JP7413622B2 - Three-dimensional automatic warehouse - Google Patents

Three-dimensional automatic warehouse Download PDF

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JP7413622B2
JP7413622B2 JP2017054134A JP2017054134A JP7413622B2 JP 7413622 B2 JP7413622 B2 JP 7413622B2 JP 2017054134 A JP2017054134 A JP 2017054134A JP 2017054134 A JP2017054134 A JP 2017054134A JP 7413622 B2 JP7413622 B2 JP 7413622B2
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由雄 井上
啓樹 篠原
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Toyo Kanetsu KK
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本発明は、格納部と、入出庫部と、格納部に配備される移載手段とから構成され、物品又は物品収納容器（以下、「物品等」という。）を立体的に整理・保管し、仕分けを行う立体倉庫に関する。 The present invention is comprised of a storage section, an in/out section, and a transfer means provided in the storage section, and is capable of three-dimensionally organizing and storing articles or article storage containers (hereinafter referred to as "articles, etc."). , related to a multi-level warehouse that performs sorting.

物流における近代化・合理化は、生産・販売面のそれに比較すると立ち遅れていたが、
近年、必要な時に必要な物品を手にしたいという要望が、産業界だけでなく一般消費者でも強くなり、急速な物流合理化、すなわち、物流革命が推進されている。これには、パレチゼーション、コンテナリゼーションによるユニット・ロード・システムの進展、倉庫の自動化の促進等が不可欠である。 Modernization and rationalization in logistics has lagged behind that in production and sales, but
In recent years, the desire to have the goods you need when you need them has become stronger not only in the industrial world but also among general consumers, and rapid rationalization of logistics, that is, a revolution in logistics, is being promoted. To this end, it is essential to advance unit load systems through palletization and containerization, and promote warehouse automation.

この中でも、物流効率の向上は言うまでもなく、空間の利用効率、人員の削減、作業環境の改善等という観点からも、コンピュータを用いて集約された膨大な入出荷及び在庫情報等に基づいて、様々な制御システムが、コンベア、リフト、周辺装置等の一連の動作を稼働させ、物品等を整理、保管すると共に、仕分けできる立体自動倉庫システムは特に注目されており、日夜進歩している状況にある。 Among these, from the perspective of not only improving logistics efficiency but also space utilization efficiency, reducing personnel, improving the work environment, etc., we are using various information based on the huge amount of receipt/shipping and inventory information collected using computers. Three-dimensional automatic warehouse systems, in which a control system operates a series of operations such as conveyors, lifts, peripheral equipment, etc. to organize, store, and sort goods, are attracting particular attention and are progressing day and night. .

このような立体自動倉庫は、一般的に、格納部と入出庫部から構成され、これらの間に各種移載手段が設けられている。入出庫部は、コンベア等が主体であり、格納部は、格納棚が物品等の出し入れ可能な格納面で所定の空間を隔てて対峙し並置されており、その空間に物品等の移載手段が配置された格納設備が構成単位となっているか、物品等の出し入れ可能な格納面の反対面で隣接する１組の格納棚が所定の空間を隔てて対峙されており、その空間に物品等の移載手段が配置された格納設備が構成単位となっており、その空間に物品等の移載手段が配設された格納設備が構成単位となっているものが一般的である。 Such a three-dimensional automatic warehouse is generally composed of a storage section and a loading/unloading section, and various transfer means are provided between these sections. The loading/unloading section is mainly composed of a conveyor, etc., and the storage section has storage shelves facing each other with a predetermined space separated by storage surfaces through which articles, etc. can be taken in and out, and there is a means for transferring articles, etc. in that space. The structural unit is a storage facility in which items are placed, or a pair of adjacent storage shelves face each other across a predetermined space on the opposite side of the storage surface from which items can be taken in and taken out, and items are stored in that space. The structural unit is generally a storage facility in which a means for transferring articles, etc. is arranged, and a storage facility in which a means for transferring goods, etc. is arranged in the space is a structural unit.

そして、上記物品等の移載手段の違いによって様々な立体自動倉庫が開発されている。例えば、図１に示すように、格納棚間の空間３に配置されたレール９、１０上をクレーン台車６が走行し、物品等を出し入れ可能な伸縮アーム８を備えた載置台７を昇降自在にクレーンマスト５に付設したスタッカクレーンを物品等の移載手段とし、格納棚の水平（Ｘ軸）方向及び垂直（Ｙ軸）方向に物品等の自在な往復移動を可能にした立体自動倉庫（例えば、特許文献１及び２）がある。また、図２に示すように、Ｙ軸方向の各段に設けられた走行レール１２上を往復移動する、物品等を出し入れ可能な（図示していない）伸縮アームを備えた走行台車１１と、格納棚間の所定の空間に設けられる、物品等を移載可能な搬送台１４を昇降自在に付設した昇降機１３とを物品等の移載手段とし、走行台車１１が格納棚のＸ軸方向への物品等の自在な往復移動を、物品等載置搬送台１４を付設した昇降機１３がＹ軸方向の物品等の自在な往復移動をそれぞれ担う立体自動倉庫（例えば、特許文献３、４、及び、非特許文献１）がある。 Various three-dimensional automatic warehouses have been developed depending on the means for transferring the above-mentioned articles. For example, as shown in FIG. 1, a crane truck 6 runs on rails 9 and 10 arranged in a space 3 between storage shelves, and can freely raise and lower a mounting table 7 equipped with an extendable arm 8 that can take in and take out articles, etc. A three-dimensional automatic warehouse (3D automated warehouse) in which a stacker crane attached to a crane mast 5 is used as a means of transferring goods, etc., and goods, etc. can be freely moved back and forth in the horizontal (X-axis) and vertical (Y-axis) directions of storage shelves. For example, there are Patent Documents 1 and 2). Further, as shown in FIG. 2, a traveling cart 11 that reciprocates on traveling rails 12 provided at each step in the Y-axis direction and is equipped with an extendable arm (not shown) capable of loading and unloading articles, etc.; An elevator 13 provided in a predetermined space between the storage shelves and equipped with a conveyor table 14 capable of transferring articles, etc., which can be raised and lowered freely, is used as a means for transferring articles, etc., and a traveling cart 11 moves in the X-axis direction of the storage shelves. Three-dimensional automatic warehouses (for example, Patent Documents 3, 4, and , Non-Patent Document 1).

特に、後者の立体自動倉庫は、その他の立体自動倉庫と比較すれば、収納量、空間の利用効率、設備コスト、人員削減、作業環境改善等を含めた総合的な物流効率に優れているため、更なる改良が施されつつある。例えば、設備費用及び設置空間を抑制したまま収納量を増大させるため、昇降機構を対称の中心として格納棚を直列に配備したタンデム方式の立体倉庫（特許文献５）や、並置される格納棚間の横断（Ｚ軸）方向への物品等の移載を可能とした横断搬送方式の立体自動倉庫（特許文献６）等が提案されている。 In particular, compared to other three-dimensional automated warehouses, the latter type of automated warehouse is superior in overall logistics efficiency, including storage capacity, space usage efficiency, equipment costs, reduction in personnel, and improved work environment. , further improvements are being made. For example, in order to increase the amount of storage while reducing equipment costs and installation space, there are tandem-type multilevel warehouses in which storage shelves are arranged in series with the lifting mechanism as the center of symmetry (Patent Document 5), and storage shelves that are placed side by side. A multi-dimensional automatic warehouse using a cross-transfer method that enables the transfer of articles, etc. in the transverse (Z-axis) direction has been proposed (Patent Document 6).

しかし、図１及び図２のいずれの立体自動倉庫においても、物品等を一つずつしか移載及び格納できないという、物品等の移載上及び格納上の問題があるにもかかわらず、この問題に着目した改良技術は認められない。 However, in both the three-dimensional automated warehouses shown in Figures 1 and 2, although there is a problem in the transfer and storage of articles, etc., in that only one article, etc. can be transferred and stored, this problem still exists. Improvement technologies that focus on the above are not permitted.

特開平８－１０８９０４号公報Japanese Patent Application Publication No. 8-108904 特開２０１２－２３６６８３号公報JP2012-236683A 特開昭６３－１６５２０５号公報Japanese Unexamined Patent Publication No. 165205/1983 特開２０１５－１６８５７３号公報Japanese Patent Application Publication No. 2015-168573 特開２０１１－１７８５４９号公報Japanese Patent Application Publication No. 2011-178549 特表２０１５－５２４３７４号公報Special table 2015-524374 publication

株式会社イトーキホームページ、ＳＡＳ ＰＤＦ、ｈｔｔｐ：／／ｗｗｗ．ｉｔｏｋｉ．ｊｐ／ｃａｔａｌｏｇ／ｐｄｆ／ｓｅｎｍｏｎ／ｓｙｓ＿ｓｔｒｅａｍｅｒ．ｐｄｆItoki Co., Ltd. homepage, SAS PDF, http://www. itoki. jp/catalog/pdf/senmon/sys_streamer. pdf

本発明は、格納部と、入出庫部と、格納部に配備される移載手段とから構成され、物品等を立体的に整理・保管し、仕分けを行う立体倉庫において、収納量、空間の利用効率、設備コスト等の総合的な物流効率を高めることが可能な立体自動倉庫を提供することを目的としている。 The present invention provides a three-dimensional warehouse that is composed of a storage section, an in/out section, and a transfer means installed in the storage section, and that organizes, stores, and sorts articles, etc. in a three-dimensional manner. The purpose is to provide a three-dimensional automated warehouse that can improve overall logistics efficiency such as utilization efficiency and equipment cost.

本発明者らは、格納部と、入出庫部と、格納部に配備される移載手段とから構成され、物品等を立体的に整理・保管して仕分けを行う、従来の立体倉庫が、物品等を一つずつ移載・格納するという非効率的な方法で稼働されている点に着目し、その解決手段を検討した結果、物品等を段積みして移載・格納することによって、立体自動倉庫の収納量、空間の利用効率、設備コストを大きく改善できることを見出し、本発明の完成に至った。 The present inventors discovered that a conventional three-dimensional warehouse, which is composed of a storage section, an in/out section, and a transfer means installed in the storage section, organizes and stores articles, etc. three-dimensionally, and sorts them. We focused on the inefficient method of transferring and storing items, etc. one by one, and after considering ways to solve the problem, we found that by stacking items, etc., and transferring and storing them, We have discovered that the storage capacity, space utilization efficiency, and equipment cost of a multi-level automated warehouse can be greatly improved, leading to the completion of the present invention.

すなわち、本発明は、物品等を段積みして移載・格納することが可能となるように、格納部と、入出庫部と、格納部に配備される物品等の移載手段とを具備する立体自動倉庫の入出庫部に、物品等の段積み又は段ばらし手段を付設したことを特徴とする立体自動倉庫である。 That is, the present invention includes a storage section, a loading/unloading section, and a means for transferring articles, etc., arranged in the storage section, so that articles, etc. can be stacked, transferred, and stored. This is a three-dimensional automatic warehouse characterized in that the loading and unloading section of the three-dimensional automatic warehouse is equipped with means for stacking or unloading articles, etc.

段積み又は段ばらし手段は、一般的に普及している段積み又は段ばらし装置を、コンベア等から構成される入出庫部に転用することができる。また、作業員に、極めて自由度の高い段積み又は段ばらしを行わせることもできるが、作業員と類似の機能、人員削減、自動化という観点から、ロボットを適用することが好ましい。 As for the stacking or unpacking means, a commonly used stacking or unpacking device can be used as a loading/unloading section comprised of a conveyor or the like. Furthermore, although it is possible to have a worker perform stacking or unpacking with a very high degree of freedom, it is preferable to use a robot from the viewpoints of functions similar to those of a worker, reduction in personnel, and automation.

本発明の段積み又は段ばらし装置を入出庫部に付設された立体自動倉庫では、入庫部においてコンベアで搬入されてきた物品等の段積みを行い、格納部に配備される移載手段を経由して、段積みされた物品等が格納棚に格納される。そして、格納棚に格納する方法としては、段積みされた物品等を一つの格納棚に複数並置して格納することもできる。一方、出庫部では、格納棚に段積みされて保管されていた物品等が、格納部に配備される移載手段を経由して搬送され、段ばらしを行って、或いは、段ばらしを行うことなく搬出される。従って、入出庫部のコンベアは、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、及び、停止機構の少なくとも一つ以上の機構を有するものでなければならない。 In a multi-level automatic warehouse in which the stacking or stacking device of the present invention is attached to the storage/unloading section, articles etc. brought in on a conveyor are stacked in the storage section and transferred to the transfer means provided in the storage section. The stacked articles and the like are then stored on the storage shelf. As a method for storing items on a storage shelf, it is also possible to store a plurality of stacked articles and the like side by side on one storage shelf. On the other hand, in the unloading section, the articles stored in stacks on the storage shelves are transported via a transfer means provided in the storage section, and are unstacked or unstacked. It will be carried out without any problems. Therefore, the conveyor in the storage/unloading section must have at least one of a temporary storage mechanism (accumulation conveyor), a speed control mechanism, a forward/reverse transport mechanism, and a stop mechanism.

例えば、物品等を２段に段積みを行って移載・格納することによって、単純な見当で、物流効率が２倍となる。この方法によれば、従来の一般的な立体自動倉庫に段積み又は段ばらし装置を付設するだけでよく、設備コストあたりの搬送効率及び空間利用効率を飛躍的に高めることができる。更に、例えば、格納棚一つ当たりの物品等を並置して格納する数を２倍にすることによって、単純な見当で、収納量が２倍となる。 For example, by stacking goods, etc. in two tiers for transfer/storage, the efficiency of distribution can be doubled with simple registering. According to this method, it is only necessary to add a stacking or stacking device to a conventional general three-dimensional automated warehouse, and the transportation efficiency and space utilization efficiency per equipment cost can be dramatically increased. Furthermore, for example, by doubling the number of articles and the like stored side by side per storage shelf, the amount of storage can be doubled with a simple estimate.

格納部の構成も、特に限定されるものではないが、一般的に普及しているＸ軸方向及びＹ軸方向に碁盤目状に配列してなる格納棚が所定の空間を持って対峙して並置されており、物品等の移載手段が格納棚間の空間に配置されている立体自動倉庫に対して、段積み又は段ばらし手段を入出庫部に付設することが、総合的な物流効率という観点から好ましい。 The configuration of the storage section is not particularly limited, but storage shelves that are commonly used and arranged in a grid pattern in the X-axis direction and the Y-axis direction may be arranged facing each other with a predetermined space. For multi-dimensional automated warehouses where goods are placed side by side and the means for transferring goods, etc. is placed in the space between the storage shelves, it is recommended to attach stacking or unloading means to the loading/unloading section to improve overall logistics efficiency. It is preferable from this point of view.

ただし、格納部の格納棚の各段の高さ及び個々の幅は、立体自動倉庫で扱われる物品等の大きさ及び段積みする段数の設定に応じて設計されなければならないのは言うまでもない。 However, it goes without saying that the height and width of each tier of storage shelves in the storage section must be designed in accordance with the size of the articles handled in the multi-level automated warehouse and the number of tiers to be stacked.

移載手段も、特に限定されるものではないが、Ｘ軸方向及びＹ軸方向に碁盤目状に配列してなる格納棚が所定の空間を持って対峙して並置されている格納棚間の空間に配置され、この空間を走行し、かつ、物品等を出し入れ可能な載置台を昇降自在に付設したスタッカクレーンであることが好ましい。具体的には、例えば、図１に示すスタッカクレーンを挙げることができる。 The transfer means is not particularly limited, but may be between storage shelves arranged in a grid pattern in the X-axis direction and the Y-axis direction and placed side by side facing each other with a predetermined space between them. It is preferable that the crane be a stacker crane that is arranged in a space, travels in this space, and is attached with a mounting table that can move up and down freely to take out and put in articles, etc. Specifically, for example, the stacker crane shown in FIG. 1 can be mentioned.

更に、移載手段が、Ｘ軸方向及びＹ軸方向に碁盤目状に配列してなる格納棚が所定の空間を持って対峙して並置されている格納棚間の空間に配置され、物品等を移載可能な搬送台を昇降自在に付設した昇降機構と、格納棚の各段の格納面を水平方向に走行し、物品等を出し入れ可能な載置台を備えた走行機構とから構成されているものがより好ましい。そして、この場合、走行機構の載置台と昇降機構の搬送台との物品等の移載を滞りなく行うため、格納棚の各段にこれらを媒介する仮置き搬送台が設けられていることがより更に好ましい。具体的には、例えば、図２に示す走行機構と昇降機構を挙げることができる。 Further, the transfer means is disposed in a space between the storage shelves arranged in a grid pattern in the X-axis direction and the Y-axis direction and arranged side by side facing each other with a predetermined space between them. It consists of an elevating mechanism that is equipped with a transport platform that can move items up and down, and a traveling mechanism that runs horizontally on the storage surface of each stage of the storage shelf and is equipped with a loading platform that can take out and take out items, etc. It is more preferable to have one. In this case, in order to transfer the articles, etc. between the mounting table of the traveling mechanism and the conveying table of the lifting mechanism without any delay, it is recommended that a temporary storage conveying table is provided at each stage of the storage shelf to mediate these items. Even more preferred. Specifically, for example, a traveling mechanism and a lifting mechanism shown in FIG. 2 can be mentioned.

このような移載手段に備えられる、上記物品等を出し入れする装置、例えば、伸縮アーム、並びに、上記物品等の載置台や搬送台も、格納棚同様、立体自動倉庫で扱われる物品等の大きさ及び段積みする段数の設定に応じて設計される。 Devices for loading and unloading the above-mentioned articles, etc., provided in such transfer means, such as telescoping arms, as well as loading tables and transport tables for the above-mentioned articles, etc., as well as storage shelves, are designed to accommodate the size of the articles, etc. handled in the multi-level automated warehouse. It is designed according to the setting of the size and the number of stacking stages.

本発明により、従来の立体自動倉庫に段積み又は段ばらし装置を付設するだけで、立体自動倉庫の空間の利用効率及び収納量が高められ、物品等の移載・格納に要する設備コストが抑制されるので、総合的な物流効率に優れた立体自動倉庫を提供することができる。 According to the present invention, by simply adding a stacking or stacking device to a conventional three-dimensional automatic warehouse, the space utilization efficiency and storage capacity of the three-dimensional automatic warehouse can be increased, and the equipment costs required for transferring and storing goods can be reduced. Therefore, it is possible to provide a three-dimensional automated warehouse with excellent overall logistics efficiency.

スタッカクレーンを移載手段とする立体自動倉庫の模式図である。FIG. 2 is a schematic diagram of a three-dimensional automatic warehouse using a stacker crane as a transfer means. 走行台車と昇降機を移載手段とする立体自動倉庫の模式図である。FIG. 2 is a schematic diagram of a three-dimensional automated warehouse that uses traveling vehicles and elevators as transfer means. 本発明の一実施形態に係る、図２の立体自動倉庫の入出庫部に段積み又は段ばらし装置を付設した立体自動倉庫の横断（Ｚ軸）方向から見た模式図である。FIG. 3 is a schematic diagram of the three-dimensional automatic warehouse of FIG. 2 in which a stacking or stacking device is attached to the loading/unloading section of the three-dimensional automatic warehouse according to an embodiment of the present invention, as viewed from the transverse (Z-axis) direction. 本発明の一実施形態に係る、入庫部に付設するシリンダを備えた段積み装置の一例を図３の矢印Ａから見た平面の模式図である。FIG. 4 is a schematic plan view of an example of a stacking device including a cylinder attached to a storage section, as viewed from arrow A in FIG. 3, according to an embodiment of the present invention. 本発明の一実施形態に係る、入庫部に付設するシリンダを備えた段積み装置の一例を図３の矢印Ｂから見た側面の模式図である。FIG. 4 is a schematic side view of an example of a stacking device including a cylinder attached to a storage section, as viewed from arrow B in FIG. 3, according to an embodiment of the present invention. 本発明の一実施形態に係る、入庫部に付設するリフタを備えた段積み装置の一例を図３の矢印Ｂから見た側面の模式図である。FIG. 4 is a schematic side view of an example of a stacking device including a lifter attached to a storage section, as viewed from arrow B in FIG. 3, according to an embodiment of the present invention. 本発明の一実施形態に係る、入庫部に付設するシリンダとクランプを備えた段積み装置の一例を図３の矢印Ｂから見た側面の模式図である。FIG. 4 is a schematic side view of an example of a stacking device including cylinders and clamps attached to a storage section, as viewed from arrow B in FIG. 3, according to an embodiment of the present invention. 本発明の一実施形態に係る、入庫部に付設する段積み装置として適用するロボットの模式図である。FIG. 1 is a schematic diagram of a robot applied as a stacking device attached to a storage section according to an embodiment of the present invention. 本発明の一実施形態に係る、図２の立体自動倉庫の入出庫部に段積み又は段ばらし装置を付設した立体自動倉庫において、複数の段積みした物品等を一つの格納棚に並置した場合の横断（Ｚ軸）方向から見た模式図である。When a plurality of stacked articles, etc. are arranged side by side on one storage shelf in the three-dimensional automatic warehouse in which a stacking or stacking device is attached to the loading/unloading section of the three-dimensional automatic warehouse shown in FIG. 2 according to an embodiment of the present invention. It is a schematic diagram seen from the transverse (Z-axis) direction. 本発明の一実施形態に係る、図９に示した立体自動倉庫の平面の模式図である。10 is a schematic plan view of the three-dimensional automated warehouse shown in FIG. 9 according to an embodiment of the present invention. 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 explained in more detail using one embodiment shown in the drawings, but the present invention is not limited thereto, and can be modified in various ways without departing from the gist of the present invention. However, the present invention is limited only by the technical ideas set forth in the claims.

図３は、本発明の一実施形態に係る、図２の立体自動倉庫の入出庫部に段積み又は段ばらし装置を付設した立体自動倉庫の横断（Ｚ軸）方向から見た模式図である。図２の格納部１のＬｎ－１’ 列とＬｎ列の格納棚が形成する空間３を側面から見ており、Ｌｎ列の格納棚は、Ｙ軸方向に更に区画された格納棚Ｌｎ－１、Ｌｎ－２・・・が形成されており、この空間３にＸ軸方向及びＹ軸方向に物品を搬送する移載手段が配備されている。そして、搬出入部２は、コンベアで物品等が搬送される入庫部２－１とコンベアで物品等が搬出される出庫部２－２から構成されており、ここに、段積み又は段ばらし装置１６が付設されている。また、入出庫部２のコンベアは、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、及び、停止機構の少なくとも一つ以上の機構を有するものである。 FIG. 3 is a schematic diagram of the three-dimensional automatic warehouse of FIG. 2 in which a stacking or un-tiering device is attached to the loading/unloading section of the three-dimensional automatic warehouse according to an embodiment of the present invention, as seen from the transverse (Z-axis) direction. . The space 3 formed by the storage shelves in the Ln -1 ' row and the Ln row of the storage section 1 in FIG. L n-1 , L n-2 , . . . are formed, and a transfer means for transporting articles in the X-axis direction and the Y-axis direction is provided in this space 3. The loading/unloading section 2 is composed of a storage section 2-1 where articles, etc. are conveyed by a conveyor, and an unloading section 2-2, where articles, etc. are conveyed by a conveyor. is attached. Further, the conveyor of the storage/unloading section 2 has at least one of a temporary storage mechanism (accumulation conveyor), a speed control mechanism, a forward/reverse transport mechanism, and a stop mechanism.

空間３に配備される移載手段は、物品等を出し入れ可能な、例えば、（図示されていない）伸縮アームが備えられた走行台車１１及び走行レール１２が、格納棚のＹ軸方向の各段に備えられて、Ｘ軸方向の物品等の自在な往復移動を担い、物品等載置搬送台１４を付設した昇降機１３が、Ｙ軸方向の物品等の自在な往復移動を担っている。更に、走行台車１１と物品等載置搬送台１４との物品等の移載を滞りなく行うため、これらを媒介する仮置き搬送台１５が、Ｙ軸方向の格段の一端に設けられている。 The transfer means arranged in the space 3 includes a traveling trolley 11 and a traveling rail 12 equipped with a telescopic arm (not shown) capable of loading and unloading articles, etc., to each stage of the storage shelf in the Y-axis direction. An elevator 13 equipped with an article carrying platform 14 is provided for freely reciprocating the articles, etc. in the X-axis direction, and is responsible for freely reciprocating the articles, etc. in the Y-axis direction. Furthermore, in order to smoothly transfer articles between the traveling carriage 11 and the article carrying platform 14, a temporary carrying platform 15 is provided at one end in the Y-axis direction.

本発明の立体自動倉庫を構成する重要な要素である段積み又は段ばらし手段は、一般的に普及している段積み又は段ばらし装置１６を、コンベアから構成される入出庫部２に転用することができるが、立体自動倉庫の入出庫部に段積み又は段ばらし装置を付設したことに本発明の特徴があり、このことによって、物品等の移載・格納を飛躍的に向上させ、立体自動倉庫の総合的な物流効率を高めることを見出したのである。すなわち、本発明の段積み又は段ばらし装置を入出庫部に付設された立体自動倉庫では、入庫部２－１に付設された段積み又は段ばらし装置１６においてコンベアで搬入されてきた物品等Ｐの段積みを行い、昇降機１３に付設された物品等載置搬送台１４に移載された後、仮置き搬送台１５を経由して走行台車１１に移載されて、段積みされた物品等Ｐ－１、Ｐ－２、Ｐ－３が区画された格納棚の一つに格納されるのである。ここでは、図２の移載手段を備えた立体自動倉庫について、本発明の段積み又は段ばらし手段を入出庫部に付設した立体自動倉庫の流れを示したが、図１の移載手段を備えた立体自動倉庫においても全く同様の流れで稼働される。 The stacking or stacking means, which is an important element constituting the three-dimensional automatic warehouse of the present invention, is a generally popular stacking or stacking device 16 that is used for the loading/unloading section 2 consisting of a conveyor. However, the feature of the present invention lies in the fact that a stacking or stacking device is attached to the loading/unloading section of a three-dimensional automated warehouse. They discovered that the overall logistics efficiency of automated warehouses can be improved. That is, in a three-dimensional automatic warehouse in which the stacking or unpacking device of the present invention is attached to the storage/unloading section, the stacking/unpacking device 16 attached to the storage section 2-1 stores articles, etc., P carried in by a conveyor. The articles, etc., are stacked and transferred to the article loading conveyance platform 14 attached to the elevator 13, and then transferred to the traveling trolley 11 via the temporary storage conveyance platform 15, and the stacked articles, etc. P-1, P-2, and P-3 are stored in one of the partitioned storage shelves. Here, we have shown the flow of a three-dimensional automatic warehouse equipped with the transfer means of FIG. 2, in which the stacking or stacking means of the present invention is attached to the storage/unloading section, but the transfer means of FIG. The three-dimensional automatic warehouse equipped with this system is operated in exactly the same manner.

さて、このような段積み又は段ばらし装置１６としては、例えば、図４及び図５に示したように、シリンダ１６－１－１を備えたシリンダ駆動装置１６－１により、物品等Ｐを持ち上げて段積みを行う、又は、段ばらしを行う装置を挙げることができる。図４は、図３の矢印Ａからみた平面図であり、図５は、図３の矢印Ｂから見た側面図である。図５から明らかなように、入庫部２－１の段積み又は段ばらし装置１６に、コンベアで物品等Ｐ－１が搬送されてくるとコンベアが停止して、シリンダ１６－１が物品等Ｐ－１を持ち上げる。次いで、入庫部２－１の段積み又は段ばらし装置１６に物品等Ｐ－２が搬送されてくるとコンベアが停止して、持ち上げられていた物品等Ｐ－１が降下して段積みが完了し、コンベアが再稼働して昇降機１３に付設された物品等載置搬送台１４に移載される。 Now, as such a stacking or stacking device 16, for example, as shown in FIG. 4 and FIG. An example of this is a device that performs stacking or de-stacking. 4 is a plan view taken from arrow A in FIG. 3, and FIG. 5 is a side view taken from arrow B shown in FIG. As is clear from FIG. 5, when an article P-1 is conveyed by a conveyor to the stacking or de-tiering device 16 of the storage section 2-1, the conveyor stops and the cylinder 16-1 moves the article P-1. -Lift up 1. Next, when the article P-2 is conveyed to the stacking or un-tiering device 16 in the storage section 2-1, the conveyor stops, and the lifted article P-1 descends, completing the stacking. Then, the conveyor restarts and the articles are transferred to the loading and unloading table 14 attached to the elevator 13.

図６には、段積み又は段ばらし装置１６として、物品等を吊持するクランプ１６－２－１を備えたクランプ駆動装置１６－２とリフタ１６－２－２とから構成されるものであって、入庫部２－１には、コンベアの末端にリフタ１６－２－２が隣接して配備される一例を示した。入庫部２－１のリフタ１６－２－２にコンベアから移載された物品等Ｐ－１が、リフタ１６－２－２で持ち上げられると同時に、クランプ１６－２－１が出入して、物品等Ｐ－１を吊持する。次いで、入庫部２－１のリフタ１６－２－２に物品等Ｐ－２が移載されると、リフタ１６－２－２が上昇して段積みを行い、クランプ１６－２－１が出入すると共にリフタ１６－２－２が降下して段積みが完了し、コンベアが再稼働して昇降機１３に付設された物品等載置搬送台１４に移載される。 FIG. 6 shows a stacking or stacking device 16 that is composed of a clamp drive device 16-2 equipped with a clamp 16-2-1 for suspending articles, etc., and a lifter 16-2-2. An example is shown in which a lifter 16-2-2 is arranged adjacent to the end of the conveyor in the storage section 2-1. The article P-1 transferred from the conveyor to the lifter 16-2-2 of the storage section 2-1 is lifted by the lifter 16-2-2, and at the same time, the clamp 16-2-1 moves in and out to remove the article. etc.Hold P-1. Next, when the articles P-2 are transferred to the lifter 16-2-2 of the warehousing section 2-1, the lifter 16-2-2 moves up to perform stacking, and the clamp 16-2-1 moves in and out. At the same time, the lifter 16-2-2 descends to complete the stacking, and the conveyor is restarted to transfer the articles to the conveyor table 14 attached to the elevator 13.

図７は、段積み又は段ばらし装置１６として、例えば、段積み又は段ばらしを３段行うことが可能な、クランプ１６－３－１とシリンダ１６－３－２を備えたクランプ・シリンダ駆動装置１６－３の一例を示した。これは、シリンダ１６－３－２で物品等を昇降し、クランプ１６－３－１で物品等を吊持して、段積み又は段ばらしを行う機構のものである。シリンダ１６－３－２で持ち上げられた物品等Ｐ－１は、クランプ１６－３－１で吊持され、更に、シリンダ１６－３－２で物品等Ｐ－２を持ち上げた後、段積み又は段ばらし装置１６に物品等Ｐ－３が移載されると、シリンダ１６－３－２で、物品等Ｐ－１及びＰ－２を順次降下させて段積みするものである。 FIG. 7 shows, as a stacking or unpacking device 16, a clamp cylinder drive device equipped with a clamp 16-3-1 and a cylinder 16-3-2, which can perform stacking or unpacking in three stages, for example. An example of 16-3 is shown. This mechanism has a cylinder 16-3-2 that lifts and lowers articles, a clamp 16-3-1 that suspends the articles, and stacks or separates the articles. The article P-1 lifted by the cylinder 16-3-2 is suspended by the clamp 16-3-1, and after the article P-2 is lifted by the cylinder 16-3-2 , it is stacked or stacked. When the article P-3 is transferred to the stacking device 16, the cylinder 16-3-2 sequentially lowers the articles P-1 and P-2 and stacks them.

以上のような段積み又は段ばらし手段は、様々な機構で実用化されており、特にコンベアとの連動性に問題ないものであれば、特に限定されるものではない。 The above-mentioned stacking or stacking means have been put into practical use with various mechanisms, and are not particularly limited as long as they do not cause any problems in interlocking with the conveyor.

また、作業員に極めて自由度の高い段積み又は段ばらしを行わせることもできるが、作業員と類似の機能、人員削減、自動化という観点から、ロボットを適用することが好ましい。図８は、段積み又は段ばらし手段として、ロボット１６－４を用いた一例である。ロボット１６－４は、アーム部１６－４－１と物品等握持部１６－４－２から構成され、段積み又は段ばらしの作業を行う物品等仮置き台１６－４－３が、ロボット１６－４に隣接するように配置されている。ロボット１６－４は、作業員のように、物品等Ｐ－１，Ｐ－２、Ｐ－３の段積みを行い、昇降機１３に付設された物品等載置搬送台１４に移載する。 Furthermore, although it is possible to have a worker perform stacking or unpacking with an extremely high degree of freedom, it is preferable to use a robot from the viewpoints of functions similar to those of a worker, reduction in personnel, and automation. FIG. 8 shows an example in which a robot 16-4 is used as a stacking or stacking means. The robot 16-4 is composed of an arm part 16-4-1 and an article gripping part 16-4-2, and a temporary article storage stand 16-4-3 for stacking or un-stacking is the robot. It is located adjacent to 16-4. The robot 16-4, like a worker, stacks the articles P-1, P-2, and P-3, and transfers them to the article carrying platform 14 attached to the elevator 13.

以上、段積み又は段ばらし手段について、入庫部２－１で行われる段積みを例に挙げて説明したが、出庫部２－２で行われる段ばらしについても、同じ機構の装置を用いて、逆の工程で行うことができる。ただし、出庫部以降の物品等の仕分けや処理によっては、出庫部２－２で必ずしも段ばらしが必要であるわけではなく、段ばらしを行うことなく出庫される場合もある。 Above, the stacking or stacking means has been explained using the stacking carried out in the storage section 2-1 as an example, but the stacking or stacking means carried out in the storage section 2-2 can also be carried out using a device with the same mechanism. It can be done by reversing the process. However, depending on the sorting and processing of the articles and the like after the delivery section, it is not always necessary to unstage the goods at the exit section 2-2, and there are cases where the goods are taken out without being unbalanced.

一方、このように段積みされた物品等を格納棚に格納する方法としては、段積みされた物品等を一つの格納棚に複数並置して格納することもできる。例えば、格納棚一つ当たりの物品等を二つ並置して格納している状態を図９の側面図及び図１０の平面図で示している。図９の区画された一つの格納棚Ｌｎ－１には、二段積みされた物品等と三段積みされた物品等が並置されている。このような段積みされた物品との並置は、設備コストを抑制して更なる収納量の増大を図ることができるものである。これは、図１０の物品等の出し入れ可能な、例えば、伸縮アーム１７を備えた走行台車１１が走行レール１２を自在に移動することによって実現できる。これは、図１に示した場合においても、伸縮アーム８と物品等載置台７とを備えたスタッカクレーン４が、走行レール９、１０を自在に走行することによって実現できる。 On the other hand, as a method for storing such stacked articles and the like on a storage shelf, it is also possible to store a plurality of stacked articles and the like side by side on one storage shelf. For example, the side view of FIG. 9 and the plan view of FIG. 10 show a state in which two articles per storage shelf are stored side by side. In one partitioned storage shelf Ln -1 in FIG. 9, articles stacked in two levels and articles stacked in three levels are juxtaposed. Such juxtaposition with stacked articles can suppress equipment costs and further increase storage capacity. This can be realized by freely moving the traveling trolley 11 equipped with a telescopic arm 17, for example, on the traveling rail 12, which is capable of loading and unloading articles as shown in FIG. Even in the case shown in FIG. 1, this can be realized by allowing the stacker crane 4 equipped with the telescoping arm 8 and the article mounting table 7 to freely travel on the traveling rails 9 and 10.

更に、本発明は、図２に示すような立体自動倉庫内の集約作業に極めて効果的である。例えば、図１０で格納棚Ｌｎと隣り合う格納棚Ｌｎ’の間に段差等物品が移動するための障害を除去すれば、通路３を走行している走行台車１１の伸縮アーム１７を利用してＰｎの位置からＰｎ’に平行移動するオペレーションも可能となる。このオペレーションを用いると、図１０で格納棚Ｌｎ－１’のＰｎ－１’の位置にある物品を左側の通路３を走行する走行台車１１がピックアップして通路の反対側の格納棚ＬｎのＰｎの位置に置き、そのまま伸縮アーム１７を延ばして隣の格納棚Ｌｎ’のＰｎ’の位置まで運ぶことができる。これは、Ｐｎ－１’位置にある物品の出庫処理を行う場合、物品をＰｎ－１’の位置からＰｎ’の位置まで通路をまたいで平行移動させておけるので、自動倉庫内だけで物品等を予め決められた順番どおり出庫する順立て出庫等の集約作業を行なえることを意味している。従って、段積みされていない物品を自動倉庫外に設けたコンベヤラインとソータを用いて行っていた従来の集約作業と比較して、本発明の段積みされた物品に上記オペレーションを適用した集約作業により、自動倉庫内だけで集約作業が完結できるだけでなく、物品集約量を向上させることができ、設備が大変コンパクトで、コストを大幅に低減した物流システムを構築することが可能となる。 Furthermore, the present invention is extremely effective for consolidation work in a three-dimensional automated warehouse as shown in FIG. For example, in FIG. 10, if an obstacle such as a step between the storage shelf Ln and the adjacent storage shelf Ln ' for moving articles is removed, the telescopic arm 17 of the trolley 11 running in the aisle 3 can be used. It also becomes possible to perform a parallel movement operation from the position of P n to P n '. When this operation is used, the traveling trolley 11 traveling along the aisle 3 on the left side picks up the article at the position P n-1 ′ of the storage shelf L n-1 ′ in FIG. It can be placed at position P n of n , extend the telescoping arm 17 as it is, and carry it to position P n ' of the adjacent storage shelf L n '. This is because when performing the retrieval process for an article at the P n-1 ' position, the article can be moved in parallel across the aisle from the P n-1 ' position to the P n ' position. This means that it is possible to perform intensive work such as unloading goods in a predetermined order. Therefore, compared to the conventional aggregation work in which unstacked goods are carried out using a conveyor line and sorter installed outside an automated warehouse, the aggregation work in which the above operation is applied to the stacked goods of the present invention This not only allows the consolidation work to be completed within the automated warehouse, but also improves the amount of goods consolidated, making it possible to construct a logistics system with extremely compact equipment and significantly reduced costs.

本発明は、従来の立体自動倉庫に段積み又は段ばらし手段を付設適用するだけで、立体自動倉庫の空間の利用効率及び収納量が高められ、物品等の移載・格納に要する設備コストを抑制して総合的な物流効率に優れた立体自動倉庫を提供することを特徴としているので、立体自動倉庫が採用されている書庫、車庫、工場における資材、部品、仕掛品、完成品等の保管庫等のあらゆる保管管理システムに適用できる立体自動倉庫である。 The present invention improves the space utilization efficiency and storage capacity of a conventional three-dimensional automatic warehouse by simply adding stacking or un-tiering means to the existing three-dimensional automatic warehouse, and reduces the equipment costs required for transferring and storing goods. It is characterized by providing a three-dimensional automatic warehouse with excellent overall logistics efficiency, so it can be used for storage of materials, parts, work-in-progress, finished products, etc. in bookshelves, garages, factories, etc. where a three-dimensional automatic warehouse is used. This is a three-dimensional automatic warehouse that can be applied to any storage management system such as warehouses.

１ 格納部
２ 搬出入部
２－１ 搬入部
２－２ 搬出部
３ 移載手段の配設空間
４ スタッカクレーン
５ クレーンマスト
６ クレーン台車
７ スタッカクレーン物品等載置台
８ 伸縮アーム
９ 上部走行レール
１０ 下部走行レール
１１ 走行台車
１２ 走行レール
１３ 昇降機
１４ 昇降機物品等載置搬送台
１５ 仮置き搬送台
１６ 段積み又は段ばらし装置
１６－１ シリンダ駆動装置
１６－１－１ シリンダ
１６－２ クランプ駆動装置
１６－２－１ クランプ
１６－２－２ リフタ
１６－３ クランプ・シリンダ駆動装置
１６－３－１ クランプ
１６－３－２ シリンダ
１６－４ ロボット
１６－４－１ アーム部
１６－４－２ 物品等握持部
１６－４－３ 物品等仮置き台
１７ 伸縮アーム
Ｌ 格納棚
Ｌ’ 格納棚Ｌと背面で隣接する格納棚
Ｐ、Ｐ’ 物品収納容器
Ｐｎ、Ｐｎ’ 格納棚Ｌｎに格納された物品収納容器 1 Storage section 2 Carrying in/out section 2-1 Carrying in section 2-2 Carrying out section 3 Arrangement space for transfer means 4 Stacker crane 5 Crane mast 6 Crane truck 7 Stacker crane article mounting table 8 Telescoping arm 9 Upper running rail 10 Lower running Rail 11 Traveling trolley 12 Traveling rail
13 Elevator 14 Elevator goods etc. loading conveyor table 15 Temporary storage conveyor table 16 Stacking or de-layering device 16-1 Cylinder drive device 16-1-1 Cylinder 16-2 Clamp drive device 16-2-1 Clamp 16-2- 2 Lifter 16-3 Clamp/cylinder drive device 16-3-1 Clamp 16-3-2 Cylinder 16-4 Robot 16-4-1 Arm section 16-4-2 Article gripping section 16-4-3 Article, etc. temporary stand
17 Telescopic arm L Storage shelf L' Storage shelves P, P' adjacent to storage shelf L on the back side Article storage containers P n , P n ' Article storage containers stored in storage shelf L n

Claims (4)

通路空間の両側に棚が積層されて形成される一列の格納棚が複数列並列されて配置される格納部と、
コンベヤで物品又は物品収納容器が搬送される入出庫部と、
前記格納部の前記通路空間のそれぞれに配備される物品又は物品収納容器の移載手段と、
前記入出庫部に付設される前記物品又は物品収納容器の持ち上げ・吊持・降下手段であってクランプ駆動装置とリフタとから構成される持ち上げ・吊持・降下手段と、
入庫の際には、前記入出庫部において前記持ち上げ・吊持・降下手段によって前記物品又は物品収納容器を段積みさせ、前記段積みされた前記物品又は物品収納容器を前記入出庫部によって前記入出庫部から前記移載手段へと移載させ、前記段積みされた前記物品又は物品収納容器を前記移載手段によって前記格納部に格納させるようにする手段と、
出庫の際には、該出庫に係る複数の前記段積みされた前記物品又は物品収納容器を前記移載手段によって前記通路空間をまたいで前記入庫に係る第１の位置から第２の位置まで移動させて集約させ、前記段積みされた前記物品又は物品収納容器を前記移載手段によって前記第２の位置から前記移載手段へと移載させ、前記段積みされた前記物品又は物品収納容器を前記持ち上げ・吊持・降下手段によって前記移載手段から段ばらしして前記入出庫部へと移載させる手段と
を具備する立体自動倉庫。 a storage section in which a plurality of rows of storage shelves formed by stacking shelves on both sides of an aisle space are arranged in parallel;
an in/out section where articles or article storage containers are conveyed by a conveyor ;
a means for transferring articles or article storage containers arranged in each of the passage spaces of the storage section;
Lifting, suspending, and lowering means for lifting, suspending, and lowering the article or article storage container attached to the loading/unloading section, and comprising a clamp drive device and a lifter;
When entering the warehouse, the articles or article storage containers are stacked in the loading/unloading section by the lifting/hanging/lowering means, and the stacked articles or article storage containers are loaded into the warehouse by the loading/unloading section. means for transferring the stacked articles or article storage containers from the storage section to the transfer means, and storing the stacked articles or article storage containers in the storage section by the transfer means;
When leaving the warehouse, the plurality of stacked articles or article storage containers related to the warehouse are moved by the transfer means from a first position related to the warehouse to a second position related to the warehouse, across the passage space. the stacked articles or article storage containers are transferred from the second position to the transfer means by the transfer means, and the stacked articles or article storage containers are transferred by the transfer means from the second position to the transfer means; A three-dimensional automatic warehouse comprising: means for unloading the stack from the transfer means and transferring it to the loading/unloading section by the lifting/suspending/lowering means. 前記移載手段が、前記空間を走行し、かつ、前記物品又は物品収納容器を出し入れ可能な載置台を昇降自在に付設したスタッカクレーンである請求項１に記載の立体自動倉庫。 2. The multi-level automatic warehouse according to claim 1, wherein the transfer means is a stacker crane that travels in the space and is attached with a mounting table that can be moved up and down and that can take in and take out the articles or article storage containers. 前記移載手段が、前記物品又は物品収納容器を移載可能な搬送台を昇降自在に付設した昇降機構と、前記格納棚の各段の格納面を水平方向に走行し、前記物品又は物品収納容器を出し入れ可能な載置台を備えた走行機構とから構成されている請求項１に記載の立体自動倉庫。 The transfer means includes an elevating mechanism that is attached with a conveyance platform capable of moving up and down, capable of transferring the article or article storage container, and a lifting mechanism that runs horizontally on the storage surface of each stage of the storage shelf, and moves the article or article storage container in a horizontal direction. 2. The three-dimensional automatic warehouse according to claim 1, further comprising a traveling mechanism equipped with a mounting table that can take containers in and out. 前記格納棚の各段に、前記走行機構の載置台と前記昇降機構の搬送台との前記物品又は物品収納容器の移載を媒介する仮置き搬送台が付設されている請求項３に記載の立体自動倉庫。
4. A temporary storage carrier according to claim 3, wherein each stage of the storage shelf is provided with a temporary storage carrier that mediates the transfer of the article or article storage container between the mounting platform of the travel mechanism and the carrier of the lifting mechanism. Three-dimensional automatic warehouse.
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