JP2010265117A - Transfer system, article-cargo handling facility including the transfer system, container transfer device and container terminal including the container transfer device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To reduce equipment cost, while avoiding interference between carrying devices, in a transfer system for transferring a container stored in a high-rise warehouse between the different carrying devices. <P>SOLUTION: This transfer system on a form of this embodiment includes the high-rise warehouse C having a shelf for storing an article, a first route R1 for carrying the article Cijk to be stored or having stored in the high-rise warehouse C, a second route R2 for carrying the article to be carried or having carried by the first route R1, and a transfer zone S for moving the article between the first route R1 and the second route R2, and is characterized in that the second route R2 is arranged so as to reach the transfer zone S in a plan view from the outside of the transfer zone S, and at least a part of the second route R2 moves in the direction for separating from an arrival position to the transfer zone S. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to an article between a collection compartment (hereinafter sometimes referred to as an “article storage block”) composed of a plurality of articles collected for the purpose of storage, storage or the like, and the outside thereof. The present invention relates to a transfer system that performs movement, and an article handling facility that performs loading / unloading, storage, loading, unloading, and the like of articles, which includes the transfer system. A typical example of an article storage block in which a plurality of articles are gathered is a three-dimensional warehouse having shelves that can store articles, and a typical example of an article handling facility is a container terminal. It is not intended only for container terminals, nor is it intended only for container terminals.

  When an article moves between the article storage block and the outside thereof, equipment, devices, etc. (hereinafter sometimes referred to collectively or individually as “conveying devices”) that convey the article and the article storage block or a predetermined one thereof Articles are transferred to and from the position (hereinafter sometimes referred to as “transfer”), and when there are a plurality of transfer devices, transfer is also performed between the transfer devices. Such transfer is indispensable when the article storage block is a three-dimensional warehouse, particularly when it is an automatic warehouse. Then, the transfer of the article between the transfer apparatuses is usually performed at a location close to the path on which the article moves by one transfer apparatus and the path on which the article moves by the other transfer apparatus.

  For example, in the container terminal described in Patent Document 1, a container loaded on a container ship that has berthed is transported from the sea side to a predetermined position on the land side by a carrier device for a berthing container crane, and is moved to a cart that runs on rails. Placed. The container placed on the cart is transported by the cart to a predetermined position beside the automatic warehouse, and is received by an overhead crane transport device that can travel on a fixed rail extending outside the automatic warehouse at the predetermined position. Transferred to a traverser waiting outside the warehouse. The container transferred to the traverser is transported in the automatic warehouse by the traverser, transferred to the stacker crane, and transferred to a predetermined shelf of the automatic warehouse by the transfer by the stacker crane. To work). In this case, not only the container crane for berthing or its transport equipment and the overhead crane or its transport equipment, but also the container transfer mechanism that the cart, traverser and stacker crane that run on the rail should be included in the transport device. The transfer of the container between the transfer devices is a place where the transfer is possible, that is, the location where the transfer route of the container by one transfer device and the transfer route of the container by the other transfer device are close to each other. Done in

Japanese Patent Laid-Open No. 10-87009, FIGS. 1 to 4

  However, when the movement paths of the articles approach each other, the interference between the conveyance apparatus that moves the articles along one movement path and the conveyance apparatus that moves the articles along the other movement path, one conveyance apparatus and the other conveyance Interference with the track and other incidental parts constituting the travel path of the apparatus, interference between the article conveyed or transported by one transport device and the track and other incidental parts constituting the travel path of the other transport apparatus, etc. This is likely to occur, and accordingly, the transfer of the article is likely to be hindered. This also leads to obstructing the sound operation of the article storage block or the article handling facility that requires or assumes the transfer of the article.

  The present invention has been made in view of the above problems, and when moving an article between an article storage block formed by a collection of a plurality of articles and the outside thereof, the movement paths of the articles are close to each other. However, the interference between the transfer device that moves the article along one movement path and the transfer device that moves the article along the other movement path, and the trajectory that forms the travel path of the one transfer apparatus and the other transfer apparatus Interference with other incidental parts, interference between an article conveyed or conveyed by one conveying device and a track or other incidental parts constituting a travel path of the other conveying apparatus does not occur, and therefore the article is transferred. It is an object of the present invention to provide a technology relating to a transfer system that does not interfere with the transfer and an article handling facility provided with the transfer system.

  In order to achieve the above object, (1) a transfer system according to a first embodiment of the present invention includes an article storage block in which a plurality of articles are aggregated, and an article in which the plurality of articles are aggregated. A first article transport path for transporting articles stored in or stored in the storage block; and a second article transport path for transporting articles transported or transported in the first article transport path. A transfer zone in which the movement of the article between the first article transport path and the second article transport path is performed, and the second article transport path is a plan view from the outside of the transfer zone. It is provided to reach the transfer zone or pass through the transfer zone, and at least a part of the second article transport path is movable from the transfer zone to the outside in a plan view. It is characterized by this.

  If it demonstrates by a more specific example without intending to limit the 1st form of the present invention, the transfer system concerning this form will be the goods or solids carried in along the 2nd goods conveyance path from the exterior of a solid warehouse. When the articles carried out along the second article conveyance path to the outside of the warehouse are transferred to the first article conveyance path for conveying the articles stored or stored in the three-dimensional warehouse, both articles are conveyed. The part of the second article conveyance path that is likely to collide is configured to be movable from a place where there is a possibility of collision so that the path is not close enough to cause collision or collision.

(2) The transfer system according to a second aspect of the present invention is the transfer system according to the first aspect, wherein the first article transport path extends from the article storage block to the transfer zone. It is characterized by this.

(3) The transfer system according to a third aspect of the present invention is the transfer system according to the first or second aspect, wherein the first article transport path moves along the article storage block. Including at least a part of a travel path of a crane apparatus that transports an article, wherein the second article transport path is at least one of a movement path of a transport apparatus that transports an article between the transfer zone and the outside thereof. It is characterized by including a part.
In the case where the article is conveyed by traveling, the movement path of the conveying apparatus is substantially the same as the traveling path of the conveying apparatus or the traveling path determined as the traveling range of the conveying apparatus. The same. This can be done regardless of whether or not the transport device is self-propelled, whether or not the transport device travels on a fixed rail, and the transport method of the transport device (wheel type, endless rail type, etc.). Regardless, it is common to each embodiment of the present invention.

(4) The transfer system according to a fourth aspect of the present invention is the transfer system according to the third aspect, wherein at least a part of the moving path of the transfer device intersects the first article transfer path. It can move in the direction.

(5) The transfer system according to a fifth aspect of the present invention is the transfer system according to any one of the first to fourth aspects, wherein the second article transport path is in the transfer zone in plan view. An extended beam extending to a reaching position is provided, and the extended beam is configured to be separated from the transfer zone.

(6) The transfer system according to a sixth aspect of the present invention is the transfer system according to the fifth aspect, wherein the extended beam is provided so as to be rotatable with one end side as a base end, and is rotated. Is configured to reach the transfer zone or to leave the transfer zone.

(7) The transfer system according to a seventh aspect of the present invention is the transfer system according to any one of the third to sixth aspects, wherein the transfer device includes an article holder that holds an article, and the article holding The tool is provided with a turning mechanism that can change the orientation of the article being held by at least 90 degrees in plan view.

(8) An article handling facility according to an eighth aspect of the present invention includes the transfer system according to any one of the first to seventh aspects.

(9) The container transfer device according to the ninth aspect of the present invention is within the traveling range of a traveling stacker crane that transfers containers to and from a container storage block in which a plurality of containers are assembled. A container transfer device for moving a container from within its travel range, comprising a track member for moving the container, and of the track member, overlapping or close to the travel range of the travel type stacker crane in plan view The portion to be moved is movable from the traveling range of the traveling stacker crane so as not to interfere with the traveling stacker crane.
The container storage block is an aspect of the article storage block in which the article is a container. Therefore, the container storage block only needs to be a collection of a plurality of containers, and is not limited to a three-dimensional warehouse having shelves that can store articles. .

  If it demonstrates more concretely without intent limiting the 9th form of this invention, the container transfer apparatus which concerns on the 9th form of this invention will be conveyed along a track member from the exterior of a container storage block. When delivering a container to a traveling stacker crane that transfers containers in the container storage block, there is a risk of collision so that the traveling stacker crane and the track member do not come close enough to cause collision or collision. The part of the track member that is likely to collide is provided so as to be movable from a certain place. In this case, the container corresponds to an article that can be stored in a shelf included in the three-dimensional warehouse according to the first embodiment. The movement path of the container formed by the track member corresponds to the second article conveyance path in the first form, and it can be said that it corresponds to the movement path of the conveyance apparatus in the third form depending on the way of viewing. The track member may correspond to the extended beam in the fifth embodiment. The travel path of the travel stacker crane corresponds to the first article transport path in the first embodiment.

(10) The container transfer device according to a tenth aspect of the present invention is the one according to the ninth aspect, wherein the traveling stacker crane is capable of traveling to an area separated from the container storage block, A portion of the track member that is disposed at a position equal to or lower than the height of the traveling stacker crane is movable from the region so as not to interfere with the traveling stacker crane. .
(11) A container transfer device according to an eleventh aspect of the present invention is the container transfer device according to the ninth or tenth aspect, further comprising a drive mechanism for rotating the container moving along the track member. It is characterized by comprising.
(12) A container terminal according to an eleventh aspect of the present invention comprises the container transfer device according to any one of the ninth to eleventh aspects.

  In each form of the present invention, when an article is transported by a transport device, the movement path of the article is rephrased as a path (article transport path) through which the article is transported by the transport apparatus or a travel path of the transport device. When the conveyance device travels without any problem, the article movement path, the article conveyance path, or the conveyance apparatus movement path may be referred to as the conveyance path of the conveyance apparatus.

  In the transfer system according to the present invention, particularly, the first embodiment of the present invention, at least a part of the second article transport path is configured to be movable in a direction away from the arrival position at the transfer zone in plan view. Therefore, when an article is carried into the transfer zone along the first article conveyance path or after an article is carried into the transfer zone along the second article conveyance path, the first article conveyance path is entered. At the time of transfer, at least a part of the second article transport path can be moved and placed outside the transfer zone, so that interference between the two article transport paths and the risk thereof are not caused. Therefore, according to the present invention, even if one article transport path is close to the other article transport path, the article can be safely transferred from one article transport path to the other article transport path in the transfer zone without any problem. The transfer system which can be made to be realized.

  In addition, even if one article conveyance path is close to the other article conveyance path, it is possible to safely transfer articles from one article conveyance path to the other article conveyance path in the transfer zone without any problem. This also means that the transfer can be performed safely even if the first article transport path and the second article transport path are brought closer to each other in the transfer zone. Therefore, according to the present invention, a more compact transfer system in a plan view can be realized.

  The effect which the other form of this invention has is as follows.

When the transfer zone is arranged outside the article storage block and the first article transport path extends from the article storage block to the transfer zone, equipment / devices related to the first article transport path (particularly, Transport device) will jump out of the article storage block, and the adverse effect of interference with equipment and devices related to the second article transport path in the transfer zone and its surroundings will be outside the article storage block. It may also extend to other equipment and devices that are located. Such a problem occurs when the transport device that transports an article along the second article transport path is configured to be movable across the first article transport path and the transfer zone in plan view (particularly, This is easily manifested when there is a traveling range of a plurality of stacker cranes or when there are a plurality of transfer zones (because a collision between equipment and devices is likely to occur).
On the other hand, according to the second embodiment of the present invention, as in the first embodiment, interference between the first article transport path and the second article transport path can be avoided. As a result, the adverse effect of the system does not spread to the surroundings and can contribute to the improvement of the safety of operation of the transfer system.

The first article transport path includes at least a part of the traveling path of the crane device that moves along the article storage block to transport the article, and the second article transport path is between the transfer zone and the outside thereof. If at least a part of the movement path of the conveying device that conveys the article is included, the traveling path of the crane device and the moving path of the conveying device may approach and interfere with each other in the transfer zone, or the two devices may collide. is there.
On the other hand, according to the third aspect of the present invention, even if the first article transport path and the second article transport path are close to each other, the first article is the same as in the first or second embodiment. Since the interference between the transport path and the second article transport path and the collision between the apparatuses can be avoided, and the spread of adverse effects of the interference and the collision to the surroundings can be avoided, the transfer system Can contribute to improving the safety of operation.

When a part or all of the movement path of the conveyance apparatus is movable in the crossing direction with respect to the first article conveyance path, the conveyance apparatus moves along the movement path included in the second article conveyance path (for convenience) On the other hand, the crane device that travels along the first article transport path may collide with the transport device T. The problem of not.
On the other hand, according to the fourth mode of the present invention, even if the moving path of the transfer device T intersects the first article transfer route, the transfer path of the transfer device T is similar to the third mode. Interference with the first article conveyance path where it intersects and collision between the conveyance device T and the crane device can be avoided, and expansion of the adverse effects of the interference and collision to the surroundings can be avoided. Thus, an efficient transfer system with the above advantages can be realized.

  In the transfer system according to the fifth aspect of the present invention, the second article transport path includes an extended beam extending to a position reaching the transfer zone in a plan view, and the extended beam extends from the transfer zone. Since it is constituted so as to be separated, it can be easily transported to or from the transfer zone by transporting the article along the extended beam, and the first article transport path and the first article transport It is possible to prevent interference or a risk of interference with equipment / devices involved in the conveyance of articles on the route. The configuration of the second article conveyance path required for this purpose is simple, that is, only the extended beam and the mechanism for moving the extension beam, so that it does not cause an excessive increase in equipment cost.

  In the transfer system according to the sixth aspect of the present invention, the extended beam is rotatably provided with one end side as a base end, and reaches or moves away from the transfer zone by rotating. It is configured to be able to. A typical example of such rotation is the undulation operation of the extended beam with one end side of the extended beam as a base end. Therefore, according to the sixth aspect of the present invention, the structure for extending the extended beam toward the transfer zone in a plan view and moving it from the transfer zone to the outside becomes simple. In addition, positioning is facilitated even when the distal end side of the extended beam is held, and equipment and devices (including the previously described transport device T) and the first product transport related to the transport of the product in the second product transport path. It is possible to appropriately avoid interference with devices and apparatuses related to the conveyance of articles in the path and the first article conveyance path.

  In the transfer system according to the seventh aspect of the present invention, the transport device (transport device T) includes an article holder for holding an article, and the article holder has the orientation of the article being held at least 90 degrees. Since the turning mechanism which can be changed is provided, the direction of the transfer object can be changed at the same time when the transfer object (article) is moved by the transfer device T along the second article transfer path. For this reason, when the article is moved toward the transfer zone along the second article conveyance path, the posture is necessary or suitable for the transfer to the first article conveyance path in the transfer zone. The posture of the article can be changed during the movement process. Further, when the article is moved in the opposite direction, that is, after the article is moved along the first article conveyance path, the article is transferred to the second article conveyance path in the transfer zone (more specifically, the conveying device). After the article holder is swung so as to follow the attitude of the article in the transfer zone (that is, the article can be held even in the attitude of the article at that time) By holding the article by the article holder, it can be transferred to the second article transport path and moved from the transfer zone toward the outside. In addition, when the article is moved from the transfer zone to the outside along the second article conveyance path, the posture is necessary or suitable for the delivery of the article (for example, to the unmanned conveyance cart) performed thereafter. In this way, the posture of the article can be changed during the movement process. Therefore, according to the seventh aspect of the present invention, it is possible to transfer the article between both article conveyance paths in the transfer zone without being affected by the attitude of the article, and thus, both articles. It is possible to increase the degree of freedom in designing the arrangement between the conveyance paths.

  The article handling facility according to the eighth aspect of the present invention includes the transfer system according to any one of the first to seventh aspects. Therefore, according to the eighth aspect of the present invention, an article handling facility that exhibits the effects of any one of the first to sixth aspects can be realized.

  In a container transfer device that moves containers within or from the travel range of a stacker crane that transfers containers to or from a container storage block in which a plurality of containers are gathered, within the travel range Or the equipment / devices for moving the container from within the traveling range (including the already-described transport device T) and the stacker crane are so close that they are likely to collide or collide. In particular, if at least a part of the track member for moving the container overlaps or is close to the travel range of the traveling stacker crane in plan view, the traveling stacker crane and the track member are likely to collide or collide. It ’s dangerous because it ’s so close. On the other hand, if the container transfer device is operated so that the stacker crane and the equipment / devices do not come close to each other in order to avoid the danger, the transfer efficiency of the container may be lowered.

  In contrast, in the container transfer device according to the ninth aspect of the present invention, even when at least a part of the track member overlaps or is close to the traveling range of the traveling stacker crane in plan view, the traveling Since it is movable from the range, collision with the stacker crane can be avoided. Therefore, according to the 9th form of this invention, the container transfer apparatus which can perform the transfer of a container safely or efficiently is realizable. This also means that it is safe and efficient even when the stacker crane and the equipment / devices for moving the track member and other containers are brought close to each other. Therefore, according to the ninth aspect of the present invention, it is possible to realize a more compact container transfer device in plan view.

  In a container transfer device that moves a container into or out of the travel range of a stacker crane that transfers containers to and from a container storage block, at least a part of the track member for moving the container is: In a plan view, the stacker is not only overlapped or close to the traveling range of the traveling stacker crane, but is disposed at a position equal to or lower than the height of the traveling stacker crane. There is a higher risk of collision between the crane and the track member. If the container transfer device is operated so as to avoid the danger, it can be said that the transfer efficiency of the container is lowered.

  In addition, when the stacker crane can travel to an area separated from the container storage block (for example, an area outside the site of the container storage block in plan view), the stacker crane and the members constituting the travel path of the container storage block When the stacker crane that travels collides with the track member, the impact of the collision will be affected by other equipment and devices (especially the first It may also extend to equipment / devices other than the track member corresponding to at least a part of the article transport path 2 (for example, an unmanned transport cart for containers). Such a problem occurs when the track member or the transport device that transports the container along the track member is configured to be movable so as to cross the travel range or transfer zone of the stacker crane in plan view (particularly It is easy to manifest when there is a traveling range of a plurality of stacker cranes or when a plurality of transfer zones are present) (because a collision between equipment and devices is likely to occur).

  On the other hand, in the tenth embodiment of the present invention, even when the stacker crane travels to a region separated from the container storage block, at least a part of the track member is traveling of the stacker crane in plan view. Even if the stacker crane overlaps or is close to the range and is disposed at a position equal to or lower than the height of the stacker crane, at least a part of the track member is movable from the travel range. And avoid collisions. Therefore, according to the 10th form of this invention, the container transfer apparatus which can perform the transfer of a container safely or efficiently is realizable. In addition, a more compact container transfer device can be realized in plan view.

The container transfer device according to the eleventh aspect of the present invention further includes a drive mechanism that rotates the container that moves along the track member that forms at least a part of the second article transport path. Therefore, according to the 11th form of this invention, there exists an effect similar to a 7th form.
In other words, between the traveling stacker crane and the equipment related to the transport of the container by moving along the track member (the transport device T already described, ie, equivalent to the transport device in the second embodiment of the present invention). The container can be transferred without being affected by the attitude of the container. As a result, the stacker crane, its travel route, and the design related to the arrangement between the track member and the equipment that moves along it. Can increase the degree of freedom.

  A container terminal according to a twelfth aspect of the present invention includes the container transfer device according to any one of the eighth to tenth aspects. Therefore, according to the eleventh aspect of the present invention, it is possible to realize a container terminal that exhibits the effects of any of the ninth to eleventh aspects.

BRIEF DESCRIPTION OF THE DRAWINGS It is explanatory drawing of the basic matter which concerns on this invention, and explanatory drawing of the transfer system and goods handling facility which concern on one embodiment of this invention. BRIEF DESCRIPTION OF THE DRAWINGS It is explanatory drawing of the basic matter which concerns on this invention, and explanatory drawing of the transfer system and goods handling facility which concern on one embodiment of this invention. BRIEF DESCRIPTION OF THE DRAWINGS It is explanatory drawing of the basic matter which concerns on this invention, and explanatory drawing of the transfer system and goods handling facility which concern on one embodiment of this invention. BRIEF DESCRIPTION OF THE DRAWINGS It is explanatory drawing of the basic matter which concerns on this invention, and explanatory drawing of the transfer system and goods handling facility which concern on one embodiment of this invention. BRIEF DESCRIPTION OF THE DRAWINGS It is explanatory drawing of the basic matter which concerns on this invention, and explanatory drawing of the transfer system and goods handling facility which concern on one embodiment of this invention. It is explanatory drawing of the transfer system and goods handling facility which concern on one embodiment of this invention. It is a top view of the container terminal which concerns on one embodiment of this invention. It is a top view of the transfer zone of the container terminal which concerns on one embodiment of this invention, and its periphery. It is an arrow BB figure in FIG. It is a side view of the conveying apparatus which concerns on one embodiment of this invention. It is a partial explanatory view of a container terminal concerning one embodiment of the present invention. It is explanatory drawing of the three-dimensional warehouse and stacker crane which are installed in the container terminal which concerns on one embodiment of this invention. It is explanatory drawing of the stacker crane shown in FIG. It is a partial explanatory view of the stacker crane shown in FIG. It is a partial explanatory view of the stacker crane shown in FIG. FIG. 8 is a view taken along the line CC in FIG. 7. It is a top view of the transfer zone of the other aspect of the container terminal which concerns on one embodiment of this invention, and its periphery. It is explanatory drawing of the other aspect of the three-dimensional warehouse in one embodiment of this invention, and is a figure which shows the state of a side view. It is explanatory drawing of the other aspect of the three-dimensional warehouse in one embodiment of this invention, and is a figure which shows the state of planar view. It is explanatory drawing explaining the subject of this invention. FIG. 21 is an enlarged view of a portion D surrounded by a circle in FIGS. 7 and 20. It is explanatory drawing of a general transfer apparatus.

Hereinafter, the present invention will be described in detail by embodiments or examples. At that time, the description will be made with reference to the charts as necessary. However, the same parts in the respective charts, the corresponding or common parts are denoted by the same reference numerals, and a part of the explanation is omitted.
Needless to say, the present invention is not limited to the embodiments and examples described in the drawings, and each component according to the present invention is emphasized in view of the convenience of those who view the drawings. The scale ratio between the components does not reflect that in reality.

-Basic configuration according to the present invention-
[Embodiment 1]
FIG. 1 to FIG. 5 are explanatory diagrams of basic matters and arrangement modes thereof according to the present invention, respectively, and are explanatory diagrams of a transfer system and an article handling facility according to an embodiment of the present invention. In each drawing, an x direction, a y direction, and a z direction (a direction perpendicular to the paper surface) are directions set for convenience of explanation. In the following, for convenience of explanation, a “plane” in plan view is set to an xy plane or a plane parallel to the xy plane. However, as long as the present invention can be configured, the “plane” is the xy plane or the plane. It is not limited to parallel planes.

  In each figure, C is an article storage block formed by a collection of a plurality of articles (a container storage block in which articles are containers, a three-dimensional warehouse having a plurality of shelves for storing articles, and a plurality of shelves. It includes a three-dimensional warehouse comprising a plurality of shelves that are configured and each of which can store articles (hereinafter sometimes referred to as “shelf block”). , Cijk is an article placed or placed at an arbitrary position (i, j, k) in the xyz coordinate of the article storage block C. When C is a container storage block in which a plurality of containers are aggregated, Cijk is a container that is placed or placed at the position (i, j, k) of the container storage block C (empty container Included). In particular, when C is a three-dimensional warehouse in which each container is stored on a shelf, the container (including empty containers) Cijk is stored at the position (i, j, k) of the container storage block C. Or it corresponds to the shelf to be stored or the position of the shelf.

  R1 is a path along which the article Cijk is transported in the x direction or along the x direction and the z direction (hereinafter referred to as “first route”), and R2 is an article Cijk between the container storage block C and the outside thereof. Route (hereinafter referred to as “second route”). S is an area for moving the article Cijk between the first route R1 and the second route R2, that is, a transfer zone. R3 is a path (hereinafter referred to as “third route”) along which the article Cijk is transported along the y direction or along the y direction and the z direction.

  In FIG. 1, the first route R1, a part of the second route R2, and the transfer zone S are arranged so as to overlap with the article storage block C in plan view, and the remaining part of the second route R2 is the article storage. Arranged so as not to overlap with block C, both routes R1 and R2 are arranged substantially parallel to each other along the x direction. In FIG. 2, the first route R1, the second route R2, and the transfer zone S are arranged so as not to overlap with the article storage block C in a plan view, and both the routes R1 and R2 are substantially aligned with each other along the x direction. They are arranged in parallel. In FIG. 3, a part of the first route R <b> 1 is arranged so as to overlap with the article storage block C in plan view, and the both ends which are the remaining portions do not overlap with the article storage block C or from the article storage block C. Arranged so as to extend to the outside, the second route R2 and the transfer zone S are arranged so as not to overlap with the article storage block C, and the two routes R1, R2 are not parallel to each other along the x direction. Has been placed.

  In FIG. 4, a part of the first route R <b> 1 is arranged so as to overlap with the article storage block C in a plan view, and the one end side that is the remaining portion does not overlap with the article storage block C or from the article storage block C. Arranged so as to extend to the outside, the second route R2 and the transfer zone S are arranged so as not to overlap with the article storage block C, and the two routes R1, R2 are not parallel to each other along the x direction. Has been placed. In FIG. 5, in plan view, the first route R1, the second route R2, and the transfer zone S are arranged so as not to overlap the article storage block C, and both the routes R1 and R2 are substantially aligned with each other along the x direction. They are arranged non-parallel.

  In any of FIGS. 1 to 5, the second route R <b> 2 is arranged so as to reach or pass through the transfer zone S in plan view from the outside of the transfer zone S. That is, the second route R2 includes a portion arranged in the transfer zone S in plan view.

Ra is a part of the second route R2, and includes a portion arranged in the transfer zone S in plan view. Ra is configured to be movable or movable until a portion arranged in the transfer zone S in a plan view is arranged outside the transfer zone S. For example, when the second route R2 includes the joint portion J in the track member constituting the second route R2, and the portion Ra of the second route R2 is configured to be rotatable about the joint portion J, the Ra Is movable or movable until a portion arranged in the transfer zone S in a plan view is arranged outside the transfer zone S.
A part Ra of the second route R2 depicted in FIGS. 1 to 3 is an end portion of the second route R2 on the transfer zone S side, but Ra depicted in FIGS. 4 and 5. Is an intermediate portion located between the joint portion J and the nodule portion J1 provided in the track member constituting the second route R2. The nodal portion J1 has a function of making the end portion of Ra opposite to the joint portion J detachable from the second route R2. Therefore, the end portion of Ra opposite to the joint portion J is disposed in the transfer zone S in the plan view and the position of the nodal portion J1 as Ra rotates about the joint portion J. The part is movable or movable between the position J1 * outside the transfer zone S.

In the transfer system and the article handling facility configured as described above, the article Cijk is between the outside of the container storage block, the three-dimensional warehouse and other article storage block C and the article storage block C, and the first route R1. It is transported through the transfer zone S to and from the second route R2. At this time, if part Ra of the second route R2 cannot move the portion arranged in the transfer zone S out of the transfer zone S in plan view, the first route R1 and the second route R2 Route R2 (particularly a portion arranged in the transfer zone S in plan view of Ra) is in contact with or approaching in the transfer zone S, which is dangerous and safe operation of the transfer system and the material handling facility It interferes with efficient operation.
Note that when a transport device (not shown) for transporting an article along the first route R1 is in or near the transfer zone S, a transport device (see FIG. 5) for transporting the article along the second route R2. (Not shown) is located at a position sufficiently separated from the transfer zone S (or conversely, when a transfer device for transferring articles along the second route R2 is in or near the transfer zone S, If the transport device that transports the article along the first route R1 is located at a position sufficiently separated from the transfer zone S), the collision between the transport devices can be avoided, and as long as the above There is no danger or trouble. However, the transfer of the article cannot be performed in a shorter time, resulting in efficient transfer.
On the other hand, a part Ra of the second route R2 can move the part arranged in the transfer zone S to the outside of the transfer zone S in a plan view, or freely move like that. If it is configured so that it can be performed, the situation in which the first route R1 and the second route R2 come into contact or approach in the transfer zone S is avoided, so the above-mentioned dangers and troubles occur. It does not interfere with the safe operation, efficient operation, or efficient transfer of the transfer system or the material handling facility.

In any of FIGS. 1 to 5, the following can be said.
1. If the 1st route R1 and the 3rd route R3 can realize movement of article Cijk between transfer zone S and arbitrary position (i, j, k) of article storage block C, Any configuration may be used. The first route R1 and the third route R3 may be configured to be movable in the y direction and the x direction, respectively.
In addition, the route in which the movement of the article Cijk between the transfer zone S and the arbitrary position (i, j, k) of the container storage block C is realized is the first route R1 and the third route R3. For example, it is a path along which the article Cijk is transported between the position (i, j, k) and the transfer zone S at the shortest distance or shorter distance. It may be a path that is transported in a detour, and part or all of the path may be a straight line or a curved line.

2. The first route R1 is a route along which a transport device (not shown) that transports the article Cijk moves or travels. On the other hand, the third route R3 is a route in which a transport device (not shown) that moves or travels along the first route R1 and transports the article Cijk moves or travels while transporting the article Cijk. Not always.

For example, a pallet on which a conveying device that can move or run along the first route R1 at the position y = j and convey the article Cijk to the position x = i can place the article Cijk. An elevating mechanism that raises and lowers the pallet to the position of z = k, and a pallet moving mechanism for accommodating the pallet in the shelf at the position of z = k or pulling it from the shelf, or y = j A transport device that can move or travel along the first route R1 at a position to transport the article Cijk to a position of x = i includes a mounting table on which the article Cijk can be mounted, and a mounting table. An elevating mechanism that raises and lowers to the position of z = k, and an article moving mechanism (for example, a slide fork mechanism) for receiving the article Cijk from the mounting table on the shelf at the position of z = k or drawing the article Cijk from the shelf to the mounting table. And with When the article Cijk is stored in the shelf at the position (i, j, k) or the article Cijk is taken out from the shelf at the position (i, j, k) using such a transport device, the third The route R3 corresponds to a route on which at least a part of the transport device that moves or travels along the first route R1 and transports the article Cijk moves or travels while transporting the article Cijk.
However, for example, after the article Cijk transported by the transport device along the first route R1 is transferred to another transport device, the article Cijk is transported by the other transport device along the third route R3. In this case, the third route R3 does not correspond to a route in which the transport device that moves or travels along the first route R1 and transports the article Cijk moves or travels while transporting the article Cijk.

3. The “first article transport path” in the present invention is a part of a path where movement of the article Cijk between the transfer zone S and an arbitrary position (i, j, k) of the article storage block C is realized or All of them are accompanied by a portion arranged in the transfer zone S. In the case of the transfer system shown in FIG. 1 and FIG. 2, the end portion of the first route R1 and the portion in the vicinity thereof are disposed in the transfer zone S in plan view, so The portion corresponds to a “portion disposed in the transfer zone S”, and a part or all of the route including the end portion and a portion in the vicinity thereof corresponds to the “first article transport route”. In the case of the transfer system shown in FIGS. 3 to 5, the end of the first route R1 is arranged outside the transfer zone S, but a part other than the end of the first route R1 is seen in plan view. In the transfer zone S, the part corresponds to the “part arranged in the transfer zone S”, and a part or all of the route including the part is the “first part”. 1 article conveyance path ”.

  The “second article conveyance path” in the present invention is a part or all of a path where the movement of the article Cijk between the transfer zone S and an arbitrary position outside the article storage block C is realized. In the case of the transfer system shown in FIGS. 1 and 2, the end portion of the second route R <b> 2 and the portion in the vicinity thereof are arranged in the transfer zone S in a plan view, so The portion corresponds to a “portion disposed in the transfer zone S”, and a part or all of the route including the end portion and a portion in the vicinity thereof corresponds to a “second article transport route”. In the case of the transfer system shown in FIGS. 3 to 5, the end of the first route R1 is arranged outside the transfer zone S, but a part other than the end of the second route R2 is seen in plan view. In the transfer zone S, the part corresponds to the “part arranged in the transfer zone S”, and a part or all of the route including the part is the “first part”. 1 article conveyance path ”.

  Since the xyz coordinates shown in FIGS. 1 to 5 are exemplary, the first route R1 and the second route R2 are the “first article conveyance path” and the “second item” in the present invention, respectively. This is not the same as the “item transport path”, and even if it corresponds to the “first article transport path” and the “second article transport path”, it is “the first article transport path” and “the first article transport path”. It stops at an example of “two article conveyance paths”. A route constituted by a combination of the first route R1 and the third route R3 is also an example of the “first article transport route” in the present invention. However, even if it is only an example, the route constituted by the first route R1 and the second route R2 or the combination of the first route R1 and the third route R3 and the second route R2 As long as it corresponds to the “first article conveyance path” and the “second article conveyance path”, respectively (and any transfer system satisfying other configurations), the effects of the present invention can be achieved.

-About the basic configuration of the present invention-
[Embodiment 2]
FIG. 6 is a diagram illustrating the basic configuration according to the present invention more specifically, and is an explanatory diagram of a transfer system according to another embodiment of the present invention. In the figure, the x direction, the y direction, and the z direction (directions perpendicular to the paper surface) are directions set for convenience of explanation.
Reference numeral 101 denotes a three-dimensional warehouse including shelves 101a that can accommodate the containers 105 in multiple rows and multiple rows. The three-dimensional warehouse 101 is provided with a plurality of shelves, that is, a plurality of shelf blocks Cb composed of a plurality of shelves 101a (the containers 105 are stored and stored in the respective shelves 101a. In addition to 101, each shelf block Cb also corresponds to an article storage block C that uses containers as articles by itself).
Reference numeral 102 denotes an area for transferring the container 105 stored or stored in the three-dimensional warehouse 101 between different devices, that is, a transfer zone. The transfer zone 102 is arranged outside the three-dimensional warehouse 101.
Reference numeral 104 denotes a crane travel path of a crane apparatus 108 (described later) provided to extend to the transfer zone 102 from the three-dimensional warehouse 101 side. Each shelf block Cb includes a plurality of containers 105 arranged along the x direction or along the x direction and the y direction, and the transfer zone 102 is disposed outside the three-dimensional warehouse 101. The path 104 is configured to extend along the x direction between the shelf blocks Cb adjacent to each other along the y direction and to extend outside the three-dimensional warehouse 101.

  A container movement path 106 is provided so as to reach the transfer zone 102 in plan view from the outside of the transfer zone 102. The container movement path 106 is a container movement path 106 through which the container 105 is transported by a transport device (not shown) that transports the container 105 from outside the transfer zone 102 to within or near the transfer zone 102. For example, when the container 105 is transported by the transfer device 1, the path along which the container 105 moves by the transport is also the container moving path 106.

  At least a part 106a of the container movement path 106 is configured to be movable in a direction away from the position where it reaches the transfer zone 102 in plan view. Here, “movable in a direction away from the position at which the transfer zone 102 is reached in plan view” means, for example, a part of the transport rail that configures the container movement path 106 as indicated by an arrow in FIG. By rotating about the joint J on the xy plane, by sliding a part of the transport rail constituting the container movement path 106, or by other methods, mechanisms or operations, It means that it is possible to leave the transfer zone 102.

  Reference numeral 108 denotes a function of self-propelling on the crane travel path 104 together with the loaded container 105, a function of moving the loaded container 105 up and down, the transfer zone 102, and the shelf 101a at a desired position. It is a crane apparatus provided with the function to transfer the container 105. FIG. The crane device 108 self-travels on the traveling path 104 along the x direction, moves the mounted container 105 up and down in the z direction, and moves the container 105 along the y direction between the shelf 101a at a desired position. Put it on. The crane device 108 having such a function may be a traveling stacker crane 109 (see FIGS. 7 to 9) shown in a third embodiment described later, or a portal-type overhead crane. It may be.

  In the present embodiment configured as described above, the container 105, the three-dimensional warehouse 101, or the group of shelves 105a constituting the container 105 and the transfer zone 102 are respectively the article (or article Cijk) in the present invention described above, It corresponds to the article storage block C and the transfer zone S, and the crane traveling path 104, the container moving path 106, and at least a part 106a of the container moving path are the first route R1, the second route R2, and the second route. Partially corresponds to Ra. When the raising / lowering direction of the container 105 by the crane apparatus 108 is the z direction, the crane traveling route 104 may be considered to correspond to the first route R1 including the moving route of the container 105 in the raising / lowering direction. In this case, the movement path of the container 105 between the crane apparatus 108 and the arbitrary shelf 101a corresponds to the third route R3. A portion of the crane travel path 104 disposed at least in the transfer zone 102 corresponds to the first article transport path in the present invention, and at least the second container travel path 106 is shifted in plan view. The portion 106a that can move in the direction away from the position where it reaches the loading zone 102 corresponds to the second article transport path in the present invention. Therefore, according to this embodiment, the same effect as that of the present invention can be obtained.

  Specifically, in the present embodiment, at least a part of the container movement path 106 provided so as to reach the transfer zone 102 in plan view from the outside of the transfer zone 102 is transferred to the transfer zone 102 in plan view. In the transfer zone 102, for example, the equipment constituting the container movement path 106 and the crane device 108 in or entering the transfer zone 102 interfere with each other. And the adverse effects of interference do not extend around the transfer zone 102. Further, the crane traveling path 104 and the container moving path 106 can be brought close to each other in the transfer zone 102. Therefore, in the transfer zone 102, the transfer of the container 105 from one path to the other path can be safely performed without any trouble, and the transfer system can be made compact and low in cost, and the container terminal can be efficiently operated. Maintenance can be realized.

-Further realization of the basic configuration of the present invention-
[Embodiment 3]
In the present embodiment, the transfer system shown in the second embodiment is further embodied, and the embodied transfer system is applied to a container terminal.

    Before describing this embodiment, problems in the conventional container terminal will be described.

FIG. 20 is a plan view of a container terminal 100 including an automatic warehouse type container storage block, more specifically, a three-dimensional warehouse 101 configured by arranging a plurality of shelves for storing containers in multiple rows and columns. 21 is an enlarged view showing a D portion (a portion surrounded by a dotted circle) in FIG. 20 in an enlarged manner, and FIG. 22 is an arrow AA view in FIG.
The container terminal 100 includes a quay crane 103, an unmanned transport cart 107, an unmanned transport cart travel path 113 on which the unmanned transport cart 107 travels, a stacker crane 109, a crane travel path 111 on which the stacker crane 109 travels, and an unmanned transport. The transfer apparatus 115 which transfers the container 105 between the trolley | bogie 107 and the stacker crane 109, and the shelf row provided in the side of the crane driving path 111 are provided. As shown in FIG. 21, each stacker crane 109 travels along a crane travel path 111 provided for each of the four rack rows, and two rack rows (a and b on both sides of the crane travel path 111). Containers can be taken in and out of the desired shelf 101a in the shelf rows in the respective ranges.

As shown in FIG. 22, the transfer device 115 includes a portal traveling crane 117 including a transportation device 117 a (in this example, a trolley that moves together with the container suspension) that moves the container 105 up and down, and a portal traveling crane 117. A self-propelled carriage 119 that delivers the container 105 to and from the stacker crane 109 and moves between the portal crane 117 and the three-dimensional warehouse 101 side. is doing. The transport device 117a has a turning mechanism that reverses the direction of the container 105 lifted from the unmanned transport cart 107 (or the self-propelled cart 119) by 90 degrees, and moves on a predetermined trajectory provided in the portal traveling crane 117. In the process, the direction of the container 105 is changed by the turning function, and then the container 105 is suspended and placed on the self-propelled carriage 119 (or the automatic guided carriage 107).
In FIG. 22, the position M indicates the end of the transfer zone 102 on the three-dimensional warehouse 101 side.

  Thus, in the container terminal 100, the container 105 unloaded from the container ship 104 is transported and placed on the unmanned transport cart 107 by the quay crane 103, and the container 105 placed on the unmanned transport cart 107 is the unmanned transport cart. 107 is transported to the three-dimensional warehouse 101 side by the transfer device 115, transferred by the transfer device 115 to the stacker crane 109 traveling in the three-dimensional warehouse 101, and the container 105 placed on the stacker crane 109 is connected to the stacker crane 109 and a desired one. It is put in and out of the shelf 101a.

In the container terminal 100, when the container 105 is stored in the three-dimensional warehouse 101 from outside the three-dimensional warehouse, the container 105 unloaded by the quay crane 103 is conveyed to the portal traveling crane 117 side by the unmanned conveyance truck 107. In the portal traveling crane 117, the transport device 117a lifts the container 105 transported by the unmanned transport cart 107, and in the process of moving on the predetermined track of the portal traveling crane 118, the orientation of the container 105 is reversed by 90 degrees in plan view. Then, it is suspended and delivered so as to be placed on the self-propelled carriage 119. The self-propelled cart 119 transports the placed container 105 to the three-dimensional warehouse 101 side, and the stacker crane 109 mounted on the self-propelled cart 119 receives the container placed on the self-propelled cart 119, Move to a position and deliver it to the shelf at that predetermined position.
Conversely, when the container stored in the three-dimensional warehouse 101 is taken out of the three-dimensional warehouse, the stacker crane 109 receives the container 105 stored on the shelf at a predetermined position, moves, and lays it on the self-propelled carriage 119. And hand it over to be placed on the self-propelled cart 119. The self-propelled carriage 119 conveys the placed container 105 to the portal traveling crane 117 side. In the portal traveling crane 117, the transport device 117 a lifts the container 105 placed on the self-propelled carriage 119 and moves the container 105 on the predetermined trajectory of the portal traveling crane 118 by 90 degrees in plan view. It is inverted and suspended so as to be placed on the automatic guided vehicle 107 and delivered. Thereafter, the container 105 is transported to the harbor crane 103 side by the automatic guided vehicle 107.

  As described above, in the container terminal 100 shown in FIG. 20, when the container 105 is moved between the three-dimensional warehouse 101 and the outside thereof, the self-propelled carriage 119 is required. More specifically, the self-propelled carriage 119 is a stacker. One unit is always required on the side of the crane traveling path 111 of the crane 109. This means that the length of the quay-land direction (x direction) is required for the self-propelled carriage 119 and ancillary facilities such as a travel route necessary or useful for realizing the operation thereof, and the equipment cost is reduced. That means that.

If the self-propelled carriage 119 and its ancillary equipment are eliminated to shorten the length of the quay-land direction (x direction) or reduce the equipment cost, the portal traveling crane 117 is brought closer to the three-dimensional warehouse 101 instead. The stacker crane 109 can be moved to a location close to the portal traveling crane 117 by extending the travel route of the stacker crane 109 to the outside of the three-dimensional warehouse 101. At a corresponding place), the container must be transferred between the portal traveling crane 117 and the stacker crane 109. However, if it does so, when the portal traveling crane 117 travels along the quay, there is a possibility of interfering with or interfering with the stacker crane 109. In particular, in the transfer zone, the portal traveling crane 117 and the stacker crane 109 interfere with each other or the risk thereof is high, which is dangerous and the operation of the container terminal 100 may be hindered.
Therefore, when designing an article storage block or an article handling facility that requires or assumes the transfer of goods, the transfer of goods will not be hindered, and the adverse effects of the hindrance will not affect the entire facility. In this way, considering the arrangement of the movement paths (or container conveyance path or conveyance apparatus travel path) of articles that are close to each other, it is necessary to select a conveyance apparatus, which reduces the degree of freedom in design. Invited.

  If the transfer system having the basic configuration according to the second embodiment is applied to the above-described conventional example, the container movement provided so as to reach the transfer zone 102 in plan view from the outside of the transfer zone 102 Since at least a part of the path 106 is movable in a direction away from the position where the transfer zone 102 is reached in plan view, in the transfer zone 102, for example, the equipment constituting the container movement path 106 and the transfer zone 102. The crane devices 108 that are in or entering the vehicle do not interfere with each other, and the adverse effects of the interference do not extend around the transfer zone 102. Further, the crane traveling path 104 and the container moving path 106 can be brought close to each other in the transfer zone 102. Therefore, in the transfer zone 102, the transfer of the container 105 from one path to the other path can be safely performed without any trouble, and the transfer system can be made compact and low in cost, and the container terminal can be efficiently operated. Maintenance can be realized.

[Embodiment 4]
In the present embodiment, the transfer system shown in the second embodiment is made more concrete, and the embodied transfer system is applied to a container terminal to make the third embodiment more concrete.
FIG. 7 is a plan view of the container terminal 100 according to the embodiment of the present invention, and FIG. 8 is a plan view and a side view of the transfer zone of the container terminal according to the embodiment of the present invention and its surroundings. 9 is a view taken along the line CC in FIG. FIG. 10 shows a state in which the conveyance device is viewed from the side (this conveyance device corresponds to the movement path included in the second article conveyance path of the present invention). FIG. 11 is a partial explanatory view of a container terminal according to an embodiment of the present invention. FIG. 12 is an explanatory diagram of a three-dimensional warehouse and a stacker crane installed in a container terminal according to an embodiment of the present invention. FIG. 13 is an explanatory view of the stacker crane shown in FIG. 12, and FIGS. 14 and 15 are partial explanatory views of the stacker crane. 16 is an arrow BB diagram in FIG.
Hereinafter, the overall configuration of the container terminal 100 and the transfer system according to the present embodiment will be described with reference to FIGS.

The container terminal 100 according to the present embodiment includes a three-dimensional warehouse 101 provided with shelves 101a for storing containers, a stacker crane 109 that moves in the three-dimensional warehouse 101 and stores containers on a desired shelf 101a, and a three-dimensional warehouse 101. A transfer zone 102 provided along the side of the container for delivering containers, a crane travel path 111 extending from the interior of the three-dimensional warehouse 101 to the transfer zone 102, and the crane travel path 111 intersecting with each other. A rail 7 provided in the direction and along the transfer zone 102, a transfer device 1 that travels along the rail 7, an unmanned transport cart 107 that transports a container to the transfer device 1, and an unmanned transport cart 107. The unmanned transport cart traveling path 113 that travels and the quay crane 10 that delivers the container 104 of the container ship to the unmanned transport cart 107. When provided with a material handling building 23 provided together in the warehouse 101 in the quay side and the opposite side (the land side) in warehouse 101, a.
Among the devices installed in the container terminal 100, an embodiment of the transfer system of the present invention includes the three-dimensional warehouse 101, the transfer zone 102, the crane travel path 111, the rail 7, and the transfer device 1. Is configured.
Hereinafter, each device installed in the container terminal 100 will be described in detail.

<Quay crane>
The quay crane 103 is a crane that unloads the container 105 loaded on the container ship 104 and loads the container 105 on the container ship 104. In the example of FIG. 7, six quay cranes 103 are provided, and each quay crane 103 is movable in a direction along the quay.

<Automated transport cart>
The automatic guided vehicle 107 has a shape like a trailer without a driver's seat, traces a sensor embedded in the automatic guided vehicle traveling route 113, and follows a wireless instruction between the three-dimensional warehouse 101 and the quay. Run. Then, the automatic guided vehicle 107 delivers the container 105 received from the quay crane 103 to the transfer device 1 or delivers the container 105 received from the transfer device 1 to the quay crane 103.

<Unmanned transport cart travel route>
As shown in FIG. 7, the automatic guided vehicle traveling route 113 is provided so as to go around between the quay and the three-dimensional warehouse 101. As shown in FIG. 7, since two container ships 104 may berth at the same time on the quay, the unmanned transport cart travel path 113 is provided beyond the range where the three-dimensional warehouse 101 is provided in plan view. Sometimes.

<Three-dimensional warehouse>
The three-dimensional warehouse 101 has multiple rows and shelves of shelves 101 a that can accommodate the containers 105. A crane travel path 111 on which the stacker crane 109 can travel is provided between the shelves 101a.
As shown in FIG. 7, a delivery zone 25 for delivering and receiving the container 105 to and from the cargo handling building 23 is provided in a portion adjacent to the cargo handling building 23 in the three-dimensional warehouse 101. . As shown in FIG. 7, the delivery zone 25 is provided with a self-propelled carriage traveling route 121 of the self-propelled carriage 119 at the same level as each floor of the cargo handling building 23, and the self-propelled carriage 119 is connected to the cargo handling building 23 and the three-dimensional warehouse 101. You can go back and forth.

<Stacker crane>
As shown in FIGS. 7 to 9 and FIG. 11, the stacker crane 109 is moved along the crane traveling path 111 provided in the three-dimensional warehouse 101 along the x direction (that is, from the land side to the sea side or the sea side). The container 105 can be taken in and out of the two rows of shelves 101a on both sides of the crane travel path 111.
As shown in FIGS. 8 and 12 to 15, the stacker crane 109 having such a function includes a traveling carriage 27 and a portal mast installed on the traveling carriage 27 at a predetermined interval in the x direction. 29, a container placing table 31 provided on the traveling carriage 27, a transfer carriage 33 provided on the container placing table 31 for moving the container 105 along the rail 35, and the mast 29. An elevating body 34 that is gripped and moved up and down in the z direction, and an elevating drive device 40 that elevates and lowers the elevating body 34 with a wire cable W are provided.

  The transfer carriage 33 includes a skeleton portion 331, wheel portions 332 at both ends of the skeleton portion, and wheels 333 that are attached to the wheel portion 332 and move on the rail 35. Since the rail 35 and the rail 36 provided on the mounting table 47 can be connected in both directions, the container 105 is placed between the mounting table 47 and the container mounting table 31 of the stacker crane 109. You can go back and forth.

The lifting body 34 includes an lifting body upper part 34A and a lifting body lower part 34B. The lifting body upper part 34A includes a base body part 343 connected to the cable wire W via a pulley 342, a support arm part 344 that supports the track 37, and a gripping means assisting device 341 that assists the operation of the lifting body lower part 34B. The elevating body lower part 34B supports the gripping means 346 having a gripping mechanism for gripping or releasing the upper four corners of the container 105, the support body 347 extending in the length direction (x direction) of the container 105, and the gripping means 346. A gripping drive device 348 that moves along the body 347 and a wheel 345 that is provided at an end of the support 347 and moves on a rail 37 that extends in the width direction (y direction) of the container 105 are provided.
Since the gripping driving device 348 includes a short distance lifting mechanism (not shown) that lifts and lowers the gripping means 346 by a small distance, the gripping means 346 is a container placed on a placement portion provided on the shelf 101a. An action of lowering to take out 105 and moving up after gripping the upper four corners, and lowering while holding the upper four corners of the container 105 to place the container 105 on the shelf 101a, are provided on the shelf 101a. It is possible to perform an operation such as raising after stopping holding and releasing the upper four corners of the container 105 that has landed on the mounting portion.

  Since the lifting body upper part 34A is configured to move up and down in the z direction by the cable wire W, the lifting body lower part 34B can be moved back and forth between the transfer carriage 33 and an arbitrary height. The lifting body lower part 34B is configured to be able to transfer between the track 37 and the track 38 provided on each shelf 12 by a wheel 345 traveling on the track 37, so that the gripping means 346 is provided. Can be moved back and forth between the lifting body upper part 34A and the shelf 101a. Therefore, the container 105 can be moved back and forth between the transfer cart 33 and the arbitrary shelf 101a (Cijk) by the elevating body 34.

  In the operation of the stacker crane 109 described above, the movement path of the container 105 in the x direction along the crane travel path 111 shown in FIG. 11 and the movement path between the lifting body 34 and the transfer carriage 33 (transfer carriage 33). The movement path constituted by the transfer carriage 33 between the loading table 47 and the container loading table 31 corresponds to the first route R1, and the lifting / lowering body 34 shown in FIGS. And the moving route of the container 105 corresponding to the bidirectional arrow between the arbitrary shelf 101a (Cijk) corresponds to the third route R3. In this case, the container movement path constituted by the first route R1 and the third route R3 corresponds to the first article transport route.

<Transfer device>
As shown in FIGS. 9 and 10, the transfer device 1 has a portal shape when viewed from the side, has leg wheels 3 on both sides, and has running wheels 5, and a rail 7 ( It corresponds to a transfer device travel route). The rail 7 is laid in a direction intersecting (orthogonal in this figure) with the direction of the crane travel path 111. A beam 9 is provided between the legs 3 to connect the upper ends thereof. In addition, the upper end of one leg 3 in the transfer device 1 is provided with a turning beam 11 that can turn outward with the upper end of the leg 3 as a base end. In addition, the turning beam 11 shows the one aspect | mode of the extension beam of this invention.

The swivel beam 11 is rotated from the vertical state toward the outer side and becomes horizontal. Various mechanisms for the rotation are conceivable. In this example, as shown in FIG. 10, a jack 13 is provided between the leg portion 3 and the turning beam 11, and the turning beam is expanded and contracted by the rod 15 of the jack 13. 11 is rotated.
In a state where the swirling beam 11 is swung and extended outward, the swirling beam 11 extends to the transfer zone 102 in a plan view, and the tip of the swirling beam 11 is supported by, for example, a warehouse. Supported by the portion 17.

The beam 9 and the turning beam 11 are provided with a trolley 19 that can travel on the beam 9 and the turning beam 11. The trolley 19 is provided with a container suspension 21 provided with a turning mechanism capable of lifting and holding the container 105 and turning the suspended container 105 to change its direction by 90 degrees.
As indicated by a broken line in FIG. 10, the container 105 can be transported to the turning beam 11 by moving the trolley 19 onto the turning beam 11, and the transfer carriage on the mounting table 47 arranged in the transfer zone 102. 33 can be handed over.

  The height h of the beam 9 and the turning beam 11 is arranged at a position lower than the height H of the stacker crane 109 (see FIG. 9), and the transfer zone 102 is within the travel range of the stacker crane 109 ( (See FIGS. 8 to 10).

The transfer device 1 configured as described above can travel on the rail 7 and stop at a predetermined position. When traveling, the swivel beam 11 is traveled in the vertical direction as shown by the solid line in FIG. In FIG. 8, one transfer device 1 shows a state in which the turning beam 11 is raised in the vertical direction, and the other transfer device 1 shows a state in which the turning beam 11 is extended in the horizontal direction.
Then, when the transfer device 1 travels in this way, the swivel beam 11 can be raised in the vertical direction, so that even if there is an object such as equipment on the outside of the leg 3, it interferes with this. You can drive without. The transfer device 1 stops at the position where the transfer work is performed, and turns the turning beam 11 to make it horizontal. In this state, for example, the container 105 transported by the unmanned transport cart 107 is lifted by the container suspension 21, transported from the beam 9 to the swivel beam 11 by the trolley 19, and transferred to another transport device or the like.

  In addition, in the operation of the transfer apparatus 1 described above, it is configured by at least a moving path of the container 105 in the x direction along the beam 9 shown in FIGS. 8 and 9 and a lifting path of the container 105 in the z direction by the container suspension 21. The travel route corresponds to the second route R2. In this case, since the second route R2 is also a container movement route between the automatic guided vehicle 107 and the mounting table 47 (or the container transfer vehicle 31 waiting there), the second route R2 is the second route R2. This corresponds to the article transport path.

<Cargo building>
The cargo handling building 23 is provided adjacent to the three-dimensional warehouse 101 on the opposite side (land side) of the three-dimensional warehouse 101. The cargo handling building 23 is a multi-storey building, and in this example, as shown in FIG.
An opening is provided in the wall on the side of the three-dimensional warehouse 101 in the cargo building 23 so that the self-propelled carriage 161 can go to and from the delivery zone 25 of the three-dimensional warehouse 101 through the opening.

As shown in FIG. 16, an overhead crane 43 is provided on the first floor of the cargo handling building 23 so that the container 105 can be loaded onto the trailer 45 and the container 105 can be unloaded from the trailer 45.
In addition, forklifts 162 are arranged on the second to fourth floors of the cargo handling building 23, and the forklift 162 moves the container 105 carried from the three-dimensional warehouse 101 by the self-propelled carriage 161 within the cargo handling building 23. To do.
In addition, the unloading building 23 is provided with an elevator (not shown), and a bulk load packed in the container 105 can be moved to each floor.
Further, as shown in FIG. 7, a manned vehicle traveling path 46 on which a manned vehicle such as a trailer 45 or a truck can travel is provided on each floor of the cargo handling building 23. You can also go in and out.

  Each floor of the delivery zone 25 corresponding to each floor of the cargo handling building 23 is provided with a track (not shown) on which wheels 345 included in the gripping means moving device 348 can travel. Therefore, when the stacker crane 9 is located in the delivery zone 25, the gripping means moving device 348 can transfer between the track and the track 37 in both directions, and the gripping means 346 can be connected to the lift 34 and the delivery zone 25. Thus, the container 105 can be moved back and forth between the stacker crane 9 and the delivery zone 25 with the self-propelled carriage 161 on each floor.

  A flow at the time of import / export of the container 105 in the container terminal 100 according to the present embodiment configured as described above will be described.

<Flow at the time of import>
The container 105 carried by the container ship 104 is lifted from the container ship 104 by the quay crane 103 and placed on the automatic guided vehicle 107.
On the other hand, the stacker crane 109 that stores the container 105 moves to the quay side of the three-dimensional warehouse 101 as shown in FIGS. Further, the transfer device 1 for transferring the container 105 to the stacker crane 109 travels and moves to the vicinity of the side of the stacker crane 109. The transfer device 1 does not interfere with the stacker crane 109 during movement because the transfer device 1 rotates the turning beam 11 to a vertical position. When the transfer device 1 stops at a predetermined position, as shown in FIGS. 9 and 10, the turning beam 11 is turned and extended to the three-dimensional warehouse 101 side, and the end thereof is supported by the support part 17 on the three-dimensional warehouse 101 side. Support with.

  The automatic guided vehicle 107 on which the container 105 is placed moves to the transfer device 1 side along the automatic guided vehicle traveling path 7 and stops below the beam 9 of the transfer device 1. In this state, the trolley 19 is moved directly above the automatic guided vehicle 107, and the container 105 on the automatic guided cart 107 is lifted by the container lifting tool 21. Then, the direction of the suspended container 105 is rotated by 90 degrees, and the trolley 19 is moved to the three-dimensional warehouse 101 side. At this time, in the stacker crane 109, the transfer carriage 33 is moved from the lifting body 34 to the side placement stand 47 so that the container 105 carried from the transfer device 1 can be placed on the transfer carriage 33. Let's wait. When the trolley 19 comes directly above the transfer carriage 33, the container suspension 21 is lowered and the container 105 is placed on the transfer carriage 33.

The transfer cart 33 on which the container 105 is loaded moves from the mounting table 47 to the container mounting table 31 of the stacker crane 109. When the transfer carriage 33 returns to the container placement table 31, the stacker crane 109 is run to run the container 105 to a row with a predetermined shelf 101a. The elevating body 34 is moved to the position. Before or after this movement or in the process, the elevating body 34 grips the container 105 by the gripping means 346.
When the elevating body 34 moves the container 105 to a certain position of the predetermined shelf 101a, the gripping means moving device 348 moves the gripping means 346 while holding the container 105 to the shelf 101a side, and is provided on the shelf 101a. The container 105 is delivered to the placement unit. When the container 105 is delivered to the shelf 101a, the gripping means moving device 348 returns the gripping means 346 to the stacker crane 109 side. In this state, the stacker crane 109 travels on the crane travel path 111 and returns to a predetermined position, and thereafter repeats the operation of receiving the container 105 from the automatic guided vehicle 107 via the mounting table 47.

  The container 105 stored in the predetermined shelf 101a is taken out by the stacker crane 109 when a shipping instruction is given. That is, the stacker crane 109 that moves the container 105 in and out of the shelf 101a in which the container 105 that has been instructed is stored is moved to the row of the shelf 101a in which the container 105 that has been instructed is stored. Then, the elevating body 34 is further moved up and down to move to a predetermined position on the shelf 101a. Next, the gripping means moving device 348 feeds the gripping means 346 into the shelf 101a, and after the gripping means 346 grips the container 105, the gripping means 346 that grips the container 105 is returned to the stacker crane 109 side. Next, the stacker crane 109 is moved along the crane traveling path 111 to a predetermined position in the delivery zone 25 on the cargo handling building 23 side.

In the cargo handling building 23, the floor (floor) is often divided according to the luggage of the container 105, the destination, etc. Therefore, the delivery zone 25 is also divided in the same way. Therefore, in order to position the container 105 on the corresponding floor, the elevating body 34 is moved up and down at the above-mentioned predetermined position, and a track on which the wheels 345 provided in the gripping means moving device 348 provided in the floor can travel. (Not shown) and the track 37 are set to the same level. Thereafter, the gripping means moving device 348 moves the gripping means 346 in the state of gripping the container 105 into the floor, and transfers the container 105 to the waiting self-propelled carriage 161. The self-propelled carriage 161 that has received the container 105 is moved to the cargo handling building 23 while supporting the container 105.
In the cargo handling building 23, the container 105 is moved to a desired position by a forklift 162, for example. At the desired position, the cargo in the container 105 is taken out and sorted according to the destination of the cargo. The sorted luggage is shipped to each destination by a truck 45 or the like.

  The container 105 stored in the predetermined shelf 101a can be taken out by the stacker crane 109 and moved to the mounting table 47 in accordance with a shipping instruction. That is, the stacker crane 109 that moves the container 105 in and out of the shelf 101a in which the container 105 that has been instructed is stored is moved to the row of the shelf 101a in which the container 105 that has been instructed is stored. Then, the elevating body 34 is further moved up and down to move to a predetermined position on the shelf 101a. Next, the gripping means moving device 348 feeds the gripping means 346 into the shelf 101a, and after the gripping means 346 grips the container 105, the gripping means 346 that grips the container 105 is returned to the stacker crane 109 side. Next, the stacker crane 109 is moved along the crane traveling path 111 to a predetermined position on the side of the mounting table 47, and the transfer cart 33 on which the container 105 is mounted is moved, so that the container 105 is mounted on the mounting table 47. Let me put it. The container 105 mounted on the mounting table 47 is moved further to the quay side by the transfer device 1.

  The transfer of the container 105 between the transfer device 1 and the stacker crane 109 may be performed between the transfer device 1 and the transfer carriage 33 without using the mounting table 47. In this case, the container 105 carried from the transfer device 1 is put on standby so that it can be placed on the transfer carriage 33, and when the trolley 19 comes directly above the transfer carriage 33, the container suspension 21 is moved. The container 105 may be lowered and placed on the transfer carriage 33.

<Flow at the time of export>
When the loaded container 105 is loaded by the trailer 45, the trailer 45 is put under the overhead crane 43 provided on the first floor and loaded on the trailer 45 as shown in FIGS. The container 105 is lifted by the overhead crane 43 and delivered to the stacker crane 109, and stored on a predetermined shelf 101 a of the three-dimensional warehouse 101 by the stacker crane 109.
When loading the container 105 stored on the predetermined shelf 101 a onto the container ship 104, the container 105 stored on the shelf 101 a is taken out by the stacker crane 109 and moved to the transfer zone 102. And it mounts on the mounting base 47 used for delivery with the transfer apparatus 1. FIG.
When the transfer device 1 moves to the mounting table 47 side and reaches a predetermined position, the turning beam 11 is turned to support the tip of the turning beam 11 on the support portion 17 on the three-dimensional warehouse 101 side. At this time, the container 105 is disposed below the turning beam 11. In this state, the trolley 19 is moved to the container 105 side, the container 105 is lifted by the container lifting tool 21, rotated 90 degrees, and loaded on the unattended transport cart 107 waiting. The unmanned transport cart 107 travels along a predetermined track on the unmanned transport cart travel path 113 and moves to the quay side, and the container 105 is loaded onto the container ship 104 by the quay crane 103.

  As described above, in the present embodiment, the transfer device 1 is provided with the swivel beam 11 so that the swivel beam 11 does not extend outside the legs 3 of the transfer device 1 when the transfer device 1 is traveling. The revolving beam 11 is extended during the transfer operation. For this reason, for example, even if the crane travel path 111 extends to the outside of the three-dimensional warehouse 101 and the stacker crane 109 jumps out of the three-dimensional warehouse 101 (see FIGS. 2 to 8), the beam 9 is disposed at a position lower than the height H of the stacker crane 109, and the transfer zone 102 is within the travel range of the stacker crane 109, the stacker crane 109, the beam 9, the trolley 19. Even when the container suspension 21 or the like interferes with the container suspension 21 (see FIG. 9), the turning beam 11 can be retreated from the transfer zone 102 by turning the turning beam 11. As a result, the above-described interference and the fear thereof do not occur, and the adverse effect of the interference does not reach the periphery of the transfer zone 102. Therefore, the transfer of the container 105 between the stacker crane 109 and the transfer device (the device including the trolley 19 and the container suspension 21) that moves along the beam 9 is performed without being affected by the attitude of the container 105. It is possible to increase the degree of design freedom regarding the arrangement between the stacker crane 109 and the crane travel path 111 and the beam 9 and the equipment moving along the beam 9. It can also contribute to maintaining the efficient operation of the container terminal.

  In addition, by moving the transfer device 1 with the rail 7, it can be stopped at the position where the transfer work is performed, and during the travel, the swirl beam 11 is raised and lowered to interfere with other objects. It can be avoided. Therefore, even when there are a plurality of stacker cranes 109, containers can be transferred by a single transfer device or a smaller number of transfer devices (see FIGS. 6 to 8).

  Furthermore, the path along which the container 105 is transported by the crane travel path 111 corresponds to or is included in the first route R1 or the first article transport path, and the container is transported by the trolley 19 and the container holder 21 (accordingly, the transport device). The route to be performed corresponds to or is included in the second route R2 or the second transport route. And since the transfer apparatus 1 drive | works the rail 7, the said conveying apparatus can also be moved. Therefore, at least a part of the second route R2 or the second transport route intersects the direction of the first route R1 or the first article transport route within a range corresponding to the transfer device travel route. become. However, as described above, the swirling beam 11 can be raised and lowered, and therefore the path portion corresponding to the swirling beam 11 that is a part of the second route R2 or the second transport route can be raised and lowered, so both routes or both articles can be obtained. Even if the conveyance paths intersect, interference between both routes or both article conveyance paths can be avoided and the possibility of interference can be prevented. For this reason, in the transfer zone, the container can be safely transferred from one article conveyance path to the other article conveyance path without trouble, and the third (other) moving in the quay-land direction (x direction). Since there is no intervening article transport device or quay-land (x direction) third (another) article transport path (self-propelled carriage or article transport path by self-propelled carriage), the quay-land direction (x direction) It is possible to realize a transfer system that is short and / or has low equipment costs.

  For example, also in the transfer zone of the container terminal shown in FIG. 8 and the vicinity thereof, the path portion corresponding to the second route R2 or the swivel beam 11 which is a part of the second transport path is configured to be undulated. Yes. However, if the advantages of the configuration are fully utilized, the basic configuration of the container terminal transfer zone and its periphery shown in FIG. 17 is the same as that shown in FIG. However, as compared with that shown in FIG. 8, the quay-land direction (x direction) is short or the width between the tracks 7 is short. Therefore, according to the present invention, a transfer system and a container terminal with reduced equipment costs, or a transfer system capable of providing more unmanned transport cart travel paths 113 if the width between the tracks 7 is the same, and A container terminal can be realized.

In the third embodiment and the fourth embodiment described above, an example in which the container suspension 21 of the transfer apparatus 1 includes a turning mechanism that turns the container 105 by 90 degrees has been described. As shown in FIG. 7, since the automatic guided vehicle 107 runs parallel to the quay and delivers the container 105 to the transfer device 1 as it is, the transfer device 1 has a longitudinal direction on the quay. The container 105 having a parallel direction is received. On the other hand, the container 105 is stored in a direction in which the longitudinal direction is perpendicular to the quay, so the container 105 is turned 90 degrees in the transfer device 1. This is necessary.
However, the method of delivering the container 105 to the transfer device 1 is not limited to the method shown in FIG. 7. For example, a manned chassis towing vehicle is inserted below the transfer device with a back and moved in a direction perpendicular to the quay. It is also conceivable to transfer to the mounting device and to leave the transfer device after the delivery.

18 and 19 are explanatory views for explaining such a container delivery mode. FIG. 18 is a side view of the transfer device, and FIG. 19 is a plan view. In FIG. 18 and FIG. 19, parts corresponding to those shown in FIG. In such an embodiment, as shown in FIGS. 18 and 19, the transfer device 121 has a gate shape when viewed from the side, and the trolley 19 is, as shown by a solid line arrow in FIG. 19, It is preferable to configure so that it can move in a direction parallel to and perpendicular to the quay.
In this case, as shown in FIG. 19, the chassis tow vehicle 123 on which the container 105 is placed is moved to the lower side of the transfer device 121 by the back (see the broken line arrow), and the container 105 is lifted by the container lifting tool 21. As shown, the trolley 19 may be moved toward the turning beam 11 without changing the direction of the container 105.

In the above embodiment, the swivel beam 11 has been described as an example of the extended beam of the present invention. However, the extended beam is not limited to this example. It may be something that slides and extends.
In the above embodiment, the case of export and import has been described with respect to the movement of containers and the like. However, the movement of cargo is not limited to this, and the movement of domestic cargo or the movement of cargo between ships. Thus, it goes without saying that the present invention is applied to cargo movements such as entering an automatic warehouse from the sea side and returning to the sea side without exiting to the land side, or cargo movements on land as cargo movements of empty containers.

C article storage block Cb shelf block S transfer zone R1 1st route R2 2nd route R3 3rd route 1 transfer device 3 leg 5 traveling wheel 7 rail 9 beam 11 turning beam 13 jack 15 rod 17 support portion DESCRIPTION OF SYMBOLS 19 Trolley 21 Container suspension 23 Cargo building 25 Delivery zone 27 Traveling carriage 29 Mast 33 Transfer carriage 34 Lifting body 35 Rail 37 Track 40 Lifting drive device 43 Overhead crane 45 Trailer 46 Manned vehicle traveling path 47 Mounting base 100 Container terminal 101 Three-dimensional Warehouse 101a Shelf 102 Transfer zone 103 Quay crane 104 Crane traveling path 105 Container 106 Container moving path 107 Unmanned transport cart 108 Crane device 109 Stacker crane 111 Crane traveling path
113 unmanned transport cart travel route 115 transfer device 117 portal traveling crane 117a transport device 119 self-propelled cart 121 transfer device

Claims (8)

  An article storage block formed by a collection of a plurality of articles, a first article transport path for transporting articles stored in or stored in the article storage block, and transported by the first article transport path Or a second article conveyance path for conveying an article that has been conveyed, and a transfer zone in which movement of the article between the first article conveyance path and the second article conveyance path is performed, The second article transport path is provided so as to reach or pass through the transfer zone in a plan view from the outside of the transfer zone, and at least a part of the second article transport path is A transfer system, wherein the transfer system is movable from the inside of the transfer zone to the outside in a plan view.   The transfer system according to claim 1, wherein the first article transport path extends from the article storage block to the transfer zone.   The first article transport path includes at least a part of a travel path of a crane apparatus that moves along the article storage block and transports an article, and the second article transport path includes the transfer zone and The transfer system according to claim 1, wherein the transfer system includes at least a part of a moving path of a conveying device that conveys an article to and from the outside.   The transfer system according to claim 3, wherein at least a part of a moving path of the transfer device is movable in a direction crossing the first article transfer path.   The second article conveyance path includes an extended beam extending to a position reaching the transfer zone in a plan view, and the extended beam is configured to be separated from the transfer zone. The transfer system according to any one of claims 1 to 4.   The extension beam is provided so as to be rotatable with one end side as a base end, and is configured to be able to reach or move away from the transfer zone by rotating. The transfer system according to claim 5.   The conveyance device includes an article holder that holds an article, and the article holder includes a turning mechanism that can change a direction of the article that is held by at least 90 degrees in a plan view. Item 7. The transfer system according to any one of Items 3 to 6.   An article handling facility comprising the transfer system according to any one of claims 1 to 7.

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