WO2015060050A1

WO2015060050A1 - Automated warehouse and method for operating same

Info

Publication number: WO2015060050A1
Application number: PCT/JP2014/075118
Authority: WO
Inventors: 田中　博
Original assignee: 村田機械株式会社
Priority date: 2013-10-23
Filing date: 2014-09-22
Publication date: 2015-04-30
Also published as: JP2016210518A; TW201529445A

Abstract

This automated warehouse (1) comprises a plurality of shelves (31), a first stacker crane (7A), a second stacker crane (7B), and a travel path (5) on which the first stacker crane (7A) and the second stacker crane (7B) run. A first load (Ha) and a second load (Hb) differ in at least the shape or the size. The first stacker crane (7A) has a first transferring device (74a) comprising a first load supporting unit (91a) having a shape and a size that correspond to the shape and the size of the first load (Ha). The second stacker crane (7B) has a second transferring device (74b) comprising a second load supporting unit (91b) having a shape and a size that correspond to the shape and the size of the second load (Hb). By virtue of this configuration, a transferring device can be easily designed.

Description

Automatic warehouse and its operation method

The present invention relates to an automatic warehouse for storing loads and an operation method thereof.

As an automatic warehouse as described above, one equipped with a stacker crane for conveying a load is known (for example, see Patent Document 1). In such an automatic warehouse, a stacker crane moves along a plurality of shelves and conveys a load.

JP 2010-143757 A

In the automatic warehouse as described above, multiple types of loads with different shapes may be transported. In such a case, it is desired to develop a technique capable of improving the conveyance efficiency by quickly conveying a plurality of types of loads.

The present invention has been made to solve such a problem, and provides an automatic warehouse capable of improving the efficiency of transportation by rapidly transporting a plurality of types of loads, and an operating method thereof. With the goal.

An automatic warehouse according to one aspect of the present invention includes a plurality of shelves that store loads, a first stacker crane that can transport loads to the plurality of shelves, and a second that can transport loads to the plurality of shelves. A stacker crane, and a traveling path on which the first stacker crane and the second stacker crane travel, and the first stacker crane includes a first transfer device that transfers a first load to the shelf, The second stacker crane includes a second transfer device that transfers a second load that differs in shape and size from the first load relative to the shelf. A first load support unit that has a shape and size corresponding to the shape and size of the load and supports the first load, and the second transfer device corresponds to the shape and size of the second load. And a second load support portion that supports the second load.

In the automatic warehouse according to one aspect of the present invention, both the first stacker crane and the second stacker crane can transport loads to a plurality of shelves. The first transfer device included in the first stacker crane includes a first load support portion corresponding to the shape and size of the first load, and the second transfer device included in the second stacker crane includes the first transfer device. And a second load support portion corresponding to the shape and size of the second load that is different from at least one of the shape and size of the load. As described above, the first stacker crane is used as a stacker crane dedicated to transporting the first load, and the second stacker crane is used as a stacker crane dedicated to transporting the second load. Can be conveyed. Therefore, the conveyance efficiency can be improved by quickly conveying a plurality of types of loads. In addition, since the first transfer device is used as a transfer device dedicated to transporting the first load and the second transfer device is used as a transfer device dedicated to transporting the second load, The transfer device can be easily designed as compared to the case of using a transfer device that can carry both the first load and the second load, at least one of which is different from each other.

In one embodiment, a second transfer device can be attached to the first stacker crane instead of the first transfer device, and a second transfer device can be attached to the second stacker crane instead of the second transfer device. One transfer device may be attachable. According to this configuration, for example, when the first stacker crane fails, the first load can be transferred by attaching the first transfer device to the second stacker crane. Similarly, when the second stacker crane breaks down, the second load can be transferred by attaching the second transfer device to the first stacker crane.

In one embodiment, the first stacker crane overlaps the first traveling drive wheel including the first traveling drive wheel that rolls along the traveling path, and the first traveling drive wheel when viewed from the vertical direction. A first mast erected on the first traveling unit, and a first lifting platform that is provided with a first transfer device and moves up and down along the first mast. A second traveling portion including second traveling drive wheels that roll along the second traveling portion, and a second mast erected on the second traveling portion so as to overlap the second traveling drive wheels when viewed from the vertical direction. The second stacker crane is provided on the one side with respect to the first stacker crane in the traveling direction. The second stacker crane is provided with a second transfer device and moves up and down along the second mast. The first lifting platform is disposed on one side in the traveling direction with respect to the first mast, The two lifting platforms are arranged on the other side in the traveling direction with respect to the second mast, and the first stacker crane and the second stacker crane are located at different positions in the vertical direction from the first transfer device and the second transfer device. By disposing, the first transfer device and the second transfer device may be close to each other so as to be disposed at positions overlapping each other in the horizontal direction. In the automatic warehouse of the present invention, since the first lifting platform of the first stacker crane is disposed on one side in the traveling direction with respect to the first mast, the load is loaded on the shelf on the other end in the traveling direction. The first mast protrudes from the shelf to the other side in the traveling direction. For this reason, it is necessary to provide an area for escaping the first mast in the automatic warehouse. In the automatic warehouse of the present invention, the first driving wheel and the first mast are provided so as to overlap when viewed from the vertical direction. For this reason, when transferring a load to the shelf on the other side in the traveling direction, the portion of the first stacker crane that protrudes from the shelf other than the first mast is reduced. Therefore, it is possible to reduce a wasteful area. Similarly, in the second stacker crane, when the load is transferred to the shelf on one end in the traveling direction, the portion of the second stacker crane that protrudes from the shelf other than the second mast is reduced. . Therefore, it is possible to reduce a wasteful area. By reducing the wasted area, the installation area can be reduced. Further, in the first stacker crane and the second stacker crane, the first transfer device and the second transfer device are arranged horizontally by disposing the first transfer device and the second transfer device at different positions in the vertical direction. It is possible to be close to each other so as to be arranged at positions overlapping each other in the direction. For this reason, a 1st transfer apparatus and a 2nd transfer apparatus can transfer a load simultaneously with respect to the shelf of the mutually same position in a horizontal direction. Therefore, the conveyance efficiency can be further improved.

In one embodiment, the automatic warehouse includes a stocker body in which a plurality of shelves are arranged, and a first transfer device in the stocker body so that the first transfer device faces the shelf on the other end in the traveling direction. 1st area | region where 1 stacker crane is arrange | positioned, and 2nd area | region where 2nd stacker crane is arrange | positioned so that the 2nd transfer apparatus may oppose the shelf of the edge of one side in a running direction in a stocker main body. When the first stacker crane is disposed in the first region, the first region is formed by disposing the first transfer device and the second transfer device in different positions in the vertical direction. In addition, both the first transfer device and the second transfer device are set to be able to face the shelf on the other side end, and the second area has the second stacker crane arranged in the second area. The first transfer device and the first By arranging the transfer device at different positions in the vertical direction, both the first transfer device and the second transfer device may be set so as to be able to face the end shelf on one side. . According to this configuration, for example, when the first stacker crane breaks down, the first stacker crane can be retracted to the first region. At this time, the first stacker crane may block the shelf, and the second stacker crane may not be able to transfer the load to the shelf blocked by the first stacker crane. Furthermore, in order to reliably prevent the interference between the first stacker crane and the second stacker crane, the second stacker crane also transfers the load to the shelves around the shelf closed by the first stacker crane. It is possible that you cannot do it. On the other hand, in the automatic warehouse of the present invention, the first stacker crane can be retracted to the first region so that the first transfer device faces the shelf at the other end in the traveling direction. For this reason, the shelf on which the second stacker crane cannot transfer the load does not occur on the other side in the traveling direction than the first transfer device of the retracted first stacker crane. Accordingly, it is possible to continue the conveyance of the load by the second stacker crane while suppressing the number of shelves in which the first stacker crane becomes an obstacle and the second stacker crane cannot transfer the load. Similarly, when the second stacker crane is retracted to the second region, the shelf on which the first stacker crane cannot transfer the load is more traveled than the second transfer device of the retracted second stacker crane. Does not occur on one side of Therefore, the conveyance of the load can be continued by the first stacker crane while suppressing the number of shelves in which the second stacker crane becomes an obstacle and the first stacker crane cannot transfer the load.

The operation method of the automatic warehouse according to another aspect of the present invention is the above-described operation method of the automatic warehouse, wherein the first stacker crane is retracted to the first region when the first stacker crane breaks down. And a second step of transporting the load to the second stacker crane. In the second step, in the first stacker crane, the restraint of the first elevator on the first mast is released.

According to the operation method of the automatic warehouse according to the other aspect of the present invention, when the first stacker crane becomes an obstacle and the second transfer device wants to transfer the load between the shelves where the load cannot be transferred. In addition, the load can be transferred by moving the first lifting platform.

According to the present invention, it is possible to provide an automatic warehouse and its operating method capable of improving the conveyance efficiency by quickly conveying plural kinds of loads.

FIG. 1 is a front view of an automatic warehouse according to an embodiment of the present invention. FIG. 2 is a plan view of the automatic warehouse of FIG. FIG. 3 is a perspective view of the stacker crane of FIG. FIG. 4 is an enlarged front view of the load support portion and load of FIG. FIG. 5 is a front view of the lower part of the stacker crane of FIG. FIG. 6 is a plan view of the lower part of the stacker crane of FIG. FIG. 7 is a front view showing an example of an operation method of the automatic warehouse shown in FIG.

Hereinafter, embodiments will be described in detail with reference to the drawings. In addition, the same code | symbol is attached | subjected to the same or an equivalent element, and the overlapping description is abbreviate | omitted.

As shown in FIGS. 1 and 2, the automatic warehouse 1 is provided in the building 100. In the automatic warehouse 1, for example, the load H that has been transported by the transport device is stored.

The automatic warehouse 1 includes a stocker body 2,

racks

3A and 3B, loading / unloading

ports

4 and 4, a traveling path 5, an auxiliary path 6, a stacker crane (first stacker crane) 7A, and a stacker crane (second stacker crane) 7B. ing.

The stocker body 2 has a casing shape (for example, a hollow rectangular parallelepiped shape) surrounding a predetermined space. The stocker body 2 has a first opening 21 and a second opening 22 through which the stacker crane 7A and the stacker crane 7B can be taken out of the stocker body 2. The first opening 21 and the second opening 22 face each other in the horizontal direction. A door is provided in each of the first opening 21 and the second opening 22.

Each of the

racks

3A and 3B is erected in the stocker body 2. The rack 3A and the rack 3B are opposed to each other. The rack 3 A is provided along one side wall (upper side in FIG. 2) of the two side walls facing each other in the stocker body 2. The rack 3 A is provided on a side wall on one side excluding both ends in the horizontal direction. The rack 3 B is provided along the other side wall of the two side walls facing each other in the stocker body 2. The

racks

3B and 3B are provided on the other side wall except for both end portions and the central portion in the horizontal direction. On the other side wall, loading / unloading

ports

4 and 4 are provided in the central portion in the horizontal direction. Racks 3B are provided on both sides of the loading /

unloading ports

4 and 4, respectively. In the loading / unloading port 4, loading and unloading of the load H with respect to the automatic warehouse 1 is performed.

Each of the

racks

3A and 3B is provided with a plurality of shelves 31 in which the load H is stored. The shelves 31 are provided in a plurality of rows along the horizontal direction, and are provided in a plurality of stages along the vertical direction.

Each of the traveling path 5 and the auxiliary path 6 is provided between the first opening 21 and the second opening 22 in the stocker body 2. The travel path 5 is provided on the floor along a plurality of rows of shelves 31. A travel rail 51 is laid on the travel path 5. The auxiliary path 6 is provided substantially directly above the traveling path 5 along a plurality of rows of shelves 31 so as to face the traveling path 5. An auxiliary rail 61 is laid on the auxiliary path 6.

Each of the stacker crane 7A and the stacker crane 7B travels on the travel path 5. Each of the stacker crane 7 A and the stacker crane 7 B transports the load H between the shelf 31 and the loading / unloading port 4, and transfers (loads and unloads) the load H to the shelf 31. Each of the stacker crane 7 A and the stacker crane 7 B can transport loads to all of the plurality of shelves 31. The stacker crane 7B is disposed on one side in the traveling direction along the traveling path 5 and the auxiliary path 6 with respect to the stacker crane 7A (on the right side in FIGS. 1 and 2 and on the second opening 22 side with respect to the stacker crane 7A). Has been.

The stocker body 2 is provided with a first region A1 in which the stacker crane 7A is placed when the stacker crane 7A transfers the load H to the shelf 31 at the other end in the traveling direction. ing. In the first region A1, the transfer device (first transfer device) 74a (described later) of the stacker crane 7A and the shelf 31 in the row at the other end in the traveling direction face each other. The first area A1 includes an area for releasing a mast (first mast) 72a (described later) of the stacker crane 7A.

The stocker body 2 is provided with a second region A2 in which the stacker crane 7B is disposed when the stacker crane 7B transfers the load H to the shelf 31 at the end row on one side in the traveling direction. ing. In the second region A2, the transfer device (second transfer device) 74b (described later) of the stacker crane 7B and the shelf 31 at the end row on one side in the traveling direction face each other. The second area A2 includes an area for releasing a mast (second mast) 72b (described later) of the stacker crane 7B.

As shown in FIG. 3, the stacker crane 7A includes a traveling unit (first traveling unit) 71a, a mast 72a, a lifting platform (first lifting platform) 73a, a transfer device 74a, and an auxiliary traveling unit (first auxiliary traveling unit). ) 75a.

The traveling unit 71 a travels along the traveling path 5. The mast 72a is erected on the upper part of the traveling part 71a. The lifting platform 73a is disposed so as to protrude in the traveling direction with respect to the mast 72a, and moves up and down along the mast 72a. The transfer device 74a is provided in the upper part of the lifting platform 73a. The transfer device 74 a transfers the load H to / from the shelf 31 and transfers the load H to / from the loading / unloading port 4. The auxiliary traveling unit 75 a travels along the auxiliary path 6.

The travel unit 71a will be described in detail. As shown in FIGS. 5 and 6, the traveling unit 71a includes a traveling drive wheel (first traveling drive wheel) 76a, a housing 77a, a traveling motor 78a, and a pair of elevator platform-side traveling guide wheels (first Guide wheels) 79a, 79a, guide wheel support portions (first guide wheel support portions) 80a, and a pair of mast-side

travel guide wheels

81a, 81a.

The driving wheel for traveling 76 a rolls along the upper surface of the traveling rail 51. The traveling drive wheel 76a is disposed so as to overlap the mast 72a when viewed from the vertical direction. The housing 77a rotatably supports the driving wheel 76a for traveling. The housing 77a is fixed to the lower end portion of the mast 72a.

The traveling motor 78a is fixed to the housing 77a so as to protrude to the shelf 31 side of the rack 3B. The travel motor 78a is a drive source for the travel drive wheels 76a. A lifting motor 82a, which is a drive source for the lifting platform 73a, is attached to the housing 77a so as to protrude toward the shelf 31 of the rack 3A.

The elevator platform side traveling guide wheel 79 a rolls along the side surface of the traveling rail 51. The elevator platform side travel guide wheel 79a is disposed on one side in the travel direction with respect to the travel drive wheel 76a. The pair of elevator platform side

travel guide wheels

79a, 79a sandwich the travel rail 51 in the horizontal direction.

The guide wheel support portion 80a rotatably supports the pair of elevator platform side

travel guide wheels

79a and 79a. The guide wheel support portion 80a is disposed on one side in the traveling direction with respect to the traveling drive wheel 76a. The guide wheel support portion 80a has a pair of portions arranged on both sides of the travel rail 51, and each of the portions supports the elevator platform side travel guide wheel 79a. A lifting platform 73a can enter the space formed between the pair of portions of the guide wheel support portion 80a. Each of the pair of portions of the guide wheel support portion 80a includes a member protruding from the housing 77a and a member protruding from the lower surface of the member and rotatably supporting the elevator platform side travel guide wheel 79a.

The mast side traveling guide wheel 81 a rolls along the side surface of the traveling rail 51. The mast side traveling guide wheel 81a is arranged so as to overlap the mast 72a when viewed from the vertical direction. The pair of mast side

travel guide wheels

81a, 81a sandwich the travel rail 51 in the horizontal direction. The mast side traveling guide wheel 81a is rotatably attached to the lower portion of the housing 77a.

When the stacker crane 7A is installed on the traveling rail 51, a driven wheel unit 83a is attached to the traveling portion 71a. The driven wheel unit 83a is stretched over the front end portions of a pair of members protruding from the housing 77a in the guide wheel support portion 80a. The driven wheel unit 83 a includes a driven wheel 84 a that can roll along the upper surface of the traveling rail 51. The driven wheel unit 83a is removed from the traveling unit 71a after the stacker crane 7A is installed on the traveling rail 51 (see FIG. 1). Therefore, when the stacker crane 7A is in operation, the lifting platform 73a can enter the above-described space of the guide wheel support portion 80a.

The auxiliary traveling unit 75a will be described in detail. As shown in FIG. 3, the auxiliary travel part 75a includes a pair of auxiliary drive wheels (first auxiliary drive wheels) 85a and 85a, a pair of

auxiliary guide wheels

86a and 86a, and a housing 87a.

The auxiliary drive wheel 85a rolls along the auxiliary rail 61. The pair of

auxiliary drive wheels

85a and 85a sandwich the auxiliary rail 61 in the horizontal direction. The auxiliary guide wheel 86 a rolls along the auxiliary rail 61. The pair of

auxiliary guide wheels

86a, 86a sandwich the auxiliary rail 61 in the horizontal direction. The housing 87a is fixed to the upper end portion of the mast 72a. A member that rotatably supports the auxiliary drive wheel 85a and the auxiliary guide wheel 86a is attached to the housing 87a. An auxiliary motor (not shown) that is a drive source of the auxiliary drive wheel 85a is attached to the housing 87a.

In the stacker crane 7A, the driving wheel 76a for driving and the

auxiliary driving wheels

85a, 85a are driven in synchronization so that the mast 72a can be kept substantially vertical even when the driven wheel unit 83a is removed. It is possible to stabilize the posture of the mast 72a.

The stacker crane 7B includes a traveling unit (second traveling unit) 71b, a mast 72b, a lifting platform (second lifting platform) 73b, a transfer device 74b, an auxiliary traveling unit 75b, and a lifting motor 82b. Each element of the stacker crane 7B other than the transfer device 74b has the same configuration as each element of the stacker crane 7A. The transfer device 74b is configured to transfer a load different from the load to which the transfer device 74a is transferred (details will be described later).

The traveling unit 71b has a configuration similar to that of the traveling unit 71a, and includes a traveling drive wheel (second traveling drive wheel) 76b, a housing 77b, a traveling motor 78b, a pair of elevator platform-side traveling

guide wheels

79b and 79b, It includes a guide wheel support portion 80b and a pair of mast side

travel guide wheels

81b, 81b. The auxiliary travel part 75b has the same configuration as the auxiliary travel part 75a, and includes a pair of

auxiliary drive wheels

85b and 85b, a pair of

auxiliary guide wheels

86b and 86b, and a housing 87b.

1 and 2, in the stacker crane 7A, the lifting platform 73a is disposed on one side (stacker crane 7B side) in the traveling direction with respect to the mast 72a. In the stacker crane 7B, the lifting platform 73b is disposed on the other side (stacker crane 7A side) in the traveling direction with respect to the mast 72b. With such a configuration, the stacker crane 7A and the stacker crane 7B are arranged such that the transfer device 74a and the transfer device 74b are arranged in different positions in the vertical direction so that the transfer device 74a and the transfer device 74b are in the horizontal direction. Can be close to each other so as to be arranged at positions overlapping with each other (in the same row).

When the stacker crane 7A is arranged in the first area A1, the above-mentioned first area A1 is arranged such that the transfer device 74a and the transfer device 74b are arranged at different positions in the vertical direction. And the transfer device 74b are set so as to be able to face the shelf 31 in the row at the other end. When the stacker crane 7B is arranged in the second area A2, the second area A2 is arranged such that the transfer apparatus 74a and the transfer apparatus 74b are arranged at different positions in the vertical direction. And the transfer device 74b are set so as to be able to face the shelf 31 at the end row on one side.

The

transfer devices

74a and 74b will be described in detail. The transfer device 74 a transfers the load (first load) Ha to the shelf 31 and the loading / unloading port 4. The stacker crane 7B transfers the load (second load) Hb to the shelf 31 and the loading / unloading port 4. The load Hb differs from the load Ha in at least one of shape and size. Specifically, in the present embodiment, the load Hb is larger than the load Ha. The load Ha may be larger than the load Hb.

As shown in FIG. 3, the transfer device 74a includes a load support base (first load support portion) 91a, an intermediate arm (first intermediate arm) 92a, and a base arm (first base arm) 93a. Contains. The load support base 91a positions the load Ha and supports the load Ha. The load support base 91a has a shape and a size corresponding to the shape and size of the load Ha. Specifically, the load support base 91a includes a placement surface (first placement surface) 94a, and a plurality of (three in the present embodiment) device-side engagement portions (first device-side engagement portions) 95a. , Including.

(A) of FIG. 4 is an enlarged front view of the load supporting portion and the load of the stacker crane 7A. As shown in FIG. 4A, the load Ha is placed on the placement surface 94a. The placement surface 94a has a width corresponding to the size of the load Ha. The device-side engagement portion 95a is, for example, a protrusion or the like, and protrudes from the placement surface 94a. Each of the plurality of device-side engaging portions 95a is located, for example, on the apex of an equilateral triangle.

The load support base 91a is rotatably attached to the intermediate arm 92a. The intermediate arm 92a is rotatably attached to the base arm 93a. The base arm 93a is rotatably attached to the lifting platform 73a. With such a configuration, the load support base 91a can move forward and backward with respect to the shelf 31.

(B) of FIG. 4 is an enlarged front view of the load supporting portion and the load of the stacker crane 7B. As shown in FIG. 4B, the transfer device 74b includes a load support base (second load support portion) 91b, an intermediate arm (second intermediate arm) 92b, and a base arm (second base arm). 93b. The load support base 91b positions the load Hb and supports the load Hb. The load support base 91b has a shape and a size corresponding to the shape and size of the load Hb. Specifically, the load support base 91b includes a placement surface (second placement surface) 94b and a plurality (three in the present embodiment) of apparatus-side engagement portions (second protrusions) 95b. Yes.

The load Hb is placed on the placement surface 94b. The placement surface 94b has a width corresponding to the size of the load Hb. Specifically, in the present embodiment, the placement surface 94b is wider than the placement surface 94a. The device side engaging portion 95b is, for example, a protruding portion or the like, and protrudes from the placement surface 94b. Each of the plurality of device-side engaging portions 95b is located, for example, on the apex of an equilateral triangle. In the present embodiment, the interval between the device

side engaging portions

95b and 95b of the transfer device 74b is larger than the interval between the device

side engaging portions

95a and 95a of the transfer device 74a.

The load support base 91b is rotatably attached to the intermediate arm 92b. The intermediate arm 92b is rotatably attached to the base arm 93b. The base arm 93b is rotatably attached to the lifting platform 73b. With such a configuration, the load support base 91b can move forward and backward with respect to the shelf 31.

The transfer device 74a can be attached to the stacker crane 7B instead of the transfer device 74b. The transfer device 74b can be attached to the stacker crane 7A instead of the transfer device 74a.

A plurality of (three in this embodiment) load-side engaging portions (first load-side engaging portions) ga are provided on the bottom surface of the load Ha transferred by the transfer device 74a. The load side engaging portion ga is, for example, a groove or a hole. Each of the plurality of load side engaging portions ga is positioned on the apex of an equilateral triangle, for example, so as to correspond to each position of the plurality of device side engaging portions 95a. The load side engaging portion ga has a shape into which the device side engaging portion 95a is fitted.

A plurality (three in this embodiment) of load-side engaging portions (second load-side engaging portions) gb are provided on the bottom surface of the load Hb transferred by the transfer device 74b. The load side engaging portion gb is, for example, a groove or a hole. Each of the plurality of load side engaging portions gb is positioned, for example, on the apex of an equilateral triangle so as to correspond to the respective positions of the plurality of device side engaging portions 95b. In the present embodiment, the interval between the load side engaging portions gb and gb is larger than the interval between the load side engaging portions ga and ga. The load side engaging portion gb has a shape into which the device side engaging portion 95b is fitted.

Each of the plurality of shelves 31 on which the load Ha and the load Hb are transferred is provided with a first positioning means for positioning the load Ha and a second positioning means for positioning the load Hb (not shown). . The first positioning means is configured not to interfere with the load Hb when the load Hb is placed on the shelf 31. The second positioning means is configured not to interfere with the load Ha when the load Ha is placed on the shelf 31.

Specifically, for example, on the shelf 31, a step according to the shape and size of the bottom of the load Ha (first positioning means) and a step according to the shape and size of the bottom of the load Hb (second positioning) Means) may be provided. Further, for example, the shelf 31 has positioning pins (first positioning means) corresponding to the shape and size of the load Ha, and positioning pins (second positioning means) corresponding to the shape and size of the load Hb. You may provide in the position which does not mutually interfere. Further, instead of the first positioning means and the second positioning means, an anti-slip member having a friction coefficient that does not easily move the loaded load Ha and the load Hb may be provided on the shelf 31.

Each of the plurality of shelves 31 is provided with a recess (not shown) into which the load support base 91a and the load support base 91b can enter. The load support base 91a and the load support base 91b can lift the load Ha and the load Hb placed on the shelf 31 from below by entering the recess. Moreover, the load support base 91a and the load support base 91b can drop the supporting load Ha and the load Hb onto the shelf 31 by entering the recess.

In the automatic warehouse 1 as described above, the stacker crane 7 A travels along the traveling path 5 to convey the load Ha between the shelf 31 and the loading / unloading port 4. The load Ha is transferred. In addition, the stacker crane 7 B travels along the traveling path 5 to convey the load Hb between the shelf 31 and the loading / unloading port 4, and transfers the load Hb to the shelf 31 and the loading / unloading port 4.

At this time, when transferring the load Ha and the load Hb on the two

shelves

31 and 31 at the same position (same row) in the horizontal direction, first, the transfer device 74a of the stacker crane 7A and the transfer of the stacker crane 7B are firstly transferred. The mounting device 74b is disposed at different positions in the vertical direction. Subsequently, the stacker crane 7A and the stacker crane 7B are arranged so that the transfer device 74a of the stacker crane 7A and the transfer device 74b of the stacker crane 7B face the

shelves

31 and 31 at the same position in the horizontal direction. .

Subsequently, the load Ha is transferred to the stacker crane 7A with the facing shelf 31, and the load Hb is transferred to the stacker crane 7B with the facing shelf 31. Note that the load may be transferred to only one of the stacker crane 7A and the stacker crane 7B.

For example, when the stacker crane 7A breaks down, the conveyance of the load H is continued by the stacker crane 7B. In this case, first, in the stacker crane 7A, the restraint of the lifting platform 73a with respect to the mast 72a is released. Subsequently, the lifting platform 73 a is raised from below to the height of the fourth shelf 31. The lifting platform 73a can be raised by a worker's human power using a tool. Subsequently, as shown in FIG. 7, the stacker crane 7A is retracted to the first area A1. Retraction of the stacker crane 7A may be performed by a driving force from a driving source or may be performed by an operator's human power.

Subsequently, in both the rack 3A and the rack 3B, the lowermost shelf 31 and the lowermost next shelf 31 in the other end row, and the next row after the other end row The load H is removed from the three shelves 31 of the lowermost shelf 31 by the stacker crane 7B. When the load Ha is placed on the shelf 31, the load Ha can be removed from the shelf 31 by attaching the transfer device 74a to the stacker crane 7B instead of the transfer device 74b.

Subsequently, in the stacker crane 7A, the lifting platform 73a is lowered to the lowest position. The lifting platform 73a can be lowered by a worker's human power using a tool. Subsequently, the load H is transported to the stacker crane 7B. When transporting the load Ha, the transfer device 74a is attached to the stacker crane 7B instead of the transfer device 74b.

In the case where the load H is transferred to a shelf 31 other than the lowermost shelf 31 and the lowermost shelf 31 among the shelf 31 in the end row on the other side, the transfer of the stacker crane 7B is performed. The loading device 74b is arranged at the height of the desired shelf 31, and the stacker crane 7B is moved so that the transfer device 74b faces the desired shelf 31.

Loads between the lowermost shelf 31 and the lowermost shelf 31 in the other end row, and the lowermost shelf 31 in the next row in the other end row When transferring H, the operator moves the lifting platform 73a of the stacker crane 7A to a position higher than the next level of the lowest level, so that the transfer device 74b faces the desired shelf 31. The crane 7B is moved.

When servicing the stacker crane 7A, first, all the loads H are removed from the three rows of shelves 31 located at the other end in both the rack 3A and the rack 3B. Subsequently, the stacker crane 7A and the stacker crane 7B are turned off while the stacker crane 7A is retracted to the first area A1. Subsequently, from the three rows of shelves 31 positioned at the other end, the shelves 31 that are unnecessary when performing work are pulled out from the opposite side of the traveling path 5. The position of the extracted shelf 31 is detected by a sensor.

Subsequently, in order to ensure the safety of the worker, a stopper unit that prevents the stacker crane 7B from entering the work area and a fence that covers the work area are installed. The position of the stopper unit and the fence is detected by a sensor. Subsequently, the stacker crane 7A is maintained and the load H is transported by the stacker crane 7B.

After the maintenance of the stacker crane 7A is completed, remove the stopper unit and fence. Subsequently, the extracted shelf 31 is placed at the original position. Thereby, both the stacker crane 7A and the stacker crane 7B can be operated again. Even when the stacker crane 7B breaks down, the transport of the load H can be continued by the stacker crane 7A in the same manner as described above.

As described above, in the automatic warehouse 1 of the present embodiment, both the stacker crane 7A and the stacker crane 7B can transport the load H to the plurality of shelves 31. The transfer device 74a included in the stacker crane 7A includes a load support base 91a corresponding to the shape and size of the load Ha, and the transfer device 74b included in the stacker crane 7B includes at least the shape and size of the load Ha. One includes a load support base 91b corresponding to the shape and size of the different load Hb. As described above, the stacker crane 7A is used as a stacker crane dedicated to transporting the load Ha, and the stacker crane 7B is used as a stacker crane dedicated to transporting the load Hb, whereby each load can be transported quickly. . Therefore, the conveyance efficiency can be improved by quickly conveying a plurality of types of loads.

Since the transfer device 74a is used as a transfer device dedicated to transporting the load Ha and the transfer device 74b is used as a transfer device dedicated to transporting the load Hb, the load Ha and the load having different shapes and sizes are different. The transfer device 74a and the transfer device 74b can be easily designed as compared with the case of using a transfer device that can transfer both Hb.

A transfer device 74b can be attached to the stacker crane 7A instead of the transfer device 74a, and a transfer device 74a can be attached to the stacker crane 7B instead of the transfer device 74b. For this reason, for example, when the stacker crane 7A breaks down, the load Ha can be transferred by attaching the transfer device 74a to the stacker crane 7B. Similarly, when the stacker crane 7B breaks down, the load Hb can be transferred by attaching the transfer device 74b to the stacker crane 7A.

In the automatic warehouse 1, the lifting platform 73a of the stacker crane 7A is disposed on one side in the traveling direction with respect to the mast 72a, so the load Ha is loaded on the shelf 31 in the row on the other side in the traveling direction. When transferring, the mast 72a protrudes from the shelf 31 to the other side in the traveling direction. For this reason, it is necessary to provide an area in the automatic warehouse 1 for allowing the mast 72a to escape. On the other hand, the automatic warehouse 1 is provided so that the driving wheels 76a for traveling and the mast 72a overlap when viewed from the vertical direction. For this reason, when transferring a load with respect to the shelf 31 of the row | line | column of the other side in a running direction, the part which protrudes from shelves 31 other than the mast 72a in the stacker crane 7A is reduced. Therefore, it is possible to reduce a wasteful area. Similarly, in the stacker crane 7B, when the load Hb is transferred to the shelf 31 at the end row on one side in the traveling direction, the portion of the stacker crane 7B that protrudes from the shelf 31 other than the mast 72b is reduced. The Therefore, it is possible to reduce a wasteful area. By reducing the wasted area, the installation area can be reduced.

The stacker crane 7A and the stacker crane 7B are arranged at positions where the transfer device 74a and the transfer device 74b overlap each other in the horizontal direction by arranging the transfer device 74a and the transfer device 74b at different positions in the vertical direction. As close as possible. For this reason, the transfer device 74a and the transfer device 74b can simultaneously transfer the load to the shelf 31 at the same position in the horizontal direction. Therefore, the conveyance efficiency can be further improved.

In the automatic warehouse 1, for example, when the stacker crane 7A breaks down, the stacker crane 7A can be retracted to the first area A1. At this time, it is considered that the stacker crane 7A blocks the shelf 31, and the stacker crane 7B cannot transfer the load H to the shelf 31 blocked by the stacker crane 7A. Furthermore, in order to reliably prevent the interference between the stacker crane 7A and the stacker crane 7B, the stacker crane 7B also transfers the load H to the shelf 31 around the shelf 31 closed by the stacker crane 7A. It is thought that it is impossible. On the other hand, in the automatic warehouse 1, the stacker crane 7A can be retracted to the first area A1 so that the transfer device 74a faces the shelf 31 at the other end in the traveling direction. For this reason, the shelf 31 on which the stacker crane 7B cannot transfer the load H does not occur on the other side in the traveling direction with respect to the transfer device 74a of the retracted stacker crane 7A. Therefore, the stacker crane 7B can continue to carry the load while suppressing the number of shelves 31 on which the stacker crane 7A becomes an obstacle and the stacker crane 7B cannot transfer the load.

Similarly, in the automatic warehouse 1, when the stacker crane 7B breaks down, the stacker crane 7B is retracted to the second region A2 so that the transfer device 74b faces the shelf 31 at one end in the traveling direction. be able to. For this reason, the shelf 31 on which the stacker crane 7A cannot transfer the load H is not generated on one side in the traveling direction with respect to the transfer device 74b of the retracted stacker crane 7B. Therefore, the stacker crane 7A can continue to carry the load while suppressing the number of shelves 31 on which the stacker crane 7A cannot transfer the load due to the failure of the stacker crane 7B.

The operation method of the automatic warehouse 1 of the present embodiment includes a step of retracting the stacker crane 7A to the first region A1 and a step of transporting the load H to the stacker crane 7B when the stacker crane 7A fails. In the step of transporting the load H to the stacker crane 7B, the restraint of the lifting platform 73a with respect to the mast 72a is released in the stacker crane 7A. For this reason, when the stacker crane 7A becomes an obstacle and the transfer device 74b wants to transfer the load H to and from the shelf 31 where the load cannot be transferred, the load H Can be transferred.

As mentioned above, although embodiment of the transfer apparatus of this invention was described, this invention is not limited to the said embodiment. The configuration, number, shape, and the like of each element are not limited to the configuration, number, shape, and the like in the above-described embodiment, and can be changed as appropriate.

DESCRIPTION OF SYMBOLS 1 ... Automatic warehouse, 5 ... Traveling path, 7A ... Stacker crane (1st stacker crane), 7B ... Stacker crane (2nd stacker crane), 31 ... Shelf, 71a ... Traveling part (1st traveling part), 71b ... Traveling Part (second traveling part), 72a ... mast (first mast), 72b ... mast (second mast), 73a ... elevator (first elevator), 73b ... elevator (second elevator), 74a ... Transfer device (first transfer device), 74b ... Transfer device (second transfer device), 76a ... Travel drive wheel (first travel drive wheel), 76b ... Travel drive wheel (for second travel) Drive wheel), 91a ... load support (first load support), 91b ... load support (second load support), A1 ... first region, A2 ... second region, H ... load, Ha ... load ( First load), Hb ... load (second load).

Claims

A plurality of shelves for storing loads,
A first stacker crane capable of transporting loads to the plurality of shelves;
A second stacker crane capable of transporting loads to the plurality of shelves;
A travel path on which the first stacker crane and the second stacker crane travel,
The first stacker crane has a first transfer device for transferring a first load to the shelf,
The second stacker crane has a second transfer device for transferring a second load that is different in shape and size from the first load with respect to the shelf,
The first transfer device includes a first load support portion that has a shape and a size corresponding to the shape and size of the first load and supports the first load,
The said 2nd transfer apparatus is an automatic warehouse which has the shape and magnitude | size corresponding to the shape and magnitude | size of the said 2nd load, and contains the 2nd load support part which supports the said 2nd load.
In place of the first transfer device, the second transfer device can be attached to the first stacker crane,
The automatic warehouse according to claim 1, wherein the first transfer device can be attached to the second stacker crane instead of the second transfer device.
The first stacker crane is
A first traveling unit including first traveling drive wheels that roll along the traveling path;
A first mast erected on the first traveling portion so as to overlap the first traveling drive wheel when viewed from the vertical direction;
A first lifting platform provided with the first transfer device and moving up and down along the first mast;
The second stacker crane is
A second traveling unit including second traveling drive wheels that roll along the traveling path;
A second mast erected on the second traveling portion so as to overlap the second traveling drive wheel when viewed from the vertical direction;
A second lifting platform provided with the second transfer device and moving up and down along the second mast;
The second stacker crane is disposed on one side with respect to the first stacker crane in the traveling direction,
The first lifting platform is disposed on one side in the traveling direction with respect to the first mast,
The second lifting platform is disposed on the other side in the traveling direction with respect to the second mast,
The first stacker crane and the second stacker crane are arranged such that the first transfer device and the second transfer device are arranged at positions different from each other in the vertical direction. The automatic warehouse according to claim 1, wherein the loading devices are close to each other so as to be arranged at positions overlapping each other in the horizontal direction.
A stocker body on which the plurality of shelves are arranged;
In the stocker body, a first region in which the first stacker crane is arranged so that the first transfer device faces the shelf on the other side end in the traveling direction;
A second region in which the second stacker crane is arranged so that the second transfer device faces the shelf on the one side end in the traveling direction in the stocker body,
In the first area, when the first stacker crane is arranged in the first area, the first transfer device and the second transfer device are arranged at different positions in the vertical direction, Both the first transfer device and the second transfer device are set so as to be able to face the shelf on the other side end,
In the second area, when the second stacker crane is arranged in the second area, the first transfer device and the second transfer device are arranged at different positions in the vertical direction, The automatic warehouse according to claim 3, wherein both the first transfer device and the second transfer device are set so as to be able to face the shelf at the end on the one side.
An automatic warehouse operation method according to claim 4,
A first step of retracting the first stacker crane to the first region when the first stacker crane fails;
A second step of transporting the load to the second stacker crane,
In the second step, in the first stacker crane, the restraint of the first lifting platform with respect to the first mast is released.