WO2023181310A1 - 物品入替装置、物品入替システム及び物品入替方法 - Google Patents

物品入替装置、物品入替システム及び物品入替方法 Download PDF

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Publication number
WO2023181310A1
WO2023181310A1 PCT/JP2022/014184 JP2022014184W WO2023181310A1 WO 2023181310 A1 WO2023181310 A1 WO 2023181310A1 JP 2022014184 W JP2022014184 W JP 2022014184W WO 2023181310 A1 WO2023181310 A1 WO 2023181310A1
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Prior art keywords
tray
shelf
article
moves
hook
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PCT/JP2022/014184
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English (en)
French (fr)
Japanese (ja)
Inventor
久 遠藤
浩一 中野
靖 金久保
悠冶 梶原
武司 長谷川
Original Assignee
株式会社日立インダストリアルプロダクツ
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Application filed by 株式会社日立インダストリアルプロダクツ filed Critical 株式会社日立インダストリアルプロダクツ
Priority to PCT/JP2022/014184 priority Critical patent/WO2023181310A1/ja
Priority to JP2024509618A priority patent/JPWO2023181310A1/ja
Publication of WO2023181310A1 publication Critical patent/WO2023181310A1/ja

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines

Definitions

  • the present invention relates to a technology for replacing stored articles on a shelf to be loaded on a shelf transport type automatic guided vehicle in a distribution center.
  • AGV automated guided vehicle
  • Shelves that store popular products are often transported, so they are placed near the picking station. Normally, multiple items of products are stored on one shelf, so popular products that are shipped frequently and related products that are frequently shipped at the same time as the popular products are stored on one shelf or a small number of shelves. By consolidating them and placing them near the picking station, the efficiency of product retrieval will improve. In particular, when replenishing products, it becomes an opportunity to review the product configuration on each shelf, and it is effective to automatically replace products based on the ranking of popular products.
  • Patent Document 1 discloses a technology that learns the shape of an item to be replaced, appropriately grips the item with a robot hand, and performs processing such as transfer.
  • Patent Document 2 states, ⁇ The warehouse management device of the present invention includes a consolidation preparation unit that calculates the shipping rate of articles stored in containers and determines a plurality of containers based on the shipping rate;
  • the collection station is characterized by comprising a collection unit that sends a transport instruction to a transport robot to transport the determined plurality of containers.Furthermore, the collection preparation unit is configured to set a shipping rate based on a predetermined standard.
  • the aggregation unit determines multiple containers in which to store items that are high or low enough to meet the requirements, creates an aggregation instruction to move the items from one container to another, and sends the aggregation work entity located at the aggregation station to the aggregation unit. , transmitting an aggregation instruction.''
  • Patent Document 1 International Publication No. 2016/100235
  • Patent Document 2 Japanese Patent Application Publication No. 2020-128266
  • the present invention has been made in view of the above problems, and an object thereof is to provide a high-speed and efficient article changing device.
  • a typical example is an article changing device that pulls out a tray placed on a shelf from the shelf, and It has a carriage device that pushes into a shelf, and a moving device that moves the carriage device, the carriage device has a hook part, a transmission device that moves the hook part, and a table, The hook portion has a claw portion with a tip facing upward, and after the moving device moves the carriage device to a position on the shelf where the tray to be pulled out is stored, the transmission device: The hook portion is moved upward so that the claw portion is inserted into a downwardly opening recess provided on the edge of the tray, and then moved horizontally to pull out the tray from the shelf.
  • the transmission device brings the hook portion into contact with the tray placed on the table.
  • the tray is then pushed into the shelf by moving in the direction of the tray.
  • the items stored in the shelf can be moved all at once, and damage to the items stored can be reduced.
  • this invention it is possible to realize a high-speed and efficient article changing device. Note that problems, configurations, and effects other than those described above will be made clear by the description of the embodiments below.
  • FIG. 1 is a block diagram showing an example of the configuration of an information processing system in an embodiment of the present invention.
  • FIG. 1 is a perspective view showing an example of the layout of a warehouse in a distribution center in an embodiment of the present invention. It is an explanatory view showing an example of arrangement of articles in a warehouse in an example of the present invention. It is a perspective view showing an example of the structure of the shelf in the example of the present invention.
  • FIG. 2 is a perspective view showing an example of the configuration of a work station for replacing articles in an embodiment of the present invention.
  • FIG. 1 is a perspective view showing an example of the configuration of an article changing device in an embodiment of the present invention.
  • FIG. 2 is a front view showing an example of the configuration of a carriage device in an embodiment of the present invention.
  • FIG. 7 is an enlarged view of a hook portion 703 in a front view showing an example of the configuration of a carriage device in an embodiment of the present invention.
  • FIG. FIG. 2 is a plan view showing an example of the configuration of a carriage device in an embodiment of the present invention. It is a left side view showing an example of composition of a carriage device in an example of the present invention.
  • FIG. 6 is an explanatory diagram showing an example of the operation of pulling out and pushing in the tray by the carriage device in the embodiment of the present invention.
  • FIG. 6 is an explanatory diagram showing an example of the operation of pulling out and pushing in the tray by the carriage device in the embodiment of the present invention.
  • FIG. 6 is an explanatory diagram showing an example of the operation of pulling out and pushing in the tray by the carriage device in the embodiment of the present invention.
  • FIG. 6 is an explanatory diagram showing an example of the operation of pulling out and pushing in the tray by the carriage device in the embodiment of the present invention.
  • FIG. 6 is an explanatory diagram showing an example of the operation of pulling out and pushing in the tray by the carriage device in the embodiment of the present invention.
  • FIG. 6 is an explanatory diagram showing an example of the operation of pulling out and pushing in the tray by the carriage device in the embodiment of the present invention.
  • It is an explanatory view showing an example of the shape of a shelf board and a tray in an example of the present invention.
  • It is an explanatory diagram showing an example of order information in an example of the present invention.
  • FIG. 3 is a flowchart illustrating an example of a process related to article picking executed by the information processing system according to the embodiment of the present invention.
  • 2 is a flowchart illustrating an example of a process related to replacement and replenishment of articles executed by an information processing system according to an embodiment of the present invention.
  • Examples of various types of information may be described using expressions such as “table,” “list,” and “queue,” but various information may also be expressed using data structures other than these.
  • various information such as “XX table”, “XX list”, “XX queue”, etc. may be referred to as “XX information”.
  • identification information expressions such as “identification information”, “identifier”, “name”, “ID”, and “number” are used, but these expressions can be replaced with each other.
  • a computer executes a program using a processor (eg, CPU, GPU), and performs processing determined by the program using storage resources (eg, memory), interface devices (eg, communication port), and the like. Therefore, the main body of processing performed by executing a program may be a processor. Similarly, the subject of processing performed by executing a program may be a controller, device, system, computer, or node having a processor. The main body of the processing performed by executing the program may be an arithmetic unit, and may include a dedicated circuit that performs specific processing.
  • the dedicated circuit is, for example, an FPGA (Field Programmable Gate Array), an ASIC (Application Specific Integrated Circuit), or a CPLD (Complex Programmable Logic Device).
  • the program may be installed on the computer from the program source.
  • the program source may be, for example, a program distribution server or a computer-readable storage medium.
  • the program distribution server includes a processor and a storage resource for storing the program to be distributed, and the processor of the program distribution server may distribute the program to be distributed to other computers.
  • two or more programs may be implemented as one program, or one program may be implemented as two or more programs.
  • Sorting efficiency can be improved by arranging storage shelves near the sorting workers. In order to further increase efficiency, it is effective to configure a storage shelf that stores many popular products, or to configure a storage shelf with products related to a certain product (for example, screws, washers, nuts).
  • order history data can extract order frequency and relevance. Based on such analysis, it is conceivable to configure storage shelves with popular products or products related to the products. For example, consider configuring storage shelves for popular products. At least one storage shelf is called up, the contents are removed, and work occurs. In the case of a distribution center using AGVs, it is effective to call up two storage shelves, exchange the contents based on the popularity of the products, and reconfigure the storage shelves.
  • FIG. 1 is a block diagram showing an example of the configuration of an information processing system in an embodiment of the present invention.
  • the information processing system of this embodiment includes a warehouse control device 100, a network 180, a plurality of transport devices 1, a plurality of station terminals 7, and one or more article switching devices 90.
  • the plurality of transport devices 1, the plurality of station terminals 7, and one or more article switching devices 90 are connected to the warehouse control device 100 via a network 180.
  • a warehouse control device 100 when a worker operates a station terminal 7 set in a warehouse of a distribution center, a warehouse control device 100 causes a transport device 1 to transport a shelf 8 (storage section) to a work station for picking. Then, the worker performs the picking work. In addition, the warehouse control device 100 causes the transport device 1 to transport the shelf 8 (storage section) to a work station for article replacement, and controls the article replacement device 90 to exchange the articles stored on the shelf 8. (and/or replenishment).
  • each of the plurality of shelves 8 may be described separately, such as shelf 8A and shelf 8B.
  • the warehouse control device 100 is a computer that includes an arithmetic device 110, a memory 120, an input device 130, an output device 140, a storage device 150, and a communication interface 170. Note that the warehouse control device 100 is not limited to the configuration shown in FIG.
  • the warehouse control device 100 may be one computer or may be composed of a plurality of computers. Further, each device included in the warehouse control device 100 may be arranged in one computer, or may be configured as a plurality of devices in a distributed manner.
  • Each program and each piece of information that the storage device 150 has may be stored in one storage device, or may be divided and stored in a plurality of storage devices so as to be distributed.
  • the storage device 150 has a nonvolatile storage medium, and stores the program executed by the arithmetic device 110 and the data used by the program.
  • a route creation program 161 a data input/output program 162, a data analysis program 163 (control unit), a transport device control program 164, and an article switching device control program 165 are stored in the storage device 150.
  • the arithmetic unit 110 loads the necessary program into the memory 120 and executes it.
  • order information 200 As an example of data stored in the storage device 150, order information 200, inventory information 220, shelf information 230, route data 270, and article replacement data 280 are stored.
  • the route creation program 161 calculates the route along which the transport device 1 moves based on preset map information (not shown).
  • the route creation program 161 calculates a route along which the transport device 1 is to be moved, for example, based on the position of the item to be picked (for example, the item to be shipped) and the position of the destination picking work station. It also calculates the routes of the two transport devices 1 for transporting the two shelves 8 that store the items identified as items to be replaced by the data analysis program 163, which will be described later, to the work station for item replacement.
  • the transport device control program 164 Based on the route calculated by the route creation program 161, the transport device control program 164 transmits a transport instruction specifying the shelf 8 to be transported and the destination work station to the available transport devices 1.
  • the data input/output program 162 accepts order information, accepts input from the station terminal 7 operated by a worker, accepts sensor data from the conveyance device 1, accepts sensor data from the article switching device 90, etc. It is executed and stored in the storage device 150. Further, upon receiving a command to start the transport device 1 from the station terminal 7 , the data input/output program 162 transmits a command generated by the transport device control program 164 to the transport device 1 .
  • the data analysis program 163 identifies the items to be replaced and the shelves on which they are stored based on the order information 200, inventory information 22, and shelf information 230, and stores the results in the item replacement data 280.
  • the order information 200 is information on an order requesting the shipment of an article, and stores information on the article to be picked.
  • the order information 200 may include information on orders regarding items that have already been shipped, in addition to information on orders regarding items that are to be shipped.
  • the inventory information 220 stores information regarding the inventory of articles, such as information on the shelf 8 on which the article is placed, the placement position of the article on the shelf 8, the quantity, weight, and the tray that accommodates the article.
  • the shelf information 230 stores information such as the position and weight of the shelf.
  • the route data 270 stores information on the route within the warehouse for each transport device 1 calculated by the route creation program 161.
  • the article replacement data 280 stores information such as articles to be exchanged specified by the data analysis program 163 and the shelves in which they are stored.
  • the input device 130 is composed of a keyboard, a mouse, a touch panel, or the like.
  • the output device 140 is composed of a display or the like.
  • the communication interface 170 communicates with the transport device 1, the station terminal 7, and the article changing device 90 via a wireless or priority network 180.
  • the transport device 1 is an autonomous moving body that can automatically transport shelves 8 loaded with articles in accordance with commands from the warehouse control device 100.
  • the transport device 1 is an automatic transport device that includes a control device 2 , a storage device 4 , a drive device 3 , a sensor 5 , and a communication interface 6 .
  • the sensor 5 includes, for example, a vibration sensor (acceleration sensor) and an image sensor.
  • the control device 2 includes an arithmetic unit (not shown) and a memory (not shown).
  • the control device 2 estimates the self-position based on the information acquired from the sensor 5 so that the transport device 1 travels along the route generated by the warehouse control device 100 by having the arithmetic device execute a program stored in the memory. , and processes such as travel control for the drive device 3.
  • the storage device 4 is composed of a non-volatile storage medium, and stores each program and data used by each program. Examples of data include route data, map information, and the like.
  • the route data stores route data 270 received from the warehouse control device 100.
  • the map information stores map information (not shown) received from the warehouse control device 100.
  • the drive device 3 includes a truck (not shown), a drive wheel (not shown), a table (not shown), an auxiliary wheel (not shown), and a motor (not shown) as a power source for driving the drive wheel and the table. ) and a battery (not shown) that supplies power to the motor.
  • the drive wheel and the table may be driven by independent motors.
  • the drive device 3 lifts the shelf 8 by going under the shelf 8 and then raising the table. Then, the drive device 3 moves toward the designated position with the shelf 8 lifted up, lowers the table, and lowers the shelf 8 onto the floor surface.
  • the station terminal 7 is installed at a picking work station where a worker performs picking work.
  • the station terminal 7 displays the work schedule information transmitted from the warehouse control device 100 to present the work details to the worker, and also receives input from the worker and transmits it to the warehouse control device 100.
  • the station terminal 7 includes a communication interface 71, an input device 72, an output device 73, a control device 74, and a storage device 75.
  • the communication interface 71 communicates with the warehouse control device 100 via the network 180.
  • the input device 72 is configured with a touch panel, a keyboard, or the like.
  • the output device 73 is composed of a display, a speaker, or the like.
  • the control device 74 is composed of a microcomputer or the like, and executes a predetermined program.
  • Storage device 75 stores programs and data.
  • the station terminal 7 receives the work schedule to be performed at the work station from the warehouse control device 100 and stores it in the picking work information 76 of the storage device 75.
  • the station terminal 7 outputs instructions and the like according to the worker's work situation from the picking work information 76 to the output device 73.
  • the article exchange device 90 is installed at a work station for article exchange.
  • the article replacement device 90 has a mechanism for pulling out articles stored on the shelves 8 and pushing articles into the shelves 8, and can exchange articles stored on the two shelves 8. .
  • the article replacement device 90 includes a communication interface 91, a control device 92, a storage device 93, a sensor 94, and a drive device 95.
  • the communication interface 91 communicates with the warehouse control device 100 via the network 180.
  • the control device 92 is composed of a microcomputer or the like, and executes a predetermined program.
  • Storage device 93 stores programs and data.
  • the sensor 94 detects the position of each part driven by the drive device 95.
  • the control device 92 controls the drive device 95 based on control information received from the warehouse control device 100, information detected by the sensor 94, and the like.
  • the drive device 95 pulls out articles stored on the shelf 8 and pushes the articles onto the shelf 8.
  • the drive device 95 includes a motor 96, a moving device 97, and a carriage device 98.
  • the motor 96 is a power source that drives the moving device 97 and the carriage device 98.
  • the drive device 95 may have a plurality of motors 96, and the moving device 97 and the carriage device 98 may each be driven by one or more motors 96.
  • the moving device 97 moves the carriage device 98 to the position where the article is placed on the shelf 8 to be replaced.
  • the carriage device 98 pulls out the article from the article placement position on the replacement shelf 8 and pushes the article into the article placement position on the replacement destination shelf 8. Details of these mechanisms will be described later.
  • FIG. 2 is a perspective view showing an example of the layout of a warehouse in a distribution center in an embodiment of the present invention.
  • the distribution center has storage space 12. Inside the storage space 12, a plurality of shelves 8 are arranged in a grid pattern in the vertical and horizontal directions. In the example of FIG. 2, the shelves 8 form an “island” of 2 ⁇ 6 or 1 ⁇ 6 shelves 8.
  • a plurality of transport devices 1 are arranged within the storage space 12.
  • the conveyance device 1 enters the lower part of the shelf 8, lifts up the shelf 8, and then moves it.
  • a plurality of chargers 15 for charging the transport device 1 are arranged at predetermined locations around the storage space 12 .
  • a plurality of work stations 16-1 to 16-4 are arranged at predetermined positions on the outer edge of the storage space 12.
  • workers 17-1 to 17-3 carry out warehousing and unloading of goods
  • the work robot 18-1 carries out warehousing and unloading of goods. carry out business.
  • a station terminal 7 is arranged at the work station 16 where the worker 17 performs work. Furthermore, work spaces 19-1 to 19-4 for sorting and packaging are installed at predetermined positions around the work station 16. The size of the work space 19 and the size of the accommodating parts such as boxes for sorting and packing may be different for each work station 16.
  • the four work stations 16 shown in FIG. 2 are all work stations 16 for picking work, but the distribution center includes one or more work stations 16 for article replacement.
  • at least one of the work stations 16 shown in FIG. 2 may be a work station 16 for replacing articles.
  • An article replacement device 90 is installed at the article exchange work station 16 .
  • one work station 16 may function as a picking work station 16 during times when products are shipped, such as during the day, and may function as a work station 16 for replacing goods during times when shipping is not performed, such as at night. good.
  • inventory items reduced due to shipping may be replenished. Details of the configuration and operation of the work station 16 for replacing articles will be described later.
  • FIG. 3 is a plan view showing an example of the arrangement of articles in a warehouse according to an embodiment of the present invention.
  • FIG. 4 is a perspective view showing an example of the configuration of the shelf 8 in the embodiment of the present invention.
  • Each shelf 8 is divided into a plurality of stages by a plurality of shelf boards 81, and one or more trays 401 can be placed in each stage.
  • Articles (not shown) are accommodated in trays 401 and stored on shelves 8 .
  • a maximum of four trays 401 are arranged on each stage of each shelf 8.
  • the arrangement position of each tray 401 is the arrangement position of articles, and is also called a frontage.
  • the articles can be pulled out from the shelf 8 along with the tray 401.
  • the shelf 8 may also have an opening where the tray 401 is not placed.
  • FIG. 4 shows an example in which the tray 401 is arranged only on one side of the shelf 8, the tray 401 may actually be arranged on the opposite side of the shelf 8.
  • FIG. 5 is a perspective view showing an example of the configuration of the work station 16 for replacing articles in the embodiment of the present invention.
  • An article exchange device 90 is installed at a position in contact with the storage space 12 in the work station 16 for article exchange.
  • two shelves 8 on which articles are to be exchanged are each transported by the conveyance device 1 and arranged.
  • a shelf 501 for temporarily storing the tray 401 pulled out from the shelf 8 is installed on the side opposite to the storage space 12 side of the article changing device 90.
  • the shelf 501 may be of any kind as long as the tray 401 can be placed thereon, for example, it may be similar to the work space 19 or may be similar to the shelf 8.
  • the direction of the boundary line between the work station 16 and the storage space 12 on the horizontal plane is also referred to as the Y direction, the vertical direction as the Z direction, and the direction perpendicular to the YZ plane as the X direction.
  • FIG. 6 is a perspective view showing an example of the configuration of the article changing device 90 in the embodiment of the present invention.
  • the carriage device 98 that constitutes the article exchange device 90 pulls out the tray 401 from the shelf 8 or the shelf 501 and pushes the tray 401 into the shelf 8 or the shelf 501. Details of these operations and the configuration of the carriage device 98 for realizing them will be described later.
  • the moving device 97 that constitutes the article replacement device 90 includes a horizontal moving device 97A and a vertical moving device 97B.
  • the lateral movement device 97A is a device that moves the carriage device 98 in the lateral direction (that is, also referred to as the Y direction or the horizontal direction).
  • the vertical moving device 97B is a device that moves the horizontal moving device 97A and the carriage device 98 in the vertical direction (that is, also referred to as the Z direction or the vertical direction).
  • the carriage device 98 By controlling the horizontal movement device 97A and the vertical movement device 97B, the carriage device 98 can be moved to the position where the tray 401 to be replaced is placed.
  • the specific mechanisms for realizing the operations of the horizontal movement device 97A and the vertical movement device 97B are not limited, but can be realized by, for example, a chain or a timing belt.
  • FIG. 7A is a front view showing an example of the configuration of the carriage device 98 in the embodiment of the present invention.
  • the carriage device 98 includes a plurality of sprockets 701, a chain 702 wound around them, a hook portion 703 attached to the chain 702, and a table 704.
  • FIG. 7A shows four sprockets 701 and one chain 702 wound around them
  • the carriage device 98 actually has another set of four sprockets, as shown in the plan view described later. It has a sprocket 701 and one chain 702, and a hook portion 703 is installed to connect the two chains 702.
  • the carriage device 98 has two hook portions 703, each of which is installed at a position separated by approximately half a circumference of the chain 702 from each other.
  • the trajectory of the chain 702 between the two sprockets 701 on the left side shown in FIG. 7A is set so that the upper part protrudes outside the carriage device 98.
  • the trajectory of the chain 702 between the two sprockets 701 on the right side is also set so that the upper part protrudes outside the carriage device 98.
  • the tray 401 can be pulled out from the shelf 8 by hooking the hook portion 703 onto a recess provided in the tray 401 of the shelf 8 and moving it.
  • the table 704 is a stand on which the tray 401 that has been pulled out is placed. Further, by moving the hook portion 703 against the tray 401 placed on the table 704, the tray 401 can be pushed into a desired position on the shelf 8.
  • FIG. 7A shows a mechanism for moving the hook portion 703 that is a combination of a plurality of sprockets 701 and a chain 702 wound around them.
  • this is an example of a winding transmission device consisting of a rotating member and a winding member, and may be replaced by a winding transmission device consisting of a plurality of pulleys and belts or wires wound around them, for example.
  • the hook portion 703 is attached to a wrapping member such as a chain, belt, or wire, and is moved by rotation of a sprocket or pulley.
  • FIG. 7B is an enlarged view of the hook portion 703 in a front view showing an example of the configuration of the carriage device 98 in the embodiment of the present invention.
  • the hook portion 703 includes a rod-shaped connecting portion 711 that connects the two chains 702, a base portion 712 rotatably attached to the connecting portion 711, two claws 713 attached to the base portion 712, and each claw. It has a spring 714 attached to 713 and a buffer section 715 attached to a part of the connecting section.
  • the claw 713 is attached to the base 712 so that the tip faces upward (that is, the Z direction) and is movable in the X direction within a range regulated by a stopper (not shown). A force is applied in a direction that increases the distance between the connecting portion and the connecting portion.
  • the base 712 is attached to the connecting part 711 so as to be rotatable around the connecting part 711, and when there is no external force, the tip of the claw 713 takes a posture pointing upward due to its own weight as shown in FIG. 7B. .
  • FIG. 7C is a plan view showing an example of the configuration of the carriage device 98 in the embodiment of the present invention.
  • the carriage device 98 has two sets of four sprockets 701 and one chain 702.
  • illustration of the lower hook part 703 shown in FIG. 7A among the two lower sprockets 701 and the two hook parts 703 in each set is omitted.
  • the connecting portion 711 is a rod-shaped member that connects the two chains 702.
  • buffer portions 715 are attached to two locations on the connecting portion 711.
  • the buffer section 715 is, for example, a substantially cylindrical (for example, polygonal prism-shaped) resin member attached so as to wrap around the connecting section 711 .
  • the two claws 713 are attached at positions facing each other across a part of the connecting part 711 that is different from the part to which the buffer part 715 is attached (in the example of FIG. 7C, the central part of the connecting part 711).
  • FIG. 7D is a left side view showing an example of the configuration of the carriage device 98 in the embodiment of the present invention.
  • FIG. 7D for convenience of explanation, the lower hook portion 703 shown in FIG. 7A among the two hook portions 703 shown in FIG. 7A is not shown.
  • the base 712 is attached to the connecting part 711 so as to be rotatable about the connecting part 711, and when there is no external force, the tip of the claw 713 takes a posture pointing upward due to its own weight.
  • FIGS. 8A to 8F are explanatory diagrams showing an example of the operation of pulling out and pushing in the tray 401 by the carriage device 98 in the embodiment of the present invention.
  • FIG. 8A shows the carriage device 98 moved to the front of the tray 401 to be pulled out by the moving device 97 (omitted in FIG. 8A).
  • illustration of the sprocket 701 is omitted.
  • a recess 402 that opens downward is provided at the edge of the tray 401.
  • a stopper 82 is provided at the edge of the shelf board 81 on which the tray 401 is placed. This is intended to prevent the tray 401 from falling off the shelf board 81, and is provided, for example, by making the edge of the shelf board 81 higher than the upper surface of the portion of the shelf board 81 on which the tray 401 is loaded. Note that in FIGS. 8A to 8F, illustrations of the articles loaded on the tray 401 are omitted.
  • the chain 702 is rotating clockwise, and the one of the two hook parts 703 that is closer to the tray 401 approaches the recess 402 of the tray 401 from diagonally below.
  • the claw 713 of the hook part 703 is inserted into the recess 402, and by moving further upward and pushing up the recess 402, the front side of the tray 401 (that is, the side closer to the carriage device 98) is lifted, and the tray 401 is lifted up.
  • 401 shows a state in which the bottom surface on the near side is higher than the stopper 82.
  • the trajectory of the chain 702 is set so that the upper part protrudes outside the carriage device 98. Therefore, when the hook portion 703 moves upward, the direction of movement includes not only an upward component but also a horizontal component toward the outside of the carriage device 98.
  • the hook portion 703 pushes the tray 401 slightly into the back of the shelf 8.
  • the corner formed by the bottom and side surfaces of the tray 401 does not come into contact with the stopper 82, and the tray 401 can be lifted smoothly.
  • FIG. 8C shows a state in which the hook portion 703 has further moved to the right and the tray 401 has been partially pulled out from the shelf 8.
  • the tray 401 is moved from the top of the shelf board 81 to the top of the table 704 by being pulled by the hook part 703.
  • FIG. 8D shows a state in which the tray 401 is completely pulled out.
  • the entire tray 401 is placed on the table 704, the direction of movement of the hook portion 703 changes downward as the chain rotates, and the claw 713 is removed from the recess 402.
  • the hook portion 703 on the opposite side contacts the tray 401 and pushes the tray 401 to the right, as shown in FIG. 8E.
  • the claw 713 contacts the tray 401 before the buffer part 715
  • the claw 713 moves in the direction of the connecting part 711 due to the displacement of the spring 714 (omitted in FIG. 8F), as shown in FIG. 8F.
  • the portion 715 contacts the tray 401.
  • the tray 401 is pushed out to the right side of the carriage device 98. This allows the tray 401 to be pushed onto a shelf placed on the opposite side of the shelf 8 (for example, another shelf 8 or the temporary storage shelf 501).
  • the chain 702 may be rotated in the opposite direction (that is, in the counterclockwise direction).
  • the tray 401 is pushed into the shelf 8 in a sequential transition to the states shown in FIGS. 8D, 8C, 8B, and 8A.
  • the tray comes into contact with the buffer portion 715 and is pushed in.
  • the tray 401A when replacing the tray 401A and the tray 401B shown in FIG. 5, the tray 401A may be moved to the temporary storage shelf 501 in the steps shown in FIGS. 8A to 8F first. Thereafter, the moving device 97 moves the carriage device 98 to the placement position of the tray 401B, and the carriage device 98 places the tray 401B on the table 704 in the procedure shown in FIGS. 8A to 8D. Thereafter, the moving device 97 moves the carriage device 98 to the position where the tray 401A was placed (currently empty), rotates the chain 702 to the left, and executes the steps in FIGS. 8A to 8D in reverse order. , tray 401B can be pushed into the position where tray 401A was placed.
  • one carriage device 98 has two hook parts 703, and one hook part 703 is attached to the other hook on the track formed by the chain 702. It is attached at a position approximately half a circle ahead of the position. Accordingly, after pulling out the tray 401 using one hook portion 703 shown in FIGS. 8A to 8D, the tray 401 can be pushed in using the other hook portion 703 shown in FIGS. 8E to 8F. . This allows trays 401 to be replaced at high speed.
  • the carriage device 98 may have only one hook portion 703. In that case, after the tray 401 has been pulled out as shown in FIG. 8D, the hook portion 703 may be further moved to the position of the hook portion 703 on the left side of FIG. 8E, and the tray 401 may be pushed in.
  • FIG. 9 is an explanatory diagram showing an example of the shapes of the shelf board 81 and the tray 401 in the embodiment of the present invention.
  • the stopper 82 of the shelf board 81 shown in FIG. 9 is processed into a curved surface whose inner dimension has a radius of curvature of a predetermined value or more. Furthermore, the corner 403 formed by the side surface and the bottom surface of the tray 401 is processed into a curved surface whose outer dimension has a radius of curvature equal to or greater than a predetermined value. In the example of FIG. 9, both the stopper 82 and the corner 403 are curved, but only one of them may be curved. As a result, when the tray 401 is pulled out from the shelf 8 and pushed into the shelf 8 as shown in FIGS. 8A to 8F, the impact caused by the tray 401 colliding with the shelf 8 is alleviated, and the tray 401 is loaded. Protected items are protected.
  • FIG. 10 is an explanatory diagram showing an example of order information 200 in the embodiment of the present invention.
  • the order information 200 includes a serial number 201, a slip number 202, a store name 203, a store code 204, an article name 205, an article code 206, a quantity 207, a delivery date 208, an order reception date and time 209, included in one record.
  • the serial number 201 is a unique number given by the warehouse control device 100.
  • the slip number 202 is a unique number assigned by the warehouse control device 100 to each order.
  • the store name 203 indicates the shipping destination of the item.
  • This embodiment shows an example in which different serial numbers 201 are assigned even if the slip number 202 is the same but the article name 205 and article code 206 are different. This is because if the article name 205 and article code 206 are different, each article may be stored on a different shelf 8.
  • the number 207 indicates the quantity of the ordered item specified by the item name 205 and item code 206 in the slip number 202 of the record.
  • the order reception date and time 209 stores the date and time when the warehouse control device 100 (or distribution center) received the order with the slip number 202.
  • FIG. 11 is an explanatory diagram showing an example of inventory information 220 in the embodiment of the present invention.
  • the inventory information 220 includes a serial number 221, an article name 222, an article code 223, a stock quantity 224, a shelf ID 225, an arrangement position within the shelf 226, and a tray ID 227 in one record.
  • the shelf ID 225 stores the identifier of the shelf 8 on which the article is stored.
  • the placement position 226 in the shelf stores information used to specify the position where an article to be picked by the worker 17 or the robot 18 is placed, for example, at the picking work station 16.
  • the tray ID 227 is information that identifies a tray that stores articles. In this embodiment, one tray corresponds to one placement position. For example, in the first record shown in FIG. 11, 23 items with the item name "SS" are stored in the tray with the tray ID "T001", starting from the top (U) of the shelf with the shelf ID "S046". Indicates that it is placed at the second position from the right (R) of the third row.
  • FIG. 12 is an explanatory diagram showing an example of shelf information 230 in the embodiment of the present invention.
  • the shelf information 230 includes a serial number 231, a shelf ID 232, a storage position 233, a shelf weight 234, and an article weight 235 in one record.
  • the shelf ID 232 stores a unique identifier given to each shelf 8.
  • the shelf ID 232 for example, an identifier of the shelf 8 given by the warehouse control device 100 may be stored.
  • the storage position 233 stores positional information of the storage space 12 in which the shelf 8 is stored, for example, coordinates of map information. When the shelf 8 is being transported, "transporting" is stored in the storage position 233.
  • the shelf weight 234 stores the weight of the shelf 8 itself, and the article weight 235 stores the weight of the articles loaded on the shelf 8 (more specifically, for example, articles and trays for storing them). .
  • the weight of the conveyance object (shelf + article) conveyed by the conveyance device 1 is at least the sum of the "shelf weight" and the "product weight.”
  • FIG. 13 is a flowchart illustrating an example of processing related to article picking executed by the information processing system according to the embodiment of the present invention.
  • a user orders an item (step S1301). For example, a user may order a product (item) via a product site provided by a retailer or the like. At this time, the item name, quantity, user information, destination, etc. of the article are input.
  • the product site server receives the order from the user, determines the distribution center, etc. that has the item in stock based on the item, quantity, destination, etc. ordered by the user, and issues a shipping request for the item. Send (step S1302). Note that information such as ordered items, quantities, destinations, etc. is held as order information 200.
  • a control system such as a distribution center that receives the item shipping request generates a picking instruction based on the shipping request and inventory information (step S1303).
  • a control system such as a distribution center that receives the item shipping request generates a picking instruction based on the shipping request and inventory information (step S1303).
  • the warehouse control device 100 of FIG. 1 is used as a control system for a distribution center or the like.
  • the warehouse control device 100 identifies the shelf 8 in which the item to be picked is stored, determines the transport device 1 that transports the shelf, determines the transport route of the shelf 8 by the transport device 1, and The instruction and the picking instruction are transmitted to the transport device 1 and the picking work station 16, respectively (step S1304).
  • the transport device 1 transports the shelf 8 to the picking work station 16 based on the received transport instruction (step S1305).
  • a picking worker picks them based on the picking instructions (for example, how many items to pick from which frontage, etc.) output from the picking work station 16.
  • the work is performed and the results are input to the picking work station 16 (step S1306).
  • the picking work station 16 transmits the results of the picking operation to the warehouse control device 100.
  • the warehouse control device 100 transmits an instruction to return the shelves to the transport device 1 (step S1307).
  • the transport device 1 transports the shelf 8 to the designated position in the storage space 12 according to the instruction (step S1308).
  • the transport destination position at this time may be the same position as the position where the shelf 8 was placed before being transported to the work station 16, or may be a different position.
  • the transport device 1 transmits a notice of shelf return completion to the warehouse control device 100 (step S1309). After that, the process returns to step S1304.
  • FIG. 14 is a flowchart illustrating an example of processing related to replacement and replenishment of articles executed by the information processing system according to the embodiment of the present invention.
  • the warehouse control device 100 identifies the shelves 8 to be replaced, the placement positions within each shelf 8, and the articles stored in the respective placement positions, and generates a replacement instruction (step S1401). Specifically, for example, the warehouse control device 100 executes the data analysis program 163 to identify combinations of items that are frequently shipped at the same timing (for example, items that are frequently shipped to the same shipping destination on the same flight). combination), and identify the items of those articles, the shelves 8 on which they are stored, their arrangement positions, etc. The warehouse control device 100 generates an article shuffling instruction based on the article shuffling data 280 including such information, and sends it to the conveying device 1 and the article shuffling device 90 installed at the work station 16 for shuffling articles. do.
  • the transport device 1 transports the replacement source and replacement shelves 8 to the article replacement work station 16 based on the received article replacement instruction (step S1402).
  • the article replacement device 90 executes article replacement work according to the article replacement instruction (step S1403).
  • the work is performed, for example, in the procedure shown in FIGS. 8A to 8F, and the articles are replaced together with the tray 401.
  • the article replacement device 90 transmits a notification of the end of the article replacement work to the warehouse control device 100.
  • the warehouse control device 100 transmits an instruction to return the shelf to the transport device 1 (step S1404).
  • the transport device 1 transports the shelf 8 to the designated position in the storage space 12 according to the instruction (step S1405).
  • the transport destination position at this time may be the same position as the position where the shelf 8 was placed before being transported to the work station 16, or may be a different position.
  • the transport device 1 transmits a notification of the completion of the shelf return to the warehouse control device 100 (step S1406). After that, the process returns to step S1401.
  • system according to the embodiment of the present invention may be configured as follows.
  • a carriage that is an article shuffling device (for example, the article shuffling device 90) that pulls out a tray (for example, the tray 401) placed on a shelf (for example, the shelf 8) from the shelf, and pushes the tray onto the shelf.
  • the carriage device includes a device (for example, a carriage device 98) and a moving device (for example, a moving device 97) for moving the carriage device, and the carriage device has a hook portion (for example, a hook portion 703), a transmission device for moving the hook portion, and a moving device (for example, a moving device 97) for moving the carriage device.
  • a table e.g., table 704
  • the hook part has a claw part (e.g., claw 713) with the tip facing upward
  • the moving device moves the tray to the position where the tray to be pulled out is stored on the shelf.
  • the transmission device moves the hook portion upward, and after the claw portion is inserted into a downwardly opening recess (for example, recess 402) provided on the edge of the tray, the transmission device moves the hook portion upwardly and horizontally.
  • the moving device moves the carriage device to the position where the tray is stored on the shelf, the transmission device , the hook portion is brought into contact with the tray placed on the table and then moved in the direction of the tray to push the tray into the shelf (for example, the process of FIGS. 8E to 8F or FIGS. 8A to 8D) processing in reverse order).
  • the items stored at each location within the shelf can be moved all at once, and damage to the items stored can be reduced. This makes it possible to realize a high-speed and efficient article changing device.
  • the transmission device is a wrapped transmission device having a plurality of rotating parts (for example, sprocket 701) and a wrapping part (for example, chain 702) wrapped around the plurality of rotating parts.
  • the hook part is attached to the wrapping part, and the carriage device has a motor (for example, motor 96) that drives at least one of the plurality of rotating parts, and the motor rotates at least one of the plurality of rotating parts.
  • the hook portion moves vertically and horizontally along a trajectory formed by the wrapping portions wound around the plurality of rotating portions.
  • the transmission device has two sets of at least four rotating parts and one wrapping part that is wrapped around the at least four rotating parts, and the hook part has two sets of It is attached to connect the wrapping parts.
  • the hook portion includes a connecting portion (e.g., connecting portion 711) that connects the two wrapping portions, and a base portion (e.g., base portion 712) rotatably attached to the connecting portion.
  • the claw portion is attached to the base, and the base assumes a posture in which the tip of the claw portion faces upward due to its own weight.
  • the claw part is attached to the base so as to be movable in the horizontal direction within a predetermined range, and the hook part is separated from the coupling part by the buffer part attached to the coupling part and the claw part.
  • a spring e.g., spring 714 that applies a force in the direction, and when the hook portion moves horizontally and the claw portion contacts the tray placed on the table before the buffer portion; The displacement causes the claw portion to move in the direction of the connecting portion, and the buffer portion contacts the tray (for example, FIG. 8F).
  • the plurality of rotating parts are arranged so that the upward movement of the hook part includes a horizontal component toward the outside of the carriage device.
  • the plurality of rotating parts are a plurality of sprockets
  • the wrapping part is a chain wrapped around the plurality of sprockets.
  • the carriage device has two hook parts, the first of the two hook parts is attached to the winding part, and the second of the two hook parts is attached to the winding part.
  • the hook portion is attached to the winding portion at a position approximately half a turn ahead of the position where the first hook portion is attached on the track.
  • the moving device includes a horizontal moving device (for example, moving device 97A) that moves the carriage device in the horizontal direction, and a vertical moving device that moves the horizontal moving device and the carriage device in the vertical direction. (for example, a moving device 97B).
  • a horizontal moving device for example, moving device 97A
  • a vertical moving device that moves the horizontal moving device and the carriage device in the vertical direction.
  • An article replacement system that includes a warehouse control device (e.g., warehouse control device 100), a plurality of transport devices (e.g., furdal ancestor device 1), and a storage space in the warehouse (e.g., storage space 12). It has a plurality of shelves and an article switching device installed at a work station (for example, work station 16) adjacent to the storage space, and each of the plurality of shelves has a plurality of trays arranged at a plurality of positions. The plurality of trays each store articles, and the warehouse control device stores order information indicating the items, quantities, and shipping destinations of the ordered articles, and the items, quantities, and shipping destinations of the articles stored in the warehouse.
  • the article shuffling device holds inventory information indicating the shelf and the placement position within the shelf, and shelf information indicating the storage position of a plurality of shelves, and is capable of pulling out a tray placed on the shelf from the shelf, and pulling out the tray placed on the shelf. It has a carriage device that pushes the carriage onto the shelf, and a moving device that moves the carriage device, and the carriage device includes a hook portion, a transmission device that moves the hook portion, and a table. has a claw with an upwardly facing tip, and the warehouse control device determines the location and location of two shelves storing items that are frequently shipped at the same time, based on order information and inventory information.
  • the transmission device moves the hook portion upward so that the claw portion touches the edge of the tray.
  • the tray After the tray is inserted into the downwardly opening recess provided in the tray, the tray is pulled out from the shelf and placed on the table by moving it horizontally, and the moving device moves the tray to the other of the two transported shelves. After moving the carriage device to the location where the tray to be replaced is stored, the transmission device brings the hook part into contact with the tray placed on the table and then moves it in the direction of the tray, thereby removing the tray. Push it onto the shelf.
  • the items stored at each location within the shelf can be moved all at once, and damage to the items stored can be reduced. This makes it possible to realize a high-speed and efficient article changing device. Furthermore, by consolidating items that are frequently shipped at the same time, the efficiency of subsequent shipping operations is improved.
  • each shelf has one or more shelf boards (for example, shelf board 81) on which one or more trays are each loaded, and the portion on the edge of each shelf board is where the trays are loaded.
  • a stopper e.g. stopper 82
  • the transmission device moves the hook part upwardly until the bottom surface of the tray is higher than the stopper after the claw part is inserted into the recess of the tray. The tray is pulled from the shelf and placed on the table by moving the section upward and then horizontally.
  • the stopper of each shelf is a curved surface whose inner dimension has a radius of curvature equal to or greater than a predetermined value.
  • the corner formed by the side surface and the bottom surface of each tray is a curved surface whose outer dimension has a radius of curvature of a predetermined value or more.
  • the present invention is not limited to the above-described embodiments, and includes various modifications.
  • the embodiments described above are described in detail for better understanding of the present invention, and the present invention is not necessarily limited to having all the configurations described.
  • it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment and it is also possible to add the configuration of another embodiment to the configuration of one embodiment.
  • each of the above-mentioned configurations, functions, processing units, processing means, etc. may be partially or entirely realized in hardware by designing, for example, an integrated circuit.
  • each of the above configurations, functions, etc. may be realized by software by a processor interpreting and executing a program for realizing each function.
  • Information such as programs, tables, and files that realize each function is stored in storage devices such as non-volatile semiconductor memory, hard disk drives, and SSDs (Solid State Drives), or computer-readable nonvolatile devices such as IC cards, SD cards, and DVDs. It may be stored on a temporary data storage medium.
  • control lines and information lines are shown that are considered necessary for explanation, and not all control lines and information lines are necessarily shown in the product. In reality, almost all configurations may be considered to be interconnected.

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  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)
PCT/JP2022/014184 2022-03-24 2022-03-24 物品入替装置、物品入替システム及び物品入替方法 WO2023181310A1 (ja)

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61150908A (ja) * 1984-12-21 1986-07-09 Nippon Filing Co Ltd 物品保管装置
JP2020128266A (ja) * 2019-02-07 2020-08-27 株式会社日立インダストリアルプロダクツ 倉庫管理装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61150908A (ja) * 1984-12-21 1986-07-09 Nippon Filing Co Ltd 物品保管装置
JP2020128266A (ja) * 2019-02-07 2020-08-27 株式会社日立インダストリアルプロダクツ 倉庫管理装置

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