JP7413622B2 - Three-dimensional automatic warehouse - Google Patents

Description

The present invention is comprised of a storage section, an in/out section, and a transfer means provided in the storage section, and is capable of three-dimensionally organizing and storing articles or article storage containers (hereinafter referred to as "articles, etc."). , related to a multi-level warehouse that performs sorting.

Modernization and rationalization in logistics has lagged behind that in production and sales, but
In recent years, the desire to have the goods you need when you need them has become stronger not only in the industrial world but also among general consumers, and rapid rationalization of logistics, that is, a revolution in logistics, is being promoted. To this end, it is essential to advance unit load systems through palletization and containerization, and promote warehouse automation.

Among these, from the perspective of not only improving logistics efficiency but also space utilization efficiency, reducing personnel, improving the work environment, etc., we are using various information based on the huge amount of receipt/shipping and inventory information collected using computers. Three-dimensional automatic warehouse systems, in which a control system operates a series of operations such as conveyors, lifts, peripheral equipment, etc. to organize, store, and sort goods, are attracting particular attention and are progressing day and night. .

Such a three-dimensional automatic warehouse is generally composed of a storage section and a loading/unloading section, and various transfer means are provided between these sections. The loading/unloading section is mainly composed of a conveyor, etc., and the storage section has storage shelves facing each other with a predetermined space separated by storage surfaces through which articles, etc. can be taken in and out, and there is a means for transferring articles, etc. in that space. The structural unit is a storage facility in which items are placed, or a pair of adjacent storage shelves face each other across a predetermined space on the opposite side of the storage surface from which items can be taken in and taken out, and items are stored in that space. The structural unit is generally a storage facility in which a means for transferring articles, etc. is arranged, and a storage facility in which a means for transferring goods, etc. is arranged in the space is a structural unit.

Various three-dimensional automatic warehouses have been developed depending on the means for transferring the above-mentioned articles. For example, as shown in FIG. 1, a crane truck 6 runs on rails 9 and 10 arranged in a space 3 between storage shelves, and can freely raise and lower a mounting table 7 equipped with an extendable arm 8 that can take in and take out articles, etc. A three-dimensional automatic warehouse (3D automated warehouse) in which a stacker crane attached to a crane mast 5 is used as a means of transferring goods, etc., and goods, etc. can be freely moved back and forth in the horizontal (X-axis) and vertical (Y-axis) directions of storage shelves. For example, there are Patent Documents 1 and 2). Further, as shown in FIG. 2, a traveling cart 11 that reciprocates on traveling rails 12 provided at each step in the Y-axis direction and is equipped with an extendable arm (not shown) capable of loading and unloading articles, etc.; An elevator 13 provided in a predetermined space between the storage shelves and equipped with a conveyor table 14 capable of transferring articles, etc., which can be raised and lowered freely, is used as a means for transferring articles, etc., and a traveling cart 11 moves in the X-axis direction of the storage shelves. Three-dimensional automatic warehouses (for example, Patent Documents 3, 4, and , Non-Patent Document 1).

In particular, compared to other three-dimensional automated warehouses, the latter type of automated warehouse is superior in overall logistics efficiency, including storage capacity, space usage efficiency, equipment costs, reduction in personnel, and improved work environment. , further improvements are being made. For example, in order to increase the amount of storage while reducing equipment costs and installation space, there are tandem-type multilevel warehouses in which storage shelves are arranged in series with the lifting mechanism as the center of symmetry (Patent Document 5), and storage shelves that are placed side by side. A multi-dimensional automatic warehouse using a cross-transfer method that enables the transfer of articles, etc. in the transverse (Z-axis) direction has been proposed (Patent Document 6).

However, in both the three-dimensional automated warehouses shown in Figures 1 and 2, although there is a problem in the transfer and storage of articles, etc., in that only one article, etc. can be transferred and stored, this problem still exists. Improvement technologies that focus on the above are not permitted.

Japanese Patent Application Publication No. 8-108904 JP2012-236683A Japanese Unexamined Patent Publication No. 165205/1983 Japanese Patent Application Publication No. 2015-168573 Japanese Patent Application Publication No. 2011-178549 Special table 2015-524374 publication

Itoki Co., Ltd. homepage, SAS PDF, http://www. itoki. jp/catalog/pdf/senmon/sys_streamer. pdf

The present invention provides a three-dimensional warehouse that is composed of a storage section, an in/out section, and a transfer means installed in the storage section, and that organizes, stores, and sorts articles, etc. in a three-dimensional manner. The purpose is to provide a three-dimensional automated warehouse that can improve overall logistics efficiency such as utilization efficiency and equipment cost.

The present inventors discovered that a conventional three-dimensional warehouse, which is composed of a storage section, an in/out section, and a transfer means installed in the storage section, organizes and stores articles, etc. three-dimensionally, and sorts them. We focused on the inefficient method of transferring and storing items, etc. one by one, and after considering ways to solve the problem, we found that by stacking items, etc., and transferring and storing them, We have discovered that the storage capacity, space utilization efficiency, and equipment cost of a multi-level automated warehouse can be greatly improved, leading to the completion of the present invention.

That is, the present invention includes a storage section, a loading/unloading section, and a means for transferring articles, etc., arranged in the storage section, so that articles, etc. can be stacked, transferred, and stored. This is a three-dimensional automatic warehouse characterized in that the loading and unloading section of the three-dimensional automatic warehouse is equipped with means for stacking or unloading articles, etc.

As for the stacking or unpacking means, a commonly used stacking or unpacking device can be used as a loading/unloading section comprised of a conveyor or the like. Furthermore, although it is possible to have a worker perform stacking or unpacking with a very high degree of freedom, it is preferable to use a robot from the viewpoints of functions similar to those of a worker, reduction in personnel, and automation.

In a multi-level automatic warehouse in which the stacking or stacking device of the present invention is attached to the storage/unloading section, articles etc. brought in on a conveyor are stacked in the storage section and transferred to the transfer means provided in the storage section. The stacked articles and the like are then stored on the storage shelf. As a method for storing items on a storage shelf, it is also possible to store a plurality of stacked articles and the like side by side on one storage shelf. On the other hand, in the unloading section, the articles stored in stacks on the storage shelves are transported via a transfer means provided in the storage section, and are unstacked or unstacked. It will be carried out without any problems. Therefore, the conveyor in the storage/unloading section must have at least one of a temporary storage mechanism (accumulation conveyor), a speed control mechanism, a forward/reverse transport mechanism, and a stop mechanism.

For example, by stacking goods, etc. in two tiers for transfer/storage, the efficiency of distribution can be doubled with simple registering. According to this method, it is only necessary to add a stacking or stacking device to a conventional general three-dimensional automated warehouse, and the transportation efficiency and space utilization efficiency per equipment cost can be dramatically increased. Furthermore, for example, by doubling the number of articles and the like stored side by side per storage shelf, the amount of storage can be doubled with a simple estimate.

The configuration of the storage section is not particularly limited, but storage shelves that are commonly used and arranged in a grid pattern in the X-axis direction and the Y-axis direction may be arranged facing each other with a predetermined space. For multi-dimensional automated warehouses where goods are placed side by side and the means for transferring goods, etc. is placed in the space between the storage shelves, it is recommended to attach stacking or unloading means to the loading/unloading section to improve overall logistics efficiency. It is preferable from this point of view.

However, it goes without saying that the height and width of each tier of storage shelves in the storage section must be designed in accordance with the size of the articles handled in the multi-level automated warehouse and the number of tiers to be stacked.

The transfer means is not particularly limited, but may be between storage shelves arranged in a grid pattern in the X-axis direction and the Y-axis direction and placed side by side facing each other with a predetermined space between them. It is preferable that the crane be a stacker crane that is arranged in a space, travels in this space, and is attached with a mounting table that can move up and down freely to take out and put in articles, etc. Specifically, for example, the stacker crane shown in FIG. 1 can be mentioned.

Further, the transfer means is disposed in a space between the storage shelves arranged in a grid pattern in the X-axis direction and the Y-axis direction and arranged side by side facing each other with a predetermined space between them. It consists of an elevating mechanism that is equipped with a transport platform that can move items up and down, and a traveling mechanism that runs horizontally on the storage surface of each stage of the storage shelf and is equipped with a loading platform that can take out and take out items, etc. It is more preferable to have one. In this case, in order to transfer the articles, etc. between the mounting table of the traveling mechanism and the conveying table of the lifting mechanism without any delay, it is recommended that a temporary storage conveying table is provided at each stage of the storage shelf to mediate these items. Even more preferred. Specifically, for example, a traveling mechanism and a lifting mechanism shown in FIG. 2 can be mentioned.

Devices for loading and unloading the above-mentioned articles, etc., provided in such transfer means, such as telescoping arms, as well as loading tables and transport tables for the above-mentioned articles, etc., as well as storage shelves, are designed to accommodate the size of the articles, etc. handled in the multi-level automated warehouse. It is designed according to the setting of the size and the number of stacking stages.

According to the present invention, by simply adding a stacking or stacking device to a conventional three-dimensional automatic warehouse, the space utilization efficiency and storage capacity of the three-dimensional automatic warehouse can be increased, and the equipment costs required for transferring and storing goods can be reduced. Therefore, it is possible to provide a three-dimensional automated warehouse with excellent overall logistics efficiency.

FIG. 2 is a schematic diagram of a three-dimensional automatic warehouse using a stacker crane as a transfer means. FIG. 2 is a schematic diagram of a three-dimensional automated warehouse that uses traveling vehicles and elevators as transfer means. FIG. 3 is a schematic diagram of the three-dimensional automatic warehouse of FIG. 2 in which a stacking or stacking device is attached to the loading/unloading section of the three-dimensional automatic warehouse according to an embodiment of the present invention, as viewed from the transverse (Z-axis) direction. FIG. 4 is a schematic plan view of an example of a stacking device including a cylinder attached to a storage section, as viewed from arrow A in FIG. 3, according to an embodiment of the present invention. FIG. 4 is a schematic side view of an example of a stacking device including a cylinder attached to a storage section, as viewed from arrow B in FIG. 3, according to an embodiment of the present invention. FIG. 4 is a schematic side view of an example of a stacking device including a lifter attached to a storage section, as viewed from arrow B in FIG. 3, according to an embodiment of the present invention. FIG. 4 is a schematic side view of an example of a stacking device including cylinders and clamps attached to a storage section, as viewed from arrow B in FIG. 3, according to an embodiment of the present invention. FIG. 1 is a schematic diagram of a robot applied as a stacking device attached to a storage section according to an embodiment of the present invention. When a plurality of stacked articles, etc. are arranged side by side on one storage shelf in the three-dimensional automatic warehouse in which a stacking or stacking device is attached to the loading/unloading section of the three-dimensional automatic warehouse shown in FIG. 2 according to an embodiment of the present invention. It is a schematic diagram seen from the transverse (Z-axis) direction. 10 is a schematic plan view of the three-dimensional automated warehouse shown in FIG. 9 according to an embodiment of the present invention. FIG.

Hereinafter, the present invention will be explained in more detail using one embodiment shown in the drawings, but the present invention is not limited thereto, and can be modified in various ways without departing from the gist of the present invention. However, the present invention is limited only by the technical ideas set forth in the claims.

FIG. 3 is a schematic diagram of the three-dimensional automatic warehouse of FIG. 2 in which a stacking or un-tiering device is attached to the loading/unloading section of the three-dimensional automatic warehouse according to an embodiment of the present invention, as seen from the transverse (Z-axis) direction. . The space 3 formed by the storage shelves in the Ln _{-1 '} row and the _Ln row of the storage section 1 in FIG. L _n-1 , L _n-2 , . . . are formed, and a transfer means for transporting articles in the X-axis direction and the Y-axis direction is provided in this space 3. The loading/unloading section 2 is composed of a storage section 2-1 where articles, etc. are conveyed by a conveyor, and an unloading section 2-2, where articles, etc. are conveyed by a conveyor. is attached. Further, the conveyor of the storage/unloading section 2 has at least one of a temporary storage mechanism (accumulation conveyor), a speed control mechanism, a forward/reverse transport mechanism, and a stop mechanism.

The transfer means arranged in the space 3 includes a traveling trolley 11 and a traveling rail 12 equipped with a telescopic arm (not shown) capable of loading and unloading articles, etc., to each stage of the storage shelf in the Y-axis direction. An elevator 13 equipped with an article carrying platform 14 is provided for freely reciprocating the articles, etc. in the X-axis direction, and is responsible for freely reciprocating the articles, etc. in the Y-axis direction. Furthermore, in order to smoothly transfer articles between the traveling carriage 11 and the article carrying platform 14, a temporary carrying platform 15 is provided at one end in the Y-axis direction.

The stacking or stacking means, which is an important element constituting the three-dimensional automatic warehouse of the present invention, is a generally popular stacking or stacking device 16 that is used for the loading/unloading section 2 consisting of a conveyor. However, the feature of the present invention lies in the fact that a stacking or stacking device is attached to the loading/unloading section of a three-dimensional automated warehouse. They discovered that the overall logistics efficiency of automated warehouses can be improved. That is, in a three-dimensional automatic warehouse in which the stacking or unpacking device of the present invention is attached to the storage/unloading section, the stacking/unpacking device 16 attached to the storage section 2-1 stores articles, etc., P carried in by a conveyor. The articles, etc., are stacked and transferred to the article loading conveyance platform 14 attached to the elevator 13, and then transferred to the traveling trolley 11 via the temporary storage conveyance platform 15, and the stacked articles, etc. P-1, P-2, and P-3 are stored in one of the partitioned storage shelves. Here, we have shown the flow of a three-dimensional automatic warehouse equipped with the transfer means of FIG. 2, in which the stacking or stacking means of the present invention is attached to the storage/unloading section, but the transfer means of FIG. The three-dimensional automatic warehouse equipped with this system is operated in exactly the same manner.

Now, as such a stacking or stacking device 16, for example, as shown in FIG. 4 and FIG. An example of this is a device that performs stacking or de-stacking. 4 is a plan view taken from arrow A in FIG. 3, and FIG. 5 is a side view taken from arrow B shown in FIG. As is clear from FIG. 5, when an article P-1 is conveyed by a conveyor to the stacking or de-tiering device 16 of the storage section 2-1, the conveyor stops and the cylinder 16-1 moves the article P-1. -Lift up 1. Next, when the article P-2 is conveyed to the stacking or un-tiering device 16 in the storage section 2-1, the conveyor stops, and the lifted article P-1 descends, completing the stacking. Then, the conveyor restarts and the articles are transferred to the loading and unloading table 14 attached to the elevator 13.

FIG. 6 shows a stacking or stacking device 16 that is composed of a clamp drive device 16-2 equipped with a clamp 16-2-1 for suspending articles, etc., and a lifter 16-2-2. An example is shown in which a lifter 16-2-2 is arranged adjacent to the end of the conveyor in the storage section 2-1. The article P-1 transferred from the conveyor to the lifter 16-2-2 of the storage section 2-1 is lifted by the lifter 16-2-2, and at the same time, the clamp 16-2-1 moves in and out to remove the article. etc.Hold P-1. Next, when the articles P-2 are transferred to the lifter 16-2-2 of the warehousing section 2-1, the lifter 16-2-2 moves up to perform stacking, and the clamp 16-2-1 moves in and out. At the same time, the lifter 16-2-2 descends to complete the stacking, and the conveyor is restarted to transfer the articles to the conveyor table 14 attached to the elevator 13.

FIG. 7 shows, as a stacking or unpacking device 16, a clamp cylinder drive device equipped with a clamp 16-3-1 and a cylinder 16-3-2, which can perform stacking or unpacking in three stages, for example. An example of 16-3 is shown. This mechanism has a cylinder 16-3-2 that lifts and lowers articles, a clamp 16-3-1 that suspends the articles, and stacks or separates the articles. The article P-1 lifted by the cylinder 16-3-2 is suspended by the clamp 16-3-1, and after the article P-2 is lifted by the cylinder 16-3-2 , it is stacked or stacked. When the article P-3 is transferred to the stacking device 16, the cylinder 16-3-2 sequentially lowers the articles P-1 and P-2 and stacks them.

The above-mentioned stacking or stacking means have been put into practical use with various mechanisms, and are not particularly limited as long as they do not cause any problems in interlocking with the conveyor.

Furthermore, although it is possible to have a worker perform stacking or unpacking with an extremely high degree of freedom, it is preferable to use a robot from the viewpoints of functions similar to those of a worker, reduction in personnel, and automation. FIG. 8 shows an example in which a robot 16-4 is used as a stacking or stacking means. The robot 16-4 is composed of an arm part 16-4-1 and an article gripping part 16-4-2, and a temporary article storage stand 16-4-3 for stacking or un-stacking is the robot. It is located adjacent to 16-4. The robot 16-4, like a worker, stacks the articles P-1, P-2, and P-3, and transfers them to the article carrying platform 14 attached to the elevator 13.

Above, the stacking or stacking means has been explained using the stacking carried out in the storage section 2-1 as an example, but the stacking or stacking means carried out in the storage section 2-2 can also be carried out using a device with the same mechanism. It can be done by reversing the process. However, depending on the sorting and processing of the articles and the like after the delivery section, it is not always necessary to unstage the goods at the exit section 2-2, and there are cases where the goods are taken out without being unbalanced.

On the other hand, as a method for storing such stacked articles and the like on a storage shelf, it is also possible to store a plurality of stacked articles and the like side by side on one storage shelf. For example, the side view of FIG. 9 and the plan view of FIG. 10 show a state in which two articles per storage shelf are stored side by side. In one partitioned storage shelf Ln _-1 in FIG. 9, articles stacked in two levels and articles stacked in three levels are juxtaposed. Such juxtaposition with stacked articles can suppress equipment costs and further increase storage capacity. This can be realized by freely moving the traveling trolley 11 equipped with a telescopic arm 17, for example, on the traveling rail 12, which is capable of loading and unloading articles as shown in FIG. Even in the case shown in FIG. 1, this can be realized by allowing the stacker crane 4 equipped with the telescoping arm 8 and the article mounting table 7 to freely travel on the traveling rails 9 and 10.

Furthermore, the present invention is extremely effective for consolidation work in a three-dimensional automated warehouse as shown in FIG. For example, in FIG. 10, if an obstacle such as a step between the storage shelf _Ln and the adjacent storage shelf _Ln ' for moving articles is removed, the telescopic arm 17 of the trolley 11 running in the aisle 3 can be used. It also becomes possible to perform a parallel movement operation from the position of P _n to P _n '. When this operation is used, the traveling trolley 11 traveling along the aisle 3 on the left side picks up the article at the position P _{n-1 ′} of the storage shelf L n-1 ′ in FIG. It can be placed at position P _n of _n , extend the telescoping arm 17 as it is, and carry it to position P _n ' of the adjacent storage shelf L _n '. This is because when performing the retrieval process for an article at the P _n-1 ' position, the article can be moved in parallel across the aisle from the P _n-1 ' position to the P _n ' position. This means that it is possible to perform intensive work such as unloading goods in a predetermined order. Therefore, compared to the conventional aggregation work in which unstacked goods are carried out using a conveyor line and sorter installed outside an automated warehouse, the aggregation work in which the above operation is applied to the stacked goods of the present invention This not only allows the consolidation work to be completed within the automated warehouse, but also improves the amount of goods consolidated, making it possible to construct a logistics system with extremely compact equipment and significantly reduced costs.

The present invention improves the space utilization efficiency and storage capacity of a conventional three-dimensional automatic warehouse by simply adding stacking or un-tiering means to the existing three-dimensional automatic warehouse, and reduces the equipment costs required for transferring and storing goods. It is characterized by providing a three-dimensional automatic warehouse with excellent overall logistics efficiency, so it can be used for storage of materials, parts, work-in-progress, finished products, etc. in bookshelves, garages, factories, etc. where a three-dimensional automatic warehouse is used. This is a three-dimensional automatic warehouse that can be applied to any storage management system such as warehouses.

1 Storage section 2 Carrying in/out section 2-1 Carrying in section 2-2 Carrying out section 3 Arrangement space for transfer means 4 Stacker crane 5 Crane mast 6 Crane truck 7 Stacker crane article mounting table 8 Telescoping arm 9 Upper running rail 10 Lower running Rail 11 Traveling trolley 12 Traveling rail
13 Elevator 14 Elevator goods etc. loading conveyor table 15 Temporary storage conveyor table 16 Stacking or de-layering device 16-1 Cylinder drive device 16-1-1 Cylinder 16-2 Clamp drive device 16-2-1 Clamp 16-2- 2 Lifter 16-3 Clamp/cylinder drive device 16-3-1 Clamp 16-3-2 Cylinder 16-4 Robot 16-4-1 Arm section 16-4-2 Article gripping section 16-4-3 Article, etc. temporary stand
17 Telescopic arm L Storage shelf L' Storage shelves P, P' adjacent to storage shelf L on the back side Article storage containers P _n , P _n ' Article storage containers stored in storage shelf L _n

Claims (4)

a storage section in which a plurality of rows of storage shelves formed by stacking shelves on both sides of an aisle space are arranged in parallel;
an in/out section where articles or article storage containers are conveyed by a conveyor ;
a means for transferring articles or article storage containers arranged in each of the passage spaces of the storage section;
Lifting, suspending, and lowering means for lifting, suspending, and lowering the article or article storage container attached to the loading/unloading section, and comprising a clamp drive device and a lifter;
When entering the warehouse, the articles or article storage containers are stacked in the loading/unloading section by the lifting/hanging/lowering means, and the stacked articles or article storage containers are loaded into the warehouse by the loading/unloading section. means for transferring the stacked articles or article storage containers from the storage section to the transfer means, and storing the stacked articles or article storage containers in the storage section by the transfer means;
When leaving the warehouse, the plurality of stacked articles or article storage containers related to the warehouse are moved by the transfer means from a first position related to the warehouse to a second position related to the warehouse, across the passage space. the stacked articles or article storage containers are transferred from the second position to the transfer means by the transfer means, and the stacked articles or article storage containers are transferred by the transfer means from the second position to the transfer means; A three-dimensional automatic warehouse comprising: means for unloading the stack from the transfer means and transferring it to the loading/unloading section by the lifting/suspending/lowering means. 2. The multi-level automatic warehouse according to claim 1, wherein the transfer means is a stacker crane that travels in the space and is attached with a mounting table that can be moved up and down and that can take in and take out the articles or article storage containers. The transfer means includes an elevating mechanism that is attached with a conveyance platform capable of moving up and down, capable of transferring the article or article storage container, and a lifting mechanism that runs horizontally on the storage surface of each stage of the storage shelf, and moves the article or article storage container in a horizontal direction. 2. The three-dimensional automatic warehouse according to claim 1, further comprising a traveling mechanism equipped with a mounting table that can take containers in and out. 4. A temporary storage carrier according to claim 3, wherein each stage of the storage shelf is provided with a temporary storage carrier that mediates the transfer of the article or article storage container between the mounting platform of the travel mechanism and the carrier of the lifting mechanism. Three-dimensional automatic warehouse.

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