JP3218158B2 - Automatic warehouse removal control method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control method for taking out an automatic warehouse, and more particularly to a control method for efficiently taking out various kinds of items having different sizes.

[0002]

2. Description of the Related Art As a conventional automatic warehouse, a plurality of unit shelves are arranged in rows and columns at predetermined intervals at predetermined intervals, and a plurality of picking shelves are movable in the channels between them. 2. Description of the Related Art Various types of stacker cranes are provided, which have a structure in which items stored in unit shelves of picking shelves are taken out of the shelves and items are stored in empty unit shelves. Also, instead of the stacker crane, various types of structures having a picking dolly that can travel in the horizontal direction for each of the upper and lower shelves and that can store and retrieve items on the unit shelf in the same manner as described above have already been provided. I have.

Further, in a conventional automatic warehouse, due to a requirement due to easiness of transfer of a transfer device, an item of a fixed size is directly stored in a unit shelf of the picking shelf, or one or more items are stored. It is common practice to store trays of a certain standard that have been stored, or to store containers or pallets of a certain standard on which one or more items are placed. The structure suitable for transferring the item is adopted. For example, a unit having a structure in which a pusher for pushing out an item from the back of the unit shelf is provided on the unit shelf, a structure having a pair of arms capable of sandwiching and pulling out an item from both sides, a tray, a container or a pallet. There are ones that are locked and pulled out.

In an automatic warehouse having the above structure,
When a retrieval request is issued for each item stored in the automated warehouse, items of a certain size stored in the unit shelf of the picking shelf are retrieved one by one, or one or a plurality of items are retrieved. A method has been used in which a tray, a container or a pallet of a certain standard in which is stored is taken out of the unit shelf, only necessary items are taken out, and the remainder is returned to the unit shelf again.

[0005]

However, the automatic warehouse transfer apparatus as described above is intended for taking out an object of a fixed shape, and is used for transferring a plurality of objects at the same time. It has a drawback that it cannot cope with different sizes and shapes of objects to be mounted.

Therefore, in the method of taking out items of a certain size stored in the automatic warehouse one by one, not only the shape of the stored items is limited, but also the items are taken out one by one, so that the work efficiency is very high. bad.

Further, in a method of taking out a tray, a container or a pallet of a certain standard containing a single or a plurality of items from the unit shelf, taking out only necessary items and returning the remainder to the unit shelf, Since the returning work takes a lot of trouble and time, the delivery capacity is also very low.

Therefore, in any of the above methods,
In recent years, it has not been possible to respond to the demand for efficient handling of various types and small quantities of items.

SUMMARY OF THE INVENTION It is an object of the present invention to provide an automatic warehouse provided with a transfer device capable of simultaneously transferring a plurality of items having different sizes, and to efficiently take out various types of items from the automatic warehouse. It is an object of the present invention to provide a method for controlling an automatic warehouse, which is possible.

[0010]

According to a first aspect of the present invention, there is provided an automatic warehouse removal control method according to the first aspect of the present invention. A plurality of comb-shaped forks having a stop portion at the base end are arranged in parallel, and a plurality of transfer ridges capable of meshing with the respective forks on a mounting table of the transfer device main body are comb-shaped. On the picking shelf side, a plurality of supporting protrusions that can mesh with each of the forks are provided side by side in a comb-tooth shape, and the height of the transfer protrusion and the supporting protrusion described above is In an automatic warehouse that is set higher than the vertical width of the fork, and each fork or multiple forks cooperate to lift the item on the picking shelf and transfer it to the mounting table of the transfer device main body For multiple items stored in an automated warehouse When fetch request is, the information about the number of used forks of each item, the assignment of the fork and determines the order used with many folk number of each item,
According to the fork for which the allocation has been determined, each item is transferred from the picking shelf to the mounting table in ascending order of the number of used forks, and each item requested to be taken out is taken out.

According to a second aspect of the present invention, in the automatic warehouse removal control method according to the first aspect, fork allocation is determined in descending order of the number of used forks of each item based on information on the number of used forks of each item. At this time, when the number of used forks is the same, the allocation of forks may be determined in descending order of the depth dimension of the item.

According to a third aspect of the present invention, in the automatic warehouse removal control method according to the first aspect, fork allocation is determined in descending order of the number of used forks of each item based on information on the number of used forks of each item. When the number of used forks is the same, the allocation of forks may be determined in descending order of the depth length of each item calculated by multiplying the depth dimension of each item by the number of taken out types of each item. .

Further, as described in claim 4, claim 1 is
In the method for controlling the removal of an automatic warehouse according to any one of Items 3 to 3,
When the items are sequentially transferred to the mounting table in ascending order of the number of used forks by the allocated forks, when the number of used forks is the same, the position closest to the position of the transfer device at the time of the immediately preceding removal. May be transferred from the picking shelf to the transfer device.

According to a fifth aspect of the present invention, in the automatic warehouse take-out control method according to the first to fourth aspects, items of the same kind are transferred from the picking shelf to the mounting table first from the oldest storage date. You may make it transfer.

[0015]

In the automatic warehouse removal control method according to the first aspect of the present invention, the automatic warehouse is capable of moving up and down with respect to the transfer apparatus main body and being able to protrude and retract in the depth direction of the picking shelf. A plurality of comb-tooth-shaped forks provided with stop portions are arranged in parallel, and a plurality of transfer ridges that can mesh with each of the forks are arranged in a comb-tooth shape on a mounting table of the transfer device main body. On the picking shelf side, a plurality of mounting protrusions that can mesh with each of the forks are arranged side by side in a comb shape, and the height of the transfer protrusion and the above-described protrusion is higher than the vertical width of the fork. The fork or a plurality of forks cooperate with each fork to lift an item on the picking shelf stored in the picking shelf and transfer the item to the mounting table of the transfer device main body.

Therefore, the number of forks projecting from the transfer device main body in the depth direction of the picking shelf is adjusted in accordance with the width of the item, and the number of forks protruding from the comb-teeth-shaped mounting ridge formed on the picking shelf is adjusted. After inserting and positioning below the item,
By lifting, one or more items are placed on each fork, or items are placed on a plurality of cooperated forks, and the items are transferred from the picking shelf to the transfer body by pulling the forks into the transfer body. Can be posted. Therefore, even when the width dimensions of the items are not constant, it is possible to transfer items of various width dimensions to the mounting table by adjusting the number of used forks.

Further, the length of the fork protruding in the depth direction of the picking shelf can be arbitrarily adjusted. Therefore, when a plurality of items are stored in the depth direction of the picking shelf, the fork protrudes. By adjusting the length of the item, an arbitrary number of items can be transferred to the mounting table.

Further, once an item is transferred to the transfer device and then another item is transferred by the same fork, the fork is formed on a mounting table. With the already transferred items placed on the transfer ridge by lowering from the upper end, insert the same fork between the support ridges on the picking shelf on which other items are mounted in the same manner as described above. Alternatively, the fork is pushed on the picking shelf while the item is pushed by the stopper provided at the base end and slid from the upper end of the transfer ridge or the upper end of the transfer ridge on the picking shelf to the upper end of the transfer ridge. After inserting it between the supporting ridges and positioning it below other items, raise it and place the already transferred item and other items on the fork at the same time, and then fork the same to the transfer body By pulling in other items also picking shelves It can be transferred to the Luo transfer body.

Further, in the automatic warehouse having the above-described configuration, when a retrieval request is issued for a plurality of items stored in the automatic warehouse, the information on the number of used forks of each item indicates the number of used forks of each item. Since the allocation of the forks is determined in the descending order, the items can be allocated to each of the forks so as to minimize the gap. In addition, since each item is transferred from the picking shelf to the mounting table by the fork whose allocation has been determined sequentially from the one with the smaller number of used forks, the respective items are in accordance with the allocation of the determined fork. It is possible to transfer it.

As in the automatic warehouse removal control method according to the second aspect, in the automatic warehouse removal control method according to the first aspect, information on the number of used forks of each item is used to determine the number of used forks of each item. When determining the allocation of forks in descending order, when the number of used forks is the same, if the allocation of forks is determined in descending order of the depth dimension of the item, each item is assigned to each fork so that the gap is further reduced. Can be assigned.

Further, as described in claim 3, claim 1
In the automatic warehouse removal control method described above, when determining the fork allocation in the descending order of the number of used forks of each item based on the information on the number of used forks of each item, when the number of used forks is the same, the depth dimension of each item If the fork allocation is determined in the descending order of the depth length of each item calculated by multiplying the number of extracted items of the type of each item, the same type of item is often assigned to the same fork, The number of operations is smaller.

According to a fourth aspect of the present invention, there is provided an automatic warehouse removal control method according to the first to third aspects, wherein the forks for which the allocation is determined are arranged in ascending order of the number of used forks. When transferring the items to the mounting table, when the number of used forks is the same, the items stored at the position closest to the position of the transfer device at the time of the immediately preceding removal are transferred from the picking shelf to the transfer device. By doing so, useless movement of the transfer device can be omitted.

Further, as in the automatic warehouse removal control method according to the fifth aspect, in the automatic warehouse removal control method according to the first to fourth aspects, items of the same kind are sequentially stored in the picking shelf in descending order of the storage date. When the item is transferred to the mounting table, the item with the old storage date is taken out first, and the relatively new item with the storage date is left in the automatic warehouse.

[0024]

【Example】

[1. Overview of Automatic Warehouse] An embodiment will be described below with reference to the drawings.

First, an embodiment of the automatic warehouse will be described. FIG. 1 shows an embodiment of an automatic warehouse, in which 1 is a picking shelf, 2 is a storage shelf, 3 is a stacker crane, and 4 is a picker.

In the automatic warehouse, picking shelves 1 and storage shelves 2 are juxtaposed with a predetermined transfer passage 5 therebetween, and empty containers 9 on the picking shelves 1 are moved by a stacker crane 3 arranged in the transfer passage 5. After the collection, the container 9 on which the item 16 in the storage shelf 2 is mounted at the position where the empty container 9 was located.
And the picker 4 takes out only the items 16 on the container 9 from the front of the picking shelf 1.

More specifically, the automatic warehouse comprises a picking shelf 1 in which a plurality of unit shelves 6 open front and rear are arranged vertically and horizontally.
And a transfer passage 5 of a predetermined width arranged side by side behind the picking shelf 1, a storage shelf 2 in which a plurality of unit shelves 7 open at least on one side facing the picking shelf 1 are arranged vertically and horizontally, and the transfer passage 5, a collection and transfer unit 8a for transferring an empty container 9 on the picking shelf 1 and a replenishing and transferring unit 8b for transferring the container 9 with the items 16 from the storage shelf 2 to the picking shelf 1. A stacker crane 3 in which a transfer table 8 provided with
Of the picking shelf 1 and the unit shelf 6
And a picker 4 which can transfer a plurality of items 16 on a container 9 stored in the container 9 and take it out.

In this embodiment, a rectangular container 9 in plan view is used, the frontage of the unit shelf 6 of the picking shelf 1 is set corresponding to the long side of the container 9, and the unit of the storage shelf 2 is set. The frontage of the shelf 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 a container on which the item 16 is mounted from the storage shelf 2 and rotating the container by 90 degrees.

In the first embodiment shown in FIG. 1, the picker 4 is provided at each vertical stage of each unit shelf 6, and the rails 1 are arranged along a moving space 11 in front of the picking shelf 1.
2 uses a picking dolly 4a capable of self-propelled movement on a rail 2. The second embodiment shown in FIG.
A picking crane 4b provided with a vertically movable base 15 on a supporting body 14 movable along the vertical direction. Then, the transfer device main body 24 of the picking dolly 4a or the lift 15 of the picking crane 4b has
A transfer device 17 for taking out the item 16 placed on the container 9 on the unit shelf 6 of the picking shelf 1 is provided. Since the transfer device 17 does not differ between the case where the transfer device 17 is used for the picking dolly 4a and the case where the transfer device 17 is used for the picking crane 4b, the details of the case where the transfer device 17 is used for the picking dolly 4a will be described.

FIG. 3 is a simplified plan view for explaining the basic operation of the automatic warehouse, and corresponds to the automatic warehouse shown in FIG. The stacker crane 3 is connected to the transfer passage 5
Has a pair of columns 19 which are guided by guide rails 18 arranged above and below and are movable along the transfer passage 5, and the transfer table 8 is provided on the columns 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 replenishment transfer section 8b. Each transfer section is provided with the picking shelf 1 or the storage shelf 2 and the transfer table 8a. And a known transfer means (not shown) capable of transferring the container 9 from the transfer table 8 to the picking shelf 1 or the storage shelf 2.

[2. Flow of Item 16 in Automatic Warehouse] Next, the flow of the item 16 in the automatic warehouse according to the present embodiment will be described with reference to FIGS. Container 9
In order to take out only the items 16 on the container 9 by the transfer device 17, at least one of the long sides may be opened, but in this embodiment, a flat plate is used. In addition, the container 9 on which the item 16 is
a and the empty container 9 is indicated by 9b. In the container 9a, a plurality of items 16 of various sizes are placed in parallel so as to be the same kind of item 16 in each array along the short side direction, with each item being distinguished for each array.
Then, in each unit shelf 6 of the picking shelf 1, as described above, the container 9 a on which the item 16 is mounted is stored so that the long side direction thereof is oriented along the frontage of the unit shelf, and the storage shelf 2 is stored. A similar container 9a is stored in each unit shelf 7 such that the short side direction is oriented along the frontage. As described later, each of the items 1
6 is not limited to a fixed shape.

First, a case will be described in which the target item 16 for which a retrieval request has been made exists in the picking shelf 1. In that case, the picking dolly 4a of the stage where the target item 16 is present moves along the rail 12 and stops in front of the target item 16, and the transfer device 17 moves the target item 16 to the picking dolly 4a.
To the item retrieval shelf 20 provided at the side end of the picking shelf 1 and then to the item retrieval shelf 20
The item 16 is transferred to the elevator-type reservoir 21 adjacent to and is left out.

Next, when there is no item 16 in the specific unit shelf 6 of the picking shelf 1 or when the target item 16 for which the delivery request is made does not exist in the picking shelf 1, the target item 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. The stored item-carrying container 9a is transferred onto the turntable 10 of the replenishment transfer section 8b, and the direction of the container 9a is rotated by 90 degrees by rotating the turntable 10. afterwards,
Alternatively, the transfer table 8 of the stacker crane 3 moves to the position of the empty unit shelf 6 of the picking shelf 1 at the same time as the rotation of the rotary table 10, and the collection and transfer section 8 a moves to the unit shelf 6.
To stop and transfer the empty container 9b to the collection and transfer section 8a. Then, the transfer table 8 is moved to stop the replenishment transfer section 8b located behind the unit shelf 6, and the item mounting container 9a is transferred from the replenishment transfer section 8b to the unit shelf 6. is there. In this state, the target item 16 for which the retrieval request has been issued can be retrieved in the same manner as described above.

The empty container 9b transferred to the collection / 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
, The items 16 to be replenished are placed again, loaded into the storage line 23 adjacent to the empty container discharge line 22, and replenished by the replenishment transfer part 8b or the recovery transfer part 8a of the stacker crane 3. It is stored in the empty unit shelf 7 of the storage shelf 2.

As described above, by using the stacker crane 3 and the picker 4 together, even when the retrieval request and the retrieval request overlap, the target item 16 for which the retrieval request has been made is present on the picking shelf 1. in case of,
These entry / exit requests are executed in parallel. Also, the outgoing request and the incoming request overlap, and the target item 16
Can be placed on the transfer table 8 of the stacker crane 3 at the same time even if the empty container 9b is not present on the picking shelf 1,
The target item 16 can be quickly replenished from the storage shelf 2 to the picking shelf 1, and the picker 4 can take out the target item 16. Unless the target item 16 is not present in the subsequent retrieval request, the retrieval is performed by the picker 4, the empty container 9 b is carried out by the stacker crane 3, and the storage container 2 of the item-loaded container 9 a is supplied from the outside. Can be performed in parallel. Here, since there is a low probability that the target item 16 does not exist in any of the consecutive outgoing retrieval requests, the average waiting time for the outgoing retrieval can be shortened as a whole.

If the item 16 requested to be taken out is not present in the picking shelf 1 and there is no empty container 9b, the container 9a loaded with the item 16 other than the one requested to be taken out is taken out of the picking shelf. The container 9a loaded with the target item 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 replenishing transfer portion 8b of the stacker crane 3. Transfer. Further, when the item-carrying container 9a is carried out for the purpose of not transferring it from the picking shelf 1 to the storage shelf 2, it is carried out in the same manner as the above-mentioned carry-out of the empty container 9b.

When the items 16 stored in the picking shelf 1 are unloaded, when the picking dollies 4a are arranged for each stage, the unloading time is much shorter than when the picking crane 4b is used. The lower limit of the height of 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. Can be set to the height of
It is also possible to set the number of storage shelves 2 higher 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 allow the storage shelf 2 to store three or more times the number of the item-carrying containers 9a as compared with the picking shelf 1. 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.

[3. Operation of Picker 4 and Transfer Device 17] FIGS. 4 and 5 show the picking dolly 4a.
The transfer device main body 24 has wheels 25 for self-running along the rails 12 on both sides, and a concave portion for accommodating the item 16 in the center of the transfer device main body 24. The transfer device 17 is provided in the concave portion 26. The transfer device 17 includes a horizontal rail 28 opposed to an elevating frame 27 provided to be vertically movable with respect to the transfer device main body 24.
In the present embodiment, four screw shafts 29 are rotatably provided at regular intervals, and a pair of guide shafts 30 are arranged in parallel with each screw shaft 29, and are moved to the screw shafts 29. Body 3
1 and a pair of guide shafts 30 are slidably fitted to each other. A comb-shaped fork 32 having an L-shape in side view is fixed to each of the movable bodies 31 as an arm. Here, the fork 32 has a structure in which a plurality of L-shaped members 32a are arranged at regular intervals. Further, as a driving mechanism of the lifting frame 27, racks 34 were formed on the side surfaces of the vertical rails 33 provided at the four corners of the lifting frame 27, respectively, and connected to the rotating shaft of a servomotor attached to the transfer device main body 24. The pinions 35 are engaged with each other, and each of the pinions 35 is 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 shaft 29 is rotatable in conjunction with another servomotor, and when the screw shaft 29 rotates in a certain direction, the moving body 31 moves in the direction of the picking shelf 1 and a fork integrated therewith. The fork 32 is drawn into the transfer device main body 24 when the fork 32 projects sideways from the transfer device main body 24 and is rotated in the reverse direction.

The fork 32 includes a substantially horizontal transfer portion 36 and an abutment portion 37 standing upright at a base end. The transfer of each fork 32 to a mounting table 38 corresponding to the bottom surface of the concave portion 26 is performed. A plurality of transfer protrusions 39 capable of meshing with the portion 36 are arranged in a comb-like shape, and the height of the transfer protrusions 39 is adjusted by the fork 3.
2 is set higher than the vertical width of the transfer portion 36, and the fork 3
2 is lowered, the transfer portion 36 is moved by the transfer protrusions 39, 3
9 to be buried. The transfer ridge 3
9, the picking shelf 1 is provided on the mounting table 38.
Even if the slits having open sides are arranged side by side in a comb-tooth shape, they are substantially the same, and there is no difference in operation and effect.

Incidentally, the transfer device 17 shown here can be similarly applied to the lift 15 of the picking crane 4b.

As shown in FIG. 6, the container 9 has a rectangular shape in a plan view, and a plurality of supporting ridges 41 are provided on the upper surface of the substrate 40 along the short side at regular intervals. ,
It is formed in a comb shape. As shown in FIG. 7, the transfer portion 36 of the fork 32 can be inserted into each of the grooves 42 between the adjacent supporting ridges 41, 41. The height is set higher than the vertical width of the transfer portion 36 of the fork 32. Therefore, as shown in FIG. 8, after the transfer portion 36 of the fork 32 is inserted into the concave groove 42 with the item 16 placed on the upper edge of the support ridge 41 of the container 9, When the transfer portion 36 of the fork 32 is lifted upward from the support ridge 41, the item 16 on the container 9 is lifted by the transfer portion 36 as shown in FIG. In this state, the fork 32
Of the picking shelf 1 by pulling the
Item 1 on container 9 stored in unit shelf 6 of
6 is transferred into the concave portion 26 of the picking dolly 4a. Then, as shown in FIG.
The transfer ridge 39 and the fork 32 formed on the mounting table 38 of No. 4
9 is set so that when the fork 32 is lowered, the transfer portion 36 is positioned below the upper end of the transfer ridge 39, so that the item 16 in FIG. In the state of being lifted by the transfer unit 32 of FIG.
In this state, the item 16 does not contact the transfer ridge 39,
Thereafter, the fork 32 is lowered to place the item 16 on the upper end of the transfer ridge 39 as shown in FIG.

In the transfer device 17 as described above, the four forks 32 can be individually protruded from the transfer device main body 24 individually or in cooperation with the plurality of forks 32. When the items 16 having different widths are placed, the items 16 having different widths can be transferred by adjusting the number of used forks 32 according to the width of each item. Further, the length of the fork 32 protruding from the transfer device main body 24 can be adjusted according to the number of items 16 to be transferred and the depth of each item 16 for each arrangement. Therefore, it is possible to transfer the multi-shaped items 16 and to adjust the number of the items 16 to be transferred.

Further, 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.

Next, a transfer method in a case where a predetermined item 16 is transferred to the transfer device main body 24 of the picking dolly 4a and subsequently another item 16 is transferred is shown in FIG.
3 and FIG. 13 and 14 show a simplified plan view in the upper part and a simplified sectional view in the lower part. Here, the items D1, D2, and D3 and another item 16 are stored on one container 9 in the picking shelf 1 in a state where the same type of item 16 is placed in the arrangement direction of the short sides of the container 9. Have been. Here, an example using four forks 32 as the transfer device 17 is shown, and F1, F2, F3,
F4, the fork F3, F4 and the plan view, the transfer protrusion 39 of the transfer device main body 24 and the support protrusion 41 of the container 9 are omitted. Four items D1 to D3 are arranged on one side of the container 9 in the short side direction corresponding to the fork F1, and the width of the item D is smaller than the effective width of the fork F1. Other items are other forks 32
Are similarly arranged in the short side direction of the container 9.

The items D1 and D2 have already been transferred, and only the item D3 remains at the position farthest from the transfer device 17 on the container 9, and the picking of the transfer ridge 39 of the transfer device 17 is performed. It is assumed that the items D1 and D2 have already been transferred and placed on the shelf 1 side. The case where such an initial setting is S1 and another item D3 is transferred based on this setting in addition to the already transferred items D1 and D2 will be described. First, as shown in S2 of FIG. 13, the fork F1 is lowered, and the fork F1 is protruded in a state where the transfer portion 36 is below the upper end of the transfer ridge 39, and the transfer portion 36 is moved. Is inserted between the supporting ridges 41 of the container 9. Then, as shown in S3, fork F1
The pressing portion 37 pushes the side surface of the item D1 and slides the items D1 and D2 from the upper end of the transfer ridge 39 of the mounting table 38 to the upper end of the support ridge 41 of the container 9 to move the items D1 and D2. The tip is located below item D3. Thereafter, as shown in S4 of FIG.
, And the items D1 and D2 already transferred and the item D
3 are simultaneously lifted by the transfer unit 36. Then, the fork F1 is pulled into the transfer device main body 24 while being raised as in S5, and finally the fork F1 is lowered as shown in S6, and the items D1, D2, and D3 are transferred to the transfer ridge of the mounting table 38. The transfer is completed by placing it on the upper end of 39.

[4. Control of transfer device 17]

[0047]

[Table 1]

Next, each of the forks F1, F2, F3
The control of F4 will be described. As shown in FIG. 8, four forks 32 of the forks F1, F2, F3, and F4 are provided on the transfer device main body 24 of the picker 4 moving on the column, while the items 16 on the picking shelf 1 are loaded. The placed container 9 is divided into four in the long side direction as shown in FIG. 16, and block numbers 1 to 4 are set for each block. Then, the stock position of each item 16 placed in each block is stored in the picker control device 43 by making it correspond to each block. In addition,
When the item 16 is placed over a plurality of blocks, the item having the smallest block number is stored in the picker control device 43 as the stock position. That is, the stock position of the stock item 16 stored in the picking shelf 1 is stored by the upper and lower tier numbers and horizontal row numbers of the picking shelf 1 on which the container 9 is placed, and the block number of the container 9.

The number of forks used for transfer is determined by information on the number of used forks of each item. Information on the number of used forks of each item is, for example,
This is the number of used forks determined based on the width dimension of the various items 16 input in advance. For example, each fork 3
2 is 150 mm, and if the width of the item 16 is less than 150 mm, the number of used forks is 1, 1
2,300 mm for 50 mm or more and less than 300 mm
3, 450 mm or more and 60 if less than 450 mm
If it is less than 0 mm, it is calculated as 4. And Table 1
As shown in (1), the fork 32 to be operated to transfer the item 16 is determined based on the starting fork number and the number of used forks determined as described above. The determination of the starting fork number will be described later. Further, the information on the number of used forks of each item may not be the number of used forks obtained from the width dimension of each item, but may be the number of used forks directly input for each item.

By the way, at least one item 16 is arranged at least in the short side direction so that each array in the short side direction of the container 9 is the same kind of item 16. In order to take out an arbitrary number of items 16 from among the 16, it is necessary to adjust the protruding length of the fork 32 as described above. This protrusion length is obtained by the following calculation.

Fork protrusion length = fork maximum protrusion length − ((number of items on the array−number of items to be taken out) × item depth size) The fork maximum protrusion length is a length that the fork 32 can protrude from the transfer device main body 24. The maximum length, the number of items on the array is the number of items 16 placed on the array at the inventory position where the item 16 is to be taken out, and the number of items to be taken out is the item 1 to be taken out on the array.
6 and the item depth dimension is the dimension in the depth direction of the items 16 in the array. Since the items 16 on each array are taken out from the front of the container 9, the items 16 left on each array are always placed with reference to the rear of the container 9.

By adjusting the protruding length of each fork 32, a plurality of items 16 are placed on the transfer ridge corresponding to one or more forks 32, and the plurality of By transferring an arbitrary item 16 from the inside to the container 9 or the like of the picking shelf 1, the arrangement of the container 9 can be filled and replenished. In this case, the protruding length of each fork 32 is calculated by the following calculation.

Fork protrusion length = Fork maximum protrusion amount−
(Number of items in array × item depth dimension) Therefore, the picker 4 having the above configuration is effective not only for taking out the items 16 but also for replenishing the items 16 to the picking shelf 1.

Hereinafter, the movement control of the picker 4 will be described in detail. That is, the stock position of the item 16 requested to be taken out is specified by the column number and the row number indicating the position of the container 9 on which the item 16 is placed, and by the block number indicating the position of the item 16 in the container 9. Then, the picker 4 determines the item 1 according to the row number.
The container 6 moves to a row and a row of the unit shelf 6 where the container 9 on which the number 6 is placed is located (FIG. 17). However, since the starting fork of the picker 4 needs to face the block having the item 16, the picker 4 needs to move to a position shifted from the position of the designated column number. That is, the block of each container 9 is divided into four in the long side direction, and the fork 3
Since there are four 2s, if the starting fork number and the block number in the container 9 are the same, it is sufficient to move to the position of the designated column number.

If the starting fork number is smaller than the block number in the container 9, the displacement is calculated by the following equation.

Amount of displacement = (block number−starting fork number) × width of fork.
Is moved in the direction in which the block number increases.

If the starting fork number is larger than the block number in the container 9, the displacement is calculated by the following equation.

Deflection amount = (starting fork number−block number) × width of fork.
Is moved in the direction in which the block number becomes smaller.

[5. Automatic warehouse take-out control method] An embodiment of the automatic warehouse take-out control method according to the present invention will be described below.

FIG. 18 is an overall configuration diagram of the automatic warehouse removal control device. That is, when the shipping destination places an order for a plurality of items 16 stored in the automatic warehouse by the CPU 44, a pick-up request is input to the picker control device 43, and the picker control device 43 sends the pick-up request to the picker 4. A control command is issued based on Note that a plurality of the pickers 4 may be provided, or one picker 4 may perform a plurality of extracting operations.

The picker control device 43 includes:
The type number, width dimension and depth dimension of the type of each item 16 are stored, and the stock position of the item 16 in the automatic warehouse is the column number and the row number of the container 9 in which the item 16 is mounted, and the block number in the container 9 And stored in each array.
The number of 6 and the storage date are also stored. When a take-out request is issued for the item 16 in the automatic warehouse, the picker control device 43 operates as shown in the flowchart of FIG.

[0062]

[Table 2]

That is, the picker control device 43 stores information on the number of used forks of each item (the width of each item), the depth of each item, etc. If Table 2) is entered and a retrieval request is made, each item 16
The number of forks 32 used to transfer the item 16 from the container 9 on the picking shelf 1 to the transfer device 17 is calculated from the width dimension of the fork 32. Then, the items 16 requested to be taken out are arranged in descending order of the number of used forks determined for each item 16 to obtain a first take-out order (step T1). The information on the number of used forks of each item may be the number of used forks corresponding to the product number of the type of each item 16. In this case, the information is directly obtained based on this information without going through the process of calculating the number of used forks 32. To obtain a first retrieval order.

Thereafter, each of the items 1 requested to be taken out is multiplied by the depth dimension of each item 16 inputted in advance by the number of taken out items of the type of the item 16 requested to be taken out.
The depth length of the type 6 is calculated (step T2).

[0065]

[Table 3]

The items 16 having the same number of used forks in the first retrieval order are rearranged in descending order of the calculated depth length to obtain a second retrieval order as shown in Table 3 (step 3). T3).

[0067]

[Table 4]

[0068]

[Table 5]

Thereafter, as shown in Tables 4 and 5, the picker 4 is arranged according to the second take-out order, that is, the items 16 having a large number of used forks and having a long depth in the number of used forks. Fork F1 on one side
Is set as a starting fork, other forks F2, F3, and F4 are allocated according to the number of used forks of each item 16. At this time, when there is no more area for placing the item 16 on the fork F1, the other forks F3 and F4 are allocated in accordance with the number of used forks of each item 16 with the fork F2 as the starting fork. Hereinafter, the same assignment is performed when the area for mounting the item 16 on the fork F2 is exhausted. Here, when the picking operation of the picker 4 is not completed, or when all the items 16 requested to be picked up by one picker 4 cannot be taken out, the picking operation is carried out for the second time or another picker 4. By the above processing, large item 1
6 is preferentially assigned to the mounting table 38 on the picker 4, and the smaller items 16 are packed in the gaps of the previously assigned large items 16, so that the gaps are reduced, and the transfer efficiency of the pickers 4 is improved ( Step T
4).

[0070]

[Table 6]

[0071]

[Table 7]

Next, the items 16 stocked in the automatic warehouse in the state of being arranged in the short side direction of each container 9 according to the type are stored in any stock position (column number, column number, block number and stored). The process for determining whether to take out the item 16 first from the item 16 described in (1) will be described.

The automatic picker controller 43 previously inputs the stocking date, stock quantity, stock position, etc. of each item 16 in each array as a stock master (Table 6). For each of the arrays, the items are arranged in ascending order of the storage date of each array, and when the storage dates are the same, the items 16 in each array are arranged in ascending order of stock. And in the inventory master,
The device take-out request source data is created from the second take-out order so that the item 16 of each array arranged in a higher order is taken out first (Table 7). At this time, when the number of items in each array is larger than the requested number of items 16 to be taken out, or when the remaining area of the fork 32 is small, the items are taken out by two or more fork operations (step T5).

[0074]

[Table 8]

[0075]

[Table 9]

Thereafter, each item 1 requested to be taken out is
6 is the fork 32 assigned in step T4.
Is taken out by At this time, if the item 16 having a large width is taken out first from the item 16 having a large fork width, for example, if the item 16 having a large width is taken out using the forks F1 and F2, the item 16 having a small width using only the fork F1 is taken out. (FIG. 20A). Therefore, in order to retrieve from the item 16 with the smaller number of used forks (FIG. 20B), the device retrieval request source data is rearranged for each item in ascending order of the number of used forks (Table 8).
Further, for the item 16 having the same number of used forks, the position of the picker 4 at the immediately preceding take-out position is referred to.
The rearrangement is performed so that the items 16 in each array at a position close to the take-out position of the immediately preceding picker 4 are taken out. The rearrangement is performed as described above, and the device take-out request data (Table 9) is created (step T6).

[0077]

[Table 10]

Finally, based on the device take-out request data, a control command form to the picker 4 (Table 10) is developed. The above-mentioned control command form includes a command for determining whether the item 16 is to be delivered or stored, and a command for determining whether the item 16 is to be removed by the fourth unloading operation, or which picker 4 is used when a plurality of pickers 4 are provided. Command, starting fork number, number of used forks, column number and stage number, block number,
The removal quantity of each block, the protruding length of the fork 32, and the stock quantity of the item 16 in the block are arranged in the removal order of the item 16 in each block (step T7).

When a command is given to the picker 4 according to the control command form obtained as described above, the one or more forks 32 of the picker 4 carry out the work of taking out the item 16 for which the take-out request has been made. In FIG.
The arrangement after transferring each item 16 to the mounting table 38 of the transfer device main body 24 is shown.

Note that the above steps T2 and T
In 3, the depth length of each type of each item 16 is calculated by multiplying the depth dimension of each item 16 that has been input in advance by the number of types of each item 16 to be taken out. Instead of performing the process of rearranging the items 16 in descending order of the calculated depth length, the items 16 may be rearranged in descending order of the depth dimension of each item to obtain the second retrieval order. That is, the allocation of the items to the forks is determined in the descending order of the number of used forks, and when the number of used forks is the same, in descending order of the depth dimension of each item.
However, in this case, each item 16 can be more effectively allocated to each fork 32, but the same type of item 16 is often allocated to a different fork 32, and the number of times of operation of the fork 32 increases, and 16 takes a little longer.

According to the automatic warehouse removal control method described above, in step T1, step T2 and step T3, each item 16 requested to be removed is
In the case where the number of forks used for transfer is large, and in the case of the same number of used forks, the second retrieval order is obtained by arranging the types of the items 16 requested to be retrieved in descending order of the depth length, and step T4. , The items 16 are picked up in the picker 4
Are assigned sequentially from one side of the fork 32,
Each item 16 can be more effectively allocated to each fork 32, that is, the mounting table 38 of the picker 4, so that the gap becomes smaller. Therefore, more items 16 can be taken out by one operation of the picker 4,
The transfer efficiency of the picker 4 is improved.

Then, in step T5, the items 16 stored in the automatic warehouse are taken out earlier with the older storage date, so that the new items 16 with the new storage date remain in the automatic warehouse. The item 16 with the old storage date does not remain in the automatic warehouse.

Further, since the items 16 having the same warehousing date are taken out first in the order of the number of items in each array, a small amount of each item 16 remains in each array when the picker 4 is next taken out. As a result fork 3
There is no need to increase the number of operations in Step 2.

In step T6, each item 16 is first taken out from the one with the smaller number of used forks, so that the items 16 are transferred according to the forks assigned as described above, and 38.

By the above series of processing, the items 16 of different sizes can be packed in the mounting table 38 on the picker 4 as much as possible without any gaps. Can be taken out, and the taking out time can be shortened for all the items 16 for which the taking out request has been made.
In addition, since the item 16 for which the retrieval request has been made can retrieve only the necessary item 16, the item 16 including the unnecessary item 16 is retrieved from the automatic warehouse as before, and only the required item 16 is retrieved. Unnecessary items 16 are stored in the automatic warehouse again. This eliminates the need for work, thereby saving labor and improving work efficiency.

[0086]

According to the automatic warehouse take-out control method according to the first aspect of the present invention, the number of forks 3 according to the width of the item to be transferred is increased by the automatic warehouse transfer device.
2 can be projected or pulled into the picking shelf, so that items of various widths can be transferred to the mounting table. Further, since the fork 32 can protrude to an arbitrary length in the depth direction of the picking shelf,
An arbitrary number of items can be taken out of a plurality of items stored in the depth direction of the picking shelf. In addition, it is possible to transfer any number of items arranged in the depth direction of the picking shelf to the mounting table, and also to transfer items once to the mounting table and then transfer other items. It is possible. Therefore, it is possible to transfer various types and shapes of items to the mounting table of an arbitrary number of transfer devices.

In an automatic warehouse equipped with the above-described transfer device, when a take-out request is made for each item in the automatic warehouse, information on the number of used forks of each item is used in the order of decreasing number of used forks of each item. The allocation of the forks is determined, and each item is used so that the number of used forks is sequentially transferred from the picking shelf to the mounting table from the picking shelf by the fork whose allocation has been determined, so that the fork has a minimum gap. Thus, each item can be assigned to a fork, and each item can be taken out according to the assignment. Accordingly, the number of items that can be taken out by one transfer operation of the transfer device increases, and as a result, the time required to take out all the items requested to be taken out can be shortened. In addition, since only a necessary number of necessary items can be taken out, it is not necessary to take out only necessary items after taking out from the automatic warehouse and re-enter the remainder into the automatic warehouse, thereby improving work efficiency.

According to the automatic warehouse removal control method of the second aspect, in the automatic warehouse removal control method of the first aspect, the information on the number of used forks of each item increases the number of used forks of each item. When the fork allocation is determined in order, when the number of used forks is the same, if the fork allocation is determined in the order of the depth of the item, the items can be assigned to the forks so as to further reduce the gap. Can be assigned, thus further increasing work efficiency.

According to a third aspect of the present invention, in the automatic warehouse removal control method according to the first aspect, fork allocation is determined in descending order of the number of used forks of each item based on information on the number of used forks of each item. When the number of used forks is the same, if the fork allocation is determined in descending order of the depth length of each item calculated by multiplying the depth dimension of each item by the number of taken out of the type of each item, Items of the same type are often assigned to the same fork, and the number of fork movements is smaller, resulting in a shorter retrieval time for each item.

Further, when each of the items is sequentially transferred to the mounting table in ascending order of the number of used forks by the fork for which the allocation has been determined, if the number of used forks is the same, immediately before If each item is sequentially transferred from the picking shelf to the transfer device in the order from the position of the transfer device at the time of taking out, the time spent moving from the picking shelf of the transfer device to another picking shelf Can reduce the time taken out of the automatic warehouse and improve the efficiency of the unloading operation.

Further, if the same items are sequentially transferred from the picking shelf to the above-mentioned placing table from the oldest entry date, the same items are stored in the automatic warehouse starting from the oldest date. It does not have to be retrieved preferentially and old items remain in the automated warehouse.

[Brief description of the drawings]

FIG. 1 is a partially cutaway perspective view showing an embodiment of an automatic warehouse.

FIG. 2 is a partially cutaway perspective view showing another embodiment of the automatic warehouse.

FIG. 3 is a simplified plan view for explaining the flow of items in an automatic warehouse.

FIG. 4 is a partially cutaway perspective view showing a picking dolly employing the transfer device of the present invention.

FIG. 5 is an enlarged perspective view of a main part of the same.

FIG. 6 is a perspective view of a container.

FIG. 7 is an omitted perspective view showing a relationship between a fork of the container and the transfer device.

FIG. 8 is a simplified front view showing a state before an item placed on a container is placed on a fork of a transfer device.

FIG. 9 is a simplified front view showing a state after an item placed on a container is placed on a fork of a transfer device.

FIG. 10 is a simplified front view showing a relationship between a transfer ridge formed on a mounting table of the transfer device and a transfer portion of a fork.

FIG. 11 is a simplified front view showing a state where an item is placed on a transfer portion of a fork and pulled into a transfer device main body.

12 is a simplified front view showing a state in which an item is placed on a transfer ridge by lowering a fork from the state shown in FIG. 11;

FIG. 13 is an explanatory diagram showing the first half of a process of once transferring an item to the transfer device main body using the transfer device of the present invention and subsequently transferring another item.

FIG. 14 is an explanatory diagram showing a second half following the first half of the transfer process shown in FIG. 13;

FIG. 15 is an explanatory plan view showing a positional relationship between a container, an item, and a fork.

FIG. 16 is an explanatory plan view showing an example of a block address set in a container.

FIG. 17 is a simplified diagram showing a positional relationship between a block set in a container and a fork of a picker.

FIG. 18 is a diagram showing an entire configuration of an automatic warehouse.

FIG. 19 is a flowchart illustrating an automatic warehouse removal control method according to the present invention.

FIG. 20 is a diagram for explaining an order in which items having different numbers of used forks are taken out.

FIG. 21 is a plan view showing an arrangement of each item on a mounting table.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 picking shelf 8 mounting table 16 item 17 transfer device 32 fork 36 transfer section 37 stop section 38 mounting table 39 transfer ridge 41 mounting ridge

Continuation of the front page (56) References JP-A-5-301611 (JP, A) JP-A-48-10774 (JP, A) JP-A-7-187329 (JP, A) JP-A-2-124910 (JP) , U) Fully open 1979-78587 (JP, U) Fully open 1979-36886 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) B65G 1/137 B65G 1/04 555

Claims (5)

(57) [Claims] 1. A plurality of comb-shaped forks, which are movable up and down with respect to a transfer device main body and can be moved up and down in a depth direction of a picking shelf, and provided with an abutment portion at a base end, are arranged side by side.
A plurality of transfer protrusions that can mesh with each of the forks are arranged side by side in a comb shape on the mounting table of the transfer device main body, and a plurality of support protrusions that can mesh with each of the forks are provided on the picking shelf side. Are arranged side by side in a comb-tooth shape, and the height of the transfer protrusion and the above-mentioned support protrusion is set higher than the vertical width of the fork, and each fork or a plurality of forks cooperate with each other. In an automatic warehouse where items on the picking shelf can be lifted and transferred to the mounting table of the transfer device main body, when a request is made to remove a plurality of items stored in the automatic warehouse, the fork used for each item is used. According to the information about the number, the allocation of forks is determined in the descending order of the number of used forks of each item, and the items are arranged from the picking shelf in ascending order of the number of used forks by the allocated forks. And transfer, extraction control method for an automatic warehouse, characterized in that retrieving each item which the retrieval request is. 2. The automatic warehouse removal control method according to claim 1, wherein when information on the number of used forks of each item is used to determine the allocation of forks in descending order of the number of used forks, the number of used forks is reduced. At the same time, an automatic warehouse take-out control method characterized in that the fork allocation is determined in descending order of the depth dimension of the item. 3. The method according to claim 1, wherein when the fork allocation is determined in the descending order of the number of used forks of each item based on the information on the number of used forks of each item, the number of used forks is reduced. At the same time, an automatic warehouse retrieval control method characterized in that the fork allocation is determined in the descending order of the depth length of each item calculated by multiplying the depth dimension of each item by the retrieval number of the type of each item. 4. The automatic warehouse removal control method according to claim 1, wherein each of the items is used when the items are sequentially transferred to the mounting table in ascending order of the number of used forks by the forks whose allocation has been determined. When the number of forks is the same, an item stored at a position closest to the position of the transfer device at the time of the immediately preceding removal is transferred from the picking shelf to the transfer device. 5. The automatic warehouse removal control method according to claim 1, wherein items of the same kind are transferred from said picking shelf to said mounting table first from the oldest storage date. Automatic warehouse removal control method.