JP6044486B2

JP6044486B2 - Picking equipment

Info

Publication number: JP6044486B2
Application number: JP2013173975A
Authority: JP
Inventors: 権藤　卓也; 卓也権藤; 淳倉山; 正美岩井; 淳味生
Original assignee: Daifuku Co Ltd
Current assignee: Daifuku Co Ltd
Priority date: 2013-08-23
Filing date: 2013-08-23
Publication date: 2016-12-14
Anticipated expiration: 2033-08-23
Also published as: JP2015040129A

Description

本発明は、物品を収容した容器を複数保管する保管部と、前記保管部から出庫箇所に前記容器を搬送し且つ入庫箇所から前記保管部に前記容器を搬送する第１搬送装置と、前記出庫箇所からピッキング箇所を経由して前記入庫箇所に前記容器を搬送する第２搬送装置と、前記第１搬送装置及び前記第２搬送装置の作動を制御する制御装置と、が設けられているピッキング設備に関する。 The present invention includes a storage unit that stores a plurality of containers containing articles, a first transport device that transports the container from the storage unit to a delivery location, and transports the container from the entry location to the storage unit, and the delivery Picking equipment provided with a second transport device that transports the container from the location to the storage location via the picking location, and a control device that controls the operation of the first transport device and the second transport device About.

かかるピッキング設備の従来例が、例えば、特開２０００−１９１１０６号公報（特許文献１）に記載されている。特許文献１のピッキング装置では、保管部からピッキング箇所に実容器を搬送し、ピッキング箇所におけるピッキング作業が完了した後、容器に物品が残っている場合は、その容器（実容器）をピッキング箇所から保管部に搬送し、容器に物品が残っていない場合は、その容器（空容器）を作業者が第２搬送装置上から取り除いていた。 A conventional example of such a picking facility is described in, for example, Japanese Patent Laid-Open No. 2000-191106 (Patent Document 1). In the picking device of Patent Document 1, when an actual container is transported from a storage unit to a picking location, and an article remains in the container after the picking operation at the picking location is completed, the container (actual container) is removed from the picking location. When the article was transported to the storage unit and no article remained in the container, the worker removed the container (empty container) from the second transport device.

特開２０００−１９１１０６号公報JP 2000-191106 A

しかしながら、上記した従来のピッキング設備では、ピッキング箇所におけるピッキング作業が完了した後、容器に物品が残っていない場合は、空容器を作業者が第２搬送装置上から取り除く必要があるため、その空容器を第２搬送措置上から取り除く作業が煩わしいものであった。
そこで、空容器を第２搬送措置上から自動的に取り除くことが求められており、特に、ピッキング設備の構成の複雑化を抑えながら空容器を自動的に取り除くことができる構成とすることが望まれている。 However, in the above-described conventional picking equipment, when an article does not remain in the container after the picking operation is completed, the empty container needs to be removed from the second transfer device by the operator. The operation of removing the container from the second conveyance measure is troublesome.
Therefore, it is required to automatically remove the empty container from the second transport measure, and in particular, it is desired to have a configuration that can automatically remove the empty container while suppressing the complexity of the configuration of the picking equipment. It is rare.

上記実状に鑑みると、構成の複雑化を抑えながら空容器を自動的に取り除くことができるピッキング設備が望まれている。 In view of the above situation, there is a demand for a picking facility that can automatically remove an empty container while suppressing the complexity of the configuration.

本発明に係るピッキング設備の特徴構成は、物品を収容した容器を複数保管する保管部と、前記保管部から出庫箇所に前記容器を搬送し且つ入庫箇所から前記保管部に前記容器を搬送する第１搬送装置と、前記出庫箇所からピッキング箇所を経由して前記入庫箇所に前記容器を搬送する第２搬送装置と、前記第１搬送装置及び前記第２搬送装置の作動を制御する制御装置と、が設けられているピッキング設備において、
前記第２搬送装置に接続されて前記第２搬送装置により搬送される前記容器を払出箇所に搬送する第３搬送装置が設けられ、物品が収容されている前記容器を実容器とし、物品が収容されていない前記容器を空容器として、前記制御装置が、前記保管部から前記ピッキング箇所に前記実容器を搬送するべく、前記第１搬送装置と前記第２搬送装置との作動を制御する出庫制御と、前記ピッキング箇所におけるピッキング作業が完了した後の前記実容器を前記ピッキング箇所から前記保管部に搬送するべく、前記第１搬送装置と前記第２搬送装置との作動を制御する入庫制御と、前記ピッキング箇所におけるピッキング作業が完了した後の前記空容器を前記ピッキング箇所から前記払出箇所に搬送するべく、前記第２搬送装置と前記第３搬送装置との作動を制御する空容器払出制御と、前記実容器を前記保管部から前記払出箇所に搬送するべく、前記第１搬送装置と前記第２搬送装置と前記第３搬送装置との作動を制御する実容器払出制御と、を実行するように構成され、前記第３搬送装置が、前記第２搬送装置における前記ピッキング箇所より搬送経路の下流で且つ前記入庫箇所より搬送経路の上流に接続され、前記実容器払出制御が、前記実容器を前記保管部から前記ピッキング箇所を通過させて前記払出箇所に搬送するべく、前記第１搬送装置と前記第２搬送装置と前記第３搬送装置との作動を制御する点にある。 A characteristic configuration of the picking facility according to the present invention includes: a storage unit that stores a plurality of containers that store articles; and a container that transports the container from the storage unit to a storage location and transports the container from the storage location to the storage unit. 1 transport device, a second transport device that transports the container from the unloading location via the picking location to the storage location, a control device that controls the operation of the first transport device and the second transport device, In the picking equipment provided with
A third transport device connected to the second transport device for transporting the container transported by the second transport device to a dispensing location is provided, and the container in which the article is stored is an actual container, and the article is stored Unloading control for controlling the operation of the first transport device and the second transport device so that the control device transports the actual container from the storage unit to the picking location, with the uncontained container as an empty container And warehousing control for controlling the operation of the first transport device and the second transport device to transport the actual container after the picking operation at the picking location is completed to the storage unit, In order to transport the empty container after the picking operation at the picking location from the picking location to the payout location, the second transport device and the third transport device And control of the operations of the first transfer device, the second transfer device, and the third transfer device to transfer the actual container from the storage unit to the payout location. And the third transport device is connected to the downstream of the transport path from the picking location in the second transport device and to the upstream of the transport route from the warehousing location, The actual container payout control operates the first transfer device, the second transfer device, and the third transfer device to transfer the real container from the storage unit to the payout location through the picking location. The point is to control .

この特徴構成によれば、出庫制御を実行することで、保管部に保管されていた実容器が保管部からピッキング箇所に搬送され、入庫制御を実行することで、ピッキング箇所におけるピッキング作業が完了した後の実容器がピッキング箇所から保管部に搬送される。
また、空容器払出制御を実行することで、ピッキング箇所におけるピッキング作業が完了した後の空容器をピッキング箇所から払出箇所に搬送されて、空容器をピッキング設備から払い出すことができる。そのため、空容器を自動的に取り除くことができ、作業者が空容器を第２搬送装置上から取り除く必要がなくなる。 According to this feature configuration, by executing the delivery control, the actual container stored in the storage unit is transported from the storage unit to the picking location, and by executing the entry control, the picking operation at the picking location is completed. The subsequent real container is transported from the picking location to the storage unit.
Further, by executing the empty container dispensing control, the empty container after the picking operation at the picking location is completed can be transported from the picking location to the dispensing location, and the empty container can be dispensed from the picking facility. Therefore, the empty container can be automatically removed, and the operator does not have to remove the empty container from the second transport device.

また、実容器払出制御を実行することで、第１搬送装置、第２搬送装置及び第３搬送装置の作動により、保管部に保管されていた実容器が保管部から払出箇所に搬送して、実容器をピッキング設備から払い出すことができる。
そして、空容器払出制御では、第２搬送装置及び第３搬送装置の作動により、ピッキング箇所の空容器が払出箇所に搬送される。つまり、第２搬送装置や第３搬送装置を、実容器を払い出す搬送装置と空容器を払い出す搬送装置とに兼用することができるため、上述のように空容器を第２搬送装置から自動的に取り除くことができる構成としながら、ピッキング設備の構成の複雑化を抑制できる。 In addition, by executing the actual container dispensing control, the actual container stored in the storage unit is conveyed from the storage unit to the dispensing location by the operation of the first conveyance device, the second conveyance device, and the third conveyance device, The actual container can be paid out from the picking facility.
And in empty container discharge | emission control, the empty container of a picking location is conveyed to the discharge location by the action | operation of a 2nd conveying apparatus and a 3rd conveying apparatus. In other words, since the second transfer device and the third transfer device can be used both as a transfer device for paying out the actual container and a transfer device for paying out the empty container, the empty container is automatically removed from the second transfer device as described above. Therefore, the configuration of the picking equipment can be prevented from becoming complicated.

また、この構成によれば、第３搬送装置が、第２搬送装置におけるピッキング箇所より搬送経路の下流で且つ入庫箇所より搬送経路の上流に接続されているので、空容器をピッキング箇所から払出箇所に搬送するときに、ピッキング箇所から入庫箇所に容器を搬送する途中で第２搬送装置から第３搬送装置に空容器を受け渡すことができるため、空容器を迅速に払出箇所に払い出すことができる。
つまり、例えば、第３搬送装置を、第２搬送装置における出庫箇所より搬送経路の下流で且つピッキング箇所より搬送経路の上流に接続した場合では、ピッキング箇所に位置する空容器は、第２搬送装置にてピッキング箇所から入庫箇所に搬送し、第１搬送装置にて入庫箇所から出庫箇所に搬送し、第２搬送装置にて出庫箇所から搬送して第３搬送装置に受け渡すことになるが、このように、ピッキング箇所から入庫箇所や出庫箇所を経由してから容器を払い出す場合に比べて、空容器を迅速に払出箇所に払い出すことができる。 Further , according to this configuration, since the third transport device is connected downstream of the transport path from the picking location in the second transport device and upstream of the transport location from the warehousing location, the empty container is removed from the picking location. Since the empty container can be transferred from the second conveying device to the third conveying device in the middle of conveying the container from the picking location to the receiving location, the empty container can be quickly dispensed to the dispensing location. it can.
That is, for example, when the third transport device is connected downstream from the delivery location in the second transport device and upstream from the pick location, the empty container positioned at the pick location is the second transport device. It is transported from the picking location to the warehousing location, transported from the warehousing location to the shipping location by the first transport device, and transported from the warehousing location to the third transport device by the second transport device. In this way, it is possible to quickly pay out an empty container to a payout location, as compared to a case where the container is paid out after passing from the picking location to the storage location or the output location.

そして、実容器を保管部から払出箇所に搬送するときに、ピッキング箇所を通過させて払出箇所に搬送することで、空容器を払出箇所に搬送するときと同様に、ピッキング箇所から入庫箇所に容器を搬送する途中で第２搬送装置から第３搬送装置に実容器を受け渡すことができる。そのため、第３搬送装置の第２搬送装置への接続が１箇所でよくなるため、ピッキング設備の構成の簡素化を図ることができる。ちなみに、通過とは、実容器がピッキング作業されることなくピッキング箇所Ｅ２を通り過ぎることを意味している。 And when transporting the actual container from the storage unit to the payout location, the container is passed from the picking location to the receiving location by passing the picking location and transporting it to the payout location in the same manner as when transporting the empty container to the payout location. The actual container can be delivered from the second transfer device to the third transfer device during the transfer of the container. Therefore, since the connection of the third transport device to the second transport device is only required at one place, the configuration of the picking equipment can be simplified. Incidentally, passing means that the actual container passes through the picking point E2 without being picked.

また、前記保管部が、上下方向に複数段設けられ、前記第１搬送装置が、前記複数段の保管部に対応して複数設けられ、前記出庫箇所及び前記入庫箇所が、前記複数段の保管部に対応して複数設定され、前記第２搬送装置が、前記出庫箇所に搬送された前記容器を上下方向に搬送する出庫側昇降装置及び入庫側昇降装置と、前記複数の出庫箇所に対応して設けられて前記出庫箇所から搬送した前記容器を前記出庫側昇降装置に受け渡す複数段の出庫側搬送装置と、前記複数の入庫箇所に対応して設けられて前記入庫側昇降装置から受け取った前記容器を前記入庫箇所に搬送する複数段の入庫側搬送装置と、前記出庫側昇降装置から受け取った前記容器を前記ピッキング箇所を経由するように搬送して前記入庫側昇降装置に受け渡すピッキング用搬送装置と、を備えて構成され、前記第３搬送装置が、前記入庫側昇降装置に接続されて前記入庫側昇降装置から前記容器を受け取るように構成されていると好適である。 In addition, the storage unit is provided in a plurality of stages in the vertical direction, the first transport device is provided in a plurality corresponding to the storage units in the plurality of stages, and the exit location and the entry location are stored in the plurality of stages. And a plurality of the second transfer devices corresponding to the unloading side elevating device and the warehousing side elevating device for conveying the container conveyed to the unloading location in the vertical direction, and the plurality of unloading locations. A plurality of unloading-side transfer devices that deliver the containers transported from the unloading location to the unloading-side lifting device and received from the receiving-side lifting device corresponding to the plurality of receiving locations. A plurality of warehousing-side transport devices that transport the container to the warehousing location, and picking that transports the containers received from the warehousing-side lifting device through the picking location and delivers them to the warehousing-side lifting device. Is configured with a transport device, wherein the third transport device, it is preferable that connected to the receipts side lifting device from the receipts side lifting device is configured to receive said container.

この構成によれば、第１搬送装置が、複数段の保管部に対応して複数設けられ、出庫箇所及び前記入庫箇所が、複数段の保管部に対応して複数設定されており、各段それぞれにおいて、第１搬送装置にて保管部から出庫側搬送装置に容器が搬送され、第１搬送装置にて入庫側搬送装置から保管部に容器が搬送される。そのため、複数段の保管部に対して１台の第１搬送装置を設ける場合に比べて、容器を迅速に入出庫し易い。 According to this configuration, a plurality of first conveying devices are provided corresponding to a plurality of storage units, and a plurality of delivery locations and storage locations are set corresponding to a plurality of storage units. In each, a container is conveyed from the storage part to the warehousing side conveyance apparatus by the 1st conveyance apparatus, and a container is conveyed from the warehousing side conveyance apparatus to the storage part by the 1st conveyance apparatus. Therefore, it is easier to quickly enter and exit the container than in the case where one first transport device is provided for a plurality of storage units.

そして、入庫側昇降装置は、容器を上下方向に搬送するものであるため、入庫側昇降装置による容器の搬送経路は上下方向に長いものとなる。このような入庫側昇降装置に、ピッキング用搬送装置と第３搬送装置とを接続することで、第３搬送装置をピッキング用搬送装置とは異なる高さで入庫側昇降装置に接続し易く、第３搬送装置をピッキング用搬送装置と異なる高さとすることで、第３搬送装置を設置し易くなる。 And since the warehousing side raising / lowering apparatus conveys a container to an up-down direction, the conveyance path | route of the container by a warehousing side raising / lowering apparatus becomes a long thing to an up-down direction. By connecting the picking transport device and the third transport device to such a warehousing lifting device, the third transport device can be easily connected to the warehousing lifting device at a height different from that of the picking transport device. By making the 3 transport device different in height from the picking transport device, it becomes easy to install the third transport device.

また、前記入庫側昇降装置に接続されて前記実容器を搬送する第４搬送装置が設けられ、前記第４搬送装置が、前記入庫側昇降装置における前記ピッキング用搬送装置が前記入庫側昇降装置に接続された高さより上方で前記入庫側昇降装置に接続されて、前記入庫側昇降装置に前記実容器を受け渡すように構成され、前記第３搬送装置が、前記第４搬送装置が前記入庫側昇降装置に接続された高さより上方で前記入庫側昇降装置に接続されて、前記入庫側昇降装置から前記容器を受け取るように構成され、前記制御装置が、前記第４搬送装置にて搬送される前記実容器を前記保管部に搬送するべく、前記第１搬送装置と前記第２搬送装置と前記第４搬送装置との作動を制御する補充制御を実行するように構成されていると好適である。 In addition, a fourth transfer device is provided that is connected to the warehousing side elevating device and conveys the actual container. The fourth conveying device is connected to the warehousing side elevating device so that the picking conveying device is connected to the warehousing side elevating device. It is connected to the warehousing side elevating device above the connected height, and is configured to deliver the actual container to the warehousing side elevating device, wherein the third conveying device is the fourth conveying device is the warehousing side. It is connected to the warehousing-side lifting device above the height connected to the lifting device, and is configured to receive the container from the warehousing-side lifting device, and the control device is transported by the fourth transport device. In order to transport the actual container to the storage unit, it is preferable that replenishment control for controlling operations of the first transport device, the second transport device, and the fourth transport device is executed. .

この構成によれば、補充制御を実行することで、実容器を保管部に搬送して実容器を保管部に補充できる。
そして、入庫側昇降装置に対しては、下から順に、ピッキング用搬送装置、第４搬送装置、第３搬送装置の順で接続されている。
ピッキング用搬送装置は、最も下方で入庫側昇降装置に接続されているため、ピッキング用搬送装置を床面近くに設置し易く、床面上の作業者や床面上に設置したピッキングロボットにて、ピッキング箇所に位置する容器に対してピッキング作業を行い易い。
また、第４搬送装置は、ピッキング用搬送装置や第３搬送装置に比べて上下方向の中間位置で入庫側昇降装置に接続されるため、上下方向に並ぶ複数段の保管部に対して上下方向に振り分けて補充し易くなる。 According to this configuration, by executing the replenishment control, the actual container can be transported to the storage unit and the actual container can be replenished to the storage unit.
And it is connected with the warehousing side raising / lowering apparatus in order of the picking conveying apparatus, the 4th conveying apparatus, and the 3rd conveying apparatus from the bottom.
Since the picking transport device is connected to the warehousing lifting device at the lowest position, it is easy to install the picking transport device near the floor surface, and the picking robot installed on the floor surface or the picking robot installed on the floor surface can be used. It is easy to perform the picking operation on the container located at the picking location.
Further, since the fourth transport device is connected to the warehousing lifting device at an intermediate position in the vertical direction as compared with the picking transport device and the third transport device, the fourth transport device is It becomes easy to sort and replenish.

また、前記払出箇所として、実容器払出箇所と空容器払出箇所とが設定され、前記第３搬送装置が、前記空容器払出箇所と前記実容器払出箇所とに分岐搬送自在に構成され、前記制御装置が、前記空容器払出制御において、前記空容器を前記空容器払出箇所に搬送するべく、前記第２搬送装置と前記第３搬送装置との作動を制御し、前記実容器払出制御において、前記実容器を前記実容器払出箇所に搬送するべく、前記第１搬送装置と前記第２搬送装置と前記第３搬送装置との作動を制御すると好適である。
この構成によれば、空容器払出制御を実行することで、ピッキング箇所の空容器はピッキング箇所から空容器払出箇所に搬送され、実容器払出制御を実行することで、保管部の実容器を保管部から実容器払出箇所に搬送される。このように、実容器と空容器との払出箇所が異なるため、実容器と空容器とを混在することなく払出箇所に払い出すことができる。 In addition, an actual container payout location and an empty container payout location are set as the payout locations, and the third transport device is configured to be freely branched and transported to the empty container payout location and the actual container payout location, and the control In the empty container dispensing control, the apparatus controls the operation of the second conveying device and the third conveying device to convey the empty container to the empty container dispensing location, and in the actual container dispensing control, It is preferable to control the operations of the first transfer device, the second transfer device, and the third transfer device in order to transfer the actual container to the actual container discharge location.
According to this configuration, by executing the empty container dispensing control, the empty container at the picking location is transported from the picking location to the empty container dispensing location, and the actual container dispensing control is performed to store the actual container of the storage unit. It is transported from the section to the actual container dispensing location. In this way, since the payout locations of the actual container and the empty container are different, it is possible to pay out to the payout location without mixing the actual container and the empty container.

本発明に係るピッキング設備の特徴構成は、物品を収容した容器を複数保管する保管部と、前記保管部から出庫箇所に前記容器を搬送し且つ入庫箇所から前記保管部に前記容器を搬送する第１搬送装置と、前記出庫箇所からピッキング箇所を経由して前記入庫箇所に前記容器を搬送する第２搬送装置と、前記第１搬送装置及び前記第２搬送装置の作動を制御する制御装置と、が設けられているピッキング設備において、
前記第２搬送装置に接続されて前記第２搬送装置により搬送される前記容器を払出箇所に搬送する第３搬送装置が設けられ、物品が収容されている前記容器を実容器とし、物品が収容されていない前記容器を空容器として、前記制御装置が、前記保管部から前記ピッキング箇所に前記実容器を搬送するべく、前記第１搬送装置と前記第２搬送装置との作動を制御する出庫制御と、前記ピッキング箇所におけるピッキング作業が完了した後の前記実容器を前記ピッキング箇所から前記保管部に搬送するべく、前記第１搬送装置と前記第２搬送装置との作動を制御する入庫制御と、前記ピッキング箇所におけるピッキング作業が完了した後の前記空容器を前記ピッキング箇所から前記払出箇所に搬送するべく、前記第２搬送装置と前記第３搬送装置との作動を制御する空容器払出制御と、前記実容器を前記保管部から前記払出箇所に搬送するべく、前記第１搬送装置と前記第２搬送装置と前記第３搬送装置との作動を制御する実容器払出制御と、を実行するように構成され、前記払出箇所として、実容器払出箇所と空容器払出箇所とが設定され、前記第３搬送装置が、前記空容器払出箇所と前記実容器払出箇所とに分岐搬送自在に構成され、前記制御装置が、前記空容器払出制御において、前記空容器を前記空容器払出箇所に搬送するべく、前記第２搬送装置と前記第３搬送装置との作動を制御し、前記実容器払出制御において、前記実容器を前記実容器払出箇所に搬送するべく、前記第１搬送装置と前記第２搬送装置と前記第３搬送装置との作動を制御する点にある。
この特徴構成によれば、出庫制御を実行することで、保管部に保管されていた実容器が保管部からピッキング箇所に搬送され、入庫制御を実行することで、ピッキング箇所におけるピッキング作業が完了した後の実容器がピッキング箇所から保管部に搬送される。
また、空容器払出制御を実行することで、ピッキング箇所におけるピッキング作業が完了した後の空容器をピッキング箇所から払出箇所に搬送されて、空容器をピッキング設備から払い出すことができる。そのため、空容器を自動的に取り除くことができ、作業者が空容器を第２搬送装置上から取り除く必要がなくなる。
また、実容器払出制御を実行することで、第１搬送装置、第２搬送装置及び第３搬送装置の作動により、保管部に保管されていた実容器が保管部から払出箇所に搬送して、実容器をピッキング設備から払い出すことができる。
そして、空容器払出制御では、第２搬送装置及び第３搬送装置の作動により、ピッキング箇所の空容器が払出箇所に搬送される。つまり、第２搬送装置や第３搬送装置を、実容器を払い出す搬送装置と空容器を払い出す搬送装置とに兼用することができるため、上述のように空容器を第２搬送装置から自動的に取り除くことができる構成としながら、ピッキング設備の構成の複雑化を抑制できる。
また、この構成によれば、空容器払出制御を実行することで、ピッキング箇所の空容器はピッキング箇所から空容器払出箇所に搬送され、実容器払出制御を実行することで、保管部の実容器を保管部から実容器払出箇所に搬送される。このように、実容器と空容器との払出箇所が異なるため、実容器と空容器とを混在することなく払出箇所に払い出すことができる。 A characteristic configuration of the picking facility according to the present invention includes: a storage unit that stores a plurality of containers that store articles; and a container that transports the container from the storage unit to a storage location and transports the container from the storage location to the storage unit. 1 transport device, a second transport device that transports the container from the unloading location via the picking location to the storage location, a control device that controls the operation of the first transport device and the second transport device, In the picking equipment provided with
A third transport device connected to the second transport device for transporting the container transported by the second transport device to a dispensing location is provided, and the container in which the article is stored is an actual container, and the article is stored Unloading control for controlling the operation of the first transport device and the second transport device so that the control device transports the actual container from the storage unit to the picking location, with the uncontained container as an empty container And warehousing control for controlling the operation of the first transport device and the second transport device to transport the actual container after the picking operation at the picking location is completed to the storage unit, In order to transport the empty container after the picking operation at the picking location from the picking location to the payout location, the second transport device and the third transport device And control of the operations of the first transfer device, the second transfer device, and the third transfer device to transfer the actual container from the storage unit to the payout location. An actual container payout control, and an actual container payout location and an empty container payout location are set as the payout locations, and the third transport device includes the empty container payout location and the actual container. The control device is configured to be freely branched and transported to a payout location, and in the empty container payout control, the control device includes a second transport device and a third transport device for transporting the empty container to the empty container payout location. And controlling the operations of the first transfer device, the second transfer device, and the third transfer device in order to transfer the actual container to the actual container discharge location in the actual container discharge control. It is in.
According to this feature configuration, by executing the delivery control, the actual container stored in the storage unit is transported from the storage unit to the picking location, and by executing the entry control, the picking operation at the picking location is completed. The subsequent real container is transported from the picking location to the storage unit.
Further, by executing the empty container dispensing control, the empty container after the picking operation at the picking location is completed can be transported from the picking location to the dispensing location, and the empty container can be dispensed from the picking facility. Therefore, the empty container can be automatically removed, and the operator does not have to remove the empty container from the second transport device.
In addition, by executing the actual container dispensing control, the actual container stored in the storage unit is conveyed from the storage unit to the dispensing location by the operation of the first conveyance device, the second conveyance device, and the third conveyance device, The actual container can be paid out from the picking facility.
And in empty container discharge | emission control, the empty container of a picking location is conveyed to the discharge location by the action | operation of a 2nd conveying apparatus and a 3rd conveying apparatus. In other words, since the second transfer device and the third transfer device can be used both as a transfer device for paying out the actual container and a transfer device for paying out the empty container, the empty container is automatically removed from the second transfer device as described above. Therefore, the configuration of the picking equipment can be prevented from becoming complicated.
Also, according to this configuration, by executing the empty container dispensing control, the empty container at the picking location is transported from the picking location to the empty container dispensing location, and by executing the actual container dispensing control, the actual container of the storage unit Is transported from the storage unit to the actual container dispensing location. In this way, since the payout locations of the actual container and the empty container are different, it is possible to pay out to the payout location without mixing the actual container and the empty container.

ピッキング設備の平面図Top view of picking equipment ピッキング設備の側面図Side view of picking equipment 制御ブロック図Control block diagram 保管部からピッキング箇所への実容器の搬送を示す作用図Action diagram showing transport of actual container from storage to picking location ピッキング箇所から保管部への実容器の搬送を示す作用図Action diagram showing transport of actual container from picking location to storage ピッキング箇所からの空容器の払い出しを示す作用図Action diagram showing empty container dispensing from picking location 保管部への実容器の補充を示す作用図Action diagram showing refilling of actual containers into storage 保管部からの実容器の払い出しを示す作用図Action diagram showing dispensing of actual containers from storage

以下、本発明の実施形態を図面に基づいて説明する。
図１及び図２に示すように、ピッキング設備には、同じ種類の物品Ｗを容器Ｃに収容した状態で保管する自動倉庫１と、自動倉庫１から出庫された容器Ｃをピッキング箇所Ｅ２を経由するように搬送するピッキング用コンベヤ２と、自動倉庫１に容器Ｃを搬送する補充用コンベヤ３と、自動倉庫１から払い出された容器Ｃを搬送する払出用コンベヤ４と、が設けられている。
ちなみに、本実施形態のピッキング設備には、３つの自動倉庫１が設けられており、その３つの自動倉庫１の夫々に対してピッキング用コンベヤ２が設けられている。また、補充用コンベヤ３は、３つの自動倉庫１に対して容器Ｃを補充するように１つ設けられ、払出用コンベヤ４は、３つの自動倉庫１から払い出された容器Ｃを搬送するように１つ設けられている。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.
As shown in FIGS. 1 and 2, the picking equipment includes an automatic warehouse 1 that stores articles W of the same type in a container C, and a container C that has been delivered from the automatic warehouse 1 via a picking location E2. A picking conveyor 2 for conveying the container C, a replenishing conveyor 3 for conveying the container C to the automatic warehouse 1, and a dispensing conveyor 4 for conveying the container C dispensed from the automatic warehouse 1 are provided. .
Incidentally, the picking equipment of the present embodiment is provided with three automatic warehouses 1, and a picking conveyor 2 is provided for each of the three automatic warehouses 1. Further, one replenishment conveyor 3 is provided so as to replenish the containers C to the three automatic warehouses 1, and the dispensing conveyor 4 conveys the containers C dispensed from the three automatic warehouses 1. One is provided.

ピッキング設備では、自動倉庫１から容器Ｃを出庫させて当該容器Ｃをピッキング用コンベヤ２にてピッキング箇所Ｅ２まで搬送して、ピッキング箇所Ｅ２に位置する容器Ｃに対して作業者がピッキング作業を行うようになっている。そして、ピッキング箇所Ｅ２におけるピッキング作業が完了すると、当該容器Ｃをピッキング用コンベヤ２にて自動倉庫１に搬送するようにして、ピッキング作業を行うようになっている。
そして、物品Ｗが収容されている容器Ｃを補充用コンベヤ３にて自動倉庫１に搬送して自動倉庫１に容器Ｃを補充し、ピッキング作業により空になった容器Ｃを自動倉庫１から搬送して自動倉庫１から容器Ｃを払い出すようになっている。
以下、容器Ｃについて、物品Ｗが収容されている容器Ｃを実容器Ｃ１と称し、物品Ｗが収容されていない容器Ｃを空容器Ｃ２と称する場合がある。 In the picking facility, the container C is taken out from the automatic warehouse 1, the container C is transported to the picking location E2 by the picking conveyor 2, and an operator performs a picking operation on the container C located at the picking location E2. It is like that. When the picking operation at the picking location E2 is completed, the picking operation is performed by transporting the container C to the automatic warehouse 1 by the picking conveyor 2.
Then, the container C containing the articles W is transported to the automatic warehouse 1 by the replenishment conveyor 3 to replenish the automatic warehouse 1 with the container C, and the container C emptied by the picking operation is transported from the automatic warehouse 1. Then, the container C is paid out from the automatic warehouse 1.
Hereinafter, regarding the container C, the container C in which the article W is accommodated may be referred to as an actual container C1, and the container C in which the article W is not accommodated may be referred to as an empty container C2.

自動倉庫１には、物品Ｗを収容した容器Ｃ（実容器Ｃ１）を複数保管する保管部６と、保管部６から出庫箇所Ｅ１に容器Ｃを搬送し且つ入庫箇所Ｅ３から保管部６に容器Ｃを搬送する搬送台車７と、容器Ｃを設備長手方向の第１Ｘ方向に向けて載置搬送する出庫側コンベヤ８と、容器Ｃを設備長手方向の第２Ｘ方向に向けて載置搬送する入庫側コンベヤ９と、が設けられている。また、自動倉庫１には、容器Ｃを上下方向に搬送する出庫側昇降装置１０及び入庫側昇降装置１１が設けられている。
尚、搬送台車７が走行する方向（図１において矢印Ｘで示す方向）を倉庫長手方向と称し、その倉庫長手方向に対して直交する方向（図１において矢印Ｙで示す方向）を倉庫横幅方向と称する。また、倉庫長手方向のうち、図１において紙面上方から下方に向かう方向を第１Ｘ方向と称し、その反対の方向を第２Ｘ方向と称する。 In the automatic warehouse 1, a storage unit 6 that stores a plurality of containers C (actual containers C1) containing articles W, a container C that is transported from the storage unit 6 to a delivery place E1, and a container from the entry place E3 to the storage part 6 A transport carriage 7 for transporting C, a delivery-side conveyor 8 for transporting and placing containers C in the first X direction of the equipment longitudinal direction, and a warehousing for placing and transporting containers C in the second X direction of the equipment longitudinal direction A side conveyor 9 is provided. Further, the automatic warehouse 1 is provided with a warehousing / elevating device 10 and a warehousing / elevating device 11 for conveying the container C in the vertical direction.
The direction in which the transport carriage 7 travels (the direction indicated by the arrow X in FIG. 1) is referred to as the warehouse longitudinal direction, and the direction orthogonal to the warehouse longitudinal direction (the direction indicated by the arrow Y in FIG. 1) is the warehouse width direction. Called. Further, in the warehouse longitudinal direction, the direction from the upper side to the lower side in FIG. 1 is referred to as a first X direction, and the opposite direction is referred to as a second X direction.

図２に示すように、保管部６は、容器Ｃを載置支持する棚形状に形成されており、複数の容器Ｃを設備長手方向に複数並べた状態で保管するように構成されている。
搬送台車７は、倉庫長手方向に沿って走行自在で、且つ、保管部６、出庫側コンベヤ８及び入庫側コンベヤ９と台車本体７ａとの間で容器Ｃを移載自在に構成されている。搬送台車７は、走行作動と移載作動とにより、保管部６の容器Ｃを出庫側コンベヤ８の出庫箇所Ｅ１に搬送し、入庫側コンベヤ９の入庫箇所Ｅ３に位置する容器Ｃを保管部６に搬送するように構成されている。 As shown in FIG. 2, the storage unit 6 is formed in a shelf shape for placing and supporting the containers C, and is configured to store a plurality of containers C in a state where a plurality of containers C are arranged in the equipment longitudinal direction.
The transport carriage 7 is configured to be able to travel along the longitudinal direction of the warehouse, and to transfer the container C between the storage unit 6, the delivery-side conveyor 8, the entry-side conveyor 9, and the carriage body 7a. The transport carriage 7 transports the container C of the storage unit 6 to the unloading place E1 of the unloading side conveyor 8 by running operation and transfer operation, and stores the container C located at the unloading position E3 of the receiving side conveyor 9. It is comprised so that it may convey.

出庫側コンベヤ８は、図１に矢印で示すように、第１Ｘ方向に向けてのみ容器Ｃを載置搬送するように構成されており、出庫箇所Ｅ１に位置する容器Ｃを第１Ｘ方向に向けて載置搬送して、容器Ｃを出庫側昇降装置１０に受け渡すように構成されている。
入庫側コンベヤ９は、図１に矢印で示すように、第２Ｘ方向に向けてのみ容器Ｃを載置搬送するようになっており、入庫側昇降装置１１から受け取った容器Ｃを第２Ｘ方向に向けて載置搬送して、容器Ｃを入庫箇所Ｅ３に載置搬送するように構成されている。 The delivery-side conveyor 8 is configured to place and convey the container C only in the first X direction, as indicated by an arrow in FIG. 1, and the container C located at the delivery location E1 is directed in the first X direction. The container C is then transferred to the delivery side lifting device 10.
As shown by arrows in FIG. 1, the warehousing conveyor 9 is configured to place and convey the container C only in the second X direction, and the container C received from the warehousing side lifting device 11 is moved in the second X direction. It is configured such that the container C is placed and transported toward the storage location E3.

図２に示すように、保管部６は、上下方向に複数段設けられている。また、搬送台車７、出庫側コンベヤ８及び入庫側コンベヤ９は、複数段の保管部６に対応して複数設けられている。また、出庫箇所Ｅ１及び入庫箇所Ｅ３は、複数段の保管部６に対応して複数設定されている。
このように、保管部６、搬送台車７、出庫側コンベヤ８及び入庫側コンベヤ９を同じ段数（本実施形態では５段）設けることで、複数の保管部６の夫々に対応して、搬送台車７、出庫側コンベヤ８及び入庫側コンベヤ９が設けられている。そして、各段それぞれにおいて、搬送台車７にて保管部６から出庫側コンベヤ８に容器Ｃを搬送し、搬送台車７にて入庫側コンベヤ９から保管部６に容器Ｃを搬送するように構成されている。
尚、「対応する」とは同じ段に設けられていることを意味している。具体的には、例えば、上から１段目の保管部６に対応する出庫側コンベヤ８とは、上から１段目の出庫側コンベヤ８である。搬送台車７は、対応する出庫側コンベヤ８には容器Ｃを搬送できるが、対応しない別の段の出庫側コンベヤ８には容器Ｃを搬送できないようになっている。 As shown in FIG. 2, the storage unit 6 is provided in a plurality of stages in the vertical direction. Further, a plurality of transport carts 7, delivery side conveyors 8, and entry side conveyors 9 are provided corresponding to a plurality of storage units 6. In addition, a plurality of delivery locations E1 and storage locations E3 are set corresponding to a plurality of storage units 6.
Thus, by providing the same number of stages (5 in the present embodiment) as the storage unit 6, the transport carriage 7, the delivery-side conveyor 8, and the entry-side conveyor 9, the transport cart corresponds to each of the plurality of storage units 6. 7, a warehousing conveyor 8 and a warehousing conveyor 9 are provided. And in each stage, it is comprised so that the container C may be conveyed from the storage part 6 to the delivery side conveyor 8 by the conveyance trolley 7, and the container C may be conveyed from the warehousing side conveyor 9 to the storage part 6 by the conveyance carriage 7. ing.
Note that “corresponding” means being provided in the same stage. Specifically, for example, the delivery side conveyor 8 corresponding to the storage unit 6 in the first stage from the top is the delivery side conveyor 8 in the first stage from the top. The transport cart 7 can transport the container C to the corresponding unloading-side conveyor 8, but cannot transport the container C to the unloading-side conveyor 8 that does not correspond.

出庫側昇降装置１０及び入庫側昇降装置１１は、昇降台１２を上下方向に搬送自在に設けられており、容器Ｃを載置支持した昇降台１２を上下方向に移動させることで、容器Ｃを上下方向に搬送するように構成されている。そして、出庫側昇降装置１０の昇降台１２及び入庫側昇降装置１１の昇降台１２には、容器Ｃを倉庫長手方向に沿って載置搬送する機能が備えられている。 The unloading-side lifting device 10 and the warehousing-side lifting device 11 are provided so that the lifting platform 12 can be conveyed in the vertical direction, and the container C is moved by moving the lifting platform 12 on which the container C is placed and supported in the vertical direction. It is configured to transport in the vertical direction. And the raising / lowering base 12 of the warehousing side raising / lowering apparatus 10 and the raising / lowering stage 12 of the warehousing side raising / lowering apparatus 11 are equipped with the function to mount and convey the container C along the longitudinal direction of a warehouse.

図２に示すように、複数の出庫側コンベヤ８は、出庫側昇降装置１０に接続されている。そして、出庫側昇降装置１０の昇降台１２を出庫側コンベヤ８に対応する高さに昇降移動させ、出庫側コンベヤ８の搬送作動と出庫側昇降装置１０の昇降台１２の搬送作動との協働により、容器Ｃを出庫側コンベヤ８から出庫側昇降装置１０に容器Ｃを搬送できるようになっている。
また、複数の入庫側コンベヤ９は、入庫側昇降装置１１に接続されている。そして、入庫側昇降装置１１の昇降台１２を入庫側コンベヤ９に対応する高さに昇降移動させ、入庫側コンベヤ９の搬送作動と入庫側昇降装置１１の昇降台１２の搬送作動との協働により、入庫側昇降装置１１から入庫側コンベヤ９に容器Ｃを搬送できるようになっている。
ちなみに、「接続されている」とは、接続した２つの装置の間で容器Ｃを授受できる状態に装置が設置されていることを意味している。 As shown in FIG. 2, the plurality of delivery-side conveyors 8 are connected to a delivery-side lifting device 10. And the raising / lowering stand 12 of the delivery side raising / lowering apparatus 10 is moved up and down to the height corresponding to the delivery side conveyor 8, and cooperation with the conveyance operation of the delivery side conveyor 8 and the conveyance operation of the raising / lowering stage 12 of the delivery side raising / lowering apparatus 10 is carried out. Thus, the container C can be transported from the delivery side conveyor 8 to the delivery side lifting device 10.
The plurality of warehousing conveyors 9 are connected to a warehousing side lifting device 11. And the raising / lowering platform 12 of the warehousing side raising / lowering device 11 is moved up and down to the height corresponding to the warehousing side conveyor 9, and cooperation with the conveyance operation of the warehousing side conveyor 9 and the conveyance operation of the raising / lowering platform 12 of the warehousing side raising / lowering device 11 is carried out. Thus, the container C can be conveyed from the warehousing side lifting device 11 to the warehousing side conveyor 9.
Incidentally, “connected” means that the device is installed in a state where the container C can be exchanged between the two connected devices.

ピッキング用コンベヤ２は、平面視でＵ字状に形成されている。そして、ピッキング用コンベヤ２は、その一端が出庫側昇降装置１０に接続され、他端が入庫側昇降装置１１に接続されており、出庫側昇降装置１０から受け取った容器Ｃをピッキング箇所Ｅ２を経由するように搬送して入庫側昇降装置１１に受け渡すようになっている。ちなみに、ピッキング用コンベヤ２の搬送経路の途中にピッキング箇所Ｅ２が設定されている。 The picking conveyor 2 is formed in a U shape in plan view. The picking conveyor 2 has one end connected to the unloading-side lifting device 10 and the other end connected to the loading-side lifting device 11, and the container C received from the unloading-side lifting device 10 passes through the picking location E2. It is conveyed so as to be delivered to the warehousing side lifting device 11. Incidentally, a picking location E2 is set in the middle of the transport path of the picking conveyor 2.

ピッキング用コンベヤ２の出庫側昇降装置１０及び入庫側昇降装置１１との接続について、ピッキング用コンベヤ２は、複数段の出庫側コンベヤ８のうちの最も下段の出庫側コンベヤ８と同じ高さで出庫側昇降装置１０に接続されており、また、複数段の入庫側コンベヤ９のうちの最も下段の入庫側コンベヤ９と同じ高さで入庫側昇降装置１１に接続されている。 Regarding the connection of the picking conveyor 2 with the unloading-side lifting device 10 and the warehousing-side lifting device 11, the picking conveyor 2 is unloaded at the same height as the lowermost unloading-side conveyor 8 among the multiple-stage unloading-side conveyors 8. It is connected to the side lifting device 10, and is connected to the warehousing side lifting device 11 at the same height as the lowermost warehousing side conveyor 9 among the plurality of warehousing side conveyors 9.

補充用コンベヤ３は、入庫側昇降装置１１に接続されて、図外の搬送元箇所から搬送した容器Ｃを載置搬送して入庫側昇降装置１１に受け渡すように構成されている。
この補充用コンベヤ３は、複数段の入庫側コンベヤ９のうちの下から３段目の入庫側コンベヤ９と同じ高さで入庫側昇降装置１１に接続されており、入庫側昇降装置１１におけるピッキング用コンベヤ２が入庫側昇降装置１１に接続された高さより上方で入庫側昇降装置１１に接続されている。
補充用コンベヤ３は、設備横幅方向に沿って設けられた補充本線部分３ａと、この補充本線部分３ａから分岐し且つ入庫側昇降装置１１に接続された複数の補充分岐部分３ｂと、で構成されている。そして。補充用コンベヤ３は、複数の自動倉庫１のいずれかに実容器Ｃ１を分岐搬送するように構成されている。 The replenishment conveyor 3 is connected to the warehousing side lifting device 11, and is configured to place and transport the container C transported from a transportation source location outside the figure and to deliver it to the warehousing side lifting device 11.
The replenishment conveyor 3 is connected to the warehousing lifting device 11 at the same height as the third warehousing conveyor 9 from the bottom of the plurality of warehousing conveyors 9, and picking in the warehousing lifting device 11. The conveyor 2 is connected to the warehousing / lifting device 11 above the height at which the conveyor 2 is connected to the warehousing / lifting device 11.
The replenishment conveyor 3 includes a replenishment main line portion 3a provided along the facility width direction, and a plurality of replenishment branch portions 3b branched from the replenishment main line portion 3a and connected to the warehousing side lifting device 11. ing. And then. The replenishment conveyor 3 is configured to branch and convey the actual container C1 to any one of the plurality of automatic warehouses 1.

払出用コンベヤ４は、入庫側昇降装置１１に接続されて、入庫側昇降装置１１から受け取った容器Ｃを載置搬送して払出箇所Ｅ４に搬送するように構成されている。
払出用コンベヤ４は、複数の入庫側コンベヤ９のうちの下から５段目の入庫側コンベヤ９と同じ高さで入庫側昇降装置１１に接続されており、入庫側昇降装置１１における補充用コンベヤ３が入庫側昇降装置１１に接続された高さより上方で入庫側昇降装置１１に接続されている。
この払出用コンベヤ４は、設備横幅方向に沿って設けられた払出本線部分４ａと、入庫側昇降装置１１に接続され且つ払出本線部分４ａに合流する複数の払出合流部分４ｂと、払出本線部分４ａから払出箇所Ｅ４に向けて分岐する複数の払出分岐部分４ｃと、で構成されている。そして、払出用コンベヤ４は、複数の自動倉庫１のいずれかから受け取った実容器Ｃ１及び空容器Ｃ２を複数の払出箇所Ｅ４に分岐搬送するように構成されている。
払出箇所Ｅ４として、実容器Ｃ１の払出箇所Ｅ４である実容器払出箇所Ｅ４ａと空容器Ｃ２の払出箇所Ｅ４である空容器払出箇所Ｅ４ｂとが設定されている。 The payout conveyor 4 is connected to the warehousing elevating device 11 and configured to place and convey the container C received from the warehousing elevating device 11 and convey it to the payout location E4.
The payout conveyor 4 is connected to the warehousing lifting / lowering device 11 at the same height as the warehousing conveyor 9 at the fifth stage from the bottom of the plurality of warehousing conveyors 9. 3 is connected to the warehousing / lifting device 11 above the height connected to the warehousing / lifting device 11.
The payout conveyor 4 includes a payout main line portion 4a provided along the facility width direction, a plurality of payout merge portions 4b connected to the warehousing side lifting device 11 and joined to the payout main line portion 4a, and a payout main line portion 4a. And a plurality of payout branch portions 4c branching toward the payout point E4. The dispensing conveyor 4 is configured to branch and convey the actual container C1 and the empty container C2 received from any of the plurality of automatic warehouses 1 to a plurality of dispensing locations E4.
As the payout point E4, an actual container payout point E4a which is a payout point E4 of the actual container C1 and an empty container payout point E4b which is a payout point E4 of the empty container C2 are set.

ピッキング用コンベヤ２、補充用コンベヤ３及び払出用コンベヤ４の夫々は、いずれも入庫側昇降装置１１に対して第２Ｘ方向から接続されており、これらピッキング用コンベヤ２、補充用コンベヤ３及び払出用コンベヤ４は、上下方向視で重複している。 Each of the picking conveyor 2, the replenishing conveyor 3, and the dispensing conveyor 4 is connected to the warehousing side lifting device 11 from the second X direction. The picking conveyor 2, the replenishing conveyor 3, and the dispensing conveyor 4 The conveyor 4 overlaps when viewed in the vertical direction.

ちなみに、搬送台車７が、保管部６から出庫箇所Ｅ１に容器Ｃを搬送し且つ入庫箇所Ｅ３から保管部６に容器Ｃを搬送する第１搬送装置に相当する。
そして、出庫側コンベヤ８と入庫側コンベヤ９と出庫側昇降装置１０と入庫側昇降装置１１とピッキング用コンベヤ２とで第２搬送装置が構成されている。つまり、これら出庫側コンベヤ８と入庫側コンベヤ９と出庫側昇降装置１０と入庫側昇降装置１１とピッキング用コンベヤ２とにより、出庫箇所Ｅ１からピッキング箇所Ｅ２を経由して入庫箇所Ｅ３に容器Ｃを搬送するように構成されている。 Incidentally, the transport carriage 7 corresponds to a first transport device that transports the container C from the storage unit 6 to the exit location E1 and transports the container C from the store location E3 to the storage unit 6.
And the 2nd conveying apparatus is comprised by the warehousing side conveyor 8, the warehousing side conveyor 9, the warehousing side raising / lowering apparatus 10, the warehousing side raising / lowering apparatus 11, and the picking conveyor 2. FIG. In other words, the container C is moved from the unloading point E1 to the receiving point E3 via the picking point E2 by the unloading side conveyor 8, the receiving side conveyor 9, the unloading side lifting device 10, the receiving side lifting device 11, and the picking conveyor 2. It is comprised so that it may convey.

また、補充用コンベヤ３が、第２搬送装置の入庫側昇降装置１１に接続されて第２搬送装置により搬送される容器Ｃを払出箇所Ｅ４に搬送する第３搬送装置に相当し、補充用コンベヤ３は、第２搬送装置におけるピッキング箇所Ｅ２より搬送経路の下流で且つ入庫箇所Ｅ３より搬送経路の上流に接続されている。
払出用コンベヤ４が、第２搬送装置の入庫側昇降装置１１に接続されて第２搬送装置に実容器Ｃ１を搬送する第４搬送装置に相当する。
また、出庫側コンベヤ８が出庫側搬送装置に相当し、入庫側コンベヤ９が入庫側搬送装置に相当し、ピッキング用コンベヤ２がピッキング用搬送装置に相当する。 Further, the replenishment conveyor 3 corresponds to a third conveyance device that is connected to the warehousing / elevating device 11 of the second conveyance device and conveys the container C conveyed by the second conveyance device to the payout point E4. 3 is connected downstream of the transport path from the picking location E2 and upstream of the transport path from the warehousing location E3.
The payout conveyor 4 is connected to the warehousing side lifting device 11 of the second transport device and corresponds to a fourth transport device that transports the actual container C1 to the second transport device.
Further, the warehousing conveyor 8 corresponds to the warehousing side transport device, the warehousing side conveyor 9 corresponds to the warehousing side transport device, and the picking conveyor 2 corresponds to the picking transport device.

ピッキング設備には、搬送台車７、出庫側コンベヤ８、入庫側コンベヤ９、出庫側昇降装置１０、入庫側昇降装置１１、ピッキング用コンベヤ２、補充用コンベヤ３、及び、払出用コンベヤ４の作動を制御する制御装置Ｈが設けられている。ちなみに、容器搬送情報には、保管部６の実容器Ｃ１の補充を指令する補充指令情報や、ピッキング対象の実容器Ｃ１の保管部６からピッキング箇所Ｅ２への搬送を指令する出庫指令情報や、払出対象の実容器Ｃ１の保管部６から実容器払出箇所Ｅ４ａへの搬送を指令する実容器払出指令情報や、ピッキング作業が完了した容器Ｃのピッキング箇所Ｅ２からの搬送を指令する搬送指令情報がある。また、制御装置Ｈにて、保管部６に保管されている容器Ｃに収容されている物品Ｗの種類や個数が物品情報として管理されている。 In the picking equipment, the operation of the transport cart 7, the unloading conveyor 8, the unloading conveyor 9, the unloading lifting device 10, the unloading lifting device 11, the picking conveyor 2, the replenishing conveyor 3, and the dispensing conveyor 4 is performed. A control device H for controlling is provided. Incidentally, the container transport information includes replenishment command information for instructing replenishment of the actual container C1 of the storage unit 6, shipping instruction information for instructing transport from the storage unit 6 of the actual container C1 to be picked to the picking location E2, There are actual container dispensing command information for instructing conveyance from the storage unit 6 of the actual container C1 to be dispensed to the actual container dispensing location E4a, and conveyance command information for instructing conveyance from the picking location E2 of the container C that has been picked. is there. Further, the control device H manages the type and number of articles W stored in the container C stored in the storage unit 6 as article information.

制御装置Ｈは、出庫制御、入庫制御、空容器払出制御、実容器払出制御及び補充制御を実行する。
出庫制御は、図４に示すように、ピッキング対象の実容器Ｃ１を保管部６からピッキング箇所Ｅ２に搬送するべく、搬送台車７、出庫側コンベヤ８、出庫側昇降装置１０及びピッキング用コンベヤ２の作動を制御する。
入庫制御は、図５に示すように、ピッキング箇所Ｅ２におけるピッキング作業が完了した後の実容器Ｃ１をピッキング箇所Ｅ２から保管部６に搬送するべく、ピッキング用コンベヤ２、入庫側昇降装置１１、入庫側コンベヤ９及び搬送台車７の作動を制御する。
空容器払出制御は、図６に示すように、ピッキング箇所Ｅ２におけるピッキング作業が完了した後の空容器Ｃ２をピッキング箇所Ｅ２から空容器払出箇所Ｅ４ｂに搬送するべく、ピッキング用コンベヤ２、入庫側昇降装置１１及び払出用コンベヤ４の作動を制御する。
実容器払出制御は、図８に示すように、払出対象の実容器Ｃ１を保管部６からピッキング箇所Ｅ２を通過させて実容器払出箇所Ｅ４ａに搬送するべく、搬送台車７、出庫側コンベヤ８、出庫側昇降装置１０、ピッキング用コンベヤ２、入庫側昇降装置１１及び払出用コンベヤ４の作動を制御する。ちなみに、通過とは、実容器Ｃ１がピッキング作業されることなくピッキング箇所Ｅ２を通り過ぎることを意味しており、実容器Ｃ１に対してピッキング作業されない場合はピッキング箇所Ｅ２で一旦停止させた場合も「通過」となる。
補充制御は、図７に示すように、補充用コンベヤ３にて搬送される実容器Ｃ１を保管部６に搬送するべく、補充用コンベヤ３、入庫側昇降装置１１、入庫側コンベヤ９及び搬送台車７の作動を制御する。
ちなみに、図４〜図８では、２段目及び４段目の保管部６の図示は省略している。また、容器Ｃの搬送元又は搬送先が保管部６である場合、５段の保管部６の何れでも搬送元又は搬送先として容器Ｃを搬送可能である。 The control device H executes delivery control, entry control, empty container delivery control, actual container delivery control, and replenishment control.
As shown in FIG. 4, the unloading control is performed by the transport cart 7, the unloading side conveyor 8, the unloading side lifting device 10 and the picking conveyor 2 in order to transfer the actual container C1 to be picked from the storage unit 6 to the picking location E2. Control the operation.
As shown in FIG. 5, the warehousing control includes the picking conveyor 2, the warehousing side lifting device 11, and the warehousing to transport the actual container C 1 after the picking operation at the picking location E 2 is completed to the storage unit 6. The operation of the side conveyor 9 and the transport carriage 7 is controlled.
As shown in FIG. 6, in the empty container dispensing control, the picking conveyor 2 and the warehousing side ascending / descending are performed in order to convey the empty container C2 after the picking operation at the picking position E2 is completed to the empty container dispensing position E4b. The operation of the apparatus 11 and the dispensing conveyor 4 is controlled.
As shown in FIG. 8, the actual container dispensing control includes a transport cart 7, a delivery-side conveyor 8, in order to convey the actual container C 1 to be dispensed from the storage unit 6 through the picking location E 2 to the actual container dispensing location E 4 a. The operations of the delivery side elevating device 10, the picking conveyor 2, the warehousing side elevating device 11, and the dispensing conveyor 4 are controlled. Incidentally, the passage means that the actual container C1 passes through the picking location E2 without being picked, and when the picking operation is not performed on the actual container C1, the case where the actual container C1 is temporarily stopped at the picking location E2 is “ Pass ".
As shown in FIG. 7, in the replenishment control, the replenishment conveyor 3, the warehousing side lifting device 11, the warehousing side conveyor 9, and the transport carriage are used to transport the actual container C 1 conveyed by the replenishment conveyor 3 to the storage unit 6. 7 is controlled.
Incidentally, in FIGS. 4 to 8, illustration of the storage units 6 in the second and fourth stages is omitted. Further, when the transport source or transport destination of the container C is the storage unit 6, the container C can be transported as the transport source or transport destination in any of the five-stage storage units 6.

制御装置Ｈは、図外の上位コントローラから出庫指令情報が入力されると、実容器Ｃ１を保管部６からピッキング箇所Ｅ２に搬送するべく出庫制御を実行する。そして、ピッキング作業が完了した作業者が操作部１４を操作することで制御装置Ｈに搬送指令情報が入力されると、制御装置Ｈは、物品情報とピッキング作業の情報（取り出す物品数の情報等）に基づいて、ピッキング箇所Ｅ２に位置する容器Ｃが実容器Ｃ１と判断した場合は、その実容器Ｃ１をピッキング箇所Ｅ２から保管部６に搬送するべく入庫制御を実行し、ピッキング箇所Ｅ２に位置する容器Ｃが空容器Ｃ２と判断した場合は、その空容器Ｃ２をピッキング箇所Ｅ２から空容器払出箇所Ｅ４ｂに搬送するべく空容器払出制御を実行する。
また、制御装置Ｈは、上位コントローラから実容器払出指令情報が入力されると、実容器Ｃ１を保管部６から実容器払出箇所Ｅ４ａに搬送するべく実容器払出制御を実行する。また、制御装置Ｈは、上位コントローラから補充指令情報が入力されると、実容器Ｃ１を保管部６に搬送するべく補充制御を実行する。 When the delivery command information is input from a host controller (not shown), the control device H executes delivery control to transport the actual container C1 from the storage unit 6 to the picking location E2. When the operator who has completed the picking operation operates the operation unit 14 to input the conveyance command information to the control device H, the control device H displays the article information and the picking work information (information on the number of articles to be taken out, etc. ), If the container C located at the picking location E2 is determined to be the actual container C1, the warehousing control is executed to transport the actual container C1 from the picking location E2 to the storage unit 6 and is located at the picking location E2. When it is determined that the container C is the empty container C2, the empty container dispensing control is executed so as to transport the empty container C2 from the picking location E2 to the empty container dispensing location E4b.
In addition, when the actual container dispensing instruction information is input from the host controller, the control device H executes actual container dispensing control so as to transport the actual container C1 from the storage unit 6 to the actual container dispensing location E4a. In addition, when the replenishment command information is input from the host controller, the control device H executes replenishment control to transport the actual container C1 to the storage unit 6.

ピッキング設備では、空容器払出制御を実行することで、ピッキング用コンベヤ２、入庫側昇降装置１１及び払出用コンベヤ４が作動されて、空容器Ｃ２をピッキング箇所Ｅ２から空容器払出箇所Ｅ４ｂに搬送して空容器Ｃ２を払い出すことができる。そして、このように空容器Ｃ２を搬送するときに、実容器Ｃ１を実容器払出箇所Ｅ４ａに搬送するための払出用コンベヤ４を用いることで、空容器Ｃ２を払出箇所Ｅ４に搬送するための専用の搬送装置を設ける必要がなく、ピッキング設備の構成の簡素化を図れる。 In the picking facility, by executing the empty container dispensing control, the picking conveyor 2, the warehousing side lifting device 11 and the dispensing conveyor 4 are operated, and the empty container C2 is transported from the picking location E2 to the empty container dispensing location E4b. The empty container C2 can be paid out. And when transporting the empty container C2 in this way, a dedicated conveyor for transporting the empty container C2 to the payout location E4 by using the payout conveyor 4 for transporting the actual container C1 to the actual container payout location E4a. It is not necessary to provide a transfer device, and the configuration of the picking equipment can be simplified.

〔別実施形態〕
（１）上記実施形態では、第１搬送装置を、複数段の保管部６の夫々に対応して複数設け、第２搬送装置を、複数段の出庫側搬送装置と出庫側昇降装置１０と入庫側昇降装置１１と複数段の入庫側搬送装置とピッキング用搬送装置とで構成したが、第１搬送装置を、複数段の保管部６に対して１つ設け、第２搬送装置を、出庫側搬送装置と入庫側搬送装置とピッキング用搬送装置とで構成してもよい。具体的には、第１搬送装置を、スタッカークレーンにて構成し、ピッキング用搬送装置に出庫側搬送装置と入庫側搬送装置とを接続して全体として平面視でＵ字状に構成してもよい。 [Another embodiment]
(1) In the above-described embodiment, a plurality of first transport devices are provided corresponding to each of the plurality of storage units 6, and the second transport device is provided with a plurality of shipping-side transport devices, a shipping-side lifting device 10, and storage. It is composed of a side lifting device 11, a plurality of warehousing side transport devices and a picking transport device. However, one first transport device is provided for the plurality of storage units 6, and a second transport device is provided on the unloading side. You may comprise by a conveying apparatus, the warehousing side conveying apparatus, and the picking conveying apparatus. Specifically, even if the first transport device is configured by a stacker crane, and the delivery-side transport device and the warehousing-side transport device are connected to the picking transport device, the first transport device is configured in a U shape in plan view as a whole. Good.

（２）上記実施形態では、下からピッキング用搬送装置、第４搬送装置、第３搬送装置の順で入庫側昇降装置１１に接続したが、これらの上下方向の順序は適宜変更してもよく、例えば、下からピッキング用搬送装置、第３搬送装置、第４搬送装置の順で入庫側昇降装置１１に接続してもよく、また、下から第４搬送装置、第３搬送装置、ピッキング用搬送装置の順で入庫側昇降装置１１に接続してもよい。 (2) In the above embodiment, the picking transport device, the fourth transport device, and the third transport device are connected from the bottom to the warehousing lifting / lowering device 11 in this order. However, the order in the vertical direction may be appropriately changed. For example, it may be connected from the bottom to the warehousing lifting / lowering device 11 in the order of the picking transport device, the third transport device, and the fourth transport device, and from the bottom the fourth transport device, the third transport device, and the picking device You may connect to the warehousing raising / lowering apparatus 11 in order of a conveying apparatus.

（３）上記実施形態では、第３搬送装置を入庫側昇降装置１１に接続したが、第３搬送装置をピッキング用搬送装置におけるピッキング箇所Ｅ２より搬送経路の下流に接続してもよく、第３搬送装置を入庫側搬送装置に接続してもよい。
また、第３搬送装置を、第２搬送装置における出庫箇所Ｅ１より搬送経路の下流で且つピッキング箇所Ｅ２より搬送経路の上流に接続してもよい。具体的には、第３搬送装置を出庫側搬送装置に接続してもよく、第３搬送装置を出庫側昇降装置１０に接続してもよく、第３搬送装置をピッキング用搬送装置におけるピッキング箇所Ｅ２より搬送経路の上流に接続してもよい。この場合、空容器払出制御では、入庫箇所Ｅ３から出庫箇所Ｅ１に容器Ｃを搬送する必要があるため、第２搬送装置と第３搬送装置との作動に加えて第１搬送装置の作動も制御する必要がある。 (3) In the said embodiment, although the 3rd conveying apparatus was connected to the warehousing side raising / lowering apparatus 11, you may connect a 3rd conveying apparatus to the downstream of a conveyance path | route from the picking location E2 in the conveying apparatus for picking. You may connect a conveying apparatus to the warehousing side conveying apparatus.
Moreover, you may connect a 3rd conveying apparatus to the downstream of a conveyance path | route from the delivery location E1 in a 2nd conveying apparatus, and the upstream of a conveyance path | route from the picking location E2. Specifically, the third transport device may be connected to the exit side transport device, the third transport device may be connected to the exit side lifting device 10, and the third transport device is picked at the picking transport device. You may connect to the upstream of a conveyance path | route from E2. In this case, in the empty container dispensing control, it is necessary to transport the container C from the storage location E3 to the delivery location E1, so that the operation of the first transport device is also controlled in addition to the operations of the second transport device and the third transport device. There is a need to.

また、第３搬送装置を、第２搬送装置に対して１か所で接続したが、第３搬送装置を、第２搬送装置に対して２箇所で接続してもよい。具体手には、第３搬送装置を、第２搬送装置の出庫側昇降装置１０と入庫側昇降装置１１とに接続してもよい。この場合、保管部６から払出箇所Ｅ４に搬送する実容器Ｃ１を出庫側昇降装置１０から第３搬送装置に受け渡すようにしてもよい。 Moreover, although the 3rd conveying apparatus was connected at one place with respect to the 2nd conveying apparatus, you may connect a 3rd conveying apparatus with two places with respect to the 2nd conveying apparatus. Specifically, the third transport device may be connected to the warehousing / lifting device 10 and the warehousing / lifting device 11 of the second transport device. In this case, you may make it deliver the actual container C1 conveyed from the storage part 6 to the payout location E4 from the delivery side raising / lowering apparatus 10 to a 3rd conveying apparatus.

（４）上記実施形態では、ピッキング用搬送装置、第３搬送装置及び第４搬送装置を、保管部６と同じ高さで入庫側昇降装置１１に接続したが、これら３つの搬送装置のうちの一部又は全部を、保管部６と異なる高さで入庫側昇降装置１１に接続してもよい。 (4) In the above embodiment, the picking transport device, the third transport device, and the fourth transport device are connected to the warehousing lifting / lowering device 11 at the same height as the storage unit 6. Of these three transport devices, You may connect a part or all to the warehousing side raising / lowering apparatus 11 by the height different from the storage part 6. FIG.

（５）上記実施形態では、入庫側昇降装置１１に接続されて実容器Ｃ１を搬送する第４搬送装置を設け、第４搬送装置にて搬送される実容器Ｃ１を保管部６に搬送して実容器Ｃ１を保管部６に補充するようにしたが、第４搬送装置を設けずに、例えば、保管部６に直接に実容器Ｃ１を補充するようにしてもよい。 (5) In the said embodiment, the 4th conveying apparatus connected to the warehousing side raising / lowering apparatus 11 and conveying the actual container C1 is provided, and the actual container C1 conveyed by a 4th conveying apparatus is conveyed to the storage part 6. Although the actual container C1 is replenished to the storage unit 6, for example, the actual container C1 may be directly replenished to the storage unit 6 without providing the fourth transport device.

（６）上記実施形態では、払出箇所Ｅ４として、実容器払出箇所Ｅ４ａと空容器払出箇所Ｅ４ｂとを設定し、実容器Ｃ１を実容器払出箇所Ｅ４ａに搬送し、空容器Ｃ２を空容器払出箇所Ｅ４ｂに搬送するようにして、実容器Ｃ１と空容器Ｃ２とを異なる箇所に搬送するようにしたが、実容器Ｃ１と空容器Ｃ２とを同じ箇所に搬送するようにしてもよい。 (6) In the embodiment described above, the actual container payout location E4a and the empty container payout location E4b are set as the payout location E4, the actual container C1 is transported to the actual container payout location E4a, and the empty container C2 is transferred to the empty container payout location. Although the actual container C1 and the empty container C2 are conveyed to different places so as to be conveyed to E4b, the actual container C1 and the empty container C2 may be conveyed to the same place.

（７）上記実施形態では、ピッキング箇所Ｅ２に位置する容器Ｃに対するピッキング作業を作業者が行うようにしたが、ピッキング箇所Ｅ２の近くにピッキングロボットを設けて、ピッキング箇所Ｅ２に位置する容器Ｃに対するピッキング作業をピッキングロボットにより行うようにしてもよい。 (7) In the above embodiment, the operator performs the picking operation on the container C located at the picking location E2, but a picking robot is provided near the picking location E2 to the container C located at the picking location E2. Picking work may be performed by a picking robot.

（８）上記実施形態では、受け渡し側の搬送装置と受け取り側の搬送装置との両方を作動させて、容器Ｃの受け渡し及び受け取りを行ったが、受け渡し側の搬送装置と受け取り側の移載装置とのいずれか一方のみを作動させて、容器Ｃの受け渡し及び受け取りを行ってもよい。具体的には、例えば、受け渡し側の搬送装置に移載機構を備えて、この移載機構を作動させて、受け渡し側の搬送装置から受け取り側の搬送装置に容器Ｃを移載するようにして、容器Ｃの受け渡し及び受け取りを行ってもよい。 (8) In the above embodiment, both the delivery device on the delivery side and the delivery device on the reception side are operated to deliver and receive the container C. However, the delivery device on the delivery side and the transfer device on the reception side are used. Only one of them may be operated to deliver and receive the container C. Specifically, for example, a transfer mechanism is provided in the transfer device on the delivery side, and the transfer mechanism is operated to transfer the container C from the transfer device on the transfer side to the transfer device on the reception side. The container C may be delivered and received.

２ピッキング用コンベヤ（第２搬送装置、ピッキング用搬送装置）
３補充用コンベヤ（第４搬送装置）
４払出用コンベヤ（第３搬送装置）
６保管部
７搬送台車（第１搬送装置）
８出庫側コンベヤ（第２搬送装置、出庫側搬送装置）
９入庫側コンベヤ（第２搬送装置、入庫側搬送装置）
１０出庫側昇降装置（第２搬送装置）
１１入庫側昇降装置（第２搬送装置）
Ｃ容器
Ｃ１実容器
Ｃ２空容器
Ｅ１出庫箇所
Ｅ２ピッキング箇所
Ｅ３入庫箇所
Ｅ４払出箇所
Ｅ４ａ実容器払出箇所
Ｅ４ｂ空容器払出箇所
Ｈ制御装置
Ｗ物品 2 Picking conveyor (second transfer device, picking transfer device)
3 Replenishment conveyor (4th conveyor)
4 Conveyor for payout (third transfer device)
6 Storage unit 7 Transport cart (first transport device)
8 Unloading-side conveyor (second transfer device, unloading-side transfer device)
9 Warehousing side conveyor (2nd transfer device, warehousing side transfer device)
10 Unloading side lifting device (second transport device)
11 Warehousing side lifting device (second transport device)
C container C1 actual container C2 empty container E1 delivery location E2 picking location E3 receipt location E4 delivery location E4a actual container delivery location E4b empty container delivery location H Controller W Article

Claims

A storage unit for storing a plurality of containers containing articles;
A first transport device for transporting the container from the storage unit to a storage location and transporting the container from a storage location to the storage unit;
A second transport device for transporting the container from the unloading location to the receiving location via a picking location;
A control device for controlling the operation of the first transport device and the second transport device, and a picking facility provided with
A third transport device connected to the second transport device for transporting the container transported by the second transport device to a payout location;
The container in which the article is stored is an actual container, and the container in which the article is not stored is an empty container,
The control device is
Unloading control for controlling the operation of the first transport device and the second transport device to transport the actual container from the storage unit to the picking location;
Warehousing control for controlling the operation of the first transport device and the second transport device to transport the real container after the picking operation at the picking location is completed to the storage unit,
An empty container payout control for controlling the operation of the second transfer device and the third transfer device in order to transfer the empty container after the picking operation at the picking location is completed from the picking location to the payout location;
In order to transport the actual container from the storage unit to the dispensing location, an actual container dispensing control for controlling operations of the first conveying device, the second conveying device, and the third conveying device is executed. Configured ,
The third transport device is connected downstream of the transport path from the picking location in the second transport device and upstream of the transport route from the warehousing location,
The actual container payout control operates the first transfer device, the second transfer device, and the third transfer device to transfer the real container from the storage unit to the payout location through the picking location. To control the picking equipment.

The storage unit is provided in a plurality of stages in the vertical direction,
A plurality of the first transport devices are provided corresponding to the plurality of stages of storage units,
A plurality of the delivery location and the receipt location are set corresponding to the plurality of storage units,
The second transfer device is provided corresponding to the unloading side elevating device and the warehousing side elevating device for conveying the container conveyed to the unloading location in the vertical direction, and is conveyed from the unloading location. A plurality of delivery side transfer devices that deliver the container to the delivery side lifting device, and the containers received from the storage side lifting device that are provided corresponding to the plurality of storage locations are transported to the storage location. A multi-stage warehousing side transport device, and a picking transport device that transports the container received from the warehousing side lifting device through the picking location and delivers it to the warehousing side lifting device. ,
The picking facility according to claim 1, wherein the third transport device is connected to the warehousing side elevating device and configured to receive the container from the warehousing side elevating device .

A fourth transport device connected to the warehousing lifting device for transporting the actual container is provided;
The fourth transport device is connected to the warehousing lifting device above the height at which the picking transport device in the warehousing lifting device is connected to the warehousing lifting device, and Configured to deliver containers,
The third conveying device is higher than the height at which the fourth conveying device is connected to the warehousing side lifting device.
Connected to the warehousing side lifting device, and configured to receive the container from the warehousing side lifting device,
The control device controls operations of the first transfer device, the second transfer device, and the fourth transfer device to transfer the actual container transferred by the fourth transfer device to the storage unit. The picking equipment according to claim 2, wherein the picking equipment is configured to execute replenishment control .

As the payout location, an actual container payout location and an empty container payout location are set,
The third transport device is configured to be branched and transportable to the empty container payout location and the actual container payout location,
The control device is
In the empty container dispensing control, to control the operation of the second conveying device and the third conveying device to convey the empty container to the empty container dispensing location,
The operation of the first conveying device, the second conveying device, and the third conveying device is controlled in the actual container dispensing control so as to convey the actual container to the actual container dispensing location. Picking equipment given in any 1 paragraph .

A storage unit for storing a plurality of containers containing articles;
A first transport device for transporting the container from the storage unit to a storage location and transporting the container from a storage location to the storage unit;
A second transport device for transporting the container from the unloading location to the receiving location via a picking location;
A control device for controlling the operation of the first transport device and the second transport device, and a picking facility provided with
A third transport device connected to the second transport device for transporting the container transported by the second transport device to a payout location;
The container in which the article is stored is an actual container, and the container in which the article is not stored is an empty container,
The control device is
Unloading control for controlling the operation of the first transport device and the second transport device to transport the actual container from the storage unit to the picking location;
Warehousing control for controlling the operation of the first transport device and the second transport device to transport the real container after the picking operation at the picking location is completed to the storage unit,
An empty container payout control for controlling the operation of the second transfer device and the third transfer device in order to transfer the empty container after the picking operation at the picking location is completed from the picking location to the payout location;
In order to transport the actual container from the storage unit to the dispensing location, an actual container dispensing control for controlling operations of the first conveying device, the second conveying device, and the third conveying device is executed. Configured,
As the payout location, an actual container payout location and an empty container payout location are set,
The third transport device is configured to be branched and transportable to the empty container payout location and the actual container payout location,
The control device is
In the empty container dispensing control, to control the operation of the second conveying device and the third conveying device to convey the empty container to the empty container dispensing location,
Wherein the actual container dispensing control, the order to convey the actual container the actual container dispensing position, the control to Lupi Kkingu facilities the operation of the first conveying device and the second conveying device and the third transfer device.