JP3339617B2 - Article storage facility - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a storage shelf provided with a plurality of article storage sections provided vertically and horizontally, and a movable body movable vertically and horizontally along an article loading / unloading side of the storage shelf. Each of the article storage units is configured to store an article stored in the article storage tool together with the article storage tool, and the moving body is configured to store the article storage tool along a storage shelf left-right direction. An equipment mounting part and an operator's boarding part on which an operator gets on are arranged side by side in an adjacent state, and the accommodation equipment mounting part has a transfer device that can put the article container into and out of the article storage part. The present invention relates to a provided article storage facility.

[0002]

2. Description of the Related Art In an article storage facility, a storage device mounting section and an operator mounting section are provided on a movable body movable along an article loading / unloading side of a storage shelf, and a transfer apparatus provided in the storage apparatus mounting section is provided. The device is configured such that the article storage device can be efficiently inserted into and removed from the article storage section as needed, and the worker who has boarded the worker boarding section has received the specified number of articles from the specified article storage section. The so-called picking work, which is taken out and stored in the article storage device mounted on the storage device mounting portion, can be performed. In such an article storage facility, when performing a picking operation, conventionally, as described in, for example, Japanese Utility Model Publication No. 48-19269, the container mounting portion is stopped at a position adjacent to the article storage portion, The worker who has moved from the worker boarding section to the container mounting section side takes out the article from the article storage section,
It is configured to be accommodated in an article container mounted on the container mounting portion.

[0003]

According to the above-mentioned prior art, each time a picking operation is performed, an operator moves from the worker boarding section side to the container mounting section side, and removes articles from the article storage section. There is a drawback that it is necessary to take it out and it is difficult to improve workability. The present invention has been made in view of the above-described circumstances, and allows an article storage device to be efficiently inserted into and removed from an article storage unit as needed.
It is an object of the present invention to improve the workability of an operator for taking articles in and out.

[0004]

In the article storage facility according to the present invention, when the normal operation mode is selected to control the movement of the movable body, the movable body is located at a position adjacent to the article storage section. The automatic stop and the immediate operation of the transfer device allow the article storage device to be moved in and out of the article storage section. In addition, when the movement of the moving body is controlled by selecting the manual operation mode, the moving body automatically stops at the position where the worker boarding section is adjacent to the article storage section, and the worker boarding the worker boarding section receives the article. Articles can be immediately put in and out of the storage section. Therefore, when the worker puts articles in and out of the article storage section efficiently while allowing the article storage device to be efficiently put in and out of the article storage section as necessary, the worker can move the article storage section from the worker boarding section side. Since it is not necessary to transfer to the container mounting portion side, it is possible to improve the workability for the worker to take out and put in the articles.

[0005] In the article storage facility according to the second aspect, the worker moves on to the pallet side of the article storage section, or transfers to the pallet side of the container mounting section, and puts in and out while the operator is on the boarding section. Difficult articles can be easily taken in and out, and workability can be further improved.

In the article storage facility according to the third aspect, the movable body can be moved up and down along the article loading / unloading side of the storage shelf by moving the movable body up and down with respect to the traveling body which can move left and right. An elevating body that can be moved up and down along the article taking-out side of the storage shelf is provided over substantially the entire length of the storage shelf, and a moving body is provided on the elevating body so as to be movable left and right, and the moving body is raised and lowered by the elevating movement of the elevating body. Compared to moving the body up and down along the storage side of the storage shelf,
The driving energy required for moving up and down the moving body is small, and the operating cost of the article storage facility can be reduced.

In the article storage facility according to the fourth aspect, in the manual operation mode, the moving speed of the moving body is lower than in the normal operation mode, so that the safety of the worker riding in the worker boarding section is ensured. easy.

According to the fifth aspect of the present invention, in the manual operation mode, the acceleration of the moving body is smaller than that in the normal operation mode. Inertia force acting on
It is easy to ensure worker safety. In particular, even when the movement of the moving body is started in a state where the worker cannot predict the moving direction of the moving body, it is easy to ensure the safety of the worker.

In the article storage facility according to the present invention, the deceleration of the moving body is smaller in the manual operation mode than in the normal operation mode. The acting inertial force is small,
It is easy to ensure worker safety.

[0010]

1 and 2 show an article storage facility according to the present invention, in which a plurality of article shelves A provided with a plurality of article storage sections A1 in the upper, lower, left and right directions are arranged so that articles can be taken in and out of each other. A work passage B provided between each pair of storage shelves A and a stacker crane C that travels through the work passages B separately are provided. An article storage operation using the stacker crane C and a transfer unit F that transfers the articles E mounted and stored on the pallet D between the stacker crane C side and a forklift truck (not shown) traveling on the floor surface together with the pallet D. And a main controller G for controlling the operation.

Each of the storage shelves A includes a front support A2 standing upright at a predetermined interval along the front of the shelf and a rear support A3 standing upright at a predetermined interval along the back of the shelf. Diagonal frame A6 and front and rear frames A at a plurality of upper and lower locations
7, the rear support A3 is connected to each other by a horizontal frame A5 at a plurality of upper and lower locations, and the pallet support arms A4 are provided at five upper and lower locations across the front support A2 and the rear support A3 facing each other in the front-rear direction. Are fixed in a cantilever manner, and an upper space of two pallet support arms A4 facing each other between left and right columns is formed as an article storage section A1 for storing a plurality of articles E together with pallets D.

The stacker crane C is shown in FIGS.
As shown in FIG. 1, a traveling body 1 that can travel left and right on a single traveling rail C1 along an article loading / unloading side of the storage shelf A,
A driving and traveling device 1a for driving and traveling the traveling body 1, a lifting and lowering body 2 that can move up and down along two front and rear columns 2a erected on the traveling body 1, and a driving and lifting apparatus 2b for driving and lifting the lifting and lowering body 2
And a crane control device C3 for controlling the operation of the driving and traveling device 1a and the driving and lifting device 2b; and a traveling guide 3 provided in a state where the upper ends of the two columns 2a are connected to each other. By running along the guide rail C2 fixed to the upper part between the shelves A, the stacker crane C can run on the work path B in a state where the stacker crane is prevented from falling down.

The elevating body 2 is configured as a movable body that can move up, down, left and right along the article loading / unloading side of the storage shelf A. , A container mounting portion 4 on which the pallet D is mounted, and an operator mounting portion 6 on which the operator mounts are arranged side by side in an adjacent state, and the article storing portion on which the worker mounted on the operator mounting portion 6 is instructed. A picking operation of taking out the specified number of articles E from A1 and placing it on the pallet D of the container mounting section 4, and a worker who has boarded the worker boarding section 6 mounts the specified number of articles E on the container. It is configured to perform an article replenishment operation of taking out from the pallet D of the section 4 and replenishing the designated article storage section A1.

The container mounting portion 4 is provided with a fork device 5 as a transfer device capable of taking the pallet D in and out of the article storing portion A1 and loading and unloading the container on the container mounting portion 4. A handrail 4a for safety is provided on the column 2a side of the fork device 5, and the pallet D is mounted on the upper surface of the fork member 5a. The pallet D is configured to be mounted at a position substantially at the same height as the surface 6a.

As shown in FIGS. 4 and 5, the worker boarding section 6 is provided with a display device 7 for displaying work instruction data to the worker, and covers a front surface in the traveling direction on the side of the support 2a. A front wall 8a, two doors 8b which can be opened and closed separately so as to open the container mounting portion side and the storage shelf side in series, and a ceiling wall 8c covering the upper part are provided. It is arranged right and left at the center position on the mounting part side.

Each of the two doors 8b is integrally formed so as to enclose the container mounting portion side and the storage shelf side of the worker boarding section 6 in a series, and is formed to be freely bendable. The unit 6 is configured to be able to be opened and closed by reciprocating movement along the circumferential direction around the outer side.

Both doors 8b are provided on the lower surface of the ceiling wall 8c.
An open / close detection unit 17 using a limit switch is provided which outputs an ON signal when is closed and outputs an OFF signal when at least one door 8b is open.

On the left and right storage shelves A side of the elevating body 2, the pallet D stored in the article storing part A1 and the elevating body 2 while stopped in front of the article storing part A1.
The closing member 9 for closing the gap formed between the elevating body 2
Are removably provided in a protruding state in which the space protrudes laterally and a gap is closed, and a retreating state in which the body is retracted inside the elevating body 2.

Each of the closing members 9 is provided with a worker riding section 6.
Is formed to have an L-shaped cross section with a contact member 9b against the side surface of the vehicle, and is attached to the side end of the worker boarding section 6 so as to be able to swing up and down with a hinge 9a. 6a is held in a retired state, and when loading or unloading the article E from or into the article storage section A1, the operator leans down to the article storage section A1 side to hit the contact member 9b and the side surface of the elevating body 2. And is configured to be held in a protruding state by contact with the same.

Each of the transfer units F is provided with a self-propelled truck F1 on which articles E are temporarily placed together with pallets D and a traveling rail F2, and is provided on a fork device 5 of a stacker crane C or a forklift truck. The fork device (not shown) temporarily places the article E together with the pallet D on the self-propelled carriage F1, and transfers the article E between the stacker crane C side and the forklift car side.

FIG. 6 shows a control block diagram. The main controller G and the crane control device C3 are provided so that necessary data can be transmitted and received to and from each other by an optical communication system. An input device G1 and a selection switch G2 for selecting a work mode described later are provided, and the crane control device C3 includes
The detection data of the traveling position detecting device R1 for detecting the traveling position of the traveling body 1, the detection data of the elevating position detecting device R2 for detecting the elevating position of the elevating body 2, and the detection signal of the open / close detection unit 17 are input. It is configured as follows.

The selection switch G1 controls the stacker crane C by the crane control device C3 so that the pallet D is moved by the fork device 5 to the article storage section A.
1 and a manual operation mode in which an operator on the operator boarding section 6 takes articles E in and out of the pallet D in the article storage section A1. The manual operation mode is provided so that a picking operation mode and an article replenishment operation mode can be selectively selected.

Then, when the normal work mode is selected,
In the case of a warehousing operation, the articles E temporarily placed on the self-propelled trolley F1 are mounted together with the pallets D on the container mounting section 4 by the fork device 5 based on the input / output operation data input by the input device G1. Then, the article E is stored together with the pallet D in the predetermined article storage section A1 by the fork device 5, and in the case of the unloading operation, the article E stored in the predetermined article storage section A1 is stored by the fork apparatus 5 together with the pallet D. The stacker crane C is mounted so that the article E is temporarily placed on the self-propelled truck F1 by the fork device 5 together with the pallet D by being mounted on the tool mounting portion 4.
Is controlled.

When the picking operation mode of the manual operation mode is selected, the pallet D temporarily placed on the self-propelled carriage F1 is mounted on the container mounting portion 4 by the fork device 5, and the input device G1. Based on the input picking work data, the worker boarding section 6 is stopped in front of a predetermined article storage section A1 so that the worker can take out the indicated article E from the article storage section A1, and When the removal of E is completed, the operation of the stacker crane C is controlled so that the removed article E is temporarily placed on the self-propelled carriage F1 by the fork device 5 together with the pallet D.

When the article replenishment operation mode of the manual operation mode is selected, the replenishment articles E temporarily placed on the self-propelled carriage F1 are put together with the pallet D by the fork device 5 into the container mounting section 4. On the basis of the article replenishment work data input by the input device G1, the worker boarding section 6 is placed in front of the article storage section A1 so that the worker can refill the specified article E into the article storage section A1. After stopping and replenishing the specified article E, the empty pallet D is removed from the fork device 5.
The operation of the stacker crane C is controlled so as to be temporarily placed on the self-propelled vehicle F1.

The traveling position detecting device R1 detects a traveling position mark provided along the traveling rail C1 by a traveling position mark detection sensor (not shown) provided on the traveling body 1, and detects the traveling position mark from the reference position of the traveling body 1. The vertical position detecting device R2 is configured to detect a vertical position mark provided along the column 2a with a vertical position mark detection sensor (not shown) provided on the vertical body 2 and to perform vertical movement. It is configured to detect an ascending / descending position of the body 2 from a reference position.

The main controller G is provided with an elevator 2 corresponding to each of the normal operation mode and the manual operation mode.
Of the traveling body 1 and the elevation stop position data of the elevating body 2 necessary for stopping the vehicle in front of each article storage section A1 are stored. That is, as the stop position data corresponding to the normal operation mode, the lifting / lowering body 2 is moved from the container mounting part 4 to the article storage part A1 so that the pallet D can be taken in and out of the article storage part A1 by the fork device 5.
The pallet D is placed on the article storage section A1 in a state where the travel stop position data for normal work for stopping at the position adjacent to the article storage section 4 and the storage section mounting section 4 is stopped at the position adjacent to the article storage section A1. Elevation stop position data for carrying-in work for operating the fork device 5 so that it can be placed and stored, and elevating stop position data for unloading work for operating the fork device 5 so that the pallet D can be taken out of the article storage section A1. Are stored in correspondence with each article storage section A1.

Further, the stop position data corresponding to the manual operation mode is such that an article E can be put in and taken out of the pallet D stored in the article storage section A1 by an operator who has boarded the operator boarding section 6. The travel stop position data for the manual operation for stopping the lifting / lowering body 2 at the position where the worker mounting section 6 is adjacent to the article storage section A1, and the worker mounting section 6 is stopped at the position adjacent to the article storage section A1. In this state, the lifting and lowering stop position data for stopping the worker so that the floor surface 6a of the worker mounting section 6 is substantially at the same height as the upper surface D1 of the pallet D stored in the article storage section A1. It is stored corresponding to the article storage section A1.

The crane control device C3 includes an elevator 2 corresponding to each of the normal operation mode and the manual operation mode.
Is set. That is, as a movement mode corresponding to the normal work mode, as shown in FIG.
The traveling body 1 is accelerated at the rated acceleration speed, travels at the rated traveling speed VH1, decelerated and stopped at the rated deceleration from a deceleration position a fixed distance before the target traveling stop position, and As shown in FIG. 8, the elevating body 2 is accelerated at a rated acceleration speed, and is moved up and down at a rated elevating speed VH2.
A high-speed movement mode is set in which a deceleration position is decelerated at a rated deceleration from a deceleration position that is a predetermined height before an intended lifting / lowering stop position and stopped.

As a movement mode corresponding to the manual operation mode, as shown in FIG. 7, the traveling body 1 is accelerated with a smaller acceleration than in the normal operation mode, and is slower than in the normal operation mode. The vehicle travels at the traveling speed VL1, and is decelerated from the deceleration position, which is a fixed distance before the target traveling stop position, at a reduced deceleration smaller than that in the normal operation mode, and stopped, and as shown in FIG. The speed is increased at a lower acceleration speed than in the work mode, and the speed is raised and lowered at the lowering speed VL2 slower than in the normal work mode, and is smaller than the normal work mode from the deceleration position that is a fixed height before the target lift stop position. A low-speed movement mode in which the vehicle is decelerated at the deceleration and stopped is set.

The control operation of the main controller G will be described with reference to the flowchart shown in FIG. When the normal operation mode is selected, the traveling stop position data for the normal operation, the elevation stop position data for the import operation, or the elevation stop position for the unload operation, based on the input / output operation data input by the input device G1. Read data and
The command is input to the crane control device C3 together with the normal operation start command.

When the manual operation mode is selected, the operation command of the fork device 5 is input to the crane control device C3 of the stacker crane C waiting at the transfer section F, and the picking operation data input by the input device G1 or Based on the replenishment data, the travel stop position data and the lifting / lowering stop position data for the manual operation are read out, and the crane control device C3 together with the work instruction data for instructing the worker on the contents of the operation and the manual operation start command are sent to the crane control device C3. input.

The control operation of the crane control device C3 will be described with reference to the flowchart shown in FIG. When the start command of the normal work is input, in the case of the carry-in work, the fork device 5 is operated to load the article E temporarily placed on the self-propelled carriage F1 together with the pallet D into the container mounting part 4, Elevating body movement control for controlling the operation of the driving traveling device 1a and the driving elevating device 2b such that the elevating body 1 moves to a predetermined article storage section A1 based on the input travel stop position data and the elevating stop position data. Then, as shown by the phantom line in FIG. 4, in a state where the container mounting portion 4 is stopped at a position adjacent to the item storage portion A1, the item E and the pallet D are stored in the item storage portion A1. After executing the article storage control for operating the fork device 5 so that the fork device 5 is placed and stored, the operation of the drive traveling device 1a and the drive lifting device 2b is controlled so that the lifting / lowering body 1 returns to the transfer unit F and waits. Return movement control Run, enter the work end signal to the main controller G, to wait at the transfer section F until the next start command is input.

In the case of the unloading work, after the lifting / lowering body movement control is performed based on the input traveling stop position data and the lifting / lowering stop position data, as shown by a virtual line in FIG. In a state where the section 4 is stopped at a position adjacent to the article storage section A1, the fork device is configured such that the articles E stored in the article storage section A1 are taken out together with the pallets D and mounted on the storage section mounting section 4. After performing the article removal control for operating the pallet 5 and then performing the return movement control, the fork device 5 is operated to transfer the articles E mounted on the container mounting section 4 together with the pallets D to the self-propelled carriage F1. The work completion signal is input temporarily to the main controller G, and the transfer unit F waits until the next start command is input.

When a start command for a manual operation is input, the pallet D temporarily placed on the self-propelled vehicle F1 is mounted on the container mounting portion 4 by the fork device 5, and the contents of the work instruction data are displayed. The display device 7 is operated, and the lifting / lowering body movement control is executed based on the input traveling stop position data and lifting / lowering stop position data.

Then, as shown in FIG. 4, in a state where the worker boarding section 6 is stopped at a position adjacent to the article storage section A1, the worker boarding the worker boarding section 6 displays the display device. 7, the door 8b on the side of the article storage section A1 is fully opened, and the closing member 9 is moved down to the side of the article storage section A1 to close the gap, and if necessary, the pallet D side of the article storage section A1. In the case of picking work based on the work instruction data displayed on the display device 7 while moving to the pallet D side of the container mounting part 4, the designated number of articles E is transferred to the pallet of the article storage part A 1. D, it is placed on the pallet D of the container mounting part 4, and in the case of an article replenishment operation, the designated number of articles E is taken out of the pallet D of the container mounting part 4 and the pallet of the article storing part A1. Place on D. When the predetermined work on the article storage section A1 is completed, the worker lowers the closing member 9 on the floor surface 6a, retreats to the lifting / lowering body 2 side, closes the door 8b, pushes the work completion button 19, and presses a work completion signal. Is input to the crane control device C3.

When the work completion signal is input, the crane control device C3 executes the return movement control when the work on all the designated article storage sections A1 is completed, and operates the fork device 5 to operate the storage device mounting section 4. Is temporarily placed on the self-propelled vehicle F1, a work end signal is input to the main controller G, and the transfer unit F waits until the next start command is input.

FIG. 11 shows a control flow of the lifting / lowering body movement control. In the state where the ON signal is input from the opening / closing detecting section 17, when the start command of the normal work is input, the lifting / lowering body 2 is moved at a high speed. When the robot is moved in the movement mode and a manual operation start command is input, the lifting body 2 is moved in the low-speed movement mode and moved to the front of a predetermined article storage unit A1.

The traveling stop position data is compared with the detection data of the traveling position detecting device R1, and when it is determined that the traveling body 1 has moved to a deceleration position a predetermined distance before the target traveling stop position, the traveling is stopped. Slow down and stop,
When the lifting / lowering stop position data and the detection data of the lifting / lowering position detection device R2 are compared to determine that the lifting / lowering body 2 has moved to the deceleration position a predetermined height before the target lifting / lowering stop position,
The lifting speed is reduced to stop.

Therefore, the crane control device C3 as a control means for controlling the movement of the lifting / lowering body 1 mounts the lifting / lowering body 1 on the container so that the pallet D can be taken in and out of the article storage section A1 by the fork device 5. The normal work mode in which the part 4 automatically stops at a position adjacent to the article storage part A1, and the worker E who has boarded the worker boarding part 6 moves the article E to the pallet D stored in the article storage part A1. In order to be able to take in and out, the lifting / lowering body 1 can be selected to be in a manual operation mode in which the worker boarding section 6 automatically stops at a position adjacent to the article storage section A1.

[Other Embodiments] By moving the movable storage shelves along the article insertion / removal direction, a work path is alternatively formed between the storage shelves opposed to each other in the article insertion / removal direction, and along one end of the storage shelves. An article storage facility in which a transfer trolley for transferring a moving body is provided, and the moving body transferred to the alternatively formed work passage is provided movably up, down, left and right along the work passage. May be. 2. The article container may be a container in addition to the pallet. 3. The article storage device mounted on the container mounting portion is not limited to the article storage device mounted in the transfer device so that it can be taken in and out of the article storage portion. An article storage device such as a container is attached to a place where it does not disturb the operation, and an operator who has boarded the worker boarding section takes articles in and out of the article storage device and the article storage device in the article storage section. It may be configured as follows.

[Brief description of the drawings]

FIG. 1 is a schematic plan view of an article storage facility.

FIG. 2 is a side view of a main part of the article storage facility.

FIG. 3 is a side view of a stocker crane.

FIG. 4 is a plan view of a main part of the stocker crane.

FIG. 5 is a perspective view of a main part of the stocker crane.

FIG. 6 is a block diagram.

FIG. 7 is a graph showing a traveling speed of a traveling body.

FIG. 8 is a graph showing the elevating speed of the elevating body.

FIG. 9 is a flowchart.

FIG. 10 is a flowchart.

FIG. 11 is a flowchart.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Running body 2 Moving body 4 Container mounting part 5 Transfer device 6 Worker boarding part A Storage shelf A1 Article storage part C3 Control means D Article storage equipment E Article

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int. Cl. ⁷ , DB name) B65G 1/04 525

Claims (6)

(57) [Claims] 1. A storage shelf provided with a plurality of article storage sections vertically and horizontally and a movable body movable up, down, left and right along an article loading / unloading side of the storage shelf are provided. Is configured to store the articles stored in the article storage device together with the article storage device. The moving body includes a storage device mounting section for mounting the product storage device along a storage shelf left-right direction. An article storage device is provided in which an operator's boarding section on which a person is boarded is arranged side by side in an adjacent state, and the accommodation tool mounting section is provided with a transfer device capable of taking the article container into and out of the article storage section. The equipment, wherein the control unit for controlling the movement of the moving body, the transfer device, the storage device mounting unit, the moving body, so that the article storage device can be put in and out of the article storage unit. Automatically at a position adjacent to the article storage A normal work mode in which the moving body is stopped, and the worker mounted on the worker boarding section allows the moving body to be moved into and out of the article storage device stored in the article storage section. An article storage facility configured to be able to select a manual operation mode for automatically stopping at a position adjacent to the article storage section. 2. The pallet according to claim 1, wherein the article storage device is a pallet, and the pallet is located between the worker loading section and the article storage section when the worker loading section is automatically stopped at a position adjacent to the article storage section. 2. The article storage facility according to claim 1, wherein an operator can move between the side and the pallet side of the container mounting portion. 3. The article storage facility according to claim 1, wherein the movable body is vertically movably provided on a traveling body that is movable left and right along the article loading / unloading side of the storage shelf. 4. The apparatus according to claim 1, wherein the control unit is configured to make the moving speed of the moving body slower in the manual operation mode than in the normal operation mode.
An article storage facility according to any one of claims 1 to 3. 5. The control device according to claim 1, wherein the control unit is configured to make the acceleration of the moving body smaller in the artificial work mode than in the normal work mode. Item storage facility as described. 6. The control device according to claim 1, wherein the control unit is configured to make the deceleration of the moving body smaller in the artificial work mode than in the normal work mode. Goods storage facilities.