JP3217674B2 - Control device for multi-level warehouse - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a storage shelf unit in which luggage storage units are arranged in a matrix in the vertical direction and the horizontal direction of each stage, and a luggage storage unit for each storage shelf unit. A load transporter that moves laterally along the front side and transfers cargo, temporary storage shelves for each stage provided on one side of the storage shelf unit, and vertical movement between the temporary storage shelves and an external conveyor And a multi-stage three-dimensional warehouse equipped with a main control unit that outputs an entry / exit command,
The present invention relates to a control device for executing the entry / exit control.

[0002]

2. Description of the Related Art Conventionally, in this type of multi-stage warehouse entrance / exit controller, a subordinate controller is mounted on each of the cargo transporter and the elevator, and an external main controller and each subordinate controller are connected to each other. It has been proposed that, while mutually transmitting information, each dependent controller executes a predetermined process in a manner dependent on a command from a main control device.

[0003] In this case, after the main control unit sends an in / out command to each of the subordinate controllers, a signal for instructing each operation of moving, stopping, and delivering the load of the load carrier and the elevator is sent from the main control unit. Transmit and receive a response signal to the effect that processing has been completed from each load carrier and lifting platform,
The operation of moving to the next processing step is repeated. In this case, while a command is issued to one slave controller, a command to another slave controller is not executed.

On the other hand, the temporary storage shelves provided for the respective stages are provided with a luggage sensor for judging whether or not the luggage is present in the temporary storage shelves. The main control device receives the detection signal, for example, at the time of a storage command,
After confirming that the luggage is on the temporary storage shelf, the main control device performs the transfer of the luggage from the elevating platform to the temporary storage shelves and the transfer of the luggage from the temporary storage shelves to the load carrier in order. Issues a command.

[0005] In addition, at the time of a delivery command, after the goods to be taken out of the warehouse are transferred from the predetermined luggage storage unit to the load carrier, it is confirmed that there is no luggage on the temporary storage shelf at the predetermined stage, Time-sequential program control is performed such that the delivery of luggage to the temporary storage shelf is performed, and then the operation of delivering the luggage from the temporary storage shelf to the elevating platform is performed in order. .

In these cases, the detection signal of the luggage sensor is used merely for the main controller to confirm the presence or absence of the luggage W in the temporary storage shelf.

[0007]

However, in the above configuration, when there is a loading / unloading command and one of the load transporter and the elevator is operating, the other device does not operate and is on standby. There is a problem in that a time lag occurs due to the delivery of the package to the shelf, and a loss time occurs in the movement of the package due to the inability of the load carriers and the elevators to operate in a time-parallel manner, which takes time for loading and unloading.

The present invention has been made to solve these problems, and an object of the present invention is to provide a control device for a multi-level three-dimensional warehouse capable of executing a warehouse operation quickly and efficiently. .

[0009]

In order to achieve the above object, a control device for a multi-level warehouse according to the present invention according to the first aspect of the present invention, comprises a luggage storage section in a matrix in a vertical direction and a horizontal direction of each level. Is disposed on one side of the storage shelf unit, a load transporter that moves laterally along the front surface of the luggage storage unit for each stage of the storage shelf unit, and performs delivery of the load. A multistage three-dimensional warehouse including a temporary storage shelf for each stage, an elevating platform that moves up and down between the temporary storage shelf and an external conveyor, and transfers a load, and a main control device that outputs an entry / exit command. In the above, each of the temporary storage shelves is provided with a luggage sensor for detecting the presence or absence of luggage, and the sensor information of the luggage sensors is transmitted to the controller of the luggage carrier of each of the stages and the controller for the elevating platform via a main controller. At predetermined time intervals, and When the controller receives the warehousing command, regardless of the sensor information, the elevating platform receives predetermined luggage from the conveyor and controls it to move to the temporary shelves at the predetermined level, and there is no luggage on the temporary shelves. Based on the sensor information described above, control is performed to transfer the luggage from the elevating platform to the temporary storage shelf.

[0010] According to a second aspect of the present invention, in the control device for a multi-level three-dimensional warehouse according to the first aspect, when the controller of the load carrier receives a storage instruction, the controller does not care about the sensor information. The load carrier is controlled to move to a position in front of a predetermined temporary storage shelf, and is controlled to transfer the package from the temporary storage shelf to the load carrier based on sensor information indicating that there is a package in the temporary storage shelf. It is assumed that.

According to a third aspect of the present invention, there is provided a control device for a multi-level warehouse, comprising: a storage shelf unit in which luggage storage units are arranged in a matrix in the vertical direction and the horizontal direction of each level; A cargo transporter that moves laterally along the front surface of the luggage storage unit for each stage of the shelf unit and transfers the luggage, a temporary shelf for each stage provided on one side of the accommodation shelf unit, and temporary storage; In a multi-level three-dimensional warehouse equipped with a lifting platform that moves up and down between shelves and an external conveyor and transfers luggage, and a main controller that outputs a loading / unloading command, It is equipped with a baggage sensor for detecting the presence or absence of a baggage, and the sensor information from each baggage sensor is transferred to the controller of each stage of the cargo carrier and the controller for the elevator via the main controller at predetermined time intervals, and the cargo is transported. Machine controller receives a delivery command , Regardless of the sensor information, the cargo transporter takes out the luggage from the predetermined luggage storage unit and controls the luggage to move to the temporary storage shelf. Thus, control is performed so that the load is transferred from the load carrier to the temporary storage shelf.

The invention described in claim 4 is the same as the invention described in claim 3.
In the control device of the multi-level three-dimensional warehouse according to the above, when the controller for the elevator platform receives the exit command, regardless of the sensor information, the elevator platform is moved up and down to the temporary storage shelf of the predetermined stage, Based on the sensor information indicating that there is luggage on the shelf, control is performed to transfer the luggage from the temporary shelf to the elevating platform.

According to a fifth aspect of the present invention, in the control device for a multi-level three-dimensional warehouse according to any one of the first to fourth aspects, the temporary storage shelves, the elevating table, and the conveyor are stored in a storage section. It is characterized in that it is provided separately on the side and the retrieval section side.

[0014]

Next, embodiments of the present invention will be described. FIG. 1 is a partially cutaway perspective view of a multi-stage warehouse, and FIG. 2 is a plan view of a main part. The multi-level warehouse has two storage shelf units 1 and 2 in which luggage storage units 2 are arranged in a matrix in the vertical direction and the horizontal direction of each level.
1 are arranged at appropriate intervals so that the front opening portions of the baggage accommodation section 2 face each other. The two storage shelf units 1,
A temporary storage shelf 3 for temporarily placing a load W is provided on one side of each of the luggage storage units 2 on one side of the luggage storage unit 2. Rails 5, 5, which are traversed along the front surfaces of the luggage storage section 2 and the temporary shelves 3, and on which luggage carriers 4 for transferring luggage, can travel, are attached to each stage.

The luggage storage unit 2 may be partitioned at a predetermined interval between the openings, or may have different widths. In the embodiment, the metal bottom plate of the luggage storage unit 2 is formed continuously. Thus, it is possible to load luggage W having different widths. In the embodiment, a storage unit for unloading luggage W from the storage shelf unit 1 to a work unit or a cargo handling unit (not shown), and a storage unit for loading the luggage W from the outside into the storage shelf unit 1 In order to distinguish between the temporary storage shelves 3, lifts 7, 7 in which lifts 6 a, 6 b that receive and lift the luggage W and are moved up and down are arranged, and one lift 7 At the lower end of one side, a conveyor 8a for carrying in,
At the lower end of one side of the other lift section 7, a conveyor 8b for carrying out is provided.
Has been arranged. Reference numeral 9 denotes a main control device operated when an operator issues a store-in / out command, and the main control device 9 and its operation panel 9a may be arranged outside the multi-stage warehouse or in a remote control room.

FIGS. 4 and 5 show the structure of the load transporting machine 4. The main body 10, which is substantially rectangular in plan view and straddles the pair of left and right rails 5, 5, rolls on the respective rails 5. FIG. An axle 12 provided with front and rear wheels 11 and having a pair of wheels 11 attached thereto is driven to rotate forward and backward through a traveling motor 13 on a main body 10 and a timing belt. A fixed frame 14, which is long in the direction perpendicular to the moving direction of the load carrier 4 (the direction of the arrow AB in FIG. 4), is fixed to the left and right sides of the luggage mounting portion of the main body 10. The first moving frame 15 is disposed so as to be movable back and forth in the direction of arrow AB in FIG.
A picker for pushing and pulling the luggage W in synchronism with the forward and backward movement of the second moving frame 16 is provided at each of the front and rear ends of the pair of left and right second moving frames 16. 17 is mounted so as to be freely rotatable horizontally (only one is shown in FIG. 4).

The first moving frame 15 is moved forward and backward with respect to the fixed frame 14 by a pinion gear 18 which can be rotated forward and backward by a driving motor and a rack 19 meshed with the pinion gear 18, and the first moving frame 15 and the second moving frame 15 are rotated. Connected to the moving frame 16 with an endless chain (not shown),
The second moving frame 16 is moved forward and backward with respect to the first moving frame 15. Therefore, when the package W is delivered, the second moving frame 16 moves forward along the left and right sides of the package W placed on the package storage unit 2 and the temporary storage shelf 3 to the back.

FIG. 5 is a schematic perspective view of the operation mechanism of the picker 17. The inner surface of each of the left and right second moving frames 16 having an inwardly-facing U-shaped cross section is provided at an intermediate portion in the longitudinal direction (front-back direction). A bracket 20 having a U-shaped cross section is fixed, and a screw rod 21 extending in the longitudinal direction of the second moving frame 16 is rotatably mounted on the bracket 20, and a slider nut 22 is screwed onto the screw rod 21. The power of the drive motor 23 mounted on the bracket 20 is transmitted to the screw rod 21 via a pair of gears 24. An interlocking rod 25 extending along the longitudinal direction of the second moving frame 16 is fixed to the slider nut 22.

The picker 17 has a luggage contact portion 17a and a base 17b formed in an L-shape in plan view, and upper and lower bracket pieces 26, 26 of the base 17a are mounted so as to be horizontally rotatable with respect to a support shaft 27. ing. The support shaft 27 is mounted to be movable back and forth along a pair of upper and lower linear guide bodies 28 provided on the second moving frame 16. At the front and rear ends of the second moving frame 16, regulating pins 30 parallel to the support shafts 27 are erected, and the inner surfaces of the load contact portions 17 a of the pickers 17 always contact the regulating pins 30. The base 17b and the end of the interlocking rod 25 are connected by a spring 31 so as to be in contact with each other. Also, at the end of the interlocking rod 25, a pair of upper and lower guide rollers 33 rolling along a guide rail 32 having a U-shaped cross section fixed to the upper and lower inner surfaces of the second moving frame 16, and a base of the picker 17 17b is mounted with a pressing roller 34 for pressing the back surface.

With this configuration, when the drive motor 23 rotates forward, the rotation of the screw shaft 21 causes the slider nut 22 and, consequently, the interlocking rod 25 to move forward in the direction of the arrow A in FIGS. Base 17 of picker 17
Since the picker 17 is advanced in the direction of arrow A while pressing the back surface of the b with the pressing roller 34,
The load contact portions 17a of the pickers 17 on the left and right sides are closed and rotated so as to be substantially perpendicular to the inner surface of the second moving frame 16. On the other hand, on the rear end side of the interlocking rod 25, the base 17b of the picker 17 is pulled via the spring 31, and the load contacting portions 17a of the pickers 17 on the left and right sides rotate and move along the regulating pins 30, and The contact portion 17a is opened and rotated substantially along the inner surface of the second moving frame 16.

The movement of the picker 17 and the forward / backward movement of the second moving frame 16 cause the transfer of the load W from the load transporter 4 to the load storage unit 2 or the temporary storage shelf 3 (at the time of transfer). The operation will be described. When the first moving frame 15 and the second moving frame 16 move forward, the load W
With the pickers 17, 17 on the left and right sides on the rear side in the moving direction of the package W closed, the luggage W is moved in a predetermined direction by pushing the rear surface in the moving direction. Conversely, luggage storage unit 2 or temporary storage shelf 3
When the luggage W is transferred from the vehicle to the load transporting machine 4 (when the luggage W is transferred), the second moving frame 1 is moved to the left and right sides of the luggage W while the pickers 17, 17 on the left and right sides on the tip side are opened.
6 and then the pickers 17, on the left and right sides,
By closing the 17 and retreating the second moving frame 16 and the first moving frame 15 toward the body of the load carrier 4, the rear surface of the load W in the moving direction is pushed and transferred to the load carrier 4.

The temporary storage shelves 3 in the respective stages are provided with luggage W
There is provided a light-blocking luggage sensor 35 including a light projecting unit and a light receiving unit for detecting the presence or absence of the light. In each of the temporary storage shelves 3 in the embodiment, the load carrier 4 and the load W
And a lift 6a for a storage unit and a lift 6b for a delivery unit, which will be described later, on one side at a right angle to the plan view.
The temporary storage shelf 3 is provided with a plurality of rollers 36 rotatable at appropriate intervals in a direction perpendicular to the plan view, and the respective luggage sensors 35 are provided.
Is arranged such that a light projecting portion 35a is disposed diagonally above one side of the temporary storage shelf 3 and a light receiving portion 35b is provided below a gap or the like between the rollers 36.

Each of the lifts 6a, 6 in the lifts 7, 7
b is driven via a lifting drive motor 37 and a lift chain 38 so as to move up and down between the carry-in conveyor 8a and the carry-out conveyor 8b at the lower position and the temporary storage shelf 3 above. Is provided with a load transfer mechanism having the same configuration as the picker 17 in the load transporter 4. Further, load sensors 39a and 39b each including a light projecting unit and a light receiving unit are arranged at a loading / unloading section of the carry-in conveyor 8a and the carry-out conveyor 8b with the elevator 6.

Next, a functional block diagram of the control device of the present invention will be described with reference to FIG. 6. A central processing unit (CPU) for controlling and an RO for storing a control program are described.
M (read only memory) and RA for storing various data
Main controller 9 including M (memory that can be read and written at any time)
The conveyor 8a for carrying in and the conveyor 8b for carrying out
Are connected to the luggage sensors 35a and 39b in the temporary storage shelves 3 of the respective stages, and receive signals from these sensors.

Further, as controllers which are subordinate to the main control unit 9, there are conveyor controllers 50a and 50b for the carry-in conveyor 8a and carry-out conveyor 8b, and a controller for the lift 6a of the loading section. The controller 51b for the elevator 51a and the elevator 6b in the unloading section, and the controller 52 mounted on the load carrier 4 at each stage are connected to the main controller 9, respectively.

The sensor information on the presence or absence of a package from the package sensor 35 in each of the temporary storage shelves 3 is transmitted to the main controller 9.
Are transferred to the elevator controller 51a, 51b and each controller 52 at a time interval of, for example, every 10 milliseconds. It is determined whether or not to execute a predetermined operation based on the information. The operation is not related to the operation of delivering the package W to the temporary storage shelf 3 and is based on an entry / exit command from the main control device 9. Concerning the transfer of the load W, the movement of the lifts 6a and 6b and the load carrier 4 and the like execute an asynchronous parallel operation (multitask operation).

Next, the entry control of the package W will be described with reference to the flowchart shown in FIG.
During the warehousing operation, the operator inputs data relating to the luggage W to the externally provided main controller 9 or reads the bar code attached to the luggage W on the carry-in conveyor 8a to read the type of the luggage W and the like. Is stored in the main controller 9 or a connected memory (storage means). Next, an empty luggage storage unit 2 is displayed on the display unit of the operation panel 9a of the main control device 9.
Is displayed, an empty address is displayed. One of the empty addresses is selected and input. This is a storage instruction (S1).

When this storage instruction is issued, the information is transmitted to the elevator 6a for the storage unit and the load carrier 4 at a predetermined stage, and these start the storage operation almost simultaneously. This operation is an asynchronous parallel operation (multitask operation)
First, the operation of the lift 6a will be described.
The elevator 6a, which has been stopped at an arbitrary stage, descends to the lowermost position, and the transport end side end of the carry-in conveyor 8a and the lift 7
(S2). And
The presence sensor 39a at the end of the carry-in conveyor 8a at the transport end side determines whether there is any cargo W to be stored (S3). If the package W does not exist, the presence sensor 39a
Is OFF, and in that case (S3: no), the elevator 6a stands by at the opening 40a (S4).

The sensor information indicating whether there is a preceding luggage W to be stored by the presence sensor 39a is also transmitted to the elevator 6a at regular time intervals via the main controller 9. If the load W is present at the end of the carry-in conveyor 8a on the side of the transport end (S3: yes), the picker in the elevator 6a operates to load the load W onto the elevator 6a (S5). Next, the lifting platform 6a rises and stops at the stage where the empty address exists (S6). Here, the controller 51a for the elevator 6a determines the sensor information of the presence / absence of a package transmitted from the package sensor 35 of the temporary storage shelf 3 at the predetermined stage and transferred at regular intervals through the main controller 9. (S7). When there is a luggage W on the temporary storage shelf 3 at a predetermined stage (S7: yes), the elevator 6a stands by at that location (S8).

When there is no luggage W on the temporary storage shelf 3 at the predetermined stage (S7: no), the picker of the elevator 6a operates to transfer the cargo W from the elevator 6a to the temporary storage 3 for delivery. (S9) Then, the picker is stored in the elevator 6a, and the process returns to S1 in order to wait for the next storage command. On the other hand, if there is an entry command in S1, the load transporter 4 in a stage having an empty address where the package W is to be stored is moved to the front of the temporary storage shelf 3 and then stopped (S10). Here, the controller 52 of the load carrier 4 determines the sensor information of the presence / absence of luggage transmitted from the luggage sensor 35 of the temporary storage shelf 3 at the predetermined stage and transferred at regular intervals via the main controller 9. Yes (S1
1). When there is no luggage W in the temporary storage shelf 3 at the predetermined stage (S11: no), the load carrier 4 stands by (S12). Conversely, if the luggage W is on the temporary storage shelf 3 at the predetermined level (S11: yes
s), the picker 17 is operated to receive the cargo W to transfer the luggage W on the temporary storage shelf 3 to the cargo transporter 4 (S1).
3). Thereafter, the cargo transporter 4 moves laterally to the front of the luggage storage unit 2 at a predetermined empty address and stops at a predetermined position (S14), and moves the picker 17 to transfer the luggage W into the luggage storage unit 2. Activate to carry in the luggage W (S1
5). Thereafter, the load transporting machine 4 retracts the picker 17, and returns to S1 to wait for the next entry or exit command.

Based on the storage instruction, the carry-in conveyor 8a
The controller 50a determines whether there is a preceding luggage W to be stored by the presence sensor 39a at the end of the carrying conveyor 8a at the transport end side (S17). (S17: yes), and waits without operating the carry-in conveyor 8a (S18), and when there is no preceding luggage W (S17: no), activates the carry-in conveyor 8a and removes the predetermined luggage W from the above. Then, the sheet is transferred to the end of the transfer end (S19).

FIG. 8 shows a flow chart in the case where there is a delivery command. In this case, since the storage means of the main control device 9 has already stored the data on which luggage W is stored in which luggage storage unit 2 of the storage shelf unit 1, the predetermined luggage W is unloaded. To do so, the operator inputs at least the number of luggage W to be taken out of the vehicle at the position of the operation panel 9a. Along with this data, a delivery command is sent from the main controller 9 to the controller 5 on the load carrier 4 at a predetermined stage.
2 and the controller 51b for the elevator 6b for delivery (S30). Also, as described above, the temporary storage shelf 3
From the luggage sensor 35, and transferred to the controller 52 on the load carrier 4 and the controller 51b for the elevator 6b for unloading at regular intervals via the main controller 9.

In response to this delivery command, the load transporter 4 at a predetermined stage
And the elevator 6b for the retrieval section start the retrieval operation almost simultaneously. This operation is an asynchronous parallel operation (multi-task operation). First, the operation of the load transporter 4 will be described. Is transmitted, and based on the command and the data, the load transporting machine 4 moves laterally to the front of the luggage storage unit 2 in which the luggage W to be unloaded is stored. To stop (S31). Next, the picker 17 is operated to receive the load W from the load storage unit 2 and the load W is loaded into the load carrier 4 (S32).

Next, the load carrier 4 moves to the front of the temporary storage shelf 3 and stops (S33). Here, the controller 52 of the load transporting machine 4 determines sensor information as to whether or not there is a package W in the temporary storage shelf 3 (S34). If the luggage W is present in the temporary storage shelf 3 at the predetermined stage (S34: yes),
The load carrier 4 waits (S35). Conversely, when there is no luggage W on the temporary storage shelf 3 at a predetermined stage (S34: no), the picker 17 operates to transfer the luggage W from the load carrier 4 onto the temporary storage shelf 3 and delivers it. Is performed (S36). After that, the cargo transporter 4 pulls in the picker 17 and completes the delivery (S37).
It returns to 31.

On the other hand, on the elevator 6b for retrieval, the elevator 6b is moved up and down to a predetermined level based on the retrieval command, and stopped at the horizontal position of the temporary storage shelf 3 at the predetermined level (S3).
8). Here, the controller 51b of the elevating platform 6b determines whether or not there is a package W on the temporary shelf 3 (S39). When there is no luggage W on the temporary storage shelf 3 at the predetermined stage (S39: no), the elevator 6a stands by at that location (S4).
0).

When the luggage W is present on the temporary storage shelf 3 at a predetermined stage (S39: yes), the picker of the elevator 6a operates,
The luggage W is transferred from the temporary storage shelf 3 to the elevating platform 6a for delivery (S41), and then the elevating platform 6b descends and stops at the position of the end of the unloading conveyor 8b (S42). Here, it is determined by the presence sensor 39b whether or not the preceding cargo W exists at the end of the unloading conveyor 8b (S4).
3). It should be noted that the preceding luggage W to be taken out by the presence sensor 39b at the end of the carry-out conveyor 8b at the conveyance start end side.
The sensor information indicating whether or not there is also transmitted to the elevator 6b at regular time intervals via the main controller 9. If the preceding luggage W is present with the presence sensor 39b ON (S43: yes), the elevator 6b waits (S4).
4). If there is no preceding luggage W (S43: no),
The picker in the lift 6b is activated, and the luggage W is discharged from the opening 40b to the end of the conveyer 8b on the transport start end side (S45), the picker is retracted and the delivery is completed (S46), and the next retrieval The process returns to S31 to wait for the command.

As described above, at least each load carrier 4 and the lift 6
The parts a and 6b execute operations asynchronously and concurrently in portions not related to the delivery of the package W to the temporary shelves 3, and therefore wait for operations such as the movement of each load carrier 4 and the lifts 6a and 6b. Time loss can be minimized, and loading and unloading work of the package W can be performed quickly and efficiently. In addition, the main control device 9 controls each of the load transporters 4 and the lifts 6a, 6
b is not controlled one by one while monitoring (confirming) all of the operations, but is only instructed by the loading / unloading command so that each of the cargo transporters 4 and the lifts 6a and 6b take a predetermined operation. Therefore, the amount of information to be processed and the amount of control by the main control device 9 itself can be reduced. Therefore, especially in the case of a multi-stage load carrier 4, the control speed is increased, and thus the loading / unloading work of the luggage W is quickly performed. In addition, it can be performed efficiently, and the system processing capacity of the entire control can be improved.

Further, the sensor information on the presence or absence of the luggage W in the temporary storage shelf 3 is simply transferred to each load carrier 4 and the lifts 6a and 6b, and based on the sensor information, the load carrier 4 and the lift Will carry the luggage W at its own discretion,
This has the effect of reducing the control processing load on main controller 9. In the embodiment, the carry-in conveyor 8a and the carry-out conveyor 8b, the elevators 6a and 6b, the two temporary shelves 3,
3 is provided, but the present invention makes the conveyor, the elevating platform and the temporary storage shelf one place, and makes the entrance / exit section common,
The present invention can also be applied to a usage mode such as distinguishing the entry / exit work according to a time zone or the like.

[0039]

As described above, in the control device for a multi-level warehouse according to the first aspect of the present invention, the luggage storage units are arranged in a matrix in the vertical direction and the horizontal direction of each level. A storage shelf unit, a load transporter that moves laterally along the front surface of the luggage storage unit for each stage of the storage shelf unit, and performs delivery of a load; A temporary storage shelf, a multi-stage three-dimensional warehouse including a lifting table that moves up and down between the temporary storage shelf and an external conveyor and transfers a load, and a main control device that outputs an entry / exit command, The temporary storage shelves of the stages are provided with luggage sensors for detecting the presence or absence of luggage, and the sensor information from the luggage sensors is sent to the controller of the luggage carrier of each stage and the controller for the elevator via the main controller at predetermined time intervals. Every time, the elevator controller When the storage command is received, regardless of the sensor information, the elevator is controlled to receive a predetermined load from the conveyor and move to a temporary storage shelf at a predetermined stage, and a sensor indicating that there is no package in the temporary storage shelf. Based on the information, control is performed to transfer the luggage from the elevating platform to the temporary storage shelf.

Accordingly, when the controller of the elevator platform receives a storage command from the main controller, the moving operation of receiving the luggage to be loaded from the conveyor to the lifting platform and moving up and down to the temporary shelf at a predetermined stage to be loaded is performed. This can be performed independently of the sensor information on the presence or absence of the luggage in the temporary storage shelf, and the sensor information indicating that there is no luggage in the temporary storage shelf allows the luggage to be immediately transferred from the elevating platform to the temporary storage shelf. This has the effect that it can be reduced.

Further, the invention described in claim 2 is the same as the invention described in claim 1.
In the control device of the multi-stage three-dimensional warehouse described in the above, when the controller of the load transporter receives a storage command, regardless of the sensor information, the load transporter moves to a predetermined temporary storage shelf and the operation The lifting operation of the lift table can be performed almost simultaneously asynchronously and in parallel, and the warehousing operation can be performed quickly.

Based on the sensor information indicating that there is a load on the temporary storage shelf, control is performed so that the load is transferred from the temporary storage shelf to the load carrier. Since the controller for transporting the package immediately to the temporary storage shelf is processed by the controller of the cargo transporter itself, the amount of information processing of the main controller can be reduced. And
The control device for the multi-level warehouse according to the third aspect of the present invention,
A storage shelf unit in which the luggage storage units are arranged in a matrix in the vertical direction and the horizontal direction of each stage, and each stage of the storage shelf unit moves laterally along the front surface of the luggage storage unit and transfers the luggage And a temporary storage shelf for each of the stages provided on one side of the storage shelf unit, a lifting table that moves up and down between the temporary storage shelf and an external conveyor and transfers the load, In a multi-level three-dimensional warehouse having a main control device that outputs a loading / unloading command, the temporary storage shelves in each of the stages are provided with a luggage sensor for detecting the presence or absence of luggage, and the main control device sends sensor information from the luggage sensors. Are transferred to the controller of the load carrier at each stage and the controller for the lifting platform at predetermined time intervals, and when the controller of the load carrier receives a delivery command, the load is transmitted regardless of the sensor information. The transporter must be Part removed luggage from, and controlled to move up before the temporary placement shelves at the sensor information without luggage temporary placement shelf, and controls so as to transfer the load from the load transporter in temporary shelves.

Therefore, when the controller of the cargo transporter receives the retrieval command from the main controller, the cargo to be retrieved is transferred from the predetermined luggage storage to the transporter and moved to the temporary storage shelf. The pre-processing operation up to the delivery of the package to the temporary storage shelf can be executed regardless of the presence or absence of the package in the temporary storage shelf.
Since the load is transferred from the load transporter to the temporary storage shelf, there is an effect that the loss time due to the movement of the load transporter and the delivery of the load can be minimized.

The invention according to claim 4 is the same as the invention according to claim 3.
In the control device of the multi-level three-dimensional warehouse according to the above, when the controller for the elevator platform receives the exit command, regardless of the sensor information, the elevator platform is moved up and down to the temporary storage shelf of the predetermined stage, Based on the sensor information indicating that there is luggage on the shelf, control is performed to transfer the luggage from the temporary shelf to the elevating platform. Therefore, when the delivery command is received, regardless of the sensor information, the lifting platform moves up and down to the temporary storage shelf at the predetermined stage, and transfers the package from the predetermined package storage unit to the load carrier. In addition, the pre-processing operation up to the delivery of the package to the temporary storage shelf, ie, moving to the temporary storage shelf, can be performed almost simultaneously, asynchronously and in parallel, and there is an effect that the retrieval operation can be performed quickly.

According to a fifth aspect of the present invention, in the control device for a multi-level warehouse according to any one of the first to fourth aspects, the temporary storage shelf, the elevating table, and the conveyor are connected to a storage unit. This is a multi-stage warehouse, since the above-mentioned warehousing process and warehousing process can be performed simultaneously and in parallel via the separate temporary storage shelves. This has the effect that the entry and exit work can be performed quickly and efficiently.

[Brief description of the drawings]

FIG. 1 is a partially cutaway perspective view of a multi-level three-dimensional warehouse.

FIG. 2 is a partially cutaway plan view of a multi-stage warehouse.

FIG. 3 is a sectional view taken along line III-III of FIG. 2;

FIG. 4 is a perspective view of the load carrier.

FIG. 5 is a partially cutaway perspective view of a picker and a driving mechanism thereof.

FIG. 6 is a functional block diagram of a control device.

FIG. 7 is a flowchart at the time of a storage instruction.

FIG. 8 is a flowchart at the time of a leaving command.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Storage shelf unit 2 Luggage storage part 3 Temporary storage shelf 4 Load transporter 6a, 6b Elevating platform 8a, 8b Conveyor 9 Main control unit 35 Luggage sensor 39a, 39b Present sensor 50a, 50b Conveyor controller 51a, 51b Elevating platform controller 52 Controller for load carrier

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int.Cl. ⁷ , DB name) B65G 1/04 555

Claims (5)

(57) [Claims] 1. A storage shelf unit in which luggage storage units are arranged in a matrix in an up-down direction and a horizontal direction of each stage, and lateral movement along the front surface of the luggage storage unit for each stage of the storage shelf unit. And a load carrier for transferring the load, a temporary storage shelf for each stage provided on one side of the storage shelf unit, and a vertical movement between the temporary storage shelf and an external conveyor to transfer the load. In a multi-level three-dimensional warehouse equipped with a lifting platform for performing and a main control device for outputting a loading / unloading command, the temporary storage shelves at each of the stages are provided with a luggage sensor for detecting the presence or absence of luggage, and the sensors by the respective luggage sensors The information is transferred to the controller of the load carrier of each stage and the controller for the elevator via the main controller at predetermined time intervals, and when the controller of the elevator receives a storage command, it is not affected by the sensor information. Without
The lift platform receives predetermined luggage from the conveyor, controls the luggage to move to the temporary storage shelf at a predetermined stage, and transfers the luggage from the lifting platform to the temporary storage shelf based on sensor information indicating that there is no luggage on the temporary storage shelf. The control device for a multi-stage warehouse, characterized by the fact that it is controlled in a controlled manner. 2. When the controller of the load carrier receives a storage command, the load carrier is controlled to move to a predetermined temporary storage shelf regardless of the sensor information,
2. The control device according to claim 1, wherein control is performed to transfer the package from the temporary storage shelf to the load carrier based on sensor information indicating that there is a package in the temporary storage shelf. 3. A storage shelf unit in which luggage storage units are arranged in a matrix in an up-down direction and a horizontal direction of each stage, and laterally moving along the front surface of the luggage storage unit for each of the storage shelf units. And a load carrier for transferring the load, a temporary storage shelf for each stage provided on one side of the storage shelf unit, and a vertical movement between the temporary storage shelf and an external conveyor to transfer the load. In a multi-level three-dimensional warehouse equipped with a lifting platform for performing and a main control device for outputting a loading / unloading command, the temporary storage shelves at each of the stages are provided with a luggage sensor for detecting the presence or absence of luggage, and the sensors by the respective luggage sensors The information is transferred at predetermined time intervals to the controller of the load carrier at each stage and the controller for the lift platform via the main controller, and when the controller of the load carrier receives a retrieval command, Regardless, the loader The luggage is taken out from the predetermined luggage storage unit, controlled to move to the front of the temporary storage shelf, and controlled to transfer the luggage from the load carrier to the temporary storage shelf based on the sensor information indicating that there is no luggage in the temporary storage shelf. A control device for a multi-stage three-dimensional warehouse. 4. When the elevator controller receives a delivery command, the elevator moves up and down to a temporary storage shelf at a predetermined stage regardless of the sensor information, and a sensor indicating that there is a load on the temporary storage shelf. 4. The control device according to claim 3, wherein the information is controlled so as to transfer the luggage from the temporary storage shelf to the elevating platform. 5. The multi-stage system according to claim 1, wherein the temporary storage shelf, the elevating table, and the conveyor are separately provided on a storage part side and a storage part side. Control equipment for a three-dimensional warehouse.