JP5015750B2

JP5015750B2 - Automatic warehouse

Info

Publication number: JP5015750B2
Application number: JP2007322031A
Authority: JP
Inventors: 雅史藪内
Original assignee: Itoki Corp
Current assignee: Itoki Corp
Priority date: 2007-12-13
Filing date: 2007-12-13
Publication date: 2012-08-29
Anticipated expiration: 2027-12-13
Also published as: JP2009143668A

Description

この発明は、物品の入出庫を行う自動倉庫に関する。 The present invention relates to an automatic warehouse for loading and unloading articles.

従来、この種の自動倉庫として、特許文献１に開示のものがある。特許文献１は、一対の格納庫と、各棚段に対応して格納庫の一端部に設けられた仮置き棚と、格納庫の各棚段に対応する台車と、仮置き棚の外側に設けられたリフトとを備えた自動倉庫を開示している。そして、入庫に際しては、荷物は、リフトによって所定の棚段の仮置き棚に移載され、さらに、仮置き棚上から台車によって格納庫の所定位置に移載されて保管されるようになっている。また、出庫に際しては、上記と逆の動作によって格納庫内の荷物が出庫されるようになっている。 Conventionally, as this kind of automatic warehouse, there is one disclosed in Patent Document 1. Patent Document 1 is provided on the outside of a pair of hangars, a temporary storage shelf provided at one end of the hangar corresponding to each shelf, a cart corresponding to each shelf of the hangar, and a temporary storage shelf An automatic warehouse with a lift is disclosed. When warehousing, the cargo is transferred to a temporary storage shelf having a predetermined shelf level by a lift, and further transferred from the temporary storage shelf to a predetermined position of the hangar by a carriage. . Further, when leaving, the cargo in the hangar is discharged by an operation reverse to the above.

特開２０００−１１８６３８号公報JP 2000-118638 A

ところで、上記のような自動倉庫では、リフトによる移載作業時間と台車による移載作業時間とは異なり、これらの時間差に変動が生じる。そこで、仮置き棚に複数の仮置き位置を設定し、荷物を、リフト側から台車側に向けて或は逆に向けて、順次各仮置き位置に適宜停止させつつ搬送することで、当該仮置き棚に一種のバッファ機能を持たせて、入庫動作や出庫動作の迅速化を図ることができる。 By the way, in the above automatic warehouse, the transfer work time by the lift and the transfer work time by the carriage are different, and the time difference fluctuates. Therefore, a plurality of temporary storage positions are set on the temporary storage rack, and the cargo is transported while being stopped appropriately at each temporary storage position sequentially from the lift side to the carriage side or vice versa. The storage shelf can be provided with a kind of buffer function to speed up the warehousing operation and the warehousing operation.

ところが、上記のような仮置き棚では、入庫時と出庫時とでは搬送方向が異なるため、荷物を、順次仮置き位置に適宜停止させつつ搬送するための構成が入庫用と出庫用とで異なってしまう。 However, in the temporary storage shelves as described above, the transport direction is different between the time of entry and the time of delivery, so the structure for transporting the packages while being appropriately stopped at the temporary placement position is different for entry and exit. End up.

このため、仮置き棚に上記のようなバッファ機能を持たせた場合には、入庫用の機構と出庫用の機構とを専用の機構として用いることになる。 For this reason, when the temporary storage shelf is provided with the buffer function as described above, the storage mechanism and the storage mechanism are used as dedicated mechanisms.

しかしながらこの場合、出庫用の機構が故障等で動作不能になると、自動倉庫から荷物を出庫するためには、作業者による手出し作業に頼らざるを得なくなる。手出し作業は重労働であり、また、多くの人員と時間を要することになってしまう。 However, in this case, if the delivery mechanism becomes inoperable due to a failure or the like, it is necessary to rely on a hand-out work by an operator in order to take out the luggage from the automatic warehouse. Handing out is a heavy labor and requires a lot of personnel and time.

そこで、本発明は、バッファ機能を持たせた移載棚を、入庫用と出庫用とで分けて設けることで効率的な入出庫作業を行えると共に、出庫用の構成部分が故障等で動作できない場合にも、出庫できるようにすることを目的とする。 Therefore, the present invention can perform efficient loading / unloading work by separately providing a transfer shelf having a buffer function for loading and unloading, and the components for unloading cannot be operated due to a failure or the like. In some cases, the purpose is to enable the delivery.

上記課題を解決するため、第１の態様に係る自動倉庫は、複数の棚段を有する格納部と、前記各棚段に対応して設けられ、それぞれ、複数の分割移載機構部が略水平面上で直線状に連なるように設けられると共に、前記各分割移載機構部に物品検知センサが設けられた構成とされ、入庫物品受取位置から入庫物品引渡位置に向う入庫搬送方向に向けて、複数の物品を個別停止させつつ搬送可能で、かつ、物品を１つずつ前記入庫搬送方向の逆方向に向けて搬送可能な複数の入庫用移載棚と、前記各棚段に対応して設けられ、出庫物品受取位置から出庫物品引渡位置に向う出庫搬送方向に向けて、複数の物品を個別停止させつつ搬送可能な複数の出庫用移載棚と、前記各棚段に対応して設けられ、その各棚段で前記入庫用移載棚及び前記出庫用移載棚と前記格納部との間で物品を移載可能な複数の入出庫移載台車と、物品を昇降移動可能に構成され、前記各棚段に対応する入庫用移載棚に対して物品を受渡し可能に構成されると共に、前記各棚段に対応する出庫用移載棚に対して物品を受取可能に構成された昇降機構部と、非常出庫指令を受付ける非常出庫指令受付部と、前記非常出庫指令受付部を介した前記非常出庫指令の受付により、前記各入庫用移載棚による物品の搬送方向を、前記入庫搬送方向の逆方向に切替える搬送方向切替部と、通常状態では、前記物品検知センサの検知結果に基づいて、前記各入庫用移載棚で複数の物品を前記各分割移載機構部で個別停止させながら搬送可能にしつつ、前記昇降機構部から前記各入庫用移載棚及び前記各入出庫移載台車を経由して前記格納部に物品を入庫すると共に、前記各出庫用移載棚で複数の物品を個別停止させながら搬送可能にしつつ、前記各入出庫移載台車から前記各出庫用移載棚及び前記昇降機構部を経由して前記格納部から物品を出庫し、前記非常出庫指令受付部を介した前記非常出庫指令の受付により、前記各分割移載機構部で個別停止させないで、前記各入庫用移載棚で物品を１つずつ前記入庫搬送方向の逆方向に向けて一気搬送しつつ、前記各入出庫移載台車から前記各入庫用移載棚及び前記昇降機構部を経由して前記格納部から物品を出庫する、入出庫制御部と、を備えたものである。
In order to solve the above-mentioned problem, an automatic warehouse according to a first aspect is provided corresponding to each of the storage unit having a plurality of shelves and each of the shelves, and each of the plurality of divided transfer mechanism units is substantially horizontal. In addition to being provided so as to be continuous in a straight line above, each divided transfer mechanism unit is configured to have an article detection sensor, and a plurality of parts are provided in the warehousing direction from the warehousing article receiving position to the warehousing article delivery position. A plurality of warehousing transfer shelves that are capable of conveying the articles while individually stopping them and that can convey the articles one by one in the direction opposite to the warehousing and conveying direction, A plurality of unloading transfer shelves that can be transported while individually stopping a plurality of articles from the unloading article receiving position toward the unloading article delivery position, and provided corresponding to each of the shelves, For each shelf, the transfer shelf for storage and the output A plurality of loading / unloading transfer carts that can transfer articles between the loading shelf and the storage unit, and articles can be moved up and down, and the articles can be transferred to the loading transfer shelves corresponding to the respective shelves. And an elevator mechanism configured to receive articles with respect to the transfer rack corresponding to each shelf, an emergency delivery command reception unit that accepts an emergency delivery command, very by issuing command reception unit the very goods issue command accepted via the conveying direction of the article by the respective goods receipt for the transfer rack, the transport direction switching unit for switching in the opposite direction of the goods receipt conveying direction, in a normal state, the Based on the detection result of the article detection sensor , a plurality of articles can be transported while being individually stopped by the respective division transfer mechanism sections on the respective transfer racks for storage, and the transfer for each entry from the lifting mechanism section. Previously via shelves and each loading / unloading cart While storing articles in the storage unit and allowing a plurality of articles to be conveyed while being individually stopped at each of the output transfer shelves, the transfer shelves for each output and the lifting mechanism unit from each of the input / output transfer carts The goods are transferred from the storage unit via the storage unit , and each of the storage transfer shelves without being individually stopped by each of the divided transfer mechanism units by receiving the emergency output command via the emergency output command receiving unit. article from the storage unit in while gulp conveyed toward the opposite direction of the goods receipt conveying direction articles one by one, via the respective goods receipt for the transfer rack and the elevator mechanism from each goods movements transfer carriage And an entry / exit control unit.

第２の態様は、第１の態様に係る自動倉庫であって、前記各入庫用移載棚は、正転方向で物品を前記入庫搬送方向に向けて搬送し、逆転方向で物品を前記入庫搬送方向の逆方向に搬送するモータをそれぞれ有し、前記搬送方向切替部は、前記各入庫用移載棚のモータに接続された共通の電源経路の途中に設けられ、前記複数のモータを正転方向に回転させる態様と、前記複数のモータを逆転方向に回転させる態様とで、前記電源経路の接続を切替える可逆電磁接触器であるものである。 A 2nd aspect is an automatic warehouse which concerns on a 1st aspect, Comprising: Each said transfer shelf for conveyance conveys articles | goods in the said warehousing direction in the normal rotation direction, and said warehousing in the reverse rotation direction. Each of the motors transports in a direction opposite to the transport direction, and the transport direction switching unit is provided in the middle of a common power supply path connected to the motors of the storage racks for storage. It is a reversible electromagnetic contactor that switches the connection of the power supply path in a mode in which the motor is rotated in the rotating direction and a mode in which the plurality of motors are rotated in the reverse direction.

第３の態様は、第１又は第２の態様に係る自動倉庫であって、前記昇降機構部は、物品を昇降移動可能に構成され、前記各棚段に対応する入庫用移動棚に対して物品を受渡可能な入庫用昇降機構部と、物品を昇降移動可能に構成され、前記各棚段に対応する出庫用移載棚に対して物品を受取可能な出庫用昇降機構部と、を有し、前記入出庫制御部は、前記通常状態では、前記入庫用昇降機構部を経由して物品を入庫すると共に、前記出庫用昇降機構部を経由して物品を出庫し、前記非常出庫指令受付部を介した前記非常出庫指令の受付により、前記入庫用昇降機構部を経由して物品を出庫するものである。 A 3rd aspect is an automatic warehouse which concerns on a 1st or 2nd aspect, Comprising: The said raising / lowering mechanism part is comprised so that an goods can be moved up and down, and with respect to the movement shelf for warehousing corresponding to each said shelf level A lifting / lowering mechanism portion for receiving goods, and a lifting / lowering mechanism portion for receiving goods with respect to the loading / unloading shelf corresponding to each of the shelf steps. In the normal state, the entry / exit control unit receives the article via the entry lift mechanism, and outputs the article via the exit lift mechanism to receive the emergency exit instruction Upon receipt of the emergency exit command via the part, the article is delivered via the storage lifting mechanism part.

第４の態様は、第３の態様に係る自動倉庫であって、前記入庫用昇降機構部から物品を受取り可能な物品受取部をさらに備え、前記入出庫制御部は、前記通常状態における入庫時に、入庫不適格物品を前記入庫用昇降機構部から前記物品受取部に引渡し、前記非常出庫指令受付部を介した前記非常出庫指令の受付により、前記入庫用昇降機構部を経由して前記物品受取部に物品を出庫するものである。 A 4th aspect is an automatic warehouse which concerns on a 3rd aspect, Comprising: The goods receiving part which can receive goods from the said raising / lowering mechanism part for warehousing is further provided, The said storage control part is the time of warehousing in the said normal state The ineligible goods are delivered from the warehousing elevating mechanism part to the article receiving part, and upon receipt of the emergency evacuation instruction via the emergency evacuation instruction accepting part, the goods are received via the warehousing elevating mechanism part. The goods are delivered to the department.

第１の態様に係る自動倉庫によると、通常状態では、前記各入庫用移載棚で複数の物品を個別停止させながら搬送可能にしつつ、前記昇降機構部から前記各入庫用移載棚及び前記各入出庫移載台車を経由して前記格納部に物品を入庫することができる。また、通常状態では、前記各出庫用移載棚で複数の物品を個別停止させながら搬送可能にしつつ、前記各入出庫移載台車から前記各出庫用移載棚及び前記昇降機構部を経由して前記格納部から物品を出庫することができる。このため、各入庫用移載棚及び各出庫用移載棚で複数物品を載置可能にして、これらにバッファ機能を持たせて効率的な入出庫動作を行える。 According to the automatic warehouse according to the first aspect, in a normal state, while allowing a plurality of articles to be individually stopped on each of the warehousing transfer shelves, it is possible to convey each of the warehousing transfer shelves from the elevating mechanism unit, and Articles can be stored in the storage unit via each storage / transfer cart. Further, in a normal state, a plurality of articles can be transported while being individually stopped on each of the shipping transfer shelves, and from each of the loading / unloading transfer carts via each of the shipping transfer shelves and the lifting mechanism unit. The goods can be taken out from the storage unit. For this reason, it is possible to place a plurality of articles on each loading / unloading shelf and each loading / unloading shelf, and to provide an efficient loading / unloading operation with a buffer function.

また、出庫用の構成部分が故障等で動作できない場合には、前記非常出庫指令受付部を介した前記非常出庫指令の受付により、前記各入庫用移載棚で物品を１つずつ前記入庫搬送方向の逆方向に向けて搬送しつつ、前記各入出庫移載台車から前記各入庫用移載棚及び前記昇降機構部を経由して前記格納部から物品を出庫することができる。 In addition, when a component part for warehousing cannot be operated due to a failure or the like, the warehousing and transporting of the articles one by one on each of the warehousing transfer shelves by receiving the emergency evacuation command via the emergency evacuation command receiving unit. Articles can be unloaded from the storage unit via the loading / unloading shelves and the lifting mechanism unit from the loading / unloading transfer carts while being conveyed in the opposite direction.

第２の態様によると、前記搬送方向切替部は、前記各入庫用移載棚のモータに接続された共通の電源経路の途中に設けられた可逆電磁接触器であるので、１つの可逆電磁接触器で各棚段に対応する入庫用移載棚のモータを、一括して正転方向と逆転方向とで切替えて、各入庫用移載棚における入庫搬送方向を逆方向に切替えることができる。 According to the second aspect, since the transport direction switching unit is a reversible electromagnetic contactor provided in the middle of a common power supply path connected to the motor of each warehousing transfer shelf, one reversible electromagnetic contact The warehousing transfer shelf motors corresponding to the respective shelves can be collectively switched between the normal rotation direction and the reverse rotation direction so that the warehousing direction in each warehousing transfer shelf can be switched to the reverse direction.

また、第３の態様によると、入庫用昇降機構部と出庫用昇降機構部とを有しているため、通常時で、効率のよい入出庫作業を行える。また、出庫用昇降機構部が故障等した非常時には、入庫用昇降機構部を用いて出庫できる。 Moreover, according to the 3rd aspect, since it has the raising / lowering mechanism part for warehousing, and the raising / lowering mechanism part for warehousing, it can perform efficient warehousing work in normal time. Further, in the event of an emergency when the evacuation lifting mechanism is out of order, the warehousing mechanism can be used for unloading.

第４の態様によると、非常出庫指令時には、通常時に入庫不適格物品を排出するための物品受取部を利用して、物品を出庫できる。 According to the 4th aspect, at the time of emergency dispatch command, goods can be delivered using the goods receiving part for discharging goods which are unacceptable in normal time.

以下、実施形態に係る自動倉庫について説明する。図１は自動倉庫全体を示す概略平面図であり、図２は自動倉庫全体を示す概略側面図である。 Hereinafter, the automatic warehouse according to the embodiment will be described. FIG. 1 is a schematic plan view showing the entire automatic warehouse, and FIG. 2 is a schematic side view showing the entire automatic warehouse.

この自動倉庫は、格納棚１０と入庫用移載棚２０と入庫用昇降機構部３０と出庫用移載棚４０と出庫用昇降機構部５０と入出庫移載台車６０と制御ユニット７０と入力部７４とを備えている。 The automatic warehouse includes a storage shelf 10, a transfer shelf 20 for storage, a lift mechanism 30 for storage, a transfer shelf 40 for discharge, a lift mechanism 50 for discharge, a transfer cart 60, a control unit 70, and an input unit. 74.

そして、入庫用コンベア３８で搬送された物品Ｗは、入庫用昇降機構部３０から入庫用移載棚２０及び入出庫移載台車６０を経由して格納棚１０に入庫され、格納保管される。また、格納棚１０に格納保管された物品Ｗは、入出庫移載台車６０から出庫用移載棚４０及び出庫用昇降機構部５０を経由して、出庫用コンベア５８に出庫されるようになっている。なお、各名称に付された「入庫用」との表現は、通常動作時における用途を意味し、常に入庫専用として用いられることを意味するものではない。 Then, the articles W conveyed by the warehousing conveyor 38 are received from the warehousing elevating mechanism unit 30 via the warehousing transfer rack 20 and the warehousing / unloading carriage 60 and stored therein. In addition, the articles W stored and stored in the storage shelf 10 are delivered from the entry / exit transfer cart 60 to the delivery conveyor 58 via the delivery transfer shelf 40 and the delivery lifting mechanism 50. ing. Note that the expression “for warehousing” attached to each name means a use during normal operation, and does not mean that it is always used exclusively for warehousing.

格納棚１０は、上下方向に複数の棚段１２を有する格納部として構成されており、複数の物品Ｗを縦横に配列した状態で格納可能に構成されている。ここでは、一対の格納棚１０が間隔をあけて対向して配置されており、各格納棚１０の対向する側より物品を出し入れできるようになっている。 The storage shelf 10 is configured as a storage unit having a plurality of shelves 12 in the vertical direction, and is configured to be able to store a plurality of articles W in a state of being arranged vertically and horizontally. Here, a pair of storage shelves 10 are arranged to face each other with an interval, so that articles can be taken in and out from the opposite side of each storage shelf 10.

入庫用コンベア３８は、物品Ｗの所定の搬入箇所（図示省略）から格納棚１０に至る経路、より具体的には、一方側の格納棚１０の一端部近傍に至る経路上に配設されている。そして、前記搬入箇所で入庫用コンベア３８上に物品Ｗを載置すると、図示省略のモータや複数のローラ等で構成される搬送機構部の搬送動作により、当該物品Ｗが一方側の格納棚１０の一端部近傍に向けて搬送され、入庫用昇降機構部３０に引渡されるようになっている。 The warehousing conveyor 38 is disposed on a path from a predetermined carry-in location (not shown) of the article W to the storage shelf 10, more specifically, on a path to the vicinity of one end of the storage shelf 10 on one side. Yes. When the article W is placed on the warehousing conveyor 38 at the carry-in location, the article W is placed on the storage shelf 10 on one side by a transport operation of a transport mechanism unit including a motor (not shown), a plurality of rollers, and the like. It is conveyed toward the vicinity of one end of the paper and is delivered to the warehousing mechanism 30.

また、入庫用コンベア３８に沿って、ここでは、入庫用コンベア３８に沿った下方位置にリジェクト用コンベア３９が設けられている。リジェクト用コンベア３９は、入庫用昇降機構部３０から物品Ｗを受取り可能に構成された物品受取部として構成されている。また、リジェクト用コンベア３９は、図示省略のモータや複数のローラ等で構成される搬送機構部の搬送動作により、受取った物品Ｗを、上記入庫用コンベア３８とは逆に格納棚１０から離れる方向に搬送する。物品受取部は必ずしもリジェクト用コンベア３９のように物品Ｗを搬送可能なコンベア等として構成されている必要はなく、単に物品Ｗを受取る台状の構成であってもよい。 In addition, a reject conveyor 39 is provided at a lower position along the warehousing conveyor 38, here. The reject conveyor 39 is configured as an article receiving unit configured to receive the article W from the warehousing elevating mechanism unit 30. The reject conveyor 39 is a direction in which the received article W is separated from the storage shelf 10, contrary to the warehousing conveyor 38, by a transport operation of a transport mechanism unit including a motor and a plurality of rollers (not shown). Transport to. The article receiving unit does not necessarily have to be configured as a conveyor or the like that can transport the article W, such as the reject conveyor 39, and may simply have a trapezoidal configuration for receiving the article W.

入庫用昇降機構部３０は、物品Ｗを昇降移動可能に構成されており、入庫対象となる物品Ｗを各棚段１２に対応する各入庫用移載棚２０に対して引渡可能に構成されると共に、出庫対象となる物品Ｗを各棚段１２に対応する各入庫用移載棚２０から受取って出庫可能に構成されている。 The warehousing / elevating mechanism unit 30 is configured to be able to move the article W up and down, and is configured to be able to deliver the article W as a warehousing target to each warehousing transfer shelf 20 corresponding to each shelf stage 12. At the same time, the article W to be delivered is configured to be received and delivered from each warehousing transfer shelf 20 corresponding to each shelf 12.

より具体的には、入庫用昇降機構部３０は、入庫用コンベア３８の搬送方向終端部分と入庫用移載棚２０との間に設けられており、入庫用昇降移動部３２と上下方向に沿って延びる柱状部３１とを有している。入庫用昇降移載部３２は、同一面状において並列状に配設された複数のローラと当該ローラを回転駆動可能なモータ等（共に図示省略）を有しており、当該ローラを正転方向又は逆転方向に適宜回転駆動させることによって、他から受取った物品Ｗを取込み或は載置された物品を他に送込むように、入庫用コンベア３８と入庫用移載棚２０との間で物品Ｗを移動させることができるようになっている。また、入庫用昇降移動部３２は、上記柱状部３１に沿って昇降移動可能に支持されると共に、モータ等を用いた昇降駆動機構部（図示省略）によって、上記柱状部３１に沿って昇降移動可能とされている。そして、物品Ｗを載置した入庫用昇降移動部３２を昇降移動させることで、物品Ｗを昇降移動させるようになっている。 More specifically, the warehousing elevating mechanism 30 is provided between the end portion of the warehousing conveyor 38 in the transport direction and the warehousing transfer shelf 20, and along the warehousing elevating / lowering unit 32. And a columnar portion 31 extending in the direction. The warehousing / moving part 32 has a plurality of rollers arranged in parallel on the same plane and a motor or the like (both not shown) that can rotationally drive the rollers. Or, by appropriately rotating in the reverse rotation direction, the article W is received between the warehousing conveyor 38 and the warehousing transfer shelf 20 so as to take in the article W received from another or to send the placed article to another. W can be moved. Further, the warehousing and moving unit 32 is supported so as to be movable up and down along the columnar part 31 and is moved up and down along the columnar part 31 by a lifting and lowering drive mechanism (not shown) using a motor or the like. It is possible. Then, the article W is moved up and down by moving the warehousing and moving unit 32 on which the article W is placed up and down.

この入庫用昇降機後部３０によると、入庫用昇降移動部３２を入庫用コンベア３８と略同一高さ位置に配設した状態で、当該入庫用コンベア３８から搬送されてきた物品Ｗを受取って入庫用昇降移動部３２上に載置することができる。また、入庫用昇降移動部３２を複数の入庫用移載棚２０のうちの１つと略同一高さ位置に配設した状態で、入庫用昇降移動部３２に載置された物品Ｗを当該１つの入庫用移載棚２０に引渡し、或は、当該１つの入庫用移載棚２０に載置された物品Ｗを入庫用移載棚２０上に受取って載置できる。さらに、入庫用昇降移動部３２をリジェクト用コンベア３９と略同一高さ位置に配設した状態で、入庫用昇降移動部３２に載置された物品Ｗをリジェクト用コンベア３９に引渡しできる。 According to the rear part 30 for the warehousing, the warehousing / moving part 32 is disposed at substantially the same height position as the warehousing conveyor 38 and receives the articles W conveyed from the warehousing conveyor 38. It can be placed on the up-and-down moving unit 32. Further, the article W placed on the warehousing / moving unit 32 is placed in the state where the warehousing / moving unit 32 is disposed at substantially the same height as one of the plurality of warehousing transfer shelves 20. The articles W can be delivered to one warehousing transfer shelf 20, or the articles W placed on the one warehousing transfer shelf 20 can be received and placed on the warehousing transfer shelf 20. Furthermore, the articles W placed on the warehousing / moving unit 32 can be delivered to the rejecting conveyor 39 in a state where the warehousing / moving unit 32 is disposed at substantially the same height as the rejecting conveyor 39.

なお、上記入庫用コンベア３８の途中又は入庫用昇降移動部３２には、物品Ｗに予め付されたバーコード等の識別符号を読取る読取りセンサや、物品Ｗのサイズを検知するサイズ検知センサ等が設けられている。読取りセンサで読取られた物品Ｗの識別情報は、格納棚１０に格納される物品Ｗの格納情報（格納場所、格納時間等）の管理等に供される。そして、読取りセンサでの読取りにエラーが生じた場合や、サイズ検知センサにより検知された物品Ｗのサイズが格納棚１０での格納に適さないサイズと判断された場合等、物品Ｗが入庫不適格物品と判断された場合には、当該物品Ｗは、入庫用昇降機構部３０を経由してリジェクト用コンベア３９に搬出される。 Note that a reading sensor for reading an identification code such as a barcode attached to the article W in advance, a size detection sensor for detecting the size of the article W, or the like is provided in the middle of the warehousing conveyor 38 or in the warehousing movement unit 32. Is provided. The identification information of the article W read by the reading sensor is used for management of storage information (storage location, storage time, etc.) of the article W stored in the storage shelf 10. When an error occurs in reading by the reading sensor, or when it is determined that the size of the article W detected by the size detection sensor is not suitable for storage in the storage shelf 10, the article W is ineligible for warehousing. If it is determined as an article, the article W is carried out to the reject conveyor 39 via the warehousing mechanism 30.

図３は入庫用移載棚２０の要部を示す説明図である。図１〜図３に示すように、入庫用移載棚２０は、一方側の格納棚１０の一端部に隣設する位置で、各棚段１２に対応して複数設けられている。各入庫用移載棚２０は、上記入庫用昇降機構部３０から物品Ｗを受取る入庫物品受取位置Ａ１から入出庫移載台車６０に対して物品Ｗを引渡す入庫物品引渡位置Ａ２に向う入庫搬送方向Ｐａに向けて、複数（ここでは３つ）の物品Ｗを個別停止させつつ搬送可能に構成されると共に、物品Ｗを１つずつ入庫搬送方向Ｐａの逆方向Ｐｂに向けて搬送可能に構成されている。 FIG. 3 is an explanatory diagram showing the main part of the transfer rack 20 for warehousing. As shown in FIGS. 1 to 3, a plurality of warehousing transfer shelves 20 are provided corresponding to each shelf 12 at a position adjacent to one end of the storage shelf 10 on one side. Each warehousing transfer shelf 20 has a warehousing / conveying direction from the warehousing receiving position A1 for receiving the article W from the warehousing lifting / lowering mechanism section 30 to the warehousing article delivery position A2 for delivering the article W to the warehousing / transferring carriage 60. A plurality (three in this case) of articles W are configured to be transported while being individually stopped toward Pa, and configured to be capable of transporting the articles W one by one in the reverse direction Pb of the warehousing / conveying direction Pa. ing.

より具体的には、各入庫用移載棚２０は、一方側の格納棚１０の一端部と入庫用昇降機構部３０とを結ぶように略水平面上で略直線状に連なるように設けられた複数の分割移載機構部２２を有している。 More specifically, each warehousing transfer shelf 20 is provided so as to be connected in a substantially straight line on a substantially horizontal plane so as to connect one end of the storage shelf 10 on one side and the warehousing elevating mechanism 30. A plurality of division transfer mechanism sections 22 are provided.

各分割移載機構部２２は、複数の搬送ローラ２４と、物品Ｗを搬送するためのモータ２５とを有している。複数の搬送ローラ２４は、入庫搬送方向Ｐａに沿って並列状に配置されており、上記モータ２５の回転駆動力がギヤ機構やベルト機構等を介して各搬送ローラ２４に伝達される。そして、モータ２５の正転方向への回転（図３の矢符Ｍ１参照）により、各搬送ローラ２４が同方向に回転して各搬送ローラ２４上の物品Ｗを入庫搬送方向Ｐａに向けて搬送する。また、モータ２５の逆転方向への回転（図３の矢符Ｍ２参照）により、各搬送ローラ２４が同逆方向に回転して各搬送ローラ２４上の物品Ｗを入庫搬送方向Ｐａの逆方向Ｐｂに向けて搬送する。 Each division transfer mechanism unit 22 includes a plurality of transport rollers 24 and a motor 25 for transporting the article W. The plurality of conveying rollers 24 are arranged in parallel along the warehousing / conveying direction Pa, and the rotational driving force of the motor 25 is transmitted to each conveying roller 24 via a gear mechanism, a belt mechanism, or the like. Then, by the rotation of the motor 25 in the forward rotation direction (see arrow M1 in FIG. 3), each conveyance roller 24 rotates in the same direction and conveys the article W on each conveyance roller 24 toward the warehousing conveyance direction Pa. To do. Further, by the rotation of the motor 25 in the reverse direction (see arrow M2 in FIG. 3), each transport roller 24 rotates in the same reverse direction, and the article W on each transport roller 24 is moved in the reverse direction Pb of the warehousing transport direction Pa. Transport toward

また、各分割移載機構部２２の入庫搬送方向Ｐａ下流側に物品検知センサ２６及びストッパ２７が設けられている。物品検知センサ２６は、搬送された物品Ｗ全体が分割移載機構部２２上に位置した状態で当該物品Ｗを検知し、検知結果に応じた検知信号を出力して制御ユニット７０に与える。また、ストッパ２７は、図示省略のモータ等を含む進退駆動機構部２７ａによって、分割移載機構部２２における物品Ｗの移動経路に対して進退可能に配設されている。そして、制御ユニット７０からの制御信号に応じてストッパ２７が進出移動することで分割移載機構部２２上を搬送された物品Ｗの入庫搬送方向Ｐａ下流側部分に当接してその物品Ｗを分割移載機構部２２上の所定位置に停止させる。また、ストッパ２７が退避移動することで、分割移載機構部２２上の物品Ｗを入庫搬送方向Ｐａの下流側に搬送可能になると共に、物品Ｗを入庫搬送方向Ｐａの逆方向Ｐｂに搬送可能になる。 In addition, an article detection sensor 26 and a stopper 27 are provided on the downstream side in the warehousing / conveying direction Pa of each division transfer mechanism 22. The article detection sensor 26 detects the article W in a state where the entire conveyed article W is positioned on the split transfer mechanism unit 22, outputs a detection signal corresponding to the detection result, and gives the control unit 70. The stopper 27 is disposed so as to be able to advance and retreat with respect to the movement path of the article W in the divided transfer mechanism 22 by an advance / retreat driving mechanism 27a including a motor (not shown). Then, the stopper 27 advances and moves in accordance with a control signal from the control unit 70, so that the article W is divided into contact with the downstream side portion of the article W transported on the division transfer mechanism 22 in the warehousing direction Pa. Stop at a predetermined position on the transfer mechanism 22. Further, when the stopper 27 is retracted, the article W on the split transfer mechanism 22 can be conveyed downstream in the warehousing direction Pa and the article W can be conveyed in the direction Pb opposite to the warehousing direction Pa. become.

各入庫用移載棚２０は、上記分割移載機構部２２が複数（ここでは３つ）直線状に並んでおり、次の態様で、複数（ここでは３つ）の物品Ｗを個別停止させつつ搬送する。すなわち、入庫搬送方向Ｐａ最上流側の分割移載機構部２２は、入庫用昇降機構部３０からの物品Ｗを逐次受取り、受取った物品Ｗを逐次入庫搬送方向Ｐａ中間の分割移載機構部２２に搬送する。入庫搬送方向Ｐａ中間の分割移載機構部２２は、上流側より搬送された物品Ｗを、入庫搬送方向Ｐａ最下流側の分割移載機構部２２に搬送する。入庫搬送方向Ｐａ最下流側の分割移載機構部２２は、搬送された物品Ｗを進出移動したストッパ２７にて停止させて、入出庫移載台車６０に引渡し可能な位置に載置する。それよりも上流側の分割移載機構部２２、即ち、入庫搬送方向Ｐａ最上流側及び中間の分割移載機構部２２は、物品Ｗを連続的に搬送する際に、上記物品検知センサ２６の検知結果等に基づいて、それぞれの下流側の分割移載機構部２２にて物品Ｗが停止していると判断された場合、進出移動したストッパ２７にて物品Ｗを停止させる。これにより、各入庫用移載棚２０は、複数の物品Ｗを載置した状態で、当該複数の物品Ｗを個別停止させつつ入庫搬送方向Ｐａに向けて搬送し、１つずつ入出庫移載台車６０に引渡すようになる。 In each warehousing transfer shelf 20, the divided transfer mechanism sections 22 are arranged in a plurality (three here) in a straight line, and a plurality of (here, three) articles W are individually stopped in the following manner. Transport while. That is, the division transfer mechanism unit 22 on the most upstream side in the warehousing / conveying direction Pa sequentially receives the articles W from the warehousing elevating mechanism unit 30 and sequentially receives the received articles W in the middle of the warehousing / conveying direction Pa. Transport to. The division transfer mechanism unit 22 in the middle of the warehousing / conveying direction Pa conveys the article W conveyed from the upstream side to the division transfer mechanism unit 22 on the most downstream side of the warehousing / conveying direction Pa. The division transfer mechanism 22 on the most downstream side in the warehousing / conveying direction Pa stops the conveyed article W at the stopper 27 moved forward and places the article W at a position where it can be delivered to the warehousing / transferring carriage 60. The upstream division transfer mechanism 22, that is, the upstream transfer direction Pa in the warehousing / conveying direction Pa and the intermediate division transfer mechanism 22, when the article W is continuously conveyed, Based on the detection result and the like, when it is determined that the respective downstream divided transfer mechanism 22 stops the article W, the article W is stopped by the stopper 27 that has moved forward. Thus, each warehousing transfer shelf 20 conveys the plurality of articles W toward the warehousing / conveying direction Pa while individually stopping the plurality of articles W, and moves in and out one by one. It will be delivered to the cart 60.

なお、初期状態でストッパ２７が進出移動しており、各入庫用移載棚２０において、それぞれの下流側の分割移載機構部２２にて物品Ｗが停止していないと判断された場合に、ストッパ２７を退避移動させて、物品Ｗの下流側への搬送を許容するようにしてもよい。この場合も、複数（ここでは３つ）の物品Ｗを個別停止させつつ搬送する態様に含まれる。 In addition, when it is determined that the stopper 27 has moved forward in the initial state and the articles W are not stopped in the respective division transfer mechanism sections 22 in the respective transfer racks 20 for storage, The stopper 27 may be retracted to allow the conveyance of the article W to the downstream side. This case is also included in a mode in which a plurality of (here, three) articles W are conveyed while being individually stopped.

通常の入庫時に上記のように複数（ここでは３つ）の物品Ｗを個別停止させつつ搬送するのは、各入庫用移載棚２０に複数の物品Ｗを載置可能にして一種のバッファ機能を持たせることで効率的な入庫を可能にすると共に、物品Ｗを個別把握してその入庫位置等を管理するためである。 As described above, a plurality of (in this case, three) articles W are transported while being individually stopped at the time of normal warehousing so that a plurality of articles W can be placed on each warehousing transfer shelf 20 and a kind of buffer function. This makes it possible to efficiently store goods, and to grasp the articles W individually and manage their storage positions and the like.

また、各入庫用移載棚２０は、次の態様で、物品Ｗを１つずつ入庫搬送方向Ｐａの逆方向Ｐｂに向けて搬送する。すなわち、後述する非常出庫指令により、全てのストッパ２７を退避移動させると共に、各分割移載機構部２２のモータ２５を逆転させて、各分割移載機構部２２の搬送方向を、上記入庫搬送方向Ｐａの逆方向Ｐｂに切替える。そして、入出庫移載台車６０からの物品Ｗが入庫用移載棚２０の入庫搬送方向Ｐａ最下流側の入庫物品引渡位置に移載されると、当該物品Ｗを前記逆方向Ｐｂ向きに搬送して入庫物品受取位置に向けて一気に移動させる。そして、当該物品Ｗを、予め該当する棚段１２に対応する高さ位置に昇降移動させておいた入庫用昇降移動部３２に引渡す。 In addition, each warehousing transfer shelf 20 conveys the articles W one by one in the reverse direction Pb of the warehousing and conveying direction Pa in the following manner. That is, all the stoppers 27 are retracted and moved in reverse according to an emergency delivery command to be described later, and the motor 25 of each divided transfer mechanism unit 22 is reversed to change the conveyance direction of each divided transfer mechanism unit 22 to the above-mentioned warehousing direction. Switch to the reverse direction Pb of Pa. When the article W from the warehousing / transferring carriage 60 is transferred to the warehousing article delivery position on the most downstream side in the warehousing / transferring direction Pa of the warehousing transfer rack 20, the article W is conveyed in the reverse direction Pb. Then, it is moved all at once toward the incoming goods receiving position. Then, the article W is delivered to the warehousing and moving unit 32 that has been moved up and down to a height position corresponding to the corresponding shelf 12 in advance.

つまり、この搬送動作では、各入庫用移載棚２０に、複数の物品Ｗが同時に載置されることはなく、１つの物品Ｗだけが各入庫用移載棚２０に移載載置される。この搬送動作では、物品Ｗを１つずつ入庫搬送方向Ｐａの逆方向Ｐｂに向けて一気搬送するので、当該逆方向Ｐｂへの搬送に関して上記のような個別停止や位置検知のための構成を省略することができる。 That is, in this transport operation, a plurality of articles W are not placed on each warehousing transfer shelf 20 at the same time, and only one article W is placed on each warehousing transfer shelf 20. . In this transport operation, the articles W are transported one by one toward the reverse direction Pb of the warehousing / conveying direction Pa. Therefore, the above-described configuration for individual stop and position detection regarding the transport in the reverse direction Pb is omitted. can do.

図４は各入庫用移載棚２０に設けられたモータ２５に電源を供給するための電気的構成を示すブロック図であり、図５は可逆電磁接触器を示す説明図である。 FIG. 4 is a block diagram showing an electrical configuration for supplying power to the motor 25 provided in each warehousing transfer shelf 20, and FIG. 5 is an explanatory diagram showing a reversible electromagnetic contactor.

すなわち、上記各入庫用移載棚２０は、それぞれ上述したモータ２５を複数（ここでは３つ）有している。各モータ２５としては３相交流モータが用いられている。各モータ２５は、各モータ２５に対応する分岐経路２５ａを介して共通電源経路２８に共通接続され、当該共通電源経路２８を介して３相交流電源２９に接続されている。なお、上記各分岐経路２５ａは、各モータ２５のＵ相、Ｖ相、Ｗ相に対応する３つの電源配線を含み、また、共通電源経路２８は３相交流電源２９のＲ相、Ｓ相、Ｔ相に対応する３つの電源配線を含み、それぞれ各相毎に別々に接続されている。 That is, each of the warehousing transfer shelves 20 includes a plurality (three in this case) of the motors 25 described above. As each motor 25, a three-phase AC motor is used. Each motor 25 is commonly connected to a common power supply path 28 via a branch path 25 a corresponding to each motor 25, and is connected to a three-phase AC power supply 29 via the common power supply path 28. Each branch path 25a includes three power supply lines corresponding to the U phase, V phase, and W phase of each motor 25, and the common power supply path 28 includes the R phase, S phase, It includes three power supply wirings corresponding to the T phase, and each is connected separately for each phase.

上記各分岐経路２５ａの途中には、対応するモータ２５をオンオフするためのモータ駆動回路２５ｂが設けられている。モータ駆動回路２５ｂは、制御ユニット７０からの駆動信号に応じて当該分岐経路２５ａをオンオフすることで対応するモータ２５をオンオフするように構成されている。 A motor drive circuit 25b for turning on / off the corresponding motor 25 is provided in the middle of each branch path 25a. The motor drive circuit 25b is configured to turn on / off the corresponding motor 25 by turning on / off the branch path 25a in accordance with a drive signal from the control unit 70.

また、上記共通電源経路２８の途中には、各入庫用移載棚２０による物品Ｗの搬送方向を、入庫搬送方向Ｐａの逆方向Ｐｂに切替える搬送方向切替部として可逆電磁接触器８０が設けられている。 Further, in the middle of the common power supply path 28, a reversible electromagnetic contactor 80 is provided as a transport direction switching unit that switches the transport direction of the article W by each warehousing transfer shelf 20 to the reverse direction Pb of the warehousing transport direction Pa. ing.

可逆電磁接触器８０は、可逆マグネットスイッチとも呼ばれるものであり、連動してオンオフする３つの接点８２ａ、８２ａ、８２ａ，８２ｂ、８２ｂ、８２ｂを２組備えている。１つの組の３つの接点８２ａ、８２ａ、８２ａは、Ｒ相とＵ相、Ｓ相とＶ相、Ｔ相とＷ相とをそれぞれ接続可能に構成されている。また、他の組の３つの接点８２ｂ、８２ｂ、８２ｂは、Ｒ相とＷ相、Ｓ相とＶ相、Ｔ相とＵ相とをそれぞれ接続可能に構成されている。そして、外部から入力される非常出庫指令に基づく切替信号に応じた図示省略の電磁石の励磁状態によって、各組の３つの接点８２ａ、８２ａ、８２ａ，８２ｂ、８２ｂ、８２ｂが、２つの組間で排他的にオン（他方はオフ）になる。そして、一方の組の３つの接点８２ａ、８２ａ、８２ａがオン状態（他の組がオフ状態）になることで、各モータ２５が正転可能な状態になる。また、他の組の３つの接点８２ｂ、８２ｂ、８２ｂがオン状態（一方の組がオフ状態）になることで、全てのモータ２５に対するＲ相、Ｓ相、Ｔ相のうちの２相が入替り当該全てのモータ２５が逆転方向に回転可能な状態となる。このようにして、可逆電磁接触器８０は、各モータ２５を正転方向に回転させる態様と、複数のモータ２５を逆転方向に回転させる態様とで、共通電源経路２８の接続を切替える。 The reversible electromagnetic contactor 80 is also called a reversible magnet switch, and includes two sets of three contacts 82a, 82a, 82a, 82b, 82b, and 82b that are turned on and off in conjunction with each other. The three contacts 82a, 82a, and 82a in one set are configured to be able to connect the R phase and the U phase, the S phase and the V phase, and the T phase and the W phase, respectively. The other set of three contacts 82b, 82b, and 82b are configured to connect the R phase and the W phase, the S phase and the V phase, and the T phase and the U phase, respectively. And according to the excitation state of the electromagnet (not shown) according to the switching signal based on the emergency exit command inputted from the outside, the three contact points 82a, 82a, 82a, 82b, 82b, 82b of each set are connected between the two sets. It is exclusively on (the other is off). Then, the three contacts 82a, 82a, 82a of one set are turned on (the other set is turned off), so that each motor 25 can be rotated forward. Moreover, two of the R phase, S phase, and T phase for all the motors 25 are turned on when the other contact points of the three contacts 82b, 82b, and 82b are turned on (one set is turned off). Instead, all the motors 25 can rotate in the reverse direction. In this manner, the reversible electromagnetic contactor 80 switches the connection of the common power supply path 28 between a mode in which each motor 25 is rotated in the forward direction and a mode in which the plurality of motors 25 are rotated in the reverse direction.

ここでは、各モータ２５が３相交流モータである例で説明したが、直流モータの場合でも共通電源経路で正極と負極とを切替えることで同様に回転方向を切替えることができる。 Here, an example in which each motor 25 is a three-phase AC motor has been described, but even in the case of a DC motor, the rotation direction can be similarly switched by switching between the positive electrode and the negative electrode in the common power supply path.

図１及び図２に戻って、出庫用移載棚４０は、各棚段１２に対応して設けられており、他方側の格納棚１０の一端部に隣設する位置で、各棚段１２に対応して複数設けられている。各出庫用移載棚４０は、入出庫移載台車６０から物品Ｗを受取る出庫物品受取位置Ｂ１から出庫用昇降機構部５０に対して物品Ｗを引渡す出庫物品引渡位置Ｂ２に向う出庫搬送方向Ｐｃに向けて、複数の物品Ｗを個別停止させつつ搬送可能に構成されている。 Returning to FIG. 1 and FIG. 2, the unloading transfer shelf 40 is provided corresponding to each shelf 12, and each shelf 12 is positioned adjacent to one end of the other storage shelf 10. A plurality are provided correspondingly. Each unloading transfer shelf 40 has an unloading conveyance direction Pc from the unloading article receiving position B1 for receiving the articles W from the unloading / unloading transfer cart 60 toward the unloading article delivery position B2 for delivering the articles W to the unloading lifting mechanism 50. The plurality of articles W are configured to be able to be conveyed while being individually stopped.

より具体的には、各出庫用移載棚４０は、他方側の格納棚１０の一端部と出庫用昇降機構部５０とを結ぶように略水平面上で略直線状に連なるように設けられた複数の分割移載機構部４２を有している。各分割移載機構部４２は、次の点を除いて上記分割移載機構部２２と同様構成である。この分割移載機構部４２と分割移載機構部２２とが異なる点は、複数の物品Ｗを個別停止させつつ搬送する出庫搬送方向Ｐｃが上記入庫搬送方向Ｐａに対して逆方向であることに鑑み、物品検知センサ２６及びストッパ２７が当該出庫搬送方向Ｐｃの下流側に位置する点である。 More specifically, each transfer shelf 40 is provided so as to be connected in a substantially straight line on a substantially horizontal plane so as to connect the one end of the storage shelf 10 on the other side and the lifting mechanism 50 for shipping. A plurality of division transfer mechanism sections 42 are provided. Each divided transfer mechanism unit 42 has the same configuration as the divided transfer mechanism unit 22 except for the following points. The difference between the divided transfer mechanism unit 42 and the divided transfer mechanism unit 22 is that the unloading and conveying direction Pc for conveying a plurality of articles W while individually stopping them is opposite to the warehousing and conveying direction Pa. In view of this, the article detection sensor 26 and the stopper 27 are located on the downstream side in the shipping / conveying direction Pc.

そして、上記入庫用移載棚２０と同様動作によって、各出庫用移載棚４０は、出庫搬送方向Ｐｃに向けて複数の物品Ｗを個別停止させつつ搬送可能に構成されている。 And by the same operation | movement as the said transfer shelf 20 for warehousing, each transfer shelf 40 for unloading is comprised so that conveyance of several articles | goods W is carried out individually stopping toward the unloading conveyance direction Pc.

出庫用昇降機構部５０は、上記柱状部３１に対応する柱状部５１と入庫用昇降移載部３２に対応する出庫用昇降移載部５２とを有しており、上記入庫用昇降機構部３０と略同様構成にて物品Ｗを昇降移動可能に構成されており、出庫対象となる物品Ｗを各棚段１２に対応する各出庫用移載棚４０から受取って出庫用コンベア５８に引渡す。 The unloading lifting / lowering mechanism section 50 includes a columnar section 51 corresponding to the columnar section 31 and an unloading lifting / lowering transfer section 52 corresponding to the warehousing lifting / lowering transfer section 32. The article W is configured to be movable up and down with substantially the same configuration as above, and the article W to be delivered is received from each delivery transfer shelf 40 corresponding to each shelf stage 12 and delivered to the delivery conveyor 58.

出庫用コンベア５８は、物品を格納棚近傍から離れた方向に搬送する点を除いて、入庫用コンベア３８と同様構成とされている。そして、出庫用昇降機構部５０から受取った物品Ｗを所定の搬出箇所（図示省略）に向けて搬送するように構成されている。 The unloading conveyor 58 has the same configuration as the unloading conveyor 38 except that the articles are conveyed in a direction away from the vicinity of the storage shelf. And it is comprised so that the articles | goods W received from the raising / lowering mechanism part 50 for unloading may be conveyed toward a predetermined carrying-out location (illustration omitted).

入出庫移載台車６０は、各棚段１２に対応して複数設けられており、各入出庫移載台車６０は、その棚段１２で入庫用移載棚２０及び出庫用移載棚４０と格納棚１０との間で物品Ｗを移載可能に構成されている。 A plurality of loading / unloading transfer carts 60 are provided corresponding to each shelf 12, and each loading / unloading transfer cart 60 includes a transfer shelf 20 for loading and a transfer shelf 40 for loading / unloading at the shelf 12. An article W can be transferred to and from the storage shelf 10.

より具体的には、入出庫移載台車６０は、一対の格納棚１０間で、各棚段１２において、格納棚１０に対向する位置と上記入庫用移載棚２０及び出庫用移載棚４０の格納棚１０側端部との間を往復移動可能に設けられている。入出庫移載台車６０の移動は、図示省略のモータ及び車輪等を含む走行機構部によってなされる。また、各入出庫移載台車６０は、一対の格納棚１０や入庫用移載棚２０の入庫物品引渡位置、出庫用移載棚４０の出庫物品受取位置に向けて進退可能で、かつ、物品Ｗを把持及び把持解除可能なピッカーを有している。このピッカーの駆動は、モータや各種動力伝達機構を含むピッカー駆動機構部によってなされる。 More specifically, the loading / unloading transfer cart 60 is located between the pair of storage shelves 10, at each shelf stage 12, at a position facing the storage shelf 10, the above-described loading transfer shelf 20, and the loading transfer shelf 40. It is provided so that a reciprocation is possible between the storage shelf 10 side edge part. The entry / exit transfer cart 60 is moved by a travel mechanism including a motor and wheels (not shown). In addition, each loading / unloading transfer cart 60 can move forward and backward toward the incoming article delivery position of the pair of storage shelves 10 and the incoming transfer rack 20, and the outgoing article receiving position of the outgoing transfer rack 40, and It has a picker that can grip and release W. The picker is driven by a picker drive mechanism including a motor and various power transmission mechanisms.

そして、入出庫移載台車６０が、入庫用移載棚２０の入庫物品引渡位置に対応する位置に移動した状態で、上記ピッカーを動作させることで、入庫用移載棚２０の入庫物品引渡位置の物品Ｗを受取ることができる。また、この物品Ｗを取込んだ状態で、入出庫移載台車６０が格納棚１０に対向する位置に移動し、上記ピッカーを動作させることで、当該取込んだ物品Ｗを格納棚１０に移載することができる。さらに、入出庫移載台車６０が格納棚１０に対向する位置に移動した状態で、上記ピッカーを動作させることで、格納棚１０の物品Ｗを取込むことができ、この状態で、入庫用移載棚２０の入庫物品引渡位置や出庫用移載棚４０の出庫物品受取位置に対向する位置に移動させて、ピッカーを動作させることで、その物品Ｗを入庫用移載棚２０の入庫物品引渡位置や出庫用移載棚４０の出庫物品受取位置に移載する。 Then, in the state where the loading / unloading transfer cart 60 is moved to the position corresponding to the loading article delivery position of the loading transfer shelf 20, the picker is operated to move the loading article delivery position of the loading transfer shelf 20. Goods W can be received. In addition, in a state where the article W is taken in, the loading / unloading transfer cart 60 moves to a position facing the storage shelf 10 and moves the picker to move the taken article W to the storage shelf 10. Can be listed. Further, by operating the picker in a state where the loading / unloading transfer cart 60 is moved to a position facing the storage shelf 10, the article W in the storage shelf 10 can be taken in, and in this state, the transfer for storage is performed. The article W is moved to a position opposite the delivery article receiving position of the loading shelf 20 or the delivery article receiving position of the delivery transfer shelf 40 and the picker is operated, so that the article W is delivered to the transfer shelf 20 for entry. The product is transferred to the position and the delivery item receiving position of the delivery transfer shelf 40.

制御ユニット７０は、ＣＰＵ、ＲＯＭおよびＲＡＭ等を備える一般的なマイクロコンピュータによって構成されており、予め格納されたソフトウェアプログラムによって後述処理を実行して、本自動倉庫の全体制御を実行する入出庫制御部として動作可能に構成されている。また、制御ユニット７０には、スイッチ等によって構成される入力部７４が接続されている。この入力部７４は、本自動倉庫に関する諸動作指令を受付けるものであり、ここでは、操作者の操作に応じて非常出庫指令を受付ける非常出庫指令受付部としての機能をも有している。 The control unit 70 is configured by a general microcomputer including a CPU, a ROM, a RAM, and the like, and performs entry / exit control for executing overall processing of the automatic warehouse by executing processing to be described later using a software program stored in advance. It is comprised so that operation | movement as a part is possible. The control unit 70 is connected to an input unit 74 configured by switches and the like. The input unit 74 receives various operation commands related to the automatic warehouse, and also has a function as an emergency shipping command receiving unit that receives an emergency shipping command in accordance with an operation of the operator.

図６は制御ユニット７０の処理手順を示すフローチャートである。まず、本自動倉庫による動作開始後、ステップＳ１において通常動作モードにて物品Ｗの入庫処理及び出庫処理を行う。通常動作モードは、本自動倉庫が正常に動作している通常状態で行われるモードである。すなわち、通常動作モードによる物品Ｗの入庫処理では、制御ユニット７０は、入庫用コンベア３８を経由して入庫される物品Ｗを、入庫用昇降機構部３０から各入庫用移載棚２０及び各入出庫移載台車６０を経由して格納棚１０に物品Ｗを入庫する。この際、入庫用コンベア３８又は入庫用昇降機構部３０で物品Ｗに付された識別符号を読取ると共に、各入庫用移載棚２０で複数の物品Ｗを個別停止させつつ搬送することで、各入庫用移載棚２０に複数の物品Ｗを載置可能にして一種のバッファ機能を持たせて効率的な入庫を図ると共に、搬送途中で物品Ｗの位置等を個別把握してその入庫位置等を把握管理することができる。 FIG. 6 is a flowchart showing the processing procedure of the control unit 70. First, after the operation is started by the automatic warehouse, in step S1, the goods W are stored and processed in the normal operation mode. The normal operation mode is a mode performed in a normal state in which the automatic warehouse is operating normally. That is, in the warehousing process of the article W in the normal operation mode, the control unit 70 transfers the article W that is warehousing via the warehousing conveyor 38 from the warehousing elevating mechanism unit 30 to each warehousing transfer shelf 20 and each warehousing. The article W is received into the storage shelf 10 via the delivery transfer cart 60. At this time, the identification code attached to the article W is read by the warehousing conveyor 38 or the warehousing elevating mechanism section 30, and each warehousing transfer shelf 20 is transported while individually stopping a plurality of articles W. A plurality of articles W can be placed on the transfer rack 20 for warehousing so as to provide a kind of buffer function for efficient warehousing, and the position of the article W and the like are individually grasped during the transportation, and the warehousing position, etc. Can be managed.

なお、この通常動作モードにおいて、制御ユニット７０において、物品Ｗが格納に適さない入庫不適格物品と判断された場合には、当該物品Ｗを入庫用昇降機構部３０からリジェクト用コンベア３９に移載して外部に搬出する。入庫不適格物品か否かの判断は、入庫用コンベア３８及び入庫用昇降機構部３０のいずれかに設けられた上記した読取りセンサやサイズ検知センサ等からの出力結果に基づいて行われ、例えば、読取りエラーやサイズオーバーと判断されたとき等に入庫不適格物品として判断される。 In this normal operation mode, when the control unit 70 determines that the article W is an ineligible article that is not suitable for storage, the article W is transferred from the warehousing mechanism 30 to the reject conveyor 39. Then carry it out. Judgment as to whether or not the goods are ineligible for warehousing is performed based on the output result from the above-described reading sensor or size detection sensor provided in either the warehousing conveyor 38 or the warehousing elevating mechanism section 30, for example, When it is determined that a reading error or oversize has occurred, the article is determined as an ineligible article.

通常動作モードによる物品Ｗの出庫処理では、制御ユニット７０は、各格納棚１０に格納された物品Ｗを、各入出庫移載台車６０から各出庫用移載棚４０及び出庫用昇降機構部５０を経由して出庫用コンベア５８に搬出する。この際、各出庫用移載棚４０で複数の物品Ｗを個別停止させつつ搬送する。 In the unloading process of the articles W in the normal operation mode, the control unit 70 transfers the articles W stored in the storage shelves 10 from the loading / unloading transfer carts 60 to the unloading transfer shelves 40 and the unloading lifting mechanism 50. To the unloading conveyor 58. At this time, a plurality of articles W are transported while being individually stopped on each of the shipping transfer shelves 40.

ステップＳ１において通常動作モード開始後、ステップＳ２に移行し、異常状態の有無が判断され、異常状態無しと判断された場合、ステップＳ１に戻り、通常動作モードを続行する。ステップＳ２において、異常状態有りと判断された場合、ステップＳ３に移行する。ステップＳ２の判断は、利用者による非常停止入力の有無或は本自動倉庫に組込まれた各種自己診断機能に基づく非常停止出力等に基づいてなされる。 After starting the normal operation mode in step S1, the process proceeds to step S2, where it is determined whether or not there is an abnormal state. If it is determined that there is no abnormal state, the process returns to step S1 and the normal operation mode is continued. If it is determined in step S2 that there is an abnormal condition, the process proceeds to step S3. The determination in step S2 is made based on the presence or absence of an emergency stop input by the user or the emergency stop output based on various self-diagnosis functions incorporated in the automatic warehouse.

ステップＳ３では、通常動作モードを停止して自動倉庫の動作を停止させる。 In step S3, the normal operation mode is stopped and the operation of the automatic warehouse is stopped.

その後、ステップＳ４に移行し、入力部７４を通じた非常出庫指令の受付有無を判断する。ここで、非常出庫指令無しと判断された場合には、ステップＳ４の判断を繰返し、利用者による入力部７４の操作により非常出庫指令有りと判断されると、ステップＳ５に進み非常出庫モードを実行する。 Thereafter, the process proceeds to step S4, and it is determined whether or not an emergency exit command is accepted through the input unit 74. If it is determined that there is no emergency exit command, the determination in step S4 is repeated, and if it is determined that there is an emergency exit command by the operation of the input unit 74 by the user, the process proceeds to step S5 and the emergency exit mode is executed. To do.

非常出庫モードでは、制御ユニット７０は、各格納棚１０に格納された物品Ｗを、入出庫移載台車６０から各入庫用移載棚２０及び入庫用昇降機構部３０を経由してリジェクト用コンベア３９に搬出する。より具体的には、図７及び図８に示すように、まず、取出し要求された物品Ｗを、入出庫移載台車６０により格納棚１０から取出す（図７の矢符Ｐ１参照）。そして、入出庫移載台車６０を入庫用移載棚２０の入庫物品引渡位置Ａ２に対向する位置に移動させる（図７及び図８の矢符Ｐ２参照）。そして、物品Ｗを入出庫移載台車６０から入庫用移載棚２０の入庫物品引渡位置Ａ２に移載する（図７の矢符Ｐ３参照）。さらに、入庫用移載棚２０において、移載された物品Ｗを、入庫物品引渡位置Ａ２からから入庫物品受取位置Ａ１に向けて一気に搬送する（図７及び図８の矢符Ｐ４参照）。この後、物品Ｗを入庫用移載棚２０から入庫用昇降機構部３０の入庫用昇降移動部３２に移載する（図７及び図８の矢符Ｐ５参照）。すると、入庫用昇降移動部３２はリジェクト用コンベア３９に対応する高さ位置に昇降移動し（図８の矢符Ｐ６参照）、物品Ｗを当該リジェクト用コンベア３９に移載する（図７及び図８の矢符Ｐ７参照）。これにより、物品Ｗが取出される。上記を連続して行うことで、格納棚１０に格納された物品Ｗが順次取出される。 In the emergency delivery mode, the control unit 70 rejects the articles W stored in the storage shelves 10 from the entry / exit transfer cart 60 through the input transfer shelves 20 and the entry lift mechanism 30. Unload to 39. More specifically, as shown in FIGS. 7 and 8, first, the article W requested to be taken out is taken out from the storage shelf 10 by the loading / unloading transfer carriage 60 (see arrow P1 in FIG. 7). Then, the loading / unloading transfer cart 60 is moved to a position opposite to the loading article delivery position A2 of the loading transfer shelf 20 (see arrow P2 in FIGS. 7 and 8). Then, the article W is transferred from the entry / exit transfer carriage 60 to the entry article delivery position A2 of the entry transfer shelf 20 (see arrow P3 in FIG. 7). Furthermore, in the warehousing transfer shelf 20, the transferred article W is transported all at once from the warehousing article delivery position A2 to the warehousing article receiving position A1 (see arrow P4 in FIGS. 7 and 8). Thereafter, the article W is transferred from the warehousing transfer shelf 20 to the warehousing raising / lowering moving part 32 of the warehousing raising / lowering mechanism part 30 (see arrow P5 in FIGS. 7 and 8). Then, the warehousing and moving unit 32 moves up and down to a height corresponding to the reject conveyor 39 (see arrow P6 in FIG. 8), and transfers the article W to the reject conveyor 39 (FIGS. 7 and 7). 8 (see arrow P7). Thereby, the article W is taken out. By performing the above continuously, the articles W stored in the storage shelf 10 are sequentially taken out.

以上のように構成された自動倉庫によると、通常状態では、各入庫用移載棚２０で複数の物品Ｗを個別停止させながら搬送可能にしつつ、入庫用昇降機構部３０から各入庫用移載棚２０及び各入出庫移載台車６０を経由して格納棚１０に物品Ｗを入庫することができる。従って、各棚段１２において、入庫用移載棚２０に対する物品Ｗの入出スピードが異なり変動する場合等でも、入庫用移載棚２０に複数の物品Ｗを載置することでバッファ機能を持たせて待ち時間を減らし、効率的な入庫作業を行える。また、通常状態では、各出庫用移載棚４０で複数の物品Ｗを個別停止させながら搬送可能にしつつ、各入出庫移載台車６０から各出庫用移載棚４０及び出庫用昇降機構部５０を経由して格納棚１０から物品Ｗを出庫することができる。このため、出庫時においても、同様に、出庫用移載棚４０に複数の物品Ｗを載置することでバッファ機能を持たせて待ち時間を減らし、効率的な出庫作業を行える。 According to the automatic warehouse configured as described above, in a normal state, the plurality of articles W can be transported while being individually stopped in each warehousing transfer shelf 20 and can be transferred from the warehousing elevating mechanism 30 to each warehousing transfer. The article W can be stored in the storage shelf 10 via the shelf 20 and each loading / unloading transfer cart 60. Therefore, even if the loading / unloading speed of the article W with respect to the warehousing transfer shelf 20 varies and fluctuates in each shelf stage 12, a buffer function is provided by placing a plurality of articles W on the warehousing transfer shelf 20. This reduces the waiting time and enables efficient warehousing work. Further, in a normal state, the plurality of articles W can be transported while being individually stopped on each of the shipping transfer shelves 40, while each of the shipping transfer shelves 40 and the shipping lifting mechanism unit 50 from each of the loading / unloading transfer carts 60. The goods W can be taken out from the storage shelf 10 via. For this reason, also at the time of delivery, similarly, by placing a plurality of articles W on the delivery transfer shelf 40, a buffer function is provided to reduce waiting time, and efficient delivery work can be performed.

また、出庫用の構成部分（例えば、出庫用移載棚４０や出庫用昇降機構部５０等）が故障等で動作できない場合には、入力部７４を介した非常出庫指令の受付により、各入庫用移載棚２０で物品Ｗを１つずつ入庫搬送方向Ｐａの逆方向Ｐｂに向けて搬送しつつ、入出庫移載台車６０から各入庫用移載棚２０及び入庫用昇降機構部３０を経由して格納棚１０から物品を出庫できる。これにより、手出し作業に頼らず、格納棚１０内の物品Ｗを出庫できる。特に、入庫時とは異なり、各入庫用移載棚２０で物品Ｗを１つずつ入庫搬送方向Ｐａの逆方向Ｐｂに向けて一気に搬送しているので、物品検知センサ２６及びストッパ２７等を追加することなく簡易な構成で非常時の出庫を行える。 In addition, when a component part for delivery (for example, the transfer shelf 40 for delivery or the lifting mechanism unit 50 for delivery) cannot be operated due to a failure or the like, each warehousing is performed by receiving an emergency delivery command via the input unit 74. The articles W are transported one by one in the opposite direction Pb of the warehousing / conveying direction Pa from the warehousing / transferring rack 20, while passing from the warehousing / unloading carriage 60 to each warehousing / transferring rack 20 and the warehousing lifting / lowering mechanism 30. Then, goods can be delivered from the storage shelf 10. Thereby, the goods W in the storage shelf 10 can be delivered without depending on the handing-out operation. In particular, unlike at the time of warehousing, the articles W are transported at a time in the opposite direction Pb of the warehousing / conveying direction Pa one by one on each warehousing transfer shelf 20, so an article detection sensor 26, a stopper 27, etc. are added. It is possible to take out an emergency in a simple configuration without having to do so.

また、搬送方向切替部として、各モータ２５が共通接続された共通電源経路２８の途中に設けられた可逆電磁接触器８０を用いているので、１つの可逆電磁接触器で、各棚段１２に対応する入庫用移載棚２０のモータ２５全てを一括して正転方向と逆転方向とで切替えることができ、比較的簡易かつ低コストな構成で全ての入庫用移載棚２０の入庫搬送方向Ｐａを逆方向Ｐｂに切替えることができる。 Moreover, since the reversible electromagnetic contactor 80 provided in the middle of the common power supply path 28 to which the motors 25 are commonly connected is used as the transport direction switching unit, one reversible electromagnetic contactor can be used for each shelf 12. All the motors 25 of the corresponding transfer rack 20 can be switched between the normal rotation direction and the reverse rotation direction at once, and the transfer and transfer directions of all the transfer racks 20 for storage are relatively simple and low-cost. Pa can be switched to the reverse direction Pb.

また、入庫用昇降機構部３０と出庫用昇降機構部５０を別々に設けているため、通常状態で、効率よく入出庫作業を行える。また、出庫用昇降機構部５０が故障等した非常時には、入庫用昇降機構部３０を用いて出庫できる。 Further, since the warehousing mechanism 30 and the warehousing mechanism 50 are provided separately, the warehousing work can be efficiently performed in a normal state. Further, in the event of an emergency in which the shipping elevator mechanism 50 breaks down, the warehouse lifting mechanism unit 30 can be used for shipping.

また、非常出庫指令時には、通常時に入庫不適格物品を排出するリジェクト用コンベア３９を用いているため、入庫用コンベア３８に逆搬送方向への切替え構成等特殊な設計変更を施すことなく、物品Ｗを出庫できる。 Further, at the time of emergency delivery command, since the reject conveyor 39 that discharges unacceptable goods at normal times is used, the goods W can be used without making any special design change such as a switching configuration in the reverse transport direction to the warehousing conveyor 38. Can be issued.

｛変形例｝
なお、上記実施形態において、非常出庫モードで、入庫用昇降機構部３０から入庫用コンベア３８に物品Ｗを出庫するようにしてもよい。 {Modifications}
In the above-described embodiment, the article W may be unloaded from the warehousing elevating mechanism unit 30 to the warehousing conveyor 38 in the emergency unloading mode.

また、上記では、入庫用昇降機構部３０と出庫用昇降機構部５０とを別々に設けているが、これらを共通構成の昇降機構部として、入庫用移載棚２０に対して物品Ｗを受渡可能に構成すると共に、出庫用移載棚４０に対して物品Ｗを受取可能に構成してもよい。 In the above, the warehousing mechanism 30 and the evacuation mechanism 50 are separately provided, but the articles W are delivered to the warehousing transfer shelf 20 by using these as the common mechanism. In addition to the above configuration, the article W may be received with respect to the unloading transfer shelf 40.

また、格納棚１０の両端部に分けて、入庫用移載棚２０及び入庫用昇降機構部３０と、出庫用移載棚４０及び出庫用昇降機構部５０とを設けてもよい。 Further, the storage rack 10 may be divided into both ends, and the transfer rack 20 for storage and the lifting mechanism section 30 for storage, the transfer rack 40 for storage, and the lift mechanism 50 for shipping may be provided.

さらに、非常出庫指令受付は、所定のセンサ出力等に基づいて故障の有無を判断する故障検知部からの故障検知信号に基づいてなされてもよい。 Further, the emergency exit command reception may be performed based on a failure detection signal from a failure detection unit that determines the presence or absence of a failure based on a predetermined sensor output or the like.

また、上記実施形態では、各物品検知センサ２６からの出力に基づいてストッパ２７を駆動して物品Ｗを個別に停止又は移動可能な状態にする例で説明したが、必ずしもそのような構成に限られない。例えば、ストッパ２７を省略し、物品検知センサ２６からの出力に基づいて各分割移載機構部２２，４２毎にモータ２５を回転駆動又は回転駆動停止することで、物品Ｗを個別に停止又は移動させるようにしてもよい。つまり、物品検知センサ２６からの出力に基づいて、上記ストッパ２４を進出させる代りにモータ２５の回転を停止させ、上記ストッパ２４を退避させる代りにモータ２５を回転駆動させてもよい。要するに、入庫用移載棚２０，出庫用移載棚４０としては、ストッパ２７の動作により或はモータ等の物品Ｗ搬送用のアクチュエータのオンオフ等により、複数の物品Ｗを個別停止させつつ搬送可能な構成であればよい。 In the above-described embodiment, the example has been described in which the stopper 27 is driven based on the output from each article detection sensor 26 to individually stop or move the article W. However, the present invention is not limited to such a configuration. I can't. For example, the stopper 27 is omitted, and the articles W are individually stopped or moved by rotating or stopping the rotation of the motor 25 for each of the divided transfer mechanism sections 22 and 42 based on the output from the article detection sensor 26. You may make it make it. That is, based on the output from the article detection sensor 26, the rotation of the motor 25 may be stopped instead of moving the stopper 24 forward, and the motor 25 may be driven to rotate instead of retracting the stopper 24. In short, the transfer rack 20 for storage and the transfer rack 40 for unloading can be transported while individually stopping a plurality of articles W by operating the stopper 27 or by turning on / off an actuator for transporting the articles W such as a motor. Any configuration may be used.

勿論、上記実施形態及び各変形例で説明した各構成は、相互に矛盾しない限り適宜組合わせることができる。 Of course, each structure demonstrated by the said embodiment and each modification can be suitably combined unless it mutually contradicts.

自動倉庫全体を示す概略平面図である。It is a schematic plan view which shows the whole automatic warehouse. 自動倉庫全体を示す概略側面図である。It is a schematic side view which shows the whole automatic warehouse. 入庫用移載棚の要部を示す説明図である。It is explanatory drawing which shows the principal part of the transfer shelf for warehousing. 各モータに電源を供給するための電気的構成を示すブロック図である。It is a block diagram which shows the electric constitution for supplying power to each motor. 可逆電磁接触器を示す図である。It is a figure which shows a reversible electromagnetic contactor. 制御ユニットの処理手順を示すフローチャートである。It is a flowchart which shows the process sequence of a control unit. 非常出庫モードでの物品の出庫動作を示す概略平面図である。It is a schematic plan view which shows the delivery operation | movement of the articles | goods in emergency delivery mode. 非常出庫モードでの物品の出庫動作を示す概略側面図である。It is a schematic side view which shows the delivery operation | movement of the articles | goods in emergency delivery mode.

符号の説明Explanation of symbols

１０格納棚
１２棚段
２０入庫用移載棚
２２分割移載機構部
２５モータ
２６物品検知センサ
２７ストッパ
２８共通電源経路
２９３相交流電源
３０入庫用昇降機構部
３９リジェクト用コンベア
４０出庫用移載棚
４２各分割移載機構部
５０出庫用昇降機構部
６０入出庫移載台車
７０制御ユニット
７４入力部
８０可逆電磁接触器
Ａ１入庫物品受取位置
Ａ２入庫物品引渡位置
Ｂ１出庫物品受取位置
Ｂ２出庫物品引渡位置
Ｐａ入庫搬送方向
Ｐｂ逆方向
Ｐｃ出庫搬送方向
Ｗ物品 DESCRIPTION OF SYMBOLS 10 Storage shelf 12 Shelf stage 20 Transfer shelf for receipt 22 Division transfer mechanism part 25 Motor 26 Article detection sensor 27 Stopper 28 Common power supply path 29 Three-phase alternating current power supply 30 Lifting mechanism part for receipt 39 Reject conveyor 40 Transfer for delivery Shelf 42 Each division transfer mechanism part 50 Elevating and lowering mechanism part 60 Incoming / outgoing goods transfer carriage 70 Control unit 74 Input part 80 Reversible electromagnetic contactor A1 Incoming goods receiving position A2 Incoming goods delivery position B1 Outgoing goods receiving position B2 Outgoing goods delivery Position Pa Incoming / conveying direction Pb Reverse direction Pc Outgoing / conveying direction W Article

Claims

複数の棚段を有する格納部と、
前記各棚段に対応して設けられ、それぞれ、複数の分割移載機構部が略水平面上で直線状に連なるように設けられると共に、前記各分割移載機構部に物品検知センサが設けられた構成とされ、入庫物品受取位置から入庫物品引渡位置に向う入庫搬送方向に向けて、複数の物品を個別停止させつつ搬送可能で、かつ、物品を１つずつ前記入庫搬送方向の逆方向に向けて搬送可能な複数の入庫用移載棚と、
前記各棚段に対応して設けられ、出庫物品受取位置から出庫物品引渡位置に向う出庫搬送方向に向けて、複数の物品を個別停止させつつ搬送可能な複数の出庫用移載棚と、
前記各棚段に対応して設けられ、その各棚段で前記入庫用移載棚及び前記出庫用移載棚と前記格納部との間で物品を移載可能な複数の入出庫移載台車と、
物品を昇降移動可能に構成され、前記各棚段に対応する入庫用移載棚に対して物品を受渡し可能に構成されると共に、前記各棚段に対応する出庫用移載棚に対して物品を受取可能に構成された昇降機構部と、
非常出庫指令を受付ける非常出庫指令受付部と、
前記非常出庫指令受付部を介した前記非常出庫指令の受付により、前記各入庫用移載棚による物品の搬送方向を、前記入庫搬送方向の逆方向に切替える搬送方向切替部と、
通常状態では、前記物品検知センサの検知結果に基づいて、前記各入庫用移載棚で複数の物品を前記各分割移載機構部で個別停止させながら搬送可能にしつつ、前記昇降機構部から前記各入庫用移載棚及び前記各入出庫移載台車を経由して前記格納部に物品を入庫すると共に、前記各出庫用移載棚で複数の物品を個別停止させながら搬送可能にしつつ、前記各入出庫移載台車から前記各出庫用移載棚及び前記昇降機構部を経由して前記格納部から物品を出庫し、前記非常出庫指令受付部を介した前記非常出庫指令の受付により、前記各分割移載機構部で個別停止させないで、前記各入庫用移載棚で物品を１つずつ前記入庫搬送方向の逆方向に向けて一気搬送しつつ、前記各入出庫移載台車から前記各入庫用移載棚及び前記昇降機構部を経由して前記格納部から物品を出庫する、入出庫制御部と、
を備えた自動倉庫。 A storage unit having a plurality of shelves;
Provided corresponding to each shelf , a plurality of divided transfer mechanism portions are provided so as to be linearly connected on a substantially horizontal plane, and an article detection sensor is provided in each divided transfer mechanism portion. A plurality of articles can be conveyed while being individually stopped from the receipt article receiving position toward the entry article delivery position, and the articles can be conveyed one by one in the direction opposite to the receipt conveyance direction. A plurality of storage racks that can be transported
A plurality of unloading transfer shelves that can be transported while individually stopping a plurality of articles from the unloading article receiving position toward the unloading article delivery position.
A plurality of loading / unloading carts that are provided corresponding to each of the shelves and that can transfer articles between the loading / unloading shelves and the loading / unloading shelves and the storage unit. When,
The article is configured to be movable up and down, and configured to be able to deliver the article to the transfer rack for entry corresponding to each shelf, and the article to the transfer shelf for delivery corresponding to each shelf Elevating mechanism configured to receive
An emergency exit command reception unit for receiving an emergency exit command;
A conveyance direction switching unit that switches the conveyance direction of the articles by the transfer racks for each warehousing to a direction opposite to the warehousing conveyance direction by receiving the emergency delivery command via the emergency delivery command reception unit;
In a normal state, based on the detection result of the article detection sensor , the plurality of articles can be transported while being individually stopped by the respective division transfer mechanism sections on the respective transfer racks, and While warehousing goods in the storage unit via each warehousing transfer shelf and each warehousing / unloading carriage, while allowing a plurality of articles to be individually stopped on each warehousing transfer shelf, and unloading the article from the storage unit via the respective unloading for transfer shelf and the elevator mechanism from the entry and leaving transfer carriage, by the acceptance of emergency unloading command via the emergency unloading instruction accepting unit, wherein not allow the individual stopped at each of the divided transfer mechanism, the while gulp conveyed toward the opposite direction of the goods receipt conveying direction by one the articles in the goods receipt for the transfer rack, the from the respective entry and leaving transfer carriage each Via the transfer shelf for warehousing and the lifting mechanism To unloading an article from the storage unit, and the entry and leaving control unit,
Automatic warehouse equipped with.

請求項１記載の自動倉庫であって、
前記各入庫用移載棚は、正転方向で物品を前記入庫搬送方向に向けて搬送し、逆転方向で物品を前記入庫搬送方向の逆方向に搬送するモータをそれぞれ有し、
前記搬送方向切替部は、前記各入庫用移載棚のモータに接続された共通の電源経路の途中に設けられ、前記複数のモータを正転方向に回転させる態様と、前記複数のモータを逆転方向に回転させる態様とで、前記電源経路の接続を切替える可逆電磁接触器である、自動倉庫。 An automatic warehouse according to claim 1, wherein
Each of the warehousing transfer shelves includes a motor that conveys the article in the forward rotation direction toward the warehousing conveyance direction, and that conveys the article in the reverse rotation direction in the reverse direction of the warehousing conveyance direction,
The conveyance direction switching unit is provided in the middle of a common power supply path connected to the motors of the respective warehousing transfer shelves, and rotates the plurality of motors in the normal rotation direction, and reverses the plurality of motors. An automatic warehouse, which is a reversible electromagnetic contactor that switches the connection of the power supply path in a manner of rotating in a direction.

請求項１又は請求項２記載の自動倉庫であって、
前記昇降機構部は、
物品を昇降移動可能に構成され、前記各棚段に対応する入庫用移動棚に対して物品を受渡可能な入庫用昇降機構部と、
物品を昇降移動可能に構成され、前記各棚段に対応する出庫用移載棚に対して物品を受取可能な出庫用昇降機構部と、
を有し、
前記入出庫制御部は、前記通常状態では、前記入庫用昇降機構部を経由して物品を入庫すると共に、前記出庫用昇降機構部を経由して物品を出庫し、前記非常出庫指令受付部を介した前記非常出庫指令の受付により、前記入庫用昇降機構部を経由して物品を出庫する、自動倉庫。 An automatic warehouse according to claim 1 or claim 2,
The lifting mechanism is
The warehousing mechanism configured to move the article up and down, and capable of delivering the article to the moving shelf for warehousing corresponding to each shelf,
An article lifting mechanism configured to move the article up and down, and capable of receiving the article with respect to the loading transfer shelf corresponding to each shelf,
Have
In the normal state, the warehousing / unloading control unit warehousing goods via the warehousing lifting / lowering mechanism unit, and unloading the goods via the warehousing lifting / lowering mechanism unit, An automatic warehouse in which goods are delivered via the warehousing mechanism upon receipt of the emergency delivery instruction.

請求項３記載の自動倉庫であって、
前記入庫用昇降機構部から物品を受取り可能な物品受取部をさらに備え、
前記入出庫制御部は、前記通常状態における入庫時に、入庫不適格物品を前記入庫用昇降機構部から前記物品受取部に引渡し、前記非常出庫指令受付部を介した前記非常出庫指令の受付により、前記入庫用昇降機構部を経由して前記物品受取部に物品を出庫する、自動倉庫。 An automatic warehouse according to claim 3,
Further comprising an article receiving section capable of receiving articles from the warehousing elevating mechanism section,
The warehousing control unit, when warehousing in the normal state, delivers unacceptable goods from the warehousing elevating mechanism part to the article receiving part, and by receiving the emergency delivery instruction via the emergency exit instruction receiving part, An automatic warehouse that unloads articles to the article receiving unit via the warehouse lifting mechanism.