JPH10218313A - Article storage equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve work efficiency through simplification of a picking work. SOLUTION: Article storage equipment is constituted such that a plurality of article containing parts H to contain a plurality of article are juxtaposed and the article containing parts H are movable in the juxtaposing direction of the article containing parts H to take out articles, and further, a moving body 6 for conveying articles having an article holding part DH to hold articles to be taken out are arranged. The moving body 6a for conveying articles is provide with an article transfer device PR for picking to grasp an article contained in the article containing part H and transfer the article to the article holding part DH in a state that the moving body 6a for conveying articles is situated in an article taking-out position for the article containing part H. A control means is provided to execute picking control through which, based on article take-out information for picking, movement of the moving body 6a for conveying an article and operation of the article transfer device PR are controlled.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION A plurality of article storage sections capable of storing a plurality of articles are arranged side by side, and are movable in the direction in which the article storage sections are arranged for taking out articles from each of the article storage sections. In addition, the present invention relates to an article storage facility provided with an article transporting moving body provided with an article holding unit for holding taken-out articles.

[0002]

2. Description of the Related Art In such an article storage facility, a plurality of article storage sections capable of storing a plurality of articles are arranged side by side, and a desired article is taken out from each of the article storage sections by an article transporting moving body, namely, This is a facility that enables so-called picking work. In order to perform such a picking operation, it is necessary to transfer the articles between the article storage section and the article holding section of the article transporting moving body. 2. Description of the Related Art Conventionally, for example, Japanese Unexamined Patent Publication No.
As described in Japanese Patent Application Publication No. 6, JP-A-2006-15064, a plurality of articles are stored in an article storage section in a state of being placed on a pallet. The transfer operation has been performed by transferring the article to a transfer moving body, transferring the articles on the pallet to the article holding section, and returning the pallet to the original article storage section.

[0003]

However, in the above-mentioned conventional configuration, it is necessary to perform an operation of transferring the entire pallet on which a plurality of articles are placed, and as a result, the labor required for the picking operation becomes large, so that an improvement is desired. I was The present invention has been made in view of the above circumstances, and an object of the present invention is to simplify the picking operation and improve the operation efficiency.

[0004]

According to the first aspect of the present invention, the article transporting movable body moves in the direction in which the plurality of article storage sections are arranged and appropriately moves the desired article from the article storage section. Then, the picked-up work is performed by holding the picked-up article in the article holding section. For this picking operation, the article transporting moving body is provided with an article transfer device for picking and control means for controlling the operation of the article transfer device. Under the control of the control means based on the picking-up article take-out information, the article-transporting moving body moves so as to be located at the take-out position with respect to the article storage unit to be taken out of the article, Hold the article stored in the article storage section,
Transfer to the article holder. That is, the picking article transfer device directly grips and transfers the article to be taken out of the articles stored in the article storage section. Therefore, the operation of taking out the article from the article storage section can be simplified as much as possible, and thus the picking work can be simplified and the working efficiency can be improved.

[0005] In addition, with the configuration according to the second aspect of the present invention, the command means selects a plurality of article storage sections and specifies picking-up quantities in a state where the number of articles to be taken out from each article storage section is specified. If you order as the goods removal information of
The control means for executing the picking control controls so as to take out the specified number of articles from each of the selected article storage units. Therefore, it is possible to take out articles from a plurality of article storage sections by one picking operation, and it is possible to further improve the efficiency of the picking operation. In addition, by providing the configuration according to the third aspect, the article storage unit can
The article transfer devices of the article transfer moving body are provided on both sides of the movement path of the article transfer moving body, and take out the articles from the article storage units on both sides of the movement path. The article transfer device includes an article holding unit that holds an article taken out of the article storage unit,
Since they are arranged side by side in the moving direction of the article transporting moving body, they can be moved from the article storage sections on both sides of the moving path of the article transporting moving body while using a space in the moving direction having relatively large installation dimensions. Articles can be taken out accurately.

In addition, with the configuration according to the fourth aspect of the present invention, the article holding section of the article transporting moving body can transfer the cargo handling equipment to both the article storage section and the article carrying-in / out section of the article storage facility. A loading equipment transfer device capable of loading is provided.
In other words, in addition to the operation of gripping the article in the article storage section by the article transfer device and transferring the article to the article holding section, the transfer of the cargo handling equipment capable of loading the article between the article transporting moving body and the article storage section. Loading can also be performed. In response to such a configuration,
As a control mode of the control means for performing the picking control, there are two control modes of a picking mode and a cargo handling equipment transfer mode. In the picking mode, the article transporting moving body is stopped so as to be adjacent to the article storage section to be taken out, and the articles in the article storage section are transferred by the article transfer apparatus to the cargo handling equipment held by the cargo handling apparatus transfer apparatus. I do. When the removal of the articles as desired is completed, the article transporting moving body is moved to a position adjacent to the article loading / unloading section for loading / unloading articles into / from the article storage facility, stopped, and the articles removed from the article storage section. Is transferred to the article carrying-in / out section by the cargo handling equipment transfer device. That is, a normal picking operation is performed.

On the other hand, in the cargo handling equipment transfer mode, the article transporting moving body is stopped so that the article holding part is adjacent to the article storage part and the article carrying-in / out part, and the cargo handling equipment is transferred by the cargo handling equipment transfer device. . Depending on this cargo handling equipment transfer mode, for example,
In the case where a plurality of articles are stored in the article storage unit with the articles being loaded on the cargo handling equipment, when all the articles mounted on the cargo handling tool are taken out and become empty, the empty cargo handling tool is removed from the article loading / unloading section. To take out the cargo handling equipment loaded with goods in place of the empty cargo handling equipment that has been carried out into the goods storage unit, and furthermore, when taking out all the goods present in the goods storage unit to be taken out Work such as taking out the entire cargo handling equipment. Therefore, the articles in the article storage section are transferred to the cargo handling equipment held by the cargo handling apparatus transfer apparatus, and the cargo handling apparatus loaded with the articles is carried out to the article carry-in / out section, so that the articles taken out of the article storage section can be moved to the articles. In a series of picking work to be carried out to the carry-in / out part of the storage facility, the goods can be transported smoothly, and the structure for transferring the cargo handling equipment can be used as it is to diversify Transport is possible, and while simplifying the configuration,
The article storage facility can be made more convenient.

[0008] In addition, with the configuration according to the fifth aspect, the cargo handling equipment on which a plurality of articles are mounted is constituted by a pallet for stacking a plurality of articles. With such a simple configuration, a large number of articles can be loaded, and the article storage efficiency in the article storage section can be improved. In addition, the articles taken out of the article storage section are stacked on the pallet in a set pattern under the control of the control means. Therefore, by appropriately setting the set pattern, the articles can be stacked in a stable posture and the articles on the pallet can be stacked. Array follows a certain rule,
When the articles are unloaded from the cargo handling tools on which the articles are stacked, it is easy to recognize the location of the articles, and the workability can be improved.

In addition, with the configuration according to the sixth aspect, the article transfer apparatus for transferring the article in the article storage section to the article transporting moving body is a multi-joint type in which the article is gripped at the tip end. Since it is constituted by a manipulator, the above-mentioned tip can be accurately brought close to the articles stored in the article storage section, and the transfer can be accurately performed. By folding the mold manipulator, it is possible to accurately prevent the article transfer device from hindering the movement of the article transporting moving body.

[0010] Further, by providing the above structure, the article transfer device constituted by the multi-joint type manipulator is configured so that the horizontal multi-joint type can be driven up and down freely. When the distal end portion enters the article storage section, the space required in the vertical direction required for the entry can be minimized as much as possible, and the design constraint of the article storage section can be reduced, This can be advantageous in terms of practical production.

[0011] In addition, by providing the structure of claim 8, the article transfer device grips the article by sucking the article with the vacuum pad, so that the article is simply mechanically gripped. The article can be grasped more accurately as compared with the above, and the workability of the article transfer operation can be improved.
Further, with the configuration according to the ninth aspect, the article transfer device suctions and holds the upper surface and the side surface of the article with the vacuum pad, so that the article can be gripped more accurately.

[0012] Further, by providing the structure according to the tenth aspect, the article storage sections are arranged side by side in the vertical direction and the horizontal direction to form a storage shelf. According to the arrangement configuration, it is configured to be lifted and lowered by a traveling body that runs in the lateral direction of the storage shelf, so that articles can be taken out from each article storage section of the storage shelf. In this way, by configuring the article storage unit as a shelf, the installation space of the article storage facility can be made as small as possible while securing the article storage capacity.

[0013] Further, with the configuration according to the eleventh aspect, the storage shelf configured by arranging the article storage sections vertically and horizontally can be oriented in the same direction as the article insertion and removal direction and orthogonal to the article insertion and removal direction. In order to selectively form a traveling path of a traveling body on which an article transporting moving body is lifted and lowered between adjacent storage shelves, a plurality of storages are provided. A shelf located in the middle of the shelves is provided so as to be able to reciprocate within a certain range in the article loading and unloading direction, and also, in order for the traveling body to enter the traveling passage selectively formed as described above, A transfer carriage on which the traveling body can get on and off by traveling while being adjacent to the end of the traveling passage is provided so as to be reciprocally movable in the direction in which the storage shelves are arranged.

In such an article storage facility, when articles are taken out of the article storage section, the storage shelves are formed so that a traveling path of the traveling body is formed facing the storage shelf in which the article storage section to be taken out exists. It is moved as appropriate, and the transport vehicle is stopped in a state adjacent to the end of the formed travel path, and the traveling body enters the travel path formed from the transport vehicle, and is moved from the article storage unit to be unloaded to the desired position. Take out the goods. Therefore, by selectively forming the traveling path of the traveling body, it is possible to take out the articles from the desired article storage section, but by arranging the plurality of storage shelves as densely as possible, Can be improved as much as possible.

[0015] In addition, with the configuration according to the twelfth aspect, since the plurality of article storage units are installed in the warehouse whose temperature is controlled to a low temperature, it is difficult for workers to work in the warehouse. However, since the picking operation can be performed by the picking control by the control means as described above, the work load on the operator can be reduced as much as possible.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of an article storage facility according to the present invention will be described below with reference to the drawings. The article storage facility is installed in, for example, a factory building, and as shown in FIGS. 1 and 2, a pair of fixed shelves A installed and fixed on the ground floor surface.
And eight movable shelves B disposed between the fixed shelves, in a state where the article taking-out direction is directed in the same direction, and
Four shelf support rails 1 arranged side by side in a horizontally long position that is long in the horizontal direction perpendicular to the article loading / unloading direction and fixed to the ground floor along the article loading / unloading direction, and article loading / unloading formed between adjacent shelves. And a stacker crane E for moving articles D in and out of the fixed shelf A or the movable shelf B while traveling in the work passage C along the lateral direction of the shelf. A transfer trolley F that travels and moves along a trolley rail 2 provided at one end of the moving shelf B, and a load receiver that is provided to temporarily store articles D to be loaded and unloaded, and that functions as an article loading / unloading unit of an article storage facility. Dolly G
Are provided.

In a storage shelf SS composed of a fixed shelf A and a movable shelf B, a plurality of rectangular box-shaped articles D are loaded with cargo handling tools LD.
Is stored in a stacked state on the pallet P as
The storage shelf SS is provided with an article storage section H for storing a pallet P in which articles D are stacked in a state of being arranged in a vertical and horizontal direction. The moving shelf B is shown in FIGS.
As shown in the figure, two adjacent shelves B1 back to back are connected to each other and the bottom thereof is fixed to a support frame B2. The support frame B2 is a set of two pieces arranged in front and rear in the running direction. The four sets of rack running wheels 3 corresponding to each of the four shelf support rails 1 are supported at intervals in a horizontal direction perpendicular to the article loading / unloading direction.

Then, these movable shelves B are reciprocated within a fixed traveling range along the four shelf support rails 1 by rolling of the shelf traveling wheels 3 to move the movable shelf B with the fixed shelf A as shown in FIG. The moving shelf B between the moving shelf B and the adjacent moving shelf B as shown in FIG.
The traveling path C is selectively formed at any one of the positions, and the rolling of the crane traveling wheels 4 provided at the lower portion of the stacker crane E corresponding to each of the traveling paths C is performed. And a single crane support rail 5 that supports the stacker crane E so that it can travel.

As shown in FIG. 5, the stacker crane E has four cranes including two drive wheels 4a arranged at one end in the traveling direction and two idle wheels 4b arranged at the other end in the traveling direction. A lift 6a provided with a fork device J and a picking robot PR on a running body 6 on which the running wheels 4 are supported, two columns 6b for supporting the lift 6a so as to be able to move up and down, and driving wheels 4a. , A motor-driven traveling drive unit 6c that drives the motor, a motor-driven lifting drive mechanism 6d that drives and lifts the lift 6a, a rectangular frame 6e that connects the upper ends of the two columns 6b, and this frame. 6e, four guide rollers 7a are supported on both sides in the width direction of the working passage around the vertical axis.

As the traveling body 6 travels, these guide rollers 7a are mounted on the guide rails 7b provided at the upper end of the fixed shelf A or the movable shelf B located on both lateral sides of the traveling path C. It rolls along the side surface to guide and support its traveling, and also fixes the falling of the stacker crane E accompanying the transfer of the container D to the guide rail 7b of the guide roller 7a with the guide rail 7b provided with the guide rail 7b. It is configured to be restricted by contact in a direction approaching the shelf A or the moving shelf B.

The traveling of the traveling body 6 guided by the crane support rails 5 and the guide rails 7b, and the lifting and lowering movement of the elevator 6a along the columns 6b of the traveling body 6,
The elevator 6a moves in the direction in which the article storage units H are arranged, and takes out the articles D from the left and right article storages H facing the formed travel path C. Function as The traveling path C of the traveling body 6 also constitutes a movement path of the elevator 6a.
This means that the article storage sections H are provided on both sides of the movement path a.

At the intersection where the shelf support rail 1 and the crane support rail 5 intersect in plan view, the shelf support rail 1 and the crane support rail 5 are fixed by a common rail fixing tool 8 bolted to the floor surface. It is fixed, and the shelf support rail 1 is continuously connected at the intersection thereof,
The crane support rail 5 is fixed at a position sandwiching the shelf support rail 1 in a plan view at an interval so that the shelf traveling wheel 3 can pass through the intersection without being interfered by the crane support rail 5. .

The crane support rail 5 is positioned higher than the shelf support rail 1, and the two drive wheels 4a and the two idle wheels 4 of the stacker crane E are provided.
b is provided before and after at a pitch wider than the interval between the crane support rails 5 provided at positions sandwiching the shelf support rails 1, and one of the crane traveling wheels 4 rises between the crane support rails 5 at the intersection. In this state, the stacker crane E is supported by the remaining three crane traveling wheels 4 so as to be able to travel, and the crane traveling wheels 4 straddle the shelf supporting rails 1 without being interfered by the shelf supporting rails 1. While passing through the intersection.

The fork device J and the picking robot PR provided on the lifting platform 6a are provided side by side in the direction of movement of the lifting platform 6a that moves as the traveling body 6 travels. The articles D can be taken out from the article storage sections H located on both sides of the passage. The picking robot PR is constituted by an articulated manipulator. Specifically, the base end side of the articulated arm 14 is supported by an elevating drive unit 15 so as to be capable of being driven up and down. The arm 14 itself is configured as a horizontal multi-joint type that can swing around the vertical axis at each joint. At the tip of the arm 14, there is provided a vacuum pad 15 formed by connecting a vacuum pad 15a for absorbing the upper surface of the article D and a vacuum pad 15b for absorbing the side surface of the article D in an L-shaped cross section. The article D is gripped by the pad 15. Although a detailed description of a specific configuration of the vacuum pads 15a and 15b is omitted, a suction hole for sucking air is provided on a surface in contact with the article D,
A seal member is provided around the suction hole to maintain airtightness when the article D is sucked.

A pallet P is placed on the fork device J as a cargo handling device LD for loading and storing the articles D taken out of the respective article storage sections H. The picking robot is a picking article transfer apparatus. The articles D taken out of the article storage section H by PR are sequentially placed on the pallet P on the fork apparatus J, and therefore the articles holding the articles D taken out of the article storage section H by the fork apparatus J and the pallet P are held. The holding unit DH is configured. When all the necessary articles D have been taken out, the traveling body 6 transfers to the transport trolley F,
The transfer truck F transports the traveling body 6 to the load receiving truck G, and transfers the pallet P on which the article D is mounted to the load receiving truck G by the fork device J of the lift 6a. As described below, the fork device J can transfer the pallet P to and from the article storage unit H. Therefore, the fork device J functions as a cargo handling device transfer device TP capable of transferring the cargo handling device LD. I do.

The distance between the guide rails 7b located on both sides of the running path C at two laterally separated positions on the fixed shelf A and the movable shelf B, that is, at both lateral ends of the shelf, is maintained at an appropriate distance. For this reason, in a state in which the traveling path C is selectively formed between the fixed shelf A and the movable shelf B or between the movable shelves B, the interval between the shelves located closely adjacent to each other in the article taking-out direction is set to be equal. A contact portion 9 that regulates by mutual contact is provided.

The contact portion 9 is provided with two hard stoppers 9a at a position facing the movable shelf B at both ends in the horizontal direction of the fixed shelf A and at a front-rear position at both ends in the horizontal direction of the movable shelf B. Arranged at the upper position of the guide rail 7b and the support frame B2, and the contact surfaces 9b of these stoppers 9a are made to protrude more than the guide rail 7b in the article loading / unloading direction to form a travel passage C between desired shelves. When the moving shelves B are moved, the adjacent shelves relatively move in the approaching direction, so that the four stoppers 9a opposed to each other in the moving direction abut at the same time between the shelves, and The interval between the guide rails 7b located on both lateral sides is maintained at an appropriate interval.

The two rack running wheels 3 supported front and back corresponding to each of the shelf support rails 1 are composed of drive wheels 3a and idle wheels 3b. As shown in FIG.
The electric motors M for driving the axle 10 separately corresponding to each of the axles 10 are provided. In addition, a moving shelf control device 11 for controlling the operation of the electric motor M is provided for each moving shelf B. The moving shelf control device 11 detects the position of the moving shelf B by detecting the presence or absence of the detection target plate 13 with the photo interrupter type optical sensor 12, and moves the moving shelf B within a certain traveling range. Control M.

As shown in FIG. 7, the entire operation of the article storage facility having the above configuration is controlled by a main controller 16 and a crane controller 1 for controlling the operation of the stacker crane E.
7. The control unit for the transfer carriage 18, the above-mentioned moving shelf control unit 11, and the like execute control operations in accordance with commands from the main control unit 16. An overview of the operation of the article storage facility with the above configuration,
The control operation of the crane control device 17 will be described with reference to the flowchart of FIG. The specific contents of the picking work are input to the main control device 16 by the operator from the console 16a of the main control device 16, or the host computer connected to the main control device 16 by a communication line. An instruction is input from the user. The contents of the picking work may be, for example, contents specifying the article D to be taken out from the storage shelf SS and the quantity to be taken out.

When receiving the instruction of the picking operation, the main controller 16 selects the article storage section H storing the articles D to be taken out of the article storage sections H of the storage shelves SS, and selects the selected article storage section. An instruction is given to the crane control device 17 together with the number of articles D to be taken out from each of the sections H. Therefore,
The main controller 16 functions as a command means PC for commanding picking-out information for picking. When the crane control device 17 receives, as the work instruction information, the information for specifying the article storage section H and the information on the number of articles D to be taken out of the article storage section H, a flowchart including picking control shown in FIG. Starts. Therefore,
The crane control device 17 functions as control means CO for executing picking control.

First, the crane control device 17 determines whether or not this work instruction information is information for performing a typical picking work (step # 1). That is, the main controller 16
In principle, when an instruction for picking work is received, the crane control device 17 is instructed to indicate a typical picking work instruction to the article storage unit H and the number of articles to be taken out from the article storage unit H, When the number of articles to be taken out is to take out all the articles D placed on the pallet P, an instruction to take out the entire pallet P from the article storage section H is issued to the crane control device 17. Note that the work instruction from the main control device 16 to the crane control device 17 is issued for one pallet P, such as collection of articles D on one pallet P or removal of one pallet P from the article storage section H. The work is set as a work unit, and is instructed to the crane control device 17 for each work unit. Therefore, when the picking operation instruction issued to the main control device 16 exceeds the number that can be mounted on one pallet P and extends to the operations on a plurality of pallets P, the main control device 1
6 instructs the crane control device 17 to instruct one work unit, and when the crane control device 17 completes the work instructed, it issues a work instruction for the next work unit.

When a typical picking operation is performed (step # 1), processing in a picking mode is executed. That is, in the initial state, the traveling body 6 is located on the transfer carriage F with the empty pallet P mounted on the fork device J of the lift 6a. The control device 18 waits until the traveling body 6 is transported to the position corresponding to the existing position of the article storage unit H from which articles are to be taken out (step # 2). In parallel with the transfer of the traveling body 6 by the transfer trolley F, the moving shelf control device 11 moves the article storage section H to be taken out of the article to the traveling passage C of the traveling body 6 according to an instruction from the main control device 16. The traveling path C of the traveling body 6 is formed so as to face the vehicle. When the transfer cart F stops at an appropriate position (step #
2) The traveling body 6 travels while being guided by the crane support rail 5 and the guide rail 7b, and the elevating platform 6a is driven up and down, so that an appropriate stop position for the article storage portion H that stores the articles D to be taken out by the elevating platform 6a. And stops (step # 3). When the picking robot PR does not execute the article transfer operation, such as when the elevator 6a moves, as shown in FIGS. 9B and 10B, the arm 14 is folded and the elevator 6a is moved. So as not to hinder the movement of the building.

This proper stop position is shown in FIG.
As shown in FIG. 0 (a), this is a stop position where the picking robot PR is positioned substantially in front of the article storage section H. Elevating operation to the appropriate appropriate elevating height, operation of entering the tip of the arm 14 into the article storage section H, descending operation until the tip of the arm 14 contacts the corner of the article D, vacuum pads 15a, 15b The picking operation for sequentially performing the suction operation of the article D, the raising and retreating operation of the arm 14, the moving operation of the tip of the arm 14 onto the fork device J, that is, the empty pallet P, the lowering operation of the arm 14, and the releasing operation of the arm 14 It repeats until the removal of the number of articles taken out is completed (step # 4).

On the article storage section H and the fork apparatus J, the articles D are placed in a state of being stacked in a set pattern. As the setting pattern, in addition to a simple stack of articles D having the same shape as shown in FIG. 10A, a vertical gap formed between the articles D as shown in FIG. Can be stacked in various patterns, such as stacking them so that they are not continuous between upper and lower successive steps. In this way, by stacking according to the set pattern, by specifying the order of taking out the articles D and the number of the articles D, the position of the articles D on the pallet P can be identified, and the picking robot PR Gripping of the article D by the user becomes easy. However, the position of the article D on the pallet P may be specified by image processing using an imaging device or the like, without depending on the stacking pattern of the article D.

When the removal of the articles D from one article storage section H is completed, the articles selected to be taken out of the article storage sections H facing the traveling path of the traveling body 6 formed at that time. When the storage section H exists, picking in the article storage section H is performed in the same manner as described above,
When all the operations are completed (step # 5), the traveling body 6 is transferred to the transfer cart F (step # 6). At this time, if there is still an article storage unit H to be picked,
The same operation as described above is repeated to continue the picking operation, and if all the operations are completed (step # 7), the main controller 16
In response to the instruction from, the control unit 18 waits until the transfer trolley control device 18 moves the transfer trolley F carrying the traveling body 6 to the position of the receiving trolley G (step # 8).

When the movement of the transfer trolley 7 is completed (step # 8), the fork device J of the lift 6a is operated to transfer the pallets P on which the articles D taken out of the respective article storage sections H are stacked to the load receiving trolley G. (Step # 9). The operator transfers the pallet P transferred to the receiving cart G to another place by a forklift or the like. After the pallet P is transferred from the lifting platform 6a to the receiving cart G, if a signal indicating that the pallet P should be taken out of the pallet P is continuously received from the main control device 16 (step # 10), the process is terminated and the main control is terminated. When there is no instruction from the device 16, the worker receives the empty pallet P loaded on the receiving truck G by the fork device J (step # 11), and ends.

On the other hand, in step # 1, if the work instruction from the main controller 16 is not a typical picking work instruction but a work instruction to take out the pallet P from the article storage section H, the above-described picking mode is set in the processing. Instead, the following processing as the cargo handling equipment transfer mode is executed.
That is, first, the empty pallet P mounted on the fork device J is returned to the receiving cart G (step # 12),
Since it is not a warehousing operation (step # 13), the pallet P
The traveling path C of the traveling body 6 is formed so that the article storage section H from which the vehicle is to be taken faces, and the process stands by until the movement of the transfer cart F to the position corresponding to the traveling path C is completed (step # 14). . As in the case described above, this transport trolley F
Shelf control device 11 in parallel with the transport of the traveling body 6 by the
However, the traveling path C of the traveling body 6 is formed such that the article storage unit H from which the article is to be taken out faces the traveling path C of the traveling body 6 according to an instruction from the main control device 16. When the transfer cart F stops at an appropriate position (step # 14), the traveling body 6 moves while being guided by the crane support rail 5 and the guide rail 7b, and the elevator 6a is driven up and down to take out the elevator 6a. The pallet P is moved to and stopped at an appropriate stop position for the article storage unit H that stores the pallet P (step # 15).

This proper stop position is shown in FIG.
As shown in FIG.
In this proper stop position, the fork device J is operated to take out the pallet P on which the articles D in the article storage section H are placed, and transfer the pallets P onto the elevator 6a. (Step # 16). Thereafter, the traveling body 6 is moved over the transfer trolley F (step # 17). Since the empty pallet P is not mounted (step # 18), the transfer trolley F moves to the position of the load receiving trolley G. (Step # 19), and when the movement to the position of the receiving truck G is completed (step # 19), the fork device J is operated to transfer the pallet P to the receiving truck G (step # 20). An empty pallet P is received instead (steps # 9 and # 11).
21).

In addition to controlling the picking operation, the crane control device 17 takes out all of the articles D and carries out the empty pallet P from the storage shelf as an operation associated with the picking operation. Instead, the control for storing the pallet P loaded with the articles D is also executed. Each of these operations is a process in the above-mentioned cargo handling equipment transfer mode, and the operation of unloading an empty pallet P is substantially the same as the above-described process of taking out the article D for each pallet P, and thus the description thereof is omitted. Pallet P full of goods D
Is stored in the storage shelf SS, first, the fork device J
Return the upper empty pallet P to the receiving cart G (step #
12) Since it is a case of warehousing (step # 13),
After the operator puts the pallet P loaded with the articles D on the load receiving cart G with a forklift or the like, the operator activates the fork device J to receive it (step # 22). After that, a traveling path C of the traveling body 6 is formed at a position corresponding to the article storage section H in which the pallet P is to be stored, and the apparatus waits until the transfer carriage F completes moving at a position corresponding to the traveling path C. (Step # 23).

When the transfer trolley G completes the movement (step # 23), the traveling body 6 moves while being guided by the crane support rail 5 and the guide rail 7b, and moves up and down.
is moved up and down, and the fork device J of the lifting platform 6a stops so as to be located in front of the article storage section H where the pallet P is stored (step # 24). After stopping, the pallet P is stored in the article storage section H by operating the fork device J (step # 25). When the storage of the pallet P is completed, the traveling body 6 is transferred to the transfer trolley F (step #).
26), the traveling body 6 is conveyed to the position of the receiving cart G by the transfer cart F, and the empty pallet P is
a (Steps # 27 and # 28).

[Other Embodiments] Hereinafter, other embodiments of the present invention will be listed. In the above embodiment, the case where the article storage facility is installed in the factory building is illustrated.
As shown in (2), the article storage unit H may be installed in a warehouse SA whose temperature is controlled to a low temperature by a cooling device (not shown). In this case, only the storage shelves SS configured by arranging the article storage units H are arranged in the warehouse SA, and the stacker crane E may move between the inside and the outside of the warehouse SA, or may include the stacker crane E. All of the article storage facilities may be installed in the warehouse SA.

In the above-described embodiment, the storage shelf SS configured by arranging the article storage units H includes the fixed shelf A and the movable shelf B, and the traveling path C of the traveling body 6 is selectively moved by the movement of the movable shelf B. The storage shelf SS is composed of only a pair of fixed shelves, and the stacker crane only reciprocates along a traveling passage formed between the pair of fixed shelves. May be configured as an automatic warehouse. In the above-described embodiment, the lift 6a functioning as the article transporting moving body is provided as a part of the stacker crane.
For example, a guide rail for conveying and guiding the entire width in the horizontal direction is provided, and the guide rail itself is driven up and down.

In the above embodiment, the case where the article storage units H are arranged vertically and horizontally to form the storage shelf SS is illustrated. For example, the article storage units H are arranged on the floor.
May be arranged to store the article D in a so-called flat state. In this case, the article transporting moving body may be configured as a so-called unmanned transport vehicle. In the above-described embodiment, the picking robot PR configured as an articulated manipulator is illustrated as the article transfer device. However, for example, a lifting tool that can hold the article D is suspended in a hanging crane format. The configuration of the article transfer device, such as the configuration for moving between the article storage unit H and the article storage unit H, can be variously changed. In the above-described embodiment, the configuration in which the article D is sucked and gripped by a so-called vacuum pad is illustrated, but the article transfer device grips the article such as a configuration in which both sides of the article D are gripped. The configuration can be variously changed.

In the above-described embodiment, the pallet P is exemplified as the cargo handling device LD. However, various types of cargo handling devices L such as a container formed in a box-like body having an open upper portion are exemplified.
D can be used. In the above-described embodiment, the fork device J is exemplified as the loading / unloading device transfer device TP. However, for example, a device for transporting a so-called chain conveyor type loading / unloading device LD is provided on the elevating platform 6a. The configuration of the loading / unloading device transfer device TP can be variously changed, for example, such that the loading / unloading device LD can be transferred. In the above embodiment, the article holding unit DH includes the fork device J, and the pallet P mounted on the fork device J includes:
As a configuration for placing the articles D taken out of the article storage section H, the article D picked in the article holding section DH is also provided with a function of lowering the article D to the article loading / unloading section, but the article holding section DH is simply a loading table. And an apparatus for unloading the article D picked in the article carrying-in / out section may be provided.

[Brief description of the drawings]

FIG. 1 is a perspective view of an article storage facility according to an embodiment of the present invention.

FIG. 2 is a schematic plan view of an article storage facility according to an embodiment of the present invention.

FIG. 3 is a side view of a main part according to the embodiment of the present invention;

FIG. 4 is a side view of a main part according to the embodiment of the present invention.

FIG. 5 is a side view of a main part according to the embodiment of the present invention.

FIG. 6 is a plan view of a main part according to the embodiment of the present invention;

FIG. 7 is a block diagram according to an embodiment of the present invention;

FIG. 8 is a flowchart according to the embodiment of the present invention.

FIG. 9 is an operation explanatory diagram according to the embodiment of the present invention;

FIG. 10 is an operation explanatory diagram according to the embodiment of the present invention;

FIG. 11 is a schematic side view according to another embodiment of the present invention.

[Explanation of symbols]

 Reference Signs List 6 traveling body 6a article transport moving body 15 vacuum pad CO control means DH article holding section G article carry-in / out section H article storage section LD cargo handling equipment PC command means PR article transfer equipment SS storage shelf TP cargo handling equipment transfer equipment

Claims (12)

[Claims] A plurality of article storage sections capable of storing a plurality of articles are arranged side by side, and are movable in a direction in which the article storage sections are arranged for taking out articles from each of the article storage sections, and An article storage facility provided with an article transporting moving body including an article holding unit that holds the taken out article, wherein the article transporting moving body is located at an article takeout position with respect to the article storage unit. An article transfer device for picking, which grips an article stored in the article storage section and transfers the article to the article holding section, is provided in the article transporting moving body, and is based on the picking-up article removal information. And an article storage facility provided with control means for executing picking control for controlling the movement of the article transporting moving body and the operation of the article transfer device. 2. A commanding means for commanding picking-out article pick-up information, instructs information for selecting a plurality of article pick-up sections and information on article pick-up number information from each of the selected article pick-up sections. The control means, in the picking control, takes out the specified number of articles from each of the selected plurality of article storage sections and transfers the taken out articles to the article holding section. The article storage facility according to claim 1, wherein the article storage facility is configured as follows. 3. The article storage section is provided on both sides of a movement path of the article transporting moving body, and the article holding section and the article transfer device are arranged side by side in the moving direction of the article transporting moving body. The article storage device according to claim 1, wherein the article storage device is provided. 4. A loading / unloading tool transfer device capable of transferring a loading / unloading tool to / from the article storage unit to the article holding unit and capable of transferring to / from an article loading / unloading unit of an article storage facility. Wherein the control means is configured to be able to select between a picking mode for executing the picking control and a cargo handling equipment transfer mode for executing the cargo handling equipment transfer control. In the picking mode, the article transfer device is provided. Stops the article transporting moving body so as to be adjacent to the article storage section, and transfers the article to the cargo handling equipment held by the cargo handling equipment transferring apparatus by the article transferring apparatus; and Stopping the article transporting moving body so that the holding section is adjacent to the article carrying-in / out section, transferring the cargo handling equipment held by the cargo carrying-in / out device to the article carrying-in / out section, and In loading mode, The article transporting moving body is stopped so that the article holding section is adjacent to the article storage section or the article carry-in / out section, and the cargo handling device transferring device moves the article carrying section between the article storage section and the article carry-in / out section. The article storage facility according to any one of claims 1 to 3, wherein the article storage facility is configured to transfer a cargo handling tool. 5. The cargo handling device is constituted by a pallet for stacking articles, and the control means controls the picking control so that the number of articles designated by each of the plurality of article storage units selected is controlled. The article storage facility according to any one of claims 2 to 4, wherein the article storage facility is configured to be taken out and transferred in a state where the taken out articles are stacked on the pallet in a set pattern. 6. The article transfer device comprises an articulated manipulator for gripping an article at a tip end thereof, wherein the control means does not execute an article transfer operation.
The article storage facility according to any one of claims 1 to 5, wherein the article transfer apparatus is configured to fold a multi-joint type manipulator constituting the article transfer apparatus. 7. The multi-joint type manipulator constituting the article transfer device is supported so as to be vertically movable with respect to the article-transporting moving body, and is configured as a horizontal multi-joint type. Article storage facility as described. 8. The article storage facility according to claim 1, wherein the article transfer device is configured to hold the article by a vacuum pad that adsorbs the article. 9. The article storage facility according to claim 8, wherein the article transfer device includes a vacuum pad for sucking an upper surface of the article and a vacuum pad for sucking a side face of the article. 10. A storage shelf provided with the article storage sections arranged in a state of being arranged in a vertical direction and a horizontal direction, wherein the article transporting moving body travels along a horizontal direction of the storage shelf, The article storage facility according to any one of claims 1 to 9, wherein the article storage facility is provided so as to be raised and lowered. 11. A plurality of the storage shelves are arranged side by side in a horizontally long position that is oriented in the same direction as the article taking-out direction and is long in a horizontal direction perpendicular to the article taking-out direction. In order to selectively form between the storage shelves, an intermediate one of the plurality of storage shelves is provided so as to be able to reciprocate within a certain range in the article loading / unloading direction. The article storage facility according to claim 10, wherein, in a state adjacent to the storage rack, a transfer vehicle on which the traveling body can get on and off by traveling is reciprocally movable along the direction in which the storage shelves are arranged. 12. The article storage facility according to claim 1, wherein the plurality of article storage sections are installed in a warehouse whose temperature is controlled to a low temperature.