JP7213765B2 - Container storage system and container - Google Patents

Description

The present invention relates to container storage systems and containers.

Conventionally, automatic transport robots such as AGV (Automatic Guided Vehicle) and AS/RS (Automated Storage and Retrieval System) have been introduced in goods storage facilities such as distribution warehouses. Efforts have been made to streamline operations.

For example, in Non-Patent Document 1, an AGV operates on the upper surface of a rigid-frame rack constructed from frame members based on predetermined control information, etc., and conveys one or more containers downward from the upper surface of the rack. A container storage system is described that stores the container by

"AutoStore", [online], [searched May 7, 2019], Internet <URL: https://autostoresystem.com/>

However, in the container storage system disclosed in Non-Patent Document 1, if the height of the racks is increased in order to effectively use the space in the warehouse, even if the number of containers to be stored decreases according to the operating conditions, construction However, it was not possible to lower the height of the rack that was used. In addition, it is necessary for the transport robot to perform precise control so that the length of extension of the robot hand for loading and unloading containers differs according to the amount of stored containers. There was a problem that the frequency of maintenance of the mechanism increased.

SUMMARY OF THE INVENTION The present invention has been made to solve such conventional problems, and it is an object of the present invention to provide a container storage system and a container that can lower the rack level without reducing the container storage capacity. and Another object of the present invention is to provide a container storage system and a container that can simplify the control of the transport robot regardless of an increase or decrease in the amount of stored containers.

A container storage system according to the present invention comprises a container having a storage section, a first projecting member arranged on a side surface of the storage section, a frame member having an opening, a support member supporting the frame member, and a frame member. a rack portion having a second projecting member arranged on the opening side of the container; a mounting portion for mounting the container; and moving the container vertically while the container is mounted on the mounting portion. and a transport robot having a drive mechanism capable of The first projecting member is arranged in the storage part and the second projecting member is arranged so that the container can be held in the rack part by locking the first projecting member once passed by the second projecting member. is placed on the frame member.

Further, in the container storage system according to the present invention, the container has a rectangular bottom plate having two opposing first sides and two opposing second sides, and side plates joined to the first sides. The part is composed of a bottom plate and two side plates, a first projecting member joined to the outer surface of each side plate and having a first predetermined width and a first predetermined length, and a second projecting member having a second predetermined width and a first predetermined length. Having a second predetermined length, the opening has two opposing first opening sides longer than a length obtained by adding the second predetermined width to the length of the first side, and the first predetermined length and the second predetermined length. Longer than the length obtained by adding twice the longer one of them to the length of the second side and longer than the length obtained by adding twice the total value of the first predetermined length and the second predetermined length to the length of the second side It is preferable that the second projecting member is joined to a portion corresponding to each of the first opening sides.

Further, in the container storage system according to the present invention, when another container is held in the rack section, the transport robot moves the container upward so that the top of the container pushes up the other container. After the container with the container placed thereon passes through the opening, the container is moved such that the first projecting member is engaged with the second projecting member, thereby removing other vertically stacked containers and Preferably, the container is held in a rack section.

Further, in the container storage system according to the present invention, it is preferable that the rack unit can hold a predetermined upper limit number of containers stacked vertically.

Further, in the container storage system according to the present invention, it is preferable that each frame member has a plurality of rack portions installed in a grid pattern on a horizontal plane.

Moreover, in the container storage system according to the present invention, it is preferable that the rack section has a guide member capable of supporting the container above the frame member.

Further, in the container storage system according to the present invention, the placing section can vertically stack a predetermined upper limit number of containers for placement, and the supporting member is configured so that another container can be placed on the rack section. It is preferable to have a height such that the transport robot, which has placed the upper limit number of containers on the placing portion, can enter below the frame member while being held.

Further, in the container storage system according to the present invention, the container has one of a plurality of preset heights, and the transport robot has a height indicating the height of the container to be transported. Based on the height information, the container is preferably moved upward so that the container is held in the rack section.

A container according to the present invention is a container that is transported by a transport robot, and is a frame member having a rectangular opening having two opposing first opening sides and two opposing second opening sides; a second projecting member joined to a portion of the member corresponding to each first opening side and disposed on the side of the opening and having a second predetermined width and a second predetermined length; the first opening side and the second opening side; and a support member for supporting the frame member so that it is substantially horizontal, the container held in the rack portion having a rectangular bottom plate having two opposing first sides and two opposing second sides and a side plate joined to each of the two first sides, and a first projecting member joined to the outer surface of each side plate and having a first predetermined width and a first predetermined length, wherein the first side is connected to the first The second side is shorter than the length obtained by subtracting 1/2 of the total value of the first predetermined width and the second predetermined width from the length of the opening side, and the second side is the length of the second opening side. Shorter than the length obtained by subtracting the length of the second side from twice the length of the predetermined length, and four times the length of the length of the second opening side to the length of the length of the first predetermined length or the second predetermined length is longer than the length obtained by subtracting , and when the container is moved from below to above the frame member by the transport robot, the first projecting member passes through the opening, and the first projecting member that has once passed through the opening becomes the first The first projecting member is joined to the side plate and the second projecting member is joined to the frame member so that the container is held in the rack portion by engaging the two projecting members.

With the container storage system and the container according to the present invention, it is possible to lower the rack without reducing the storage capacity of the container. In addition, the container storage system and the container according to the present invention make it possible to simplify the control of the transport robot regardless of the amount of containers stored.

It is a figure which shows an example of the perspective view of a container. It is a figure which shows an example of the perspective view of a rack part. It is a figure which shows an example of the perspective view of a conveyance robot. It is a figure which shows an example of schematic structure of a conveyance robot. FIG. 4 is a schematic diagram for explaining how a transport robot transports a container to a rack section; FIG. 4 is a schematic diagram for explaining how a transport robot transports a container to a rack section; (a) is a diagram showing an example of a top view of the rack portion when the container passes through the opening; (b) is a diagram of the rack portion for explaining the first and second opening sides of the opening; It is a figure which shows an example of a top view. FIG. 4 is a diagram showing an example of a top view of the frame member in a state where the container is held by the rack section; FIG. 4 is a schematic diagram for explaining how a transport robot transports a container to a rack section; FIG. 4 is a schematic diagram for explaining how a transport robot transports a container to a rack section; FIG. 4 is a schematic diagram for explaining how a transport robot transports a container to a rack section; FIG. 3 is a schematic diagram for explaining a state in which a rack part stacks and holds a plurality of containers 2; FIG. 4 is a schematic diagram for explaining a state in which a plurality of racks stack and hold a plurality of containers; FIG. 4 is a schematic diagram for explaining a state in which a plurality of racks stack and hold a plurality of containers; FIG. 5 is a schematic diagram for explaining a state in which a rack portion having a guide member holds a plurality of stacked containers. FIG. 5 is a schematic diagram for explaining a state in which a rack part stacks and holds a plurality of containers having different heights; FIG. 4 is a schematic diagram for explaining how the transport robot transports two containers to the rack section;

Various embodiments of the present invention will now be described with reference to the drawings. However, it should be noted that the technical scope of the present invention is not limited to those embodiments, but extends to the invention described in the claims and equivalents thereof.

A container storage system 1 of this embodiment includes at least one or more containers 2 , a rack section 3 for storing the containers, and a transport robot 4 for transporting the containers 2 .

FIG. 1(a) is a diagram showing an example of a perspective view of the container 2 seen obliquely from above, and FIG. 1(b) is a diagram showing an example of a perspective view of the container 2 seen from obliquely below. The container 2 stores a group of goods (lots) classified based on the type and/or delivery destination. The container 2 may store one item, or may store multiple types of items or items for multiple delivery destinations.

The container 2 has a bottom plate 21, vertical side plates 22 (22a, 22b), horizontal side plates 23 (23a, 23b), and first projecting members 24 (24a, 24b). The shape of the upper and lower surfaces of the bottom plate 21 is a rectangular shape having two opposing vertical sides 211 (211a, 211b) and two opposing horizontal sides 212 (212a, 212b). A storage portion is configured by the bottom plate 21, the vertical side plates 22 (22a, 22b), and the horizontal side plates 23 (23a, 23b).

Each of the vertical side plates 22a and 22b is joined to a top portion or a side portion corresponding to the vertical sides 211a and 211b of the bottom plate 21 . The lateral side plates 23a and 23b are joined to the top or side portions corresponding to the lateral sides 212a and 212b of the bottom plate 21, respectively. The vertical side plates 22 (22a, 22b) and the horizontal side plates 23 (23a, 23b) are joined to the bottom plate 21 so as to stand vertically upward when the bottom plate 21 is placed parallel to a horizontal plane.

Adjacent vertical side plates 22 and horizontal side plates 23 are joined. The vertical side plates 22 and the horizontal side plates 23 may be manufactured by integral molding. Also, the bottom plate 21, the vertical side plates 22, and the horizontal side plates 23 may be manufactured by integral molding.

If the container 2 can accommodate articles, the adjacent vertical side plates 22 and horizontal side plates 23 may not be joined. Further, if the container 2 can store articles, the container 2 does not have to include at least one of the lateral side plates 23a and 23b.

The first protruding members 24a and 24b are joined to the respective outer surfaces of the longitudinal side plates 22a and 22b. The first projecting members 24a and 24b and the vertical side plates 22a and 22b may be manufactured by integral molding. The first projecting member 24 (24a, 24b) has a first predetermined width W1 and a first predetermined length L1. The first projecting members 24 a and 24 b are arranged on the same plane parallel to the bottom plate 21 .

The number of first projecting members 24a joined to the vertical side plate 22a may be one or two or more. When a plurality of first projecting members 24a are joined to the vertical side plate 22a, the plurality of first projecting members 24a are joined at positions on the same plane parallel to the bottom plate 21. As shown in FIG.

The number of first projecting members 24b joined to the vertical side plate 22b may be one or two or more. When a plurality of first projecting members 24b are joined to the vertical side plate 22b, the plurality of first projecting members 24b are joined at positions on the same plane parallel to the bottom plate 21. As shown in FIG.

When three or more first projecting members 24a are joined to the vertical side plate 22a, the three or more first projecting members 24a are connected to the vertical side plate 22a such that the intervals between two adjacent first projecting members 24a are all substantially the same. 22a. When three or more first projecting members 24b are joined to the vertical side plate 22b, the three or more first projecting members 24b are connected to the vertical side plate 22b such that the intervals between two adjacent first projecting members 24b are all substantially the same. 22b. The interval between two adjacent first projecting members 24 is longer than a second predetermined width W2 of a second projecting member 33, which will be described later.

The plurality of first projecting members 24 a and the plurality of first projecting members 24 b may be joined to the vertical side plates 22 a and 22 b so as to be positioned on multiple planes parallel to the bottom plate 21 . For example, in the example shown in FIG. 1A, the upper surfaces of the plurality of first projecting members 24a and the plurality of first projecting members 24b are positioned on the same plane as the upper surfaces of the vertical side plates 22 and the horizontal side plates 23. As such, the plurality of first projecting members 24a and the plurality of first projecting members 24b are joined to the vertical side plates 22a and 22b. In addition, when the lower surfaces of the plurality of first projecting members 24a and the plurality of first projecting members 24b are positioned on the same plane as the lower surface of the bottom plate 21, the lower ends of the outer surfaces of the vertical side plates 22 are provided with the plurality of first projecting members 24a and 24b. One projecting member 24a and a plurality of first projecting members 24b are joined. In addition, the plurality of first projecting members 24a and the plurality of first projecting members 24b are arranged such that the lower surfaces of the plurality of first projecting members 24a and the plurality of first projecting members 24b are positioned on the plane between the upper surfaces of the vertical side plates 22 and the horizontal side plates 23 and the lower surface of the bottom plate 21. The first projecting member 24a and the plurality of first projecting members 24b may be joined to the vertical side plates 22a and 22b.

FIG. 2 is a diagram showing an example of a perspective view of the rack portion 3 as viewed obliquely from above. The rack section 3 holds the container 2 transported by the transport robot 4 .

The rack portion 3 has container receiving members 31 (31a, 31b), crosspiece members 32 (32a, 32b), second projection members 33 (33a, 33b), and support members 34 (34a, 34b, 34c, 34d). .

The container receiving members 31 (31a, 31b) and the crosspiece members 32 (32a, 32b) are both rod-shaped, and are supported by the supporting members 34 so that their longitudinal directions are parallel to the horizontal plane.

Four support members 34 are installed on the floor of the item storage facility. The installation positions of the four support members 34 are substantially the same as the four vertex positions of a specific rectangular shape. The four support members 34 are installed so as to stand vertically from the floor surface. The upper end of the support member 34a supports the container receiving member 31a and the rail member 32a. The upper end of the support member 34b supports the container receiving member 31a and the rail member 32b. The upper end of the support member 34c supports the container receiving member 31b and the rail member 32a. The upper end of the support member 34d supports the container receiving member 31b and the rail member 32b.

The container receiving members 31 (31a, 31b) and the crosspiece members 32 (32a, 32b) may be installed so as to be fixed to the support member 34, or may be installed so as to be detachable from the support member 34. The support member 34, the container receiving members 31 (31a, 31b) and the rail members 32 (32a, 32b) may be manufactured by integral molding.

An opening 35 through which the container 2 can pass is formed by the container receiving members 31 (31a, 31b) and the crosspiece members 32 (32a, 32b). The container receiving members 31 (31a, 31b) and the crosspiece members 32 (32a, 32b) are examples of frame members. Hereinafter, the container receiving members 31 (31a, 31b) and the crosspiece members 32 (32a, 32b) may be referred to as frame members. The frame member may be composed only of the container receiving members 31a and 31b. The frame member may be composed of container receiving members 31a and 31b and one of crosspiece members 32a and 32b.

The second projecting members 33a and 33b are joined to the opening 35 side surfaces of the container receiving members 31a and 31b. The second projecting members 33a and 33b and the container receiving members 31a and 31b may be manufactured by integral molding. The second projection member 33 (33a, 33b) has a second predetermined width W2 and a second predetermined length L2. The second projecting members 33a and 33b are arranged on the same plane substantially parallel to the horizontal plane.

The number of second projecting members 33a joined to the container receiving member 31a may be one or two or more. When a plurality of second projecting members 33a are joined to the container receiving member 31a, the plurality of second projecting members 33a are joined at positions on the same plane parallel to the horizontal plane.

The number of second projecting members 33b joined to the container receiving member 31b may be one or two or more. When a plurality of second projecting members 33b are joined to the container receiving member 31b, the plurality of second projecting members 33b are joined at positions on the same plane parallel to the horizontal plane.

When three or more second projecting members 33a are joined to the container receiving member 31a, the three or more second projecting members 33a are connected to the container such that the intervals between two adjacent second projecting members 33a are all substantially the same. It is joined to the receiving member 31a. When three or more second projecting members 33b are joined to the container receiving member 31b, the three or more second projecting members 33b are connected to the container such that the intervals between two adjacent second projecting members 33b are all approximately the same. It is joined to the receiving member 31b. The interval between two adjacent second projecting members 33 is longer than the first predetermined width W1 of the first projecting member 24 .

FIGS. 3A and 3B are diagrams showing an example of a perspective view of the transport robot 4 as seen obliquely from above, and FIG. 4 is a diagram showing an example of a schematic configuration of the transport robot 4. FIG. The transport robot 4 is, for example, an AGV. The transport robot 4 may be a transport vehicle operated by a user. The transport robot 4 can move the container 2 from a predetermined lower limit height to a height equal to or less than a predetermined upper limit height, and from a height equal to or less than the predetermined upper limit height to a predetermined lower limit height. In the example shown in FIG. 3A, the transport robot 4 places the container 2 at a predetermined lower limit height, and in the example shown in FIG. The container 2 is moved to the height of .

The transport robot 4 has a placement section 41 , a carriage section 42 and a driving mechanism 43 . The mounting portion 41 is a plate-shaped stand for mounting the container 2 on the upper surface thereof. The truck section 42 has a moving device 421 , a sensor device 422 , a driving device 423 and a control device 424 . The driving mechanism 43 is connected to the lower surface of the mounting portion 41 and provided on the upper portion of the carriage portion 42 . The driving mechanism 43 is, for example, a known scissors-type lifter having a pair of X-shaped pantograph arms, and the driving mechanism 43 moves the placement section 41 vertically up and down. The drive mechanism 43 may be an electric lifting mechanism such as an electric actuator. The driving mechanism 43 may be any mechanism as long as the mounting section 41 can be moved up and down.

The moving device 421 is, for example, a motor, and rotates the wheels 4211 via a drive transmission mechanism (not shown) to move the transport robot 4 on the floor surface.

The sensor device 422 is a sensor device for acquiring information indicating the position of an environmental object such as an obstacle. Sensor device 422 is, for example, a laser radar. The sensor device 422 may be an ultrasonic sensor.

The sensor device 422 may be a magnetic sensor for detecting a magnetic field generated by an alternating current flowing through an electromagnetic induction wire embedded in the floor of the article storage facility. The sensor device 422 may be a magnetic sensor for detecting magnetic flux generated by a magnetic tape attached to the floor surface of the article storage facility as a guide line indicating the travel route. The sensor device 422 may be an optical sensor for detecting a light reflecting tape attached to the floor surface of the article storage facility as a guide line indicating the travel route.

The drive device 423 is, for example, a hydraulic pump if the drive mechanism 43 is operated by a hydraulic cylinder (not shown). The driving device 423 may be an electric motor when the driving mechanism 43 is an electric lifting mechanism.

Controller 424 is, for example, a computer. The control device 424 has a control section 4241 and a storage section 4242 . The control unit 4241 is, for example, a CPU (Central Processing Unit), and the storage unit 4242 includes semiconductor memory devices such as ROM (Read Only Memory) and RAM (Random Access Memory).

The control unit 4241 stores in the storage unit 4242 control information from a control terminal (not shown) placed in the article storage facility. Control information from the control terminal is obtained, for example, through wireless communication. The control unit 4241 causes the moving device 421 to rotate the wheels 4211 and the like according to the control information stored in the storage unit 4242, and moves the transport robot 4 to the position of the rack unit 3 included in the acquired control information. The control unit 4241 instructs the moving device 421 and the driving device 423 to perform various operations for holding the container 2 on the rack unit 3 .

5 and 6 are schematic diagrams for explaining how the transport robot 4 transports the container 2 to the rack section 3. FIG.

As shown in FIG. 5( a ), the transport robot 4 with the container 2 placed on the placement section 41 moves below the opening 35 of the rack section 3 according to the control information stored in the storage section 4242 . do. In the example shown in FIG. 5A, the transport robot 4 passes between the support members 34b and 34d and enters below the opening 35. In the example shown in FIG.

When the carrier robot 4 moves the placing section 41 upward, the container 2 placed on the placing section 41 can pass through the opening 35 (the first projecting member 24 of the container 2 is It stops at a position on the floor where it does not collide with the second projecting member 33 of the rack portion 3 . For example, the storage unit 4242 stores information about the stop position on the floor of the article storage facility, and the control unit 4241 controls the moving device 421 based on the stored information.

As shown in FIG. 5B , the controller 4241 of the transport robot 4 causes the lower end of the first projecting member 24 of the container 2 placed on the placing portion 41 to match the upper end of the second projecting member 33 of the rack portion 3 . The driving device 423 is controlled so as to move the mounting portion 41 upward to a height higher than the height.

As shown in FIG. 6A , the controller 4241 of the transport robot 4 controls that the first projecting member 24 of the container 2 placed on the placing unit 41 is positioned vertically above the second projecting member 33 of the rack unit 3 . The moving device 421 is controlled so as to be positioned.

As shown in FIG. 6B, the control section 4241 of the transport robot 4 controls the drive device 423 to move the placement section 41 downward. Then, the first projecting member 24 of the container 2 that has moved downward together with the placing portion 41 is engaged with the second projecting member 33 of the rack portion 3 .

In this way, the first projecting member 24 of the container 2 passes through the opening 35 , the first projecting member 24 that once passed through the opening 35 is locked by the second projecting member 33 , and the container 2 is attached to the rack portion 3 . retained. A projection may be provided on the lower surface of the first projecting member 24 (that is, the surface that is engaged with the second projecting member 33). In this case, the upper surface of the second projecting member 33 (that is, the surface that engages the first projecting member 24) may be provided with a hole into which the projection provided on the lower surface of the first projecting member 24 is fitted. . Also, the lower portion of the first projecting member 24 (that is, the portion locked to the second projecting member 33) may be tapered. In this case, the upper surface of the second projecting member 33 (that is, the surface for engaging the first projecting member 24) may be provided with a hole into which the tapered portion of the first projecting member 24 is fitted. As a result, the lower portion of the first projecting member 24 fits into the upper portion of the second projecting member 33 , so that the first projecting member 24 is locked to the second projecting member 33 without shifting.

FIG. 7A is a diagram showing an example of a top view of the frame member when the container 2 passes through the rack section 3. FIG. In the example shown in FIG. 7A, the container 2 has five first projecting members 24a and five first projecting members 24b, and the rack portion 3 has five second projecting members 33a and five second projecting members 33a. 2 projecting member 33b. The distance between two adjacent first projecting members 24a, the distance between two adjacent first projecting members 24b, the distance between two adjacent second projecting members 33a, and the distance between two adjacent second projecting members 33b are respectively They are almost identical.

FIG. 7B is a diagram showing an example of a top view of the rack section for explaining the first opening side 351 and the second opening side 352 of the opening 35. As shown in FIG.

As shown in FIG. 7B , the opening 35 has a first opening side 351 and a second opening side 352 . The container receiving members 31 (31a, 31b) and the beam members 32 (32a, 32b) are supported by the support member 34 so that the first opening side 351 and the second opening side 352 are substantially horizontal. The length L351 of the first opening side 351 is longer than the sum of the length L211 of the vertical side 211 (211a, 211b) and the second predetermined width W2. The length L352 of the second opening side 352 is longer than the length L212 of the horizontal side 212 (212a, 212b) plus twice the longer one of the first predetermined length L1 and the second predetermined length L2. It is long, and the length L352 is shorter than the length L212 plus twice the sum of the first predetermined length L1 and the second predetermined length L2. Further, the distance between the horizontal side 212a and the second projecting member 33 closest to the horizontal side 212a or the distance between the horizontal side 212b and the second projecting member 33 closest to the horizontal side 212b is greater than the first predetermined width W1. long.

With this configuration, as shown in FIGS. 7(a) and 7(b), four of the five first projection members 24a out of the five second projection members 33a It is possible to pass between two adjacent second projecting members 33a, and similarly, four first projecting members 24b out of five first projecting members 24b are It becomes possible to pass between two adjacent second projecting members 33b, and furthermore, it becomes possible for the first projecting member 24 to be locked to the second projecting member 33. As shown in FIG.

FIG. 8 is a diagram showing an example of a top view of the frame member in a state where the container 2 is held by the rack section 3. As shown in FIG. In the example shown in FIG. 8, the first predetermined width W1 and the second predetermined width W2 are the same. The first projecting member 24 of the container 2 is engaged with the second projecting member 33 of the rack portion 3 , thereby holding the container 2 in the rack portion 3 .

9 to 11 are schematic diagrams for explaining how the transport robot 4 transports a new container 2a to the rack section 3 holding another container 2b.

As shown in FIG. 9( a ), the transport robot 4 that has placed the container 2 a on the placement section 41 moves the rack section 3 holding the other container 2 b in accordance with the control information stored in the storage section 4242 . Move below the opening 35 . In the example shown in FIG. 9A, the transport robot 4 passes between the support members 34b and 34d and enters below the opening 35. In the example shown in FIG. Further, the frame member is supported by the support member 34 so that the bottom plate 21 of the other container 2b held by the rack portion 3 does not collide with the container 2a placed on the transfer robot 4.

When the carrier robot 4 moves the placing portion 41 upward, the position of the bottom plate 21 of the container 2a placed on the placing portion 41 is changed to the bottom plate 21 of the other container 2b when viewed from above in the vertical direction. stop at a position that is substantially the same as For example, the storage unit 4242 stores information about the stop position on the floor of the article storage facility, and the control unit 4241 controls the moving device 421 based on the stored information.

As shown in FIG. 9B, the control unit 4241 of the transfer robot 4 controls the drive device 423 so that the container 2a placed on the placement unit 41 pushes up the other container 2b, thereby pushing up the other container. The mounting portion 41 is moved upward so that the lower end of the first projecting member 24 of 2b is higher than the upper end of the second projecting member 33 of the rack portion 3 by a predetermined height (for example, 30 mm).

As shown in FIG. 10( a ), the transport robot 4 is moved to a position where the container 2 a placed on the placing section 41 can pass through the opening 35 when the placing section 41 is moved upward. (the position on the floor where the first projecting member 24 of the container 2 does not collide with the second projecting member 33 of the rack portion 3).

As shown in FIG. 10(b), the controller 4241 of the transport robot 4 causes the lower end of the first projecting member 24 of the container 2a placed on the placing portion 41 to coincide with the upper end of the second projecting member 33 of the rack portion 3. As shown in FIG. The driving device 423 is controlled so as to move the mounting portion 41 upward to a height higher than the height.

As shown in FIG. 11A, the control unit 4241 of the transport robot 4 controls that the first projecting member 24 of the container 2a placed on the placing unit 41 is positioned vertically above the second projecting member 33 of the rack unit 3. The moving device 421 is controlled so as to be positioned.

As shown in FIG. 11B, the controller 4241 of the transport robot 4 controls the driving device 423 so as to move the placement section 41 downward. Then, the first projecting member 24 of the container 2 a that has moved downward together with the placing portion 41 is locked by the second projecting member 33 of the rack portion 3 .

In this way, after the first projecting member 24 of the container 2a on which the other container 2b is placed passes through the opening 35, the first projecting member 24 that once passed through the opening 35 reaches the second projecting member 33. By being locked, the vertically stacked container 2 b and container 2 a are held by the rack portion 3 . As a result, the rack section 3 can stack the containers 2 vertically upward, and can store a plurality of containers 2 without making the rack section 3 high-rise.

FIG. 12 is a schematic diagram for explaining a state in which the rack section 3 stacks and holds a plurality of containers 2 . 9 to 11 are executed a plurality of times, a plurality of containers 2 are vertically stacked and held on the rack portion 3, as shown in FIG. The rack unit 3 can hold the containers 2 up to a predetermined holding upper limit number. As a result, the containers 2 can be vertically stacked on the rack section 3 , and the storage capacity of the containers 2 can be increased without increasing the rack section 3 .

13 and 14 are schematic diagrams for explaining a state in which a plurality of rack portions 3 stack and hold a plurality of containers 2. FIG. The plurality of rack units 3 may be installed at predetermined positions. For example, in the example shown in FIG. 13 , a plurality of rack portions 3 are arranged in a line in the extending direction of the crosspiece member 32 . In this case, the container receiving member 31 between the openings 35 may be provided with second projecting members 33a and 33b on both openings 35 sides. In other words, the container receiving member 31 positioned between two adjacent openings 35 has the functions of both container receiving members 31a and 31b.

A plurality of rack portions 3 may be arranged in a row in the extending direction of the container receiving member 31 . In this case, the crosspiece member 32 positioned between two adjacent openings 35 has the functions of both crosspiece members 32a and 32b.

In the example shown in FIG. 14 , each frame member of a plurality of racks 3 is installed in a grid pattern on a horizontal plane, and each rack 3 holds a plurality of containers 2 stacked. In this case, the container receiving member 31 positioned between the two adjacent openings 35 has the functions of both the container receiving members 31a and 31b, and the crosspiece member 32 positioned between the two adjacent openings 35 has the function of both crosspiece members 32a and 32b. As a result, it is possible to arrange a plurality of rack units 3 without providing a passageway for the transport robot 4, and it is possible to improve the utilization efficiency of the article storage facility.

FIG. 15 is a schematic diagram for explaining a state in which a plurality of containers 2 are stacked and held by the rack portion 3 having the guide member 36. As shown in FIG.

The guide member 36 is a member for preventing collapse of a predetermined holding upper limit number of containers 2 . Further, the guide member 36 has a function of guiding a container 2 when a new container 2 is further held when a plurality of containers 2 are stacked and held.

The guide member 36 has side guide plates 36a and 36b, a front guide plate 36c, a front guide pipe 36d, and the like. The side guide plate 36a is a plate-like member, and is connected to the upper surface of the container receiving member 31a so as to stand vertically on the upper surface. connected to

The front guide plate 36c is a plate-like member that connects the upper end portion of the side guide plate 36a and the side guide plate 36b. The front guide pipe 36d is a pipe-shaped member that connects the crosspiece member 32a and the front guide plate 36c.

The side guide plates 36a and 36b and the front guide plate 36c are made of hard resin (hard plastic, etc.), steel, or the like, but may be made of any material as long as it can support the container 2. The front guide pipe 36d is made of steel or the like, but may be made of any material as long as it can support the container 2. By providing the guide member 36 in the rack portion 3 in this way, it is possible to prevent the container 2 from collapsing due to an earthquake or the like. can be prevented from collapsing.

FIG. 16 is a schematic diagram for explaining a state in which the rack section 3 stacks and holds a plurality of containers 2x and 2y having different heights.

The container 2 has one of a plurality of preset heights. In the example shown in FIG. 16, a plurality of containers 2x and 2y having two different heights are held by the rack section 3. In the example shown in FIG.

The storage unit 4242 stores height information indicating the height of the container 2 currently placed on the placement unit 41 . The control unit 4241 of the transport robot 4 reads out the stored height information from the storage unit 4242, and the first projecting member 24 of the container 2 placed on the placing unit 41 is aligned with the second projecting member 33 of the rack unit 3. The moving device 421 is controlled so as to be positioned vertically above the . In this way, the container storage system 1 can store containers 2 with different heights.

FIG. 17 is a schematic diagram for explaining how the transport robot 4 transports two containers 2 to the rack section 3. FIG. The placement unit 41 of the transport robot 4 can stack and place a predetermined upper limit number of containers 2 in the vertical direction.

When the carrier robot 4 moves the placing section 41 upward, the container 2 placed on the placing section 41 can pass through the opening 35 (the first projecting member 24 of the container 2 is It stops at a position on the floor where it does not collide with the second projecting member 33 of the rack portion 3 .

In this case, the frame member has a height that prevents the bottom plate 21 of another container 2 from colliding with the upper limit number of containers 2 placed on the transport robot 4 when another container 2 is held by the rack portion 3 . It is supported by the support member 34 so as to be flat.

As shown in FIG. 17( a ), the controller 4241 of the transport robot 4 causes the lower end of the first projecting member 24 of the bottom container 2 among the plurality of containers 2 placed on the placement unit 41 to move to the rack. The driving device 423 is controlled to move the mounting portion 41 upward to a height higher than the upper end of the second projecting member 33 of the portion 3 .

The control unit 4241 of the transport robot 4 controls that the first projecting member 24 of the lowermost container 2 among the plurality of containers 2 placed on the placing unit 41 is positioned vertically above the second projecting member 33 of the rack unit 3 . The moving device 421 is controlled so as to be positioned.

As shown in FIG. 17B, the controller 4241 of the transport robot 4 controls the driving device 423 so as to move the placement section 41 downward. Then, the first projecting member 24 of the lowermost container 2 that has moved downward together with the placing portion 41 is engaged with the second projecting member 33 of the rack portion 3 . The driving mechanism 43a shown in FIGS. 17A and 17B includes, for example, two elevating members provided on both sides of the transfer robot 4, respectively. The two elevating members are provided at points symmetrical with respect to the center point of the mounting portion 41 . One elevating member is a known double speed elevating mechanism and has a first arm member and a second arm member. The first arm member is vertically moved by a driving device 423 . The second arm member is coupled with the first arm member and connected with the mounting portion 41 . The second arm member moves vertically at the same speed as the first arm member by a mechanism that transmits power from the driving device 423 in conjunction with the vertical movement of the first arm member.

In this way, the first projection members 24 of the plurality of stacked containers 2 pass through the openings 35, and after passing through the openings 35 once, the first projections of the lowermost container 2 among the plurality of containers 2 The member 24 is locked by the second protruding member 33, the container 2 is held by the rack portion 3, and the efficiency of transportation by the transportation robot 4 per time can be improved.

As described in detail above, the container storage system 1 enables the floor of the rack section 3 to be lowered without reducing the storage capacity of the container 2 . Further, the container storage system 1 makes it possible to simplify the control of the transport robot 4 regardless of the storage amount of the container 2 .

It should be understood by those skilled in the art that various changes, substitutions and modifications can be made thereto without departing from the spirit and scope of the present invention.

1 container storage system 2, 2a, 2b, 2x, 2y container 21 bottom plate 22, 22a, 22b vertical side plate 23, 23a, 23b horizontal side plate 24, 24a, 24b first projection member 3 rack portion 31, 31a, 31b container receiving member 32, 32a, 32b Cross member 33, 33a, 33b Second projection member 34, 34a, 34b, 34c, 34d Support member 35 Opening 351 First opening side 352 Second opening side 36 Guide member 36a Side guide plate 36b Side guide Plate 36c Front guide plate 36d Front guide pipe 4 Transfer robot 41 Mounting unit 42 Carriage unit 421 Moving device 422 Sensor device 423 Driving device 424 Control device 43, 43a Driving mechanism

Claims (9)

a container having a storage portion and a first projecting member disposed on a side surface of the storage portion;
a rack portion having a frame member having an opening, a support member supporting the frame member, and a second projecting member arranged on the side of the opening of the frame member;
a placement unit for placing the container thereon; and a transport robot having a driving mechanism capable of vertically moving the container while the container is placed on the placement unit. ,
When the container placed on the placing portion moves upward from below the frame member, the first projecting member passes through the opening without coming into contact with the second projecting member. The first projecting member is engaged with the second projecting member once passed through the storage section so that the container can be held in the rack section. and the second projecting member is arranged on the frame member. The container has a rectangular bottom plate having two first sides facing each other and two second sides facing each other, and side plates joined to the first sides. a side plate, wherein the first projecting member is joined to the outer surface of each side plate and has a first predetermined width and a first predetermined length;
The second projecting member has a second predetermined width and a second predetermined length,
The opening has two opposing first opening sides longer than a length obtained by adding the second predetermined width to the length of the first side, and one of the first predetermined length and the second predetermined length. longer than the length obtained by adding twice the longer length to the length of the second side and adding twice the sum of the first predetermined length and the second predetermined length to the length of the second side 2. The container storage system according to claim 1, wherein the container storage system is rectangular in shape having two opposing second opening sides shorter than the length, and wherein the second projecting member is joined to a portion corresponding to each first opening side. When another container is held in the rack unit, the transport robot:
moving the container upward so that the top of the container pushes the other container up;
After the container with the other container placed thereon passes through the opening, the container is moved in the vertical direction so that the first projecting member is engaged with the second projecting member. 3. The container storage system according to claim 1, wherein another container and said container stacked on top of each other are held by said rack unit. The container storage system according to any one of claims 1 to 3, wherein said rack unit is capable of holding a predetermined upper limit number of said containers stacked vertically. The container storage system according to any one of claims 1 to 4, wherein each of said frame members has a plurality of said rack parts installed in a grid pattern on a horizontal plane. The container storage system according to any one of claims 1 to 5, wherein said rack section has a guide member capable of supporting said container above said frame member. The placement unit can stack and place a predetermined upper limit number of the containers in the vertical direction,
The support member is configured to allow the transport robot, which has placed the upper limit number of containers on the placement section, to enter below the frame member when the other containers are held on the rack section. The container storage system according to any one of claims 1 to 5, wherein the container storage system has a height of The container has one of a plurality of preset heights,
7. The transport robot moves the container upward so that the container is held by the rack unit based on height information indicating the height of the container to be transported. The container storage system described in . A frame member which is a container transported by a transport robot and has a rectangular opening having two opposing first opening sides and two opposing second opening sides; a second projecting member joined to a portion corresponding to one opening side and arranged on the side of the opening and having a second predetermined width and a second predetermined length; and the first opening side and the second opening side being substantially horizontal. A container held in a rack portion having a support member that supports the frame member so that
a rectangular bottom plate having two opposing first sides and two opposing second sides;
a side plate joined to each of the two first sides;
a first projecting member joined to the outer surface of each side plate and having a first predetermined width and a first predetermined length;
The first side is shorter than the length obtained by subtracting 1/2 of the total value of the first predetermined width and the second predetermined width from the length of the first opening side,
The second side is shorter than the length obtained by subtracting the length of the second side from the length of the second opening side by twice the longer one of the first predetermined length and the second predetermined length, and Longer than the length obtained by subtracting four times the longer one of the first predetermined length and the second predetermined length from the length of the second opening side,
When the transport robot moves the container from below to above the frame member, the first projecting member passes through the opening, and the first projecting member that has once passed through the opening moves to the first position. The first projecting member is joined to the side plate and the second projecting member is joined to the frame member so that the container is held on the rack portion by being locked by the two projecting members. A container characterized by

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