JP6740634B2 - Automatic warehouse - Google Patents

Description

The present invention relates to an automated warehouse, and more particularly, to an automated warehouse in which a loading/unloading truck can transfer loads to/from a plurality of rack shelves.

The automated warehouse has a rack having a plurality of shelves capable of storing luggage, and a stacker crane for delivering luggage between the shelves. A conventional automatic warehouse is known that can store two packages in the depth direction of the shelf (see Patent Document 1).
In the above automatic warehouse, the shelf has a front storage section and a back storage section in the depth direction. The front storage section is arranged so as to face the traveling path of the stacker crane.

Republished Patent 2012-132569

In a conventional automated warehouse, increasing the number of packages to be stored in the depth direction of the shelves to four is under consideration.
However, in such a case, there is a concern that it takes too much time to take out one package placed at the back of the shelf, and there has been no proposal to solve the problem. ..

It is an object of the present invention to reduce the delivery time of luggage on the back side when the number of luggage stored in the depth direction of the shelves increases in the automated warehouse.

A plurality of modes will be described below as means for solving the problems. These aspects can be arbitrarily combined as needed.

An automated warehouse according to one aspect of the present invention includes a rack and a loading/unloading carriage.
The rack has a plurality of shelves capable of mounting four parcels in the depth direction.
The loading and unloading cart has a loading platform on which two small packages can be placed and an extendable arm having a stroke of four small packages, and transfers and transports the small packages to and from the shelves.
In this automatic warehouse, the telescopic arm of the loading/unloading truck can take out four small packages on the shelf. For example, first, the telescopic arm of the loading/unloading truck transfers the two small packages on the front side of the shelf to the loading platform, and the loading/unloading truck transports the two small packages to another shelf or shipping section. .. Further, for example, the telescopic arm of the loading/unloading truck transfers the two small packages on the back side of the shelf to the loading platform, and the loading/unloading truck transports the two small packages to another shelf or shipping section.
As described above, by storing four small parcels in the depth direction of the shelf and transporting two small parcels at a time, a large number of small parcels can be stored at high density and the delivery time can be shortened.

Two large parcels may be placed side by side in the depth direction on the shelf. The loading and unloading cart may have a detector for distinguishing and grasping small parcels and large parcels. The loading platform may be capable of loading one large package.
In this automatic warehouse, the loading and unloading truck can use the detector to distinguish whether the luggage placed on the shelf is small or large. Therefore, for example, when trying to transfer a small package from a shelf to a loading table, if a large package is erroneously placed on the loading table, the fact is grasped, and as a result, an abnormal state is processed, for example. Can be canceled.

The automated warehouse may further include a controller that controls the operation of the loading/unloading truck. In that case, when the first parcel, the second parcel, the third parcel, and the fourth parcel are placed in order from the front side in the depth direction of the shelf, the controller issues the fourth parcel. When attempting to do so, by controlling the loading/unloading carriage, the first parcel and the second parcel are transferred to the loading platform and further mounted on an empty shelf, and then the third parcel and the third parcel are transferred. The four parcels are transferred to the loading table, further transferred to the rack on the opposite side, and finally the fourth parcel is transferred to the loading table and transported to the delivery position.
In this automatic warehouse, the number of movements of the loading and unloading carriage for transporting the fourth parcel to the shipping position is reduced, and as a result, the transport time is shortened. Specifically, by moving two packages at once and then transporting one package, the traveling movement can be reduced, and thereby the delivery time can be shortened.

The automated warehouse may further include a controller that controls the operation of the loading/unloading truck. In that case, when the first parcel, the second parcel, the third parcel, and the fourth parcel are placed in order from the front side in the depth direction of the shelf, the controller issues the fourth parcel. When attempting to do so, by controlling the loading/unloading carriage, the first parcel and the second parcel are transferred to the loading platform and further mounted on an empty shelf, and then the third parcel and the third parcel are transferred. 4 parcels are transported to the exit position, and finally the 3rd parcel is transported to the shelf.
In this automatic warehouse, the number of movements of the loading and unloading carriage for transporting the fourth parcel to the shipping position is reduced, and as a result, the transport time is shortened.
Specifically, by moving two packages at once and then transporting one package, the traveling movement can be reduced, and thereby the delivery time can be shortened.

In the automated warehouse according to the present invention, when the number of packages stored in the depth direction of the shelf increases, the delivery time of the packages on the back side can be shortened.

The top view of the automatic warehouse as one embodiment of the present invention. Side view of automated warehouse. Top view of stacker crane and shelves in automated warehouse. The block diagram which shows the control structure of an automatic warehouse. FIG. 6 is a plan view of the automatic warehouse for explaining the leaving operation. The schematic diagram for demonstrating operation|movement of a slide fork. The schematic diagram for demonstrating operation|movement of a slide fork. The schematic diagram for demonstrating operation|movement of a slide fork. FIG. 3 is a plan view showing a stacked state of a stacker crane. FIG. 6 is a plan view of the automatic warehouse for explaining the leaving operation. FIG. 6 is a plan view of the automatic warehouse for explaining the leaving operation. The schematic diagram for demonstrating operation|movement of a slide fork. The schematic diagram for demonstrating operation|movement of a slide fork. The schematic diagram for demonstrating operation|movement of a slide fork. FIG. 6 is a plan view of the automatic warehouse for explaining the leaving operation. FIG. 6 is a plan view of the automatic warehouse for explaining the leaving operation. FIG. 6 is a plan view of the automatic warehouse for explaining the leaving operation. FIG. 6 is a plan view of the automatic warehouse for explaining the leaving operation. FIG. 6 is a plan view of the automatic warehouse for explaining the leaving operation. The schematic diagram for demonstrating operation|movement of a slide fork. The schematic diagram for demonstrating operation|movement of a slide fork. The schematic diagram for demonstrating operation|movement of a slide fork. The schematic diagram for demonstrating operation|movement of a slide fork. The schematic diagram for demonstrating operation|movement of a slide fork. The schematic diagram for demonstrating operation|movement of a slide fork. FIG. 3 is a plan view showing a stacked state of a stacker crane. The top view which shows a parcel scooping operation. The top view which shows a parcel scooping operation. The flowchart which shows a parcel scooping control operation. The schematic diagram for demonstrating operation|movement of a slide fork. The schematic diagram for demonstrating operation|movement of a slide fork. The schematic diagram for demonstrating operation|movement of a slide fork. The schematic diagram for demonstrating operation|movement of a slide fork. The top view which shows the parcel rake operation|movement in other embodiment. The top view which shows the parcel rake operation|movement in other embodiment. FIG. 6 is a plan view of the automatic warehouse for explaining the leaving operation. FIG. 6 is a plan view of the automatic warehouse for explaining the leaving operation. FIG. 6 is a plan view of the automatic warehouse for explaining the leaving operation.

1. First Embodiment (1) Overall Automated Warehouse An automated warehouse 1 according to an embodiment of the present invention will be described with reference to FIGS. 1 and 2. The automated warehouse 1 is a facility that can store, store, and leave luggage. In this embodiment, the vertical direction of FIG. 1 is the front-back direction of the automated warehouse 1, and the horizontal direction of FIGS. 1 and 2 is the horizontal direction of the automated warehouse 1. FIG. 1 is a plan view of an automated warehouse as an embodiment of the present invention. FIG. 2 is a side view of the automated warehouse.

1 and 2, the automated warehouse 1 mainly includes a front rack 3a and a rear rack 3b, and a stacker crane 5 (an example of a loading/unloading carriage) that travels between them. The front rack 3a and the rear rack 3b are facilities for storing luggage. The stacker crane 5 is a device that conveys luggage and moves in and out.

(2) Rack The front rack 3a and the rear rack 3b are arranged in the front and rear so as to sandwich the traveling passage 7 of the stacker crane 5 extending in the left-right direction, and have a plurality of shelves 11. As shown in FIG. 2, the plurality of shelves 11 are arranged vertically and horizontally toward the traveling passage 7 side, that is, in a plurality of rows and a plurality of stages. Each of the shelves 11 has a storage portion 13 that extends long in the front-rear direction depth side. The depth side is the side away from the traveling passage 7.
As shown in FIG. 2, the storage portion 13 is composed of a pair of luggage support members 15, and a space between them is a fork passage gap 17 that allows a slide fork 33 (described later) to move in the vertical direction.

As shown in FIG. 1, four shelves 21 arranged in the depth direction can be stored in one shelf 11. In addition, one shelf 11 can store two large packages 23 arranged in the depth direction. As described above, the small parcel 21 is a parcel having a relatively short length in the depth direction of the shelf 11, and the large parcel 23 is a parcel having a relatively long length in the depth direction of the shelf 11. For example, the parcel 21 has half the length of the parcel 23 in the depth direction.
The parcel 21 is placed on, for example, a tray (not shown) and is moved together with the tray. The large luggage 23 is placed on, for example, a pallet (not shown) and moved together with the pallet.

On the right side of the front rack 3a, a storage station 25 for storing luggage is arranged. On the right side of the rear rack 3b, a delivery station 27 for delivering luggage is arranged. The loading station 25 and the shipping station 27 each have a conveyor for transporting luggage.

(3) Stacker Crane A guide rail 28 is provided along the traveling path 7, along which the stacker crane 5 is guided so as to be movable in the left-right direction. The stacker crane 5 conveys packages between the plurality of shelves 11, the receiving station 25, and the delivering station 27.

As shown in FIG. 3, the stacker crane 5 includes a traveling carriage 29 (see FIG. 4 ), a lifting platform 31 (an example of a loading platform) mounted on a mast provided on the traveling carriage 29 so as to be movable up and down, and a lifting platform. 31 includes a slide fork 33 (an example of a telescopic arm) slidably provided in the front-rear direction by an advancing/retreating mechanism (not shown). FIG. 3 is a plan view of a stacker crane and shelves in an automated warehouse.

The lifting table 31 can mount two small packages 21 or one large package 23. The slide fork 33 has forks 33a to 33e (described later) having a stroke of four small parcels or a stroke of two large parcels, and transfers the parcels to and from a shelf.
In this automatic warehouse 1, the slide fork 33 of the stacker crane 5 can take out the four parcels 21 on the shelf 11. For example, first, the slide fork of the stacker crane 5 transfers the two parcels 21 on the front side of the shelf 11 to the lifting platform 31, and the stacker crane 5 transfers the two parcels 21 to the other shelves 11 or. It is transported to the delivery station 27. Further, for example, the slide fork 33 of the stacker crane 5 transfers the two parcels 21 on the back side of the shelf 11 to the lift table 31, and the stacker crane 5 transfers the two parcels 21 to another rack 11 or It is transported to the delivery station 27.

As shown in FIG. 6, the slide fork 33 has a first fork 33a, a second fork 33b, a third fork 33c, a fourth fork 33d, and a fifth fork 33e. The first to fifth forks 33a to 33e are connected by a known telescopic structure. The telescopic structure is composed of, for example, a linear guide groove, a rack and a pinion, and a chain and a sprocket.
The first fork 33a is fixed to the lift table 31. The second fork 33b is extendably connected to the first fork 33a. The third fork 33c is extendably connected to the second fork 33b. The fourth fork 33d is telescopically connected to the third fork 33c. The fifth fork 33e is telescopically connected to the fourth fork 33d.

In the unloading operation, the stacker crane 5 stops the lifting platform 31 and extends the slide fork 33 at the upper stop position. Then, the elevating table 31 is lowered to the lower stop position to lower the luggage. Finally, the slide fork 33 is contracted. As a result, the luggage is placed on the shelf 11.

In the loading operation, the stacker crane 5 stops the lifting platform 31 and extends the slide fork 33 at the lower stop position. Then, the elevator 31 is raised to the upper stop position and the luggage is scooped. Finally, the slide fork 33 is contracted. As a result, the luggage is placed on the lift table 31.

(4) Control Configuration The controller 41 of the stacker crane 5 will be described with reference to FIG. FIG. 4 is a block diagram showing the control configuration of the automated warehouse.
The controller 41 is mounted on the stacker crane 5 and can communicate with a controller (not shown) that controls the entire automated warehouse 1. The controller 41 is realized by computer hardware such as a CPU and a memory.

The controller 41 can control the traveling/stop of the traveling carriage 29. The controller 41 can control an elevating device 43 for elevating the elevating table 31 along the mast.
The controller 41 can control the transfer device 45 for moving the slide fork 33 in the front-rear direction.
Various switches and sensors are connected to the controller 41 so that the states of various devices of the stacker crane 5 can be grasped.

(5) Departing operation The departing operation of the parcel will be described with reference to FIGS. FIG. 5 is a plan view of the automatic warehouse for explaining the leaving operation.
Specifically, as shown in FIG. 5, in the shelf 11a, the first parcel 21a, the second parcel 21b, the third parcel 21c, and the fourth parcel 21d are sequentially arranged from the front side in the depth direction of the rack 11. A description will be given of the operation of transporting the deepest fourth parcel 21d from the traveling passage 7 to the exit station 27 when is placed. In other words, the number of parcels to be replaced is three.
The target shelf 11a is the shelf farthest from the delivery station 27 among the racks 11 of the front rack 3a and the rear rack 3b.

The following operations are executed by the stacker crane 5 being controlled by the control command from the controller 41.
As shown in FIG. 1, in the initial state, the stacker crane 5 is arranged near the delivery station 27.

As shown in FIG. 5, the stacker crane 5 moves up to the target shelf 11b, and at that position, as shown in FIGS. 6 to 8, the first parcel 21a and the second parcel 21b are lifted. Transferred to the 31st side. As a result, as shown in FIG. 9, the first parcel 21a and the second parcel 21b are placed on the lift 31. 6 to 8 are schematic diagrams for explaining the operation of the slide fork. FIG. 9 is a plan view showing a loaded state of the stacker crane.

Then, as shown in FIG. 10, the stacker crane 5 moves to the position of the empty rack 11 of the front rack 3a, and moves the first parcel 21a and the second parcel 21b to the back side of the rack 11. List. By the operation described above, the first parcel 21a and the second parcel 21b are transferred to the lift 31 and further transferred to the vacant shelf 11. FIG. 10 is a plan view of the automatic warehouse for explaining the leaving operation.
Further, as shown in FIG. 11, the stacker crane 5 moves to the original position of the shelf 11b, and as shown in FIGS. 12 to 14, the third parcel 21c and the fourth parcel 21d are moved to the lift table 31. Reprint. FIG. 11 is a plan view of the automatic warehouse for explaining the leaving operation. 12 to 14 are schematic diagrams for explaining the operation of the slide fork.

As shown in FIG. 15, the stacker crane 5 moves to the shelf 11 on which the first parcel 21a and the second parcel 21b have already been transferred, and moves the third parcel 21c and the fourth parcel 21d to the rack 11. List. By the operation described above, the third parcel 21c and the fourth parcel 21d are transferred to the lift table 31 and further transferred to the shelf 11 of the front rack 3a on the opposite side. 15 to 26 are plan views of the automatic warehouse for explaining the leaving operation. The shelf 11 on which the third parcel 21c and the fourth parcel 21d are placed may be different from the shelf 11 on which the first parcel 21a and the second parcel 21b are placed.
After that, as shown in FIG. 16, the stacker crane 5 transfers the fourth parcel 21d to the lifting platform 31. As a result, as shown in FIG. 17, the fourth parcel 21d is placed on the lifting platform 31.

As shown in FIG. 18, the stacker crane 5 moves to the delivery station 27 and transfers the fourth parcel 21d to the delivery station 27. Next, as shown in FIG. 19, the conveyor of the shipping station 27 moves the fourth parcel 21d to the final shipping position.
By the series of operations described above, the number of operations of the stacker crane 5 for carrying one fourth parcel 21d to the exit station 27 is reduced, and as a result, the carrying time is shortened.

Specifically, by moving two packages at once and then transporting one package, the traveling movement can be reduced, and thereby the delivery time can be shortened. In this embodiment, the operations of transferring two packages at once are the following two times (a) and (b).
(A) The first parcel 21a and the second parcel 21b are moved from the rack 11b to the rack 11 on the opposite side.
(B) The third parcel 21c and the fourth parcel 21d are moved from the rack 11b to the rack 11 on the opposite side.

(6) Transfer of Large Parcel The operation of transferring the large parcel 23 from the shelf 11 to the lift 31 will be described with reference to FIGS. 20 to 25. 20 to 25 are schematic diagrams for explaining the operation of the slide fork.
As shown in FIG. 20, two large parcels 23 are placed on the shelf 11 side by side in the depth direction. Specifically, the first large luggage 23a and the second large luggage 23b are placed on the shelf 11.

First, as shown in FIGS. 20 to 24, the stacker crane 5 transfers the first large luggage 23a to the lifting table 31 side. As a result, as shown in FIG. 26, the first large luggage 23a is placed on the elevating table 31. After that, the first baggage 23 a is transported to another shelf 11 or the shipping station 27. FIG. 26 is a plan view showing a loaded state of the stacker crane.
Further, as shown in FIGS. 23 to 25, the stacker crane 5 transfers the second large luggage 23b to the lifting table 31 side.

2. Second Embodiment Next, a second embodiment will be described in which it is possible to determine small parcels and large parcels using a detector. The basic structure of this embodiment is the same as that of the first embodiment.
The stacker crane 5 has a touch sensor 51 (an example of a detector) for distinguishing and grasping the small parcel 21 and the large parcel 23.
In this automatic warehouse 1, the stacker crane 5 can distinguish by using the touch sensor 51 whether the parcel placed on the shelf 11 is a small parcel 21 or a large parcel 23, for example. Therefore, for example, when the parcel 21 is being transferred from the shelf 11 to the lift 31 and the large parcel 23 is erroneously placed on the lift 31, it is grasped and the abnormal state is detected. Therefore, the processing can be stopped.

Specifically, the touch sensor 51 is provided above the tip of the fifth fork 33e of the slide fork 33, as shown in FIG. 27 to 28 are plan views showing the parcel scooping operation. Therefore, as shown in FIG. 27, when the first parcel 21a is scooped, the touch sensor 51 is arranged between the first parcel 21a and the second parcel 21b, so that the detection state is turned off. However, when the first baggage 23a is placed as shown in FIG. 28, the touch sensor 51 contacts the bottom surface of the first baggage 23a, so that the detection state is turned on.

In the flowchart of FIG. 29, in step S1, the controller 41 controls the transfer device 45 to extend the slide fork 33 to a predetermined position. For example, it is the position shown in FIGS. 28 and 31. FIG. 29 is a flowchart showing a parcel scooping control operation.
In step S2, the controller 41 determines whether the touch sensor 51 is on or off. As shown in FIG. 33, if the first large baggage 23a is placed, it is turned on, and the process proceeds to step S4 to perform the abnormality processing. The abnormality processing is, for example, cancellation of the transfer operation of the parcel. If it is off, the process proceeds to step S3, and as shown in FIGS. 30 to 32, the first parcel 21a is transferred to the lift table 31. 30 to 32 are schematic diagrams for explaining the operation of the slide fork.

In the above embodiment, the touch sensor is used as the detector, but the type of detector is not particularly limited. For example, in the modification shown in FIGS. 34 and 35, the first reflector 53 is attached to the tray T on which the small luggage 21 is mounted, and the second reflector 55 is attached to the pallet P on which the large luggage 23 is mounted. 34 and 35 are plan views showing a parcel scooping operation in another embodiment.
The positions of the first reflector 53 and the second reflector 55 in the left-right direction are different. The lift table 31 is provided with a first reflective photoelectric sensor 57 corresponding to the first reflecting plate 53 and a second reflective photoelectric sensor 59 corresponding to the second reflecting plate 55.
With the above structure, when the first parcel 21a is placed as shown in FIG. 34, the first reflective photoelectric sensor 57 is turned on and the second reflective photoelectric sensor 59 is turned off. Then, as shown in FIG. 35, when the first baggage 23a is placed, the first reflective photoelectric sensor 57 is turned off and the second reflective photoelectric sensor 59 is turned on.

3. Third Embodiment Similar to the first embodiment, in the shelf 11b, the first parcel 21a, the second parcel 21b, the third parcel 21c, and the fourth parcel 21d are sequentially arranged from the front side in the depth direction of the rack 11b. An operation of transporting the fourth parcel 21d located at the farthest side from the traveling passage 7 to the exit station 27 when each is placed will be described. The basic structure is similar to that of the above embodiment.

As shown in FIG. 5, the stacker crane 5 moves up to the target shelf 11b, and at that position, as shown in FIGS. 6 to 8, the first parcel 21a and the second parcel 21b are lifted. Transferred to the 31st side. As a result, as shown in FIG. 9, the first parcel 21a and the second parcel 21b are placed on the lift 31.

Then, as shown in FIG. 10, the stacker crane 5 moves to the position of the shelf 11 of the front rack 3a and transfers the first small luggage 21a and the second small luggage 21b to the inner side of the shelf 11. By the operation described above, the first parcel 21a and the second parcel 21b are transferred to the lift 31 and further transferred to the vacant shelf 11.
Further, as shown in FIG. 11, the stacker crane 5 moves to the original position of the shelf 11b, and as shown in FIGS. 12 to 14, the third parcel 21c and the fourth parcel 21d are placed on the lift table 31. Reprint.

The next operation described below with reference to FIGS. 36 to 38 is different from the previous embodiment. 36 to 38 are plan views of the automatic warehouse for explaining the leaving operation.
As shown in FIG. 36, the stacker crane 5 moves to the delivery station 27, and transfers the third parcel 21c and the fourth parcel 21d to the delivery station 27.
Further, as shown in FIG. 37, the stacker crane 5 transfers the third parcel 21c to the lifting platform 31.

Then, as shown in FIG. 38, the stacker crane 5 transfers the third parcel 21c onto the empty shelf 11. Further, the conveyor of the shipping station 27 moves the fourth parcel 21d to the final shipping position.
By the series of operations described above, the number of operations of the stacker crane 5 for carrying the fourth parcel 21d to the exit station 27 is reduced, and as a result, the carrying time is shortened.

Specifically, by moving two packages at once and then transporting one package, the traveling movement can be reduced, and thereby the delivery time can be shortened. In this embodiment, the operation of transferring two packages at once is the following two times (a) and (c).
(A) The first parcel 21a and the second parcel 21b are moved from the rack 11b to the rack 11 on the opposite side.
(C) The third parcel 21c and the fourth parcel 21d are moved from the shelf 11b to the delivery station 27.
It should be noted that, as in the first embodiment, two parcels are placed on the opposite shelf 11 and then one parcel is transported to the delivery station, and as in the third embodiment, two parcels are carried. The method of returning one parcel to the shelf 11 after carrying the item to the delivery station 27 can be executed in one automatic warehouse 1. In that case, each delivery method is used properly depending on the distance between the storage position of the parcel, the empty shelf position, and the delivery station.

4. Features of the Embodiments The features of the above embodiments are as follows.
The automated warehouse 1 (an example of an automated warehouse) includes a rack 3 (an example of a rack) and a stacker crane 5 (an example of a loading/unloading carriage).
The rack 3 has a plurality of shelves 11 (an example of shelves) on which four small items 21 (an example of small items) can be placed in the depth direction.
The stacker crane 5 has a lifting platform 31 (an example of a loading platform) on which two small packages 21 can be placed, and a slide fork 33 (an example of a telescopic arm) having a stroke of four small packages, and a shelf. The parcel 21 is transferred to and transported from and to 11.
In this automatic warehouse 1, four parcels 21 are stored in the depth direction of the shelves 11 and two parcels 21 are transported at a time, so that a large number of parcels 21 can be stored at high density and the delivery time can be shortened. Can be shortened.

5. Other Embodiments A plurality of embodiments of the present invention have been described above, but the present invention is not limited to the above embodiments, and various modifications can be made without departing from the gist of the invention. In particular, the plurality of embodiments and modifications described in this specification can be arbitrarily combined as needed.

The shape, configuration and number of automated warehouses are not limited to those in the above embodiment.
Although the loading/unloading carriage is a stacker crane in the above-described embodiment, the loading/unloading carriage may be a traveling carriage in which the mounting table does not move up and down.
In the above-described embodiment, the transportation operation of the parcel to be transported includes the operation of moving the parcel to the empty shelf. However, if there is no empty shelf when performing the operation, the delivery station may be used. ..

INDUSTRIAL APPLICABILITY The present invention can be widely applied to an automatic warehouse in which a loading/unloading truck can transfer loads to/from a plurality of rack shelves.

1: Automatic warehouse 3: Rack 3a: Front rack 3b: Rear rack 5: Stacker crane 7: Travel passage 11: Shelf 11a: Shelf 11b: Shelf 13: Storage section 15: Luggage support member 17: Fork passage gap 21: Small Luggage 21a: First parcel 21b: Second parcel 21c: Third parcel 21d: Fourth parcel 23: Large parcel 23a: First large parcel 23b: Second large parcel 25: Storage station 27: Departure station 29 : Traveling vehicle 31: Lifting table 33: Slide fork 41: Controller 43: Lifting device 45: Transfer device 51: Touch sensor 53: First reflecting plate 55: Second reflecting plate 57: First reflecting photoelectric sensor 59: First 2 reflection type photoelectric sensor

Claims (2)

A rack having a plurality of shelves capable of mounting four parcels in the depth direction,
A loading and unloading trolley that has a loading table on which two small packages can be placed and a telescopic arm that has a stroke for four small packages and that transfers and transfers the small packages to and from the shelf;
A controller for controlling the operation of the loading and unloading carriage,
The controller issues the fourth parcel when the first parcel, the second parcel, the third parcel, and the fourth parcel are placed in order from the front side in the depth direction of the shelf. When attempting to do so, by controlling the loading/unloading carriage, the first parcel and the second parcel are transferred to the loading table and further transferred to an empty shelf, and then the first parcel is transferred. An automated warehouse that transports 3 parcels and the 4th parcel to the exit position, and finally transports the 3rd parcel to the shelf. On the shelf, two large packages can be placed side by side in the depth direction,
The loading and unloading carriage has a detector for distinguishing and grasping the small parcel and the large parcel,
The automated warehouse according to claim 1 , wherein the loading platform is capable of loading one large package.

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