from the bay number of the empty article storage unit D of the command to the travel position (H
The traveling distance from P) is obtained, and the traveling distance obtained from the HP measured by the traveling range finder 18 is fed back, and the traveling electric motor M2 is driven. When the target traveling position is reached, an article storage unit arrival command is output to the transfer control unit 22. Step-PRE7 When the lift control unit 20 inputs the retreat end signal from the transfer control unit 22, the bucket is moved from the level number of the empty article storage unit D instructed and the lower position (the position where the scooped upper bucket F is unloaded). The wholesale position (elevation distance) of F is obtained from the preset wholesale position.

Then, the obtained ascending / descending distance is set as a target value,
The electric motor M1 for raising and lowering is driven while feeding back the ascent and descent distance from the lower limit measured by the distance meter 11 for raising and lowering table, and when reaching the wholesale position, the protrusion command is output to the transfer control unit 22. Step-PRE8 When the transfer control unit 22 receives the protrusion command and the article storage unit arrival command from the traveling control unit 21, the transfer electric motor 62 moves toward the empty article storage unit D in the command. Drive the fork so that it protrudes, and when the protrusion ends,
A protrusion end signal is output to the lifting control unit 20. Step-PRE9 When the elevation control unit 20 receives this protrusion end signal, it drives the elevation electric motor M1 to lower the elevator table 3 for a certain distance (distance until the bucket F contacts the empty article storage unit D). Then, when the descent is completed, a retreat command is output to the transfer control unit 22. Step-PRE10 The transfer control unit 22 drives the electric motor 41 for movement to release the bucket F when the withdrawal command is input, and when the release of the bucket F is completed, the electric motor 62 for withdrawal is moved up and down. 3 is driven so that the fork returns to the top, and when the withdrawal is completed, a transfer end signal is sent to the lifting control unit 20 and the traveling control unit 21.
Output to.

By the steps-PRE1 to PRE10, the upper bucket F on the target lower bucket F is transferred to the vacant article storage section D instructed. Lift control unit 20
When the transfer control unit 22 receives the transfer end signal from the transfer control unit 21, the traveling control unit 21 continuously executes the above step-1 and step-2 of FIG. 9 and executes steps 1-10 of FIG. The desired lower bucket F is unloaded to the designated article placement table E2.

When the exit signal is input, the controller E1 updates the inventory by the second exit command. That is, the data in the bucket F of the article storage unit D that has performed the shipping operation is deleted, and the article storage unit D in which the bucket F on the upper stage is transferred
The data of the bucket F in the upper row is recorded in the lower row.

In this way, when the lower bucket F, which is the bucket F stored in the article storage unit D in a stacked state, is to be unloaded based on the second shipping command, the traveling vehicle body 2 and the elevating / lowering step are performed by the above steps. The bucket F above the lower bucket F of the article storage unit D is moved to another empty article by the transfer / elevation of the bucket F by the platform 3 and the movement of the fork device 5 to and from the article storage unit D and the article loading table E2. Storage D
Then, the lower bucket F is unloaded to the designated article placing table E2. [Warehousing work by the first warehousing command or second warehousing command] The warehousing work by the first warehousing command or the second warehousing command is shown in FIG.
In the shipping operation according to the first shipping command or the third shipping command shown in, the operations on the article storage unit D and the article placement unit E2 are reversed.

That is, in step -1 of FIG. 9, the traveling vehicle body 2 is moved to the article placing portion E2, and in step -6, the traveling vehicle body 2 is moved to the instruction article storage portion D. Further, in step-2, the elevating table 3 is moved up and down to the scooping position of the article placing section E2, and in step-7, the elevating table 3 is moved up and down to the unloading position of the article storage section D. At this time, when the buckets F are stacked on the upper stage (when the second storage command is issued), the wholesale position of the article storage unit D is set to the upper stage position, and when the buckets F are not stacked (the first store position).
At the time of storage instruction) The wholesale position of the article storage unit D is set to the lower position.

When the warehousing is completed, the controller E1 updates the inventory by the first warehousing command or the second warehousing command. That is, the data of the bucket F is recorded in the article storage unit D that has performed the warehousing operation.

In this way, the transfer / elevation of the bucket F by the traveling vehicle body 2 and the elevating table 3 and the article storage section D of the fork device 5 in the above steps based on the second storage command.
And the article storage table E2 to move in and out, the article storage unit D
A new bucket F can be stacked on the bucket F stored in. Further, based on the first warehousing command, the bucket F, which is managed and infrequently stored and unloaded, is stored in the article storage unit D so as to be located at the lower stage of stacking. [Picking work by the first picking command or the second picking command] (see FIG. 11) At the time of the first picking command, following the shipping work by the first shipping command or the third shipping command, and at the time of the second picking command The following steps are executed following the shipping operation by the second shipping command. In the case of a picking command, in step -10 (FIG. 9), a picking position arrival signal is output instead of the delivery completion signal. In addition, the operator can check the bucket F that has been unloaded on the article placement table E2.
Open and pick up the set amount of products, and when picking is completed, the picking end operation is input to the controller E1. The operation signal indicating the end of picking is transmitted from the controller E1 to the crane controller CC. Step-AFT1 When the transfer control section 22 receives a picking end operation signal from the controller E1, it drives the entry / exit electric motor 62 so that the fork projects toward the original article mounting table E2 from which the bucket F was unloaded. When the protrusion is completed, the moving electric motor 41 is driven to grip the bucket F of the article placing table E2. When the bucket F is gripped, a gripping end signal is output to the lifting control unit 20. Step-AFT2 When the lifting / lowering control unit 20 receives this gripping end signal, it drives the lifting / lowering electric motor M1 to move the fixed distance (the article mounting table E).
(The distance until the bucket F of No. 2 is supported by the gripper 55 and floats), the elevating table 3 is raised, and when the raising is completed, a retreat command is output to the transfer control unit 22. Step-AFT3 The transfer control unit 22 drives the fork so that the bucket F returns to the lift table 3 when the retreat command is input, and when the retreat ends, the lift control unit 22 moves. 20
And the exit control signal is output to the traveling control unit 21. Step-AFT4 When the traveling control unit 21 inputs the picking end operation signal from the controller E1 and the retreat end signal from the transfer control unit 22, the traveling storage unit D of the original article storage unit D that issued the instruction to return the bucket F is returned. The traveling position (traveling distance from HP) is obtained from the bay number, the traveling distance thus obtained is used as a target value, and the traveling electric motor M2 is driven while feeding back the traveling distance from HP measured by the traveling rangefinder 18. To do. When the target traveling position is reached, an article storage unit arrival command is output to the transfer control unit 22. Step-AFT5 When the elevation control unit 20 receives the picking end operation signal from the controller E1 and the retreat end signal from the transfer control unit 22, the original article storage unit D of the instruction to return the bucket F is returned. The unloading position (elevating distance) of the bucket F is obtained from the preset unloading position based on the level number and the upper or lower position (position where the bucket F is returned).

Then, the obtained ascending / descending distance is set as a target value,
The electric motor M1 for raising and lowering is driven while feeding back the ascent and descent distance from the lower limit measured by the distance meter 11 for raising and lowering table, and when reaching the wholesale position, the protrusion command is output to the transfer control unit 22. Step-AFT6 When the transfer control unit 22 receives the protrusion command and the article storage unit arrival command from the traveling control unit 21, the transfer electric motor 62 is moved in the direction of the original article storage unit D of the command. Drives so that the fork protrudes, and when the protrusion ends,
A protrusion end signal is output to the lifting control unit 20. Step-AFT7 When the elevation control unit 20 receives this protrusion end signal, it drives the elevation electric motor M1 to move up and down by a certain distance (distance until the bucket F touches the article storage unit D or the lower bucket F). The table 3 is lowered, and when the lowering is completed, a retreat command is output to the transfer controller 22. Step-AFT8 When the transfer control unit 22 inputs this withdrawal command, it drives the electric motor 41 for movement to release the bucket F, and when the release of the bucket F is completed, the electric motor 62 for withdrawal is moved up and down. When the fork is driven so that the fork returns to the top, the picking end signal is output to the controller E1.

When the picking end signal is input, the controller E1 updates the inventory according to the first picking command or the second picking command. That is, the picking quantity is subtracted from the quantity of the bucket F of the article storage unit D where the picking operation has been performed and recorded.

By the steps-AFT1 to AFT8, the bucket F for which the picking operation has been completed is returned to the original upper or lower position of the article storage unit D. As described above, based on the first picking command or the second picking command, the traveling body 2 and the lifting platform 3 transfer and lift the bucket F according to the above steps, and the fork device 5 outputs to the article storage unit D and the article loading table E2. By the retracting operation, the target bucket F is unloaded from the article storage unit D to the designated article loading table (carry-in / out port) E2, and when the picking work is completed, the target bucket F is returned to the original article storage unit D. Further, when the buckets F stored in the article storage unit D in a stacked state are picked from the lower bucket F, as in the case of the operation of the second shipping command, When the upper bucket F is transferred to another empty article storage unit D, and then the desired lower bucket F is unloaded to the designated article placement table E2, and the picking operation is completed, the original article storage unit D is returned. Returned to.

As described above, by constructing the article storage unit D so that the buckets F are stored in every two stages, the storage efficiency can be improved because of the clearance, and the article storage unit D has already been stored (stored). ) Bucket F
Since a new bucket F is stacked on top of each of the buckets F and one bucket F can be loaded and unloaded, the space of the article storage section D can be effectively used as compared with the conventional one that can handle only two stages. The storage efficiency can be improved.

Further, since the bucket F can be handled by two stages, the cycle of the stacker crane C can be reduced, and the bucket F can be handled by one stage. The cycle operation of the stacker crane C can be reduced and the work efficiency can be improved.

Inventory data of the bucket F is managed / updated for each article storage unit D and for each position of the stack in the stacked state based on the loading and unloading of the bucket F. Depending on the position, the elevating position (scooping position and unloading position) of the elevating table 3 at the time of unloading is changed (due to the different operations of the article transfer means and the transfer means), so that the bucket at any position in a plurality of stages It is possible to surely carry in and out of F.

Further, when the bucket F for the purpose of taking out the goods is at the lower position and there is another bucket F (upper bucket F) at the upper part, the upper bucket F is transferred to another empty article storage section D. By transferring and loading the desired lower-stage bucket F, the stacker crane (article transfer means) C needs to execute the two-cycle operation for discharging one bucket F as in the conventional case. It is possible to improve work efficiency.

The frequency of loading and unloading of the bucket F is managed, and the bucket F having a low loading and unloading frequency of the bucket F is loaded and stored so as to be located in the lower stage (lower stage of stacking) of the article storage unit D. Thus, when the bucket F having a low loading / unloading frequency is stored at the upper position, the operation of transferring the bucket F at the upper position to another article storage unit D when the bucket F at the lower position is discharged. It is possible to reduce the total equipment and improve work efficiency.

Further, since the fork device 5 can act on the edge Fa of the bucket F to transfer the bucket F,
When a conveyor is used instead of the fixed article mounting table (load receiving table) E2 as the article handling means installed in the article loading / unloading section E of P, a bucket F with a fork device is used for this conveyor.
It is possible to eliminate the need for providing a lifter (elevator for raising and lowering the bucket F) for the purpose of reciprocating.

In the present embodiment, the stacker crane C is used as the article transfer means of the article storage facility, but the article transfer means does not have a structure corresponding to the traveling vehicle body 2 of the stacker crane C. Good. FIG. 14 shows an example of an article storage facility FS ′ equipped with an article transporting means which does not include the traveling vehicle body 2. In FIG.
The components having the same functions as those of the above-described embodiment are designated by the same reference numerals.

In the article storage facility FS 'shown in FIG. 14, for example, one of the article storage sections D of the two storage shelves A in which the buckets F in a two-tiered state are installed at predetermined intervals in the front and rear. In addition to being able to store in the article storage section D, one or two buckets F stored in a predetermined storage shelf A can be taken out.

A plurality of article storage units D are provided in each of the pair of storage shelves A in parallel in the vertical direction and the horizontal direction, and the article storage units on the lower side of the one storage shelf A located on the front side. Utilizing D, loading / unloading portions (carrying-out exits) E3a and E3b of the bucket F are provided. A bucket F is attached to the storage shelf A at the carry-in / out entrances E3a and E3b.
A roller conveyor RC for loading and unloading is continuously provided.

Further, in the front and rear intermediate portions of the pair of storage shelves A,
One or two buckets F are provided between the article storage section D and the carry-in / out section E3a (or E3b) or the article storage section D.
A transport device (an example of an article transport means) C ′ that transports the cargoes between them to carry in and out is provided. The carrier C'is suspended and supported by a chain 8 and is vertically movable over substantially the entire vertical height of the storage shelf A, and is provided on the vertically movable table 3 so as to be movable laterally. The fork device 5 transfers the bucket F to and from the article storage section D or the carry-in / out sections E3a and E3b of the storage shelf A.

As described above, also in the article storage facility FS ′ including the article transfer means (conveying apparatus C ′) that does not include the structure corresponding to the traveling vehicle body 2, the same effect as that of the above-described embodiment can be obtained. it can. For example, if the article storage D is 2
By storing the buckets F in stages, storage efficiency can be improved due to clearance.
Further, since a new bucket F is loaded on the bucket F already stored (stored) in the article storage unit D, it is possible to store and store each bucket F, so that the conventional two-stage handling is possible. Goods storage D compared to
The space can be used effectively and the storage efficiency can be improved. Further, since the buckets F can be handled by two stages, the cycle of the stacker crane C can be reduced, and the bucket F can be handled by one stage, so that the stacker crane C can handle only two stages compared to the conventional stacker crane C. It is possible to reduce the number of cycle operations and improve work efficiency.

In this article storage facility FS ', the fork device 5 is allowed to move laterally on the lift table 3. However, in order to prevent the fork device 5 from moving laterally, it is a fixed facility, that is, it is vertically 1 only in the vertical direction. Providing a plurality of article storage units D in a row,
It is also possible to provide a tower-type article storage facility in which articles are loaded and unloaded only by raising and lowering the lifting platform 3.

Further, in the present embodiment, the fork device 5 adopts the movable (side pick) fork system in which the movable forks 53 and 56 are acted on the edge Fa of the bucket F to transfer the bucket F. Not limited to the movable fork system, as shown in FIG. 15, a turntable 81 is arranged on the lift 3 and a movable body 82 which can move the turntable 81 in the right and left direction is arranged.
Alternatively, a pair of forks 83 that can move in the front-rear direction and can hold the bucket F may be provided on the second side. With this fork device, when scooping the bucket F, as shown in FIG.
As shown in (b), the moving body 82 is moved toward the bucket F from the lift table 3 that has been raised and lowered to the scooping position, whereby the fork 83 is projected, and subsequently the fork is shown as shown in FIG. 15 (c). 83 is moved to grip the bucket F, lifted from the article storage section D by raising the lifting platform 3 as shown in FIG. 15D, and withdrawing the moving body 82 as shown in FIG. 15E. To lift bucket F up and down 3
Take up. The operation is reversed when the bucket F is unloaded. When the projecting direction of the fork 83 is reversed, the turntable 81 is driven to reverse the directions of the moving body 82 and the fork 83 as shown in FIG. 15 (f). Further, as shown in FIG. 15G, by projecting the fork 83 with respect to the upper bucket F, only the first bucket F can be scooped. Further, the buckets F can be stacked on the lower bucket F.

In this embodiment, the fork device 5 is a movable (side pick) fork system, but the bucket F is moved by a pair of conveyor belts that are movable in the approaching and separating directions and sandwich the side surface of the bucket F. The side wall of the bucket F, or the side surface of the bucket F that is movable (moves in the direction toward and away from each other) is clamped (acting) to the bucket F.
The side clamp system may be provided with a pair of forks for transferring.

Further, in the present embodiment, the articles are placed in the bucket F.
However, it is not limited to buckets, containers,
It may be cardboard or the like. In the case of an article without an edge (or flange) such as a cardboard, the article storage section D is formed by a flat panel panel that supports the entire bottom surface of the cardboard or the like instead of the arm J, and the fork device 5 is a side belt method or a side clamp method. And

In this embodiment, the stacking is performed in two steps, but the number of steps is not limited to two, and the strength of the fork device 5 is increased or when the weight of the article is light (when the load condition is good). ) It is also possible to have three or more stages. At this time, if there are other buckets F above the exiting bucket F, these upper buckets F are transferred to the empty article storage unit D.

In the present embodiment, the storage shelves A arranged side by side in the left-right direction are each configured to have the article storage section D in the front-rear direction. The article storage units D may be arranged in the (depth direction). At this time, the fork device 5
The movable forks 53 and 56 are configured to be capable of positioning and retracting with respect to the article storage units D in the left-right direction of each storage shelf A (double deep type).

Further, in the present embodiment, the pair of article loading tables E2 of the article loading / unloading section E is used as the loading / unloading port for loading / unloading the bucket F, but one of these article loading tables E2 is used for the bucket F. It is also possible to use it only for the carry-in entrance and the other for the carry-out exit.

Further, in the present embodiment, the fixed article placing table (load receiving table) E2 is used as the article handling means of the article loading / unloading section E, but a conveyor, a self-propelled carriage, a load receiving station with a lifter, etc. are used. You may.

Further, in the present embodiment, the moving positions of the traveling vehicle body 2 and the lift 3 are measured by using the laser range finder, but the rotary encoder is connected to the wheels or the motor (M1 or M2). It is also possible to measure by counting the output pulses.

[0090]

As described above, according to the present invention, the articles are stored in a stacked state, and the articles can be taken out one by one, thereby effectively using the space of the article storage section. The storage efficiency can be improved.

[Brief description of drawings]

FIG. 1 is a perspective view of a main part of an article storage facility according to an embodiment of the present invention.

FIG. 2 is a schematic configuration diagram of a stacker crane of the article storage facility.

FIG. 3 is a front view of a fork device in the article storage facility.

FIG. 4 is a cutaway plan view of a main part of a fork device in the article storage facility.

FIG. 5 is a main part plan view of the retractable gripping device of the fork device in the article storage facility.

FIG. 6 is a side view of a main portion of a retractable gripping device of a fork device in the article storage facility.

FIG. 7 is a schematic plan view illustrating a forward / backward interlocking mechanism of a fork device in the article storage facility.

FIG. 8 is a control configuration diagram of the article storage facility.

FIG. 9 is a flowchart illustrating an operation at the time of leaving work in the article storage facility.

FIG. 10 is a flowchart illustrating an operation when the upper bucket is transferred during a delivery operation in the article storage facility.

FIG. 11 is a flowchart illustrating an operation of returning the bucket to the original article storage unit during the picking operation in the article storage facility.

FIG. 12 is an explanatory diagram illustrating an operation of the fork device of the article storage facility.

FIG. 13 is an explanatory diagram illustrating an operation of the fork device of the article storage facility.

FIG. 14 is a perspective view of a main part of an article storage facility according to another embodiment of the present invention.

FIG. 15 is an explanatory diagram illustrating an operation of the fork device of the article storage facility according to another embodiment of the present invention.

[Explanation of symbols]

FS, FS 'article storage facility A storage shelf B work passage C stacker crane CC crane controller D Goods Storage Department E Article loading / unloading section E1 controller E2 article placement table (carry-in / out) E3a, E3b loading / unloading section F bucket M1 lift electric motor M2 electric motor for traveling 1 running rail 2 running car 3 elevators 4 Lifting mast 5 Fork device 11, 18 rangefinder 20 Lifting control unit 21 Travel control unit 22 Transfer controller 28,29 Optical transceiver 33 Front mobile 34 Rear mobile 35 First moving device 36 Second moving device 37 Retractable gripping member 38 Leaving drive device 41 Electric motor for movement 51 fixed fork 53 First movable fork 55 grasping tool 56 Second movable fork 57 Entry / exit interlocking mechanism 62 Electric motor for entering and leaving 81 turntable 82 Mobile 83 fork

Claims (6)

[Claims] 1. An article, comprising: a plurality of article storage sections capable of storing articles in a stacked state; and article transfer means having transfer means for transferring the articles at the article storage section and a loading / unloading port. A storage facility, which is an uppermost stage of the articles stored in the article storage section in a stacked state by the movement of the article transfer means and the movement of the transfer means to and from the article storage section. Goods only,
Alternatively, in the stacked state, the article storage facility is configured such that the article storage section can deliver the articles to the carry-in / out port. 2. The structure is such that a new article can be stacked on the article stored in the article storage unit by the movement of the article transfer unit and the withdrawal operation of the transfer unit. The article storage facility according to claim 1. 3. The inventory management of the articles is performed for each article storage unit and each row position in the stacked state, and the article transfer at the time of delivery from the inventory according to the inventory-managed row position of the articles. 3. The article storage facility according to claim 1, wherein the means and the transfer means operate differently. 4. When the articles stored in the article storage section in a stacked state are to be unloaded, the articles are transferred by the article transfer means and moved by the transfer means. The article above the lower stage of the storage section is transferred to another article storage section, and then the article of the lower stage is unloaded to the carry-in / out port. Article storage equipment. 5. The article storage facility according to claim 1, wherein the transfer means performs transfer by acting on a side surface of the article or an edge portion of the article. 6. The article is a container or a bucket, and the frequency of loading and unloading of the container or bucket is managed, and the managed container or bucket having a low loading and unloading frequency is stacked in the article storage unit. It is stored so that it is located in the lower stage.
Item storage facility according to any one of 1.