JP7268267B2 - Three-dimensional automated warehouse - Google Patents

Three-dimensional automated warehouse Download PDF

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JP7268267B2
JP7268267B2 JP2021120072A JP2021120072A JP7268267B2 JP 7268267 B2 JP7268267 B2 JP 7268267B2 JP 2021120072 A JP2021120072 A JP 2021120072A JP 2021120072 A JP2021120072 A JP 2021120072A JP 7268267 B2 JP7268267 B2 JP 7268267B2
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俊臣 星
啓樹 篠原
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Toyo Kanetsu KK
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本発明は、隣接する格納棚間、及び、隣接する１組の格納棚から成る格納設備がある間隔を持って複数配列された格納設備間の物品又は物品収納容器（以下、「物品等」という）の自在な往復移動が可能で、倉庫内における物品等の整理・整頓や仕分け等が容易に行える立体自動倉庫、及び、出庫作業における物品等の効率的な処理が行える立体自動倉庫に関する。 The present invention provides an article or an article storage container (hereinafter referred to as "articles, etc.") between adjacent storage shelves and between storage facilities consisting of a set of adjacent storage shelves and a plurality of storage facilities arranged at intervals. ) can be freely reciprocated and can easily organize, sort, and sort articles in the warehouse, and a three-dimensional automatic warehouse capable of efficiently processing articles in shipping work.

一般的な立体自動倉庫は、水平長手及び垂直方向に碁盤目状に配列してなる物品等の格納棚と、この格納棚の物品等を出し入れ可能な格納面の反対面で隣接する１組の格納棚とを備えた格納設備とが、所定の数だけ配列されると共に、所定の空間を隔てて対峙されており、その空間には物品等の移動手段が配設されている。 A typical three-dimensional automated warehouse consists of storage shelves for goods, etc., arranged in a grid pattern in the horizontal and vertical directions, and a pair of adjacent storage shelves on the opposite side of the storage surface from which the goods, etc. can be taken in and out. A predetermined number of storage facilities including storage racks are arranged and opposed to each other with a predetermined space therebetween.

この物品等の移動手段の違いによって様々な立体自動倉庫がある。例えば、スタッカクレーン等の物品等を移動する手段によって、格納棚の水平長手方向（Ｘ軸方向）及び垂直方向（Ｙ軸方向）に物品等の自在な往復移動が可能な立体自動倉庫（例えば、特許文献１や２）や、Ｙ軸方向の各段に設けられた走行台車によって格納棚のＸ軸方向に物品等の往復移動が自在で、昇降機によって格納棚のＹ軸方向の物品等の往復移動が自在な立体自動倉庫（例えば、特許文献３、４、及び、非特許文献１）等がある。 There are various multi-level automated warehouses depending on the means of transportation for these goods. For example, a three-dimensional automated warehouse (for example, According to Patent Documents 1 and 2), articles, etc., can be freely reciprocated in the X-axis direction of the storage shelf by a traveling carriage provided at each stage in the Y-axis direction, and an elevator can reciprocate the articles, etc. in the Y-axis direction of the storage shelf. There are three-dimensional automated warehouses that can be freely moved (for example, Patent Documents 3 and 4, and Non-Patent Document 1).

前者に相当する立体自動倉庫の一例として、スタッカクレーン型の立体自動倉庫Ｉを図１に示す。ＸＹ軸方向に碁盤目状に配列してなる物品等を格納するＬｎ列の格納棚とこの格納棚の物品等を出し入れ可能な格納面の反対面で隣接するＬｎ’列の格納棚とを備えた格納設備が、所定の空間８を隔ててＬｎ＋１列の格納棚と対峙しており（その他の格納棚を省略）、その空間８にスタッカクレーン１が配設されている。このスタッカクレーン１は、クレーンマスト２、クレーン台車３、下部走行レール４、上部走行レール５、スタッカクレーン物品等載置台６から構成され、この載置台６には、載置台６とＬｎ’列及びＬｎ＋１列との格納棚の受渡しを行う、例えば、伸縮アーム７が備えられている。従って、スタッカクレーン型の立体自動倉庫Iは、格納棚のＸＹ軸方向の物品等の自在な往復移動と、伸縮アーム７による空間８を隔てて対峙する格納棚間の横断方向（Ｚ軸方向）の物品等の往復移動が可能である。そして、物品等の格納設備への搬出入は搬出入装置９で行われる。 FIG. 1 shows a stacker crane type automatic high-rise warehouse I as an example of a high-rise automatic warehouse corresponding to the former. L n rows of storage shelves for storing articles arranged in a grid pattern in the XY axis direction, and L n ′ rows of storage shelves adjacent to each other on the opposite side of the storage surface from which the articles can be taken in and out. is opposed to the Ln +1 row of storage racks across a predetermined space 8 (other storage racks are omitted), and the stacker crane 1 is arranged in the space 8 . The stacker crane 1 is composed of a crane mast 2, a crane truck 3, a lower traveling rail 4, an upper traveling rail 5, and a stacker crane article mounting base 6. and L n+1 rows, for example telescoping arms 7 are provided. Therefore, the stacker crane type multi-level automated warehouse I can freely reciprocate goods in the XY axis directions of the storage racks, and the transverse direction (Z-axis direction) between the storage shelves facing each other across the space 8 by the telescopic arm 7. It is possible to move back-and-forth items such as A carry-in/out device 9 is used to carry in/out articles and the like from/to the storage facility.

一方、後者に相当する立体自動倉庫の一例として、対峙する格納棚の空間にＸ軸方向に往復移動する走行台車を備えた立体自動倉庫ＩＩを図２（非特許文献１）に示す。ＸＹ軸方向に碁盤目状に配列してなる物品等を格納するＬｎ-１列の格納棚とこの格納棚の物品等を出し入れ可能な格納面で対峙するＬｎ列の格納棚とが、移動手段を配設する所定の空間８を隔てて対峙しており、その空間８に、格納棚のＸ軸方向の物品等の往復移動が可能となる走行台車１０及びそのレール１４が格段に設けられている。この走行台車１０にも、走行台車１０とＬｎ－１列及びＬｎ列との格納棚の受渡しを行う、例えば、伸縮アーム（図示されていない）が備えられている。それと共に、Ｙ軸方向に物品等の往復移動が可能となる物品等載置搬送台１２を備えた昇降機１１が空間８に配設されており、Ｘ軸方向とＹ軸方向との物品等の自在な往復移動を媒介するため、走行台車１０と物品等載置台１２との物品等の受け渡しを行う仮置き搬送台１３が各段の格納棚に設けられている。通常、これらの設備を有する立体自動倉庫が一つの単位となり、Ｌｎ＋１列及びＬｎ＋２列の格納棚のように、複数配列されている。従って、走行台車１０及び物品等載置搬送台１２を有する昇降機１１を備えた立体自動倉庫ＩＩでは、このような移動手段によってＸＹ軸方向の物品等の自在な往復移動が可能であると共に、（図２の一部だけを図示している）図３の平面図から明らかなように、空間８を隔てて対峙するＬｎ―１列とＬｎ列、Ｌｎ＋１列とＬｎ＋２列、Ｌｎ＋３列とＬｎ＋４列等の格納棚間におけるＺ軸方向の物品等の往復移動が可能である。そして、物品等の格納棚への搬出入は、搬入装置９－１及び搬出装置９－２によって搬送され、入出庫部ＳＲを経由して行われる。 On the other hand, FIG. 2 (Non-Patent Document 1) shows an example of a multi-level automated warehouse corresponding to the latter, which is equipped with a traveling carriage that reciprocates in the X-axis direction between opposing storage rack spaces. Ln -1 rows of storage shelves for storing articles, etc. arranged in a grid pattern in the XY axis direction and Ln rows of storage shelves facing each other on the storage surface from which the articles, etc. can be taken in and out, A traveling carriage 10 and its rails 14 are remarkably provided in the space 8, which is opposed to each other with a predetermined space 8 for arranging a moving means, and which enables reciprocating movement of articles, etc. in the X-axis direction of the storage shelf. It is This traveling carriage 10 is also equipped with, for example, a telescopic arm (not shown) for transferring storage racks between the traveling carriage 10 and the L n−1 row and L n row. At the same time, an elevator 11 having an article placement conveyor 12 capable of reciprocating the articles in the Y-axis direction is arranged in the space 8, and the articles can be moved in the X-axis direction and the Y-axis direction. In order to mediate free reciprocating movement, a temporary placement carrier 13 for transferring articles between the traveling carriage 10 and the article placing table 12 is provided on each storage shelf. Normally, a multi-level automated warehouse having these facilities becomes one unit, and a plurality of storage racks are arranged like L n+1 rows and L n+2 rows of storage racks. Therefore, in the automatic three-dimensional warehouse II equipped with the elevator 11 having the traveling carriage 10 and the article placement conveyor 12, such a moving means enables free reciprocation of the article in the XY axis direction, and ( As is clear from the plan view of FIG. 3 (only a part of FIG. 2 is shown), L n−1 row and L n row, L n+1 row and L n+2 row, and L n+3 face each other across the space 8 . Reciprocating movement of items, etc. in the Z-axis direction between storage shelves such as row and Ln +4 row is possible. Carrying in and out of the storage shelf for articles and the like is carried out by the carrying-in device 9-1 and the carrying-out device 9-2, and is carried out via the loading/unloading section SR.

図２に示した対峙する格納棚間の空間でＸＹ軸方向に往復移動する走行台車を備えた立体自動倉庫ＩＩにおいても、図１に示したスタッカクレーン型の立体自動倉庫Ｉと同様に、例えば、図２の格納棚Ｌｎ－１列、Ｌｎ列、Ｌｎ＋１列、及び、Ｌｎ＋２列の物品等を出し入れ可能な格納面の反対面で隣接する格納棚Ｌｎ－１’列、Ｌｎ’列、Ｌｎ＋１’列、及び、（図示されていない）Ｌｎ＋２’列が設けられ、隣接する格納棚を１組とする格納設備が複数配列される場合もある。この場合、図４の平面図から明らかなように、各格納設備は、これらの間に、すなわち、格納棚Ｌｎ－１’列とＬｎ列、格納棚Ｌｎ’列とＬｎ＋１列、格納棚Ｌｎ＋１’列とＬｎ＋２列の間に、物品等の出し入れができる走行台車１０、そのレール１４、及び、物品等載置搬送台１２を備えた昇降機１１を配設することができるような空間８を持って設置され、ＸＹ軸方向の物品等の自在な往復移動、空間８を隔てて対峙する格納棚間におけるＺ軸方向の物品等の往復移動が可能である。この場合も、物品等の格納棚への搬出入は、（図示されていない）一般的な搬出入装置によって搬送され、入出庫部ＳＲを経由して行われる。 In the automated high-rise warehouse II shown in FIG. 2, which is equipped with a traveling carriage that reciprocates in the XY-axis directions in the space between the facing storage racks, similar to the stacker crane-type automated high-rise warehouse I shown in FIG. , storage shelf L n−1 ′ row, L adjacent to the storage surface opposite to the storage surface from which articles can be taken in and out of storage shelf L n −1 row, L n row, L n+1 row, and L n+ 2 row in FIG. There may be multiple arrays of storage facilities with n 1 ', L n+1 ', and L n+2 ' (not shown) rows, each set of adjacent storage shelves. In this case, as is apparent from the plan view of FIG. 4, each storage facility is positioned between them, namely, storage shelf L n−1 ′ row and L n row, storage shelf L n ′ row and L n+1 row, Between the storage racks L n+1 ′ row and L n+2 row, an elevator 11 having a traveling carriage 10 capable of loading and unloading articles, rails 14 thereof, and a carrier 12 for placing articles etc. can be arranged. It is installed with a large space 8, allowing free reciprocation of articles in the XY axis direction and reciprocation of articles in the Z axis direction between storage racks facing each other with the space 8 therebetween. In this case as well, articles and the like are carried in and out of the storage rack by a general carrying-in/out device (not shown) and carried out via the loading/unloading section SR.

このように、上記立体自動倉庫においては、移動手段が配設される空間８に面するＬｎ－１列、Ｌｎ－１’列、Ｌｎ列、Ｌｎ’列、Ｌｎ＋１列、Ｌｎ＋１’等の各列の格納棚のＸＹ軸方向の物品等の自在な往復移動、及び、その空間８に面する格納棚間（図１では、Ｌｎ’列とＬｎ＋１列の格納棚、図２では、Ｌｎ－１列とＬｎ列及びＬｎ＋１列とＬｎ＋２列の格納棚）の物品等の往復移動が可能である。しかし、ＸＹ軸方向に碁盤目状に配列してなる物品等の格納棚から、この格納棚の物品等を出し入れ可能な格納面の反対面で隣接する格納棚へのＺ軸方向の物品等の往復移動、並びに、格納棚間及び隣接する格納棚を１組とする格納設備間のＺ軸方向の物品等の往復移動は極めて長い経路を経なければならず、この往復移動を実現するためには立体自動倉庫の設備を大幅に改造しなければならない。 In this way, in the above-described three-dimensional automated warehouse, L n−1 row, L n−1 ′ row, L n row, L n ′ row, L n+1 row, L Free reciprocating movement of articles, etc. in the XY axis direction of each row of storage shelves such as n +1 ' , and between storage shelves facing the space 8 (in FIG. In FIG. 2, it is possible to reciprocate the articles, etc. in the L n−1 and L n rows and the L n+1 and L n+2 storage racks. However, from a storage shelf for articles, etc. arranged in a grid pattern in the XY-axis direction, articles, etc. in the Z-axis direction are transferred to a storage shelf adjacent to the opposite side of the storage surface from which articles, etc. can be taken in and out of this storage shelf. A reciprocating movement, and a reciprocating movement of articles, etc. in the Z-axis direction between storage racks and between storage facilities consisting of a set of adjacent storage racks must pass through an extremely long route. need to significantly modify the equipment of the three-dimensional automated warehouse.

具体的には、図１に示した従来の立体自動倉庫Ｉでは、Ｌｎ列の格納棚のＰｎの位置にある物品等をＬｎ’列の格納棚のＰｎ’の位置に移動すること、並びに、Ｌｎ列の格納棚のＰｎの位置にある物品等をＬｎ＋１列の格納棚のＰｎ＋１の位置に移動することが困難である。 Specifically, in the conventional multi-level automated warehouse I shown in FIG. 1, an article or the like at the position Pn of the Ln row storage shelf is moved to the position Pn ' of the Ln ' row storage shelf. In addition, it is difficult to move an article or the like at the position Pn of the Ln row storage shelf to the position Pn+ 1 of the Ln +1 row storage shelf.

そして、図２に示した従来の立体自動倉庫ＩＩでは、Ｌｎ－１列の格納棚のＰｎ－１の位置及びＬｎ列の格納棚のＰｎの位置にある物品等を、Ｌｎ＋１列の格納棚のＰｎ＋１の位置及びＬｎ＋２列の格納棚のＰｎ＋２の位置に移動することが困難である。これを、図３に示した一平面の物品等の移動でみると、昇降機１１に備えられた物品等載置搬送台１２で所定の段まで搬入されると、物品等仮置き台１３を経由して、走行台車１０が、レール１４を走行して所定の格納棚まで移動させて格納される。搬出の際は、その逆の工程を経る。従って、例えば、Ｌｎ＋１列にある物品等は、走行台車１０が走行する空間８に面するＬｎ＋２列の格納棚には移動可能であるが、その空間と異なる空間８に面するＬｎ－１列、Ｌｎ列、Ｌｎ＋３列、Ｌｎ＋４列の格納棚には移動することが実質的に不可能であり、物品等の保管管理システムに大きな経済的及び物理的ロスが生じることになる。 In the conventional multi - level automated warehouse II shown in FIG . It is difficult to move to the P n+1 position of the row storage shelf and to the P n+2 position of the L n+2 row storage shelf. Looking at this from the movement of an article or the like on one plane shown in FIG. Then, the traveling carriage 10 travels on the rails 14 and is moved to a predetermined storage shelf and stored. When unloading, the process is reversed. Therefore, for example, an article or the like in the L n+1 row can be moved to the L n+2 row storage shelf facing the space 8 in which the traveling carriage 10 travels, but the L n− It is practically impossible to move to storage racks in rows 1 , Ln , Ln +3 , and Ln +4 , resulting in large economic and physical losses in the storage management system for goods, etc. .

また、図２に示した従来の自動立体倉庫ＩＩのタイプにおいて、格納棚Ｌｎ－１列（図示されていない）、Ｌｎ列、Ｌｎ＋１列、及び、Ｌｎ＋２列の物品等を出し入れ可能な格納面の反対面で隣接する格納棚Ｌｎ－１’列、Ｌｎ’列、Ｌｎ＋１’列、及び、Ｌｎ＋２’列
（図示されていない）が設けられ、隣接する格納棚を１組とする格納設備が複数配列される場合には、図４に示すように、例えば、Ｌｎ’列の格納棚にある物品等は、走行台車１０が走行する空間８に面するＬｎ＋１列の格納棚には移動可能である。しかし、その空間８と異なる空間８に面するとＬｎ－１’列、Ｌｎ列、Ｌｎ＋１’列、Ｌｎ＋２列の格納棚には移動することが実質的に不可能である。特に、この場合、極めて近い距離にあるにもかかわらず、背面で隣接する格納棚間、例えば、Ｌｎ列とＬｎ’列、Ｌｎ＋１列とＬｎ＋１’列間の物品等の移動が困難であるという問題がある。 In addition , in the conventional automated three- dimensional warehouse II type shown in FIG. Adjacent storage shelves L n-1 ', L n ', L n+1 ', and L n+2 ' (not shown) are provided on the opposite side of the storage surface, and the adjacent storage shelves are arranged one When a plurality of storage facilities are arranged as a set, as shown in FIG . can be moved to the storage shelf. However, when facing a space 8 different from the space 8, it is practically impossible to move to the storage racks in the L n−1 ′, L n , L n+1 ′, and L n+2 rows. In particular, in this case, it is difficult to move items between storage shelves that are adjacent on the back side, for example, between rows Ln and Ln ', or between rows Ln +1 and Ln+1 ', despite the extremely close distance. There is a problem that

このように、従来の立体自動倉庫は、格納棚間及び隣接する格納棚を１組とする格納設備間のＺ軸方向の物品等の自在な移動が困難で、倉庫内での仕分けができないので、予め設定された順序通りに出庫させる順出しを行うためには、時間調整や仕分けするためのコンベアを配備しなければならず、出庫部付近を中心とした大きなスペースが必要であるという問題がある。更に、従来の入出庫作業が自動化された立体自動倉庫の出庫部における物品の処理、例えば、物品の品種別、送付先方面別、顧客別などの分類、保管庫内の物品の再配置、整理・整頓、処分等の仕分け作業を効率的に行うことまで考慮された立体自動倉庫は認められない。特に、上記立体自動倉庫の課題が解決された場合、背面で隣接する保管棚間の物品移動による立体自動倉庫内での物品の仕分けが可能となり、予め設定された順序通りに出庫させる順出し機能が向上するため、時間調整や仕分けするためのコンベアが不要となると共に、出庫処理能力を大幅に向上させることができる。従って、従来方式では、これらの課題を解決する必要が出てくる。 As described above, in conventional multi-level automated warehouses, it is difficult to freely move goods, etc. in the Z-axis direction between storage racks and between storage facilities in which adjacent storage racks form a set, and sorting within the warehouse is not possible. In order to deliver goods in the order set in advance, it is necessary to set up a conveyor for time adjustment and sorting, and there is a problem that a large space is required around the delivery department. be. In addition, the processing of goods in the delivery department of a multi-level automated warehouse where conventional warehousing work is automated, such as classification of goods by type, destination, customer, etc., rearrangement and arrangement of goods in storage・A multi-level automated warehouse that considers efficient sorting work such as tidying and disposal is not permitted. In particular, if the problems of the above-mentioned automated multi-level warehouse are solved, it will be possible to sort items in the automated multi-level warehouse by moving items between storage racks that are adjacent on the back side, and it will be possible to sort items in the automated multi-level warehouse, and it will be possible to sort out items in the order set in advance. This improves the time adjustment and sorting conveyors, and the shipping processing capacity can be greatly improved. Therefore, in the conventional method, it is necessary to solve these problems.

特開平８－１０８９０４号公報JP-A-8-108904 特開２０１２－２３６６８３号公報JP 2012-236683 A 特開昭６３－１６５２０５号公報JP-A-63-165205 特開２０１５－１６８５７３号公報JP 2015-168573 A

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上述したように、従来の立体自動倉庫では、移動手段が配設される空間に面する同じ列の格納棚における水平長手方向（Ｘ軸方向）及び垂直方向（Ｙ軸方向）の物品等の往復移動が自在であり、移動手段が配設される同じ空間に面する格納棚間における横断方向（Ｚ軸方向）の物品等の移動も可能であるため、移動手段が配設される空間に面する格納棚内及び格納棚間ではＸＹＺ軸方向の物品等の自在な往復移動が可能である。しかし、移動手段を配設するある空間に面する格納棚とその空間とは異なる空間に面する格納棚との間におけるＺ軸方向の物品等の往復移動、並びに、ＸＹ軸方向に碁盤目状に配列してなる物品等の格納棚とこの格納棚の物品等を出し入れ可能な格納面の反対面で隣接する格納棚とのＺ軸方向の物品等の往復移動は困難であり、その結果として、これらの格納棚間におけるＸＹ軸方向の物品等の往復移動も困難であるという問題がある。要するに、従来の立体自動倉庫は、移動手段が配設される異なる空間に面する格納棚間におけるＸＹＺ軸方向の物品等の往復移動は極めて困難であるという問題がある。 As described above, in the conventional multi-story automated warehouse, reciprocation of goods, etc. in the horizontal longitudinal direction (X-axis direction) and vertical direction (Y-axis direction) in the same row of storage shelves facing the space where the moving means is arranged It is freely movable, and it is also possible to move items in the transverse direction (Z-axis direction) between storage shelves facing the same space where the moving means is arranged. Free reciprocation of articles in the XYZ axis direction is possible within and between the storage racks. However, the reciprocating movement of articles, etc. in the Z-axis direction between a storage shelf facing a certain space where the moving means is arranged and a storage shelf facing a space different from that space, as well as a grid pattern in the XY-axis direction. It is difficult to reciprocate goods in the Z-axis direction between a storage shelf for goods arranged in a row and an adjacent storage shelf on the opposite side of the storage shelf from which the goods can be put in and taken out, and as a result However, it is also difficult to reciprocate items in the XY directions between these storage racks. In short, the conventional multi-level automated warehouse has a problem that it is extremely difficult to reciprocate articles, etc. in the XYZ axis directions between storage racks facing different spaces in which moving means are arranged.

また、従来の入出庫作業が自動化された立体自動倉庫は、その出庫部における物品等の効率的な処理が可能な搬送方式を備えていないという課題を有している。 In addition, conventional multi-level automated warehouses in which loading and unloading operations are automated have the problem that they do not have a transport system that enables efficient processing of articles and the like in the loading and unloading section.

従って、本発明は、移動手段が配設される異なる空間に面する格納棚間におけるＸＹＺ軸方向への物品等の自在な往復移動、並びに、ＸＹ軸方向に碁盤目状に配列してなる物品等の格納棚とこの格納棚の物品等を出し入れ可能な格納面の反対面で隣接する格納棚とのＺ軸方向の物品等の往復移動が可能で、倉庫内における物品等の整理・整頓や仕分け等が容易に行える立体自動倉庫を提供することを目的とする。 Therefore, the present invention provides free reciprocating movement of articles, etc. in the XYZ axis directions between storage racks facing different spaces where moving means is arranged, and articles arranged in a grid pattern in the XY axis directions. It is possible to reciprocate goods etc. in the Z-axis direction between a storage shelf such as a storage shelf and an adjacent storage shelf on the opposite side of the storage surface where the goods etc. can be put in and taken out. It is an object of the present invention to provide a three-dimensional automated warehouse that facilitates sorting and the like.

また、本発明は、上記立体自動倉庫において、出庫作業における物品等の効率的な処理が可能な立体自動倉庫を提供することを目的とする。 It is another object of the present invention to provide a multi-level automated warehouse capable of efficiently processing articles and the like in shipping operations.

本発明者らは、ＸＹ軸方向に碁盤目状に配列してなる物品等の格納棚とこの格納棚の物品等を出し入れする格納面の反対面で隣接する格納棚とを備えた格納設備が、移動手段を配設する所定の空間を隔てて対峙して並び、その空間に、格納棚のＸＹＺ軸方向に物品等の往復移動が可能となる移動手段が設けられている立体自動倉庫において、格納設備の中に存在する、物品等を出し入れする格納面の反対面で、すなわち、背面で隣接し、略同一平面にある二つの格納棚で構成される特定格納棚に搬送手段を備えることによって、背面で隣接する格納棚間の物品等の自在な往復移動を実現できることを見出した。 The inventors of the present invention have proposed a storage facility comprising a storage shelf for articles etc. arranged in a grid pattern in the XY axis direction and a storage shelf adjacent to the opposite side of the storage surface for taking in and out the articles etc. of the storage shelf. , in a three-dimensional automated warehouse in which moving means are arranged facing each other across a predetermined space in which moving means are arranged, and moving means that enables reciprocating movement of articles, etc. in the XYZ axis directions of the storage shelves are provided in the space, By providing a transport means on a specific storage shelf consisting of two storage shelves that are adjacent to each other on the back and are substantially coplanar on the opposite side of the storage surface for putting in and taking out items, etc., existing in the storage facility , it is possible to realize free reciprocating movement of articles, etc. between storage racks adjacent on the back side.

そして、上記移動手段が、格納棚のＸ軸方向に移動する走行台車と、格納棚のＹ軸方向に移動する物品等載置搬送台を備えた昇降機とから構成される立体自動倉庫の場合、物品等載置搬送台に方向変換機構が備えられるか、若しくは、物品等載置搬送台と走行台車との物品等の移動を媒介する格納棚の一端に配置される仮置き搬送台に方向変換機構が備えられることによって、背面で隣接する格納棚間の物品等の自在な往復移動を実現できることを見出した。 In the case of a three-dimensional automated warehouse where the moving means is composed of a traveling cart that moves in the X-axis direction of the storage rack and an elevator equipped with an article placement conveyor that moves in the Y-axis direction of the storage rack, Either the article placement carriage is provided with a direction changing mechanism, or the direction is changed to a temporary placement carriage arranged at one end of the storage shelf that mediates the movement of the articles, etc. between the article placement carriage and the traveling carriage. It has been found that the provision of the mechanism makes it possible to freely reciprocate articles and the like between storage racks adjacent on the back side.

更に、上記立体自動倉庫の入出庫部の近くに、あるいは、入出庫部に設置される物品等が供給される搬送手段の近くに、物品等を処理する搬送手段を設置することによって、作業者又はロボット等（以下、「作業者」という。）が実質的に移動することなく、出庫部に供給されてきた物品等の処理を効率的に行うことができることを見出し、本発明の完成に至った。 Furthermore, by installing a conveying means for processing articles etc. near the loading/unloading section of the multi-level automatic warehouse or near the conveying means for supplying the goods etc. installed in the loading/unloading section, the operator can Alternatively, the robot or the like (hereinafter referred to as "operator") found that it is possible to efficiently process the articles, etc. supplied to the delivery section without substantially moving, and the present invention was completed. rice field.

すなわち、本発明は、ＸＹ軸方向に碁盤目状に配列してなる物品等の格納棚とこの格納棚の背面で隣接する格納棚とを備えた格納設備と、格納棚に格納された物品等を自在に出し入れ可能であって格納棚間を転置可能な物品等載置搬送手段を有する移動手段と、この移動手段が格納設備間の物品等を出し入れする格納面に配設可能な空間とを備えた立体自動倉庫において、格納設備の中に、背面で隣接し、略同一平面にある二つの格納棚で構成される特定格納棚があって、この特定格納棚に搬送手段を備えていることを特徴とする立体自動倉庫である。更に、上記搬送手段を有する特定格納棚が二つ以上隣接しており、その少なくとも一方に方向転換機構が備えられていることがより好ましい。 That is, the present invention provides a storage facility comprising a storage shelf for articles and the like arranged in a grid pattern in the XY-axis directions and a storage shelf adjacent to the storage shelf on the back side, and an article stored in the storage shelf. and a space that can be arranged on the storage surface where the moving means can take in and out the articles between the storage facilities. In the multi-story automated warehouse equipped with, there is a specific storage shelf in the storage equipment, which is composed of two storage shelves adjacent at the back and substantially on the same plane, and the specific storage shelf is equipped with a conveying means It is a three-dimensional automated warehouse characterized by Furthermore, it is more preferable that two or more specific storage racks having the transport means are adjacent to each other, and at least one of them is provided with a direction changing mechanism.

上記移動手段は、図１に例示したスタッカクレーン、図２に例示した走行台車と昇降機、或いは、トロリー等、格納棚のＸＹ軸方向に物品等を自在に転置することが可能な装置であれば、特に限定されるものではない。また、特定格納棚に備えられる搬送手段も、特に限定されないが、各種コンベヤであることが好ましい。ここで、特定格納棚は、略同一平面上にあることが好ましいが、物品等の搬送に支障にならない程度の段差が存在していても問題はない。 The moving means may be a stacker crane illustrated in FIG. 1, a traveling truck and elevator illustrated in FIG. , is not particularly limited. Also, the conveying means provided in the specific storage rack is not particularly limited, but various conveyors are preferable. Here, it is preferable that the specific storage racks are on substantially the same plane, but there is no problem even if there is a level difference that does not hinder the transportation of articles and the like.

また、本発明は、ＸＹ軸方向に碁盤目状に配列してなる物品等の格納棚と背面で隣接する格納棚とを備えた格納設備と、物品等を出し入れ可能な格納面のＸ軸方向に走行し物品等を自在に出し入れ可能な移動手段と、この移動手段が、格納面において往復移動できる走行空間と、走行空間に設けられた物品等をＹ軸方向に往復移動するための物品等載置搬送手段を備えた昇降手段と、物品等載置搬送手段と移動手段を媒介し各格納棚の一端に設けられた仮置き搬送手段とを備えた立体自動倉庫において、物品等載置搬送手段及び／又は仮置き搬送手段が方向変換機構を備えていることを特徴とする立体自動倉庫である。更に、このような立体自動倉庫の格納棚の大きさや配置によって、物品等載置搬送手段の間及び／又は仮置き搬送手段の間に空間が形成される場合があるため、物品等載置搬送手段の間及び／又は仮置き搬送手段の間に物品等の搬送手段が備えられていることがより好ましい。 Further, the present invention provides a storage facility comprising a storage shelf for articles and the like arranged in a grid pattern in the XY-axis directions and a storage shelf adjacent on the back side, and a storage surface through which the articles can be put in and taken out in the X-axis direction. a traveling space in which the moving means can reciprocate on the storage surface; and articles, etc. provided in the traveling space for reciprocating in the Y-axis direction. A three-dimensional automated warehouse equipped with a lifting means having a placing/conveying means, and a temporary placing/conveying means provided at one end of each storage shelf via the article placing/conveying means and the moving means for placing/conveying articles. A three-dimensional automated warehouse characterized in that the means and/or the temporary placement transport means are equipped with a direction changing mechanism. Furthermore, depending on the size and arrangement of the storage racks in such a multi-story automated warehouse, spaces may be formed between the article placing and conveying means and/or between the temporary placing and conveying means. It is more preferable to provide means for conveying articles or the like between the means and/or between the means for temporarily placing and conveying.

このような立体自動倉庫においても、背面で隣接し略同一平面にある二つの格納棚で構成される特定格納棚があって、この特定格納棚に搬送手段を備えていることがより好ましく、この特定格納棚が二つ以上隣接しており、少なくとも一方の格納棚に方向変換機構が備えられていることがより更に好ましい。 In such a three-dimensional automated warehouse as well, it is more preferable that there is a specific storage rack composed of two storage racks that are adjacent on the back and are substantially on the same plane, and that the specific storage rack is equipped with a conveying means. More preferably, two or more specific storage shelves are adjacent to each other, and at least one of the storage shelves is provided with a direction changing mechanism.

更に、本発明は、ＸＹ軸方向に碁盤目状に配列してなる物品等の格納棚と、この格納棚
間の物品等を出し入れ可能な格納面のＸ軸方向に走行し物品等を自在に出し入れ可能な移
動手段と、この移動手段が往復移動できる走行空間と、この走行空間に設けられた物品等
をＹ軸方向に往復移動するための物品等載置搬送手段を備えた昇降手段と、物品等載置搬
送手段と移動手段を媒介する格納棚の各段の一端に設けられた仮置き搬送手段と、物品等載置搬送手段の間及び／又は仮置き搬送手段の間に橋設可能な物品等の搬送手段とを備えていることを特徴とする立体自動倉庫である。特に、物品等載置搬送手段及び／又は仮置き搬送手段が方向変換機構を備えていることが好ましい。 Further, the present invention includes storage racks for articles, etc., arranged in a grid pattern in the XY-axis directions, and a storage surface between the storage racks on which articles, etc. can be taken in and out, and which travels in the X-axis direction to move the articles, etc. freely. moving means that can be put in and taken out; a running space in which the moving means can reciprocate; Temporary placement transport means provided at one end of each stage of the storage shelf that mediates the article placement transport means and the moving means, and can be bridged between the article placement transport means and/or between the temporary placement transport means. This is a three-dimensional automated warehouse characterized in that it is equipped with means for transporting various articles and the like. In particular, it is preferable that the article placing/conveying means and/or the temporary placing/conveying means has a direction changing mechanism.

以上の立体自動倉庫の中でも、Ｘ軸方向に走行する移動手段とＹ軸方向に往復移動する
物品等載置搬送手段を備えた昇降手段を備えた立体自動倉庫の場合、上記立体自動倉庫は一つのユニットとして構成されており、昇降手段に備えられた物品等載置搬送台を介して連接し、立体自動倉庫の格納容量を拡大することができる。 Among the multi-level automated warehouses described above, in the case of a multi-level automated warehouse equipped with lifting means having a moving means that travels in the X-axis direction and an article placing and conveying means that reciprocates in the Y-axis direction, the above-mentioned multi-level automated warehouse is one. It is configured as one unit, and can be connected to each other via an article placement conveyor provided on the lifting means to expand the storage capacity of the multi-story automated warehouse.

また、上記方向変換機構とは、搬送方向を変換する機構であって、物品等の分岐及び合流する機能を発現できる各種機構ある。例えば、方向変換機構を備えた装置として、コンベヤに昇降式及び／又は回転式のローラ、ベルト、及び、ホイール等の方向変換させる機能部品を備えた装置、コンベヤ自体が回転する機能部品を備えた装置、コンベヤの側面に物品等の方向変換させる機能部品を備えた装置等が適用されるが、搬送装置で分岐及び合流搬送が可能な一般的な装置を全て使用することが可能である。特に、物品等の格納形態や向き、物品を格納棚に並ぶ状態と一致させる等が必要な場合には、直角に分岐可能な搬送装置が好ましい。 Further, the direction changing mechanism is a mechanism for changing the conveying direction, and includes various mechanisms capable of exhibiting a function of branching and merging articles and the like. For example, as a device equipped with a direction changing mechanism, a device equipped with functional parts for changing the direction of the conveyor such as elevating and/or rotating rollers, belts, and wheels, and a functional part that rotates the conveyor itself. A device, a device having a functional part for changing the direction of an article or the like on the side of a conveyor, or the like is applied, but it is possible to use all general devices capable of branching and joining transportation with a conveying device. In particular, when it is necessary to match the storage form and orientation of articles, etc. with the state in which the articles are arranged on the storage shelf, a conveying device capable of branching at right angles is preferable.

また、本発明は、上記立体自動倉庫において、その立体自動倉庫の入出庫部の入庫部及び／又は出庫部の近くに集品容器提示部が備えられていることを特徴とする立体自動倉庫である。そして、その入出庫部の入庫部及び／又は出庫部に物品等が供給される物品等提示部を設置し、その近くに集品容器提示部が備えられていることがより好ましい。更に、入出庫部に延長搬送手段を介して物品等提示部が設置されることより更に好ましい。 Further, the present invention is a multi-level automated warehouse, characterized in that an item collection container presenting unit is provided near the warehousing unit and/or the warehousing unit of the in-and-out unit of the multi-level automated warehouse. be. Further, it is more preferable that an article etc. presenting section to which articles etc. are supplied is installed in the warehousing section and/or the warehousing section of the warehousing and dispatching section, and an article collection container presenting section is provided near it. Furthermore, it is more preferable to install an article presentation section in the loading/unloading section via an extension conveying means.

この入出庫部は、物品等の搬入と搬出に係わる格納棚に備えられた装置全体をいい、少なくとも、搬出入装置、昇降機、昇降機に備えられた方向変換機構を有する物品等載置搬送台、仮置き搬送台を含む。また、本発明に係る出庫のための物品等を供給する移載装置は、搬出入装置等の入出庫部の入庫部及び／又は出庫部であってもよいが、入出庫部の入庫部及び／又は出庫部に物品等提示部を設けた方が好ましい。これらは、入出庫部の一部を形成し、物品等の処理、例えば、物品等を品種別、送付先方面別、顧客別などに分ける仕分け、保管庫内の物品等の再配置、整理、処分などを行うために、物品等が格納棚から供給される移載装置である。この物品等提示部を設けることによって、立体自動倉庫の物品等の出庫作業における物品等の仕分け作業、並びに、倉庫内の物品等の仕分け作業の自由度を高めることができる。そのため、上記出庫のための物品等が供給される移載装置は、必要に応じ、一時貯留機構（アキュムレーションコンベア）、速度制御機構、正逆搬送機構、分岐搬送機構、合流搬送機構、および、停止機構の少なくとも一つ以上の機構を有するコンベアで構成されているものが好ましい。 This loading/unloading section refers to the entire device provided in the storage shelf related to the loading and unloading of articles, etc., and includes at least a loading/unloading device, an elevator, an article placement conveyor having a direction changing mechanism provided in the elevator, Includes a temporary placement carrier. Further, the transfer device according to the present invention, which supplies articles and the like for delivery, may be the warehousing unit and/or the warehousing unit of the warehousing/dispatching unit such as a loading/unloading device. / Or it is preferable to provide an article presentation section in the delivery section. These form a part of the storage/receiving department, and process goods, such as sorting goods by type, destination, customer, etc., relocating and organizing goods in storage, This is a transfer device that supplies articles and the like from storage racks for disposal. By providing this article etc. presentation unit, it is possible to increase the degree of freedom in the sorting work of the articles in the work of unloading the articles etc. from the multi-story automatic warehouse and the sorting work of the articles in the warehouse. Therefore, the transfer device to which the goods and the like for shipping are supplied has a temporary storage mechanism (accumulation conveyor), a speed control mechanism, a forward/reverse transport mechanism, a branch transport mechanism, a merging transport mechanism, and a stop mechanism, if necessary. Preferably, the conveyor is composed of a conveyor having at least one or more mechanisms.

一方、その入出庫部の近くに設けられる集品容器提示部は、作業者が実質的に移動することなく、格納棚から物品等提示部に供給されてきた物品等を処理できる手段であって、段ボール箱やオリコン等の集品容器や袋やハンガー等の箱状でない容器が順次供給及び搬出されるコンベアゾーンであれば特に限定されるものではないが、集品容器提示部は、種々の集品容器の供給部及び搬出部に接続されていることが好ましい。ここで、入出庫部あるいは物品等提示部と集品容器提示部との位置関係を示す「近く」とは、作業者が実質的に移動することなく、入出庫部あるいは物品等提示部に供給されてきた物品等を取り出し、その取り出した物品等を集品容器に投入あるいは処理しうることが可能であることを意味する。 On the other hand, the collection container presenting unit provided near the entering/exiting unit is a means for processing the articles, etc. supplied from the storage shelf to the article presenting unit without the operator having to move substantially. There is no particular limitation as long as it is a conveyor zone in which collection containers such as cardboard boxes and Oricons, and non-box-shaped containers such as bags and hangers are sequentially supplied and carried out. It is preferably connected to the supply section and the carry-out section of the product collection container. Here, "near", which indicates the positional relationship between the loading/unloading section or the article presentation section and the collection container presentation section, means that the operator does not substantially move and supplies the item to the loading/unloading section or the article presentation section. It means that it is possible to take out the articles, etc. that have been collected, put the taken-out articles, etc. into a collection container or process them.

更に、上記入出庫部は、倉庫の省スペース化や適正なレイアウト及び動線の構築等の種々の目的に応じて、作業者による物品等の処理を格納棚の近辺で行う必要はなく、格納棚から離れたところで行う方が好ましい場合には、すなわち、集品容器提示部を格納棚から離れたところに設置する方が好ましい場合には、物品等提示部にコンベア等の搬送手段を連接させて延長させることができる。また、同様に、作業者による物品等の処理を、格納棚と同一階で行う必要はなく、その階下あるいは階上で行うことが好ましい場合には、すなわち、集品容器提示部を格納棚の階下あるいは階上に設置する方が好ましい場合には、物品等提示部及び集品容器提示部を階下又は階上に設置することができる。つまり、物品等提示部及び集品容器提示部は、保管棚が設けられる全ての階及び保管棚のない階においても設置することができる。このような場合には、昇降手段やコンベア等の移載搬送装置を用いた物品等の上下搬送を利用することが好ましい。 Furthermore, the above-mentioned storage/receiving unit does not require workers to process items near the storage shelves, and can be stored according to various purposes such as space saving of the warehouse, appropriate layout, construction of flow lines, and the like. If it is preferable to place the product collection container presentation part away from the shelf, that is, if it is preferable to install the product collection container presentation part away from the storage shelf, a conveying means such as a conveyor is connected to the article presentation part. can be extended by Similarly, if it is not necessary for the worker to process the articles on the same floor as the storage shelf, and it is preferable to do so on the floor below or above the storage shelf, If it is preferable to install downstairs or upstairs, the article etc. presentation section and the collection container presentation section can be installed downstairs or upstairs. In other words, the article etc. presenting section and the collection container presenting section can be installed on all floors where storage shelves are provided and also on floors without storage shelves. In such a case, it is preferable to use a transfer device such as an elevating means or a conveyer to vertically convey the article or the like.

以上のように、出庫における物品等の処理を行うことができる搬送方式が、背面で隣接し略同一平面にある二つの格納棚で構成される搬送手段を備えた特定格納棚や、方向転換機構を有する物品等載置搬送手段及び／又は仮置き搬送手段等を設けた立体自動倉庫に更に付与されるため、格納設備全領域に保管されている所望の物品等を仕分け、搬出入等ができるという特徴を生かして、格納設備全領域の所望の物品等が入出庫部に設けられる物品等提示部に搬送され、その近くに備えられた集品容器提示部において、作業者が実質的に移動することなく、効率的な物品等の処理、例えば、物品等の品種別、送付先方面別、顧客別などの分類、保管庫内の物品等の再配置、整理、処分等を行うことが可能となる。すなわち、本発明の出庫搬送方式を備えた立体自動倉庫においては、作業者による効率的な仕分け作業を実現できる。 As described above, the transport system capable of processing articles, etc. in the warehouse is a specific storage shelf equipped with a transport means composed of two storage shelves that are adjacent at the back and are substantially on the same plane, or a direction change mechanism. Since it is further added to a three-dimensional automated warehouse equipped with an article placement transportation means and / or a temporary storage transportation means, etc., it is possible to sort, carry in and out, etc. By taking advantage of this feature, the desired items, etc. in the entire area of the storage facility are transported to the item presentation section provided in the loading/unloading section, and the worker is practically moved to the collection container presentation section provided nearby. For example, it is possible to efficiently process goods, etc., such as sorting goods by type, destination, customer, etc., rearranging, organizing, disposing of goods, etc. in the storage warehouse. becomes. That is, in a multi-story automated warehouse equipped with the delivery transportation system of the present invention, efficient sorting work by workers can be realized.

そして、このような物流は、従来の一般的な方法、すなわち、膨大な入荷、出荷、及び、在庫データを保有する中央情報システムに基づいた様々な制御システムによって制御され、コンベヤ、昇降機、ピッキング、周辺装置等の一連の動作が連動する。 And such logistics is controlled by conventional common methods, namely, various control systems based on a central information system holding vast amounts of incoming, outgoing, and inventory data, conveyors, elevators, picking, A series of operations of peripheral devices etc. are interlocked.

本発明により、背面で隣接する格納棚間の直接的な物品等の往復移動が可能になるばかりか、格納設備の全ての格納棚が搬送手段を有するという、従来の格納棚にはない技術思想が含まれており、物品等の移動手段に限定されず、背面で隣接する全ての格納棚間の物品等の自在な往復移動が可能となる。 According to the present invention, it is possible to directly reciprocate goods between the storage racks adjacent on the back side, and all the storage racks of the storage facility have a conveying means, which is a technical concept not found in conventional storage racks. is included, and it is not limited to moving means for goods, etc., and it is possible to freely reciprocate goods, etc. between all the storage shelves that are adjacent on the back.

また、本発明により、昇降手段に備えられた物品等載置搬送手段及び格納棚に設けられる仮置き搬送手段を介した格納棚間及び格納設備間の物品等の往復移動が可能となるので、物品等の移動手段を配設するある空間に面する格納棚とその空間とは異なる空間に面する格納棚との間におけるＺ軸方向の物品等の往復移動、すなわち、Ｚ軸方向の格納設備間の物品等の往復移動が可能となる。 In addition, according to the present invention, it is possible to reciprocate articles between storage racks and between storage facilities via the article placing and conveying means provided in the elevating means and the temporary placement conveying means provided in the storage shelves. Reciprocating movement of goods, etc. in the Z-axis direction between a storage shelf facing a certain space and a storage shelf facing a different space, that is, a storage facility in the Z-axis direction Reciprocating movement of articles, etc. between them becomes possible.

その上、本発明の各種搬送手段及び方向変換機構は、既存設備に容易に増設することができるため、保管管理システムの効率を経済的及び物理的負荷をかけることなく、Ｚ軸方向の物品等の往復移動能力を向上させることができる。 In addition, the various conveying means and the direction changing mechanism of the present invention can be easily added to existing equipment, so that the efficiency of the storage management system can be improved economically and without imposing a physical load. can improve the reciprocating ability of

また、このようなＺ軸方向の格納棚間の物品移動ができる立体自動倉庫は、倉庫内での物品等の仕分けが可能となり、予め設定された順序通りに出庫させる順出し機能が向上する。従って、従来必要とした時間調整や仕分けするためのコンベアが不要となり、省スペース化を図れると共に、出庫処理能力を大幅に向上させることができる。 In addition, a multi-level automated warehouse capable of moving articles between storage racks in the Z-axis direction enables sorting of articles in the warehouse, thereby improving the sorting function of delivering articles in a preset order. Therefore, a conveyor for time adjustment and sorting, which is conventionally required, is no longer required, and the space can be saved, and the shipping processing capacity can be greatly improved.

更に、本発明の出庫搬送方式を備えた立体自動倉庫によれば、背面で隣接し略同一平面にある二つの格納棚で構成される搬送手段を備えた特定格納棚や、方向転換機構を有する物品等載置搬送手段及び／又は仮置き搬送手段等を用いて格納設備全領域から物品等を任意の入出庫部に搬出入することができるので、格納設備全領域から物品等提示部に搬送されてきた所望の物品等を、作業者が実質的に移動することなく、その近くに備えた集品容器提示部を用いて効率的に処理することができる。そして、このような物品等提示部及び集品容器提示部を配置する場所を自由に設定できるので、倉庫の省スペース化や適正なレイアウト及び動線の構築を図ることが可能となる。 Furthermore, according to the three-dimensional automated warehouse equipped with the delivery transport system of the present invention, it has a specific storage shelf equipped with a transport means composed of two storage shelves that are adjacent at the back and are substantially on the same plane, and a direction change mechanism. Since the goods can be carried in and out from the entire area of the storage facility to an arbitrary loading/unloading section by using the article placing/conveying means and/or the temporary placing/conveying means, etc., the goods can be conveyed from the entire area of the storage facility to the presenting section for the goods. The desired article or the like that has been received can be efficiently processed using the article collection container presenting section provided near the operator without substantially moving. In addition, since the places where the article presentation section and the collection container presentation section are arranged can be freely set, it is possible to achieve space saving in the warehouse and to construct an appropriate layout and flow line.

以上、本発明の立体自動倉庫によれば、格納棚及び格納設備に保管されている物品等は、ＸＹＺ軸方向のあらゆる格納棚間及び格納設備間の自在な往復移動が可能となり、倉庫内における物品等の整理・整頓や仕分け等が容易に行える上に、出庫作業における物品等の効率的な処理が可能となる。 As described above, according to the multi-story automated warehouse of the present invention, articles stored in storage racks and storage equipment can be freely reciprocated between all storage racks and storage equipment in the XYZ axis direction. In addition to facilitating the sorting, arrangement, and sorting of articles, etc., efficient processing of articles, etc. in shipping work becomes possible.

スタッカクレーンを物品等の往復移動手段として配設した従来の立体自動倉庫の模式図である。1 is a schematic diagram of a conventional multi-story automated warehouse in which stacker cranes are arranged as reciprocating means for goods and the like; FIG. 走行台車と昇降機を物品等の往復移動手段として配設した従来の立体自動倉庫の模式図である。1 is a schematic diagram of a conventional multi-story automatic warehouse in which traveling carts and elevators are arranged as reciprocating means for goods and the like; FIG. 格納棚の間に往復移動手段を配設した図２に示す従来の立体自動倉庫IIタイプの平面図である。FIG. 3 is a plan view of the conventional three-dimensional automated warehouse type II shown in FIG. 背面で隣接する格納棚から成る格納設備の間に往復移動手段を配設した図２に示す従来の立体自動倉庫IIタイプの平面図である。FIG. 3 is a plan view of the conventional three-dimensional automated warehouse type II shown in FIG. 本発明の一実施形態に係る、背面で隣接する格納棚から成る格納設備の間に往復移動手段を配設した立体自動倉庫において、背面で隣接する特定格納棚に搬送機構を設けた立体自動倉庫の平面図である。In a multi-level automated warehouse in which reciprocating means is arranged between storage facilities consisting of storage racks adjacent on the back, according to an embodiment of the present invention, a transport mechanism is provided on specific storage shelves adjacent on the back. is a plan view of the. 本発明の一実施形態に係る、図５に示す背面で隣接する搬送機構を備えた特定格納棚がＸ軸方向に隣接し、一方の特定格納棚に直角分岐機構を備えた搬送手段を有する立体自動倉庫の平面図である。A three-dimensional structure according to an embodiment of the present invention, in which specific storage shelves with transport mechanisms that are adjacent on the rear surface shown in FIG. 1 is a plan view of an automated warehouse; FIG. 本発明の一実施形態に係る、図４に示す立体自動倉庫において、昇降機に備えられた物品等載置搬送台に直角分岐機構を備えた立体自動倉庫の平面図である。FIG. 5 is a plan view of a multi-level automated warehouse shown in FIG. 4 according to one embodiment of the present invention, in which a right-angle branching mechanism is provided in an article placement conveyor provided in an elevator; 本発明の一実施形態に係る、図４に示す立体自動倉庫において、格納棚の一端に設けられた仮置き搬送台に直角分岐機構を備えた立体自動倉庫の平面図である。FIG. 5 is a plan view of a multi-level automated warehouse shown in FIG. 4 in which a temporary placement carrier provided at one end of a storage shelf is provided with a right-angle branching mechanism according to one embodiment of the present invention. 本発明の一実施形態に係る、図４に示す立体自動倉庫において、昇降機に備えられた物品等載置搬送台と格納棚の一端に設けられた仮置き搬送台の双方に直角分岐機構を備えた立体自動倉庫の平面図である。In the multi-story automated warehouse shown in FIG. 4 according to one embodiment of the present invention, both the article placement conveyor provided in the elevator and the temporary placement conveyor provided at one end of the storage shelf are provided with a right angle branching mechanism. It is a plan view of the three-dimensional automatic warehouse. 本発明の一実施形態に係る、図７の格納棚のＺ軸方向の奥行きが深く、背面で隣接する格納棚の一端に設けられた仮置き搬送台間及び昇降機に備えられた隣り合う物品等載置搬送台間に空間が生じた立体自動倉庫において、直角分岐機構を備えた物品等載置搬送台の間に物品等の搬送装置を橋設した立体自動倉庫の平面図である。Adjacent articles, etc., provided between the temporary placement carriages provided at one end of the storage shelf adjacent on the back side and in the elevator, etc., according to an embodiment of the present invention, in which the depth in the Z-axis direction of the storage shelf in FIG. 7 is deep. 1 is a plan view of a multi-level automated warehouse in which a conveying device for articles, etc., is provided as a bridge between article-placing carriages having a right-angle branching mechanism, in a multi-dimensional automatic warehouse in which a space is created between the carriages. 本発明の一実施形態に係る、図８の格納棚のＺ軸方向の奥行きが深く、背面で隣接する格納棚の一端に設けられた仮置き搬送台間及び昇降機に備えられた隣り合う物品等載置搬送台間に空間が生じた立体自動倉庫において、直角分岐機構を備えた仮置き搬送台の間に物品等の搬送装置を橋設した立体自動倉庫の平面図である。Adjacent articles, etc. provided between the temporary placement carriages provided at one end of the storage shelf adjacent on the back side and in the elevator, etc., according to an embodiment of the present invention, in which the storage shelf in FIG. FIG. 2 is a plan view of a multi-level automated warehouse in which a conveying device for articles or the like is bridged between temporary placement carriages having a right-angle branching mechanism in a multi-story automated warehouse in which a space is created between loading carriages. 本発明の一実施形態に係る、図３に示す立体自動倉庫において、昇降機に備えられた物品等載置搬送台に直角分岐機構を備え、この直角分岐機構を備えた物品等載置搬送台の間に物品等の搬送装置を橋設した立体自動倉庫の平面図である。In the three-dimensional automatic warehouse shown in FIG. 3 according to one embodiment of the present invention, the article placement conveyor provided in the elevator is provided with a right angle branching mechanism, and the article placement conveyor equipped with the right angle branching mechanism is provided. 1 is a plan view of a three-dimensional automated warehouse in which conveying devices for goods and the like are bridged between them; FIG. 本発明の一実施形態に係る、図７のＩＩＩを立体自動倉庫ユニットとして、昇降機に備えられた直角分岐機構を備えた物品等載置搬送台を介して連結された立体自動倉庫の平面図である。Fig. 7 is a plan view of a three-dimensional automatic warehouse connected via an article placement conveyor equipped with a right-angle branching mechanism provided in an elevator according to one embodiment of the present invention, using III of Fig. 7 as a three-dimensional automatic warehouse unit. be. 本発明の一実施形態に係る、図１０のＶを立体自動倉庫ユニットとして、昇降機に備えられた直角分岐機構を備えた物品等載置搬送台を介して連結され、直角分岐機構を備えた物品等載置搬送台の間に物品等の搬送装置を橋設した立体自動倉庫の平面図である。According to one embodiment of the present invention, V in FIG. 10 is a three-dimensional automated warehouse unit, and goods are connected via an article placement conveyor equipped with a right-angle branching mechanism provided in the elevator, and articles equipped with the right-angle branching mechanism. FIG. 2 is a plan view of a three-dimensional automated warehouse in which conveying devices for articles, etc., are bridged between equal-loading conveyors; 本発明の一実施形態に係る、入出庫部を構成する搬出入装置の近くに集品容器提示部を設けた、搬送装置を設けた背面で隣接する特定格納棚と直角分岐機構付き物品等載置搬送台を有する立体自動倉庫の平面図である。According to one embodiment of the present invention, an article collection container presenting unit is provided near the loading/unloading device that constitutes the loading/unloading unit. 1 is a plan view of a three-dimensional automated warehouse having a transfer platform; FIG. 本発明の一実施形態に係る、入出庫部に物品等提示部を付与し、その近くに集品容器提示部を設けた、搬送装置を設けた背面で隣接する特定格納棚と直角分岐機構付き物品等載置搬送台を有する立体自動倉庫の平面図である。According to one embodiment of the present invention, the loading/unloading section is provided with an article presentation section, and a collection container presentation section is provided near it. 1 is a plan view of a three-dimensional automated warehouse having a carrier for placing articles, etc. FIG. 本発明の一実施形態に係る、入出庫部に物品等提示部及び延長搬送手段を付与し、その近くに集品容器提示部を設けた、搬送装置を設けた背面で隣接する特定格納棚と直角分岐機構付き物品等載置搬送台を有する立体自動倉庫の平面図である。According to an embodiment of the present invention, a specific storage shelf adjacent to the rear side of the transport device, in which an article presentation section and an extension conveying means are added to the loading/unloading section, and an article collection container presentation section is provided near it. FIG. 2 is a plan view of a three-dimensional automated warehouse having an article placement conveyor with a right-angle branching mechanism; 本発明の一実施形態に係る、延長搬送手段によって格納設備から離れた場所に物品等提示部を付与し、その近くに集品容器提示部を設けた、搬送装置を設けた背面で隣接する特定格納棚と直角分岐機構付き物品等載置搬送台を有する立体自動倉庫の平面図である。According to one embodiment of the present invention, the extension conveying means provides an article etc. presentation part at a place away from the storage facility, and the collection container presentation part is provided near it, and the specification is adjacent on the back side where the conveying device is provided. FIG. 2 is a plan view of a three-dimensional automated warehouse having storage racks and an article placement conveyor with a right-angle branching mechanism. 本発明の一実施形態に係る、格納棚の階下に、物品等提示部及び延長搬送手段を付与し、その近くに集品容器提示部を設けた、搬送装置を設けた背面で隣接する特定格納棚と直角分岐機構付き物品等載置搬送台を有する立体自動倉庫の断面図である。According to one embodiment of the present invention, a specific storage adjacent to the rear side of the storage shelf provided with a display unit and an extension conveying means, and a collection container display unit provided near it, provided with a conveying device. 1 is a cross-sectional view of a three-dimensional automated warehouse having shelves and an article placement carrier with a right-angle branching mechanism; FIG. 本発明の一実施形態に係る、格納棚の直下に、物品等提示部及び延長搬送手段を付与し、その近くに集品容器提示部を設けた、搬送装置を設けた背面で隣接する特定格納棚と直角分岐機構付き物品等載置搬送台を有する立体自動倉庫の断面図である。According to one embodiment of the present invention, a specific storage adjacent to the rear side of a transport device, in which an article presentation section and an extension conveying means are provided directly below a storage shelf, and a collection container presentation section is provided near it. 1 is a cross-sectional view of a three-dimensional automated warehouse having shelves and an article placement carrier with a right-angle branching mechanism; FIG.

以下、本発明を、図面に示した一実施形態を用いてより詳細に説明するが、本発明は、これらに限定されるものではなく、本発明の主旨を逸脱しない範囲内で種々変更して実施することが可能であり、特許請求の範囲に記載した技術思想によってのみ限定されるものである。 Hereinafter, the present invention will be described in more detail using one embodiment shown in the drawings, but the present invention is not limited to these, and various modifications can be made without departing from the gist of the present invention. It is possible to implement it and is limited only by the technical concept described in the claims.

図５は、請求項１に包摂される本発明の一実施形態に係る、背面で隣接する格納棚から成る格納設備の間に往復移動手段を配設した立体自動倉庫において、背面で隣接する特定格納棚に搬送機構を設けたことを特徴とする立体自動倉庫の平面図である。 FIG. 5 is a diagram of a three-dimensional automated warehouse in which reciprocating means are arranged between storage facilities consisting of storage racks adjacent on the back according to an embodiment of the present invention encompassed by claim 1, in which specific storage racks adjacent on the back are shown 1 is a plan view of a three-dimensional automated warehouse characterized by providing a transport mechanism on storage racks; FIG.

図５に示すように、図１及び４に示した従来の自動立体倉庫は、ＸＺ軸平面で見れば、例えば、ＸＹ軸方向に碁盤目状に配列してなる物品等の格納棚Ｌｎ列、Ｌｎ＋１列と格納棚の物品等を出し入れする格納面の反対面で隣接する格納棚Ｌｎ’列、Ｌｎ＋１’列とを備えた格納設備とがＺ軸方向に並設され、この格納設備間の移動手段の配設空間８に物品等を自在に出し入れ可能な移動手段Ａが配設されている。このような立体自動倉庫において、背面で隣接する特定格納棚ＢにＺ軸方向への搬送手段を設けることを特徴とするものである。この搬送手段によって、Ｌｎ列とＬｎ’列、Ｌｎ＋１列とＬｎ＋１’列の背面で隣接する格納棚間における物品等のＺ軸方向の往復移動が容易に行われる。この搬送手段は、特に限定されないが、各種コンベヤであることが好ましい。また、移動手段Ａも、図１に示したスタッカクレーンや、図２及び図４に示した走行台車と昇降機とを併用したものだけでなく、トロリー等、格納設備間の移動手段の配設空間においてＸＹＺ軸方向に自在に往復移動できる手段であれば特に限定されるものではない。 As shown in FIG. 5, the conventional automated three-dimensional warehouse shown in FIGS. 1 and 4 has n rows of storage shelves L for goods, etc., arranged in a grid pattern in the XY-axis directions, for example, when viewed from the XZ-axis plane. , L n+1 row and storage rack L n ′ row and L n+1 ′ row adjacent to each other on the opposite side of the storage surface for putting in and taking out articles, etc. of the storage shelf are arranged side by side in the Z-axis direction. A moving means A capable of freely taking in and out articles and the like is disposed in a space 8 for moving means between facilities. Such a three-dimensional automated warehouse is characterized in that the specific storage racks B adjacent on the back side are provided with means for conveying in the Z-axis direction. This conveying means facilitates the reciprocation of articles, etc. in the Z-axis direction between storage racks adjacent to each other on the back side of rows Ln and Ln ', and rows Ln +1 and Ln +1 '. Although this conveying means is not particularly limited, various conveyors are preferable. In addition, the moving means A is not limited to the stacker crane shown in FIG. 1 or the combination of the traveling truck and elevator shown in FIGS. is not particularly limited as long as it can freely reciprocate in the XYZ axis directions.

図６は、請求項２に包摂される本発明の一実施形態に係る立体自動倉庫の平面図であり、図５に示した搬送手段が設けられた背面で隣接する特定格納棚Ｂが隣接しており、一方の特定格納棚Ｂの搬送手段が直角分岐機構を備えた搬送手段であることを特徴としている。このような構成とすることによって、Ｌｎ列、Ｌｎ’列、Ｌｎ＋１列、及び、Ｌｎ＋１’列のＸ軸方向に隣接する格納棚間の物品等の往復移動も可能となり、ＸＺ軸方向の自在な往復移動が実現する。つまり、従来の物品等を自在に出し入れ可能な移動手段Ａを併用するので、すべての格納棚間の物品等の自在な往復移動が可能となる。 FIG. 6 is a plan view of a three-dimensional automated warehouse according to an embodiment of the present invention subsumed in claim 2, in which the specific storage racks B adjacent on the rear side provided with the conveying means shown in FIG. It is characterized in that the conveying means of one of the specific storage racks B is a conveying means having a right-angle branching mechanism. With such a configuration, it is possible to reciprocate articles and the like between storage racks adjacent to each other in the X-axis direction of the L n row, L n ′ row, L n+1 row, and L n+1 ′ row. Free reciprocating movement in direction is realized. In other words, since the conventional moving means A capable of freely taking in and out articles and the like is also used, it is possible to freely reciprocate the articles and the like between all the storage racks.

更に、上述したような直角分岐機構を備えた搬送手段を有する特定格納棚ＢとＺ軸方向への搬送手段を備えた特定格納棚Ｂから構成される特定格納棚を、全ての格納棚に適用すれば、従来の格納棚の概念とは全く異なる格納棚及び格納設備が実現される。 Furthermore, the specific storage racks composed of the specific storage rack B having the transfer means equipped with the above-described right-angle branching mechanism and the specific storage rack B provided with the transfer means in the Z-axis direction are applied to all the storage racks. Then, storage racks and storage facilities that are completely different from the concept of conventional storage racks are realized.

図７は、請求項３に包摂される本発明の一実施形態に係る、図４に示した立体自動倉庫において、昇降機に付設された物品等載置搬送台が直角分岐機構を備えていることを特徴とする立体自動倉庫の平面図である。すなわち、例えば、ＸＹ軸方向に碁盤目状に配列してなる物品等の格納棚Ｌｎ列、Ｌｎ＋１列と格納棚の物品等を出し入れする格納面の反対面で隣接する格納棚Ｌｎ’列、Ｌｎ＋１’列とを備えた格納設備とがＺ軸方向に並設され、これらの格納設備間の空間８に、走行レール１４、その上を移動する走行台車１０、及び、物品等載置搬送台１２を備えた昇降機１１が配設されており、その物品等載置搬送台１２と走行台車１０との物品等の受け渡しを媒介する仮置き搬送台１３がそれぞれの格納棚の一端に設けられている立体自動倉庫において、昇降機１１に備えられた物品等載置搬送台１２に直角分岐機構を備えた物品等載置搬送台１５としたものである。 FIG. 7 shows a three-dimensional automated warehouse shown in FIG. 4 according to an embodiment of the present invention subsumed in claim 3, in which the article placement conveyor attached to the elevator is provided with a right-angle branching mechanism. It is a plan view of a three-dimensional automatic warehouse characterized by. That is, for example, a storage shelf L n row or L n+1 row for articles and the like arranged in a grid pattern in the XY axis direction and a storage shelf L n ′ adjacent on the opposite side of the storage surface for taking in and out the articles of the storage shelf . Storage facilities with L n+1 ′ rows are arranged side by side in the Z-axis direction. An elevator 11 having a placement carrier 12 is arranged, and a temporary placement carrier 13 that mediates delivery of articles between the article placement carrier 12 and the traveling carriage 10 is at one end of each storage shelf. In an automatic multi-story warehouse, an article placement conveyor 12 provided in an elevator 11 is used as an article placement conveyor 15 provided with a right angle branching mechanism.

上記直角分岐機構を備えた物品等載置搬送台１５によって、背面で隣接する格納棚間の物品等は、例えば、次のように移動可能となる。Ｐ１に配置されている物品等は、走行台車１０で取り出され、仮置き搬送台１３を経由して物品等載置搬送台１５に移される。この搬送台１５は直角分岐搬送が可能であるため、隣接する物品等載置搬送台１５の間で物品等が受け渡され、仮置き搬送台１３を経由して走行台車１０によってＰ２への移動が完了する。このようにして、従来の立体自動倉庫の昇降機１１に備えられた物品等載置搬送台１２を直角分岐型搬送台１５とするだけで、背面で隣接する格納棚間のＺ軸方向への物品等の移動が容易に行われる。従って、従来の立体倉庫のわずかな改造だけで、従来困難であった背面で隣接する格納棚間の物品等が自在に往復移動できるようになる。 Articles and the like between storage racks adjacent on the rear side can be moved as follows, for example, by the article placing carrier 15 having the right-angle branching mechanism. The articles and the like placed on P 1 are picked up by the traveling carriage 10 and transferred to the article placement conveyor 15 via the temporary placement conveyor 13 . Since this carriage 15 is capable of branching at right angles, an article or the like is transferred between the adjacent article placement carriages 15, and is transported to P2 by the traveling carriage 10 via the temporary placement carriage 13. Move completed. In this way, only by replacing the article-loading conveyors 12 provided in the elevators 11 of the conventional multi-level automated warehouse with the right-angled branch type conveyors 15, the articles can be transported in the Z-axis direction between the storage racks adjacent on the back side. etc. can be easily moved. Therefore, by only slightly modifying a conventional multi-storey warehouse, it becomes possible to freely reciprocate articles and the like between storage racks adjacent to each other on the rear side, which was conventionally difficult.

そして、Ｐ２に搬送された物品等は、物品等を自在に出し入れ可能な、例えば、伸縮アームが備えられた走行台車１０によって、Ｐ３に移動することができる。すなわち、背面で隣接する格納棚間のＺ軸方向への物品等の往復移動だけでなく、走行台車のような移動手段が配設される異なる空間に面する格納棚間におけるＺ軸方向の物品等の往復移動も容易に行うことができる。すなわち、本発明は、全ての格納棚間のＸＹＺ軸方向の物品等の往復移動を実現するものである。 Then, the articles, etc. transported to P2 can be moved to P3 by a traveling carriage 10 equipped with, for example, an extendable arm, which can freely take in and out articles, etc. That is, in addition to the reciprocating movement of articles, etc. in the Z-axis direction between storage shelves that are adjacent on the back side, the movement of articles in the Z-axis direction between storage shelves that face different spaces where moving means such as traveling carriages are arranged is also possible. Such reciprocating movement can also be easily performed. That is, the present invention realizes reciprocating movement of articles, etc. in the XYZ axis directions between all the storage racks.

更に、上述したような直角分岐機構を備えた物品等載置搬送台１５と搬送手段を設けた背面で隣接する特定格納棚Ｂとの併用によって、背面で隣接する格納棚間の物品等がより自在に往復移動できるようになる。 Furthermore, by using the above-described article placement conveyor 15 equipped with a right-angle branching mechanism and the specific storage shelf B adjacent on the back side provided with a conveying means, the articles, etc. between the storage shelves adjacent on the back side can be further distributed. Be able to move back and forth freely.

図８も、請求項３に包摂される本発明の一実施形態に係る立体自動倉庫を示す平面図である。図４に示した立体自動倉庫において、格納棚の一端に設けられた仮置き搬送台に直角分岐機構を備えたことを特徴とする立体自動倉庫の平面図である。これは、図７に示した昇降機１１に備えられた物品等載置搬送台１２を直角分岐機構付き物品等載置搬送台１５とする代わりに、物品等載置搬送台１２と走行台車１０との物品等の受け渡しを媒介する仮置き搬送台１３を直角分岐機構付き仮置き搬送台１６としている。 FIG. 8 is also a plan view showing a three-dimensional automated warehouse according to an embodiment of the present invention included in claim 3. FIG. FIG. 5 is a plan view of a multi-level automated warehouse shown in FIG. 4, characterized in that a temporary placement carrier provided at one end of a storage shelf is provided with a right-angle branching mechanism; Instead of using the article placement conveyor 12 provided in the elevator 11 shown in FIG. The temporary placement carrier 13 that mediates the transfer of the goods, etc., is a temporary placement carrier 16 with a right-angle branching mechanism.

図７と同様に、従来の立体自動倉庫をわずかに改造することによって、例えば、次のような経路で、背面で隣接する格納棚間の物品等の移動が行われる。Ｐ１に配置されている物品等は、走行台車１０によって取り出され、仮置き搬送台１６に移される。この仮置き搬送台１６は直角分岐搬送が可能であるため、隣接する仮置き搬送台１６を経由して、走行台車１０によってＰ２に移される。そして、Ｐ２に搬送された物品等は、物品等を自在に出し入れ可能な走行台車１０によって、Ｐ３に移動することができる。 Similar to FIG. 7, by slightly remodeling a conventional multi-story automated warehouse, for example, the following routes are used to move items between storage racks adjacent on the back. The articles and the like placed on P 1 are picked up by the traveling carriage 10 and transferred to the temporary placement carrier 16 . Since this temporary placement carrier 16 is capable of orthogonal branching, it is transferred to P2 by the traveling carriage 10 via the adjacent temporary placement carrier 16 . The articles and the like transported to P2 can be moved to P3 by the traveling carriage 10 that can freely take in and out the articles and the like.

この場合も、同様に、直角分岐搬送型仮置き搬送台１６と搬送手段を設けた背面で隣接する特定格納棚Ｂとの併用によって、背面で隣接する格納棚間の物品等がより自在に往復移動できるようになる。 In this case, similarly, by using the right-angle branching transport type temporary placement transport table 16 and the specific storage shelf B adjacent on the back side provided with the transport means, the articles etc. can be freely reciprocated between the storage shelves adjacent on the back side. be able to move.

更に、図９も、請求項３に包摂される本発明の一実施形態に係る、図４に示した立体自動倉庫において、直角分岐搬送機構を、昇降機に備えられた物品等載置搬送台及び格納棚の一端に設けられた仮置き搬送台の双方に適用したことを特徴とする立体自動倉庫の平面図である。これは、図７及び８の発明を組み合わせたもので、多様な搬送経路を形成できるため、更に、自由度の高い物品等のＺ軸方向への往復移動を可能とするものである。この場合も、更に、配送手段を設けた背面で隣接する一組の格納棚Ｂを併用することがより好ましい。 Further, FIG. 9 also shows that in the automated multi-story warehouse shown in FIG. FIG. 10 is a plan view of a multi-level automated warehouse characterized by being applied to both temporary placement carriages provided at one end of a storage shelf. This is a combination of the inventions shown in FIGS. 7 and 8, and since various transport paths can be formed, it is possible to reciprocate an article or the like in the Z-axis direction with a high degree of freedom. In this case as well, it is more preferable to use a pair of storage shelves B adjacent on the back side provided with delivery means.

図１０及び１１は、請求項４に包摂される本発明の一実施形態に係る立体自動倉庫の平面図である。上述した立体倉庫は、物流という観点から理想的な格納設備の構造及び配置になっているが、例えば、格納棚の物品等の容量を高めるために、格納棚の奥行きを深くすると、隣り合う昇降機に付設される物品等載置搬送台及び仮置き搬送台の間に隔たりが生じる場合がある。この場合は、物品等載置搬送台及び仮置き搬送台に直角分岐機構が備えられていたとしても、物品等載置搬送台間及び仮置き搬送台間の物品等の移動は不可能である。そこで、図１０は、隣り合う昇降機１１に付設される直角分岐機構を備えた物品等載置搬送台１５の間に搬送手段１７を設けたことを特徴とする立体自動倉庫である。また、図１１は、直角分岐機構を備えた仮置き搬送台１６の間に搬送手段１８を設けたことを特徴とするものである。 10 and 11 are plan views of a multi-level automated warehouse according to an embodiment of the present invention included in claim 4. FIG. The multi-story warehouse described above has an ideal storage facility structure and arrangement from the viewpoint of physical distribution. There may be a gap between the article placement carriage and the temporary placement carriage attached to the . In this case, even if the article placement carriage and the temporary placement carriage are provided with a right angle branching mechanism, it is impossible to move the articles between the article placement carriages and between the temporary placement carriages. . Therefore, FIG. 10 shows a three-dimensional automatic warehouse characterized in that a conveying means 17 is provided between the article placing conveyors 15 equipped with a right-angle branching mechanism attached to the adjacent elevators 11 . Further, FIG. 11 is characterized in that conveying means 18 is provided between temporary placement conveying tables 16 having a right angle branching mechanism.

このような搬送手段１７もしくは１８を経由することによって、Ｚ軸方向への物品等の自在な往復移動が可能となる。 By passing through such a conveying means 17 or 18, free reciprocating movement of an article or the like in the Z-axis direction becomes possible.

図１２は、請求項５に包摂される本発明の一実施形態に係る立体自動倉庫の平面図である。これは、格納棚同士が、物品等を出し入れする格納面の反対面で隣接することなく、対峙する格納棚間が移動手段の走行空間として設けられた格納設備が複数配列した立体自動倉庫の問題、すなわち、移動手段が往復移動する走行空間の反対側の空間を隔てて配置されている格納棚への物品等の移動は不可能であるという問題を解決するものである。 FIG. 12 is a plan view of a multi-level automated warehouse according to an embodiment of the present invention included in claim 5. FIG. This is a problem of a multi-level automated warehouse where multiple storage facilities are arranged in which the storage shelves are not adjacent to each other on the opposite side of the storage surface where goods are put in and taken out, and the space between the storage shelves facing each other is provided as a traveling space for moving means. In other words, it solves the problem that it is impossible to move articles, etc., to the storage shelf arranged across the space on the opposite side of the traveling space in which the moving means reciprocates.

すなわち、図１０と同様に、隣り合う昇降機１１に付設された物品等載置搬送台に直角分岐機構を備え、この直角分岐機構を備えた物品等載置搬送台１５の間に搬送手段１７を設けることによって、Ｚ軸方向への物品等の自在な往復移動を可能となり、背面で隣接する格納棚のない立体自動倉庫の問題を解決することができる。 That is, in the same manner as in FIG. 10, the article placing carriages attached to the adjacent elevators 11 are provided with a right angle branching mechanism, and the conveying means 17 is placed between the article placing carriages 15 having the right angle branching mechanisms. By providing it, it becomes possible to freely reciprocate the goods in the Z-axis direction, and the problem of the multi-level automatic warehouse without adjacent storage shelves on the back side can be solved.

そして、図１３に示した立体自動倉庫は、図７の立体自動倉庫ユニットＩＩＩを、図７に示した昇降機１１が並ぶＺ軸を対象軸として連結したものであり、図１４に示した立体自動倉庫は、図１０の立体自動倉庫ユニットＶを図１０に示した昇降機１１が並ぶＺ軸を対象軸として連結したものである。格納設備が２倍となり、物品等の格納容量が飛躍的に増加する。このような格納設備の拡張は、立体自動倉庫ユニットＩＩＩやＶに限定されるものではなく、図８、図１１、及び、図１２の立体自動倉庫ユニットＩＶ、ＶＩ、及び、ＶＩＩに対しても同様に適用できる。これらの場合も、更に、配送手段を設けた背面で隣接する一組の格納棚Ｂを併用することがより好ましい。 The multi-level automated warehouse shown in FIG. 13 is obtained by connecting the multi-level automated warehouse unit III shown in FIG. 7 with the Z axis along which the elevators 11 shown in FIG. The warehouse is constructed by connecting the three-dimensional automated warehouse units V shown in FIG. 10 with the Z axis along which the elevators 11 shown in FIG. 10 are arranged as the symmetrical axis. The storage facilities will be doubled, and the storage capacity for goods, etc. will be dramatically increased. Such expansion of containment facilities is not limited to automated warehouse units III and V, but also for automated warehouse units IV, VI, and VII of FIGS. 8, 11, and 12. similarly applicable. In these cases as well, it is more preferable to use a pair of storage racks B adjacent on the back side provided with delivery means.

次に、本発明に係る立体自動倉庫における入出庫部、入出庫部に付与する物品等提示部及び延長搬送手段、並びに、物品等提示部の近くに設けられる集品容器提示部について具体的に説明する。 Next, the loading/unloading section, the article presentation section and extension conveying means attached to the loading/unloading section, and the collection container presentation section provided near the article presentation section in the multi-level automatic warehouse according to the present invention are specifically described below. explain.

図１５は、請求項６に包摂される本発明の一実施形態を示す。図５に示すような搬送装置を設けた背面で隣接する特定格納棚Ｂを同一Ｚ軸方向（格納棚間における横断方向）に備えると共に、図７に示すような、背面で隣接する格納棚（例えば、Ｌｎ列とＬｎ’列や
Ｌｎ＋１列とＬｎ＋１’列）と、その端に設けられた仮置き搬送台１３と、格納棚が対峙する空間８と、その空間８に設けられた昇降機１１と、その昇降機１１に備えられた直角分岐機構付き物品等載置搬送台１５と、走行台車１０とを備え、入出庫部ＳＲを有する立体自動倉庫を代表例として取り上げ、この立体自動倉庫に格納設備から搬送されてきた物品等の処理を効率的に行う出庫搬送方式を付与した場合について説明するが、上記いずれの実施例においても同様に付与することができる。 FIG. 15 shows an embodiment of the invention subsumed in claim 6. FIG. As shown in FIG. 5, the specific storage racks B adjacent on the back side are provided in the same Z-axis direction (the transverse direction between the storage shelves), and the storage shelves B adjacent on the back side as shown in FIG. For example, L n row and L n ′ row, L n+1 row and L n+1 ′ row), a temporary placement carrier 13 provided at the end thereof, a space 8 facing the storage shelf, and a space 8 provided in the space 8 As a representative example, a multi-level automated warehouse comprising an elevator 11, an article placement conveyor 15 with a right-angle branching mechanism provided in the elevator 11, and a traveling carriage 10, and having a loading/unloading section SR is taken as a representative example. A case in which an out-of-warehouse transportation method for efficiently processing articles, etc., transported from a storage facility to a warehouse is provided will be described, but the same can be applied in any of the above embodiments.

図１５に示す立体自動倉庫の入出庫部ＳＲは、格納設備から搬送されてきた物品等の処理を効率的に行うために、搬出入装置９と、仮置き搬送台１３と、昇降機１１と、昇降機１１に備えられた直角分岐機構付き物品等載置搬送台１５とから構成されている。特に、搬出入装置９は、物品等の自在な搬送が可能となるように、必要に応じ、一時貯留機構（アキュムレーションコンベア）、速度制御機構、正逆搬送機構、分岐搬送機構、合流搬送機構、及び、停止機構を有するコンベアで構成される。そして、この搬出入装置９の近くに接するように、すなわち、作業者２１が実質的に移動することなく、搬出入装置９に供給されてきた物品等を処理することができると共に、この物品等を集品容器２２に処理できる位置に、コンベアで構成される集品容器提示部２３が設置される。更に、この集品容器提示部２３には、集品容器２２の搬入に適した位置に集品容器供給部２４が連接され、処理された集品容器２２の搬出に適した位置に集品容器搬出部２５が連接されている。そして、集品容器供給部２４は、コンベアと分岐機構等を備えており、集品容器搬出部２５は、コンベアと合流機構等を備えている。ただし、このような集品容器供給部２４および集品容器搬出部２５の装置や方式に限定されるものではない。このように、本発明の一実施形態の出庫搬送方式は、立体自動倉庫の入出庫部に設けられる物品等提示部とその近くに備えられる集品容器提示部とから構成され、格納設備から搬送されてきた物品等の処理を効率的に行うことができるようになる。 The loading/unloading unit SR of the automated multi-story warehouse shown in FIG. It is composed of an article placement conveyor 15 with a right angle branching mechanism provided in the elevator 11 . In particular, the loading/unloading device 9 has a temporary storage mechanism (accumulation conveyor), a speed control mechanism, a forward/reverse transport mechanism, a branch transport mechanism, a merging transport mechanism, and a conveyor with a stop mechanism. The article or the like supplied to the carry-in/out device 9 can be processed so as to come in contact with the carry-in/out device 9, that is, without the worker 21 substantially moving. A collection container presenting unit 23 composed of a conveyor is installed at a position where the collection containers 22 can be processed. Furthermore, a collection container supply unit 24 is connected to the collection container presenting unit 23 at a position suitable for carrying in the collection container 22, and a collection container supply unit 24 is connected at a position suitable for carrying out the processed product collection container 22. An unloading section 25 is connected. The collection container supply unit 24 has a conveyor, a branching mechanism, and the like, and the collection container unloading unit 25 has a conveyor, a merging mechanism, and the like. However, the device and method of the collection container supply unit 24 and the collection container unloading unit 25 are not limited to these. As described above, the delivery and transportation system of one embodiment of the present invention is composed of an article presentation section provided in the loading and delivery section of a multi-story automatic warehouse and a collection container presentation section provided near it, and conveys from the storage facility. It becomes possible to efficiently process the articles and the like that have been processed.

また、搬出入装置９の破線で示した領域１９’は、作業者２１が集品作業を行うための物品が提示される、いわゆる、後述する物品提示部１９の機能を果たしている。 A region 19' of the carrying-in/out device 9 indicated by a dashed line functions as a so-called article presenting section 19, which presents articles for the worker 21 to pick up, which will be described later.

次いで、図１５に示す、搬送装置を設けた背面で隣接する特定格納棚Ｂを同一Ｚ軸方向に備え、直角分岐機構付き物品等載置搬送台１５を有する立体自動倉庫に本発明の出庫搬送方式が付与された立体自動倉庫の動作を説明する。ここで、このような立体自動倉庫は、走行台車１０を用いて、配設空間８を介して対面する同一階の格納棚間、例えば、Ｌｎ－１’とＬｎとの間、Ｌｎ’とＬｎ＋１との間、Ｌｎ＋１’とＬｎ＋２との間は、物品等を自在に移動できる。更に、同一Ｚ軸方向に連接される搬送装置を設けた背面で隣接する特定格納棚Ｂ及び直角分岐機構付き物品等載置搬送台１５は、保管されている物品等を、背面で隣接する格納棚間、例えば、ＬｎとＬｎ’との間、Ｌｎ＋１とＬｎ＋１’との間、だけでなく、同一階の全ての格納棚間を自在に移動させることができる。更に、直角分岐機構付き物品等載置搬送台１５は昇降機１１に設けられているので、異なる階の格納棚も含めた格納棚全領域にある物品等を自在に移動することができる。 Next, as shown in FIG. 15, the delivery transport of the present invention is provided in the multi-dimensional automated warehouse having the specific storage shelves B adjacent on the back side provided with the transport device in the same Z-axis direction and having the article placement transport table 15 with a right angle branching mechanism. The operation of the three-dimensional automated warehouse to which the method is given will be explained. Here, such a three-dimensional automated warehouse uses the traveling carriage 10 to store storage shelves on the same floor facing each other via the installation space 8, for example, between L n−1 ′ and L n , L n Articles and the like can be freely moved between L n +1 ′ and L n+ 1 and between L n+1 ′ and L n+2 . Further, the specific storage shelf B and the goods placement conveyor 15 with a right-angle branching mechanism, which are adjacent on the back and provided with the conveying device connected in the same Z-axis direction, store the stored goods and the like adjacent on the back. It can be freely moved between shelves, for example between L n and L n ′, between L n+1 and L n+1 ′, as well as between all storage shelves on the same floor. In addition, since the article placement conveyor 15 with a right angle branching mechanism is provided in the elevator 11, articles and the like in the entire area of the storage shelves including storage shelves on different floors can be freely moved.

まず、物品等の搬出入は、従来と変わらず、搬出入装置９によって行われ、昇降機１１及び昇降機１１に備えられた物品等載置搬送台１２、仮置き搬送台１３、走行台車１０、によって入庫される。そこで、例えば、ある仕向け先への特定の物品等を集品する場合、格納棚全領域にあるその特定の物品等を、走行台車１０、仮置き搬送台１３、同一Ｚ軸方向に連接される搬送装置を設けた背面で隣接する特定格納棚Ｂ、及び、昇降機１１及び昇降機１１に備えられた直角分岐機構付き物品等載置搬送台１５を用いて、例えば、格納棚Ｐ５に集約させておく。ここに集約された特定の物品等は、走行台車１０によって取出され、仮置き搬送台１３、直角分岐機構付き物品等載置搬送台１５を経由して、搬出入装置９の領域１９’に移動される。その近くに設置された集品容器提示部２３において、集品容器供給部２４から供給される集品容器２２に特定の物品等を指示された範囲の数量で集品容器２２に収容した後、集品容器搬出部２５に送り出される。そして、集品容器提示部２３に、集品容器供給部２４より次の空の集品容器２２が供給される。一方、特定の物品等の一部だけが搬出される場合には、再度格納棚Ｐ５に整理して保管されるように、搬出入装置９の領域１９’から、直角分岐機構付き物品等載置搬送台１５、仮置き搬送台１３、走行台車１０を経由して戻される。また、特定の物品等の取り扱い頻度等の関係で、同一階の格納棚Ｐ５やＰ６に移動することもできるし、同一階にはない格納棚に移動することもできる。この場合、物品等は、昇降機１１及び昇降機１１に備えられた直角分岐機構付き物品等載置搬送台１５によって異なる階に移動させられる。 First, the loading and unloading of articles, etc., is carried out by the loading and unloading device 9 as in the conventional case, and is carried out by the elevator 11, the article placement conveyor 12, the temporary placement conveyor 13, and the traveling carriage 10 provided in the elevator 11. Stocked. Therefore, for example, when picking up a specific article or the like for a certain destination, the specific article or the like in the entire storage shelf area is connected to the traveling carriage 10 and the temporary placement carrier 13 in the same Z-axis direction. By using the specific storage shelf B adjacent on the back side where the transport device is provided, and the elevator 11 and the article placement transport table 15 with a right angle branching mechanism provided in the elevator 11, for example, the storage shelf P5 is used. . The specific articles and the like gathered here are picked up by the traveling cart 10 and moved to the region 19' of the carry-in/out device 9 via the temporary placement carrier 13 and the article placement carrier 15 with a right angle branching mechanism. be done. In the collection container presenting unit 23 installed nearby, after the specific items are stored in the collection container 22 supplied from the collection container supply unit 24 in the specified quantity range, It is delivered to the product collection container delivery section 25 . Then, the next empty collection container 22 is supplied from the collection container supply unit 24 to the collection container presenting unit 23 . On the other hand, when only a part of specific articles are to be carried out, an article placement device with a right-angle branching mechanism is placed from the area 19' of the carry-in/out device 9 so that the articles are sorted and stored in the storage shelf P5 again. It is returned via the carriage 15 , the temporary placement carriage 13 , and the traveling carriage 10 . In addition, depending on the frequency of handling a specific item, it can be moved to storage racks P5 and P6 on the same floor, or can be moved to a storage rack that is not on the same floor. In this case, the articles or the like are moved to different floors by the elevator 11 and the article placing/conveying table 15 with a right angle branching mechanism provided in the elevator 11 .

このような特定の物品等の移動は、集積されたデータに基づいて、各種コンベヤ、搬送機構、表示器、集品容器などを連動、統括する一般的な立体自動倉庫の（図示しない）制御部によって実行される。 The movement of such specific items is controlled by a control unit (not shown) of a general automated multi-story warehouse that interlocks and integrates various conveyors, transport mechanisms, displays, collection containers, etc., based on accumulated data. performed by

なお、ここで、入出庫部ＳＲにおける物品等の搬送順は、立体自動倉庫の制御部によって、同一仕向け先のものとなるように整列されてもよいが、もちろん、同一仕向け先かどうかに限らず配送順が指定されている場合には、そのような順番に物品等を並べ直して搬送することが自在にできる。 Here, the order of transportation of the goods in the loading/unloading section SR may be arranged by the control section of the multi-story automated warehouse so that they are shipped to the same destination. If the order of delivery is specified first, the articles can be rearranged and conveyed in that order.

また、搬出入装置９、集品容器提示部２３、集品容器供給部２４、集品容器搬出部２５は、コンベア等が好ましいが、例えば、モノレール、リフトなど、コンベア以外の搬送手段であってもよい。 The carry-in/out device 9, the collection container presenting unit 23, the collection container supply unit 24, and the collection container unloading unit 25 are preferably conveyors or the like. good too.

更に、集品容器２２としては、段ボール箱やオリコンなどの容器が好ましいが、それに限定せず、袋やハンガーなどの箱状でない容器や、容器のないコンベアのゾーンなどであってもよい。 Further, the collection container 22 is preferably a container such as a cardboard box or a container, but is not limited thereto, and may be a non-box-shaped container such as a bag or a hanger, or a conveyor zone without a container.

このようにして、作業者２１は、その位置を実質的に移動する必要がなく、目の前に搬送されてくる物品等を集品容器２２へと移載すればよく、上記出庫搬送方式による効率的な集品ができる。 In this manner, the worker 21 does not need to substantially move his/her position, and can simply transfer the articles and the like conveyed in front of him/herself to the article collection container 22. Efficient collection is possible.

また、図１６は、請求項７に包摂される本発明の一実施形態を示している。図１５と同様に、図５に示す搬送装置を設けた背面で隣接する特定格納棚Ｂを同一Ｚ軸方向に備えると共に、図７に示す背面で隣接する格納棚と、その端に設けられた仮置き搬送台１３と、格納棚が対峙する空間８と、その空間８に設けられた昇降機１１と、その昇降機１１に備えられた直角分岐機構付き物品等載置搬送台１５と、走行台車１０とを備え、入出庫部ＳＲを有する立体自動倉庫を代表例として取り上げ、格納設備から搬送されてきた物品等の処理を更に効率的に行う出庫搬送方式を付与した場合について説明するが、上記いずれの実施例においても同様に付与することができる。 FIG. 16 also shows an embodiment of the invention covered by claim 7 . Similar to FIG. 15, the specific storage shelf B adjacent on the back side where the transport device shown in FIG. 5 is provided is provided in the same Z-axis direction, and the storage shelf adjacent on the back side shown in FIG. A temporary placement carrier 13, a space 8 where storage shelves face each other, an elevator 11 provided in the space 8, an article placement carrier 15 with a right angle branching mechanism provided in the elevator 11, and a traveling carriage 10. and a multi-story automated warehouse having a loading/unloading section SR as a typical example, and a case where a loading/unloading transport system for more efficiently processing articles, etc. transported from the storage facility will be described. can be given in the same way in the examples of

図１６の立体自動倉庫では、入出庫部ＳＲに、格納設備から搬送されてきた物品等の処理を効率的に行うために、直角分岐機構付き物品等載置搬送台１５と連接するように、コンベアで構成される物品等を供給する物品等提示部１９を設けている。この物品等提示部１９のコンベアは、代表例として、正逆搬送機構、直角分岐機構、及び、停止機構を備えているが、更に、必要に応じ、一時貯留機構（アキュムレーションコンベア）、速度制御機構を付与することができる。そして、この物品等提示部１９の近くに接するように、すなわち、作業者２１が実質的に移動することなく、物品等提示部１９に供給されてきた物品等を処理することができると共に、この物品等を集品容器２２に処理できる位置に、コンベアで構成される集品容器提示部２３が設置される。集品容器供給部２４及び集品容器搬出部２５については、図１５と同様に設置される。なお、図１６の立体自動倉庫の物品等の搬出入装置９は、図示されていないが、図１及び図２に示したような従来の一般的な方式で設置されることができる。 In the multi-level automated warehouse shown in FIG. 16, in order to efficiently process the articles, etc., transported from the storage facility to the loading/unloading section SR, there is provided an article placement conveyor 15 with a right-angle branching mechanism. An article etc. presenting unit 19 for supplying articles etc. configured by a conveyor is provided. As a representative example, the conveyor of the article presentation unit 19 includes a forward/reverse conveying mechanism, a right-angle branching mechanism, and a stopping mechanism. can be given. The article or the like supplied to the article or the like presentation section 19 can be processed so as to be in contact with the article or the like presentation section 19, that is, without the worker 21 substantially moving. A collection container presenting unit 23 composed of a conveyor is installed at a position where articles and the like can be processed into the collection container 22 . The collection container supply unit 24 and the collection container unloading unit 25 are installed in the same manner as in FIG. Although not shown, the loading/unloading device 9 for articles, etc. of the multi-story automatic warehouse of FIG. 16 can be installed in a conventional general manner as shown in FIGS.

この物品等提示部１９は、図１５における搬出入装置９の破線の領域１９’と同様の機能を果たすものである。しかし、図１６に示す物品等提示部１９を設けることによって、立体自動倉庫の物品等の入出庫、出庫作業における物品等の処理、例えば、物品等の品種別、送付先方面別、顧客別などの分類、更には、保管庫内の物品等の再配置、整理・整頓、処分等の仕分け作業の自由度を高めることができる。 The article etc. presenting unit 19 has the same function as the dashed line region 19' of the loading/unloading device 9 in FIG. However, by providing an article etc. presentation unit 19 shown in FIG. 16, it is possible to process the goods etc. in the loading and unloading of goods etc. in the multi-dimensional automatic warehouse, and the processing of goods etc. in the work of unloading, for example, by type of goods etc., by destination area, by customer etc. In addition, the degree of freedom of sorting work such as rearranging, arranging, tidying, and disposing of items in the storage can be increased.

また、図１７は、請求項８に包摂される本発明の一実施形態を、図１６と同様に示している。物品等提示部１９、集品容器提示部２３、集品容器供給部２４、集品容器搬出部２５の配設する場所及び作業者２１が出庫搬送を実施する場所の自由度を高めるために、立体自動倉庫の入出庫部ＳＲに、更に、延長搬送手段、例えば、延長コンベア２０を設けたことを特徴とするものである。 FIG. 17 also shows an embodiment of the present invention subsumed in claim 8, similar to FIG. In order to increase the degree of freedom of the locations where the article presentation unit 19, the collection container presentation unit 23, the collection container supply unit 24, and the collection container carrying-out unit 25 are arranged and where the worker 21 carries out delivery and transportation, It is characterized in that an extension conveying means, for example, an extension conveyor 20 is further provided in the loading/unloading section SR of the multi-level automated warehouse.

この延長コンベア２０によって、本発明に係る出庫搬送方式が、立体自動倉庫敷地内において、格納棚と出庫搬送方式とが、同一の建屋であっては、建屋内で自由な配置が可能であるが、同一建屋内にある必要もない。図１８は、格納棚から遠く離れたところに設置された物品等提示部１９、集品容器提示部２３、集品容器供給部２４、集品容器搬出部２５が配置されている一実施形態を示している。 By means of this extension conveyor 20, the storage shelf and the delivery transportation method according to the present invention can be freely arranged in the same building within the premises of the multi-story automatic warehouse. , does not have to be in the same building. FIG. 18 shows an embodiment in which an article presentation unit 19, a collection container presentation unit 23, a collection container supply unit 24, and a collection container unloading unit 25 are arranged far away from the storage shelf. showing.

延長コンベア２０によって、物品等提示部１９、集品容器提示部２３、集品容器供給部２４、集品容器搬出部２５を自在に配置でき、物品提示部１９とそれが隣接した集品容器提示部２３との間で、作業者２１が移動することなく、効率的に物品等を処理することができる。 By the extension conveyor 20, the article presentation section 19, the collection container presentation section 23, the collection container supply section 24, and the collection container carry-out section 25 can be freely arranged, and the article presentation section 19 and the collection container presentation section adjacent to it can be arranged. Articles and the like can be efficiently processed between the parts 23 without the worker 21 moving.

また、このような物品提示部１９、延長コンベア２０、及び、集品容器提示部２３とから構成される出庫搬送方式は、格納棚と同一階にある必要はなく、この出庫搬送方式が格納棚の階下にある一実施形態として、図１７における物品等提示部１９、延長コンベア２０、集品容器提示部２３、集品容器供給部２４、及び、集品容器搬出部２５が、格納棚Ｌｎ’の階下にある場合の切断線ＶＩＩＩ付近における断面の概念図を図１９に示す。格納棚の階下にある延長搬送コンベア２０への物品等の移動には、昇降機１１を用いることが好ましいが、これに限定されるものではなく、クレーン等も適用できる。これは、出庫搬送方式を格納棚の階下に配設した例であるが、任意の階の格納棚や格納棚の階上に配設することも可能である。 In addition, the delivery transportation method composed of the article presentation unit 19, the extension conveyor 20, and the collection container presentation unit 23 does not need to be located on the same floor as the storage shelf. 17, the article presentation unit 19, the extension conveyor 20, the collection container presentation unit 23, the collection container supply unit 24, and the collection container unloading unit 25 shown in FIG . FIG. 19 shows a conceptual diagram of a cross section in the vicinity of the cutting line VIII in the case of being on the lower floor of '. It is preferable to use the elevator 11 to move the articles and the like to the extension conveyer 20 on the lower floor of the storage shelf, but the invention is not limited to this, and a crane or the like can also be applied. Although this is an example in which the delivery transport system is arranged below the storage rack, it is also possible to arrange the storage rack on any floor or above the storage rack.

更に、立体自動倉庫の省スペース化を図るために、格納棚の直下に上記出庫搬送方式を配設した、本発明の一実施形態の上記切断線ＶＩＩＩと同様のラインにおける断面の概念図を図２０に示す。このように、物品等提示部１９、延長コンベア２０、集品容器提示部２３、集品容器供給部２４、集品容器搬出部２５を格納棚Ｌｎ’の直下に配設することによって、立体自動倉庫のスペースが大幅に削減可能となる。 Furthermore, in order to save the space of the multi-story automatic warehouse, the above-mentioned delivery transportation method is arranged directly under the storage shelf, and a conceptual diagram of a cross section along a line similar to the above-mentioned cutting line VIII of one embodiment of the present invention. 20. In this way, by arranging the article etc. presentation unit 19, the extension conveyor 20, the collection container presentation unit 23, the collection container supply unit 24, and the collection container unloading unit 25 directly below the storage shelf L n ', a three-dimensional It is possible to greatly reduce the space of the automated warehouse.

本発明は、格納棚間及び隣接する格納棚から成る格納設備間に、格納棚のＸ軸方向に物品等を移動させる走行台車等の移動手段とＹ軸方向に物品等を移動させる物品等載置搬送台を備えた昇降機等の昇降手段を設けた立体自動倉庫ＩＩのタイプに適用できるだけでなく、格納棚や隣接する格納棚から成る格納設備が配列して、スタッカクレーンやトロリー等のようなＸ軸方向及びＹ軸方向に物品等を移動させる手段を設けた立体自動倉庫Ｉのタイプにも適用することができる立体自動倉庫である。更に、本発明は、倉庫全領域に保管されているものが自在かつ効率的に移載され、それが作業者によって処理、すなわち、仕分け作業ができる立体自動倉庫であるため、単なる物品及び物品収納容器等に限定されるものではなく、車、書籍、あるいは、工場等における原材料、部品、仕掛品、完成品等のあらゆる保管管理システムに適用することができる立体自動倉庫である。 The present invention provides a moving means such as a traveling trolley for moving articles in the X-axis direction of the storage shelves and an article loading unit for moving the articles in the Y-axis direction between the storage shelves and between the storage facilities consisting of the adjacent storage shelves. Not only can it be applied to the type of automatic multi-story warehouse II provided with lifting means such as an elevator equipped with a storage platform, but also storage equipment consisting of storage shelves and adjacent storage shelves can be arranged, such as stacker cranes and trolleys. This is a multi-level automated warehouse that can also be applied to the type of multi-level automated warehouse I provided with means for moving articles in the X-axis direction and the Y-axis direction. Furthermore, since the present invention is a three-dimensional automated warehouse in which items stored in the entire warehouse area can be transferred freely and efficiently, and can be processed by workers, that is, sorting work, the present invention can be used simply for storing articles and articles. It is not limited to containers and the like, but is a multi-level automated warehouse that can be applied to any storage management system for cars, books, or raw materials, parts, work-in-progress products, finished products, etc. in factories and the like.

Ｉ スタッカクレーン型の立体自動倉庫
ＩＩ 格納棚の水平長手方向に移動する走行台車を備えた立体自動倉庫
ＩＩＩ 立体自動倉庫ユニット（１）
ＩＶ 立体自動倉庫ユニット（２）
Ｖ 立体自動倉庫ユニット（３）
ＶＩ 立体自動倉庫ユニット（４）
ＶＩＩ 立体自動倉庫ユニット（５）
ＶＩＩＩ 切断線
Ｌｎ－１、Ｌｎ、Ｌｎ＋１、Ｌｎ＋２、Ｌｎ＋３、Ｌｎ＋４ 格納棚の列
Ｌｎ－１’、Ｌｎ’、Ｌｎ＋１’ Ｌｎ－１、Ｌｎ、Ｌｎ＋１に背面で隣接する格納棚の列
Ｐ、Ｐ１、Ｐ２、Ｐ３、Ｐ４、Ｐ５、Ｐ６ 物品等
Ｐｎ，Ｐｎ’，Ｐｎ＋１，Ｐｎ＋２， 物品等の位置
Ａ 往復移動手段
Ｂ 搬送装置を設けた背面で隣接する特定格納棚
ＳＲ 入出庫部
１ スタッカクレーン
２ クレーンマスト
３ クレーン台車
４ 下部レール
５ 上部レール
６ スタッカクレーン物品等載置台
７ 伸縮アーム部
８ 移動手段の配設空間
９ 搬出入装置
９－１ 搬入装置
９－２ 搬出装置
１０ 走行台車
１１ 昇降機
１２ 物品等載置搬送台
１３ 仮置き搬送台
１４ 走行レール
１５ 直角分岐機構付き物品等載置搬送台
１６ 直角分岐機構付き仮置き搬送台
１７ 直角分岐機構付き物品等載置搬送台間の物品等搬送装置
１８ 直角分岐機構付き仮置き搬送台間の物品等搬送装置
１９ 物品等提示部
１９’ 物品等提示部と同じ機能を果たす領域
２０ 延長コンベア
２１ 作業者
２２ 集品容器
２３ 集品容器提示部
２４ 集品容器供給部
２５ 集品容器搬出部
２６ 支柱 I Stacker crane type multi-level automated warehouse II Multi-level automated warehouse equipped with a traveling carriage that moves in the horizontal longitudinal direction of the storage shelf III Multi-level automated warehouse unit (1)
IV Vertical automated warehouse unit (2)
V Vertical automated warehouse unit (3)
VI Three-dimensional automated warehouse unit (4)
VII Three-dimensional automated warehouse unit (5)
VIII Cutting lines L n-1 , L n , L n+1 , L n+2 , L n+3 , L n+4 In the rows of storage shelves L n-1 ', L n ', L n +1 ' L n-1 , L n , L n+1 Rows P, P 1 , P 2 , P 3 , P 4 , P 5 , P 6 of storage shelves adjacent on the back side P n , P n ′ , P n+1 , P n+2 such as goods Position A of goods etc. Reciprocating means B. Adjacent specific storage shelf SR on the rear side where the transfer device is installed Entry/exit part 1 Stacker crane 2 Crane mast 3 Crane carriage 4 Lower rail 5 Upper rail 6 Stacker crane article placement table 7 Telescopic arm part 8 Installation space for moving means 9 Carry-in/out device 9-1 Carry-in device 9-2 Carry-out device 10 Travel cart 11 Elevator 12 Article placement carrier 13 Temporary placement carrier 14 Running rail 15 Article placement carrier with right angle branching mechanism 16 With right angle branching mechanism Temporary Placement Conveying Table 17 Article Etc. Conveying Device 18 Between Article Etc. Placement Conveying Tables With Right Angle Branching Mechanism Articles Conveying Device Between Temporary Placement Conveying Tables With Right Angle Branching Mechanism 19 Article Presenting Unit 19' Same Functions As Article Presenting Unit area 20 that fulfills the above extension conveyor 21 worker 22 collection container 23 collection container presenting unit 24 collection container supply unit 25 collection container carry-out unit 26 strut

Claims (6)

水平長手及び垂直方向に碁盤目状に配列してなる物品又は物品収納容器の第１の格納棚と、前記第１の格納棚の前記物品又は物品収納容器を出し入れする側の面である第１の格納面の反対面で前記第１の格納棚と背面で隣接する第２の格納棚であって前記第１の格納面と対向する面であって前記物品又は物品収納容器を出し入れする側の面である第２の格納面を有する第２の格納棚と、を備えた格納設備と、
前記第１及び第２の格納棚の物品又は物品収納容器をそれぞれ出し入れ可能な前記第１及び第２の格納面の水平長手方向に走行し、前記物品又は物品収納容器をそれぞれ自在に出し入れ可能な第１及び第２の移動手段と、
それぞれ走行レールが配設され、前記第１及び第２の移動手段が、それぞれ前記第１及び第２の格納面において前記走行レール上を往復移動できる第１及び第２の走行空間と、
前記第１及び第２の走行空間それぞれの前記走行レールが配設されていない空間にそれぞれ配置され前記物品又は物品収納容器を垂直方向に往復移動するための第１及び第２の昇降機と、前記第１及び第２の昇降機に付設された物品又は物品収納容器載置搬送手段と、を備えた第１及び第２の昇降手段と、
前記物品又は物品収納容器載置搬送手段と前記第１及び第２の移動手段それぞれとの前記物品又は物品収納容器の受け渡しを媒介する第１及び第２の仮置き搬送手段とを備えた立体自動倉庫において、
前記物品又は収納容器載置搬送手段及び／又は前記第１及び第２の仮置き搬送手段が方向変換機構を備え、
前記格納設備の中に、前記第１及び第２の格納棚を構成する一部分として前記物品又は物品収納容器を出し入れするための格納面の反対面において背面で隣接してなる略同一平面にある二つの格納棚の前記一部分で構成される特定格納棚が設けられ、前記特定格納棚には前記水平長手方向とは直交する水平方向への搬送手段及び前記水平長手方向と平行する水平方向への直角分岐機構が設けられることを特徴とする立体自動倉庫。 A first storage shelf for goods or goods storage containers arranged in a grid pattern in the horizontal longitudinal direction and the vertical direction, and a first surface of the first storage shelf on the side from which the goods or the goods storage container is taken in and out. A second storage shelf adjacent to the first storage shelf on the back surface opposite to the storage surface of the second storage shelf, the surface facing the first storage surface and the side on which the article or article storage container is taken in and out a second storage shelf having a second storage surface that is a surface;
It travels in the horizontal longitudinal direction of the first and second storage surfaces capable of taking in and out the articles or the article storage containers of the first and second storage shelves, respectively, so that the articles or the article storage containers can be freely taken in and out. first and second transportation means;
first and second running spaces respectively provided with running rails, wherein the first and second moving means can reciprocate on the running rails on the first and second storage surfaces, respectively;
first and second elevators arranged in spaces of the first and second running spaces where the running rails are not arranged, respectively, for vertically reciprocating the article or the article storage container; first and second elevating means comprising article or article storage container placing and conveying means attached to the first and second elevators;
A three-dimensional automation comprising first and second temporary placing and conveying means for intermediating delivery of the article or article storage container between the article or article storage container placement and transfer means and the first and second moving means, respectively. at the warehouse,
The article or storage container placing and conveying means and/or the first and second temporary placing and conveying means have a direction changing mechanism,
In the storage facility, as part of the first and second storage shelves, there are two generally coplanar surfaces adjacent to each other on the opposite side of the storage surface for taking in and out the articles or article storage containers. A specific storage shelf composed of the part of one storage shelf is provided, and the specific storage shelf has a conveying means in a horizontal direction orthogonal to the horizontal longitudinal direction and a horizontal direction perpendicular to the horizontal longitudinal direction. A three-dimensional automated warehouse, characterized in that a branching mechanism is provided. 請求項１に記載の立体自動倉庫において、
前記第１の昇降手段の一方の側に備えられた第１の前記物品又は物品収納容器載置搬送手段と、前記第１の昇降手段に隣り合う前記第２の昇降手段の前記一方の側と対向する他方の側に備えられた第２の前記物品又は物品収納容器載置搬送手段との間、
及び／又は、
前記第１の物品又は物品収納容器載置搬送手段と前記第１の移動手段との前記物品又は物品収納容器の受け渡しを媒介する前記第１の仮置き搬送手段と、前記第２の物品又は物品収納容器載置搬送手段と前記第２の移動手段との前記物品又は物品収納容器の受け渡しを媒介する前記第２の仮置き搬送手段との間、
に、前記物品又は物品収納容器の搬送手段がさらに備えられていることを特徴とする立体自動倉庫。 In the three-dimensional automated warehouse according to claim 1,
The first article or article storage container placing and transporting means provided on one side of the first elevating means, and the one of the second elevating means adjacent to the first elevating means. Between the second article or article storage container placing and conveying means provided on the other side opposite to the side of
and/or
Said first temporarily placing and conveying means for intermediating delivery of said goods or goods storage container between said first goods or goods storage container placing and conveying means and said first moving means, and said second goods. or between the goods storage container placing and transporting means and the second temporary placement transporting means that mediates the delivery of the goods or the goods storage container between the second moving means;
(2), further comprising means for transporting the goods or the goods storage container. 前記格納設備の前記第１及び第２の格納棚全領域にある特定の物品もしくは物品収納容器を特定の格納棚に集約させるように前記第１及び第２の移動手段、前記第１及び第２の仮置き搬送手段、前記特定格納棚、前記第１及び第２の昇降手段、及び、前記第１及び第２の物品又は収納容器載置搬送手段を動作させるように制御する制御部をさらに備えることを特徴とする請求項２記載の立体自動倉庫。 said first and second moving means, said first and second storage racks so as to concentrate specific articles or article storage containers in the entire area of said first and second storage racks of said storage facility into specific storage racks; the temporary placement transport means, the specific storage shelf, the first and second elevating means, and the first and second article or storage container placing and transporting means to operate. The three-dimensional automated warehouse according to claim 2 , characterized by: 請求項１乃至請求項３のうちいずれか１項に記載の立体自動倉庫であって、前記立体自動倉庫の入出庫部の入庫部及び／又は出庫部の近くに集品容器提示部が設けられていることを特徴とする立体自動倉庫。 4. The multi-level automated warehouse according to any one of claims 1 to 3 , wherein a collection container presenting unit is provided near the warehousing unit and/or the warehousing unit of the warehousing/dispatching unit of the multi-level automated warehouse. A three-dimensional automated warehouse, characterized in that 請求項１乃至請求項３のうちいずれか１項に記載の立体自動倉庫であって、前記立体自動倉庫の入出庫部の入庫部及び／又は出庫部に物品又は物品収納容器提示部を設け、前記物品又は物品収納容器提示部の近くに集品容器提示部が設けられていることを特徴とする立体自動倉庫。 4. The multi-dimensional automated warehouse according to any one of claims 1 to 3 , wherein an article or article storage container presenting section is provided in the entry section and/or the delivery section of the entry and exit section of the multi-dimensional automated warehouse, A three-dimensional automated warehouse, wherein an article collection container presenting section is provided near the article or the article storage container presenting section. 前記物品又は物品収納容器提示部に延長搬送手段が接続されていることを特徴とする請求項５に記載の立体自動倉庫。
6. A multi-story automated warehouse according to claim 5 , wherein an extension conveying means is connected to said article or article storage container presenting section.
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