JP4011307B2 - Automatic warehouse entry / exit control device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a storage control device for an automatic warehouse that automatically stores and retrieves articles and retrieves them.
[0002]
[Prior art]
In conventional automatic warehouses, articles are basically handled in units in the warehouse, so there is a problem that the processing capacity for carrying in / out the articles to / from the automatic warehouse is low.
[0003]
Therefore, as shown in FIG. 11 to FIG. 13, a plurality of (for example, five) delivery forks 2 a to 2 e (in FIG. 11, the direction of operation to exit from the storage shelf 5) is individually driven. When the articles A1 to A5 are loaded into and unloaded from the storage shelf 5 by the loading / unloading dolly 1, the forks 2a to 2e are independent of each other. A method for loading and unloading A1 to A5 can be considered (proposed example). In this way, since a plurality of articles A1 to A5 can be loaded and unloaded with one loading / unloading dolly 1, it is efficient.
[0004]
[Problems to be solved by the invention]
However, in general, in the case of a large-scale automatic warehouse, the storage shelf 5 is spanned over a plurality of support columns 3a and 3b, and the articles A1 to A5 may be arranged at positions where the support columns 3a and 3b exist. Impossible. For this reason, the arrangement pitch of the articles A1 to A5 becomes nonuniform in the portion of the column 3, and the following problem occurs.
[0005]
For example, as shown in FIG. 11, assuming that goods A1 to A5 are delivered only to the storage shelves 5 in the region sandwiched between the pillars 3a and 3b on both sides, each fork 2a to the entry / exit dolly 1 is provided. If the installation pitch of 2e is set in association with the articles A1 to A5 in the storage shelf 5, a plurality of articles A1 to A5 can be delivered at once with each of the forks 2a to 2e, and the delivery work is efficient. Can be done. The same applies to the receipt.
[0006]
However, as shown in FIG. 12, when it is assumed that the articles A1 to A5 to be delivered are arranged with the support 3b interposed therebetween, the arrangement pitch of the articles A1 to A5 is not uniform at the support 3b. Therefore, if the forks 2a to 2e of the loading / unloading dolly 1 are installed at an equal pitch, it is impossible to unload all the articles A1 to A5 at a time with the forks 2a to 2e having the installation pitch.
[0007]
In this case, first, as shown in FIG. 12, the loading / unloading dolly 1 is moved so that the first to fourth articles A1 to A4 and the first to fourth forks 2a to 2d face each other. At this time, the arrangement pitch of the fifth article A5 and the fourth article A4 adjacent to the fifth article A5 with the column 3b interposed therebetween is the arrangement pitch of the other articles (first to fourth articles) A1 to A4. Therefore, the fifth fork 2e is not opposed to the fifth article A5. In this state, the first to fourth forks 2a to 2d are driven, and the first to fourth articles A1 to A4 are placed in the area indicated by the broken line on the loading / unloading dolly 1.
[0008]
Next, the loading / unloading dolly 1 is moved with respect to the storage shelf 5, and the fifth fork 2e is opposed to the fifth article A5 as shown in FIG. In this state, the fifth fork 2e is driven to place the fifth article A5 in the corresponding area of the loading / unloading dolly 1.
[0009]
As described above, when the articles A1 to A5 to be delivered are arranged with the support 3b interposed therebetween, all the forks 2a to 2e cannot be driven at the same time. Therefore, there is a problem that the processing efficiency is poor.
[0010]
This has the same problem not only when leaving but also when warehousing.
[0011]
Then, the subject of this invention is providing the storage control apparatus of the automatic warehouse which can load / unload the several articles arrange | positioned on both sides of a support | pillar simultaneously.
[0013]
[ Means for solving the problem ]
To solve the above problems, Claim 1 The invention described is provided with a plurality of shelves in the vertical direction, a storage shelf having a plurality of arrangement areas for placing articles on each shelf, and at least the above-described shelf so as to support each shelf A height position corresponding to each of the shelves in a plurality of batches in the order of arrival of a column disposed at an intermediate point of a plurality of arrangement areas, a warehousing conveyor for carrying the article, and a plurality of articles carried from the warehousing conveyor. Warehousing reservoirs to be moved to and corresponding to the respective shelf stages, and a plurality of articles from the warehousing reservoirs can be taken together and transferred to the corresponding shelf stages, Entry / exit dory in which a plurality of forks are installed so as to be movable along the plurality of arrangement areas of the storage shelf, and a plurality of articles are collectively put in and out of the plurality of arrangement areas, Provided corresponding to each shelf, and Receiving a plurality of articles taken in the storage dolly in the predetermined order and sending them one by one in the alignment order; and Receiving articles sent from the corresponding outgoing temporary placement units at a height position corresponding to the outgoing temporary placement units, which are cyclically movable from the placement unit toward the outgoing temporary placement units on the lower side. A delivery reservoir having a plurality of delivery carts to be carried out outward at a position below each delivery temporary storage unit, specification information of articles stored in the storage shelf and storage location information of articles at the time of delivery of the goods A storage position data creation unit that updates / creates storage position data associated with the storage position data, and the storage reservoir and each input storage so that each article is stored in the storage position of the carry-in article determined based on the storage position data. Let the warehousing action take out When a warehousing control unit and a warehousing request are given to each article stored in the storage shelf in a predetermined evacuation request order, the articles on each shelf are aligned by the corresponding warehousing dories. An unloading control unit for controlling the transfer timing of articles transferred from the respective loading / unloading dollies to the corresponding temporary unloading units, which are taken in the state of being arranged in order and kept in the stepwise sorting order. The arrangement pitches of the plurality of arrangement areas of the respective shelves are all uniform regardless of whether or not the struts are sandwiched, and the arrangement pitches of the plurality of forks of the respective loading / unloading dollies are the same as those of the shelves. The arrangement pitch of the plurality of arrangement areas is the same.
[0014]
Also, The warehousing conveyor has a plurality of stoppers for arranging the delivered articles at a constant arrangement pitch, and the arrangement pitch of the stoppers is set to be the same as the arrangement pitch of the forks of the warehousing / exiting dolly. It is a thing.
[0015]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an automatic warehouse input / output control apparatus according to an embodiment of the present invention will be described. In the automatic warehouse entry / exit control apparatus according to this embodiment, the arrangement pitch of the articles is set evenly in the storage shelf regardless of the presence or absence of the support.
[0016]
<1. Overall configuration of automated warehouse>
As shown in FIG. 1, FIG. 2, FIG. 3 (a), and FIG. 3 (b), the automatic warehouse is configured such that articles (corrugated cardboard packed articles, etc.) P are received from the storage conveyor 10 into the storage reservoir 20, the storage traverser 30, and the storage / exit. It is configured to be stored in the storage shelf 5 via the dolly 40, and the articles stored in the storage shelf 5 are carried out to the outside via the input / output dolly 40, the temporary storage unit 60, the output reservoir 70, and the output conveyor 80. Is done.
[0017]
The storage shelf 5 is provided with columns 3 arranged at predetermined intervals, and in the gap between the columns 3 in a predetermined direction (for convenience, X1 shown in FIGS. 1, 2, 3A, and 3B). A plurality of (for example, 10) shelves 6 extending along the −X2 direction (hereinafter the same) are installed. Each shelf 6 has a configuration in which a plurality of vertical bars 7 extending in the front-rear direction (F-R direction in FIG. 1) are arranged in parallel at predetermined intervals, and a plurality of articles P are provided on the vertical bars 7. Can be placed. Further, in the present embodiment, the two storage shelves 5 are arranged in parallel in the front-rear direction with a predetermined interval, and an entry / exit dolly 40 or the like is disposed between the two storage shelves 5.
[0018]
And in this embodiment, pitch L1 (FIG. 4) of the arrangement | positioning area | region of articles | goods A1-A5 (P) in the frontage between the support | pillars 3 in the shelf 6 and articles | goods A1-A5 when the support | pillar 3 is pinched | interposed The pitch L2 (FIG. 5) of the arrangement area of (P) is set equal.
[0019]
As shown in FIGS. 1, 3 (a), 3 (b), and FIG. 6, the warehousing conveyor 10 is arranged on one side of the storage shelf 5 from a place where the article P is carried (such as a place where a truck is placed, not shown). It is installed on the route to the (X1 side portion). When the article P is placed on the warehousing conveyor 10 at the carry-in location, each roller 11 is rotationally driven by a motor (not shown), and the article P is a portion of the warehousing conveyor 10 on the storage shelf 5 side from the carry-in location. 10A (hereinafter referred to as uniform alignment region 10A) is conveyed.
[0020]
A plurality of stoppers 12 are provided in the uniform alignment region 10A of the warehousing conveyor 10 as means for arranging the articles P at a constant arrangement pitch L3 (see FIG. 6). The stoppers 12 are arranged at the same arrangement pitch L3 as the arrangement pitches L1 and L2 of the articles A1 to A5 (P) in the shelf 6 described above along the conveyance direction of the article P, and use a motor or the like. The drive means (not shown) can be moved out of and with respect to the conveyance line of the article P. As the articles P are conveyed to the uniform alignment region 10A, the stoppers 12 sequentially advance from the downstream side in the conveyance direction toward the upstream side to stop the conveyance of the articles P, so that a plurality of articles are stopped. The uniform alignment region 10A in a uniform alignment state in which P is spaced in the same order as the arrangement pitches L1 and L2 of the articles A1 to A5 (P) on the shelf 6 in the order of arrival (here, the surface on the downstream side in the transport direction is a constant interval). Configured to be disposed on top.
[0021]
The warehousing reservoir 20 moves a plurality of articles P to be carried in a batch in order of arrival to a height position corresponding to each shelf 6. In the present embodiment, the plurality of articles P arranged in the uniform alignment region 10A at the lowermost position are taken in and maintained in the uniform alignment state of the arrangement pitch L3 in the arrival order, and the warehousing traverser of each stage. 30 can be transferred.
[0022]
More specifically, the warehousing reservoir 20 uses a motor or the like (not shown) along the column body 21 erected at a position facing the articles P in the uniform alignment region 10A having the arrangement pitch L3 on the warehousing conveyor 10. The elevator can be driven up and down by the elevator drive means.
[0023]
In addition, the warehousing reservoir 20 includes a loading / unloading unit 25 that takes in each article P on the uniform alignment region 10 </ b> A having the arrangement pitch L <b> 3 and can transfer the taken article P to each warehousing traverser 30. The take-in transfer unit 25 is a comb-like fork 24 (see FIG. 6) arranged in parallel with a gap between the rollers 11 in the uniform alignment region 10 </ b> A and between the vertical bars 34 of each warehousing traverser 30. And a fork transfer driving means (not shown) for driving the fork 24 forward and backward with respect to the uniform alignment region 10A and each warehousing traverser 30 (with a slight width).
[0024]
Then, in the state where the storage reservoir 20 is disposed opposite to the articles P in the uniform alignment region 10A having the arrangement pitch L3, the forks 24 are advanced so as to be inserted between the rollers 11, and then the forks 24 are inserted between the rollers 11. When the product P is moved slightly upward so as to protrude from the product, each article P placed on the uniform alignment region 10 </ b> A is placed on each fork 24. Thereafter, when the forks 24 are retracted from the uniform alignment region 10A, the articles P are taken into the storage reservoir 20 in a uniform alignment state with the arrangement pitch L3.
[0025]
Further, after taking each article P in this way, each fork 24 is inserted between each vertical bar 34 in a state in which the storage reservoir 20 is driven up and down to a height position facing the storage traverser 30 at a predetermined stage. When the forks 24 are slightly moved downward so as to be buried between the vertical bars 34, the articles P on the forks 24 are arranged in an evenly aligned state with the arrangement pitch L3 in the arrival order. When the fork 24 is retracted so as to be pulled out from between the vertical bars 34 after that, the transfer operation of the article P from the warehousing reservoir 20 to the warehousing traverser 30 is completed (transferring). Operation).
[0026]
Each warehousing traverser 30 has a function of receiving the article P from the warehousing reservoir 20 and temporarily depositing the article P until the entry / exit dory 40 receives the article P.
[0027]
Specifically, a plurality of warehousing traversers 30 are provided at positions above the uniform alignment region 10 </ b> A of the arrangement pitch L <b> 3 of the warehousing conveyor 10 corresponding to the respective shelf steps 6 of the storage shelf 5.
[0028]
Each warehousing traverser 30 has a receiving position corresponding to the warehousing reservoir 20 (shown by a solid line in FIG. 6) on the rail body 31 provided along the X1-X2 direction outside one side of the shelf 6 of the storage shelf 5. The position shown) and the delivery position on the side close to the storage shelf 5 (position shown by a two-dot chain line in FIG. 6).
[0029]
Further, each warehousing traverser 30 has a plurality of vertical bars 34 arranged in parallel with a space dimension between which the forks 24 can be inserted. A plurality of articles are transferred from the warehousing reservoir 20 to the vertical rails 34 of the warehousing traversers 30 at the receiving position by the above-described operation in an evenly aligned state with the arrangement pitch L3 in the arrival order.
[0030]
Further, when each article P is transferred in this manner, each warehousing traverser 30 is moved from the receiving position to the delivery position by driving a driving means (not shown). Then, each article P on the warehousing traverser 30 can be taken into the warehousing / delivery dolly 40 at the delivery position.
[0031]
In addition, each warehousing traverser 30 may be omitted, and a plurality of articles P may be directly transferred from the warehousing reservoir 20 to each warehousing / delivery dolly 40.
[0032]
The entry / exit dory 40 is provided corresponding to each shelf 6, and collects a plurality of articles P (in this embodiment, articles on each entry traverser 30) from the entry reservoir 20. A plurality of articles P can be transferred to the corresponding shelf 6, and the articles P on the corresponding shelf 6 can be arranged and taken in a predetermined order of alignment.
[0033]
Specifically, each loading / unloading dolly 40 is located on the rail body 41 provided along the X1-X2 direction in front of each shelf 6, in front of each loading traverser 30, in front of each shelf 6. It can be reciprocated between a predetermined position and a front position of each outgoing temporary placement unit 60.
[0034]
Each entry / exit dolly 40 has a plurality of individual take-in / transfer sections 45 that can take in or transfer the articles P independently of each other. The number of the individual take-in / transfer sections 45 is provided in accordance with the number of articles P that are collectively processed by the warehousing reservoir 20 and the warehousing traverser 30, and the installation interval is set in the uniform alignment region 10 </ b> A of the warehousing conveyor 10. This corresponds to the alignment interval of the articles P.
[0035]
Each individual take-in / transfer section 45 includes comb-like forks 46 arranged in parallel at an arrangement pitch L4 with a spacing dimension that can be inserted and arranged between the vertical bars 34 of the warehousing traverser 30 (see FIG. 6), In order to drive the fork 46 back and forth with respect to the warehousing traverser 30 (with a slight width), the fork 46 is provided with take-in transfer driving means (not shown). Each individual take-in / transfer unit 45 can perform the take-in operation and the transfer operation of the article P in the same manner as the take-in / transfer unit 25.
[0036]
The arrangement pitch L4 of the plurality of forks 46 described above is set to be the same as the arrangement pitches L1 and L2 of the articles A1 to A5 (P) in the shelf 6 and the arrangement pitch L3 of the stopper 12 of the warehousing conveyor 10.
[0037]
When the articles P are loaded into the automatic warehouse, the individual loading / unloading units 45 are moved to the front positions of the corresponding warehousing traversers 30 by the reciprocating driving means (not shown). When the take-in operation is performed collectively, the articles P on the warehousing traverser 30 are taken into the warehousing / delivery dolly 40 at once. In addition, after the articles P are taken in in this way, each of the loading / unloading dollies 40 is moved to a predetermined position in front of the shelf 6 and the individual take-in / transfer section 45 performs a transfer operation. The article P on the loading / unloading dolly 40 is transferred to each shelf 6.
[0038]
At this time, if there is a vacant space in which the articles P can be transferred collectively on the shelf 6, if the individual loading / transferring units 45 are simultaneously operated, the articles P are collectively displayed on the shelf 6. It is stored in. Further, when there is no empty space in which each article P can be transferred collectively on each shelf 6, each individual take-in / transfer unit is moved while appropriately moving the loading / unloading dolly 40 in front of the shelf 6. When 45 is operated individually, each article P can be transferred so as to fill the empty space of the shelf 6.
[0039]
Further, when the articles P are unloaded from the automatic warehouse, the individual loading / unloading units 45 are appropriately moved in front of the shelf steps 6 while the individual loading / unloading units 45 are individually operated. The articles P on the stage 6 are taken in a state of being arranged in a predetermined order. After taking in each article P in this way, in a state where each entry / exit dolly 40 is moved to a position in front of the delivery temporary storage part 60, a transfer operation is performed collectively on each individual take-in / transfer part 45. Then, each article P on the entry / exit dolly 40 is transferred to the corresponding entry / exit temporary storage 60 in a predetermined order.
[0040]
Here, as shown in FIGS. 4 and 5, a reflected light detection type optical sensor 47 is attached to the loading / unloading dolly 40, and a notch (slit formed in advance in the rail body 41 that guides the loading / unloading dolly 40. ) To receive light reflected from the notch. The notches are arranged corresponding to the placement positions of the articles P on the shelf 6 of the storage shelf 5. That is, since the arrangement pitches L1 and L2 are constant along the X1-X2 direction of the articles A1 to A5 (P) on the shelf 6, the notch mounting positions are also arranged along the X1-X2 direction of the rail body 41. The pitches L1 and L2 are attached at equal intervals.
[0041]
As shown in FIGS. 1, 2, 3 (a), 3 (b), and 7, a plurality of delivery temporary storage units 60 are provided corresponding to each shelf 6, and the entry / exit dory 40 is provided. The plurality of articles P taken in are received in a state in which they are arranged in a predetermined order and can be sent one by one in the order of arrangement.
[0042]
Specifically, each outgoing temporary storage unit 60 is provided at a position adjacent to the other side (X2 side) of the storage shelf 5, and the outgoing temporary storage shelf 62 and the tilt unit 64 are respectively provided. Prepare.
[0043]
Each delivery temporary storage shelf 62 is provided adjacent to each shelf 6 and is taken into the entry / exit dolly 40 in a state where the articles P are arranged in a predetermined order on the predetermined shelf 6. Then, the loading / unloading dolly 40 moves to the front of the corresponding temporary storage shelf 62 and transfers the articles P to the temporary storage shelf 62 in a state where the articles P are arranged in the predetermined order. . Then, when the rollers 63 are driven to rotate by driving means such as a motor (not shown) in a state where the articles P are placed on the delivery temporary storage shelf 62, the articles P are moved from the tilt section 64 side. It is configured so as to be sequentially sent to the tilt unit 64 (from the one with the lowest shipping order).
[0044]
Further, the tilt portion 64 has a substantially plate-like overall shape, and a predetermined horizontal posture (the tilt portion 64 on the upper stage in FIG. 7) and the temporary storage shelf portion are driven by driving of a tilt drive means (not shown). It is possible to tilt between the inclined postures (tilt portion 64 on the second stage from the top in FIG. 7) with the other end portion slightly inclined downward with the one end portion on the 62 side as the center. Further, an endless annular belt (not shown) is wound around the outer periphery of the tilt portion 64, and this endless annular belt is an article placed on the tilt portion 64 by driving of a rotation driving means (not shown). Circulation rotation is possible in the direction of sending P toward the other end.
[0045]
Then, in a state where the article P is placed on the delivery temporary storage shelf 62, when the tilt unit 64 is disposed in a horizontal posture and the roller 63 of the delivery temporary storage shelf 62 is rotationally driven by a predetermined amount, The article P on the outgoing temporary storage shelf 62 is delivered onto the tilt unit 64. In addition, when the article P is placed on the tilt section 64 and the tilt section 64 is tilted to the inclined posture and the endless annular belt is driven to rotate, the article P on the tilt section 64 is tilted to the tilt section 64. It is comprised so that it may send out to the delivery cart part 74 demonstrated below from the other end part side.
[0046]
The delivery reservoir 70 can be cyclically moved from the upper delivery temporary storage unit 60 toward the lower delivery temporary placement unit 60 and corresponds to each delivery temporary store corresponding to a height position corresponding to each delivery temporary placement unit 60. A plurality of delivery cart units 74 that receive the articles P sent from the placement unit 60 and carry them out to the outside at positions below the respective delivery temporary placement units 60 are provided.
[0047]
Specifically, the delivery reservoir 70 is disposed adjacent to each delivery temporary storage unit 60, and an endless annular belt 72 is wound around the upper and lower rollers 71, and the endless annular belt 72 is spaced apart from the endless annular belt 72. Each delivery cart part 74 is attached.
[0048]
At least one of the upper and lower rollers 71 can be driven to rotate clockwise in FIG. 7 by a rotation driving means (not shown), and the rotation of the roller 71 causes the endless annular belt 72 to rotate clockwise in FIG. .
[0049]
Each delivery cart section 74 includes a base 75 attached to the endless annular belt 72, and a receiving section 76 that is connected and fixed to one end of the base 75 (front side in the rotational direction of the endless annular belt 72) so as to be tiltable within a predetermined range. Have Then, when each unloading cart portion 74 moves to the unloading temporary placement portion 60 side by circulating rotation of the endless annular belt 72, the receiving portion 76 has a predetermined end slightly lifted by its own weight. Tilt to the receiving posture. And when each delivery cart part 74 passes the side of the delivery temporary storage part 60 of each step | paragraph, the receiving part 76 is located on the side extension of the tilt part 64 of the inclination attitude | position in the said receiving attitude, The article P sent from the tilt unit 64 is configured to be received. Moreover, when each delivery cart part 74 passes the roller 71 of the lower side and moves to the opposite side of each delivery temporary placement part 60, it is comprised so that the receiving part 76 may be tilted to the attitude | position folded by the base part 75 with dead weight. The
[0050]
Moreover, the receiving part 76 of each delivery cart part 74 is formed in the fork tooth shape, and can be freely inserted between the delivery conveyors 82 provided in the delivery conveyor 80 side demonstrated below.
[0051]
The unloading conveyor 80 is installed on a path from the side of the unloading reservoir 70 to the outside, and has a function of receiving the articles P of the unloading cart units 74 and carrying them out to the outside.
[0052]
On the delivery reservoir 70 side of the delivery conveyor 80, a plurality of delivery conveyors 82 are provided at regular intervals along the width direction. The delivery conveyor 82 is provided on a trajectory in which each delivery cart unit 74 moves downward through the side of each delivery temporary storage unit 60. And when the fork-tooth shaped receiving part 76 of each delivery cart part 74 moves downward between each delivery conveyor 82, it becomes the structure by which the article P on the receiving part 76 is moved on each delivery conveyor 82. ing.
[0053]
Further, an endless annular belt (not shown) is wound around each delivery conveyor 82, and the endless annular belt is rotated in a direction to send the article P on the delivery conveyor 82 to the outside by a driving means (not shown). Then, when the endless annular belt of each payout conveyor 82 is rotated in a state where the goods on the receiving portion 76 of the unloading cart section 74 are transferred onto the payout conveyors 82, the goods P on the payout conveyors 82 are turned on. It is paid out to the delivery conveyor 80 and carried out to the outside by the delivery conveyor 80.
[0054]
The operation control of each component of the automatic warehouse described above is performed by the warehouse operation management control unit 100 described below.
[0055]
<2. Automatic warehouse loading and unloading control device>
As shown in FIG. 8, the warehousing / unloading control device is based on the data provided from the article specifying information reading unit 120 and the warehousing order input unit 122, and the warehousing conveyor 10, the warehousing reservoir 20, the warehousing traverser 30, and the warehousing / delivery dory 40. , A temporary storage unit 60, a storage reservoir 70, and a storage operation management control unit 100 that controls the operation of the storage conveyor 80 are provided.
[0056]
The entry / exit operation management control unit 100 includes a storage position data generation unit 102, an entry control unit 104, and an exit control unit 110 as functional components.
[0057]
The storage position data generation unit 102 has a function of updating / creating storage position data in which specific information of articles stored in the storage shelf 5 and storage position information of articles are associated with each other when the articles P are loaded and unloaded.
[0058]
In the present embodiment, the storage position data generation unit 102 updates the storage position data based on the data read by the article identification information reading unit 120 and the delivery order data input via the delivery order input unit 122. Assume a configuration to create.
[0059]
That is, a bar code is attached to the outer surface of each article P as the specific information of the article P, and the barcode attached to the article P can be read in the middle of the conveyance path of the article P by the warehousing conveyor 10. An article specifying information reading unit 120 such as a code reader is provided. Then, when each article P is transported on the warehousing conveyor 10 when each article P is carried in, the article specifying information reading unit 120 reads the article specifying information related to each article P, and the read article specifying information is read. Is given to the warehouse operation management control unit 100. Then, when the specific information of the article P to be carried in is given, the storage position data generation unit 102 refers to the storage position data stored in the storage unit 111 and stores the article P in the empty space of the storage shelf 5. A storage position is allocated, new storage position data to which the storage position of the article P to be carried in is allocated is updated and created, and this is stored in the storage unit 111. Note that, each time each article P is carried in, article specifying information such as a product name of each article P may be sequentially input using an input device such as a keyboard.
[0060]
Further, when the goods P are carried out, when the delivery order data on the order of delivery of the articles P stored in the storage shelf 5 is input via the delivery order input unit 122 such as a keyboard, The sequential data is given to the loading / unloading operation management control unit 100. Then, the storage position data generation unit 102 refers to the storage position data stored in the storage unit 111 and searches the storage position of the article P requested to be delivered out of the articles P stored in the storage shelf 5. Then, new storage position data with the storage position of the article P to be carried out as an empty space is updated and created, and this is stored in the storage unit 111.
[0061]
In addition, the warehousing control unit 104 causes the warehousing reservoir 20 and each warehousing / unloading dolly 40 to perform a warehousing operation so that each article P is stored at the storage position of the incoming article P determined based on the storage position data.
[0062]
In the present embodiment, the warehousing control unit 104 causes the warehousing conveyor 10, the warehousing reservoir 20, the warehousing traverser 30 and the warehousing / delivery dolly 40 to perform a series of warehousing operations described later.
[0063]
In addition, the exit control unit 110 functionally includes a staged arrangement order determination unit 112, a dolly exit operation control unit 114, and a reservoir sequential standing exit control unit 116.
[0064]
In the sorting order determination unit 112 by stage, when a delivery request is given in a predetermined delivery request order to each article P stored in the storage shelf 5 via the delivery order input unit 122, the storage order 111 is stored in the storage unit 111. With reference to the storage position data, in each of the shelves 6, a staged arrangement order is determined in which the parts are arranged in order from the smallest in the order of output, and this is stored in the storage unit 111.
[0065]
Also, the dolly delivery operation control unit 114 takes in the articles P of each shelf 6 in the state in which the articles P are arranged in the order of the sorting by the corresponding loading / unloading dolly 40 and keeps the items in the order of the sorting. Transfer from the loading / unloading dolly 40 to the corresponding temporary storage section 60.
[0066]
In addition, the reservoir sequential standing-out delivery control unit 116 sends each article P from each delivery temporary placement unit 60 to each delivery cart unit 74 so that each article P is carried out in the order of the delivery request by each delivery cart unit 74 of the delivery reservoir 70. Control the transfer timing of goods.
[0067]
That is, when the functional elements are further subdivided, the reservoir sequential standing-out control unit 116 includes an allocation processing unit 117 and a transfer processing unit 118.
[0068]
As will be described in detail later, the allocation processing unit 117 sequentially allocates the required ranks of the articles P from the first level side to the allocation array levels equal to or higher than the number of levels of each shelf level 6. In addition, the transfer processing unit 118 controls the transfer timing from each shipping temporary storage unit 60 to each shipping cart unit 74 in accordance with the request order assigned to the allocation array stage.
[0069]
In the present embodiment, the reservoir sequential upright delivery control unit 116 also has a function as the delivery processing unit 119, and also controls the delivery operation of the articles P to the delivery conveyor 80 by the delivery conveyors 82. To do.
[0070]
Note that each function of the entry / exit operation management control unit 100 is realized by a process according to a previously stored software program in a general microcomputer including a CPU, a ROM and a RAM, a magnetic storage device, and the like.
[0071]
Of course, each function may be distributed among a plurality of microcomputers. For example, apart from a microcomputer that controls the entire storage shelf 5, a microcomputer is also mounted on each entry / exit dolly 40, and the article P is collected from the storage shelf 5 by the microcomputer mounted on each entry / exit dory 40. You may make it implement | achieve a part of function which controls loading and transfer operation | movement. For example, when there are a plurality of storage shelves 5, a common computer (such as a host computer unit) is provided for the plurality of storage shelves 5 and a separate computer ( A local computer unit (LCU) may be provided, and these functions may be distributed by these computers.
[0072]
<3. Receipt operation>
The warehouse operation of this automatic warehouse will be described with reference to the flowchart of FIG.
[0073]
In other words, the description will be made by paying attention to the article P to be carried in. First, the article P carried from the outside by a truck or the like is first placed on the carry-in place side of the warehousing conveyor 10 by an operator or the like, and the process goes to step S1. As shown, the rollers 11 of the warehousing conveyor 10 are transported toward the uniform alignment region 10 </ b> A on the storage shelf 5 side of the warehousing conveyor 10 by the rotation of the rollers 11. When the articles P reach the uniform alignment region 10A, the stoppers 12 sequentially advance from the downstream side in the transport direction to the upstream side to stop the transport of the articles P. As a result, the articles P are arranged in a uniform alignment state in the order of arrival on the uniform alignment region 10A having the arrangement pitch L3. When each article P is transported on the warehousing conveyor 10, the article specifying information reading unit 120 reads the article specifying information related to each article P, and the storing position data generating unit 102 updates and creates the storing position data. The
[0074]
When the articles P are arranged in the uniform alignment state in the order of arrival on the uniform alignment area 10A having the arrangement pitch L3, the warehousing reservoir 20 descends to a position corresponding to the uniform alignment area 10A as shown in step S2. Then, the articles P on the uniform alignment area 10A are taken together.
[0075]
Next, as shown in step S3, the warehousing reservoir 20 rises to a predetermined height position corresponding to the storage position of the article P, and the articles P are collectively put into the warehousing traverser 30 corresponding to the predetermined stage. And transfer. Then, the warehousing traverser 30 moves from the receiving position to the delivery position on the storage shelf 5 side.
[0076]
At this time, the arrangement pitch of the plurality of articles P in the warehousing traverser 30 is equal to the arrangement pitch L3 of the articles P determined by the stopper 12 of the warehousing conveyor 10.
[0077]
Thereafter, as shown in step S4, the loading / unloading dolly 40 corresponding to the predetermined stage moves to the front position of the loading traverser 30 and collects the articles P on the loading traverser 30 in a lump.
[0078]
At this time, since the arrangement pitch L4 of the forks 46 of the warehouse dory 40 is set equal to the arrangement pitch L3 of the stopper 12 of the warehouse conveyor 10, this arrangement pitch L3 is maintained and placed on the warehouse traverser 30. A plurality of articles P can be simultaneously taken in by the forks 46 of the loading / unloading dolly 40.
[0079]
Finally, as shown in step S <b> 5, the loading / unloading dolly 40 that takes in the article P moves to the front of the storage position (empty space) of the article P in the shelf 6. At this time, the reflected light detection type optical sensor 47 attached to the entry / exit dory 40 emits light to the notches attached at equal intervals along the X1-X2 direction of the rail body 41 at the arrangement pitches L1, L2. The position of the cutouts emitted at equal intervals along the X1-X2 direction of the rail body 41 at the arrangement pitches L1, L2 is detected. If detected, the notch information is transmitted to the entering / exiting operation management control unit 100. As a result, the loading / unloading operation management control unit 100 detects the position of the loading / unloading dolly 40, and the loading / unloading dolly 40 moves along the rail body 41. Transfer to No. 5.
[0080]
Here, in this embodiment, the pitch L1 (FIG. 4) of the arrangement region of the articles A1 to A5 (P) in the frontage between the columns 3 in the shelf 6 and the items A1 to A1 when the columns 3 are sandwiched. Since the pitch L2 (FIG. 5) of the arrangement area of A5 (P) is set equal, these arrangement pitches L1 and L2 and the arrangement pitch L4 of the fork 46 of the loading / unloading dolly 40 are set equal. Regardless of whether or not the placement positions of the plurality of articles A1 to A5 (P) sandwich the support column 3, the plurality of articles A1 to A5 (P) are simultaneously placed on the storage shelf 6 by the fork 46 of the loading / unloading dolly 40. Can be placed.
[0081]
<4. Delivery operation>
The delivery operation of this automatic warehouse will be described with reference to the flowchart of FIG.
[0082]
That is, the description will be made focusing on the article P to be carried out. First, when the delivery order data is input via the delivery order input unit 122, the staged sorting order determination unit 112 causes each shelf 6 to Then, the stepwise arrangement order in which the items are arranged in ascending order of the output request order is determined. In step S11, each entry / exit dolly 40 is moved. At this time, the point that the loading / unloading dolly 40 moves while the optical sensor 47 detects the cutout of the rail body 41 is the same as in the case of the loading operation. In this manner, the articles P are taken in the order of sorting in each stage.
[0083]
At this time, in this embodiment, the pitch L1 (FIG. 4) of the arrangement region of the articles A1 to A5 (P) in the frontage between the columns 3 in the shelf 6 and the items A1 to A1 when the columns 3 are sandwiched. Since the pitch L2 (FIG. 5) of the arrangement area of A5 (P) is set equal, these arrangement pitches L1 and L2 and the arrangement pitch L4 of the fork 46 of the loading / unloading dolly 40 are set equal. Regardless of whether or not the placement positions of the plurality of articles A1 to A5 (P) on the storage shelf 6 sandwich the support column 3, the plurality of articles A1 to A5 (P) are simultaneously loaded into the fork of the loading / unloading dolly 40. 46 can receive.
[0084]
By sequentially performing the above operation on each article P carried in by the warehousing conveyor 10, a plurality of articles P carried in can be sequentially stored in the storage shelf 5 in the order of arrival.
[0085]
Then, in step S12, each entry / exit dolly 40 moves to a front position of each delivery temporary storage unit 60, and each article P is placed in the temporary placement shelf of each delivery temporary storage unit 60 in the above-described stepwise arrangement order. Transferred to the unit 62.
[0086]
As shown in step S13, each article P transferred to each outgoing temporary storage shelf 62 is rotated from the side of the tilting part 64 by the rotation of each roller 63 of the outgoing temporary storage shelf 62 (of the outgoing order). The data are sequentially sent to each tilt unit 64 (from the smallest), and sent from each tilt unit 64 to the delivery cart unit 74 at a predetermined timing according to the delivery request order regulated by the delivery control unit 110.
[0087]
As shown in step S14, the article P sent to the delivery cart unit 74 is moved downward by the delivery cart unit 74, and is delivered onto the delivery conveyor 80 by the delivery conveyor 82 at a position below each temporary delivery unit 60. The
[0088]
And as shown to step S15, each article | item P is carried out outside by the delivery conveyor 80. FIG.
[0089]
By sequentially performing such an operation on each article P requested to be unloaded, the articles P to be unloaded are sequentially unloaded in a predetermined order of unloading.
[0090]
As described above, in the storage control device of the automatic warehouse according to this embodiment, whether or not the arrangement pitches L1 and L2 of the articles P (A1 to A5) are sandwiched between the columns 3 in the storage shelf 5 is determined. Regardless, it is set equally, and the arrangement pitch L4 of the forks 46 of the loading / unloading dolly 40 is set to be the same as the arrangement pitches L1, L2 of the articles P (A1 to A5) of the storage shelf 5, so When the article P (A1 to A5) is entered / exited by the entry / exit dory 40, regardless of whether the article P (A1 to A5) that the entry / exit dory 40 intends to enter / exit is sandwiching the support column 3, It is convenient that you can enter and exit at the same time.
[0091]
In the present embodiment, a single loading / unloading dolly 40 is provided corresponding to each shelf 6 of the single storage shelf 5, but each shelf of the pair of storage shelves 5 arranged in parallel is provided. A single loading / unloading dolly 40 is provided between the stages 6, and the loading / unloading dolly 40 can transfer and take in the article P with respect to the shelves 6 on both sides.
[0092]
【The invention's effect】
As described above, the claims of the present invention 1 According to the loading / unloading control device of the automatic warehouse, the arrangement pitch of the articles on the shelf stage of the storage shelf is set evenly regardless of whether the support column is sandwiched, and the arrangement pitch of the fork of the loading / unloading dolly is set to the storage shelf. Since the setting pitch is the same as the arrangement pitch of the article, when entering / exiting the article with the entry / exit dolly with respect to the storage shelf, whether or not the article that the entry / exit dory is going to enter / exit is holding the column Regardless, it is convenient because you can go in and out at once.
[0093]
Also , Enter At the point of loading the goods on the warehouse conveyor, the arrangement pitch of the articles is determined by the stopper, and each fork of the loading / unloading dolly enters the shelf of the storage shelf through the warehousing reservoir while maintaining the arrangement pitch at this time. To do. At this time, the arrangement pitch of the articles on the shelf stage of the storage shelf is set to be equal regardless of whether or not the support column is sandwiched, and the arrangement pitch of the fork of the loading / unloading dolly is the same as the arrangement pitch of the articles on the storage shelf. Since it has set, the operation | movement at the time of warehousing goods with a loading / unloading dolly with respect to a storage shelf becomes efficient.
[Brief description of the drawings]
FIG. 1 is a schematic perspective view showing a warehousing side portion of an automatic warehouse according to an embodiment of the present invention.
FIG. 2 is a schematic perspective view showing a delivery side portion of the automatic warehouse.
FIG. 3 (a) is a schematic plan view showing the automatic warehouse, and FIG. 3 (b) is a schematic side view showing the automatic warehouse.
FIG. 4 is a plan view showing a positional relationship between a storage shelf column and a loading / unloading dolly.
FIG. 5 is a plan view showing a positional relationship between a storage shelf column and an entry / exit dolly when a plurality of articles sandwiching the column are delivered.
FIG. 6 is an enlarged perspective view of a main part showing a warehousing side portion of an automatic warehouse.
FIG. 7 is an enlarged schematic side view of an essential part showing a delivery side portion of an automatic warehouse.
FIG. 8 is a functional block diagram showing an electrical configuration of an automatic warehouse.
FIG. 9 is a flowchart showing an article carrying-in operation.
FIG. 10 is a flowchart showing an article carry-out operation.
FIG. 11 is a plan view showing a storage shelf and a loading / unloading dolly in a case where a plurality of articles having a support pillar sandwiched in the past are discharged.
FIG. 12 is a plan view showing a storage shelf and a loading / unloading dolly when a plurality of articles sandwiching a support column are shipped.
FIG. 13 is a plan view showing a storage shelf and a loading / unloading dolly in a case where a plurality of articles sandwiching a support column are shipped.
[Explanation of symbols]
3, 3a, 3b
5 Storage shelf
6 shelf
10 Warehousing conveyor
10A uniform alignment area
20 Receiving reservoir
25 Transfer and transfer department
30 Warehousing traverser
40 Entry / Exit Dolly
45 Individual transfer / transfer section
46 fork teeth
48 Dolly position detector
60 temporary storage section
70 Unloading reservoir
74 Shipping cart
80 Delivery conveyor
100 Entry / exit operation management control part
111 storage unit
102 Storage position data generation unit
104 Warehouse control unit
110 Exit control unit
112 Step-by-step arrangement order determination unit
114 Dori delivery operation control unit
116 Reservoir sequential exit control unit
117 Allocation processing part
118 Transfer processing unit
119 Payment processing department
120 article specific information reading unit
122 Delivery order input part
P, A1-A5 article

Claims (1)

A storage shelf having a plurality of shelves in the vertical direction and having a plurality of arrangement areas for placing articles on the respective shelves;
A column disposed at least at an intermediate point between the plurality of arrangement regions so as to support each shelf,
A warehousing conveyor for carrying goods,
A storage reservoir that moves a plurality of articles carried in from the storage conveyor in order of arrival to a height position corresponding to each shelf,
The plurality of arrangements of the storage shelves provided corresponding to the respective shelves, capable of collectively taking in a plurality of articles from the storage reservoir and transferring the plurality of articles to the corresponding shelves An entry / exit dory in which a plurality of forks are installed so as to be able to move along an area, and to collectively enter and exit a plurality of articles in an aligned state with respect to the plurality of arrangement areas,
A plurality of articles that are provided corresponding to each shelf and that can receive a plurality of articles that have been taken into the loading / unloading dolly while being arranged in the predetermined order, and send them one by one in the order of arrangement. The temporary storage section of
It can be moved cyclically from the outgoing temporary storage part on the upper stage toward the outgoing temporary storage part on the lower stage, and is sent from each outgoing temporary part corresponding to the height position corresponding to each outgoing temporary part. A delivery reservoir having a plurality of delivery cart units that receive articles to be carried out and carry them out to the outside at a position below each delivery temporary storage unit;
A storage position data creation unit that updates and creates storage position data that associates the specific information of the articles stored in the storage shelves with the storage position information of the articles at the time of storage of the articles;
A warehousing control unit that causes the warehousing reservoir and the respective warehousing dories to perform a warehousing operation so that each article is stored in a storage position of the incoming goods determined based on the storage position data;
When a delivery request is given to each article stored in the storage shelf in a predetermined delivery request order, the articles on each shelf are aligned in the order of each stage by the corresponding entry / exit dolly. An unloading control unit for controlling the transfer timing of articles transferred from the respective loading / unloading dollies to the corresponding unloading temporary storage units in the state of the gradual arrangement order
With
The arrangement pitch of the plurality of arrangement areas of the shelves is all uniform regardless of whether the struts are sandwiched,
The arrangement pitch of the plurality of forks of each of the loading / unloading dollies is the same as the arrangement pitch of the plurality of arrangement areas of the shelf,
The warehousing conveyor has a plurality of stoppers for disposing the loaded articles at a constant arrangement pitch,
The automatic warehouse storage / exit control device, wherein the stopper placement pitch is set to be the same as the placement pitches of the plurality of forks of the warehouse entry / exit.

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