JP5884594B2 - Automatic warehouse - Google Patents

Description

  The present invention relates to an automatic warehouse, and more particularly to an automatic warehouse including a stacker crane having two elevators.

  In recent years, various automated warehouses have been proposed with the development of automation technology in logistics.

  For example, conventionally, as a technique for improving the work efficiency of a stacker crane in an automatic warehouse, a stacker crane having a lifting platform on which two loads can be placed simultaneously has been proposed (for example, see Patent Document 1).

JP 9-315518 A

  However, in the technique described in Patent Document 1, although the working efficiency of the stacker crane is improved, there is a problem that the power consumption of the motor that drives the lifting platform increases as the weight of the load placed on the lifting platform increases. There is.

  Therefore, the present invention has been made in view of such problems, and provides an automatic warehouse capable of improving the work efficiency of the stacker crane and reducing the power required for raising and lowering the lifting platform in the stacker crane. Objective.

  In order to achieve the above object, an automatic warehouse according to the present invention is a rack having a plurality of shelves for placing packages, and moves along the racks to load and unload packages to and from the racks. A stacker crane; and a control device for instructing the stacker crane to move. The stacker crane includes two elevators that can move up and down independently to convey the load, and instructions from the control device. And a lifting device that drives the two lifting platforms to move up and down, and the lifting device moves up and down when one of the two lifting platforms is lowered. A storage unit that stores a plurality of transport requests related to loading and unloading of the luggage, using the electric power regenerated by lowering the table to raise the other one of the two elevators. From the storage unit, the 2 Select and read out a first transfer request that requires raising one of the lifts and a second transfer request that requires lowering the other of the two lifts And a control unit that instructs the stacker crane to perform a movement corresponding to the read first transport request and the second transport request.

  As a result, the stacker crane has two elevators that can be moved up and down independently, and the other elevator platform with electric power regenerated when one of the two elevators is lowered. Since the stacker crane has a lifting device that drives the elevator to raise the working efficiency of the stacker crane as compared to a stacker crane having a single lifting platform, the stacker crane has a lifting platform that lifts and lowers two loads simultaneously. In comparison, the power required for driving the lifting platform in the stacker crane is reduced.

  In addition, it is possible to store the conveyance requests in the storage unit, take out two optimum conveyance requests from these conveyance requests, and cause the stacker crane to execute them.

  Here, the control unit further can take the first transport request and the second transport request when a plurality of at least one of the first transport request and the second transport request is stored in the storage unit. The first transport request and the second transport request are closest to each other in the ascending amount of the lifting platform related to the first transport request and the descending amount of the lifting platform related to the second transport request. May be selected and read from the storage unit, and the stacker crane may be instructed to move corresponding to the read first and second transport requests.

  As a result, two transport requests are executed by the stacker crane, where the amount of increase in the lift of one of the lifts and the amount of decrease in the drop of the other lift are close, so the regenerative power obtained by lowering one of the lifts Is efficiently consumed for raising the other lifting platform.

  In addition, when the control unit can take a plurality of combinations of the transport request stored in the storage unit and the transport of the load placed on the rack, the storage unit can store the storage among the possible combinations. The transport amount that is the closest to the lift amount or the descending amount in the lift or the descending of the lifting platform related to the transport request read from the section and the descending amount or the lift amount in the descending or lift related to transporting the load placed on the rack The stacker crane may be instructed to perform a movement corresponding to a combination of the request and the conveyance of the load placed on the rack.

  As a result, even when transport using a load (for example, a dummy weight) placed on a rack, two transports in which the rising amount when one lifting platform is raised and the lowering amount when the other lifting platform is lowered are close to each other. Since the request is executed by the stacker crane, the regenerative electric power obtained by lowering one lifting platform is efficiently consumed for raising the other lifting platform.

  In addition, the control unit further has a value in which a rising amount when the lifting platform according to the first transfer request is raised and a lowering amount when the lifting table is lowered according to the second transfer request are close to each other within a predetermined range. As described above, the shelf that becomes the transport destination or the transport source of the package according to at least one of the first transport request and the second transport request is selected and determined from the plurality of shelves, and the determined first A movement corresponding to the transport request and the second transport request may be instructed to the stacker crane.

  As a result, the shelf to be shipped or transported of the package is determined so that the amount of rise of one elevator platform and the amount of lowering of the other elevator platform are close to each other. Is reduced.

  Further, the control unit further reads out the transport request from the storage unit when only one transport request of the first transport request and the second transport request is stored in the storage unit, The movement corresponding to the read transport request and the transport for moving the load placed on the rack to another shelf, wherein the lift base is moved in a direction opposite to the lifting or lowering of the lift base related to the transport request. You may instruct | indicate to the said stacker crane the movement corresponding to the conveyance to which it descend | falls or raises. At this time, the automatic warehouse may further include a weight placed on the rack.

  Thus, even when processing a transport request that requires only raising or lowering of the lifting platform, by using a dummy weight that functions as a weight, lowering of one lifting platform and raising of the other lifting platform Can be performed at the same time, and power consumption associated with the raising and lowering of the lifting platform is reduced.

  In addition, when only one of the first transport request and the second transport request is stored in the storage unit, the control unit further stores the transport request stored in the storage unit. Among them, it is possible to preferentially select and read from the storage unit a transport request with a smaller lifting amount of the lifting platform, and to instruct the stacker crane to perform a movement corresponding to the read transport request.

  As a result, even when transporting using only one of the two lifting platforms, the transport request with a small lifting amount is prioritized and executed by the stacker crane, so the efficiency of only one lifting platform is low. Power consumption during transportation is reduced.

  Further, the control unit further processes the transport request stored in the storage unit more quickly without considering paralleling the lowering of one of the two elevators and the other. In consideration of this, the transport request may be read from the storage unit according to a predetermined algorithm, and a movement corresponding to the read transport request may be instructed to the stacker crane.

  Thereby, an operation mode in which high-speed processing is prioritized over power saving is realized, and an automatic warehouse capable of flexible conveyance according to various aspects is realized.

  Note that the present invention can be realized not only as an automatic warehouse, but also as a control device constituting the automatic warehouse, or as a control method using the control performed by the control device as a step. It can also be realized as a program to be executed by the computer or a recording medium such as a computer-readable CD-ROM in which the program is recorded.

  According to the automatic warehouse according to the present invention, the work efficiency of the stacker crane is improved, and the power required for raising and lowering the elevator platform in the stacker crane is reduced.

FIG. 1 is an external view of a rack, a control device, and a stacker crane that constitute an automatic warehouse in an embodiment of the present invention. The figure which shows the front of the stacker crane in FIG. The figure which shows the attachment relation of the 1st lifting platform and the 2nd lifting platform and guide frame which comprise the same stacker crane. The left side of the stacker crane The block diagram which shows the structure of the raising / lowering device with which the same stacker crane is equipped The block diagram which shows the function structure of the control apparatus in FIG. The figure which shows the conveyance request | requirement stored in the memory | storage part with which the same control apparatus is equipped. Flow chart showing an operation example of the control device The figure which shows one process of the movement of the stacker crane which processes one conveyance request for warehousing, and one conveyance request for warehousing. The figure which shows one process following FIG. 9A The figure which shows one process following FIG. 9B The figure which shows one process following FIG. 9C The figure which shows one process following FIG. 9D The figure which shows one process following FIG. 9E The figure which shows one process following FIG. 9F The figure which shows one process following FIG. 9G The figure which shows one process following FIG. 9H The figure which shows the positional relationship of the cargo used as the object of the conveyance request | requirement for one warehousing, and the dummy weight used for the conveyance. The figure which shows 1 process of the movement of the stacker crane which processes one conveyance request for warehousing The figure which shows one process following FIG. 11A The figure which shows one process following FIG. 11B The figure which shows 1 process of the motion of the stacker crane which processes two conveyance requests for warehousing continuously. The figure which shows one process following FIG. 12A The figure which shows one process following FIG. 12B The figure which shows one process following FIG. 12C The figure which shows one process following FIG. 12D The figure which shows one process following FIG. 12E

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Each of the embodiments described below shows a preferred specific example of the present invention. The numerical values, shapes, materials, constituent elements, arrangement positions and connecting forms of the constituent elements, steps, order of steps, and the like shown in the following embodiments are merely examples, and are not intended to limit the present invention. The invention is specified by the claims. Therefore, among the constituent elements in the following embodiments, constituent elements that are not described in the independent claims indicating the highest concept of the present invention are not necessarily required to achieve the object of the present invention. It will be described as constituting a preferred form.

  FIG. 1 is an external view of a rack 20, a control device 30, and a stacker crane 40 that constitute an automatic warehouse 10 in the present embodiment.

  The rack 20 is a storage having a plurality of stages of shelves for placing luggage. The rack 20 is provided with a storage space in which one piece of luggage can be stored in a two-dimensional shape (here, 0th to 10th rows, 1st to 10th rows) so as to be continuous vertically and horizontally. A similar rack is also arranged on the opposite side of the stacker crane 40 across the travel path, but the illustration is omitted here. Next to the rack 20, there is provided a station 3 on which goods loaded into and out of the automatic warehouse 10 are placed. In addition, the station 3 may be provided separately for warehousing and for warehousing.

  The control device 30 is a controller that instructs the stacker crane 40 to move via wired or wireless communication in accordance with an instruction from an upstream computer (not shown). The control device 30 is a computer system including a central processing unit (CPU), a memory device, a communication device, an input / output device, and the like, and the CPU executes a predetermined program stored in the memory device, whereby the communication device The movement is instructed to the stacker crane 40 via. Further, the control device 30 notifies the operator of the operation status via the input / output device and receives an operation command from the operator. In the present embodiment, the control device 30 is installed on the ground in the automatic warehouse 10, but may be mounted on the stacker crane 40 or installed on the rack 20.

  The stacker crane 40 is an unmanned crane that travels on the rail 4 along the rack 20 and loads and unloads luggage to and from the rack 20. The stacker crane 40 includes two elevators (a first elevator 50a and a second elevator 50b) that are capable of independently moving up and down to carry a load as main parts, and 2 based on an instruction from the control device 30. And a lifting device 60 that drives to lift the first lifting platform 50a and the second lifting platform 50b. Here, as a characteristic drive, the lifting device 60 regenerates power when one of the first lifting platform 50a and the second lifting platform 50b is lowered, when the lifting platform is lowered. Can be used to drive the other lifting platform.

  FIG. 2 is a view showing the front surface of the stacker crane 40 in FIG. As shown in the figure, the stacker crane 40 is a casing formed by connecting a lower carriage 41 and an upper carriage 42 with a guide frame 43 (left mast 43a and right mast 43b) in addition to the above-described components. Is provided. A wheel 44 for traveling on the rail 4 laid on the floor and a traveling motor 45 for driving the wheel 44 are attached to the lower carriage 41.

  Two elevators (first elevator 50a and second elevator 50b) are attached to the inner side surrounded by the guide frame 43 so as to be able to move up and down independently, and an elevator 60 is attached. The first elevating platform 50a and the second elevating platform 50b are suspended by wire ropes 49a and 49b guided by sheaves 48a and 48b, and are driven by two elevating devices 60 (first winch motors). The guide frame 43 is lifted and lowered independently according to the rotation by the 63a and the second winch motor 63b). The first elevator 50a and the second elevator 50b include a slide fork 51a for transferring the loads 21a and 21b between the first elevator 50a and the second elevator 50b and the rack 20, respectively. 51b is provided.

  FIG. 3 is a view showing a mounting relationship between the first elevating platform 50 a and the second elevating platform 50 b and the guide frame 43 constituting the stacker crane 40. FIG. 3A shows the upper surface of the first elevator platform 50a and the second elevator platform 50b (the upper part of the first elevator platform 50a and the second elevator platform 50b aligned horizontally, and the stacker crane 40 in a plane parallel to the ground. Is a diagram showing a cut surface when the first elevator 50a and the second elevator 50b are viewed from above. FIG. 3B is a diagram showing the front surfaces of the first lifting platform 50a and the second lifting platform 50b.

  As shown in FIG. 3, the first lifting platform 50a and the second lifting platform 50b are mounted symmetrically on the inner side surrounded by the guide frame 43 (43a and 43b) as viewed from the front. The first lifting platform 50a attached to the left side from the front is attached to be guided by the left mast 43a of the guide frame 43, suspended by a wire rope 49a, and moved up and down along the left mast 43a. Similarly, the second lifting platform 50b mounted on the right side from the front is mounted so as to be guided by the right mast 43b of the guide frame 43, suspended by the wire rope 49b, and lifted along the right mast 43b. To do.

  FIG. 4 is a view showing the left side surface of the stacker crane 40 in FIG. Here, a state in which two racks 20a and 20b are arranged on both sides of the traveling path of the stacker crane 40 is illustrated. As described above, the slide forks 51a and 51b are provided on the first lifting platform 50a and the second lifting platform 50b, respectively. The slide fork 51a (51b) includes a plurality of plates 52a (52b) removably connected to each other, and the plates 52a (52b) from the first lifting platform 50a (second lifting platform 50b) to the racks 20a and 20b. It is comprised from the transfer motor 53a (53b) made to move out toward. The uppermost plate 52a (52b) functions as a mounting table on which a load is placed. In the present specification, when “rack 20” is simply described, two racks 20a and 20b are included.

  Under the instruction from the control device 30, the stacker crane 40 travels on the rail 4 to the transfer position corresponding to the row of the racks 20a and 20b or the transfer position of the station 3, and the first elevator platform 50a and the second elevator The first lifting platform 50a and the second lifting platform 50b and the racks 20a and 20b are lifted up and down independently, and the slide forks 51a and 51b are withdrawn and removed to scoop or unload the loads 21a and 21b. And the package is transported to and from the station 3.

  FIG. 5 is a block diagram illustrating a configuration of the lifting device 60 provided in the stacker crane 40. The lifting device 60 is a drive device that can lift and lower the first lifting platform 50a and the second lifting platform 50b independently based on an instruction from the control device 30, and includes a first regenerative converter 61a and a first inverter. 62a, a first winch motor 63a, a second regenerative converter 61b, a second inverter 62b, and a second winch motor 63b.

  When the first regenerative converter 61a raises the first lifting platform 50a, the first regenerative converter 61a rectifies AC power from the AC power supply 65 and / or the second regenerative converter 61b to DC power by a plurality of bridge-connected rectifier diodes. When the first elevator 62a is lowered while being supplied to the first inverter 62a, it is regenerated from the first inverter 62a by a circuit in which a plurality of arms composed of switching elements and reflux diodes connected in parallel are connected. The DC power is converted into AC power and supplied to the second regenerative converter 61b. When the first inverter 62a raises the first lifting platform 50a by a circuit in which a plurality of arms composed of switching elements and free-wheeling diodes connected in parallel is connected, the first inverter 62a converts the DC power from the first regenerative converter 61a to AC. When the first winch motor 63a is converted into electric power and supplied to the first winch motor 63a, on the other hand, the AC power regenerated by the first winch motor 63a is converted into DC power to the first regenerative converter 61a. Supply. The first winch motor 63a is, for example, a motor having a three-phase winding, and winds or unwinds the wire rope 49a to move the first lifting platform 50a up and down.

  Similarly, the second regenerative converter 61b rectifies AC power from the AC power supply 65 and / or the first regenerative converter 61a to DC power by a plurality of bridge-connected rectifier diodes when raising the second lifting platform 50b. When the second elevator 62b is lowered, the second inverter 62b is connected to the second inverter 62b by a circuit in which a plurality of arms composed of switching elements and reflux diodes connected in parallel are connected. The regenerated DC power is converted to AC power and supplied to the first regenerative converter 61a. When the second inverter 62b moves up the second lifting platform 50b by a circuit in which a plurality of arms composed of switching elements and reflux diodes connected in parallel is connected, the second inverter 62b converts the DC power from the second regenerative converter 61b to AC. When the second winch motor 63b is converted into electric power and supplied to the second winch motor 63b, on the other hand, when the second lifting platform 50b is lowered, the AC power regenerated by the second winch motor 63b is converted into DC power and supplied to the second regenerative converter 61b. Supply. The second winch motor 63b is, for example, a motor having a three-phase winding, and winds or unwinds the wire rope 49b to raise and lower the second lifting platform 50b.

  In the present embodiment, the first regenerative converter 61a and the second regenerative converter 61b have a three-phase circuit as shown in the lower left of FIG. The first inverter 62a and the second inverter 62b have a three-phase circuit as shown in the lower right of FIG.

  When one of the first lifting platform 50a and the second lifting platform 50b is lowered by the lifting device 60 having such a configuration, electric power regenerated by the lowering of the lifting platform is used. The driving for raising the other lifting platform, that is, the simultaneous driving of the raising and lowering of one of the two lifting platforms is performed. Thereby, the electric power required for raising / lowering the lifting platform is reduced.

  FIG. 6 is a block diagram illustrating a functional configuration of the control device 30 illustrated in FIGS. 1 and 4. The control device 30 is a controller that instructs the stacker crane 40 to move in accordance with an instruction from an upstream computer (not shown). Functionally, the control device 31, the storage unit 32, the first communication unit 33, A second communication unit 34 and an input / output unit 35 are included.

  The first communication unit 33 is a communication interface that communicates with an upstream computer. Under control of the control unit 31, the first communication unit 33 enters and exits the luggage from the automatic warehouse 10 and issues the luggage from the automatic warehouse. A transport request or the like, which is instruction information regarding, is received. One transport request includes, for example, identification information that identifies a target package, and entry / exit information that specifies whether the item is an entry or exit. The transport request related to warehousing is associated with the package arriving at the station 3. In the present embodiment, each transport request is information indicating a request related to warehousing or unloading associated with one package.

  The storage unit 32 is a randomly accessible buffer memory for storing the conveyance information received by the first communication unit 33 under the control of the control unit 31.

  The second communication unit 34 is a communication interface that communicates with the stacker crane 40, and transmits instruction information related to loading / unloading of luggage to the stacker crane 40 under the control of the control unit 31.

  The input / output unit 35 is a display and buttons for the control device 30 to interact with the operator.

  The control unit 31 is a processor that controls the storage unit 32, the first communication unit 33, the second communication unit 34, and the input / output unit 35. The control unit 31 sends a transport request sent from an upstream computer to the first communication unit 33. And the received transport request is stored in the storage unit 32. Then, the control unit 31 is configured to perform an entry / exit scheduling (algorithm) in accordance with operation modes set in advance via the input / output unit 35 (a normal operation mode in which energy-saving conveyance is performed, a high-speed operation mode in which high-speed conveyance is performed) Then, the transport request to be executed next (one transport request or two transport requests) is determined from the transport requests stored in the storage unit 32, and the determined transport request is stored in the storage unit 32. Instruction information is generated by adding storage position information or the like for specifying a storage position (a warehousing destination or a warehousing source position) in the rack 20 to the picked-up and picked-up transport request, and the generated instruction information is sent to the second communication unit. The data is transmitted to the stacker crane 40 via 34.

  FIG. 7 is a diagram illustrating a state in which a conveyance request is stored in the storage unit 32 and is taken out under the control of the control unit 31. The transport request sent from the upstream computer is stored in the storage unit 32 separately into the transport request for warehousing and the transport request for unloading. Then, for example, a pair of transfer requests (one transfer request for transfer and one transfer request for transfer) are taken out under the storage / shipping scheduling, and the storage position information is added to the stacker crane 40 and transmitted. Is done. The transport request taken out from the storage unit 32 is deleted from the storage unit 32.

  Here, the characteristic entrance / exit scheduling by the control unit 31 is as follows.

  In the normal operation mode in which energy saving is prioritized over high-speed processing, the controller 31 lifts one of the two elevators (the first elevator 50a and the second elevator 50b) from the storage unit 32. The first transport request that requires the second transport request and the second transport request that requires the lowering of the other lifting platform are read out, and the movement corresponding to the read first transport request and the second transport request is instructed to the stacker crane 40.

  At this time, when at least one of the first transport request and the second transport request is stored in the storage unit 32, the control unit 31 includes a set of possible first transport requests and second transport requests. The pair of the first transport request and the second transport request that are closest to the rising amount of the lifting platform related to the first transport request and the descending amount of the lifting platform related to the second transport request is selected from the storage unit 32. The stacker crane 40 is instructed to perform movement corresponding to the set of the first conveyance request and the second conveyance request.

  Here, if only one of the first transport request and the second transport request is stored in the storage unit 32, the control unit 31 stores the transport request stored in the storage unit 32. Among them, a transport request with a smaller lifting amount of the lifting platform is preferentially selected and read from the storage unit 32, and the movement corresponding to the read transport request is instructed to the stacker crane 40.

  Alternatively, when only one of the first transport request and the second transport request is stored in the storage unit 32, the control unit 31 reads the transport request from the storage unit 32 and reads the read transport request. And a movement to move a load (for example, a dummy weight) placed on the rack 20 to another shelf, and the lifting platform is lowered in a direction opposite to the lifting or lowering of the lifting platform according to the transport request. Alternatively, the stacker crane 40 is instructed to move corresponding to the transport to be raised. Specifically, when only one of the first transport request and the second transport request is stored in the storage unit 32, the control unit 31 issues a “transport request” for transporting the dummy weight. Created in accordance with the transport request of the other party and stored in the storage unit 32, pair the two transport requests and instruct the stacker crane 40.

  The dummy weight refers to a package that functions as a weight and is placed on the rack 20 and is not a request for conveyance at that time. The dummy weight is not only a dummy package (a dummy package (that is, a weight) different from a package that can be requested for transportation) set in advance for the purpose of moving only in the rack 20, but also a normal package (conveyance request). May be included). In the present embodiment, it is temporarily used to realize simultaneous driving of one raising and lowering of one of the two elevators (the first elevator 50a and the second elevator 50b).

  The transport using such dummy weights can also be performed when the control unit 31 can take a plurality of combinations of the transport request stored in the storage unit 32 and transport of the load placed on the rack 20. Among a plurality of combinations, an ascent or descent amount for raising or lowering the elevator platform related to the conveyance request read from the storage unit 32 and a descent amount for descending or ascending relating to the conveyance of the load placed on the rack 20 or The stacker crane 40 is instructed to perform a movement corresponding to the combination of the conveyance request that is closest to the rising amount and the conveyance of the load placed on the rack 20.

  In addition, regarding the determination of the shelf in the rack 20, the control unit 31 has a predetermined range in which the rising amount when the lifting platform is raised according to the first transfer request and the lowering amount when the lifting table is lowered according to the second transfer request. The shelf that is the destination or source of the package according to at least one of the first transport request and the second transport request is selected from among the plurality of shelves constituting the rack 20 so as to be close to each other. The stacker crane 40 is instructed to perform movements corresponding to the determined first transport request and second transport request.

  In the high-speed operation mode in which high-speed processing is prioritized over energy saving, the control unit 31 performs the lowering of one of the two elevators (the first elevator 50a and the second elevator 50b) and the other. The transport request is read from the storage unit 32 in accordance with a predetermined algorithm in consideration of processing the transport request stored in the storage unit 32 earlier without considering parallel processing. A corresponding movement is instructed to the stacker crane 40.

  FIG. 8 is a flowchart showing an operation example of the control device 30 in the normal operation mode.

  From the storage unit 32, the control unit 31 receives the first conveyance request and the other lifting platform that require raising one of the lifting platforms (the first lifting platform 50a and the second lifting platform 50b). It is determined whether or not it is possible to read a pair with the second transport request that requires lowering (that is, pairing) (S10).

  As a result, when it is determined that pairing is possible (Yes in S10), the amount of increase in the ascent of the lifting platform related to the first transfer request among the possible combinations of the first transfer request and the second transfer request A pair of transport requests is determined by reading from the storage unit 32 a set of the first transport request and the second transport request that are closest to the descending amount of the lowering platform in accordance with the second transport request (S11). On the other hand, when it is determined that pairing is not possible (No in S10), that is, when only one of the first transport request and the second transport request is stored in the storage unit 32, the control is performed. The unit 31 reads the transport request from the storage unit 32, determines the dummy weight that lowers or raises the lifting platform in the opposite direction to the lifting or lowering of the lifting platform related to the read transport request, and closes the lifting amount. Thus, a transport request pair is determined (S12).

  And the control part 31 instruct | indicates the movement corresponding to the determined conveyance request | requirement pair to the stacker crane 40 (S13).

  Thereby, in the stacker crane 40, when one of the two elevators is lowered, the other elevator is driven to lift using the electric power regenerated by the lowering of the elevator. Done. Thereby, the electric power required for raising / lowering the raising / lowering stand in the stacker crane 40 is reduced.

  In addition, such a control apparatus 30 (or control part 31) raises one lifting stand from the storage part which memorize | stores the several conveyance request | requirement regarding (1) loading / unloading of a load. A step of selecting and reading a first transfer request that requires a second transfer request that requires lowering the other of the two lifts; and (2) the read first transfer request and The instruction step of instructing the movement corresponding to the second transport request to the stacker crane can be realized by a program that causes a computer to execute.

  Next, characteristic movements (operations of the control device 30 and the stacker crane 40) in the automatic warehouse 10 according to the present embodiment configured as described above will be described. That is, a specific example of the entry / exit scheduling by the control unit 31 is shown.

  9A to 9I are diagrams illustrating the movement of the stacker crane 40 that processes one warehousing request and one warehousing request (that is, an example of warehousing scheduling in the control device 30). Here, it is assumed that the first lifting platform 50a is used for warehousing and the second lifting platform 50b is used for shipping.

  First, the stacker crane 40 receives the cargo 21a for warehousing from the station 3 to the first lifting platform 50a (FIG. 9A).

  Then, the stacker crane 40 travels to the position (the original position) where the outgoing luggage 21b is placed (FIG. 9B). During traveling, the stacker crane 40 raises and lowers the second lifting platform 50b to a height at which the cargo 21b for delivery is placed, if necessary. When the stacker crane 40 arrives at the unloading source position, the stacker crane 40 takes out the unloading load 21b from the rack 20 and places it on the second lifting platform 50b (FIG. 9C).

  Subsequently, the stacker crane 40 travels to the position of the rack 20 (warehouse destination) where the luggage 21a for warehousing is placed (FIG. 9D). During traveling, the stacker crane 40 raises the first lifting platform 50a on which the luggage 21a for warehousing is loaded to a height at which the luggage 21a is placed, and at the same time, the stacker crane 40 moves by the amount equal to the raised amount. The second lifting platform 50b on which the luggage 21b is placed is lowered. When arriving at the warehousing destination, the stacker crane 40 places the cargo 21a for warehousing on the rack 20 (FIG. 9E).

  Then, the stacker crane 40 travels to the station 3 (FIG. 9F). During traveling, the stacker crane 40 stops the two elevators (the first elevator 50a and the second elevator 50b) without raising and lowering. When arriving at the station 3, the stacker crane 40 takes out the dummy weight 21c from the rack 20 and places it on the first lifting platform 50a (FIG. 9G). The dummy weight 21c can be placed on either of the two elevators (the first elevator 50a and the second elevator 50b) when the stacker crane 40 is stopped at the station 3 position. The rack 20 is preliminarily concentrated on a shelf near the station 3.

  Subsequently, the stacker crane 40 lowers the second lifting platform 50b at the same time that the loading platform 21b placed on the second lifting platform 50b can be placed in the station 3 (or the shipping station). The first lifting platform 50a on which the dummy weight 21c is placed is raised by a movement amount equal to the lowering amount (FIG. 9H). After that, the stacker crane 40 is placed on the first elevator 50a in parallel with placing the cargo 21b for delivery placed on the second elevator 50b on the station 3 (or the station for delivery). The dummy weight 21c is placed on an empty shelf of the rack 20 (FIG. 9I).

  In this way, the stacker crane 40 raises the first lifting platform 50a carrying the loading luggage 21a or the dummy weight 21c, and simultaneously lowers the second lifting platform 50b carrying the delivery luggage 21b. ing. At this time, when the second lifting platform 50b is lowered by the lifting device 60 of the stacker crane 40, driving to raise the first lifting platform 50a is performed using the electric power regenerated by the lowering of the lifting platform. Is called. Thereby, the work efficiency of the stacker crane 40 is improved, and the electric power required for raising and lowering the lifting platform in the stacker crane 40 is reduced.

  Next, a case where one warehousing transport request is processed will be described. FIG. 10 is a diagram showing a positional relationship between a load 21a that is a target of a warehousing transport request and a dummy weight 21c used for the transport. FIG. 11A to FIG. 11C are diagrams illustrating the movement of the stacker crane 40 that processes one warehousing transport request (that is, an example of warehousing scheduling in the control device 30). Here, it is assumed that the first lifting platform 50a is used for storing the luggage 21a, and the second lifting platform 50b is used for moving the dummy weight 21c.

  First, the stacker crane 40 receives the cargo 21a for warehousing from the station 3 to the first lifting platform 50a, and at the same time or immediately thereafter, the stacker crane 40 is placed at a high position in the rack 20. The dummy weight 21c is taken out and placed on the second lifting platform 50b (FIG. 11A).

  Then, the stacker crane 40 travels to the position of the rack 20 (the warehousing destination) where the luggage 21a for warehousing is placed (FIG. 11B). During traveling, the stacker crane 40 raises the first lifting platform 50a on which the cargo 21a for warehousing is placed to a height at which the cargo 21a is placed, and at the same time, the dummy weight 21c is moved by a movement amount equal to the raising amount. Is lowered.

  When the stacker crane 40 arrives at the storage destination position, the stacker crane 40 attaches the dummy weight 21c placed on the second lifting platform 50b to the rack 20 in parallel with or immediately after placing the storage baggage 21a on the rack 20. On an empty shelf (FIG. 11C).

  Thus, the stacker crane 40 lowers the second lifting platform 50b on which the dummy weights 21c are placed in order to raise the first lifting platform 50a on which the cargo 21a for warehousing is placed. At this time, when the second lifting platform 50b is lowered by the lifting device 60 of the stacker crane 40, driving to raise the first lifting platform 50a is performed using the electric power regenerated by the lowering of the lifting platform. Is called. Thereby, the electric power required for the raising of the lifting platform in the stacker crane 40 is reduced.

  Next, a case where two warehousing transport requests are processed in succession will be described. 12A to 12E are diagrams illustrating the movement of the stacker crane 40 that processes two warehousing requests for warehousing (that is, an example of warehousing / unloading scheduling in the control device 30). Here, it is assumed that the first elevator 50a is used for the first entry, and the second elevator 50b is used for the next entry.

  First, the stacker crane 40 receives the first storage baggage 21a from the station 3 to the first lifting platform 50a, and at the same time or immediately thereafter, the stacker crane 40 is placed at a high position in the rack 20. The dummy weight 21c placed on is taken out and placed on the second lifting platform 50b (FIG. 12A).

  Subsequently, the stacker crane 40 lowers the second lifting platform 50b on which the dummy weight 21c is placed to the height of the station 3, and at the same time, places the first cargo 21a for warehousing by a movement amount equal to the lowering amount. The first lifting platform 50a is raised (FIG. 12B). Then, the stacker crane 40 places the dummy weight 21c mounted on the second lifting platform 50b on an empty shelf or the like of the rack 20 (FIG. 12C), and then the next storage from the station 3 to the second lifting platform 50b. The package 21b is received (FIG. 12D).

  Then, the stacker crane 40 travels to the position of the rack 20 (the warehousing destination) on which the two warehousing items 21a and 21b are placed (FIG. 12E). During traveling, the stacker crane 40 lowers the first lifting platform 50a on which the first storage baggage 21a is placed to the height at which the baggage 21a is placed, and at the same time, the stacker crane 40 moves by a movement amount equal to the lowering amount. 2 Raise the lifting platform 50b. When the stacker crane 40 arrives at the storage destination position, the stacker crane 40 places two storage packages 21a and 20b on the rack 20 (FIG. 12F).

  When placing the two storage cargoes 21a and 21b on the rack 20, the stacker crane 40 stores the storage locations of the two storage cargos 21a and 21b (the height of the shelf in the rack 20 and The operation depends on the position in the column direction. For example, when the amount of lowering of the first lifting platform 50a and the amount of lifting of the second lifting platform 50b cannot be matched, the stacker crane 40 further increases only the first lifting platform 50a by the height difference. Only the lowering or the second lifting platform 50b is further raised. In addition, when the two cargoes 21a and 20b cannot be placed on the rack 20 at the same time because the two cargoes 21a and 20b are not adjacent to each other in the rack 20, the stacker crane 40, after placing one piece of luggage on the rack 20, travels a required distance, and then places the other piece.

  In this way, the stacker crane 40 can not only carry the cargo for entry and the cargo for delivery at the same time, but also can carry in two consecutive cargoes for entry. In addition, in the conveyance, when the lifting device 60 of the stacker crane 40 is lowered, one of the lifting platforms is driven to lift the other lifting platform using electric power regenerated by the lowering of the lifting platform. Done. Thereby, the work efficiency of the stacker crane 40 is improved, and the electric power required for raising and lowering the lifting platform in the stacker crane 40 is reduced.

  As mentioned above, although the automatic warehouse which concerns on this invention was demonstrated based on embodiment, this invention is not limited to this embodiment. Unless it deviates from the meaning of this invention, the form which carried out the various deformation | transformation which those skilled in the art can think to this embodiment, and the structure constructed | assembled combining the component in different embodiment is also contained in the scope of the present invention. .

  For example, in the present embodiment, two racks 20a and 20b are arranged on both sides of the stacker crane 40 with respect to the travel path of the stacker crane 40. However, the rack 20 is disposed only on one side of the stacker crane 40 travel path. Alternatively, if the stacker crane 40 is accessible, three or more racks may be arranged.

  In addition, the weights of the plurality of dummy weights prepared in advance may be the same or different. When a plurality of dummy weights having different weights are placed on the rack 20, the control device 30 performs control so that the lifting platform is raised and lowered at the same time using dummy weights that are close to the weight of the load to be transported. It is preferable to do this.

  Further, in the case where the raising and lowering of the two lifting platforms are performed simultaneously, the control device 30 not only performs control to match the rising amount of one lifting platform and the lowering amount of the other lifting platform, The rising amount of one lifting platform and the lowering amount of the other lifting platform may be determined so that the amount of regenerative power generated by the lowering of the lifting platform is equal to the amount of power required to lift the lifting platform. For example, when the weights of luggage or dummy weights placed on two elevators are different, the control device 30 makes the amount of regenerative power generated by lowering the elevator and the amount of power required for raising the elevator As described above, the rising amount of one lifting platform and the lowering amount of the other lifting platform (that is, storage scheduling, dummy weight to be used, etc.) may be determined.

  INDUSTRIAL APPLICABILITY The present invention can be used as an automatic warehouse equipped with a stacker crane, particularly as an automatic warehouse equipped with a stacker crane having two elevators.

3 station 4 rail 10 automatic warehouse 20, 20a, 20b rack 21a, 21b luggage 21c dummy weight 30 control device 31 control unit 32 storage unit 33 first communication unit 34 second communication unit 35 input / output unit 40 stacker crane 41 lower carriage 42 Upper carriage 43 Guide frame 43a Left mast 43b Right mast 44 Wheel 45 Traveling motor 48a Sheave 49a, 49b Wire rope 50a First lifting platform 50b Second lifting platform 51a, 51b Slide fork 52a, 52b Plate 53a, 53b Transfer motor 60 Lifting Device 61a First regenerative converter 61b Second regenerative converter 62a First inverter 62b Second inverter 63a First winch motor 63b Second winch motor 65 AC power supply

Claims (9)

A rack having a plurality of shelves for placing luggage;
A stacker crane that moves along the rack and loads and unloads the luggage to and from the rack;
A control device for instructing the stacker crane to move,
The stacker crane is
Two elevators that can be moved up and down independently to convey the luggage;
An elevating device that drives to raise and lower the two elevating platforms based on an instruction from the control device;
The lifting device, when one of the two lifting platforms is lowered, uses the electric power regenerated by the lowering of the lifting platform, the other of the two lifting platforms. Raise the platform,
The controller is
A storage unit for storing a plurality of transport requests relating to the loading and unloading of the luggage;
A first transfer request that requires raising one of the two elevators from the storage unit and a second that requires lowering the other elevator of the two elevators. A control unit that selects and reads a transport request, and instructs the stacker crane to perform a movement corresponding to the read first transport request and the second transport request.
Automatic warehouse. The control unit further includes a combination of the first transport request and the second transport request that can be taken when at least one of the first transport request and the second transport request is stored in the storage unit. Among these, the first transport request and the second transport request are the closest to the rising amount of the lifting platform related to the first transport request and the lowering amount of the lifting platform related to the second transport request. The automatic warehouse according to claim 1, wherein the stacker crane is selected and read from the storage unit, and the stacker crane is instructed to perform a movement corresponding to the read pair of the first transport request and the second transport request. In the case where a plurality of combinations of the transport request stored in the storage unit and the transport of the load placed on the rack can be taken, the control unit further includes the plurality of possible combinations from the storage unit. The transport request that is the closest to the amount of lift or the amount of descending in the lift or descend of the lifting platform related to the read transport request and the amount of descend or lift in the descending or lifting related to transport of the load placed on the rack The automatic warehouse according to claim 1 or 2, wherein the stacker crane is instructed to perform a movement corresponding to a pair with conveyance of a load placed on the rack. Further, the control unit is configured such that the amount of increase in the lift of the elevator platform related to the first transfer request and the amount of decrease in the lift of the elevator platform related to the second transfer request are close to each other within a predetermined range. The first transport request is determined by selecting a shelf as a transport destination or a transport source of the package according to at least one of the first transport request and the second transport request from the plurality of shelves. The automatic warehouse according to any one of claims 1 to 3, wherein the stacker crane is instructed to move corresponding to the second transport request. The control unit further reads and reads the transport request from the storage unit when only one transport request of the first transport request and the second transport request is stored in the storage unit. A movement corresponding to the conveyance request and a conveyance for moving a load placed on the rack to another shelf, wherein the elevator table is lowered or lowered in a direction opposite to the raising or lowering of the elevator table according to the conveyance request. The automatic warehouse according to any one of claims 1 to 4, wherein the stacker crane is instructed to move corresponding to the transport to be raised. The automatic warehouse according to claim 1, further comprising a weight placed on the rack. The control unit further includes a transfer request stored in the storage unit when only one of the first transfer request and the second transfer request is stored in the storage unit. 7. The stacker crane is instructed to select and read out from the storage unit a priority for a transport request in which the lifting amount of the lifting platform is smaller, and to instruct the stacker crane to move corresponding to the read transport request. Automatic warehouse as described in the section. The control unit further processes the transport request stored in the storage unit faster without considering paralleling the lowering of one of the two lifting platforms and the rising of the other. The automatic operation according to any one of claims 1 to 7, wherein the transport request is read from the storage unit in accordance with a predetermined algorithm in consideration, and a movement corresponding to the read transport request is instructed to the stacker crane. Warehouse. A rack having a plurality of shelves for placing luggage;
A stacker crane that moves along the rack and loads and unloads the luggage to and from the rack;
A program for the control device in an automatic warehouse comprising a control device for instructing movement to the stacker crane,
The stacker crane is
Two elevators that can be moved up and down independently to convey the luggage;
An elevating device that drives to raise and lower the two elevating platforms based on an instruction from the control device;
The lifting device, when one of the two lifting platforms is lowered, uses the electric power regenerated by the lowering of the lifting platform, the other of the two lifting platforms. Raise the platform,
The program is
From a storage unit that stores a plurality of transport requests relating to the loading and unloading of the luggage, a first transport request that requires the lift of one of the two lifts and the two of the two lifts Selecting and reading out a second transport request that requires lowering of the other lifting platform;
A program for causing a computer to execute an instruction step for instructing the stacker crane to perform a movement corresponding to the read first transport request and the second transport request.

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