JP7347109B2 - Automatic warehouse - Google Patents

Description

The present invention relates to an automated warehouse.

It includes a rack having a plurality of shelves and a loading/unloading cart, each of the plurality of shelves includes four loading sections lined up along the depth direction, and the loading/unloading cart is mounted on each of the four loading sections. An automated warehouse is known that can transfer one or two items to each of a plurality of shelves by expanding and contracting a transfer part with a stroke corresponding to (for example, see Patent Document 1). ).

JP 2017-149529 Publication

The above-mentioned automated warehouse is excellent in that it is possible to take out not only two packages at once, but also one package.

An object of the present invention is to provide an automated warehouse that can take out two items at a time, while suppressing the complexity of the configuration.

The automated warehouse of the present invention has a first rack having a plurality of first shelves and a transfer section that is extendable and retractable along the depth direction of the first rack, and the transfer section is arranged in each of the plurality of first shelves. A loading/unloading trolley that expands and contracts to transfer cargo to each of the plurality of first shelves, and a controller that controls the loading/unloading trolley, each of the plurality of first shelves is connected to the first rack. The loading/unloading cart includes four first placing sections lined up along the depth direction, and in each of the plurality of first shelves, the first front stroke corresponds to the two first placing sections at the front, and the first front stroke corresponding to the middle one. By expanding and contracting the transfer section with each stroke of the first intermediate stroke corresponding to the two first placement sections and the first back stroke corresponding to the two first placement sections at the back, a plurality of first placement sections can be moved. It is possible to transfer two packages to each shelf, and the loading/unloading cart acquires the first package and the second package from the target shelf, which is one of the plurality of first shelves, and transfers the first package and second package to the target shelf. When taking out a first package that has been placed in front of a second package on a shelf, one of the plurality of first shelves is used, and at least three first shelves in front are empty. In the first intermediate shelf, by expanding and contracting the transfer part with the first intermediate stroke, the first package and the second package are placed on the first intermediate shelf, and transferred on the first intermediate shelf with the first front stroke. The first baggage is acquired from the first intermediate shelf by expanding and contracting the platform.

In this automated warehouse, the first front stroke, the first intermediate stroke, and the By expanding and contracting the transfer section with each one of the rear strokes, two items can be taken out from each of the plurality of first shelves. Furthermore, without providing a special shelf or the like, by using one of the plurality of first shelves as a first intermediate shelf, it is possible to take out one package from each of the plurality of first shelves. Therefore, according to this automated warehouse, in a configuration where two packages can be sent out at once, it is possible to take out one package while suppressing the complexity of the configuration.

In the automatic warehouse of the present invention, when returning the second cargo left on the first intermediate shelf to the target shelf, the loading/unloading cart expands and contracts the transfer section on the first intermediate shelf with the first intermediate stroke. , the second package may be obtained from the first intermediate shelf. Thereby, the state of the target shelf can be changed to a state in which only the first package is acquired.

In the automatic warehouse of the present invention, when the two third packages placed on two first shelves among the plurality of first shelves are combined, the loading/unloading cart is configured to By expanding and contracting the transfer part with one intermediate stroke, one of the two third items is placed on the first placing part at the back of the two intermediate first placing parts on the first intermediate shelf, By expanding and contracting the transfer section in the first front stroke on the first intermediate shelf, the two third items can be placed on the front first loading section of the two intermediate first loading sections on the first intermediate shelf. The other may be placed. Thereby, the two third packages placed on the two first shelves can be entered and removed as a set.

The automatic warehouse of the present invention has a plurality of second shelves, and further includes a second rack arranged to face the first rack across the movement area of the loading/unloading cart, and each of the plurality of second shelves is , includes four second placement sections lined up along the depth direction of the second rack, and in each of the plurality of second shelves, the loading/unloading cart includes a second placement section corresponding to the two second placement sections in front of the second rack. By expanding and contracting the transfer section with each of the strokes of the front stroke, the second intermediate stroke corresponding to the two second placement sections in the middle, and the second back stroke corresponding to the two second placement sections at the back. , it is possible to transfer two packages to each of a plurality of second shelves, and the loading/unloading cart acquires the first package and the second package from the target shelf, and transfers the first package to the target shelf. When taking out the second baggage that has been placed at the back of the warehouse, the second intermediate shelf is one of the plurality of second shelves, and at least the three front second storage areas are empty. In the shelf, the first and second packages are placed on the second intermediate shelf by expanding and contracting the transfer part with the second intermediate stroke, and the transfer part is expanded and contracted with the second front stroke on the second intermediate shelf. In this way, the second baggage may be acquired from the second intermediate shelf. Thereby, the second baggage placed behind the first baggage on the target shelf can be efficiently taken out.

In the automatic warehouse of the present invention, the controller may extract from the plurality of first shelves a shelf in which at least three front first placing parts are vacant, and designate the shelf as the first intermediate shelf. Thereby, it is not necessary to fix the first intermediate shelf to the first rack, and the first rack can be used efficiently.

In the automatic warehouse of the present invention, when the controller extracts a plurality of shelves from the plurality of first shelves in which at least three first placement parts in the front are vacant, the controller selects each of the plurality of shelves as the first shelf. Assuming that the intermediate shelf is designated, the shelf expected to require the shortest shipping time among the plurality of shelves may be designated as the first intermediate shelf. Thereby, one piece of luggage can be efficiently taken out of the warehouse.

In the automated warehouse of the present invention, when storing one of the two acquired fourth packages, the loading/unloading cart expands and contracts the transfer section on the first intermediate shelf with the first intermediate stroke. One of the two fourth loads may be acquired from the first intermediate shelf by placing the two fourth loads on the shelf and expanding and contracting the transfer section with the first front stroke on the first intermediate shelf. Thereby, one piece of luggage can be stored on the desired first shelf.

According to the present invention, it is possible to provide an automated warehouse that can take out two items at a time while suppressing the complexity of the configuration.

FIG. 1 is a plan view of an automated warehouse according to an embodiment. FIG. 2 is a front view of the first rack shown in FIG. 1; FIG. 2 is a front view of the second rack shown in FIG. 1; 2 is a plan view of a portion of the automated warehouse shown in FIG. 1. FIG. 2 is a block diagram of the automated warehouse shown in FIG. 1. FIG. FIG. 2 is a diagram for explaining a first operation example of the loading/unloading cart shown in FIG. 1; FIG. 2 is a diagram for explaining a first operation example of the loading/unloading cart shown in FIG. 1; FIG. 2 is a diagram for explaining a second operation example of the loading/unloading trolley shown in FIG. 1 . FIG. 2 is a diagram for explaining a second operation example of the loading/unloading trolley shown in FIG. 1 . It is a figure for demonstrating the 3rd example of operation of the loading/unloading truck shown in FIG. 1. It is a figure for demonstrating the 4th example of operation of the loading/unloading cart shown in FIG. 1. It is a figure for demonstrating the 5th example of operation of the loading/unloading cart shown in FIG. 1.

Embodiments of the present invention will be described in detail below with reference to the drawings. In each figure, the same or corresponding parts are denoted by the same reference numerals, and redundant explanations will be omitted.
[Automated warehouse configuration]

As shown in FIGS. 1, 2, and 3, the automated warehouse 1 includes a first rack 10, a second rack 20, and a loading/unloading cart 30. The first rack 10 has a plurality of first shelves 11 whose depth direction is in the Y direction. The plurality of first shelves 11 are arranged two-dimensionally (for example, in a matrix) along the X direction and the Z direction. The second rack 20 has a plurality of second shelves 21 whose depth direction is in the Y direction. The plurality of second shelves 21 are arranged two-dimensionally (eg, in a matrix) along the X direction and the Z direction. Note that the X direction and the Y direction are both horizontal directions, and the Z direction is a vertical direction.

The first rack 10 and the second rack 20 are arranged to face each other. Specifically, the first rack 10 is arranged such that the frontage of each first shelf 11 faces the second rack 20 side, and the second rack 20 is arranged such that the frontage of each second shelf 21 faces the first rack. It is arranged so as to face the 10 side. In this embodiment, the warehousing station 60 is provided on one side of the first rack 10 in the X direction, and the warehousing station 70 is provided on one side of the second rack 20 in the X direction. At the warehousing station 60, parcels 50 that are stored in the automated warehouse 1 from the outside are placed. At the unloading station 70, cargo 50 to be unloaded from the automated warehouse 1 to the outside is placed. In this embodiment, the luggage 50 is an article housed in a case.

A pair of support members 12 are provided at the bottom of each first shelf 11 of the first rack 10 . The pair of support members 12 are spaced apart in the X direction and extend along the Y direction. In each first shelf 11, four items 50 can be placed on the pair of support members 12 in a line along the Y direction. A pair of support members 22 is provided at the bottom of each second shelf 21 of the second rack 20 . The pair of support members 22 are spaced apart in the X direction and extend along the Y direction. In each second shelf 21, four pieces of luggage 50 can be placed on the pair of support members 22 in a state lined up along the Y direction.

As shown in FIG. 4, each first shelf 11 includes four first mounting portions 11a arranged along the Y direction. The four first mounting portions 11a are constituted by a pair of support members 12 (see FIG. 1). One piece of luggage 50 is placed on each first placing portion 11a. Each second shelf 21 includes four second placement parts 21a arranged along the Y direction. The four second mounting portions 21a are constituted by a pair of support members 22 (see FIG. 1). One piece of luggage 50 is placed on each second placement section 21a.

As shown in FIGS. 1, 2, and 3, the loading/unloading truck 30 travels along the guide rail 2. As shown in FIGS. The loading/unloading cart 30 is, for example, a stacker crane. The guide rail 2 extends along the X direction between the first rack 10 and the second rack 20. In other words, the movement area of the loading/unloading cart 30 is sandwiched between the first rack 10 and the second rack 20.

As shown in FIG. 4, the loading/unloading cart 30 includes a running section 31, a lifting section 32, a mounting section 33, and a transfer section 34. The running section 31 runs along the guide rail 2. The elevating section 32 moves the mounting section 33 up and down along a mast erected on the running section 31 . Two pieces of luggage 50 can be placed on the placement part 33 in a state where they are lined up along the Y direction (see FIG. 6, etc.). The transfer section 34 can be expanded and contracted along the Y direction. In this embodiment, the transfer unit 34 is a slide fork type transfer device, and moves up and down between a pair of support members 12 or between a pair of support members 22 on each first shelf 11 or each second shelf 21. By doing so, the luggage 50 is transferred to each first shelf 11 or each second shelf 21.

The loading/unloading cart 30 transfers the luggage 50 to each first shelf 11 by expanding and contracting the transfer section 34 on each first shelf 11 . On each first shelf 11, the loading/unloading cart 30 has a first near stroke S11 corresponding to the two first placing parts 11a in the front, and a first intermediate stroke S12 corresponding to the two first placing parts 11a in the middle. , and the two loads 50 are transferred to each first shelf 11 by expanding and contracting the transfer section 34 with the respective strokes of the first back stroke S13 corresponding to the two first placement sections 11a at the back. It is possible to do so. The first near stroke S11 is a stroke for transferring between the first first mounting section 11a and the second first mounting section 11a from the near side. The first intermediate stroke S12 is a stroke for transferring at the second first mounting section 11a and the third first mounting section 11a from the near side. The first back stroke S13 is a stroke for transferring at the third first mounting section 11a and the fourth first mounting section 11a from the near side. The loading/unloading cart 30 expands and contracts the transfer section 34 at each of the first shelves 11 with the first front stroke S11, the first intermediate stroke S12, and the first back stroke S13. "It is possible to transfer two packages 50 to one shelf 11" means that the loading/unloading cart 30 is structurally configured in such a manner, for example, the first intermediate stroke S12 The transfer of the luggage 50 may be limited to only some of the first shelves 11 among the plurality of first shelves 11.

The loading/unloading cart 30 transfers the luggage 50 to each second shelf 21 by expanding and contracting the transfer section 34 on each second shelf 21 . In each second shelf 21, the loading/unloading cart 30 has a second near stroke S21 corresponding to the two second placing parts 21a in the front, and a second intermediate stroke S22 corresponding to the two second placing parts 21a in the middle. , and the second rear stroke S23 corresponding to the two rear second loading portions 21a, by expanding and contracting the transfer portion 34, the two items 50 are transferred to each second shelf 21. It is possible to do so. The second near stroke S21 is a stroke for transferring the first second placing section 21a and the second second placing section 21a from the near side. The second intermediate stroke S22 is a stroke for transferring at the second second mounting section 21a and the third second mounting section 21a from the near side. The second back stroke S23 is a stroke for transferring at the third second placing section 21a and the fourth second placing section 21a from the front side. In addition, the loading/unloading cart 30 expands and contracts the transfer section 34 at each of the second front stroke S21, second intermediate stroke S22, and second back stroke S23 on each second shelf 21. "It is possible to transfer two packages 50 to two shelves 21" means that the loading/unloading cart 30 is structurally configured in such a manner, for example, the second intermediate stroke S22 The transfer of the luggage 50 may be limited to only some of the second shelves 21 among the plurality of second shelves 21.

The automated warehouse 1 includes a higher-level controller (controller) 3, as shown in FIG. The upper controller 3 controls the loading/unloading truck 30 by communicating with the controller 35 that the loading/unloading truck 30 has. The controller 35 controls the traveling section 31, the elevating section 32, and the transfer section 34.
[Example of operation of loading/unloading trolley]

As a normal warehousing operation, the warehousing/unloading cart 30 transports the two packages 50 from the warehousing station 60 to the first rack 10 or the second rack 20, and transfers the two packages 50 to each first shelf 11 or each second shelf 20. It is possible to place it on. The warehousing station 60 is arranged so that the position in the Y direction corresponds to the two first loading sections 11a, and the warehousing/unloading cart 30 moves to the transfer section at the first intermediate stroke S12 at the warehousing station 60. By expanding and contracting 34, it is possible to acquire two packages 50 from the storage station 60. In addition, as a normal unloading operation, the loading/unloading cart 30 acquires two parcels 50 from each first shelf 11 or each second shelf 21, and unloads the two parcels 50 from the first rack 10 or second rack 20. It is possible to transport it to station 70. The unloading station 70 is arranged so that the position in the Y direction corresponds to the two second loading sections 21a, and the loading/unloading cart 30 moves to the transfer section at the second intermediate stroke S22 at the unloading station 70. By expanding and contracting 34, it is possible to place two packages 50 on the unloading station 70. Hereinafter, operation examples of the loading/unloading trolley 30 other than those described above will be explained. The following operation example is carried out by controlling the loading/unloading cart 30 by the host controller 3 and by controlling each part of the loading/unloading truck 30 by the controller 35.
[First operation example]

In the first operation example, as shown in FIG. 6(a), one of the plurality of first shelves 11 is a baggage (first baggage) 51, a baggage (second baggage) 52, and a baggage (second baggage) 52 in order from the front. This is an example of the operation of the loading/unloading trolley 30 in the case of unloading only the luggage 51 placed on the first shelf 11a nearest to you from the first shelf (target shelf) 11A on which two luggages 50 are placed. be. Note that the target shelf is a shelf on which packages to be shipped are placed.

First, the loading/unloading trolley 30 expands and contracts the transfer section 34 at the first front stroke S11 on the first shelf 11A, thereby transferring the two loads 51, Get 52. Subsequently, as shown in FIG. 6(b), the loading/unloading cart 30 expands and contracts the transfer section 34 on the first shelf (first intermediate shelf) 11X with the first intermediate stroke S12. Two items 51 and 52 are placed on the two intermediate first placement parts 11a on the shelf 11X. The first shelf 11X is a first shelf 11 in which at least the front three first placing parts 11a are vacant. Subsequently, the loading/unloading cart 30 moves the cargo 51 from the first loading section 11a second from the front on the first shelf 11X by expanding and contracting the transfer section 34 with the first front stroke S11 on the first shelf 11X. get. Subsequently, the loading/unloading cart 30 transports the acquired luggage 51 to the loading/unloading station 70.

In this way, when the loading/unloading cart 30 acquires the two packages 51 and 52 from the first shelf 11A and takes out the package 51 placed in front of the package 52 on the first shelf 11A, at least By expanding and contracting the transfer part 34 with the first intermediate stroke S12 on the first shelf 11X where the three first placing parts 11a in front are vacant, the two items 51 and 52 are placed on the first shelf 11X. , the cargo 51 is acquired from the first shelf 11X by expanding and contracting the transfer section 34 with the first front stroke S11 on the first shelf 11X.

Furthermore, when returning the luggage 52 left on the first shelf 11X to the first shelf 11A, as shown in FIG. By expanding and contracting the section 34, the luggage 52 is acquired from the first placing section 11a that is third from the front on the first shelf 11X. Subsequently, the loading/unloading cart 30 expands and contracts the transfer section 34 at the first front stroke S11 on the first shelf 11A, thereby loading the cargo 52 onto the first loading section 11a that is second from the front on the first shelf 11A. Place it.

In this way, when the cargo 52 left on the first shelf 11X is returned to the first shelf 11A, the loading/unloading cart 30 expands and contracts the transfer section 34 at the first intermediate stroke S12 on the first shelf 11X. Then, the package 52 is acquired from the first shelf 11X.

In the above first operation example, the host controller 3 extracts a shelf from the plurality of first shelves 11 in which at least the three front first placing parts 11a are vacant, and designates the shelf as the first shelf 11X. do. When the host controller 3 extracts a plurality of shelves from the plurality of first shelves 11 in which at least three front first placing parts 11a are vacant, the upper controller 3 sets each of the plurality of shelves to the first shelf 11X. Assuming that this has been specified, the shelf that is expected to take the shortest time for shipping out of the plurality of shelves is designated as the first shelf 11X. "Out of the plurality of shelves, the shelf expected to take the shortest time to take out the warehouse" is the shelf for which the travel time is the shortest, and is based on, for example, the time required for ascending and descending movement and the time required for traveling. , a shelf between the shelf to be shipped and the shipping station 70, or a shelf near the shelf to be shipped is selected.
[Second operation example]

In the second operation example, as shown in FIG. 8(a), one of the plurality of first shelves 11 is loaded with a baggage 51, a baggage 52, and two pieces of baggage 50 in order from the front. This is an example of the operation of the loading/unloading trolley 30 in the case where only the luggage 52 placed on the second first loading section 11a from the front is unloaded from the first shelf 11A.

First, the loading/unloading trolley 30 expands and contracts the transfer section 34 at the first front stroke S11 on the first shelf 11A, thereby transferring the two loads 51, Get 52. Subsequently, as shown in FIG. 8(b), the loading/unloading cart 30 expands and contracts the transfer section 34 on the second shelf (second intermediate shelf) 21X with the second intermediate stroke S22. Two items 51 and 52 are placed on the two intermediate second placement parts 21a on the shelf 21X. The second shelf 21X is a second shelf 21 in which at least the front three second placement parts 21a are vacant. Subsequently, the loading/unloading cart 30 moves the cargo 52 from the second loading section 21a that is second from the front on the second shelf 21X by expanding and contracting the transfer section 34 at the second front stroke S21 on the second shelf 21X. get. Subsequently, the loading/unloading cart 30 transports the acquired luggage 52 to the loading/unloading station 70.

In this way, when the loading/unloading trolley 30 acquires the two parcels 51 and 52 from the first shelf 11A and takes out the parcel 52 placed at the back of the parcel 51 on the first shelf 11A, at least By expanding and contracting the transfer part 34 with the second intermediate stroke S22 on the second shelf 21X where the three second placing parts 21a in front are vacant, the two items 51 and 52 are placed on the second shelf 21X. , the cargo 52 is acquired from the second shelf 21X by expanding and contracting the transfer section 34 with the second front stroke S21 on the second shelf 21X.

Furthermore, when returning the luggage 51 left on the second shelf 21X to the first shelf 11A, as shown in FIG. By expanding and contracting the portion 34, the luggage 51 is acquired from the second placement portion 21a that is third from the front on the second shelf 21X. Subsequently, the loading/unloading cart 30 expands and contracts the transfer section 34 at the first front stroke S11 on the first shelf 11A, thereby loading the cargo 51 onto the second first loading section 11a from the front on the first shelf 11A. Place it.

In this way, when the cargo 51 left on the second shelf 21X is returned to the first shelf 11A, the loading/unloading cart 30 expands and contracts the transfer section 34 at the second back stroke S23 on the second shelf 21X. Then, the package 51 is acquired from the second shelf 21X.

In the above second operation example, the host controller 3 extracts a shelf from the plurality of second shelves 21 in which at least three of the front second placing parts 21a are vacant, and designates the shelf as the second shelf 21X. do. When the host controller 3 extracts a plurality of shelves from the plurality of second shelves 21 in which at least three of the front second placing parts 21a are vacant, the upper controller 3 sets each of the plurality of shelves to the second shelf 21X. Assuming that this is specified, the shelf that is expected to require the shortest time for shipping out of the plurality of shelves is designated as the second shelf 21X.
[Third operation example]

The third example of operation is an example of the operation of the loading/unloading trolley 30 when one of the two packages (fourth package) 53 acquired from the warehousing station 60 is warehoused.

First, as shown in FIG. 10, the loading/unloading cart 30 expands and contracts the transfer section 34 on the first shelf 11X with the first intermediate stroke S12, thereby moving the two intermediate first loading units on the first shelf 11X. Two pieces of luggage 53 are placed on the section 11a. The first shelf 11X is a first shelf 11 in which at least the front three first placing parts 11a are vacant. Subsequently, the loading/unloading cart 30 expands and contracts the transfer section 34 at the first front stroke S11 on the first shelf 11X, thereby transferring the two items from the first loading section 11a that is second from the front on the first shelf 11X. Get one of 53. Subsequently, the loading/unloading cart 30 transports one of the two packages 53 to the first shelf 11 as a transfer destination.

In this way, when storing one of the two acquired packages 53, the loading/unloading cart 30 expands and contracts the transfer section 34 at the first intermediate stroke S12 on the first shelf 11X. One of the two pieces of baggage 53 is acquired from the first shelf 11X by placing the two pieces of baggage 53 on the first shelf 11X and expanding and contracting the transfer section 34 with the first front stroke S11.
[Fourth operation example]

In a fourth operation example, as shown in FIG. This is an example of the operation of the loading/unloading trolley 30 in the case where the loading/unloading carts 30 are combined.

First, the loading/unloading cart 30 acquires the cargo 54 from the second first loading section 11a from the front on the first shelf 11A by expanding and contracting the transfer section 34 with the first front stroke S11 on the first shelf 11A. do. The first shelf 11A is a first shelf 11 in which the first placing section 11a closest to the front is empty and the luggage 54 is placed on the first placing section 11a second from the front. Subsequently, the loading/unloading cart 30 expands and contracts the transfer section 34 at the first intermediate stroke S12 on the first shelf 11X, so that the loading/unloading cart 30 moves the back of the two intermediate first loading sections 11a on the first shelf 11X. The luggage 54 is placed on the first placing section 11a. The first shelf 11X is a first shelf 11 in which at least the front three first placing parts 11a are vacant.

Subsequently, as shown in FIG. 11(b), the loading/unloading cart 30 expands and contracts the transfer section 34 at the first back stroke S13 at the first shelf 11B, thereby moving the loading/unloading cart 30 from the front to the The baggage 54 is acquired from the first loading section 11a. The first shelf 11B is a first shelf 11 in which three first placing portions 11a from the front are vacant, and a luggage 54 is placed on the first placing portion 11a located at the farthest back. Subsequently, the loading/unloading cart 30 expands and contracts the transfer section 34 at the first front stroke S11 on the first shelf 11X, thereby moving the front of the two intermediate first loading sections 11a on the first shelf 11X. The luggage 54 is placed on the first placing section 11a.

In this way, when the two parcels 54 placed on the two first shelves 11A and 11B of the plurality of first shelves 11 are combined, the loading/unloading trolley 30 By expanding and contracting the transfer portion 34 with the first intermediate stroke S12, one of the two items 54 is placed on the inner first placing portion 11a of the two middle first placing portions 11a on the first shelf 11X. By expanding and contracting the transfer part 34 with the first near stroke S11 on the first shelf 11X, the first placing part 34 on the near side of the two middle first placing parts 11a on the first shelf 11X The other of the two pieces of luggage 54 is placed on 11a.
[Fifth operation example]

In the fifth operation example, as shown in (a) of FIG. This is an example of the operation of the loading/unloading trolley 30 when two pieces of baggage 54 placed thereon are combined into a set.

First, the loading/unloading cart 30 acquires the cargo 54 from the second loading section 21a that is second from the front on the second shelf 21A by expanding and contracting the transfer section 34 at the second front stroke S21 on the second shelf 21A. do. The second shelf 21A is a second shelf 21 in which the second placing portion 21a closest to the front is empty and the luggage 54 is placed on the second placing portion 21a second from the front. Subsequently, the loading/unloading cart 30 expands and contracts the transfer section 34 with the first back stroke S13 on the first shelf 11X, so that the loading/unloading cart 30 moves to the back of the two intermediate first loading sections 11a on the first shelf 11X. The luggage 54 is placed on the first placing section 11a. The first shelf 11X is a first shelf 11 in which at least the front three first placing parts 11a are vacant.

Subsequently, as shown in FIG. 12(b), the loading/unloading cart 30 expands and contracts the transfer section 34 at the first back stroke S13 at the first shelf 11A, thereby moving the loading/unloading cart 30 from the front side to the The baggage 54 is acquired from the first loading section 11a. The first shelf 11A is a first shelf 11 in which three first placing portions 11a from the front are vacant and a luggage 54 is placed on the first placing portion 11a located at the farthest end. Subsequently, the loading/unloading cart 30 expands and contracts the transfer section 34 at the first front stroke S11 on the first shelf 11X, thereby moving the front of the two intermediate first loading sections 11a on the first shelf 11X. The luggage 54 is placed on the first placing section 11a.

In this way, the loading/unloading trolley 30 is capable of handling two loads placed on one first shelf 11A of the plurality of first shelves 11 and one second shelf 21A of the plurality of second shelves 21, respectively. 54 as a set, by expanding and contracting the transfer part 34 with the first back stroke S13 on the first shelf 11X, the back of the two middle first placing parts 11a on the first shelf 11X is moved. By placing one of the two loads 54 on the first loading section 11a and expanding and contracting the transfer section 34 with the first front stroke S11 on the first shelf 11X, the intermediate two first loads on the first shelf 11X The other of the two items 54 is placed on the first placing part 11a of the placing parts 11a. Then, the loading/unloading cart 30 expands and contracts the transfer section 34 at the first intermediate stroke S12 on the first shelf 11X, thereby transferring the two items 54 from the two intermediate first loading sections 11a on the first shelf 11X. get.
[Action and effect]

In the automated warehouse 1, the first front stroke S11, the first By expanding and contracting the transfer section 34 with each of the intermediate stroke S12 and the first back stroke S13, the two items 50 can be taken out from each first shelf 11. Similarly, even if the loading/unloading cart 30 is not configured so that the transfer unit 34 can be stopped at a stroke corresponding to each of the four second loading units 21a, the second front stroke S21, the second intermediate stroke By expanding and contracting the transfer section 34 with each of the strokes S22 and the second back stroke S23, two pieces of luggage 50 can be taken out from each second shelf 21. Furthermore, by using the first shelf 11X, which is one of the plurality of first shelves 11, as an intermediate shelf, one package 50 can be delivered from each first shelf 11 without providing a special shelf or the like. can do. Similarly, by using the second shelf 21X, which is one of the plurality of second shelves 21, as an intermediate shelf, one package 50 can be stored from each second shelf 21 without providing a special shelf or the like. Can be issued. Therefore, according to the automated warehouse 1, in a configuration in which two packages 50 can be removed at one time, it is possible to remove one package 50 while suppressing the complexity of the configuration. In other words, according to the automated warehouse 1, it is possible to take out any one item 50 without expanding or contracting the transfer section 34 with a stroke corresponding to only one item 50 on the near side.

In the automated warehouse 1, the host controller 3 extracts a shelf from the plurality of first shelves 11 in which at least the three front first placing parts 11a are vacant, and designates the shelf as the first shelf 11X. Thereby, it becomes unnecessary to set the first shelf 11X fixedly on the first rack 10, and the first rack 10 can be used efficiently. Similarly, the host controller 3 extracts a shelf from the plurality of second shelves 21 in which at least the front three second placement parts 21a are vacant, and designates the shelf as the second shelf 21X. Thereby, it becomes unnecessary to set the second shelf 21X fixedly on the second rack 20, and the second rack 20 can be used efficiently.

In the automated warehouse 1, when the host controller 3 extracts a plurality of shelves from the plurality of first shelves 11 in which at least the three front first loading portions 11a are empty, each of the plurality of shelves is extracted. Assuming that the first shelf 11X is designated, the shelf that is expected to take the shortest time for delivery out of the plurality of shelves is designated as the first shelf 11X. Thereby, one baggage 50 can be efficiently taken out of the warehouse. Similarly, when the host controller 3 extracts a plurality of shelves from the plurality of second shelves 21 in which at least the three front second placing parts 21a are vacant, each of the plurality of shelves is selected as the second shelf. Assuming that the shelf 21X is designated as the second shelf 21X, the shelf that is expected to require the shortest shipping time among the plurality of shelves is designated as the second shelf 21X. Thereby, one baggage 50 can be efficiently taken out of the warehouse.

In the automated warehouse 1, when the loading/unloading cart 30 returns the luggage 52 left on the first shelf 11X to the first shelf 11A, it expands and contracts the transfer unit 34 on the first shelf 11X with a first intermediate stroke S12. By doing so, the baggage 52 is acquired from the first shelf 11X. Thereby, the state of the first shelf 11A can be changed to a state in which only the baggage 51 is acquired.

In the automated warehouse 1, when the loading/unloading cart 30 stores one of the two acquired packages 53, the loading/unloading cart 30 expands and contracts the transfer unit 34 with the first intermediate stroke S12 on the first shelf 11X, One of the two items 53 is acquired from the first shelf 11X by placing the two items 53 on the first shelf 11X and expanding and contracting the transfer section 34 with the first front stroke S11 on the first shelf 11X. Thereby, one package 50 can be stored on the desired first shelf 11.

In the automated warehouse 1, when the loading/unloading trolley 30 combines the two packages 54 placed on the two first shelves 11 into a set, the loading/unloading cart 30 moves the transfer section 34 at the first intermediate stroke S12 on the first shelf 11X. By expanding and contracting, one of the two items 54 is placed on the inner first placing part 11a of the two intermediate first placing parts 11a on the first shelf 11X, and the first placing part 11a on the first shelf 11X is By expanding and contracting the transfer section 34 with one near stroke S11, the other of the two items 54 is placed on the front first placing section 11a of the two middle first placing sections 11a on the first shelf 11X. place Thereby, the two pieces of luggage 54 placed on the two first shelves 11 can be taken in and out as a set.

In the automated warehouse 1, when the loading/unloading cart 30 acquires the two packages 51 and 52 from the first shelf 11A and takes out the package 52 that was placed behind the package 51 on the first shelf 11A, In the second shelf 21X where at least the three second loading sections 21a in the front are vacant, the two loads 51 and 52 are loaded on the second shelf 21X by expanding and contracting the transfer section 34 with the second intermediate stroke S22. The cargo 52 is acquired from the second shelf 21X by extending and contracting the transfer section 34 with the second front stroke S21 on the second shelf 21X. Thereby, the luggage 52 placed at the back of the luggage 51 on the first shelf 11A can be efficiently taken out.
[Modified example]

The present invention is not limited to the above embodiments. For example, in the above embodiment, the host controller 3 designates the first shelf 11X in which at least the front three first loading portions 11a are vacant each time the warehouse is loaded or unloaded, but the predetermined first shelf 11 may be used as an intermediate shelf. Similarly, each time the host controller 3 enters and leaves the warehouse, the second shelf 21X, in which at least the front three second placement parts 21a are vacant, is designated as the intermediate shelf, but the predetermined second shelf 21 is the intermediate shelf. may also be used as

The transfer unit 34 is not limited to a slide fork type transfer device, but may be a side clamp type transfer device, a rear hook type transfer device, or the like. The cargo 50 is not limited to an article housed in a case, but may also be a barrel, an article placed on a pallet, or the like.

1... Automatic warehouse, 3... Upper controller (controller), 10... First rack, 11... First shelf, 11A... First shelf (target shelf), 11X... First shelf (first intermediate shelf), 11a... th 1 Placement section, 20...Second rack, 21...Second shelf, 21X...Second shelf (second intermediate shelf), 21a...Second placement section, 30...Input/output cart, 34...Transfer unit, 50 ... Luggage, 51... Luggage (first cargo), 52... Luggage (second cargo), 53... Luggage (fourth cargo), 54... Luggage (third cargo).

Claims (7)

a first rack having a plurality of first shelves;
The first rack has a transfer section that is expandable and retractable along the depth direction, and by expanding and contracting the transfer section on each of the plurality of first shelves, A loading/unloading trolley for transferring cargo,
A controller for controlling the input/output cart;
Each of the plurality of first shelves includes four first placement parts lined up along the depth direction of the first rack,
In each of the plurality of first shelves, the loading/unloading cart has a first front stroke corresponding to the two first placing sections at the front, and a first intermediate stroke corresponding to the two first placing sections at the middle. By expanding and contracting the transfer section with each stroke of the stroke and the first back stroke corresponding to the two first storage sections at the back, two items can be placed on each of the plurality of first shelves. It is possible to transfer
The loading and unloading trolley is
When acquiring a first package and a second package from a target shelf that is one of the plurality of first shelves, and taking out the first package that was placed in front of the second package on the target shelf, teeth,
In a first intermediate shelf, which is one of the plurality of first shelves, and which is a shelf in which at least three of the front first loading sections are vacant, the transfer section is expanded and contracted by the first intermediate stroke. By placing the first baggage and the second baggage on the first intermediate shelf,
The automated warehouse acquires the first cargo from the first intermediate shelf by expanding and contracting the transfer section with the first front stroke on the first intermediate shelf. The loading and unloading trolley is
When returning the second baggage left on the first intermediate shelf to the target shelf,
The automated warehouse according to claim 1, wherein the second cargo is acquired from the first intermediate shelf by expanding and contracting the transfer section with the first intermediate stroke on the first intermediate shelf. The loading and unloading trolley is
When pairing two third packages respectively placed on two first shelves among the plurality of first shelves,
By expanding and contracting the transfer part with the first intermediate stroke on the first intermediate shelf, the first intermediate shelf can be moved to the first placing part at the back of the two middle first placing parts on the first intermediate shelf. placing one of the two third loads;
By expanding and contracting the transfer portion with the first front stroke on the first intermediate shelf, the transfer portion is moved to the front first placing portion of the two intermediate first placing portions on the first intermediate shelf. The automated warehouse according to claim 1 or 2, wherein the other of the two third loads is placed. further comprising a second rack having a plurality of second shelves and arranged to face the first rack across the movement area of the loading/unloading cart,
Each of the plurality of second shelves includes four second placement parts lined up along the depth direction of the second rack,
In each of the plurality of second shelves, the loading/unloading cart has a second front stroke corresponding to the two second placing sections at the front, and a second intermediate stroke corresponding to the two second placing sections at the middle. By expanding and contracting the transfer section with each stroke of the stroke and the second back stroke corresponding to the two second storage sections at the back, two items can be placed on each of the plurality of second shelves. It is possible to transfer
The loading and unloading trolley is
When acquiring the first baggage and the second baggage from the target shelf and taking out the second baggage that was placed behind the first baggage on the target shelf,
In a second intermediate shelf, which is one of the plurality of second shelves and is a shelf in which at least three of the front two second placing parts are vacant, the transfer part is expanded and contracted by the second intermediate stroke. By placing the first baggage and the second baggage on the second intermediate shelf,
The automatic transmission according to any one of claims 1 to 3, wherein the second cargo is acquired from the second intermediate shelf by expanding and contracting the transfer section with the second front stroke on the second intermediate shelf. Warehouse. 5. The controller according to claim 1, wherein the controller extracts a shelf in which at least three frontmost first placing parts are vacant from the plurality of first shelves, and designates the shelf as the first intermediate shelf. The automated warehouse described in any one of the items. When the controller extracts a plurality of shelves from the plurality of first shelves in which at least three of the first placing parts in front are vacant, the controller selects each of the plurality of shelves as the first intermediate shelf. 6. The automated warehouse according to claim 5, wherein a shelf expected to take the shortest amount of time for shipping out of the plurality of shelves is designated as the first intermediate shelf. The loading and unloading trolley is
When storing one of the two acquired fourth parcels,
placing the two fourth items on the first intermediate shelf by expanding and contracting the transfer part with the first intermediate stroke on the first intermediate shelf;
Any one of claims 1 to 6, wherein one of the two fourth loads is acquired from the first intermediate shelf by expanding and contracting the transfer section with the first front stroke on the first intermediate shelf. Automatic warehouse described in.

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