JP4618513B2 - Picking-type goods storage equipment - Google Patents

Picking-type goods storage equipment Download PDF

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JP4618513B2
JP4618513B2 JP2006115723A JP2006115723A JP4618513B2 JP 4618513 B2 JP4618513 B2 JP 4618513B2 JP 2006115723 A JP2006115723 A JP 2006115723A JP 2006115723 A JP2006115723 A JP 2006115723A JP 4618513 B2 JP4618513 B2 JP 4618513B2
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article
picking
shelf
article storage
pair
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JP2007284227A (en
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友章 広田
レイ エドワード
学 小名山
俊二 信川
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Daifuku Co Ltd
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本発明は、棚前後幅方向に延びる左右一対の物品支持体を左右方向に間隔を隔てて備える複数の物品収納部が並設された物品収納棚と、前記物品収納棚の棚前後幅方向の一方側の物品搬送用空間において、棚前後幅方向に出退自在なフォーク式の物品移載手段を棚横幅方向並びに棚上下幅方向に移動操作するように構成された物品搬送手段と、前記物品収納棚の棚前後幅方向の他方側において、前記複数の物品収納部のうちの少なくとも一部のピッキング用の物品収納部の高さに対応させて設置された作業用床部とが設けられたピッキング式の物品収納設備に関する。   The present invention relates to an article storage shelf in which a plurality of article storage units provided with a pair of left and right article supports extending in the front-rear width direction are spaced apart in the left-right direction, and the front-rear width direction of the article storage shelf. Article conveying means configured to move and move a fork-type article transfer means that can be moved back and forth in the longitudinal direction of the shelf in the lateral direction of the shelf and in the vertical direction of the shelf in the space for conveying the article on one side; On the other side in the front-rear width direction of the storage shelf, a working floor portion is provided that is installed corresponding to the height of at least some of the plurality of article storage portions for picking the article storage portion. The present invention relates to picking-type article storage equipment.

かかるピッキング式の物品収納設備は、物品収納棚の棚前後幅方向の一方側に物品搬送手段を設け、物品収納棚の棚前後幅方向の他方側に作業用床部を設けて、ピッキング用の物品収納部に収納した物品に対して作業用床部からピッキング作業者にてピッキング作業を行うものである。
このようなピッキング式の物品収納設備において、従来では、物品搬送手段の作動を制御する運転制御手段が、ピッキング用の物品収納部における物品収納形態を、物品を左右一対の物品支持体に載置支持する形態とするように、物品搬送手段の作動を制御するように構成されていた(例えば、特許文献1参照。)。
そして、上記従来のピッキング式の物品収納設備における運転制御手段は、ピッキング用の物品収納部における物品収納形態を、物品を左右一対の物品支持体の物品搬送用空間側に載置支持させた後、その物品をフォーク式の物品移載手段にて設定量押し操作して物品を左右一対の物品支持体の作業用床部側に載置支持させる形態とするように、物品搬送手段の作動を制御するように構成されており、作業用床部は、左右一対の物品支持体の作業用床部側に載置支持された物品との間に大きな隙間が形成されないように、物品収納棚の近傍に設けられている。
尚、上記従来のピッキング式の物品収納設備では、棚前後幅方向において同幅の物品しか収納されておりません。
Such a picking-type article storage facility is provided with an article conveying means on one side of the article storage shelf in the front-rear width direction, and provided with a work floor on the other side of the article storage shelf in the front-rear width direction. A picking worker performs a picking operation on an article stored in the article storage unit from the work floor.
In such picking-type article storage equipment, conventionally, the operation control means for controlling the operation of the article conveying means places the article storage form in the article storage section for picking on the pair of left and right article supports. It was comprised so that the action | operation of an article conveyance means might be controlled so that it might be a form to support (for example, refer patent document 1).
The operation control means in the conventional picking-type article storage facility is configured to place and support the article storage form in the article storage section for picking on the article conveying space side of the pair of left and right article supports. The article conveying means is operated so that the article is pushed and set by a fork-type article transfer means to place and support the article on the work floor side of the pair of left and right article supports. The work floor is configured so that a large gap is not formed between the work floor portion and the articles placed and supported on the work floor side of the pair of left and right article supports. It is provided in the vicinity.
In addition, the above conventional picking-type article storage equipment only stores articles of the same width in the longitudinal direction of the shelf.

特開平6−239424号公報JP-A-6-239424

上記したピッキング式の物品収納設備では、物品を左右一対の物品支持体の物品搬送用空間側に載置支持させた後、その物品をフォーク式の物品移載手段にて設定量押し操作する必要があるので、物品をピッキング作業者にてピッキング作業できるようにピッキング作業用の物品収納部に収納するのに時間が掛かるため、収納効率が悪いものであるが、作業用床部を、左右一対の物品支持体の物品搬送用空間側に載置支持された物品との間に大きな隙間が形成されないように設けることにより、物品をフォーク式の物品移載手段にて設定量押し操作する必要がなくなり、収納効率が向上させることができるものとなる。
そして、ピッキング式の物品収納設備において、物品収納部に従来から収納していた物品を棚前後幅方向において幅広の大型物品とし、この大型物品よりも棚前後幅方向に幅狭の物品を小型物品として、大型物品に加えて小型物品も物品収納棚に収納するようにして、ピッキング式の物品収納設備の利便性を向上させることが望まれている。
しかしながら、上記した収納効率を向上させたピッキング式の物品収納設備では、物品収納棚に大型物品と小型物品とを収納するように構成した場合に、ピッキング用の物品収納部に小型物品を収納すると、この小型物品は大型物品より棚前後幅方向における幅が小さいので、作業用床部と小型物品との間に大きな隙間が形成されてしまい、その隙間にピッキング作業者が落ちてしまう可能性があるので、ピッキング作業者は安心してピッキング作業を行うことができないものとなる。
In the picking-type article storage facility described above, after the article is placed and supported on the article conveyance space side of the pair of left and right article supports, the article needs to be pushed by a set amount by a fork-type article transfer means. Therefore, since it takes time to store the article in the article storage unit for picking work so that the picking worker can pick it up, the storage efficiency is poor. It is necessary to push the article by a set amount with a fork-type article transfer means by providing a large gap between the article support and the article placed and supported on the article conveyance space side. Thus, the storage efficiency can be improved.
In the picking-type article storage facility, an article that has been conventionally stored in the article storage unit is a large article that is wide in the longitudinal direction of the shelf, and an article that is narrower in the longitudinal direction of the shelf than the large article is a small article. Therefore, it is desired to improve convenience of picking-type article storage equipment by storing small articles in addition to large articles in an article storage shelf.
However, in the picking-type article storage facility with improved storage efficiency described above, when a large article and a small article are stored in the article storage shelf, the small article is stored in the article storage unit for picking. Since this small article has a smaller width in the longitudinal direction of the shelf than the large article, a large gap is formed between the working floor and the small article, and the picking operator may fall into the gap. Therefore, the picking worker cannot perform the picking work with peace of mind.

本発明は、上記実状に鑑みて為されたものであって、その目的は、大型物品と小型物品とに対して安心してピッキング作業を行うことができるピッキング用の物品搬送手段を提供する点にある。   The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an article conveying means for picking that can perform a picking operation on a large article and a small article with confidence. is there.

この目的を達成するために、本発明にかかるピッキング式の物品収納設備の第1特徴構成は、棚前後幅方向に延びる左右一対の物品支持体を左右方向に間隔を隔てて備える複数の物品収納部が並設された物品収納棚と、前記物品収納棚の棚前後幅方向の一方側の物品搬送用空間において、棚前後幅方向に出退自在なフォーク式の物品移載手段を棚横幅方向並びに棚上下幅方向に移動操作するように構成された物品搬送手段と、前記物品収納棚の棚前後幅方向の他方側において、前記複数の物品収納部のうちの少なくとも一部のピッキング用の物品収納部の高さに対応させて設置された作業用床部とが設けられたピッキング式の物品収納設備において、
前記ピッキング用の物品収納部における前記作業用床部側の端部には、前記左右一対の物品支持体に亘って載置支持される状態で帯板状の補助支持体が設けられ、前記ピッキング用の物品収納部における前記物品搬送用空間側の端部には、前記左右一対の物品支持体の夫々に各別に載置支持される状態で、前記帯板状の補助支持体と同じ又は略同じ高さの短尺状の補助支持体が設けられ、前記物品搬送手段の作動を制御する運転制御手段が、前記ピッキング用の物品収納部における物品収納形態を、棚前後幅方向において幅広の大型物品については、前記帯板状の補助支持体及び一対の短尺状の補助支持体にて載置支持し、且つ、前記大型物品よりも棚前後幅方向において幅狭の小型物品については、前記帯板状の補助支持体と前記一対の短尺状の補助支持体との間に凹入させて前記左右一対の物品支持体にて載置支持する形態とするように、前記物品搬送手段の作動を制御するように構成されている点にある。
In order to achieve this object, a first characteristic configuration of a picking-type article storage facility according to the present invention includes a plurality of article storages that are provided with a pair of left and right article supports extending in the front-rear width direction at intervals in the left-right direction. And a fork-type article transfer means that can be moved back and forth in the front-rear width direction of the article storage shelf in the front-rear width direction of the shelf. And an article conveying means configured to move in the vertical direction of the shelf, and at least a part of the plurality of article storage units for picking on the other side in the longitudinal direction of the shelf of the article storage shelf In a picking-type article storage facility provided with a working floor installed corresponding to the height of the storage,
An end support on the working floor portion side of the article storage section for picking is provided with a band plate-like auxiliary support in a state of being placed and supported across the pair of left and right article supports, and the picking The same or substantially the same as the band-plate-like auxiliary support in the state of being placed on and supported by each of the pair of left and right article supports at the end of the article transport space in the article storage section for A short-sized auxiliary support body having the same height is provided, and the operation control means for controlling the operation of the article transporting means is configured so that the article storage form in the article storage section for picking is a large article wide in the longitudinal direction of the shelf. For a small article that is placed and supported by the belt-like auxiliary support and a pair of short auxiliary supports, and is narrower in the widthwise direction of the shelf than the large article, the band plate Shaped auxiliary support and the pair of short And a pair of left and right article supports that are placed and supported by the pair of left and right article supports to control the operation of the article conveying means. .

すなわち、ピッキング作業用の物品収納棚に収納された大型物品は、帯板状の補助支持体及び一対の短尺状の補助支持体にて載置支持され、ピッキング作業用の物品収納棚に収納された小型物品は、帯板状の補助支持体と前記一対の短尺状の補助支持体との間に凹入させて左右一対の物品支持体にて載置支持される。
つまり、小型物品については、帯板状の補助支持体と一対の短尺状の補助支持体との間に凹入させて左右一対の物品支持体にて載置支持されており、その小型物品の棚前後幅方向の作業用床部側には帯板状の補助支持体が位置して、帯板状の補助支持体にて小型物品と作業用床部との間に形成される大きな隙間が塞がれることとなるため、小型物品と作業用床部との間に形成される大きな隙間にピッキング作業者が落ちてしまうことを防止することができ、小型物品に対して安心してピッキング作業を行なうことができる。
また、大型物品については、帯板状の補助支持体及び一対の短尺状の補助支持体にて載置支持されており、その帯板状の補助支持体と一対の短尺状の補助支持体とは同じ又は略同じ高さであるため、大型物品を安定よく載置支持することができるので、安定よく載置支持された大型物品に対して安心してもピッキング作業を行なうことができる。
That is, a large article stored in an article storage shelf for picking work is placed and supported by a band plate-like auxiliary support and a pair of short auxiliary supports, and is stored in an article storage shelf for picking work. The small article is placed and supported by a pair of left and right article supports by being recessed between the belt-like auxiliary support and the pair of short auxiliary supports.
That is, the small article is placed and supported by the pair of left and right article supports inserted into a recess between the strip-like auxiliary support and the pair of short auxiliary supports. A band plate-like auxiliary support is located on the work floor side in the width direction of the shelf, and a large gap formed between the small article and the work floor by the band plate-like auxiliary support. Since it will be blocked, the picking operator can be prevented from falling into a large gap formed between the small article and the floor for work, and the picking work can be performed safely on the small article. Can be done.
The large article is placed and supported by a belt-like auxiliary support and a pair of short auxiliary supports, the belt-like auxiliary support and a pair of short auxiliary supports, Since they are the same or substantially the same height, a large article can be placed and supported stably, so that the picking operation can be performed even if the large article is placed and supported stably.

従って、小型物品と作業用床部との間に形成される大きな隙間を帯板状の補助支持体にて塞ぐことができるので、小型物品に対して安心してピッキング作業を行なうことができ、また、大型物品は同じ高さの帯板状の補助支持体及び一対の短尺状の補助支持体にて安定よく載置支持することができるので、大型物品に対しても安心してピッキング作業を行なうことができ、もって、大型物品と小型物品とに対して安心してピッキング作業を行うことができるピッキング式の物品収納設備を提供することができるに至った。   Therefore, a large gap formed between the small article and the working floor can be closed with the band-like auxiliary support, so that the picking operation can be performed with respect to the small article with confidence. Because large articles can be stably placed and supported by a strip-shaped auxiliary support and a pair of short auxiliary supports of the same height, picking work can be performed safely even for large articles. Therefore, it has been possible to provide a picking-type article storage facility that can perform a picking operation on a large article and a small article with confidence.

本発明にかかるピッキング式の物品収納設備の第2特徴構成は、第1特徴構成において、前記ピッキング用の物品収納部における前記物品搬送用空間側の端部には、前記大型物品の前記物品搬送用空間側への移動を受け止め阻止する起立部材が、前記左右一対の短尺状の補助支持体の夫々に支持される状態で又は前記左右一対の物品支持体の夫々に支持される状態で設けられている点にある。   The second feature configuration of the picking-type article storage facility according to the present invention is the first feature configuration, wherein the article transporting of the large-sized article is provided at an end of the article transporting section in the picking article storage section. Standing members that receive and prevent movement to the space side are provided in a state of being supported by the pair of left and right short auxiliary supports or in a state of being supported by the pair of left and right article supports. There is in point.

すなわち、大型物品の物品搬送用空間側への移動は起立部材にて受け止め阻止されているので、大型物品に対してピッキング作業している際に大型物品を物品搬送用空間側に押してしまったとしても、大型物品が物品搬送用空間側に落下してしまうことを防止することができ、もって、大型物品に対して一層安心してピッキング作業を行うことができるピッキング式の物品収納設備を提供することができるに至った。
ちなみに、小型物品については、帯板状の補助支持体と一対の短尺状の補助支持体との間に凹入されているので、帯板状の補助支持体にて作業用床部側への移動が受け止め支持され、一対の短尺状の補助支持体にて小型物品の物品搬送用空間側への移動を受け止め阻止される。
That is, since the movement of the large article to the article conveyance space side is received and prevented by the standing member, the large article is pushed to the article conveyance space side when picking the large article. The present invention also provides a picking-type article storage facility that can prevent a large article from falling to the article conveyance space side, and that can perform picking work more securely on a large article. I was able to do it.
By the way, for small articles, since it is recessed between the band plate-like auxiliary support and the pair of short auxiliary supports, the band plate-like auxiliary support is used to move to the working floor side. The movement is received and supported, and the movement of the small article toward the article conveyance space is received and prevented by the pair of short auxiliary supports.

本発明にかかるピッキング式の物品収納設備の第3特徴構成は、第1又は第2特徴構成において、前記大型物品が、荷物載置用の大型パレットで、前記小型物品が、荷物載置用の小型パレットである点にある。   A third characteristic configuration of the picking-type article storage facility according to the present invention is that, in the first or second characteristic configuration, the large article is a large pallet for loading luggage, and the small article is for loading luggage. It is a small pallet.

すなわち、荷物載置用の大型パレットや荷物載置用の小型パレットに対して、つまりは、大型パレットに載置支持された荷物や小型パレットに載置支持された荷物に対してピッキング作業を行なうので、ピッキング作業が行いやすいものであり、もって、ピッキング作業が行い易いピッキング式の物品収納設備を提供することができるに至った。   That is, a picking operation is performed on a large pallet for loading a load or a small pallet for loading a load, that is, on a load loaded on and supported by a large pallet. Therefore, the picking work can be easily performed, and thus a picking-type article storage facility that can easily perform the picking work can be provided.

以下、本発明の実施の形態を図面に基づいて説明する。
図1に示すように、ピッキング式の物品収納設備は、物品wを収納する複数の物品収納部1が並設された物品収納棚2と、前記物品収納棚2の棚前後幅方向の一方側の物品搬送用空間において、棚横幅方向に沿って走行自在な物品搬送手段としてのスタッカークレーン3と、前記物品収納棚2の棚前後幅方向の他方側において、前記複数の物品収納部1のうちの一部のピッキング用の物品収納部1pの高さに対応させて設置された作業用床部4(図2参照)と、外部との間で物品wを搬出入する搬出入装置5とを備えて構成されている。
そして、物品収納棚2は、相対向する2つの物品収納棚2を一組として、棚前後幅方向に複数組並べて設置されており、その一組の物品収納棚2の間を物品搬送用空間としてスタッカークレーン3を棚横幅方向に沿って走行させ、一組の物品収納棚2のいずれか一方における物品搬送用空間とは反対側に作業用床部4が設けられている。
物品収納棚に収納する物品wには、図4(ロ)及び図5(ロ)に示すような棚前後幅方向において幅広の荷物載置用の大型パレット(T11)である大型物品w1と、図5(イ)及び図6(イ)に示すような棚前後幅方向において幅狭の荷物載置用の小型パレット(ビールパレット)である小型物品w2とがあり、大型物品w1と小型物品w2とは棚横幅方向においては同幅に構成されている。
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
As shown in FIG. 1, the picking-type article storage facility includes an article storage shelf 2 in which a plurality of article storage units 1 for storing articles w are arranged in parallel, and one side of the article storage shelf 2 in the front-rear width direction. Of the plurality of article storage units 1 on the other side of the article storage shelf 2 in the front-rear width direction of the article storage shelf 2. A working floor 4 (see FIG. 2) installed corresponding to the height of a part of the picking article storage part 1p, and a loading / unloading device 5 for loading / unloading the article w between the outside. It is prepared for.
The article storage shelves 2 are installed in a plurality of sets in the longitudinal direction of the shelf, with two opposing article storage shelves 1 as a set, and a space for conveying articles between the pair of article storage shelves 2. As described above, the stacker crane 3 is caused to travel along the width direction of the shelf, and the work floor portion 4 is provided on the opposite side to the article transfer space in one of the set of article storage shelves 2.
The article w stored in the article storage shelf includes a large article w1 which is a large pallet (T11) for loading luggage having a wide width in the longitudinal direction of the shelf as shown in FIGS. 4 (b) and 5 (b), There are a small article w2 which is a small pallet (beer pallet) for loading luggage having a narrow width in the longitudinal direction of the shelf as shown in FIG. 5 (a) and FIG. 6 (a), and a large article w1 and a small article w2. Is configured to have the same width in the shelf width direction.

図1に示すように、前記搬出入装置5は、物品収納棚2の横側方に設けられて物品wを載置搬送する搬送コンベア8と、この搬送コンベア8から物品wを持ち上げ可能なリフト装置10とを備えて構成されている。
搬送コンベア8は、棚前後幅方向に間隔を隔てて位置する前後一対の搬送用チェーン8aにて物品wを棚横幅方向に沿って載置搬送するチェーン式に構成されており、前後一対の搬送用チェーン8aの間隔を小型物品w2における棚前後幅方向の幅より狭くして、大型物品w1と小型物品w2との両方を載置搬送可能に構成されている。
そして、リフト装置10は、搬送コンベア8の物品収納棚側の端部に前後一対の搬送用チェーン8aの間に位置するように設けられており、物品wを載置支持する載置部10aを、その載置面の高さが搬送コンベア8の搬送面より高い上昇位置と載置面の高さが搬送コンベア8の搬送面より低い下降位置とに昇降移動可能に構成されている。
つまり、搬出入装置5は、リフト装置10の載置部10aを下降位置に下降させた状態で搬送コンベア8にて物品wを載置搬送し、リフト装置10の載置部10aを上昇位置に上昇させた状態でスタッカークレーン3との間で物品wを授受するように構成されている。
そして、詳細な説明は省略するが、搬出入装置5には、搬送コンベア8に載せられた物品wを棚前後幅方向にセンタリングさせるセンタリング装置(図示せず)が設けられており、このセンタリング装置は、大型物品w1と小型物品w2とに拘らず物品wの棚前後幅方向の中心を所定位置に位置させるべくセンタリングさせるように構成されている。
As shown in FIG. 1, the carry-in / out device 5 is provided on the lateral side of the article storage shelf 2, and a lift that can lift and lift the articles w from the conveyor 8. The apparatus 10 is comprised.
The transport conveyor 8 is configured in a chain type in which a pair of front and rear transport chains 8a positioned at intervals in the front-rear width direction of the shelf is configured to chain and transport the article w along the width direction of the shelf. The interval between the chain 8a for use is made narrower than the width in the front-rear width direction of the small article w2, so that both the large article w1 and the small article w2 can be placed and conveyed.
The lift device 10 is provided at the end of the transport conveyor 8 on the article storage shelf side so as to be positioned between the pair of front and rear transport chains 8a, and has a mounting section 10a for mounting and supporting the article w. The height of the placement surface is configured to be movable up and down to a raised position where the height of the placement surface is higher than the conveyance surface of the conveyance conveyor 8 and a lowered position where the height of the placement surface is lower than the conveyance surface of the conveyance conveyor 8.
That is, the carry-in / out device 5 places and conveys the article w on the conveyor 8 in a state where the placement unit 10a of the lift device 10 is lowered to the lowered position, and places the placement unit 10a of the lift device 10 in the raised position. The article w is exchanged with the stacker crane 3 in the raised state.
Although not described in detail, the carry-in / out device 5 is provided with a centering device (not shown) for centering the articles w placed on the conveyor 8 in the longitudinal direction of the shelf. Is configured to be centered so as to position the center of the article w in the longitudinal direction of the shelf in a predetermined position regardless of the large article w1 and the small article w2.

図1及び図2に示すように、スタッカークレーン3は、前記物品収納棚2の棚前後幅方向の一方側の物品搬送用空間において、棚前後幅方向に出退自在な出退自在なフォーク式の物品移載手段としてのフォーク装置12を棚横幅方向並びに棚上下幅方向に移動操作し、物品収納棚2と搬出入装置5との間で物品wを搬送するように構成されている。
説明を加えると、スタッカークレーン3は、床面上に設置された走行レール13に沿って棚横幅方向に沿って走行自在な走行台車14と、物品収納棚2並びに搬出入装置5に対して物品wを移載するフォーク装置12を設けた昇降台15と、走行台車14に立設されて昇降台15を昇降自在に案内支持する案内ポスト16とを備えて構成されており、走行台車14が走行レール13に沿って走行することにより、フォーク装置12が棚横幅方向に移動操作され、昇降台15が案内ポスト16に沿って昇降移動することにより、フォーク装置12が棚上下幅方向に移動操作されるように構成されている。
As shown in FIG. 1 and FIG. 2, the stacker crane 3 is a fork type that can be moved in and out in the longitudinal direction of the shelf in the space for conveying articles on the one side in the longitudinal direction of the shelf. The fork device 12 as the article transfer means is operated to move in the shelf width direction and the shelf vertical width direction, and the article w is transported between the article storage shelf 2 and the loading / unloading device 5.
In other words, the stacker crane 3 is configured to move the article with respect to the traveling carriage 14 that can travel along the lateral width direction of the shelf along the traveling rail 13 installed on the floor, the article storage shelf 2 and the carry-in / out device 5. The lifting / lowering base 15 provided with the fork device 12 for transferring w and the guide post 16 which is erected on the traveling carriage 14 and guides and supports the raising / lowering base 15 so as to be movable up and down are configured. The fork device 12 is moved in the horizontal direction of the shelf by traveling along the traveling rail 13, and the fork device 12 is moved in the vertical direction of the shelf by moving the lifting platform 15 up and down along the guide post 16. It is configured to be.

図3及び図4に示すように、物品収納棚2の物品収納部1の夫々には、棚前後幅方向に延びる左右一対の物品支持体18を左右方向に間隔を隔てて備えられている。
この物品支持体18の夫々は、棚前後幅方向に一対設けられた支柱21夫々に棚横幅方向に延びる状態で連結される前後一対の腕木19と、その前後一対の腕木19の先端部同士に亘って架設される腕木ビーム20とから構成されている。
そして、左右一対の物品支持体18は、棚横幅方向に隣接する支柱21に互いに同じ高さとなるように連結されており、その左右一対の物品支持体18の間をスタッカークレーン3のフォーク装置12が昇降移動可能で且つ物品wの横幅方向の両端部を載置支持するように、棚横幅方向に間隔を隔てて備えられている。
As shown in FIGS. 3 and 4, each of the article storage units 1 of the article storage shelf 2 is provided with a pair of left and right article supports 18 extending in the front-rear width direction with a gap in the left-right direction.
Each of the article supports 18 is connected to a pair of front and rear arms 19 connected in a state extending in the width direction of the shelf with a pair of support columns 21 provided in a pair in the width direction of the shelf, and the front ends of the pair of front and rear arms 19. It is comprised from the brace beam 20 constructed over.
The pair of left and right article supports 18 are connected to the columns 21 adjacent to each other in the shelf width direction so as to have the same height, and the fork device 12 of the stacker crane 3 is interposed between the pair of left and right article supports 18. Is movable up and down, and is provided at intervals in the shelf width direction so as to place and support both ends in the width direction of the article w.

前記ピッキング用の物品収納部1pにおける前記作業用床部側の端部には、前記左右一対の物品支持体18に亘って載置支持される状態で帯板状の補助支持体22が設けられ、前記ピッキング用の物品収納部1pにおける前記物品搬送用空間側の端部には、前記左右一対の物品支持体18の夫々に各別に載置支持される状態で、前記帯板状の補助支持体22と同じ又は略同じ高さの短尺状の補助支持体23が設けられている。
また、前記ピッキング用の物品収納部1pにおける前記物品搬送用空間側の端部には、前記大型物品w1の前記物品搬送用空間側への移動を受け止め阻止する起立部材24が、前記左右一対の短尺状の補助支持体23の夫々に支持される状態で且つ左右一対の物品支持体18の夫々に支持される状態で設けられている。
A strip plate-like auxiliary support 22 is provided at the end of the work storage portion 1p of the picking article storage section 1p so as to be placed and supported across the pair of left and right article supports 18. The band plate-like auxiliary support is mounted on and supported by the pair of left and right article supports 18 at the end of the article transport space in the picking article storage section 1p. A short auxiliary support 23 having the same or substantially the same height as the body 22 is provided.
In addition, an upright member 24 that receives and prevents the movement of the large article w1 to the article transport space side is provided at the end of the article transport space in the picking article storage section 1p. It is provided in a state of being supported by each of the short auxiliary supports 23 and being supported by each of the pair of left and right article supports 18.

説明を加えると、帯板状の補助支持体22と一対の短尺状の補助支持体23との棚前後方向での間隔は、大型物品w1の棚前後幅方向の幅より小さな間隔で且つ小型物品w2の棚前後幅方向の幅より大きな間隔を隔てる状態に設けられている。つまり、帯板状の補助支持体22と一対の短尺状の補助支持体23とは、大型物品w1を帯板状の補助支持体22及び一対の短尺状の補助支持体23にて載置支持し、小型物品w2を帯板状の補助支持体22と一対の短尺状の補助支持体23との間に凹入させて左右一対の物品支持体18にて直接に載置支持することができるように棚前後方向に間隔を隔てる状態で設けられている。補足すると、帯板状の補助支持体22と一対の短尺状の補助支持体23とは、小型物品w2の棚前後幅方向の幅より僅かに大きな間隔、具体的には、数cm程度大きな間隔を隔てる状態で設けられているものである。
また、一対の短尺状の補助支持体23は、その間にスタッカークレーン3のフォーク装置12が昇降移動可能に棚横幅方向に間隔を隔てた状態で設けられている。
In other words, the distance between the belt-like auxiliary support 22 and the pair of short auxiliary supports 23 in the front-rear direction of the shelf is smaller than the width of the large-size article w1 in the front-rear width direction of the shelf, and the small article. It is provided in a state in which a gap larger than the width of w2 in the width direction in the longitudinal direction of the shelf is separated. That is, the belt-like auxiliary support body 22 and the pair of short auxiliary support bodies 23 place and support the large article w1 by the belt-plate-like auxiliary support body 22 and the pair of short auxiliary support bodies 23. Then, the small article w2 can be recessed between the belt-like auxiliary support body 22 and the pair of short auxiliary support bodies 23, and can be directly placed and supported by the pair of left and right article support bodies 18. Thus, it is provided in a state spaced apart in the longitudinal direction of the shelf. Supplementally, the belt-like auxiliary support 22 and the pair of short auxiliary supports 23 are slightly larger than the width of the small article w2 in the width direction in the front-rear direction of the shelf. Are provided in a state of separating them.
Further, the pair of short auxiliary supports 23 are provided in a state in which the fork device 12 of the stacker crane 3 is spaced in the shelf lateral width direction so as to be movable up and down.

そして、図4及び図5に示すように、帯板状の補助支持体22は、厚さ10mm程度の板状の金属部材にて構成されており、左右一対の腕木ビーム20に亘ってその上面に作業用床部側に突出する状態で固着されている。また、短尺状の補助支持体23も同様に、厚さ10mm程度の板状の金属部材にて構成されており、左右一対の腕木ビーム20の夫々上面に物品搬送用空間側の端部から引退する状態で固着されている。そして、起立部材24は、左右一対の短尺状の補助支持体23の夫々の前面並びに左右一対の腕木ビーム20の夫々の上面に物品搬送用空間側に突出する状態で固着されている。   As shown in FIGS. 4 and 5, the band-plate-like auxiliary support body 22 is configured by a plate-like metal member having a thickness of about 10 mm, and the upper surface thereof extends across the pair of left and right arm beams 20. It is fixed in a state protruding to the working floor side. Similarly, the short auxiliary support 23 is formed of a plate-like metal member having a thickness of about 10 mm, and is retracted from the upper end of each of the pair of left and right arm beams 20 from the end on the article conveying space side. It is fixed in the state to do. The upright members 24 are fixed to the front surfaces of the pair of left and right short auxiliary supports 23 and the upper surfaces of the pair of left and right arm beams 20 in a state of projecting toward the article conveying space.

図1及び図2に示すように、作業用床部4は、棚上下幅方向に並設された6段の物品収納部1のうちの下から3段目の物品収納部1と下から5段目の物品収納部1との高さに対応させて上下2段に設置されており、作業用床部4上のピッキング作業者にて下から3段目の物品収納部1と下から5段目の物品収納部1とに対してピンキング作業ができるように構成されている。
つまり、物品収納棚2に備えられた複数の物品収納部1のうちの下から3段目の物品収納部1と下から5段目の物品収納部1における作業用床部4からピッキング作業が可能な物品収納部1をピッキング用の物品収納部1pとされている。
As shown in FIGS. 1 and 2, the work floor 4 includes three article storage sections 1 from the bottom of the six stages of the article storage sections 1 arranged in the vertical direction of the shelf, and five from the bottom. Corresponding to the height of the article storage unit 1 of the stage, it is installed in two upper and lower stages. The picking worker on the work floor part 4 and the article storage part 1 of the third stage from the bottom and 5 from the bottom It is comprised so that a pinking operation | work can be performed with respect to the goods storage part 1 of a step.
That is, the picking work is performed from the work storage 4 in the third-stage article storage section 1 and the fifth-stage article storage section 1 of the plurality of article storage sections 1 provided in the article storage shelf 2. The possible article storage unit 1 is an article storage unit 1p for picking.

そして、図4に示すように、作業用床部4は、その上面が対応するピッキング用の物品収納部1pに備えられた左右一対の物品支持体18の載置面の高さより高く、帯板状の補助支持体22や短尺状の補助支持体23の載置面と同じ又は略同じ高さとなるように設けられている。また、作業用床部4の物品収納棚側の端部は、棚横幅方向に沿って一直線状に形成され且つ前後一対の支柱21における後側(作業用床部側)の支柱21の作業用床部側近傍に位置するように設けられている。
ちなみに、作業用床部4の棚横幅方後端部には、ピッキング作業者が昇り降りする階段9が設けられており、ピッキング用の物品収納部1p以外の物品収納部1の作業用床部側には、作業用床部側からピッキング作業ができないように防止網(図示せず)が設けられている。
As shown in FIG. 4, the work floor 4 has an upper surface that is higher than the height of the mounting surface of the pair of left and right article supports 18 provided in the corresponding article storage part 1p for picking. It is provided so that it may become the same or substantially the same height as the mounting surface of the long auxiliary support 22 or the short auxiliary support 23. Further, the end of the work floor 4 on the article storage shelf side is formed in a straight line along the width direction of the shelf, and is used for the work of the support column 21 on the rear side (working floor side) of the pair of front and rear columns 21. It is provided so that it may be located in the floor side vicinity.
Incidentally, a stairs 9 on which the picking worker ascends and descends is provided at the rear end in the horizontal direction of the shelf of the work floor 4, and the work floor of the article storage unit 1 other than the article storage unit 1p for picking is provided. On the side, a prevention net (not shown) is provided so that the picking work cannot be performed from the work floor side.

スタッカークレーン3の作動を制御する運転制御手段Hについて説明する。
図7に示すように、スタッカークレーン3には、走行台車14を走行させる走行用モータと走行台車14を制動させるブレーキ装置とを備えた駆動装置26、昇降台15を昇降移動させる昇降用モータ27、及び、フォーク装置12の出退移動させる出退用モータ28の作動を制御する運転制御装置Hが設けられており、この運転制御手段Hは、図外の上位コントローラからの指令に基づいて、制御装置が駆動装置26、昇降用モータ27、出退用モータ28の作動を制御することにより、スタッカークレーン3の作動を制御するように構成されている。
運転制御手段Hは、上位コントローラから搬出入指令が指令されると、物品収納棚2の物品収納部1と搬出入装置5との間で物品wを搬送し、ピッキング指令が指令されると物品収納棚2のピッキング用の物品収納部1pとそれ以外の物品収納部1との間で物品wを搬送するように、スタッカークレーン3の作動を制御するように構成されている。
The operation control means H that controls the operation of the stacker crane 3 will be described.
As shown in FIG. 7, the stacker crane 3 includes a driving device 26 that includes a traveling motor that travels the traveling carriage 14 and a brake device that brakes the traveling carriage 14, and an elevation motor 27 that moves the lifting platform 15 up and down. And an operation control device H for controlling the operation of the exit / retreat motor 28 for moving the fork device 12 back and forth, and this operation control means H is based on a command from a host controller (not shown). The control device is configured to control the operation of the stacker crane 3 by controlling the operation of the drive device 26, the elevating motor 27, and the exit / exit motor 28.
The operation control means H conveys the article w between the article storage section 1 of the article storage shelf 2 and the carry-in / out apparatus 5 when a carry-in / out command is commanded from the host controller, and when the picking command is commanded, the operation control means H The operation of the stacker crane 3 is controlled so that the article w is transported between the article storage section 1p for picking of the storage shelf 2 and the other article storage section 1.

そして、運転制御手段Hによる自己から物品収納部1に物品wを移載するときのスタッカークレーン3の作動の制御は、移載対象となる物品収納部1に対応する位置に走行台車14を停止させた状態で、フォーク装置12の載置面が左右一対の物品支持体18の載置面より上方(対象となる物品収納部1がピッキング用の物品収納部1pである場合は、帯板状の補助支持体22及び短尺状の補助支持体23の載置面より上方、さらには、起立部材24の上端より上方)に位置するように昇降台15を昇降移動させた状態でフォーク装置12を物品収納棚側に突出させ、その後、フォーク装置12の載置面が左右一対の載置支持体18の載置面より下方に位置するように昇降台15を下降移動させた後にフォーク装置12を自己側に引退させるようにスタッカークレーン3の作動を制御するように構成されており、これにより物品wを自己から物品収納部1に移載される。   The operation control unit H controls the operation of the stacker crane 3 when the article w is transferred from the self to the article storage unit 1 by stopping the traveling carriage 14 at a position corresponding to the article storage unit 1 to be transferred. In this state, the mounting surface of the fork device 12 is above the mounting surface of the pair of left and right article supports 18 (if the target article storage section 1 is a picking article storage section 1p, a band plate shape The fork device 12 is moved in a state where the lifting platform 15 is moved up and down so as to be positioned above the mounting surface of the auxiliary support 22 and the short auxiliary support 23 and further above the upper end of the standing member 24. Then, the fork device 12 is moved downward so that the mounting surface of the fork device 12 is positioned below the mounting surface of the pair of left and right mounting supports 18. Retire to self It is configured to control the operation of sea urchin stacker cranes 3, thereby being transferred articles w from itself to the article storage unit 1.

また、運転制御手段Hによる物品収納部1から自己に物品wを移載するときのスタッカークレーン3の作動の制御は、対象となる物品収納部1に対応する位置に走行台車14を停止させた状態で、フォーク装置12の載置面が左右一対の物品支持体18の載置面より下方に位置するように昇降台15を昇降移動させた状態でフォーク装置12を物品収納棚側に突出させ、その後、フォーク装置12の載置面が左右一対の載置支持体18の載置面より上方(対象となる物品収納部1がピッキング用の物品収納部1pである場合は、帯板状の補助支持体22及び短尺状の補助支持体23の載置面より上方、さらには、起立部材24の上端より上方)に位置するように昇降台15を上昇移動させた後にフォーク装置12を自己側に引退させるようにスタッカークレーン3の作動を制御するように構成されており、これにより、物品wを物品収納部1から自己に移載される。   In addition, the operation control unit H controls the operation of the stacker crane 3 when the article w is transferred from the article storage unit 1 to itself by stopping the traveling carriage 14 at a position corresponding to the target article storage unit 1. In the state, the fork device 12 is protruded toward the article storage shelf in a state where the elevating table 15 is moved up and down so that the placement surface of the fork device 12 is positioned below the placement surface of the pair of left and right article supports 18. Thereafter, the mounting surface of the fork device 12 is above the mounting surfaces of the pair of left and right mounting supports 18 (if the target item storage unit 1 is the picking item storage unit 1p, the band plate shape After the elevating platform 15 is moved up so as to be positioned above the mounting surface of the auxiliary support 22 and the short auxiliary support 23 and further above the upper end of the upright member 24, the fork device 12 is moved to the self side. To retire It is configured to control the operation of Tucker cranes 3, thereby, is transferred to the self articles w from the article storage unit 1.

そして、前記運転制御手段Hは、前記ピッキング用の物品収納部1pにおける物品収納形態を、前記大型物品w1については、前記帯板状の補助支持体22及び一対の短尺状の補助支持体23にて載置支持し、且つ、前記小型物品w2については、前記帯板状の補助支持体22と前記一対の短尺状の補助支持体23との間に凹入させて前記左右一対の物品支持体18にて載置支持する形態とするように、前記スタッカークレーン3の作動を制御するように構成されている。   And the said operation control means H is the strip | board-shaped auxiliary | assistant support body 22 and a pair of short-shaped auxiliary | assistant support body 23 about the said large sized article w1 in the article storage form in the said article storage part 1p for picking. For the small article w2, the pair of left and right article supports is recessed between the strip plate-like auxiliary support body 22 and the pair of short auxiliary support bodies 23. The stacker crane 3 is configured to control the operation of the stacker crane 3 so as to be placed and supported at 18.

説明を加えると、運転制御手段Hは、搬送する物品wが大型物品w1であるか小型物品w2であるかを判別することなく、ピッキング用の物品収納部1pにおける物品収納形態を上記したような形態とすべく、スタッカークレーン3の作動を制御するように構成されている。
つまり、上記したように、前記搬出入装置5における前記センタリング装置(図示せず)にて大型物品w1と小型物品w2とに拘らず物品wの棚前後幅方向の中心を所定位置に位置させるべくセンタリングさせるように構成されており、これによって、フォーク装置12に載置支持された物品wは、その棚前後方向の中心が大型物品w1と小型物品w2とで同じ位置となるように支持される。そして、ピッキング作業用の物品収納部1pとの間で物品を移載する際のフォーク装置12の突出量が、物品wの棚前後方向の中心が帯板状の補助支持体22と短尺状の補助支持体23との間の中央に位置するように設定され、また、上記したように、帯板状の補助支持体22と短尺状の補助支持体23との間隔が大型物品w1の棚前後方向の幅より大きく小型物品w2の棚前後方向の幅より小さいことにより、大型物品w1を搬送するときと小型物品w2を搬送するときとでスタッカークレーン3の作動を同様に制御したとしても、大型物品w1については、帯板状の補助支持体22及び一対の短尺状の補助支持体23にて載置支持され、且つ、小型物品w2については、帯板状の補助支持体22と一対の短尺状の補助支持体23との間に凹入させて左右一対の物品支持体18にて載置支持する形態となる。
In other words, the operation control unit H does not determine whether the article w to be conveyed is the large article w1 or the small article w2, and the article storage form in the article storage unit 1p for picking is as described above. It is comprised so that the action | operation of the stacker crane 3 may be controlled so that it may be set as a form.
That is, as described above, the centering device (not shown) in the carry-in / out device 5 should position the center of the article w in the longitudinal direction of the shelf at a predetermined position regardless of the large article w1 and the small article w2. The article w placed and supported on the fork device 12 is supported so that the center in the longitudinal direction of the shelf is at the same position between the large article w1 and the small article w2. . The amount of protrusion of the fork device 12 when transferring an article to and from the article storage unit 1p for picking work is such that the center of the article w in the longitudinal direction of the shelf is a belt-like auxiliary support 22 and a short-like shape. It is set so as to be positioned at the center between the auxiliary support 23 and, as described above, the distance between the belt-like auxiliary support 22 and the short auxiliary support 23 is around the shelf of the large article w1. Even if the operation of the stacker crane 3 is controlled in the same manner when the large article w1 is conveyed and when the small article w2 is conveyed, the large article w2 is smaller than the width in the longitudinal direction of the shelf. The article w1 is placed and supported by a strip-like auxiliary support 22 and a pair of short auxiliary supports 23, and the small article w2 is a strip-like auxiliary support 22 and a pair of short lengths. Between the auxiliary support 23 The form for placing supported by a pair of left and right article support 18 by entering.

〔別実施の形態〕
(1) 上記実施の形態では、起立部材24を、左右一対の短尺状の補助支持体23の夫々に支持される状態で且つ左右一対の物品支持体18の夫々に支持される状態、つまりは、左右一対の短尺状の補助支持体23の夫々に支持される状態で設け、さらに、左右一対の物品支持体18の夫々に支持される状態で設けたが、左右一対の短尺状の補助支持体23の夫々、或いは、左右一対の物品支持体18の夫々のいずれか一方にのみ支持される状態で設けてもよい。
[Another embodiment]
(1) In the above embodiment, the upright member 24 is supported by each of the pair of left and right short auxiliary supports 23 and supported by each of the pair of left and right article supports 18, that is, The pair of left and right short auxiliary supports 23 are provided so as to be supported by each of the pair of left and right short support members 23, and further provided while being supported by each of the pair of left and right article supports 18. You may provide in the state supported only in each one of each of the body 23 or each of the left-right paired goods support body 18. FIG.

(2) 上記実施の形態では、大型物品w1を物品載置用の大型パレットとし、小型物品w2を物品載置用の小型パレットとしたが、大型物品w1を大型コンテナとし、小型物品w2を小型コンテナとする等、大型物品w1や小型物品w2はピッキングの対象となる物品であればよい。 (2) In the above embodiment, the large article w1 is a large pallet for placing articles and the small article w2 is a small pallet for placing articles. However, the large article w1 is a large container and the small article w2 is small. The large article w1 and the small article w2, such as a container, may be any article that is to be picked.

ピッキング式の物品収納設備の平面図Top view of picking-type goods storage equipment ピッキング式の物品収納設備の側面図Side view of picking-type goods storage equipment 物品収納部の斜視図Perspective view of article storage ピッキング用の物品収納部の側面図Side view of the article storage for picking ピッキング用の物品収納部の平面図Top view of the article storage for picking スタッカークレーンの制御ブロック図Control block diagram of stacker crane

符号の説明Explanation of symbols

1 物品収納部
1p ピッキング用の物品収納部
2 物品収納棚
3 物品搬送手段
4 作業用床部
12 物品移載手段
18 物品支持体
22 帯板状の補助支持体
23 短尺状の補助支持体
24 起立部材
H 運転制御手段
w 物品
w1 大型物品
w2 小型物品
DESCRIPTION OF SYMBOLS 1 Goods storage part 1p Goods storage part for picking 2 Goods storage shelf 3 Goods conveyance means 4 Working floor part 12 Goods transfer means 18 Goods support 22 Band-plate-like auxiliary support 23 Short-form auxiliary support 24 Standing up Member H Operation control means w article w1 large article w2 small article

Claims (3)

棚前後幅方向に延びる左右一対の物品支持体を左右方向に間隔を隔てて備える複数の物品収納部が並設された物品収納棚と、
前記物品収納棚の棚前後幅方向の一方側の物品搬送用空間において、棚前後幅方向に出退自在なフォーク式の物品移載手段を棚横幅方向並びに棚上下幅方向に移動操作するように構成された物品搬送手段と、
前記物品収納棚の棚前後幅方向の他方側において、前記複数の物品収納部のうちの少なくとも一部のピッキング用の物品収納部の高さに対応させて設置された作業用床部とが設けられたピッキング式の物品収納設備であって、
前記ピッキング用の物品収納部における前記作業用床部側の端部には、前記左右一対の物品支持体に亘って載置支持される状態で帯板状の補助支持体が設けられ、
前記ピッキング用の物品収納部における前記物品搬送用空間側の端部には、前記左右一対の物品支持体の夫々に各別に載置支持される状態で、前記帯板状の補助支持体と同じ又は略同じ高さの短尺状の補助支持体が設けられ、
前記物品搬送手段の作動を制御する運転制御手段が、前記ピッキング用の物品収納部における物品収納形態を、棚前後幅方向において幅広の大型物品については、前記帯板状の補助支持体及び一対の短尺状の補助支持体にて載置支持し、且つ、前記大型物品よりも棚前後幅方向において幅狭の小型物品については、前記帯板状の補助支持体と前記一対の短尺状の補助支持体との間に凹入させて前記左右一対の物品支持体にて載置支持する形態とするように、前記物品搬送手段の作動を制御するように構成されているピッキング式の物品収納設備。
An article storage shelf in which a plurality of article storage units provided with a pair of left and right article supports extending in the front-rear width direction are spaced in the left-right direction; and
In the article transport space on one side of the shelf front-rear width direction of the article storage shelf, the fork-type article transfer means that can be moved back and forth in the shelf front-rear width direction is operated to move in the shelf lateral width direction and the shelf vertical width direction. Configured article conveying means;
Provided on the other side of the article storage shelf in the front-rear width direction is a work floor installed corresponding to the height of at least some of the plurality of article storage units for picking. A picking-type article storage facility,
An end support on the working floor portion side in the picking article storage section is provided with a belt-like auxiliary support in a state of being placed and supported across the pair of left and right article supports,
At the end of the article transporting space side in the article storage section for picking, the same as the band plate-like auxiliary support in a state of being placed and supported on each of the pair of left and right article supports. Or a short auxiliary support body of approximately the same height is provided,
The operation control means for controlling the operation of the article conveying means is configured to store the article storage form in the picking article storage section, and for the large article wide in the longitudinal direction of the shelf, the belt-like auxiliary support and a pair of For a small article that is placed and supported by a short auxiliary support and is narrower in the width direction of the shelf than the large article, the belt-like auxiliary support and the pair of short auxiliary supports A picking-type article storage facility configured to control the operation of the article conveying means so as to be recessed between the body and placed and supported by the pair of left and right article supports.
前記ピッキング用の物品収納部における前記物品搬送用空間側の端部には、前記大型物品の前記物品搬送用空間側への移動を受け止め阻止する起立部材が、前記左右一対の短尺状の補助支持体の夫々に支持される状態で又は前記左右一対の物品支持体の夫々に支持される状態で設けられている請求項1記載のピッキング式の物品収納設備。   An upright member that receives and prevents movement of the large-sized article toward the article conveyance space is provided at the end of the article storage space in the picking article storage section, and the pair of left and right short auxiliary supports. The picking-type article storage facility according to claim 1, wherein the picking-type article storage facility is provided in a state of being supported by each of the bodies or in a state of being supported by each of the pair of left and right article supports. 前記大型物品が、荷物載置用の大型パレットで、前記小型物品が、荷物載置用の小型パレットである請求項1又は2記載のピッキング式の物品収納設備。   3. The picking-type article storage facility according to claim 1 or 2, wherein the large article is a large pallet for loading luggage, and the small article is a small pallet for loading luggage.
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Citations (4)

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Publication number Priority date Publication date Assignee Title
JPS60157706U (en) * 1984-03-28 1985-10-21
JPH09108055A (en) * 1995-10-23 1997-04-28 Koyo Autom Mach Co Ltd Apparatus for preventing stored article from falling down in storing shelf
JPH10139108A (en) * 1996-11-12 1998-05-26 Daifuku Co Ltd Article storing device
JP2002114321A (en) * 2000-10-13 2002-04-16 Daifuku Co Ltd Rack facility

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60157706U (en) * 1984-03-28 1985-10-21
JPH09108055A (en) * 1995-10-23 1997-04-28 Koyo Autom Mach Co Ltd Apparatus for preventing stored article from falling down in storing shelf
JPH10139108A (en) * 1996-11-12 1998-05-26 Daifuku Co Ltd Article storing device
JP2002114321A (en) * 2000-10-13 2002-04-16 Daifuku Co Ltd Rack facility

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