JP2013060259A - Article storage facility - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an article storage facility capable of preventing storage efficiency of its storage rack from decreasing while using pallets exhibiting a downward bending amount not exceeding the tolerance limit and pallets exhibiting a downward bending amount exceeding the tolerance limit as the pallets when they are stored in a storage section with articles stacked thereon up to the upper weight limit.SOLUTION: The article storage facility includes a plurality of storage sections S comprised of a plurality of standard storage sections SH for storing pallets P exhibiting a downward bending amount not exceeding the tolerance limit and of a plurality of supplemental storage sections SS for storing pallets P exhibiting a downward bending amount exceeding the tolerance limit, and a controller which is constructed to cause a standard storage section SH to store a pallet P if storing of a pallet P exhibiting a downward bending amount not exceeding the tolerance limit is instructed, or to cause a supplemental storage section SS to store a pallet P if a pallet P exhibiting a downward bending amount exceeding the upper tolerance limit is commanded to be stored.

Description

The present invention includes a stacking unit for stacking articles on a pallet in a stacked state, and a plurality of storage units for mounting and supporting the pallet, under a setting allowable condition that is not more than a set upper limit height and not more than a set upper limit weight. Storage shelves arranged side by side, and transporting the pallet to store the pallet on which articles are stacked in the stacking unit, and to transport the pallet stored in the storage unit Means and control means for controlling the operation of the transport means,
The transporting means is an article mounting body that can be driven back and forth in a retracted state in which it retracts outward from the storage part and a protruding state in which the storage part protrudes, and can be driven up and down, and the pallet is stored in the storage part. Configured to perform a lowering process stored in the storage unit and a scooping process for removing the pallet stored in the storage unit,
The storage portion is configured to place and support both end portions of the pallet with a pair of left and right support bodies arranged in parallel in a state in which the article placement body in the protruding state is spaced vertically.
When the control means performs the lowering process, the article mounting body protrudes into the protruding state at a reference height for lowering than the pair of left and right supports, and then the pair of left and right supports. The article mounting body is lowered to a lower target height for lowering, and then the operation of the conveying means is controlled and the scooping process is performed in order to retract the article mounting body to the retracted state. Sometimes, the article mounting body is protruded in the protruding state at a scooping reference height corresponding to the lowering target height, and then the scooping target height corresponding to the lowering reference height is The present invention relates to an article storage facility configured to control the operation of the conveying means to raise the article placing body and then to retract the article placing body to the retracted state.

When storing articles in an article storage facility having a storage shelf in which a plurality of storage units for placing and supporting the pallets are arranged, the articles are stacked on the pallet at the stacking unit. The pallet is transported by transporting means such as a stacker crane and stored in the storage unit (see, for example, Patent Document 1).
Incidentally, in Patent Document 1, it is exemplified that containers as articles are stacked on a pallet.

  The transport means such as a stacker crane includes an article mounting body that can be driven back and forth in a retracted state that retreats outward from the storage unit and a protruding state that protrudes into the storage unit, and can be driven up and down, and the pallet is stored in the storage unit. The left and right sides are arranged side by side in a state in which the storage unit is spaced apart from each other so that the protruding article mounting body passes vertically. A pair of supports is configured to place and support both ends of the pallet.

  Then, when the control means for controlling the operation of the conveying means performs the lowering process, the article mounting body protrudes into a protruding state at a reference height for lowering than the pair of left and right supports, and then the left and right pair When the article mounting body is lowered to a lower target height for lowering than the support body, and then the operation of the conveying means is controlled and the scooping process is performed in order to retract the article mounting body to the retracted state, The article mounting body protrudes into a protruding state at a scooping reference height corresponding to the lowering target height, and then the article mounting body is raised to a scooping target height corresponding to the lowering reference height. Thereafter, the operation of the conveying means is controlled so that the article mounting body is retracted to the retracted state (see, for example, Patent Document 2).

Although not described in Patent Document 1 and Patent Document 2, when an article is stacked on a pallet, the article is placed on the pallet under a setting allowable condition that is not more than a set upper limit height and not more than a set upper limit weight. Packing in a stacked state will be performed.
That is, a set upper limit weight for loading articles on the pallet is determined based on the load resistance of the storage shelf, the load resistance of the pallet, and the like.
Further, when performing the lowering process or the scooping process, the article placement body having the target height for lowering and the reference height for scooping is set to a set accommodation distance (for example, 15 mm) from the upper surface of the article stored in the lower storage unit. ) The set upper limit height when the article is stacked on the pallet is determined so as to be in a state of being separated from each other.

  In other words, generally, as illustrated in Patent Document 2, a column set composed of a pair of columns arranged in the longitudinal direction of the shelf of the storage shelf is erected on the floor surface side by side in the horizontal direction of the shelf of the storage shelf. In addition, each of the column assemblies is provided with a support body arranged side by side in a vertical direction with the support protruding in a cantilevered manner in the width direction of the shelf, and between the columns arranged adjacent to each other in the width direction of the shelf, the storage unit The storage shelves are configured in such a form that is arranged in a vertically aligned state.

  Then, with respect to the storage unit above the storage unit storing the pallets on which the pallets are stacked so that the distance between adjacent support bodies arranged in the vertical direction is the set upper limit height, When carrying out the scooping process, the article placement body with the target height for lowering and the reference height for scooping is set at an interval that is more than the set accommodation distance (for example, 25 mm) from the upper surface of the article stored in the lower storage section. Even if the stop position of the article mounting body with respect to the target height for lowering and the reference height for scooping is somewhat shifted or the article mounting body vibrates up and down, the article mounting body The occurrence of troubles such as contact with goods is avoided.

Also, when the pallet is stored in the storage unit, the left and right ends are placed and supported by the left and right supports, so the portion located between the left and right supports is the weight of the stacked article. The amount of bending downward is configured to be within an allowable limit (for example, within 10 mm) when an article is stacked below the set upper limit weight.
Further, since it is necessary to provide a margin of about 20 mm between the article placing body having the target height for lowering and the reference height for scooping and the lower surface of the pallet placed on the support, the target height for lowering is set. Since the height and the reference height for scooping are determined in consideration of the amount of bending of the pallet, as a result, the distance between adjacent support bodies arranged in the vertical direction also considers the amount of bending of the pallet. Will be determined.

  For example, a state in which the article mounting body is protruded into the storage unit at the target height for lowering will be described as an example. As shown in FIG. The interval L1 is the thickness L5 of the pallet stored in the storage section below the storage section to be stored, the set upper limit height L6 corresponding to the maximum height of the articles stacked on the pallet, and the article The set accommodation distance L3 which is the distance between the upper surface of the article and the lower surface of the article placement body, the thickness L4 of the article placement body, and the separation distance between the upper surface of the article placement body and the upper surface of the support in the storage unit to be stored The value obtained by adding L2. And the separation distance L2 is a margin amount between the amount of downward deflection of the pallet and the article placement body of the target height for lowering and the reference height for scooping and the lower surface of the pallet placed on the support. The added value.

JP-A-5-262407 JP 2000-229706 A

  As described above, if the pallet used in the article storage facility is stacked so that the weight is less than the set upper limit weight in the setting allowable condition, the amount of deflection will be within the allowable limit. Even if the articles are stacked at the set upper limit weight in the conditions, it may be desired to use a pallet whose deflection exceeds an allowable limit.

  For example, when installing an article storage facility, there may be a pallet that has been in use at the installation location. In such a case, the initial cost for installing the article storage facility is reduced. In order to achieve this, pallets that have been used for a long time will be used as pallets to be stored in storage shelves. The deflection amount may exceed the allowable limit.

  Therefore, as a pallet used in the article storage facility, if the articles are stacked so as to be equal to or less than the set upper limit weight in the setting allowable condition, the pallet whose bending amount is within the allowable limit (hereinafter abbreviated as difficult-to-flexible pallet). ) And a pallet whose amount of deflection exceeds the allowable limit (hereinafter simply referred to as an easy-flexible pallet) even if the article is stacked at the set upper limit weight in the set allowable condition.

And if an article is simply stacked on the easy-deflection pallet so as to be equal to or less than the set upper limit weight in the setting allowable condition, there is a case where the bending limit exceeds the allowable limit, for example, 30 mm. .
In such a case, the target height for lowering in the lowering process and the reference height for scooping in the scooping process are determined based on the maximum value of the amount of deflection of the easy-flexible pallet, and accordingly, in the vertical direction. It is conceivable that the storage shelf is configured in a form in which the interval between adjacent support members arranged in a line is determined.

  By the way, the maximum amount of deflection of the easy deflection pallet is when the article is loaded on the easy deflection pallet with the set upper limit weight in the setting permissible conditions, and the target height for lowering and the reference height for scooping Is determined based on the maximum value of the amount of deflection of the easy-flexible pallet, in the state where the easy-flexible pallet with the maximum amount of deflection is supported by the support of the storage unit, the margin interval (for example, This means that the target height for lowering and the reference height for scooping are set at a height located 15 mm below.

  However, the target height for lowering and the reference height for scooping are determined based on the maximum value of the deflection amount of the easy-flexible pallet, and in accordance with that, the interval between adjacent support bodies arranged in the vertical direction is determined. When the storage shelf is configured, the spacing between adjacent support bodies arranged in the vertical direction is larger than that in the case where the storage shelf is configured in view of the amount of bending of the difficult-to-flexible pallet. There was a disadvantage of lowering.

  The present invention has been made in view of the above circumstances, and the purpose thereof is that the amount of bending on the lower side when an article is stacked with a set upper limit weight and stored in a storage portion as a pallet is within an allowable limit. It is in providing the article storage equipment which can suppress the fall of the storage efficiency of a storage shelf, while using the pallet which becomes and the pallet which exceeds an allowable limit.

The article storage facility according to the present invention includes a stacking unit that stacks articles on a pallet in a stacked state under a setting allowable condition that is not more than a set upper limit height and not more than a set upper limit weight, and a plurality of the pallets placed and supported A storage shelf in which storage units are arranged side by side, and the pallet for storing the pallet on which articles are stacked in the stacking unit are stored in the storage unit, and the pallet stored in the storage unit is unloaded. And a control means for controlling the operation of the transport means,
The transporting means is an article mounting body that can be driven back and forth in a retracted state in which it retracts outward from the storage part and a protruding state in which the storage part protrudes, and can be driven up and down, and the pallet is stored in the storage part. Configured to perform a lowering process stored in the storage unit and a scooping process for removing the pallet stored in the storage unit,
The storage portion is configured to place and support both end portions of the pallet with a pair of left and right support bodies arranged in parallel in a state in which the article placement body in the protruding state is spaced vertically.
When the control means performs the lowering process, the article mounting body protrudes into the protruding state at a reference height for lowering than the pair of left and right supports, and then the pair of left and right supports. The article mounting body is lowered to a lower target height for lowering, and then the operation of the conveying means is controlled and the scooping process is performed in order to retract the article mounting body to the retracted state. Sometimes, the article mounting body is protruded in the protruding state at a scooping reference height corresponding to the lowering target height, and then the scooping target height corresponding to the lowering reference height is It is configured to control the operation of the conveying means to raise the article mounting body and then to retract the article mounting body to the retracted state.
As the pallet, the amount of downward deflection when stored in the storage unit is within the allowable limit even if the article is loaded with the set upper limit weight, and the article is loaded with the set upper limit weight. When attached, there is an easy deflection pallet that exceeds the allowable limit,
As the storage portion, a standard storage portion for storing the pallet with the deflection amount within the allowable limit and an auxiliary storage portion for storing the pallet with the deflection amount exceeding the allowable limit are the lowering. The target height for use and the reference height for scooping are provided in a state where the auxiliary storage portion can be set lower than the standard storage portion,
The control means is
The lowering target height and the reference height for scooping are set lower than the pallet in which the deflection amount exceeds the allowable limit than the pallet in which the deflection amount is within the allowable limit, and the lowering process and Configured to perform the scooping process, and
When it is instructed to store the pallet with the deflection amount within the allowable limit, the pallet is stored in the standard storage unit, and the pallet with the deflection amount exceeding the allowable limit is stored. When this is instructed, the pallet is stored in the auxiliary storage portion.

That is, as a pallet, the amount of downward deflection when stored in the storage unit is stacked within a permissible limit even if the article is loaded with the set upper limit weight, and the article is loaded with the set upper limit weight. There is an easily deflecting pallet that exceeds the allowable limit.
In addition, as the storage unit, a standard storage unit for storing a pallet whose deflection amount is within the allowable limit and an auxiliary storage unit for storing a pallet whose deflection amount exceeds the allowable limit, and a target height for lowering and scooping. The reference height is provided in a state where the auxiliary storage portion can be set lower than the standard storage portion.

  Then, the control means sets the target height for lowering and the reference height for scooping so that the pallet whose deflection amount exceeds the allowable limit is lower than the pallet whose deflection amount is within the allowable limit, and performs the lowering processing and scooping processing. When it is instructed to store a pallet whose deflection is within the allowable limit, the pallet is stored in the standard storage unit, and a pallet whose deflection exceeds the allowable limit is stored. When this is instructed, the pallet is stored in the auxiliary storage unit.

That is, the difficult-to-bend pallet is stored in the standard storage unit because the downward deflection amount does not exceed the allowable limit.
The easy-flexible pallet is stored in the auxiliary storage portion when the downward deflection amount exceeds the allowable limit, and is stored in the standard storage portion when the downward deflection amount does not exceed the allowable limit. It will be.

  As described above, the storage unit includes a standard storage unit for storing a pallet whose deflection amount is within the allowable limit and an auxiliary storage unit for storing a pallet whose deflection amount exceeds the allowable limit. Since the pallet exceeding the allowable limit is stored in the auxiliary storage part, and the pallet whose deflection amount is within the allowable limit is stored in the standard storage part, the hard-flexible pallet and the easy-flexible pallet are used as the pallets. However, it is possible to suppress a decrease in the storage efficiency of the storage shelf.

  In other words, if the articles are stacked on the pallet under the setting permissible condition that is less than the set upper limit height and less than the set upper limit weight, the set permissible condition is less than the set upper limit height. Therefore, the amount of deflection of all of the easy-flexible pallets does not exceed the allowable limit, and the amount of deflection of some of the easy-flexible pallets exceeds the allowable limit. As the storage unit, it is only necessary to install many standard storage units that can improve storage efficiency, and to install a small number of auxiliary storage units that would reduce storage efficiency. However, it is possible to suppress a decrease in the storage efficiency of the storage shelf.

  In short, according to the first characteristic configuration of the present invention, as a pallet, a pallet in which the amount of bending on the lower side when the articles are stacked with the set upper limit weight and stored in the storage unit is within the allowable limit, and exceeds the allowable limit. While using a pallet, the article storage equipment which can suppress the fall of the storage efficiency of a storage shelf can be provided.

In addition to the first feature configuration, the second feature configuration of the article storage facility of the present invention,
A column set consisting of a pair of columns arranged in the longitudinal direction of the shelf of the storage shelf is erected on the floor surface side by side in the horizontal direction of the shelf of the storage shelf, and the support body is provided with the horizontal width of the shelf. It is arranged in a vertical direction in a state of projecting in a cantilever direction toward the direction, and is formed in a state in which the storage unit is aligned in the vertical direction between the column groups arranged adjacent to each other in the shelf width direction.
Of the storage units arranged in the vertical direction, the lowermost storage unit is configured as the auxiliary storage unit, and among the storage units arranged in the vertical direction, the storage unit excluding the lowermost storage unit is provided. The standard storage unit is characterized in that it is configured.

  That is, the storage shelf is configured in a form in which the storage unit is formed in a state of being arranged in the vertical direction between the column groups arranged adjacent to each other in the horizontal direction of the shelf. The lowermost storage unit is configured as an auxiliary storage unit, and the storage unit excluding the lowermost storage unit among the storage units arranged in the vertical direction is configured as a standard storage unit.

  In other words, among the plurality of supports that are arranged in the vertical direction on the column assembly, the lowermost support is generally not intended to obstruct the work when installing the column assembly on the floor surface. Since it is installed at a height that is far away from the lower end of the column assembly, the storage unit arranged in the vertical direction in consideration of the point that the article mounting body can be positioned sufficiently below the lowermost support body. Of the storage units, the lowermost storage unit is the auxiliary storage unit, and the storage unit of the storage units arranged in the vertical direction excluding the lowermost storage unit is the standard storage unit.

  In short, according to the second feature configuration of the present invention, in addition to the operational effects of the first feature configuration, while improving the workability of installing the column assembly on the floor surface, the hard-flexible pallet and the easy-flexible pallet are used as pallets. When used, an article storage facility capable of suppressing a decrease in storage efficiency of the storage shelf can be provided.

In addition to the first feature configuration, the third feature configuration of the article storage facility of the present invention,
A column set consisting of a pair of columns arranged in the longitudinal direction of the shelf of the storage shelf is formed by connecting the divided column lower side portion and the column upper side portion, and arranged in the shelf width direction of the storage shelf. Standing on the floor surface, and being provided side by side in the vertical direction with the support protruding in a cantilevered manner toward the shelf width direction, adjacent to each of the pillar sets, Between the column assemblies arranged side by side, the storage portion is formed in a state of being arranged in the vertical direction,
Of the storage units arranged in the vertical direction, those located in the lowermost stage in the lower part of the column and those located in the lowest stage in the upper part of the column are configured in the auxiliary storage part, and the upper and lower parts Among the storage units arranged in the direction, the storage unit excluding the lowermost storage unit in the lower part of the column and the lower storage unit in the upper part of the column is configured as the standard storage unit. Features.

  That is, the storage shelf is configured in such a manner that the storage portion is formed in a state of being arranged in the vertical direction between the column assemblies arranged adjacent to each other in the width direction of the shelf. And the upper part of the column, and the lower storage part in the lower part of the column and the lower storage part in the upper part of the column are auxiliary storages. Among the storage parts arranged in the vertical direction, the storage part excluding the lowermost storage part in the lower part of the pillar and the lower storage part in the upper part of the pillar is a standard storage part. Configured.

  In other words, in the case where the storage unit constitutes a storage shelf arranged in multiple stages along the vertical direction, the column assembly composed of a pair of columns arranged in the longitudinal direction of the shelf is disassembled into a column lower side portion and a column upper side portion. In the installation location, the column lower side portion and the column upper side portion are connected to form a column set, and the column set is installed on the floor surface.

  Of the plurality of supports arranged in the vertical direction in the column set, the lowermost support in the column lower side portion is generally used for work when installing the column lower side portion in the column set on the floor surface. Since it is installed at a height that is far away from the lower end of the column assembly for the purpose of preventing it from getting in the way, the article mounting body can be positioned sufficiently below the lowermost support. The lowermost support in the upper part of the column among the plurality of supports arranged in the vertical direction in the vertical direction generally connects the upper part of the column and the lower part of the column. For the purpose of not interfering with the work of the column, it is installed at a height that is far away from the lower end of the upper part of the column, so that the article mounting body is sufficiently lowered with respect to the lowermost support. Can be positioned.

  Therefore, in view of such points, out of the storage units arranged in the vertical direction, the one located in the lowermost stage in the lower part of the column and the one located in the lowermost part in the upper part of the column are referred to as auxiliary storage parts, Of the storage units arranged in the vertical direction, the storage unit excluding the lowermost storage unit in the column lower side portion and the lowermost storage unit in the column upper side portion is set as the standard storage unit.

  In short, according to the third feature configuration of the present invention, in addition to the operational effects of the first feature configuration, while improving the workability of installing the column set on the floor and the workability of assembling with the column set, as a pallet, In the case of using the hardly-flexible pallet and the easily-flexible pallet, it is possible to provide an article storage facility that can suppress a decrease in storage efficiency of the storage shelf.

In addition to any of the first to third feature configurations described above, the fourth feature configuration of the article storage facility of the present invention is as follows.
In the standard storage units arranged in the vertical direction, the storage shelves are arranged in the vertical direction of the supports provided in the standard storage units adjacent to each other in the vertical direction in the storage unit below the storage target. In the state where the pallet loaded with the articles is stored, in order to perform the lowering process on the storage unit to be stored, the article placing body is about the pallet whose deflection amount is within the allowable limit. When positioned at the lowering target height, the article mounting body is configured in a state that is set at an interval that leaves a set accommodation distance from the upper surface of the article stored in the lower storage section,
The stacking part is
When stacking articles on the easy-flexible pallet when the pallet is stored in all of the auxiliary storage parts, for the easy-flexible pallet determined below the set upper limit height and lower than the set upper limit amount It is configured to load articles under the setting conditions for an easy-flexible pallet that is below the upper limit weight,
The control means is
Controlling the operation of the conveying device to store the easy-flexible pallet on which the articles are loaded under the setting conditions for the easy-flexible pallet, with the standard storage part being an empty standard storage part. It is characterized by being configured to do so.

That is, when the stacking unit stacks articles on the easy-flexible pallet when the pallet is stored in all of the auxiliary storage units, the easy-deflection determined below the set upper limit height and lower than the set upper limit amount. Articles are stacked under the setting conditions for an easy-flexible pallet that is equal to or less than the upper limit weight for the pallet.
Then, as the upper limit weight for the easy deflection pallet in the setting conditions for the easy deflection pallet, when the article is stacked on the easy deflection pallet with the upper limit weight for the easy deflection pallet, the amount of deflection to the lower side of the easy deflection pallet is as described above. By setting the weight to be within the allowable limit, the amount of bending of the easy-flexible pallet to the lower side can be within the allowable limit described above.

  Then, the control means operates the transfer device so as to store the easy-flexible pallet on which the articles are stacked under the setting conditions for the easy-flexible pallet, with the standard storage part in the empty state as the standard storage part to be stored. Will be controlled.

  In short, according to the fourth feature configuration of the present invention, in addition to the operational effects of the first to third feature configurations, when the pallet is stored in all of the auxiliary storage portions, the downward deflection amount is an allowable limit. It is possible to provide an article storage facility that can store an easily-flexible pallet in which articles are stacked so as to be inside in a standard storage unit.

In addition to any of the first to third characteristic configurations described above, the fifth characteristic configuration of the article storage facility of the present invention is:
The storage rack is set in the storage unit below the storage unit to be stored, the vertical interval of the support body mounted on each of the standard storage units vertically adjacent to each other in the standard storage unit arranged in the vertical direction. In the state where the pallet loaded with articles of the upper limit height is stored, the amount of downward deflection of the article mounting body is the allowable limit in order to perform the lowering process on the storage unit to be stored. When the inner pallet is positioned at the lowering target height, the article placement body is configured to be set at an interval away from the set accommodation distance from the upper surface of the article stored in the lower storage section. And
The control means is
When the pallet is stored in all of the auxiliary storage units and the pallet is stored with the downward deflection amount exceeding the allowable limit, the standard storage unit in the empty state in the standard storage unit Standard storage part in which the article is not stored in the lower storage part, or standard storage part in which the article is stored in the lower storage part, and the article stored in the lower storage part When the pallet to be stored is stored on the basis of the height of the pallet to be stored and the pallet to be stored, the article mounting body having the target height for lowering is stored in the lower storage unit. The standard storage unit that is predicted to be away from the set accommodation distance from the upper surface is selected as a storage unit to be stored.

  That is, when the control means stores a pallet whose amount of downward deflection exceeds the allowable limit when the pallet is stored in all of the auxiliary storage units, the standard storage unit in the empty state in the standard storage unit Standard storage part in which the article is not stored in the lower storage part, or standard storage part in which the article is stored in the lower storage part, and the article stored in the lower storage part When the pallet to be stored is stored based on the height of the storage pallet and the amount of deflection of the pallet to be stored, the article placement body with the target height for lowering is set from the upper surface of the article stored in the lower storage unit The standard storage unit that is predicted to leave the accommodation distance is selected as the storage unit to be stored.

  Then, when the pallet is stored in all of the auxiliary storage units, the control means stores the pallets in which the downward deflection amount exceeds the allowable limit in the storage target storage unit selected as described above. Therefore, the operation of the conveying means is controlled.

  That is, of the standard storage units in the empty state, the standard storage unit in which articles are not stored in the lower storage unit has an allowable amount of downward deflection with respect to the standard storage unit. When storing the pallet that exceeds, even if the stop position with respect to the article mounting body with the target height for lowering is slightly shifted or the article mounting body vibrates up and down, the article is stored in the lower storage section. Since it is not accommodated, it is a standard accommodating part which can avoid that an article mounting body contacts the article accommodated in the lower accommodating part.

  In addition, among the standard storage units in the empty state among the standard storage units, the standard storage unit in which articles are stored in the lower storage unit, the height of the articles stored in the lower storage unit and the storage target Based on the amount of deflection of the easy-flexible pallet, the standard storage unit that is expected to leave the set accommodation distance from the upper surface of the article in which the article mounting body with the target height for lowering is stored in the lower storage part is When storing a pallet whose downward deflection exceeds an allowable limit with respect to the standard storage unit, the stop position of the article mounting body with respect to the lowering target height is slightly shifted, or the article mounting body is Even if it may vibrate up and down, the article placement body of the target height for lowering is separated from the upper surface of the article stored in the lower storage portion by a set accommodation distance. To contact the goods stored in the lower storage It is a standard storage unit that can be avoided.

  In this way, when storing a pallet whose downward deflection exceeds the allowable limit when the pallet is stored in all of the auxiliary storage units, the standard storage unit in the empty state among the standard storage units Thus, even if the stop position of the article mounting body with respect to the lowering target height is slightly shifted or the article mounting body vibrates up and down, the article mounting body is stored in the lower storage section. The pallet can be stored in a standard storage unit that does not come into contact with existing articles.

  In short, according to the fifth characteristic configuration of the present invention, in addition to the operational effects of any of the first to third characteristic configurations, when the pallet is stored in all of the auxiliary storage portions, the downward deflection is performed. It is possible to provide an article storage facility that can store a pallet whose amount exceeds an allowable limit in the standard storage unit while avoiding troubles that the article mounting body contacts the article.

In addition to the fifth feature configuration, the sixth feature configuration of the article storage facility of the present invention,
The control means is
When the pallet is stored in the standard storage unit, among the empty standard storage units of the standard storage unit, a pallet whose deflection amount exceeds the allowable limit is stored in the upper standard storage unit. It is assumed that there is no standard storage part or a standard storage part in which the pallet whose deflection amount exceeds the allowable limit is stored in the upper standard storage part, and the pallet to be stored is stored in the standard storage part In the state, the pallet stored in the upper standard storage unit is determined based on the deflection amount of the pallet stored in the upper standard storage unit and the height of the articles stacked on the pallet to be stored. A standard storage unit that is expected to leave a set accommodation distance from the upper surface of an article loaded on the pallet to be stored when the article mounting body having the reference height for scooping is taken out is stored. It characterized that it is arranged to select as the storage portion of the elephant.

  That is, when the control means stores the pallet in the standard storage unit, the pallet whose deflection amount exceeds the allowable limit is stored in the upper standard storage unit among the empty standard storage units in the standard storage unit. It is assumed that the standard storage unit that is not or the standard storage unit in the upper part stores a pallet whose deflection exceeds the allowable limit, and the target storage unit stores the pallet to be stored. In taking out the pallet stored in the upper standard storage unit based on the amount of deflection of the pallet stored in the upper standard storage unit and the height of the articles stacked on the pallet to be stored, The standard storage unit that is expected to leave the set accommodation distance from the upper surface of the article placed on the pallet to be stored is selected as the storage target storage unit. Is constructed sea urchin.

In other words, when a pallet whose deflection amount exceeds the allowable limit is stored in the standard storage unit, the article is stacked in the storage unit below the standard storage unit that stores the pallet whose deflection amount exceeds the allowable limit. When the pallet is stored, the pallet may not be properly taken out from the upper standard storage unit.
For example, in the case where the pallet is stored in the standard storage unit in the empty state among the standard storage units, the standard storage unit in which the pallet whose deflection amount exceeds the allowable limit is stored in the upper standard storage unit. When the height of the articles stacked on the pallet is the set upper limit height, when taking out the pallet stored in the upper standard storage section, the article mounting body having a reference height for scooping and the storage target The upper surface of the articles loaded on the pallet is not separated from the set accommodation distance, and the pallet cannot be properly taken out from the upper standard storage unit.

  However, among the standard storage units in the empty state among the standard storage units, the standard storage unit in which the upper standard storage unit does not store a pallet whose deflection amount exceeds the allowable limit is stored in the standard storage unit. However, since the pallet is not stored in the upper standard storage unit, the pallet is not taken out from the upper standard storage unit. Never give.

  In the case of storing a pallet with respect to the standard storage unit in which the pallet whose deflection amount exceeds the allowable limit is stored in the upper standard storage unit among the standard storage units in the empty state among the standard storage units When the pallet stored in the upper standard storage unit is taken out based on the deflection amount of the pallet stored in the upper standard storage unit and the height of the articles stacked on the pallet to be stored, The standard storage unit that is expected to leave the set accommodation distance from the upper surface of the article on which the article mounting body of the reference height is stacked on the pallet to be stored is stored in the standard storage part, When the pallet stored in the upper standard storage unit is taken out, the article mounting body having the reference height for scooping and the upper surface of the article loaded on the pallet to be stored are separated from the set accommodation distance. ,Up Extraction becomes capable of performing proper as a palette from the standard storage unit.

  As described above, according to the sixth characteristic configuration, when the pallet is stored in the standard storage unit, the standard storage unit that does not adversely affect the removal of the pallet from the upper standard storage unit is selected. A pallet (article) is placed in the standard storage unit below the standard storage unit in which the pallet is stored while taking out the pallet whose deflection amount stored in the standard storage unit exceeds the allowable limit while taking out the pallet. It is possible to carry out well as appropriate while being stored.

  In short, according to the sixth feature configuration of the present invention, in addition to the function and effect of the fifth feature configuration, the pallet whose deflection amount exceeds the allowable limit can be taken out while being picked up by the scooping process in the lower standard storage unit. It is possible to provide an article storage facility that can be appropriately performed properly without being affected by the pallet (article) to be stored.

In addition to any of the first to third characteristic configurations, the seventh characteristic configuration of the article storage facility of the present invention is:
The storage rack is set in the storage unit below the storage unit to be stored, the vertical interval of the support body mounted on each of the standard storage units vertically adjacent to each other in the standard storage unit arranged in the vertical direction. In a state where the pallet loaded with articles having an upper limit height is stored, the amount of bending of the article mounting body is within the allowable limit in order to perform the lowering process on the storage unit to be stored. When the pallet is positioned at the target height for lowering, the article placement body is configured in a state that is set at an interval that leaves a set accommodation distance from the upper surface of the article stored in the lower storage section,
The stacking part is
When stacking articles on the easy-flexible pallet when the pallet is stored in all of the auxiliary storage units, one of the standard storage units in the empty storage state is to be stored. When the article is stored in the storage section below the storage section that is to be stored, the easily flexible pallet to be stored is stored instead of the setting permission condition. When storing in the planned storage unit, the lower storage is performed so that the article placement body having the target height for lowering is in a state of leaving a set accommodation distance from the upper surface of the article stored in the lower storage unit. Based on the height of the article stored in the part, the article is configured to be stacked under a deflection amount regulation condition that regulates the deflection amount of the easy deflection pallet,
The control means is
It is configured to control the operation of the conveying means so as to store the easy-deflection pallet on which the articles are stacked in the storage unit scheduled to be stored for the easy-deflection pallet. .

That is, when the stacking unit stacks articles on the easy-flexible pallet when the pallet is stored in all the auxiliary storage units, it stores one of the standard storage units in the empty state among the standard storage units. It will be selected as the planned storage unit.
And when the article is not stored in the storage part below the storage part scheduled to be stored, the stacking part will stack the article under the set allowable conditions. In the case where an article is stored in the storage unit, instead of the setting allowable condition, when the easy-deflection pallet to be stored is stored in the storage unit that is to be stored, the article mounting body with the target height for lowering is moved downward. Based on the height of the article stored in the lower storage unit, the amount of deflection of the easy-flexible pallet is regulated so that the set accommodation distance is separated from the upper surface of the article stored in the storage unit. Articles are stacked under the deflection amount regulation condition.

  The control means controls the operation of the conveying means so as to store the easy-deflection pallet on which the articles are stacked in the storage unit that is to be stored for the easy-deflection pallet.

That is, of the standard storage units in the empty state, the standard storage unit in which articles are not stored in the lower storage unit has an allowable amount of downward deflection with respect to the standard storage unit. When storing a pallet that exceeds the height, the stop position of the article placement body with respect to the lowering target height may be slightly shifted or the article placement body may vibrate up and down. Is not stored, and is a standard storage unit in which there is no possibility that the article mounting body will come into contact with the article.
On the other hand, among the standard storage units in the empty state among the standard storage units, the standard storage unit in which articles are stored in the lower storage unit is bent downward with respect to the standard storage unit. When storing a pallet that exceeds the permissible limit, if the article mounting body stops slightly with respect to the lowering target height or the article mounting body vibrates up and down, the article mounting body May come into contact with articles stored in the lower storage section.

  According to the seventh characteristic configuration, when the stacking unit stacks articles on the easy-flexible pallet when the pallet is stored in all of the auxiliary storage units, the standard storage unit in the empty state in the standard storage unit When the standard storage unit in which articles are stored in the lower storage unit is selected as the storage unit to be stored, the easy-to-store pallet to be stored is stored instead of the set allowable condition. Is stored in the lower storage portion so that the article placement body having the target height for lowering is separated from the upper surface of the article stored in the lower storage portion by a set accommodation distance. Since the article is loaded under a deflection amount regulation condition that regulates the deflection amount of the easy-flexible pallet based on the height of the article, when the easy-flexible pallet is stored in the storage unit that is scheduled to be stored, The body is in the lower storage Possible to avoid brought into contact with the article being paid.

  In short, according to the seventh feature configuration of the present invention, in addition to the operational effects of any of the first to third feature configurations, when the pallet is stored in all of the auxiliary storage units, It is possible to provide an article storage facility that can prevent the article placement body having the target height for lowering from coming into contact with the article while the article is stored in the standard storage unit.

In addition to the seventh feature configuration, the eighth feature configuration of the article storage facility of the present invention,
The stacking part is
When a pallet whose deflection amount exceeds the allowable limit is stored in the standard storage unit, when an article is stacked on the pallet to be stored in the standard storage unit, the empty state in the standard storage unit One of the standard storage units is selected as a storage unit scheduled to be stored, and a pallet whose deflection amount exceeds the allowable limit is stored in a storage unit above the storage unit scheduled to be stored. Sometimes, when the pallet stored in the upper storage unit is taken out in the state where the pallet to be stored is stored in the storage unit scheduled to be stored instead of the set upper limit height of the setting allowable condition In addition, the article placement body having the reference height for scooping is placed in an upward direction so as to be away from the set accommodation distance from the upper surface of the article stacked on the pallet to be stored. Based on the amount of deflection of the pallet contained in the container portion, it is configured to attach stacked articles at the level restricting conditions for restricting the height of the article to give loading the pallet storage object,
The control means is
It is characterized in that the operation of the conveying means is controlled so as to store the pallet to be stored, on which articles are stacked, in a storage unit scheduled to store the pallet.

  That is, when the stacking unit stacks articles on the pallet to be stored stored in the standard storage unit when the pallet whose deflection amount exceeds the allowable limit is stored in the standard storage unit, When one of the storage units in the state is selected as the storage unit scheduled to be stored, and a pallet whose deflection amount exceeds the allowable limit is stored in the storage unit above the storage unit scheduled to be stored, When the pallet stored in the upper storage section is taken out in the state where it is assumed that the pallet to be stored is stored in the storage section to be stored instead of the set upper limit height, Storing based on the amount of flexure of the pallet stored in the upper storage unit so that the mounting body is away from the set accommodation distance from the upper surface of the article stacked on the pallet to be stored It will be put loading an article in height regulatory requirements to regulate the height of the goods to give stacked on a pallet of the elephant.

  The control means controls the operation of the conveying means so as to store the pallet to be stored, on which articles are stacked, in the storage unit scheduled to store the pallet.

In other words, when a pallet whose deflection amount exceeds the allowable limit is stored in the standard storage unit, the article is stacked in the storage unit below the standard storage unit that stores the pallet whose deflection amount exceeds the allowable limit. When the pallet is stored, the pallet may not be properly taken out from the upper standard storage unit.
For example, in the case where the pallet is stored in the standard storage unit in the empty state among the standard storage units, the standard storage unit in which the pallet whose deflection amount exceeds the allowable limit is stored in the upper standard storage unit. When the height of the articles stacked on the pallet is the set upper limit height, when taking out the pallet stored in the upper standard storage section, the article mounting body having a reference height for scooping and the storage target The upper surface of the articles loaded on the pallet is not separated from the set accommodation distance, and the pallet cannot be properly taken out from the upper standard storage unit.

  However, among the standard storage units in the empty state among the standard storage units, the standard storage unit in which the upper standard storage unit does not store a pallet whose deflection amount exceeds the allowable limit is stored in the standard storage unit. However, since the pallet is not stored in the upper standard storage section, the pallet is not taken out from the upper standard storage section, which adversely affects the pallet removal from the upper standard storage section. Never give.

  In the case of storing a pallet with respect to the standard storage unit in which the pallet whose deflection amount exceeds the allowable limit is stored in the upper standard storage unit among the standard storage units in the empty state among the standard storage units When the pallet stored in the upper standard storage unit is taken out, the article placement body having a reference height for scooping is in a state where the set accommodation distance is separated from the upper surface of the article stacked on the pallet to be stored Even if the pallet is stored in the standard storage unit that is scheduled to be stored, when the pallet stored in the upper standard storage unit is taken out, the article mounting body having a reference height for scooping and the pallet to be stored Since the upper surface of the stacked articles is separated from the set accommodation distance, the pallet can be taken out from the upper standard storage unit as appropriate.

  As described above, according to the eighth characteristic configuration, when an article is stacked on the pallet to be stored in the standard storage unit, the article is arranged so as not to adversely affect the removal of the pallet from the upper standard storage unit. Therefore, it is necessary to remove the pallet whose downward deflection stored in the standard storage part exceeds the allowable limit while taking out the pallet by the scooping process, so that the standard storage part in which the pallet is stored. In a state where the pallet (article) is stored in the lower standard storage unit, it can be performed properly as appropriate.

  In short, according to the eighth feature configuration of the present invention, in addition to the operational effect of the seventh feature configuration, the pallet whose deflection amount exceeds the allowable limit can be taken out while being removed by scooping processing in the lower standard storage portion. It is possible to provide an article storage facility that can be appropriately performed properly without being affected by the pallet (article) to be stored.

Schematic plan view of goods storage facility Side of storage shelf Partially omitted side view showing the main part of the storage shelf Schematic perspective view of the loading part Schematic front view showing relationship between pallet and fork stored in storage Block diagram showing control configuration The flowchart which shows the control action of 1st Embodiment. Flowchart showing the control operation of the same embodiment The flowchart which shows the control action of 2nd Embodiment. Flowchart showing the control operation of the same embodiment The flowchart which shows the control action of 3rd Embodiment. The flowchart which shows the control action of 4th Embodiment. Flowchart showing the control operation of the same embodiment

[First Embodiment]
Next, embodiments of the present invention will be described with reference to the drawings.
As shown in FIG. 1, a stacking unit D that stacks articles B carried in from the outside in a stacked state on a pallet P, and a plurality of storage units S that support and mount the pallets P on which the articles B are stacked. The storage shelf 1 provided, the article unloading part E for taking out the article B from the pallet P and carrying it out to the outside, the pallet P on which the article B is stacked by the loading part D is stored in the storage part S and the storage part S The pallet P stored in the pallet P is transported to the article unloading unit E. The pallet P is transported to the pallet P, and the pallet processing unit G for stacking and stacking the empty pallets P is installed and loaded. The article storage facility is configured to store the articles B stacked on the pallet P in the storage section S, take out the articles B stacked on the pallet P from the pallet P, and carry them out to the outside.

A pair of left and right storage shelves 1 are installed with an interval in the state in which the article loading / unloading directions are opposed to each other, and a pair of left and right storage conveyors 2 are installed beside the pair of left and right storage shelves 1. .
A stacker crane K is provided which is guided by a traveling rail 3 installed on the floor surface between the pair of left and right storage shelves 1 and is movable along the lateral width direction of the storage shelves 1. A transport carriage J is provided that can travel along a traveling line 4 that passes through the loading / unloading conveyor 2, the article unloading section E, and the pallet processing section G.
By the way, in the present embodiment, the pallet P is used to store the pallet P on which the article B is stacked in the loading unit D in the storage unit S and to carry the pallet P stored in the storage unit S to the article unloading unit E. The transport means F for transporting the vehicle is configured with the stacker crane K and the transport carriage J as main parts.

  As shown in FIG. 2, the stacker crane K is in a retracted state in which the stacker crane K is retracted to the outside of the storage unit S and the storage unit S is moved up and down along the lift mast 6 erected from the traveling carriage 5. A fork 8 which can be driven out and retracted in a protruding state protruding inward is provided as an article mounting body, and a lowering process for storing the pallet P in the storage portion S by the lifting and lowering operation of the fork 8 and A scooping process for taking out the pallet P stored in the storage section S is performed.

That is, the stacker crane K performs a warehousing operation for storing the pallet P received in the loading / unloading conveyor 2 in the storage portion S and a warehousing operation for unloading the pallet P stored in the storage portion S to the loading / unloading conveyor 2. In addition, when the warehousing operation is performed, the unloading process is performed, and when the warehousing operation is performed, the crawl process is performed.
The stacker crane K operates the fork 8 in the same manner as the scooping process when unloading the pallet P from the loading / unloading conveyor 2 during the loading operation, and also when unloading the pallet P from the loading / unloading conveyor 2 during the loading operation. The fork 8 is operated in the same manner as the above-described lowering process.

As shown in FIG. 1 and FIG. 2, both ends of the pallet P are stored in a pair of left and right support bodies 10 in which the storage portion S of the storage shelf 1 is juxtaposed in a state in which the protruding fork 8 passes vertically. It is comprised so that a part may be mounted and supported.
That is, each of the pair of left and right storage shelves 1 has a pair of front and rear columns 9 and 9 spaced apart in the longitudinal direction of the shelf, arranged side by side along the width direction of the shelf, The support members 10 are arranged in a vertical direction in a state of projecting in a cantilevered manner in the width direction of the shelf, and the storage portions S are arranged in the vertical direction between the columns arranged adjacent to each other in the width direction of the shelf. It is configured to form.

  Incidentally, the pair of front and rear columns 9 and 9 constituting the column assembly are assembled in advance in an integrated state by a horizontal material or a lattice material, and the column assembly arranged in the width direction of the shelf is attached to the rear portion of the storage shelf 1. It is assembled in an integrated state by a horizontal member, a brace member or the like installed at a corresponding place.

  When the crane control unit KC (see FIG. 6) mounted on the stacker crane K or installed on the ground performs the above-described lowering process, the fork 8 has a lower reference height than the pair of left and right supports 10. , Then the fork 8 is lowered to a lower target height for lowering than the pair of left and right supports 10, and then the operation of the stacker crane K is controlled so that the fork 8 is retracted. Further, when performing the above-described scooping process, the fork 8 is protruded into a projecting state at a scooping reference height corresponding to the lowering target height, and then the scooping target corresponding to the lowering reference height. The operation of the stacker crane K is controlled so that the fork 8 is raised to a height and then the fork 8 is retracted to the retracted state.

  The crane control unit KC detects various sensors such as a travel position detection sensor for detecting the travel position of the travel carriage 5 traveling on the travel rail 3 and a lift position detection sensor for detecting the lift position of the lift base 7. Although the operation of the stacker crane K is controlled based on the information, detailed description thereof is omitted in this document.

  The loading unit D loads the article B, which is carried by the loading vehicle 11 such as a hand cart, on the pallet P in a stacked state under a set allowable condition that is not more than the set upper limit height and not more than the set upper limit weight. As shown in FIGS. 1 and 4, the stacking portion D receives an empty pallet P conveyed by the conveyance carriage J and the articles B are stacked. A pair of stacking work conveyors 12 for sending the pallets P stacked in a state to the transport carriage J, and a pallet P on which the articles B loaded in the loading car 11 are placed on the loading work conveyor 12 Is provided with a palletizing robot M.

The articles B to be carried are stacked on the transport pallet Q in a stacked state, and the transport pallet Q is configured using an IC tag or the like, and an article information storage unit 13 for storing article information. The article information storage unit 13 includes identification information of the article B, article specification information indicating the size and weight of the article B, and the number of articles indicating the number of articles stacked on the transport pallet Q. Article information such as information is stored.
And the loading part D is equipped with a portable article information reading part 14 for reading the article information stored in the article information storage part 13, and an operator located in the loading part D By reading the article information stored in the article information storage unit 13 using the article information reading unit 14, the loading management controller HD (see FIG. 6) has a set upper limit height or less and a set upper limit weight or less. The palletizing robot M is operated so that the article B is stacked on the pallet P in a set allowable condition.

In other words, the loading management controller HD stores in advance a loading pattern for loading the article B under the setting allowable condition for each of the plurality of types of articles B to be carried in, and is read by the article information reading unit 14. Based on the received article information, the loading pattern of the article B to be stacked is determined, and the palletizing robot M is operated.
In order to operate the palletizing robot M, information of various sensors such as a sensor for detecting the position of the article B placed on the transfer pallet Q is also used, but their specific configuration is well known. Therefore, the description thereof is omitted in this document.

  The above-mentioned stacking pattern is set as a pattern in which the set number of articles B are arranged in the horizontal direction for each stacking stage, and is set as a pattern for stacking on a plurality of setting stages. Is set as a pattern that allows a small number of articles B to be positioned.

  In addition, when stacking a plurality of articles B that are carried in, when they cannot be stacked on one pallet P, they are distributed and stacked on a plurality of pallets P. The maximum number of articles B satisfying the setting permissible condition is loaded on the pallet P with the placement order earlier, and the number of articles B less than the maximum number satisfying the setup permissible condition is placed on the pallet P with the last placement order. To be stacked.

  Incidentally, the reason why the articles B stacked on the transport pallet Q are reloaded into the pallet P and the pallet P is stored in the storage part S is that the transport pallet Q is weaker than the pallet P and stored. For example, it is not suitable for storing in the part S, and the size of the transport pallet Q is not suitable for storing in the storage part S.

  An empty pallet P is sequentially carried into the pair of loading work conveyors 12 by the transport carriage J, and the pallet P placed on one of the pair of loading work conveyors 12. When the stacking of the article B is finished, the loading management controller HD makes the palletizing robot to start the stacking of the article B on the pallet P placed on the other stacking work conveyor 12. It is configured to control the operation of M.

  In addition, the pallet P on which the loading of the article B has been completed is taken out from the loading conveyor 12 to the transport carriage J and is transported to the loading / unloading conveyor 2 of the storage shelf 1 by the transport carriage J. The empty pallet P taken out from the pallet processing section G is supplied to the loading work conveyor 12 from which the pallet P is taken out by the transport carriage J.

Incidentally, in the present embodiment, the setting upper limit height in the setting permissible condition is, for example, 1350 mm, and the setting upper limit weight is 500 kg.
Further, the article B is box-shaped, and as described above, the article B is stacked on the pallet P in a stacked state in a state where a predetermined number of articles B are arranged vertically and horizontally in each stage.

  As shown in FIG. 4, the palletizing robot M includes a columnar base frame 15 erected on the floor, a bending / extending arm 16 that can be driven to rotate and move up and down with respect to the base frame 15, and its bending / extension. An arm 16 is provided with an article holding unit 17 that is attached to the tip of the arm 16 and holds the article B by suction. The article B is loaded on the pallet P while being held by the article holding unit 17 one by one. It is configured to be attached.

  As shown in FIG. 1, the article carry-out section E is configured to carry the article B taken out from the pallet P to the outside by the carry-out conveyor 18. A pair of unloading conveyors 19 for receiving the pallet P in an article stacking state conveyed by J and sending an empty pallet P from which an article B has been taken out to the conveyance carriage J and the pallet P are loaded. A depalletizing robot N for transferring the article B onto the carry-out conveyor 18 is provided.

  The pair of carry-out work conveyors 19 is sequentially loaded with the pallets P in the article loading state by the transport carriage J, and the pallets placed on one of the pair of carry-out work conveyors 19 When the take-out of the article B from P is completed, the take-out management controller HE (see FIG. 6) depalletizes to start taking out the article B from the pallet P placed on the other carry-out work conveyor 19. The operation of the robot N is configured to be controlled.

  Also, the empty pallet P from which the article B has been taken out is taken out from the carry-out conveyor 19 to the transport carriage J, is transported to the pallet processing section G by the transport carriage J, and is unloaded from the storage shelf 1. The pallet P in the article stacking state is configured to be supplied to the carry-out conveyor 19 from which the empty pallet P is taken out by the transport carriage J.

  Although not described in detail, the depalletizing robot N is configured in the same manner as the palletizing robot M, and holds the articles B stacked on the pallet P one by one while taking them out to the carry-out conveyor 18. It is configured.

  As shown in FIG. 1, the pallet processing unit G that performs stacking processing and stacking processing of empty pallets P includes a stacking processing unit Gd that stacks the empty pallets P supplied from the transport carriage J. A stacking processing unit Gb that holds the empty pallets P in a stacked state and supplies the empty pallets P to the transport carriage J one by one.

The pallet P that has been emptied in the article unloading unit E is sequentially supplied to the stacking processing unit Gd in the pallet processing unit G. When the number of stacked pallets P reaches the set number of stacks. The stacked pallets P are supplied to the loading / unloading conveyor 2 of the storage shelf 1 by the transport carriage J and stored in the storage shelf 1 (see FIG. 2).
Incidentally, in the state where the number of stacked pallets P reaches the set number, the height of the stacked pallets P is higher than the sum of the set upper limit height and the thickness of the pallet P in the setting allowable conditions. Of course, it becomes a small height.

  The pallet processing unit Gb in the pallet processing unit G is sequentially supplied with the stacked pallets P stored in the storage shelf 1, and the empty pallet P taken out one by one from the stacking processing unit. The conveyor cart J is configured to be transported to the carry-in / out conveyor of the loading unit D.

  In addition, since the carrying-in operation of the article B and the carrying-out operation of the article B are normally performed in different time zones, the pallet processing unit G is equipped. Since the specific configurations of the stacking processing unit Gd and the stacked stacking processing unit Gb are well known, detailed description thereof will be omitted in this document.

As shown in FIG. 1, the transport carriage J is configured to include a pallet transport conveyor 20 configured using a chain conveyor or the like at the top.
And the pallet conveyance position with respect to the loading / unloading conveyor 2 in the storage shelf 1, the pallet conveyance position with respect to the loading work conveyor 12 in the loading part D, and the pallet conveyance position with respect to the unloading work conveyor 19 in the article unloading part E In addition, in order to carry the pallet P while traveling to the pallet carrying position for the stacking processing unit Gd and the pallet carrying position for the stacking separation processing unit Gb in the pallet processing unit G, the cart management controller HJ A work command is instructed to a cart control unit JC mounted on J, and the cart control unit JC is configured to control the operation of the transport cart J based on the commanded work command (see FIG. 6).

  That is, as shown in FIG. 6, a trolley management controller HJ, a storage shelf management controller HT, a loading management controller HD, a take-out management controller HE, and a pallet processing controller that manages the operation of the pallet processing section G The HG is communicably connected, and the trolley management controller HJ is configured to transport the pallet P by operating the transport trolley J based on command information from another controller. Yes.

  As an example, the conveyance of the pallet P to the loading unit D will be described. When the loading of the article B on the empty pallet P is completed, the loading management controller HD loads the article B in a stacked state. The unloading request information for requesting the unloading of the pallet P in the article loading state is output, and the cart management controller HJ conveys the pallet P in the article loading state to the loading / unloading conveyor 2 of the storage shelf 1. Therefore, a conveyance command is issued to the carriage control unit JC of the carriage truck J, and in addition, the storage shelf management controller HT stores the pallet P in the article stacking state in the storage shelf 1 so that the stacker crane K A conveyance command is commanded to the crane control unit KC.

  Also, the trolley management controller receives the empty pallet P from the spread processing unit Gd of the pallet processing unit G, and the empty pallet is placed on the loading work conveyor 12 from which the pallet P is unloaded in the loading unit D. In order to supply P, it is configured to instruct a transport command to the cart control unit JC of the transport cart J.

  By the way, in the present embodiment, the pallet P is used to store the pallet P on which the article B is stacked in the loading unit D in the storage unit S and to carry the pallet P stored in the storage unit S to the article unloading unit E. The transport means F for transporting the vehicle is composed mainly of the stacker crane K and the transport carriage J. The control means H for controlling the operation of the transport means F is a controller for truck management HJ, storage shelf management. The controller HT, the cart control unit JC of the transport cart J, and the crane control unit KC of the stacker crane K are configured as main parts.

The basic configuration of the present embodiment is as described above, and the characteristic configuration of the present embodiment will be described below.
In the present embodiment, as the pallet P, even when the article B is loaded with the set upper limit weight (for example, 500 kg) in the setting allowable condition when the downward deflection amount when stored in the storage unit S of the storage shelf 1 is set, When the article B is stacked with a set upper limit weight, there is an easily-flexible pallet Py exceeding the allowable limit (for example, 10 mm).
The hard-flexible pallet Pn and the easy-flexible pallet Py are used while being stacked in a state of being mixed in the stacking processing part Gd of the pallet processing part G.

In the present embodiment, the easy-flexible pallet Py has an amount of deflection exceeding an allowable limit (for example, 10 mm) when an article B of 300 kg or more is stacked, and when an article B of 400 kg is stacked, It becomes 20 mm, and when an article B of 500 kg is stacked, the amount of deflection is 30 mm.
Therefore, in the following description, the easy-deflection pallet Py on which the articles B of 300 kg or more are stacked is referred to as an over-deflection pallet PT, and the easy-deflection pallets Py on which the articles B of 300 kg or more and 400 kg or less are stacked. Is called a medium-deflection pallet, and an easy-flexion pallet Py on which articles B exceeding 400 kg and 500 kg or less are stacked is referred to as a large-deflection pallet.

  As described above, since the pallet P includes the hard-flexible pallet Pn and the easy-flexible pallet Py, in the present embodiment, as the storage part S of the storage shelf 1, the downward movement when stored in the storage part S is performed. A standard storage portion SH for storing the pallet P having a deflection amount within the allowable limit, and an auxiliary storage portion SS for storing the pallet P having a downward deflection amount exceeding the allowable limit when stored in the storage portion S. In the state where the target height for lowering when the stacker crane K performs the lowering process and the reference height for scooping when performing the scooping process can be set lower in the auxiliary storage section SS than in the standard storage section SH. Is provided.

  That is, the pallet P in which the articles B having the set upper limit height are stored in the storage unit below the storage unit to be stored is stored in the vertical direction of the support 10 provided in each of the standard storage units SH arranged in the vertical direction. In this state, in order to perform the lowering process and the scooping process on the storage unit to be stored, the fork 8 has a target lowering height and a scooping for the pallet P whose downward deflection amount is within an allowable limit. When the fork 8 is positioned at the reference height for use, the storage shelf 1 is configured in a state where the fork 8 is set at an interval away from the set accommodation distance from the upper surface of the article B stored in the lower storage unit.

  On the other hand, the auxiliary storage part SS for storing the pallet P in which the downward deflection amount when stored in the storage part S exceeds the allowable limit is used when the stacker crane K performs the lowering process. The reference height for scooping when performing the height and scooping processing is configured so that the auxiliary storage portion SS can be set lower than the standard storage portion SH.

  Incidentally, in the present embodiment, as the auxiliary storage portion SS, the first auxiliary storage portion S1 for storing the pallet P in the large deflection state and the second auxiliary storage portion S2 for storing the pallet P in the middle deflection state. The lower target height for stacking when the stacker crane K performs the lowering process and the reference height for scooping when performing the scooping process are lower in the first auxiliary storage part S1 than in the second auxiliary storage part S2. It is provided in a state where it can be set.

An example of a state in which the forks 8 are projected into the storage portion S at the target height for lowering for the lowering process with respect to the interval between adjacent support bodies 10 equipped in the standard storage portions SH arranged in the vertical direction. In other words, as shown in FIG. 5, the interval L1 between the adjacent support members 10 arranged in the vertical direction is the thickness L5 of the pallet P stored in the storage unit below the storage unit to be stored, A set upper limit height L6 corresponding to the maximum height of the article B stacked on the pallet P, a set accommodation distance L3 which is a distance between the upper surface of the article B and the lower surface of the fork 8, and a thickness L4 of the fork 8 And the distance L2 between the upper surface of the fork 8 and the upper surface of the support 10 of the storage unit S to be stored is added.
The separation distance L2 is a value obtained by adding the amount of bending downward of the pallet P and a margin interval between the fork 8 having the reference height for scooping and the lower surface of the pallet P placed on the support 10. .

The above-described separation distance L2 corresponds to the scooping reference height or the lowering target height of the fork 8, and is set to, for example, 30 mm for the pallet P whose deflection amount is an allowable limit (for example, 10 mm). And about the bending excess pallet PT whose bending amount exceeds an allowable limit (for example, 10 mm), a larger value is set than the pallet P whose bending amount is an allowable limit (for example, 10 mm).
In the present embodiment, the separation distance L2 is set to 40 mm, for example, for a medium-deflection pallet with a deflection amount of 20 mm, and for example, 50 mm for a large-bend pallet with a deflection amount of 30 mm. Is set.
Further, the set accommodation distance L3 is set to 25 mm, for example.

  In other words, the storage shelf management controller HT that manages the operation of the stacker crane K has a pallet P whose deflection amount is an allowable limit (for example, 10 mm) (hereinafter referred to as a deflection normal pallet PS), or the deflection amount is an allowable limit. It is managed whether or not the pallet PT exceeds the deflection (for example, 10 mm), and when the pallet PT is the excess pallet PT, the pallet is in the middle deflection state where the deflection amount is 20 mm, or the deflection amount is A stacker crane that manages whether the pallet is in a large deflection state of 30 mm and changes the reference height for scooping and the target height for lowering in accordance with the amount of deflection of the pallet P It is comprised so that K may be actuated.

  Incidentally, in FIG. 5, L7 indicates a separation distance between the lower surface of the pallet P and the upper surface of the support 10 in a state where the fork 8 is positioned at the reference height for lowering or the target height for scooping. This corresponds to the reference height for lowering the fork 8 and the target height for scooping, and is set to 60 mm, for example.

As described above, the storage unit S includes the standard storage unit SH, the first auxiliary storage unit S1 of the auxiliary storage unit SS, and the second auxiliary storage unit S2 of the auxiliary storage unit SS. The shelf 1 is configured by standing upright on the floor surface by arranging a column set including a pair of columns 9 and 9 arranged in the longitudinal direction of the shelf in the horizontal direction of the shelf, as shown in FIGS. 2 and 3. In addition, each column set is formed by connecting the column lower side portion 9d and the column upper side portion 9u.
That is, a flange portion W is formed at the upper end portion of the column lower side portion 9d and the lower end portion of the column upper side portion 9u, and these flange portions W are bolted to each other so that the column lower side portion 9d is installed at the installation location. And the column upper side portion 9u are connected to each other.

  Of the plurality of supports 10 arranged in the vertical direction in the column assembly, the lowermost support 10 in the column lower side portion 9d interferes with the work for installing the column lower side portion 9d on the floor surface. For the purpose of avoiding such a situation, the fork 8 is sufficiently attached to the lowermost support 10 because it is installed at a height greatly away from the lower end of the column assembly (the lower end of the column lower side portion 9d). Of the plurality of supports 10 arranged in the vertical direction in the column set, the lowermost support 10 in the column upper side portion 9u is the column upper side portion 9u. For the purpose of not interfering with the work at the time of connecting the column lower side portion 9d, it is installed at a height far from the lower end of the column upper side portion 9u. Fork 8 is enough So that can be positioned towards.

  Therefore, in the present embodiment, among the storage units S arranged in the vertical direction, the storage unit S that is positioned at the lowest level in the column lower portion 9d and the storage unit S that is positioned at the lowest level in the column upper side portion 9u are the auxiliary storage units SS. Of the storage portions S arranged in the vertical direction, except for the lowermost storage portion S in the column lower portion 9d and the lower storage portion in the column upper portion 9u. The storage unit SH is configured.

  Further, the height from the lower end of the column lower side portion 9d of the lowermost support 10 in the column lower side portion 9d is from the lower end of the column upper side portion 9u of the lower support 10 in the column upper side portion 9u. The storage part S that is installed higher than the height and is located at the lowest stage in the column lower part 9d functions as the first auxiliary storage part S1 of the auxiliary storage part SS, and is the lowest in the column upper part 9u. The storage part S located in the lower stage is configured to function as the second auxiliary storage part S2 of the auxiliary storage part SS.

Incidentally, in the pair of front and rear columns 9 and 9 constituting the column set, at the upper end side portion of the column lower side portion 9d, there is a connecting member 23 along the horizontal direction connecting the adjacent column sets, between the adjacent column sets. Are provided in a state of separating them vertically.
Accordingly, in the second auxiliary storage portion S2 of the auxiliary storage portion SS, the target height for lowering when the stacker crane K performs the lowering process and the reference height for scooping when performing the scooping process are the same as those of the connection member 23 described above. Limited by existence.

The pallet P stores pallet information such as identification information for identifying each pallet P, start date information indicating a use start date, and pallet type information indicating whether the pallet Pn is a hard-flexible pallet Pn or an easy-flexible pallet Py. A pallet information storage unit 21 is provided (see FIG. 4), and the pallet information stored in the pallet information storage unit 21 of the pallet P is stored at a location corresponding to the stacking work conveyor 12 of the stacking unit D. A pallet information reading unit 22 for reading is provided.
The pallet information storage unit 21 is configured by an IC tag or the like, and the pallet information reading unit 22 is configured by a tag reader or the like.

  Incidentally, a pallet information reading unit 22 that reads pallet information stored in the pallet information storage unit 21 of the pallet P is provided at a location corresponding to the loading / unloading conveyor 2 of the storage shelf 1, and a storage shelf management controller The HT is configured to be stored in the storage shelf 1 while identifying the pallet P to be received.

When the stacking controller HD completes the stacking of the article B on the empty pallet P and outputs the above-described carry-out request information, the stacking management controller HD is in an article stacking state in which the article B is stacked in a stacked state. The pallet P is configured to output the identification information of the pallet P and the bending information indicating the downward bending amount of the pallet P in the state of being stored in the storage unit S to the storage shelf management controller HT.
In the present embodiment, the deflection information indicating the deflection amount of the pallet P is information indicating whether the pallet P is a deflection normal pallet PS or an excess deflection pallet PT. It is information which shows whether it is in a state or a large deflection state.

  The storage shelf management controller HT determines a deflection excess pallet PT (easily deflection pallet Py) whose deflection amount on the lower side exceeds an allowable limit (for example, 10 mm) based on the deflection information output from the controller for stacking management. A normal pallet PS (hardly-flexible pallet Pn and easy-flexible pallet Py) that is stored in the auxiliary storage portion SS and whose downward deflection amount does not exceed an allowable limit (for example, 10 mm) is stored in the standard storage portion SH. Therefore, it is configured to issue an operation command to the crane control unit KC.

  Furthermore, the storage shelf management controller HT is used for stacking management when storing the excess deflection pallet PT (easily deflection pallet Py) whose lower side deflection exceeds an allowable limit (for example, 10 mm) in the auxiliary storage section SS. When the excess bending pallet PT is in the middle bending state based on the bending information output from the controller HD, the second excess storage portion S2 in the auxiliary storage portion SS is stored and the excess bending pallet PT is large. When it is in the bent state, it is configured to instruct an operation command to the crane control unit KC so as to be stored in the first auxiliary storage unit S1 in the auxiliary storage unit SS.

Incidentally, in the present embodiment, the storage shelf management controller HT stores the pallet P on which the articles B are stacked, and stores the pallet P as an object to be stored among the empty storage units Sk of the storage units S. The storage unit to be selected is configured to be selected based on the setting rule.
That is, when storing the normal deflection pallet PS whose downward deflection amount does not exceed the allowable limit (for example, 10 mm), the storage unit to be stored among the empty storage units Sk of the standard storage unit SH. Are selected based on the setting rule.

  The setting rule for the standard storage unit SH is defined as a condition that gives priority to the empty storage unit Sk that is close to the loading / unloading conveyor 2. That is, among the storage spaces of a plurality of rows arranged in the horizontal width direction of the storage shelf 1, the storage portion that preferentially selects the storage space in the row close to the loading / unloading conveyor 2 and is located in the storage space in the same row In S, it is determined as a condition for preferentially selecting the one located below. In the case where the storage units S of the same order exist in the left and right storage shelves 1, the left storage shelf 1 is given priority.

  Similarly, when storing a pallet in a large deflection state as the over-deflection pallet PT, the storage unit to be stored among the empty storage units Sk in the first auxiliary storage unit S1 as the auxiliary storage unit SS. Is selected based on the setting rule, and when storing the pallet in the middle deflection state as the excess deflection pallet PT, the empty state in the second auxiliary storage portion S2 as the auxiliary storage portion SS. Among the storage units Sk, the storage unit to be stored is configured to be selected based on the setting rule.

  The setting rule for the auxiliary storage unit SS is defined as a condition that gives priority to the empty storage unit Sk that is close to the loading / unloading conveyor 2. In other words, the first auxiliary storage unit and the second auxiliary storage unit that are arranged along the width direction of the storage shelf 1 are determined to preferentially select the storage unit close to the loading / unloading conveyor 2, and the left and right When the storage units S of the same order exist in the storage shelf 1, the left storage shelf 1 is given priority.

Next, the flowchart of FIG. 7 will be described with respect to the loading process executed by the loading management controller HD.
First, based on the read information of the article information reading unit 14, information of the article B to be stacked next (type, quantity, etc. of the article B) is set (# 1).
In addition, since the reading operation with respect to the article information storage unit 13 by the article information reading unit 14 is performed by an operator, when the reading operation with respect to the article information storage unit 13 by the article information reading unit 14 is performed in advance, The contents are stored, the stored contents are read out, and the information (article B type, quantity, etc.) of the article B to be stacked next is set.

Next, the storage information of the pallet information storage unit 21 of the empty pallet P placed on the stacking work conveyor 12 that is the current work out of the pair of loading work conveyors 12 is stored as pallet information. Reading is performed by the reading unit 22 (# 2).
Thereafter, a loading pattern for loading the article B on the pallet P to be loaded is set (# 3).
In other words, the loading management controller HD stores in advance a loading pattern for loading the article B under the setting allowable condition for each of the plurality of types of articles B to be carried in, and is read by the article information reading unit 14. Based on the received article information, the loading pattern of the article B to be loaded is selected and the loading pattern is set.

The stacking pattern includes information indicating the number of items in the vertical and horizontal directions, information indicating the maximum number to be stacked, and information indicating the loading procedure of the item B when the items B are arranged vertically and horizontally in each step. It is created in a form that includes.
By the way, the information indicating the loading procedure of the article B is information indicating the position and the order of placing the article B on the pallet P to be stacked.

After setting the loading pattern in # 3, the robot operation process for sequentially loading the articles B on the pallets P to be loaded is executed by operating the palletizing robot M (# 4).
In this flowchart, this robot operation process is a process of stacking one article B along the stacking pattern.

After executing the robot operation process of # 4, it is determined whether or not all the loading of the article B that is currently being stacked has been completed (# 5). After executing # 6), the process proceeds to # 1.
In the communication process of # 6, unloading request information for requesting unloading of the pallet P for which loading has been completed, information about the pallet P for which loading has been completed, that is, identification information, and bending that indicates the amount of bending of the pallet P. Information will be output.
In this embodiment, the deflection information indicating the amount of deflection is information indicating whether the pallet is a normal pallet PS or an excess pallet PT, and in the case of an excess pallet PT, the intermediate deflection state. Or information indicating whether it is in a large deflection state.

  If it is determined in # 5 that the loading of all articles B has not been completed, the pallet P currently being loaded is full, that is, the loading pattern for one pallet P is completed. If it is determined that the pallet P is not full (# 7), the robot operation process of # 4 is executed.

If it is determined at # 7 that the pallet P is full, the communication process (# 8) is executed, then the process proceeds to # 2, and the loading work conveyor 12 to be the next work target. The information stored in the pallet information storage unit 21 of the empty pallet P placed on the pallet is read by the pallet information reading unit 22, and then the above-described processing is repeated.
The communication process of # 8 is the same process as the communication process of # 6, and the unloading request information for requesting unloading of the pallet P that has been loaded and the information about the pallet P that has been loaded, that is, The identification information and the deflection information indicating the amount of deflection of the pallet P are output.

  Note that the pallet P on which the articles B are stacked is transported to the loading / unloading conveyor 2 by the transport carriage J and stored in the storage shelf 1 as described above, and the pallet P is unloaded. As described above, the empty pallet P stored in the pallet processing unit G is transported by the transport cart J to the loading conveyor 12.

Next, the processing when the storage shelf management controller HT performs the warehousing operation will be described with reference to the flowchart of FIG.
First, the pallet information reading unit 22 reads information stored in the pallet information storage unit 21 of the pallet P to be stored (# 11), and the read information and information that has been communicated in advance from the loading management controller HD. Based on the above, it is determined whether or not the pallet P to be stored is a deflection excess pallet PT (# 12).
If the pallet P to be stored is not the deflection excess pallet PT, that is, if it is a deflection normal pallet PS, the entry from the empty storage portion Sk of the standard storage portion SH based on the setting rule. A standard storage unit selection process is performed to preferentially select the one close to the delivery conveyor 2 (# 13).

  If it is determined at # 12 that the pallet P to be stored is the deflection excess pallet PT, it is next determined whether or not the pallet P to be stored is in the middle deflection state (# 14). In the case of the intermediate bending state, the second auxiliary storage that preferentially selects the storage unit Sk that is empty in the second auxiliary storage unit S2 and that is close to the storage conveyor 2 based on the setting rule. A copy selection process is executed (# 15).

  If it is determined in # 14 that the pallet P to be stored is not in the middle-deflection state, the pallet P to be stored is in the large-deflection state, so that the empty storage unit Sk in the first auxiliary storage unit S1. Based on the setting rule, the first auxiliary storage unit selection and setting process for preferentially selecting the one close to the loading / unloading conveyor 2 is executed (# 16).

  Then, after executing the standard storage unit selection process (# 13), the second auxiliary storage unit selection process (# 15), or the first auxiliary storage unit selection process (# 16), it is selected in those processes. In order to store the pallet P to be stored in the storage unit S to be stored, command processing for instructing the crane control unit KC to operate is executed (# 17).

  As described above, in the present embodiment, the over-deflection pallet PT (easy-deflection pallet Py) whose deflection amount exceeds the allowable limit (for example, 10 mm) is stored in the auxiliary storage portion SS, and the deflection amount is within the allowable limit ( For example, since the normal pallet PS that does not exceed 10 mm is stored in the standard storage unit SH, the amount of bending exceeds the allowable limit (for example, 10 mm) while suppressing a decrease in the storage efficiency of the storage shelf 1. PT can be stored well.

  Incidentally, in the present embodiment, the first auxiliary storage portion S1 and the second auxiliary storage portion S2 are present as the auxiliary storage portion SS, and the amount of bending of the pallet P (easily flexible pallet Py) is an allowable limit (for example, 10 mm), and when the amount of bending is in the middle bending state, the pallet P (easy bending pallet Py) is stored in the second auxiliary storage portion S2 in the auxiliary storage portion SS, and When the amount of bending of the pallet P (easy-flexing pallet Py) is in a large-deflection state, the pallet P (easily-deflecting pallet Py) is stored in the first auxiliary storage part S1 in the auxiliary storage part SS. However, as the auxiliary storage unit SS, only the first auxiliary storage unit S1 may be present and the second auxiliary storage unit S2 may not be provided.

  That is, in the above-described embodiment, the case where the storage unit S arranged in the vertical direction in the lowermost stage in the column upper side portion 9u constitutes the auxiliary storage unit SS is illustrated. Of the storage units S, the one located at the lowest stage in the column upper side portion 9u is set as the standard storage unit SH, and the pallet P (the amount of bending on the lower side exceeds the allowable limit (for example, 10 mm)) You may implement in the form accommodated in the auxiliary | assistant accommodating part SS located in the lowest step in the column lower side part 9d.

  Further, in the above embodiment, in order to increase the height of the storage shelf 1, the pillar 9 is disassembled into the pillar lower part 9d and the pillar upper part 9u, and the pillar lower part 9d and the pillar upper part 9u. However, it may be implemented in a form in which the pillars 9 are integrally formed.

The location where the auxiliary storage portion SS is installed is not limited to the lower portion of the storage portions S arranged in the vertical direction, and the number of installations can be variously changed.
For example, one or more of the plurality of storage spaces arranged in the width direction of the storage shelf 1 is used as an auxiliary storage portion forming space, and the auxiliary storage portions SS are arranged in the vertical direction in the auxiliary storage portion formation space. It may be formed.

[Second Embodiment]
Next, a second embodiment will be described.
This second embodiment exemplifies a mode in which, in the first embodiment described above, when the auxiliary storage portion SS is full, a deflection excess pallet PT whose deflection amount to the lower side exceeds the allowable limit is not formed. Since the other forms are the same as those of the first embodiment, the description of the same parts as those of the first embodiment is omitted in the following description in order to eliminate the duplicated description. The parts different from the first embodiment will be described in detail.

  In the second embodiment, the lowermost one of the plurality of storage portions S formed in the vertical direction between the column assemblies is the auxiliary storage portion SS, and the amount of bending on the lower side is small. A description will be given assuming that the deflection excess pallet PT exceeding the allowable limit (for example, 10 mm) is uniformly stored in the auxiliary storage portion SS.

  In the second embodiment, the storage shelf 1 has the vertical interval of the support 10 provided in each of the standard storage units SH adjacent in the vertical direction in the standard storage units SH arranged in the vertical direction. In the state where the pallet P loaded with the articles B having the set upper limit height is stored in the storage section below the storage section, the fork 8 is subjected to the allowable amount of bending to perform the lowering process on the storage section to be stored. When the inner pallet P is positioned at the target height for lowering, the fork 8 is configured to be set at an interval that leaves the set accommodation distance L3 from the upper surface of the article B stored in the lower storage section. The point is the same as in the first embodiment.

And in this 2nd Embodiment, when the stacking part D stacks the articles | goods B on the easy-flexible pallet Py when the pallet P is accommodated in all the auxiliary storage parts SS, it is below a setting upper limit height. And it is comprised so that articles | goods may be piled on the setting conditions for easy bending pallets which become below the upper limit weight for easy bending pallets defined lower than the said setting upper limit.
Then, the control means H uses the empty state of the standard storage portion SH as a standard storage portion to be stored, and stores the easy deflection pallet Py on which the articles B are stacked under the setting conditions for the easy deflection pallet. It is configured to control the operation of the stacker crane K.

  In other words, based on the reading information of the pallet information reading unit 22, it is determined whether the pallet P on which the article B is stacked is the hardly-flexible pallet Pn or the easy-flexible pallet Py. In some cases, the article B is stacked under the set allowable conditions described above, that is, the set allowable conditions that are not more than the set upper limit height and not more than the set upper limit weight. When the pallet P is not stored in all of the storage units SS, the articles B are stacked under the setting permissible conditions, and when the pallet P is stored in all of the auxiliary storage units SS, the height is less than the set upper limit height. In addition, the palletizing robot M is configured to operate so as to stack the articles B under the setting allowance condition for the easy deflection pallet that is equal to or less than the upper limit weight for the easy deflection pallet.

And the upper limit weight for easy-flexible pallets is a weight (e.g., within the allowable limit (e.g., 10 mm) in the hard-flexible pallet Pn when the easy-flexible pallet Py is stored in the storage portion S). 300 kg).
Therefore, when the pallet P is stored in all of the auxiliary storage sections SS, the downward deflection amount when the pallet P on which the article B is stacked in the stacking section D is stored in the storage section S is: Both the difficult-to-flexible pallet Pn and the easy-to-flexible pallet Py are within an allowable limit (for example, 10 mm).
That is, when the pallet P is stored in all of the auxiliary storage units SS, the pallets P on which the articles B are stacked in the stacking unit D are all bent and become normal pallets PS.

Incidentally, the loading management controller HD manages the number of empty states in the auxiliary storage unit SS of the storage shelf 1 through communication with the storage shelf management controller HT, and based on the number of empty states. Thus, it is configured to determine whether or not the pallet P is stored in all of the auxiliary storage units SS.
In addition, even if the number of empty states in the auxiliary storage unit SS of the storage shelf 1 remains, it is stored in the auxiliary storage unit SS in the transport path between the loading unit D and the loading / unloading conveyor 2. When the pallet P exists, it is determined that the article B is stored in all the auxiliary storage units SS of the storage shelf 1.

Next, the loading process executed by the loading management controller HD will be described with reference to the flowchart of FIG.
First, based on the read information of the article information reading unit 14, information of the article B to be stacked next (type, quantity, etc. of the article B) is set (# 21).
In addition, since the reading operation with respect to the article information storage unit 13 by the article information reading unit 14 is performed by an operator, when the reading operation with respect to the article information storage unit 13 by the article information reading unit 14 is performed in advance, The contents are stored, the stored contents are read out, and the information (article B type, quantity, etc.) of the article B to be stacked next is set.

  Next, the storage information of the pallet information storage unit 21 of the empty pallet P placed on the stacking work conveyor 12 that is the current work out of the pair of loading work conveyors 12 is stored as pallet information. Reading is performed by the reading unit 22 (# 22), and based on the reading information, it is determined whether or not the pallet P to be stacked is a difficult-to-flex pallet Pn (# 23).

If it is determined at # 23 that the pallet P to be stacked is the difficult-to-flexible pallet Pn, the setting allowable condition is set as the loading condition for the article B (# 24).
If it is determined at # 23 that the pallet P to be loaded is not the hard-flexible pallet Pn, that is, if it is determined that the pallet Py is the easy-flexible pallet Py, the pallet P is stored in all of the auxiliary storage units SS. It is determined whether or not it is full (# 25). If not full, the process proceeds to # 24, where the setting permissible condition is set as the loading condition for the article B, and in the full condition If there is, the setting allowance condition for the easy deflection pallet is set as the loading condition for the article B (# 26).

After setting the loading condition of the article B in # 24 and # 26, a loading pattern for loading the article B on the pallet P to be loaded is set (# 27).
In other words, the loading management controller HD stores in advance a loading pattern for loading the article B with the setting allowable condition and the setting allowable condition for the easy-flexible pallet for each of the plural types of articles B to be carried in, Based on the article information read by the article information reading unit 14, the loading pattern of the article B to be loaded is selected and the loading pattern is set.

The stacking pattern includes information indicating the number of items in the vertical and horizontal directions, information indicating the maximum number to be stacked, and information indicating the loading procedure of the item B when the items B are arranged vertically and horizontally in each step. It is created in a form that includes.
By the way, the information indicating the loading procedure of the article B is information indicating the position and the order of placing the article B on the pallet P to be stacked.

After setting the loading pattern at # 27, the palletizing robot M is operated to execute a robot operation process for sequentially loading the articles B on the pallets P to be stacked (# 28).
In this flowchart, this robot operation process is a process of stacking one article B along the stacking pattern.

After executing the robot operation process of # 28, it is determined whether or not all the loading of the article B that is currently being loaded has been completed (# 29), and if completed, the communication process ( After executing # 30), the process proceeds to # 21.
The communication process of # 30 includes unloading request information for requesting unloading of the pallet P for which loading has been completed, information about the pallet P for which loading has been completed, that is, identification information, and bending indicating the amount of bending of the pallet P. Information will be output.
In the present embodiment, the deflection information indicating the amount of deflection is information indicating whether the pallet is a normal pallet PS or an excessively pallet PT.

  If it is determined in # 29 that the loading of all articles B has not been completed, the pallet P that is currently being loaded is full, that is, the loading pattern for one pallet P is completed. (# 31), and if it is determined that the pallet P is not full, the robot operation process of # 28 is executed.

If it is determined at # 31 that the pallet P is full, the communication process (# 32) is executed, then the process proceeds to # 22 and the loading work conveyor 12 to be the next work target. The information stored in the pallet information storage unit 21 of the empty pallet P placed on the pallet is read by the pallet information reading unit 22, and then the above-described processing is repeated.
The communication process of # 32 is the same process as the communication process of # 30, and the unloading request information for requesting unloading of the pallet P for which loading has been completed, the information about the pallet P for which loading has been completed, that is, The identification information and the deflection information indicating the amount of deflection of the pallet P are output.

  Note that the pallet P on which the articles B are stacked is transported to the loading / unloading conveyor 2 by the transport carriage J and stored in the storage shelf 1 as described above, and the pallet P is unloaded. As described above, the empty pallet P stored in the pallet processing unit G is transported by the transport cart J to the loading conveyor 12.

Next, processing when the storage shelf management controller HT performs the warehousing operation will be described based on the flowchart of FIG.
First, the pallet information reading unit 22 reads information stored in the pallet information storage unit 21 of the pallet P to be stored (# 41). Next, the pallet P is stored in all of the auxiliary storage units SS. Is determined (# 42).

If it is determined in # 42 that the auxiliary storage section SS is not full, the pallet to be stored is based on the read information obtained in the process of # 41 and the information communicated in advance from the loading management controller HD. It is determined whether or not P is a deflection excess pallet PT (# 43).
In the case where the pallet P to be stored is not the bending excess pallet PT, that is, the bending normal pallet PS, the loading / unloading conveyor based on the setting rule from the empty storage unit Sk in the standard storage unit SH. A standard storage unit selection process for preferentially selecting the one close to 2 is executed (# 44).

  If it is determined at # 43 that the pallet P to be stored is an over-deflection pallet PT, the storage conveyor Sk from the empty storage unit Sk in the auxiliary storage unit SS is set based on the setting rule. Auxiliary storage unit selection processing for preferentially selecting the one close to 2 is executed (# 45).

  If it is determined in # 42 that the auxiliary storage unit SS is full, the entire storage pallet P is stored in the standard storage unit SH, so the standard storage unit selection process in # 44 is executed. To do.

  After executing the standard storage unit selection process (# 44) or the auxiliary storage unit selection process (# 45), the pallet P to be stored is placed in the storage unit S to be stored selected in those processes. In order to store them, a command process for instructing the crane control unit KC to operate is executed (# 46).

  As described above, in the second embodiment, the article B is stacked on the easy-flexible pallet Py so that the easy-flexible pallet Py does not become the excess pallet PT even when the auxiliary storage portion SS is full, and the pallet Since P is stored in the storage shelf 1, the work of loading and storing the article B on the pallet P can be continuously performed.

[Third Embodiment]
Next, a third embodiment will be described.
In the third embodiment, when the auxiliary storage portion SS is full in the first embodiment, the excess bending pallet PT whose amount of downward deflection exceeds an allowable limit is stored in the standard storage portion SH. The embodiment is exemplary, and other forms are the same as those in the first embodiment. Therefore, in the following description, the description of the same parts as those in the first embodiment will be omitted in order to eliminate redundant description. A portion different from the first embodiment will be described in detail.

  In the third embodiment, as in the second embodiment, the lowermost one of the plurality of storage portions S formed side by side between the column assemblies is the auxiliary storage portion SS. In the following description, it is assumed that the excess bending pallet PT whose bending amount exceeds the allowable limit (for example, 10 mm) is stored uniformly in the auxiliary storage portion SS.

  In the third embodiment, the storage shelf 1 has the vertical interval between the support bodies 10 provided in each of the standard storage units SH adjacent in the vertical direction in the standard storage units SH arranged in the vertical direction. In the state where the pallet P loaded with the article B of the set upper limit height is stored in the storage portion below the storage portion, in order to perform the lowering process on the storage portion to be stored, the fork 8 is bent downward. When the fork 8 is positioned at the lowering target height for the pallet P that falls within the allowable limit, the fork 8 is set to a state that is set at an interval that leaves the set accommodation distance L3 from the upper surface of the article B stored in the lower storage section. The configuration is the same as in the first embodiment.

  In the third embodiment, when the storage shelf management controller HT stores the pallet P (deflection excess pallet PT) in all of the auxiliary storage units SS, the downward deflection amount has an allowable limit. In the case of storing the excess bending excess pallet PT, in the empty storage portion Sk of the standard storage portion SH, in the storage portion where the article is not stored in the lower storage portion, or in the lower storage portion When storing the pallet P to be stored based on the height of the article B stored in the lower storage unit and the amount of deflection of the pallet P to be stored, The fork 8 having the target height for lowering is configured to select the storage unit that is predicted to leave the set accommodation distance L3 from the upper surface of the article B stored in the lower storage unit as the storage unit to be stored. Have .

  Further, when the storage shelf management controller HT stores the pallet P in the standard storage unit SH, the upper standard storage unit is allowed to bend in the empty storage unit Sk of the standard storage unit SH. A standard storage part in which a pallet exceeding the limit is not stored, or a standard storage part in which an upper standard storage part stores a pallet whose deflection exceeds an allowable limit, and the pallet to be stored in the standard storage part Is stored in the upper standard storage unit based on the amount of bending of the pallet stored in the upper standard storage unit and the height of the article B loaded on the pallet to be stored. The standard storage unit in which the fork 8 having a large reference height is expected to leave the set accommodation distance L3 from the upper surface of the articles stacked on the storage target pallet P when the pallet is removed. It is configured to select as the storage portion of the storage object.

That is, when the loading management controller HD completes the loading of the article B on the empty pallet P and outputs the above-described carry-out request information, the article stacking in which the article B is stacked in a stacked state. In addition to the identification information of the pallet P and the deflection information indicating the amount of deflection of the pallet P, the height information about the height of the article B stacked on the pallet P is stored in the storage shelf management controller. It is configured to output to HT.
The deflection information indicating the amount of deflection is information indicating whether the pallet is a normal pallet PS or an excess pallet PT, and if the pallet is an excess pallet PT, it is in a middle deflection state or a large deflection. It is information indicating whether or not the state is present.

  When the pallet P (deflection excess pallet PT) is stored in all of the auxiliary storage units SS, the storage shelf management controller HT stores the pallet P on which the articles B are stacked. In the case of the pallet excess pallet PT, the standard storage unit (hereinafter referred to as the first condition storage unit) in which the article B is not stored in the lower storage unit among the empty storage units Sk of the standard storage unit SH. Or a standard storage part in which the article B is stored in the lower storage part S, and the height of the article B stored in the lower storage part and the deflection amount of the pallet P to be stored. Based on this, when storing the pallet P to be stored, the standard storage in which the fork 8 having the target height for lowering is predicted to leave the set accommodation distance L3 from the upper surface of the article B stored in the storage section below. Department (below The abbreviation) and second condition storage unit, and is configured to select as the storage portion of the storage object.

  Further, when storing the pallet P on which the articles B are stacked in the standard storage unit SH, the storage shelf management controller HT has an upper standard among the empty storage units Sk in the standard storage unit SH. Deflection amount exceeding the allowable limit in the storage portion The standard storage portion where the excess bending pallet PT is not stored (hereinafter, abbreviated as the third condition storage portion), or the upper standard storage portion, the bending amount exceeding the allowable limit The standard storage unit in which the excess pallet PT is stored, and assuming that the pallet P to be stored is stored in the standard storage unit, the deflection amount and storage of the pallet stored in the upper standard storage unit When the pallet stored in the upper standard storage section is taken out based on the height of the article B loaded on the target pallet P, the fork 8 having a reference height for scooping is stored in the pallet P to be stored. Housing part it is expected to leave the setting flexibility distance L3 from the upper surface of the are stacked article B (hereinafter, abbreviated as fourth condition storage unit) and is configured to select as the storage portion of the storage object.

That is, in this embodiment, when the storage shelf management controller HT stores the pallet P on which the articles B are stacked in the standard storage unit SH, the empty storage unit Sk of the standard storage unit S is stored. A storage unit that is a storage candidate is selected based on the setting rule.
That is, when storing the normal pallet PS that is bent so that the amount of bending does not exceed the allowable limit (for example, 10 mm), or when storing all the pallets P in the standard storage part SH because the auxiliary storage part SS is full, it is standard. Among the storage units Sk in the storage unit SH, the storage unit as a storage candidate is selected based on the setting rule.

  The setting rule for the standard storage unit SH is defined as a condition that gives priority to the standard storage unit SH that is close to the loading / unloading conveyor 2 among the empty storage units Sk. That is, among the storage spaces of a plurality of rows arranged in the horizontal width direction of the storage shelf 1, the storage portion that preferentially selects the storage space in the row close to the loading / unloading conveyor 2 and is located in the storage space in the same row In S, it is determined as a condition for preferentially selecting the one located below. In the case where the storage units S of the same order exist in the left and right storage shelves 1, the left storage shelf 1 is given priority.

In addition, when storing the excess bending pallet PT in which the amount of bending on the lower side exceeds the allowable limit (for example, 10 mm) when the auxiliary storage unit SS is not full, the empty storage unit Sk of the auxiliary storage unit SS. Therefore, the storage unit as the storage candidate is configured to be selected based on the setting rule.
The setting rule for the auxiliary storage unit SS is defined as a condition that gives priority to the storage unit Sk in the empty state of the auxiliary storage unit SS that is close to the loading / unloading conveyor 2. In other words, the auxiliary storage unit SS arranged in the horizontal width direction of the storage shelf 1 is defined as a condition for preferentially selecting the storage unit close to the loading / unloading conveyor 2 and has the same order as the left and right storage shelves 1. When the storage unit S exists, the left storage shelf 1 is given priority.

  Next, when the storage shelf management controller HT stores the pallet P on which the articles B are stacked, if the pallet P is the deflection excess pallet PT and the auxiliary storage unit SS is full, the storage shelf management controller HT described above. When the storage candidate SH that is the storage candidate is the first condition storage part or the second condition storage part and satisfies the first selection condition that it is the third condition storage part or the fourth condition storage part, the storage The candidate standard storage unit SH is finally selected as a storage target storage unit that stores the pallet P on which the articles B are stacked, and the storage candidate standard storage unit SH satisfies the first selection condition. If not, the storage candidate standard storage unit SH is selected based on the setting rule in a state where the storage candidate standard storage unit is excluded, and the selected storage candidate standard storage unit SH satisfies the first selection condition. To determine Tasca not, housing portion of the housing candidates to the first selection condition is satisfied, it will be repeated.

  Incidentally, when the standard storage unit SH as a storage candidate is adjacent to the upper part of the auxiliary storage unit SS, the storage unit S below the auxiliary storage unit SS becomes the auxiliary storage unit SS. In this case, the auxiliary storage unit SS includes Assuming that the over-deflection pallet P having the set upper limit height is stored, the over-bending pallet PT is prevented from being stored in the standard storage part SH adjacent to the upper part of the auxiliary storage part SS.

  In other words, if the excess deflection pallet PT is stored in the standard storage portion SH adjacent to the upper portion of the auxiliary storage portion SS, after the pallet P is taken out from the auxiliary storage portion SS, the additional deflection excess pallet PT is assisted. When storing in the storage unit SS, the height of the article B is set to a set upper limit height so as not to affect the removal of the over-deflection pallet PT stored in the standard storage unit SH adjacent to the upper part. This is to avoid a situation where the excessive bending pallet PT cannot be stored.

  Further, when the storage shelf management controller HT stores the pallet P on which the articles B are stacked, if the pallet P is not the deflection excess pallet PT, the storage candidate standard storage unit SH sets the third condition. When the second selection condition of the storage unit or the fourth condition storage unit is satisfied, the storage candidate standard storage unit SH is finally set as a storage target storage unit that stores the pallets P on which the articles B are stacked. When the storage candidate standard storage unit SH does not satisfy the second selection condition, the storage shelf management controller HT removes the storage candidate standard storage unit based on the setting rule. The storage candidate standard storage unit SH selects the storage candidate standard storage unit SH and determines whether or not the selected storage candidate standard storage unit SH satisfies the second selection condition. Until 2 satisfy the selection criteria will be repeated.

  By the way, when storing the pallet P on which the articles B are stacked, if the pallet P is a deflection excess pallet PT and the auxiliary storage part SS is not full, the auxiliary storage part SS as described above. A storage unit as a storage candidate is selected from the empty storage units Sk based on the setting rule, and the selected storage unit is selected as a storage unit to be stored.

  Then, when the storage shelf management controller HT selects the storage target storage unit S that stores the pallets P on which the articles B are stacked, the storage shelf management controller HT stores the pallet P in the article storage state in the selected storage target storage unit S. Therefore, a conveyance command is issued to the crane control unit KC of the stacker crane K.

  Incidentally, as described above, when the auxiliary storage unit SS is full and the pallet P to be stored is the deflection excess pallet PT, it is determined whether or not the standard storage unit SH as a storage candidate is the second condition storage unit. When determining, when the pallet P to be stored is stored based on the height of the article B stored in the lower storage section S and the amount of deflection of the pallet P to be stored, the target height for lowering is determined. It is predicted whether or not the fork 8 will leave the set accommodation distance L3 from the upper surface of the article B stored in the lower storage section S. In this embodiment, the deflection amount of the pallet P that is excessively bent is determined. Therefore, it is predicted that the middle deflection state is 20 mm and the large deflection state is 30 mm.

  The separation distance L2 corresponding to the lowering target height of the fork 8 is, for example, set to 40 mm in the middle deflection state where the deflection amount is 20 mm as described above, and the large deflection state where the deflection amount is 30 mm. For example, 50 mm is set.

  Further, when storing the pallet P on which the articles B are stacked, when determining whether or not the standard storage unit SH as a storage candidate is the fourth condition storage unit, it is stored in the upper standard storage unit SH. When the pallet P stored in the upper standard storage part SH is taken out based on the amount of bending of the pallet P and the height of the article B loaded on the pallet P to be stored It is predicted whether or not the fork 8 having the reference height will leave the set accommodation distance L3 from the upper surface of the article B loaded on the pallet P to be stored. In this embodiment, the amount of deflection of the pallet P is predicted. Therefore, it is predicted that the middle deflection state is 20 mm and the large deflection state is 30 mm.

  Further, as described above, the separation distance L2 corresponding to the scooping reference height of the fork 8 is set to 40 mm, for example, in the middle bending state where the bending amount is 20 mm, and the bending amount is 30 mm. In the case of the bent state, for example, 50 mm is set.

In the third embodiment, the loading process executed by the loading management controller HD is the same as the loading process in the first embodiment, and a description thereof will be omitted.
However, in the third embodiment, in the communication process (# 6, # 8) in the flowchart of FIG. 7, in addition to the identification information of the pallet P and the deflection information indicating the downward deflection amount of the pallet P, The height information about the height of the article B stacked on the pallet P is output.

Next, the warehousing process performed by the storage shelf management controller HT will be described with reference to the flowchart of FIG.
First, the storage information of the pallet information storage unit 21 of the pallet P in the article stacking state carried into the loading / unloading conveyor 2 is read by the pallet information reading unit 22 (# 51). Based on the information communicated in advance from the attachment management controller HD, it is determined whether or not the loaded pallet P is a deflection excess pallet PT (# 52).

  If it is determined at # 52 that the pallet P is excessively bent, it is determined whether or not the pallet P is stored in all of the auxiliary storage units SS (# 53) and not full. In this case, an auxiliary storage unit selection process is executed for selecting a storage unit as a storage candidate among the empty storage units of the auxiliary storage unit SS based on the setting rule (# 54).

  When it is determined at # 52 that the pallet P is not over-deflection pallet or when it is determined at # 53 that the pallet P is stored in all of the auxiliary storage sections SS, the standard storage section A standard storage unit selection process for selecting a storage unit as a storage candidate from among the free storage units Sk in SH based on the setting rule is executed (# 55).

After the selection process of # 55 is executed, it is determined whether or not the pallet P to be stored is an over-deflection pallet PT (# 56). It is determined whether or not the article B exists in the lower storage part (# 57).
When the article B exists in the storage section S below the standard storage section SH that is a candidate for storage, based on the height of the article B stored in the storage section S below and the deflection amount of the pallet P to be stored. Whether or not the fork 8 having the target height for lowering is predicted to leave the set accommodation distance L3 from the upper surface of the article B stored in the lower storage portion when the pallet P to be stored is stored. Is discriminated (# 58).

That is, in the processing of # 56 to # 58, when the pallet P in the article stacking state to be stored is the deflection excess pallet PT, the storage candidate standard storage part SH is the first condition storage part or the second condition described above. This corresponds to the process of determining whether the storage unit.
When it is determined at # 58 that the fork 8 with the target height for lowering is not separated from the upper surface of the article B stored in the lower storage section S by the set accommodation distance L3, that is, a standard storage candidate When the storage unit is not the first condition storage unit or the second condition storage unit described above, the process proceeds to # 55, and the standard storage unit with the next highest priority is selected after the standard storage unit of the storage candidate selected previously. Then, a new storage candidate storage unit is selected, and the subsequent processing is repeated.

  In the determination process of # 57 and # 58, when the standard storage part SH as a storage candidate is adjacent to the upper part of the auxiliary storage part SS, the auxiliary storage part SS is bent at the set upper limit height as described above. Assuming that the excess pallet P is stored, the discrimination process is executed.

  When it is determined at # 56 that the pallet PT is not an excessive deflection pallet PT, when it is determined at # 57 that the article B does not exist in the storage section below the standard storage section as a storage candidate, and at # 58, it is lowered. When it is determined that the fork 8 having the target height is separated from the upper surface of the article B stored in the lower storage portion S by the set accommodation distance L3, the process proceeds to # 59.

The process of # 59 is a process of determining whether or not the excess bending pallet PT exists in the standard storage unit above the standard storage unit that is the storage candidate.
If it is determined at # 59 that the pallet P to be stored is stored in the standard storage unit that is the storage candidate, the amount of bending of the pallet stored in the upper standard storage unit and storage When the pallet P stored in the upper standard storage unit is taken out based on the height of the article B loaded on the target pallet P, the scooping reference height fork 8 becomes the storage target pallet P. It is determined whether or not it is predicted to leave the set accommodation distance L3 from the upper surface of the stacked article B (# 60).

That is, the processes of # 59 and # 60 correspond to the process of determining whether the storage candidate standard storage unit is the above-described third condition storage unit or fourth condition storage unit.
When it is determined at # 60 that the fork 8 having a large reference height is not separated from the set accommodation distance L3 from the upper surface of the article B stored in the standard storage unit of the storage candidate, that is, the storage candidate standard When the storage unit is not the third condition storage unit or the fourth condition storage unit described above, the process proceeds to the process of # 55, and the standard storage unit having the next highest priority is selected after the standard storage unit of the storage candidate selected previously. Then, the standard storage unit is selected as a new storage candidate, and the subsequent processing is repeated.

  When it is determined at # 59 that there is no over-deflection pallet in the storage section S above the standard storage section of the storage candidate, and at # 60, the fork 8 having a reference height for scooping is the standard storage candidate When it is determined that the set accommodation distance L3 is predicted to be separated from the upper surface of the article B stored in the storage unit, the standard storage unit as a storage candidate is stored as a storage target for storing the pallet P in the article loading state. A command process (# 61) is performed to select a storage unit and instruct a conveyance command to the crane control unit KC of the stacker crane K in order to store the pallet P in an article loading state in the storage unit to be stored. Will do.

  Similarly, after executing the auxiliary storage portion selection process of # 54, the auxiliary storage portion as the storage candidate is selected as the storage target storage portion, and the article is stacked in the storage target storage portion by the command processing of # 61. In order to store the pallet P in a state, a conveyance command is issued to the crane control unit KC of the stacker crane K.

  Incidentally, the storage shelf management controller HT includes, for a plurality of storage units S, presence / absence information indicating whether or not the pallet P is stored, and when the pallet P is stored, the identification information and the bending amount indicating the bending amount. The above-described processing is executed by managing information, height information indicating the height of the stacked articles B, and the like.

[Fourth Embodiment]
Next, a fourth embodiment will be described.
The fourth embodiment exemplifies a mode in which all the pallets P are stored in the standard storage unit SH when the auxiliary storage unit SS is full in the first embodiment. Is the same as that of the first embodiment, and therefore, in the following description, the description of the same parts as those of the first embodiment is omitted to eliminate redundant description, and is different from the first embodiment. The part will be described in detail.

  In the fourth embodiment, the lowermost one of the plurality of storage portions S formed side by side between the column assemblies is the auxiliary storage portion SS, and the amount of bending on the lower side is small. A description will be given assuming that the deflection excess pallet PT exceeding the allowable limit (for example, 10 mm) is uniformly stored in the auxiliary storage portion SS.

  In the fourth embodiment, the storage shelf 1 sets the upper and lower intervals of the supports 10 provided in the standard storage units SH arranged in the vertical direction to the upper limit set in the storage unit below the standard storage unit to be stored. In the state where the pallet P loaded with the articles B having a height is stored, the fork 8 is allowed to be bent downward in order to perform the lowering process and the scooping process on the standard storage unit to be stored. When the inner pallet P is positioned at the target height for lowering, the fork 8 is configured to be set at an interval that leaves the set accommodation distance L3 from the upper surface of the article B stored in the lower storage section. The point is the same as in the first embodiment.

  And in this 4th Embodiment, when the loading part D loads the article B on the easy-flexible pallet Py when the pallet P is stored in all of the auxiliary storage parts SS, When one of the empty storage units Sk is selected as a standard storage unit scheduled to be stored and an article is stored in a storage unit below the standard storage unit scheduled to be stored, The fork 8 having the target height for lowering is stored in the lower storage portion when the easy-deflection pallet Py to be stored is stored in the storage portion to be stored, instead of the condition that the set allowable weight is not more than the set upper limit weight. A deflection amount regulation that regulates the deflection amount of the easy-flexible pallet Py based on the height of the article stored in the lower storage portion so as to be away from the set accommodation distance L3 from the upper surface of the article B being stored. On condition It is configured to apply Masonry goods B.

  Incidentally, when the standard storage part SH to be stored is adjacent to the upper part of the auxiliary storage part SS, the lower storage part S becomes the auxiliary storage part SS. In this case, the auxiliary storage part SS includes Assuming that the deflection excess pallet P having the set upper limit height is stored, the article B is stacked under the above-described deflection amount regulation condition.

  In other words, if the excess deflection pallet PT is stored in the standard storage portion SH adjacent to the upper portion of the auxiliary storage portion SS, after the pallet P is taken out from the auxiliary storage portion SS, the additional deflection excess pallet PT is assisted. When storing in the storage unit SS, the height of the article B is set to a set upper limit height so as not to affect the removal of the over-deflection pallet PT stored in the standard storage unit SH adjacent to the upper part. This is to avoid a situation in which the excess bending pallet PT which is the height cannot be stored.

  The control means H is configured to control the operation of the stacker crane K so as to store the easy-deflection pallet Py to be stored, on which the articles B are stacked, in the storage unit scheduled to be stored for the easy-deflection pallet. Has been.

  Further, in the fourth embodiment, when the stacking portion D stacks articles on the pallet P to be stored stored in the standard storage portion when the deflection excess pallet PT is stored in the standard storage portion SH, One of the empty storage units Sk in the standard storage unit SH is selected as the storage unit scheduled to be stored.

  And when the excess bending pallet PT whose bending amount exceeds the allowable limit is stored in the storage part above the storage part that is scheduled to be stored, instead of the condition of setting the upper limit height of the setting allowable condition, the storage target Assuming that the pallet P is stored in the storage unit to be stored, when the pallet stored in the upper storage unit is taken out, the fork 8 having a reference height for scooping is stacked on the pallet P to be stored. The height of articles to be stacked on the pallet P to be stored is regulated based on the amount of deflection of the pallet stored in the upper storage unit so that the set accommodation distance L3 is separated from the upper surface of the article B being stored. It is comprised so that goods may be piled up on the height regulation conditions to do.

  The control means H is configured to control the operation of the stacker crane K so as to store the pallet P to be stored, on which the articles B are stacked, in the storage unit that is to be stored.

In other words, the loading management controller HD stores presence / absence information on whether or not the pallet P is stored for the plurality of standard storage units SH and the plurality of auxiliary storage units SS of the storage shelf 1, and stores the pallet P. If so, the identification information of the pallet, the deflection information indicating the amount of deflection, the height information indicating the height of the stacked articles B, and the like are managed.
Further, the loading management controller HD manages the number of empty states in the auxiliary storage units SS of the storage shelf 1, and the pallets P are stored in all of the auxiliary storage units SS based on the number of empty states. It is configured to determine whether or not.
In addition, even if the number of vacant states in the auxiliary storage unit SS of the storage shelf 1 remains, it is stored in the auxiliary storage unit SS in the transport path between the stacking unit D and the loading / unloading conveyor 2. When the pallet P exists, it is determined that the article B is stored in all the auxiliary storage units SS of the storage shelf 1.

  When the article B is to be stacked on the pallet P to be stacked in a state where the pallet P is stored in all of the auxiliary storage units SS, the stacking management controller HD among the plurality of standard storage units SH of the storage shelf 1 The standard storage unit that is to store the pallet P on which the articles B are stacked is selected from the empty storage units Sk based on the setting rule.

  The setting rule for the standard storage unit SH is defined as a condition that gives priority to the standard storage unit SH that is close to the loading / unloading conveyor 2 among the empty storage units Sk. That is, among the storage spaces of a plurality of rows arranged in the horizontal width direction of the storage shelf 1, the storage portion that preferentially selects the storage space in the row close to the loading / unloading conveyor 2 and is located in the storage space in the same row In S, it is determined as a condition for preferentially selecting the one located below. In the case where the storage units S of the same order exist in the left and right storage shelves 1, the left storage shelf 1 is given priority.

Then, when the article B is stacked on the pallet P to be stacked, the pallet P on which the article B is stacked is the hardly-flexible pallet Pn or the easily-flexible pallet Py based on the reading information of the pallet information reading unit 22. Determine whether.
When the pallet P to be loaded is an easily deflectable pallet Py and the article B is stored in the storage part below the standard storage part to be stored, the condition is set to be equal to or less than the set upper limit weight of the setting allowable condition. Instead, when the easy-deflection pallet Py to be stored is stored in the storage unit scheduled to be stored, the fork 8 having the target height for lowering is set to the set accommodation distance L3 from the upper surface of the article B stored in the lower storage unit. Based on the height of the article B stored in the lower storage part so as to be separated, the articles B are stacked under a deflection amount regulation condition that regulates the deflection amount of the easy deflection pallet Py. The palletizing robot M is configured to operate.

  By the way, when the standard storage part SH to be stored is adjacent to the upper part of the auxiliary storage part SS, as described above, the lower excess storage part SS stores the deflection excess pallet P having the set upper limit height. It is assumed that the article B is stacked under the above-described deflection amount regulation condition.

  Note that when the pallet P to be stored is stored based on the height of the article B stored in the lower storage section S and the deflection amount of the pallet P to be stored, the fork 8 having the target height for lowering is stored. In the present embodiment, when the article B is loaded in a state of leaving the set accommodation distance L3 from the upper surface of the article B stored in the lower storage section S, in the present embodiment, the amount of deflection of the over-deflection pallet P is an intermediate deflection state. Is 20 mm, and the large deflection state is 30 mm.

  The separation distance L2 corresponding to the lowering target height of the fork 8 is, for example, set to 40 mm in the middle deflection state where the deflection amount is 20 mm as described above, and the large deflection state where the deflection amount is 30 mm. For example, 50 mm is set.

  Further, when the excess bending pallet PT is stored in the standard storage portion SH, when the article B is stacked on the pallet P to be stacked, the excess pallet PT is placed in the standard storage portion above the standard storage portion to be stored. Is stored in the upper standard storage unit under the assumption that the pallet to be stored is stored in the standard storage unit that is to be stored, instead of the condition that the set upper limit height is not exceeded. When the pallet is taken out, the upper standard storage unit is set so that the fork 8 having a large reference height is separated from the upper surface of the article B loaded on the pallet P to be stored by the set accommodation distance L3. The pallet tie so that the articles are stacked under a height regulation condition that regulates the height of the articles to be stacked on the pallet P to be stored based on the deflection amount of the pallets stored in the container. And it is configured to actuate the robot M.

  The pallet P stored in the upper standard storage unit is determined based on the amount of deflection of the pallet P stored in the upper standard storage unit and the height of the article B loaded on the pallet P to be stored. In the present embodiment, when the article B is loaded such that the fork 8 having a large reference height for removal is separated from the upper surface of the article B loaded on the pallet P to be stored by the set accommodation distance L3. The amount of bending of the pallet P is assumed to be 20 mm in the middle bending state and 30 mm in the large bending state.

  Further, as described above, the separation distance L2 corresponding to the scooping reference height of the fork 8 is set to 40 mm, for example, in the middle bending state where the bending amount is 20 mm, and the bending amount is 30 mm. In the case of the bent state, for example, 50 mm is set.

Further, when the loading management controller HD completes the loading of the article B on the pallet P and outputs the above-mentioned carry-out request information, the identification information and the deflection amount of the pallet P in the article loading state are output. Of storage information indicating the height of the article B stacked on the pallet P, and the storage unit S to specify the storage unit to be stored that stores the pallet P in the product stacking state. The storage unit designation information to be output is output to the storage shelf management controller HT.
In this embodiment, the deflection information indicating the deflection amount of the pallet P is information indicating whether the pallet P is a deflection normal pallet PS or a deflection excess pallet PT, and if it is a deflection excess pallet PT, It is information which shows whether it is a middle deflection state or a large deflection state.

  The storage shelf management controller HT designates the storage unit from the loading management controller HD when storing the pallet P in which the articles B are stacked in a state where the pallet P is stored in all of the auxiliary storage units SS. Based on the information, the crane control unit KC is configured to instruct an operation command to store the pallet P in the article loading state in the specified storage target storage unit.

  Further, the storage shelf management controller HT, when storing the pallet P on which the articles B are stacked, in a state where the pallet P is not stored in all of the auxiliary storage units SS, as in the second embodiment. A deflection normal pallet PS in which a deflection excess pallet PT whose side deflection amount exceeds an allowable limit (for example, 10 mm) is stored in the auxiliary storage portion SS and the deflection amount on the lower side does not exceed the allowable limit (for example, 10 mm). In order to store in the standard storage unit SH, an operation command is instructed to the crane control unit KC.

  Incidentally, also in the present embodiment, the storage shelf management controller HT stores the pallet P on which the articles B are stacked, and stores the bent normal pallet PS in the empty state in the standard storage unit SH. Among the storage units Sk, a storage unit to be stored is selected based on the setting rule.

  The setting rule for the standard storage unit SH is defined as a condition that gives priority to the empty storage unit Sk that is close to the loading / unloading conveyor 2. That is, among the storage spaces of a plurality of rows arranged in the horizontal width direction of the storage shelf 1, the storage portion that preferentially selects the storage space in the row close to the loading / unloading conveyor 2 and is located in the storage space in the same row In S, it is determined as a condition for preferentially selecting the one located below. In the case where the storage units S of the same order exist in the left and right storage shelves 1, the left storage shelf 1 is given priority.

Similarly, when storing the excess bending pallet PT, the storage unit to be stored among the empty storage units Sk of the auxiliary storage unit SS is selected based on the setting rule. Yes.
The setting rule for the auxiliary storage unit SS is defined as a condition that gives priority to the empty storage unit Sk that is close to the loading / unloading conveyor 2. In other words, the auxiliary storage unit SS arranged in the horizontal width direction of the storage shelf 1 is defined as a condition for preferentially selecting the storage unit close to the loading / unloading conveyor 2 and has the same order as the left and right storage shelves 1. When the storage unit S exists, the left storage shelf 1 is given priority.

  Further, when the storage shelf management controller HT issues a transport command to the crane control unit KC of the stacker crane K, the transport target pallet is based on the flexure information indicating the flexure amount of the transport target pallet P. It is configured to command a scooping reference height and a lowering target height in accordance with the amount of deflection of P.

Next, the flowchart of FIG. 12 will be described with respect to the loading process executed by the loading management controller HD.
First, based on the read information of the article information reading unit 14, information on the article B to be stacked next (type, quantity, etc. of the article B) is set (# 71).
In addition, since the reading operation with respect to the article information storage unit 13 by the article information reading unit 14 is performed by an operator, when the reading operation with respect to the article information storage unit 13 by the article information reading unit 14 is performed in advance, The contents are stored, the stored contents are read out, and the information (article B type, quantity, etc.) of the article B to be stacked next is set.

  Subsequently, the storage information of the pallet information storage unit 21 of the empty pallet P to be stacked that is placed on the stacking work conveyor 12 that is the current work target among the pair of stacking work conveyors 12 is stored. Then, a reading process is executed by the palette information reading unit 22 (# 72).

Next, it is determined whether or not the pallet P is stored in all of the auxiliary storage units SS (# 73).
When it is determined that the storage is full, a standard storage unit selection process is performed for selecting a standard storage unit to be stored from the empty storage units Sk of the standard storage unit SH based on the setting rule. Execute (# 74).
As described above, the standard storage unit selection processing setting rule preferentially selects a storage space in a row close to the loading / unloading conveyor 2 among a plurality of storage spaces arranged in the horizontal width direction of the storage shelf 1, And in the storage part S located in the storage space of the same row | line | column, it is determined on the conditions which give priority to selecting what is located below. In the case where the storage units S of the same order exist in the left and right storage shelves 1, the left storage shelf 1 is given priority.

Next, based on the read information of the process of # 72, it is determined whether or not the pallet P to be stacked is an easily deflected pallet Py (# 75).
If it is determined at # 75 that the pallet Py is easily bent, it is determined whether or not the article B is present in the storage section S below the selected standard storage section (# 76). If present, the deflection restriction flag for setting the above-described deflection restriction condition is turned ON (# 77).
When the standard storage portion SH to be stored is adjacent to the upper portion of the auxiliary storage portion SS, as described above, the lower excess storage portion SS stores the deflection excess pallet P having a set upper limit height. The bend restriction flag is turned ON.

In # 75, if it is determined that the pallet Py is not an easy deflection pallet, that is, it is a difficult deflection pallet Pn, if it is determined in # 76 that the article B does not exist in the lower storage portion S, and # 77 After executing the process of turning on the restriction flag, the process proceeds to the process of # 78.
The process of # 78 is a process for determining whether or not the deflection excess pallet PT exists in the standard storage portion SH. If it exists, the deflection excess pallet is placed in the standard storage portion above the standard storage portion to be stored. It is determined whether or not PT is present (# 79), and if it is present, the height restriction flag for setting the above-described height restriction condition is turned ON (# 80).

When it is determined in the process of # 73 that the auxiliary storage section SS is not full, it is subsequently determined whether or not the deflection excess pallet PT exists in the standard storage section SH (# 87). Next, it is determined whether or not the pallet P to be stacked is a difficult-to-flexible pallet Pn (# 88).
When it is determined that the pallet Pn is difficult to bend, the standard storage for selecting the standard storage unit to be stored among the empty storage units Sk of the standard storage unit SH based on the setting rule. A copy selection process is executed (# 89). The process of # 89 is the same as the process of # 74.

  After executing the process of # 89, the process proceeds to # 79, where it is determined whether or not the excess bending pallet PT is present in the storage part S above the storage part to be stored. The height restriction flag for setting the height restriction condition is turned ON (# 80).

  When it is determined in # 88 that the pallet Pn is not difficult to be palletized, it is assumed that the pliable pallet Py to be stacked is uniformly stored in the auxiliary storage part SS, and the empty storage in the auxiliary storage part SS is stored. An auxiliary storage unit selection process for selecting an auxiliary storage unit to be stored among the units Sk based on the setting rule is executed (# 90).

  If it is determined in # 78 that there is no excess bending pallet PT in the standard storage part SH, or if it is determined in # 79 that there is no excess bending pallet PT in the upper storage part S, and # 80 In step # 87, when it is determined that there is no deflection excess pallet PT in the standard storage unit SH, or in step # 90, the storage is scheduled to be stored. After selecting the auxiliary storage unit SS to be performed, a process of setting a stacking pattern for stacking the article B on the stacking target pallet P is executed (# 81).

In other words, the loading management controller HD stores in advance a loading pattern for loading the article B under the setting allowable condition for each of the plural types of articles B to be carried in, and is read by the article information reading unit 14. Based on the received article information, the loading pattern of the article B to be loaded is selected and the loading pattern is set.
The stacking pattern includes information indicating the number of items in the vertical and horizontal directions, information indicating the maximum number to be stacked, and information indicating the loading procedure of the item B when the items B are arranged vertically and horizontally in each step. It is created in a form that includes.
By the way, the information indicating the loading procedure of the article B is information indicating the position and the order of placing the article B on the pallet P to be stacked.

  As described above, the loading management controller HD basically sets a loading pattern for loading the article B under the setting allowable condition. However, when the bending restriction flag is ON, the bending control flag HD is bent. Based on the regulation condition, in order to regulate the amount of deflection of the easy-flexible pallet Py, the number of articles B to be stacked is limited. When the height regulation flag is ON, the height regulation condition is set. Based on this, the number of articles B to be stacked is limited in order to regulate the height of the articles B stacked on the pallet P.

  Incidentally, when the standard storage part SH to be stored is adjacent to the upper part of the auxiliary storage part SS, the loading management controller HD has a set upper limit height in the auxiliary storage part SS below it as described above. In this case, the article B is stacked under the above-described deflection amount regulation condition.

After setting the loading pattern at # 81, the robot operation process for sequentially loading the articles B onto the pallets P to be loaded is executed by operating the palletizing robot M (# 82).
In this flowchart, this robot operation process is a process of stacking one article B along the stacking pattern.

After executing the robot operation process of # 82, it is determined whether or not all the loading of the article B that is currently being loaded has been completed (# 83), and if completed, the communication process ( After executing # 84), the process proceeds to # 71.
The communication process of # 84 indicates unloading request information for requesting unloading of the pallet P that has been loaded, information about the pallet P that has been loaded, that is, identification information, and the height of the loaded article B. The height information, the deflection information indicating the amount of deflection of the pallet P, and when the auxiliary storage portion SS is full or when the excess storage pallet PT is stored in the standard storage portion SH, Storage unit designation information for designating a storage unit to store the pallet P is output.
The deflection information indicating the amount of deflection is information indicating whether the pallet is a normal pallet PS or an excess pallet PT, and if the pallet is an excess pallet PT, it is in a middle deflection state or a large deflection. It is information indicating whether or not the state is present.

  If it is determined in # 83 that the loading of all articles B has not been completed, the pallet P that is currently being loaded is full, that is, the loading pattern for one pallet P is completed. (# 85), and if it is determined that the pallet P is not full, the robot operation process of # 82 is executed.

If it is determined at # 85 that the pallet P is full, the communication process (# 86) is executed, then the process proceeds to # 72, and the loading work conveyor 12 to be the next work target. The information stored in the pallet information storage unit 21 of the empty pallet P placed on the pallet is read by the pallet information reading unit 22, and then the above-described processing is repeated.
The communication process of # 86 is the same process as the communication process of # 84, and the unloading request information for requesting unloading of the pallet P for which loading has been completed, the information about the pallet P for which loading has been completed, that is, Identification information, height information indicating the height of the stacked articles B, deflection information indicating the amount of deflection of the pallet P, and when the auxiliary storage section SS is full or when the standard storage section SH is over-extended When the PT is stored, storage unit designation information for designating a storage unit to be stored that stores the pallet P in the article stacking state is output.

  Note that the pallet P on which the articles B are stacked is transported to the loading / unloading conveyor 2 by the transport carriage J and stored in the storage shelf 1 as described above, and the pallet P is unloaded. As described above, the empty pallet P stored in the pallet processing unit G is transported by the transport cart J to the loading conveyor 12.

Next, a process when the storage shelf management controller HT performs the warehousing operation will be described based on the flowchart of FIG.
First, the pallet information reading unit 22 reads information stored in the pallet information storage unit 21 of the pallet P to be stored (# 91), and then the pallet P is stored in all of the auxiliary storage units SS. Is determined (# 92).

If it is determined at # 92 that the auxiliary storage section SS is not full, it is subsequently determined whether or not the deflection excess pallet PT exists in the standard storage section SH (# 93).
If it is determined in # 93 that the excess pallet PT does not exist, the pallet P to be received is based on the read information obtained in the process of # 91 and the information communicated in advance from the loading management controller HD. It is determined whether or not is a bending excess pallet PT (# 93).
In the case where the pallet P to be stored is not the bending excess pallet PT, that is, the bending normal pallet PS, the loading / unloading conveyor based on the setting rule from the empty storage unit Sk in the standard storage unit SH. A standard storage unit selection process for preferentially selecting a value close to 2 is executed (# 95).

  As described above, this setting rule selects a storage space in a row close to the loading / unloading conveyor 2 among a plurality of storage spaces arranged in the horizontal width direction of the storage shelf 1, and selects the same row. In the storage part S located in the storage space, conditions are set such that the one located below is preferentially selected. In the case where the storage units S of the same order exist in the left and right storage shelves 1, the left storage shelf 1 is given priority.

  If it is determined at # 94 that the pallet P to be stored is a flexure excess pallet PT, the storage conveyor Sk from the empty storage unit Sk of the auxiliary storage unit SS is set based on the setting rule. Auxiliary storage unit selection processing for preferentially selecting the one close to 2 is executed (# 96).

  This setting rule is defined as a condition that gives priority to the empty storage unit Sk that is close to the loading / unloading conveyor 2. In other words, the auxiliary storage unit SS arranged in the horizontal width direction of the storage shelf 1 is defined as a condition for preferentially selecting the storage unit close to the loading / unloading conveyor 2 and has the same order as the left and right storage shelves 1. When the storage unit S exists, the left storage shelf 1 is given priority.

  If it is determined in # 92 that the auxiliary storage section SS is full, or if it is determined in # 93 that the excess storage pallet PT exists in the standard storage section SH, the loading management controller HD A storage unit setting process for setting a storage unit to be stored is executed based on storage unit designation information for specifying a storage unit to be stored (# 97).

  Then, after executing the standard storage unit selection process (# 95), the auxiliary storage unit selection process (# 96), or the storage unit setting process (# 97), the storage unit to be stored defined in these processes In order to store the pallet P to be stored in S, command processing for instructing the crane control unit KC to operate is executed (# 98).

  Incidentally, in the fourth embodiment, in the case where the deflection excess pallet PT exists in the standard storage portion SH, as described above, all of the easy deflection pallets Py on which the articles B are stacked have a large amount of deflection. Regardless of whether the item B is stored in the auxiliary storage unit SS, if the work of carrying out the article B is concentrated, the excess deflection pallet PT stored in the standard storage unit SH is output. Therefore, the state in which all of the easy-flexible pallets Py on which the articles B are stacked is stored in the auxiliary storage unit SS is temporarily in a time zone near the end of the time zones in which the work of carrying in articles is concentrated. And the storage efficiency of the article B is not greatly reduced.

[Another embodiment]
Next, another embodiment is listed.
(1) In the said 1st-4th embodiment, although the case where a stacking part was comprised so that articles might be stacked using a palletizing robot was illustrated, an operator loads articles in a stacking part. You may implement with the form attached.
In this case, the loading unit may be equipped with display means for displaying information indicating the loading pattern to the worker.

(2) In the said 1st-4th embodiment, the case where the pallet which piled up the article in the loading part is conveyed to the storage conveyor of a storage shelf with a conveyance trolley, and is stored on a storage shelf is illustrated. However, you may implement with the form which a stacking part loads an article with respect to the pallet currently mounted in the loading / unloading conveyor.
In this case, the stacker crane is used as the transport means for transporting the pallet for storing the pallet on which the articles are stacked in the stacking unit and storing the pallet stored in the storage unit to the article unloading unit E. Will be.

(3) In the said 1st-4th embodiment, the amount of bending of an easily-flexible pallet is managed in three steps, when it will be in an allowable limit, when it will be in a middle deflection state, and the case where it will be in a large deflection state. Although the case was illustrated, the amount of bending of the easy bending pallet is managed in multiple stages of three or more stages and steplessly, and according to it, it is carried out in the form of setting the reference height for scooping and the target height for lowering In addition, the amount of bending of the easy-flexible pallet is managed in two stages: when it is within the allowable limit and when it is in a bent state (assuming that it is uniformly in a large bent state). You may implement with the form which sets the reference height for scooping, and the target height for taking down.

(4) In the above first to fourth embodiments, the case where the palletizing robot equipped with the bending / extending arm is provided in the stacking portion is exemplified. However, the traveling cart that runs vertically and horizontally is provided on the ceiling side. On the other hand, as an article stacking device equipped in the stacking unit, such as an article transfer robot equipped with an article holding unit that can be moved up and down, the stacking unit is equipped with an article transfer robot, Various forms can be used.

(5) In the above first to fourth embodiments, the case where the storage shelf is configured in a form in which the support is provided in the column set arranged in the shelf width direction is exemplified, but various configurations can be applied to the configuration of the storage shelf. In short, it is only necessary that the storage portion is configured to place and support both end portions of the pallet with a pair of left and right support bodies.

(6) In the fourth embodiment, the loading management controller of the loading unit sets the standard storage unit to be stored among the empty storage units of the standard storage unit based on the setting rule. Although the case of selecting was illustrated, the storage shelf management controller selects the standard storage unit to be stored among the empty storage units based on the setting rule, and information about the selected standard storage unit, You may implement in the form which communicates with the controller for packing management of a loading part.

(7) In the third embodiment, a standard storage unit that is a storage candidate among all empty storage units in the standard storage unit is selected based on a setting rule, and the standard storage unit of the storage candidate is The case where it is determined whether or not the selection condition as the storage unit is satisfied is exemplified. First, among the empty storage units in the standard storage unit, the standard storage unit in which the article is not stored in the lower storage unit and Preferentially select a standard storage unit that does not have a bending excess pallet in the upper standard storage unit, select one of the preferentially selected standard storage units according to the setting rule, and select the pallet in the article loading state. After storage, and after the empty storage part, there is no standard storage part in which the article is not stored in the lower storage part and the upper standard storage part does not have a bending excess pallet. Empty standard yield The standard storage unit that is a storage candidate among the storage units is selected based on the setting rule, and the standard storage unit of the storage candidate is determined to satisfy the selection condition as the storage unit. Good.

(8) In the fourth embodiment, the standard storage unit to be stored is selected based on the setting rule among all the empty storage units in the standard storage unit, and the standard storage unit to be stored is In the case where the deflection regulation condition and the height regulation condition are necessary, the case where the article is stacked under the condition is illustrated, but first, the article is stored in the lower storage section of the empty standard storage section. Select a standard storage unit that is not a standard storage unit and that does not have an excess pallet in the upper standard storage unit, and select one of the preferentially selected standard storage units according to the setting rule. Assuming that the pallet is stored in the preferentially selected standard storage section, the articles are stacked under the set allowable condition, and the articles are stored in the lower storage section among the empty standard storage sections. Standard storage area that is not After there is no standard storage part in which no excess pallet exists, select the standard storage part to be stored from the empty standard storage parts based on the setting rule, and the standard storage part to be stored is When the deflection regulation condition or the height regulation condition is necessary, the article may be stacked in such a condition.

(9) In the third embodiment and the fourth embodiment, as a setting rule for the standard storage unit, in a plurality of storage spaces arranged in the horizontal width direction of the storage shelf, a row close to the storage conveyor In the case where the storage space is selected with priority, and the storage units located in the storage space in the same row are exemplified in the condition of preferentially selecting the lower one, the lower storage portion The setting rule can be selected according to various conditions, such as preferentially selecting and preferentially selecting the one located in the storage space in the row close to the loading / unloading conveyor in the storage unit of the same height. Can be determined.

(10) In the above first to fourth embodiments, when determining the amount of deflection of the easy-flexible pallet, the amount of deflection is determined based on the weight to be stacked on it, but the amount of deflection of the easy-flexible pallet is used. In the case of increasing along with this, the amount of bending of the easy-flexible pallet may be determined based on the weight to be stacked and the usage time.

(11) In the fourth embodiment, although the auxiliary storage portion is not full, when a pallet whose deflection amount exceeds the allowable limit is stored in the standard storage portion, the hard-flexible pallet is stored in the standard storage portion. In this example, the pallet to be stored is a pallet that stores an easy-flexible pallet in the auxiliary storage unit. However, although the auxiliary storage unit is not full, a pallet whose deflection amount exceeds the allowable limit is stored in the standard storage unit. In such a case, the embodiment may be implemented in such a manner that the pallet for easy storage and the pallet for easy storage to be stored in the standard storage unit are used.

DESCRIPTION OF SYMBOLS 1 Storage shelf 8 Article mounting body 9 Pillar 10 Support body B Article D Stacking part F Conveying means H Control means L1 Space | interval L3 Set accommodation distance P Pallet S Storage part

Claims (8)

A loading unit for stacking articles on a pallet in a stacked state and a plurality of storage units for placing and supporting the pallet are arranged side by side under a setting allowable condition that is not more than a set upper limit height and not more than a set upper limit weight. A storage shelf; and a transport unit that stores the pallet on which articles are stacked in the stacking unit in the storage unit, and transports the pallet to unload the pallet stored in the storage unit; Control means for controlling the operation of the conveying means,
The transporting means is an article mounting body that can be driven back and forth in a retracted state in which it retracts outward from the storage part and a protruding state in which the storage part protrudes, and can be driven up and down, and the pallet is stored in the storage part. Configured to perform a lowering process stored in the storage unit and a scooping process for removing the pallet stored in the storage unit,
The storage portion is configured to place and support both end portions of the pallet with a pair of left and right support bodies arranged in parallel in a state in which the article placement body in the protruding state is spaced vertically.
When the control means performs the lowering process, the article mounting body protrudes into the protruding state at a reference height for lowering than the pair of left and right supports, and then the pair of left and right supports. The article mounting body is lowered to a lower target height for lowering, and then the operation of the conveying means is controlled and the scooping process is performed in order to retract the article mounting body to the retracted state. Sometimes, the article mounting body is protruded in the protruding state at a scooping reference height corresponding to the lowering target height, and then the scooping target height corresponding to the lowering reference height is An article storage facility configured to control the operation of the conveying means to raise the article placement body and then to retract the article placement body to the retreated state,
As the pallet, the amount of downward deflection when stored in the storage unit is within the allowable limit even if the article is loaded with the set upper limit weight, and the article is loaded with the set upper limit weight. When attached, there is an easy deflection pallet that exceeds the allowable limit,
As the storage portion, a standard storage portion for storing the pallet with the deflection amount within the allowable limit and an auxiliary storage portion for storing the pallet with the deflection amount exceeding the allowable limit are the lowering. The target height for use and the reference height for scooping are provided in a state where the auxiliary storage portion can be set lower than the standard storage portion,
The control means is
The lowering target height and the reference height for scooping are set lower than the pallet in which the deflection amount exceeds the allowable limit than the pallet in which the deflection amount is within the allowable limit, and the lowering process and Configured to perform the scooping process, and
When it is instructed to store the pallet with the deflection amount within the allowable limit, the pallet is stored in the standard storage unit, and the pallet with the deflection amount exceeding the allowable limit is stored. An article storage facility configured to store the pallet in the auxiliary storage section. A column set consisting of a pair of columns arranged in the longitudinal direction of the shelf of the storage shelf is erected on the floor surface side by side in the horizontal direction of the shelf of the storage shelf, and the support body is provided with the horizontal width of the shelf. It is arranged in a vertical direction in a state of projecting in a cantilever direction toward the direction, and is formed in a state in which the storage unit is aligned in the vertical direction between the column groups arranged adjacent to each other in the shelf width direction.
Of the storage units arranged in the vertical direction, the lowermost storage unit is configured as the auxiliary storage unit,
2. The article storage facility according to claim 1, wherein a storage unit excluding a lowermost storage unit among the storage units arranged in the vertical direction is configured as the standard storage unit. A column set consisting of a pair of columns arranged in the longitudinal direction of the shelf of the storage shelf is formed by connecting the divided column lower side portion and the column upper side portion, and arranged in the shelf width direction of the storage shelf. Standing on the floor surface, and being provided side by side in the vertical direction with the support protruding in a cantilevered manner toward the shelf width direction, adjacent to each of the pillar sets, Between the column assemblies arranged side by side, the storage portion is formed in a state of being arranged in the vertical direction,
Of the storage units arranged in the vertical direction, those located in the lowermost stage in the lower part of the column and those located in the lowest stage in the upper part of the column are configured in the auxiliary storage part, and the upper and lower parts Among the storage units arranged in a direction, a storage unit excluding a lowermost storage unit in the lower part of the column and a lower storage unit in the upper part of the column is configured as the standard storage unit. Item storage equipment according to 1. The storage rack is set in the storage unit below the storage unit to be stored, the vertical interval of the support body mounted on each of the standard storage units vertically adjacent to each other in the standard storage unit arranged in the vertical direction. In a state where the pallet loaded with articles having an upper limit height is stored, the amount of bending of the article mounting body is within the allowable limit in order to perform the lowering process on the storage unit to be stored. When the pallet is positioned at the target height for lowering, the article placement body is configured in a state that is set at an interval that leaves a set accommodation distance from the upper surface of the article stored in the lower storage section,
The stacking part is
When stacking articles on the easy-flexible pallet when the pallet is stored in all of the auxiliary storage parts, for the easy-flexible pallet determined below the set upper limit height and lower than the set upper limit amount It is configured to load articles under the setting conditions for an easy-flexible pallet that is below the upper limit weight,
The control means is
Controlling the operation of the conveying device to store the easy-flexible pallet on which the articles are loaded under the setting conditions for the easy-flexible pallet, with the standard storage part being an empty standard storage part. The article storage facility according to any one of claims 1 to 3, wherein the article storage facility is configured to perform. The storage rack is set in the storage unit below the storage unit to be stored, the vertical interval of the support body mounted on each of the standard storage units vertically adjacent to each other in the standard storage unit arranged in the vertical direction. In a state where the pallet loaded with articles having an upper limit height is stored, the amount of bending of the article mounting body is within the allowable limit in order to perform the lowering process on the storage unit to be stored. When the pallet is positioned at the target height for lowering, the article placement body is configured in a state that is set at an interval that leaves a set accommodation distance from the upper surface of the article stored in the lower storage section,
The control means is
When the pallet is stored in all of the auxiliary storage units and the pallet has a bending amount that exceeds the allowable limit, among the standard storage units in an empty state among the standard storage units, The standard storage unit in which the article is not stored in the lower storage unit, or the standard storage unit in which the article is stored in the lower storage unit, and the height and storage of the article stored in the lower storage unit Based on the deflection amount of the target pallet, when the target pallet is stored, the article placement body having the target height for lowering is set from the upper surface of the article stored in the standard storage unit below The article storage facility according to any one of claims 1 to 3, wherein the standard storage unit that is predicted to leave the accommodation distance is selected as a storage unit to be stored. The control means is
When the pallet is stored in the standard storage unit, among the empty standard storage units of the standard storage unit, a pallet whose deflection amount exceeds the allowable limit is stored in the upper standard storage unit. It is assumed that there is no standard storage part or a standard storage part in which the pallet whose deflection amount exceeds the allowable limit is stored in the upper standard storage part, and the pallet to be stored is stored in the standard storage part In the state, when the pallet stored in the upper standard storage unit is taken out based on the deflection amount of the pallet stored in the upper standard storage unit and the height of the articles stacked on the pallet to be stored In addition, a standard storage unit that is expected to leave a set accommodation distance from the upper surface of an article loaded on the pallet to be stored with the article mounting body having the reference height for scooping is stored in the storage target. The article storage facility according to claim 5, wherein being configured to select a part. The storage rack is set in the storage unit below the storage unit to be stored, the vertical interval of the support body mounted on each of the standard storage units vertically adjacent to each other in the standard storage unit arranged in the vertical direction. In a state where the pallet loaded with articles having an upper limit height is stored, the amount of bending of the article mounting body is within the allowable limit in order to perform the lowering process on the storage unit to be stored. When the pallet is positioned at the target height for lowering, the article placement body is configured in a state that is set at an interval that leaves a set accommodation distance from the upper surface of the article stored in the lower storage section,
The stacking part is
When stacking articles on the easy-flexible pallet when the pallet is stored in all of the auxiliary storage units, one of the standard storage units in the empty storage state is to be stored. When the article is stored in the storage section below the storage section that is to be stored, the easily flexible pallet to be stored is stored instead of the setting permission condition. When storing in the planned storage unit, the lower storage is performed so that the article placement body having the target height for lowering is in a state of leaving a set accommodation distance from the upper surface of the article stored in the lower storage unit. Based on the height of the article stored in the part, the article is configured to be stacked under a deflection amount regulation condition that regulates the deflection amount of the easy deflection pallet,
The control means is
The operation of the conveying means is controlled so as to store the easy-deflection pallet on which the articles are stacked in a storage unit scheduled to be stored for the easy-flexion pallet. The article storage facility according to any one of the above. The stacking part is
When a pallet whose deflection amount exceeds the allowable limit is stored in the standard storage unit, when an article is stacked on the pallet to be stored in the standard storage unit, the empty state in the standard storage unit One of the standard storage units is selected as a storage unit scheduled to be stored, and a pallet whose deflection amount exceeds the allowable limit is stored in a storage unit above the storage unit scheduled to be stored. Sometimes, when the pallet stored in the upper storage unit is taken out in the state where the pallet to be stored is stored in the storage unit scheduled to be stored instead of the set upper limit height of the setting allowable condition In addition, the article placement body having the reference height for scooping is placed in an upward direction so as to be away from the set accommodation distance from the upper surface of the article stacked on the pallet to be stored. Based on the amount of deflection of the pallet contained in the container portion, it is configured to attach stacked articles at the level restricting conditions for restricting the height of the article to give loading the pallet storage object,
The control means is
8. The article storage facility according to claim 7, wherein the article storage facility is configured to control the operation of the conveying means so that the pallet to be stored on which the articles are stacked is stored in a storage unit that is to be stored.

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