JP2022152110A - Automatic warehouse system - Google Patents

Abstract

To provide an automatic warehouse system capable of shortening a cycle time.SOLUTION: An automatic warehouse system 100 according to one embodiment of the present disclosure comprises first conveying means 14 capable of holding a load 12 and moving in a column direction, and second conveying means 16 capable of moving in a row direction while mounted with the first conveying means 14 holding the load 12. The second conveying means 16 has conveyor means 17 capable of holding the load 12 and moving the held load 12 in the column direction.SELECTED DRAWING: Figure 1

Description

The present invention relates to an automated warehouse system.

An automated warehouse system capable of efficiently storing and shipping a large number of goods in a small space is known. The applicant of the present application discloses an automated warehouse system provided with storage racks capable of storing a plurality of articles in Patent Document 1. This automated warehouse system is configured to carry in and out articles between storage racks using carts that are movable in the column direction and carts that are movable in the row direction.

JP 2017-160040 A

The automated warehouse system described in Patent Literature 1 includes a carriage that conveys goods and moves between storage units, and a traveling carriage that can accommodate the carriage and travel. In this system, when goods are loaded and unloaded, a traveling trolley carrying a carrier moves in front of the loading and unloading conveyor, and the loaded carrier descends from the running carriage to load and unload the cargo onto and from the loading and unloading conveyor. For this reason, there was a time loss in the time required for the carriage to move back from the traveling carriage and the time to load and unload the cargo.

SUMMARY OF THE INVENTION The present invention has been made in view of such problems, and one of the objects thereof is to provide an automated warehouse system capable of shortening the cycle time.

In order to solve the above problems, an automated warehouse system according to one aspect of the present invention is equipped with first conveying means capable of holding goods and moving in the column direction, and carrying the first conveying means holding the goods in the row direction. and a second transport means movable to. The second conveying means comprises conveyor means capable of holding a load and moving the held load in the row direction.

Arbitrary combinations of the above constituent elements, and mutually replacing the constituent elements and expressions of the present invention in methods, systems, etc. are also effective as aspects of the present invention.

ADVANTAGE OF THE INVENTION According to this invention, the automatic warehouse system which can shorten a cycle time can be provided.

1 is a plan view schematically showing an example of an automated warehouse system according to an embodiment; FIG. FIG. 2 is a side view showing the automated warehouse system of FIG. 1; FIG. 2 is a side view schematically showing an example of first conveying means in FIG. 1; FIG. 2 is a front view schematically showing an example of second conveying means in FIG. 1; 2 is a plan view schematically showing second conveying means and third conveying means of FIG. 1; FIG. It is a figure explaining the operation|movement which transfers a load between the 2nd conveying means of FIG. 1, and the 3rd conveying means. 1. It is a figure explaining the holding|maintenance position change operation|movement of the automated warehouse system of FIG. 2 is a flowchart of holding position changing operation of the automated warehouse system of FIG. 1; FIG. 2 is a diagram for explaining the simultaneous movement operation of the automated warehouse system of FIG. 1; FIG. 2 is a flow chart of the simultaneous movement operation of the automated warehouse system of FIG. 1; FIG.

BEST MODE FOR CARRYING OUT THE INVENTION The present invention will be described below based on preferred embodiments with reference to the drawings. In the embodiment and modified examples, the same or equivalent constituent elements and members are denoted by the same reference numerals, and overlapping descriptions are omitted as appropriate. In addition, the dimensions of the members in each drawing are appropriately enlarged or reduced for easy understanding. Also, in each drawing, some of the members that are not important for explaining the embodiments are omitted.

Also, terms including ordinal numbers such as first, second, etc. are used to describe various components, but these terms are used only for the purpose of distinguishing one component from other components, and the terms The constituent elements are not limited by

[Embodiment]
The overall configuration of an automated warehouse system 100 according to an embodiment will be described with reference to FIGS. 1 and 2. FIG. The automated warehouse system of the present disclosure is an automated warehouse system having shelves capable of storing loads (including those handled integrally with pallets). FIG. 1 is a plan view schematically showing an example of an automated warehouse system 100 according to an embodiment. FIG. 2 is a side view showing the automated warehouse system 100. As shown in FIG.

For convenience of explanation, an XYZ orthogonal coordinate system in which a certain horizontal direction is the X-axis direction, a horizontal direction orthogonal to the X-axis direction is the Y-axis direction, and a direction orthogonal to both, that is, the vertical direction is the Z-axis direction determine. The positive direction of each of the X-axis, Y-axis, and Z-axis is defined in the direction of the arrow in each figure, and the negative direction is defined in the direction opposite to the arrow. The X-axis direction is sometimes called the "row direction", the Y-axis direction is sometimes called the "column direction", and the Z-axis direction is sometimes called the "vertical direction". The traveling direction of the first conveying means, which will be described later, may be called "forward" or "front", and the opposite direction may be called "backward" or "rear". Such directional notation does not limit the configuration of the automated warehouse system 100, and the automated warehouse system 100 can be used in any configuration according to the application.

As shown in FIG. 1 , an automated warehouse system 100 includes warehouse equipment 10 including shelves 22 , moving means 14 , 16 , 18 , 20 and a controller 50 . The shelf section 22 is a storage rack having a plurality of stages of a plurality of storage sections 24 capable of storing the goods 12 arranged along the row direction and the column direction. The cargo 12 may be the smallest unit that is received, stored, rearranged, and shipped in the automated warehouse system 100 .

Each storage unit 24 can store a load 12 . The moving means 14, 16, 18, 20 move the load 12 in at least one of row, column and column directions. The moving means 14 , 16 , 18 , 20 include a first transporting means 14 , a second transporting means 16 , a third transporting means 18 , an elevating mechanism 20 , and a loading/unloading section 40 . The first conveying means 14 is a self-propelled cart capable of holding the load 12 and moving the shelf 22 along the column direction. The second conveying means 16 is a self-propelled cart capable of moving along the row direction along the side portion of the shelf portion 22 on which the first conveying means 14 holding the load 12 is mounted.

The third transport means 18 is a mechanism for transporting the goods 12 for storage or delivery. The third transport means 18 in this example is a conveyor device capable of transporting the load 12 in the column direction between the second transport means 16 and the lifting mechanism 20 . The lifting mechanism 20 is a lifter capable of lifting and lowering the load 12, and functions as a conveying means for transporting the load 12 in the step direction. The loading/unloading section 40 includes a mechanism for loading the load 12 into the shelf section 22 or unloading the load 12 from the shelf section 22 .

The control unit 50 includes an MPU (Micro Processing Unit) and the like. The control unit 50 controls the operations of the first conveying means 14, the second conveying means 16, the third conveying means 18, and the lifting mechanism 20 in order to transfer the load 12 based on the operation results from the operator.

The shelf 22 will be explained. The configuration of the shelf 22 is not particularly limited as long as it can store a plurality of articles 12 . The shelf section 22 of this embodiment can store the load 12 in each storage section 24 .

In this embodiment, a plurality of storage units 24 are arranged in series in the column direction. Specifically, the storage section 24 is continuously provided on the rail of the first transport path 26 extending in the column direction, and the storage section 24 is a location where the goods 12 on the first transport path 26 are stored. . A plurality of storage units 24 arranged in series in the row direction are referred to as a storage row 23 . A doorway 23a for entering and exiting the first transport means 14 is provided on the side facing the second transport path 28 (running path) of the second transport means 16 of each storage row 23 .

In this embodiment, N stages (N is an integer equal to or greater than 1, for example, 3) of shelves 22 arranged in layers are provided. FIG. 1 shows the first shelf 22 closest to the floor Fr. In the second and higher stages, the N-th shelf 22 is arranged above the (N−1)-th shelf 22 . The shelves 22 of each stage may have the same configuration as each other. In particular, each shelf 22 is provided with one or more sets of first transport means 14 , second transport means 16 and third transport means 18 . The shelf portion 22 of each stage is sometimes called a "shelf stage".

The shelf 22 is provided with a first transport path 26 as a travel path for the first transport means 14 . The first transport path 26 in this example is a rail extending in the row direction on the shelf 22 . The first conveying means 14 is a conveying means capable of traveling under each storage section 24 . A second transport path 28 as a travel path for the second transport means 16 is provided on the side of the shelf 22 . The second transport path 28 extends in the row direction adjacent to the shelf 22 and the third transport means 18 . The lifting mechanism 20 is arranged on the side opposite to the second transport path 28 of the third transport means 18 .

The first conveying means 14 will be described with reference to FIG. FIG. 3 is a side view schematically showing an example of the first conveying means 14. As shown in FIG. The first conveying means 14 includes a vehicle body 14b, a motor (not shown), a plurality of wheels 14f, a holding portion 14c, and a lift mechanism 14d. The first conveying means 14 drives a plurality of wheels 14f by a motor, and travels in the row direction on the first conveying path 26 while holding the load 12 by the holding portion 14c. The holding portion 14c in this example functions as a lifting platform. The first conveying means 14 raises and lowers the holding portion 14c and the load 12 held by the holding portion 14c by the lift mechanism 14d. In FIG. 3, the holding portion 14c in the raised state is indicated by a broken line, and the holding portion 14c in the lowered state is indicated by a solid line.

The first conveying means 14 can enter the storage section 24 . The first conveying means 14 can move into and out of the second conveying means 16 and the lifting mechanism 20 by itself. The first transport means 14 can unload the load 12 to the storage section 24 and the second transport means 16 . The first transport means 14 can lift and hold the load 12 from the storage section 24 and the second transport means 16 .

The second conveying means 16 will be described with reference to FIGS. 4 and 5. FIG. FIG. 4 is a front view schematically showing an example of the second conveying means 16, showing a state in which the first conveying means 14 is mounted. FIG. 5 is a plan view schematically showing the periphery of the second conveying means 16 and the third conveying means 18. As shown in FIG. The second conveying means 16 includes a mounting portion 16c, a guide portion 16j, a motor (not shown), and a plurality of wheels 16f. In addition, the second conveying means 16 has a conveyer means 17 capable of moving the load 12 held by the first conveying means 14 in the row direction with the first conveying means 14 mounted thereon.

The second conveying means 16 drives a plurality of wheels 16f by a motor, and travels along the second conveying path 28 in the row direction. The second conveying means 16 can mount the first conveying means 14 on the mounting portion 16c. The second transport means 16 can transport the first transport means 14 loaded with cargo 12 or empty. The second conveying means 16 can hold the load 12 held by the first conveying means 14 with the conveyor means 17 . The second transport means 16 can transport the goods 12 held by the conveyor means 17 in a state in which the first transport means 14 is not mounted.

The mounting portion 16c is provided with two guide portions 16j spaced apart in the row direction. The two guide portions 16j guide the first conveying means 14 when entering and function as rails on which the first conveying means 14 travels.

The conveyor means 17 has cargo transport mechanisms 17a and 17b such as chain conveyors. Two load conveying mechanisms 17a and 17b arranged separately in the row direction are provided on both sides of the mounting portion 16c. The two load transport mechanisms 17a and 17b are provided at positions sandwiching the mounting portion 16c in the row direction. The first conveying means 14 is separated from the load 12 by unloading the load 12 onto the two load transport mechanisms 17a, 17b, and can move in the row direction separately from the load 12. As shown in FIG. The two load conveying mechanisms 17a and 17b are narrower than the width of the load 12 in the row direction, and can hold the load 12 separated from the first transport means 14. As shown in FIG. The two cargo transport mechanisms 17a and 17b can move the held cargo 12 in the column direction.

The second conveying means 16 also includes a detection sensor 16 s capable of detecting the position of the first conveying means 14 and the position of the load 12 held by the first conveying means 14 . For example, the detection sensor 16s is a transmissive optical sensor consisting of a set of a light emitter 16h and a light receiver 16k that are spaced apart in the X-axis direction. The detection sensor 16s detects whether or not the light 16n projected from the light projector 16h is blocked by the light receiver 16k. As shown in FIG. 5, the second conveying means 16 is provided at a position that does not interfere with the first conveying means 14 and the load 12 and is spaced apart in the Y-axis direction (advancing direction of the first conveying means 14). A set of sensing sensors 16s are provided. The detection sensor 16s is arranged at a position higher than the guide portion 16j.

The two sets of detection sensors 16 s can detect the protruding state of the load 12 and also detect the protruding state of the first conveying means 14 . When the first conveying means 14 and the cargo 12 are in a predetermined positional relationship with the second conveying means 16 (for example, they are positioned in the center of each other), both of the two sets of detection sensors 16s are in the OFF state (light shielding). state). When either of the first conveying means 14 and the cargo 12 is not in a predetermined positional relationship (for example, when it is shifted from the center), one of the two sets of detection sensors 16s (sensor on the protrusion direction side) is ON. (unlighted state). The distance between the two sets of detection sensors 16 s in the Y-axis direction is set to a distance that allows determination of whether the load 12 and the first conveying means 14 are in a predetermined positional relationship with respect to the second conveying means 16 .

Further, the second transport means 16 has a communication section 16g capable of communicating with the third transport means 18, and the third transport means 18 has a communication section 18g capable of communicating with the second transport means 16. FIG. Although the configuration of the communication units 16g and 18g is not limited, the communication units 16g and 18g in this example employ optical communication capable of mutually transmitting information by light. Whereas if a transport instruction is given wirelessly, it takes a long communication time, local optical communication shortens the cycle time because the communication time is short. The communication units 16g and 18g may always be able to communicate, but in this example, the second transport means 16 faces the third transport means 18, and the optical axis of the communication unit 16g coincides with the optical axis of the communication unit 18g. Then, the communication units 16g and 18g become capable of mutual communication. It should be noted that "the optical axes are aligned with each other" refers to a state in which the optical axes are aligned to the extent that communication is possible.

As shown in this figure, when the center of the mounting portion 16c of the second conveying means 16 in the row direction coincides with the center of the frontage 18a of the third conveying means 18 in the row direction, the communication units 16g and 18g can communicate with each other. Become. In addition, "the centers in the row direction match each other" refers to a state in which the centers in the row direction are aligned to the extent that the load 12 can be transferred between the second conveying means 16 and the third conveying means 18 .

The third conveying means 18 will be described with reference to FIGS. 1, 2 and 5. FIG. The third conveying means 18 receives the goods 12 to be shipped from the second conveying means 16 and carries them out. The third conveying means 18 carries in the goods 12 to be stored and pushes them out to the second conveying means 16 . The third conveying means 18 in this example is a conveyor for loading and unloading that conveys the goods 12 between the second conveying means 16 on the second conveying path 28 and the lifting mechanism 20 . The third conveying means 18 has one opening 18 a facing the second conveying path 28 of the second conveying means and the other opening 18 b facing the lifting mechanism 20 .

(lifting mechanism)
The elevating mechanism 20 will be described with reference to FIGS. 1, 2, and 5. FIG. The elevating mechanism 20 elevates the load 12 between the shelves 22 of each stage. The elevating mechanism 20 of this example includes a conveyor section 21 that moves the load 12 in the row direction, and the conveyor section 21 moves up and down with the load 12 placed thereon. In FIG. 2, the conveyor section 21 raised to the third stage is indicated by a solid line, and the conveyor section 21 lowered to the first stage is indicated by a broken line. One frontage 20 a of the lifting mechanism 20 faces the third conveying means 18 , and the other frontage 20 b of the lifting mechanism 20 faces the loading/unloading section 40 .

At the time of warehousing, in the elevator mechanism 20, the conveyor unit 21 receives the cargo 12 carried in by the external conveying means 46 such as a forklift of the loading/unloading unit 40 through the frontage 20b and moves it to the center of the row of the elevator mechanism 20. When the load 12 moves to the center in the column direction, the lifting mechanism 20 lifts the load 12 to the target stage. When the target stage is reached, the conveyor section 21 pushes the load 12 out of the frontage 20a to the third conveying means 18. - 特許庁The third conveying means 18 receives the goods 12 from the conveyor section 21 and carries them into the second conveying means 16 .

At the time of unloading, in the elevator mechanism 20, the conveyor unit 21 receives the cargo 12 pushed out from the third conveying means 18 through the frontage 20a and moves the cargo 12 to the center of the elevator mechanism 20 in the column direction. When the cargo 12 moves to the center in the column direction, the lifting mechanism 20 moves the cargo 12 up and down to the unloading stage (first stage). When reaching the stage for delivery, the conveyor section 21 delivers the article 12 to the external conveying means 46 through the frontage 20b. The external transport means 46 carries out the load 12 received from the lifting mechanism 20 .

The lifting mechanism 20 of this example lifts and lowers the individual load 12 that is not held by the first conveying means 14 . The lifting mechanism 20 may have a structure capable of moving up and down while the load 12 is held by the first conveying means 14 .

In the loading/unloading section 40 of the present embodiment, the external transport means 46 directly delivers the goods 12 to be stored to the lifting mechanism 20 and directly receives the goods 12 to be shipped from the lifting mechanism 20 . The loading/unloading section 40 may be provided with a transport mechanism such as a belt conveyor at the frontage 20 b of the lifting mechanism 20 . In this case, the load 12 delivered from the external transport means 46 can be delivered to the lifting mechanism 20 by the transport mechanism, and the load 12 delivered from the lifting mechanism 20 can be delivered to the external transport means 46 by the transport mechanism.

(Incoming/outgoing operation)
A warehousing operation and a warehousing operation of the automated warehouse system 100 will be described with reference to FIGS. 1 and 2. FIG. These operations are controlled by the controller 50 . In the warehousing operation, the external conveying means 46 delivers the goods 12 to be warehousing to the lifting mechanism 20 . The lifting mechanism 20 transfers the load 12 to the storage shelf and delivers it to the third transport means 18 . The third conveying means 18 delivers the goods 12 to the conveyor means 17 of the second conveying means 16 .

The second transport means 16 moves from the front of the third transport means 18 to the target storage row 23 . When the second conveying means 16 reaches the target storage line 23, the first conveying means 14 holds the load 12, moves it to the shelf section 22, and unloads it to the storage section 24 of the storage destination. By these operations, the goods 12 are stored.

When receiving the goods 12 from the third conveying means 18, the second conveying means 16 may have the first conveying means 14 mounted thereon or may not have the first conveying means 14 mounted thereon. In the case of non-loading, the second transport means 16 may load the first transport means 14 in the target storage row 23 or may load the first transport means 14 in another storage row 23 . The operation of loading the first transport means 14 may be performed while the load 12 is held by the conveyor means 17 .

In the shipping operation, the first conveying means 14 holds the goods 12 in the storage section 24 of the conveying source, moves to the second conveying means 16 , enters the second conveying means 16 , and places the goods 12 on the conveyor means 17 . . The second conveying means 16 holds the goods 12 by the conveyor means 17 and moves to the front of the third conveying means 18 . The third conveying means 18 delivers the load 12 to the lifting mechanism 20 . The lifting mechanism 20 transports the load 12 to the first stage and delivers it to the external transport means 46 . The external transport means 46 loads the load 12 onto a truck (not shown) or the like. By these operations, the goods 12 are delivered.

As noted above, the second transport means 16 may move unmounted with the first transport means 14 when moving in front of the third transport means 18 while holding the load 12 . For example, the first transport means 14 may withdraw from the second transport means 16 after loading the load 12 onto the conveyor means 17 . Thus, the operation of conveying the load 12 by the second conveying means 16 alone is called an independent conveying operation, and the operation of conveying the load 12 with the first conveying means 14 mounted is called a joint conveying operation.

(Transfer operation)
Next, the operation of transferring the cargo 12 between the second conveying means 16 and the third conveying means 18 will be described with reference to FIGS. 5 and 6. FIG. 6A and 6B are diagrams for explaining the operation of transferring the cargo 12 between the second conveying means 16 and the third conveying means 18. FIG. In this operation, the load 12 is transferred between the conveyor means 17 and the third transfer means 18 . For example, if the cargo 12 is pushed out from one of the conveyor means 17 and the third conveying means 18 to the other in a state where the mutual positions and timings of operations do not match, there is a possibility that the cargo 12 will fail in delivery and fall. . Therefore, when the load 12 is moved from one of the conveyor means 17 and the third conveying means 18 of the present embodiment to the other, when one receives specific information indicating that the other can receive the load, the load 12 to the other. In other words, the conveyer means 17, the third conveying means 18, and the communication units 16g and 18g confirm the mutual positions and operation timings, and then the transfer operation for delivering the load 12 is executed.

A transfer operation at the time of delivery of transferring the goods 12 to be delivered from the conveyor means 17 to the third transfer means 18 will be described.
(1) When the second conveying means 16 arrives at the frontage of the third conveying means 18, the communication section 16g transmits the reception request information for the goods 12. As shown in FIG. As shown in FIG. 6A, when the optical axis of the communication section 16g does not match the optical axis of the communication section 18g, the communication section 18g cannot receive the request information, so the third conveying means 18 starts the receiving operation. do not do.

(2) When the second conveying means 16 moves in front of the third conveying means 18 and their centers in the row direction match as shown in FIG. Then, the communication unit 18g receives the request information.

(3) When the communication section 18g receives the request information, the third conveying means 18 starts the receiving operation to make the load 12 ready for receiving. The third conveying means 18 transmits approval information from the communication section 18g when it becomes possible to receive the goods 12. - 特許庁This authorization information exemplifies specific information indicating that the shipment 12 can be received.

(4) The conveyor means 17 does not move the goods 12 to the third conveying means 18 when the communication section 16g cannot receive the approval information.

(5) When the communication section 16g receives the approval information, the conveyor means 17 moves the load 12 to the third transport means 18 as shown in FIG. receive.

(6) The third conveying means 18 conveys the received load 12 to the lifting mechanism 20 . This completes the transfer operation at the time of delivery.

Next, a transfer operation at the time of warehousing, which transfers the goods 12 to be stored from the third conveying means 18 to the conveyor means 17 of the second conveying means 16, will be described.
(1) When the second conveying means 16 arrives at a predetermined position, the third conveying means 18 transmits receiving request information for the load 12 from the communication section 18g. Since the communication section 16g cannot receive the request information until the optical axis of the communication section 18g coincides with the optical axis of the communication section 16g, the second conveying means 16 does not start the receiving operation.

(2) When the second conveying means 16 moves in front of the third conveying means 18 and their centers in the row direction match, the optical axes of the communication units align with each other, and the communication unit 16g receives the request information. do.

(3) When the communication section 16g receives the request information, the second conveying means 16 starts the receiving operation to make the load 12 ready for receiving. The second conveying means 16 transmits approval information from the communication section 16g when it becomes possible to receive the goods 12. - 特許庁This authorization information exemplifies specific information indicating that the shipment 12 can be received.

(4) The third conveying means 18 does not move the goods 12 to the second conveying means 16 when the communication section 18g cannot receive the approval information.

(5) When the communication section 18g receives the approval information, the third conveying means 18 moves the goods 12 to the conveyor means 17 of the second conveying means 16, and the second conveying means 16 receives the goods 12.

(6) The second conveying means 16 conveys the received cargo 12 to the target row. This completes the transfer operation at the time of warehousing.

(Holding position change operation)
Next, the holding position changing operation S110 will be described with reference to FIGS. 7 and 8. FIG. In the holding position changing operation S110, the load 12 is moved in the column direction by the conveyor means 17 while the first transport means 14 and the load 12 are mounted on the second transport means 16, and the load 12 is moved by the first transport means 14. It is an action to change the holding position. This operation may be performed when the first transport means 14 and the goods 12 are loaded on the second transport means 16 during warehousing, shipping, or the like. In addition, this operation may be performed for the purpose of changing the holding position in addition to entering and exiting the warehouse. Also, this operation can be performed while the second conveying means 16 is moving or stopped. In addition, in the holding position changing operation S110, the position refers to the position in the column direction (the running direction of the first conveying means 14).

The first conveying means 14 preferably holds the load 12 in a proper predetermined position (eg, central position). Assuming that the cargo 12 held by the first conveying means 14 is at a predetermined position (for example, the center position), how close to the previously placed cargo 12 is? This is because it is possible to ascertain whether or not the distance between the loads 12 becomes the predetermined gap when the loads 12 being held are unloaded. That is, the distance between the end of the first conveying means 14 and the end of the load 12 being held is known, the distance between the previously placed load 12 and the first conveying means 14 is known, and the first conveying means 14 Since the separation distance between the loads 12 at the time of stopping is known, the clearance between the loads 12 can be controlled to a predetermined distance.

However, errors in the holding position of the load 12 increase due to factors such as the error in the position of the load 12 when the load 12 is held and the error in the stop position of the first conveying means 14 . The holding position changing operation S110 in this example is an operation for reducing the error in the holding position of the load 12 in cooperation with the first conveying means 14 and the conveyor means 17 of the second conveying means 16 .

FIG. 7 is a diagram for explaining the holding position changing operation S110. FIG. 8 is a flowchart of the holding position changing operation S110. FIG. 7 shows a state in which the first conveying means 14 holds the cargo 12 and is mounted on the second conveying means 16 . In this figure, centerline C12, centerline C14 and centerline C16 indicate the center positions of load 12, first transport means 14 and second transport means 16. FIG.

FIG. 7(a) shows the state before the holding position changing operation. As shown in FIG. 7A, the center line C12, the center line C14, and the center line C16 are separated from each other before the holding position changing operation. That is, the load 12 is shifted from the central position of the first conveying means 14 .

In the holding position changing operation S110, first, the first conveying means 14 lowers the holding portion 14c and unloads the load 12 onto the conveyor means 17 (step S111). If the load 12 is already on the conveyer means 17 and the holding portion 14c is lowered, this step is omitted.

Next, it is determined whether or not the load 12 and the first conveying means 14 are in a predetermined positional relationship with respect to the second conveying means 16 (step S112). A predetermined positional relationship in this step is a relationship in which the load 12 and the first transport means 14 are positioned in the center of the second transport means 16 . That is, in this step, it is determined whether or not the load 12 and the first conveying means 14 are at the center position of the second conveying means 16 . In this step, the detection results of the two sets of detection sensors 16s are acquired from the second conveying means 16, and when both detection sensors 16s are in the OFF state (light shielding state), it is determined that they are in a predetermined positional relationship (central position). judge.

If there is a predetermined positional relationship (Y in step S112), the process proceeds to step S115.

If the predetermined positional relationship is not established (N in step S112), the conveyor means 17 moves the load 12 to a position where the load 12 and the second conveying means 16 have the predetermined positional relationship (step S113). The predetermined positional relationship in this step is a relationship in which the cargo 12 is positioned in the center of the second conveying means 16 . The conveyor means 17 determines that the predetermined positional relationship exists when the two sets of detection sensors 16s are in the OFF state. FIG. 7B shows the state after step S113 is finished. In this state, the centerline C12 and the centerline C16 are substantially at the same position, and the centerline C14 is separated from them.

After step S113 is executed, the first conveying means 14 moves on the second conveying means 16 so as to have a predetermined positional relationship with the second conveying means 16 . (Step S114). The predetermined positional relationship in this step is that the first conveying means 14 is positioned in the center of the second conveying means 16 . That is, in this step, the first conveying means 14 moves to the central position of the second conveying means 16 . In this step, based on the detection result of a sensor (not shown) capable of detecting the positional relationship between the first conveying means 14 and the second conveying means 16, it is determined that they are in a predetermined positional relationship. FIG. 7(c) shows the state after step S114 is completed. In this state, the centerline C12, the centerline C14, and the centerline C16 are at substantially the same position.

After executing step S114, the first conveying means 14 raises the holding portion 14c to hold the load 12 (step S115).

After executing step S115, the holding position changing operation S110 ends. The above steps are merely examples, and various modifications are possible. Although this description has shown an example of repositioning the loads 12 so that their centers are aligned, this is not a limitation, and this operation can be, for example, moving their centers apart by a predetermined distance or aligning their ends. Alternatively, the operation may be such that the ends are separated from each other by a predetermined distance.

(Simultaneous movement operation)
Next, the simultaneous movement operation S120 will be described with reference to FIGS. 1, 9, and 10. FIG. FIG. 9 is a diagram for explaining the simultaneous movement operation S120. FIG. 10 is a flow chart of the simultaneous movement operation S120. The simultaneous movement operation S120 is an operation in which the first conveying means that has left the second conveying means 16 moves the shelf section 22 while the second conveying means 16 is performing the independent conveying operation. This behavior is used when continuously storing multiple loads in the same storage queue or different storage queues during receipt, or when multiple loads are continuously removed from the same storage queue or different storage queues during shipping. may be executed. In this description, an example is shown in which a plurality of articles 12 continuously transported to the third transport means 18 are stored in the target storage row 23-A from the back by the loading/unloading section 40 and the lifting mechanism 20. FIG.

First, as shown in FIG. 9A, the second conveying means 16 moves in front of the third conveying means 18 with the first conveying means 14 (empty) loaded thereon, and the third conveying means 18 receives the load 12 from (step S121).

After step S121 is executed, as shown in FIG. 9B, the second conveying means 16 moves to the target storage line 23-A with the load 12 and the first conveying means 14 mounted thereon (step S122 ).

When the second conveying means 16 arrives at the storage line 23-A, as shown in FIG. It moves to the empty storage unit 24 on the back side of the row 23-A, and unloads the load 12 in the storage unit 24 (step S123).

After the first conveying means 14 has left, as shown in FIG. 9(D), the second conveying means 16 moves in front of the third conveying means 18 without the first conveying means 14 mounted thereon. The cargo 12 is received from the means 18 and moved to the storage row 23-A with the cargo 12 mounted thereon (step S124).

While the second conveying means 16 is executing step S124, as shown in FIG. 9E, the first conveying means 14 moves to the entrance 23a of the storage row 23-A and waits (step S125 ). That is, at least part of step S125 is executed simultaneously with step S124.

When the second conveying means 16 reaches the storage row 23-A, as shown in FIG. , withdraws the second conveying means 16, moves to the empty storage unit 24 on the far side of the storage row 23-A, and unloads the cargo 12 in the storage unit 24 (step S126).

After performing step S126, the process determines whether there is any load to be stocked (step S127). If there is goods to be stocked (Y in step S127), the process returns to step S124, and steps S124 to S127 are repeated. If there is no cargo to be stocked (N of step S127), this process ends. Each of the above steps is merely an example, and various modifications are possible.

Features of the automated warehouse system 100 of this embodiment configured as described above will be described. The automated warehouse system 100 of this embodiment includes a first conveying means 14 that holds a load 12 and can move in the column direction, and a first conveying means 14 that holds the load 12 and can move in the row direction. 2 transport means 16; The second conveying means 16 has a conveyor means 17 capable of holding the load 12 and moving the held load 12 in the row direction.

According to this configuration, the load 12 can be loaded on the second transport means 16 even when the first transport means 14 is not loaded, and the loaded load 12 can be moved in the column direction. Therefore, the first conveying means 14 and the second conveying means 16 can flexibly operate independently of each other. Also, the first conveying means 14 and the second conveying means 16 can operate separately to shorten the cycle time.

The automated warehouse system 100 moves the goods 12 in the row direction by the conveyor means 17 in a state where the first conveying means 14 and the goods 12 are mounted on the second conveying means 16 to change the holding position of the goods 12. Perform change actions. In this case, the holding position can be changed in a short time compared to the case where the holding position is changed by moving the load 12 while raising and lowering it by the first conveying means 14 .

The automated warehouse system 100 comprises a third conveying means 18 that conveys the goods 12 for warehousing or shipping, and the conveyor means 17 receives specific information indicating that the third conveying means 18 can receive the goods 12. Then, the cargo 12 is moved to the third conveying means 18 . In this case, it is possible to reduce the possibility that the load will drop during delivery.

In the automated warehouse system 100, the conveyor means 17 does not move the load 12 to the third transfer means 18 when the specific information cannot be received. In this case, it is possible to reduce the possibility that the load will drop during delivery.

The automated warehouse system 100 includes a shelf section 22 having a plurality of storage sections 24 for storing the goods 12 arranged along the row direction and the column direction, and the first transport means 14 can move the shelf section 22. , the second conveying means 16 can move on the side of the shelf 22, and the first conveying means 14 holds the cargo 12 in the storage section 24 and enters the second conveying means 16, and the cargo 12 is placed on the conveyor means 17 , the second conveying means 16 moves to a predetermined position while holding the load 12 transferred to the conveyor means 17 . to move in the column direction. In this case, the first transport means 14 can operate independently of the second transport means 16 during the single transport operation.

In the automated warehouse system 100, the first transport means 14 that has left the second transport means 16 moves the shelf 22 while the second transport means 16 is performing the independent transport operation. In this case, the first conveying means 14 and the second conveying means 16 perform different operations at the same time, so that the cycle time can be shortened.

In the automated warehouse system 100, the second conveying means 16 has a mounting portion 16c for mounting the first conveying means 14, and the conveyor means 17 has two conveyor means provided at positions sandwiching the mounting portion 16c in the row direction. It includes load transport mechanisms 17a and 17b. In this case, a mechanism for moving the load 12 can be realized with a simple configuration. Therefore, an increase in the size of the second conveying means 16 can be suppressed.

Exemplary embodiments of the present invention have been described above in detail. All of the above-described embodiments merely show specific examples for carrying out the present invention. The contents of the embodiments do not limit the technical scope of the present invention, and many design changes such as changes, additions, and deletions of constituent elements can be made without departing from the spirit of the invention defined in the claims. It is possible. In the above-described embodiment, descriptions such as "of the embodiment", "in the embodiment", etc. are added to the contents that allow such design changes. Changes are not unacceptable.

(Modification)
Modifications will be described below. In the drawings and description of the modified example, the same reference numerals are given to the same or equivalent components and members as the embodiment. Explanations that overlap with the embodiment will be omitted as appropriate, and the explanation will focus on the configuration that is different from the embodiment.

In the description of the embodiment, an example including the lifting mechanism 20 was shown, but the present invention is not limited to this. For example, the lift mechanism 20 may not be provided, and the external conveying means 46 may directly take the cargo 12 into and out of the third conveying means 18 .

In the description of the embodiment, an example provided with the third conveying means 18 was shown, but the present invention is not limited to this. For example, a loading/unloading table may be provided instead of the third conveying means 18, and the conveyor means 17 may push the goods 12 onto the loading/unloading table.

In the description of the embodiment, an example in which the second conveying means 16 does not have an elevator is shown, but the present invention is not limited to this. For example, the second conveying means 16 may have an elevating section that raises and lowers the load 12 or the first conveying means 14 .

In the description of the embodiment, an example in which the second transport path 28 is provided on the travel path of the second transport means 16 was shown, but the present invention is not limited to this. For example, the second conveying means 16 may run on a track without rails.

Each of these modifications has the same effect as the embodiment.

Any combination of the above embodiments and modifications is also useful as an embodiment of the present invention. A new embodiment resulting from the combination has the effects of each of the combined embodiments and modifications.

12 Cargo 14 First Conveying Means 16 Second Conveying Means 16c Mounting Section 16g Communication Section 17 Conveyor Means 18 Third Conveying Means 20 Elevating Mechanism 21 Conveyor Section 22 Shelf Section 23 Storage Row 23a Entrance/exit 24 storage section 28 transport path 46 external transport means 100 automated warehouse system.

Claims (7)

a first conveying means capable of holding a load and moving in the row direction;
a second conveying means capable of moving in the row direction on which the first conveying means holding the load is mounted;
with
The automatic warehouse system, wherein the second conveying means has conveyor means capable of holding the cargo and moving the held cargo in the row direction. In a state in which the first conveying means and the goods are mounted on the second conveying means, the goods are moved in the row direction by the conveyor means to perform a holding position changing operation of changing the holding position of the goods. Item 1. The automated warehouse system according to Item 1. A third transport means for transporting goods for warehousing or shipping,
3. The automated warehouse system according to claim 1, wherein said conveyor means moves said goods to said third conveying means when said specific information indicating that said third conveying means is capable of receiving goods is received. 4. The automated warehouse system according to claim 3, wherein said conveyor means does not move said goods to said third transfer means when said specific information cannot be received. a shelf having a plurality of storage units for storing cargo arranged along rows and columns;
The first transport means is capable of moving the shelf,
The second transport means is movable on the side of the shelf,
The first conveying means holds the goods in the storage unit and enters the second conveying means, and when the goods are placed on the conveyor means, the first conveying means exits the second conveying means,
2. From claim 1, wherein the second conveying means holds the load transferred to the conveyor means, moves the load to a predetermined position, and performs a single transport operation in which the load is moved in the row direction by the conveyor means. 5. The automated warehouse system according to any one of 4. 6. The automated warehouse system according to claim 5, wherein the first conveying means that has left the second conveying means moves the shelf section while the second conveying means is performing the independent conveying operation. The second transport means has a mounting portion for mounting the first transport means,
The automated warehouse system according to any one of Claims 1 to 6, wherein the conveyor means includes two load transport mechanisms provided at positions sandwiching the mounting portion in the row direction.

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