JP3129070B2 - Logistics system in automated warehouse - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a logistics system in an automatic warehouse, and more particularly to a physical distribution system in an automatic warehouse which can efficiently take out and replenish articles and has a high storage space efficiency of articles.

[0002]

2. Description of the Related Art As a conventional automatic warehouse, a plurality of fixed shelves in which a plurality of unit shelves are arranged vertically and horizontally are provided at predetermined passages, and a plurality of fixed shelves are arranged at regular intervals so as to be movable in a passage between them. Generally, a stacker crane provided has a structure in which articles stored in fixed shelves are taken out of the shelves or articles are put in empty unit shelves. In addition, instead of the stacker crane, there are already various types of structures in which a picking dolly that can travel in the horizontal direction for each of the upper and lower shelves and that can store articles on the fixed shelf and exit from the fixed shelf as described above is provided. Provided.

However, since the automatic warehouse having the above-described structure uses a transfer device such as a stacker crane or a picking dolly to enter and exit the warehouse, if an incoming request and an outgoing request overlap, both of the requests are removed. Cannot be performed simultaneously in parallel, so that there is a relatively long wait time for any request. Further, when the shape of the article is rectangular in a plan view, if the long side direction is stored in the depth direction of the fixed shelf, the frontage of each unit shelf of the fixed shelf can be set to be narrow, so that the storage space efficiency increases. On the other hand, the stroke of the fork or the like of the transfer device becomes longer, and it is necessary to increase the width of the passage. On the other hand, if articles are stored with the short side of the articles oriented in the depth direction of the fixed shelf, the frontage of each unit shelf of the fixed shelf is widened, so that the storage space efficiency is deteriorated, but the passage width can be narrowed. . In any case, considering the space efficiency of the entire automatic warehouse, the conventional structure has limitations.

When a plurality of articles having different items are stored in each unit shelf of the fixed shelf at the same time, it is necessary to move in and out of each of the articles. Is convenient for picking. However, as described above, when the width of the unit shelf is wide, the storage space efficiency of the fixed shelf is deteriorated.

[0005]

SUMMARY OF THE INVENTION In view of the above-mentioned situation, the present invention aims to solve the above problems by shortening the waiting time at the entrance and exit to improve the time efficiency of entrance and exit.
An object of the present invention is to provide a logistics system in an automatic warehouse that can smoothly replenish articles in a short time and that can improve the space efficiency of the entire automatic warehouse.

[0006]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention provides a container having a rectangular shape in a plan view and a front and rear opening.
And a plurality of containers having a frontage corresponding to a long side of the container.
A picking shelf in which unit shelves are arranged vertically and horizontally, and the picking
A predetermined transfer path is provided behind the shelf and arranged side by side, at least
Open the front and have a frontage corresponding to the short side of the container
Storage shelves in which unit shelves are arranged vertically and horizontally, and
Collection to transfer empty containers on picking shelves
Transfer the goods loading containers in the transfer section and storage shelves and
Side-by-side with a replenishing transfer unit having a rotating table that rotates 0 degrees
Stacker crane with a movable transfer table that can be moved vertically and horizontally
The picking shelf is movable in front of the picking shelf.
Multiple items on the container stored on the unit shelf of the King shelf
And a picker that can transfer products individually and deliver them to the warehouse.
A container has multiple objects in parallel along its long side.
It is usually picked up in response to a request
The car moves and is stored in the specified unit shelf of the picking shelf.
Take out the goods on the container and pick the goods
If not on the stacking shelf, the transfer table of the stacker crane
Stored on a storage shelf on the rotating table of the replenishment transfer section
Transfer the container loaded with the intended goods
After rotating the antenna 90 degrees, the empty
The container is transferred to the collection and transfer section of the transfer table, and
Transfer the container with goods from the replenishment transfer section to the unit shelf
A logistics system for an automated warehouse was constructed.

[0007]

[0008]

[0009]

The logistics system in the automatic warehouse according to the present invention having the above-mentioned contents is arranged so that each unit shelf of the picking shelf stores a container loaded with an article, and the storage shelf stores a replenishment article corresponding to the article on the picking shelf. When the loaded container is stored and there is a request for leaving the target article in this state,
The picker moves in front of the picking shelf, stops at the front of a predetermined unit shelf, takes out the article on the container, and leaves it. In addition, when all the items stored in a specific unit shelf of the picking shelf have been ejected, or when there is a request to eject an item that is not in the picking shelf, the stacker crane stores the container loaded with the same item of item. The container is taken out from the shelf, the empty container in the picking shelf is taken out, and the article loaded container is stored in the empty unit shelf.

[0010] Further, the stacker crane has a transfer table in which a collection transfer section for transferring an empty container on a picking shelf and a replenishment transfer section for transferring an article mounting container on a storage shelf are arranged side by side. First, after transferring the container on which the article of the item corresponding to the empty container is placed from the storage shelf to the replenishment transfer section, the placing table is moved to a position corresponding to the empty container on the picking shelf, and Is transferred to the collection and transfer section, and then the article mounting container is transferred from the replenishment transfer section to the empty unit shelf.

By setting the width of each unit shelf of the storage shelf to a width corresponding to the short side of the container, the storage space efficiency of the storage shelf is improved, and the width of each unit shelf of the picking shelf is set to the long side of the container. By setting the corresponding width and arranging and placing a plurality of articles in a row along the long side direction of the container, it is possible to take out and take out each article placed in the same container by a picker Is possible, and it is possible to increase the delivery efficiency. Also, when transferring an article-loaded container from the storage shelf to the picking shelf, the container is placed on the rotating table of the replenishment transfer section of the stacker crane from the storage shelf, rotated 90 degrees, and then transferred to the picking shelf. is there. Here, in taking out the articles by the picker, the stroke of the transfer means such as a fork provided on the picker can be set to the depth width of the picking shelf, that is, the length substantially corresponding to the short side length of the container. It is possible to increase the space efficiency by reducing the depth width, that is, the width of the moving space of the picker.

[0012]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing a first embodiment of the present invention; FIG. 1 shows a representative embodiment of a distribution system in an automatic warehouse according to the present invention. In the figure, reference numeral 1 denotes a picking shelf, 2 denotes a storage shelf, 3 denotes a stacker crane, and 4 denotes a picker.

In the distribution system in the automatic warehouse according to the present invention, the picking rack 1 and the storage rack 2 are arranged side by side with a predetermined transfer passage 5 therebetween, and the picking rack 1 is arranged by the stacker crane 3 arranged in the transfer passage 5. After collecting the empty container at
The gist is to replenish the article-carrying container in the storage shelf 2 at the position where the empty container was, and to take out only the article on the container by the picker 4 from the front of the picking shelf 1.

Specifically, the automatic warehouse according to the present invention comprises a picking shelf 1 in which a plurality of unit shelves 6, open front and rear, are arranged vertically and horizontally, and a predetermined transfer passage 5 behind the picking shelf 1. Are arranged side by side, and the storage shelves 2 in which at least the front open unit shelves 7,... Are arranged vertically and horizontally are arranged in the transfer passage 5, and the collection transfer for transferring empty containers in the picking shelves 1. A stacker crane 3 in which a transfer table 8 in which a loading section 8a and a replenishing transfer section 8b for transferring an article loading container in a storage shelf 2 can be moved vertically and horizontally, and moved in front of the picking shelf 1 And a picker 4 capable of individually transferring a plurality of articles on a container stored in the unit shelf 6 of the picking shelf 1 and taking out the articles.

In the present invention, the front edge of the unit shelf 6 of the picking shelf 1 is set corresponding to the long side of the container 9 by using the container 9 having a rectangular shape in a plan view. The frontage 7 is set corresponding to the short side of the container 9. Further, the replenishment transfer section 8b of the stacker crane 3 is provided with a turntable 10 for transferring an article-loaded container and rotating by 90 degrees.

In the first embodiment shown in FIG. 1, the pickers 4 are provided for each of the unit shelves 6,..., And are arranged along a moving space 11 in front of the picking shelves 1, 12.
2 uses a picking dolly 4a capable of self-propelling on the rail 2. The second embodiment shown in FIG.
A picking crane 4b provided with a vertically movable base 15 on a supporter 14 movable along 3 and 13 is used. The main body of the picking dolly 4a or the lift 15 of the picking crane 4b is provided with a transfer device 17 for taking out the articles 16 placed on the container 9 on the unit shelf 6 of the picking shelf 1. ing. Since the basic operation in the present invention does not differ between the case using the picking dolly 4a and the case using the picking crane 4b, the present embodiment will explain the details of the case using the picking dolly 4a. .

FIG. 3 is a simplified plan view for explaining the basic operation of the present invention, and corresponds to the automatic warehouse shown in FIG. The stacker crane 3 has a pair of columns 19, 19 which are guided by guide rails 18 arranged above and below the transfer passage 5 and are movable along the transfer passage 5. A transfer table 8 is provided at 19 so as to be able to move up and down. Approximately half of the transfer table 8 is the collection transfer section 8a, and the other half is the refill transfer section 8b.
In each transfer unit, the picking shelf 1 or the storage shelf 2 is transferred from the picking shelf 1 or the storage shelf 2 to the transfer table 8.
A well-known transfer means (not shown) capable of transferring the container 9 to each other is provided.

Next, the flow of the articles 16 in the distribution system in the automatic warehouse according to the present invention will be described with reference to FIGS. Here, for convenience of explanation, the container 9 on which the article 16 is mounted is indicated by 9a, and the empty container 9 is indicated by 9b. In the container 9a, a plurality of articles 16,... Are placed in parallel along the long side direction, and in the present embodiment, the 16 articles 16,.
The four articles 16 in each group are arranged in a line in the short side direction, and the four groups are arranged in parallel in the long side direction. In the unit shelves 6, of the picking shelf 1, containers 9a,... On which the articles 16 are mounted as described above are stored so that the long sides thereof are oriented along the frontage, and the storage shelves are stored. Each of the unit shelves 7,... Stores a similar container 9a such that the short side direction thereof is oriented along the frontage.

First, the target article 16 for which the delivery request has been made
Is present on the picking shelf 1. In this case, the picking dolly 4a in the step where the target article 16 is present moves along the rails 12, 12 and stops in front of the desired unit shelf 6, and the target article 16 is picked by the transfer device 17. The goods 16 are transferred to the dolly 4a, then transferred to the article storage shelves 20 provided at the side ends of the picking shelf 1, and then the goods 16 are transferred to the elevator type reservoir 21 provided adjacent to the article storage shelves 20 for unloading. You do it.

Next, when there is no article 16 in the specific unit shelf 6 of the picking shelf 1 or when the target article 16 for which the retrieval request has been made does not exist in the picking shelf 1, the target article 16 The transfer table 8 of the stacker crane 3 moves to the position of the unit shelf 7 of the corresponding storage shelf 2, and the replenishing transfer unit 8 b is positioned in front of the predetermined unit shelf 7 and stops there. Stored goods loading container 9
a on the turntable 10 of the replenishment transfer section 8b,
The rotation of the turntable 10 causes the container 9a to rotate.
Is rotated 90 degrees. Thereafter, or at the same time as the rotation of the rotary table 10, the transfer table 8 of the stacker crane 3 moves to the position of the empty unit shelf 6 of the picking shelf 1, and the collection and transfer section 8a moves behind the unit shelf 6. Then, the empty container 9b is transferred to the collection and transfer section 8a. Then, the transfer table 8 is moved to the replenishment transfer section 8b.
Is stopped at the rear of the unit shelf 6, and the article loading container 9a is transferred to the unit shelf 6 from the replenishment transfer section 8b. In this state, the target article 16 for which the retrieval request has been made can be retrieved in the same manner as described above.

The empty container 9b transferred to the collection and transfer section 8a of the stacker crane 3 is transferred to an empty container exit line 22 provided at the side end of the storage shelf 2 and carried out. Then, the empty container 9b taken out
Are loaded again into the storage line 23 adjacent to the empty container discharge line 22, and the replenishment transfer unit 8b or the collection transfer unit 8a of the stacker crane 3 is It is stored in the empty unit shelf 7 of the storage shelf 2 by utilizing.

As described above, by using the stacker crane 3 and the picker 4 in combination, even when the retrieval request and the retrieval request overlap, the target article 16 for which the retrieval request is made is present on the picking shelf 1. In such a case, those entry / exit requests are executed in parallel. Also,
Even if the outgoing request and the incoming request overlap and the target article 16 does not exist in the picking shelf 1, the stacker crane 3
Container 9a and empty container 9b on the transfer table 8
Can be simultaneously placed, the target articles 16 can be quickly replenished from the storage shelves 2 to the picking shelves 1, and the target articles 16 can be taken out by the picker 4. Unless the target article 16 does not exist in the subsequent retrieval request, the retrieval by the picker 4 and the empty container 9 by the stacker crane 3 are performed.
b to the outside and the goods loading container 9a from outside
Can be added to the storage shelf 2 in parallel.
Here, since there is a low probability that the target article 16 does not exist in any of the consecutively issued retrieval requests, the average waiting time for retrieval can be shortened as a whole.

If the article 16 requested to be taken out is not present on the picking shelf 1 and there is no empty container 9b, the container 9a loaded with the article 16 other than the one requested to be taken out is taken out of the picking shelf. The container 9a loaded with the target article 16 is transferred from the storage shelf 2 to the empty unit shelf 6 of the picking shelf 1 by transferring from the storage shelf 2 to the storage shelf 2 using the replenishment transfer section 8b of the stacker crane 3. Transfer. Further, when the article-carrying container 9a is carried out for the purpose of not transferring from the picking shelf 1 to the storage shelf 2,
This is performed in the same manner as the above-described unloading of the empty container 9b.

When articles 16 stored in the picking shelves 1 are unloaded, when the picking dollies 4a are arranged in each stage, the unloading time is much shorter than when the picking crane 4b is used. , The unit shelf 6
Is regulated by the vertical height of the picking dolly 4a. However, the height of each unit shelf 7 of the storage shelf 2 is such that the transfer table 8 of the stacker crane 3 can be moved to a desired height position. And the number of storage shelves 2 can be set larger than the number of picking shelves 1, for example, the number of storage shelves 2 can be twice as large as the number of picking shelves 1. . The increase in the number of stages and the narrow width of each unit shelf 7 synergistically cause the storage shelves 2
Has a container 9 more than three times as large as the picking shelf 1
a,... can be stored. However, since the depth width of the storage shelf 2 is substantially equal to the long side of the container 9, the depth is larger than the depth width of the picking shelf 1 and occupies a large space. The storage space efficiency due to the increase in the number of stored containers 9a is superior to the decrease.

FIG. 4 shows a specific example of the picking dolly 4a.
Have a recess 26 for accommodating the article 16 in the center of the main body 24, and the transfer device 17 is provided in the recess 26. ing. In the present embodiment, the transfer device 17 rotates four screw shafts 29 at regular intervals between opposed horizontal rails 28 of a lifting frame 27 provided to be vertically movable with respect to the main body 24. A pair of guide shafts 30, 30 are arranged in parallel with the respective screw shafts 29, a moving body 31 is screwed onto the screw shafts 29, and the pair of guide shafts 30, 30 can be slid. The movable body 31 has a comb-shaped fork 32 fixed in an L-shape in a side view. Here, the fork 32 has a structure in which a plurality of L-shaped members 32a are arranged at regular intervals. The drive mechanism of the lift frame 27 includes vertical bars 33 provided at four corners of the lift frame 27.
Are formed on the side surfaces of the pinion 35, respectively, and pinions 35 connected to the rotation shaft of a servomotor attached to the main body 24.
Are configured to rotate in conjunction with each other by appropriately combining a transmission shaft or a pulley with a belt or a gear. Therefore, when the servo motor is rotated in a certain direction, the lifting frame 27 is raised, and when the servo motor is rotated in the reverse direction, it is lowered. The screw shafts 29 are rotatable in conjunction with other servomotors. When the screw shaft 29 rotates in a certain direction, the moving body 31 moves in the direction of the picking shelf 1 and becomes integral therewith. The fork 32 protrudes laterally from the main body 24 and is rotated backward, whereby the fork 32 is drawn into the main body 24. The transfer device 17 shown here
Can be similarly applied to the lift 15 of the picking crane 4b.

As shown in FIG. 5, the container 9 has a rectangular plate shape in a plan view, and a plurality of ridges 37,... It is protruding. As shown in FIG. 6, the fork 3 is provided in each of the concave grooves 38 between the adjacent ridges 37, 37.
The horizontal portion of the second L-shaped member 32a can be inserted, and the depth of the concave groove 38 is set to be larger than the vertical width of the horizontal portion of the L-shaped member 32a. Therefore, as shown in FIG.
Is placed on the upper edge of the ridge 37 of the container 9.
The horizontal portion of each L-shaped member 32a of the fork 32 is
After the fork 32 is lifted up from the ridges 37,... After the insertion into the forks 32, the articles 16 on the container 9 are lifted by the forks 32 as shown in FIG. By pulling the fork 32 into the main body 24 in this state, the articles 16 on the container 9 stored in the unit shelf 6 of the picking shelf 1 are picked up by the picking dolly 4.
a is transferred into the concave portion 26 of FIG. In this embodiment, the four forks 32,... Can be separately protruded and retracted from the main body 24. Therefore, as described above, the articles 16,. The fork 32 corresponding to each group can be driven and transferred. Further, the number to be transferred among the four articles 16 in each group can be appropriately set by adjusting the length of the fork 32 projecting from the main body 24.

Furthermore, since the long side direction of the container 9 is oriented along the frontage of the unit shelf 6 of the picking shelf 1, that is, the short side direction is oriented in the depth direction, the fork 32 of the picking dolly 4a is What is necessary is just to make the hammering stroke substantially match the length of the short side of the container 9, so that the depth width of the picking dolly 4a can be set small, and the width of the moving space 11 can also be reduced. Yes, space efficiency can be improved.

[0028]

The distribution system in the automatic warehouse according to the present invention as described above has the following effects.

According to the first aspect, the picker can quickly retrieve the target article from the picking shelf based on the retrieval request, and all the articles stored in the specific unit shelf of the picking shelf are retrieved. If there is a request for unloading of goods not on the picking shelf, the stacker crane removes the container with the same item of goods from the storage shelf, removes the empty container on the picking shelf, and clears the empty container on the picking shelf. Since the items are stored in the unit shelves, the picking by the picker from the picking shelf and the replenishment of items from the storage shelf by the stacker crane to the picking shelf can be performed smoothly. And the stacker crane can be processed in parallel at the same time, reducing the average waiting time for delivery. It's that.

Further, when to replenish the article from the storage rack to pick shelf after transferring the container mounted with the article item corresponding to the empty containers from the storage shelf to the replenishment transfer of the stacker crane, the mounting table The picking shelf is moved to a position corresponding to the empty container, the empty container is transferred to the collection and transfer section of the stacker crane, and then the article-loaded container is transferred from the replenishment transfer section to the empty unit shelf. Therefore, the moving distance of the stacker crane can be reduced, and articles can be replenished from the storage shelf to the picking shelf in a short time.

Further , by setting the width of the unit shelf of the storage shelf to a width corresponding to the short side of the container, the storage space efficiency of the storage shelf is increased, and the width of the unit shelf of the picking shelf is set to the long side of the container. By setting the corresponding width, in taking out the article by the picker, the stroke of the transfer means such as a fork provided in the picker is set to the depth width of the picking shelf, that is, the length substantially corresponding to the short side length of the container. Since it can be set, the depth width of the picker, that is, the width of the moving space of the picker can be narrowed to increase the space efficiency. In addition, by arranging a plurality of articles in a row along the long side direction of the container and placing them, it is possible to take out and take out each article placed in the same container by a picker. It is possible to increase efficiency. Furthermore, when transferring the container with the goods from the storage shelf to the picking shelf, the container is placed on the rotating table of the replenishment transfer section of the stacker crane from the storage shelf and rotated by 90 degrees, so that the movement of the stacker crane and The rotation of the article loading container can be performed in parallel, and the articles can be efficiently replenished.

[Brief description of the drawings]

FIG. 1 is a partially cutaway perspective view showing an automatic warehouse according to a first embodiment of the present invention.

FIG. 2 is a partially cut-away simplified perspective view showing the second embodiment.

FIG. 3 is a simplified plan view for explaining the flow of the article of the present invention.

FIG. 4 is a partially cutaway perspective view showing the picking dolly of the first embodiment.

FIG. 5 is a perspective view of a container.

FIG. 6 is an omitted perspective view showing a relationship between a container and a fork of a picking dolly.

FIG. 7 is a simplified front view showing a state before an article placed on a container is transferred to a fork of a picking dolly.

FIG. 8 is a simplified front view showing a state after an article placed on a container is transferred to a fork of a picking dolly.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Picking shelf 2 Storage shelf 3 Stacker crane 4 Picker 4a Picking dolly 4b Picking crane 5 Transfer passage 6 Unit shelf 7 Unit shelf 8 Transfer table 8a Collection transfer part 8b Replenishment transfer part 9 Container 10 Rotary table 11 Moving space 12 Rail 13 Rail 14 Support 15 Lifting table 16 Article 17 Transfer device 18 Guide rail 19 Column 20 Article storage shelf 21 Reservoir 22 Empty container storage line 23 Storage line 24 Main body part 25 Wheel 26 Concave part 27 Elevating frame 28 Horizontal rail 29 Screw axis REFERENCE SIGNS LIST 30 guide shaft 31 moving body 32 fork 32 a L-shaped member 33 vertical rail 34 rack 35 pinion 36 substrate 37 ridge 38 concave groove

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-5-294408 (JP, A) JP-A-49-3367 (JP, A) JP-A-61-295901 (JP, A) JP-A-6-295901 92410 (JP, A) (58) Field surveyed (Int. Cl. ⁷ , DB name) B65G 1/00-1/20

Claims (1)

(57) [Claims] 1. A container having a rectangular shape in a plan view and a front opening open front and rear and corresponding to a long side of the container.
Picking shelves in which a plurality of unit shelves are arranged vertically and horizontally, and a predetermined transfer passage provided behind the picking shelves and arranged side by side
And open at least the front, facing the short side of the container.
Storage shelves in which unit shelves having corresponding frontages are arranged vertically and horizontally, and empty containers in picking shelves arranged in the transfer passage
Collection and transfer section for transferring the goods and the goods loading container on the storage shelf
Refill with rotating table for transferring and rotating 90 degrees
A transfer table in which a transfer unit is arranged side by side can move vertically and horizontally.
A picker crane, the picking rack being movable in front of the picking shelf;
Multiple items on the container stored in the unit shelf
A picker that can be individually transferred and delivered to the warehouse, and the container has a plurality of articles along its long side direction.
Are usually placed in parallel, usually in response to
The picker moves according to the specified unit shelf of the picking shelf
Remove the goods from the container stored in
If the goods are not on the picking shelf,
On the rotary table in the replenishment transfer section of the transfer table.
Transfer the container loaded with the target goods stored in the pipe rack
Loading and rotating the container 90 degrees, picking shelf
To transfer the empty container at the collection and transfer section of the transfer table
In the meantime, the replenishment transfer section moves the empty
A logistics system in an automated warehouse, characterized by transfer of tena .