JP5078563B2 - Automatic warehouse - Google Patents

Description

  The present invention relates to an automatic warehouse in which loads are loaded into and unloaded from a storage shelf via a self-propelled carriage, a lifting platform, and a relay shelf.

  There are many automated warehouses, but from the viewpoint of loading and unloading, a system that loads and unloads with one stacker crane and each shelf (or multiple shelves) are provided. It can be broadly classified as a system that uses a horizontal traveling self-propelled carriage. The latter self-propelled cart type automatic warehouse has a lifting platform for delivering loads to the shelves at each stage and the loading / unloading conveyor, and a conveyor type (power) is provided between the storage shelf and the lifting platform. A drive-type relay shelf is arranged.

The self-propelled carriage is generally arranged corresponding to each shelf (for example, Patent Document 1), but one self-propelled carriage corresponding to a plurality of stages is proposed (for example, Patent Document 2). ). The relay shelf is a kind of temporary storage table, and generally has a buffer function (storage function) by having a length that allows a plurality of loads to be placed thereon.
JP 2000-118638 A JP 2004-123240 A

  As described above, in a self-propelled trolley type automatic warehouse, the relay shelf has a length that allows a plurality of loads to be placed in series in order to provide a buffer function. The relay shelf is divided into a plurality of (generally two or three) zones so that the load can be conveyed, and each zone is individually driven by a motor. And delivery of the load between the self-propelled carriage and the relay shelf is set to be performed in a zone close to the automatic warehouse.

  Now, the busyness of loading and unloading of goods to and from the automatic warehouse is very different, and loading and unloading of loads may be concentrated on specific shelves. And when this inventor observed the movable state of the automatic warehouse of a self-propelled cart system, waiting time occurred in a lifting platform or waiting time occurred in a self-propelled cart, There was a case of loss in the movement.

  The present invention is based on such knowledge, and in a self-propelled cart type automatic warehouse, the self-propelled cart, the lifting platform, and the relay shelf are efficiently driven to increase the efficiency of loading and unloading. It is intended.

  The characteristics of the self-propelled cart type automatic warehouse are that the processing capacity for loading and unloading is significantly higher than that of the stacker crane type automatic warehouse, and this feature is that the self-propelled carts are arranged in multiple stages and each This is realized by running the carriage at a higher speed than the stacker crane because of its high stability. On the other hand, since the relay shelf is a conveyor system and must be stopped in a state where no inertial force is generated, the conveyance speed is much slower than that of a self-propelled carriage. For example, a self-propelled carriage can run at a high speed of 250 m / min or more, but a relay shelf has a speed of about 30 to 35 m / min. The inventor of the present application has completed the present invention by paying attention to the speed difference between the self-propelled carriage and the relay shelf.

Automatic warehouse according to the present invention, the storage shelves on both sides sandwiching the transfer path is disposed a pair of hangar arranged in multiple stages, the transfer passage, corresponding to the storage shelf in one stage or multiple stages to have self-propelled truck for goods movements is arranged to be freely horizontally running further to the point located on the extension of the storage shelf outside a and a plan view of the pair of hangar, in proximity to the storage shelf conveyor and relaying the shelf of the formula, wherein are arranged to sandwich the both relay shelf and hangar and lifting table positioned on the opposite side of each load is transferred to the self-propelled carriage and the lifting platform via the relay shelf In addition, the self-propelled carriage is configured to travel at a speed much faster than the conveying speed of the two relay shelves.

In the invention of claim 1, first, the two relay shelves are composed of a plurality of zones including two zones, an outer zone close to the elevator platform and an inner zone close to the storage shelf. While being individually driven and capable of stopping one load in each zone, the self-propelled carriage has a stop position so that it can deliver the load at at least two locations of the relay shelves, the outer zone and the inner zone. The control device that controls the driving of the self-propelled carriage, both relay shelves, and both lifting platforms, and only one entry is performed, and only one exit is used It is possible to arbitrarily select an incoming / outgoing mixed state in which the incoming goods received and the outgoing goods using the other relay shelf are mixed.
Furthermore, in claim 1, in the loading / unloading mixed state,
1). If there is a warehousing request next to the warehousing request, and the warehousing and the warehousing do not continue for a predetermined time and there is no stagnation of the load , the self-propelled carriage will shed in the outer zone of one of the relay shelves. And then wait to receive the load from the outer zone of the other relay shelf,
2) In the state where there is a warehousing request next to the warehousing request, the warehousing is a single bomb that does not continue for a predetermined time and there is no stagnation of the load, but the warehousing is a continuous warehousing that is performed multiple times within a predetermined time. In this case, the delivery is performed at the outer zone of one of the relay shelves, while the other relay shelf retains a plurality of loads, and the self-propelled carriage that has finished the delivery stays in the other relay shelf. Return to the zone where the first one of the load is located and receive the load,
Is controlled.

According to a second aspect of the present invention, in addition to the first aspect, each of the relay shelves has an intermediate zone located between the outer zone and the inner zone, and the self-propelled carriage is between the intermediate zone. The stop position can be selected so that the cargo can be delivered.

The invention of claim 3 is a specific example of the invention of claim 1 or 2. That is, according to the present invention, the delivery of the load between the self-propelled carriage and the relay shelf at each stage is 1): When there is no stagnation of the load preceding the relay shelf at the time of warehousing and the subsequent warehousing does not continue, 2): If warehousing continues at an interval within a predetermined time, transfer all continuous loads from the inner zone of the relay shelf to the self-propelled cart, 3) : If the unloading request is continuous within the predetermined time interval and there is no stagnation of the load on the relay shelf, each continuous load is transferred from the self-propelled cart to the outer zone of the relay shelf, 4): the unloading request is If the load continues in the interval of the specified time and the load remains in the relay shelf, each continuous load is transferred from the self-propelled cart to the inner zone of the relay shelf. If there are no even load retention to relay the shelf only single goods issue not continue, the outer zone of the load from the self-propelled carriage Transferring the down, it is controlled so on.

The “predetermined time” in claim 3 refers to a time during which a waiting time is generated in a self-propelled carriage or a lift if the buffer function of the relay shelf is not used , and is generally a time of several seconds to several tens of seconds. I can say that.

  Now, the moving elements for loading and unloading in the automatic warehouse of the present invention include a lifting platform, a relay shelf, and a self-propelled cart, but the loading processing time (movement time) is different for the lifting platform, the relay shelf, and the self-propelled cart. To do. In particular, the storage shelf of an automatic warehouse is usually several tens of meters long, and the traveling time of the self-propelled carriage varies considerably depending on the storage position. Therefore, it is possible to devise a general and simple control mode that takes into account the processing time of the elevator platform, the relay shelf, and the self-propelled carriage.

The invention of claim 4 is an example of this, and in this invention, in claim 2, the delivery of the load between the relay shelf and the self-propelled carriage for both warehousing and unloading is a basic setting performed at the location of the outer zone, If there is load stagnation in the relay shelf, or if the subsequent warehousing or unloading continues within a specified time, the delivery of the load between the self-propelled carriage and the relay shelf is set to be performed in the inner zone or the intermediate zone. ing. The “predetermined time” in the fourth aspect is the same as that in the third aspect.

  The present invention includes configurations other than those specified in claims 2 to 4. For example, it is possible to adopt a control mode in which the basic delivery position of the load is opposite to that of the fourth aspect. That is, when the basic delivery position of the load between the self-propelled carriage and the relay shelf is set in the inner zone, for example, there is no stagnation of the load in the outer zone or intermediate zone of the relay shelf, and subsequent warehousing or unloading is not continuous Is a control mode in which a load is transferred between the outer zone and the intermediate zone.

  Since the self-propelled carriage can travel at a speed nearly 10 times higher than that of the relay shelf, for example, by adopting a control program as in claim 3 or claim 4, when loading the goods, the load is lifted via the relay shelf. It is possible to shorten the time for shifting from the self-propelled carriage to the self-propelled carriage and the time for transferring the load from the self-propelled carriage to the lifting platform via the relay shelf at the time of delivery. As a result, the self-propelled carriage and the lifting platform can be used efficiently, and as a result, the processing efficiency of loading and unloading can be improved without impairing the load buffer function.

In general, automatic warehousing has two hangars facing each other, and two groups of relay shelves and two elevators are often used exclusively for warehousing and unloading. Although increasing the efficiency of goods movements by taking a load from the relay shelves for goods receipt for self-propelled carriage is moved to the relay rack it is being performed in order, in the present invention, the outer zone of the exit chamber for relaying the shelf Carrying out the delivery saves the delivery time, and by controlling the take-in of the load into the self-propelled carriage from the outer zone of the entry relay shelf, the efficiency of entry and exit can be improved. This is one of the advantages of the present invention.

  Next, an embodiment of the present invention will be described with reference to the drawings.

(1). Outline of automatic warehouse First, the outline of the automatic warehouse will be described with reference to FIGS. FIG. 1 is a partial schematic perspective view, FIG. 2 is a partial schematic plan view of a hangar, and FIG. 3 is a partial plan view of a main part.

  The automatic warehouse was connected to a pair of hangars with a left hangar 2 and a right hangar 3 arranged opposite to each other across the transfer passage 1, and one end (front end) of the left and right hangars 2, 3 in plan view. A pair of relay shelves of the left relay shelf 4 and the right relay shelf 5, a left lifting transfer device 6 and a right lifting transfer device 7 disposed in front of the relay shelves 4, 5 across the left and right relay shelves 4, 5; A pair of loading / unloading conveyors including a left loading / unloading conveyor 8 positioned in front of the left lifting / lowering transfer apparatus 6 and a right loading / unloading conveyor 8 positioned in front of the right lifting / lowering transfer apparatus 7. Although not shown, the loading / unloading conveyors 8 and 9 are connected to the main transfer conveyor.

  In this embodiment, the terms “left”, “right”, “rear”, and “front” are used as terms indicating directions for convenience. However, as indicated by arrows in FIG. The direction toward the front is defined as a front view, and left and right and front and rear are defined based on this. Moreover, the loading / unloading conveyors 8 and 9 mean a conveyor that performs at least one of loading and unloading, and the left and right loading / unloading conveyors 8 and 9 may be dedicated to loading and unloading. In some cases, both of them specialize in warehousing or delivery when the goods and the goods are concentrated with a time lag.

  The left hangar 2, the left relay shelf 4, and the left lifting / lowering transfer device 6 are arranged in a straight line in plan view, and the right hangar 3, right relay shelf 5, and right lifting / lowering transfer device 7 are viewed in plan view. Are arranged in a straight line. Accordingly, the relay shelves 4 and 5 and the lifting and lowering transfer devices 6 and 7 are located on an extension line of the storage shelves 2 and 3 in plan view.

  The elevating and transferring devices 6 and 7 have columns (masts, columns) 6a and 7a and elevating platforms 10 and 11 mounted on the elevating and lowering devices 10 and 11 respectively. The columns 6 a and 7 a are arranged on the left and right inner sides of the extension lines of the relay shelves 4 and 5. The elevators 10 and 11 are a roller conveyor system composed of a large number of right and left longitudinal rollers. Each roller is rotated at the same time by a timing belt, and the tan-mig belt is driven by a lateral feed motor (not shown). The It is also possible to adopt a belt type conveyor instead of the roller type. The elevators 10 and 11 are suspended by a belt or chain, and the belt or chain is driven by an elevator motor (not shown).

(2). Hangar and self-propelled carriage The Hangar 2 has a multistage storage shelf 13 that opens toward the transfer passage 1, and the transfer passage 1 is self-propelled corresponding to the storage shelf 13 of each stage. A carriage 14 is arranged so as to be able to run horizontally. Further, the relay shelves 4 and 5 are also provided for each step of the storage shelves 13. The hangars 2, 3 and the relay shelves 4, 5 are integrally continuous, and a skeleton is constituted by a large number of support columns 15 and horizontal frames 16. The storage shelf 13 has a unit area between the columns 15 adjacent to each other in the front and rear, and a plurality of loads W can be juxtaposed in each unit area (note that the number of loads W that can be juxtaposed in the unit area is It depends on the load width.)

  A pair of left and right rails (front frames) 17 exposed in the transfer passage 1 are disposed at the storage shelves 13 and the relay shelves 4 and 5 in each stage, and the self-propelled carriage 14 travels on the upper surface of the rails 17. . The storage shelf 13 is a flat shelf system having shelf plates, and the load W slides and moves to the self-propelled carriage 14, the storage shelf 13, and the relay shelves 4 and 5 via the rail 17.

  As shown in FIG. 3, the self-propelled carriage 14 includes a base frame 18, front and rear wheels 19 that roll on the upper surface of the rail 17, a traveling drive unit 20, a fixed load receiving plate 21, and the like. A load receiving portion having a movable load receiving plate 22 and the like are disposed. Although details are omitted, a stepped portion is formed on one rail 17 on the transfer passage 1 side, and a timing belt 23 is overlaid on the stepped portion. A driving pulley and an idle pulley (none of which are shown) meshed with the belt 23 and a traveling motor 24 are provided, and the traveling pulley 24 is rotated forward and backward by the traveling motor 24 so that the self-propelled carriage 11 can be placed at an arbitrary position. Can run.

  The fixed load receiving plate 21 is fixed to the base frame 18, while the movable load receiving plate 22 is attached to the base frame 18 so as to be movable back and forth by guide means (not shown). The overlap width dimension can be changed by the load width motor 25. A fixed-side picking unit 26 is attached to the fixed load receiving plate 21, and a movable-side picking unit 27 is attached to the movable load receiving plate 22.

  As schematically shown in FIG. 3, the picking units 26 and 27 include a base frame 28 that is laterally long and immovable left and right, an intermediate frame 29 that is mounted on the base frame 28 so as to be movable left and right, and left and right of the intermediate frame 29. The end claw 31 is attached to both left and right ends of the end frame 30 so as to be horizontally rotatable. The intermediate frame 29 and the end frame 30 of the front and rear picking units 26 and 27 are simultaneously driven by a double speed mechanism. Further, the front and rear picking units 26 and 27 are simultaneously driven by a single first picking motor 32, and the front and rear dispensing claws 31 are each driven by a second picking motor (not shown).

As shown in FIG. 2, when one of the left and right payout claws 31 protrudes laterally from the end frame 30 to the load mounting portion, the other is retracted into the end frame 30. By the combination of the left and right movements of the end frame 30, the load W is pushed or pulled and transferred to the self-propelled carriage 14 and the storage rack 13 or the relay racks 4 and 5. Further, when the load width motor 25 is driven, the movable receiving plate 22 and the movable side picking unit 27 move back and forth, and the interval between the load placing portions can be adjusted to be wide or narrow.

(3). Configuration of Relay Shelf Next, the configuration of the relay shelves 4 and 5 will be described with reference to FIGS. 4 is a plan view schematically showing the same parts as in FIG. 3, and FIG. 5 is a schematic cross-sectional view taken along the line VV in FIG.

The relay shelves 4 and 5 have a roller conveyor system in which a large number of rollers 36 are rotatably supported by inner and outer support frames 34 and 35. The relay shelves 4 and 5 are divided into three zones: an outer zone 37 close to the lifting / lowering transfer devices 6 and 7, an inner zone 38 close to the storage shelf 13, and an intermediate zone 39 sandwiched between them. The group of rollers 36 is driven individually for each zone 37, 38, 39. As a driving means for the rollers 36, the timing pulley 40 is fixed to the end of each roller 36, the timing belt 41 is meshed with the timing pulley 40, and the timing belt 41 is connected to the first to third motors 42, 43, 44 with a speed reducer. It is driven by.

  Reference numeral 45 shown in FIG. 3 is a guide plate, and the timing belt 41 is disposed outside the guide plate 45. As schematically shown in FIG. 5, in each zone 37, 38, 39, an inspection sensor 46 for detecting the entry of the load W is arranged at the start end close to the lifting / lowering transfer devices 6, 7.

  Since each zone 37, 38, 39 is driven individually, the load W can be stopped in each zone 37, 38, 39. On the other hand, the self-propelled carriage 14 can cope with the difference in the load width W by moving the movable load receiving plate 22 and the movable side picking unit 27 back and forth as described above. Therefore, in the present embodiment, when the self-propelled carriage 14 is stopped at each zone 37, 38, 39, the fixed-side picking unit 26 is positioned at a predetermined position in the back of each zone 37, 38, 39. It is set.

Accordingly, the stop position of the load W in each of the zones 37, 38, 39 is the reference position 47, 48, 49 slightly before the stop position of the fixed-side picking unit 26 in each of the zones 37, 38, 39. In addition, the load W has a rear end face facing the storage shelf 13 (a front end face facing the advancing direction with reference to the time of warehousing, and a rear end face facing the advancing direction with reference to the leaving time ) at the reference positions 47 and 48. , 49.

  Specifically, since the reference interval L from the reference position 47, 48, 49 to the inspection sensor 46 is known in advance, the load W is moved by the reference interval L after the inspection sensor 46 is turned on. Each motor 42, 43, 44 is driven. It is also possible to arrange the inspection sensors at the reference positions 47, 48, and 49 so that the feeding is stopped when the inspection sensor detects the load, or the start end portions of the zones 37, 38, and 39 can be controlled. It is also possible to arrange the inspection sensor at both the reference position and the reference position.

  It should be noted that the inspection sensor 46 may be of various types such as a translucent type and a reflective type, regardless of the contact type or the non-contact type. The arrangement position is not particularly limited, such as below, on the side, or above the roller group. It is also possible to provide a load detection sensor that detects the presence of the load W in the vicinity of the reference positions 47, 48, and 49 in each of the zones 37, 38, and 39. The depth dimensions (front-rear dimensions) of the zones 37, 38, 39 are such that the picking frames 29, 30 are located between the adjacent loads W when the widest load W is placed on each zone 37, 38, 39. What is necessary is just to set it as the dimension which has the space | interval which can enter with a margin.

  As a method for feeding the relay shelves 4 and 5, other conveyors such as a belt conveyor can be employed. As the drive mechanism, various feed mechanisms such as a feed using a cylinder and a feed using a linear motor can be adopted. A method of sending the load W by pushing or pulling by a pusher is also included in the concept of “conveyor type”. In order to accurately stop the load W at the reference positions 47, 48, 49 of the zones 37, 38, 39, it is possible to provide a movable stopper.

(4). Specific example of control (warehousing example)
Next, a specific example of the control of the self-propelled carriage 14 and the relay shelves 4 and 5 will be described with reference to FIGS. 6 shows an example of a goods receipt by the right elevator platform 11 and the right relay shelf 5. 6A shows a state in which the load W is continuously sent to the right relay shelf 5 at a specific stage and the load W stays in each zone 37, 38, 39. In this case, the right relay shelf 5 gives priority to the buffer function, and the load W is transferred from the inner zone 38 to the self-propelled carriage 14.

FIG. 6A shows a state in which the load W is already placed in each of the zones 37, 38, and 39, but when the warehousing request is continued to the specific right relay shelf 5, the right lifting platform to avoid a situation where 11 to play, the load W with priority buffer function has been conveyed to the inner zone 38, the self-propelled carriage 14, the main controller and Russia over local controller constituting the control device ( Receipt at the inner zone 38 is instructed via ( not shown) .

FIG. 6B shows a state in which the warehousing request to the right storage shelf 13 at a specific stage is not continuous but in this state, the load W is delivered from the outer zone 37 to the self-propelled carriage 14. It is. If the load W is previously self-propelled carriage 14 to be migrated from the right elevator platform 11 to the outer zone 37 is not running, self-propelled carriage 14 will be waiting to travel to the location of the outer zone 37. When the load W moves from the right elevator 11 to the right relay shelf 5 while the self-propelled carriage 14 is operating, only the first motor 42 is driven and the load W is stopped in the outer zone 37. A traveling command up to the outer zone 37 may be issued to the self-propelled carriage 14.

Assuming that the total length of the relay shelves 4 and 5 is 3 m, and assuming that the transport speed of the relay shelves 4 and 5 is 30 m / min, it takes about 3 seconds for the load W to be transported from the right elevator 11 to the inner zone 38. However, by transferring from the outer zone 37, it is possible to save time of 2 seconds or more for receiving one load W. Since a large number of loads W are handled in an automatic warehouse, the processing capacity (the number of processed items per unit time) can be dramatically increased as a whole even if one second is saved per item.

FIG. 6C shows a case where only two loads W are continuous in a specific stage. In this case, the first load W is transported to the intermediate zone 39 and transferred from here to the self-propelled carriage 14. It is listed. The second load W may be transferred from the outer zone 37 to the self-propelled carriage 14, or may be transferred from the intermediate zone 39 or the inner zone 38 to the self-propelled carriage 14. This is because it takes a certain amount of time for the self-propelled carriage 14 to return after storing the first load W.

(5). Specific example of control (shipping example)
In FIG. 7, the example of leaving using the left relay shelf 4 and the left lifting platform 10 is shown. Of these, the example shown in FIG. 7 (A) shows a delivery method in a state where the left relay shelf 4 is not congested and the delivery requests from the left relay shelf 4 do not continue within a predetermined time (single delivery state). In this state, the load W is transferred from the self-propelled carriage 14 to the outer zone 37 of the left relay shelf 4. Accordingly, the load W is transferred to the left lifting platform 10 only by transporting a small distance, and as a result, the loss that the left lifting platform 10 is on standby can be eliminated and the unloading processing capacity can be improved.

In the example of (A), in the control system, when there is a delivery request via a specific left relay shelf 4, it is determined whether or not there is a load on the left relay shelf 4, and then the subsequent load is determined. It is determined whether or not there is a request to leave W, and if both are NO , the self-propelled carriage 14 is instructed to travel to the outer zone 37 and the movable frames 29 and 30 of the self-propelled carriage 14 are fully retracted. The first motor 42 is driven and the load W is transferred to the left lifting platform 10.

  The example shown in FIG. 7B shows a state in which the warehousing continues. In this case, the load W is transferred from the self-propelled carriage 14 to the inner zone 38 of the left relay shelf 4 and is moved from the inner zone 38 to the outer side. It is conveyed to the zone 37. When there is a continuous output request in the state where there is no load on the left relay shelf 4, the first load W may be transferred to the outer zone 37 and transferred from the second and subsequent loads W to the inner zone 38. Is possible.

Note that continuously issuing from the storage shelf 13 in a particular stage, if the take-off of the load W of the specific stage is carried out without interruption by the elevating platform 10, the load W is transferred to the outer zone 37 from the self-propelled carriage 14 Is done. There may be a waiting time for the delivery (or warehousing) from the storage shelves 13 at other stages due to continuous delivery requests (or warehousing requests) to the storage shelves 13 at a specific stage. (Or warehousing) can be performed in the outer zone 38 to minimize the feeding time (or taking time) to the lifting platform 10 (11) per baggage W, so that the entire automated warehouse can be shipped. Or the efficiency of warehousing can be improved.

FIG. 7 (C) shows a case where only the outer zone 37 has a load and a further output request has been issued. In this case, the load W is transferred from the self-propelled carriage 14 to the inner zone 38. ing.

(6). Specific example of control (mixing of loading and unloading)
In automatic warehouses, there are a wide variety of loading and unloading modes, such as loading and unloading concentrated in a specific time zone, or loading and unloading performed simultaneously. FIG. 8A shows a case where the delivery position is the outer zone 37 both at the time of entering and at the time of leaving. As described above, an example of the case where the warehousing and the warehousing are performed in the outer zone 37 is a case where both the warehousing and the warehousing are one-shot. This example corresponds to a combination of FIG. 7B and FIG.

On the other hand, the load W is pushed and moved from the self-propelled carriage 14 to the left relay shelf 4 for unloading at the time of unloading, and the load W is drawn into the self-propelled carriage 14 from the right relay shelf 5 for unloading at the time of unloading. When entering and leaving the storage shelf 13 at a certain level continues, the self-propelled carriage 14 remains stopped at the exit position by performing the exit and entry in the outer zone 38 as shown in FIG. 8A. Thus, the load W is drawn from the outer zone 38 of the warehousing relay shelf 5. By controlling in this way, the time for the load W to move through the relay shelves 4 and 5 is minimum, and the self-propelled carriage 14 can perform the warehousing and warehousing without traveling one by one, thereby making the warehousing efficiency Can be improved.

FIG. 8B shows an example of control when the warehousing frequency is high and the warehousing frequency is low as seen per unit time. Delivery at the time of warehousing is performed in the inner zone 38, and delivery at the time of warehousing is performed in the outer zone. 37. Therefore, this is a combination of FIG. 6A and FIG.

(7). Other control variations Factors to be considered in order to eliminate the waiting time between the self-propelled carriage 14 and the lifts 10 and 11 are: a: There is a load on the relay shelves 4 and 5, or where it is Whether it is loaded, b: warehousing request or delivery request is continuous, c: how long it takes for the self-propelled carriage 14 to reciprocate (time varies depending on the storage position), d: relay shelf The difference of the processing time of each zone 37,38,39 in 4,5, e: The processing speed of the lifting platforms 10,11, etc. are mentioned. Therefore, it is also possible to calculate which zone 37, 38, 39 should be used for delivery by taking these factors into consideration when entering and leaving each load W.

  On the other hand, it can be said that it is most efficient to deliver the load W between the relay shelves 4 and 5 and the self-propelled carriage 14 in the outer zone 37 regardless of whether it is in or out. The movement time of the self-propelled carriage 14 is slightly different between the case of delivery and the case of delivery in the inner zone 38, but since the traveling speed of the self-propelled carriage 14 is high, this time difference can be actually ignored. In view of this, it is also possible to control the case where there is a stagnation and the case where warehousing or warehousing continues as a factor to consider, with reference to the delivery of both warehousing and delivery at the location of the outer zone 37.

That is, for each arrival or shipment of an individual load W, it is determined whether there is a load on the relay shelves 4, 5 and whether there is a subsequent load W within a predetermined time (for example, within 10 seconds). If it is NO , it will be delivered in the outer zone 37 as in the basic setting, if any is Yes, it will be cleared from the basic setting and delivered in the inner zone 38 (or the intermediate zone 39), and each time processing is completed Reset to basic settings.

  Since the order of loading and unloading a large number of loads is known in advance, the group of the self-propelled carriage 14, the group of relay shelves 4 and 5, and the lifting platform 10 are taken with an appropriate time width (for example, several tens of seconds to several minutes). , 11 is calculated, and the optimal delivery zone is selected by determining whether there is a load on each of the relay shelves 4, 5 and whether there is continuous loading / unloading based on this order. Is also possible. In this case, two control systems with the same time width but with the start and end shifted by half are provided in parallel, and commands are sent to each device alternately by the two control systems. It is also possible to have sex.

(8). Others The present invention can be embodied in various ways other than the above embodiment. For example, the number of zones in the relay shelf is not limited to three, but may be two or four or more. In the case of an automatic warehouse having a group of left and right relay shelves, the number of zones can be different between the group of left relay shelves and the group of right relay shelves. In the case of having three or more zones, the delivery of the load W to and from the self-propelled carriage is performed only in the outer zone 37 and the inner zone 38, and the intermediate zone can be used only as a buffer portion.

  The invention of the present application is also applied to an automatic warehouse in which a self-propelled carriage has a lifting picking unit as in Patent Document 2, and an automatic warehouse in which a single self-propelled carriage is provided with a plurality of stages of receiving parts and picking units. Applicable.

It is a partial schematic perspective view of the automatic warehouse which concerns on embodiment. It is a partial schematic plan view of a hangar. It is a partial top view of the principal part. FIG. 4 is a plan view schematically showing the same part as that in FIG. 3. FIG. 5 is a schematic cross-sectional view taken along the line V-V in FIG. 3. It is a figure which shows the example of control. It is a figure which shows the example of control. It is a figure which shows the example of control.

DESCRIPTION OF SYMBOLS 1 Transfer passage 2,3 Hangar 4,5 Relay shelf 6,7 Elevating transfer device 10,11 Elevating stand 13 Storage shelf 14 Self-propelled carriage 37 Outer zone 38 Inner zone 39 Intermediate zone 51 Control device

Claims (4)

A pair of storage sheds with storage shelves arranged in multiple stages are arranged on both sides of the transfer passage, and the transfer passages are self-propelled carts for loading and unloading corresponding to one or more storage shelves. Are arranged so as to be able to run horizontally, and further, a conveyor-type relay shelf close to the storage shelf at a position outside the pair of storages and on an extension line of the storage shelf in plan view, and the both relays A lifting platform located on the opposite side of the hangar across the shelf is arranged, and the load is transferred to the lifting platform and the self-propelled carriage via the relay shelf, and The self-propelled carriage is an automatic warehouse that is designed to run at a speed much faster than the transport speed of the two relay shelves,
Each of the relay shelves is composed of a plurality of zones including two zones, an outer zone close to the elevator platform and an inner zone close to the storage shelf, and each zone is driven individually, and one zone is provided for each zone. While the load can be stopped, the self-propelled carriage can be selected at a stop position so that the load can be delivered at least at two locations of the outer and inner zones of the relay shelves. And a control device that controls the driving of both relay shelves and both lifting platforms, a state where only warehousing is performed, a state where only warehousing is performed, warehousing using one relay shelf, and warehousing using the other relay shelf In the configuration that can arbitrarily select the loading and unloading mixed state that is performed by mixing,
In the loading / unloading mixed state,
1). If there is a warehousing request next to the warehousing request, and the warehousing and the warehousing do not continue for a predetermined time and there is no stagnation of the load , the self-propelled carriage will shed in the outer zone of one of the relay shelves. And then wait to receive the load from the outer zone of the other relay shelf,
2) In the state where there is a warehousing request next to the warehousing request, the warehousing is a single bomb that does not continue for a predetermined time and there is no stagnation of the load. In this case, the delivery is performed at the outer zone of one of the relay shelves, while the other relay shelf retains a plurality of loads, and the self-propelled carriage that has finished the delivery stays in the other relay shelf. Return to the zone where the first one of the load is located and receive the load,
Is controlled,
Automatic warehouse. Both the relay shelves have an intermediate zone located between the outer zone and the inner zone, and the stop position can be selected so that the self-propelled carriage can also deliver the load to and from the intermediate zone. ing,
The automatic warehouse according to claim 1. 1): If there is no stagnation of the load preceding the relay shelf at the time of warehousing and the subsequent warehousing is not continuous, the load is transferred from the outer zone of the relay shelf to the self-propelled carriage.
2): If the warehousing continues at an interval within a predetermined time, transfer all the contiguous loads from the inner zone of the relay shelf to the self-propelled carriage.
3): When the request for delivery is continuous within the predetermined time interval and there is no stagnation of the load on the relay shelf, each continuous load is transferred from the self-propelled carriage to the outer zone of the relay shelf.
4): If the unloading request is continuous within the predetermined time interval and the load is stuck in the relay shelf, each continuous load is transferred from the self-propelled carriage to the inner zone of the relay shelf.
5): If subsequent goods issue there is no retention of the load to the relay shelf only single goods issue not continue a predetermined time, transfers to the outer zone of the load from the self-propelled carriage,
Controlled as such,
The automatic warehouse according to claim 1 or 2. The delivery of goods between the relay shelf and the self-propelled cart for both warehousing and delivery is a basic setting that is performed at the location of the outer zone, and there is a stagnation of the load on the relay shelf, or the subsequent warehousing or delivery is performed for a predetermined time. If it continues within, the delivery of the load of the self-propelled carriage and the relay shelf is set to be performed in the inner zone or the intermediate zone,
The automatic warehouse according to claim 2 .

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