JP3510045B2 - Article storage facility - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an article storage shelf configured by arranging a plurality of article storage sections vertically and horizontally to store a plurality of types of articles, and a carry-in / out section for the article storage rack and each of the article storage sections. And a control device for controlling the operation of the transportation device, the transportation device for transporting the article while being held by the article holder, and the article is a cargo handling tool capable of holding a plurality of articles. In the state of being held by the article storage section, the article storage section stores the article, and the transport device transfers the cargo handling tool between the article handling tool support section provided in the article holder and the article storage section. Transfer means for parts, transfer means for holding parts for transferring the articles between the article temporary placement section provided in the article holder and the cargo handling tool transferred to the cargo handling tool support section, And the article is provided between the article temporary storage section and the carry-in / out section. An article storage facility that unloading join the club for transfer means for transferring are provided.

[0002]

2. Description of the Related Art Such an article storage facility stores a plurality of articles in each article storage section of an article storage shelf while holding a plurality of articles in a cargo handling tool, and uses a carrying device to carry in / out the section from each storage section to the article storage shelf. The articles stored in the article storage section are taken out, and the articles in the carry-in / out section are stored in the respective article storage sections. The conveying device holds and conveys the article in the article holder. In the conveyance, the cargo handling tool holding a plurality of articles from each article storage section is held by the transfer section for the storage section. It is transferred to the cargo handling tool support section of the body, and the article held by the transferred cargo handling tool is transferred to the article temporary placement section of the article holder by the holding section transfer means. The cargo handling tool of the cargo handling tool support portion that has been transferred is stored in the original article storage portion by the storage portion transfer means. That is, instead of directly taking out the articles stored in the article storage section to the loading / unloading section as they are, it is possible to take out only a necessary number of articles out of the plurality of articles stored in the article storage section (for example, (See Japanese Patent Publication No. 51-31669). By the way, conventionally, a plurality of articles stored in one article storage unit are all the same article, and it is not necessary to distinguish each article, and a required number of articles can be taken out from the plurality of the same articles. there were.

[0003]

Therefore, in the above-mentioned conventional configuration, the types of articles to be stored in the article storage rack (for convenience, the articles that need to be distinguished and managed even if they are the same article are:
The number of articles of different types) will increase, so that it is necessary to provide as many article storage units as that, and there is a disadvantage that the article storage rack becomes large. The present invention has been made in view of the above circumstances, and an object thereof is to provide an article storage facility capable of storing various types of articles while suppressing an increase in the size of the facility.

[0004]

According to the above-mentioned claim 1, the article is
Multiple types of articles that are configured by arranging multiple storage units vertically and horizontally
The goods storage shelf that stores the
Hold by the article holder between the entry section and each of the article storage sections
And a transport device that transports the article in the above-described state.
And a control means for controlling the operation of the storage device.
Is a state where it is held by a cargo handling tool that can hold multiple items.
In this state, the articles are stored in the article storage section,
A cargo handling tool support portion provided in the article holder and the article storage
A transfer means for a storage part for transferring the cargo handling tool between the storage part and the storage part,
Article temporary storage part provided in the article holder and the cargo handling tool
Transferring the article to and from the cargo handling tool transferred to the support section
And a temporary holding section for transferring the article.
For loading and unloading section for transferring the article between the loading and unloading section
An article storage facility provided with transfer means,
The plurality of articles held by the cargo handling device is for the holding portion.
Holds any article by transfer means so that it can be taken out
Of the articles stored in the cargo handling tool.
Identify the article to be ejected and take out the control means
An instruction means for outputting an instruction is provided, and the control means is
Based on the instruction of the instruction means,
The cargo handling tool that is being held is supported by the cargo handling tool support from the article storage unit.
The goods are temporarily transferred to the holding section, and the transferred temporary goods are transferred from the transferred cargo handling tool.
Transfer the items to be taken out to the
The cargo handling tool is transferred to the article storage section, and the article temporary storage section is placed.
The goods to be taken out that have been transferred to the
And configured to operate the carrier device,
The instructing means is arranged such that the article once delivered is returned to the article again.
If the goods are stored in the goods storage rack, the knowledge of the goods to be stored
The item was held before leaving the warehouse based on the separate information
It is a cargo handling equipment, and the cargo handling equipment
The control in which the position where the article was held is set as the storage position
It states that it is configured to direct the means.
It With the configuration according to claim 1, the holding section transfer means in a state where the cargo handling tool holding a plurality of articles is transferred from the article storage section to the cargo handling tool holding section by the storage section transfer means. Can take out any of the articles held in the cargo handling tool. In this state,
By the control operation of the control means which receives the instruction of the article to be taken out from the instruction means, the holding section transfer means takes out the article to be taken out from the cargo handling tool and transfers it to the article temporary placement section. The cargo handling tool for which the transfer of all the articles to be taken out is completed is transferred to the article storage section by the transfer section transfer means. The article holder holds the article in the article temporary storage section, conveys the article to the carry-in / out section, and completes the removal of the article from the article storage rack. That is, it is possible to store a plurality of types of articles in one article storage section, specify the plurality of types of articles, and take them out from the article storage section. Therefore, even if there are many types of articles to be stored in the article storage rack, it is not always necessary to increase the number of article storage units accordingly, and it is possible to store many types of articles while suppressing the enlargement of equipment. We have been able to provide storage facilities for goods. Further, the above claim 1
With the above-mentioned configuration, the goods are temporarily released from the shelf.
If the goods you have picked up are returned to the goods storage rack,
As a storage destination for the item, the item is unloaded by the instruction means.
The cargo handling tool that was held before the
The position where the goods were held before the goods were released
Be instructed. That is, for each item, the item storage shelf
The storage position in will be set.
Machines such as manufacturing equipment or machine tools according to the work target
Such as when some of the parts need to be replaced
When selecting and using a part of multiple types of articles
To use the goods storage facility for the storage of goods in
Become. Therefore, it is suitable for applications where a wide variety of items are used.
Function of the goods storage facility by using the goods storage facility
Can be effectively used to make the entire equipment compact.
Wear.

In the above-mentioned claim 2, the article storage section is vertically and horizontally arranged.
Article storage that stores several types of articles that are arranged side by side
Pipe shelf, carry-in / out section for this article storage shelf, and each article
The above-mentioned item in the state of being held by the article holder between the storage section
A transport device that transports products and controls the operation of the transport device.
And a control means for controlling the plurality of articles.
In the state of being held by a cargo handling tool that can be held,
Stored in a unit, provided to the carrying device and the article holder.
The cargo handling between the loaded cargo tool support portion and the article storage portion
A transfer means for the storage part for transferring the tool and a device for the article holder.
Transferred to the obtained temporary storage section and the cargo handling tool support section.
Holding part transfer hand for transferring the article to and from the cargo handling tool
A step is provided, and the article temporary storage section and the loading / unloading section
Transfer means for loading / unloading part for transferring the article between
Which is stored in the cargo handling equipment
Any of the plurality of articles is transferred by the holding unit transfer means.
Items are also held in a removable state,
Out of the held items to be taken out
An instruction to specify and output an instruction to take out the control means
Means is provided, and the control means is an instruction of the instructing means.
Based on the
Is transferred from the article storage section to the cargo handling tool support section,
Objects to be taken out from the transferred cargo handling equipment to the temporary storage section
Of the above-mentioned article
Transferred to the storage section and taken out from the temporary storage section
To transfer the target item to the loading / unloading section,
Is configured to operate the device, wherein the loading / unloading
The article holder is provided at the side of the article storage shelf.
The cargo handling tool support section and the article temporary storage section of the article
With the temporary placement part located near the loading / unloading part,
Note that the items are arranged side by side in the width direction of the item storage shelf.
It is listed. With the configuration according to claim 2
The cargo handling equipment holding multiple items from the
In the state where it is transferred to the tool holding part by the transfer part for storage part,
The holding section transfer means is any article held in the cargo handling tool.
The take-out operation can be performed also for. This
In this state, the instruction of the article to be taken out is received from the instruction means.
The holding section transfer means is removed by the control operation of the digit control means.
Temporarily place the article to be ejected from the cargo handling equipment.
Reprinted to the department. When all the items to be taken out have been transferred,
The cargo handling equipment is transferred to the article storage section by the storage section transfer means.
It The article holder is a state in which the article is held in the article temporary storage section.
To transport the goods to the carry-in / out section and remove the goods from the goods storage shelf.
The work is completed. In other words, one article storage unit
Items are stored, multiple types of items are specified, and items are specified.
It is possible to take it out from the storage part. Obey
As a result, there are many types of goods that should be stored in the goods storage shelves.
However, it is always necessary to increase the number of storage
Without having to increase the size of the equipment
We have come to be able to provide equipment for storing goods. Also above
By holding the structure according to claim 2, an article is held.
The article holders that are transported by the
Parts are arranged side by side in the width direction of the goods storage shelf.
Also, a temporary article storage device was provided on the side side of the article storage shelf.
Since it is located near the loading / unloading section,
The temporary storage section and the temporary storage section are arranged side by side when viewed from the width of the shelf.
Compared to the
The size of the product can be reduced, and
The temporary storage section for the items to be transferred is located near the loading / unloading section
Therefore, at the time of transfer, the article holder should be
Side projection can be suppressed as much as possible, and storage shelf width direction
Also, the area occupied by the goods storage equipment can be kept as small as possible.
Wear.

According to the third aspect, the article storage section is vertically and horizontally arranged.
Article storage that stores several types of articles that are arranged side by side
Pipe shelf, carry-in / out section for this article storage shelf, and each article
The above-mentioned item in the state of being held by the article holder between the storage section
A transport device that transports products and controls the operation of the transport device.
And a control means for controlling the plurality of articles.
In the state of being held by a cargo handling tool that can be held,
Stored in a unit, provided to the carrying device and the article holder.
The cargo handling between the loaded cargo tool support portion and the article storage portion
A transfer means for the storage part for transferring the tool and a device for the article holder.
Transferred to the obtained temporary storage section and the cargo handling tool support section.
Holding part transfer hand for transferring the article to and from the cargo handling tool
A step is provided, and the article temporary storage section and the loading / unloading section
Transfer means for loading / unloading part for transferring the article between
Which is stored in the cargo handling equipment
Any of the plurality of articles is transferred by the holding unit transfer means.
Items are also held in a removable state,
Out of the held items to be taken out
An instruction to specify and output an instruction to take out the control means
Means is provided, and the control means is an instruction of the instructing means.
Based on the
Is transferred from the article storage section to the cargo handling tool support section,
Objects to be taken out from the transferred cargo handling equipment to the temporary storage section
Of the above-mentioned article
Transferred to the storage section and taken out from the temporary storage section
To transfer the target item to the loading / unloading section,
The article is configured to operate the device and the article is elongated.
Is formed in the cargo handling tool, the longitudinal direction of the article is
Orient the storage shelves in the width direction and in the depth direction.
The products are stored in a state that they have different lengths in the longitudinal direction.
There are several types of cargo handling equipment that are
The same length of the article is held and the article storage shelf is
The articles that store the articles of the same length in the vertical direction of
The storage units are arranged in a line and are of different lengths.
The width of the article storage shelf is the width of the article storage unit that stores the articles.
It is described that they are arranged side by side in the direction.
By providing the configuration according to claim 3, a plurality of objects
Store the cargo handling equipment holding the goods from the goods storage area to the cargo handling equipment holding area.
Transferring means for holding part in the state of being transferred by the transferring means for storage part
For any item held in the cargo handling equipment.
It is designed so that it can be put out. In this state, instruction
Of the control means that received the instruction of the article to be taken out from the means
By the control operation, the transfer means for the holding part is the object to be taken out.
The product is taken out from the cargo handling tool and transferred to the temporary product storage unit.
The cargo handling equipment where all the items to be taken out have been transferred is stored.
The parts are transferred to the article storage unit by the transfer unit. Article holder
Is in the loading / unloading section while holding the article in the temporary article storage section.
The product is transported and the removal of the product from the product storage shelf is completed.
In other words, you can store multiple types of items in one
Identify the multiple types of items and remove them from the item storage.
It is possible to get out. Therefore, the goods storage shelf
Even if there are many types of items to be stored in the
It is not always necessary to increase the number of goods storage areas,
Articles that can store various types of articles while suppressing their size
We came to be able to provide storage facilities. Also, the above claim 3
Items that can be stored in an item storage shelf
The product is formed into a long shape.
To store the goods in each article storage part while holding them in the cargo handling equipment
Is that the longitudinal direction of the article is oriented in the width direction of the article storage shelf, and
The two are stored in a state of being arranged in the depth direction. Therefore, long
Stores long items with the longitudinal direction facing the depth direction
Compared with the case where
The mounting distance is shortened, and the structure of the transfer unit for the storage section is simple.
Can be realized. Further, the structure according to claim 3
Long shape that can be stored in the article storage unit
There are several types of articles with different lengths in the longitudinal direction.
Yes, articles of the same length are held in one cargo handling tool.
Align the goods storage shelf with the goods of the maximum length
Set the size of the item and set the article storage unit of that size uniformly in the vertical direction.
With the side-by-side configuration, there will be more storage shelves than necessary.
Stores items of multiple lengths as it becomes large
In order to ensure that the
It is reasonable to provide multiple types of dimensions. Where the compound
About storing articles of several lengths in the article storage section,
Store items of the same length in the vertical direction of the item storage shelf.
And the article storage unit for storing articles of different length
By keeping the storage shelves in a line in the width direction,
Vertically the article storage part with the same dimension in the width direction
It can be arranged in a line. Therefore, multiple types of length
Even if you store a large number of items, the configuration of the item storage shelf is complicated
Can be suppressed as much as possible.

According to claim 4, the article has a cross-sectional area.
There are a plurality of types with different
Simultaneously supports multiple types of articles with different cross-sectional areas.
It is described that it can be held. Request above
Storing in an item storage shelf by providing the configuration of Item 4.
Not only the longitudinal length but also the cross-sectional area
There are several different types, and there are many types of goods.
Barrel In such a case, the article temporary placement of the article holder
The cargo handling equipment that holds the goods in
Structure that can hold multiple types of articles with different cross-sectional areas at the same time
As it is stored, it moves between the goods storage section and the loading / unloading section.
The cross sectional area of the article holder
It is possible to take out different items and take out items
The work efficiency can be improved.

According to the above-mentioned claim 5, the cargo handling tool and the take-out tool.
It is stated that the cargo handling tool is formed in the same shape.
There is. By including the configuration according to claim 5, an object
Holds an article in the article storage section and serves as a transfer means for the storage section
Therefore, the load receiver transferred to and from the article holder and the article
Transferring means for holding articles in the temporary placement section and for loading / unloading section
Same as the loading / unloading tool transferred between the loading / unloading section and
Since it is formed in a shape, the number of types of cargo handling equipment will increase.
To prevent the complication of equipment as much as possible.
And use it without distinguishing between cargo handling equipment and unloading cargo handling equipment.
It is possible to make the storage facility more convenient.
can do.

[0009] In the above-mentioned claim 6, the transfer hand for the carrying in / out section.
A step is provided in the carrying device, and the article temporary storage part and the front part are provided.
It is configured such that the cargo handling tool can be transferred to and from the article storage section.
The point is described. The configuration according to claim 6
By equipping the product holder with the temporary product storage part
Transfer means for loading / unloading section for transferring the loading / unloading tool to / from the loading / unloading section
Is provided on the side of the carrier, and has an article storage section and an article temporary storage section.
It can also be used to transfer cargo handling equipment between That is, goods storage
The operation of taking out goods from the shelf is
After the tool is transferred to the cargo support part of the article holder,
Transfer the tool items to the temporary article storage section and place the cargo handling equipment again.
The article holder holds the article and returns it to the storage section
The basic operation is to move to
Take out all the items stored in one item storage
If necessary, use the transfer means for the loading / unloading section.
Transfer the cargo handling equipment from the goods storage to the goods temporary storage of the goods holder.
However, since the entire cargo handling equipment can be transported to the loading / unloading section,
The equipment can be made more convenient.

According to a seventh aspect of the invention, the transfer means for the holding part is
Each of the longitudinal ends of the article is gripped and transferred.
It is described that it is configured as described above. Claim 7
By providing the configuration described in the
The transfer means for the holding part for transferring the product is a long-length object to be transferred.
-Shaped articles are gripped and transferred at both ends in the longitudinal direction.
Goods can be transferred qualitatively and the reliability of transfer operation is improved.
be able to.

In the above claim 8, the article is the article.
In the temporary storage part of the holding body, keep it in the cargo handling implement for taking out.
The loading / unloading section transfer means is held and holds the article.
By loading and unloading the loading / unloading tool,
To transfer the article between the placing section and the loading / unloading section
It is described that it is configured in. Claim 8 above
With the above configuration, the product can be held from the product storage
Transfer the loading device to the loading device support of the body, and
When transferring an item to the temporary article storage section, the item is temporarily
It is transferred to the loading / unloading tool of the placing section. Take out the object holder
Carry items to the loading / unloading section while holding them in the cargo handling equipment,
Use the cargo handling tool that holds the product as the
From the temporary product storage section to the article loading / unloading section
Reprint. Therefore, the articles taken out from each article storage
Can be handled while being held by the loading material handling tool.
The product is easier to handle than when handling the product alone
And make the goods storage facility more convenient.
it can. 10. The transport device according to claim 9, wherein the instructing means is the transport device.
Are held by different cargo handling equipment in one
It is configured to be able to specify and specify the above-mentioned article
The points are listed. The configuration according to claim 9 is provided.
By doing so, the instructing means can perform one transfer operation by the transfer device.
Identify items held in different cargo handling equipment
Prompts you to remove the item from one article storage
Instead of moving to the loading / unloading section each time
Carrying in and out after continuously taking out goods from the storage section
It is possible to take out goods from the goods storage shelf
The work efficiency of taking out is improved.

[0012]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of an article storage facility to which the present invention is applied will be described below with reference to the drawings. The article storage facility BS is for storing replacement parts of a manufacturing apparatus (not shown), raw materials of the manufacturing apparatus, and finished products, and as shown in the plan view of FIG. 4, articles for storing replacement parts of the manufacturing apparatus. A plurality of storage shelves 1 and article storage shelves 2 for storing raw materials and finished products are arranged side by side. Article storage shelves 1, 2
Stacker cranes 3 and 4 that run along the width direction of the article storage shelves 1 and 2 are installed between them, and the stacker cranes 3 and 4 are on both sides of the article storage shelves 1 and 2, and the article storage shelves 1 and 2. The article is conveyed to and from the article carry-in / out section IO provided on the side of the lateral side.

The article B, which is a replacement part of the manufacturing apparatus to be stored in the article storage shelf 1, the storage mode of the article B, the configuration of the article storage shelf 1 and the stacker crane 3 corresponding to the conveyor device will be described below. Stacker crane 3
And the article storage shelves 1 on both sides thereof operate as a set, so only this set will be described, and the article storage shelf 2 for storing the raw materials and finished products of the manufacturing apparatus and the corresponding The structure of the stacker crane 4 to be used is the same as the conventional one, and the description thereof is omitted.

The article B, which is a replacement part of this manufacturing apparatus, is
As shown in FIG. 6 (a), there are three long cylindrical shapes that are long, medium, and short in the longitudinal direction. There are three levels of area, large, medium and small, and even if they have the same diameter and the same length, the types are different. As shown in FIGS. 6A and 6B, the article B having such a shape is held by the pallet P which is the cargo handling tool SP and stored in the article storage rack 1. A plurality of pedestals 5 each having a concave upper surface are attached near the respective ends of the opposite sides of the pallet P.
Both ends of the article B in the longitudinal direction are supported by the cradle 5, and the plurality of articles B are supported on the pallet P side by side. The pedestal 5 is made of a rubber member and is used as an article B.
Absorbs an impact when the article is placed and functions as a cushioning material, and also functions to prevent the article B placed on the article from slipping.

In the pallet P, there are three levels of the length of the article B in the longitudinal direction: long, medium and short.
There are three types of side lengths corresponding to the longitudinal direction of 3 types: large, medium, and small. However, as shown in FIG.
For the large, medium, and small diameters of the cross section of the article B, the pallet P itself can be shared although the number of articles B that can be held is different. It should be noted that the pallets P are arranged in the article arranging direction on the pedestal 5 in such a manner that the articles B having small and medium cross-sectional diameters can be arranged on all the pedestals 5, but the articles having large cross-sectional diameters. B is set so as to be intermittently arranged in the direction of arrangement of the articles B by using the pedestal 5, so that the articles B can be arranged on the pallet P having a limited mounting area as high as possible. Can be placed.

As shown in FIG. 5, the article storage rack 1 is constructed by arranging a plurality of article storage units 6 vertically and horizontally. Each article storage unit 6 has a pallet P at both ends in the width direction of the article storage rack 1.
A support frame 6a for supporting both edges of the is attached. As shown in FIG. 2, in the pallet P, each article storage unit 6 is arranged such that the longitudinal direction of the articles B to be held faces the lateral width direction of the article storage rack 1 and the articles B are arranged in the depth direction of the article storage unit 6.
Since each of the article storage sections 6 has three types of side lengths of the pallet P corresponding to the longitudinal direction of the article B: long, medium, and short, the article storage shelves There are three types of width in 1 in the width direction: long, medium, and short. Article storage shelf 1
Since the article storage units 6 having the same width are arranged in the up-down direction, the article storage units 6 having different widths are arranged in the width direction of the article storage rack 1. Further, in the up-down direction of the article storage rack 1, an article B having a small cross-section diameter is stored in the article storage section 6 on the lower side, and an intermediate section of the article storage section 6 has a medium cross-section diameter. The articles B are stored, and the articles B having a large cross-sectional diameter are stored in the article storage section 6 on the upper side, and the width of each article storage section 6 in the vertical direction is also large accordingly.
There are three types, medium and small, and they are arranged in the vertical direction.

The stacker crane 3 is a transporting device for transporting the articles B, and as shown in FIG. 3, a traveling frame body 7 traveling in the lateral width direction of the article storage rack 1, and a traveling frame body 7 guided up and down. And a lift table 8 that operates as a main part.
The traveling frame body 7 is guided by a floor-side guide rail GR laid on the floor surface FL and a ceiling-side guide rail CR arranged near the upper end of the article storage rack 1 and attached to the lower portion of the traveling frame body 7. The traveling motor 9 thus driven drives traveling wheels (not shown) to travel.

The elevating table 8 functions as an article holder that holds and conveys the article B, and as shown in FIG. 1, a bottom frame 8a, which is the base of the elevating table 8, and a bottom frame. 8
a pair of side frame bodies 8b extending upward from both ends in the width direction of the article storage shelf in a are configured as main parts,
A guide roller 8 for guiding the mast 7a of the traveling frame body 7 is provided on the outer side of the lifting table 8 in the pair of side frame bodies 8b.
While c is attached, one end of the wire 11 driven to be wound by the lifting motor 10 is attached and fixed to the upper ends of the pair of side frame bodies 8b.

On the lift table 8 having the above-described structure, a storage unit fork which is a transfer unit transfer unit for transferring the pallet P holding the article B between the lift table 8 and each article storage unit 6 is installed. Mechanism 12, loading / unloading fork mechanism 13, which is a loading / unloading section transfer means for loading / unloading the pallet P mainly between the lift 8 and the loading / unloading section IO, the storage section fork mechanism 12, and the loading / unloading section fork. When the pallet P is transferred by the mechanism 13, the pallet size detecting device PS for confirming the size of the pallet P and the presence or absence of load collapse, and the pallet P transferred on the lift 8 A load height detection device HS for detecting the load height of the article B, that is, the size of the diameter of the cross section of the article B, the fork mechanism 12 for the storage section and the fork mechanism for the loading / unloading section in the state of being retreated to the lifting table 8 side. Pallet P on 13 Load presence detector L for detecting whether or not Luke
S, an article transfer device B which is a holding section transfer means for transferring the article B between the pallet P on the storage section fork mechanism 12 and the pallet P on the loading / unloading section fork mechanism 13.
T and are provided.

The storage unit fork mechanism 12 and the loading / unloading unit fork mechanism 13 are attached to the upper surface of the bottom frame 8a of the elevating table 8 so as to be aligned in the lateral width direction of the article storage rack 1.
The loading and unloading motors 12a and 13a are driven so that the loading surfaces 12b and 13b on the upper surfaces of the storage unit fork mechanism 12 and the loading / unloading unit fork mechanism 13 can freely move in and out in the depth direction of the article storage unit 6. The mounting position of the loading / unloading unit fork mechanism 13 is located closer to the loading / unloading unit IO provided on the lateral side of the article storage rack 1 than the storage unit fork mechanism 12. The storage unit fork mechanism 12 and the loading / unloading unit fork mechanism 13 have the same structure as described above except that the mounting positions are different and the transfer mode of the pallet P is different. The storage unit fork mechanism 12 and the loading / unloading unit fork mechanism 13 are directly controlled by a main controller 32 on the ground side, which will be described later.

The storage unit fork mechanism 12 and the loading / unloading unit fork mechanism 13 both indicate the pallet P on the respective loading surfaces 12b and 13b in the state of being retracted to the lift table 8, so that the storage unit fork is used. The installation location of the mechanism 12 functions as the cargo handling tool support portion PH, and the loading / unloading fork mechanism 1
The installation location of 3 functions as an article temporary storage part TH. still,
When taking out the article B from the article storage rack 1, as a general rule, the pallet P on the loading / unloading fork mechanism 13 is transferred from the pallet P transferred from the article storage section 6 to the elevating table 8 by the storage section fork mechanism 12. The pallet P supported on the loading / unloading fork mechanism 13 functions as the unloading cargo handling tool TP because the pallet P is transferred to the P and taken out.

The article transfer device BT is provided with a frame body 14 which is provided between the upper ends of a pair of side frame bodies 8b of the lift table 3.
The frame 14 is held in a suspended state at the frame frame 14 and extends from an intermediate portion of the article storage shelf 1 in the lateral width direction thereof to be connected between the frame frame 14 and the bottom frame frame 8a of the lifting table 8. Body 14a
It is reinforced by. The article transfer device BT includes a lateral moving body 15 that moves in the lateral width direction of the article storage rack 1 by using a pair of frame bodies 14 arranged in the depth direction of the article storage unit 6 as guide rails, and a lateral moving body thereof. Item storage section 6 at 15
The vertical moving body 16 is attached so as to be movable in the depth direction, the elevating moving body 17 is attached to the vertical moving body 16 so as to be able to move up and down, and the vertical moving body 17 is attached to the vertical moving body 17 in the lateral width direction of the article storage rack 1. A pair of movably attached arm 18 for grasping an article is configured as a main part.
The lateral moving body 15, the vertical moving body 16, and the lifting / lowering moving body 17 are driven by a driving force of the motors 21, 22, and 23 via a ball screw mechanism or the like, respectively, and a pair of article holding arms 18 are provided.
Are independently driven by motors 24 and 25.

The motors 21, 22, 23, 24 and 25 are
It is controlled by the elevator controller 20 provided in the control box 19 based on the detection signals of various positioning sensors (not shown). The articles B are held side by side on the pallet P as shown in FIG.
Since the moving range of the pair of article gripping arms 18 is configured to cover the entire width of the pallet P, the article transfer device BT can be used for any article B held on the pallet P on the fork mechanism 12 for the storage section. Can also be taken out by transferring.

The pallet size detecting device PS is mounted on a side surface of the bottom frame 8a and on both sides of the fork mechanism 12 for the storage section and the fork mechanism 13 for the loading / unloading section on both sides of the fork mechanism 12 when viewed from the exit direction. A light emitting unit 26,
The pallet P to be transferred is composed of a pair of light receiving units 27 which are positioned vertically above the pair of light emitting units 26 and to which the frame body 14 of the article transferring apparatus BT is attached. The size of the pallet P passing therethrough is detected by passing it between the pallets 27 and the like. The storage unit fork mechanism 12 transfers the left and right article storage units 6 and the pallet P in the lateral direction of the article storage rack 1, and the loading / unloading unit fork mechanism 13 moves left and right in the lateral direction of the article storage rack 1. Loading / unloading part IO and pallet P
The pair of light emitting units 26 and the pair of light receiving units 27 are provided on the left and right sides of the storage unit fork mechanism 12 and the loading / unloading unit fork mechanism 13, respectively, as viewed in the widthwise direction of the article storage rack 1. Thus, a total of four pairs of light emitting units 26 and light receiving units 27 are provided.

The principle such as the detection of the size of the pallet P is common to these four sets, and will be explained by the one provided on the side of the storage section fork mechanism 12. From one light emitting unit 26, as schematically shown by a dashed line in FIG. 7, three light beams are projected vertically upward in a state of being aligned in the width direction of the article storage rack 1, and the vertical direction of the light emitting unit 26. The light receiving unit 27 located above detects the three light beams separately. The pair of light emitting units 26 are attached so that the three light beams thereof are located at symmetrical positions with the fork mechanism 12 for the storage section sandwiched therebetween, and the light beams located at the symmetrical positions form a pair and the size of the pallet P. To be used for detection. That is, the interval between the innermost light beams (the light beams indicated by “S” in FIG. 7) across the storage portion fork mechanism 12 is the side of the pallet P having the smallest size among the pallets P having three sizes. Is slightly wider than the length of the innermost pallet P, and is shorter than the length of the side of the pallet P having an intermediate size. The intervals between the indicated beam lights are slightly wider than the length of the side of the pallet P having the intermediate size among the pallets P of three sizes and shorter than the length of the side of the largest pallet P, Further, the distance between the outermost light beams (the light beams indicated by “L” in FIG. 7) is slightly wider than the side length of the largest pallet P among the three pallets P. At intervals A.

As a result, if no light beam is blocked when the pallet P is transferred, it is the smallest pallet P and the beam light indicated by "M" is not blocked and the beam indicated by "S" is When the light is blocked, it can be determined that the palette P has an intermediate size, and when the light beams indicated by "M" and "S" are blocked, the palette P is the largest, and further, "L" When the beam light indicated by "is blocked,
It can be determined that the pallet P is displaced in the lateral direction of the article storage rack 1 and the load collapse occurs.

As shown in FIG. 8, the load height detecting device HS projects an article light emitting unit 28 which projects a beam of light so as to obliquely traverse a long article B transferred to the lifting table 8.
And an article light receiving unit 29 that receives the light beam projected from the article light emitting unit 28. The load height detection device HS includes the fork mechanism 12 for the storage section.
And the loading / unloading fork mechanism 13. The load height detection device HS provided on the fork mechanism 12 side of the storage section will be described.
As shown in FIGS. 7 and 8, 8 projects three beam lights at the same position in plan view and different in height in side view,
The light receiving unit 29 for articles receives the three light beams separately.

Of the three light beams, the lowermost light beam (the light beam indicated by "α" in FIG. 7) has a height passing above the upper surface of the pallet P and is held by the pallet P. The beam light having a diameter of the cross section which is smaller than the load height of the article B having a “small” size and having an intermediate height (the beam light indicated by “β” in FIG. 7) is held by the pallet P. The light beam has a height higher than the load height of the article B whose cross-section diameter is “small” and lower than the load height of the article whose cross-section diameter is “medium”, and is the highest beam light (“γ” in FIG. 7). (Light beam indicated by) is higher than the load height of the article B having a cross section diameter of "medium" held on the pallet P and lower than the load height of an article having a "large" cross section diameter. . With this, when the light beam at the bottom is not blocked,
It is determined that the article B is not held, and when the lowermost beam light is blocked and the middle beam light is not blocked, it is determined that the article B having a “small” cross-sectional diameter is held. If the intermediate light beam is blocked and the light beam at the highest position is not blocked, it is determined that the article B having a cross section of “medium” in diameter is held, and the beam at the highest position is determined. Article B with a "large" cross-section diameter when light is blocked
Can be determined to be held.

The presence detection device LS projects the beam light obliquely across the elongated article B similarly to the article light emitting unit 28, and a direction intersecting with the beam light projecting direction of the article light emitting unit 28. The pallet light-emitting unit 30 that projects the beam light onto the pallet and the pallet light-receiving unit 31 that receives the beam light projected from the pallet light-emitting unit 30 are included. The presence detection device LS includes a fork mechanism 12 for the storage section and a fork mechanism 13 for the loading / unloading section.
It is equipped with both. Explaining the presence detection device LS provided on the storage unit fork mechanism 12 side, the height of the beam light (the beam light indicated by “δ” in FIG. 7) projected from the pallet light emitting unit 30 is determined by the storage unit. The height is set so as to be blocked by the pallet P placed on the load placing surface 12b of the fork mechanism 12 for use. The detection information of the pallet size detection device PS, the load height detection device HS, and the presence detection device LS is transmitted to the main controller 32 and used in the control of the transfer operation of the pallet P, as shown in FIG. It

The stacker crane 3 having the above structure manages and controls the overall operation of the stacker crane 3 by the main controller 32 provided on the ground side as shown in FIG. 9, and the elevator controller 20 is the main controller. 32
The transfer of the article B between the pallets P is executed according to the command. Hereinafter, the operation of the stacker crane 3 by the main controller 32 and the elevator controller 20 will be described in a flowchart showing the control operation of the main controller 32 of FIGS. 10 to 12 and a flowchart showing the control operation of the elevator controller 20 of FIG. A brief description will be given based on this.

When the article B to be taken out is instructed to the main controller 32 by an input from the console 33 or via the communication interface 34 (step #
1) The storage position of the article B designated based on the storage information of the storage device 35 in the main controller 32 is specified (step # 2). All goods B stored in the goods storage shelf 1
Are given different identification codes, and the identification codes are recorded on the surface of the article B by a bar code or the like. The storage position of the article B in the article storage shelf 1 is specified in the storage device 35 by the position information of the article storage section 6 and the arrangement position of the articles on the pallet P in the article storage section 6, and the storage location of the article. And the identification code of the article B are stored in a corresponding state, and in addition, information on the length of the article B in the longitudinal direction and information on the diameter of the cross section are also stored. When the storage position is specified, the main controller 32 controls the traveling motor 9 and the elevating motor 10 so that the storage unit fork mechanism 12 of the elevating table 8 faces the article storage unit 6 specified as the storage position (FIG. 2). The elevating table 8 is moved so as to be in the state (1) (step # 3). When this movement is completed, the loading surface 12b of the storage unit fork mechanism 12 is advanced to the lower side of the pallet P of the article storage unit 6, and then the lifting platform 8 is raised to scoop up the pallet P, and the pallet P is further moved. Loading surface 1 of storage unit fork mechanism 12 on which is mounted
2b is pulled toward the lift table 8 and the pallet P of the article storage unit 6 is transferred to the lift table 8 (step # 4).

When the pallet P is transferred, the abnormality detection process shown in the flowchart of FIG. 12 is executed (step #
5). That is, when the presence detection device LS fails to detect the pallet P and fails to transfer the pallet P (step # 6).
0) displays an abnormality (step # 61), and stops the work of carrying the article B. Furthermore, the pallet size detection device P
The size of the pallet P is determined based on the detection signal of S,
It is determined whether or not the size of the pallet P corresponding to the length in the longitudinal direction of the article B designated as the object to be taken out coincides and whether or not a load collapse has occurred, and when they do not coincide, the load collapse is detected. Even when the load height of the article B detected by the load height detection means HS does not match the load height of the article B to be taken out (step # 63), that effect is obtained. Is displayed (Step # 6)
1) Stop the transportation work.

If there is no abnormality as described above, a pallet P transfer instruction is transmitted to the elevator controller 20 (step # 6), and then the elevator controller 2
It waits until the transfer completion signal is received from 0 (step # 7). When the elevator controller 20 receives the transfer instruction of the pallet P from the main controller 32 in the flowchart of FIG. 13 (step # 50),
According to the transfer instruction, the storage unit fork mechanism 12
The article B is transferred between the upper pallet P and the pallet P on the loading / unloading fork mechanism 13 (step # 5).
1).

The transfer instruction from the main controller 32 is sent from one of the pallets P of the pallets P placed on the storage unit fork mechanism 12 and the loading / unloading unit fork mechanism 13 to the other pallet P. The transfer of B is instructed by specifying the position where the article P to be transferred is present and the position of the transfer destination by the arrangement position of the articles B on the pallet P.
In some cases, the transfer of instructions is instructed. Item B at this point
1 is carried out, the transfer instruction is an instruction to transfer the article B of the pallet P on the storage unit fork mechanism 12 to the pallet P on the carry-in / out unit fork mechanism 13. As shown in FIG. 1, first, the operations of the motors 21 and 22 are controlled to move the horizontal moving body 15 and the vertical moving body 16 in the horizontal plane, and the lifting / lowering moving body 17 is moved to the pallet P on the storage unit fork mechanism 12. Of the article B to be transferred, that is, the article B to be taken out, the motor 23 drives the elevating / lowering body 17 to descend, and the motors 24 and 25 drive the pair of article grasping arms. 18 is moved in the approach direction. Since the article B has a long cylindrical shape, the article gripping arm 1 described above is used.
By the approaching movement of 8, the pin 1 of the article holding arm 18
8a sinks into the through hole in the longitudinal direction of the article B, and the article grasping arm 18 grasps both longitudinal end portions of the article B.

After that, the elevating / lowering body 17 is raised and the pallet P placed on the fork mechanism 13 for the loading / unloading section.
The article B is moved to the designated position above, and the article B is placed on the pedestal 5 of the pallet P in the reverse operation. The pallet P on the loading / unloading fork mechanism 13 has the same shape as the pallet P for storing the articles B in the article storage rack 1. Pallet P on the storage unit fork mechanism 12
When there are a plurality of articles B to be taken out to be transferred from, the above operation is repeated. Storage mechanism fork mechanism 12
When the transfer of the articles B from the pallet P placed on the top to the pallet P on the loading / unloading fork mechanism 13 is completed, the elevator platform controller 20 sends a transfer completion signal to the main controller 32. Is transmitted (step # 52) and waits until a new transfer instruction is received (step # 50).

Upon receiving the transfer completion signal from the elevator platform controller 20 in step # 7 of the flowchart of FIG. 10, the main controller 32 actuates the storage unit fork mechanism 12 to move the pallet on the storage unit fork mechanism 12. Return P to the original article storage unit 6 (step #
8). The main controller 32 can specify an article B held on a different pallet P, that is, stored in a different article storage section 6 and perform a take-out operation in one transport operation, as described above. When the removal of the article B from one article storage unit 6 is completed,
If the article B that has been instructed to be taken out is not taken out and remains (step # 9), the article B is moved to the article storage unit 6 that stores the article B (step # 3), and the same operation as above is performed. repeat. Further, since the pallet P can hold the articles B having different cross-sectional diameters and the articles B having different diameters at the same time, it is possible to take out the articles B having different diameters at the same time by one carrying operation. .

The pallet P on the loading / unloading fork mechanism 13 is provided for all the articles designated as objects to be taken out.
When the transfer to the
The lifting / lowering table 8 is moved to a position at which the loading / unloading section fork mechanism 13 and the loading / unloading section IO of FIG.
0), the loading / unloading fork mechanism 13 is operated to transfer the pallet P holding the article B to be taken out to the loading / unloading section IO on the instructed side (step # 11).

The above operation is performed by the pallet P of the article storage unit 6.
The operation of taking out some of the articles B from the
If the articles B to be taken out are all the articles B held in one pallet P (step # 15), the loading / unloading fork mechanism 13 is placed at a position facing the article storage unit 6 storing the pallet P. After moving the lift table 8 (step # 16), the loading / unloading fork mechanism 13 is operated to transfer the pallet P to the lift table 8 (step # 16).
17). Also during this transfer, the abnormality detection processing shown in the flowchart of FIG. 12 is executed in the same manner as described above (step # 18). If there is no abnormality, then, as described above, the pallet P is moved to the loading / unloading section IO (step # 10).
Is transferred to the carry-in / out section IO (step # 11). The pallet P transferred to the carry-in / out section IO is transported to the installation location of the manufacturing apparatus where the article B is used by an unmanned transport vehicle, a forklift, or the like.

When the article B is returned to the article storage shelf 1 after use in the manufacturing apparatus, the pallet P holding the article B to be returned to the article storage shelf 1 is placed in the carry-in / out section IO,
When the storage of the article B is instructed to the main controller 32 by an input from the console 33 or via the communication interface 34 (step # 22), a bar code reader (not shown) or the like is used in the loading / unloading section IO. The identification code of the article B to be stored, which is recorded by a code or the like, is read, and the article B is stored by the storage information of the storage device 35.
Specify the storage position where was stored (Step # 2
3). The operation of storing the article B is almost the reverse of the operation of taking out the article B. The elevating table 8 is moved to the loading / unloading section IO, and the pallet P of the loading / unloading section IO is moved up and down by the loading / unloading fork mechanism 13. After transfer to the table 8 (step # 24) and execution of the same abnormality detection processing as described above (step # 2)
5) The elevator 8 is moved to a position where the storage unit fork mechanism 12 faces the storage unit 6 in which the product B was stored (step # 26). When this movement is completed, the pallet P of the article storage unit 6 is transferred to the lift 8 (step # 27). Also during this transfer, the same abnormality detection processing as described above is executed (step # 28).

If there is no abnormality, the elevator platform controller 2
0, a pallet P transfer instruction is transmitted (step # 29), and then the process waits until a transfer completion signal is received from the elevator platform controller 20 (step # 3).
0). When the lift controller 20 receives the transfer instruction of the pallet P from the main controller 32 in the flowchart of FIG. 13 (step # 50), the lift controller 20 carries out the pallet P on the storage unit fork mechanism 12 according to the transfer instruction. Pallet P on the entry fork mechanism 13
The article B is transferred between and (step # 51). At this point, since the storage operation of the article B is being performed, the content of the transfer instruction is an instruction to transfer the article B of the pallet P on the loading / unloading fork mechanism 13 to the pallet P on the storage section fork mechanism 12. Therefore, the operation is the reverse of the operation shown in FIG. When there are a plurality of articles B to be transferred from the pallet P on the loading / unloading section fork mechanism 13 to the pallet P on the storage section fork mechanism 12, the above operation is repeated.

When the transfer of the articles B is completed, the elevator board controller 20 transmits a transfer completion signal to the main controller 32 (step # 52), and waits until a new transfer instruction is received. Yes (Step # 5
0). The main controller 32, which has received the transfer completion signal from the elevator platform controller 20 in step # 30 of the flowchart in FIG. 11, operates the storage unit fork mechanism 12 to restore the pallet P on the storage unit fork mechanism 12. Return to the article storage section 6 (step # 31).
When there are a plurality of articles B to be stored and the storage positions thereof also cover a plurality of article storage units 6 (step # 32), the operations of step # 24 and subsequent steps are repeated, and when the storage of all the articles is completed, the storage work is performed. finish.

The above operation is for storing the individual articles B in the article storage unit 6, but all the articles B to be stored.
When it is determined that the articles B have been taken out together with the pallet P (step # 33), the lifting platform 8 is moved to the loading / unloading section IO, and the pallet of the loading / unloading section IO is detected. After the P is transferred to the lift table 8 by the loading / unloading fork mechanism 13 (step # 34) and the same abnormality detection processing as described above is executed (step # 35), the article B storing the article B is stored. The elevating table 8 is moved to a position where the loading / unloading fork mechanism 13 faces the section 6 (step # 36), and the loading / unloading fork mechanism 13 is operated to store the pallet P in the article storage section 6 (step # 36). 37).

Therefore, the elevator board controller 21 functions as a part of the article transfer device BT, and the main controller 32 functions as the control means CC for controlling the operation of the stacker crane 3 and is held on the pallet P. Indicating means B for specifying and indicating the article B to be taken out
Functions as C. In addition, when the above-mentioned article take-out work is summarized by the operations of the control means CC and the instruction means BC, the control means CC, based on the instruction of the instruction means BC,
The pallet P holding the article B to be taken out is transferred from the article storage section 6 to the cargo handling tool support section PH, and the article B to be taken out is transferred from the transferred pallet P to the article temporary placing section TH. Then, the stacker crane 3 is operated so as to be transferred to the pallet P article storage unit 6 whose transfer has been completed and to take out the article B to be taken out that has been transferred to the temporary article placement section TH to the loading / unloading section IO. And the indicating means BC
When the article B that has once been unloaded is again loaded into the article storage rack 1, the pallet that has been held before the article B is put out based on the identification information (identification code) of the article B to be loaded. The position where the article B is held on the pallet P before the delivery from the pallet P is instructed to the control means CC as the storage position.

[Other Embodiments] Other embodiments will be listed below. In the above-described embodiment, the lifting / lowering table 8 is provided with the loading / unloading section fork mechanism 13 for loading / unloading section transfer means for transferring the article B between the lifting / lowering table 8 and the loading / unloading section IO. A multi-joint type manipulator may be provided in the loading / unloading section IO as the loading / unloading section transfer means. In the above embodiment, the article temporary storage portion TH of the lift 8 is
Although the pallet P is positioned as the loading / unloading tool TS on the pallet, the article temporary storage section T
The article B may be placed directly on the H. In the above-described embodiment, the stacker crane 3 is illustrated as the transporting device. However, an elevating rail having a length that extends over substantially the entire width of the article storage shelf 1 in the widthwise direction is provided so that the article holding body is mounted on the elevating rail. May be configured to run in the lateral direction of the article storage rack 1.

In the above-described embodiment, as the article B to be stored in the article storage shelf 1, a replacement part of the manufacturing apparatus is illustrated, and a usage mode in which the article B after being used in the manufacturing apparatus is returned to the article storage shelf 1 will be described. However, it may be used as a normal automatic warehouse that does not perform processing such as returning the once shipped article B to the article storage rack 1 again. In the above-described embodiment, the article transfer device BT is composed of the vertical moving body 15, the lateral moving body 16, the elevating moving body 17, and the like. However, the article transferring device BT is configured as an articulated manipulator to place the article B in the pallet P. You may comprise so that it may transfer between. In the above embodiment, the article B to be stored has a long cylindrical shape, but it can be used to store articles B having various shapes. In the above-described embodiment, the pallet P is used as the cargo handling tool to store the article B in the article storage unit 6, but
The form of the cargo handling tool can be variously changed, such as using a container that can store a plurality of articles B.

[Brief description of drawings]

FIG. 1 is a front view of an article holder according to an embodiment of the present invention.

FIG. 2 is a plan view of an article holder according to an embodiment of the present invention.

FIG. 3 is a front view of a carrying device according to an embodiment of the present invention.

FIG. 4 is a layout diagram of equipment according to the embodiment of the present invention.

FIG. 5 is a front view of the article storage shelf according to the embodiment of the present invention.

FIG. 6 is an explanatory view of an article and a cargo handling tool according to the embodiment of the present invention.

FIG. 7 is a layout explanatory diagram of a pallet size detection device and the like in a front view according to the embodiment of the present invention.

FIG. 8 is a layout explanatory view of a pallet size detection device and the like in plan view according to the embodiment of the present invention.

FIG. 9 is a block configuration diagram according to an embodiment of the present invention.

FIG. 10 is a flowchart according to the embodiment of the present invention.

FIG. 11 is a flowchart according to the embodiment of the present invention.

FIG. 12 is a flowchart according to the embodiment of the present invention.

FIG. 13 is a flowchart according to the embodiment of the present invention.

[Explanation of symbols]

1 article storage shelf 3 Conveyor 6 Article storage 8 Article holder 12 Transfer means for storage 13 Transfer device for loading / unloading section B goods BC instruction means Transfer means for BT holding unit CC control means IO loading / unloading section PH cargo handling equipment support SP cargo handling equipment TH article temporary storage section TP cargo handling equipment

─────────────────────────────────────────────────── ─── Continuation of the front page (58) Fields surveyed (Int.Cl. ⁷ , DB name) B65G 1/00-1/20

Claims (9)

(57) [Claims] 1. An article storage shelf configured by arranging a plurality of article storage sections vertically and horizontally to store a plurality of types of articles, and an article holder between the carry-in / out section of the article storage shelf and each of the article storage sections. And a control device for controlling the operation of the transportation device, wherein the article is held by a cargo handling tool capable of holding a plurality of articles. And a storage unit transfer means that transfers the cargo handling tool between the cargo handling tool support portion provided in the article holding body and the article storage unit, and is stored in the article storage unit. And a holding section transfer means for transferring the article between the article temporary placement section provided in the article holder and the cargo handling tool transferred to the cargo handling tool support section. Carry-in / carry-out for transferring the article between the temporary storage section and the carry-in / carry-out section Article storage facility provided with a transfer means for use, wherein the plurality of articles held by the cargo handling tool are held in a state in which any of the articles can be taken out by the transfer means for the holding part. An instruction means for specifying an article to be taken out of the articles held in the cargo handling tool and outputting a take-out instruction of the control means is provided, and the control means is instructed by the instruction means. Based on the above, the cargo handling tool holding the article to be taken out is transferred from the article storage section to the cargo handling tool support section, and the article to be taken out is transferred from the transferred cargo handling tool to the article temporary storage section. Listed,
The cargo handling tool that has been transferred is transferred to the article storage section,
In order to unloading the articles be taken out, which is transferred to the article temporarily placed section to the unloading join the club, the is configured to actuate the conveying device, said indicating means once goods issue was the article, again the product
If the goods are stored in the goods storage rack, the knowledge of the goods to be stored
The item was held before leaving the warehouse based on the separate information
It is a cargo handling equipment, and the cargo handling equipment
The control in which the position where the article was held is set as the storage position
An item storage facility configured to direct a means . 2. A plurality of article storage units are arranged vertically and horizontally.
And an article storage shelf for storing a plurality of types of articles, a loading / unloading section for the article storage shelf, and the article storage sections.
The article is conveyed while being held by the article holder between
And a control means for controlling the operation of the transport device, wherein the article is held by a cargo handling tool capable of holding a plurality of articles.
Stored in the article storage section in the above-described state, and the cargo handling tool support section provided in the article holder and the article storage section in the transport device.
Transfer means for storage section for transferring the cargo handling tool to and from the storage section
And an article temporary storage section provided in the article holder and the cargo handling tool
Transferring the article to and from the cargo handling tool transferred to the support section
And a holding section transfer means for transferring the articles between the article temporary placing section and the loading / unloading section.
Article storage facility provided with transfer means for loading / unloading section
The plurality of articles held by the cargo handling device are
In a state where any article can be taken out by the transfer means for parts
Is held, it is taken out of the article held in the loading tool
Specify the target article and give an instruction to take out the control means.
Instructing means for outputting is provided, and the control means, based on the instruction of the instructing means,
The cargo handling tool holding the article to be taken out is the article storage section.
From the above to the cargo handling tool support section, and the loaded cargo handling tool
Transfer the article to be taken out from the article to the temporary storage section,
The cargo handling tool that has been transferred is transferred to the article storage section,
In front of the article to be taken out that was transferred to the article temporary storage section
Rubeku to issuing the serial unloading join the club, activating the conveying device
And the loading / unloading unit is provided at a lateral side part of the article storage shelf.
And the cargo handling tool support portion and the article temporary storage portion of the article holder.
Is located on the side where the article temporary storage section is close to the loading / unloading section.
In the state of
The article storage facility that is. 3. A plurality of article storage units are arranged vertically and horizontally.
And an article storage shelf for storing a plurality of types of articles, a loading / unloading section for the article storage shelf, and the article storage sections.
The article is conveyed while being held by the article holder between
And a control means for controlling the operation of the transport device, wherein the article is held by a cargo handling tool capable of holding a plurality of articles.
Stored in the article storage section in the above-described state, and the cargo handling tool support section provided in the article holder and the article storage section in the transport device.
Transfer means for storage section for transferring the cargo handling tool to and from the storage section
And an article temporary storage section provided in the article holder and the cargo handling tool
Transferring the article to and from the cargo handling tool transferred to the support section
And a holding section transfer means for transferring the articles between the article temporary placing section and the loading / unloading section.
Article storage facility provided with transfer means for loading / unloading section
The plurality of articles held by the cargo handling device are
In a state where any article can be taken out by the transfer means for parts
Is held, it is taken out of the article held in the loading tool
Specify the target article and give an instruction to take out the control means.
Instructing means for outputting is provided, and the control means, based on the instruction of the instructing means,
The cargo handling tool holding the article to be taken out is the article storage section.
From the above to the cargo handling tool support section, and the loaded cargo handling tool
Transfer the article to be taken out from the article to the temporary storage section,
The cargo handling tool that has been transferred is transferred to the article storage section,
In front of the article to be taken out that was transferred to the article temporary storage section
Operate the above-mentioned transfer device so that it can be delivered to the loading / unloading section.
The article is formed in a long shape, and the longitudinal direction of the article is the same as that of the article storage rack in the cargo handling tool.
Stores in the width direction and in the depth direction
The above-mentioned article is a plurality of types having different lengths in the longitudinal direction.
There is one said cargo handling device that holds the articles of the same length.
The article storage shelf has the same length in the vertical direction.
Arranged in line with the article storage unit for storing the articles,
Also, the article storage unit for storing the articles of different lengths
Are arranged side by side in the width direction of the article storage shelf.
The article storage facility that. 4. A plurality of types of articles having different cross-sectional areas
There are several types of cargo handling implements with different cross-sectional areas.
4. The article according to claim 3 is configured to be able to simultaneously support the articles.
The article storage facility of. 5. The cargo handling tool and the unloading cargo handling tool are the same.
The article storage facility according to claim 4, which is formed in a shape . 6. The transfer means for loading / unloading section is the transport device.
Of the article temporary storage section and the article storage section
6. The structure according to claim 5, wherein the cargo handling tool can be transferred between them.
On-board storage facility. 7. The transfer means for the holding part is the length of the article.
It is configured to grip and transfer each of both ends in the hand direction.
The article storage device according to any one of claims 3 to 6 . 8. The article is the article of the article holder.
In the temporary placement section, the loading / unloading section transfer means, which is held by the loading / unloading tool, holds the article.
By transferring the cargo handling equipment,
It is configured to transfer the article to and from the loading / unloading section.
The article storage facility according to any one of claims 1-7 being. 9. The instructing means is provided by the transfer device.
Being held by different cargo handling equipment during one transport operation
The device is configured to be able to specify and specify the article.
Item 8. The article storage facility according to any one of items 8 to 8 .