JP5660393B2 - Article storage facility and article stacking method in article storage facility - Google Patents

Description

The present invention includes a stacking unit for stacking articles on a pallet in a stacked state, and a plurality of storage units for mounting and supporting the pallet, under a setting allowable condition that is not more than a set upper limit height and not more than a set upper limit weight. Storage shelves arranged side by side, and transporting the pallet to store the pallet on which articles are stacked in the stacking unit, and to transport the pallet stored in the storage unit Means and control means for controlling the operation of the transport means,
The transporting means is an article mounting body that can be driven back and forth in a retracted state in which it retracts outward from the storage part and a protruding state in which the storage part protrudes, and can be driven up and down, and the pallet is stored in the storage part. Configured to perform a lowering process stored in the storage unit and a scooping process for removing the pallet stored in the storage unit,
The storage portion is configured to place and support both end portions of the pallet with a pair of left and right support bodies arranged in parallel in a state in which the article placement body in the protruding state is spaced vertically.
When the control means performs the lowering process, the article mounting body protrudes into the protruding state at a reference height for lowering than the pair of left and right supports, and then the pair of left and right supports. The article mounting body is lowered to a lower target height for lowering, and then the operation of the conveying means is controlled and the scooping process is performed in order to retract the article mounting body to the retracted state. Sometimes, the article mounting body is protruded in the protruding state at a scooping reference height corresponding to the lowering target height, and then the scooping target height corresponding to the lowering reference height is An article storage facility configured to control the operation of the conveying means so as to raise the article placement body and then retract the article placement body to the retracted state, and an article in the article storage facility Regarding the loading method

When storing articles in an article storage facility having a storage shelf in which a plurality of storage units for placing and supporting the pallets are arranged, the articles are stacked on the pallet at the stacking unit. The pallet is transported by transporting means such as a stacker crane and stored in the storage unit (see, for example, Patent Document 1).
Incidentally, in Patent Document 1, it is exemplified that containers as articles are stacked on a pallet.

  The transport means such as a stacker crane includes an article mounting body that can be driven back and forth in a retracted state that retreats outward from the storage unit and a protruding state that protrudes into the storage unit, and can be driven up and down, and the pallet is stored in the storage unit. The left and right sides are arranged side by side in a state in which the storage unit is spaced apart from each other so that the protruding article mounting body passes vertically. A pair of supports is configured to place and support both ends of the pallet.

  Then, when the control means for controlling the operation of the conveying means performs the lowering process, the article mounting body protrudes into a protruding state at a reference height for lowering than the pair of left and right supports, and then the left and right pair When the article mounting body is lowered to a lower target height for lowering than the support body, and then the operation of the conveying means is controlled and the scooping process is performed in order to retract the article mounting body to the retracted state, The article mounting body protrudes into a protruding state at a scooping reference height corresponding to the lowering target height, and then the article mounting body is raised to a scooping target height corresponding to the lowering reference height. Thereafter, the operation of the conveying means is controlled so that the article mounting body is retracted to the retracted state (see, for example, Patent Document 2).

Although not described in Patent Document 1 and Patent Document 2, when an article is stacked on a pallet, the article is placed on the pallet under a setting allowable condition that is not more than a set upper limit height and not more than a set upper limit weight. Stacking is performed in a stacked state.
That is, a set upper limit weight for loading articles on the pallet is determined based on the load resistance of the storage shelf, the load resistance of the pallet, and the like.
Further, when performing the lowering process or the scooping process, the article placement body having the target height for lowering and the reference height for scooping is set to a set accommodation distance (for example, 15 mm) from the upper surface of the article stored in the lower storage unit. ) The set upper limit height when the article is stacked on the pallet is determined so as to be in a state of being separated from each other.

  In other words, generally, as illustrated in Patent Document 2, a column set composed of a pair of columns arranged in the longitudinal direction of the shelf of the storage shelf is erected on the floor surface side by side in the horizontal direction of the shelf of the storage shelf. In addition, in each of the pillar groups, a support body is arranged in a vertical direction in a state of projecting in a cantilevered manner toward the shelf width direction, and is stored between the column groups arranged adjacent to each other in the shelf width direction. The storage shelf is configured in such a form that the portions are arranged in the vertical direction.

  Then, with respect to the storage unit above the storage unit storing the pallets on which the pallets are stacked so that the distance between adjacent support bodies arranged in the vertical direction is the set upper limit height, When the scooping process is performed, the article placement body having the target height for dropping and the reference height for scooping is in a state of being separated from the upper surface of the article stored in the lower storage unit by a set accommodation distance (for example, 25 mm) or more. Even if there is a slight shift in the stopping position of the article mounting body relative to the target height for lowering and the reference height for scooping or the article mounting body vibrates up and down, Occurrence of troubles such as contact of an object with an article is avoided.

Also, when the pallet is stored in the storage unit, the left and right ends are placed and supported by the left and right supports, so the portion located between the left and right supports is the weight of the stacked article. The amount of bending on the lower side is configured to be within an allowable limit (for example, within 10 mm) when an article is stacked at a set upper limit weight or less.
Further, since it is necessary to provide a margin of about 20 mm between the article placing body having the target height for lowering and the reference height for scooping and the lower surface of the pallet placed on the support, the target height for lowering is set. The height and the reference height for scooping are determined in consideration of the amount of bending on the lower side of the pallet. As a result, the interval between adjacent support members arranged in the vertical direction is the lower side of the pallet. It is determined in consideration of the amount of deflection.

  For example, a state in which the article mounting body protrudes into the storage portion at the target height for lowering processing will be described as an example. As shown in FIG. The interval L1 is the thickness L5 of the pallet stored in the storage section below the storage section to be stored, the set upper limit height L6 corresponding to the maximum height of the articles stacked on the pallet, and the article A set accommodation distance L3 that is a distance between the upper surface of the article and the lower surface of the article placement body, a thickness L4 of the article placement body, and between the upper face of the article placement body and the upper surface of the support of the storage unit to be stored A value obtained by adding the separation distance L2. And the separation distance L2 is a margin amount between the amount of downward deflection of the pallet and the article placement body of the target height for lowering and the reference height for scooping and the lower surface of the pallet placed on the support. The added value.

JP-A-5-262407 JP 2000-229706 A

  As described above, if the pallet used in the article storage facility is stacked so that the weight is less than the set upper limit weight in the set allowable conditions, the amount of deflection on the lower side is within the allowable limit. Even if the articles are stacked with the set upper limit weight in the set allowable conditions, it may be desired to use a pallet whose deflection amount on the lower side exceeds the allowable limit.

  For example, when installing an article storage facility, there may be a pallet that has been in use at the installation location. In such a case, the initial cost for installing the article storage facility is reduced. In order to achieve this, pallets that have been used for a long time will be used as pallets to be stored in storage shelves. In some cases, the amount of deflection on the lower side may exceed an allowable limit.

  Therefore, as a pallet used for an article storage facility, if an article is stacked so as to be equal to or less than a set upper limit weight in the set allowable condition, a pallet in which the lower side deflection amount is within an allowable limit (hereinafter referred to as a difficultly bent pallet). And a pallet (hereinafter abbreviated as an easily-flexible pallet) in which the amount of deflection on the lower side exceeds the allowable limit even if the article is stacked with the set upper limit weight in the set allowable condition. .

And if an article is simply stacked on the easy deflection pallet so as to be equal to or less than the set upper limit weight in the setting allowable condition, an allowable limit (for example, 10 mm) is set such that the amount of bending on the lower side becomes, for example, 30 mm. There will be a case of exceeding.
In such a case, the target height for lowering in the lowering process and the reference height for scooping in the scooping process are determined based on the maximum value of the downward deflection amount of the easy-flexible pallet, and adjusted accordingly. It can be considered that the storage shelf is configured in a form in which the interval between adjacent support bodies arranged in the vertical direction is determined.

  By the way, the amount of downward deflection of the easy-flexible pallet becomes maximum when the article is loaded on the easy-flexible pallet with the set upper limit weight in the setting allowable conditions, and the target height and scooping for lowering. The standard height for use is determined based on the maximum value of the downward deflection of the flexible pallet. The state in which the flexible pallet with the maximum downward deflection is supported by the support of the storage unit , It means that the target height for lowering and the reference height for scooping are determined at a height located below the lower surface of the pallet by a margin interval (for example, 15 mm).

  However, the target height for lowering and the reference height for scooping are determined based on the maximum value of the downward deflection of the easy-flexible pallet, and accordingly, the distance between adjacent support members arranged in the vertical direction is determined. When the storage shelf is configured in a predetermined form, the interval between adjacent support bodies arranged in the vertical direction is larger than that in the case of configuring the storage shelf in view of the amount of bending of the difficult-to-flexible pallet. There was a disadvantage that the storage efficiency of the was lowered.

The present invention has been made in view of the above-described actual situation, and the object thereof is to allow the amount of downward deflection when an article is stacked with a set upper limit weight and stored in a storage portion as a pallet, to an allowable limit. The object of the present invention is to provide an article storage facility that can suppress a decrease in storage efficiency of a storage shelf while using an inner pallet and a pallet that exceeds an allowable limit.
Another object of the present invention is, as a pallet, a pallet in which the amount of deflection to the lower side when an article is stacked with a set upper limit weight and stored in the storage unit is within an allowable limit, and a pallet that exceeds the allowable limit. The object is to provide an article stacking method in an article storage facility that can suppress a decrease in storage efficiency of the storage shelf while being used.

A first characteristic configuration of the article storage facility according to the present invention includes a stacking unit that stacks articles on a pallet in a stacked state under a setting allowable condition that is not more than a set upper limit height and not more than a set upper limit weight, and the pallet A storage shelf in which a plurality of storage units to be placed and arranged are arranged side by side, and the pallet on which articles are stacked by the stacking unit is stored in the storage unit, and the pallet stored in the storage unit A conveying means for conveying the pallet to carry out, and a control means for controlling the operation of the conveying means;
The transporting means is an article mounting body that can be driven back and forth in a retracted state in which it retracts outward from the storage part and a protruding state in which the storage part protrudes, and can be driven up and down, and the pallet is stored in the storage part. Configured to perform a lowering process stored in the storage unit and a scooping process for removing the pallet stored in the storage unit,
The storage portion is configured to place and support both end portions of the pallet with a pair of left and right support bodies arranged in parallel in a state in which the article placement body in the protruding state is spaced vertically.
When the control means performs the lowering process, the article mounting body protrudes into the protruding state at a reference height for lowering than the pair of left and right supports, and then the pair of left and right supports. The article mounting body is lowered to a lower target height for lowering, and then the operation of the conveying means is controlled and the scooping process is performed in order to retract the article mounting body to the retracted state. Sometimes, the article mounting body protrudes in the protruding state at a lower reference height for scooping than the pair of left and right supports, and then the target height for scooping higher than that of the pair of left and right supports. It is configured to control the operation of the conveying means so as to raise the article mounting body and then retract the article mounting body to the retracted state.
When the article is loaded with the set upper limit weight when the article is loaded with the set upper limit weight as the pallet, the difficult deflection pallet and the article with the set upper limit weight are loaded. And a flexible pallet that exceeds the allowable limit,
The control means sets the lowering target height and the scooping reference height to be lower for the pallet in which the deflection amount exceeds the allowable limit than the pallet in which the deflection amount is within the allowable limit. , Configured to perform the unloading process and the scooping process,
The storage shelf has a vertical interval between the support members provided in each of the storage units adjacent to each other in the vertical direction in the storage unit arranged in the vertical direction. In the case where it is assumed that a pallet loaded with articles of height is stored in an undeflected state, the amount of bending of the article mounting body is set to perform the lowering process on the storage unit to be stored. When the pallet that falls within the allowable limit is positioned at the target height for lowering, the article placement body is set to an interval that leaves a set accommodation distance from the upper surface of the article stored in the lower storage section. Configured to state,
The control means is
When storing the pallet with the deflection amount exceeding the allowable limit, among the empty storage units of the storage unit, the storage unit in which the article is not stored in the lower storage unit, or the lower storage When storing the pallet to be stored based on the height of the article stored in the lower storage unit and the amount of deflection of the pallet to be stored, The storage unit that is predicted to leave the set accommodation distance from the upper surface of the article stored in the lower storage unit is selected as the storage unit to be stored. It is characterized in that it is configured.

  That is, as a pallet, when the article is loaded at the set upper limit weight when the article is loaded at the upper limit weight when stored in the storage unit, and the article is loaded at the set upper limit weight, There are easy-deflection pallets that exceed allowable limits.

  In addition, an article having a set upper limit height is set in the storage unit below the storage unit to be stored so that the vertical interval between the support units provided in the storage units adjacent to each other in the vertical direction in the storage units arranged in the vertical direction in the storage shelf. In the state where the stacked pallets are stored, the article placement body is positioned at the target height for lowering the pallet whose deflection amount is within the allowable limit in order to perform the lowering process on the storage unit to be stored. When this is done, the article placement body is set at an interval that leaves the set accommodation distance from the upper surface of the article stored in the lower storage section.

  And when the control means stores a pallet whose deflection amount exceeds the allowable limit, among the empty storage units of the storage unit, the storage unit in which the article is not stored in the lower storage unit, or below When storing the pallet to be stored based on the height of the article stored in the lower storage unit and the amount of deflection of the pallet to be stored, The storage unit that is expected to leave the set accommodation distance from the upper surface of the article stored in the lower storage unit is selected as the storage unit to be stored. .

  In other words, among the storage units in the empty state among the storage units, the storage unit in which articles are not stored in the lower storage unit stores the pallet whose amount of downward deflection exceeds the allowable limit with respect to the storage unit. Even if the stop position of the article placement body with respect to the lowering target height is slightly shifted or the article placement body vibrates up and down, no article is stored in the lower storage section. For this reason, the article placement body is a storage section that does not contact an article stored in the lower storage section.

  In addition, among the storage units in the empty state among the storage units, the storage unit stores articles in the lower storage unit, and the height of the articles stored in the lower storage unit and the easy deflection of the storage target Based on the amount of flexure of the pallet, the standard storage unit in which the article placement body having the target height for lowering is predicted to leave the set accommodation distance from the upper surface of the article stored in the storage unit below is stored in the standard storage unit. When the pallet is stored with the amount of downward deflection exceeding the allowable limit with respect to the part, the stopping position of the article mounting body slightly deviates from the target height for lowering, or the article mounting body vibrates up and down. In some cases, the article placement body having the target height for lowering is separated from the upper surface of the article stored in the lower storage section by a set interchange distance, so that the article placement body is placed in the lower storage section. Storage unit that can avoid contact with stored items A.

  Thus, when storing a pallet whose amount of downward deflection exceeds an allowable limit, the stop position of the article mounting body with respect to the target height for lowering is within the empty storage section of the storage section. The pallet is stored in the storage section where the article placement body does not contact the article stored in the lower storage section even if the article placement body may be slightly displaced or the article placement body may vibrate up and down. It can be done.

  Therefore, while avoiding the occurrence of troubles such as the article placement body having the target height for lowering coming into contact with the article stored in the lower storage section, the upper and lower positions in the storage section aligned vertically in the storage shelf Since it is possible to determine the interval in the vertical direction of the support that each of the adjacent storage units is equipped on the basis of storing a pallet whose deflection amount does not exceed the allowable limit, it is possible to suppress a decrease in storage efficiency of the storage shelf. It will be a thing.

  In short, according to the first characteristic configuration of the present invention, as a pallet, a pallet in which the amount of bending downward when the articles are stacked at the set upper limit weight and stored in the storage unit is within the allowable limit, and the allowable limit It is possible to provide an article storage facility that can suppress a decrease in the storage efficiency of the storage shelf while using a pallet exceeding.

In addition to the first feature configuration, the second feature configuration of the article storage facility of the present invention,
The control means is
When storing the pallet, among the empty storage units of the storage unit, the storage unit in which the pallet whose deflection amount exceeds the allowable limit is not stored in the upper storage unit, and the upper storage unit A storage part in which the pallet whose deflection amount exceeds the allowable limit is stored in the storage part, and is stored in the upper storage part in a state where it is assumed that the pallet to be stored is stored in the storage part. Based on the amount of deflection of the pallet and the height of the articles stacked on the pallet to be stored, when the pallet stored in the storage section located above is taken out, the article mounting at the reference height for scooping The storage unit is configured to select a storage unit that is predicted to leave a set accommodation distance from the upper surface of an article stacked on a pallet to be stored as a storage unit to be stored. That.

  That is, when the control means stores the pallet, among the empty storage units of the storage unit, the storage unit in which the pallet whose deflection amount exceeds the allowable limit is not stored in the upper storage unit, or A storage part in which a pallet whose deflection amount exceeds an allowable limit is stored in the upper storage part, and is stored in the upper storage part in a state where it is assumed that the pallet to be stored is stored in the storage part. When the pallet stored in the storage section located above is taken out based on the amount of deflection of the pallet and the height of the article stacked on the pallet to be stored, the article placement body having a reference height for scooping Is selected as the storage unit to be stored, which is predicted to be away from the set accommodation distance from the upper surface of the article loaded on the storage target pallet.

In other words, when a pallet whose deflection amount exceeds the allowable limit is stored in the storage unit, the pallet on which articles are stacked is placed in the storage unit below the storage unit that stores the pallet whose deflection amount exceeds the allowable limit. When stored, the pallet may not be properly taken out from the upper storage unit.
For example, when storing a pallet with respect to a storage part in which a pallet whose deflection amount exceeds an allowable limit is stored in an upper storage part among the storage parts in an empty state among the storage parts, When the height of the stacked article is the set upper limit height, when the pallet stored in the upper storage section is taken out, it is stacked on the article mounting body of the scooping reference height and the pallet to be stored. As a result, the upper surface of the article is not separated from the set accommodation distance, and the pallet cannot be taken out from the upper standard storage unit properly.

  However, among the empty standard storage parts of the storage parts, the storage part in which the pallet whose deflection amount exceeds the allowable limit is not stored in the upper storage part, even if the pallet is stored in the storage part, Since the pallet is not stored in the upper storage portion, the pallet is not taken out from the upper storage portion, so that the pallet removal from the upper storage portion is not adversely affected.

  In addition, when the pallet is stored in a storage part in which the pallet whose deflection amount exceeds the allowable limit is stored in the upper storage part among the empty storage parts among the storage parts, the upper storage is performed. When the pallet stored in the upper storage part is taken out based on the amount of deflection of the pallet stored in the part and the height of the article stacked on the pallet to be stored, The storage unit in which the mounting body is predicted to leave the set accommodation distance from the upper surface of the article stacked on the pallet to be stored is stored in the upper storage unit even if the pallet is stored in the storage unit. When the pallet is taken out, the article mounting body having a high reference height and the upper surface of the article loaded on the pallet to be stored are separated from each other by the set interchange distance. Suitable for removal The things that can be done street.

  As described above, according to the second characteristic configuration, when the pallet is stored in the storage unit, the storage unit that does not adversely affect the removal of the pallet from the upper storage unit is selected. A pallet (article) is stored in a storage section below the storage section in which the pallet is stored, so that a pallet with a bending amount exceeding a permissible limit stored in Can be performed properly as appropriate.

  In short, according to the second feature configuration of the present invention, in addition to the operational effects of the first feature configuration, the pallet whose downward deflection exceeds the allowable limit is taken out while being removed by scooping processing. It is possible to provide an article storage facility that can be performed properly and appropriately without being affected by the articles stored in the storage unit.

A third characteristic configuration of the article storage facility according to the present invention includes: a stacking unit that stacks articles on a pallet in a stacked state under a setting allowable condition that is not more than a set upper limit height and not more than a set upper limit weight; and A storage shelf in which a plurality of storage units to be placed and supported are arranged in parallel in the vertical direction, and the pallet on which articles are stacked in the stacking unit is stored in the storage unit, and is stored in the storage unit. A conveying means for conveying the pallet to carry out the pallet; and a control means for controlling the operation of the conveying means;
The transporting means is an article mounting body that can be driven back and forth in a retracted state in which it retracts outward from the storage part and a protruding state in which the storage part protrudes, and can be driven up and down, and the pallet is stored in the storage part. Configured to perform a lowering process stored in the storage unit and a scooping process for removing the pallet stored in the storage unit,
The storage portion is configured to place and support both end portions of the pallet with a pair of left and right support bodies arranged in parallel in a state in which the article placement body in the protruding state is spaced vertically.
When the control means performs the lowering process, the article mounting body protrudes into the protruding state at a reference height for lowering than the pair of left and right supports, and then the pair of left and right supports. The article mounting body is lowered to a lower target height for lowering, and then the operation of the conveying means is controlled and the scooping process is performed in order to retract the article mounting body to the retracted state. Sometimes, the article mounting body is protruded in the protruding state at a scooping reference height corresponding to the lowering target height, and then the scooping target height corresponding to the lowering reference height is It is configured to control the operation of the conveying means so as to raise the article mounting body and then retract the article mounting body to the retracted state.
When the article is loaded with the set upper limit weight when the article is loaded with the set upper limit weight as the pallet, the difficult deflection pallet and the article with the set upper limit weight are loaded. And a flexible pallet that exceeds the allowable limit,
The control means sets the lowering target height and the scooping reference height to be lower for the pallet in which the deflection amount exceeds the allowable limit than the pallet in which the deflection amount is within the allowable limit. , Configured to perform the unloading process and the scooping process,
The storage shelf has a vertical interval between the support members provided in each of the storage units adjacent to each other in the vertical direction in the storage unit arranged in the vertical direction. In the case where it is assumed that the pallet loaded with articles of height is stored in an undeflected state, in order to perform the lowering process on the storage unit to be stored, the amount of bending of the article mounting body is set. Is set at an interval that leaves the set accommodation distance from the upper surface of the article stored in the lower storage portion when the pallet is positioned at the lowering target height for the pallet within the allowable limit. Configured to
The stacking part is
When stacking articles on the easy-to-store flexible pallet, the storage section in which the articles are stored in the lower storage section among the storage sections in the empty state among the storage sections, In place of the setting upper limit weight of the setting permissible condition or less, when the easy-deflection pallet to be stored is stored in the storage unit scheduled to be stored, the article mounting body at the target height for lowering is placed below Deflection that regulates the amount of deflection of the easy-flexible pallet based on the height of the article stored in the lower storage section so as to be away from the set accommodation distance from the upper surface of the article stored in the storage section It is configured to load articles under quantity regulation conditions,
The control means is
It is configured to control the operation of the conveying means so as to store the easy-deflection pallet on which the articles are stacked under the deflection amount regulation condition in the storage unit scheduled to be stored for the easy-deflection pallet. It is characterized by that.

  That is, as a pallet, when the article is loaded at the set upper limit weight when the article is loaded at the upper limit weight when stored in the storage unit, and the article is loaded at the set upper limit weight, There are easy-deflection pallets that exceed allowable limits.

  In addition, a pallet loaded with articles having a set upper limit height is stored in a lower storage section where the vertical spacing of the supports provided in each of the storage sections adjacent in the vertical direction in the storage sections arranged in the vertical direction in the storage shelf is stored. In order to perform the lowering process and the scooping process on the upper storage part, the article mounting body is positioned at the target lowering level and the scooping reference height for the pallet whose deflection amount is within the allowable limit. When this is done, the article placement body is set at an interval that leaves the set accommodation distance from the upper surface of the article stored in the lower storage section.

  Then, the stacking unit uses the storage unit in which the article is stored in the lower storage unit among the empty storage units of the storage unit as the storage unit to be stored. , When placing the easy-deflection pallet to be stored in the storage unit that is scheduled to be stored, the article mounting body with the target height for lowering is placed downward. Deflection that regulates the amount of deflection of the easy-flexible pallet based on the height of the article stored in the lower storage section so as to be away from the set accommodation distance from the upper surface of the article stored in the storage section Goods will be stacked under the quantity regulation conditions.

  In this way, as the stacking unit stacks the article under the deflection amount regulation condition that regulates the deflection amount of the easy-flexible pallet, the control unit is configured to store the article under the deflection amount regulation condition. Therefore, the operation of the conveying means is controlled so as to store the easy-flexible pallet in the storage part that is scheduled to be stored.

In other words, the vertical interval between the support members mounted in the upper and lower adjacent storage units in the storage unit arranged in the vertical direction in the storage shelf is determined on the basis of storing pallets whose deflection amount does not exceed the allowable limit. Therefore, when the pallet whose deflection amount exceeds the allowable limit is stored in the storage unit in which the article is stored in the lower storage unit among the empty storage units of the storage unit, the lowering target In some cases, the article mounting body having a height does not leave the set accommodation distance from the upper surface of the article stored in the lower storage section.
For example, when the height of the article stored in the lower storage section is the set upper limit height, the upper surface of the article stored in the lower storage section is the article placement body having the target height for lowering The article placement body having the target height for lowering does not leave the set accommodation distance from the upper surface of the article stored in the lower storage section.

  According to the third characteristic configuration, among the empty storage units of the storage units, the storage unit in which the article is stored in the lower storage unit is set as the storage unit to be stored, and the easily flexible pallet to be stored When an article is stacked on the container, instead of the condition that the set allowable weight is not more than the set upper limit weight, when the easy-deflection pallet to be stored is stored in the storage section that is to be stored, the article mounting body of the target height for lowering The amount of bending of the easy-flexible pallet is regulated based on the height of the article stored in the lower storage section so that the distance between the upper surface of the article stored in the lower storage section is a set accommodation distance. Since the article is stacked under the deflection amount regulation condition, the article having the target height for unloading is stored when the easy-deflection pallet loaded with the article according to the deflection amount regulation condition is stored in the storage section to be stored. The storage part below the mounting body To leave the setting flexibility distance from the housing has been and article top surface, the article mounting body for target height down can avoid the occurrence of troubles such as to brought into contact with the article being housed in the housing portion of the lower.

  Therefore, while avoiding the occurrence of troubles such as the article placement body having the target height for lowering coming into contact with the article stored in the lower storage section, the upper and lower positions in the storage section aligned vertically in the storage shelf Since it is possible to determine the interval in the vertical direction of the support that each of the adjacent storage units is equipped on the basis of storing a pallet whose deflection amount does not exceed the allowable limit, it is possible to suppress a decrease in storage efficiency of the storage shelf. It will be a thing.

  In short, according to the third characteristic configuration of the present invention, as a pallet, a pallet in which the amount of downward deflection when the articles are stacked at the set upper limit weight and stored in the storage unit is within the allowable limit, and the allowable limit It is possible to provide an article storage facility that can suppress a decrease in the storage efficiency of the storage shelf while using a pallet exceeding.

In addition to the third feature configuration, the fourth feature configuration of the article storage facility of the present invention,
The stacking part is
Among the storage units in the empty state among the storage units, the pallet to be stored is defined as a storage unit in which an upper storage unit stores a pallet whose deflection amount exceeds the allowable limit as a storage unit to be stored. In the state where it is assumed that the pallet to be stored is stored in the storage unit scheduled to be stored in place of the condition that the set allowable condition is equal to or lower than the set upper limit height, When the stored pallet is taken out, the article placement body having the reference height for scooping should be in a state of leaving the set accommodation distance from the upper surface of the article stacked on the pallet to be stored. Based on the deflection amount of the pallet stored in the upper storage unit, the article is stacked under a height regulation condition that regulates the height of the article stacked on the pallet to be stored. It is,
The control means is
It is configured to control the operation of the conveying means so as to store the pallet to be stored on which the articles are stacked under the height regulation condition in a storage unit that is scheduled to store the pallet. Features.

  That is, the stacking unit stores the storage unit in which the pallet whose deflection amount exceeds the allowable limit is stored in the upper storage unit among the empty storage units of the storage unit as the storage unit to be stored. When stacking articles on the target pallet, in place of the condition that the set upper limit height of the allowable setting condition is not exceeded, it is assumed that the pallet to be stored is stored in the storage unit scheduled to be stored in the upper storage unit. When the stored pallet is taken out, the upper storage unit is arranged so that the article placing body having a reference height for scooping is away from the set accommodation distance from the upper surface of the article stacked on the pallet to be stored. Based on the amount of deflection of the stored pallet, the article is stacked under a height regulation condition that regulates the height of the article to be stacked on the pallet to be stored.

  In this way, as the stacking unit stacks the articles under the height regulation condition, the control unit stores the pallet to be stored on which the articles are stacked under the height regulation condition. The operation of the conveying means is controlled so as to be stored in the planned storage portion.

In other words, the vertical interval between the support members mounted in the upper and lower adjacent storage units in the storage unit arranged in the vertical direction in the storage shelf is determined on the basis of storing pallets whose deflection amount does not exceed the allowable limit. Therefore, when the pallet on which the articles are stacked is stored in the storage section in which the articles are stored in the upper storage section among the storage sections in the empty state among the storage sections, the pallet from the upper storage section May not be performed properly.
For example, if the amount of deflection of the pallet stored in the upper storage part exceeds the allowable limit and the height of the article loaded on the pallet to be stored is the set upper limit height, When removing the pallet stored in the storage unit, the article mounting body of the reference height for scooping will be considerably closer to the upper surface of the article stored in the storage unit below the storage target. The article mounting body at the reference height is not separated from the set accommodation distance from the upper surface of the articles stacked on the pallet to be stored, and the pallet cannot be taken out from the upper storage unit as appropriate.

  According to the fourth characteristic configuration, among the empty storage portions of the storage portions, the storage portion in which the pallet whose deflection amount exceeds the allowable limit is stored in the upper storage portion is set as the storage portion to be stored. When an article is stacked on the pallet to be stored, the upper storage is performed in a state where it is assumed that the pallet to be stored is stored in the storage unit to be stored, instead of the condition that the set upper limit height of the allowable setting condition is not exceeded. When removing the pallet stored in the section, the upper storage is performed so that the article mounting body of the reference height for scooping is in a state of leaving the set accommodation distance from the upper surface of the article stacked on the pallet to be stored. Based on the amount of deflection of the pallet stored in the section, the article is loaded under a height regulation condition that regulates the height of the article to be stacked on the storage target pallet. When the pallet is taken out from the storage unit located above the storage unit scheduled to be stored in the state of being stored in the storage unit, the article mounting body having a reference height for scooping is stored in the storage unit scheduled to be stored. Since the set accommodation distance is separated from the upper surface, it is possible to avoid the occurrence of troubles such as contact of an article placement body having a reference height for scooping with an article stored in a storage section to be stored.

  In short, according to the fourth feature configuration of the present invention, in addition to the operational effect of the third feature configuration, the pallet whose downward deflection exceeds the allowable limit is taken out while being removed by scooping processing. It is possible to provide an article storage facility that can be performed properly and appropriately without being affected by the articles stored in the storage unit.

In addition to any of the first to fourth characteristic configurations described above, the fifth characteristic configuration of the article storage facility of the present invention is:
The storage shelves are erected on a floor surface by arranging a column set consisting of a pair of columns arranged in the longitudinal direction of the shelf in the shelf width direction of the storage shelf, and the support is attached to the shelf in each of the column sets. The storage unit is arranged in a vertical direction in a state of projecting in a cantilevered direction in the horizontal width direction, and the storage unit is configured to be formed in a state of being aligned in the vertical direction between the column groups arranged adjacent to each other in the horizontal direction of the shelf. It is characterized by that.

In other words, each column set erected on the floor surface side by side in the width direction of the shelf is provided side by side in the vertical direction with the support protruding in a cantilevered manner toward the width direction of the shelf, and adjacent to the width direction of the shelf. Thus, a plurality of storage portions are formed in a state of being arranged in the vertical direction between the column assemblies arranged side by side.
Of course, the pallet in which the upper and lower spaces of the storage units arranged in the vertical direction of the storage units arranged in the vertical direction are loaded with articles having a set upper limit height in the storage unit below the storage unit to be stored. In order to perform the lowering process and the scooping process for the storage unit to be stored, the target height for lowering the pallet where the amount of downward deflection of the article mounting body is within the allowable limit. When the article mounting body is positioned at the scooping reference height, the article placement body is set at an interval away from the set accommodation distance from the upper surface of the article stored in the lower storage section.

  As described above, the support members are arranged side by side in the vertical direction in a state of protruding in a cantilevered manner toward the lateral width direction of the shelf on each of the column sets erected on the floor surface portion, thereby forming storage portions aligned in the vertical direction. Therefore, the storage portions closely arranged in the vertical direction can be formed with a simple configuration.

  In short, according to the fifth feature configuration of the present invention, in addition to any of the first to fourth feature configurations, an article storage facility capable of forming a storage section closely arranged in the vertical direction with a simple configuration can be provided. .

The article stacking method in the article storage facility according to the present invention includes a stacking unit that stacks articles on a pallet in a stacked state under a setting allowable condition that is not more than a set upper limit height and not more than a set upper limit weight, and the pallet A storage shelf in which a plurality of storage units to be placed and supported are arranged in parallel in the vertical direction, and the pallet on which articles are stacked in the stacking unit is stored in the storage unit, and is stored in the storage unit. A conveying means for conveying the pallet to carry out the pallet; and a control means for controlling the operation of the conveying means;
The transporting means is an article mounting body that can be driven back and forth in a retracted state in which it retracts outward from the storage part and a protruding state in which the storage part protrudes, and can be driven up and down, and the pallet is stored in the storage part. Configured to perform a lowering process stored in the storage unit and a scooping process for removing the pallet stored in the storage unit,
The storage portion is configured to place and support both end portions of the pallet with a pair of left and right support bodies arranged in parallel in a state in which the article placement body in the protruding state is spaced vertically.
When the control means performs the lowering process, the article mounting body protrudes into the protruding state at a reference height for lowering than the pair of left and right supports, and then the pair of left and right supports. The article mounting body is lowered to a lower target height for lowering, and then the operation of the conveying means is controlled and the scooping process is performed in order to retract the article mounting body to the retracted state. Sometimes, the article mounting body is protruded in the protruding state at a scooping reference height corresponding to the lowering target height, and then the scooping target height corresponding to the lowering reference height is An article stacking method in an article storage facility configured to control the operation of the conveying means to raise the article placing body and then to retract the article placing body to the retreated state, The first feature is
When the article is loaded with the set upper limit weight when the article is loaded with the set upper limit weight as the pallet, the difficult deflection pallet and the article with the set upper limit weight are loaded. And a flexible pallet that exceeds the allowable limit,
The control means sets the lowering target height and the scooping reference height to be lower for the pallet in which the deflection amount exceeds the allowable limit than the pallet in which the deflection amount is within the allowable limit. , Configured to perform the unloading process and the scooping process,
The storage shelf has a vertical interval between the support members provided in each of the storage units adjacent to each other in the vertical direction in the storage unit arranged in the vertical direction. In the case where it is assumed that the pallet loaded with articles of height is stored in an undeflected state, in order to perform the lowering process on the storage unit to be stored, the amount of bending of the article mounting body is set. Is set at an interval that leaves the set accommodation distance from the upper surface of the article stored in the lower storage portion when the pallet is positioned at the lowering target height for the pallet within the allowable limit. Configured to
In the loading section,
When stacking articles on the easy-to-store flexible pallet, the storage section in which the articles are stored in the lower storage section among the storage sections in the empty state among the storage sections, In place of the setting upper limit weight of the setting permissible condition or less, when the easy-deflection pallet to be stored is stored in the storage unit scheduled to be stored, the article mounting body at the target height for lowering is placed below Deflection that regulates the amount of deflection of the easy-flexible pallet based on the height of the article stored in the lower storage section so as to be away from the set accommodation distance from the upper surface of the article stored in the storage section So that the goods are packed under the quantity regulation condition,
The control means is
It is configured to control the operation of the conveying means so as to store the easy-deflection pallet on which the articles are stacked under the deflection amount regulation condition in the storage unit scheduled to be stored for the easy-deflection pallet. It is characterized by that.

  That is, as a pallet, when the article is loaded at the set upper limit weight when the article is loaded at the upper limit weight when stored in the storage unit, and the article is loaded at the set upper limit weight, There are easy-deflection pallets that exceed allowable limits.

  In addition, a pallet loaded with articles having a set upper limit height is stored in a lower storage section where the vertical spacing of the supports provided in each of the storage sections adjacent in the vertical direction in the storage sections arranged in the vertical direction in the storage shelf is stored. In this state, in order to perform the lowering process and the scooping process on the upper storage unit, the article mounting body is positioned at the target lowering level and the scooping reference height for the pallet whose deflection amount is within the allowable limit. When this is done, the article placement body is set at an interval that leaves the set accommodation distance from the upper surface of the article stored in the lower storage section.

  Then, in the stacking unit, among the empty storage units of the storage unit, the storage unit in which the article is stored in the lower storage unit is set as the storage unit to be stored, and the easy-to-store flexible pallet , When placing the easy-deflection pallet to be stored in the storage unit that is scheduled to be stored, the article mounting body with the target height for lowering is placed downward. Deflection that regulates the amount of deflection of the easy-flexible pallet based on the height of the article stored in the lower storage section so as to be away from the set accommodation distance from the upper surface of the article stored in the storage section Goods will be stacked under the quantity regulation conditions.

  Thus, in the stacking unit, the control means stores the articles stacked under the deflection amount regulation condition as the articles are stacked under the deflection amount regulation condition that regulates the deflection amount of the easy deflection pallet. The operation of the conveying means is controlled so as to store the subject easy-deflection pallet in the storage unit scheduled to be stored for the easy-flexion pallet.

In other words, the vertical interval between the support members mounted in the upper and lower adjacent storage units in the storage unit arranged in the vertical direction in the storage shelf is determined on the basis of storing pallets whose deflection amount does not exceed the allowable limit. Therefore, when the pallet whose deflection amount exceeds the allowable limit is stored in the storage unit in which the article is stored in the lower storage unit among the empty storage units of the storage unit, the lowering target In some cases, the article mounting body having a height does not leave the set accommodation distance from the upper surface of the article stored in the lower storage section.
For example, when the height of the article stored in the lower storage section is the set upper limit height, the upper surface of the article stored in the lower storage section is the article placement body having the target height for lowering The article placement body having the target height for lowering does not leave the set accommodation distance from the upper surface of the article stored in the lower storage section.

  According to the first feature of the present article stacking method, in the stacking unit, among the empty storage units in the storage unit, the storage unit in which the article is stored in the lower storage unit is stored. As a part, when an article is stacked on the easy-to-store pallet, it is lowered when the easy-to-store pallet to be stored is stored in the storage unit to be stored, instead of the condition that the set upper limit weight is not exceeded. Based on the height of the article stored in the lower storage section, so that the article mounting body of the target height for use is separated from the set accommodation distance from the upper surface of the article stored in the lower storage section, Since the articles are stacked under the deflection amount regulation condition that regulates the deflection amount of the easy deflection pallet, when the easy deflection pallet loaded with the articles under the deflection amount regulation condition is stored in the storage unit that is scheduled to be stored The target for unloading Since the article placement body is separated from the set accommodation distance from the upper surface of the article stored in the lower storage section, the article placement body with the target height for lowering is brought into contact with the article stored in the lower storage section. It is possible to avoid troubles such as

  Therefore, while avoiding the occurrence of troubles such as the article placement body having the target height for lowering coming into contact with the article stored in the lower storage section, the upper and lower positions in the storage section aligned vertically in the storage shelf Since it is possible to determine the interval in the vertical direction of the support that each of the adjacent storage units is equipped on the basis of storing a pallet whose deflection amount does not exceed the allowable limit, it is possible to suppress a decrease in storage efficiency of the storage shelf. It will be a thing.

  In short, according to the first feature of the article stacking method in the article storage facility of the present invention, as the pallet, when the articles are stacked with the set upper limit weight and stored in the storage unit, the downward deflection amount is an allowable limit. While using the inner pallet and the pallet exceeding the allowable limit, it is possible to provide an article stacking method in an article storage facility that can suppress a decrease in storage efficiency of the storage shelf.

In addition to the first feature, the second feature of the article stacking method in the article storage facility of the present invention is:
In the loading section,
Among the storage units in the empty state among the storage units, the pallet to be stored is defined as a storage unit in which an upper storage unit stores a pallet whose deflection amount exceeds the allowable limit as a storage unit to be stored. When an article is stacked, the pallet to be stored is stored in the upper storage unit in a state where it is assumed that the pallet to be stored is stored in the storage unit scheduled to be stored instead of the set upper limit height of the setting permission condition. When the pallet is taken out, the upper placing unit is arranged so that the article placing body having the reference height for scooping is away from the set accommodation distance from the upper surface of the article stacked on the pallet to be stored. Based on the amount of deflection of the pallet being stored, the article is stacked under a height regulation condition that regulates the height of the article to be stacked on the pallet to be stored,
The control means is
It is configured to control the operation of the conveying means so as to store the pallet to be stored, on which articles are stacked under the height regulation condition, in a storage unit scheduled to be stored for the pallet. It is characterized by.

  That is, in the loading unit, among the empty storage units of the storage unit, the storage unit in which the pallet whose deflection amount exceeds the allowable limit is stored in the upper storage unit is stored as the storage unit to be stored. When stacking articles on the target pallet, in place of the condition that the set upper limit height of the allowable setting condition is not exceeded, it is assumed that the pallet to be stored is stored in the storage unit scheduled to be stored in the upper storage unit. When the stored pallet is taken out, the upper storage unit is arranged so that the article placing body having a reference height for scooping is away from the set accommodation distance from the upper surface of the article stacked on the pallet to be stored. Based on the amount of deflection of the stored pallet, the article is stacked under a height regulation condition that regulates the height of the article to be stacked on the pallet to be stored.

  As described above, in the stacking unit, as the article is stacked under the height regulation condition, the control unit is configured to store the pallet to be stored on which the article is stacked under the height regulation condition. The operation of the conveying means is controlled so as to be stored in the storage unit scheduled to be stored.

In other words, the vertical interval between the support members mounted in the upper and lower adjacent storage units in the storage unit arranged in the vertical direction in the storage shelf is determined on the basis of storing pallets whose deflection amount does not exceed the allowable limit. Therefore, when the pallet on which the articles are stacked is stored in the storage section in which the articles are stored in the upper storage section among the storage sections in the empty state among the storage sections, the pallet from the upper storage section May not be performed properly.
For example, if the amount of deflection of the pallet stored in the upper storage part exceeds the allowable limit and the height of the article loaded on the pallet to be stored is the set upper limit height, When removing the pallet stored in the storage unit, the article mounting body of the reference height for scooping will be considerably closer to the upper surface of the article stored in the storage unit below the storage target. The article mounting body at the reference height is not separated from the set accommodation distance from the upper surface of the articles stacked on the pallet to be stored, and the pallet cannot be taken out from the upper storage unit as appropriate.

  According to the second feature of the present article stacking method, in the stacking unit, among the empty storage units of the storage unit, a pallet whose deflection amount exceeds an allowable limit is stored in the upper storage unit. When stacking articles on a storage target pallet with the storage unit as a storage unit scheduled to be stored, the storage target pallet was stored in the storage unit scheduled to be stored instead of the condition of setting the upper limit height of the setting allowable condition. Assuming that the pallet stored in the upper storage unit is taken out, the article mounting body having a reference height for scooping leaves the set accommodation distance from the upper surface of the article stacked on the pallet to be stored. Since the article is loaded under the height regulation condition that regulates the height of the article to be stacked on the pallet to be stored based on the amount of deflection of the pallet stored in the upper storage section, When the target pallet is stored in the storage unit scheduled to be stored, when the pallet is taken out from the storage unit located above the storage unit planned to be stored, the article mounting body having a reference height for scooping is stored in the storage unit. This means that the set accommodation distance will be separated from the upper surface of the article stored in the section, causing trouble such as contact of the article mounting body with a large reference height for contact with the article stored in the storage section to be stored. Can be avoided.

  In short, according to the second feature of the article stacking method in the article storage facility of the present invention, in addition to the operational effect of the first feature of the article stacking method in the article storage facility described above, the downward deflection amount is allowed. It is possible to provide an article stacking method in an article storage facility that can carry out a pallet exceeding the limit while taking out the pallet by scooping without being affected by the article stored in the lower storage section.

Schematic plan view of goods storage facility Side view of storage shelf Schematic perspective view of the loading part Schematic front view showing relationship between pallet and fork stored in storage Block diagram showing control configuration The flowchart which shows the control action of 1st Embodiment. Flowchart showing the control operation of the same embodiment The flowchart which shows the control action of 2nd Embodiment.

[First Embodiment]
Next, embodiments of the present invention will be described with reference to the drawings.
As shown in FIG. 1, a stacking unit D that stacks articles B carried in from the outside in a stacked state on a pallet P, and a plurality of storage units S that support and mount the pallets P on which the articles B are stacked. The storage shelf 1 provided, the article unloading part E for taking out the article B from the pallet P and carrying it out to the outside, the pallet P on which the article B is stacked by the loading part D is stored in the storage part S and the storage part S The pallet P stored in the pallet P is transported to the article unloading unit E. The pallet P is transported to the pallet P, and the pallet processing unit G for stacking and stacking the empty pallets P is installed and loaded. The article storage facility is configured to store the articles B stacked on the pallet P in the storage section S, take out the articles B stacked on the pallet P from the pallet P, and carry them out to the outside.

A pair of left and right storage shelves 1 are installed with an interval in the state in which the article loading / unloading directions are opposed to each other, and a pair of left and right storage conveyors 2 are installed beside the pair of left and right storage shelves 1. .
A stacker crane K is provided which is guided by a traveling rail 3 installed on the floor surface between the pair of left and right storage shelves 1 and is movable along the lateral width direction of the storage shelves 1. A transport carriage J is provided that can travel along a traveling line 4 that passes through the loading / unloading conveyor 2, the article unloading section E, and the pallet processing section G.
By the way, in the present embodiment, the pallet P is used to store the pallet P on which the article B is stacked in the loading unit D in the storage unit S and to carry the pallet P stored in the storage unit S to the article unloading unit E. The transport means F for transporting the vehicle is configured with the stacker crane K and the transport carriage J as main parts.

  As shown in FIG. 2, the stacker crane K is in a retracted state in which the stacker crane K is retracted to the outside of the storage unit S and the storage unit S is moved up and down along the lift mast 6 erected from the traveling carriage 5. A fork 8 which can be driven out and retracted in a protruding state protruding inward is provided as an article mounting body, and a lowering process for storing the pallet P in the storage portion S by the lifting and lowering operation of the fork 8 and A scooping process for taking out the pallet P stored in the storage section S is performed.

That is, the stacker crane K performs a warehousing operation for storing the pallet P received in the loading / unloading conveyor 2 in the storage portion S and a warehousing operation for unloading the pallet P stored in the storage portion S to the loading / unloading conveyor 2. In addition, when the warehousing operation is performed, the unloading process is performed, and when the warehousing operation is performed, the crawl process is performed.
The stacker crane K operates the fork 8 in the same manner as the scooping process when unloading the pallet P from the loading / unloading conveyor 2 during the loading operation, and also when unloading the pallet P from the loading / unloading conveyor 2 during the loading operation. The fork 8 is operated in the same manner as the above-described lowering process.

As shown in FIG. 1 and FIG. 2, both ends of the pallet P are stored in a pair of left and right support bodies 10 in which the storage portion S of the storage shelf 1 is juxtaposed in a state in which the protruding fork 8 passes vertically. It is comprised so that a part may be mounted and supported.
That is, each of the pair of left and right storage shelves 1 has a pair of front and rear columns 9 and 9 spaced apart in the longitudinal direction of the shelf, arranged side by side along the width direction of the shelf, The support members 10 are arranged in a vertical direction in a state of protruding in a cantilevered manner in the width direction of the shelf, and the storage portions S are arranged in the vertical direction between pairs of columns arranged adjacent to each other in the width direction of the shelf. It is comprised so that it may form.

  Incidentally, the pair of front and rear columns 9 and 9 constituting the column assembly are assembled in advance in an integrated state by a horizontal material or a lattice material, and the column assembly arranged in the width direction of the shelf is a rear portion of the storage shelf 1. It is assembled in an integrated state by a horizontal material, a brace material or the like installed at a location corresponding to the above.

  When the crane control unit KC (see FIG. 5) mounted on the stacker crane K performs the above-described lowering process, the fork 8 protrudes into a protruding state at a lower reference height than the pair of left and right supports 10. Next, the operation of the stacker crane K is controlled so that the fork 8 is lowered to a lower target height for lowering than the pair of left and right supports 10 and then the fork 8 is retracted. When processing is performed, the fork 8 is protruded in a protruding state at a reference height for scooping that corresponds to the target height for lowering, and then the fork 8 is raised to a target height for scooping that corresponds to the reference height for lowering. Then, the operation of the stacker crane K is controlled so as to retract the fork 8 to the retracted state.

  The crane control unit KC detects various sensors such as a travel position detection sensor for detecting the travel position of the travel carriage 5 traveling on the travel rail 3 and a lift position detection sensor for detecting the lift position of the lift base 7. Although the operation of the stacker crane K is controlled based on the information, detailed description thereof is omitted in this document.

  The loading unit D loads the article B, which is carried by the loading vehicle 11 such as a hand cart, on the pallet P in a stacked state under a set allowable condition that is not more than the set upper limit height and not more than the set upper limit weight. As shown in FIG. 3, the pallet P that receives the empty pallet P that is transported by the transport carriage J and is stacked with the articles B in the stacked state is transported as shown in FIG. 3. A pair of loading work conveyors 12 to be sent to J and a palletizing robot M for loading an article B carried in the loading vehicle 11 onto a pallet P placed on the loading work conveyor 12 are provided. .

The articles B to be carried are stacked on the transport pallet Q in a stacked state, and the transport pallet Q is configured using an IC tag or the like, and an article information storage unit 13 for storing article information. The article information storage unit 13 includes identification information of the article B, article specification information indicating the size and weight of the article B, and the number of articles indicating the number of articles stacked on the transport pallet Q. Article information such as information is stored.
And the loading part D is equipped with a portable article information reading part 14 for reading the article information stored in the article information storage part 13, and an operator located in the loading part D By reading the article information stored in the article information storage unit 13 using the article information reading unit 14, the loading management controller HD (see FIG. 5) is less than the set upper limit height and less than the set upper limit weight. The palletizing robot M is operated so that the article B is stacked on the pallet P in a set allowable condition.

In other words, the loading management controller HD stores in advance a loading pattern for loading the article B under the setting allowable condition for each of the plurality of types of articles B to be carried in, and is read by the article information reading unit 14. Based on the received article information, the loading pattern of the article B to be stacked is determined, and the palletizing robot M is operated.
In order to operate the palletizing robot M, information of various sensors such as a sensor for detecting the position of the article B placed on the transfer pallet Q is also used, but their specific configuration is well known. Therefore, the description thereof is omitted in this document.

  The above-mentioned stacking pattern is set as a pattern in which the set number of articles B are arranged in the horizontal direction for each stacking stage, and is set as a pattern for stacking on a plurality of setting stages. Is set as a pattern that allows a small number of articles B to be positioned.

  In addition, when stacking a plurality of articles B that are carried in, when they cannot be stacked on one pallet P, they are distributed and stacked on a plurality of pallets P. The maximum number of articles B satisfying the setting permissible condition is loaded on the pallet P with the placement order earlier, and the number of articles B less than the maximum number satisfying the setup permissible condition is placed on the pallet P with the last placement order. To be stacked.

  Incidentally, the reason why the articles B stacked on the transport pallet Q are reloaded into the pallet P and the pallet P is stored in the storage part S is that the transport pallet Q is weaker than the pallet P and stored. For example, it is not suitable for storing in the part S, and the size of the transport pallet Q is not suitable for storing in the storage part S.

  An empty pallet P is sequentially carried into the pair of loading work conveyors 12 by the transport carriage J, and the pallet P placed on one of the pair of loading work conveyors 12. When the stacking of the article B is finished, the loading management controller HD makes the palletizing robot to start the stacking of the article B on the pallet P placed on the other stacking work conveyor 12. It is configured to control the operation of M.

  In addition, the pallet P on which the loading of the article B has been completed is taken out from the loading conveyor 12 to the transport carriage J and is transported to the loading / unloading conveyor 2 of the storage shelf 1 by the transport carriage J. The empty pallet P taken out from the pallet processing section G is supplied to the loading work conveyor 12 from which the pallet P is taken out by the transport carriage J.

Incidentally, in the present embodiment, the setting upper limit height in the setting permissible condition is, for example, 1350 mm, and the setting upper limit weight is 500 kg.
Further, the article B is box-shaped, and as described above, the article B is stacked on the pallet P in a stacked state in a state where a predetermined number of articles B are arranged vertically and horizontally in each stage.

  As shown in FIG. 3, the palletizing robot M includes a columnar base frame 15 erected on the floor, a bending / extending arm 16 that can be swiveled and moved up / down with respect to the base frame 15, and its bending / extension An arm 16 is provided with an article holding unit 17 that is attached to the tip of the arm 16 and holds the article B by suction. The article B is loaded on the pallet P while being held by the article holding unit 17 one by one. It is configured to be attached.

  As shown in FIG. 1, the article carry-out section E is configured to carry the article B taken out from the pallet P to the outside by the carry-out conveyor 18. A pair of unloading conveyors 19 for receiving the pallet P in an article stacking state conveyed by J and sending an empty pallet P from which an article B has been taken out to the conveyance carriage J and the pallet P are loaded. A depalletizing robot N for transferring the article B onto the carry-out conveyor 18 is provided.

  The pair of carry-out work conveyors 19 is sequentially loaded with the pallets P in the article loading state by the transport carriage J, and the pallets placed on one of the pair of carry-out work conveyors 19 When the take-out of the article B from P is completed, the take-out management controller HE (see FIG. 5) depalletizes to start taking out the article B from the pallet P placed on the other carry-out work conveyor 19. The operation of the robot N is configured to be controlled.

  Also, the empty pallet P from which the article B has been taken out is taken out from the carry-out conveyor 19 to the transport carriage J, is transported to the pallet processing section G by the transport carriage J, and is unloaded from the storage shelf 1. The pallet P in the article stacking state is configured to be supplied to the carry-out conveyor 19 from which the empty pallet P is taken out by the transport carriage J.

  Although not described in detail, the depalletizing robot N is configured in the same manner as the palletizing robot M, and holds the articles B stacked on the pallet P one by one while taking them out to the carry-out conveyor 18. It is configured.

  The pallet processing unit G that performs stacking processing and stacking processing of the empty pallets P includes a stacking processing unit Gd that stacks the empty pallets P supplied from the transport carriage J, and an empty pallet that is stacked. A leveling processing unit Gb that holds the pallet P and supplies empty pallets P one by one to the transport carriage J is provided.

The pallet P that has been emptied in the article unloading unit E is sequentially supplied to the stacking processing unit Gd in the pallet processing unit G. When the number of stacked pallets P reaches the set number of stacks. The stacked pallets P are supplied to the loading / unloading conveyor 2 of the storage shelf 1 by the transport carriage J and stored in the storage shelf 1 (see FIG. 2).
Incidentally, in the state where the number of stacked pallets P reaches the set number, the height of the stacked pallets P is higher than the sum of the set upper limit height and the thickness of the pallet P in the setting allowable conditions. Of course, it becomes a small height.

  The pallet processing unit Gb in the pallet processing unit G is sequentially supplied with the stacked pallets P stored in the storage shelf 1, and the empty pallet P taken out one by one from the stacking processing unit. The conveyor cart J is configured to be transported to the carry-in / out conveyor of the loading unit D.

  In addition, since the carrying-in operation of the article B and the carrying-out operation of the article B are normally performed in different time zones, the pallet processing unit G is equipped. Since the specific configurations of the stacking processing unit Gd and the stacked stacking processing unit Gb are well known, detailed description thereof will be omitted in this document.

As shown in FIG. 1, the transport carriage J is configured to include a pallet transport conveyor 20 configured using a chain conveyor or the like at the top.
And the pallet conveyance position with respect to the loading / unloading conveyor 2 in the storage shelf 1, the pallet conveyance position with respect to the loading work conveyor 12 in the loading part D, and the pallet conveyance position with respect to the unloading work conveyor 19 in the article unloading part E In addition, in order to carry the pallet P while traveling to the pallet carrying position for the stacking processing unit Gd and the pallet carrying position for the stacking separation processing unit Gb in the pallet processing unit G, the cart management controller HJ A work command is instructed to a cart control unit JC mounted on J, and the cart control unit JC is configured to control the operation of the transport cart J based on the commanded work command (see FIG. 5).

  That is, as shown in FIG. 5, a trolley management controller HJ, a storage shelf management controller HT, a loading management controller HD, a take-out management controller HE, and a pallet processing controller for managing the operation of the pallet processing section G The HG is communicably connected, and the trolley management controller HJ is configured to transport the pallet P by operating the transport trolley J based on command information from another controller. Yes.

  As an example, the conveyance of the pallet P to the loading unit D will be described. When the loading of the article B on the empty pallet P is completed, the loading management controller HD loads the article B in a stacked state. The unloading request information for requesting the unloading of the pallet P in the article loading state is output, and the cart management controller HJ conveys the pallet P in the article loading state to the loading / unloading conveyor 2 of the storage shelf 1. Therefore, a transport command is instructed to the cart control unit JC of the transport cart J, and in addition, the storage shelf management controller stores the pallet P in the stacking state in the storage shelf 1 so that the crane of the stacker crane K can be stored. A conveyance command is commanded to the control unit KC.

  Also, the trolley management controller receives the empty pallet P from the spread processing unit Gd of the pallet processing unit G, and the empty pallet is placed on the loading work conveyor 12 from which the pallet P is unloaded in the loading unit D. In order to supply P, it is configured to instruct a transport command to the cart control unit JC of the transport cart J.

  By the way, in the present embodiment, the pallet P is used to store the pallet P on which the article B is stacked in the loading unit D in the storage unit S and to carry the pallet P stored in the storage unit S to the article unloading unit E. The transport means F for transporting the vehicle is composed mainly of the stacker crane K and the transport carriage J. The control means H for controlling the operation of the transport means F is a controller for truck management HJ, storage shelf management. The controller HT, the cart control unit JC of the transport cart J, and the crane control unit KC of the stacker crane K are configured as main parts.

The basic configuration of the present embodiment is as described above, and the characteristic configuration of the present embodiment will be described below.
In the present embodiment, when the article B is loaded with a set upper limit weight (for example, 500 kg) as the pallet P in the storage portion S of the storage shelf 1 with a set upper limit weight (for example, 500 kg), the allowable amount When the article B is stacked with a set upper limit weight, there is an easily-flexible pallet Py exceeding the allowable limit (for example, 10 mm).
The hard-flexible pallet Pn and the easy-flexible pallet Py are used while being stacked in a state of being mixed in the stacking processing part Gd of the pallet processing part G.

In the present embodiment, the easy-flexible pallet Py has an amount of deflection exceeding an allowable limit (for example, 10 mm) when an article B of 300 kg or more is stacked, and when an article B of 400 kg is stacked, It becomes 20 mm, and when an article B of 500 kg is stacked, the amount of deflection is 30 mm.
Therefore, in the following description, the easy-deflection pallet Py on which the articles B of 300 kg or more are stacked is referred to as an over-deflection pallet PT, and the articles B of 300 kg or more and 400 kg or less are stacked on the over-deflection pallet PT. The state in which the article B is loaded is referred to as a medium-deflection state, and a state in which an article B exceeding 400 kg and 500 kg or less is stacked on the over-deflection pallet PT is referred to as a large deflection state.

As described above, the pallet P includes the hardly-flexible pallet Pn and the easily-flexible pallet Py having different bending amounts. In the present embodiment, the storage shelf 1 has an allowable limit (for example, 10 mm). It is configured corresponding to the pallet P.
That is, the article B having a set upper limit height in the storage unit below the storage unit to be stored is set in the vertical direction of the support 10 provided in each of the storage units S adjacent in the vertical direction in the storage units S arranged in the vertical direction. In the state where the pallet P loaded with the pallet P is stored, in order to perform the lowering process on the storage unit to be stored, the fork 8 has a lowering target for the pallet P in which the downward deflection amount is within the allowable limit. When positioned at the height, the storage shelf 1 is configured in a state where the fork 8 is set at an interval away from the upper surface of the article B stored in the storage section S below the set accommodation distance.

The interval between adjacent support bodies 10 arranged in the vertical direction will be described with reference to an example in which the fork 8 is protruded into the storage portion S at the target height for lowering for the lowering process. As shown in FIG. 4, the distance L1 between adjacent support bodies 10 arranged in the vertical direction is the thickness L5 of the pallet P stored in the lower storage section S and the height of the articles B stacked on the pallet P. Set upper limit height L6 corresponding to the maximum height, set accommodation distance L3 which is the distance between the upper surface of the article B and the lower surface of the fork 8, the thickness L4 of the fork 8, and the upper surface of the fork 8 and the storage of the storage object This is a value obtained by adding a separation distance L2 between the portion S and the upper surface of the support 10.
The separation distance L2 is a value obtained by adding the amount of bending downward of the pallet P and a margin interval between the fork 8 having the reference height for scooping and the lower surface of the pallet P placed on the support 10. .

  Therefore, in the state where the downward deflection amount of the pallet P stored in the storage portion S is within the allowable limit of the difficult-to-flexible pallet Pn (for example, within 10 mm), the distance between adjacent support bodies 10 arranged in the vertical direction Since L1 is determined, the storage section S of the storage shelf 1 can be formed in a closely lined state between adjacent column sets, and the pallet P can be efficiently stored in the storage shelf 1. .

The above-described separation distance L2 corresponds to the scooping reference height or the lowering target height of the fork 8, and is set to, for example, 30 mm for the pallet P whose deflection amount is an allowable limit (for example, 10 mm). And about the bending excess pallet PT whose bending amount exceeds an allowable limit (for example, 10 mm), a larger value is set than the pallet P whose bending amount is an allowable limit (for example, 10 mm).
In the present embodiment, for example, 40 mm is set for a medium deflection pallet with a deflection amount of 20 mm, and for example, 50 mm is set for a large deflection pallet with a deflection amount of 30 mm.
Further, the set accommodation distance L3 is set to 25 mm, for example.

  That is, the storage shelf management controller HT that manages the operation of the stacker crane K has a pallet P (hereinafter, referred to as a “deflection normal pallet PS”) whose deflection amount is an allowable limit (for example, 10 mm), or the deflection amount is 20 mm. The stacker is controlled by controlling whether it is a medium-deflection pallet or a large-deflection pallet with a deflection amount of 30 mm and the target height for lowering of the scooping process is changed. The crane K is configured to operate.

  Incidentally, in FIG. 4, L7 indicates a separation distance between the lower surface of the pallet P and the upper surface of the support 10 in a state where the fork 8 is positioned at the reference height for lowering or the target height for scooping. This corresponds to the reference height for lowering the fork 8 and the target height for scooping, and is set to 60 mm, for example.

The pallet P stores pallet information such as identification information for identifying each pallet P, start date information indicating a use start date, and pallet type information indicating whether the pallet Pn is a hard-flexible pallet Pn or an easy-flexible pallet Py. A pallet information storage unit 21 is provided (see FIG. 3). As shown in FIG. 1, the pallet information storage unit 21 of the pallet P has a pallet information storage unit 21 at a location corresponding to the loading work conveyor 12 of the stacking unit D. A pallet information reading unit 22 for reading stored pallet information is provided.
The pallet information storage unit 21 is configured using an IC tag or the like, and the pallet information reading unit 22 is configured using a tag reader or the like.

  Incidentally, a pallet information reading unit 22 that reads pallet information stored in the pallet information storage unit 21 of the pallet P is provided at a location corresponding to the loading / unloading conveyor 2 of the storage shelf 1, and a storage shelf management controller The HT is configured to be stored in the storage shelf 1 while identifying the pallet P to be received.

When the stacking controller HD completes the stacking of the article B on the empty pallet P and outputs the above-described carry-out request information, the stacking management controller HD is in an article stacking state in which the article B is stacked in a stacked state. About the pallet P, the identification information of the pallet P, the bending information indicating the downward bending amount of the pallet P in the state of being stored in the storage part S, and the height of the article B stacked on the pallet P The information is configured to be output to the storage shelf management controller HT.
In the present embodiment, the deflection information indicating the deflection amount of the pallet P is information indicating whether the pallet P is a deflection normal pallet PS or an excess deflection pallet PT. It is information which shows whether it is in a state or a large deflection state.

  When the storage shelf management controller HT stores the pallets P on which the articles B are stacked, if the pallet P is the deflection excess pallet PT, the storage unit in the empty state in the storage unit S. Among storage units, a storage unit in which the article B is not stored in the lower storage unit S (hereinafter referred to as a first condition storage unit), or a storage unit in which the article B is stored in the lower storage unit S. Therefore, when the pallet P to be stored is stored based on the height of the article B stored in the lower storage section S and the deflection amount of the pallet P to be stored, the fork 8 having the target height for lowering is stored. Is selected as the storage unit S to be stored, which is predicted to leave the set accommodation distance L3 from the upper surface of the article B stored in the lower storage unit S (hereinafter referred to as the second condition storage unit). Is configured to do.

  In addition, when storing the pallet P on which the articles B are stacked, the storage shelf management controller HT allows the upper storage portion to be deflected in the empty storage portion Sk of the storage portion S. A storage part in which the excess bending pallet PT exceeding the limit is not stored (hereinafter abbreviated as the third condition storage part), or a storage in which the bending excess pallet PT whose bending amount exceeds the allowable limit is stored in the upper storage part. In the state where it is assumed that the storage target pallet P is stored in the storage unit, the deflection amount of the pallet stored in the upper storage unit and the article B loaded on the storage target pallet P Based on the height, when the pallet P stored in the upper storage portion S is taken out, the fork 8 having a reference height for scooping is set from the upper surface of the article B loaded on the pallet P to be stored. L3 Housing part to leave is expected (hereinafter, abbreviated as fourth condition storage unit) and is configured to select as the storage space S of the housing subject.

That is, in this embodiment, when storing the storage shelf management controller HT stores the pallet P on which the articles B are stacked, the storage shelf management controller HT determines the storage candidate among the empty storage units Sk of the storage units S. The storage unit Sh to be selected is configured to be selected based on a setting rule.
This setting rule is defined as a condition that gives priority to the empty storage unit Sk that is close to the loading / unloading conveyor 2. That is, among the storage spaces of a plurality of rows arranged in the horizontal width direction of the storage shelf 1, the storage portion that preferentially selects the storage space in the row close to the loading / unloading conveyor 2 and is located in the storage space in the same row In S, it is determined as a condition for preferentially selecting the one located below. In the case where the storage units S of the same order exist in the left and right storage shelves 1, the left storage shelf 1 is given priority.

  Next, when the storage shelf management controller HT stores the pallet P on which the articles B are stacked, if the pallet P is the deflection excess pallet PT, the storage candidate Sh is stored as the first storage candidate Sh. When the first selection condition of being the condition storage unit or the second condition storage unit and the third condition storage unit or the fourth condition storage unit is satisfied, the storage unit Sh as the storage candidate is stacked in the product B. When the storage candidate Sh that is the storage candidate does not satisfy the first selection condition, the storage candidate Sh is selected based on the setting rule. It is repeated until the storage candidate storage unit Sh satisfying the first selection condition determines whether or not the storage unit Sh of the selected storage candidate satisfies the first selection condition.

  Further, when the storage shelf management controller HT stores the pallet P on which the articles B are stacked, if the pallet P is not the deflection excess pallet PT, the storage candidate Sh is stored in the third condition storage. When the second selection condition of being a part or a fourth condition storage unit is satisfied, the storage candidate Sh as the storage candidate is selected as a storage unit for storing the pallet P on which the articles B are stacked, and When the storage candidate storage unit Sh does not satisfy the second selection condition, the storage shelf management controller HT selects the storage candidate storage unit Sh based on the setting rule, and the selected storage candidate storage unit Sh is the first storage unit Sh. The determination of whether or not the second selection condition is satisfied is repeated until the storage candidate Sh that is a storage candidate satisfies the second selection condition.

  Then, when the storage shelf management controller HT selects the storage candidate Sh as the storage candidate S for storing the pallet P on which the articles B are stacked, the storage unit S that has selected the pallet P in the article loading state. In order to store in, the transport command is commanded to the crane control unit KC of the stacker crane K.

  By the way, as described above, when the pallet P to be stored is the deflection excess pallet PT, when determining whether the storage candidate storage unit Sh is the second condition storage unit, the lower storage unit S When the pallet P to be stored is stored based on the height of the stored article B and the amount of deflection of the pallet P to be stored, the fork 8 having the target height for lowering is stored in the lower storage unit. In this embodiment, the amount of bending of the pallet P is 20 mm for the medium bending state and 30 mm for the large bending state. Will be predicted.

  The separation distance L2 corresponding to the target height for lowering the fork 8 is, for example, 40 mm for the medium deflection pallet with the deflection amount of 20 mm as described above, and the large deflection pallet with the deflection amount of 30 mm. For example, 50 mm is set.

  Further, when storing the pallet P on which the articles B are stacked, when determining whether the storage candidate storage portion Sh is the fourth condition storage portion, the pallet P is stored in the upper storage portion. Based on the amount of deflection of the pallet and the height of the article B loaded on the pallet to be stored, when the pallet stored in the storage unit positioned above is taken out, the fork 8 having a reference height for scooping is stored. Whether or not to leave the set accommodation distance L3 from the upper surface of the article B loaded on the target pallet is predicted, in this embodiment, the amount of bending of the pallet P is 20 mm, It is predicted that the large deflection pallet is 30 mm.

  The separation distance L2 corresponding to the scooping reference height of the fork 8 is, for example, set to 40 mm for the medium deflection pallet with the deflection amount of 20 mm as described above, and the large deflection pallet with the deflection amount of 30 mm. For example, 50 mm is set.

Next, the loading process executed by the loading management controller HD will be described based on the flowchart of FIG.
First, based on the read information of the article information reading unit 14, information of the article B to be stacked next (type, quantity, etc. of the article B) is set (# 1).
In addition, since the reading operation with respect to the article information storage unit 13 by the article information reading unit 14 is performed by an operator, when the reading operation with respect to the article information storage unit 13 by the article information reading unit 14 is performed in advance, The contents are stored, the stored contents are read out, and the information (article B type, quantity, etc.) of the article B to be stacked next is set.

Next, the storage information of the pallet information storage unit 21 of the empty pallet P placed on the stacking work conveyor 12 that is the current work out of the pair of loading work conveyors 12 is stored as pallet information. Reading is performed by the reading unit 22 (# 2).
Thereafter, a loading pattern for loading the article B on the pallet P to be loaded is set (# 3).
That is, as described above, the loading management controller HD stores in advance a loading pattern in which the articles B are stacked under the allowable setting conditions for each of the plural types of articles B that are carried in, and the article information reading unit. On the basis of the article information read at 14, the loading pattern of the article B to be loaded is selected and the loading pattern is set.

The stacking pattern includes information indicating the number of items in the vertical and horizontal directions, information indicating the maximum number to be stacked, and information indicating the loading procedure of the item B when the items B are arranged vertically and horizontally in each step. It is created in a form that includes.
By the way, the information indicating the loading procedure of the article B is information indicating the position and the order of placing the article B on the pallet P to be stacked.

After setting the loading pattern in # 3, the robot operation process for sequentially loading the articles B on the pallets P to be loaded is executed by operating the palletizing robot M (# 4).
In this flowchart, this robot operation process is a process of stacking one article B along the stacking pattern.

After executing the robot operation process of # 4, it is determined whether or not all the loading of the article B that is currently being stacked has been completed (# 5). After executing # 6), the process proceeds to # 1.
The communication process of # 6 indicates unloading request information for requesting unloading of the pallet P that has been loaded, information about the pallet P that has been loaded, that is, identification information, and the height of the loaded article B. The deflection information indicating the height information and the deflection amount of the pallet P is output.
In this embodiment, the deflection information indicating the amount of deflection is information indicating whether the pallet is a normal pallet PS or an excess pallet PT, and in the case of an excess pallet PT, the intermediate deflection state. Or information indicating whether it is in a large deflection state.

  If it is determined in # 5 that the loading of all articles B has not been completed, the pallet P is currently full as a target for loading, that is, the loading pattern for one pallet P is completed. Is determined (# 7), and if it is determined that the pallet P is not full, the robot operation process of # 4 is executed.

If it is determined at # 7 that the pallet P is full, the communication process (# 8) is executed, then the process proceeds to # 2, and the loading work conveyor 12 to be the next work target. The information stored in the pallet information storage unit 21 of the empty pallet P placed on the pallet is read by the pallet information reading unit 22, and then the above-described processing is repeated.
The communication process of # 8 is the same process as the communication process of # 6, and the unloading request information for requesting unloading of the pallet P that has been loaded and the information about the pallet P that has been loaded, that is, The identification information, the height information indicating the height of the stacked articles B, and the deflection information indicating the deflection amount of the pallet P are output.

  Note that the pallet P on which the articles B are stacked is transported to the loading / unloading conveyor 2 by the transport carriage J and stored in the storage shelf 1 as described above, and the pallet P is unloaded. As described above, the empty pallet P stored in the pallet processing unit G is transported by the transport cart J to the loading conveyor 12.

Next, the warehousing process performed by the storage shelf management controller HT will be described with reference to the flowchart of FIG.
First, the pallet information reading unit 22 reads the storage information of the pallet information storage unit 21 of the pallet P in the article loading state that has been carried into the loading / unloading conveyor 2 (# 1).

Next, a selection process for selecting a storage unit Sh as a storage candidate among the storage units S in the empty state among the storage units S based on the setting rule is executed (# 2).
As described above, the setting rule preferentially selects a storage space in a row close to the loading / unloading conveyor 2 among a plurality of storage spaces arranged in the width direction of the storage shelf 1 and stores the same row in the storage shelf 1. In the storage unit located in the space, the condition is set such that the one located below is preferentially selected. In the case where the storage units S of the same order exist in the left and right storage shelves 1, the left storage shelf 1 is given priority.

After executing the selection process of # 2, it is determined whether or not the pallet P in the article loading state to be stored is an over-deflection pallet (# 13). It is determined whether or not an article exists in the storage section S below the storage section Sh (# 14).
When an article exists in the storage section S below the storage section Sh that is a candidate for storage, the storage is performed based on the height of the article B stored in the storage section S below and the deflection amount of the pallet P to be stored. When the target pallet P is stored, it is determined whether or not the fork 8 having the target height for lowering leaves the set accommodation distance L3 from the upper surface of the article B stored in the lower storage section S (# 15). .

That is, in the processes of # 13 to # 14, when the pallet P in the article stacking state to be stored is a pallet that is excessively bent, the storage candidate Sh of the storage candidate is the first condition storage unit or the second condition storage described above. This corresponds to the process of determining whether the part is a part.
When it is determined in # 15 that the fork 8 having the target height for lowering is not separated from the upper surface of the article B stored in the lower storage section S by the set accommodation distance L3, that is, storage of storage candidates is stored. When the section Sh is not the first condition storage section or the second condition storage section described above, the process proceeds to the process of # 12, and the storage section having the second highest priority after the storage candidate Sh of the storage candidate previously selected is A new storage candidate is selected as the storage unit, and the subsequent processing is repeated.

  When it is determined at # 13 that the pallet is not excessively bent, when it is determined at # 14 that the article B does not exist in the storage section below the storage section Sh that is the storage candidate, and at # 15, the pallet is unloaded. When it is determined that the fork 8 having the target height is separated from the upper surface of the article B stored in the lower storage section S by the set accommodation distance L3, the process proceeds to # 16.

  In the process of # 16, it is determined whether or not there is an over-deflection pallet in the storage part above the storage candidate Sh. If there is a pallet P to be stored in the storage candidate Sh, In the state where it is assumed that the storage unit S is stored, the storage unit S positioned above is based on the amount of deflection of the pallet stored in the upper storage unit S and the height of the article B loaded on the pallet P to be stored. When the pallet P stored in the pallet P is taken out, it is determined whether or not the fork 8 having a reference height for scooping leaves the set accommodation distance L3 from the upper surface of the article B loaded on the pallet P to be stored (#). 17).

That is, the processes of # 16 and # 17 correspond to a process of determining whether the storage candidate storage unit Sh is the above-described third condition storage unit or fourth condition storage unit.
When it is determined in # 17 that the fork 8 having a large reference height does not leave the set accommodation distance L3 from the upper surface of the article B stored in the storage candidate Sh, that is, the storage candidate storage unit When Sh is not the third condition storage unit or the fourth condition storage unit described above, the process proceeds to # 12, and the storage unit with the second highest priority is stored after the storage unit Sh of the storage candidate previously selected. A candidate for storage is selected as the storage unit, and the subsequent processing is repeated.

  When it is determined at # 16 that there is no over-deflection pallet in the storage part S above the storage candidate Sh, and at # 17, the fork 8 having a small reference height is stored as the storage candidate storage part When it is determined that the set accommodation distance L3 is separated from the upper surface of the article B stored in Sh, the storage candidate Sh is selected as a storage target storage section that stores the pallet P in the article stacking state. Then, in order to store the pallet P in the article loading state in the storage unit, a command process for instructing a conveyance command to the crane control unit KC of the stacker crane K is executed (# 18).

  Incidentally, the storage shelf management controller HT includes, for a plurality of storage units S, presence / absence information indicating whether or not the pallet P is stored, and when the pallet P is stored, the identification information and the bending amount indicating the bending amount. The above-described processing is executed by managing information, height information indicating the height of the stacked articles B, and the like.

[Second Embodiment]
Next, a second embodiment will be described. Since the basic configuration of the second embodiment is the same as that of the first embodiment described above, portions different from the first embodiment will be described in detail. As for the same parts as those of the first embodiment, only the parts necessary for understanding the present embodiment will be described, and overlapping descriptions will be omitted as much as possible.

In the second embodiment, as in the first embodiment, the amount of bending on the lower side when stored in the storage unit S of the storage shelf 1 as the pallet P is the set upper limit weight (for example, When the article B is stacked at 500 kg), the hardly-flexible pallet Pn within the allowable limit (for example, 10 mm), and when the article B is stacked at the set upper limit weight, the easily-flexible pallet Py exceeding the allowable limit (for example, 10 mm) There is.
The hard-flexible pallet Pn and the easy-flexible pallet Py are used while being stacked in a state of being mixed in the stacking processing part Gd of the pallet processing part G.

Similar to the first embodiment, also in the second embodiment, when the articles B of 300 kg or more are stacked on the easy-bending pallet Py, the amount of bending exceeds an allowable limit (for example, 10 mm), and 400 kg When the article B is stacked, the deflection amount is 20 mm, and when the 500 kg article B is stacked, the deflection amount is 30 mm.
Therefore, in the following description, the easy-deflection pallet Py on which the articles B of 300 kg or more are stacked is referred to as an over-deflection pallet PT, and the articles B of 300 kg or more and 400 kg or less are stacked on the over-deflection pallet PT. The state in which the article B is loaded is referred to as a medium-deflection state, and a state in which an article B exceeding 400 kg and 500 kg or less is stacked on the over-deflection pallet PT is referred to as a large deflection state.

As described above, the pallet P includes the hard-flexible pallet Pn and the easy-flexible pallet Py having different flexure amounts. In the present embodiment, the storage shelf 1 has a flexure amount similar to the first embodiment. It is configured corresponding to the pallet P which is an allowable limit (for example, 10 mm).
That is, an article whose upper and lower intervals of the support 10 provided in each of the storage units S adjacent in the vertical direction in the storage units S arranged in the vertical direction have a set upper limit height in the storage unit S below the storage unit to be stored. In the state where the pallet P loaded with B is stored, in order to perform the lowering process on the upper storage portion S, the fork 8 is used for lowering the pallet P whose amount of downward deflection is within the allowable limit. When positioned at the target height, the storage shelf 1 is in a state where the fork 8 is set at an interval away from the upper surface of the article B stored in the storage section S below the set accommodation distance L3 (see FIG. 4). Is composed.

  Therefore, in the state where the downward deflection amount of the pallet P stored in the storage portion S is within the allowable limit of the difficult-to-flexible pallet Pn (for example, within 10 mm), the distance between adjacent support bodies 10 arranged in the vertical direction Since L1 (see FIG. 4) is determined, the storage portion S of the storage shelf 1 can be formed in a closely lined state between adjacent column sets, and the pallet P can be efficiently stored in the storage shelf 1. Will be able to.

  The storage shelf management controller HT that manages the operation of the stacker crane K is a bent normal pallet PS having an allowable limit (for example, 10 mm) or an excessively bent pallet PT, as in the first embodiment. Or, in the case of the excess bending pallet PT, it is managed whether it is in a middle bending state where the bending amount is 20 mm or a large bending state where the bending amount is 30 mm. The stacker crane K is configured to operate in a state where the target height for lowering in the lowering process is changed.

As in the first embodiment, the pallet P includes identification information for identifying each pallet P, start date information indicating the use start date, and a pallet indicating whether the pallet Pn is a difficult-to-flexible pallet Pn or an easily-flexible pallet Py. A pallet information storage unit 21 for storing pallet information such as type information is provided (see FIG. 3), and as shown in FIG. 1, at a location corresponding to the stacking work conveyor 12 of the stacking unit D, A pallet information reading unit 22 for reading the pallet information stored in the pallet information storage unit 21 of the pallet P is provided.
The pallet information storage unit 21 is configured using an IC tag or the like, and the pallet information reading unit 22 is configured using a tag reader or the like.

  In addition, a pallet information reading unit 22 for reading pallet information stored in the pallet information storage unit 21 of the pallet P is provided at a location corresponding to the loading / unloading conveyor 2 of the storage shelf 1, and the storage shelf management controller The HT is configured to be stored in the storage shelf 1 while identifying the pallet P to be received.

In the second embodiment, when the loading management controller HD completes the loading of the article B on the empty pallet P and outputs the above-described carry-out request information, the article B is stacked in a stacked state. The pallet P identification information, the deflection information indicating the downward deflection amount of the pallet P in the state of being stored in the storage unit S, and the articles stacked on the pallet P In addition to the height information about the height of B, the storage unit designation information for designating the storage unit in the storage unit S for storing the pallet P in the article loading state is output to the storage shelf management controller HT. It is configured as follows.
The deflection information indicating the deflection amount of the pallet P is information indicating whether the pallet is a normal pallet PS or an excess pallet PT, and if the pallet P is an excess pallet PT, whether the pallet P is in an intermediate deflection state or large It is information which shows whether it is a bending state.

  That is, the stacking management controller HD stores the presence / absence information on whether or not the pallet P is stored for the plurality of storage units S of the storage shelf 1, and if the pallet P is stored, the identification information and the flexure. It is configured to manage deflection information indicating the amount, height information indicating the height of the stacked articles B, and the like.

  Then, when stacking the article B on the pallet P to be stacked, the loading management controller HD loads the article B in an empty storage section among the plurality of storage sections S of the storage shelf 1. The storage unit Ss scheduled to store the pallet P is selected, and when the carry-out request information is output as described above, the storage unit Ss to be stored is placed in the pallet P in the article loading state. Is stored in the storage shelf management controller HT.

  Further, the stacking management controller HD uses the empty storage section in which the article B is stored in the lower storage section as the storage section Ss to be stored, and stacks the article B on the easy-to-store flexible pallet Py. The fork 8 having the target height for lowering is placed in the lower storage portion when the easy-deflection pallet Py to be stored is stored in the storage portion Ss to be stored, instead of the condition that the set upper limit weight of the setting allowable condition is not exceeded. Based on the height of the article B stored in the lower storage unit, the amount of deflection of the easy-flexible pallet Py is regulated so that the set accommodation distance L3 is separated from the upper surface of the stored article B. The article B is configured to be stacked under the deflection amount regulation condition.

  Furthermore, the loading management controller HD uses the empty storage unit in which the excess deflection pallet PT whose deflection amount exceeds the allowable limit is stored in the upper storage unit as the storage unit Ss to be stored, and the pallet P to be stored. When an article is stacked on the storage unit, it is stored in the upper storage unit under the assumption that the pallet P to be stored is stored in the storage unit Ss that is to be stored, instead of the condition that the setting allowable condition is not more than the set upper limit height. When the pallet P being taken out is taken out, the upper storage portion is arranged so that the fork 8 having a reference height for scooping is in a state of leaving the set accommodation distance L3 from the upper surface of the article B loaded on the pallet P to be stored. Based on the amount of deflection of the pallet stored in S, the article is stacked under a height regulation condition that regulates the height of the article B stacked on the pallet P to be stored. There.

In other words, in the present embodiment, when the article B is stacked on the pallet P, the loading management controller HD plans to store the empty storage unit S among the storage units S. The storage unit Ss is configured to be selected based on a setting rule.
This setting rule is defined as a condition that gives priority to the empty storage unit Sk that is close to the loading / unloading conveyor 2. That is, among the storage spaces of a plurality of rows arranged in the horizontal width direction of the storage shelf 1, the storage portion that preferentially selects the storage space in the row close to the loading / unloading conveyor 2 and is located in the storage space in the same row In S, it is determined as a condition for preferentially selecting the one located below. In the case where the storage units S of the same order exist in the left and right storage shelves 1, the left storage shelf 1 is given priority.

  Then, when the article B is stored in the storage section S below the storage section Ss that is scheduled to be stored, the stacking management controller HD sets the setting allowance when stacking the article B on the easy-to-store pallet Py. It replaces with the conditions set to below the setting upper limit weight of conditions, and is comprised so that the articles | goods B may be piled on the deflection amount regulation conditions mentioned above.

  In addition, the stacking management controller HD stores an article on the easy-deflection pallet Py to be stored when the excess bending pallet PT whose bending amount exceeds the allowable limit is stored in the storage part above the storage part Ss to be stored. When B is stacked, the article is configured to be stacked under the height regulation condition instead of the condition of setting the upper limit height or less of the setting allowable condition.

When the storage shelf management controller HT stores the pallet P on which the articles B are stacked, the storage shelf management controller HT stores the storage unit Ss to be stored designated by the storage unit designation information from the loading management controller HD. The pallet P in the article loading state is configured to be stored.
Further, when the storage shelf management controller HT issues a transport command to the crane control unit KC of the stacker crane K, the transport target pallet is based on the flexure information indicating the flexure amount of the transport target pallet P. It is configured to command a scooping reference height and a lowering target height in accordance with the amount of deflection of P.

Next, the loading process executed by the loading management controller HD will be described based on the flowchart of FIG.
First, based on the read information of the article information reading unit 14, information of the article B to be stacked next (type, quantity, etc. of the article B) is set (# 21).
In addition, since the reading operation with respect to the article information storage unit 13 by the article information reading unit 14 is performed by an operator, when the reading operation with respect to the article information storage unit 13 by the article information reading unit 14 is performed in advance, The contents are stored, the stored contents are read out, and the information (article B type, quantity, etc.) of the article B to be stacked next is set.

Subsequently, a selection process for selecting a storage unit Ss to be stored among the storage units in an empty state among the storage units S based on the setting rule is executed (# 22).
As described above, the setting rule preferentially selects a storage space in a row close to the loading / unloading conveyor 2 among a plurality of storage spaces arranged in the width direction of the storage shelf 1 and stores the same row in the storage shelf 1. In the storage unit located in the space, the condition is set such that the one located below is preferentially selected. In the case where the storage units S of the same order exist in the left and right storage shelves 1, the left storage shelf 1 is given priority.

Thereafter, the stored information in the pallet information storage unit 21 of the empty pallet P placed on the loading work conveyor 12 to be the current work of the pair of loading work conveyors 12 is read out from the pallet information. Read by the unit 22 (# 23).
Next, based on the read information, it is determined whether or not the pallet P to be stacked is a difficult-to-flexible pallet Pn (# 24).

  If it is determined at # 24 that the pallet Pn is not difficult to bend, that is, if it is easily pallet Py, is the article B present in the storage part S below the storage part Ss to be stored? (# 25), and if it exists, the bending restriction flag for setting the above-described bending restriction condition is turned ON (# 26).

If it is determined at # 24 that the pallet Pn is difficult to bend, if it is determined at # 25 that the article B is not present in the lower storage section S, and the restriction flag is turned ON at # 26. After executing the process, the process proceeds to the process of # 27.
The process of # 27 is a process of determining whether or not the deflection excess pallet PT exists in the storage part S above the storage part Ss that is to be stored. If it exists, the above-described height regulation condition is set. Is set to ON (# 28).

When it is determined at # 27 that there is no excess bending pallet PT in the upper storage section S, or after the process of turning on the height restriction flag at # 28, the pallet P to be loaded is loaded. A stacking pattern for stacking the article B is set (# 29).
In other words, the loading management controller HD stores in advance the loading pattern of the article B under the setting allowable condition for each of the plural types of articles B to be loaded, and is read by the article information reading unit 14. Based on the article information, the loading pattern of the article B to be loaded is selected and the loading pattern is set.

The stacking pattern includes information indicating the number of items in the vertical and horizontal directions, information indicating the maximum number to be stacked, and information indicating the loading procedure of the item B when the items B are arranged vertically and horizontally in each step. It is created in a form that includes.
By the way, the information indicating the loading procedure of the article B is information indicating the position and the order of placing the article B on the pallet P to be stacked.

  As described above, the loading management controller HD basically sets a loading pattern for loading the article B under the setting allowable condition. However, when the bending restriction flag is ON, the bending control flag HD is bent. Based on the regulation condition, in order to regulate the amount of deflection of the easy-flexible pallet Py, the number of articles B to be stacked is limited. When the height regulation flag is ON, the height regulation condition is set. Based on this, the number of articles B to be stacked is limited in order to regulate the height of the articles B stacked on the pallet P.

After setting the loading pattern at # 29, the robot operation process for sequentially loading the articles B onto the pallets P to be loaded is performed by operating the palletizing robot M (# 30).
In this flowchart, this robot operation process is a process of stacking one article B along the stacking pattern.

After executing the robot operation process of # 30, it is determined whether or not all the loading of the article B that is currently being loaded has been completed (# 31). After executing # 32), the process proceeds to # 21.
The communication processing of # 32 indicates unloading request information for requesting unloading of the pallet P that has been loaded, information about the pallet P that has been loaded, that is, identification information, and the height of the loaded article B. The height information, the deflection information indicating the amount of deflection of the pallet P, and the storage unit designation information for designating the storage unit for storing the pallet P in the article loading state are output.

  If it is determined in # 31 that the loading of all articles B has not been completed, the pallet P is currently full as a target for loading, that is, the loading pattern for one pallet P is completed. Is determined (# 33), and if it is determined that the pallet P is not full, the robot operation process of # 30 is executed.

If it is determined at # 33 that the pallet P is full, the communication process (# 34) is executed, then the process proceeds to # 2, and the loading work conveyor 12 to be the next work target. The information stored in the pallet information storage unit 21 of the empty pallet P placed on the pallet is read by the pallet information reading unit 22, and then the above-described processing is repeated.
The communication process of # 34 is the same process as the communication process of # 32, and the unloading request information for requesting unloading of the pallet P for which loading has been completed, the information about the pallet P for which loading has been completed, that is, Identification information, height information indicating the height of the stacked articles B, deflection information indicating the amount of deflection of the pallet P, and storage unit designating information for specifying a storage unit for storing the pallets P in the stacked state Will be output.

  Note that the pallet P on which the articles B are stacked is transported to the loading / unloading conveyor 2 by the transport carriage J and stored in the storage shelf 1 as described above, and the pallet P is unloaded. As described above, the empty pallet P stored in the pallet processing unit G is transported by the transport cart J to the loading conveyor 12.

  In this embodiment, the warehousing operation executed by the storage shelf management controller HT is performed by specifying the pallet P carried into the warehousing / unloading conveyor 2 based on the storage unit designation information from the loading management controller HD. Since the contents are stored in the storage unit and can be understood with reference to the description of the above-described embodiment, the description in the present embodiment is omitted.

[Another embodiment]
Next, another embodiment is listed.
(1) In the said 2nd Embodiment, although the case where a stacking part was comprised so that articles might be stacked using a palletizing robot was illustrated, it is a form in which an operator loads articles in a stacking part. You may implement.
In this case, the loading unit may be equipped with display means for displaying information indicating the loading pattern to the worker.

(2) In the said 1st and 2nd embodiment, the case where the pallet which piled up the article in the loading part is conveyed to the storage conveyor of a storage shelf with a conveyance trolley, and is stored on a storage shelf is illustrated. However, you may implement with the form which a stacking part loads an article with respect to the pallet currently mounted in the loading / unloading conveyor.
In this case, the transport means for storing the pallet on which the articles are stacked in the stacking unit and storing the pallet stored in the storage unit in order to carry the pallet stored in the storage unit to the article unloading unit E includes the stacker crane as a main part. Will be configured.

(3) In the said 1st and 2nd embodiment, the case where it manages in two steps, the case where it will be in a middle deflection state, and the case where it will be in a large deflection state as a state where the amount of bending of an easily flexible pallet exceeds an allowable limit is illustrated. However, in a form in which the amount of deflection of the easy-flexible pallet exceeds the allowable limit is managed in multiple stages of three or more stages and steplessly, and the reference height for scooping and the target height for lowering are set accordingly. In addition, the amount of deflection of the easy-flexible pallet is managed in two stages: when it is within the allowable limit and when it is in the bent state (assuming that it is uniformly in the large-deflection state), In addition, it may be carried out in the form of setting the reference height for scooping and the target height for lowering.

(4) In the above embodiment, the case where the palletizing robot equipped with the bending arm is provided in the stacking portion is exemplified. However, the traveling carriage that runs vertically and horizontally is provided on the ceiling side, and the article is held with respect to the traveling carriage. As an article stacking device equipped in the stacking unit, such as mounting an article transfer robot equipped with a section that can freely move up and down to allow loading of articles, various forms are provided. Things can be used.

(5) In the above embodiment, the case where the storage shelf is configured in a form in which the support is provided in the column set arranged in the shelf width direction is exemplified, but various configurations can be applied to the configuration of the storage shelf, In short, it is only necessary that the storage portion is configured to place and support both end portions of the pallet with a pair of left and right support bodies.

(6) In the second embodiment described above, the case where the loading management controller of the loading unit selects the storage unit to be stored among the empty storage units based on the setting rule is exemplified. The storage shelf management controller selects a storage unit to be stored among the empty storage units based on the setting rule, and loads information about the selected storage unit to be stored in the stacking unit. You may implement in the form which communicates with the controller for management.

(7) In the first embodiment, a storage unit that is a storage candidate among all empty storage units is selected based on a setting rule, and the storage candidate storage unit is a selection condition as a storage unit. Exemplified the case where it is determined whether or not the condition is satisfied. First, of the empty storage units, the storage unit in which the article is not stored in the lower storage unit and the upper storage unit has no deflection excess pallet. Select the storage unit preferentially, select one of the priority storage units in the setting rule, and store the pallet in the article loading state, and in the empty storage unit, After the storage unit that does not store articles in the lower storage unit and the storage unit that does not have the excess pallet in the upper storage unit disappears, the storage unit that is the storage candidate among the empty storage units is set. Select based on the rules and store the storage candidates But it may be implemented in a form to determine selected satisfies or not as a storage unit.

(8) In the second embodiment, a storage part that is to be stored is selected based on the setting rule among all empty storage parts, and the storage part that is scheduled to be stored has a deflection regulation condition or height. In the case where the regulation condition is necessary, the case where the article is stacked under the condition is exemplified. First, in the empty storage part, the storage part in which the article is not stored in the lower storage part and Preferentially select the storage part where the excess pallet does not exist in the upper storage part, select one of the priority storage parts in the setting rule, and assume that the pallet is stored in the storage part. Articles are stacked under the set allowable conditions, and among the empty storage parts, the storage part in which the goods are not stored in the lower storage part, and the upper storage part has no deflection excess pallet In the empty storage space A storage unit to be delivered is selected based on a set rule, and when the storage unit to be stored needs a deflection regulation condition or a height regulation condition, an article is loaded under that condition. May be implemented.

(9) In the first and second embodiments, as a setting rule, a storage space in a row close to the loading / unloading conveyor is preferentially selected from among a plurality of storage spaces arranged in the horizontal width direction of the storage shelf. And, in the storage units located in the storage space of the same row, the case where the conditions are set to preferentially select the one located below, the storage units located below are selected with priority, and In the storage section of the same height, the setting rule can be set to various conditions, such as preferentially selecting the condition that selects the one located in the storage space in the row close to the loading / unloading conveyor. is there.

(10) In the first and second embodiments, when determining the amount of deflection of the easy-flexible pallet, the amount of deflection is determined based on the weight stacked on the pallet, but the amount of deflection of the easy-flexible pallet is used. In the case of increasing with the increase, the amount of bending of the easy bending pallet may be determined based on the weight to be stacked and the usage time.

DESCRIPTION OF SYMBOLS 1 Storage shelf 8 Article mounting body 9 Pillar 10 Support body B Article D Stacking part F Conveying means H Control means L1 Space | interval L3 Set accommodation distance P Pallet S Storage part

Claims (7)

A loading unit for stacking articles on a pallet in a stacked state and a plurality of storage units for mounting and supporting the pallet are arranged in the vertical direction under a setting allowable condition that is not more than the set upper limit height and not more than the set upper limit weight. A storage means for storing the pallet on which the articles are stacked in the storage unit and a pallet for transporting the pallet to carry out the pallet stored in the storage unit And a control means for controlling the operation of the transport means,
The transporting means is an article mounting body that can be driven back and forth in a retracted state in which it retracts outward from the storage part and a protruding state in which the storage part protrudes, and can be driven up and down, and the pallet is stored in the storage part. Configured to perform a lowering process stored in the storage unit and a scooping process for removing the pallet stored in the storage unit,
The storage portion is configured to place and support both end portions of the pallet with a pair of left and right support bodies arranged in parallel in a state in which the article placement body in the protruding state is spaced vertically.
When the control means performs the lowering process, the article mounting body protrudes into the protruding state at a reference height for lowering than the pair of left and right supports, and then the pair of left and right supports. The article mounting body is lowered to a lower target height for lowering, and then the operation of the conveying means is controlled and the scooping process is performed in order to retract the article mounting body to the retracted state. Sometimes, the article mounting body is protruded in the protruding state at a scooping reference height corresponding to the lowering target height, and then the scooping target height corresponding to the lowering reference height is An article storage facility configured to control the operation of the conveying means to raise the article placement body and then to retract the article placement body to the retreated state,
When the article is loaded with the set upper limit weight when the article is loaded with the set upper limit weight as the pallet, the difficult deflection pallet and the article with the set upper limit weight are loaded. And a flexible pallet that exceeds the allowable limit,
The control means sets the lowering target height and the scooping reference height to be lower for the pallet in which the deflection amount exceeds the allowable limit than the pallet in which the deflection amount is within the allowable limit. , Configured to perform the unloading process and the scooping process,
The storage shelf has a vertical interval between the support members provided in each of the storage units adjacent to each other in the vertical direction in the storage unit arranged in the vertical direction. In the case where it is assumed that the pallet loaded with articles of height is stored in an undeflected state, in order to perform the lowering process on the storage unit to be stored, the amount of bending of the article mounting body is set. Is set at an interval that leaves the set accommodation distance from the upper surface of the article stored in the lower storage portion when the pallet is positioned at the lowering target height for the pallet within the allowable limit. Configured to
The control means is
When storing the pallet with the deflection amount exceeding the allowable limit, among the empty storage units of the storage unit, the storage unit in which the article is not stored in the lower storage unit, or the lower storage When storing the pallet to be stored based on the height of the article stored in the lower storage unit and the amount of deflection of the pallet to be stored, The storage unit that is predicted to leave the set accommodation distance from the upper surface of the article stored in the lower storage unit is selected as the storage unit to be stored. Constructed goods storage facility. The control means is
When storing the pallet, among the empty storage units of the storage unit, the upper storage unit does not store the pallet whose deflection amount exceeds the allowable limit, or the upper storage unit A storage part in which the pallet whose deflection amount exceeds the allowable limit is stored in the storage part, and is stored in the upper storage part in a state where it is assumed that the pallet to be stored is stored in the storage part. Based on the amount of deflection of the pallet and the height of the articles stacked on the pallet to be stored, when the pallet stored in the storage section located above is taken out, the article mounting at the reference height for scooping The storage unit that is predicted to leave the set accommodation distance from the upper surface of the article that is placed on the pallet to be stored is selected as the storage unit to be stored. The article storage facility of. A loading unit for stacking articles on a pallet in a stacked state and a plurality of storage units for mounting and supporting the pallet are arranged in the vertical direction under a setting allowable condition that is not more than the set upper limit height and not more than the set upper limit weight. A storage means for storing the pallet on which the articles are stacked in the storage unit and a pallet for transporting the pallet to carry out the pallet stored in the storage unit And a control means for controlling the operation of the transport means,
The transporting means is an article mounting body that can be driven back and forth in a retracted state in which it retracts outward from the storage part and a protruding state in which the storage part protrudes, and can be driven up and down, and the pallet is stored in the storage part. Configured to perform a lowering process stored in the storage unit and a scooping process for removing the pallet stored in the storage unit,
The storage portion is configured to place and support both end portions of the pallet with a pair of left and right support bodies arranged in parallel in a state in which the article placement body in the protruding state is spaced vertically.
When the control means performs the lowering process, the article mounting body protrudes into the protruding state at a reference height for lowering than the pair of left and right supports, and then the pair of left and right supports. The article mounting body is lowered to a lower target height for lowering, and then the operation of the conveying means is controlled and the scooping process is performed in order to retract the article mounting body to the retracted state. Sometimes, the article mounting body is protruded in the protruding state at a scooping reference height corresponding to the lowering target height, and then the scooping target height corresponding to the lowering reference height is An article storage facility configured to control the operation of the conveying means to raise the article placement body and then to retract the article placement body to the retreated state,
When the article is loaded with the set upper limit weight when the article is loaded with the set upper limit weight as the pallet, the difficult deflection pallet and the article with the set upper limit weight are loaded. And a flexible pallet that exceeds the allowable limit,
The control means sets the lowering target height and the scooping reference height to be lower for the pallet in which the deflection amount exceeds the allowable limit than the pallet in which the deflection amount is within the allowable limit. , Configured to perform the unloading process and the scooping process,
The storage shelf has a vertical interval between the support members provided in each of the storage units adjacent to each other in the vertical direction in the storage unit arranged in the vertical direction. In the case where it is assumed that the pallet loaded with articles of height is stored in an undeflected state, in order to perform the lowering process on the storage unit to be stored, the amount of bending of the article mounting body is set. Is set at an interval that leaves the set accommodation distance from the upper surface of the article stored in the lower storage portion when the pallet is positioned at the lowering target height for the pallet within the allowable limit. Configured to
The stacking part is
When stacking articles on the easy-to-store flexible pallet, the storage section in which the articles are stored in the lower storage section among the storage sections in the empty state among the storage sections, In place of the setting upper limit weight of the setting permissible condition or less, when the easy-deflection pallet to be stored is stored in the storage unit scheduled to be stored, the article mounting body at the target height for lowering is placed below Deflection that regulates the amount of deflection of the easy-flexible pallet based on the height of the article stored in the lower storage section so as to be away from the set accommodation distance from the upper surface of the article stored in the storage section It is configured to load articles under quantity regulation conditions,
The control means is
It is configured to control the operation of the conveying means so as to store the easy-deflection pallet on which the articles are stacked under the deflection amount regulation condition in the storage unit scheduled to be stored for the easy-deflection pallet. Goods storage facility. The stacking part is
Among the storage units in the empty state among the storage units, the pallet to be stored is defined as a storage unit in which an upper storage unit stores a pallet whose deflection amount exceeds the allowable limit as a storage unit to be stored. In the state where it is assumed that the pallet to be stored is stored in the storage unit scheduled to be stored in place of the condition that the set allowable condition is equal to or lower than the set upper limit height, When the stored pallet is taken out, the article placement body having the reference height for scooping should be in a state of leaving the set accommodation distance from the upper surface of the article stacked on the pallet to be stored. Based on the deflection amount of the pallet stored in the upper storage unit, the article is stacked under a height regulation condition that regulates the height of the article stacked on the pallet to be stored. It is,
The control means is
The pallet to be stored on which articles are stacked under the height regulation condition is configured to control the operation of the conveying means so as to be stored in a storage unit scheduled to be stored for the pallet. Item storage equipment according to 3.   The storage shelves are erected on a floor surface by arranging a column set consisting of a pair of columns arranged in the longitudinal direction of the shelf in the shelf width direction of the storage shelf, and the support is attached to the shelf in each of the column sets. The storage unit is arranged in a vertical direction in a state of projecting in a cantilevered direction in the horizontal width direction, and the storage unit is configured to be formed in a state of being arranged in the vertical direction between the column groups arranged adjacent to each other in the horizontal direction of the shelf The article storage facility according to any one of claims 1 to 4. A loading unit for stacking articles on a pallet in a stacked state and a plurality of storage units for mounting and supporting the pallet are arranged in the vertical direction under a setting allowable condition that is not more than the set upper limit height and not more than the set upper limit weight. A storage means for storing the pallet on which the articles are stacked in the storage unit and a pallet for transporting the pallet to carry out the pallet stored in the storage unit And a control means for controlling the operation of the transport means,
The transporting means is an article mounting body that can be driven back and forth in a retracted state in which it retracts outward from the storage part and a protruding state in which the storage part protrudes, and can be driven up and down, and the pallet is stored in the storage part. Configured to perform a lowering process stored in the storage unit and a scooping process for removing the pallet stored in the storage unit,
The storage portion is configured to place and support both end portions of the pallet with a pair of left and right support bodies arranged in parallel in a state in which the article placement body in the protruding state is spaced vertically.
When the control means performs the lowering process, the article mounting body protrudes into the protruding state at a reference height for lowering than the pair of left and right supports, and then the pair of left and right supports. The article mounting body is lowered to a lower target height for lowering, and then the operation of the conveying means is controlled and the scooping process is performed in order to retract the article mounting body to the retracted state. Sometimes, the article mounting body is protruded in the protruding state at a scooping reference height corresponding to the lowering target height, and then the scooping target height corresponding to the lowering reference height is An article stacking method in an article storage facility configured to control the operation of the conveying means to raise the article placing body and then to retract the article placing body to the retreated state,
When the article is loaded with the set upper limit weight when the article is loaded with the set upper limit weight as the pallet, the difficult deflection pallet and the article with the set upper limit weight are loaded. And a flexible pallet that exceeds the allowable limit,
The control means sets the lowering target height and the scooping reference height to be lower for the pallet in which the deflection amount exceeds the allowable limit than the pallet in which the deflection amount is within the allowable limit. , Configured to perform the unloading process and the scooping process,
The storage shelf has a vertical interval between the support members provided in each of the storage units adjacent to each other in the vertical direction in the storage unit arranged in the vertical direction. In the case where it is assumed that the pallet loaded with articles of height is stored in an undeflected state, in order to perform the lowering process on the storage unit to be stored, the amount of bending of the article mounting body is set. Is set at an interval that leaves the set accommodation distance from the upper surface of the article stored in the lower storage portion when the pallet is positioned at the lowering target height for the pallet within the allowable limit. Configured to
In the loading section,
When stacking articles on the easy-to-store flexible pallet, the storage section in which the articles are stored in the lower storage section among the storage sections in the empty state among the storage sections, In place of the setting upper limit weight of the setting permissible condition or less, when the easy-deflection pallet to be stored is stored in the storage unit scheduled to be stored, the article mounting body at the target height for lowering is placed below Deflection that regulates the amount of deflection of the easy-flexible pallet based on the height of the article stored in the lower storage section so as to be away from the set accommodation distance from the upper surface of the article stored in the storage section So that the goods are packed under the quantity regulation condition,
The control means is
The operation of the conveying means is controlled so that the easy-deflection pallet to be stored on which the articles are stacked under the deflection amount regulation condition is stored in a storage unit that is scheduled to be stored for the easy-deflection pallet. Article stacking method in an article storage facility. In the loading section,
Among the storage units in the empty state among the storage units, the pallet to be stored is defined as a storage unit in which an upper storage unit stores a pallet whose deflection amount exceeds the allowable limit as a storage unit to be stored. When an article is stacked, the pallet to be stored is stored in the upper storage unit in a state where it is assumed that the pallet to be stored is stored in the storage unit scheduled to be stored instead of the set upper limit height of the setting permission condition. When the pallet is taken out, the upper placing unit is arranged so that the article placing body having the reference height for scooping is away from the set accommodation distance from the upper surface of the article stacked on the pallet to be stored. Based on the amount of deflection of the pallet being stored, the article is stacked under a height regulation condition that regulates the height of the article to be stacked on the pallet to be stored,
The control means is
Claims are configured to control the operation of the conveying means so as to store the pallet to be stored, on which articles are stacked under the height regulation condition, in a storage unit scheduled to be stored for the pallet. Item stacking method in the article storage facility according to Item 6.

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