JP3924520B2 - Automatic warehouse - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an automatic warehouse.
[0002]
[Prior art]
There are various types of automatic warehouses. For example, a single stacker system in which one stacker crane is arranged in the transfer path between the storage units arranged opposite to each other, and a self-propelled carriage corresponding to each shelf between the storage units arranged opposite to each other There are a multi-stage trolley system in which a plurality of stages are arranged, and a conveyor-type shelf in a loop shape in a plan view is arranged in multiple stages, and a circulation shelf system in which loads are loaded and unloaded by one lift device.
[0003]
In addition, the storage unit consists of multi-stage shelves, but when viewed from the structure of the shelves, they are used for the rack system that supports the end of the load (mainly containers), the flat shelf system on which the entire bottom surface of the load is placed, and the circulation path system. It can be divided into a roller conveyor system and a comb-tooth system in which a large number of bars (or pipes) are arranged side by side, and the load picking mechanism in a stacker crane or a self-propelled carriage differs depending on the structure of the shelf.
[0004]
[Problems to be solved by the invention]
In an automatic warehouse of a single stacker type or a cart type, conventionally, the depth of the shelf is set to a dimension on which one load can be loaded. This is because the stacker crane and the self-propelled carriage are used for storing and taking out the load, and the depth of the shelf inevitably allows the slide fork and picking arm provided in the stacker crane and the self-propelled carriage to enter. It becomes a dimension.
[0005]
Since there is a limit to the depth dimension of the shelf in this way, there is a limit to the amount of storage of the load, and the increase in the storage amount has been dealt with by adding an automatic warehouse. From a different point of view, the conventional single stacker type and cart type automatic warehouses had a poor space efficiency because the flat area of the storage part relative to the flat area of the transfer passage was determined.
[0006]
In addition, in the case of single-stacker system, for the one of the stacker crane must be made in and out of a large number of cargo back and forth motion, goods movements efficiency there has been a problem that remarkably bad.
[0007]
On the other hand, in the case of the circulation path method, the length of the shelf can be set arbitrarily, so that a large amount of load can be stored in one automatic warehouse, but since the load is stored and taken out by one lift device, a single lift device is used. As with the stacker method, the loading / unloading efficiency was extremely low.
[0008]
By the way, in a distribution system such as merchandise delivery, there is an increasing need to store a large amount of load in a short time and issue it in a short time for efficiency. For example, there is a case in which products produced in a factory are stored in the afternoon, and are delivered to all locations by truck on the next morning.
[0009]
As described above, an automatic warehouse used in a modern logistics system may be required to have a sort function for storing a large amount of goods and delivering them in a short time. Of course, effective use of space is also required to reduce costs. However, conventional automated warehouses have not been able to fully meet such demands.
[0010]
It is an object of the present invention to provide an automatic warehouse that improves such a current situation.
[0011]
[Means for Solving the Problems]
The automatic warehouse according to the present invention includes a storage section in which storage shelves are arranged in multiple stages, an entrance passage disposed on one side across the storage section, and an exit passage disposed on the other side across the storage section. The storage shelves at each stage include a large number of elongated flow racks in which loads are self-propelled from a start end portion located on the entrance passage side to an end portion located on the exit passage side. A stopper for stopping the load is provided at the end of each flow rack, and a sensor for detecting the leading load is provided in each flow rack of the storage shelf at each stage. .
[0012]
In addition, in the exit passage, corresponding to the storage shelves of each stage, one self-propelled carriage for loading the load onto the flow rack is arranged, and each stage of the exit passage is stored. A self-propelled cart for taking out the top load on the flow rack is arranged one by one at the location corresponding to the shelf, and each of the self-propelled cart for entry and the self-propelled cart for delivery has a load stopper. A picking unit having a comb-like fork that is scooped up and taken out is provided.
[0013]
Furthermore, it is provided for each stage of each storage shelf for relaying the load to the warehousing lift device and the self-propelled carriage for warehousing to deliver the load to the self-propelled cart for warehousing at each stage. In order to relay the load to the temporary storage rack for warehousing, the lifting device for unloading for receiving and discharging the load from the unloading cart for unloading at each stage, and the unloading cart and the lifting device for unloading. Temporary storage shelves are provided for each stage of each storage shelf, and the load is transferred in a predetermined order by automatically controlling the movement of the transfer equipment for delivery and the lift equipment for delivery at each stage. It comes to be issued at.
[0014]
And when the sensor detects a state where the load has not reached the stopper in a specific flow rack in a specific storage shelf or a state in which a load delivery command is issued but no load exists, the mistake has been detected. The self-propelled trolley and the lifting device for evacuation of the other storage shelves, excluding the storage ledges equipped with sensors, continue to operate, before the load to be taken out from the specific flow rack in the specific storage ledge The goods to be delivered are issued, and further, the loads that are in other storage shelves excluding the specific storage rack and are to be issued after the load to be issued from the specific flow rack, It is controlled so that it is placed on a temporary storage shelf for delivery and a self-propelled cart for delivery and is allowed to stand by.
[0015]
[0016]
[0017]
[Operation and effect of the invention]
According to the present invention, each shelf is composed of a long flow rack, and a large number of loads can be placed side by side on the shelf, so that a large amount of loads can be stored in one automatic warehouse. In addition, since the length of the flow rack can be set arbitrarily, the ratio of the area of the storage unit to the site area of the automatic warehouse can be increased to effectively use the space.
[0018]
Moreover, since the transfer device is dedicated for warehousing and for warehousing, the warehousing efficiency can be improved. In particular, because it uses a self-propelled truck as transfer device, it is possible to load the goods movements with high efficiency.
[0019]
By the way, since many loads are arranged on the flow rack, it is necessary to provide a stopper for stopping the top load at the front end (end) of the flow rack, and only one load located at the top is discharged. Must be transferred to the transfer equipment. As a means for this, it is conceivable to make the stopper movable or to arrange a device for lifting the top load at the end of each flow rack, but since there are many flow racks, the stopper drive device and load When the lifting device is arranged, the structure becomes extremely complicated and the cost increases.
[0020]
On the other hand, if a method of scooping up the load with a self-propelled carriage like the present invention is adopted, it is only necessary to provide a fixed stopper at the end of each flow rack, so the structure can be simplified extremely, This can contribute to cost and weight reduction.
[0021]
In addition, if there is a take-out error in some flow rack, when the other self-propelled carriage 11 is put on standby until the processing is completed, the subsequent load is taken out and the temporary storage shelf for delivery and the self-delivery cart for delivery are taken out. Since the vehicle is on standby with the load on the carriage, it can be quickly released as soon as the operation is resumed.
[0022]
[0023]
[0024]
DETAILED DESCRIPTION OF THE INVENTION
Next, an embodiment in which the present invention is applied to an automatic warehouse will be described with reference to the drawings.
[0025]
(1) Overall Overview FIG. 1 is a schematic plan view of an automatic warehouse. The automatic warehouse is conveyed by a storage unit 1 in which flow racks 2 as unit shelves are arranged in multiple rows and stages, and a carry-in conveyor 3. The loading mechanism part 4 which delivers the load (work) W which has come to the shelf of each step, and the unloading mechanism part 6 which delivers the load W from the storage part 1 to the carry-out conveyor 5 are provided.
[0026]
On both sides of the storage unit 1, an entrance passage 7 and an exit passage 8 that extend in a direction orthogonal to the longitudinal direction of the flow rack 2 in a plan view are arranged so as to extend in parallel with each other. , 8 are arranged with a pair of traveling rails 9 corresponding to each shelf, and a self-propelling cart 10 for warehousing and a self-propelling cart 11 for unloading travel on the traveling rails 9. The self-propelled cart 10 for entry and the self-propelled cart 11 for exit have the same structure.
[0027]
(2). Storage mechanism part FIG.2 and FIG.3 is a perspective view of the storage mechanism part 4, (A) is sectional drawing which shows the motion of the load W among FIG. 4, (B) is BB view of (A). As shown roughly in FIG. 2, the warehousing mechanism section 4 includes a warehousing temporary placement conveyor 13 arranged in series with the carry-in conveyor 3, and a warehousing temporary placement shelf 14 disposed above the warehousing temporary placement shelf 14. With a group of.
[0028]
The temporary storage shelves 14 for storage are arranged in multiple stages corresponding to each flow rack 2. It is also possible to arrange the group of flow racks 2 at the height position of the temporary storage conveyor 13.
[0029]
As shown in FIG. 1, an extension portion 7 a that protrudes from the storage portion 1 to the carry-in conveyor 3 side is integrally provided in the warehousing passage 7, and a temporary storage conveyor 13 and a temporary storage shelf 14 for warehousing are provided. This group is arranged inside the extension portion 7 a of the entry passage 7. In other words, the temporary storage conveyor 13 for storage and the temporary storage shelf 14 for storage are arrange | positioned in the state in which the edge part is located in the edge part side surface of the flow rack 2. FIG.
[0030]
Then, in a plan view, a warehousing lift device (a warehousing reservoir) 15 is provided with a column 16 at a portion opposite to the warehousing passage 7 across the group of the temporary warehousing conveyor 13 and the temporary storage shelf 14 for warehousing. It is arrange | positioned so that raising / lowering is possible.
[0031]
The warehousing lift device 15 includes a lift device 17 and four sets of comb-like fork groups 18 that extend toward the temporary storage conveyor 13 and the temporary storage shelf 14 for warehousing. 18 can move up and down independently and can move forward and backward toward the temporary storage conveyor 13 and the temporary storage shelf 14 for storage.
[0032]
The number of the comb-like fork groups 18 is not limited to four sets, and can be set to an arbitrary number. When a plurality of comb-shaped fork groups 18 are provided, it is also possible to drive each comb-shaped fork group 18 all at once (when individually driven, each load W can be placed in a temporary storage shelf 14 for storage at an arbitrary stage. Can be transferred to
[0033]
The self-propelled cart 10 for warehousing includes a traveling vehicle body 21, two sets of comb-shaped forks 18 extending toward the temporary storage conveyor 13 and the temporary storage shelf 14 for warehousing, and each comb-shaped fork. The group 18 can move up and down independently, and can move forward and backward toward the temporary storage conveyor 13, the temporary storage rack 14, and the flow rack 2. Also in the self-propelled cart 10 for warehousing, the number of sets of the comb-like fork group 18 can be arbitrarily set.
[0034]
As can be understood from FIG. 4 (B), the temporary storage conveyor 13 for warehousing has a gap through which the comb-like fork group 18 of the warehousing lift device 15 can enter. By driving the comb-like fork group 18 so as to advance in the lowered state and then lift and retract, the load W can be transferred from the temporary storage conveyor 13 to the warehousing lift device 15. .
[0035]
As shown in FIG. 3, the temporary storage shelf 14 is made up of a group of metal plate stays 20 mounted on the traveling rail 9 and the front frame 19, and between adjacent stays 20, There is a space in which the comb-like fork group 18 between the warehousing lift device 15 and the warehousing cart 10 can enter.
[0036]
Therefore, as can be understood from FIG. 4 (A), in the warehousing lift device 15, the comb-like fork group 18 in a state where the load W is loaded and raised is advanced toward any temporary storage shelf 14 for warehousing. The load W can be transferred to the temporary storage shelf 14 for warehousing by driving it so that it is lowered and then retracted.
[0037]
On the other hand, in the self-propelled cart 10 for warehousing, the load W is transferred from the temporary storage shelf 14 for warehousing by driving the comb-like fork group 18 in a lowered state and then moving it up and retreating. be able to.
[0038]
In the warehousing lift device 15, each comb-shaped fork group 18 does not necessarily have to be configured to be movable up and down with respect to the main body 17. It is also possible to transfer the load W depending on the combination.
[0039]
(3) Self-propelled cart Next, an outline of the self-propelled carts 10 and 11 will be described with reference to FIGS. 5 and 6. 5A is a schematic perspective view, FIG. 5B is a schematic perspective view taken along BB of FIG. 5A, FIG. 6A is a schematic side sectional view, and FIG. It is a BB view schematic sectional drawing of.
[0040]
The traveling vehicle body 21 of the self-propelled carriages 10 and 11 is provided with a plurality of pairs of wheels 22 that roll on the traveling rail 9. On the other hand, a timing belt 23 is stretched on one traveling rail 9 with the teeth facing downward, and a main pulley 25 meshed with the timing belt 23 is engaged with a bracket plate 24 provided on the side of the traveling vehicle body 21; An idle roller 26 that holds the timing belt 23 close to the traveling rail 9 and a pressing roller 27 that prevents the timing belt 23 from coming off the main pulley 25 are rotatably attached.
[0041]
A traveling motor 28 for driving the main pulley 25 is attached to the bracket plate 24. By rotating the traveling motor 28 forward and backward, the self-propelled carriages 10 and 11 can travel to arbitrary positions. . Needless to say, the driving method is not limited to using the timing belt 23, and other driving methods such as driving the wheels 22 directly may be used.
[0042]
The traveling vehicle body 21 is provided with two sets of slide units 30 that move in a direction orthogonal to the traveling direction. In the slide units 30, a comb-like fork group 18 is lifted and lowered via guide means (not shown). It is installed freely. The slide unit 30 moves along the two guide rods 31 of the traveling carriage 21 (of course, other guide mechanisms may be used).
[0043]
Further, while the timing belt 33 is stretched on the stay 32 provided on the traveling vehicle body 21, the slide unit 30 is provided with the main pulley 34 and the pair of idle pulleys 35 so that the slide unit 30 can move by an arbitrary distance. It has become. The main pulley 34 is driven by a forward / backward motor 36 shown in FIG.
[0044]
As the raising / lowering drive means of the comb-shaped fork group 18, a crank system as schematically shown in FIG. 6B is adopted. That is, a horizontally elongated slot 38 is formed in a base body 37 to which the comb-shaped fork group 18 is fixed, and the elongated hole 38 is driven by a lifting motor (not shown) provided in the slide unit 30. A pin 40 provided on the crank arm 39 is fitted. Therefore, the comb-like fork group 18 moves up and down by the dimension of the rotational diameter of the pin 40.
[0045]
(4). Structure of Storage Unit Next, an outline of the storage unit 1 will be described with reference to FIGS. 7 is a partial plan view, and FIG. 8 is a view taken along the line VIII-VIII in FIG.
[0046]
The flow rack 2 of the present embodiment has a system in which a plurality of free roller ways 42 are arranged in parallel. The free roller way 42 has a structure in which a large number of rollers 44 are rotatably attached to an elongated frame 43.
[0047]
Between the adjacent free roller ways 42 and outside the free roller way group, there is a space in which the comb-like fork group 18 of the self-propelled carriages 10 and 11 can enter. Although details are omitted, the free roller way 42 is supported by a crosspiece member that is interposed between the columns.
[0048]
Then, as shown in FIG. 8, each free roller way 42 is inclined at a slight angle θ1 with respect to the horizontal plane so as to be higher on the warehousing passage 7 side and lower on the evacuation passage 8 side. For this reason, the load W is self-propelled toward the exit passage 8 from the entrance passage 7 side by its own weight.
[0049]
Adjacent flow racks 2 are partitioned by a partition frame 45. In each free roller way 42, the rotation axis of the roller 44 is inclined at a slight angle with respect to a line orthogonal to the extending direction of the frame 43 in plan view. It is drawn to one partition frame 45.
[0050]
Accordingly, the partition frame 45 is provided with a large number of guide rollers 46 that rotate horizontally in order to make the movement of the load W smooth (only a part of the guide rollers 46 is shown in the figure). A stopper 47 is provided at the end of each free roller way 42.
[0051]
As shown in FIG. 8, the start end portion and the end end portion of the free roller way 42 are respectively higher than the traveling rail 9 by a certain size H1, H2. Since the starting end and the end of the free roller way 42 (flow rack 2) are higher than the traveling rail 9 in this way, the load W is replaced by the comb-like fork group 18 of the self-propelled carriage 10 for warehousing. It is possible to scoop up the load W with the comb-like fork group 18 of the self-propelled carriage 11 for unloading.
[0052]
Needless to say, the dimensions of H1 and H2 are larger than the height dimension from the traveling rail 9 to the comb-shaped fork group 18 at the lower limit position. The vertical dimension of the comb-shaped fork group 18 is larger than the vertical height dimension from the upper end of the stopper 47 to the comb-shaped fork group 18 at the lower limit position so that the load W can be lifted above the stopper 47. It has become.
[0053]
(5). Outline of Unloading Unit Next, the unloading mechanism unit 6 will be described with reference to FIGS. 9 and 10 in addition to FIG. 9 is a schematic perspective view, and FIG. 10 is a schematic side view.
[0054]
The exit passage 8 extends to the carry-out conveyor 5 side. The unloading mechanism unit 6 includes a group of temporary storage conveyors 49 disposed for each shelf along the extension 8a of the unloading passage 8 and a group of input conveyors (discharge conveyors) 50 connected thereto. And a circulating lift device 51 disposed outside the group of the input conveyors 50 and a discharge conveyor 52 disposed outside the lowermost input conveyor 50. The load W is discharged from the discharge conveyor 52 to the carry-out conveyor 5.
[0055]
The temporary storage conveyor 49 is composed of a large number of rollers, and a space in which the comb-like forks 18 of the self-propelled cart 11 for extraction can be freely inserted and removed is provided between adjacent rollers. The feeding conveyor 50 is of a belt type (other types may be used), and can tilt forward by a certain angle θ2 from a substantially horizontal posture.
[0056]
The circulating lift device 51 includes a guide frame 53 that is long in the vertical direction and a number of platforms 54 that circulate along the outer periphery of the guide frame 53.
[0057]
A sprocket 56 that rotates around an axis 55 that extends parallel to the discharge direction of the load W is attached to the upper end and the lower end of the guide frame 53. A chain 57 is wound around the upper and lower sprockets 56. A platform 54 is attached to the chain 57.
[0058]
The platform 54 includes a plate-like lifting body 58 and a number of (for example, seven) forks 59 attached thereto. The lifting body 58 is a lifting base (not shown) fixed to a chain 57. It is attached so that it can swing. For this reason, the platform 54 has the horizontal posture of the fork 59 in the downward stroke, and the vertical position of the fork 59 in the upward stroke.
[0059]
The platform 54 descends to the lower limit while maintaining the fork 59 in a substantially horizontal posture, and changes its posture so that the fork 59 faces downward while turning upward.
[0060]
As an example of stopper means for preventing the load W discharged from the input conveyor 50 toward the platform 54 from jumping out at a portion opposite to the group of the input conveyor 50 across the descending passage of the platform 54, there are a plurality of stopper means. A stopper 60 made of a metal pipe is arranged. As the stopper 60, a plurality of vertically long pipes, rods or strips may be provided side by side. Below the stopper 60 is a space through which the load W can pass.
[0061]
The delivery conveyor 52 delivers the load W descended by the platform 54 to the delivery conveyor 5 and includes a group of support rollers 61 arranged so as not to interfere with the group of forks 59 in the platform 54.
[0062]
One end of each support roller 61 is pivotally supported by a lift plate 62, and the other end of each support roller 61 is pivotally supported by a bracket (not shown) protruding from the tip of a support arm 63 fixed to the lift plate 62. ing.
[0063]
The groups of the respective support rollers 61 are aligned along a line extending at the same angle as the arrangement inclination angle of the groups of forks 59 on the platform 54 as a whole. The support roller 61 is driven by a driving means (not shown). The elevating plate 62 is moved up and down with a certain size, and the load W is transferred from the platform 54 in a process of rising and lowering. This is to absorb the impact on the load W (of course, the height of the support roller 61 may be unchanged).
[0064]
(6) Trouble handling at the time of unloading When the load W is taken out from the flow rack 2 to the unloading cart 11 for unloading, the two loads W are lifted, there is no load W at the part to be taken out, or the load W is There is a possibility that an error in taking out the load W may occur, such as the lifted W dropping off because the stopper 47 has not reached the stopper 47 or the like.
[0065]
These take-out mistakes are confirmed by sensors, and if they are determined to be mistakes, the processing is performed. On the other hand, in many cases, the delivery order of the load W is determined as a whole in the automatic warehouse. In this case, when the delivery of a specific load is stopped, the subsequent shipment cannot be delivered. Therefore, the other self-propelled carts 11 for delivery must also be stopped.
[0066]
In this case, the entire delivery function is not stopped at the same time as a take-out error signal at some part, but it is controlled so that items that should be taken out before the load with the take-out error are completely discharged. That is, the other self-propelled carts 11 and the circulating lift device 51 are driven so as to unload the load W before the load in which there is a mistake.
[0067]
Further, when another unloading self-propelled carriage 11 is put on standby until the handling of the unloading error is completed, the subsequent load W is taken out, and the temporary storage shelf 49, the loading conveyor 50, and the unloading self-propelling carriage 11 are taken out. that controls so keep stands by load W is resting. As a result, it is possible to quickly exit at the same time as the resumption of operation.
[0068]
The process of taking out mistakes differs depending on the contents of the mistake. For example, in the case of mistakes by the command extraction to no originally load W are out, since it is mistake of the control system, the normal operating state by confirming that the control system is its own mistake Return to.
[0069]
If there is a load W to be taken out from the flow rack 2 but stopped for some reason, the load W is moved to the stopper 28 by a forcible moving means (not shown) and then taken out. As a result, the normal operation state is restored. The flow rack 2 is preferably provided with a sensor for detecting the presence of the leading load.
[0070]
In the case of a mistake that cannot be recovered remotely, such as when the scooped load W is dropped, the worker performs appropriate processing, and then the operation is resumed. The control device includes an automatic operation system and a manual operation system that can individually drive the self-propelled carriages 10 and 11 and the loading / unloading mechanism unit.
[0071]
Needless to say, if the delivery order of the load W has not been determined (for example, when all the loads are of the same type), only the delivery function at the stage where the take-out has occurred is stopped, and the delivery at other stages is Just continue. If there is a storage error due to the self-propelled cart 10 for storage, it is only necessary to stop the storage at the stage where the error occurred and continue the storage at the other stage.
[0072]
(7). Summary As can be understood from the above description, the load W is stored in the flow rack 2 at a high speed by the self-propelled cart 10 dedicated to warehousing, and the load W stored in the flow rack 2 is dedicated to shipping. The goods are discharged at high speed by the self-propelled carriage 11. For this reason, a large amount of load W can be stored and received in a short time.
[0073]
Further, as in this embodiment, when the warehousing lift device 4 including the plurality of comb-like fork groups 18 is used as the warehousing relay means, and the circulating lift device 51 is used as the warehousing relay means, the self-propelled carriage The ability of 10, 11 can be fully exhibited, and the warehouse efficiency can be improved to a level that cannot be considered in the past.
[0074]
Further, when the axis of the roller 44 in the free roller way 42 is inclined so that the load W is brought close to the partition frame 45, the stop position is set with reference to the partition frame 45 when leaving the unloading cart 11. Since it can be set, there is an advantage that alignment can be easily performed.
[0075]
When there are a plurality of types of the load W depending on the size, content, etc., they are sorted and stored so as to be the same type for each stage, or are divided so as to be the same type for one or a plurality of flow racks 2. For example, it is possible to store loads of the same type together. Of course, they may be mixed.
[0076]
[0077]
[0078]
[0079]
[0080]
[Brief description of the drawings]
FIG. 1 is a schematic plan view of an automatic warehouse.
FIG. 2 is an overall schematic perspective view of a warehousing mechanism.
FIG. 3 is a perspective view mainly showing a temporary storage conveyor for warehousing.
4A is a cross-sectional view showing the movement of a load, and FIG. 4B is a cross-sectional view taken along the line BB of FIG. 4A.
5A is a schematic perspective view of a self-propelled carriage, and FIG. 5B is a BB view of (A).
6A is a schematic sectional side view of a self-propelled carriage, and FIG. 6B is a BB view of FIG.
FIG. 7 is a partial plan view of a storage unit.
8 is a cross-sectional view taken along the line VIII-VIII of FIG.
FIG. 9 is a schematic perspective view of a delivery mechanism unit.
FIG. 10 is a side view of the delivery mechanism unit.
[Explanation of symbols]
W Load 1 Storage unit 2 Flow rack 3 Carry-in conveyor 4 Carry-in mechanism unit 5 Carry-out conveyor 6 Cargo-mechanism unit 9 Traveling rail 10 Self-propelled cart for warehousing
DESCRIPTION OF SYMBOLS 11 Self-propelled cart for unloading 14 Temporary storage shelf for unloading 15 Lifting device for unloading 42 Freeler row 47 Stopper 49 Guide frame 50 Loading conveyor 51 Circulating lift device 52 Discharging conveyor 54 Platform

Claims (1)

A storage section in which storage shelves are arranged in multiple stages, an entry passage disposed on one side across the storage section, an exit passage disposed on the other side across the storage section,
With
The storage shelves at each stage have a structure in which a large number of elongated flow racks in which loads are self-propelled from a start end portion located on the entrance passage side to a terminal end portion located on the exit passage side. In addition, a stopper for stopping the load is provided at the end of each flow rack, and each flow rack of the storage shelf at each stage is provided with a sensor for detecting the top load,
Wherein at a position corresponding to the storage shelf at each stage of the unloading passage is warehousing the self-propelled carriage Ru reloading a load to the flow racks are arranged one by one, the storage shelf at each stage of the unloading passage In each of the corresponding locations, there is a single self-propelled cart for taking out the top load on the flow rack, and each of the self-propelled cart for entry and the self-propelled cart for delivery is loaded with a load from a stopper. A picking unit with a comb-like fork that is scooped up and taken out is provided ,
Furthermore, it is provided for each stage of each storage shelf for relaying the load to the warehousing lift device and the self-propelled carriage for warehousing to deliver the load to the self-propelled cart for warehousing at each stage. In order to relay the load to the temporary storage rack for warehousing, the lifting device for unloading for receiving and discharging the load from the unloading cart for unloading at each stage, and the unloading cart and the lifting device for unloading. Temporary storage shelves are provided for each stage of each storage shelf, and the load is transferred in a predetermined order by automatically controlling the movement of the transfer equipment for delivery and the lift equipment for delivery at each stage. It is supposed to be issued at
Is an automated warehouse,
If the sensor detects that the load has not reached the stopper in the specific flow rack in the specific storage shelf or that the load has been issued, but the load does not exist, the sensor that has detected the mistake The self-propelled cart and the lift device for delivery of the other storage shelves, excluding the storage shelves, continue to operate and are delivered before the load to be taken out from the specific flow rack in the specific storage shelf. In addition, a load that is on a storage shelf other than the specific storage shelf and that is to be released after the load that is to be output from the specific flow rack is Place it on the temporary storage shelf and the self-propelled cart for shipping ,
It is supposed to be controlled by the state
Automatic warehouse.

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