JP3446865B2 - Article storage facility - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION A plurality of article accommodating portions capable of accommodating a plurality of articles are arranged side by side, and are movable in the arrangement direction of the article accommodating portions for taking out the articles from each of the article accommodating portions. In addition, the present invention relates to an article storage facility provided with an article transporting moving body provided with an article holding section for holding the taken out article.

[0002]

2. Description of the Related Art In such an article storage facility, a plurality of article storage units capable of accommodating a plurality of articles are arranged side by side, and a desired article is taken out from each of the article storage units by an article transporting moving body, that is, This is a facility that enables so-called picking work. In order to perform such a picking operation, it is necessary to transfer the article between the article storage section and the article holding section of the article transporting movable body. Conventionally, for example, JP-A-8-13341 in which a plurality of article storage units are configured as shelves
As described in Japanese Patent Publication No. 6, when a plurality of articles are placed in a pallet and stored in an article storage section and the article is taken out from the article storage section, the article is a part of a stacker crane together with the pallet. The transfer work is carried out by an operation of transferring the pallet to a transfer movable body, transferring an article on the pallet to an article holding section, and further returning the pallet to the original article storage section.

[0003]

However, in the above-mentioned conventional configuration, it is necessary to perform an operation of transferring each pallet on which a plurality of articles are placed, and as a result, the time and effort required for the picking work become large, and therefore improvement is desired. Was there. The present invention has been made in view of the above circumstances, and an object thereof is to simplify picking work and improve work efficiency.

[0004]

With the structure according to the above-mentioned claim 1, the article transporting movable body moves in the direction in which the plurality of article storage sections are arranged, and at the same time, the desired article is moved from the article storage section. The picked-up article is taken out, the taken-out article is held in the article holding section, and a picking operation is performed. For this picking operation, the article transporting moving body is provided with an article transfer device for picking and a control means for controlling the operation of the article transfer device. By the control of the control means based on the picking-up article take-out information, the article-conveying moving body moves so as to be located at the take-out position with respect to the article storage unit that is the take-out target of the article, and in the state of being located at the take-out position, Hold the items stored in the item storage section,
Transfer to the article holder. That is, the article transfer device for picking directly holds and transfers the article to be taken out of the articles stored in the article storage section. Therefore, it is possible to simplify the work for taking out the article from the article storage unit as much as possible, thereby simplifying the picking work and improving the work efficiency. Also, a moving body for article transportation
Stop it so that it is adjacent to the storage unit
The goods stored in the goods storage section to
It is transferred to the tool by the article transfer device. Goods as desired
When the removal of the
Conveying goods to a position adjacent to the goods carrying in / out section
Move the mobile unit to stop it, and remove it from the article storage unit.
Carrying goods with loaded goods using the goods handling equipment transfer device
Transfer to the entry / exit section. Therefore, the goods in the goods storage section should be
Transfer to a cargo handling tool held by a transfer device and load the article
By carrying out the loaded cargo handling equipment to the goods loading / unloading section,
Items taken from the storage section to the carry-in / out section of the article storage facility
Transporting goods during a series of picking operations
It can be done smoothly.

With the above-mentioned structure, the command means selects a plurality of article storage sections for picking while the number of articles to be taken out from each article storage section is specified. When commanded as the article takeout information of
The control means for executing the picking control controls to take out the commanded number of articles from each of the selected article storage units. Therefore, the articles can be taken out from the plurality of article storage units by one picking operation, and the picking operation efficiency can be further improved. Further, by providing the configuration according to claim 3 above, the article storage unit is
The article transfer devices provided on both sides of the movement route of the article transporting mobile body take out the articles from the article storage units on both sides of the movement route. This article transfer device includes an article holding section that holds an article taken out from an article storage section,
Since the articles are arranged side by side in the moving direction of the article transporting mobile body, the space from the article storage units on both sides of the moving route of the article transporting mobile body can be used while using the space in the moving direction having a relatively large installation dimension. The article can be taken out accurately.

Further, by providing the structure according to the above-mentioned claim 4, the cargo handling tool is transferred to the article holding section of the article transporting movable body with respect to both the article storage section and the article loading / unloading section of the article storage facility. A loading / unloading device transfer device capable of loading is provided.
That is, in addition to the operation of gripping and transferring the article in the article storage unit by the article transfer device to the article holding unit, the transfer of the cargo handling tool capable of mounting the article between the article transporting moving body and the article storage unit. It can also be loaded. Corresponding to such a configuration,
There are two control modes of the picking mode and the cargo handling tool transfer mode as the control modes of the control unit that performs the picking control. In the picking mode, the article transporting mobile unit is stopped so as to be adjacent to the article storage unit to be taken out, and the articles in the article storage unit are transferred by the article transfer device to the loading tool held by the loading tool transfer apparatus. To do. When the desired removal of the article is completed, the article transporting moving body is moved to and stopped at a position adjacent to the article loading / unloading section for loading / unloading the article into / from the article storage facility, and the article removed from the article storage section. The cargo-handling tool carrying the is transferred to the article carrying-in / out section by the cargo-handling tool transfer device. That is, normal picking work is performed.

On the other hand, in the cargo handling tool transfer mode, the article transporting moving body is stopped so that the article holding unit is adjacent to the article storage unit and the article loading / unloading unit, and the cargo handling tool transfer device transfers the cargo handling tool. . Depending on this cargo handling equipment transfer mode, for example,
In the case where a plurality of articles are loaded in the cargo handling equipment and stored in the article storage unit, when all the articles loaded in the cargo handling equipment are taken out and are in an empty state, the empty cargo handling equipment is loaded and unloaded into the article loading / unloading unit. When carrying out to the goods storage, storing the cargo handling equipment carrying the article in place of the carried-out empty cargo handling equipment in the goods storing section, and further taking out all the articles existing in the article storing section to be taken out. You can perform work such as taking out the entire cargo handling equipment. Therefore, the articles in the article storage section are transferred to the cargo handling tool held by the cargo handling tool transfer device, and the cargo handling tool carrying the article is carried out to the article loading / unloading section, so that the article taken out from the article storage section is transferred to the article loading / unloading section. In a series of picking work carried out to the carry-in / out section of the storage facility, it becomes possible to smoothly carry the goods, and moreover, the structure for transferring the cargo handling equipment can be used as it is, and various articles or cargo handling equipment can be used. Various transports are possible, and while simplifying the configuration,
The article storage facility can be made more convenient.

Further, since the cargo handling tool carrying a plurality of articles is constituted by a pallet for stacking a plurality of articles by providing the structure according to claim 5, the cargo handling tool itself has a pallet structure. With such a simple configuration, it becomes possible to mount a large number of articles, and the article storage efficiency in the article storage section can be improved. Moreover, since the articles taken out from the article storage unit are stacked on the pallet in the set pattern under the control of the control means, the articles can be stacked in a stable posture by properly setting the set pattern, and the articles on the pallet can be stacked. The array of will follow certain rules,
When the articles are unloaded from the cargo handling tool in which the articles are stacked, it is easy to recognize the existing position of the articles, and the workability can be improved.

Further, by providing the structure according to the sixth aspect, the article transfer device for transferring the article in the article storage section to the article transporting moving body is an articulated type for grasping the article at the front end. Since it is composed of a manipulator, the above-mentioned tip can be accurately brought close to the article stored in the article storage section, and the transfer can be performed accurately, and when the article transfer operation is not executed, it is an articulated joint. By folding the manipulator of the mold, it is possible to accurately prevent the article transfer device from interfering with the movement of the article transporting movable body.

Further, since the article transfer device constituted by the multi-joint type manipulator is constituted so that the horizontal multi-joint type can be lifted and lowered, by comprising the structure described in claim 7, When entering the tip into the article storage section, the vertical space required for the entry can be made as small as possible, and the restrictions on the design of the article storage section can be reduced. It can be advantageous in terms of actual manufacturing.

Further, since the article transfer device holds the article by adsorbing the article with the vacuum pad, the article transfer apparatus is configured to simply mechanically hold the article. By comparison, the articles can be grasped more accurately, and the workability of the article transfer operation can be improved.
Further, since the article transfer device has the structure according to the ninth aspect, the article transfer device sucks and grasps the upper surface and the side surface of the article with the vacuum pad, so that the article can be more accurately grasped.

Further, by having the structure according to the tenth aspect, the article storage units are arranged in parallel in the vertical direction and the horizontal direction to form a storage rack, and the article transporting movable body is provided in the article storage unit. According to the arrangement configuration, it is configured to be lifted and lowered by a traveling body that travels in the lateral direction of the storage shelf, and articles can be taken out from each article storage unit of the storage shelf. By thus configuring the article storage unit as a shelf, it is possible to reduce the installation space of the article storage facility as much as possible while ensuring the storage capacity of the articles.

According to the eleventh aspect of the present invention, the storage rack having the article storage units arranged in the vertical direction and the horizontal direction has a configuration in which the article loading / unloading directions are directed in the same direction and is orthogonal to the article loading / unloading direction. A plurality of storages are arranged in parallel in a laterally long posture in a horizontal direction, and a plurality of storages are formed in order to selectively form a traveling path of the traveling body for moving the article transporting movable body between adjacent storage shelves. The one located in the middle of the shelf is provided so as to be able to reciprocate in a certain range in the article loading and unloading direction, and for the traveling body to enter the traveling passage selectively formed as described above, A transfer carriage, on which a traveling body can freely get on and off by traveling while being positioned adjacent to the end of the traveling passage, is provided so as to be capable of reciprocating along the direction in which the storage shelves are arranged.

When taking out an article from the article storage unit in such an article storage facility, the storage rack is placed so that the traveling passage of the traveling body is formed facing the storage shelf in which the article storage unit to be taken out exists. It is moved appropriately, the transfer carriage is stopped in a state of being located adjacent to the end of the formed traveling passage, and the traveling body enters the traveling passage formed by the transportation carriage and is desired from the article storage portion to be taken out. Take out the article. Therefore, by selectively forming the traveling path of the traveling body so that the articles can be taken out from the desired article storage portion, the plurality of storage shelves are arranged in a state where they are as close to each other as possible. The storage efficiency of can be improved as much as possible.

Further, since the plurality of article storage sections are installed in the warehouse whose temperature is controlled to a low temperature by providing the structure according to the twelfth aspect, it is difficult for the worker to perform the work in the warehouse. However, since the picking work can be performed by the picking control by the control means as described above, the work load on the worker can be reduced as much as possible.

[0016]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the article storage facility of the present invention will be described below with reference to the drawings. The article storage facility is installed in, for example, a factory building, and as shown in FIGS. 1 and 2, a pair of fixed shelves A installed and fixed on the ground floor.
And the eight movable shelves B arranged between the fixed shelves, with the article loading / unloading directions oriented in the same direction, and
4 shelves supporting rails 1 that are arranged side by side in a long horizontal orientation perpendicular to the article loading / unloading direction and fixed to the ground floor along the article loading / unloading direction, and an article loading / unloading formed between adjacent shelves A stacker crane E that travels along the lateral direction of the shelf in the work passage C for the purpose of loading and unloading the articles D to and from the fixed shelf A or the moving shelf B, and the stacker crane E to the fixed shelf A and A transfer carriage F that travels along a carriage rail 2 provided on one end side of the moving shelf B and a cargo receiver that is provided for temporarily placing an article D to be loaded and unloaded and that functions as an article loading / unloading section of an article storage facility. Trolley G
And are provided.

A plurality of rectangular box-shaped articles D are loaded on a loading rack LD on a storage rack SS which is composed of a fixed rack A and a movable rack B.
Are stored in a stacked state on a pallet P as
The storage shelf SS is provided with article storage units H for storing pallets P in which articles D are stacked in a row in the vertical and horizontal directions. The moving shelf B is shown in FIGS.
As shown in FIG. 2, two shelves B1 that are adjacent to each other back to back are connected to each other and their bottoms are fixed to a support frame B2. The support frame B2 includes two sets arranged in the front and rear in the traveling direction. Four sets of rack running wheels 3 are associated with each of the four rack support rails 1 and are supported at intervals in the lateral direction orthogonal to the article loading / unloading direction.

Then, by rolling the shelf traveling wheels 3, these movable shelves B are reciprocated along the four shelf support rails 1 within a certain traveling range, and fixed shelves A as shown in FIG. Moving rack B between moving rack B or adjacent moving rack B as shown in FIG.
A traveling passage C is selectively formed at any one of the positions between the traveling passages C, and the crane traveling wheels 4 provided at the lower portion of the stacker crane E corresponding to each of the traveling passages C roll. Thus, a single crane support rail 5 for movably supporting the stacker crane E is provided.

As shown in FIG. 5, the stacker crane E comprises four drive wheels 4a arranged at one end in the traveling direction and two idle wheels 4b arranged at the other end in the traveling direction. An elevating platform 6a having a fork device J and a picking robot PR is mounted on a traveling body 6 on which traveling wheels 4 are supported, two columns 6b for supporting the elevating platform 6a so as to be vertically movable, and drive wheels 4a. An electric traveling drive unit 6c for driving the vehicle, an electric lifting drive mechanism 6d for driving the elevator 6a, and a rectangular frame 6e for connecting the upper ends of the two columns 6b with each other. 6e is provided with four guide rollers 7a supported on both sides in the width direction of the work passage around the vertical axis.

As the traveling body 6 travels, the guide rollers 7a are provided on the guide rails 7b provided at the upper ends of the fixed shelves A or the movable shelves B located on both lateral sides of the traveling passage C, respectively. The guide rail 7b is fixed to the guide rail 7b of the guide roller 7a by rolling along the side surface to guide and support the traveling thereof, and to prevent the stacker crane E from falling along with the transfer of the container D. It is configured to be regulated by abutment toward the direction close to the shelf A or the moving shelf B.

By the traveling of the traveling body 6 guided by the crane support rails 5 and the guide rails 7b, and the elevating / lowering movement of the lifting platform 6a along the columns 6b of the traveling body 6,
Since the lifting platform 6a moves in the direction in which the article storage units H are arranged and picks up the articles D from the article storage units H on the left and right sides facing the formed passage C, the lifting platform 6a is used as an article transporting moving body. Function as. Further, the traveling passage C of the traveling body 6 also constitutes a moving path of the elevating table 6a.
The article storage units H are provided on both sides of the movement path of a.

At the intersection where the shelf support rail 1 and the crane support rail 5 intersect in a plan view, the shelf support rail 1 and the crane support rail 5 are fixed by a common rail fixture 8 bolted to the floor surface. It is fixed and makes the shelf support rail 1 continuous in series at its intersection,
The crane support rails 5 are fixed at intervals so as to sandwich the shelf support rails 1 in plan view so that the shelf traveling wheels 3 can pass through the intersection without being interfered with by the crane support rails 5. .

The crane support rail 5 is positioned higher than the shelf support rail 1, and the two drive wheels 4a and the two idler wheels 4 of the stacker crane E are arranged.
b is provided at the front and rear at a pitch wider than the interval of the crane support rails 5 provided at positions sandwiching the shelf support rails 1, and any one of the crane traveling wheels 4 floats up between the crane support rails 5 at the intersection. In this state, the stacker crane E is movably supported by the remaining three crane traveling wheels 4, and the crane traveling wheels 4 straddle the shelf supporting rails 1 without being interfered by the shelf supporting rails 1. While passing through the intersection.

The fork device J and the picking robot PR provided on the lifting platform 6a are arranged side by side in the moving direction of the lifting platform 6a that moves with the traveling of the traveling body 6, and the picking robot PR travels on the traveling body 6. The articles D can be taken out from the article storage portions H located on both sides of the passage. The picking robot PR is composed of a multi-joint type manipulator. Specifically, the base end side of the multi-joint type arm 14 is supported by a raising / lowering drive unit so as to be able to move up and down. 14 itself is configured as a horizontal multi-joint type in which each joint portion can swing about the longitudinal axis. At the tip of the arm 14, a vacuum pad 15 configured by connecting a vacuum pad 15a for attracting the upper surface of the article D and a vacuum pad 15b for attracting the side surface of the article D in an L-shaped cross section is provided. The article D is gripped by the pad 15. Although a detailed description of the specific configuration of the vacuum pads 15a and 15b is omitted,
A suction hole for sucking air is provided on the surface in contact with the article D, and a seal member for maintaining airtightness when the article D is sucked around the suction hole.

On the fork device J, there is placed a pallet P as a cargo handling tool LD for placing and storing the articles D taken out from the respective article storage sections H, and a picking robot which is an article transfer device for picking. Since the articles D taken out from the article storage section H by PR are sequentially placed on the pallet P on the fork device J, the article D holding the articles D taken out from the article storage section H by the fork apparatus J and the pallet P is held. The holding unit DH is configured. When all the necessary articles D have been taken out, the traveling body 6 transfers to the transfer carriage F,
The transfer carriage F conveys the traveling body 6 to the load receiving carriage G, and transfers the pallet P on which the article D is loaded onto the load receiving carriage G by the fork device J of the lift 6a. As will be described later, the fork device J can transfer the pallet P to and from the article storage unit H as well. Therefore, the fork device J functions as a cargo handling tool transfer device TP capable of transferring the cargo handling tool LD. To do.

The fixed rails A and the movable rack B each have two laterally separated positions, that is, at both lateral ends of the rack, the guide rails 7b located on both lateral sides of the traveling passage C are maintained at proper intervals. Therefore, in the state where the traveling passage C is selectively formed between the fixed shelf A and the movable shelf B or between the movable shelves B, the space in the article loading / unloading direction between the shelves adjacent to each other in the close contact state is set. A contact portion 9 is provided which regulates the mutual contact.

The abutting portion 9 has two hard stoppers 9a at a position facing the moving shelf B side at both lateral ends of the fixed shelf A and at a front and rear position at both lateral ends of the moving shelf B, respectively. The traveling path C is formed between desired shelves by arranging the stopper rail 9b at the upper position of the guide rail 7b and the support frame B2 and projecting the contact surfaces 9b of these stoppers 9a from the guide rail 7b in the article loading / unloading direction. When the movable shelves B are moved accordingly, as the adjacent shelves relatively move in the approaching direction, the four stoppers 9a facing each other in the moving direction come into contact with each other at substantially the same time, and the traveling passage C The distance between the guide rails 7b located on both lateral sides is maintained at an appropriate distance.

The two rack running wheels 3 supported in the front-rear direction corresponding to each of the rack support rails 1 are composed of a drive wheel 3a and an idle wheel 3b, and as shown in FIG. 6, the drive wheel 3a.
Is provided with an electric motor M for driving the axles 10 corresponding to each of the axles 10 in such a manner that a pair of laterally adjacent ones on both ends of the movable shelf B are interlocked with each other. In addition, a moving rack control device 11 that controls the operation of these electric motors M is provided for each moving rack B. The moving rack control device 11 detects the position of the moving rack B by detecting the presence or absence of the plate 13 to be detected by the photo interrupter type optical sensor 12, and the electric motor so that the moving rack B moves within a certain traveling range. Control M.

As shown in FIG. 7, a main controller 16 controls the overall operation of the article storage facility having the above-described configuration, and a crane controller 1 for controlling the operation of the stacker crane E.
7, the transfer carriage control device 18, the above-mentioned moving rack control device 11 and the like execute control operation according to a command from the main control device 16. An overview of the operation of the article storage facility with the above configuration,
The control operation of the crane controller 17 will be described with reference to the flowchart of FIG. The specific work content of the picking work is input to the main control device 16 from an operator console 16a of the main control device 16, or a host computer connected to the main control device 16 by a communication line. Etc. The content of the picking work may be, for example, content that specifies the article D to be taken out from the storage shelf SS and the number of the taken-out articles.

When the main control unit 16 receives the picking operation instruction, it selects the article storage unit H in which the article D to be taken out is stored from the article storage units H of the storage shelf SS, and stores the selected article storage unit H. The crane controller 17 is instructed together with the number of articles D to be taken out from each of the parts H. Therefore,
The main control device 16 functions as a command means PC for commanding picking-up article removal information. When the crane control device 17 receives, as the work instruction information, the information specifying the article storage unit H and the information on the number of articles to be taken out of the article D to be taken out from the article storage unit H, the flowchart including the picking control shown in FIG. Will start. Therefore,
The crane control device 17 functions as a control unit CO that executes picking control.

The crane control device 17 first determines whether or not the work instruction information indicates a typical picking work (step # 1). That is, the main controller 16
In principle, when the picking work instruction is received, the crane control device 17 is instructed about a typical picking work instruction, that is, the article storage unit H and the number of articles taken out from the article storage unit H. When the number of articles to be taken out is such that all the articles D placed on the pallet P are to be taken out, the crane controller 17 is instructed to take out the entire article storage unit H together with the pallet P. The operation instruction from the main controller 16 to the crane controller 17 is about one pallet P, such as collecting the articles D on one pallet P or taking out one pallet P from the article storage H. The work is used as a work unit, and the crane control device 17 is instructed for each work unit. Therefore, when the picking work instruction given to the main control device 16 reaches the work for a plurality of pallets P in excess of the number that can be mounted on one pallet P, the main control device 1
6 instructs the crane control device 17 to give an instruction for one work unit, and when the crane control device 17 has finished the instructed work, it issues a work instruction for the next work unit.

When a typical picking operation is performed (step # 1), the processing in the picking mode is executed. That is, in the initial state, since the traveling body 6 is located on the transfer carriage F with the empty pallet P placed on the fork device J of the lift 6a, the transfer carriage is instructed by the main controller 16. The control device 18 waits until the traveling body 6 is transported to the position corresponding to the existing position of the article storage unit H from which the article is to be taken out (step # 2). Incidentally, in parallel with the transportation of the traveling body 6 by the transfer carriage F, the movable rack control device 11 receives an instruction from the main control device 16 so that the article storage unit H, which is an object to be taken out, is placed on the traveling passage C of the traveling body 6. The traveling passage C of the traveling body 6 is formed so as to be in a facing state. When the transfer carriage F stops at the proper position (step #
2), the traveling body 6 is guided and moved by the crane support rails 5 and the guide rails 7b, and the lifting platform 6a is driven up and down to properly stop the article storage unit H that stores the articles D taken out by the lifting platform 6a. To stop (step # 3). When the picking robot PR does not execute the article transfer operation as when the lift table 6a moves, as shown in FIGS. 9B and 10B, the arm 14 is folded to move the lift table 6a. It does not interfere with the movement of people.

This proper stop position is shown in FIG. 9 (a) and FIG.
As shown in 0 (a), the picking robot PR is in a stop position in which it is positioned substantially in front of the article storage unit H, and at this proper stop position, the arm 14 reaches the article storage height in the article storage unit H. Elevating / lowering operation to an appropriate ascending / descending height, an entering operation of the tip of the arm 14 into the article storage section H, a descending operation until the tip of the arm 14 contacts a corner of the article D, vacuum pads 15a, 15b. The picking operation for sequentially performing the suction operation of the article D, the raising and retracting operation of the arm 14, the moving operation of the tip of the arm 14 onto the fork device J, that is, the empty pallet P, the lowering of the arm 14 and the suction releasing operation. The process is repeated until the removal of the number of taken out articles is completed (step # 4).

The articles D are placed on the article storage unit H and the fork device J in a stacked state in a set pattern. As the setting pattern, in addition to simply stacking the articles D having the same shape as shown in FIG. 10 (a), a vertical gap formed between the articles D as shown in FIG. 10 (b). It is possible to stack in various patterns, such as stacking so as not to be continuous between the upper and lower continuous stages. In this way, by stacking in the set pattern, the order of taking out the articles D and the number of the articles D existing can be specified, so that the position of the articles D on the pallet P can be specified, and the picking robot PR This makes it easy to grip the article D. However, the position of the article D on the pallet P may be specified by using an image pickup device or the like and performing image processing to specify the position of the article D without depending on the stacking pattern of the articles D.

When the removal of the article D from one article storage section H is completed, the article selected as the extraction target in the article storage section H facing the traveling path of the traveling body 6 formed at that time. When the storage section H exists, picking in the article storage section H is performed in the same manner as above.
When all are finished (step # 5), the traveling body 6 is transferred to the transfer carriage F (step # 6). At this time, if there is still an article storage unit H to be picked,
When the picking work is continued by repeating the same operation as the above and all are finished (step # 7), the main controller 16
The control waits until the transfer carriage control device 18 moves the transfer carriage F carrying the traveling body 6 to the position of the load receiving carriage G in response to the instruction from (step # 8).

When the movement of the transfer carriage 7 is completed (step # 8), the fork device J of the lift 6a is operated to move the pallet P on which the articles D taken out from the respective article storage sections H are stacked to the load receiving carriage G. Post (step # 9). The pallet P transferred to the receiving cart G is transported to another place by a worker by a forklift or the like. After the pallet P is transferred from the lifting platform 6a to the loading cart G, and when a signal to the effect that the pallet P is to be unloaded is continuously received from the main control device 16 (step # 10), the process is terminated and the main control is finished. When there is no instruction from the device 16, the operator receives the empty pallet P loaded on the receiving cart G by the fork device J (step # 11), and then the process ends.

On the other hand, in step # 1, when the work instruction from the main control device 16 is not a typical picking work instruction but a work instruction for taking out the pallet P from the article storage section H, the above picking mode is not used. Instead, the following processing as the cargo handling equipment transfer mode is executed.
That is, first, the empty pallet P mounted on the fork device J is returned to the receiving cart G (step # 12),
Since it is not a warehousing operation (step # 13), pallet P
The traveling passage C of the traveling body 6 is formed so as to face the article storage portion H from which the articles are taken out, and waits until the movement of the transfer carriage F to the position corresponding to the traveling passage C is completed (step # 14). . As in the case described above, this transfer cart F
In parallel with the transportation of the traveling body 6 by the moving rack control device 11
However, according to an instruction from the main controller 16, the traveling passage C of the traveling body 6 is formed so that the article storage unit H, which is an object for taking out articles, faces the traveling passage C of the traveling body 6. When the transfer carriage F stops at the appropriate position (step # 14), the traveling body 6 is guided and moved by the crane support rail 5 and the guide rail 7b, and the lifting platform 6a is driven up and down to take out the lifting platform 6a. The pallet P is moved to an appropriate stop position for the article storage unit H that stores the pallet P and stopped (step # 15).

This proper stop position is shown in FIG. 9B and FIG.
As shown in 0 (b), the fork device J has the article storage unit H.
In this proper stop position, the fork device J is operated to take out the pallet P on which the article D in the article storage section H is placed and transfer it to the lift table 6a. (Step # 16). Thereafter, the traveling body 6 is transferred to the transfer carriage F (step # 17), and since the empty pallet P is not loaded (step # 18), the transfer carriage F is moved to the position of the receiving carriage G. When the movement to the position of the cargo carrier G is completed (step # 19), the fork device J is activated to transfer the pallet P to the cargo carrier G (step # 20), Instead of receiving the empty pallet P in the same manner as the processing in steps # 9 and # 11 (step #
21).

In addition to the above-mentioned control of the picking work, the crane control device 17 takes out all the articles D and carries out the empty pallet P from the storage rack as a work incidental to the picking work. Instead, the control for the work of storing the pallet P loaded with the articles D is also executed. All of these operations are processing in the above-described cargo handling tool transfer mode, and the operation of unloading an empty pallet P is substantially the same as the above-described processing of taking out the article D together with the pallet P, so description thereof will be omitted. Pallet P full of goods D
First, fork device J is stored in storage shelf SS.
Return the upper empty pallet P to the receiving cart G (step #
12), since it is a case of warehousing (step # 13),
After the operator places the pallet P loaded with the articles D on the receiving cart G by a forklift or the like, the fork device J is operated to receive it (step # 22). After that, the traveling passage C of the traveling body 6 is formed at a position corresponding to the article storage unit H for storing the pallet P, and the transfer truck F waits at the position corresponding to the traveling passage C until the movement is completed. (Step # 23).

When the transfer carriage G completes the movement (step # 23), the traveling body 6 is guided and moved by the crane support rail 5 and the guide rail 7b, and at the same time the lifting platform 6 is moved.
a is driven up and down, and the fork device J of the lifting platform 6a is stopped so as to be located in front of the article storage unit H in which the pallet P is stored (step # 24). After the stop, the fork device J is operated to store the pallet P in the article storage unit H (step # 25). When the storage of the pallet P is completed, the traveling body 6 is transferred to the transfer carriage F (step #
26), the traveling carriage F conveys the traveling body 6 to the position of the cargo receiving carriage G, and the fork device J moves the empty pallet P to the lifting platform 6
It is mounted on a (steps # 27, # 28).

[Other Embodiments] Other embodiments of the present invention will be listed below. In the above embodiment, the case where the article storage facility is installed in the factory building is illustrated, but, for example, FIG.
As shown in, the article storage unit H may be installed in the warehouse SA whose temperature is controlled to a low temperature by a cooling device (not shown). In this case, only the storage shelf SS configured by arranging the article storage units H may be arranged in the warehouse SA, and the stacker crane E may move in and out of the warehouse SA, and the stacker crane E is included. All of the article storage equipment may be installed in the warehouse SA.

In the above-described embodiment, the storage shelf SS having the article storage units H arranged side by side is composed of the fixed shelf A and the movable shelf B, and the movement path C of the traveling body 6 is selectively caused by the movement of the movable shelf B. The storage rack SS is composed of only a pair of fixed shelves, and the stacker crane only reciprocates the traveling passage formed between the pair of fixed shelves. It may be configured as an automated warehouse. In the above-described embodiment, the lifting platform 6a that functions as the article transporting mobile body is provided as a part of the stacker crane. However, for example, the article transporting mobile body is a storage shelf SS.
A guide rail that guides and conveys the entire width in the horizontal direction is provided, and the guide rail itself can be moved up and down.

In the above-described embodiment, the case where the article storage units H are arranged in the vertical direction and the horizontal direction to form the storage shelves SS is exemplified, but for example, the article storage units H are placed on the floor.
May be arranged and the article D may be stored in a so-called flat state. In this case, the article transporting mobile body may be configured as a so-called automatic guided vehicle. In the above-described embodiment, the picking robot PR configured as an articulated manipulator is illustrated as the article transfer device. However, for example, a gripper capable of gripping the article D is lifted in a hanging crane type. The configuration of the article transfer device can be variously changed, such as a configuration in which the article is moved between 6a and the article storage unit H. In the above-described embodiment, the configuration in which the article D is adsorbed and grasped by the so-called vacuum pad is illustrated, but the article transfer device grasps the article such as a configuration in which both sides of the article D are sandwiched and grasped. The configuration can be changed in various ways.

In the above-described embodiment, the pallet P is illustrated as the cargo handling tool LD, but various types of cargo handling tools L such as a container formed in a box-like body having an open upper portion.
D can be used. In the above-described embodiment, the fork device J is illustrated as the cargo handling device transfer device TP, but for example, a device for transporting a so-called chain conveyor type cargo handling device LD is provided on the lift 6a, and the goods storage unit H and the like are provided. Loading device transfer device T, such as enabling transfer of the loading device LD
The configuration of P can be changed in various ways .

[Brief description of drawings]

FIG. 1 is a perspective view of an article storage facility according to an embodiment of the present invention.

FIG. 2 is a schematic plan view of an article storage facility according to an embodiment of the present invention.

FIG. 3 is a side view of a main part according to the embodiment of the present invention.

FIG. 4 is a side view of a main part according to the embodiment of the present invention.

FIG. 5 is a side view of a main part according to the embodiment of the present invention.

FIG. 6 is a plan view of a main part according to the embodiment of the present invention.

FIG. 7 is a block configuration diagram according to an embodiment of the present invention.

FIG. 8 is a flowchart according to the embodiment of the present invention.

FIG. 9 is an operation explanatory diagram according to the embodiment of the present invention.

FIG. 10 is an operation explanatory diagram according to the embodiment of the present invention.

FIG. 11 is a schematic side view according to another embodiment of the present invention.

[Explanation of symbols]

6 running bodies 6a Moving object moving object 15 Vacuum pad CO control means DH article holder G goods loading / unloading section H article storage LD cargo handling equipment PC command means PR article transfer device SS storage shelf TP cargo handling equipment transfer device

Continuation of the front page (56) Reference JP-A-8-104404 (JP, A) JP-A-1-172108 (JP, A) JP-A-8-133416 (JP, A) JP-A-48-78654 (JP , A) JP-A-53-34278 (JP, A) JP-A-8-113318 (JP, A) Actual opening 4-72911 (JP, U) Actual opening 57-7341 (JP, U) (58) Fields surveyed (Int.Cl. ⁷ , DB name) B65G 1/04 B65G 1/10

Claims (12)

(57) [Claims] 1. A plurality of article storage units capable of accommodating a plurality of articles are arranged in parallel, and are movable in the direction of arrangement of the article storage units for taking out articles from each of the article storage units, and An article storage facility provided with an article transporting moving body having an article holding unit for holding the retrieved article, wherein the article transporting moving body is located at an article unloading position with respect to the article storage unit. An article transfer device for picking, which grips an article stored in the article storage section and transfers it to the article holding section , is provided in the article transporting movable body, and the article holding section is provided with a cargo handling tool. Goods storage
Cargo handling equipment transfer device that can transfer to and from the equipment loading / unloading section
Is provided, and the article transfer is performed based on the picking- up article take-out information.
Transporting the articles so that the loading device is adjacent to the article storage section
Stop the moving body for use by the article transfer device.
The goods are transferred to the cargo handling equipment held by the cargo handling equipment transfer device, and
So that the article holding section is adjacent to the article loading / unloading section
To stop the article transporting mobile body and transfer the cargo handling equipment.
Transfer the cargo handling equipment held by the device to the article loading / unloading section.
Article storage facility provided with control means for executing picking control as described above . 2. A command means for commanding the picking-up article take-out information gives an instruction for selecting a plurality of the plurality of article storage sections and the number of article take-out number information from each selected article storage section. In the picking control, the control means takes out a commanded number of articles from each of the selected plurality of article storage sections, and transfers the retrieved articles to the article holding section. The article storage facility according to claim 1, configured as described above. 3. The article storage section is provided on both sides of a moving path of the article transporting mobile body, and the article holding section and the article transfer device are arranged side by side in a moving direction of the article transporting mobile body. The article storage device according to claim 1, which is provided. 4. A cargo handling tool transfer device capable of transferring a cargo handling tool to and from the article storage section and to and from an article loading / unloading section of an article storage facility on the article holding section. provided, said control means, said configured to allow selection on the loading tool transfer mode for executing the picking mode and loading tool transfer control to perform the picking control in the loading tool transfer mode, said article The article transfer moving body is stopped so that a holding section is adjacent to the article storage section or the article loading / unloading section, and the article handling unit transfer device is used to move the article handling unit to or from the article loading / unloading section. The article storage facility according to any one of claims 1 to 3, which is configured to transfer. 5. The cargo handling tool is configured by a pallet for stacking articles, and the control means controls the picking control to store the number of articles instructed from each of a plurality of selected article storage units. The article storage facility according to any one of claims 2 to 4, which is configured to take out and transfer the taken out articles to the pallet in a stacked state in a set pattern. 6. The article transfer device is configured by an articulated manipulator that holds an article at a tip portion thereof, and the control means, when the article transfer operation is not executed,
The article storage facility according to any one of claims 1 to 5, which is configured to fold an articulated manipulator that constitutes the article transfer device. 7. The multi-joint type manipulator constituting the article transfer device is supported to be movable up and down with respect to the article transporting movable body, and is constructed in a horizontal multi-joint type. The listed item storage facility. 8. The article storage facility according to claim 1, wherein the article transfer device is configured to hold an article by a vacuum pad that adsorbs the article. 9. The article storage facility according to claim 8, wherein the article transfer device includes a vacuum pad for adsorbing an upper surface of the article and a vacuum pad for adsorbing a side surface of the article. 10. A storage shelf provided with the article storage units arranged in parallel in the vertical direction and the horizontal direction is provided, and the article transporting movable body is provided on a traveling body that travels along the horizontal direction of the storage shelf. The article storage facility according to any one of claims 1 to 9, which is provided so as to be lifted and lowered. 11. A plurality of the storage shelves are arranged side by side in a state in which the article loading / unloading directions are directed in the same direction and in a laterally long posture that is long in a lateral direction orthogonal to the article loading / unloading direction, and the traveling paths of the traveling bodies are adjacent to each other. In order to selectively form between the storage shelves, the one located in the middle of the plurality of storage shelves is provided so as to be capable of reciprocating in a certain range in the article loading and unloading direction, and the end portion of the traveling passage. 11. The article storage facility according to claim 10, wherein a transfer carriage that allows the traveling body to get in and out of the traveling body is provided so as to be capable of reciprocating along the direction in which the storage shelves are arranged in a state of being adjacent to. 12. The article storage facility according to claim 1, wherein the plurality of article storage units are installed in a warehouse whose temperature is controlled to a low temperature.