JP7213778B2 - container storage system - Google Patents

Description

The present invention relates to container storage systems.

A system has been reported that realizes high-density storage by stacking containers containing products (for example, Patent Document 1). U.S. Pat. No. 5,300,000 discloses a frame containing multiple stacks of multiple containers, a first handling device capable of lifting the multiple containers from the stack in a single run, and a single container for lifting and stacking. A storage system is reported comprising a second handling device capable of lateral movement of the container. According to the storage system described in US Pat. The speed and efficiency of the recovery process can be greatly improved.

However, in the conventional storage system, it was necessary to prepare two types of devices for lifting containers. In addition, since the first handling device moves the plurality of containers existing above the target container and then the second handling device moves to lift the target container, it takes time to move the handling devices. , there was a problem that the target container could not be taken out quickly.

Japanese Patent No. 6486927

SUMMARY OF THE INVENTION An object of the present invention is to provide a container storage system capable of quickly taking out a desired container from among a plurality of stacked containers.

A container storage system according to an embodiment of the present disclosure includes a plurality of first rails arranged in a first direction on a predetermined plane, and a second rail on a predetermined plane in a second direction perpendicular to the first direction. A plurality of rails surrounded by a plurality of second rails arranged in a row, two predetermined adjacent rails among the plurality of first rails, and two predetermined adjacent rails among the plurality of second rails a frame forming a plurality of spaces formed vertically below the region; and a container moving device capable of moving horizontally on a predetermined plane along the plurality of first rails and the plurality of second rails. and a control unit for controlling the container moving device, the container moving device descending in the vertical direction and holding a plurality of containers loaded in a predetermined space among the plurality of spaces at once. and a holding portion for holding a desired one of the plurality of containers lifted by the holding portion.

Moreover, in the container storage system according to the embodiment of the present disclosure, the gripping section preferably includes a hanger that grips a side surface of a predetermined one of the plurality of containers.

Moreover, in the container storage system according to the embodiment of the present disclosure, it is preferable that the hanger has a hook that protrudes to the side of the container and engages with the container.

Moreover, in the container storage system according to the embodiment of the present disclosure, the storage section preferably includes a table that stores the lowest container among the plurality of containers lifted by the gripping section.

Further, in the container storage system according to the embodiment of the present disclosure, a fixed fire wall provided to contact a part of the plurality of first rails and the plurality of second rails from the floor surface, and a position facing the fixed fire wall Preferably, it further comprises a fire shutter that descends from the ceiling to a portion of the plurality of first rails and the plurality of second rails.

Moreover, it is preferable that the container storage system according to the embodiment of the present disclosure further includes a storage unit that stores position information of each of the plurality of containers and information on the contents.

Also, in the container storage system according to the embodiment of the present disclosure, the container moving device preferably accommodates up to three containers at once.

According to the container storage system according to the embodiment of the present disclosure, a desired container can be quickly taken out of a plurality of stacked containers.

1 is a perspective view showing the overall structure of a container storage system; FIG. FIG. 4 is a plan view showing the positional relationship between the first rail and second rail of the container storage system, the container, and the container moving device; It is a figure which shows the positional relationship of the frame in a container storage system, a container, and a hanger, (a) shows a top view, (b) shows a perspective view. FIG. 2 is a schematic diagram of the configuration of a container moving device and a control unit; FIG. 4 is a perspective view of a hanger provided on the container moving device; FIG. 10 is a perspective view of the hanger provided in the container moving device, in which (a) shows a state in which the hook has returned, and (b) shows a state in which the hook protrudes (clamped). FIG. 4 is a perspective view for explaining the operation of lifting a plurality of containers by a hanger, (a) showing a state before lifting, and (b) showing a lifted state. FIG. 2 is a perspective view showing the configuration of a hanger drive device provided in the container moving device, where (a) is a perspective view seen from the opposite side of the drive device, and (b) is a perspective view seen from the drive device side; is. 1 is a perspective view of a container; FIG. 4 is a flowchart for explaining a procedure for taking out a desired container from a plurality of stacked containers by the container moving device; (a) to (c) are perspective views for explaining a procedure for taking out a desired container from a plurality of stacked containers by the container moving device. (a) to (c) are perspective views for explaining a procedure for taking out a desired container from a plurality of stacked containers by the container moving device. 4 is a flow chart for explaining a procedure for unloading a desired container taken out by the container moving device to a predetermined area; FIG. 5 is a perspective view for explaining a procedure for carrying out a desired container taken out by the container moving device to a predetermined area; 1 is a perspective view of a container storage system with fire protection system; FIG.

A container storage system according to the present invention will be described below with reference to the drawings. However, it should be noted that the technical scope of the present invention is not limited to those embodiments, but extends to the invention described in the claims and equivalents thereof.

FIG. 1 shows a perspective view of the overall structure of a container storage system according to an embodiment of the present disclosure. The container storage system 100 includes a plurality of first rails 1 (1a, 1b, 1c, . . . ) arranged in a first direction (X-axis direction) and a plurality of rails 1 (1a, 1b, 1c, . second rails 2 (2a, 2b, 2c, . . . ), a frame 3 arranged in the Z-axis direction, a container moving device 4, and a controller (not shown). In a container storage system 100, a container moving device 4 selects a desired container from among a plurality of containers 9 (9a, 9b, 9c, . and transported to the unloading work area P. In the carry-out work area P, the robot 1000 moves the articles in the container 9 to the box 2000 . In the carry-in work area Q, the robot 1100 moves the articles in the box 2100 into the container 9 , and the container moving device 4 stores the container 9 in the space surrounded by the frame 3 .

FIG. 2 shows a plan view showing the positional relationship between the first rail and the second rail of the container storage system, the container, and the container moving device. The container moving device 4 horizontally moves on a predetermined plane along a plurality of first rails 1 (1a, 1b, 1c, . . . ) and a plurality of second rails 2 (2a, 2b, 2c, . . . ). It is possible. A plurality of first rails 1 (1a, 1b, 1c, . , . . . ) are arranged in a second direction (Y-axis direction) orthogonal to the first direction on a predetermined plane. The first rail 1 (1a, 1b, 1c, . . . ) and the second rail 2 (2a, 2b, 2c, . . . ) are preferably made of a metal material such as aluminum or stainless steel.

Each container moving device 4 comprises two sets of wheels (401, 402) for moving in a first direction and a second direction. The first rail 1 and the second rail 2 are formed with recesses for engaging the wheel sets (401, 402). Also, one first rail has two recesses (for example, 1a-1, 1a-2) so that the wheels of two container moving devices 4 can be adjacently engaged with one first rail 1. is preferably formed. Similarly, one first rail has two recesses (e.g., 2c-1, 2c-2 ) is preferably formed. The wheel set 401 is arranged to engage two adjacent first rails (eg 1a, 1b). Also, the wheel set 402 is arranged to engage two second rails (eg, 2a, 2c) adjacent to each other across one second rail (eg, 2b). Only one of the two wheel sets (401, 402) needs to be in contact with the rail when the container moving device 4 moves. Therefore, the container moving device 4 has a mechanism (not shown) for raising and lowering two wheel sets (first wheel set 401 and second wheel set 402). When the first wheel set 401 is lowered and the second wheel set 402 is raised and only the first wheel set 401 is in contact with the first rail 1, the container moving device 4 moves in the first direction. (X-axis direction) becomes movable. On the other hand, when the first wheel set 401 is raised and the second wheel set 402 is lowered, and only the second wheel set 402 is in contact with the second rail 2, the container moving device 4 moves to the second (Y-axis direction).

The frame 3 includes two predetermined adjacent rails (for example, 1a, 1b) among a plurality of first rails 1 (1a, 1b, 1c, . . . ) and a plurality of second rails 2 (2a, 2b, . . . ). 2c, . . . ) adjacent to each other (for example, 2a, 3b). A plurality of containers 9 are stacked in a plurality of spaces. The frame 3 has a plurality of upright members that support a plurality of first rails 1 (1a, 1b, 1c, . . . ) and a plurality of second rails 2 (2a, 2b, 2c, . . . ).

As shown in FIG. 2, the container moving device 4 is arranged so as to straddle two areas surrounded by the first rail 1 and the second rail 2, and the container 9 is taken out. The container moving device 4 is provided with hangers (61, 62), and the hangers (61, 62) are lowered into the gap formed between the first rail 1 and the container 9 to grip the container 9. can lift. By making the thickness of the hangers (61, 62) thinner than the size of the container, the occupied area in the horizontal plane can be reduced, and the density of storable containers can be increased.

3(a) and 3(b) show the positional relationship between the frame, container and hanger in the container storage system. FIG. 3(a) is a plan view, and FIG. 3(b) is a perspective view. The frame 3 (311, 312, 321, 322) has grooves (311a) continuously from the bottom to the top so that the hangers (61, 62) of the container moving device 4 can be fitted and slid. , 312a-d, 321a-d, 322a-d) are provided. The hanger 61 fits into the groove 311c formed in the frame 311 and the groove 312b formed in the frame 312, and slides vertically by the cables (61a, 61b). Similarly, the hanger 62 fits into the groove 321d formed in the frame 321 and the groove 322a formed in the frame 322, and slides vertically by the cables (62a, 62b). Therefore, the hangers (61, 62) can be moved to the side of the desired container (9b, for example) among the stacked containers (9a, 9b, 9c). Since the horizontal movement of the hangers (61, 62) is restricted by the grooves formed in the frame, the container 9 can be lifted by the hooks 620 as will be described later.

FIG. 4 shows a schematic configuration diagram of the container moving device 4 and the control unit 5. As shown in FIG. The container moving device 4 includes a wireless data communication device 41, a container moving device control CPU 42, a power/signal superimposed substrate (43, 44), a hanger motor 45, various motors (46a to 49a) and various motor drivers (46 ~ 49) and. Various motor drivers include an XY selection motor driver 46, an X-axis motor driver 47, a Y-axis motor driver 48, and a container lift motor driver 49. Various motors include an XY selection motor 46a, an X-axis motor 47a, a Y A shaft motor 48a and a container lift motor 49a are included.

The control unit 5 controls the container moving device 4 . The wireless data communication device 41 communicates with the control unit 5 via access points (20a to 20c).

The container moving device control CPU 42 controls the XY selection motor driver 46, the X-axis motor driver 47, and the Y-axis motor driver 48 according to the command from the control unit 5 to move the container moving device 4 to a desired position.

The XY selection motor driver 46 drives the XY selection motor 46a so that one of the first wheel set 401 and the second wheel set 402 is in contact with the first rail 1 and the second rail 2 .

The X-axis motor driver 47 drives the X-axis motor 47 a for rotating the first wheel set 401 on the first rail 1 .

Y-axis motor driver 48 drives Y-axis motor 48 a for rotating second wheel set 402 on second rail 2 .

It is preferable that the control unit 5 further include a storage unit 10 that stores positional information of each of the plurality of containers 9 and information about the contents.

After moving the container moving device 4 to the desired position, the container moving device control CPU 42 controls the container lifting motor driver 49 to drive the container lifting motor 49a, thereby selecting the desired container from among the plurality of stacked containers. contain the container.

The power/signal superimposed boards (43, 44) are boards for controlling power supply and transmission of control signals between the container moving device 4 and the hangers (61, 62). The power/signal superimposed board 43 is provided on the main body of the container moving device 4, and the power/signal superimposed board 44 is provided on the hanger (61, 62) side. A hanger motor 45 drives the hooks of the hanger as described below.

It is preferable that the container moving device 4 is equipped with a battery (not shown) as a power source. However, the present invention is not limited to such an example, and power may be supplied via an overhead wire, or power may be supplied via the first rail 1 and the second rail 2 .

FIG. 5 shows a perspective view of a hanger provided in the container moving device 4. As shown in FIG. Hanger 62 is suspended from container moving device 4 by cables 62a and 62b. The cable 62a is a metal tape for hanging and DC power supply (+), and the cable 62b is a metal tape for hanging and DC power supply (-).

The power/signal superimposing board 44 is a control board for separating or integrating superimposed signals sent from the container moving device 4 .

The hanger 62 is provided with a hook 620 that protrudes to the side of the container 9 and engages with the container 9 . Hook 620 is driven by actuator 62c. Whether the hook 620 is projected or returned can be detected by the hook return detection sensor 62d.

When the hanger 62 moves downward from the first rail 1 and the second rail 2 , it fits into the groove formed in the frame 3 , but the hanger 62 is fitted with the groove formed in the frame 3 . Inside the upper container moving device 4, it moves along hanger guides 63a and 63b.

The container moving device 4 has a gripper 6 that descends in the vertical direction and lifts at once a plurality of containers 9 loaded in a predetermined space among the plurality of spaces. The gripping part 6 includes hangers (61, 62) that grip the sides of a predetermined one of a plurality of containers. 6(a) and 6(b) show perspective views of hangers (61, 62) provided in the container moving device 4. FIG. FIG. 6(a) shows the state in which the hooks (610, 620) have returned, and FIG. 6(b) shows the state in which the hooks (610, 620) are projected (clamped). FIGS. 7(a) and 7(b) show perspective views for explaining the operation of lifting a plurality of containers (9a, 9b) by hangers (61, 62). FIG. 7(a) shows the state before being lifted, and FIG. 7(b) shows the state after being lifted. In FIGS. 6A and 6B and FIGS. 7A and 7B, the illustration of the frame 3 is omitted for the sake of clarity.

The hangers (61, 62) can lift any number of containers from the top of the plurality of containers (9a, 9b, 9c). For example, when lifting two containers (9a, 9b), hangers (61, 62) are placed on the sides of the container 9b as shown in FIG. The container 9b is clamped by projecting the hooks 610 (see FIG. 6(b)) and 620 in opposite directions. With the container 9b clamped, the two containers (9a, 9b) can be lifted by pulling up the cables (61a, 61b, 62a, 62b).

The cables (61a, 61b, 62a, 62b) are preferably of sufficient length so that the hangers (61, 62) can grip containers placed at any height in a stack. .

FIGS. 8(a) and 8(b) are perspective views showing the configuration of a hanger driving device 600a provided in the container moving device. FIG. 8(a) is a perspective view seen from the opposite side of the hanger driving device 600a, and FIG. 8(b) is a perspective view seen from the hanger driving device 600a side. In FIGS. 8A and 8B, descriptions other than the hanger, the hanger driving device, and the table are omitted in order to make the structure easier to understand. Rotating the container lift motor 49a rotates the shaft 650 via the belt 630 and the pulley 640 to wind up or pull out the cables (61a, 61b, 62a, 62b). Also, the cables (61a, 61b, 62a, 62b) are movable in the vertical direction by guide rollers (610a, 610b, 620a, 620b).

The container moving device 4 is provided with a storage section 7 (see FIG. 1) that stores a desired one of the plurality of containers lifted by the gripping section 6 . Further, the storage unit 7 includes a table 8 that stores the lowest container among the plurality of containers lifted by the gripping unit 6 .

The storage unit 7 preferably accommodates a maximum of three containers at one time. This is because although the work efficiency improves as the number of containers accommodated in the accommodation unit 7 increases, the height from the floor surface to the ceiling is limited. This is because the height of the body 3 is shortened and the number of containers that can be stored in the container storage system 100 is reduced.

FIG. 9 shows a perspective view of the container 9. As shown in FIG. The container 9 is provided with engaging portions (910, 920) so that the hooks (610, 620) of the hangers (61, 62) shown in FIG. 6 are engaged. Furthermore, in order to prevent the hook 620 of the hanger 62 from moving horizontally while engaged with the engaging portion 920, it is preferable to provide guide portions (911 to 914) on the side surface. Similarly, in order to prevent the hook 610 of the hanger 61 from moving horizontally while engaged with the engaging portion 910, it is preferable to provide a guide portion (not shown) on the side surface.

It is preferable that the plurality of containers 9 have a uniform outer peripheral shape so that they can be stably loaded. Furthermore, it is preferable that the bottom surface of the container 9 has a projection (not shown) that engages with the opening 900 so that the containers are not misaligned when stacked. Also, as the plurality of containers 9, containers having two or more heights may be mixed and used.

FIG. 10 shows a flowchart for explaining a procedure for taking out a desired container from a plurality of stacked containers by the container moving device according to the embodiment of the present disclosure. 11(a) to (c) and FIGS. 12(a) to (c) are perspective views for explaining the procedure for taking out a desired container from a plurality of stacked containers by the container moving device. First, in step S101, as shown in FIG. 11A, the container moving device 4 is moved above a plurality of stacked containers including the desired container 9c.

Next, in step S102, as indicated by arrow A in FIG. 11(a), the hanger 62 is lowered to engage the engaging portion 920 of the lowest container 9c among the three containers (9a to 9c). The hooks 620 of the hanger 62 are engaged to clamp the container 9c to grip the three containers (9a-9c).

Next, in step S103, the three containers (9a to 9c) are pulled up and housed in the container moving device 4 as indicated by arrow B in FIG. 11(b).

Next, in step S104, as indicated by arrow C in FIG. 11(b), the table 8 is moved to the bottom side of the bottom container 9c among the three containers (9a to 9c).

Next, in step S105, three containers (9a to 9c) are placed on the table 8 as shown in FIG. 11(c).

Next, in step S106, as shown in FIG. 11(c), the hook 620 of the hanger 62 is disengaged from the container 9c, and the hanger 62 is raised to lift the container one above the lowest container 9c. The hook 620 is engaged with 9b to clamp the container 9b, and the upper two containers (9a, 9b) of the three containers (9a to 9c) are grasped and separated.

Next, in step S107, the table 8 is moved as indicated by arrow D in FIG.

Next, in step S108, as indicated by arrow E in FIG. 12(b), the hanger 62 is lowered to return the upper two containers (9a, 9b).

Finally, as shown in FIG. 12(c), after the hanger 62 is returned to its original position, the table 8 on which the container 9c at the bottom is placed is moved from the storage section 7, and the stored container 9c is moved to the hanger 62. , the container moving device 4 is moved to the unloading work area, and the container 9c is unloaded.

According to the container moving device according to the embodiment of the present disclosure, since a desired container can be taken out of a plurality of stacked containers by one container moving device 4, the container moving device 4 can do not need to be moved. Therefore, the desired container can be quickly taken out of the plurality of stacked containers.

FIG. 13 shows a flow chart for explaining a procedure for carrying out a desired container picked up by the container moving device to a predetermined area. FIG. 14 shows a perspective view for explaining a procedure for carrying out a desired container taken out by the container moving device to a predetermined area. As shown in FIG. 14, the unloading work area P includes a container unloading area P1 surrounded by the frame 3 and areas P2 to P4 outside the frame 3. As shown in FIG. It is also assumed that when the container 9 is transported to the pick-up area P3, the articles contained in the container 9 are unloaded.

First, in step S201, the container moving device 4 is moved above the container unloading area P1 in the unloading work area P. As shown in FIG.

Next, in step S202, as indicated by arrow F1 in FIG. 14, the container 9 containing the articles is held by the hanger and lowered.

Next, in step S203, the belt conveyor moves the container 9 to the pick-up area P3 as indicated by arrows F2 and F3 in FIG.

Next, in step S204, the articles contained in the container 9 are moved to the transport box 2000 (see FIG. 1). The movement of items from container 9 to box 2000 may be performed by robot 1000 (see FIG. 1).

Next, in step S205, as indicated by arrow F4 in FIG. 14, the belt conveyor moves the empty container to a pick-up area (not shown).

Next, in step S206, another container moving device (not shown) lowers the hanger 62 and grips the container 9, as shown in FIG.

Next, in step S207, as indicated by arrow F5 in FIG. 14, the hanger is pulled up and the container is housed in another container moving device.

As described above, the container picked up by the container moving device 4 can be carried out of the container storage system 100 . It should be noted that after the articles in the container 9 are taken out in the pick-up area P3, the carry-in operation may be performed by storing new articles. In this case, in the carry-out work area P, the carry-out and carry-in of the article can be performed at the same time. Alternatively, as shown in FIG. 1, in addition to the unloading work area P, a loading work area Q for carrying in only is provided, and the articles stored in the boxes 2100 are carried into the container storage system 100 using the robot 1100. may

Here, when performing the carry-in work, a plurality of containers 9 may be carried in in a stacked state. In this case, work efficiency can be improved compared to the case where containers are brought in one by one.

FIG. 15 shows a perspective view of a container storage system with fire protection system. The container storage system 100 includes a fixed fire wall 200 provided inside the frame 3 so as to contact a part of the plurality of first rails 1 and the plurality of second rails 2 from the floor surface, and a fixed fire wall 200. It is preferable to further have a fire shutter 300 that descends from the ceiling to the upper ends of the fixed fire walls 200 that are part of the plurality of first rails 1 and the plurality of second rails 2 at opposing positions. When a fire breaks out in the container storage system 100 , the fire can be prevented from spreading by lowering the fire shutter 300 so as to be in contact with the fixed fire wall 200 .

REFERENCE SIGNS LIST 1 first rail 2 second rail 3 frame 4 container moving device 5 control unit 6 gripping unit 61, 62 hanger 7 storage unit 8 table 9 container

Claims (7)

a plurality of first rails arranged in a first direction on a predetermined plane;
a plurality of second rails arranged on the predetermined plane in a second direction orthogonal to the first direction;
It is formed vertically below a plurality of areas surrounded by two predetermined adjacent rails among the plurality of first rails and two predetermined adjacent rails among the plurality of second rails. a frame forming a plurality of spaces,
a container moving device capable of horizontally moving left and right on the predetermined plane along the plurality of first rails and the plurality of second rails;
A control unit that controls the container moving device,
The container moving device is
a gripping part that descends in the vertical direction and lifts at once a plurality of containers loaded in a predetermined space among the plurality of spaces;
a storage unit that stores a desired one of the plurality of containers lifted by the gripping unit;
A container storage system characterized by: 2. The container storage system according to claim 1, wherein said gripper comprises a hanger that grips a side of a predetermined one of said plurality of containers. 3. The container storage system according to claim 2, wherein the hanger comprises a hook that projects to the side of the container and engages the container. The container storage system according to any one of claims 1 to 3, wherein said storage unit includes a table for storing a lowermost container among said plurality of containers lifted by said gripping unit. a fixed fire wall provided to contact a part of the plurality of first rails and the plurality of second rails from the floor;
a fire shutter that descends from the ceiling to an upper end of the fixed fire wall of a portion of the plurality of first rails and the plurality of second rails, at a position facing the fixed fire wall;
further having
The container storage system according to any one of claims 1 to 4. 6. The container storage system according to any one of claims 1 to 5, further comprising a storage unit for storing positional information and information on contents of each of said plurality of containers. 7. The container storage system according to any one of claims 1 to 6, wherein said container moving device accommodates up to three containers at a time.

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