JP2021151912A - Automatic warehouse system - Google Patents

Abstract

To provide an automatic warehouse system capable of correcting a position of holding a cargo by conveying means.SOLUTION: An automatic warehouse system 100 according to one embodiment comprises first conveying means 14 movable in a column direction by holding a cargo 12, and second conveying means 16 movable in a row direction by mounting the first conveying means 14 by which the cargo 12 is held. The first conveying means 14 in a state of being installed in the second conveying means 16 executes a holding position correcting operation for correcting a holding position in the column direction of the cargo 12 that is held by the first conveying means 14.SELECTED DRAWING: Figure 1

Description

The present invention relates to an automated warehouse system.

An automated warehouse system that can efficiently store and retrieve a large number of loads in a small space is known. According to Patent Document 1, the applicant discloses an automated warehouse system including a storage shelf capable of storing a plurality of articles. This automated warehouse system is configured to carry in and out goods using a transport trolley that can move in a row direction and a trolley that can move in a row direction between storage shelves. In this automated warehouse system, goods are placed on pallets for transportation and storage.

JP-A-2017-160040

The present inventor has obtained the following recognition.
In an automated warehouse system with transport means for holding and moving the load, it is desirable that the load be held in an appropriate position in the transport means. However, the accuracy of the load holding position is lowered due to factors such as an error in the position of the load when holding the load and an error in the stop position of the transport means.
From these, the present inventor recognized that there is room for improvement in the storage position of the load in the automated warehouse system.

The present invention has been made in view of such a problem, and one of the objects of the present invention is to provide an automated warehouse system capable of correcting a load holding position in a transport means.

In order to solve the above problems, an automated warehouse system according to an embodiment of the present invention is equipped with a first transport means that holds a load and can move in a column direction, and a first transport means that holds the load in the row direction. It is provided with a second transport means that can be moved to. The first transport means executes a holding position correction operation for correcting the holding position of the load held by the first transport means in the row direction while being mounted on the second transport means.

It should be noted that any combination of the above components and those in which the components and expressions of the present invention are mutually replaced between methods, systems and the like are also effective as aspects of the present invention.

According to the present invention, it is possible to provide an automated warehouse system capable of modifying the holding position of a load in the transport means.

It is a top view which shows typically an example of the automated warehouse system which concerns on embodiment. It is a side view which shows the automated warehouse system of FIG. It is a side view which shows typically an example of the 1st transport means of FIG. It is a front view which shows typically an example of the 2nd transport means of FIG. It is a top view which shows the 2nd transport means of FIG. It is explanatory drawing explaining an example of the holding position correction operation of the automated warehouse system of FIG. It is a flowchart which shows an example of the warehousing operation of the automated warehouse system of FIG. It is explanatory drawing explaining an example of the replacement operation of the automated warehouse system of FIG.

The outline of the present disclosure will be described. When a load is transported by a transport means (hereinafter, referred to as "first transport means") that holds the load (including one that is handled integrally with the pallet), the load is in a predetermined position (for example, a central position) of the first transport means. ) Is desirable. In the specification, the "position" unless otherwise described refers to the position in the moving direction (row direction) of the first transporting means, and the "position of the load" and the "position of the transporting means" which are not particularly described are referred to. , The central position of the total length of the load and transport means in the row direction.

The first transport means is a sensor provided in itself and can detect the position of the previously placed load. Therefore, assuming that the position of the load held by the first transport means is at a predetermined position (for example, the center position), how close the load is to the previously placed load is to hold the load. It is possible to grasp whether or not the distance between the loads becomes a predetermined gap when the loaded load is unloaded. That is, since the distance between the end of the first transport means and the end of the load being held is known, and the distance between the previously placed load and the first transport means is known, the time when the first transport means is stopped. Since the separation distance between the loads can be known, the gap between the loads can be controlled to a predetermined distance.

However, due to the error as described above, it cannot always be held at the center position of the first transport means. It may be closer to the right end of the first transport means or closer to the left end of the first transport means. When the right end side of the first transport means is in the traveling direction, it means that the load is placed in a gap shorter than a predetermined gap with respect to the load placed earlier, and vice versa. Can be in a state.

That is, the accuracy of the load holding position is lowered due to factors such as an error in the position of the load when the load is held in the first transport means and an error in the stop position of the first transport means. When the loads are stored in order on the storage shelves, the first transport means stops at a position where a predetermined distance is formed between the previously stored load (the wall at the end) and the first transport means itself. , Unload the load that you were holding at that position. As a result, a gap (hereinafter, referred to as “load gap”) between the load stored earlier and the load stored later is formed. This operation can be realized by providing a sensor for detecting the distance to the object in front of the first transport means and controlling the sensor based on the detection result.

However, when the load is shifted from the center of the first transport means, the gap between the loads varies depending on the shift amount. In particular, when the load is shifted from the center to the rear side, the gap between the loads includes an error that expands by the amount of the shift. For example, if the shift amount is 10% of the load length and 10 loads are stored, the cumulative error will be 100%, so only 9 loads can be stored in the storage space for 10 packages, and the storage efficiency of the warehouse will decrease. do.

It is also conceivable to provide an expensive sensor in the first transport means to improve the accuracy of the load holding position. However, when handling loads of different lengths, it may not be possible to detect loads of different lengths depending on the position of the sensor. Therefore, it is conceivable to provide a plurality of sensors corresponding to a plurality of lengths, but in this case, the first transport means becomes large and expensive.

From these, the present inventor has a configuration in which the first transport means corrects the holding position of the load on another transport means (hereinafter, referred to as “second transport means”) that mounts and transports the first transport means. I devised it. For example, while mounted on the second transport means, a sensor provided in the second transport means detects the position of the first transport means and the position of the load, and the first transport means is based on the detection result. A holding position correction operation for picking up the load may be performed. The detection result may be transmitted from the second transport means to the first transport means.

As an example, while holding the load, the first transport means is moved so that the load comes to a predetermined position (for example, the central position) of the second transport means, and the load is temporarily unloaded at that position, and the first transport means is used. The first transport means may be moved so that the first transport means comes to a predetermined position (for example, a central position) of the second transport means, and the load may be held at that position. The holding position correction operation can be realized by controlling the movement of the first transport means based on the detection result of the sensor provided in the second transport means.

It is desirable that the holding position correction operation be performed before the load is transported and stored on the storage shelf. In this sense, the holding position correction operation can be executed in the process of the warehousing operation of warehousing the carried-in load and the process of the warehousing operation of warehousing the loaded load. The holding position correction operation can suppress a decrease in the accuracy of the load holding position and an expansion of the load gap.
Hereinafter, it will be described in detail with reference to the embodiment.

Hereinafter, the present invention will be described with reference to each drawing based on a preferred embodiment. In the embodiments and modifications, the same or equivalent components and members are designated by the same reference numerals, and redundant description will be omitted as appropriate. In addition, the dimensions of the members in each drawing are shown enlarged or reduced as appropriate for easy understanding. In addition, some of the members that are not important for explaining the embodiment in each drawing are omitted and displayed.

In addition, terms including ordinal numbers such as 1st and 2nd are used to describe various components, but this term is used only for the purpose of distinguishing one component from other components, and this term is used. The components are not limited by.

[Embodiment]
The overall configuration of the automated warehouse system 100 according to the embodiment will be described with reference to FIGS. 1 and 2. FIG. 1 is a plan view schematically showing an example of the automated warehouse system 100 according to the embodiment. FIG. 2 is a side view showing the automated warehouse system 100. For convenience of explanation, as shown in the figure, an XYZ Cartesian coordinate system in which a certain horizontal direction is the X-axis direction, a horizontal direction orthogonal to the X-axis direction is the Y-axis direction, and a direction orthogonal to both, that is, a vertical direction is the Z-axis direction. To determine. The positive directions of the X-axis, the Y-axis, and the Z-axis are defined in the directions of the arrows in each figure, and the negative directions are defined in the directions opposite to the arrows. The X-axis direction may be referred to as a "row direction", the Y-axis direction may be referred to as a "column direction", and the Z-axis direction may be referred to as a "vertical direction". The traveling direction of the first transport means is referred to as "forward" and "front", and the opposite may be referred to as "rear" and "rear". The notation in such a direction does not limit the configuration of the automated warehouse system 100, and the automated warehouse system 100 can be used in any configuration depending on the application.

As shown in FIG. 1, the automated warehouse system 100 includes a shelf unit 22, a first transport means 14, a second transport means 16, an intermediate shelf 20, and a control unit 50. The shelf unit 22 is a storage shelf having a plurality of storage units 24 capable of storing loads 12 arranged along the row direction and the column direction. The first transport means 14 is a self-propelled carriage that holds the load 12 and can move the shelves 22 along the row direction. The second transport means 16 is a self-propelled trolley on which the first transport means 14 holding the load 12 is mounted and can move along the side of the shelf 22 along the row direction. The intermediate shelf 20 is a shelf portion having a plurality of intermediate accommodating portions 21 for accommodating loads 12 arranged along the row direction. The intermediate shelf 20 functions as a relay unit for delivering the load 12 between the external transport means 54 and the first transport means 14 at the time of loading and unloading.

The control unit 50 includes an MPU (Micro Processing Unit) and the like. The control unit 50 controls the operations of the first transport means 14 and the second transport means 16 in order to transport the load 12 based on the operation result from the user.

In the present specification, one or more articles housed in a case such as corrugated cardboard and one or more stacked on a pallet are referred to as "load 12". The load 12 may be composed of a plurality of laminated layers (for example, 3). The load 12 may be the smallest unit for warehousing, storage, distribution, and delivery in the automated warehouse system 100.

The shelf portion 22 will be described with reference to FIGS. 1 and 2. The configuration of the shelf portion 22 is not particularly limited as long as it can accommodate and store a plurality of loads 12. As described above, the shelf unit 22 includes a plurality of storage units 24 arranged along the X-axis direction and the Y-axis direction. Each storage unit 24 is configured to be able to store the load 12. In particular, the shelf unit 22 can store the load 12 in each storage unit 24.

In this embodiment, a plurality of storage units 24 are continuously provided in the Y-axis direction. Specifically, the storage unit 24 is continuously provided on the first rail 26, which will be described later, extending in the Y-axis direction, and the storage unit 24 is a place where the load 12 of the first rail 26 is stored. Therefore, even if the length of the first rail 26 is the same, the number of storage units 24 changes depending on the size of the load 12 to be stored, the size of the gap with the adjacent load 12, and the like. A plurality of storage units 24 connected in the Y-axis direction are referred to as storage rows 23. On the side of each storage row 23 facing the travel path (second rail 28) of the second transport means 16, a frontage 23 a is provided on which the first transport means 14 enters and takes in and out the load 12. The frontage 23a functions as an entrance / exit for the load 12.

In the present embodiment, N-stage (N is an integer of 1 or more, for example, 3) shelves 22 arranged in layers on the upper and lower sides are provided. FIG. 1 shows the first stage shelf 22 closest to the floor Fr. In the second and higher stages, the N-stage shelf portion 22 is arranged on the N-1-stage shelf portion 22. The shelves 22 of each stage may have the same configuration as each other. In particular, one or more sets of the first transport means 14 and the second transport means 16 are provided on the shelf portion 22 of each stage.

The intermediate shelf 20 will be described with reference to FIGS. 1 and 2. The configuration of the intermediate shelf 20 is not particularly limited as long as it can accommodate the load 12. In the present embodiment, the intermediate shelves 20 of N stages (N is an integer of 1 or more, for example, 3) arranged in layers on the upper and lower sides are provided. FIG. 1 shows the intermediate shelf 20 of the first stage closest to the floor Fr. In the second and higher stages, the intermediate shelf 20 of the Nth stage is arranged on the intermediate shelf 20 of the N-1 stage. The intermediate shelves 20 of each stage may have the same configuration as each other. The number of stages of the intermediate shelf 20 is the same as the number of stages of the shelf portion 22. The number of intermediate accommodating portions 21 of the intermediate shelves 20 in each stage may be 1 or more. In the example of FIG. 1, the number of intermediate accommodating portions 21 in each stage is the same as the number of storage portions 24 in the X-axis direction of the shelf portions 22 in each stage.

The intermediate accommodating portion 21 has an inner side frontage 21a facing the inner side and an outer side frontage 21b facing the outer side on the side opposite to the inner side frontage 21a. The inner frontage 21a functions as an entrance / exit for the first transport means 14 to enter and take in / out the load 12. The external frontage 21b functions as an entrance / exit for the external transport means 54 to insert a fork and load / unload the load 12.

The shelf portion 22 and the intermediate shelf 20 are provided with a first rail 26 as a traveling path of the first transport means 14. The first rail 26 extends in the Y-axis direction at the shelf portion 22 and the intermediate shelf 20. The first transport means 14 is a transport means capable of traveling under each storage unit 24 and the intermediate storage unit 21. A second rail 28 as a traveling path for the second transport means 16 is provided between the shelf portion 22 and the intermediate shelf 20. The second rail 28 extends in the X-axis direction adjacent to the shelf portion 22 and the intermediate shelf 20.

The first transport means 14 will be described with reference to FIG. FIG. 3 is a side view schematically showing an example of the first transport means 14. The first transport means 14 includes a vehicle body 14b, a motor (not shown), a plurality of wheels 14f, a mounting base portion 14c, and a lift mechanism 14d. The first transport means 14 drives a plurality of wheels 14f by a motor and travels on the first rail 26 in the Y-axis direction with the load 12 mounted. The first transport means 14 raises and lowers the load 12 on the mounting base portion 14c and the mounting base portion 14c by the lift mechanism 14d. In FIG. 3, the mounting base portion 14c in the ascending state is shown by a broken line, and the mounting base portion 14c in the descending state is shown by a solid line.

The first transport means 14 can enter the storage unit 24 and the intermediate storage unit 21. The first transport means 14 can get on and off the second transport means 16. The first transport means 14 can unload the load 12 onto the storage section 24, the intermediate storage section 21, and the second transport means 16. The first transport means 14 can lift and hold the load 12 from the storage section 24, the intermediate storage section 21, and the second transport means 16.

The first transport means 14 includes a first sensor 14s capable of detecting a distance to an object (another load 12, a wall W, an obstacle, etc.) in the traveling direction when moving forward. The first sensor 14s can be realized by a laser sensor that projects a laser and receives the reflected light. The first sensor 14s may detect by scanning the laser sensor up and down. Based on the detection result of the first sensor 14s, the first transport means 14 moves the shelf 22 while detecting the previously stored load 12, stops before a predetermined distance of the load 12, and holds the load 12 there. Unload the load 12 that was being used. The first sensor 14s may be provided on one side and the other side of the first transport means 14 in the traveling direction, or one sensor 14s may be provided on one side.

The second transport means 16 will be described with reference to FIGS. 4 and 5. FIG. 4 is a front view schematically showing an example of the second transport means 16, showing a state in which the first transport means 14 is mounted. FIG. 5 is a plan view showing the second transport means 16. The second transport means 16 includes a mounting portion 16c, a guide portion 16j, a motor (not shown), and a plurality of wheels 16f. The second transport means 16 drives a plurality of wheels 16f by a motor and travels on the second rail 28 in the X-axis direction. The second transport means 16 can mount the first transport means 14 on the mounting portion 16c. The second transport means 16 can transport the first transport means 14 with the load 12 mounted or empty. The mounting portion 16c is provided with two guide portions 16j arranged apart from each other in the X-axis direction. The two guide units 16j guide the first transport means 14 when the first transport means 14 is on board. A load 12 can be placed on the two guide portions 16j.

The second transport means 16 includes a second sensor 16s capable of detecting the position of the first transport means 14 and the position of the load 12 held by the first transport means 14. For example, the second sensor 16s is a transmission type optical sensor including a set of a floodlight 16h and a light receiver 16k arranged apart from each other in the X-axis direction. The second sensor 16s detects whether or not the light 16n projected from the floodlight 16h is blocked by the light receiver 16k. As shown in FIG. 5, the second transport means 16 is located at a position that does not interfere with the first transport means 14 and the load 12, and is located at a position separated from the Y-axis direction (the traveling direction of the first transport means 14). The second sensor 16s of the set is provided. The second sensor 16s is arranged at a position higher than the guide portion 16j.

The two sets of the second sensors 16s can detect the protruding state of the load 12 and also detect the protruding state of the first transport means 14. When the first transport means 14 and the load 12 are in a predetermined positional relationship with the second transport means 16 (for example, they are located in the center of each other), the two sets of the second sensors 16s are both in the ON state (for example, they are located in the center of the other party). It becomes a non-shading state). When either the first transport means 14 and the load 12 are not in a predetermined positional relationship (for example, when shifting from the center), one of the two sets of the second sensors 16s (the sensor on the protruding direction side) is turned off. It becomes a state (light-shielding state). The Y-axis direction separation distance of the two sets of the second sensors 16s is set to a distance at which it can be determined whether or not the load 12 and the first transport means 14 have a predetermined positional relationship with respect to the second transport means 16. ..

(Receiving operation)
The warehousing operation S110 of the automated warehouse system 100 will be described with reference to FIGS. 1, 6 and 7. FIG. 6 is an explanatory diagram illustrating a holding position correction operation. FIG. 7 is a flowchart of the warehousing operation S110. In the holding position correction operation, the term "position" refers to the position in the Y-axis direction (the traveling direction of the first transport means 14).

In the warehousing operation S110, first, the load 12 to be warehousing is carried into the intermediate storage section 21 of the intermediate shelf 20 by an external transport means 54 such as a forklift (step S111). In this step, the forklift mounts the load 12 at a predetermined position (for example, the central position) in the Y-axis direction of the intermediate accommodating portion 21, but the loading position includes an error.

When the load 12 is carried into the intermediate storage section 21, the second transport means 16 mounts the empty first transport means 14 and moves in front of the intermediate storage section 21 (step S112).

After moving to the intermediate accommodating portion 21, the first conveying means 14 exits from the second conveying means 16 and enters the intermediate accommodating portion 21, and lifts and holds the load 12 (step S113). In this step, the first transport means 14 moves under the load 12 with the mounting base portion 14c lowered and stops. This stop position includes an error. When stopped under the load 12, the first transport means 14 raises the loading platform 14c to hold the load 12. Therefore, in this state, the holding position of the load 12 includes an error with respect to a predetermined position.

After holding the load 12, the first transport means 14 exits from the intermediate accommodating portion 21 and gets on the second transport means 16 (step S114). In this step, the second transport means 16 mounts the first transport means 14. When the first transport means 14 gets on the second transport means 16, the first transport means 14 starts the holding position correction operation. FIG. 6A shows a state before the holding position correction operation.

In FIG. 6, the center line C12, the center line C14, and the center line C16 indicate the center positions of the load 12, the first transport means 14, and the second transport means 16 in the Y-axis direction (traveling direction of the first transport means 14). .. As shown in FIG. 6A, the center line C12, the center line C14, and the center line C16 are separated from each other before the holding position correction operation. That is, the load 12 is shifted from the central position of the first transport means 14.

In the holding position correction operation, first, it is determined whether or not the load 12 and the first transport means 14 have a predetermined positional relationship with respect to the second transport means 16 (step S115). The predetermined positional relationship in this step is that the load 12 and the first transport means 14 are located at the center of the second transport means 16. That is, in this step, it is determined whether or not the load 12 and the first transport means 14 are at the center position of the second transport means 16. The first transport means 14 acquires the detection results of two sets of the second sensors 16s from the second transport means 16 and is in a predetermined positional relationship (center position) when both the second sensors 16s are in the ON state. Is determined.

If there is a predetermined positional relationship (Y in step S115), the process proceeds to step S118.

When the position is not in a predetermined positional relationship (center position) (N in step S115), the first transport means 14 moves on the second transport means 16 while holding the load 12, and the load 12 and the second transport means 16 move. The first operation of unloading the load 12 is performed at a position where and is in a predetermined positional relationship (step S116). The predetermined positional relationship in this step is that the load 12 is located at the center of the second transport means 16. That is, in this step, the load 12 is moved to the central position of the second transport means 16 and the load 12 is unloaded at that position. The first transport means 14 acquires the detection results of two sets of the second sensors 16s from the second transport means 16, and determines that they are in a predetermined positional relationship when both of the second sensors 16s are in the ON state. FIG. 6B shows a state in which step S116 is completed. In this state, the center line C12 and the center line C16 are substantially at the same position, and the center line C14 is separated from them.

Although not shown in the flowchart, the operation when the first transport means 14 protrudes from the second transport means 16 will be described. In the process of moving the load 12 to the center of the second transport means 16, the first transport means 14 may protrude from the second transport means 16. In this case, in the present embodiment, the first transport means 14 performs the following operations. When the first transport means 14 protrudes from the second transport means 16, the first transport means 14 stops moving, temporarily lowers the load 12 onto the second transport means 16, moves a predetermined distance in the returning direction, and loads again. Lift and hold 12 By this operation, it is possible to prevent the first transport means 14 from being derailed.

After executing the first operation, the first transport means 14 moves on the second transport means 16 with the load 12 unloaded, and the first transport means 14 and the second transport means 16 are in a predetermined positional relationship. The second operation of holding the load 12 at the position is performed (step S117). The predetermined positional relationship in this step is that the first transport means 14 is located at the center of the second transport means 16. That is, in this step, the first transport means 14 moves to the central position of the second transport means 16 and holds the load 12 at that position. The first transport means 14 acquires the detection results of two sets of the second sensors 16s from the second transport means 16, and determines that they are in a predetermined positional relationship when both of the second sensors 16s are in the ON state. FIG. 6C shows a state in which step S117 is completed. In this state, the center line C12, the center line C14, and the center line C16 are substantially at the same position.
After executing the holding position correction operation, the process proceeds to step S118.

In step S118, the second transport means 16 mounts the first transport means 14 for holding the load 12 and moves to the storage row 23 to which the target storage unit 24 belongs (step S118). In this step, the second transport means 16 stops at a position facing the frontage 23a of the storage row 23 to which the target storage unit 24 belongs.

Next, the first transport means 14 exits from the second transport means 16 and moves to the target storage unit 24 (step S119). In this step, the first transport means 14 moves in the storage row 23 while detecting the previously stored load 12 based on the detection result of the first sensor 14s, and is a predetermined distance before the previously stored load 12. Stop. Therefore, the target storage unit 24 is a front area of the previously stored load 12 in the storage row 23. Further, when there is no previously stored load 12, it is the innermost area in the storage row 23.

Next, the first transport means 14 unloads the load 12 onto the target storage unit 24 (step S120). When the load 12 is unloaded, the warehousing operation S110 ends. The first transport means 14 may stand by as it is, or may move to a predetermined waiting place.
This operation example is just an example, and various modifications are possible.

(Replacement operation)
The replacement operation of the automated warehouse system 100 will be described with reference to FIGS. 1, 6 and 8. FIG. 8 is an explanatory diagram illustrating a rearrangement operation. FIG. 8 (a) shows the state before the rearrangement, and FIG. 8 (b) shows the state after the rearrangement. In the rearrangement operation, as shown by the arrow in FIG. 8A, the load 12 stored in the storage unit 24-P of the transport source belonging to a certain storage row 23-P in the shelf unit 22 is separated by another. This is an operation of transferring to the storage unit 24-S of the transfer destination belonging to the storage row 23-S. note that,

In the replacement operation, the first transport means 14 enters under the load 12 of the storage unit 24-P of the transport source with the mounting base portion 14c lowered, raises the mounting base portion 14c, and lifts the load 12. Hold and board the second transport means 16. After boarding the second transport means 16, the first transport means 14 executes the holding position correction operation shown in FIG. The holding position correction operation and the subsequent operations are the same as in steps S116 to S120, and redundant description is omitted. In the replacement operation, the load 12 is stored in a temporary storage area different from the storage unit 24-S, and then the load 12 is transferred from the temporary storage area to the storage unit 24-S. You may. This operation example is just an example, and various modifications are possible.

(Delivery operation)
The delivery operation of the automated warehouse system 100 will be described with reference to FIGS. 1 and 3. In the warehousing operation, first, the first transport means 14 enters under the load 12 to be delivered in the storage section 24 of the transport source with the loading platform 14c lowered, raises the loading platform 14c, and loads the load. Hold 12 and board the second transport means 16. When the first transport means 14 is on board, the second transport means 16 moves to the intermediate accommodating portion 21. After moving to the intermediate accommodating portion 21, the first transport means 14 exits from the second transport means 16 and enters the intermediate accommodating portion 21, unloads the load 12, and exits from the intermediate accommodating portion 21. The load 12 unloaded to the intermediate accommodating portion 21 is delivered to the outside by an external transport means 54 such as a forklift. The delivered load 12 may be loaded onto a truck (not shown) and shipped.

The holding position correction operation will be further described. In the above description, the holding position correction operation is executed before the second transport means 16 is moved to the storage row 23 to which the target storage unit 24 belongs, but the holding position correction operation is the first transport means. This can be performed at any time as long as 14 is on board the second transport means 16. For example, the holding position correction operation may be executed during or after the movement of the second transport means 16. When executed while the second transport means 16 is moving, it is possible to reduce the time loss waiting for the end of the holding position correction operation. Further, when the execution is performed after the movement, the holding position is unlikely to fluctuate due to the acceleration or vibration during the movement.

The features of the automated warehouse system 100 configured as described above will be described. In the present embodiment, the first transport means 14 performs a holding position correction operation for correcting the holding position of the load 12 held by the first transport means 14 in the row direction while being mounted on the second transport means 16. Run. In this case, the holding position can be corrected when the load 12 is shifted from the predetermined holding position. By modifying the holding position, the accumulation of the shift amount is reduced, which is advantageous in terms of storage efficiency of the warehouse.

In the holding position correction operation of the present embodiment, the load 12 is moved on the second transport means 16 while being held, and the load 12 is unloaded at a position where the load 12 and the second transport means 16 have a predetermined positional relationship. One operation and the second operation of moving on the second transport means 16 with the load 12 unloaded and holding the load 12 at a position where the first transport means 14 and the second transport means 16 have a predetermined positional relationship. And are executed in this order. In this case, the holding position can be corrected by the operation of the first transport means 14 and the second transport means 16 without adding a special device or mechanism for correcting the holding position.

In the present embodiment, the holding position correction operation is executed before the movement of the second transport means 16. In this case, since the second transport means 16 is stationary, the second transport means 16 is less likely to shake, and the correction error of the holding position due to the shake can be reduced.

The holding position correction operation may be executed during or after the movement of the second transport means 16. When it is executed while moving, it is possible to reduce the time loss waiting for the end of the holding position correction operation. Further, when the execution is performed after the movement, the fluctuation of the holding position due to the acceleration or vibration during the movement can be reduced.

In the present embodiment, the holding position correction operation is a rearrangement operation in which the load 12 is transported from one storage unit 24 of the plurality of storage units 24 to the other storage unit 24 by the first transfer means 14 and the second transfer means 16. Executed during. In this case, the gap between the load stored earlier and the load stored later in the replacement operation is reduced, which is advantageous in terms of storage efficiency in the warehouse.

In the present embodiment, in the holding position correction operation, the load 12 received from the outside of the shelf unit 22 is transported to one storage unit 24 of the plurality of storage units 24 by the first transport means 14 and the second transport means 16. Executed during the warehousing operation. In this case, the gap between the previously stored load and the load stored in the warehousing operation is reduced, which is advantageous in terms of storage efficiency in the warehouse.

When the second transport means 16 moves with the first transport means 14 mounted, it is not preferable that the first transport means 14 protrudes from the second transport means 16, and the first transport means 14 does not protrude. However, it is not preferable that the load 12 protrudes. For example, if the load 12 held by the first transport means 14 is extremely to the right of the first transport means 14, it is assumed that the load 12 protrudes from the second transport means 16. In this case, When the second transport means 16 moves, one end of the protruding load 12 may come into contact with the structure of the shelf portion 22, which is not preferable.

Further, even if the load 12 is at the center position of the first transport means 14, if the first transport means 14 protrudes from the second transport means 16, the same problem may occur. In order to deal with this, the second transport means 16 includes a second sensor 16s that detects the position of the first transport means 14 and the position of the load 12 held by the first transport means 14. The second sensor 16s can detect whether the first transport means 14 is not stopped at a position shifted with respect to the second transport means 16 or the load 12 is not shifted with respect to the second transport means 16. By using this detection result, the position of the first transport means 14 can be controlled so that the first transport means 14 and the load 12 fall within a range that does not cause a problem with respect to the second transport means 16.

In the present disclosure, the sensor provided in the second transport means 16 is utilized, and the load 12 is displaced on the second transport means 16 based on the position of the first transport means 14 and the position of the load 12. The concept is that the first transport means 14 picks up the load 12. The fact that the load 12 is not at the center position of the first transport means 14 means that the center of gravity of the load 12 is biased to the front or the back of the first transport means 14, which is a structural burden. However, another effect of reducing the influence of the bias of the center of gravity position can be expected by picking up the load 12.

The examples of the embodiments of the present invention have been described in detail above. All of the above-described embodiments are merely specific examples for carrying out the present invention. The content of the embodiment does not limit the technical scope of the present invention, and many design changes such as changes, additions, and deletions of components are made without departing from the idea of the invention defined in the claims. It is possible. In the above-described embodiment, the contents that can be changed in such a design are described with the notations such as "in the embodiment" and "in the embodiment", but the contents are designed without such notations. It's not that changes aren't tolerated.

(Modification example)
A modified example will be described below. In the drawings and description of the modified examples, the same or equivalent components and members as those in the embodiment are designated by the same reference numerals. The description that overlaps with the embodiment will be omitted as appropriate, and the configuration different from the embodiment will be mainly described.

In the description of the embodiment, an example in which the second sensor 16s is a transmission type optical sensor is shown, but the present invention is not limited to this. For example, the second sensor 16s may be a laser sensor or an image sensor. For example, the second sensor 16s may process the image data of the image sensor to acquire the relative positional relationship between the load 12, the first transport means 14, and the second transport means 16.

In the description of the embodiment, an example including the intermediate accommodating portion 21 is shown, but the present invention is not limited to this. For example, instead of the intermediate storage section 21, a warehousing section for receiving the warehousing load and a warehousing section for holding the warehousing load may be provided. Further, an elevating means for ascending / descending the load of each stage may be provided.

In the description of the embodiment, an example in which the second rail 28 is provided on the traveling path of the second transport means 16 is shown, but the present invention is not limited to this. For example, the second transport means 16 may travel on a travel path without rails.

In the description of the embodiment, an example in which the second transport means 16 does not have an elevating mechanism is shown, but the present invention is not limited to this. For example, the second transport means 16 may include an elevating mechanism for raising and lowering the first transport means 14. The second transport means 16 may be a stacker crane.

Each of these modifications has the same effect as that of the embodiment.

Any combination of each of the above-described embodiments and modifications is also useful as an embodiment of the present invention. The new embodiments resulting from the combination have the effects of the combined embodiments and variants.

12 Loads, 14 1st transport means, 16 2nd transport means, 20 intermediate shelves, 21 intermediate storage units, 22 shelves, 24 storage units, 26 1st rails, 28 2nd rails, 50 controls, 100 automated warehouse systems ..

Claims (6)

A first transport means that can hold the load and move in the row direction,
A second transport means that is equipped with the first transport means that holds the load and can move in the row direction, and a second transport means that can move in the row direction.
With
The first transport means is an automated warehouse system that executes a holding position correction operation for correcting a holding position of a load held by the first transport means in a row direction while being mounted on the second transport means. In the holding position correction operation,
The first operation of moving on the second transport means while holding the load and unloading the load at a position where the load and the second transport means have a predetermined positional relationship.
The second operation of moving on the second transport means in the unloaded state and holding the load at a position where the first transport means and the second transport means have a predetermined positional relationship is the present. The automated warehouse system according to claim 1, which is executed in order. The automated warehouse system according to claim 1 or 2, wherein the holding position correction operation is executed before the movement of the second transport means. The automated warehouse system according to claim 1 or 2, wherein the holding position correction operation is executed during or after the movement of the second transport means. It has shelves with multiple shelves for storing loads arranged along the row and column directions.
The first transport means can move the shelf portion, and the first transport means can move.
The second transport means can move on the side of the shelf.
The claim that the holding position correction operation is executed during a rearrangement operation in which the first transport means and the second transport means transport a load from one storage unit of the plurality of storage units to another storage unit. The automated warehouse system according to any one of 1 to 4. It has shelves with multiple shelves for storing loads arranged along the row and column directions.
The first transport means can move the shelf portion, and the first transport means can move.
The second transport means can move on the side of the shelf.
The holding position correction operation is executed during the warehousing operation in which the load received from the outside of the shelf section is conveyed to one storage section of the plurality of storage sections by the first transport means and the second transport means. The automated warehouse system according to any one of claims 1 to 4.

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