JP3538554B2 - Automatic warehouse - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic warehouse and a method for storing the same.

[0002]

2. Description of the Related Art Automatic warehouses are roughly classified into a stacker crane type and a bogie type. As described in Japanese Patent Application Laid-Open No. 3-267203, the latter bogie type automatic warehouse has, for example, a hangar provided with multiple shelves capable of storing a large number of loads, and a horizontal traveling along a front surface of the shelf of each tier. Trucks are arranged in multiple stages so as to perform loading, and lifts are provided near the ends of the hangars for transferring loads to each truck and the conveyor.

In recent years, regardless of the type of the stacker crane, the shelf is a flat shelf with a wide frontage, regardless of the type of the truck, and the stacker crane and the truck have a structure capable of loading loads of different load widths. In many cases, it is possible to mix loads of different load widths (mainly cardboard boxes) on shelves.

[0004] In this case, the shelf is divided into a number of unit areas, and a plurality of loads can be stored in each unit area side by side. Is a problem.

As one mode, there is a method in which each unit area is divided into storage zones each having a width dimension that allows loads of any load width to be mixed based on the load having the largest load width. According to this method, the load can be stored in an empty unit area irrespective of the width of the load, so that it is easy to search for the storage destination in the control device and the storage speed is high, but the load with a small load width is wide. Since the storage zone may be occupied, there is a disadvantage that the space utilization efficiency is poor. In addition, since the traveling distance of the bogie is long, the efficiency of loading and unloading is reduced.

On the other hand, Japanese Unexamined Patent Publication No. Hei 7-309406 describes a method of loading goods in a stacker crane type automatic warehouse in which each unit area is packed with loads of different widths.

[0007]

At first glance, the configuration disclosed in Japanese Patent Application Laid-Open No. Hei 7-309406 seems to be able to effectively use the space on the shelf, but there is a problem in practice. In other words, incoming cargo is always delivered, but because the delivery is done at random, if one of the loads is taken out from a unit area where loads with greatly different widths are mixed, the remaining unit area will be In this case, an incomplete storage space remains, and as a result, each unit area is in a worm-like state, and there is a possibility that improvement in storage efficiency cannot always be expected.

[0008] Further, in retrieving which unit area and which area the load is to be stored in, the control device includes:
Since it is necessary to compare and calculate which groups of loads can be stored in each unit area, it takes time for information processing in the control device, and therefore, the storage processing speed is reduced. The present invention aims to improve these situations.

[0009]

According to the present invention , a hangar provided with multiple shelves in which a number of frontage unit areas capable of storing a plurality of loads are arranged side by side, and loads having different load widths are stored in an arbitrary unit area. In an automatic warehouse equipped with a transfer device that can be taken in and out, as a basic storage mode, loads are classified in advance into a plurality of groups according to a load width, and it is detected which group the received load belongs to. Therefore, only the loads of the same load width group are stored in one unit area .

[0010] More specifically, the transfer device is provided in each stage.
A trolley placed horizontally at the front of the shelf so that it can run horizontally
To transfer the load to the conveyor and each truck.
And a lift arranged near the end of the storage.

[0011] Then, the storage control by the control device,
a. When changing the load on each bogie by the lift
Means that the number of shelves is one cycle,
The transfer destination is assigned so that the turn comes on the dolly.
Come, b. When storing loads on shelves with carts in each stage,
Based on the rear space information, is the unit area close to the exit
The storage destinations are allocated so that the storage destinations are sequentially stored, and c. When storing in the unit area where the load is already stored
In this case, set the storage location to the same
Configuration to assign so that the load of the loop is stored
It has become.

[0012] Incidentally, to the vicinity of one end portion of the hanger may be provided with outlet unit and receiving unit, and a outlet unit and receiving unit may be provided by distributing to the one end and the other end of the hangar.

[0013]

[Operation and Effect] According to the present invention, only loads of the same load width group are stored in one unit area, so that loads can be stored in each unit area as much as possible. The storage efficiency can be improved by effectively utilizing the space.

In storing a load in a unit area in which a load is already stored, it is not necessary to compare the load width and the size of the empty area one by one, and to determine which load width group the unit area is for. Is sufficient, the processing speed in searching for the storage destination by the control device is high, and as a result, the storage speed can be improved.

In the free location method, when a load is first stored in an empty unit area, a load of the same load width group as that of the initially stored load is stored in the unit area. You. When all the loads are taken out from one unit area, the unit area returns to a state in which loads of any load width can be stored.

[0016] In the present invention, since they are going instead place the load in order from lifts in each truck, and can be used each truck efficiently, effectively Goods Movement is an advantage of the bogie system By fully utilizing the advantages of the above, the storage processing efficiency can be improved.

Further, since the goods are sequentially entered from the unit area close to the exit, it is possible to perform the exit quickly.
Outbound processing capacity can also be improved.

[0018]

Next, an embodiment of the present invention will be described with reference to the drawings.

<< Outline of Equipment >> FIG. 1 is a schematic plan view of the automatic warehouse equipment. The automatic warehouse equipment includes a warehouse group in which a number of unit warehouses 1 are arranged side by side, and a carry-in extending along the direction in which the warehouse groups are arranged. A conveyor 2 and an unloading conveyor 3 are provided. In this case, the height of the carry-in conveyor 2 is reduced and the height of the transport conveyor 3 is increased. Both conveyors 2, 3 extend to the transfer zone 4, where the load W is unloaded on the truck.

{Outline of Unit Warehouse} FIG. 2 (A) is a schematic perspective view of one end of the unit warehouse, FIG. 2 (B) is a side view of the unit warehouse 1, and FIG. 3 is a perspective view showing a framework of the hangar. FIGS. 4 and 5 are partial plan views of the unit warehouse. As shown in these figures, the unit warehouse includes a pair of hangars 5 arranged opposite to each other. The hangar 5 includes a multi-stage shelf 8 supported by inner and outer columns 6 and a horizontal frame 7.

On the front surface of the hangar 5, a plurality of rails 9 having the same height as the shelves 8 are provided in multiple stages. I have. Shelf 8 is also supported by rails 9. The rails 9 have a length extending between the adjacent columns 6 and are arranged in series. For this reason, joints between the adjacent rails 9 are located at the columns 6.

The shelves 8 of each stage in the hangar 5 are partitioned by columns 6. Therefore, as shown in FIG. 2 (B) and FIG.
A portion sandwiched between the columns 6 is a unit area 11 having a frontage dimension that can store a plurality of loads W arranged in the frontage direction. For this reason, many shelves 8 of each stage are in a state in which many unit areas 11 are arranged in parallel.

A temporary storage shelf 12 extending from the shelf 8 of each stage is connected to one end of each storage box 5, and a first and a second pair of first and second pairs which rise and fall along a column 13 are provided outside the temporary storage shelf 12. The lift (reservoir) 14 is arranged so as to extend in a straight line with the temporary shelf 12 in plan view. Lift 14 and temporary shelf 12
Is constituted by a conveyor, and the load W can be transferred to the lift 14 and the temporary storage shelf 12 by driving the conveyor.

From the carry-in conveyor 2, two carry-in conveyors 18 are branched toward the respective hangars 5.
Therefore, two delivery conveyors 19 branch toward each storage 5. Each conveyor 18 and 19 is lifted in plan view
It is arranged so as to line up with 14 in series. Needless to say, the incoming conveyor 18 and the outgoing conveyor 19 are stepped.

<< Outline of Cart >> As shown in FIG. 4, the cart 10 is composed of a main body frame 21 formed of a die steel or the like and having a rectangular shape in plan view, and a pair of front and rear wheels connected by an axle 22.
23, a motor 24 for driving one wheel 23, fixed and movable picking devices 25a, 25b extending in a direction perpendicular to the traveling direction, and moving the movable picking device 25b toward the fixed picking device 25a. And a motor 26 for adjustment.

As shown by a dashed line in FIG. 4, both picking devices 25a and 25b are provided with a double-acting moving arm 27 which can move forward and backward toward the shelf 9, and a load is provided at both ends of the moving arm 27. A picker 28 for pushing and pulling W is mounted to be horizontally rotatable. Both picking devices 25 include one motor 29
Driven synchronously.

{Flow of Load} Upon receipt, the load W is (1) Delivery Zone 4, (2)
Loading conveyor 2, (3) Receiving conveyor 18, (4) Lift 14,
(5) Temporary storage shelves 12 in any stage, (6) trolley 10, (7) any unit area 11 in any hangar 5, and so on.

At the time of delivery, the load W is: (1) shelf 8, (2)
The cart 10, (3) the temporary storage shelf 12, (4) the lift 14, (5) the delivery conveyor 19, and (6) the unloading conveyor 3, are taken out to the delivery zone 4 in this order. Needless to say, in the present embodiment, the storage unit and the storage unit are located at the same location.

{Time-Dependent Entry / Exit Control} FIG. 6 shows the relationship between the temporal change of the entry / exit amount and the entry / exit control. The automatic warehouse equipment according to the present embodiment is provided in the morning (for example, 8
Hours) to midnight (for example, from 10 to 24:00), during the first time period from the start of operation to afternoon, there is almost no entry, and there is almost no exit. While the number of warehouses has decreased gradually, a large number of outgoings have occurred, and the movement of automated warehouses has reached its peak. In a third time period from the evening to the end of work, the use mode is such that warehousing is slight while warehousing requests are generated considerably.

Therefore, in order to operate the lift 14 and the truck 10 efficiently according to the ratio of the amount of incoming and outgoing goods, the lift
The drive modes of 14 and the trolley 10 are automatically changed based on the time.

That is, in the first time zone, the warehousing-only mode is the main mode, and if there is a warehousing request, the mode is switched to the combined warehousing and warehousing mode, and the warehousing is performed, and the warehousing request is issued for a certain time (for example, about 5 minutes). If it does not continue, it returns to the original storage-only mode.

In the second time zone, the mode is switched to the entry / exit composite mode. Further, in the third time zone, the warehousing mode is set as the main mode, and if there is a warehousing request, the mode is switched to the warehousing / combining mode, and warehousing is performed. If the warehousing request does not continue for a certain period of time (for example, about 5 minutes), Then, the mode returns to the original delivery-only mode. The specific contents of each mode are as follows.

In the storage only mode, all the four storage conveyors 18 and 19 are in operation, and the two lifts 14
Is set so that as soon as the transfer of the load W to the temporary storage shelf 12 is completed, the load W descends to the location (origin) of the storage conveyor 18 and receives the next load W.
As soon as the load W is stored at a predetermined position, the load W is set to return to the temporary storage shelf 12 (origin).

There are two methods in the entry / exit composite mode.
The first is to divide the two lifts 14 into a warehouse only and a warehouse only, and in this case, the conveyor 18 and the conveyor
19 will be used only one each. Secondly, the loading and unloading is performed by both lifts 14. In this case, the four loading and unloading conveyors 18, 19 are used together.

When the lift 14 is switched between the exit mode and the entry mode in the entry / exit combined mode, it is not possible to instantaneously shift from entry to exit or from exit to entry.
There is a time lag in switching for signal processing time and safety confirmation inside a control system centered on a computer. In addition, it is necessary to wait for the temporary table to become empty for switching.

For efficient entry and exit from the warehouse, it is often desirable to divide the two lifts 14 into dedicated entrances and exclusive exits, and to drive the lifts without any time lag. When the lift 14 is divided into a warehouse and a warehouse, only one conveyor 18 and 19 is used. However, these conveyors 18 and 19 can transport the load W at high speed.
Even if only books are used, the load does not stay.

In the retrieval only mode, the retrieval and retrieval conveyors 18, 1
9 are all up and running. In addition, the two lifts 14 move the branch conveyor immediately after the transfer of the load W to the temporary storage shelf 12 is completed.
It is set so as to descend to 18,19 and receive the next load W. Note that the conveyors 2, 3, 18, and 19 can be transported in two directions, and the transport direction can be changed between a delivery-only mode and a storage-only mode.

{Assignment of Loads to Unit Areas} FIG. 6 shows an allocation state of loads W to the unit areas A and B. The shelf 8 can store a plurality of loads W having different load widths as long as the loads can be loaded on the cart 5.

In this embodiment, the loads W are divided into four groups according to the width of the loads, and one unit area 11 is divided into four groups.
In the meantime, six loads W1 (L ≦ L1) of a small group having a small load width L can be stored, and loads W2 (L1 <L1) of a medium group having a medium load width L can be stored.
≤L2) is a large group load that can store 5 pieces and has a large load width L.
Four pieces of W3 (L2 <L ≦ L3) can be stored, and three pieces of loads W4 (L3 <L ≦ L4) of an oversized group having an oversized load L can be stored.

Therefore, each unit area 11 is equally divided into six storage zones A1 to A6 when storing the load W1 of the small group, and five storage zones B1 to B6 when storing the load W2 of the middle group. It is equally divided into B5 and is equally divided into four storage zones C1 to C4 when storing a large group of loads W3, and evenly divided into three storage zones D1 to D3 when storing an oversized group of loads W4 Classified.

As shown on behalf of the second zone F2 of the extra large group in FIG. 6, in each zone A1... D3, one side of the load W is always in each zone A1.
・ It is located on one side of D3. This is based on the fixed picking device 25a of the carriage 10 as the origin, and each zone A1.
・ This is because the position of D3 is set (this point will be described later).

[Receiving Method] When changing the load W to each truck 10 using the lift 14,
Reloading is performed in order from the trolley 10 at the top to the trolley 10 at the top. Thereby, each truck 10 can be driven uniformly and efficiently without driving being concentrated on the specific truck 10 or causing the idle truck 10 to appear.

When the shelf 8 at a particular stage is full, it cannot be stored in the shelf 8 at that stage, so that it will be mounted on the carriage 10 at the next stage. In addition, when the outgoing requests are concentrated on the load W in a specific stage, the outgoing can be prioritized, and the incoming can be shifted to the next stage.

It is sufficient that the load W is evenly allocated to all the carts 10 in one cycle, and it is not always necessary to go upward from the bottom. Therefore, the order of changing the order from the uppermost cart to the lowermost cart may be adopted, or the order may be changed in a jumping state.

Although not shown, for example, a sensor such as a photoelectric switch group is provided at an appropriate position such as the end portion of the storage conveyor 18 or the temporary storage shelf 12 to determine which load width group the load W belongs to. Make sure it can be detected. A sensor may be provided on the carriage 10 to detect the width of the load when transferring from the lift 14.

In allocating storage destinations (movement destinations of the carriage 10) in each stage, as shown by a dashed-dotted arrow S in FIG. The storage areas 11 that can be stored in both storages 5 are alternately searched in order from the unit area 11 near the lift 14.

Accordingly, as shown in FIG. 8, when one storage 5 is displayed in one row, the other storage 5 is displayed in two rows, and the positions of the unit areas 11 facing in the horizontal direction are displayed in series, the loads W are stored in the order of loading. In doing so, the storage location of the first load W is
1 row 1 row 1 row → 2 row 1 row 1 row → 1 row 1 row 2 row → 2 row 1 row 2 row → 1 row 1 row 3 row ... 2 row 1 row n row , The storage location of the second load is 1 row, 2 tiers, 1 row →
The search is performed in the order of 2 rows 2 rows 1 row → 1 row 2 rows 2 rows → 2 rows 2 rows 2 rows → 1 row 2 rows 3 rows ... 2 rows 2 rows n rows.

The search for the zones A1 to FD in each unit area 11 is also performed in the order of proximity to the lift 14 (accordingly, also in each unit area 11, the zones are stored in order from the zone closest to the lift 14).

Therefore, the storage address in the unit warehouse 1 is
Specified by four types: row, column, ream, and zone. When stored, the address and the specific code of the load W are stored as a pair in the control device (computer). The width groups are stored in pairs in the control device.

In storing a load W having a load width in one stage, if no load of the same load width group is stored in any of the unit areas 11, the lift 14 of the empty unit area 11 is stored in the lift 14. It is stored in the nearest unit area 11. A unit area 11 where a load W of the same group as the load W to be stored is located
If there is an empty zone in the unit area 11, the load W is stored in preference to the unit area 11 having the empty zone. When there are a plurality of unit areas 11 each having an empty zone in the same level, the unit areas 11 closer to the lift 14 are stored with priority.

When all the loads W stored in one unit area 11 are taken out, the storage related to the group is deleted, and the unit area 11 returns to a state in which loads of any group can be stored.

{Specific Example} A specific example of allocation of the storage destination of the load W will be described. Explanation below
In displays with integers starting the loading order of the load W 1, among the small, the group including load, large displays and JP (substantially oversized), when a large of the luggage has flowed example the fifth " 5
Large " .

Then, with the hangar completely empty, FIG.
Suppose that the load W has flowed in the order of “1 characteristic → 2 characteristic → 3 small... 41 medium → 42 medium → 43 characteristic” as shown in FIG.

In this case, assuming that the number of shelves is five, the loads W are allocated as shown in FIG.
By following the numbers in ascending order, it can be seen that the loads W are stored in order from the lower row to the upper row. Further, when the loads W of the same group are already stored in the unit area at the same level, it can be understood that the loads W are collectively stored in the unit area 11 near the lift 14.

In the combined entry / exit mode, if there is a request for entry and exit at the same stage, it is desirable that the carriage 10 enter on the outward route and exit on the return route.

{Processing During Entry / Exit Peak} In the second time zone in FIG. 7, entry / exit is concentrated and the movement of the automatic warehouse is in the peak state. In this state, the transport conveyor 2 sequentially loads the cargo W. , And a demand for leaving the warehouse has been issued one after another.

The truck for entry can be forwarded without waiting for the storage of the load W in the storage 5, but the truck for retrieval must wait until the load W arrives.
In order to speed up the delivery and reduce the cost, it is necessary to load the goods W to the delivery truck as quickly as possible, giving priority to the delivery.

Therefore, as means for operating the truck 10 efficiently, the operation ratio of the delivery / reception of the truck 10 in each stage (the ratio of the number of exits / receptions per unit time) to the shelf 8 of the stage is described. Is changed according to the ratio of the number of loads that can be stored in For example, the number of storages
If 50% is stored, the number of exits is made larger than the number of entrances at a ratio of about 5: 3.

Thus, the full capacity of the lift 14 and the bogie 10 can be fully utilized, and a large number of loads W can be unloaded while keeping the loads W in the carry-in paths 2 and 18 as small as possible.

<< Others >> In the above description, the storage section and the storage section are provided at one end of the storage, but as shown by the dashed line in FIG. 19 and the carry-out conveyor 3 may be provided, and the incoming and outgoing units may be arranged separately on both sides of the hangar. In this case, the storage destination of the load W is sequentially allocated from the unit area on the left side to the unit area on the right side in FIG.

The lift and the temporary shelves are not limited to the conveyor system shown in the figure, but may be a pusher system or the like. The present invention is also applicable to a stacker crane type automatic warehouse.

Control of Stopping Position of Bogie Next, control of the stopping position of the bogie 10 will be described with reference to FIGS.
This will be described with reference to FIG.

Incidentally, in an automatic warehouse, it is necessary to accurately stop a moving body for transfer such as a stacker crane or a bogie at a predetermined position on a shelf. As a stopping means for this, for example, in Japanese Unexamined Patent Publication No. 7-237718, in a stacker crane type automatic warehouse, in addition to detecting the traveling position of the stacker crane with a rotary encoder, a mark provided on a shelf is attached to the stacker crane. It is described that reading is performed by a sensor provided in the above.

On the other hand, in JP-A-3-143805, as a means for reading a mark, a stacker crane is provided with two sensors corresponding to one end and the other end of the mark, and these sensors are turned on. The stop position is used as the stop condition, and the marks are counted by both sensors.
It describes that a rough position of a stacker crane is detected.

The use of both a rotary encoder and a sensor as disclosed in Japanese Patent Application Laid-Open No. 7-237718 is that the traveling distance of the stacker crane and the bogie is long, and the rollers of the rotary encoder slip or float off the rail. This is because the traveling position may not be accurately detected with only the rotary encoder.

Further, in Japanese Patent Application Laid-Open No. 3-143805, two sensors detect a mark because a stacker crane or a trolley travels at high speed. This is because while the width dimension is required, the range that can be detected by the sensor is small, and if there is only one sensor, the sensor remains ON over a wide range of the mark, resulting in a large error. .

However, in the conventional configuration in which the stop position is confirmed and the marks are counted by using two sensors, there is a problem that the marks cannot be counted at high speed unless an expensive sensor with high accuracy is used. there were. The stop position control device and method according to the present embodiment can solve this problem .
Wear.

In the present embodiment, a shelf and a transfer truck (an example of a moving body) that runs on a rail provided along the front surface of the shelf are provided. In an automatic warehouse provided with a rotary encoder provided with rollers, the rails (or members provided along the rails) are provided with a large number of marks for confirming the stop positions of the bogies at appropriate intervals, while the bogies are provided on the bogies. , A sensor group including a first sensor corresponding to one end of the mark, a second sensor corresponding to the other end of the mark, and a third sensor disposed between the two sensors. Has become.

The stop position detecting device having this structure detects the stop position of the bogie using the first sensor and the second sensor, and corrects the deviation of the detected value of the travel position by the rotary encoder based on the stop position. Further, by counting the mark by a plurality of sensors of the first sensor and the third sensor or the second sensor and the third sensor,
It can be used in such a way that the approximate running position of the cart is detected.

According to the present embodiment, two of the three sensors are used for confirming the stop position and for counting the marks, so that even if a high-precision and expensive high-speed sensor is not used, the cost can be reduced. The mark can be counted at a high speed using a simple general-purpose sensor, and as a result, the transportation speed of the load can be increased to improve the loading / unloading efficiency.

In addition, since a sensor with low accuracy can be used, a seam of the rail is not erroneously detected as a mark, and erroneous detection can be prevented. Next, FIG.
A specific configuration will be described based on FIG.

A. Overview FIG. 11 is a plan view of the trolley 10, and FIG.
FIG. 2B is a sectional view taken along line BB of FIG. 2A, and FIG. 2B is a sectional view taken along line BB of FIG. 2A. An encoder device 31 is provided near one wheel 23 of the bogie 10 as shown in both figures. The encoder device 31 includes a roller 33 that rolls on the rail 9 and a rotary encoder 34 that counts the rotation of the roller 33 as a pulse. By converting the number of pulses counted by the rotary encoder 34 into a distance, , The position of the trolley 10 (ie,
The distance from the reference position (origin position) can be detected.

FIG. 13 is a sectional view taken along the line XIII--XIII of FIG.
Of (A), (A) is an IVA-XIVA view of FIG. 13, and (B) is an IV of FIG.
It is a B-XIVB view, and as shown in these figures, the rail 9
A number of notches 32a, 32b,... 32h are formed in the inner plate 9c as an example of the mark described above. On the other hand, trolley 10
The body frame 21 is provided with three sensors S1, S2, S3 for detecting the notches 32a, 32b,..., 32h.
The sensors S1, S2, S3 can use a reflection type or the like.

B. As shown in FIG. 14 (A), notches 32a, 32b... 32h have different intervals. This will be described first.

The shelves 8 can store loads W of different sizes. In this case, one unit area 11 stores loads W of the same size group. . Therefore, as schematically shown in FIG. 15, for example, three loads W are stored in one unit area 11,
The number of loads W that can be stored in the unit area differs depending on the size of the load W, such as storing individual loads W.

In this case, the unit area is equally divided by the maximum number of loads W that can be stored, and a storage zone is set for each load W. In this case, in this embodiment, the movable carriage 5 is controlled so that the fixed picking device 25a is located at the end of each storage zone.

That is, in the case of FIG. 15, as can be easily understood from the comparison between the display of the solid line and the dash-dot line, the load W is based on the right end for each mounting space regardless of its size. And stored. At least the arms of the picking devices 25a and 25b are provided between the adjacent loads W and between the load W positioned at the end and the inner vertical frame 6.
There is a gap of space E for 26 to pass.

Since the rail 9 has the same structure in all the unit areas 11, it is necessary to be able to detect the reference position of each storage zone no matter how many loads W are placed on each unit area 11. . In this case, if the interval between the notches 32a is set to a short dimension such as 50 mm or 100 mm, notches corresponding to all the storage zones can be set.

However, since the mobile trolley 10 travels at high speed, the width S of each of the notches 32a, 32b... Needs to be, for example, about 80 mm in order to reliably detect with the sensors S1, S2, S3. Therefore, there is naturally a limit in reducing the interval between the notches 32a, 32b....

Therefore, the intervals P1, P of the notches 32a, 32b...
2 so that even if the unit area is divided into any number of storage zones, as shown in FIG. 15, all storage zones are set so as to overlap with any of the notches 32a, 32b, etc. I have. In other words, it is set so that one notch is used for detecting a plurality of storage zones. Thus, the reference positions of all the storage zones can be detected with a small number of notches 32a, 32b,....

As shown in FIG.
And the length of the rail 9 (the distance between the axes of the adjacent inner vertical frames 6) is 26.
In the case of about 00 mm, the stop reference position of each storage zone can be detected by setting P1 = 200 mm and P2 = 400 mm. The following is a description of specific loading and unloading of the load W just in case.

[0082] c. For example, when six loads W are put in and taken out, 6 of A1 to A6
Since there are two storage zones, the first storage zone A1 detects the reference position with the first notch 32a, and the second storage zone A2 detects the reference position with the second notch 32b. Six notches other than 32g are used for detection.

Since the distance between each of the notches 32a, 32b... And the end of each of the storage zones A1, A2... Is known, after detecting each of the notches 32a, 32b. By correcting the position of the mobile trolley 5 based on the interval dimension,
The fixed picking device 26a is provided in each storage zone A1, A2,...
Is controlled to be located at the end of the.

When five loads W are stored, there are five storage zones B1, B2,..., And five notches 32a, 32b, which overlap with these storage zones B1, B2,. 32d,
Use 32f and 32g for detection.

The detection of the positions of the four storage zones C1, C2, C3, and C4 when four loads W are stored, and the detection of the positions of the three storage zones D1, D2, and D3 when three loads W are stored. The position is also detected by using one of the notches.

[0086] d. Relationship between Notch and Sensor The relationship between the three sensors S1, S2, S3 and the notch is shown in FIG. 14 (B). In this figure, the notch code is unified to 32, and will be indicated as 32 in the following description.

The three sensors S 1, S 2, S 3 are provided at the center of the first sensor S 1 corresponding to one end of the notch 32, the second sensor S 2 corresponding to the other end of the notch 32, and the center of the notch 32. The relationship is the corresponding third sensor S3, and the correction (correction) of the distance based on the number of pulses of the rotary encoder 34 is performed with the reference position when the first sensor S1 and the second sensor S2 are ON.

Then, when traveling to the storage zone of the target unit area 11 by counting the notches 32, the first sensor S1 and the third
Sensor S3 (or second sensor S2 and third sensor S3)
When both are turned on, counting is performed by passing through one notch 32.

More specifically, when traveling in the direction of arrow A in FIG. 14B, the first sensor S1 and third sensor S3 are used, and when traveling in the direction of arrow B, The counting is performed using the second sensor S2 and the third sensor S3.

Then, after detecting the notch 32 just before the target storage zone, the speed is reduced and stopped when both the first sensor S1 and the second sensor S2 are turned on. Figure
16 shows a flowchart of the control of the traveling of the carriage 10. In the figure, S is an abbreviation for step. The mark count in step 3 indicates the count of the notch 32 at the target storage zone.

The mark means is not limited to the notch, but may be other means such as a projection or a reflection sheet.

[Brief description of the drawings]

FIG. 1 is a schematic plan view of an automatic warehouse facility.

2A is a perspective view of a unit warehouse, and FIG. 2B is a side view.

FIG. 3 is a perspective view showing a framework of a hangar.

FIG. 4 is a partial plan view of a unit warehouse.

FIG. 5 is a schematic plan view of a hangar.

FIG. 6 is a diagram showing a pattern of allocating a load to a unit area.

FIG. 7 is a diagram showing a relationship between a time and an entry / exit mode.

FIG. 8 is a perspective view showing how to display a unit area group.

FIG. 9 is a diagram showing an example of a load receiving order.

FIG. 10 is a diagram showing an example of allocation of storage destinations of a load.

FIG. 11 is a plan view of the cart.

12A is a sectional view taken along the line XII-XII of FIG. 11, and FIG.
FIG. 3 is a sectional view taken along line BB of FIG.

13 is a sectional view taken along the line XIII-XIII of FIG.

14 (A) is a XIVA-XIVA view of FIG. 13, (B) is a view of FIG.
It is a XIVB-XIVB view.

FIG. 15 is a diagram showing a relationship between the size of a load and a storage position.

FIG. 16 is a flowchart of a traveling control of the bogie.

[Explanation of symbols]

1 unit warehouse 2 Loading conveyor 3 unloading conveyor 5 Hangar 10 bogies 11 Unit area A1 to D3 storage zone 14 lift 18 Receiving conveyor 19 Outbound conveyor

Claims (1)

(57) [Claims] 1. A hangar provided with multiple shelves each having a number of frontage unit areas in which a plurality of loads can be stored, and a transfer device capable of loading and unloading loads having different widths into and from an arbitrary unit area.
And, a control device for controlling the transfer device is provided, the load is classified into a plurality of groups in advance according to the load width,
Detects which group the received cargo belongs to, and stores only the cargo of the same cargo width group in one unit area.
An automatic warehouse in which the loading control is performed such that the transfer device moves horizontally to the front of each shelf.
Load the trolleys arranged freely, the transport conveyor and each trolley.
Lift located near the end of the hangar to reload
And the storage control by the control device includes: a. When changing the load on each bogie by the lift
Means that the number of shelves is one cycle,
The transfer destination is assigned so that the turn comes on the dolly.
Come, b. When storing loads on shelves with carts in each stage,
Based on the rear space information, is the unit area close to the exit
The storage destinations are allocated so that the storage destinations are sequentially stored, and c. When storing in the unit area where the load is already stored
In this case, set the storage location to the same
An automatic warehouse that is configured to assign the load of the loop to be stored .