JP4552766B2 - Goods storage facility - Google Patents

Description

  The present invention relates to an article storage facility.

An example of a conventional article storage facility is disclosed in Patent Document 1, for example.
A three-dimensional automatic warehouse (article storage facility) disclosed in Patent Document 1 includes a conveyor for transporting buckets (articles), a fixed shelf having storage units for storing buckets in appropriate stages, a conveyor and a fixed shelf, And a stacker crane (article conveying means) for conveying the buckets between the two.

  The stacker crane is provided on a carriage that runs along a fixed shelf, a frame that is erected on the carriage, a transfer base (elevator) of a crane body that moves up and down along the frame, and the transfer base. And a fork device for delivering the bucket and a chuck device (gripping means) for gripping. This chuck device is provided with guide rails provided on the side surfaces of the transfer table along the vertical direction, a lifting device that is guided by the guide rails to move up and down with respect to the transfer table, and attached to the lifting device to support the bucket. And a cylinder device capable of protruding the supporting piece.

  Based on the above configuration, when a plurality of buckets are continuously taken from the conveyor or fixed shelf storage unit onto the transfer table, the fork device is first extended to the lower surface of the first bucket on the conveyor or fixed shelf storage unit. Then, the transfer table is raised a little to make the first bucket float from the conveyor or fixed shelf storage, and the fork device is returned to its original position to transfer the first bucket onto the transfer table. Both side ends of the first bucket are pressed by the support pieces of the chuck device, and the first bucket is lifted by the lifting device to a position higher than the height of the second bucket on the conveyor or fixed shelf storage, and the same from the conveyor or fixed shelf. The second bucket is transferred onto the transfer table by the fork device, and the first bucket lifted by the support piece is stacked on the second bucket.

When a part of the stacked buckets is transferred to the transfer stand to the target fixed shelf storage or conveyor, the stacked buckets are first moved to the target fixed shelf storage or conveyor position. The upper bucket of the bucket to be transported and moved up and down is pushed by the supporting pieces of the chuck device, lifted by the lifting device, and the lower bucket to be ejected is moved to the storage section or conveyor by the fork device. Discharge and return the upper bucket until it is loaded onto the fork device. By repeating this operation, the bucket is partially discharged from the transfer table to the storage unit or the conveyor.
Japanese Patent Publication No. 3-2763

  However, according to the configuration of the article storage facility, the buckets (stacked buckets) stored in one storage unit are often the same type of buckets, and the buckets are delivered to the conveyor for each sorting destination. Sometimes, one bucket is paid out, and there is a problem that it takes time to pay out.

  In the stacker crane, the stacking accuracy between the bucket lifted by the support piece and the new bucket to be transferred from the conveyor onto the transfer table below the bucket is the same as before the new bucket is transferred. Since it depends on the stacking accuracy of the buckets stacked on the transfer platform, the stacking accuracy may be lowered as the buckets are stacked, and therefore there is a risk of load collapse in the stacker crane. is there.

  In view of the above, an object of the present invention is to provide an article storage facility that can store articles according to sorting destinations, shorten the payout time, and improve the stacking accuracy.

In order to achieve the above-described object, the article storage facility according to claim 1 of the present invention includes a storage shelf in which a plurality of article storage units for storing articles are arranged vertically and horizontally and vertically moved up and down. An article storage facility comprising: an elevating body to be moved; and an article storage unit provided on the elevating body and having an article storage unit and a transfer means for transferring the article at a loading / unloading port. The means includes: gripping means formed so as to be able to move up and down to grip and lift the article transferred by the transfer means on the lifting body; and positioning means for positioning the article transferred onto the lifting body. An article is transferred from the loading / unloading port onto the elevating body by the transfer means, the transferred article is positioned by the positioning means, and then the transferred article is held by the gripping means. Gripped by The article stored in the same article storage unit that is the same sorting destination as the article carried in from the loading / unloading port is moved below the article being lifted by the gripping means by the transfer means. Each transferred article is positioned by the positioning means, and then the articles lifted by the gripping means are stacked on the transferred articles, and these stacked articles are stacked. The article is stored in the same article storage unit.

According to the above configuration, the article is transferred from the loading / unloading port onto the lifting body by the transfer means, and the transferred article is positioned by the positioning means. Subsequently, the transferred article is transferred by the gripping means. An article that is held and lifted to a predetermined height and is stored in the same article storage unit that is the same sorting destination as the article that is carried in from the loading / unloading port is lifted by the gripping means by the transfer means. The articles transferred to the lower side of the article are positioned by the positioning means, and then the articles lifted by the gripping means are stacked on the transferred articles. The stacked articles are stored in the same article storage unit.
As described above, when the article conveyed to the loading / unloading unit by the transfer means is transferred onto the lifting body and when the article is transferred from the same article storage unit onto the lifting body, the article is positioned by the positioning means. As a result, the stacking accuracy is improved.

The article storage facility according to claim 2 is the invention according to claim 1 , wherein the positioning means positions the article in the longitudinal direction of the article transferred on the lifting body. 1 positioning apparatus and the 2nd positioning apparatus which positions the said article in the transversal direction of the article transferred on the said raising / lowering body are characterized by the above-mentioned.

  According to the above configuration, the article is positioned in the longitudinal direction of the article transferred on the lifting body by the first positioning device, and in the short direction of the article transferred on the lifting body by the second positioning device. Since the article is positioned, the positioning on the lifting body is accurately performed.

Furthermore, the article storage facility according to claim 3, an invention of claim 1 or claim 2, said transfer port comprises a reversing means for reversing the direction of said article, wherein the article, the When stacking alternately with different orientations of articles, normal stacking is performed, and when stacking with the same orientation of the articles, when the containers are compressed and stacked, the container is When the container is loaded into the loading / unloading port, if the direction of the upper container stored in the same article storage unit is the same, the direction is reversed by the reversing unit.

  According to the above configuration, when the container transported to the carry-in / out port is in the same direction as that of the upper container stored in the same article storage unit, the direction is reversed by the reversing unit and the desired direction is obtained. Therefore, normal stacking is performed between the container transferred from the loading / unloading port and the container stored in the same article storage unit.

In addition, the article storage facility according to claim 4 is the invention according to claim 3 , wherein the container is painted in a color indicating the direction of the container, and the upstream of the inversion means at the carry-in / out port. A discriminating means for discriminating the color of the container on the side, the orientation of the container is judged by discriminating the color of the container by the discriminating means, and whether the orientation of the container is reversed by the inversion means It is characterized by being.

According to the above configuration, the container conveyed to the loading / unloading port is transferred from the loading / unloading port because the color of the container is determined by the determination unit, the direction of the container is determined, and the reversing unit sets the desired direction. Ordinary stacking is performed with the container stored in the same article storage unit as the container.
Furthermore, the article storage facility according to claim 5 is the article storage facility according to claim 3 or 4, wherein the gripping means includes a first clamp member for gripping a short direction of the container and a container. A second clamp member for gripping the longitudinal direction is provided, and a side plate is provided on one side of the second clamp member so as to contact the side in the short direction of the container, and the lower ends of the second clamp member and the side plate are It is characterized in that it is bent outward.
According to the above configuration, the lower ends of the second clamp member and the side plate are bent outward.

The article storage facility according to the present invention stores the same article as the article carried on the elevator body from the carry-in / out opening when the article that is the same sorting destination as the article carried in from the carry-in / out exit is stored in the same article storage unit. Articles carried on the lifting body from the section are stacked on the lifting body, and the stacked articles are stored in the same article storage section. When the article transported to the loading / unloading unit by the transfer means is transferred onto the lifting / lowering body, and the article is stored in the same article storage unit. When the article is further transferred onto the lifting body, the stacking accuracy can be improved by positioning the article by the positioning means .

  Hereinafter, an article storage facility according to an embodiment of the present invention will be described with reference to the drawings. The travel direction of the stacker crane as the article transport means is the bay direction, the article loading / unloading direction, which is the direction perpendicular to the bay direction, is the bank direction, and the vertical direction is the level direction.

  FIG. 1 is a plan view of an article storage facility according to an embodiment of the present invention, FIG. 2 is a perspective view of a main part of an automatic warehouse forming the article storage facility, and FIG. 3 is a schematic configuration diagram of a stacker crane of the article storage facility.

  As shown in FIGS. 1 to 3, the article storage facility SU is provided with an automatic warehouse (shelf facility) FS. This automatic warehouse FS is formed between two storage shelves A that are installed at an interval so that the direction in and out of containers F that store articles (commodities, etc.) is opposed to each other, and the storage shelves A. A stacker crane (an example of an article conveying means) C that automatically travels along the work path B, an automatic warehouse controller E composed of a computer, and a warehousing conveyor K1 (an example of an entrance) that carries containers F into the stacker crane C, And an unloading conveyor K2 (an example of an unloading port) for unloading the containers F from the stacker crane C to the shipping unit N.

  A traveling rail 1 is installed in the work path B along the longitudinal direction of the storage shelf A, and one end side (entry / exit conveyor side) of the work path B (travel rail 1) is the home position of the stacker crane C. (HP).

  The container F is painted in different colors on one side (right half) and the other side (left half) (FIG. 4), and when the containers F are alternately stacked, that is, the color of the container F Are stacked so that the containers F are stacked in the same direction, that is, the containers F on one side and the other side have the same color. In such a case, it is compressed and stacked.

  Lifter Q that lifts containers F from the loading surfaces of the loading conveyor K1 and the loading conveyor K2 in order to deliver the containers F to and from the stacker crane C that has moved to the HP position. Is provided.

  Also, each storage shelf A is provided with a plurality of upper and lower multi-stages and a stacker crane C in the running direction of the armor-structured article storage D that can store containers F in up to six stages. Each article storage unit D of the automatic warehouse FS is pre-assigned a store and a passage number (sorting destination and sorting unit) and registered in the automatic warehouse controller E of the automatic warehouse FS. The number of stages of the containers F stacked on the storage unit D is managed by the automatic warehouse controller E as inventory information. In addition, an insertion path d through which the fork device 5 is inserted is formed above and below each article storage unit D excluding the uppermost item storage unit D and is located at the center between the arms.

  In addition, the warehousing conveyor K1 includes a barcode reader R that reads a barcode (store and passage number) from a barcode label attached to the container F, and a determination device (an example of a determination unit) that determines the color and shape of the container F. ) S is provided. Further, on the downstream side of the barcode reader R and the determination device S in the warehousing conveyor K1, the container F stored in the article storage unit D is based on the container data detected by the barcode reader R and the determination device S. On the other hand, a turntable (an example of a reversing unit) T that reverses the container F in a desired direction is provided so as to perform normal stacking.

  The stacker crane C includes a traveling vehicle body (traveling body) 2 that is guided by the traveling rail 1 and travels along the article storage unit D, and a pair of front and rear masts (column bodies) 4 that are suspended from the traveling vehicle body 2. And an elevating table (an example of an elevating body) 3 vertically moved up and down along the elevating mast 4 (supported and guided) to the article storage unit D and the entrance conveyor K1 or the exit conveyor K2. 3 is provided with a fork device (an example of transfer means) 5 for transferring the containers F in the article storage unit D and the warehousing conveyor K1 or the warehousing conveyor K2, and the stacker crane C is a fork on the elevator 3 The container F is placed on the apparatus 5 and conveyed. The fork device 5 is a fork type using a running fork.

  In addition, a guide rail 6 is laid on the ceiling so as to face the traveling rail 1, and the upper ends of the pair of elevating masts 4 are connected to the upper ends, and the guide rail 6 is sandwiched from the left and right, An upper frame 7 that regulates the upper position of the stacker crane C as the stacker crane C travels is provided.

  As shown in FIGS. 2 and 3, the lifting platform 3 is suspended and supported by lifting chains 8 connected to the left and right sides thereof. The lifting chain 8 includes a guide sprocket 9 provided on the upper frame 7. It is wound around a guide sprocket 10 provided on one lifting mast 4 and connected to a winding drum 11 provided at one end of the traveling vehicle body 2. The take-up drum 11 is driven to rotate in the forward and reverse directions by the elevating electric motor 12 so that the elevating platform 3 is raised and lowered by the unwinding and winding operation of the elevating chain 8.

  Further, as shown in FIGS. 2 and 3, the lift position of the lift 3 is managed based on detection information of the first distance measuring device 14 provided on the traveling vehicle body 2. The first distance measuring device 14 is installed on the lower surface of the lifting platform 3 and a first laser distance meter 15 that projects a beam light for vertical distance measurement and measures the distance by the reflected light. 15 includes a first reflector (mirror) 16 that reflects the beam light projected from 15. The detection information of the first distance measuring device 14 is input to the elevation controller 35 of the main body controller 34 as shown in FIG.

  As shown in FIGS. 2 and 3, the traveling vehicle body 2 has two front and rear wheels 21 that can freely travel on the traveling rail 1 and the traveling rail 1 so as to regulate the position of the traveling rail 1 in the lateral width direction of the vehicle body. A pair of lower position restricting rollers 22 and a traveling electric motor 23 are provided at two positions before and after engaging with each other and in a direction perpendicular to the traveling direction of the stacker crane C (hereinafter referred to as the left-right direction). ing. One of the two wheels 21 in the longitudinal direction of the vehicle body is configured as a driving wheel 21a for propulsion driven by the electric motor 23 for traveling, and the other wheel in the longitudinal direction of the vehicle body is idle. It is configured as a rotatable driven wheel 21b.

  The traveling position of the traveling vehicle body 2 is managed based on detection information (information on the moving distance) of the second distance measuring device 25 provided on one side surface of the traveling vehicle body 2 as shown in FIGS. . The second distance measuring device 25 is installed on one end side (HP side) of the work path B, and a second laser range finder 26 that projects the light beam for horizontal distance measurement and measures the distance by the reflected light. And a second reflector (not shown) that reflects the beam light projected from the second laser rangefinder 26. In addition, a detection body (not shown) arranged at the HP position is placed on the traveling vehicle body 2 such that the traveling vehicle body 2 is positioned at the delivery position (the above-described HP position) of the container F with the warehousing conveyor K1 or the warehousing conveyor K2. An HP detector 28 is provided for detecting the detection. The detection information of the second distance measuring device 25 and the detection information of the HP detector 28 are input to the travel control unit 36 of the main body controller 34 as shown in FIG.

  Also, the upper frame 7 is provided with upper position regulating rollers 31 (FIG. 2) provided at two positions, front and rear, that engage with the guide rail 6 so as to regulate the position of the guide rail 6 in the lateral direction of the vehicle body. The stacker crane C is configured to be capable of self-running along the running rail 1 by being driven by the running electric motor 23 while being prevented from falling by the lower position regulating roller 22 and the upper position regulating roller 31.

  The traveling vehicle body 2 is provided with a main body control panel G comprising a computer at an outer position of the elevating mast 4 on the HP side, and one side of the traveling vehicle body 2 is connected to an automatic warehouse controller E. A second optical transmitter / receiver 30 is provided for transmitting / receiving warehousing data to / from the first optical transmitter / receiver 29 (FIG. 7).

  Moreover, as shown in FIGS. 3-6, the two support members 41 are provided in the up-down direction in the both sides in the bay direction of the raising / lowering stand 3, respectively. A side clamp device (an example of a gripping means) 42 formed so as to be able to be lifted and lowered by clamping (gripping) and lifting the container F of the container F is provided, and the lifting platform 3 includes a first positioning device 43 (described later) and A positioning means 45 configured by a second positioning device 44 (described later) and positioning the container F transferred on the lifting platform 3 is provided.

  The side clamp device 42 includes a first clamp member 52 formed by two cylinder devices 51 (air cylinders) so as to extend and contract in the bay direction (longitudinal direction of the container F). The first clamp member 52, a plate-like second clamp member that is formed so as to be movable in the bank direction (short direction of the container F) in the first clamp member 52 by the clamp motor 65 and grips the side portion in the longitudinal direction of the container F. 53 is provided. A side plate 54 is provided on one side of the second clamp member 53 to contact the side of the container F in the short direction. The lower ends of the second clamp member 53 and the side plate 54 are bent outward. The end of clamping by the cylinder device 51 is determined by, for example, an increase in air pressure supplied to the cylinder device 51, and the end of clamping by the clamping motor 65 is determined by, for example, an increase in motor current.

  The first positioning device 43 is provided on support bases 55 provided on both sides in the bay direction of the lifting / lowering base 3, and is provided between two cylinder devices 56 (air cylinders) and the tip of the piston rod of each cylinder device 56. The first pressing member 57 is provided, and the container F is positioned in the bay direction (longitudinal direction of the container F). The first pressing member 57 returns to the contracted position of the piston rod of the cylinder device 56 that is the standby position after the positioning of the container F is completed.

  The second positioning device 44 is provided on the top of the fork device 5, is formed in the same shape as the fork device 5, and a base 58 disposed on the top of the fork device 5, and both ends of the base 58 in the bank direction And a second pressing member 59 that is movable in the bank direction by a positioning motor 67, and positions the container F in the bank direction (short direction of the container F). In addition, the 2nd press member 59 returns to the both ends in the bank direction of the base 58 which is a standby position after completion | finish of positioning of the container F. FIG.

  The positioning of the container F by the above configuration is performed by moving the first pressing member 57 of the first positioning device 43 in the bay direction and moving the second positioning device, for example, when the container F is transferred from the warehousing conveyor K1 onto the lifting platform 3. The container F is positioned by moving the 44 second pressing members 59 in the bank direction. The end of positioning (pressing) by the cylinder device 56 is determined by, for example, an increase in air pressure supplied to the cylinder device 56, and the end of positioning (pressing) by the positioning motor 67 is determined by, for example, an increase in motor current. .

  Further, the container F is clamped by the above-described configuration. For example, the container F positioned as described above is sandwiched in the bay direction by the first clamp member 52 of the side clamp device 42 and sandwiched in the bank direction by the second clamp member 53. The clamped container F can be moved up and down by the side clamp device 42.

Here, the control block diagram of the article storage facility SU will be described with reference to the block diagram shown in FIG.
The automatic warehouse controller E inputs the barcode (store and passage number) data of the container F being conveyed on the warehousing conveyor K1 read by the barcode reader R, and the warehousing conveyor determined by the determination device S. Container data such as the color and shape of the container F on K1 are input.

  In addition to the main body controller 34 composed of a computer, the main body control unit G includes a traveling inverter 61 that drives the traveling electric motor 23, a lifting inverter 62 that drives the lifting electric motor 12, and a transfer of the fork device 5. The transfer inverter 64 that drives the mounting electric motor 63, the clamping inverter 66 that drives the clamping motor 65 of the second clamping member 53 in the side clamping device 42, and the second pressing member 59 in the second positioning device 44. A positioning inverter 68 for driving the positioning motor 67 is provided.

The main body controller 34 includes an elevation control unit 35, a travel control unit 36, a transfer control unit 37, a clamp control unit 38, and a position control unit 39.
The elevation controller 35 receives an elevation command from the automatic warehouse controller E via the first optical transceiver 29 and the second optical transceiver 30 and feeds back the detection information of the first distance measuring device 14 while raising and lowering the inverter. The elevating electric motor 12 is controlled via 62 to elevate the elevating platform 3 to a designated elevating position.

  The travel control unit 36 receives a travel command from the automatic warehouse controller E, travels through the travel inverter 61 while feeding back the detection information of the second distance measuring device 25 corrected by the detection signal of the HP detector 28. The traveling electric motor 23 is controlled to execute traveling control for moving the traveling vehicle body 2 to the designated traveling position.

  The transfer control unit 37 receives a transfer command from the automatic warehouse controller E, drives the transfer electric motor 63 of the fork device 5 via the transfer inverter 64, and moves the fork device 5 to move out and out. The article F is transferred.

  The clamp control unit 38 receives a clamp command from the automatic warehouse controller E, controls the cylinder device 51 of the first clamp member 52 in the side clamp device 42, and clamps the container F in the bay direction by the first clamp member 52. At the same time, the clamping motor 65 of the second clamping member 53 in the side clamping device 42 is driven via the clamping inverter 66, and the container F is clamped in the bank direction by the second clamping member 53.

  The position control unit 39 receives a positioning command from the automatic warehouse controller E, controls the cylinder device 56 of the first positioning device 43, causes the first positioning device 43 to position the container F in the bay direction, and performs positioning. The positioning motor 67 of the second positioning device 44 is driven via the inverter 68, and the container F is positioned in the bank direction by the second positioning device 44.

  The clamp control unit 38 and the position control unit 39 drive the clamping motor 65 and the positioning motor 67 when the current value supplied to the clamping inverter 66 and the positioning inverter 68 changes from a predetermined value. When the air pressure supplied to the cylinder devices 51 and 56 changes, the extension of the piston rod of the cylinder devices 51 and 56 is stopped.

  With this configuration, the automatic warehouse controller E provides the bar code (store and passage number) data of the container F and the command to the stacker crane C via the first optical transceiver 29 and the second optical transceiver 30. To the main body controller 34 of the main body control panel G. Then, the elevation controller 35, the travel controller 36, the transfer controller 37, the clamp controller 38, and the position controller 39 of the main body controller 34 of the main body controller G to which each of the above commands is input are in accordance with these input commands. Based on this, the motors 12, 23, 63, 65, 67 and cylinder devices 51, 56 are controlled so that the traveling vehicle body 2, the lifting platform 3, the fork device 5, the side clamp device 42, the positioning means 45 (the first means 45) of the stacker crane C. The first positioning device 43 and the second positioning device 44) are controlled.

Below, the effect | action at the time of the warehousing work in embodiment mentioned above is demonstrated.
When the automatic warehouse controller E inputs the barcode (store and passage number) of the container F being conveyed on the warehousing conveyor K1 read by the barcode reader R, the store and passage of the article storage unit D registered in advance. Based on the number, the article storage unit D to be stored is obtained, the number of the containers F and the direction of the uppermost container F are confirmed by the inventory information of the article storage unit D, and storage data is generated.

  The turntable T provided in the warehousing conveyor K1 inputs container data such as the color and shape of the container F on the warehousing conveyor K1 determined by the determination device S, and based on the container data and the warehousing data. Thus, the containers F transported from the warehousing conveyor K1 are reversed in a desired direction so that normal stacking is performed on the upper containers F stored in the same article storage unit D.

  As a result, the containers F on the incoming conveyor M are stacked so as to be reversed with the direction of the upper container F stored in the same article storage unit D, and are normally stacked, so that they are mistakenly the same. The direction of the upper container F stored in the article storage unit D is the same as that of the upper container F, and compression and stacking are avoided.

  The procedure for warehousing containers F from the warehousing conveyor K1 to the goods storage unit D when the containers F2 that are the same sorting destination as the containers F1 carried in from the warehousing conveyor K1 are stored in the same goods storage unit D will be described below. This will be described with reference to FIG. These procedures are performed when the automatic warehouse controller E outputs the above command to the main body controller 34 of the main body control panel G via the first optical transceiver and the second optical transceiver 32 based on the warehousing data. Executed.

  First, as shown in FIG. 8A, when the two-stage stacked container F1 is conveyed to the warehousing conveyor K1, the stacker crane C is moved to the HP position, the container F1 is lifted by the lifter Q, and the container F1 is moved. The fork device 5 on which the second positioning device 44 is placed is inserted below and the container F1 is lifted.

  Then, as shown in FIG. 8B, the fork device 5 on which the container F1 is placed is returned to the stacker crane C side (the lifting platform 3 side), and the first pressing member 57 of the first positioning device 43 is moved to the container F1. And positioning the container F1 in the bank direction by moving the second pressing member 59 of the second positioning device 44 in contact with the container F1. .

  Subsequently, as shown in FIG. 8C, after the container F <b> 1 is positioned by the first positioning device 43 and the second positioning device 44, the first pressing member 57 and the second positioning member of the first positioning device 43. The second pressing member 59 of the device 44 returns to the standby position, and the container F1 placed on the fork device 5 is sandwiched in the bay direction by the first clamp member 52 of the side clamp device 42 and banked by the second clamp member 53. Clamped by pinching in the direction.

  Subsequently, as shown in FIG. 8D, the stacker crane C (the traveling vehicle body 2 and the lifting platform 3) is the same item in which containers F2 of a plurality of stages (four stages in the figure) are stored based on the warehousing data. While being moved to the storage unit D, the container F1 clamped by the side clamp device 42 is raised above the height of the container F2 (predetermined height) on the elevator 3.

  Subsequently, as shown in FIG. 8 (e), the fork device 5 is stored in the same article storage unit D in a state where the container F1 clamped by the side clamp device 42 is raised. After moving to the insertion path d formed below F2, the fork device 5 is raised to lift the container F2.

  Subsequently, as shown in FIG. 8F, the fork device 5 on which the container F2 is placed is returned to the stacker crane C side (the lifting platform 3 side), and the first pressing member 57 of the first positioning device 43 is moved to the container. The container F2 is positioned in the bay direction by moving it in contact with F2, and the container F2 in the bank direction is positioned by moving the second pressing member 59 of the second positioning device 44 in contact with the container F2. After that, the container F1 clamped by the side clamp device 42 is lowered and placed on the upper part of the container F2 to form a six-stage container F3.

  Subsequently, as shown in FIG. 8G, after the stacking of the container F1 and the container F2 is finished, the clamp of the container F1 by the first clamp member 52 and the second clamp member 53 of the side clamp device 42 is released. The first pressing member 57 of the first positioning device 43 and the second pressing member 59 of the second positioning device 44 are returned to the standby position.

  Subsequently, as shown in FIG. 8 (h), the fork device 5 on which the six-tiered containers F3 are placed is placed in the same article storage unit D (the place where the four-tiered containers F2 were stored). The fork device 5 is lowered and the container F3 is stored again in the article storage unit D.

  Subsequently, as shown in FIG. 8 (i), the fork device 5 that has finished transferring the container F3 to the article storage unit D is returned to the lifting platform 3 (stacker crane C side). When the warehousing operation is performed again, the stacker crane C is moved to the HP position.

  As described above, when there is the same article storage unit D in which the container F2, which is the same sorting destination as the sorting destination of the container F1 carried in from the warehousing conveyor K1, is located, the positioning means 45 (the first positioning device 43 and the first positioning device 43). 2) The container F1 carried on the lifting platform 3 from the warehousing conveyor K1 positioned by the positioning device 44), and the container F2 carried on the lifting platform 3 from the same article storage unit D positioned by the positioning means 45. Are stacked on the lifting platform 3, the stacking accuracy of the containers F1 and F2 (that is, the stacking accuracy of the container F3) is improved.

Then, the effect | action at the time of the leaving work in above-described embodiment is demonstrated.
When the data of the delivery destination (store and passage number) is input, the automatic warehouse controller E obtains the article storage unit D that stores the delivery destination container F and generates the delivery data. The unloading procedure is executed when the automatic warehouse controller E outputs the above command to the main body controller 34 of the main body control panel G via the first optical transceiver and the second optical transceiver 32 based on the incoming data. .

  First, the stacker crane C is moved toward the target article storage unit D of the delivery data, and the elevator 3 is moved up and down. Subsequently, the fork device 5 is inserted into the insertion path d formed below the article storage unit D, the fork device 5 is raised, the stacked containers F3 are lifted, and the fork device 5 is returned to return the stack. The container F <b> 3 that has been loaded is loaded onto the lift 3.

  Next, the stacker crane C is moved toward the delivery conveyor K2, and the lifting platform 3 is moved up and down. Subsequently, the fork device 5 loaded with the stacked containers F3 is moved above the lifter Q of the delivery conveyor K2, the fork device 5 is lowered, and the containers F3 are unloaded on the lifter Q of the delivery conveyor K2.

  In this way, since the containers F3 having the same delivery destination are stored in the same article storage unit D, they are delivered to the delivery conveyor K2 as they are. In addition, since they are stacked with high accuracy, there is no need to position them when leaving.

  As described above, according to the embodiment, when the container F2 that is the same sorting destination as the container F1 that is carried in from the warehousing conveyor K1 is stored in the same article storage unit D, the warehousing conveyor K1 is placed on the lifting platform 3. The container F1 carried in the container and the container F2 carried on the lifting platform 3 from the same article storage unit D are stacked on the lifting platform 3, and the stacked containers F3 are stored in the same article storage unit D. Therefore, the container F3 can be dispensed from the same article storage unit D at the time of the unloading operation, and the time required for dispensing can be shortened. In addition, when loading (loading), the loading time of the container F varies, so the time required for receiving is not so much of a problem. However, when shipping (dispensing), it is loaded into a truck or the like. Since it is required to shorten the payout time, it is effective to be able to pay out at once.

  Moreover, according to the said embodiment, the same goods storage part D similarly positioned by the positioning means 45 with the container F1 carried in on the lifting platform 3 from the storage conveyor K1 positioned by the positioning means 45 at the time of warehousing operation | work. Since the container F2 loaded onto the lifting platform 3 is stacked on the lifting platform 3, the stacking accuracy of the containers F1 and F2 (that is, the stacking accuracy of the container F3) is improved, and the container load is increased. The collapse can be avoided, and the container F3 with high stacking accuracy can be stored in the predetermined article storage unit D, and the container collapse in the article storage unit D can be avoided.

  Further, according to the above embodiment, the container F is positioned in the bay direction transferred onto the lifting platform 3 by the first positioning device 43 and transferred onto the lifting platform 3 by the second positioning device 44. Since the positioning of the container F in the bank direction is performed, the positioning of the container F transferred onto the lifting platform 3 can be performed accurately. Therefore, when stacking the containers F, the stacking accuracy is improved. Can do.

  Moreover, according to the said embodiment, the container F1 transferred by the stacker crane C is carried out by the turntable T so that normal stacking may be performed with respect to the container F2 stored in the same article storage part D. Since it is reversed in a desired direction, it is possible to avoid accidental compression and stacking.

  Moreover, according to the said embodiment, the container F1 conveyed to the warehousing conveyor K1 is discriminate | determined by the discrimination apparatus S, the color of the container F1 is discriminate | determined, the direction of the container F1 is judged, and it is made the desired direction by the turntable T. Therefore, normal stacking can be reliably performed on the container F1 transferred from the warehousing conveyor K1 and the container F2 stored in the same article storage unit D.

  In the above-described embodiment, the container F is a container that can be compressed and stacked. However, the container F is not limited to this and may be a container that can perform only normal stacking. In this case, it is not necessary to provide the turntable T.

  Moreover, in the said embodiment, although the stacker crane C was provided with the one fork device 5 on the lifting platform 3, it is not restricted to this, The thing provided with the some fork device 5 in the bank direction may be sufficient. .

  Moreover, in the said embodiment, although the air cylinder was used as the cylinder apparatuses 51 and 56 for the side clamp apparatus 42 and the 1st positioning apparatus 43, it is not restricted to this, A hydraulic cylinder etc. may be sufficient. .

  Moreover, in the said embodiment, although the warehousing conveyor K1 which is a carrying-in port and the unloading conveyor K2 which is a carrying-out port were provided separately, the structure where a carrying-in port and a carrying-out port are the same conveyors may be sufficient.

It is a top view of the article storage facility in the embodiment of the present invention. It is a principal part perspective view of the automatic warehouse which forms the goods storage equipment. It is a schematic block diagram of the stacker crane of the article storage facility. It is a principal part side view of the stacker crane of the goods storage equipment. It is a principal part top view of the stacker crane of the goods storage equipment. It is AA sectional drawing of the stacker crane of the goods storage equipment. It is a control block diagram of the article storage facility. It is a figure which shows the warehousing procedure of the container from the warehousing conveyor to the goods storage part.

Explanation of symbols

3 Elevator (Elevator)
5 Fork device (transfer means)
42 Side clamp device (gripping device)
43 1st positioning device 44 2nd positioning device 45 Positioning means C Stacker crane (conveyance device)
D Goods storage part F Container K1 Warehousing conveyor (warehousing device)
T turntable

Claims (5)

A storage shelf in which a plurality of article storage units for storing articles are vertically arranged in multiple stages and left and right, a lifting body that is vertically moved up and down, and the article storage part and a loading / unloading port provided on the lifting body An article storage facility comprising an article conveying means having a transfer means for transferring
The article conveying means is
A gripping means which is vertically movably formed lifted by grasping the transfer article by the transfer means on the lifting body,
Positioning means for positioning an article transferred on the lifting body;
The article is transferred from the loading / unloading port onto the lifting body by the transfer means, the transferred article is positioned by the positioning means, and then the transferred article is gripped by the gripping means. Then, an article that is lifted up to a predetermined height and is stored in the same article storage unit that is the same sorting destination as the article that is carried in from the carry-in / out port is lifted by the gripping means by the transfer means Each of the transferred articles is positioned by the positioning means, and then the articles lifted by the gripping means are stacked on the transferred articles. An article storage facility for storing stacked articles in the same article storage unit. The positioning means includes
A first positioning device for positioning the article in the longitudinal direction of the article transferred on the lifting body;
A second positioning device for positioning the article in the short direction of the article transferred on the lifting body
The article storage facility according to claim 1, wherein the article storage facility is configured by . The loading / unloading port includes reversing means for reversing the direction of the article,
When the article is stacked alternately by changing the orientation of the article, normal stacking is performed, and when stacking with the same orientation of the article, the container is compressed and stacked.
When the container has the same orientation as that of the upper container stored in the same article storage unit when being carried into the carry-in / out port, the direction is reversed by the reversing means. The article storage facility according to claim 1 or 2 , characterized in that: The container is painted with a color representing the direction of the container,
A determination means for determining the color of the container on the upstream side of the reversing means at the carry-in / out port,
The color of the container by the discriminating means is determined the orientation of the container by being discriminated to claim 3 whether to invert the vessel direction by the reversing means, characterized in <br/> be determined The article storage facility described. The gripping means includes a first clamp member for gripping the short direction of the container and a second clamp member for gripping the longitudinal direction of the container,
On one side of the second clamp member, a side plate that comes into contact with the side in the lateral direction of the container is provided,
The article storage facility according to claim 3 or 4 , wherein lower ends of the second clamp member and the side plate are bent outward .

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