JPH0215441B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a device that automatically performs warehousing and/or unloading, and more specifically, the present invention relates to a device that automatically moves goods that are subject to storage and retrieval, or boxes that store goods, in a two-dimensional manner. The present invention proposes a device that stores the goods at a predetermined height at a predetermined storage position, and then moves them in a plane to a commanded unloading position to take out the goods and boxes at the specified height.

The present invention will be explained below based on drawings showing embodiments thereof. This example is an exhibition model produced to introduce its functions, and is configured so that both unloading and restocking can be performed automatically.

FIG. 1 is an overall external view of this embodiment.
The rail 1 is set at an appropriate height by means of support means (not shown).
is suspended. The rail 1 has a rectangular shape with curved corners, and switching parts 15 and 16 are provided midway between the back part 13 and the right side part 14.
The flow shelf 2, which will be described later, goes around inside from the corner of the
A branch line 17 is provided along the back of the air cylinders 15a, 16a provided in the switching parts 15, 16.
(see Figure 11), the inner branch line 17
It is designed to be able to be used by switching between the main line and the outside main line. As shown in FIG. 3, the rail 1 has two power lines 18a, 18b and two signal lines 1 on its side.
9a and 19b are attached.

A plurality of electric self-propelled vehicles 3 are suspended on such a rail 1, as shown in a rear view (rear side in the direction of travel) in Fig. 2 and a side view in Fig. 3.
It receives control signals via signal lines 19a and 19b, and also receives power lines 18a and 18.
It receives electric power for driving the motor 31 via the motor 31 and moves in the direction of the white arrow.

The self-propelled vehicle 3 includes front and rear wheel portions 32, 33, a connecting portion 34 rotatably connecting the two wheel portions 32, 33, and a connecting portion 34 capable of swinging in the lateral direction. It consists of a suspended load hanging part 35. The wheels of the wheel portions 32 and 33 include main wheels 36 and 36 that contact the upper surface of the rail 1 having an I-shaped cross section as shown by the two-dot chain line in FIG. 2, and flange portions on the upper and lower sides of the rail 1. A secondary wheel 37 for steady rest is provided on the side surface of the main wheel 36 and rotates with an appropriate clearance for rotation of the curved portion. They are installed in two levels, upper and lower, for a total of 16 per self-propelled vehicle.

The front wheel part 32 is the driven side, and the rear wheel part 33
is on the drive side, and as shown in Fig. 2, a motor 31 is attached to the outside of the frame of the wheel portion 33, which has an E-shape when viewed from the back (front). A pulley 38 fitted to the output shaft of the gear and a pulley 311 fitted to the axle 39 of the main wheel 36 of the wheel section 33 are connected via a belt 312. 3
The self-propelled vehicle 3 travels by driving the vehicle 6. The pulleys 38, 311 and belt 312 are covered with appropriate covers.

Outside the main wheel 36, axle 39, and pulley 311, an upper secondary wheel 37 is attached to the upper side of the E-shaped frame, and a lower secondary wheel 37 is attached to the middle side. Therefore, this self-propelled vehicle 3 is suspended such that the rail 1 is located between the upper side portion and the middle side portion. A vertical portion 313 that pivotally supports the connecting portion 34 is provided astride between the middle side portion and the lower side portion.

The structure of the front wheel section 32 is the same as that of the wheel section 33 except that it does not include a drive system such as a motor 31.
Power lines 18a, 18b and signal lines 19a, 19b
A rotating brush 314 for current collection is provided on the frame portion facing the .

The connecting portion 34 has wheel portions 32 and 33 at the front and rear ends.
Cylindrical portion 3 rotatably fitted onto each vertical portion 313
41, and a control circuit box 342 attached to the frame 340. A drive control circuit for the motor 31 is housed in the box 342, and the motor 31 is stopped, rotated at high speed, rotated at low speed, etc. by signals given from this circuit and signal lines 19a and 19b.

As shown in FIG. 2, the load hanging part 35 is a flat U-shaped molded iron plate facing downward in rear (front) view, the lower end extends inward for a suitable length, and the terminal part is bent upward. The length of the control box 342 is approximately the same as that of the control box 342. Figures 2 and 3 show a rectangular parallelepiped packing box 2.
0 is suspended from the load hanging part 35. The loading box 20 has hanging fittings 20a, 20a each having an upper end bent into an F-shape on both sides thereof, and the bent end portion of the load hanging portion 35 engages with the bent portion from below. There is. This hanging fitting 20
The lower portions of a and 20a are bent into an L shape so as to have a required gap between them and the side wall of the packing box 20.

A plurality of self-propelled vehicles 3 configured as described above are suspended from the rail 1, and in this example, one vehicle is suspended for each of a vehicle exclusively for leaving a warehouse and a vehicle exclusively for entering a warehouse.

Next, the above-mentioned packing box 20 is placed on a liquid shelf 2, a rotary multi-row,
The structure of the transfer machine for storing in and taking out the multi-shelf 21 will be explained, but since this example is an exhibition model, the movement of the cargo boxes 20 is different from that in the actual warehousing/receiving management system. Since this is a little special, the flow of the packing box 20 will be explained first.

First, to explain the case of leaving the warehouse, the operation device 5
2, when the code of the item you wish to take out is input, the row of shelves 21 storing the boxes 20 containing the item rotates to the front position shown in FIG. The transfer machine 41, which is installed so as to face the reference stop position of 21, moves up and down so that the box receiving part 401, which is a box supporting means, faces the stage storing the box 20, which will be described later. With such a structure and operation, the cargo box 20 is taken out from the shelf and suspended by a self-propelled vehicle 3 exclusively used for taking out the warehouse. The self-propelled vehicle 3 with the cargo box 20 suspended thereon travels to a transfer machine 42 arranged at the rear of the rightmost row of the flow shelf 2 and stops. The transfer machine 42 transfers the cargo box 20 to its cargo box receiving portion 4 by the operation described below.
01, this packing box 20 is pushed into the stage of the fluidized shelf 2 inputted from the operating device 52. In other words, the delivery destination is each stage in the rightmost column of the liquid shelf 2.
In addition, in the actual system, from the transfer machine 41 to the cargo box 20
The above-mentioned self-propelled vehicle that receives the vehicle does not need to be specifically used for leaving the garage, and the destination to be selected and instructed may be a plurality of two-dimensional locations that are designated and controlled as the stopping position of the self-propelled vehicle 3. is common.

Next, to explain the case of warehousing, the liquid shelf 2
A transfer machine 43 is arranged on the front side of the rightmost row, and the transfer machine 43 moves the cargo boxes 20 (flowing down to the front side) of a predetermined stage according to the input from the operating device 52 or in a certain order. 43) is taken out and suspended from the self-propelled vehicle 3 exclusively used for warehousing.

The self-propelled vehicle 3 travels to the transfer machine 41, during which time the contents of the barcode sheet 20b (corresponding to the stored articles) affixed to the side of the packing box 20 are read, and the contents of the barcode sheet 20b (corresponding to the stored articles) are read. Drive control is performed so that the shelf row of the shelves 21 facing the transfer machine 41 is performed, and the transfer machine 41 is controlled so that the relevant cargo box is stored in a predetermined stage of this shelf row. . Note that in an actual system, the self-propelled vehicle does not need to be used exclusively for warehousing, and the method of suspending the cargo boxes 20 to be warehousing from the self-propelled vehicle is the transfer machine 4.
Of course, it is not necessary to rely on 3. Note that the identification of a packing box or article is not limited to a bar code, and may be performed using a magnetic mark or other known method.

As mentioned above, in this embodiment, in order to introduce the functions of warehousing and warehousing, a slightly unnatural operation is performed compared to the actual system.
performs the same function as the outgoing transfer machine and the warehousing transfer machine in the actual system. Of course, in an actual system, separate transfer machines for unloading and warehousing may be provided, or a plurality of them may be provided.

On the other hand, the transfer machines 42 and 43 are used for a special purpose in this exhibition model, or are used to assist in warehousing and unloading.

Now, the structures of these transfer machines 41, 42, and 43 are basically the same. The transfer machine 41 etc. consists of a column 402 erected at the loading and unloading positions, a cargo box receiving section 401 that is guided up and down by the column, a servo motor 403 that serves as a driving source for this lifting and lowering, etc.
A servo motor 403 is driven in forward and reverse directions by a predetermined amount in accordance with a signal given from a control device, which will be described later, and this rotation causes a chain 404 provided along the support column 402 to rotate.
The cargo box receiver 401 connected to the chain 404 is moved up and down.

FIG. 4 shows the side surface of the transfer machine 41 and the elevation of a part of the rotary multi-row, multi-tiered shelf 21 (which is stopped at a position facing the transfer machine 41 for loading and unloading). It shows. The box receiver 401 is located at a position facing each of the four shelves 21 (the solid line in the drawing shows the top shelf, and the two-dot chain line shows the bottom shelf), Hanging fittings 20a of the loading box 20
An upper receiving position where the upper end bending part is slightly above the passage area of the lower end bending part of the load hanging part 35 of the self-propelled vehicle 3 (only a part is shown by the two-dot chain line), and the receiving part of the cargo box receiving part 401. The self-propelled vehicle 3 is controlled to stop at a lower transfer position (indicated by a chain line) whose surface is slightly lower than the lower surface of the cargo box 20 on which the self-propelled vehicle 3 is suspended. Note that limit switches (not shown) for detecting runaway are provided below the stop position facing the lowest shelf and above the upper transfer position, and the operation of these limits the drive of the servo motor 403. will be stopped. Also rail 1
is installed horizontally, and the height of the floating shelf 2 is the same as that of the shelf 21, so the transfer machines 42 and 4
3 is also controlled so that the stop position is equal to that described above.

FIG. 5 is an enlarged side view of the cargo box receiving section 401.
The cargo box holder 401 has two arm rods with horizontal upper edges (located in the front and back directions of the drawing, and only one is visible in the drawing) at the lower front of the frame board 411, which is arranged parallel to the pillars. ) 412 is fixed so as to extend in the direction of the shelf 21 or the fluidized shelf 2, and the cargo box 20 is received on this arm rod 412. In addition, on both arm rods 412, the outside end and the board side end are moved upward to prevent the cargo box 20 from falling to the side (front and back directions in the drawing) and to limit the movement of the cargo box toward the board 411 side. A guard plate 413 made of a bent thin steel plate is attached. An air cylinder 414 is installed approximately at the center of the back surface (support side surface) of the board 411, and its operating rod 414a
It is attached so that it penetrates the board 411 and moves in and out horizontally. FIG. 6 is a plan view of the tip of the operating rod 414a. At the tip of the operating rod 414a, there is a mounting bracket 41 in which the opening of the channel material faces downward and the flanges on both sides thereof are located laterally.
5 is fixed, a rotary actuator 416 is attached to the outer surface of the flange portion on one side, and its output shaft 416a is passed between the flange portions. On the lower side of the output shaft 416a, there is a hook 41 that extends toward the cargo box side and has a claw portion that bends upward.
7 is fixed, and this hook 417 is operated by a rotary actuator 416 to move the cargo box 20
It is designed to be able to take two positions: a pulled position in which it engages with the bent portion of the lower end of the hanging fitting 20a, and a retracted position in which it rotates downward, as shown by the two-dot chain line in FIG.
A hook 41 is attached to the surface of the mounting bracket 415 on the cargo box 20 side.
7 does not impede the rotation of the hanging fitting 20a.
A push metal fitting 418, which is U-shaped in plan view and has a wider opposing gap than these, is fixed so that the push metal fitting 418 does not come into contact with the hook 417, and the distance between its tip and the tip of the hook 417 in the pulling position is The gap is set to be slightly shorter than the gap between the lower bent portion of the metal fitting 20a and the side wall of the cargo box.

The operation of the transfer machine with such a configuration is as follows. That is, first, to explain how to take out boxes from the shelves 21 and 2, when the servo motor 403 stops and other conditions are satisfied, the control device controls the solenoid valve 414b for controlling the operation of the air cylinder 414, and starts the operation rod 414a. Let's advance. At this time, the control device applies a predetermined signal to the electromagnetic valve 416b for controlling the operation of the rotary actuator 416 to keep the hook 417 in the retracted position. When the operating rod 414a advances until a limit switch (not shown) is activated, the solenoid valve 414b is controlled and the operating rod 41
Advancement of 4a is stopped. In this state, the pusher 418 is in contact with the side wall of the cargo box 20, such as the shelf 21, as shown by the two-dot chain line in FIG. Next, the solenoid valve 41
6b is controlled by the rotary actuator 416
is activated to rotate the hook 417 from the retracted position to the retracted position. The hook 417 is located between the hanging fitting 20a and the side wall of the cargo box.

After a predetermined period of time has elapsed after the control of the solenoid valve 416b, the solenoid valve 414b is controlled to cause the operating rod 414a of the air cylinder 414 to retract, and this retraction is stopped when a limit switch (not shown) is activated. As the operating rod 414a moves back and forth, the loading box 2
0 is towed toward the support column 402 and transferred to the arm rod 412. Note that the position where the operating rod stops retracting is when the loading box 20 is at the base plate 411 of the guard plate 413.
It is set at a position where it abuts the side bending part. After the air cylinder 414 is deactivated, the solenoid valve 416b is controlled, and the hook returns to the retracted position. The above operations complete the transfer from the shelf 21 etc. to the box receiving section 401.

Conversely, the transfer of the cargo from the box receiving section 401 to the shelf 21 or the like is performed by advancing and retracting the air cylinder 414.

Next, the transfer from the cargo box receiving section 401 to the self-propelled vehicle 3 is performed as follows. That is, before the self-propelled vehicle 3 reaches the installation position of the transfer machine 41 and the like, the cargo box receiver 401 is raised to the above-mentioned upper transfer position and waits for the arrival of the self-propelled vehicle 3. Next, the self-propelled vehicle 3 is stopped at the installation position of the transfer machine 41. As a result, the bent end portion of the load hanging portion 35 is positioned below the upper bent portion of the hanging fitting 20a. When this stop is completed, the control device issues a predetermined signal to the servo motor 403 to move the cargo box receiving part 401 to the lower transfer position, and the hanging fitting 20a is moved to the cargo hanging part 3.
5 and the transfer is completed.

On the contrary, when transferring from the self-propelled vehicle 3 to the cargo box receiving section 401, the cargo box receiving section 401 is kept in standby at the lower transfer position, and the self-propelled vehicle 3 with the cargo box 20 suspended is transferred to the transfer machine. After stopping at the installation position, the servo motor 403 is driven to raise the cargo box receiving part 401 to the upper transfer position so that the hanging fitting 20a is lifted from the cargo hanging part 35,
The self-propelled vehicle 3 is started. As a result, the cargo box 20 is left on the cargo box receiver 401, and the transfer is completed.

FIG. 7 is a side view of the stopper 2a of the cargo box 20 provided at the downstream end of the fluidized shelf 2, that is, the end facing the transfer device 48, and FIG. 8 is a plan view thereof. This stopper 2a is used to prevent the cargo box 20 from falling from the end of the fluidized shelf 2 that is inclined downward toward this end, and to ensure smooth transfer to the transfer device 43. The transfer machine 43 is equipped with an air cylinder 414 in addition to the configuration of the transfer machine 41 described above.
A push plate 419 that moves forward and backward in conjunction with the operating rod 414a.
has been established. The push plate 419 is located below the base plate 411 side of the tip of the hook 417 in the pulling position, and is located at a position where it does not interfere with the rotation of the hook 417 and the movement of the cargo box 20. An operating rod 2b is arranged at the end of the fluidizing shelf 2 so that its tip protrudes at the tip of the moving range of the push plate 419. This operating rod 2b is supported so as to be able to move approximately horizontally in the direction of box movement, and a push spring 2c is placed between the appropriate position of the fluidizing shelf 2 and a spring seat provided at an appropriate position near the tip of the operating rod 2b.
is used to force it forward.
The proximal end is provided with a drop-in recess 2d having an upper edge that is a suitable length lower than the upper edge of the distal end, into which a roller (cam follower) 2f attached to the stopper frame 2e is inserted. At a portion closer to the proximal end than the recess 2d, an eaves portion 2g is formed that projects upward from the recess 2d in order to prevent the roller 2f from coming off.

The stopper frame 2e has a tip bent upward into a hook shape, and has a pair of locking rods 2h, 2h arranged below both sides of the cargo box 20, and both locking rods 2h, 2h at the tip. Connecting rods 2i, 2i that connect each other at a position slightly closer to the base end than the upper end and center, and a pivot shaft 2j that rotatably connects both locking rods 2h, 2h approximately at the center; A coil spring 21 that is fitted onto the sleeve 2k that is loosely fitted onto the pivot shaft 2j and urges its tip upward, and a slightly proximal end of the proximal connecting rod 2i at the locking rod 2h on the operating rod 2 side b. It consists of a roller 2f, etc., which is mounted inwardly at a closer position.

When the box receiving part 401 of the transfer machine 43 is separated from the flow shelf 2, the operating rod 2b protrudes toward the transfer machine 43 by the action of the push spring 2c, and the roller 2f moves as shown by the broken line. It is sunk into the recess 2d. At this time, the stopper frame 2e maintains the locking position where the flat upper edges of the locking rods 2h, 2h extending from the bent end portion to the pivot shaft 2j are substantially horizontal, as shown by solid lines in FIG. The one-dot chain line in FIG. 7 indicates the level of the upper edge of the roller of the fluidizing shelf 2, in other words, the level of the lower surface of the cargo box 20.
The upper part of the bending tip part of h, 2h or the connecting rod 2i extending between these parts contacts or opposes the lower end part of the surface of the cargo box 20 on the transfer machine 43 side, and prevents it from sliding down.

On the other hand, when the air cylinder 414 of the transfer device 43 is activated and the push plate 419 pushes the operating rod 2b against the push spring 2c, the roller 2f comes out of the recess 2d.
The upper edge portion of the operating rod 2b facing the roller 2f is raised to a level shown by a two-dot chain line. Therefore, the stopper frame 2e rotates downward around the pivot shaft 2j, and the bent ends of the locking rods 2h are retracted below the lower surface of the cargo box, and the cargo box 20 is moved by the hook 417 of the transfer device 43. does not impede traction.

By designing the position and rotation range of the base end of the locking rods 2h, 2h in accordance with the position of the next loading box 20', the base end can be adjusted as shown by the two-dot chain line in Fig. 7. acts as a stopper for the cargo box 20',
The cargo box 20' while the stopper frame 2e is in the retracted position.
prevent the movement of

Furthermore, in order to ensure reliable transfer between the shelves 2, 21 and the transfer machines 41, 42, 43, one side of the rail 1 (the side on which the wheel parts 32, 33 do not run) is provided with a seal as shown in Fig. 9. A positioning device as shown is provided.
As shown in FIGS. 2 and 3, the connecting portion 34 is located at approximately the same height as the lower flange portion of the rail 1, with the passage area being a position separated by an appropriate length from the flange portion.
A roller 341 is mounted and supported on a horizontal shaft. When the center of the transfer device 41 and the like is aligned with the center of the self-propelled vehicle 3 or the load hanging section 35, the web portion of the rail 1 is used on both sides in the traveling direction of the self-propelled vehicle above the location where the rollers 343 are located. Gear 4 of equal size
21,422 are pivoted using a horizontal axis,
Both gears 421 and 422 are in mesh with each other. both gears 4
Arms 423 and 424 in the form of hanging arms are fixed to the shaft end faces of the transfer machine 21 and 422, and the gears 42
It is designed to rotate together with 1,422. gear 4
The arm 423 on the 21 side is the secondary arm portion 4 extending upward.
23a, and the tip of an operating rod 425a of an air cylinder 425 supported by a substantially horizontal trunnion using the rail 1 is rotatably connected to the sub arm portion 423a. The mutual relationship between these members is as shown by the solid line in FIG.
23, 424 are vertically lowered, the rollers 341 are narrowed between them, the centers of the transfer machine 41, etc. and the self-propelled vehicle 3 are aligned, and the operating rod 425a is retracted. The arms 423 and 424 are set to expand in a V-shape and retreat from the movement range of the roller 341. The air cylinder 425 always has the operating rod 425a retracted and the transfer machine 41
When the arrival of the self-propelled vehicle 3 is detected by a sensor 507 such as a metal proximity switch (see Fig. 10) placed near the installation location of the vehicle (stopping of the self-propelled vehicle 3 is controlled separately), the air The cylinder 425 is actuated to advance the operating rod 425a, the arms 423 and 424 which had been spread out until then are brought closer together, and the roller 343 between them is sandwiched between the arms 423 and 424 and forced into a fixed position. As a result, the transfer machine 41 etc. and the self-propelled vehicle 3 are centered, thereby increasing the reliability of handing over the cargo box between the two.
The self-propelled vehicle in this example is not equipped with a braking device,
The power is cut off to stop high-speed travel before the transfer machine that needs to be stopped (in the section before this will be described later). After that, when the necessary conditions are met, low-speed travel is resumed, and the power is cut off to stop low-speed travel due to the activation of a sensor near the transfer machine. Since the vehicle travels at low speed, there is little variation in the inertial travel distance due to the amount of suspended load, and this variation is compensated for by the positioning device. In other words, the speed governor and positioning device of a self-propelled vehicle enables highly accurate stop position control and the omission of a braking device.

FIG. 10 is a layout diagram of the main sensors arranged around the rail 1. Discrimination as to whether the self-propelled vehicle 3 is intended for use only when leaving or entering the garage is determined by sensors that are equipped with magnetic switch dogs for identification at different heights of the self-propelled vehicle 3. (using a reed switch) to detect and discriminate. That is, a sensor 501 for detecting a self-propelled vehicle exclusively for leaving the warehouse.
is a little upstream of transfer machine 41, and 502 is on rail 1
503 on the corner from the left side 12 to the back 13 of
are provided slightly upstream of the transfer machine 42 on the branch line 17. Sensors 504 and 505 for detecting parking-only self-propelled vehicles are sensors 501 and 50, respectively.
2, the same 506 is provided at the corner of the rail 1 from the right side 14 to the front side 11.

Sensors 507, 508, and 509 (using metal proximity switches) for detecting the arrival of the self-propelled vehicle 3 are installed at the installation positions of the transfer machines 41, 42, and 43.
A solenoid valve 42 that operates an air cylinder 425 provided corresponding to each transfer machine based on the detection of this sensor.
5b (see FIG. 11). Sensors (using metal proximity switches) 510511, 512 are provided slightly downstream of each transfer machine 41, 42, 43 to confirm the exit of the self-propelled vehicle 3 from each transfer machine. In addition to this, a sensor 513 for detecting passage using a metal proximity switch is provided slightly downstream of the switching section 16.
The switching timing of the switching units 15 and 16 is determined by the detection of 3. Near the sensor 506 and the sensor 5
A photo sensor is used near the load hanging section 3.
Sensors 514 and 515 are provided to detect whether or not the cargo box 20 is suspended.
A barcode sheet 2 is placed slightly upstream of the transfer machine 41.
Barcode reader 51 that reads barcode 0b
A self-propelled vehicle detection sensor 516 using a metal proximity switch is provided upstream of the barcode reader 51, and the barcode reader 51 starts reading by this detection operation. do. In addition to this, switches are provided at boundary points indicated by △ marks, so that the position of the self-propelled vehicle can be observed for each traveling section indicated by a circle with a number such as .

FIG. 11 is a block diagram schematically showing the entire control system of the apparatus of the present invention, in which 5 is a control device equipped with a microcomputer and its interface, and commands for loading and unloading are issued from an operating device 52 consisting of a keyboard. Given. Rotating multi-row, multi-tier shelf 2
1 is controlled by a rotation control device 53, and the rotation control device 53 is given data regarding its stop position from the control device 5. Regarding the configuration of the rotation control device 53 and the stop control of the shelf 21 using the rotation control device 53, the configuration of the rotation control device 53 and the stop control of the shelf 21 by the rotation control device 53 are described in the Utility Model Application No. 1983-1985 proposed by the present applicant.
This is clarified in issue 77545.

Signals from the aforementioned sensors 501 to 516, etc. are input to the control device 5, and the barcode reader 5
The read data from 1 is input. Conversely, the control device 5 sends start/stop control signals to the motor 31 of the self-propelled vehicle 3, switching control signals to the solenoid valves 414b and 425b that control the supply of compressed air to the air cylinders 414 and 425, and control signals to the rotary actuator 416. A switching control signal for the solenoid valve 416b that controls the supply of compressed air, a drive control signal for the servo motor 403, and a control signal for the solenoid valves 15b and 16b that controls the supply of compressed air to the air cylinders 15a and 16a which are actuators of the switching units 15 and 16. It is designed to emit switching control signals, etc.

Next, regarding the operation control of the self-propelled vehicles 3, 3, transfer machines 41, 42, 43, etc. by the control device 5, first, the case of leaving the warehouse will be explained with reference to the flowchart of FIG. When the code of the item to be delivered is keyed in using the operation device 52, the control device 5 enters the identification of a self-propelled vehicle, and the sensor 501 detects that the vehicle is a self-propelled vehicle exclusively for delivery. A self-propelled vehicle 3 in which it is detected that no box is hung is stopped in the section. In addition, the control device 5 is provided with correspondence data between the article code and the shelf rows and shelves of the rotary multi-row, multi-tiered shelves 21 that store the cargo boxes containing the article code, and stores the shelf corresponding to the input code. The column data is given to the rotation control device 53, and the servo motor 403 is driven in accordance with the shelf data to position the cargo box receiver 401 at the height of the corresponding shelf. Based on the supplied data, the rotation control device 53 controls its drive system so that the corresponding shelf row stops in front of the transfer machine 41, and returns a stop completion signal to the control device 5. In response to this, the control device 5 issues a signal to the solenoid valve 414b to advance the operating rod 414a of the air cylinder 414, and then the rotary actuator 41
6 to attach the hook 417 to the hanging fitting 2 of the cargo box 20.
A signal is issued to the solenoid valve 416a to engage the solenoid valve 416a, and a signal is then issued to the solenoid valve 414b to cause the actuating rod 414a to retract. As a result, the shipping box to be shipped has been received by the shipping box receiving section 401. The control device 5 then issues a signal to the servo motor 403 to move the cargo box receiver 401 to the upper transfer position.

On the other hand, for the self-propelled vehicle 3, a transfer machine 41 is set to prohibit entry into a certain section and keep it waiting in the section, and after moving the cargo box receiver 401 to the upper transfer position, this prohibition is disabled. The vehicle will be released and the vehicle will be allowed to enter the area again at low speed. As a result, the self-propelled vehicle 3 dedicated to leaving the garage enters from the section, but when the sensor 507 detects its arrival, the control device 5 stops the rotation of the motor 31 or the travel of the self-propelled vehicle 3, and stops the operation of the air cylinder 425. A signal is issued to the solenoid valve 425b to advance the arm 425a, and the arms 423 and 424 of the positioning device are brought closer to position the self-propelled vehicle. Next, a signal is sent to the solenoid valve 416b to automatically retract the hook 417 downward, and a signal is sent to the servo motor 403 to move the cargo box receiver 40
1 to the lower transfer position. This means that the required cargo box has been transferred to the self-propelled vehicle 3.

Next, a signal is issued to the solenoid valve 425b to spread out the arms 423, 424 of the positioning device. If there is no other self-propelled vehicle 3 in the adjacent section in the traveling direction, a drive signal is issued to the motor 31, and the self-propelled vehicle heads to the destination input from the operating device 52. The control device 5 recognizes from the detection operation of the sensor 510 that the series of unloading operations related to the transfer machine 41 has been completed, and performs necessary data updates and the like.

In this embodiment, since the delivery destination is determined to be the installation position of the transfer machine 42, the control device 5 roughly performs the following control operations. That is, when the sensor 502 detects the passage of this self-propelled vehicle 3 exclusively for leaving the warehouse, the switching unit 15
A signal is sent to the solenoid valve 15b of the air cylinder 15.
Activate a to switch to the branch line 17 side. Section 12
When the sensor 503 confirms that the vehicle is a self-propelled vehicle exclusively for leaving the garage, the self-propelled vehicle is stopped and positioned in the same manner as described above. Next, the cargo box receiving part 401, which has been waiting at the lower transfer position prior to the arrival of the self-propelled vehicle, is raised to the upper transfer position. Next, the arms 423 and 424 of the positioning device are expanded and the self-propelled vehicle 3 is started. After that, the cargo box receiving part 401 is lowered, and the cargo box 2 is placed on a vacant step at the upper end of the floating shelf 2.
I am trying to transfer and load 0. An empty space in the flow shelf 2 is detected by a photoelectric sensor (not shown), and empty stages are filled from the top.

Next, the case of warehousing will be explained. The storage is carried out automatically or manually at any location on the rail 1 route by the transfer machine 41 for the cargo boxes suspended from the self-propelled vehicle 3.
In this exhibition model, the cargo boxes are transferred to the floating shelf 2 by the transfer machine 42 and then slid to the transfer machine 43. The cargo box is taken out by a transfer machine 43, suspended by a self-propelled vehicle 3 dedicated to warehousing, and the cargo box is automatically warehousing. Therefore, first, an outline of control of transfer to the self-propelled vehicle 3 by the transfer machine 43, which is a preparatory stage for automatic warehousing, will be explained.

When the sensor 506 detects a self-propelled vehicle 3 dedicated to warehousing and the sensor 514 detects that a cargo box is suspended, the vehicle is temporarily stopped in the section and the cargo box 20 taken out from the floating shelf 2 is loaded. The cargo box receiver 401, which has been placed on standby at the lower transfer position, is raised to the upper transfer position. Then, the self-propelled vehicle 3 is started and enters the zone, and when the sensor 509 detects its arrival, the drive of the motor 31 is cut off and stopped, and then a signal is issued to the solenoid valve 425b to cause the arms 423 and 424 to approach. Self-propelled vehicle 3 and transfer machine 43
Then, align the center with the solenoid valve 41.
6b and sends a signal to the rotary actuator 41.
6, the hook 417 is rotated and retracted downward, and the cargo box receiving part 401 is lowered to the lower transfer position. and arms 423, 424 of the positioning device
is expanded and the self-propelled vehicle 3 with the cargo box suspended starts, while the empty cargo box receiver 401 is lowered to a position facing the lowest stage of the fluidized shelf 2, and The next cargo box to be stored is taken out, giving priority to the stack. In this case, the solenoid valves 414b, 41
6b is controlled by the shelf 21 by the transfer machine 43.
This is similar to the case of unloading the cargo box from the cargo box receiving section 401, and when the cargo box receiving section 401 is transferred to the cargo box receiving section 401, the cargo box receiving section 401 rises to the lower transfer position and waits for the arrival of the next self-propelled vehicle.

Next, according to the flowchart in Figure 13, transfer machine 1
The warehousing by 3rd grade will be explained. When the control device 5 detects the intrusion of a self-propelled vehicle dedicated to warehousing into the zone using the sensor 504, and detects that the cargo box 20 is hung using the sensor 515, it starts the control for warehousing as described below. First, the cargo box receiving part 40 of the transfer machine 43
1 position is checked, and if it is not at the lower transfer position, the self-propelled vehicle 3 is stopped, and the cargo box receiver 401 is located at the lower transfer position (this is the standby position after a series of operations are completed).
Wait until it reaches , then restart. When a sensor 516 arranged at the downstream end of the section detects the arrival of a self-propelled vehicle, the barcode reader 51 is caused to read the barcode. If the self-propelled vehicle needs to be stopped or decelerated during this reading, the motor 31 is controlled as required.

The control device 5 searches for the shelf row and shelf rack of the shelves 21 in which the packing box is to be stored based on the barcode reading data, outputs data regarding the shelf row to the rotation control device 53, and stores data regarding the shelf rack in a predetermined register. Let me remember it. The rotation control device 53 that has received the above data performs control to stop the required row of shelves in front of the transfer machine 41 based on this data.

On the other hand, when the self-propelled vehicle 3 is detected by the sensor 507, the control device 5 stops the self-propelled vehicle 3, and the solenoid valve 4
25b to operate the air cylinder 425 and bring the arms 423 and 424 of the positioning device closer together.

When the rotation control device 53 completes the control to stop the required row of shelves in front of the transfer machine 41, it sends a warehousing instruction signal to the control device 5. Upon receiving this signal, the control device 5 issues a signal to the servo motor 403 to raise the cargo box receiver 401 to the upper transfer position.
A signal to rotate the hook 417 to the traction position is issued to the solenoid valve 416b. Next, the solenoid valve 425b
The arms 423 and 424 are expanded by emitting a signal to
If there are no other preceding vehicles in the section ahead, the self-propelled vehicle 3 is started. When the sensor 510 detects that the self-propelled vehicle 3 has left the transfer machine 41, control is entered to transfer the cargo box received on the cargo box receiver 401 of the transfer machine 41 to a desired shelf. That is, first, a signal is issued to the servo motor 403 to lower the cargo box receiving part 401 to a position facing the relevant shelf, and when the movement to this stage is completed, the solenoid valve 414 is activated.
b, 416b, and air cylinder 4
14. Operate the rotary actuator 416 to advance the pusher 418 and release the hook 417;
Then, the push fitting 418 is sequentially retreated. This means that the cargo box 20 has been transferred to the shelf in the corresponding row and tier. Then, the empty cargo box receiving section 401 is raised to the lower transfer position to wait for the next storage.

In the above-mentioned embodiment, the loading position and the loading position are both at one location for the transfer machine 41, but it is also possible to have multiple locations, and if there are multiple loading positions, a common barcode reader is used. The stopping position of the self-propelled vehicle may be selected and determined based on the data read. If there are multiple delivery positions, it is only necessary to select and command one of them.

Furthermore, in the above-described embodiment, the control device 5 searches for shelf rows and shelf shelves based on the input product code, and searches for shelf rows and shelf shelves based on the data read by the barcode reader. The article code and read data may be transferred to the rotation control device 53, the rotation control device 53 may perform a search, and the shelf data may be returned to the control device 5. Rotating shelves are often manually loaded and unloaded, and in this case the rotation control device can be used as an operating terminal. In other words, the rotation control device 53 provides comparison data and a search function between the article code, the shelf row, and the shelf rack so that the shelf row of the packing box containing the article can be stopped at a predetermined position by inputting the article code.
This is because it is reasonable to give it to Note that the multi-row, multi-stage shelves are not limited to rotary types, and may be reciprocating types.

Furthermore, it is also possible to designate the storage location by input from an operator, without relying on barcodes or other packaging box identification means. Furthermore, it goes without saying that the hanging load is not limited to the above-mentioned cargo boxes.

As described in detail above, the device of the present invention is configured with multiple stages and rows, and is equipped with rotary movable shelves that can move a predetermined row of shelves to the warehousing or unloading position. As the transfer machine takes on part of the horizontal transport and the lifting and downward movement of the load, the required operations of the rotary moving shelf and the transfer machine are reduced, and the configuration is simple and compact. Also, loading and unloading of goods can be carried out easily and quickly. Also, as a means of transporting loads, self-propelled vehicles are run independently on overhead rails.
There are few restrictions on travel conditions, wasteful conveyance courses can be eliminated, and rapid and efficient conveyance can be performed. Furthermore, since the self-propelled vehicle is run on the overhead rail and the transfer machine is raised and lowered below the running area, the present invention has excellent effects such as high space utilization efficiency.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention, and FIG. 1 is a schematic external view showing one embodiment of the present invention, and FIG.
The figure is a rear view of the self-propelled vehicle, Figure 3 is its side view, and Figure 4 is the rear view of the self-propelled vehicle.
The figure is a side view for explaining the operation of the transfer machine, Figure 5 is a side view of the cargo box receiver, Figure 6 is a partial plan view thereof, Figure 7 is a side view showing the stopper of the flow shelf, Figure 8 The figure is a plan view of the same, Figure 9 is a front view of the positioning device for the stop position of a self-propelled vehicle, Figure 10 is a layout diagram of the main sensors around the rail 1, Figure 11 is a block diagram showing the entire control system, Figure 12 The figure shows a flowchart for leaving the warehouse, and FIG. 13 shows a flowchart for entering the warehouse. DESCRIPTION OF SYMBOLS 1... Rail, 2... Fluid shelf, 3... Self-propelled vehicle, 5... Control device, 20... Packing box, 21... Multi-row, multi-tier shelf, 41,
42, 43...Transfer machine, 51...Barcode reader,
52... Operating device, 53... Rotation control device.

Claims (1)

[Scope of Claims] 1. Rotating movable shelves configured in multiple stages and in multiple rows and capable of moving a predetermined shelf row to a warehousing position or a warehousing position; an aerial rail arranged in association with a warehousing position or a warehousing position; A plurality of self-propelled vehicles are suspended from rails and run independently, each supporting a suspended load in a removable manner. 1, equipped with horizontally movable hanging load support means for loading or unloading.
or a plurality of transfer machines; and an automatic loading/unloading device.