JP3369392B2 - Article storage facility - Google Patents
Article storage facilityInfo
- Publication number
- JP3369392B2 JP3369392B2 JP05147596A JP5147596A JP3369392B2 JP 3369392 B2 JP3369392 B2 JP 3369392B2 JP 05147596 A JP05147596 A JP 05147596A JP 5147596 A JP5147596 A JP 5147596A JP 3369392 B2 JP3369392 B2 JP 3369392B2
- Authority
- JP
- Japan
- Prior art keywords
- article
- section
- storage
- article storage
- transfer device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Warehouses Or Storage Devices (AREA)
Description
【0001】[0001]
【発明の属する技術分野】本発明は、奥行き方向に複数
の物品保持部を有する物品収納部を縦横に複数個並べて
構成された物品保管棚と、この物品保管棚に対する搬出
部や各物品収納部に対して物品を移載する移載装置と、
この移載装置を前記搬出部と各物品収納部との間で搬送
する搬送装置と、前記物品保管棚における各物品収納部
の物品保管状態を記憶して管理するとともに、前記搬送
装置ならびに移載装置の作動を制御する制御手段とを備
え、前記移載装置が、各物品収納部の複数の物品保持部
から各別に物品を取出すことが可能で、かつ、各物品収
納部の手前に位置する物品保持部に物品が存在しないと
きに奥に位置する物品保持部から物品を取出すことが可
能に構成された物品保管設備に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an article storage shelf configured by arranging a plurality of article storage sections each having a plurality of article holding sections in the depth direction, and a carry-out section for each article storage shelf and each article storage section. A transfer device for transferring articles to the
A transfer device that transfers the transfer device between the carry-out part and each of the article storage parts, and stores and manages the article storage state of each of the article storage parts in the article storage shelf, and the transfer device and transfer device. And a control means for controlling the operation of the device, wherein the transfer device is capable of individually taking out articles from a plurality of article holding sections of each article storage section, and is located in front of each article storage section. The present invention relates to an article storage facility configured so that an article can be taken out from an article holding section located in the back when there is no article in the article holding section.
【0002】[0002]
【従来の技術】このような物品保管設備においては、従
来、移載装置がひとつしかなかったので、物品収納部の
手前に物品が存在する状態で奥に位置する物品を取出そ
うとすると、まず手前の物品を取出して仮置き収納部に
収納し、その後に奥の物品を取出す必要があり、例え
ば、実開平5ー19210号公報に開示のように、複数
個の物品収納部のうちで特定の物品収納部を常に仮置き
専用の収納部として固定的に確保し、物品を収納する際
は勿論のこと、物品を取出す際にも、その取出し作業完
了後において特定の仮置き収納部を常に空の状態に維持
するように構成したものが存在した。2. Description of the Related Art In such an article storage facility, conventionally, since there is only one transfer device, when an article located in the front of the article storage section is to be taken out, the first thing to do is It is necessary to take out the article in the foreground and store it in the temporary storage section, and then take out the article in the back. Always secure the article storage section as a temporary storage section exclusively for temporary storage, and not only when storing the article, but also when taking out the article, always keep the specific temporary storage section after the completion of the extraction operation. There was one configured to keep it empty.
【0003】[0003]
【発明が解決しようとする課題】しかしながら、上記公
報に開示のように仮置き専用の収納部を固定的に確保す
るものにおいては、仮置き用の収納部を常に空の状態に
維持する必要があり、必然的にその分だけ物品の収納量
が少なくなるという欠点があった。特に、奥行き方向に
複数の物品保持部を有する物品収納部において、その物
品収納部を常に空の状態に維持するとなると、当然のこ
とながら、物品保持部の数だけ物品収納量も低下し、こ
の点に改良の余地があった。However, as disclosed in the above publication, in which the storage section for temporary placement is fixedly secured, it is necessary to always maintain the storage section for temporary placement in an empty state. However, there is a drawback that the amount of articles stored inevitably decreases accordingly. In particular, in an article storage unit having a plurality of article holding units in the depth direction, if the article storage unit is to be always kept in an empty state, the article storage amount naturally decreases by the number of the article holding units. There was room for improvement in points.
【0004】かかる欠点を解消するには、例えば、移載
装置を搬送する搬送装置の上面などに仮置き専用の空間
を設け、この仮置き用空間に手前の物品を一時的に仮置
きすることが考えられる。しかし、このような解決手段
では、移載装置によって一旦手前の物品を取出して仮置
き用空間に仮置きし、その後、その移載装置によって再
び奥の物品を取出す必要があるため、どうしても物品の
取出し作業に要する時間が長くなる欠点がある。その
上、仮置きされる物品についてみると、何度も移し替え
られることになるため、その度に位置ずれを生じる虞れ
があり、その位置ずれが集積されると、遂には許容範囲
を越える可能性もあり、そのため、仮置き用空間や各物
品保持部に位置ずれを修正するための調芯手段などが必
要となって、物品保管設備のコストアップを招くという
別の問題も生じる。In order to solve such a drawback, for example, a space dedicated to temporary placement is provided on the upper surface of a transporting device for transporting the transfer device, and the front article is temporarily temporarily placed in this temporary placement space. Can be considered. However, in such a solution means, it is necessary to temporarily take out the front article by the transfer device and temporarily place it in the space for temporary placement, and then take out the back article again by the transfer device. There is a drawback that the time required for taking out work is long. In addition, regarding temporarily placed items, since they will be transferred many times, there is a possibility that misalignment will occur each time, and if such misalignment is accumulated, it will eventually exceed the allowable range. There is also a possibility that this may require a space for temporary placement and an aligning means for correcting the positional deviation in each article holding unit, which causes another problem of increasing the cost of the article storage facility.
【0005】本発明は、このような従来の問題点に着目
したもので、その目的は、仮置き専用の収納部を確保す
る必要がなくて物品の収納量を増大し得るとともに、物
品取出し作業に要する時間を極力短縮することができ、
かつ、上述のような調芯手段を必ずしも設ける必要のな
い物品保管設備の提供にある。The present invention focuses on such a conventional problem, and an object thereof is to increase the amount of articles to be stored without having to secure a storage section for temporary storage and to take out the articles. The time required for
In addition, the object is to provide an article storage facility that does not necessarily have to be provided with the aligning means as described above.
【0006】[0006]
【課題を解決するための手段】この目的を達成するた
め、請求項1に記載の発明によれば、物品保管棚に対す
る搬出部や各物品収納部に対して物品を移載する移載装
置を複数個備えていて、物品保管状態を記憶管理し、か
つ、搬送装置や移載装置の作動を制御する制御手段が、
物品収納部の奥に位置する物品保持部から物品を取出す
際に手前に位置する物品保持部に物品が存在すると、そ
の手前の物品を複数個のうちのひとつの移載装置によっ
て取出し、かつ、奥の物品を他の移載装置により取出し
て、この奥の物品を搬出部にまで搬送して移載する取出
し制御を実行するものであるから、ひとつの移載装置に
よって取出した手前の物品をいちいち仮置きする必要が
なく、したがって、仮置き専用の収納部が不要となって
物品の収納量を増大し得、かつ、物品取出し作業に要す
る時間も極力短縮することができ、しかも、上述のよう
な調芯手段を必ずしも設ける必要がなく、保管設備全体
のコストダウンを図ることも可能となる。しかも、前記
制御手段が、取出し制御を実行する際において、手前の
物品を空の物品保持部に収納する際、物品収納部の奥に
位置する空の物品保持部に優先的に収納する収納優先モ
ードを実行するものであるから、その後に物品の収納作
業を行う際、手前の物品保持部に必要な物品を迅速に収
納することができ、収納作業を優先させる際に作業時間
を短縮して作業能率の向上を図ることができる。 In order to achieve this object, according to the invention described in claim 1, there is provided a transfer device for transferring an article to a carry-out section for an article storage shelf or each article storage section. A plurality of control means for storing and managing the storage state of the articles and controlling the operation of the transfer device and the transfer device are provided.
When an article is present in the article holding section located in front when the article is taken out from the article holding section located in the back of the article storage section, the article in front of the article is taken out by one of a plurality of transfer devices, and Since the article in the back is taken out by another transfer device, and the article in the back is carried out to the carry-out section and transferred, the take-out control is executed. Since it is not necessary to temporarily store the articles, a storage section dedicated to the temporary placement is not required, the amount of articles to be stored can be increased, and the time required for taking out articles can be shortened as much as possible. It is not always necessary to provide such aligning means, and it is possible to reduce the cost of the entire storage facility. Moreover, the above
When the control means executes the take-out control,
When storing an item in the empty item holder, place it in the back of the item holder.
Storing priority model that preferentially stores in the empty article holding part
Since it is the one that executes the
When carrying out work, quickly store the necessary items in the front item holder.
Can be delivered and work time when prioritizing storage work
Can be shortened to improve work efficiency.
【0007】請求項2に記載の発明によれば、物品保管
棚に対する搬出部や各物品収納部に対して物品を移載す
る移載装置を複数個備えていて、物品保管状態を記憶管
理し、かつ、搬送装置や移載装置の作動を制御する制御
手段が、物品収納部の奥に位置する物品保持部から物品
を取出す際に手前に位置する物品保持部に物品が存在す
ると、その手前の物品を複数個のうちのひとつの移載装
置によって取出し、かつ、奥の物品を他の移載装置によ
り取出して、この奥の物品を搬出部にまで搬送して移載
する取出し制御を実行するものであるから、ひとつの移
載装置によって取出した手前の物品をいちいち仮置きす
る必要がなく、したがって、仮置き専用の収納部が不要
となって物品の収納量を増大し得、かつ、物品取出し作
業に要する時間も極力短縮することができ、しかも、上
述のような調芯手段を必ずしも設ける必要がなく、保管
設備全体のコストダウンを図ることも可能となる。 しか
も、前記制御手段が、取出し制御を実行する際におい
て、手前の物品を空の物品保持部に収納する際、物品収
納部の手前に位置する空の物品保持部に優先的に収納す
る取出し優先モードの実行と、物品収納部の奥に位置す
る空の物品保持部に優先的に収納する収納優先モードの
実行とに切り換え可能に構成するものであるから、取出
し作業を優先させたい場合には、取出し優先モードを実
行することにより取出し作業の能率向上を、また、収納
作業を優先させたい場合には、収納優先モードの実行に
より収納作業の能率向上を図ることができ、そのときの
状況に対応した最適な使用が可能となる。 According to the invention described in claim 2, article storage
Transferring goods to the carry-out section for shelves and each article storage section
It is equipped with a plurality of transfer devices that
Control to control the operation of the transfer device and transfer device
Means for moving the article from the article holding section located at the back of the article storage section
There is an article in the article holder that is located in front when you take it out.
Then, the item in front of it is transferred to one of the multiple
And remove the items in the back by another transfer device.
Picked up, transported the items in the back to the unloading section and transferred
Since this is to execute the take-out control,
Temporarily place the front items taken out by the loading device
No need to store, therefore no storage for temporary storage
Can increase the storage capacity of the goods, and
The time required for work can be shortened as much as possible, and
It is not necessary to install the aligning means as described above
It is also possible to reduce the cost of the entire equipment. Only
Also when the control means executes the take-out control.
When storing the front item in the empty
Preferentially store in an empty article holding section located in front of the storage section
The take-out priority mode, and
In the storage priority mode, which stores the items in the empty article storage area with priority
Since it is configured so that it can be switched to execution, take out
If you want to prioritize the work, set the extraction priority mode.
By improving the efficiency of take-out work
If you want to give priority to work, execute the storage priority mode.
The efficiency of storage work can be improved, and at that time
Optimal use according to the situation becomes possible.
【0008】請求項3に記載の発明によれば、前記制御
手段が、取出し制御を実行する際において、ひとつの移
載装置によって取出した手前の物品を、前記搬送装置に
より奥の物品とともに搬出部にまで搬送し、この搬出部
に奥の物品を移載した後、手前の物品を空の物品保持部
に収納するものであるから、取出したい物品が物品収納
部の奥にあっても、その物品を迅速に取出すことができ
る。According to the third aspect of the present invention, when the control means executes the taking-out control, the front article taken out by one transfer device is taken out together with the article at the back by the carrying device. Even if the article to be taken out is in the back of the article storage section, the article in the front is stored in the empty article holding section after the article in the back is transported to Goods can be taken out quickly.
【0009】請求項4に記載の発明によれば、前記制御
手段が、取出し制御を実行する際において、ひとつの移
載装置によって取出した手前の物品を、このひとつの移
載装置によって空の物品保持部に収納し、その後、奥の
物品を搬出部にまで搬送して移載するものであるから、
物品取出しまでに若干時間はかかるが、物品取出し後に
元の位置に復帰移動して手前の物品を収納する必要がな
く、搬送装置の移動距離が短くなってランニングコスト
の低減を図ることができる。According to the fourth aspect of the invention, when the control means executes the take-out control, the front article taken out by one transfer device is emptied by the one transfer device. Since it is stored in the holding unit and then the article in the back is conveyed to the unloading unit and transferred,
Although it takes some time until the article is taken out, it is not necessary to return to the original position and store the article in front of the article after taking out the article, and the moving distance of the transport device can be shortened to reduce the running cost.
【0010】[0010]
【0011】[0011]
【0012】[0012]
【0013】[0013]
【0014】[0014]
【0015】[0015]
【0016】[0016]
【0017】[0017]
【0018】[0018]
【発明の実施の形態】本発明による物品保管設備の実施
の形態を図面に基づいて説明する。この物品保管設備
は、物流センターなどの倉庫内に設置して物品保管のた
めに使用されるもので、図1から図3に示すように、搬
送装置としてのスタッカークレーン1が、上下一対のレ
ール2,3に沿って移動可能に構成され、このスタッカ
ークレーン1による搬送径路4を挟んでその両側には、
物品保管棚5が設置されている。これら物品保管棚5
は、上下方向に立設の複数本の柱部材6や水平方向に配
設の複数本の棚部材7などから構成され、物品収納部8
を縦方向と横方向とに複数個ずつ並べた構造となってい
る。BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of an article storage facility according to the present invention will be described with reference to the drawings. This article storage facility is installed in a warehouse such as a distribution center and used for article storage. As shown in FIGS. 1 to 3, a stacker crane 1 as a transfer device is provided with a pair of upper and lower rails. It is configured to be movable along a few lines, and on both sides of the transport path 4 by this stacker crane 1 on both sides,
An article storage shelf 5 is installed. These goods storage shelves 5
Is composed of a plurality of pillar members 6 standing vertically and a plurality of shelf members 7 arranged horizontally, and the like.
It has a structure in which a plurality of are arranged in the vertical direction and in the horizontal direction.
【0019】各物品収納部8は、図4に示すように、柱
部材6に固着の腕部材9や、この腕部材9に固着の棚部
材7などからなり、一対の棚部材7上に物品載置用のパ
レットPが載置可能に構成されている。つまり、各パレ
ットP上に物品Cを載置して、そのパレットPを一対の
棚部材7間にわたって載置保持することで、物品Cを物
品収納部8に収納するのであり、この一対の棚部材7が
物品保持部10を構成し、この物品保持部10が2個並
べられている。換言すると、各物品収納部8が、その奥
行き方向に2個の物品保持部10を有し、かつ、物品収
納部8の収納取出口側がスタッカークレーン1による搬
送径路4側を向くように各物品保管棚5が設置されてい
る。As shown in FIG. 4, each article storage unit 8 is composed of an arm member 9 fixed to the pillar member 6, a shelf member 7 fixed to this arm member 9, and the like. A pallet P for mounting is configured to be mountable. That is, the article C is placed on each pallet P, and the pallet P is placed and held between the pair of shelf members 7 to store the article C in the article storage unit 8. The member 7 constitutes the article holding section 10, and two article holding sections 10 are arranged. In other words, each article storage section 8 has two article holding sections 10 in the depth direction, and each article storage section 8 has its storage outlet side facing the transport path 4 side of the stacker crane 1. A storage shelf 5 is installed.
【0020】前記スタッカークレーン1は、物品保管棚
5に対する物品Cの搬入部11や搬出部12と各物品保
管棚5の物品収納部8との間を往復移動して物品Cを搬
送するもので、そのため、上下方向に昇降可能な昇降台
13を備え、かつ、この昇降台13には、搬入出部1
1,12や各物品収納部8に対して物品Cを移載する移
載装置としての伸縮可能なフォーク14を2個備え、2
個のフォーク14が水平方向に並んで配設されている。
これら2個のフォーク14は、いずれも物品収納部8の
奥に位置する物品保持部10にまで伸長可能な構造で、
手前に位置する物品保持部10と奥に位置する物品保持
部10とに対して各別に物品CをパレットPに載置した
状態で収納したり、取出したりできるように、かつ、搬
送径路4の両側に位置する物品保管棚5の各物品収納部
8に対して収納ならびに取出し可能に構成されている。The stacker crane 1 conveys the article C by reciprocating between the carry-in section 11 and the carry-out section 12 of the article C with respect to the article storage rack 5 and the article storage section 8 of each article storage rack 5. Therefore, an elevator table 13 that can be moved up and down is provided, and the elevator table 13 is provided with the loading / unloading unit 1.
1, 12 and two extendable forks 14 as a transfer device for transferring the article C to each article storage unit 8 are provided, and
The forks 14 are arranged side by side in the horizontal direction.
Each of these two forks 14 has a structure capable of extending to the article holding section 10 located at the back of the article storage section 8.
The articles C can be stored or taken out separately from the article holder 10 located on the front side and the article holder 10 located on the backside while being placed on the pallet P, and the conveyance path 4 of the conveyance path 4 can be removed. It is configured so that it can be stored in and taken out from each of the article storage sections 8 of the article storage shelves 5 located on both sides.
【0021】なお、本明細書においては、便宜上、手前
に位置する物品保持部10に収納の物品を物品Aと、奥
に位置する物品保持部10に収納の物品を物品Bと称
し、これら物品Aと物品Bとを総称して物品Cと称す
る。同様に、便宜上、手前に位置する物品Aを取出すフ
ォークをフォーク14Aと、奥に位置する物品Bを取出
すフォークをフォーク14Bと称し、これらフォーク1
4Aとフォーク14Bとを総称してフォーク14と称す
る。In the present specification, for the sake of convenience, the articles stored in the article holding section 10 located at the front are referred to as the article A, and the articles stored in the article holding section 10 located at the back are referred to as the article B. Item A and item B are collectively referred to as item C. Similarly, for convenience, a fork for taking out the article A located in the front is called a fork 14A, and a fork for taking out the article B in the back is called a fork 14B.
4A and fork 14B are collectively referred to as fork 14.
【0022】前記物品保管棚5における各物品収納部8
の物品保管状態は、マイクロコンピュータからなる主制
御部H1で記憶されて管理され、かつ、スタッカークレ
ーン1の作動は、スタッカークレーン1に搭載のマイク
ロコンピュータからなるクレーン制御部H2により制御
されるように構成されている。この主制御部H1とクレ
ーン制御部H2とは、互いに通信可能に構成されてい
て、これら両制御部H1,H2からなる制御手段として
の制御部Hにより全体が制御され、後述する収納制御や
取出し制御を実行するように構成され、この制御部Hに
制御指令を指示する操作装置15が設けられている。Each article storage section 8 in the article storage rack 5
Is stored and managed by a main control unit H1 including a microcomputer, and the operation of the stacker crane 1 is controlled by a crane control unit H2 including a microcomputer mounted on the stacker crane 1. It is configured. The main control unit H1 and the crane control unit H2 are configured to be communicable with each other, and are entirely controlled by the control unit H as a control means composed of the both control units H1 and H2, and the storage control and the unloading described later are performed. An operation device 15 configured to execute control and instructing a control command to the control unit H is provided.
【0023】つぎに、この物品保管設備の制御作動を図
5から図7のフローチャートを参照しながら説明する。
まず、オペレータが操作装置15を操作して入庫か出庫
かを指令することにより、図5に示すように、入庫指令
であれば入庫モードを実行し、出庫指令であれば出庫モ
ードを実行する。Next, the control operation of this article storage facility will be described with reference to the flow charts of FIGS.
First, as shown in FIG. 5, the operator operates the operation device 15 to instruct whether to enter or exit, and as shown in FIG. 5, the entering mode is executed if it is the entering command, and the exit mode is executed if it is the issuing command.
【0024】入庫モードにおいては、パレットP上に載
置されて搬入部11にまで搬入されてきた物品Cに応じ
て、図6に示すように、入庫する物品Cの種類などの必
要な情報を入力する。すると、各物品保管棚5の物品収
納部8に空の物品保持部10があるか否かを検索し、空
の物品保持部10があれば、そのうちのひとつの物品収
納部8と物品保持部10とを特定して、その物品保持部
10に物品Cを収納する。In the warehousing mode, as shown in FIG. 6, necessary information such as the type of the article C to be stored is displayed in accordance with the article C placed on the pallet P and carried into the carry-in section 11. input. Then, it is searched whether or not there is an empty article holding unit 10 in the article storage unit 8 of each article storage shelf 5, and if there is an empty article holding unit 10, one of the article storage unit 8 and the article holding unit is selected. 10 is specified, and the article C is stored in the article holding unit 10.
【0025】この物品Cの収納作業においては、まず、
スタッカークレーン1の2個のフォーク14A,14B
のうちのいずれか一方、例えばフォーク14Aの方が伸
縮して、搬入部11にある物品CをパレットPごと昇降
台13上に移載する。その後、搬送径路4に沿ってスタ
ッカークレーン1が移動するとともに、昇降台13が昇
降して特定した物品収納部8の収納取出口にまで至り、
再びフォーク14Aが伸縮し、物品CをパレットPごと
棚部材7上に移載して収納作業が完了する。これを繰り
返して順次収納作業を行いながら収納制御を実行し、収
納する余裕がなくなると、異常警報を発してリターン
し、収納作業を停止する。In storing the article C, first,
Two forks 14A and 14B of the stacker crane 1
One of them, for example, the fork 14A expands and contracts to transfer the article C in the carry-in section 11 together with the pallet P onto the lift table 13. After that, as the stacker crane 1 moves along the transport path 4, the elevator 13 moves up and down to reach the specified storage outlet of the article storage unit 8,
The fork 14A expands and contracts again, and the article C together with the pallet P is transferred onto the shelf member 7 to complete the storage operation. By repeating this process, the storage control is executed while performing the storage work in sequence, and when there is no room for storage, an abnormal alarm is issued and the process returns to stop the storage work.
【0026】出庫モードにおいては、図7に示すよう
に、出庫する物品の種類などを入力し、必要に応じて出
庫時におけるモードの設定を行う。このモード設定は、
スピード出庫モードか否かを選択し、かつ、取出し優先
モードと収納優先モードとを選択するもので、詳しくは
後述するが、いずれにせよ入力された物品情報に基づい
て、出庫すべき物品Cが収納されている物品収納部8を
検索する。その検索結果に基づいて、スタッカークレー
ン1が移動し、かつ、昇降台13が昇降して、出庫すべ
き物品Cが収納されている物品収納部8の収納取出口に
まで至る。そして、出庫すべき物品Cが、物品収納部8
の手前側の物品保持部10にあれば、その手前側の物品
Aをフォーク14Aまたはフォーク14Bの伸縮で昇降
台13に移載し、その後は入庫時と逆の作動で搬出部1
2にまで搬送して移載する。In the delivery mode, as shown in FIG. 7, the type of the article to be delivered is input, and the mode at the delivery is set as necessary. This mode setting is
It is to select whether or not the speed delivery mode is selected, and to select the take-out priority mode and the storage priority mode. Although details will be described later, in any case, the article C to be delivered is based on the input article information. The stored article storage unit 8 is searched. Based on the search result, the stacker crane 1 moves, and the elevating table 13 moves up and down to reach the storage outlet of the product storage unit 8 in which the product C to be unloaded is stored. The article C to be unloaded is the article storage unit 8
If it is in the article holding section 10 on the front side of the article holding section 10, the article A on the front side of the article holding section 10 is transferred to the elevating table 13 by the expansion and contraction of the fork 14A or the fork 14B, and thereafter, the unloading section 1 is operated by the operation reverse to that at the time of storage.
2 is transferred and transferred.
【0027】出庫すべき物品Cが奥の物品保持部10に
あると、まず、フォーク14Aが伸縮して手前の物品保
持部10にある物品Aを取出し、その後、スタッカーク
レーン1が横移動して、別のフォーク14Bで物品収納
部8の奥にある物品Bを取出す。その後、物品Bを搬出
部12にまで搬送するのであるが、上述のモード設定時
にスピード出庫モードを選択すると、フォーク14Aに
物品Aを、また、フォーク14Bに物品Bを載置したま
まで、スタッカークレーン1が搬出部12にまで移動
し、フォーク14Bを伸縮して物品Bのみを搬出部12
に移載し、その後、スタッカークレーン1が元の位置に
復帰移動し、フォーク14Aが伸縮して物品Aを元の物
品収納部8に収納する。スピード出庫モードを選択しな
い場合には、まず、フォーク14Aが伸縮して物品Aを
元の物品収納部8に収納し、その後、スタッカークレー
ン1が搬出部12にまで移動して、フォーク14Bの伸
縮で物品Bを搬出部12に移載して出庫作業が完了す
る。When the article C to be unloaded is in the article holding section 10 at the back, first the fork 14A expands and contracts to take out the article A in the article holding section 10 in front, and then the stacker crane 1 moves laterally. , The article B located inside the article storage section 8 is taken out by another fork 14B. After that, the article B is conveyed to the unloading section 12, but if the speed unloading mode is selected when the above-mentioned mode is set, the article A is placed on the fork 14A and the article B is placed on the fork 14B, and the stacker is placed. The crane 1 moves to the carry-out section 12, and the fork 14B expands and contracts to carry out only the article B.
After that, the stacker crane 1 returns to its original position and the fork 14A expands and contracts to store the article A in the original article storage unit 8. When the speed delivery mode is not selected, first, the fork 14A expands and contracts to store the article A in the original article storage unit 8, and then the stacker crane 1 moves to the unloading unit 12 to extend and retract the fork 14B. Then, the article B is transferred to the carry-out section 12 and the delivery operation is completed.
【0028】そして、この取出し制御時において、さら
に上述した取出し優先モードと収納優先モードとのいず
れか一方のモードを選択して実行することができる。つ
まり、取出し優先モードを選択すると、スピード出庫モ
ードを選択したか否かにかかわらず、手前にあった物品
Aを元の物品収納部8に収納する際、物品収納部8の手
前側の物品保持部10に収納しておいて、その物品Aを
何時でも取出せる取出し優先モードを実行するのであ
り、収納優先モードを選択すると、物品収納部8の奥の
物品保持部10に収納して手前側を空にし、何時でも手
前側に別の物品を収納できる収納優先モードを実行する
のである。At the time of this take-out control, it is possible to select and execute either one of the take-out priority mode and the storage priority mode described above. That is, when the take-out priority mode is selected, regardless of whether or not the speed delivery mode is selected, when the article A that was in front is stored in the original article storage unit 8, the article holding unit on the front side of the article storage unit 8 is held. When the storage priority mode is selected, it is stored in the article holding section 10 in the back of the article storage section 8 and stored in the section 10 and the front side is selected. Is emptied and the storage priority mode in which another article can be stored on the front side at any time is executed.
【0029】〔別実施形態〕これまでの実施形態におい
ては、スタッカークレーン1の昇降台13に2個のフォ
ーク14A,14Bを水平方向に並んで配設したものを
示したが、図8に示すように、2個のフォーク14A,
14Bを垂直方向に配設して実施することもできる。こ
の場合には、昇降台13が2個必要で、各昇降台13上
にそれぞれフォーク14Aとフォーク14Bとを配設す
ることになり、これら両昇降台13を一体的に上下昇降
可能に構成することも、また、両昇降台13を各別に上
下昇降可能に構成することもできる。同様に、2個のフ
ォーク14A,14Bを水平方向に配設する場合におい
ても、昇降台13を2個設けて、各昇降台13上にそれ
ぞれフォーク14Aとフォーク14Bとを配設し、両昇
降台13を各別に横方向に移動可能に構成することもで
きる。[Other Embodiments] In the above-described embodiments, the two forks 14A and 14B are arranged side by side in the horizontal direction on the lifting platform 13 of the stacker crane 1, but FIG. So that the two forks 14A,
It is also possible to dispose 14B vertically. In this case, two lifts 13 are required, and a fork 14A and a fork 14B are arranged on each lift 13, so that both lifts 13 can be integrally lifted up and down. In addition, both the lifts 13 can be configured to be vertically movable up and down separately. Similarly, even when the two forks 14A and 14B are arranged in the horizontal direction, two lifts 13 are provided, the forks 14A and the forks 14B are arranged on each lift 13, and both lifts are lifted. The bases 13 may be separately movable in the lateral direction.
【0030】また、各物品収納部8において、その奥行
き方向に物品保持部10を2個ずつ設けたものを示した
が、3個以上設けて実施することもできる。この場合に
は、フォーク14の数を増やして、取出すべき物品Bが
奥にあれば、手前にある物品Aを順次フォーク14で取
出し、その後に物品Bを取出して搬出すことになる。フ
ォーク14の数を増やす場合、水平方向や垂直方向に配
設することは勿論、水平方向と垂直方向とにそれぞれ複
数個ずつ、例えば、水平方向に2個配設し、その水平方
向に配設した2個のフォーク14の上方にひとつずつ配
設して、合計4個のフォーク14を設けるなど種々の態
様が可能である。Further, although each of the article storage sections 8 has two article holding sections 10 provided in the depth direction thereof, three or more article holding sections 10 may be provided. In this case, if the number of forks 14 is increased and the article B to be taken out is at the back, the articles A in front are taken out sequentially by the fork 14, and then the article B is taken out and carried out. When the number of the forks 14 is increased, the forks 14 may be arranged in the horizontal direction or the vertical direction, and a plurality of the forks 14 may be arranged in each of the horizontal direction and the vertical direction, for example, two in the horizontal direction. Various modes are possible, such as arranging one for each of the above two forks 14 and providing a total of four forks 14.
【0031】また、移載装置にしても、必ずしもフォー
ク14に限るものではなく、例えば、昇降装置を備えた
自走可能な台車を設け、この台車をスタッカークレーン
1の昇降台13と各物品収納部8との間で走行可能に構
成し、この台車による走行と昇降装置による昇降操作と
によって、物品Cを各物品収納部8の物品保持部10と
昇降台13との間で移載可能に構成して実施することも
できる。さらに、物品Cに係合する係合部を備えたチェ
ンなどを用いて、このチェンなどの正逆回転駆動によっ
て、物品Cを各物品収納部8の物品保持部10と昇降台
13との間で移載可能に構成して実施することもでき、
この場合、物品Cが各物品収納部8内を摺動するように
構成することも、また、各物品収納部8内に遊転ローラ
を設けて、ローラ上を移動するように構成することもで
きる。Also, the transfer device is not necessarily limited to the fork 14, and for example, a self-propelled trolley provided with a lifting device is provided, and this trolley is used to lift the pedestal 13 of the stacker crane 1 and each article storage. The article C can be moved between the article holding section 10 and the lifting table 13 of each article storage section 8 by traveling with the cart and lifting operation with the lifting device. It can also be configured and implemented. Further, by using a chain or the like having an engaging portion that engages with the article C, the article C is moved between the article holding section 10 and the elevating table 13 of each article storage section 8 by forward and reverse rotation driving of the chain or the like. It is also possible to transfer and configure with
In this case, the article C may be configured to slide in each article storage section 8, or an idle roller may be provided in each article storage section 8 to move on the rollers. it can.
【0032】また、上述の実施形態においては、固定式
の物品保管棚5を使用したものを示したが、複数の物品
保管棚を移動式にし、必要に応じて物品保管棚を適宜移
動させ、移動させた物品保管棚の間でスタッカークレー
ン1などの搬送装置を移動させる、いわゆる移動ラック
式の物品保管棚にも適用することができ、さらに、各物
品収納部8の物品保管状態を記憶して管理する主制御部
H1とスタッカークレーン1の作動を制御するクレーン
制御部H2とをひとつの制御部Hから構成し、その制御
部Hを地上側に設置したり、あるいは、スタッカークレ
ーン1に搭載して実施することもできる。In the above embodiment, the fixed type article storage rack 5 is used. However, a plurality of article storage racks are made movable, and the article storage racks are appropriately moved as necessary, The present invention can also be applied to a so-called moving rack-type article storage shelf in which a transfer device such as the stacker crane 1 is moved between the moved article storage shelves, and further stores the article storage state of each article storage unit 8. The main control unit H1 that is managed by the above and the crane control unit H2 that controls the operation of the stacker crane 1 are configured from one control unit H, and the control unit H is installed on the ground side or mounted on the stacker crane 1. It can also be carried out.
【0033】尚、特許請求の範囲の項に図面との対照を
便利にするために符号を記すが、該記入により本発明は
添付図面の構成に限定されるものではない。It should be noted that reference numerals are given in the claims for convenience of comparison with the drawings, but the present invention is not limited to the structures of the accompanying drawings by the entry.
【図1】物品保管設備の平面図[Figure 1] Plan view of article storage facility
【図2】物品保管設備の側面図[Figure 2] Side view of the article storage facility
【図3】物品保管設備の背面図[Figure 3] Rear view of the article storage facility
【図4】物品収納部の平面図FIG. 4 is a plan view of the article storage unit.
【図5】物品保管設備の作動を示すフローチャートFIG. 5 is a flowchart showing the operation of the article storage facility.
【図6】物品保管設備の作動を示すフローチャートFIG. 6 is a flowchart showing the operation of the article storage facility.
【図7】物品保管設備の作動を示すフローチャートFIG. 7 is a flowchart showing the operation of the article storage facility.
【図8】別の実施形態を示す物品保管設備の背面図FIG. 8 is a rear view of the article storage facility showing another embodiment.
1 搬送装置 4 搬送径路 5 物品保管棚 8 物品収納部 10 物品保持部 12 搬出部 13 昇降台 14、14A、14B 移載装置 P パレット A、B、C 物品 H 制御手段 1 Conveyor 4 Conveyance path 5 article storage shelves 8 article storage 10 Article holding unit 12 carry-out section 13 Lifting platform 14, 14A, 14B Transfer device P pallet A, B, C articles H control means
フロントページの続き (56)参考文献 特開 昭57−72503(JP,A) 特開 平7−285621(JP,A) 特開 昭56−56402(JP,A) 特開 平4−173604(JP,A) 特開 昭49−134075(JP,A) 特開 平2−52810(JP,A) 特開 平7−277413(JP,A) 実公 昭50−28554(JP,Y1) (58)調査した分野(Int.Cl.7,DB名) B65G 1/04 503 Continuation of front page (56) Reference JP-A-57-72503 (JP, A) JP-A-7-285621 (JP, A) JP-A-56-56402 (JP, A) JP-A-4-173604 (JP , A) JP 49-134075 (JP, A) JP 2-52810 (JP, A) JP 7-277413 (JP, A) Jitsu 50-28554 (JP, Y1) (58) Fields investigated (Int.Cl. 7 , DB name) B65G 1/04 503
Claims (4)
を有する物品収納部(8)を縦横に複数個並べて構成さ
れた物品保管棚(5)と、この物品保管棚(5)に対す
る搬出部(12)や各物品収納部(8)に対して物品
(C)を移載する移載装置(14)と、この移載装置
(14)を前記搬出部(12)と各物品収納部(8)と
の間で搬送する搬送装置(1)と、前記物品保管棚
(5)における各物品収納部(8)の物品保管状態を記
憶して管理するとともに、前記搬送装置(1)ならびに
移載装置(14)の作動を制御する制御手段(H)とを
備え、前記移載装置(14)が、各物品収納部(8)の
複数の物品保持部(10)から各別に物品(C)を取出
すことが可能で、かつ、各物品収納部(8)の手前に位
置する物品保持部(10)に物品(A)が存在しないと
きに奥に位置する物品保持部(10)から物品(B)を
取出すことが可能に構成された物品保管設備であって、 前記移載装置(14)を複数個備えていて、前記制御手
段(H)が、前記物品収納部(8)の奥に位置する物品
保持部(10)から物品(B)を取出す際に手前に位置
する物品保持部(10)に物品(A)が存在すると、そ
の手前の物品(A)を複数個のうちのひとつの移載装置
(14A)によって取出し、かつ、奥の物品(B)を他
の移載装置(14B)により取出して、この奥の物品
(B)を前記搬出部(12)にまで搬送して移載する取
出し制御を実行し、 前記取出し制御を実行する際において、手前の物品
(A)を空の物品保持部(10)に収納する際、物品収
納部(8)の奥に位置する空の物品保持部(10)に優
先的に収納する収納優先モードを実行するように構成し
てある 物品保管設備。1. A plurality of article holders (10) in the depth direction.
An article storage shelf (5) configured by arranging a plurality of article storage sections (8) each having a vertical and horizontal directions, and an article carrying-out section (12) for the article storage shelf (5) and articles for each article storage section (8). A transfer device (14) for transferring (C), and a transfer device (1) for transferring the transfer device (14) between the unloading part (12) and each article storage part (8), Control means (H) for storing and managing the article storage state of each article storage section (8) in the article storage shelf (5) and controlling the operation of the transfer apparatus (1) and the transfer apparatus (14). The transfer device (14) is capable of separately taking out the articles (C) from the plurality of article holding sections (10) of the article storage sections (8), and each article storage section ( 8) The article holding located at the back when the article (A) is not present in the article holding part (10) located before An article storage facility configured to remove an article (B) from (10), comprising a plurality of the transfer devices (14), wherein the control means (H) includes the article storage unit. When the article (A) is present in the article holding section (10) located in front when the article (B) is taken out from the article holding section (10) located in the back of (8), the article (A) in front of the article (A) is removed. One of the plurality of transfer devices (14A) is taken out, and the article (B) at the back is taken out by another transfer device (14B), and the article (B) at the back is taken out by the carry-out section (12). ) Is carried out and transferred to and is carried out , and when the taking-out control is carried out, the article in front of
When (A) is stored in the empty article holder (10),
The empty article holding part (10) located at the back of the storing part (8)
It is configured to execute the storage priority mode that stores first.
A storage facility for goods.
を有する物品収納部(8)を縦横に複数個並べて構成さ
れた物品保管棚(5)と、この物品保管棚(5)に対す
る搬出部(12)や各物品収納部(8)に対して物品
(C)を移載する移載装置(14)と、この移載装置
(14)を前記搬出部(12)と各物品収納部(8)と
の間で搬送する搬送装置(1)と、前記物品保管棚
(5)における各物品収納部(8)の物品保管状態を記
憶して管理するとともに、前記搬送装置 (1)ならびに
移載装置(14)の作動を制御する制御手段(H)とを
備え、前記移載装置(14)が、各物品収納部(8)の
複数の物品保持部(10)から各別に物品(C)を取出
すことが可能で、かつ、各物品収納部(8)の手前に位
置する物品保持部(10)に物品(A)が存在しないと
きに奥に位置する物品保持部(10)から物品(B)を
取出すことが可能に構成された物品保管設備であって、 前記移載装置(14)を複数個備えていて、前記制御手
段(H)が、前記物品収納部(8)の奥に位置する物品
保持部(10)から物品(B)を取出す際に手前に位置
する物品保持部(10)に物品(A)が存在すると、そ
の手前の物品(A)を複数個のうちのひとつの移載装置
(14A)によって取出し、かつ、奥の物品(B)を他
の移載装置(14B)により取出して、この奥の物品
(B)を前記搬出部(12)にまで搬送して移載する取
出し制御を実行し、 前記取出し制御を実行する際において、手前の物品
(A)を空の物品保持部(10)に収納する際、物品収
納部(8)の手前に位置する空の物品保持部(10)に
優先的に収納する取出し優先モードの実行と、物品収納
部(8)の奥に位置する空の物品保持部(10)に優先
的に収納する収納優先モードの実行とに切り換え可能に
構成してある 物品保管設備。2. A plurality of article holders (10) in the depth direction.
A plurality of article storage units (8) having
The stored article storage shelf (5) and this article storage shelf (5)
Items to be delivered to the carry-out section (12) or each article storage section (8)
Transfer device (14) for transferring (C), and this transfer device
(14) is the carrying-out section (12) and each article storage section (8)
A transport device (1) for transporting between items and the article storage shelf
Describe the article storage status of each article storage section (8) in (5)
In addition to managing it, the transfer device (1) and
And a control means (H) for controlling the operation of the transfer device (14)
The transfer device (14) is provided in the article storage unit (8).
Separately take out the articles (C) from the plurality of article holders (10)
Can be placed in front of each article storage unit (8)
If the article holder (10) to be placed does not have the article (A)
The article (B) from the article holder (10) located at the back.
An article storage facility configured to be able to be taken out, comprising a plurality of transfer devices (14),
Article in which the step (H) is located at the back of the article storage section (8)
Positioned in front when the article (B) is taken out from the holder (10)
When the article (A) is present in the article holding unit (10) for
Transfer device for the article (A) in front of
(14A) and remove the article (B) in the back
The transfer device (14B) of the
(B) is transferred to the carry-out section (12) and transferred.
When the take-out control is executed and the take-out control is executed , the article in front of
When (A) is stored in the empty article holder (10),
In the empty article holding section (10) located in front of the storage section (8)
Execution of the take-out priority mode, in which items are stored preferentially, and article storage
Take precedence over the empty article holder (10) located at the back of the section (8)
Switch to execution of storage priority mode
An equipment storage facility configured .
を実行する際において、前記ひとつの移載装置(14
A)によって取出した手前の物品(A)を、前記搬送装
置(1)により奥の物品(B)とともに前記搬出部(1
2)にまで搬送し、この搬出部(12)に奥の物品
(B)を移載した後、前記手前の物品(A)を空の物品
保持部(8)にまで搬送して収納するように構成してあ
る請求項1または2記載の物品保管設備。3. The one transfer device (14) when the control means (H) executes the ejection control.
The front article (A) taken out by (A) is conveyed along with the back article (B) by the carrying device (1) to the carry-out section (1).
2), the article (B) in the back is transferred to the carry-out section (12), and then the article (A) in front is conveyed to the empty article holding section (8) for storage. The article storage facility according to claim 1 or 2, wherein the article storage facility is configured as described above .
を実行する際において、前記ひとつの移載装置(14
A)によって取出した手前の物品(A)を、このひとつ
の移載装置(14A)によって空の物品保持部(8)に
収納し、その後、奥の物品(B)を前記搬出部(12)
にまで搬送して移載するように構成してある請求項1ま
たは2記載の物品保管設備。4. The one transfer device (14) when the control means (H) executes the ejection control.
The front article (A) taken out by (A) is stored in the empty article holding section (8) by this one transfer device (14A), and then the article (B) at the back is carried out by the carrying-out section (12).
Claim 1 or is arranged to to transfer conveyed to the
Or the article storage facility described in 2 .
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP05147596A JP3369392B2 (en) | 1996-03-08 | 1996-03-08 | Article storage facility |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP05147596A JP3369392B2 (en) | 1996-03-08 | 1996-03-08 | Article storage facility |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH09240809A JPH09240809A (en) | 1997-09-16 |
JP3369392B2 true JP3369392B2 (en) | 2003-01-20 |
Family
ID=12887986
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP05147596A Expired - Fee Related JP3369392B2 (en) | 1996-03-08 | 1996-03-08 | Article storage facility |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP3369392B2 (en) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CA2735988C (en) | 2008-09-03 | 2015-11-03 | Dematic Accounting Services Gmbh | Automated storage/retrieval system |
ES2523843T3 (en) | 2008-10-27 | 2014-12-02 | Dematic Systems Gmbh | Automatic storage / recovery system |
JP5513930B2 (en) * | 2010-03-03 | 2014-06-04 | デマティック アカウンティング サービシーズ ゲーエムベーハー | 3D automatic warehouse |
US9522781B2 (en) | 2010-09-30 | 2016-12-20 | Dematic Systems Gmbh | Shuttle for automated warehouse |
EP3272679B1 (en) | 2016-07-19 | 2020-10-21 | Dematic GmbH | Automatically centring load support for shuttle vehicles having a variable receiving width |
KR102635999B1 (en) * | 2020-12-03 | 2024-02-13 | 세메스 주식회사 | Article storage device and control method thereod |
-
1996
- 1996-03-08 JP JP05147596A patent/JP3369392B2/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
JPH09240809A (en) | 1997-09-16 |
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