JP6694126B2 - 3D automated warehouse - Google Patents

3D automated warehouse Download PDF

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JP6694126B2
JP6694126B2 JP2016131686A JP2016131686A JP6694126B2 JP 6694126 B2 JP6694126 B2 JP 6694126B2 JP 2016131686 A JP2016131686 A JP 2016131686A JP 2016131686 A JP2016131686 A JP 2016131686A JP 6694126 B2 JP6694126 B2 JP 6694126B2
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storage container
automatic warehouse
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俊臣 星
俊臣 星
啓樹 篠原
啓樹 篠原
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Toyo Kanetsu KK
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本発明は、隣接する格納棚間、及び、隣接する1組の格納棚から成る格納設備が所定の間隔を持って複数配列された格納設備間の物品又は物品収納容器(以下、「物品等」という)の自在な往復移動が可能で、倉庫内における物品等の整理・整頓や仕分け等が容易に行える立体自動倉庫、及び、出庫作業における物品等の効率的な処理が行える立体自動倉庫に関する。   The present invention relates to an article or an article storage container (hereinafter referred to as “article, etc.”) between adjacent storage shelves and between storage equipment in which a plurality of storage equipments each including a set of adjoining storage shelves are arranged at a predetermined interval. The present invention relates to a three-dimensional automatic warehouse that allows easy reciprocating movement of goods, and can easily organize, sort, and sort articles in a warehouse, and a three-dimensional automatic warehouse that can efficiently process articles and the like in warehousing work.

一般的な立体自動倉庫は、水平長手及び垂直方向に碁盤目状に配列してなる物品等の格納棚と、この格納棚の物品等を出し入れ可能な格納面の反対面で隣接する1組の格納棚とを備えた格納設備とが、所定の数だけ配列されると共に、所定の空間を隔てて対峙されており、その空間には物品等の移動手段が配設されている。   A general three-dimensional automated warehouse is a storage shelf for articles and the like arranged in a grid pattern in the horizontal and vertical directions and a set of adjoining storage shelves on the opposite side of the storage surface where articles and the like can be put in and out. A predetermined number of storage facilities including storage shelves are arranged and face each other across a predetermined space, and a moving means for articles and the like is arranged in the space.

この物品等の移動手段の違いによって様々な立体自動倉庫がある。例えば、スタッカクレーン等の物品等を移動する手段によって、格納棚の水平長手方向(X軸方向)及び垂直方向(Y軸方向)に物品等の自在な往復移動が可能な立体自動倉庫(例えば、特許文献1や2)や、Y軸方向の各段に設けられた走行台車によって格納棚のX軸方向に物品等の往復移動が自在で、昇降機によって格納棚のY軸方向の物品等の往復移動が自在な立体自動倉庫(例えば、特許文献3、4、及び、非特許文献1)等がある。   There are various three-dimensional automated warehouses depending on the means of transportation of such articles. For example, a three-dimensional automated warehouse (eg, a stacker crane) capable of freely reciprocating articles and the like in a horizontal longitudinal direction (X-axis direction) and a vertical direction (Y-axis direction) of a storage shelf by means of moving articles and the like (for example, Patent Documents 1 and 2) or traveling carts provided on each stage in the Y-axis direction allow reciprocating movement of articles and the like in the X-axis direction of the storage shelf, and reciprocating movement of articles and the like in the Y-axis direction of the storage shelf by an elevator. There are three-dimensional automated warehouses that can be moved freely (for example, Patent Documents 3 and 4 and Non-Patent Document 1).

前者に相当する立体自動倉庫の一例として、スタッカクレーン型の立体自動倉庫Iを図1に示す。XY軸方向に碁盤目状に配列してなる物品等を格納するL列の格納棚とこの格納棚の物品等を出し入れ可能な格納面の反対面で隣接するL’列の格納棚とを備えた格納設備が、所定の空間8を隔ててLn+1列の格納棚と対峙しており(その他の格納棚を省略)、その空間8にスタッカクレーン1が配設されている。このスタッカクレーン1は、クレーンマスト2、クレーン台車3、下部走行レール4、上部走行レール5、スタッカクレーン物品等載置台6から構成され、この載置台6には、載置台6とL’列及びLn+1列との格納棚の受渡しを行う、例えば、伸縮アーム7が備えられている。従って、スタッカクレーン型の立体自動倉庫Iは、格納棚のXY軸方向の物品等の自在な往復移動と、伸縮アーム7による空間8を隔てて対峙する格納棚間の横断方向(Z軸方向)の物品等の往復移動が可能である。そして、物品等の格納設備への搬出入は搬出入装置9で行われる。 FIG. 1 shows a stacker crane type automated warehouse I as an example of the automated warehouse corresponding to the former. An L n row storage rack for storing articles and the like arranged in a grid pattern in the XY axis direction, and an L n 'row storage rack that is adjacent to the storage surface of the storage rack on the opposite side of the storage surface on which articles and the like can be put in and out. The storage equipment provided with faces the storage shelves in the L n + 1 row across a predetermined space 8 (other storage shelves are omitted), and the stacker crane 1 is arranged in the space 8. The stacker crane 1 is composed of a crane mast 2, a crane carriage 3, a lower traveling rail 4, an upper traveling rail 5, and a stacker crane article mounting table 6, which includes the mounting table 6 and L n 'rows. And an Ln + 1 row for delivering storage shelves, for example, a telescopic arm 7 is provided. Therefore, the stacker crane type three-dimensional automated warehouse I is capable of freely reciprocating the storage shelves in the XY axis directions and the transverse direction (Z-axis direction) between the storage shelves facing each other with the space 8 formed by the telescopic arm 7. It is possible to reciprocate such articles. Then, the carry-in / carry-out device 9 carries out the carry-in / carry-out of articles and the like into / from the storage facility.

一方、後者に相当する立体自動倉庫の一例として、対峙する格納棚の空間にX軸方向に往復移動する走行台車を備えた立体自動倉庫IIを図2(非特許文献1)に示す。XY軸方向に碁盤目状に配列してなる物品等を格納するLn-1列の格納棚とこの格納棚の物品等を出し入れ可能な格納面で対峙するL列の格納棚とが、移動手段を配設する所定の空間8を隔てて対峙しており、その空間8に、格納棚のX軸方向の物品等の往復移動が可能となる走行台車10及びそのレール14が格段に設けられている。この走行台車10にも、走行台車10とLn−1列及びL列との格納棚の受渡しを行う、例えば、伸縮アーム(図示されていない)が備えられている。それと共に、Y軸方向に物品等の往復移動が可能となる物品等載置搬送台12を備えた昇降機11が空間8に配設されており、X軸方向とY軸方向との物品等の自在な往復移動を媒介するため、走行台車10と物品等載置台12との物品等の受け渡しを行う仮置き搬送台13が各段の格納棚に設けられている。通常、これらの設備を有する立体自動倉庫が一つの単位となり、Ln+1列及びLn+2列の格納棚のように、複数配列されている。従って、走行台車10及び物品等載置搬送台12を有する昇降機11を備えた立体自動倉庫IIでは、このような移動手段によってXY軸方向の物品等の自在な往復移動が可能であると共に、(図2の一部だけを図示している)図3の平面図から明らかなように、空間8を隔てて対峙するLn―1列とL列、Ln+1列とLn+2列、Ln+3列とLn+4列等の格納棚間におけるZ軸方向の物品等の往復移動が可能である。そして、物品等の格納棚への搬出入は、搬入装置9−1及び搬出装置9−2によって搬送され、入出庫部SRを経由して行われる。 On the other hand, as an example of a three-dimensional automatic warehouse corresponding to the latter, FIG. 2 (Non-Patent Document 1) shows a three-dimensional automatic warehouse II including a traveling carriage that reciprocates in the X-axis direction in the space of a storage shelf facing each other. An L n-1 row storage shelf for storing articles and the like arranged in a grid pattern in the XY axis directions and an L n row storage shelf that confronts the storage surface on which the articles and the like of this storage shelf can be taken in and out, Facing each other with a predetermined space 8 in which the moving means is arranged, a traveling carriage 10 and its rails 14 are remarkably provided in the space 8 for enabling reciprocating movement of articles and the like in the X-axis direction of the storage shelf. Has been. In this traveling carriage 10, for transferring the storage shelves of the traveling carriage 10 and L n-1 columns and L n columns, for example, the telescopic arm (not shown) is provided. At the same time, an elevator 11 provided with an article or the like mounting / carrying base 12 capable of reciprocally moving the article or the like in the Y-axis direction is disposed in the space 8, and the article or the like in the X-axis direction and the Y-axis direction is In order to mediate free reciprocating movement, temporary storage carriers 13 for transferring articles and the like between the traveling carriage 10 and the article and the like mounting table 12 are provided on the storage shelves at each stage. Usually, a three-dimensional automatic warehouse having these facilities is one unit, and a plurality of storage shelves are arranged like storage shelves of L n + 1 rows and L n + 2 rows. Therefore, in the three-dimensional automatic warehouse II equipped with the elevator 11 having the traveling carriage 10 and the article transfer platform 12, the reciprocating movement of the article or the like in the XY axis directions is possible by such moving means, and ( As is apparent from the plan view of FIG. 3, only a part of FIG. 2 is illustrated. L n−1 and L n columns, L n + 1 and L n + 2 columns, and L n + 3 that face each other across the space 8 are shown. It is possible to reciprocate articles and the like in the Z-axis direction between the rows and the storage shelves such as the Ln + 4 rows. The loading and unloading of articles and the like into and from the storage rack is carried by the loading device 9-1 and the unloading device 9-2, and is carried out via the loading / unloading unit SR.

図2に示した対峙する格納棚間の空間でXY軸方向に往復移動する走行台車を備えた立体自動倉庫IIにおいても、図1に示したスタッカクレーン型の立体自動倉庫Iと同様に、例えば、図2の格納棚Ln−1列、L列、Ln+1列、及び、Ln+2列の物品等を出し入れ可能な格納面の反対面で隣接する格納棚Ln−1’列、L’列、Ln+1’列、及び、(図示されていない)Ln+2’列が設けられ、隣接する格納棚を1組とする格納設備が複数配列される場合もある。この場合、図4の平面図から明らかなように、各格納設備は、これらの間に、すなわち、格納棚Ln−1’列とL列、格納棚L’列とLn+1列、格納棚Ln+1’列とLn+2列の間に、物品等の出し入れができる走行台車10、そのレール14、及び、物品等載置搬送台12を備えた昇降機11を配設することができるような空間8を持って設置され、XY軸方向の物品等の自在な往復移動、空間8を隔てて対峙する格納棚間におけるZ軸方向の物品等の往復移動が可能である。この場合も、物品等の格納棚への搬出入は、(図示されていない)一般的な搬出入装置によって搬送され、入出庫部SRを経由して行われる。 Even in the three-dimensional automated warehouse II having a traveling carriage that reciprocates in the XY axis directions in the space between the facing storage shelves shown in FIG. 2, like the stacker crane type three-dimensional automated warehouse I shown in FIG. , storage shelf L n-1 row of FIG. 2, L n columns, L n + 1 column, and, storage shelves L n-1 'column adjacent the opposite surface of the loading and unloading can store surface L n + 2 rows article or the like, L n 'columns, L n + 1' column and, in some cases (not shown) L n + 2 'column is provided, storage facility to set a storage shelf adjacent are arrayed. In this case, as is apparent from the plan view of FIG. 4, the respective storage facilities are arranged between them, namely, between the storage shelves L n-1 ′ and L n rows, the storage shelves L n ′ and L n + 1 rows, Between the storage shelves L n + 1 'and L n + 2 rows, it is possible to arrange the traveling carriage 10 for loading and unloading articles and the like, the rails 14 thereof, and the elevator 11 provided with the article and the like carrying platform 12. It is possible to reciprocally move articles and the like in the XY axis directions and to reciprocate articles and the like in the Z axis between storage shelves facing each other across the space 8. In this case as well, the loading and unloading of articles and the like to and from the storage rack is carried by a general loading and unloading device (not shown) and is carried out via the loading and unloading section SR.

このように、上記立体自動倉庫においては、移動手段が配設される空間8に面するLn−1列、Ln−1’列、L列、L’列、Ln+1列、Ln+1’等の各列の格納棚のXY軸方向の物品等の自在な往復移動、及び、その空間8に面する格納棚間(図1では、L’列とLn+1列の格納棚、図2では、Ln−1列とL列及びLn+1列とLn+2列の格納棚)の物品等の往復移動が可能である。しかし、XY軸方向に碁盤目状に配列してなる物品等の格納棚から、この格納棚の物品等を出し入れ可能な格納面の反対面で隣接する格納棚へのZ軸方向の物品等の往復移動、並びに、格納棚間及び隣接する格納棚を1組とする格納設備間のZ軸方向の物品等の往復移動は極めて長い経路を経なければならず、この往復移動を実現するためには立体自動倉庫の設備を大幅に改造しなければならない。 As described above, in the three-dimensional automated warehouse, the L n-1 row, the L n-1 'row, the L n row, the L n ' row, the L n + 1 row, and the L face the space 8 in which the moving means is disposed. Free reciprocating movement of articles and the like in the XY axis directions of the storage shelves of each row such as n + 1 ', and between the storage shelves facing the space 8 (in FIG. 1, the storage shelves of the L n ' row and the L n + 1 row, In FIG. 2, reciprocating movement of articles and the like in the L n−1 and L n rows and the L n + 1 and L n + 2 storage shelves) is possible. However, from the storage shelves for articles or the like arranged in a grid pattern in the XY axis directions to the storage shelves adjacent to the storage shelves on the opposite side of the storage surface on which the articles or the like of the storage shelves can be put in or taken out, The reciprocating movement and the reciprocating movement of articles and the like in the Z-axis direction between the storage shelves and between the storage equipments including a pair of adjoining storage shelves have to go through an extremely long path. Has to make major modifications to the equipment of the three-dimensional automated warehouse.

具体的には、図1に示した従来の立体自動倉庫Iでは、L列の格納棚のPの位置にある物品等をL’列の格納棚のP’の位置に移動すること、並びに、L列の格納棚のPの位置にある物品等をLn+1列の格納棚のPn+1の位置に移動することが困難である。 Specifically, in the conventional three-dimensional automatic warehouse I shown in FIG. 1, moving the article or the like at the position of P n of the storage shelves L n columns to the position of 'P n of the storage rack column' L n it, as well, it is difficult to move the articles or the like in position P n of the storage shelves L n columns to the position of the P n + 1 of the storage shelf of L n + 1 row.

そして、図2に示した従来の立体自動倉庫IIでは、Ln−1列の格納棚のPn−1の位置及びL列の格納棚のPの位置にある物品等を、Ln+1列の格納棚のPn+1の位置及びLn+2列の格納棚のPn+2の位置に移動することが困難である。これを、図3に示した一平面の物品等の移動でみると、昇降機11に備えられた物品等載置搬送台12で所定の段まで搬入されると、物品等仮置き台13を経由して、走行台車10が、レール14を走行して所定の格納棚まで移動させて格納される。搬出の際は、その逆の工程を経る。従って、例えば、Ln+1列にある物品等は、走行台車10が走行する空間8に面するLn+2列の格納棚には移動可能であるが、その空間と異なる空間8に面するLn−1列、L列、Ln+3列、Ln+4列の格納棚には移動することが実質的に不可能であり、物品等の保管管理システムに大きな経済的及び物理的ロスが生じることになる。 Then, in the conventional three-dimensional automated warehouse II shown in FIG. 2, the articles and the like at the position of P n-1 of the storage rack of the L n-1 row and the position of P n of the storage rack of the L n row are L n + 1. It is difficult to move to the position of P n + 1 of the storage shelves of the row and the position of P n + 2 of the storage shelves of the row L n + 2 . When this is seen from the movement of the article on the one plane shown in FIG. 3, when it is carried to a predetermined stage by the article transfer platform 12 provided in the elevator 11, it passes through the article etc. temporary storage table 13. Then, the traveling vehicle 10 travels along the rail 14 and is moved to a predetermined storage shelf to be stored. When carrying out, the reverse process is performed. Therefore, for example, articles or the like in the L n + 1 row can be moved to the storage shelves in the L n + 2 row facing the space 8 in which the traveling carriage 10 travels, but L n− facing the space 8 different from the space. 1 row, L n columns, L n + 3 columns, L n + in four columns store shelves is that it virtually impossible to move, so that the great economic and physical losses in storage management system of the article and the like occur ..

また、図2に示した従来の自動立体倉庫IIのタイプにおいて、格納棚Ln−1列(図示されていない)、L列、Ln+1列、及び、Ln+2列の物品等を出し入れ可能な格納面の反対面で隣接する格納棚Ln−1’列、L’列、Ln+1’列、及び、(図示されていない)Ln+2’列が設けられ、隣接する格納棚を1組とする格納設備が複数配列される場合には、図4に示すように、例えば、L’列の格納棚にある物品等は、走行台車10が走行する空間8に面するLn+1列の格納棚には移動可能である。しかし、その空間8と異なる空間8に面するとLn−1’列、L列、Ln+1’列、Ln+2列の格納棚には移動することが実質的に不可能である。特に、この場合、極めて近い距離にあるにもかかわらず、背面で隣接する格納棚間、例えば、L列とL’列、Ln+1列とLn+1’列間の物品等の移動が困難であるという問題がある。 Further, in the type of the conventional automated three-dimensional warehouse II shown in FIG. 2, storage shelves L n−1 rows (not shown), L n rows, L n + 1 rows, and L n + 2 rows of articles and the like can be taken in and out. storage shelf L n-1 'column, L n' adjacent the opposite surface of the do storage surface train, L n + 1 'column, and, (not shown) L n + 2' column is provided, adjacent storage shelf 1 When a plurality of sets of storage equipment are arranged, as shown in FIG. 4, for example, the articles or the like on the storage shelves of the L n 'row are L n + 1 rows facing the space 8 in which the traveling carriage 10 travels. It is possible to move to the storage shelf. However, when facing a space 8 different from the space 8, it is practically impossible to move to the storage shelves of the L n−1 ′ row, the L n row, the L n + 1 ′ row, and the L n + 2 row. Particularly, in this case, it is difficult to move articles between the adjacent storage shelves on the back surface, for example, between the L n row and the L n 'row, the L n + 1 row and the L n + 1 ' row, even though they are extremely close to each other. There is a problem that is.

このように、従来の立体自動倉庫は、格納棚間及び隣接する格納棚を1組とする格納設備間のZ軸方向の物品等の自在な移動が困難で、倉庫内での仕分けができないので、予め設定された順序通りに出庫させる順出しを行うためには、時間調整や仕分けするためのコンベアを配備しなければならず、出庫部付近を中心とした大きなスペースが必要であるという問題がある。更に、従来の入出庫作業が自動化された立体自動倉庫の出庫部における物品等の処理、例えば、物品等の品種別、送付先方面別、顧客別などの分類、保管庫内の物品等の再配置、整理・整頓、処分等の仕分け作業を効率的に行うことまで考慮された立体自動倉庫は認められない。特に、上記立体自動倉庫の課題が解決された場合、背面で隣接する保管棚間の物品移動による立体自動倉庫内での物品等の仕分けが可能となり、予め設定された順序通りに出庫させる順出し機能が向上するため、時間調整や仕分けするためのコンベアが不要となると共に、出庫処理能力を大幅に向上させることができる。従って、従来方式では、これらの課題を解決する必要が出てくる。   As described above, in the conventional three-dimensional automated warehouse, it is difficult to freely move articles and the like in the Z-axis direction between the storage shelves and between the storage equipments including the adjacent storage shelves as one set, so that sorting in the warehouse cannot be performed. , In order to carry out the delivery in the order set in advance, it is necessary to deploy a conveyor for time adjustment and sorting, and there is a problem that a large space centered around the delivery section is necessary. is there. Further, conventional processing of goods and the like in the outgoing and outgoing parts of a three-dimensional automated warehouse in which the loading and unloading work is automated, such as classification of goods by product type, destination area, customer, etc. A three-dimensional automated warehouse that does not allow for efficient sorting work such as arrangement, organization, and disposal is not allowed. In particular, when the problem of the above-mentioned three-dimensional automatic warehouse is solved, it becomes possible to sort the articles and the like in the three-dimensional automatic warehouse by moving the articles between the adjacent storage shelves on the back side, and to put out the goods in a preset order. Since the function is improved, a conveyor for time adjustment and sorting becomes unnecessary, and the delivery processing capacity can be greatly improved. Therefore, in the conventional method, it is necessary to solve these problems.

特開平8−108904号公報Japanese Unexamined Patent Publication No. 8-108904 特開2012−236683号公報JP 2012-236683 A 特開昭63−165205号公報JP-A-63-165205 特開2015−168573号公報JP, 2005-168573, A

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上述したように、従来の立体自動倉庫では、移動手段が配設される空間に面する同じ列の格納棚における水平長手方向(X軸方向)及び垂直方向(Y軸方向)の物品等の往復移動が自在であり、移動手段が配設される同じ空間に面する格納棚間における横断方向(Z軸方向)の物品等の移動も可能であるため、移動手段が配設される空間に面する格納棚内及び格納棚間ではXYZ軸方向の物品等の自在な往復移動が可能である。しかし、移動手段を配設するある空間に面する格納棚とその空間とは異なる空間に面する格納棚との間におけるZ軸方向の物品等の往復移動、並びに、XY軸方向に碁盤目状に配列してなる物品等の格納棚とこの格納棚の物品等を出し入れ可能な格納面の反対面で隣接する格納棚とのZ軸方向の物品等の往復移動、すなわち、背面で隣接する格納棚間の往復移動は困難であり、その結果として、これらの格納棚間におけるXY軸方向の物品等の往復移動も困難であるという問題がある。要するに、従来の立体自動倉庫は、移動手段が配設される異なる空間に面する格納棚間におけるXYZ軸方向の物品等の往復移動は極めて困難であるという問題がある。   As described above, in the conventional three-dimensional automated warehouse, the reciprocation of articles in the horizontal longitudinal direction (X-axis direction) and the vertical direction (Y-axis direction) on the storage shelves in the same row facing the space where the moving means is disposed. Since the articles are movable in a transverse direction (Z-axis direction) between storage shelves facing the same space in which the moving means is arranged, the space in which the moving means is arranged can be moved. It is possible to freely reciprocate articles and the like in the XYZ axis directions within and between storage shelves. However, reciprocating movement of articles and the like in the Z-axis direction between a storage shelf facing a certain space where the moving means is arranged and a storage shelf facing a space different from the space, and a grid pattern in the XY axis directions. Reciprocating movement of articles and the like in the Z-axis direction between the storage shelves of articles and the like arranged in a row and the storage shelves adjacent to the storage shelves on the opposite side of the storage surface on which the articles and the like of the storage shelves can be put in and out, that is, the storage adjacent to each other on the back surface. It is difficult to reciprocate between the shelves, and as a result, it is difficult to reciprocate articles and the like in the XY axis directions between these storage shelves. In short, the conventional three-dimensional automated warehouse has a problem that it is extremely difficult to reciprocate articles and the like in the XYZ axis directions between storage shelves facing different spaces in which the moving means is arranged.

また、従来の入出庫作業が自動化された立体自動倉庫は、その出庫部における物品等の効率的な処理が可能な搬送方式を備えていないという課題を有している。   Further, the conventional three-dimensional automated warehouse in which the loading and unloading work is automated has a problem that it does not have a transportation system capable of efficiently processing articles and the like in the loading and unloading section.

従って、本発明は、移動手段が配設される異なる空間に面する格納棚間におけるXYZ軸方向への物品等の自在な往復移動、並びに、XY軸方向に碁盤目状に配列してなる物品等の格納棚とこの格納棚の物品等を出し入れ可能な格納面の反対面で隣接する格納棚とのZ軸方向の物品等の往復移動が可能で、倉庫内における物品等の整理・整頓や仕分け等が容易に行える立体自動倉庫を提供することを目的とする。   Therefore, the present invention provides free reciprocal movement of articles and the like in the XYZ axis directions between storage shelves facing different spaces in which the moving means is arranged, and articles arranged in a grid pattern in the XY axis directions. It is possible to reciprocate articles in the Z-axis direction between the storage shelves, etc. and the storage shelves on the opposite side of the storage surface on which the articles, etc. can be put in and out, and arrange and order the articles in the warehouse. The purpose is to provide a three-dimensional automated warehouse that allows easy sorting and the like.

また、本発明は、上記立体自動倉庫において、出庫作業における物品等の効率的な処理が可能な立体自動倉庫を提供することを目的とする。   It is another object of the present invention to provide a three-dimensional automatic warehouse capable of efficiently processing articles or the like in a shipping operation in the three-dimensional automatic warehouse.

本発明者らは、XY軸方向に碁盤目状に配列してなる物品等の格納棚とこの格納棚の物品等を出し入れする格納面の反対面で隣接する格納棚、すなわち、背面で隣接する格納棚を備えた格納設備が、所定の空間を隔てて対峙して並び、その空間に、格納設備のX軸方向に物品等の往復移動が可能となる走行台車及びその走行レールが各段に設けられると共に、Y軸方向に物品等の往復移動が可能となる物品等載置搬送台が付設された昇降機が配設されており、各格納棚の端にあって走行台車と昇降機に付設された物品等載置搬送台との物品等の受け渡しを媒介する仮置き搬送台を備えた立体自動倉庫において、仮置き搬送台が方向変換機構を有し、仮置き搬送台が対峙する走行台車等が配設された空間に昇降式搬送手段を配備することにより、背面で隣接する格納棚間の物品等の自在な往復移動を実現できる上、構成される全ての格納棚間の物品等の移動が実現できることを見出した。   The inventors of the present invention adjoin storage shelves for articles and the like arranged in a grid pattern in the XY-axis direction and storage shelves adjacent to each other on the opposite surface of the storage shelves on which the articles and the like are put in and out, that is, on the back side. Storage facilities equipped with storage shelves are arranged facing each other across a predetermined space, and in each space, a traveling carriage and its traveling rail that enable reciprocating movement of articles and the like in the X-axis direction of the storage facilities are provided in each stage. An elevator equipped with an article loading / conveying platform that is provided and is capable of reciprocating articles in the Y-axis direction is provided, and is attached to the traveling carriage and the elevator at the end of each storage shelf. In a three-dimensional automated warehouse equipped with a temporary storage carrier that transfers the goods to and from the temporary storage carrier, the temporary carrier has a direction changing mechanism and the temporary carrier faces the temporary carrier. By arranging the lifting type transportation means in the space where On it can be realized freely reciprocating movement of goods or the like between adjacent storage shelf in the back, the movement of goods such as between all the storage shelves configured found that can be achieved.

また、XY軸方向に碁盤目状に配列してなる物品等の格納棚が、所定の空間を隔てて対峙して並び、その空間に、格納棚のX軸方向に物品等の往復移動が可能となる走行台車及びそのレールが各段に設けられると共に、Y軸方向に物品等の往復移動が可能となる物品等載置搬送台を備えた昇降機が配設されており、各格納棚の端にあって走行台車と昇降機の物品等載置搬送台との物品等の受け渡しを媒介する仮置き搬送台を備えた立体自動倉庫においては、仮置き搬送台が方向変換機構を有し、仮置き搬送台が対峙する走行台車等が設けられた空間に昇降式搬送手段を配備し、その空間と反対面で対峙する仮置き搬送台の間に物品等の搬送装置を橋設することによって、構成される全ての格納棚間の物品等の自在な往復移動を実現できることを見出した。   In addition, storage shelves for articles and the like arranged in a grid pattern in the XY axis direction are arranged facing each other across a predetermined space, and reciprocating movement of the articles and the like in the X axis direction of the storage shelves is possible in that space. A traveling carriage and its rails are provided on each stage, and an elevator equipped with an article loading platform for enabling reciprocating movement of articles and the like in the Y-axis direction is provided, and an end of each storage shelf. In a three-dimensional automated warehouse equipped with a temporary placement carrier that transfers articles and the like between the traveling carriage and the elevator and other goods loading carrier, the temporary placement carrier has a direction changing mechanism and temporary placement. By arranging an elevating type conveying means in a space provided with a traveling carriage that faces the transport stand, and by bridging a transporting device for articles etc. between the temporary placement transport stand facing the opposite side of the space To be able to freely reciprocate articles etc. between all storage shelves Heading was.

更に、上記立体自動倉庫の入出庫部の近くに、あるいは、入出庫部に設置される物品等が供給される搬送手段の近くに、物品等を処理する搬送手段を設置することによって、作業者又はロボット等(以下、「作業者」という。)が実質的に移動することなく、出庫部に供給されてきた物品等の処理を効率的に行うことができることを見出し、本発明の完成に至った。   Further, the worker is installed near the loading / unloading unit of the three-dimensional automated warehouse or near the transporting unit to which the product or the like installed in the loading / unloading unit is supplied, so that the worker can handle the product or the like. Alternatively, it has been found that a robot or the like (hereinafter, referred to as “worker”) can efficiently process the articles and the like supplied to the delivery section without substantially moving, and thus has completed the present invention. It was

すなわち、本発明は、XY軸方向に碁盤目状に配列してなる物品等の格納棚とその格納棚の物品等を出し入れする格納面の反対面で隣接した格納棚とを備えた格納設備と、その格納設備のXY軸方向に走行し、物品等を自在に出し入れ可能な移動手段と、その移動手段が、格納棚の格納面において自在に移動できる走行空間と、その走行空間に設けられた物品等をY軸方向に往復移動するための物品等載置搬送手段を備えた昇降手段と、移動手段と物品等載置搬送手段との物品等の受け渡しを媒介する仮置き搬送手段とを備えた立体自動倉庫において、仮置き搬送手段が方向変換機構を有し、仮置き搬送手段が対峙する走行空間に物品等の昇降式搬送手段を設けたことを特徴とする立体自動倉庫である。更に、物品等載置搬送手段にも方向変換機構を有することが、物品等の往復移動の自由度を高める上で好ましい。   That is, the present invention relates to a storage facility including storage shelves for articles or the like arranged in a grid pattern in the XY axis directions and storage shelves adjacent to each other on the opposite surface of the storage shelves for loading and unloading articles and the like. A moving means that moves in the XY axis directions of the storage equipment and can freely take in and out articles and the like, a moving space in which the moving means can freely move on the storage surface of the storage shelf, and the moving space are provided. An elevating means including an article mounting / transporting means for reciprocally moving the article etc. in the Y-axis direction, and a temporary placement transporting means that mediates the delivery of the article etc. between the moving means and the article etc. mounting / transporting means. Also, in the three-dimensional automatic warehouse, the temporary storage conveying means has a direction changing mechanism, and the elevating type conveying means for articles and the like is provided in a traveling space facing the temporary storage conveying means. Furthermore, it is preferable to have a direction changing mechanism in the article carrying means for increasing the degree of freedom of reciprocating movement of the article or the like.

このような立体自動倉庫は、その格納棚の大きさや配置によって、隣り合う昇降式搬送手段に付設された物品等載置搬送手段の間や背面で隣接する格納棚の一端に設けられた仮置き搬送手段の間等に空間が形成される場合があるため、更に、それらの仮置き搬送手段の間に、物品等の搬送手段が橋設されることが好ましい。   Such a three-dimensional automated warehouse is a temporary storage provided between the storage shelves attached to the adjoining up-and-down transportation means or at one end of the storage shelves adjacent to each other on the back surface depending on the size and arrangement of the storage shelves. Since a space may be formed between the transporting means or the like, it is preferable that a transporting means for articles or the like is bridged between the temporary placing transporting means.

また、本発明は、XY軸方向に碁盤目状に配列してなる物品等の格納棚とその格納棚の物品等を出し入れする格納面の反対面で隣接した格納棚とを備えた格納設備と、その格納設備のXY軸方向に走行し、物品等を自在に出し入れ可能な移動手段と、その移動手段が、格納棚の格納面において自在に移動できる走行空間と、その走行空間に設けられた物品等をY軸方向に往復移動するための物品等載置搬送手段を備えた昇降手段と、移動手段と物品等載置搬送手段との物品等の受け渡しを媒介する仮置き搬送手段とを備えた立体自動倉庫において、X軸方向の特定位置において、物品等を出し入れする格納面の反対面で隣接する略同一平面にある二つの格納棚で構成される特定格納棚が搬送装置を備え、この特定格納棚が対峙する走行空間に物品等の昇降式搬送手段を備えたことを特徴とする立体自動倉庫である。更に、物品等載置搬送手段及び/又は仮置き搬送手段が方向変換機構を備えていることが、物品等の往復移動の自由度を高める上で好ましい。   Further, the present invention provides a storage facility including a storage shelf for articles or the like arranged in a grid pattern in the XY axis directions, and a storage shelf adjacent to the storage surface on the opposite side of the storage surface for loading and unloading the articles and the like of the storage shelf. A moving means that moves in the XY axis directions of the storage equipment and can freely take in and out articles and the like, a moving space in which the moving means can freely move on the storage surface of the storage shelf, and the moving space are provided. An elevating means including an article mounting / transporting means for reciprocally moving the article etc. in the Y-axis direction, and a temporary placement transporting means that mediates the delivery of the article etc. between the moving means and the article etc. mounting / transporting means. In a three-dimensional automated warehouse, at a specific position in the X-axis direction, a specific storage shelf composed of two storage shelves that are adjacent to each other on the surface opposite to the storage surface for loading and unloading articles is provided with a transfer device. In a running space where specific storage shelves face each other Is a three-dimensional automatic warehouse which comprising the elevating conveyor means Hinto. Further, it is preferable that the article placing and conveying means and / or the temporary placing conveying means be provided with a direction changing mechanism in order to increase the degree of freedom of reciprocating movement of the article and the like.

そして、このような立体自動倉庫では、格納棚の大きさや配置による物品等載置搬送手段の間や仮置き搬送手段の間等に空間が形成される場合においても、特定格納棚において物品等の格納棚間の往復移動が可能なため、物品等載置搬送手段の間及び/又は仮置き搬送手段の間に補助的な物品等の搬送手段を設けなくてもよいが、物品等の往復移動の自由度を高めるためには、物品等載置搬送手段及び/又は仮置き搬送手段が方向変換機構を備え、物品等載置搬送手段の間及び/又は仮置き搬送手段の間に補助的な物品等の搬送手段を橋設することがより好ましい。   In such a three-dimensional automated warehouse, even when a space is formed between the article carrying means for storing articles or the like and the temporary placing carrying means or the like depending on the size or arrangement of the storage shelves, the articles or the like are stored in the specific storage shelves. Since the reciprocating movement between the storage shelves is possible, it is not necessary to provide auxiliary conveying means for articles or the like between the article conveying means and / or the temporary storage conveying means. In order to increase the degree of freedom of the article and the like, the article placing and transporting means and / or the temporary placement transporting means are provided with a direction changing mechanism, and an auxiliary device is provided between the article etc. placing and transporting means and / or the temporary placement transporting means. It is more preferable to bridge the transportation means for articles and the like.

ここで、特定格納棚は、略同一平面上にあることが好ましいが、物品等の搬送に支障にならない程度の段差が存在していても問題はない。   Here, the specific storage shelves are preferably on substantially the same plane, but there is no problem even if there is a level difference that does not hinder the transportation of articles and the like.

更に、本発明は、XY軸方向に碁盤目状に配列してなる物品等の格納棚と、その格納棚のX軸方向に走行し、物品等を自在に出し入れ可能な移動手段と、その移動手段が、格納棚の格納面において自在に移動できる走行空間と、その走行空間に設けられた物品等をY軸方向に往復移動するための物品等載置搬送手段を備えた昇降手段と、移動手段と物品等載置搬送手段との物品等の受け渡しを媒介する仮置き搬送手段とを備えた立体自動倉庫においても、仮置き搬送手段に方向変換機構を設け、仮置き搬送手段が対峙する走行空間に物品等の昇降式搬送手段と、走行空間と反対面で対峙する仮置き搬送手段の間に物品等の搬送手段を設けたことを特徴とする立体自動倉庫である。   Further, according to the present invention, a storage shelf for articles and the like arranged in a grid pattern in the XY axis directions, a moving means for traveling in the X axis direction of the storage shelves to freely take in and out the articles, and the movement thereof. A moving space in which the means can be freely moved on the storage surface of the storage shelf, and an elevating means provided with an article-carrying and conveying means for reciprocating an article or the like provided in the running space in the Y-axis direction; Even in a three-dimensional automated warehouse equipped with a temporary storage transporting means that mediates the delivery of articles and the like between the storage means and the article storage transporting means, the temporary storage transporting means is provided with a direction changing mechanism, and the temporary storage transporting means faces each other. A three-dimensional automatic warehouse, characterized in that a transportation means for articles and the like is provided in a space between a lifting transportation means for articles and a temporary storage transportation means facing the traveling space.

このような、背面で隣接する格納棚から成る格納設備がない立体自動倉庫においても、水平長手方向の特定位置にある特定格納棚が搬送装置を備え、その特定格納棚が対峙する走行空間に物品等の昇降式搬送手段を備えると共に、その走行空間の反対面で対峙する特定格納棚間に物品等の搬送装置を橋設したことを特徴とする立体自動倉庫を提供することができる。   Even in such a three-dimensional automated warehouse that does not have a storage facility consisting of storage shelves adjacent to each other on the back side, the specific storage shelf at a specific position in the horizontal longitudinal direction is provided with a transfer device, and the article is provided in the traveling space facing the specific storage shelf. It is possible to provide a three-dimensional automatic warehouse characterized in that it is provided with an elevating type conveying means such as the above and the like, and a conveying device for conveying articles and the like is bridged between specific storage shelves facing each other on the opposite surface of the traveling space.

以上の立体自動倉庫は、一つのユニットとして構成されており、昇降手段に備えられた物品等載置搬送台を介して連接し、立体自動倉庫の格納容量を拡大することができる。   The above-mentioned three-dimensional automatic warehouse is configured as one unit, and the storage capacity of the three-dimensional automatic warehouse can be expanded by connecting the three-dimensional automatic warehouse with the article and the like loading / unloading platform provided in the elevating means.

一方、上記方向変換機構とは、搬送方向を変換する機構であって、物品等の分岐及び合流する機能を発現できる各種機構である。例えば、方向変換機構を備えた装置として、コンベヤに昇降式及び/又は回転式のローラ、ベルト、及び、ホイール等の方向変換させる機能部品を備えた装置、コンベヤ自体が回転する機能部品を備えた装置、コンベヤの側面に物品等の方向変換させる機能部品を備えた装置等が適用されるが、搬送装置で分岐及び合流搬送が可能な一般的な装置を全て使用することが可能である。特に、物品等の格納形態や向き、物品等を格納棚に並ぶ状態と一致させる等が必要な場合には、直角に分岐可能な搬送装置が好ましい。   On the other hand, the above-mentioned direction changing mechanism is a mechanism for changing the conveying direction, and is various mechanisms capable of exhibiting the function of branching and joining articles or the like. For example, as a device provided with a direction changing mechanism, a device provided with a functional component for changing the direction of a conveyor such as lifting and / or rotating rollers, belts, and wheels, and a functional component for rotating the conveyor itself are provided. A device or a device having a functional part for changing the direction of an article or the like is applied to the side surface of the conveyor, but it is possible to use all general devices capable of branching and joining conveyance by the conveying device. In particular, when it is necessary to match the storage form and orientation of the articles and the like and the state in which the articles and the like are lined up in the storage shelves, a conveying device capable of branching at a right angle is preferable.

また、本発明は、上記立体自動倉庫において、その立体自動倉庫の入出庫部の入庫部及び/又は出庫部の近くに集品容器提示部が備えられていることを特徴とする立体自動倉庫である。そして、その入出庫部の入庫部及び/又は出庫部に物品等を供給する物品等提示部を設置し、その近くに集品容器提示部が備えられていることがより好ましい。更に、入出庫部に延長搬送手段を介して物品等提示部が設置されることより更に好ましい。   Further, the present invention is a three-dimensional automatic warehouse, characterized in that, in the above-mentioned three-dimensional automatic warehouse, a collection container presenting section is provided near the storage section and / or the output section of the storage section of the three-dimensional automatic warehouse. is there. It is more preferable that an article presenting section that supplies articles and the like is installed in the entry section and / or the exit section of the entry / exit section, and the collection container presenting section is provided near the article presenting section. Further, it is more preferable that the article presenting section is installed in the loading / unloading section via the extension conveyance means.

この入出庫部は、物品等の搬入と搬出に係わる格納棚に備えられた装置全体をいい、少なくとも、搬出入装置、昇降機、昇降機に備えられた物品等載置搬送台、方向変換機構を有する仮置き搬送台を含む。また、本発明に係る出庫のための物品等が供給される移載装置は、搬出入装置等の入出庫部の入庫部及び/又は出庫部であってもよいが、入出庫部の入庫部及び/又は出庫部に物品等提示部を設けた方が好ましい。これらは、入出庫部の一部を形成し、物品等の処理、例えば、物品等を品種別、送付先方面別、顧客別などに分ける仕分け、保管庫内の物品等の再配置、整理、処分などを行うために、物品等が格納棚から供給される移載装置である。この物品等提示部を設けることによって、立体自動倉庫の物品等の出庫作業における物品等の仕分け作業、並びに、倉庫内の物品等の仕分け作業の自由度をより高めることができる。そのため、上記出庫のための物品等が供給される移載装置は、必要に応じ、一時貯留機構(アキュムレーションコンベア)、速度制御機構、正逆搬送機構、分岐搬送機構、合流搬送機構、および、停止機構の少なくとも一つ以上の機構を有するコンベアで構成されているものが好ましい。   The loading / unloading unit refers to the entire apparatus provided on a storage shelf for loading and unloading articles and the like, and has at least a loading / unloading apparatus, an elevator, an article loading / unloading platform provided for the elevator, and a direction changing mechanism. Includes a temporary carrier. Further, the transfer device to which the article or the like for warehousing according to the present invention is supplied may be the warehousing unit and / or the warehousing unit of the warehousing / moving unit such as the carry-in / carry-out device. And / or it is preferable to provide an article presenting section in the delivery section. These form a part of the loading / unloading section, and process the articles, for example, sorting the articles by product type, destination area, customer, etc., rearranging and organizing the articles in the storage, This is a transfer device in which articles and the like are supplied from storage shelves for disposal. By providing this article presenting unit, it is possible to further increase the degree of freedom in the task of sorting articles and the like in the shipping operation of articles and the like in a three-dimensional automatic warehouse and the task of sorting articles and the like in the warehouse. Therefore, the transfer device to which the articles and the like for the delivery are supplied is provided with a temporary storage mechanism (accumulation conveyor), a speed control mechanism, a forward / reverse transport mechanism, a branch transport mechanism, a merge transport mechanism, and a stop, if necessary. It is preferable that it is configured by a conveyor having at least one of the mechanisms.

一方、その入出庫部の近くに設けられる集品容器提示部は、作業者が実質的に移動することなく、格納棚から物品等提示部に供給されてきた物品等を処理できる手段であって、段ボール箱やオリコン等の集品容器や袋やハンガー等の箱状でない容器が順次供給及び搬出されるコンベアゾーンであれば特に限定されるものではないが、集品容器提示部は、種々の集品容器の供給部及び搬出部に接続されていることが好ましい。ここで、入出庫部あるいは物品等提示部と集品容器提示部との位置関係を示す「近く」とは、作業者が実質的に移動することなく、入出庫部あるいは物品等提示部に供給されてきた物品等を取り出し、その取り出した物品等を集品容器に投入あるいは処理しうることが可能であることを意味する。   On the other hand, the collection container presenting unit, which is provided near the loading / unloading unit, is a means that can process the articles etc. supplied from the storage shelf to the article presenting section without the worker substantially moving. It is not particularly limited as long as it is a conveyor zone in which a collection container such as a cardboard box or an Oricon or a non-box-shaped container such as a bag or a hanger is sequentially supplied and carried out. It is preferably connected to the supply section and the carry-out section of the collection container. Here, "near" indicating the positional relationship between the storage / delivery section or the article presenting section and the collection container presenting section means that the worker supplies to the storage / delivery section or the article presenting section without substantially moving. It means that it is possible to take out the taken out article or the like and put or take out the taken out article or the like into a collection container.

更に、上記入出庫部は、倉庫の省スペース化や適正なレイアウト及び動線の構築等の種々の目的に応じて、作業者による物品等の処理を格納棚の近辺で行う必要はなく、格納棚から離れたところで行う方が好ましい場合には、すなわち、集品容器提示部を格納棚から離れたところに設置する方が好ましい場合には、物品等提示部にコンベア等の搬送手段を連接させて延長させることができる。また、同様に、作業者による物品等の処理を、格納棚と同一階で行う必要はなく、その階下あるいは階上で行うことが好ましい場合には、すなわち、集品容器提示部を格納棚の階下あるいは階上に設置する方が好ましい場合には、物品等提示部及び集品容器提示部を階下又は階上に設置することができる。つまり、物品等提示部及び集品容器提示部は、保管棚が設けられる全ての階及び保管棚のない階においても設置することができる。このような場合には、昇降手段やコンベア等の移載搬送装置を用いた物品等の上下搬送を利用することが好ましい。   Further, the loading / unloading section does not need to be processed by an operator near the storage shelf according to various purposes such as saving space in the warehouse, constructing an appropriate layout and flow line, and storing it. If it is preferable to perform the operation away from the shelf, that is, if it is preferable to install the collection container presenting unit at a place away from the storage shelves, connect the conveying means such as a conveyor to the article presenting unit. Can be extended. Similarly, when it is not necessary for a worker to perform processing of articles and the like on the same floor as the storage shelf, and it is preferable to perform the processing on the lower floor or on the upper floor, that is, the collection container presenting unit When it is preferable to install the lower floor or the upper floor, the article presenting unit and the collection container presenting unit can be installed on the lower floor or the upper floor. That is, the article presenting unit and the collection container presenting unit can be installed on all floors where storage shelves are provided and on floors without storage shelves. In such a case, it is preferable to use vertical transportation of articles and the like using a transfer / transport device such as an elevating means and a conveyor.

以上のように、出庫における物品等の処理を行うことができる搬送方式が、物品等の昇降式搬送手段や方向変換機構等の各種搬送手段を設けた立体自動倉庫に更に付与されるため、格納設備全領域に保管されている所望の物品等を仕分け、搬出入等ができるという特徴を生かして、格納設備全領域の所望の物品等が入出庫部に設けられる物品等提示部に搬送され、その近くに備えられた集品容器提示部において、作業者が実質的に移動することなく、効率的な物品等の処理、例えば、物品等の品種別、送付先方面別、顧客別などの分類、保管庫内の物品等の再配置、整理、処分等を行うことが可能となる。すなわち、本発明の出庫搬送方式を備えた立体自動倉庫においては、作業者による効率的な仕分け作業を実現できる。   As described above, since the transportation method capable of processing the articles and the like in the delivery is further provided to the three-dimensional automated warehouse provided with various transportation means such as the lifting transportation means and the direction changing mechanism for the goods, etc. Sorting desired articles etc. stored in the entire area of the facility, taking advantage of the feature that it can be carried in and out, etc., desired articles etc. in the entire area of the storage facility are conveyed to the article etc. presentation section provided in the storage section, In the collection container presentation unit provided near it, the workers can effectively process the goods without moving, for example, classification by kind of goods, destination area, customer, etc. , It becomes possible to rearrange, arrange, dispose of the goods in the storage. That is, in a three-dimensional automated warehouse equipped with the delivery / transportation system of the present invention, efficient sorting work by workers can be realized.

そして、このような物流は、従来の一般的な方法、すなわち、膨大な入荷、出荷、及び、在庫データを保有する中央情報システムに基づいた様々な制御システムによって制御され、コンベヤ、昇降機、ピッキング、周辺装置等の一連の動作が連動する。   And, such physical distribution is controlled by various control systems based on the conventional general method, that is, a central information system having a large amount of receipt, shipment, and inventory data, and the conveyor, elevator, picking, A series of operations such as peripheral devices work together.

本発明により、背面で隣接する格納棚間の物品等の往復移動が自在となるばかりか、昇降式搬送手段と方向変換機構を有する仮置き搬送手段、昇降式搬送手段と方向変換機構を有する仮置き搬送手段とその仮置き搬送手段の空間を連接する搬送手段、昇降式搬送手段と搬送手段を有する特定格納棚、或いは、昇降式搬送手段と搬送手段を有する特定格納棚とその特定格納棚の空間を連接する搬送手段が、全ての格納棚間及び格納設備間の物品等の往復移動が可能になるZ軸方向の搬送経路を形成するため、この搬送経路と走行台車により、XZ軸方向の全ての格納棚間の物品等の往復移動が可能となる。更に、物品等載置搬送手段が付設された昇降手段によって、XYZ軸方向の物品等の自在な往復移動が実現する。また、本発明の各種搬送手段及び方向変換機構は、既存設備に容易に増設することができるため、保管管理システムの効率を経済的及び物理的負荷をかけることなく、Z軸方向の物品等の往復移動能力を向上させることができる。   According to the present invention, not only is it possible to reciprocate articles or the like between adjacent storage shelves on the back surface, but also temporary placement transfer means having an elevating transfer means and a direction changing mechanism, and temporary transfer means having an elevating transfer means and a direction changing mechanism. The transfer means for connecting the space between the stationary transfer means and the temporary transfer means, the specific storage shelf having the elevating transfer means and the transfer means, or the specific storage shelf having the elevating transfer means and the transfer means and the specific storage shelf Since the transport means connecting the spaces forms a Z-axis transport path that enables reciprocal movement of articles and the like between all storage shelves and storage equipment, the transport path and the traveling carriage move in the XZ-axis direction. It is possible to reciprocate articles and the like between all storage shelves. Further, the elevating means provided with the means for carrying articles and the like realizes free reciprocating movement of articles and the like in the XYZ axis directions. In addition, since the various transporting means and the direction changing mechanism of the present invention can be easily added to the existing equipment, the efficiency of the storage management system can be increased in the Z-axis direction without economically and physically loading. The reciprocating ability can be improved.

このようなZ軸方向の格納棚間の物品移動ができる立体自動倉庫は、倉庫内での物品の仕分けが可能となり、予め設定された順序通りに出庫させる順出し機能が向上する。従って、従来必要とした時間調整や仕分けするためのコンベアが不要となり、省スペース化を図れると共に、出庫処理能力を大幅に向上させることができる。   In such a three-dimensional automatic warehouse capable of moving articles between storage shelves in the Z-axis direction, it becomes possible to sort articles in the warehouse, and the delivery function for delivering articles in a preset order is improved. Therefore, a conveyor for time adjustment and sorting, which is conventionally required, is not required, so that the space can be saved and the delivery processing capacity can be greatly improved.

更に、本発明の出庫搬送方式を備えた立体自動倉庫によれば、物品等の昇降式搬送手段や方向変換機構等の各種搬送手段を用いて格納設備全領域から物品等を任意の入出庫部に搬出入することができるので、格納設備全領域から物品等提示部に搬送されてきた所望の物品等を、作業者が実質的に移動することなく、その近くに備えた集品容器提示部を用いて効率的に処理することができる。   Further, according to the three-dimensional automatic warehouse equipped with the warehousing and transporting system of the present invention, the goods and the like can be arbitrarily loaded and unloaded from the entire area of the storage facility by using various kinds of transportation means such as a lifting-type transportation means for articles and a direction changing mechanism. Since it can be carried in and out of the storage container presenting section, the desired articles and the like conveyed from the entire storage facility area to the article and the like presenting section can be provided in the vicinity thereof without the worker substantially moving. Can be used for efficient processing.

そして、このような物品等提示部及び集品容器提示部を配置する場所を自由に設定できるので、倉庫の省スペース化や適正なレイアウト及び動線の構築を図ることが可能となる。   Further, since the place for arranging the article presenting section and the collection container presenting section can be freely set, it is possible to save space in the warehouse and to construct an appropriate layout and flow line.

以上、本発明の立体自動倉庫によれば、格納棚及び格納設備に保管されている物品等は、XYZ軸方向のあらゆる格納棚間及び格納設備間の自在な往復移動が可能となり、倉庫内における物品等の整理・整頓や仕分け等が容易に行える上、出庫作業における物品等の効率的な処理が可能となる。   As described above, according to the three-dimensional automatic warehouse of the present invention, the articles stored in the storage shelves and the storage equipment can be freely reciprocated between the storage shelves and the storage equipment in the XYZ axis directions, so that the articles can be stored in the warehouse. In addition to easily organizing, organizing, sorting, etc. of the articles, etc., it becomes possible to efficiently process the articles, etc. in the unloading work.

スタッカクレーンを物品等の往復移動手段として配設した従来の立体自動倉庫Iタイプの模式図である。It is a schematic diagram of a conventional three-dimensional automatic warehouse I type in which a stacker crane is arranged as a means for reciprocating articles and the like. 走行台車と昇降機を物品等の往復移動手段として配設した従来の立体自動倉庫の模式図である。It is a schematic diagram of a conventional three-dimensional automatic warehouse in which a traveling carriage and an elevator are arranged as a means for reciprocating articles and the like. 格納棚の間に往復移動手段を配設した図2に示す従来の立体自動倉庫IIタイプの平面図である。FIG. 3 is a plan view of the conventional three-dimensional automatic warehouse II type shown in FIG. 2 in which reciprocating means is arranged between storage shelves. 背面で隣接する格納棚から成る格納設備の間に往復移動手段を配設した図2に示す従来の立体自動倉庫IIタイプの平面図である。FIG. 3 is a plan view of the conventional three-dimensional automated warehouse II type shown in FIG. 2 in which a reciprocating means is arranged between storage facilities composed of adjacent storage shelves on the back side. 本発明の一実施形態に係る、仮置き搬送台に直角分岐機構を備え、対峙する仮置き搬送台間の走行空間に昇降式搬送装置を備えた立体自動倉庫を示す平面図である。FIG. 3 is a plan view showing a three-dimensional automatic warehouse according to an embodiment of the present invention, which is provided with a right-angled branching mechanism on a temporary storage carrier and is equipped with an elevating-type transport device in a traveling space between opposing temporary storage carriers. 本発明の一実施形態に係る、図5に示す立体自動倉庫において、更に、昇降機に付設された物品等載置搬送台に直角分岐機構を備えた立体自動倉庫を示す平面図である。FIG. 6 is a plan view showing a three-dimensional automatic warehouse according to an embodiment of the present invention, which further includes a right-angle branching mechanism on an article loading platform attached to an elevator, in the three-dimensional automatic warehouse shown in FIG. 5. 本発明の一実施形態に係る、図5の格納棚のZ軸方向の奥行きが深く、背面で隣接する格納棚の一端に設けられた仮置き搬送台に間隙が生じた立体自動倉庫において、その仮置き搬送台の間に物品等の搬送装置を橋設した立体自動倉庫を示す平面図である。According to an embodiment of the present invention, the storage rack in FIG. 5 has a large depth in the Z-axis direction, and a temporary storage carrier provided at one end of the storage rack adjacent on the back side has a gap, and FIG. 3 is a plan view showing a three-dimensional automated warehouse in which a transportation device for articles and the like is bridged between temporary storage transportation platforms. 本発明の一実施形態に係る、X軸の特定位置において、背面で隣接する略同一平面にある二つの格納棚で構成される特定格納棚が搬送装置を備え、その特定格納棚が対峙する走行空間に昇降式搬送装置を備えた立体自動倉庫を示す平面図である。According to an embodiment of the present invention, at a specific position on the X-axis, a specific storage shelf configured by two storage shelves that are adjacent to each other on the rear surface and that are substantially in the same plane includes a transport device, and the specific storage shelf faces each other. It is a top view which shows the three-dimensional automatic warehouse provided with the raising / lowering type conveyance apparatus in space. 本発明の一実施形態に係る、図8に示す立体自動倉庫において、更に、昇降機に付設された物品等載置搬送台に直角分岐機構を備えた立体自動倉庫を示す平面図である。FIG. 9 is a plan view showing a three-dimensional automatic warehouse according to an embodiment of the present invention, which further includes a right-angle branching mechanism on an article loading platform attached to an elevator in the three-dimensional automatic warehouse shown in FIG. 8. 本発明の一実施形態に係る、図8に示す立体自動倉庫において、更に、仮置き搬送台に直角分岐機構を備えた立体自動倉庫を示す平面図である。FIG. 9 is a plan view showing a three-dimensional automatic warehouse in which the temporary storage carrier is further provided with a right-angle branching mechanism in the three-dimensional automatic warehouse shown in FIG. 8 according to the embodiment of the present invention. 本発明の一実施形態に係る、図3に示す立体自動倉庫において、仮置き搬送台に直角分岐機構を備え、対峙する仮置き搬送台間の走行空間に昇降式搬送装置を配備し、その走行空間の反対面で対峙する仮置き搬送台間に物品等の搬送装置を橋設した立体自動倉庫を示す平面図である。In the three-dimensional automated warehouse shown in FIG. 3 according to one embodiment of the present invention, the temporary transfer carrier is provided with a right-angled branching mechanism, and the elevating-type transfer device is provided in the traveling space between the facing temporary transfer carriers, and its traveling. It is a top view which shows the three-dimensional automatic warehouse which bridged the conveyance apparatus of articles | goods between the temporary storage conveyance stands which oppose on the opposite surface of space. 本発明の一実施形態に係る、図3に示す立体自動倉庫において、X軸の特定位置にある特定格納棚が搬送装置を備え、その特定格納棚が対峙する走行空間に昇降式搬送装置を配備し、その走行空間の反対面で対峙する特定格納棚間に物品等の搬送装置を橋設した立体自動倉庫を示す平面図であるIn the three-dimensional automated warehouse shown in FIG. 3 according to one embodiment of the present invention, a specific storage shelf at a specific position on the X-axis is provided with a transfer device, and a lifting transfer device is provided in a traveling space facing the specific storage shelf. FIG. 3 is a plan view showing a three-dimensional automated warehouse in which a conveying device for articles and the like is bridged between specific storage shelves facing each other on the opposite side of the traveling space. 本発明の一実施形態に係る、図5に示す立体自動倉庫ユニットIIIを昇降機に備えられた物品等載置搬送台を介して連接された立体自動倉庫の平面図である。FIG. 6 is a plan view of a three-dimensional automatic warehouse in which the three-dimensional automatic warehouse unit III shown in FIG. 5 is connected via an article-carrying / carrying platform provided in an elevator according to an embodiment of the present invention. 本発明の一実施形態に係る、図5に示す昇降式搬送装置が存在する位置のZ軸方向で紙面に垂直に切断した断面の模式図である。FIG. 6 is a schematic view of a cross section cut perpendicular to the plane of the drawing in the Z-axis direction at the position where the lifting and lowering conveyance device shown in FIG. 5 is present according to the embodiment of the present invention. 本発明の一実施形態に係る、入出庫部を構成する搬出入装置の近くに集品容器提示部を設置した格納棚横断搬送装置を有する立体自動倉庫の平面図である。It is a top view of the three-dimensional automatic warehouse which has the storage shelf crossing conveyance device which installed the collection container presentation part near the carrying in / out device which constitutes the loading / unloading part concerning one embodiment of the present invention. 本発明の一実施形態に係る、入出庫部に物品等提示部を付与し、その近くに集品容器提示部を設けた昇降式搬送手段を有する立体自動倉庫の平面図である。FIG. 3 is a plan view of a three-dimensional automatic warehouse having an elevating and lowering transporting unit according to an embodiment of the present invention, in which an article presenting section is provided to the loading / unloading section and a collection container presenting section is provided near the article presenting section. 本発明の一実施形態に係る、入出庫部に物品等提示部及び延長搬送手段を付与し、その近くに集品容器提示部を設けた昇降式搬送手段を有する立体自動倉庫の平面図である。FIG. 3 is a plan view of a three-dimensional automatic warehouse having an elevating / conveying means in which an article presenting section and an extension conveying means are provided to the loading / unloading section, and a collection container presenting section is provided in the vicinity thereof, according to an embodiment of the present invention. .. 本発明の一実施形態に係る、延長搬送手段によって格納設備から離れた場所に物品等提示部を付与し、その近くに集品容器提示部を設けた昇降式搬送手段を有する立体自動倉庫の平面図である。According to an embodiment of the present invention, a plane of a three-dimensional automatic warehouse having an elevating type conveying means in which an article presenting section is provided at a place away from a storage facility by an extension conveying means and a collection container presenting section is provided near the article presenting section. It is a figure. 本発明の一実施形態に係る、格納棚の階下に、物品等提示部及び延長搬送手段を付与し、その近くに集品容器提示部を設けた昇降式搬送手段を有する立体自動倉庫の断面図である。Sectional drawing of the three-dimensional automatic warehouse which has the raising / lowering type conveyance means which provided the article etc. presentation part and the extension conveyance means, and provided the collection container presentation part in the vicinity of it below the storage shelf according to one embodiment of the present invention. Is. 本発明の一実施形態に係る、格納棚の直下に、物品等提示部及び延長搬送手段を付与し、その近くに集品容器提示部を設けた昇降式搬送手段を有する立体自動倉庫の断面図である。Sectional view of a three-dimensional automatic warehouse having an elevating and lowering transporting means provided with an article presenting section and an extension transporting section immediately below a storage shelf, and a collection container presenting section near the storage shelf according to an embodiment of the present invention. Is.

以下、本発明を、図面に示した一実施形態を用いてより詳細に説明するが、本発明は、これらに限定されるものではなく、本発明の主旨を逸脱しない範囲内で種々変更して実施することが可能であり、特許請求の範囲に記載した技術思想によってのみ限定されるものである。   Hereinafter, the present invention will be described in more detail with reference to an embodiment shown in the drawings. However, the present invention is not limited to these, and various modifications may be made without departing from the gist of the present invention. It can be implemented and is limited only by the technical idea described in the claims.

図5の平面図は、請求項1に包摂される本発明の一実施形態を示している。水平長手(X軸)及び垂直(Y軸)方向に碁盤目状に配列してなる物品等PのL列の格納棚と、この格納棚の物品等Pを出し入れする格納面の反対面で隣接したL’列の格納棚とを備えた格納設備と、同様のLn+1列とLn+1’列の格納棚とを備えた格納設備が、移動手段の配設空間8を介して対面し、何列も横断方向(Z軸方向)に並んでいる。ここでは、その一部を表記したに過ぎない。移動手段は、走行レール14上をX軸方向に自在に走行する物品等を自在に出し入れ可能な、例えば、伸縮アーム部を有する走行台車10、及び、物品等載置搬送台12を備えた昇降機11から構成されている。 The plan view of FIG. 5 shows an embodiment of the invention encompassed by claim 1. On the storage shelf of the L n rows of articles P etc. arranged in a grid pattern in the horizontal longitudinal (X axis) and vertical (Y axis) directions, and the opposite side of the storage surface on which the articles P etc. A storage facility having adjacent storage shelves in the L n 'row and a storage facility having similar storage shelves in the L n + 1 and L n + 1 ' rows face each other via the arrangement space 8 of the moving means. , Are aligned in the transverse direction (Z-axis direction). Here, only some of them are shown. The moving means is capable of freely moving articles on the traveling rail 14 in the X-axis direction, and the like, and is equipped with, for example, a traveling carriage 10 having a telescopic arm portion, and an elevator for transporting articles. It is composed of 11.

ここで、本発明の立体自動倉庫は、物品等載置搬送台12と走行台車10との物品等Pの移動を媒介するための、L列、L’列、Ln+1列、Ln+1’列等の端に設けられている仮置き搬送台15が直角分岐機構を備えており、昇降式搬送装置16が、直角分岐機構を備えた仮置き搬送台15の間の空間に配備されていることを特徴とするものである。両者によって格納棚を横断方向(Z軸方向)に連架する格納棚横断搬送経路が形成されて、物品等のZ軸方向への往復移動が自在となると共に、走行台車10によって物品等のX軸方向への往復移動も自在となる。この昇降式搬送装置16は、図14の断面図に示したように、走行台車10が走行する信号を確認すると、左側に示したように下降する指示がでるように制御されている。逆に、格納設備間の物品等の移動を行う信号を確認すると、走行車10は昇降式搬送装置の位置から移動し、右側に示したように上昇する指示が出るように制御されている。 Here, the three-dimensional automated warehouse of the present invention is used for mediating the movement of the article P, etc., between the article loading platform 12 and the traveling vehicle 10, and is a row L n, a row L n ′, a row L n + 1, a row L n + 1. 'The temporary storage carrier 15 provided at the end of the row or the like has a right-angled branching mechanism, and the lift-type carrier device 16 is installed in the space between the temporary carrier carriers 15 having the right-angled branching mechanism. It is characterized by being present. A storage path traversing the storage shelves that bridges the storage shelves in the transverse direction (Z-axis direction) is formed by both of them, and the articles and the like can be reciprocally moved in the Z-axis direction. Reciprocal movement in the axial direction is also possible. As shown in the cross-sectional view of FIG. 14, the elevating-type conveying device 16 is controlled so that when a signal for traveling the traveling carriage 10 is confirmed, an instruction to descend is issued as shown on the left side. On the other hand, when a signal for moving an article or the like between the storage facilities is confirmed, the traveling vehicle 10 is controlled so as to move from the position of the elevating and lowering transporting device and give a rising instruction as shown on the right side.

この様な構成とすることによって、例えば、図5において、物品等の位置PからPへの物品等の移動、並びに、物品等の位置PからPへの物品等の移動は、次のように行われる。 With such a configuration, for example, in FIG. 5, the movement of the article or the like from the position P 1 to P 2 of the article or the like and the movement of the article or the like from the position P 1 of the article or the like to P 3 are performed as follows. This is done as follows.

にある物品等は、Ln―1’列とL列の格納棚が対峙する空間8にある走行台車10に取り出され、L列の格納棚の端にある直角分岐機構を備えた仮置き搬送台15、L列の格納棚と背面で隣接するL’列の格納棚の端にある直角分岐機構を備えた仮置き搬送台15を経由して、L’列の格納棚とLn+1列の格納棚が対峙する空間8にある走行台車10でPへと移動することができる。この移動を行う期間は、図14の左側に示したように、昇降式搬送装置16は、下降して走行台車10の往来が可能となるように設定される。 The articles and the like in P 1 are taken out by the traveling carriage 10 in the space 8 in which the storage shelves of the L n-1 'row and the L n -row are confronted, and equipped with the right-angled branching mechanism at the end of the storage shelves of the L n -row. was 'via the temporary carrier table 15 provided with a right-angled branch mechanism at the end of the storage shelves column, L n' adjacent L n that in temporary carrier table 15, and rear L n column storage shelf columns It is possible to move to P 2 by the traveling carriage 10 in the space 8 where the storage rack and the storage rack of the L n + 1 row face each other. As shown on the left side of FIG. 14, the period during which this movement is performed is set so that the elevating-type conveying device 16 descends and the traveling carriage 10 can come and go.

同様に、Pにある物品等は、Ln―1’列とL列の格納棚が対峙する空間8にある走行台車10に取り出され、L列の格納棚の端にある直角分岐機構を備えた仮置き搬送台15に移される。この移動を行う期間は、図14の左側に示したように、昇降式搬送装置16は、下降して走行台車10の往来が可能となるように設定される。Pへの物品等の移動は、L’列の格納棚の端にある直角分岐機構を備えた仮置き搬送台15、L’列とLn+1列の格納棚が対峙する空間8にある昇降式搬送装置16を経由して、Ln+1’列の格納棚の端にある直角分岐機構を備えた仮置き搬送台15に移動する格納設備横断経路をとる。この移動を行う期間は、図14の右側に示したように、昇降式搬送装置16は上昇するように設定される。次いで、Ln+1’列
とLn+2の格納棚が対峙する空間8にある走行台車10でPへと移動される。この移動を行う期間は、図14の左側に示したように、昇降式搬送装置16は、下降して走行台車10の往来が可能となるように設定される。
Similarly, the articles and the like in P 1 are taken out to the traveling carriage 10 in the space 8 where the storage shelves of the L n-1 'row and the L n -row face each other, and the right-angled branch at the end of the storage shelves of the L n -row is taken. It is transferred to the temporary storage carrier 15 equipped with a mechanism. As shown on the left side of FIG. 14, the period during which this movement is performed is set so that the elevating-type conveying device 16 descends and the traveling carriage 10 can come and go. Movement of goods such as to P 3 is in the space 8 L n 'temporary carrier table 15 provided with a right-angled branch mechanism at the end of the storage shelves column, L n' rows and L n + 1 column contains shelf stand face to face A storage facility traversing path is taken to move to a temporary storage carrier 15 provided with a right-angle branching mechanism at the end of the storage shelves in the L n + 1 'row via a certain lifting transport device 16. During the period of this movement, as shown on the right side of FIG. 14, the elevating-type conveying device 16 is set to rise. Then, the traveling trolley 10 in the space 8 where the L n + 1 'row and the L n +2 storage rack face each other is moved to P 3 . As shown on the left side of FIG. 14, the period during which this movement is performed is set so that the elevating-type conveying device 16 descends and the traveling carriage 10 can come and go.

昇降式搬送装置16は、一般的な一方向に物品等の搬送が可能な昇降式コンベヤを用いることができ、直角分岐機構を備えた仮置き搬送台15も、従来の仮置き搬送台のコンベヤに昇降ローラやベルト等の方向変換機構部品を適用することができる。   The elevating / conveying device 16 can use a general elevating / conveying device that can convey articles or the like in one direction. The temporary placing carrier 15 equipped with a right-angle branching mechanism can also be used as a conveyor for a conventional temporary placing carrier. A direction changing mechanism component such as a lifting roller or a belt can be applied to.

図6の平面図は、請求項2に包摂される本発明の一実施形態を示しており、図5に示した立体自動倉庫において、昇降機11に付設される物品等載置搬送台17が、更に、直角分岐機構を備えていることを特徴とする立体自動倉庫である。   The plan view of FIG. 6 shows an embodiment of the present invention included in claim 2. In the three-dimensional automatic warehouse shown in FIG. Furthermore, it is a three-dimensional automatic warehouse characterized by having a right-angled branching mechanism.

このように、物品等載置搬送台17が直角分岐機構を備えることによって、物品等載置搬送台17の相互の物品等の移動経路が形成されるため、立体自動倉庫のXZ軸方向の物品等の移動の自由度が高められる。   In this way, since the article mounting carrier 17 is provided with the right-angled branching mechanism, the mutual article moving paths of the article mounting carrier 17 are formed, so that the article in the XZ axis direction of the three-dimensional automated warehouse is formed. The degree of freedom of movement such as is increased.

また、直角分岐機構を備えた物品等載置搬送台17も、従来の物品等載置搬送台のコンベヤに昇降ローラやベルトを適用することができる。   Further, also for the article mounting conveyor 17 having the right-angle branching mechanism, the elevating roller and the belt can be applied to the conveyor of the conventional article mounting conveyor.

図7の平面図は、請求項3に包摂される本発明の一実施形態を示している。図5及び6の立体自動倉庫は、格納棚、格納設備、仮置き搬送台、物品等載置搬送台等の大きさが理想的で、これらの間の物品等の往復移動に然したる支障はない。しかし、格納棚、格納設備、搬送台、昇降機等の大きさや配置によって、隣り合う昇降機に付設された物品等載置搬送台の間や背面で隣接する格納棚の一端に設けられた仮置き搬送台の間等に空間が形成される場合があり、昇降式搬送装置16と直角分岐機構を備えた仮置き搬送台15とが形成する横断搬送経路が寸断されてしまう問題が生じる。本発明は、直角分岐機構を備えた仮置き搬送台15の間の空間に物品等の搬送台を更に備えることによってこの問題を解決した立体自動倉庫である。   The plan view of FIG. 7 shows an embodiment of the invention covered by claim 3. In the three-dimensional automated warehouse of FIGS. 5 and 6, the storage shelves, the storage equipment, the temporary transfer carrier, the article transfer platform, and the like are ideal in size, and the reciprocal movement of the objects and the like between them is an obstacle. There is no. However, depending on the size and arrangement of the storage shelves, storage equipment, transfer bases, and elevators, the temporary placement transfer provided between the transfer trays for articles attached to the adjacent elevators or at one end of the adjacent storage shelves on the back side A space may be formed between the stands and the like, which causes a problem that the transverse transport path formed by the lift-type transport device 16 and the temporary placement transport stand 15 having the right-angle branch mechanism is cut off. The present invention is a three-dimensional automatic warehouse that solves this problem by further providing a carrier for articles and the like in the space between the temporary storage carriers 15 having a right-angle branching mechanism.

図8の平面図は、請求項4に包摂される本発明の一実施形態を示している。XY軸方向に碁盤目状に配列してなる物品等PのL列の格納棚と、この格納棚の物品等Pを出し入れする格納面の反対面で隣接したL’列の格納棚とを備えた格納設備と、同様のLn+1列とLn+1’列の格納棚とを備えた格納設備が、移動手段の配設空間8を介して対面し、何列もZ軸方向に並んでいる。移動手段は、走行レール14上をX軸方向に自在に走行する物品等を自在に出し入れ可能な、例えば、伸縮アーム部を有する走行台車10、及び、物品等載置搬送台12を備えた昇降機11から構成されている。 The plan view of FIG. 8 shows an embodiment of the invention covered by claim 4. A storage rack of L n rows of articles or the like P arranged in a grid pattern in the XY axis directions, and a storage rack of L n 'rows adjacent to the storage surface of the storage rack on which the articles P and the like are taken in and out. The storage equipment provided with the storage equipment and the storage equipment having the storage shelves of the similar L n + 1 and L n + 1 'rows face each other through the arrangement space 8 of the moving means, and many rows are arranged in the Z-axis direction. There is. The moving means is capable of freely moving articles on the traveling rail 14 in the X-axis direction, and the like, and is equipped with, for example, a traveling carriage 10 having a telescopic arm portion, and an elevator for transporting articles. It is composed of 11.

ここで、本発明の立体自動倉庫は、X軸方向の特定位置において、物品等を出し入れする格納面の反対面で隣接する略同一平面にある二つの格納棚で構成される特定格納棚18が搬送装置を備え、この特定格納棚18が対峙するLn−1’列とL’列、L’列とLn+1列、及び、Ln+1’列とLn+2列の格納棚が対峙する走行空間8に物品等の昇降式搬送装置16を備えたことを特徴としている。その結果、格納棚間及び格納設備間の物品等の横断搬送経路が、格納設備の特定の場所に形成することができるようになる。また、特定格納棚18を格納設備のX軸方向に隣接して並べる場合は、特定格納棚18の搬送装置が
方向変換機構付きであると、XZ軸方向全ての物品等の移動が実現される。
Here, in the three-dimensional automated warehouse of the present invention, a specific storage shelf 18 composed of two storage shelves that are on the same plane adjacent to each other on the opposite surface of the storage surface for loading and unloading articles is located at a specific position in the X-axis direction. a conveying device, L n-1 'columns and L n' columns this particular storage shelf 18 is opposed, L n 'rows and L n + 1 column, and, L n + 1' columns and L n + 2 rows storing shelf is opposed It is characterized in that the traveling space 8 is provided with an up-and-down type conveying device 16 for articles and the like. As a result, a cross-transport path for articles and the like between the storage shelves and between the storage facilities can be formed at a specific location of the storage facility. Further, when the specific storage shelves 18 are arranged adjacent to each other in the X-axis direction of the storage equipment, if the transport device of the specific storage shelves 18 has a direction changing mechanism, the movement of all articles and the like in the XZ-axis direction is realized. ..

この様な構成とすることによって、例えば、図8において、物品等の位置PからPへの物品等の移動、並びに、物品等の位置PからPへの物品等の移動は、次のように行われる。 With such a configuration, for example, in FIG. 8, movement of the article or the like from the position P 1 to P 2 of the article or the like, and movement of the article or the like from the position P 1 of the article or the like to P 3 are performed. This is done as follows.

にある物品等は、Ln−1’列とL列の格納棚が対峙する空間8にある走行台車10に取り出され、L列の特定格納棚18に取り出され、L列の格納棚と背面で隣接するL’列の特定格納棚18を経由して、L’列とLn+1列の格納棚が対峙する空間8にある走行台車10でPへと移動される。この移動を行う期間は、図14の左側に示したように、昇降式搬送装置16は、下降して走行台車10の往来が可能となるように設定される。 Goods and in P 1 is taken out to the traveling carriage 10 in the space 8 the storage shelves of L n-1 'columns and L n columns facing, taken out to a specific storage shelves 18 of the L n columns, L n columns Via the specific storage shelf 18 of the L n 'row that is adjacent to the storage shelf of L n ' and the storage rack of the L n 'row and the L n + 1 row are moved to P 2 by the traveling carriage 10 in the space 8 facing each other. It As shown on the left side of FIG. 14, the period during which this movement is performed is set so that the elevating-type conveying device 16 descends and the traveling carriage 10 can come and go.

同様に、Pにある物品等は、Ln−1’列とL列の格納棚が対峙する空間8にある走行台車10に取り出され、L列の特定格納棚18に移される。この移動を行う期間は、図14の左側に示したように、昇降式搬送装置16は、下降して走行台車10の往来が可能となるように設定される。Pへの物品等の移動は、L’列の特定格納棚18、L’列とLn+1列の格納棚が対峙する空間8にある昇降式搬送装置16を経由して、Ln+1列の特定格納棚18からLn+1’列の特定格納棚18に移動する経路をとる。この移動を行う期間は、図14の右側に示したように、昇降式搬送装置16は上昇するように設定される。次いで、Ln+1’列とLn+2列の格納棚が対峙する空間8にある走行台車10でPへと移動することができる。この移動を行う期間は、図8の左側に示したように、昇降式搬送装置16は、下降して走行台車10の往来が可能となるように設定される。 Similarly, the articles and the like in P 1 are taken out to the traveling carriage 10 in the space 8 where the storage shelves of the L n-1 'row and the L n -row face each other, and transferred to the specific storage shelves 18 of the L n -row. As shown on the left side of FIG. 14, the period during which this movement is performed is set so that the elevating-type conveying device 16 descends and the traveling carriage 10 can come and go. Movement of goods such as to P 3, via the elevating transport apparatus 16 in the space 8 to L n 'specific storage shelf 18, L n columns' column and L n + 1 column contains shelf stand face to face, L n + 1 A route is taken from the specific storage shelf 18 in the row to the specific storage shelf 18 in the L n + 1 'row. During the period of this movement, as shown on the right side of FIG. 14, the elevating-type conveying device 16 is set to rise. Then, it is possible to move to P 3 by the traveling carriage 10 in the space 8 where the storage shelves of the L n + 1 'row and the L n + 2 row face each other. As shown on the left side of FIG. 8, the period during which this movement is performed is set so that the elevating-type conveying device 16 descends to allow the traveling carriage 10 to come and go.

更に好ましくは、図9及び10に示したように、物品等載置搬送台17及び/又は仮置き搬送台15に直角分岐機構を備えることである。物品等載置搬送台17の間及び/又は仮置き搬送台15の間の物品等の移動も可能となり、背面で隣接する格納棚間の物品等の往復移動の経路が増加し、物品等の往復移動の自由度を高めることができる。   More preferably, as shown in FIGS. 9 and 10, the article transfer carrier 17 and / or the temporary transfer carrier 15 is provided with a right-angle branching mechanism. It is also possible to move articles and the like between the article transfer tray 17 and / or the temporary transfer table 15, and the number of reciprocating movement paths of the articles and the like between the adjacent storage shelves on the back surface increases. The degree of freedom of reciprocating movement can be increased.

図面には示していないが、図8〜9に示した立体自動倉庫においても、格納棚、格納設備、搬送台、昇降機等の大きさや配置によって、隣り合う昇降機に付設された物品等載置搬送台の間や背面で隣接する格納棚の一端に設けられた仮置き搬送台の間等に空間が形成される場合があるが、特定格納棚18が搬送装置を備えているため、昇降式搬送装置16と特定格納棚18が形成するX軸方向の格納棚横断搬送経路は確保される。しかしながら、この場合にも、物品等の往復移動の自由度を高めるためには、直角分岐機構を備えた物品等載置搬送台17の間及び/又は直角分岐機構を備えた仮置き搬送台15の間に補助的な物品等の搬送手段を橋設することがより好ましい。   Although not shown in the drawings, even in the three-dimensional automated warehouse shown in FIGS. 8 to 9, depending on the size and arrangement of the storage shelves, the storage equipment, the carrier, the elevators, etc., the articles can be placed and transported attached to the adjacent elevators. A space may be formed between the stands or between the temporary storage transfer stands provided at one end of the adjacent storage shelves on the back surface. However, since the specific storage shelf 18 is provided with the transfer device, the lifting transfer is performed. An X-axis crossing storage rack transport path formed by the device 16 and the specific storage rack 18 is secured. However, in this case as well, in order to increase the degree of freedom of reciprocating movement of the article or the like, the space between the article and the like carrying carriages 17 having the right-angle branching mechanism and / or the temporary placement carriage 15 having the right-angle branching mechanism. It is more preferable to bridge an auxiliary conveying means for articles or the like between them.

図11の平面図は、請求項7に包摂される本発明の一実施形態を示している。本発明は、図3に示した、XY軸方向に碁盤目状に配列してなる物品等のLn―1列とL列の格納棚、これらの格納棚が対峙する空間8に、走行レール14上をX軸方向に往復移動する物品等を自在に出し入れ可能な走行台車10と、その空間8に設けられた物品等をY軸方向に往復移動するための物品等載置搬送台12を備えた昇降機11と、走行台車10と物品等載置搬送台13との物品等の受け渡しを媒介する仮置き搬送台13とが一つの単位となって、複数配列された立体自動倉庫において、仮置き搬送台13に方向変換機構を設け、仮置き搬送台15が対峙する走行空間8に物品等の昇降式搬送装置16と、走行空間8と反対面で対峙する仮置き搬送台15の間に物品等の搬送装置19を橋設したものである。 The plan view of FIG. 11 shows an embodiment of the invention covered by claim 7. The present invention is directed to storage shelves of L n-1 rows and L n rows of articles and the like arranged in a grid pattern in the XY axis directions shown in FIG. 3 and traveling in a space 8 facing these storage shelves. A traveling carriage 10 capable of freely taking in and out an article or the like that reciprocates on the rail 14 in the X-axis direction, and an article or the like carrying platform 12 for reciprocally moving an article or the like provided in the space 8 in the Y-axis direction. In a three-dimensional automated warehouse in which a plurality of arranged elevators 11 and a temporary placement carrier 13 that mediates the transfer of goods and the like between the traveling carriage 10 and the goods carrying carrier 13 are arranged as one unit, A direction changing mechanism is provided on the temporary storage carrier 13, and a lifting / lowering type transport device 16 for articles and the like in the traveling space 8 facing the temporary storage carrier 15 and the temporary storage carrier 15 facing the opposite side to the traveling space 8. An article-conveying device 19 is installed in the bridge.

図12の平面図は、請求項8に包括される本発明の一実施形態を示している。本発明も、図3に示した、XY軸方向に碁盤目状に配列してなる物品等のLn―1列とL列の格納棚、これらの格納棚が対峙する空間8に、走行レール14上をX軸方向に往復移動する物品等を自在に出し入れ可能な走行台車10と、その空間8に設けられた物品等をY軸方向に往復移動するための物品等載置搬送台12を備えた昇降機11と、走行台車10と物品等載置搬送台13との物品等の受け渡しを媒介する仮置き搬送台13とが一つの単位となって、複数配列された立体自動倉庫において、X軸方向の特定位置にある特定格納棚18が搬送装置を備え、その特定格納棚18が対峙する走行空間8に物品等の昇降式搬送装置16を備えると共に、その走行空間8の反対面で対峙する特定格納棚18の間に物品等の搬送装置19を橋設したものである。 The plan view of FIG. 12 shows an embodiment of the invention covered by claim 8. The present invention also travels in the storage shelves of the L n-1 and L n rows of articles and the like, which are arranged in a grid pattern in the XY axis directions, and the space 8 facing these storage shelves, as shown in FIG. A traveling carriage 10 capable of freely taking in and out an article or the like that reciprocates on the rail 14 in the X-axis direction, and an article or the like carrying platform 12 for reciprocally moving an article or the like provided in the space 8 in the Y-axis direction. In a three-dimensional automated warehouse in which a plurality of arranged elevators 11 and a temporary placement carrier 13 that mediates the transfer of goods and the like between the traveling carriage 10 and the goods carrying carrier 13 are arranged as one unit, A specific storage shelf 18 at a specific position in the X-axis direction is provided with a transport device, and a traveling space 8 facing the specific storage shelf 18 is provided with a lifting / lowering transport device 16 for articles and the like, and on the opposite surface of the traveling space 8. A conveying device 19 for articles and the like is provided between the facing specific storage shelves 18. It is obtained by set.

これらは、例えば、図5及び図8に示したように、Z軸方向の物品等の往復移動は、昇降式搬送装置や直角分岐機構を備えた仮置き搬送台によって実現されるが、共に、格納棚同士が、物品等を出し入れする格納面の反対面で隣接することなく、対峙する格納棚間が走行台車10の空間8として設けられた格納設備が複数配列した立体自動倉庫の問題、すなわち、走行台車10が往復移動する空間8の反対側の空間を隔てて配置されている格納棚への物品等の移動は不可能であるという問題を、仮置き搬送台15の間の物品等の搬送装置19及び特定格納棚18の間の物品等の搬送装置19によって解決するものである。   For example, as shown in FIG. 5 and FIG. 8, the reciprocating movement of articles and the like in the Z-axis direction is realized by a temporary storage carrier equipped with a lifting carrier and a right-angle branching mechanism. The storage shelves are not adjacent to each other on the opposite surface of the storage surface for loading and unloading articles and the like, and there is a problem of a three-dimensional automated warehouse in which a plurality of storage facilities are arranged as the space 8 of the traveling carriage 10 between the facing storage shelves. The problem that articles cannot be moved to the storage shelves arranged across the space on the opposite side of the space 8 in which the traveling carriage 10 reciprocates is described. The problem is solved by the transporting device 19 for articles or the like between the transporting device 19 and the specific storage shelf 18.

一方、図13示したように、物品等載置搬送台12を備えた昇降機11を除く、Ln―1’列の格納棚、L列とL’列の格納棚から成る格納設備、Ln+1列とLn+1’列の格納棚から成る格納設備、Ln+2列の格納棚、これらの格納棚が対峙する各空間8に走行台車10及び昇降式搬送装置16を配備した立体自動倉庫ユニットIIIを、昇降機11に付設された物品等載置搬送台12を介して格納棚のX軸方向に連結することによって、Z軸方向の物品等の自在な往復移動を保持したまま、格納容量を飛躍的に増大することができる。このような格納容量の増大は、立体自動倉庫ユニットIV〜VIIIについても同様に実現できる。 On the other hand, as shown in FIG. 13, except for the elevator 11 provided with the article transfer platform 12, the storage racks of the L n -1 'rows and the storage racks of the L n and L n ' rows, Storage equipment consisting of storage shelves of L n + 1 rows and L n + 1 'rows, storage shelves of L n + 2 rows, and a three-dimensional automatic warehouse unit in which a traveling carriage 10 and a lifting transfer device 16 are installed in each space 8 facing these storage shelves. By connecting III in the X-axis direction of the storage shelf via the article transfer platform 12 attached to the elevator 11, the storage capacity can be increased while maintaining the free reciprocal movement of the article or the like in the Z-axis direction. It can increase dramatically. Such an increase in storage capacity can be similarly realized for the three-dimensional automatic warehouse units IV to VIII.

次に、本発明に係る立体自動倉庫における入出庫部、入出庫部に付与する物品等提示部及び延長搬送手段、並びに、物品等提示部の近くに設けられる集品容器提示部について具体的に説明する。   Next, the loading / unloading section in the three-dimensional automated warehouse according to the present invention, the article presenting section and the extension conveying means to be applied to the loading / unloading section, and the collection container presenting section provided near the article presenting section will be specifically described. explain.

図15は、請求項9に包摂される本発明の一実施形態を示している。図5に示す、背面で隣接する格納棚(例えば、L列とL’列や Ln+1列とLn+1’列)と、格納棚が対峙する空間8と、走行台車10と、昇降式搬送装置16と、その端に設けられた直角分岐機構付き仮置き搬送台15、空間8に設けられた昇降機11、及び、昇降機11に備えられた物品等載置搬送台12で構成される立体自動倉庫を代表例として取り上げ、この立体自動倉庫に格納設備から搬送されてきた物品等の処理を効率的に行う出庫搬送方式を付与した場合について説明するが、上記いずれの実施例においても同様に付与することができる。 FIG. 15 shows an embodiment of the invention encompassed by claim 9. As shown in FIG. 5, storage shelves adjacent to each other on the back surface (for example, L n row and L n 'row or L n + 1 row and L n + 1 ' row), a space 8 where the storage shelves face each other, a traveling carriage 10, and a lifting type A three-dimensional structure including a transfer device 16, a temporary placement transfer stand 15 with a right-angled branching mechanism provided at the end thereof, an elevator 11 provided in the space 8, and an article and the like transfer stand 12 provided in the elevator 11. An automatic warehouse will be taken as a representative example, and a case will be described in which a three-dimensional automatic warehouse is provided with a delivery / conveyance system that efficiently processes articles and the like conveyed from a storage facility, but the same applies to any of the above embodiments. Can be granted.

図15の立体自動倉庫では、入出庫部SRが、搬出入装置9、並びに、搬出入装置から入出庫される物品等や格納設備から搬送されてきた物品等の処理を効率的に行うための、従来の仮置き搬送台15、昇降機11、及び、昇降機11に備えられた物品等載置搬送台12から構成されている。特に、搬出入装置9は、物品等の自在な搬送が可能となるように、必要に応じ、一時貯留機構(アキュムレーションコンベア)、速度制御機構、正逆搬送機構、分岐搬送機構、合流搬送機構、及び、停止機構を有するコンベアで構成されている。そして、この搬出入装置9の近くに接するように、すなわち、作業者23が実質的に移動することなく、搬出入装置9に供給されてきた物品等を処理することができると共に、この物品等を集品容器24に処理できる位置に、コンベアで構成される集品容器提示部25が設置される。更に、この集品容器提示部25には、集品容器24の搬入に適した位置に集品容器供給部26が連接され、処理された集品容器24の搬出に適した位置に集品容器搬出部27が連接されている。そして、集品容器供給部26は、コンベアと分岐機構等を備えており、集品容器搬出部27は、コンベアと合流機構等を備えている。ただし、このような集品容器供給部26および集品容器搬出部27の装置や方式に限定されるものではない。このように、本発明の一実施形態の出庫搬送方式は、立体自動倉庫の入出庫部とその近くに備えられる集品容器提示部とから構成され、格納設備から搬送されてきた物品等の処理を効率的に行うことができるようになる。   In the three-dimensional automated warehouse of FIG. 15, the loading and unloading section SR is provided for efficiently performing the processing of the loading / unloading device 9 and the items loaded / unloaded from the loading / unloading device and the items transported from the storage facility. The conventional temporary transfer carrier 15, the elevator 11, and the article and the like carrier 12 included in the elevator 11. In particular, the carry-in / carry-out device 9 is provided with a temporary storage mechanism (accumulation conveyor), a speed control mechanism, a forward / reverse transport mechanism, a branch transport mechanism, a merging transport mechanism, and the like, so that it is possible to freely transport articles and the like. And a conveyor having a stop mechanism. Then, the article or the like supplied to the carry-in / out apparatus 9 can be processed so as to come into contact with the vicinity of the carry-in / out apparatus 9, that is, without the worker 23 substantially moving, and the article or the like can be processed. The collection container presenting unit 25 including a conveyor is installed at a position where the collection container 24 can be processed. Further, a collection container supply unit 26 is connected to the collection container presenting unit 25 at a position suitable for carrying in the collection container 24, and the collection container supplying unit 26 is arranged at a position suitable for carrying out the processed collection container 24. The carry-out section 27 is connected. The collection container supply unit 26 includes a conveyor and a branching mechanism, and the collection container unloading unit 27 includes a conveyor and a joining mechanism. However, the devices and methods of the collection container supply unit 26 and the collection container unloading unit 27 are not limited thereto. As described above, the warehousing / conveying system according to the embodiment of the present invention is composed of the loading / unloading section of the three-dimensional automated warehouse and the collection container presenting section provided in the vicinity of the warehousing / discharging section, and processes the articles transported from the storage facility. Can be done efficiently.

また、搬出入装置9の破線で示した領域21’は、作業者23が集品作業を行うための物品等が提示される、いわゆる、後述する物品等提示部21の機能を果たしている。   In addition, the area 21 ′ indicated by the broken line of the carry-in / carry-out device 9 fulfills the function of a so-called article presenting section 21, which will be described later, in which the article or the like for the worker 23 to perform the collecting operation is presented.

次いで、図15に示す昇降式搬送装置16や直角分岐機構付き搬送台15を有する立体自動倉庫に本発明の出庫搬送方式が付与された立体自動倉庫の動作を説明する。ここで、このような立体自動倉庫は、走行台車10を用いて、配設空間8を介して対面する同一階の格納棚間、例えば、Ln−1’とLとの間、L’とLn+1との間、Ln+1’とLn+2との間は、物品等を自在に移動できる。更に、直角分岐機構付き仮置き搬送台15と昇降式搬送装置16とによって、保管されている物品等は、背面で隣接する格納棚間、例えば、LとL’との間、Ln+1とLn+1’との間、だけでなく、同一階の全ての格納棚間を自在に移動できる。更に、昇降機11及び昇降機11に備えられた物品等載置搬送台12を使用することによって、異なる階の格納棚を含めた格納棚全領域にある物品等を自在に移動することができる。 Next, the operation of the three-dimensional automatic warehouse in which the exit / conveyance system of the present invention is applied to the three-dimensional automatic warehouse having the lifting / lowering type conveying device 16 and the conveying base 15 with the right-angle branching mechanism shown in FIG. 15 will be described. Here, in such a three-dimensional automated warehouse, using the traveling carriage 10, between storage shelves on the same floor that face each other via the installation space 8, for example, between L n-1 ′ and L n , L n. 'between the L n + 1, L n + 1' between the L n + 2 can be moved freely articles and the like. Furthermore, the articles and the like stored by the temporary storage carrier 15 with the right-angled branching mechanism and the lift-type carrier 16 are stored between the adjacent storage shelves on the back side, for example, between L n and L n ′, L n + 1. And L n + 1 ', as well as between all storage shelves on the same floor. Further, by using the elevator 11 and the article and the like loading / carrying platform 12 provided in the elevator 11, articles and the like in the entire storage shelf area including storage shelves on different floors can be freely moved.

まず、物品等の搬出入は、従来と変わらず、搬出入装置9によって行われ、昇降機11及び昇降機11に備えられた物品等載置搬送台12、走行台車10、仮置き搬送台15によって入庫される。そこで、例えば、ある仕向け先への特定の物品を集品する場合、格納棚全領域にあるその特定の物品を、走行台車10、直角分岐機構付き仮置き搬送台15、昇降式搬送装置16、昇降機11及び昇降機11に備えられた物品等載置搬送台12を用いて、例えば、格納棚Pに集約させておく。ここに集約された特定の物品は、走行台車10によって取出され、直角分岐機構付き仮置き搬送台15、物品等載置搬送台12を経由して、搬出入装置9の領域21’に移動される。その近く設置された集品容器提示部25において、集品容器供給部26から供給される集品容器24に特定の物品を指示された範囲の数量で集品容器24に収容した後、集品容器搬出部27に送り出される。そして、集品容器提示部25に、集品容器供給部26より次の空の集品容器24が供給される。一方、特定の物品の一部だけが搬出される場合には、再度格納棚Pに整理して保管されるように、搬出入装置9の領域21’から、物品等載置搬送台12、直角分岐機構付き仮置き搬送台15、走行台車10を経由して戻される。また、特定の物品の取り扱い頻度等の関係で、同一階の格納棚PやPに移動することもできるし、同一階にはない格納棚に移動することもできる。この場合、物品等は、昇降機11及び昇降機11に備えられた物品等載置搬送台12によって異なる階に移動させられる。 First, loading and unloading of articles and the like is performed by the loading and unloading device 9 as in the conventional case, and is loaded and unloaded by the elevator 11 and the article and the like carrying carrier 12, the traveling carriage 10, and the temporary carrying carrier 15 provided in the elevator 11. To be done. Therefore, for example, in the case of collecting a specific article for a certain destination, the specific article in the entire storage shelf area is moved by the traveling carriage 10, the temporary storage carrier with a right-angle branching mechanism 15, the elevating carrier device 16, By using the elevator 11 and the article etc. carrying platform 12 provided in the elevator 11, for example, they are put together in the storage shelf P 5 . The specific articles collected here are taken out by the traveling carriage 10 and moved to the area 21 ′ of the carry-in / out apparatus 9 via the temporary placing carriage 15 with a right-angle branching mechanism and the article carrying carriage 12. It In the collection container presenting unit 25 installed in the vicinity of the collection container, the collection containers 24 supplied from the collection container supplying unit 26 store the specific articles in the collection container 24 in the designated quantity, and then collect the goods. It is sent to the container unloading unit 27. Then, the next empty collection container 24 is supplied from the collection container supply unit 26 to the collection container presenting unit 25. On the other hand, when only a part of a specific article is unloaded, the article loading / unloading platform 12, from the area 21 ′ of the loading / unloading device 9 is arranged so that it is sorted and stored again in the storage shelf P 5 . It is returned via the temporary storage carrier 15 with the right-angled branch mechanism and the traveling carriage 10. Also, in relation to the handling such as the frequency of the particular article, can either be moved to the storage shelf P 4 and P 6 of the same floor, can be moved to the storage shelves is not the same floor. In this case, the articles and the like are moved to different floors by the elevator 11 and the article and the like placement / carrying platform 12 provided in the elevator 11.

このような特定の物品の移動は、集積されたデータに基づいて、各種コンベヤ、搬送機構、表示器、集品容器などを連動、統括する一般的な立体自動倉庫の(図示しない)制御部によって実行される。   Based on the accumulated data, the movement of such a specific item is performed by a general control unit (not shown) of a general automated warehouse that interlocks and controls various conveyors, transport mechanisms, indicators, and collection containers. Executed.

なお、ここで、入出庫部SRにおける物品の搬送順は、立体自動倉庫の制御部によって、同一仕向け先のものとなるように整列されてもよいが、もちろん、同一仕向け先かどうかに限らず配送順が指定されている場合には、そのような順番に物品を並べ直して搬送することが自在にできる。   Here, the transportation order of the articles in the loading / unloading section SR may be arranged by the control section of the three-dimensional automated warehouse so as to be for the same destination, but of course it is not limited to the same destination. When the delivery order is designated, the articles can be rearranged and conveyed in such an order.

また、搬出入装置9、集品容器提示部25、集品容器供給部26、集品容器搬出部27は、コンベア等が好ましいが、例えば、モノレール、リフトなど、コンベア以外の搬送手段であってもよい。   Further, the carry-in / out device 9, the collection container presenting unit 25, the collection container supplying unit 26, and the collection container unloading unit 27 are preferably conveyors or the like, but, for example, they are conveyance means other than conveyors such as monorails and lifts. Good.

更に、集品容器24としては、段ボール箱やオリコンなどの容器が好ましいが、それに限定せず、袋やハンガーなどの箱状でない容器や、容器のないコンベアのゾーンなどであってもよい。   Furthermore, as the collection container 24, a container such as a cardboard box or an oricon is preferable, but the collection container 24 is not limited thereto, and may be a non-box-shaped container such as a bag or a hanger, or a conveyor zone without a container.

このようにして、作業者23は、その位置を実質的に移動する必要がなく、目の前に搬送されてくる物品を集品容器24へと移載すればよく、上記出庫搬送方式による効率的な集品ができる。   In this way, the worker 23 does not have to move its position substantially, and only has to transfer the articles conveyed in front of the eyes to the collection container 24. You can collect special items.

図16は、請求項10に包摂される本発明の一実施形態を示している。図15と同様に、図5に示す、昇降式搬送装置16と直角分岐機構付き仮置き搬送台15とを有することを特徴とする本発明の立体自動倉庫を代表例として取り上げ、これに、格納設備から搬送されてきた物品等の処理を更に効率的に行う出庫搬送方式を付与した場合について説明するが、上記いずれの実施例においても同様に付与することができる。   FIG. 16 shows an embodiment of the invention encompassed by claim 10. Similar to FIG. 15, the three-dimensional automatic warehouse of the present invention, which is shown in FIG. 5 and has a lifting / lowering type transfer device 16 and a temporary placement transfer stand 15 with a right-angle branching mechanism, is taken as a representative example, and is stored therein. A case will be described in which the warehousing / conveying method for more efficiently processing the articles conveyed from the facility is added, but the same can be applied to any of the above-described embodiments.

図16の立体自動倉庫では、入出庫部SRに、格納設備から搬送されてきた物品等の処理を効率的に行うために、物品等載置搬送台12と連接するように、コンベアで構成される物品等を供給する物品等提示部21を設けている。この物品等提示部21のコンベアは、代表例として正逆搬送機構、直角分岐機構、及び、停止機構を備えている。更に、必要に応じ、一時貯留機構(アキュムレーションコンベア)、速度制御機構を付与することができる。そして、この物品等提示部21の近くに接するように、すなわち、作業者23が実質的に移動することなく、物品等提示部21に供給されてきた物品等を処理することができると共に、この物品等を集品容器24に処理できる位置に、コンベアで構成される集品容器提示部25が設置される。集品容器供給部26及び集品容器搬出部27については、図15と同様に設置される。なお、図16の立体自動倉庫の物品等の搬出入装置9は、図示されていないが、図1及び図2に示したような従来の一般的な方式で設置されることができる。   In the three-dimensional automated warehouse of FIG. 16, in order to efficiently process the articles transferred from the storage facility, the loading / unloading section SR is configured with a conveyor so as to be connected to the article transfer platform 12. An article presenting section 21 for supplying articles etc. is provided. As a typical example, the conveyor of the article presenting unit 21 includes a forward / reverse transport mechanism, a right-angle branch mechanism, and a stop mechanism. Furthermore, if necessary, a temporary storage mechanism (accumulation conveyor) and a speed control mechanism can be added. Then, the article or the like supplied to the article or the like presenting section 21 can be processed so as to come into contact with the article or the like presenting section 21, that is, without the worker 23 substantially moving. A collection container presenting unit 25 including a conveyor is installed at a position where the collection container 24 can process articles and the like. The collection container supply unit 26 and the collection container unloading unit 27 are installed in the same manner as in FIG. Although not shown, the device 9 for loading and unloading articles and the like of the three-dimensional automated warehouse of FIG. 16 can be installed by a conventional general method as shown in FIGS. 1 and 2.

この物品提示部21は、図15における搬出入装置9の破線の領域21’と同様の機能を果たすものである。しかし、図16に示す物品提示部21を設けることによって、立体自動倉庫の物品の入出庫、出庫作業における物品の処理、例えば、物品の品種別、送付先方面別、顧客別などの分類、更には、保管庫内の物品の再配置、整理・整頓、処分等の仕分け作業の自由度を高めることができる。   The article presenting section 21 has the same function as the broken-line area 21 'of the loading / unloading device 9 in FIG. However, by providing the article presenting unit 21 shown in FIG. 16, processing of goods in and out of a three-dimensional automated warehouse, processing of goods in the warehousing work, for example, classification by product type, destination area, customer, etc. Can increase the degree of freedom of sorting work such as rearranging, organizing, organizing, and disposing of the goods in the storage.

また、図17は、請求項11に包摂される本発明の一実施形態を、図16と同様に示している。物品等提示部21、集品容器提示部25、集品容器供給部26、集品容器搬出部27の配設する場所及び作業者23が出庫搬送を実施する場所の自由度を高めるために、立体自動倉庫の入出庫部SRに、更に、延長搬送手段、例えば、延長コンベア22を設けたことを特徴とするものである。   In addition, FIG. 17 shows an embodiment of the present invention included in claim 11 similarly to FIG. 16. In order to increase the degree of freedom of the place where the article presenting unit 21, the collection container presenting unit 25, the collection container supplying unit 26, the collection container unloading unit 27 and the place where the worker 23 carries out the delivery, It is characterized in that an extension transport means, for example, an extension conveyor 22 is further provided in the loading / unloading section SR of the three-dimensional automatic warehouse.

この延長コンベア22によって、本発明に係る出庫搬送方式が、立体自動倉庫敷地内において、格納棚と出庫搬送方式とが、同一の建屋であっては、建屋内で自由な配置が可能であるが、同一建屋内にある必要もない。図18は、格納棚から遠く離れたところに設置された物品等提示部21、集品容器提示部25、集品容器供給部26、集品容器搬出部27が配置されている一実施形態を示している。   With this extension conveyor 22, the storage / transportation method according to the present invention can be freely arranged within the building in the same building where the storage shelves and the storage / transportation method are the same on the premises of a three-dimensional automated warehouse. , It doesn't have to be in the same building. FIG. 18 shows an embodiment in which an article presenting unit 21, a collection container presenting unit 25, a collection container supplying unit 26, and a collection container unloading unit 27 which are installed far away from the storage shelf are arranged. Shows.

延長コンベア22によって、物品等提示部21、集品容器提示部25、集品容器供給部26、集品容器搬出部27を自在に配置でき、物品提示部21とそれが隣接した集品容器提示部25との間で、作業者19が移動することなく、効率的に物品を処理することができる。   The extension conveyor 22 allows the article presenting unit 21, the collection container presenting unit 25, the collection container supplying unit 26, and the collection container unloading unit 27 to be freely arranged, and the article presenting unit 21 and the collection container presenting adjacent thereto. The article can be efficiently processed without moving the worker 19 with the section 25.

また、このような物品提示部21、延長コンベア22、及び、集品容器提示部25とから構成される出庫搬送方式は、格納棚と同一階にある必要はなく、この出庫搬送方式が格納棚の階下にある一実施形態として、図17における物品等提示部21、延長コンベア22、集品容器提示部25、集品容器供給部26、及び、集品容器搬出部27が格納棚L’の階下にある場合の切断線IX付近における断面の概念図を図19に示す。格納棚の階下にある延長コンベア22への物品等の移動には、昇降機11を用いることが好ましいが、これに限定されるものではなく、クレーン等も適用できる。これは、出庫搬送方式を格納棚の階下に配設した例であるが、任意の階の格納棚や格納棚の階上に配設することも可能である。 In addition, the shipping and delivering system configured by the article presenting unit 21, the extension conveyor 22, and the collection container presenting unit 25 does not need to be on the same floor as the storage shelf. 17, the article presenting unit 21, the extension conveyor 22, the collection container presenting unit 25, the collection container supplying unit 26, and the collection container unloading unit 27 in FIG. 17 are storage shelves L n ′. 19 is a conceptual diagram of a cross section near the cutting line IX when it is located on the lower floor. It is preferable to use the elevator 11 to move the articles and the like to the extension conveyor 22 below the storage shelves, but the present invention is not limited to this, and a crane or the like can be applied. This is an example in which the delivery / conveyance system is arranged below the storage shelves, but it is also possible to dispose it on the storage shelves on any floor or above the storage shelves.

更に、立体自動倉庫の省スペース化を図るために、格納棚の直下に上記出庫搬送方式を配設した、本発明の一実施形態の上記切断線IXと同様のラインにおける断面の概念図を図20に示す。このように、物品等提示部21、延長コンベア22、集品容器提示部25、集品容器供給部26、集品容器搬出部27を格納棚L’の直下に配設することによって、立体自動倉庫のスペースが大幅に削減可能となる。 Furthermore, in order to save space in a three-dimensional automated warehouse, a conceptual diagram of a cross section taken along a line similar to the cutting line IX of one embodiment of the present invention, in which the above-described delivery / conveyance system is arranged immediately below a storage shelf, is shown. Shown in 20. As described above, by disposing the article presenting unit 21, the extension conveyor 22, the collection container presenting unit 25, the collection container supplying unit 26, and the collection container unloading unit 27 just below the storage shelf L n ′, The space of the automated warehouse can be significantly reduced.

本発明は、倉庫全領域に保管されているものが自在かつ効率的に移載され、それが作業者やロボット等によって処理、すなわち、仕分け作業ができる立体自動倉庫であるため、単なる物品及び物品収納容器等に限定されるものではなく、車、書籍、あるいは、工場等における原材料、部品、仕掛品、完成品等のあらゆる保管管理システムに適用することができる立体自動倉庫である。   INDUSTRIAL APPLICABILITY The present invention is a three-dimensional automatic warehouse in which items stored in the entire warehouse area are freely and efficiently transferred and can be processed by workers, robots, etc., that is, sorting work. It is not limited to storage containers and the like, but is a three-dimensional automated warehouse that can be applied to any storage management system for cars, books, or raw materials, parts, work-in-process, finished products, etc. in factories.

I スタッカクレーン型の立体自動倉庫
II 格納棚の水平長手方向に移動する走行台車を備えた立体自動倉庫
III 立体自動倉庫ユニット(1)
IV 立体自動倉庫ユニット(2)
V 立体自動倉庫ユニット(3)
VI 立体自動倉庫ユニット(4)
VII 立体自動倉庫ユニット(5)
VIII 立体自動倉庫ユニット(6)
IX 切断線
n−1、L、Ln+1,Ln+2,Ln+3,Ln+4 格納棚の列
n−1’、L’、Ln+1’ Ln−1、L、Ln+1に背面で隣接する格納棚の列
n−1、Pn−1’、P、P’、Pn+1、Pn+1’、Pn+2、Pn+3、Pn+4 物品等の位置
P、P、P、P、P、P、P 物品等
SR 入出庫部
1 スタッカクレーン
2 クレーンマスト
3 走行台車
4 下部レール
5 上部レール
6 スタッカクレーン物品等載置台
7 伸縮アーム部
8 移動手段の配設空間
9 搬出入装置
10 走行台車
11 昇降機
12 物品等載置台
13 仮置き搬送台
14 走行レール
15 直角分岐機構付き仮置き搬送台
16 昇降式搬送装置
17 直角分岐機構付き物品等載置搬送台
18 搬送装置付き格納棚(特定格納棚)
19 物品等搬送台
20 走行台車のタイヤ
21 物品等提示部
21’ 物品等提示部と同じ機能を果たす領域
22 延長コンベア
23 作業者
24 集品容器
25 集品容器提示部
26 集品容器供給部
27 集品容器搬出部
28 支柱
I Stacker crane type 3D automated warehouse II 3D automated warehouse with traveling carriage that moves in the horizontal longitudinal direction of storage shelves III 3D automated warehouse unit (1)
IV 3D automatic warehouse unit (2)
V 3D automated warehouse unit (3)
VI 3D automatic warehouse unit (4)
VII 3D automatic warehouse unit (5)
VIII 3D automated warehouse unit (6)
IX cut line L n-1, L n, L n + 1, L n + 2, L n + 3, L n + 4 rows of storage shelves L n-1 ', L n ', L n + 1 'L n-1, L n, the L n + 1 Rows of storage shelves that are adjacent on the back side P n-1 , P n-1 ′, P n , P n ′, P n + 1 , P n + 1 ′, P n + 2 , P n + 3 , P n + 4 Positions P, P 1 , etc. of articles of P 2, P 3, P 4 , P 5, P 6 goods and SR inlet-outlet unit 1 stacker crane 2 crane mast 3 traveling carriage 4 lower rail 5 upper rail 6 stacker crane articles such as table 7 telescopic arm part 8 moving means Arrangement space 9 Carry-in / out device 10 Traveling carriage 11 Elevator 12 Article loading platform 13 Temporary transport platform 14 Traveling rail 15 Temporary transport platform with right-angle branch mechanism 16 Lifting transport device 17 Article transport platform with right-angle branch mechanism 18 Storage with transport device (Specific store shelf)
19 article transport platform 20 traveling vehicle tire 21 article presentation unit 21 'area that performs the same function as the article presentation unit 22 extension conveyor 23 worker 24 collection container 25 collection container presentation unit 26 collection container supply unit 27 Collection container carry-out section 28 Support

Claims (11)

水平長手及び垂直方向に碁盤目状に配列してなる物品又は物品収納容器の格納棚と前記格納棚の前記物品又は物品収納容器を出し入れする格納面の反対面で隣接した格納棚とを備えた格納設備と、
前記格納設備の水平長手方向に走行し、前記物品又は物品収納容器を自在に出し入れ可能な移動手段と、
前記移動手段が、前記格納面において自在に移動できる走行空間と、
前記走行空間に設けられる前記物品又は物品収納容器を垂直方向に往復移動するための物品又は物品収納容器載置搬送手段を備えた昇降手段と、
前記移動手段と前記物品又は物品収納容器載置搬送手段との前記物品又は物品収納容器の受け渡しを媒介する仮置き搬送手段とを備えた立体自動倉庫において、
前記仮置き搬送手段が方向変換機構を有し、前記仮置き搬送手段が対峙する前記走行空間に前記物品又は物品収納容器の昇降式搬送手段を設けたことを特徴とする立体自動倉庫。
A storage shelf for articles or article storage containers arranged in a grid pattern in the horizontal longitudinal direction and the vertical direction, and a storage shelf adjacent to a storage surface of the storage shelf on the opposite side of the storage surface for loading and unloading the articles or article storage container. Storage equipment,
A moving means that travels in the horizontal longitudinal direction of the storage facility and is capable of freely taking in and out the article or article storage container,
A traveling space in which the moving means can move freely on the storage surface;
An elevating means provided with an article or article storage container mounting / transporting means for vertically reciprocating the article or article storage container provided in the traveling space,
In a three-dimensional automatic warehouse provided with the moving means and the temporary placement transfer means that mediates the delivery of the article or the article storage container between the article or the article storage container placement transfer means,
A three-dimensional automatic warehouse, wherein the temporary-place transfer means has a direction changing mechanism, and an elevating-type transfer means for the article or the article storage container is provided in the traveling space facing the temporary-place transfer means.
請求項1に記載の立体自動倉庫において、前記物品又は物品収納容器載置搬送手段が、方向変換機構を有することを特徴とする立体自動倉庫。   The three-dimensional automatic warehouse according to claim 1, wherein the article or article storage container mounting and conveying means has a direction changing mechanism. 請求項1に記載の立体自動倉庫において、更に、前記仮置き搬送手段の間に、前記物品又は物品収納容器の搬送手段が備えられていることを特徴とする立体自動倉庫。   The three-dimensional automated warehouse according to claim 1, further comprising a transportation means for the article or the article storage container between the temporary storage transportation means. 水平長手及び垂直方向に碁盤目状に配列してなる物品又は物品収納容器の格納棚と前記格納棚の前記物品又は物品収納容器を出し入れする格納面の反対面で隣接した格納棚とを備えた格納設備と、
前記格納設備の水平長手方向に走行し、前記物品又は物品収納容器を自在に出し入れ可能な移動手段と、
前記移動手段が、前記格納面において自在に移動できる走行空間と、
前記走行空間に設けられた前記物品又は物品収納容器を垂直方向に往復移動するための物品又は物品収納容器載置搬送手段を備えた昇降手段と、
前記移動手段と前記物品又は物品収納容器載置搬送手段との前記物品又は物品収納容器の受け渡しを媒介する仮置き搬送手段とを備えた立体自動倉庫において、
水平長手方向の特定位置において、前記物品又は物品収納容器を出し入れする格納面の反対面で隣接する略同一平面にある二つの格納棚で構成される特定格納棚が搬送装置を備え、前記特定格納棚が対峙する走行空間に前記物品又は物品収納容器の昇降式搬送手段を備えたことを特徴とする立体自動倉庫。
A storage shelf for articles or article storage containers arranged in a grid pattern in the horizontal longitudinal direction and the vertical direction, and a storage shelf adjacent to a storage surface of the storage shelf on the opposite side of the storage surface for loading and unloading the articles or article storage container. Storage equipment,
A moving means that travels in the horizontal longitudinal direction of the storage facility and is capable of freely taking in and out the article or article storage container,
A traveling space in which the moving means can move freely on the storage surface;
Elevating means provided with an article or article storage container mounting and transport means for vertically reciprocating the article or article storage container provided in the traveling space,
In a three-dimensional automatic warehouse provided with the moving means and the temporary placement transfer means that mediates the delivery of the article or the article storage container between the article or the article storage container placement transfer means,
At a specific position in the horizontal longitudinal direction, a specific storage shelf composed of two storage shelves that are adjacent to each other on the surface opposite to the storage surface for loading and unloading the article or the article storage container is provided with a transfer device, and the specific storage is provided. A three-dimensional automatic warehouse, characterized in that the traveling space where the shelves face each other is provided with an elevating type conveying means for the articles or article storage containers.
請求項4に記載の立体自動倉庫において、前記物品又は物品収納容器載置搬送手段及び/又は前記仮置き搬送手段が、方向変換機構を備えていることを特徴とする。   In the three-dimensional automatic warehouse according to claim 4, the article or article storage container placement and transfer means and / or the temporary placement transfer means includes a direction changing mechanism. 請求項5に記載の立体自動倉庫において、更に、前記物品又は物品収納容器載置搬送手段及び/又は前記仮置き搬送手段の間に、前記物品又は物品収納容器の搬送手段が備えられていることを特徴とする立体自動倉庫。   The three-dimensional automatic warehouse according to claim 5, further comprising a transport means for the article or article storage container between the article or article storage container placement transport means and / or the temporary storage transport means. A three-dimensional automatic warehouse characterized by. 水平長手及び垂直方向に碁盤目状に配列してなる物品又は物品収納容器の格納棚と、
前記格納棚の水平長手方向に走行し、前記物品又は物品収納容器を自在に出し入れ可能な移動手段と、
前記移動手段が、前記格納面において自在に移動できる走行空間と、
前記走行空間に設けられた前記物品又は物品収納容器を垂直方向に往復移動するための物品又は物品収納容器載置搬送手段を備えた昇降手段と、
前記移動手段と前記物品又は物品収納容器載置搬送手段との前記物品又は物品収納容器の受け渡しを媒介する仮置き搬送手段とを備えた立体自動倉庫において、
前記仮置き搬送手段が方向変換機構を有し、前記仮置き搬送手段が対峙する前記走行空間に前記物品又は物品収納容器の昇降式搬送手段と、前記走行空間と反対面で対峙する前記仮置き搬送手段の間に前記物品又は物品収納容器の搬送手段とを設けたことを特徴とする立体自動倉庫。
A storage shelf for articles or article storage containers arranged in a grid pattern in the horizontal and vertical directions, and
A moving means that travels in the horizontal longitudinal direction of the storage shelf and that can freely take in and out the article or article storage container;
A traveling space in which the moving means can move freely on the storage surface;
Elevating means provided with an article or article storage container mounting and transport means for vertically reciprocating the article or article storage container provided in the traveling space,
In a three-dimensional automatic warehouse comprising the moving means and the article or article storage container placement / transportation means and a temporary placement transport means that mediates the delivery of the article or article storage container,
The temporary placement transfer means has a direction changing mechanism, and the lifting / lowering type transfer means for the article or the article storage container in the traveling space facing the temporary placement transfer means, and the temporary placement facing the opposite side to the running space. A three-dimensional automatic warehouse, characterized in that the transport means for transporting the article or article storage container is provided between the transport means.
水平長手及び垂直方向に碁盤目状に配列してなる物品又は物品収納容器の格納棚と、
前記格納棚の水平長手方向に走行し、前記物品又は物品収納容器を自在に出し入れ可能な移動手段と、
前記移動手段が、前記格納面において自在に移動できる走行空間と、
前記走行空間に設けられた前記物品又は物品収納容器を垂直方向に往復移動するための物品又は物品収納容器載置搬送手段を備えた昇降手段と、
前記移動手段と前記物品又は物品収納容器載置搬送手段との前記物品又は物品収納容器の受け渡しを媒介する仮置き搬送手段とを備えた立体自動倉庫において、
水平長手方向の特定位置にある特定格納棚が搬送装置を備え、前記特定格納棚が対峙する走行空間に前記物品又は物品収納容器の昇降式搬送手段と、前記走行空間と反対面で対峙する前記特定格納棚の間に前記物品又は物品収納容器の搬送手段とを備えたことを特徴とする立体自動倉庫。
A storage shelf for articles or article storage containers arranged in a grid pattern in the horizontal and vertical directions, and
A moving means that travels in the horizontal longitudinal direction of the storage shelf and that can freely take in and out the article or article storage container;
A traveling space in which the moving means can move freely on the storage surface;
Elevating means provided with an article or article storage container mounting and transport means for vertically reciprocating the article or article storage container provided in the traveling space,
In a three-dimensional automatic warehouse provided with the moving means and the temporary placement transfer means that mediates the delivery of the article or the article storage container between the article or the article storage container placement transfer means,
The specific storage shelf at a specific position in the horizontal longitudinal direction is provided with a transfer device, and the elevating type transfer means of the article or the article storage container in a traveling space facing the specific storage shelf, and the surface facing the traveling space. A three-dimensional automated warehouse, comprising: a transport means for transporting the article or article storage container between specific storage shelves.
請求項1乃至請求項8のうちいずれか1項に記載の立体自動倉庫であって、前記立体自動倉庫の入出庫部の入庫部及び/又は出庫部の近くに集品容器提示部が設けられていることを特徴とする立体自動倉庫。   The three-dimensional automated warehouse according to any one of claims 1 to 8, wherein a collection container presenting section is provided near the receiving section and / or near the shipping section of the loading / unloading section of the three-dimensional automated warehouse. A three-dimensional automated warehouse that is characterized by 請求項1乃至請求項8のうちいずれか1項に記載の立体自動倉庫であって、前記立体自動倉庫の入出庫部の入庫部及び/又は出庫部に物品又は物品収納容器提示部を設け、前記物品又は物品収納容器提示部の近くに集品容器提示部が設けられていることを特徴とする立体自動倉庫。   The three-dimensional automatic warehouse according to any one of claims 1 to 8, wherein an article or an article storage container presenting section is provided in a storage section and / or a storage section of a storage section of the three-dimensional automatic warehouse, A three-dimensional automatic warehouse, characterized in that a collection container presentation unit is provided near the product or article storage container presentation unit. 前記物品又は物品収納容器提示部に延長搬送手段が接続されていることを特徴とする請求項10に記載の立体自動倉庫。   11. The three-dimensional automatic warehouse according to claim 10, wherein extension conveying means is connected to the article or article storage container presenting section.
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