JPS62259905A - Warehouse equipment - Google Patents
Warehouse equipmentInfo
- Publication number
- JPS62259905A JPS62259905A JP10338286A JP10338286A JPS62259905A JP S62259905 A JPS62259905 A JP S62259905A JP 10338286 A JP10338286 A JP 10338286A JP 10338286 A JP10338286 A JP 10338286A JP S62259905 A JPS62259905 A JP S62259905A
- Authority
- JP
- Japan
- Prior art keywords
- loading
- taking
- motion
- pallet
- unloading
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000003028 elevating effect Effects 0.000 abstract description 8
- 238000000034 method Methods 0.000 description 3
- 238000000605 extraction Methods 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 241001062872 Cleyera japonica Species 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Landscapes
- Warehouses Or Storage Devices (AREA)
Abstract
Description
【発明の詳細な説明】
産業上の利用分野
本発明は、たとえば工場内に設置され、多数の荷を格納
自在とした４１ＪＩの区画収納空間に対して、出し入れ
装置により自動的に荷の出し入れを行なう倉庫設備に関
するものである。DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention is for automatically loading and unloading cargo using a loading/unloading device into a 41JI compartmentalized storage space installed in a factory, for example, and capable of storing a large number of cargo. This relates to warehouse facilities.
従来の技術
倉庫設備は、たとえば特開昭５８−２６７０３号公報に
見られるように、上下方向ならびに横方向に複数の区画
収納窓ｒｔｔｊ ｋ有するＩＪＩ ’に設け、この棚の
前方に通路を形成し、この通路内に、棚の前面に沿って
走行目在で前記区画収納空間との間で荷の出し入れを行
なう出し入れ装置を設けることによって構成される。そ
して出し入れ装置の作動によって、目的とする区画収納
空間と、棚の外側に設けた荷捌き場との間で、荷の受は
渡しを自動的に行なっている。この場合には、荷（また
は物品を収納したケース）を１個単位で取り扱うもので
、この形式でオーダピッキングを行おうとすれば、オー
クピッキングを行なう荷捌き場と棚との間で荷ヲ頻繁に
移動させなければならず、作業能率は非常に悪い。そこ
で、たとえば実公昭５３−４７７４５号公報に見られる
ように、昇降台に設けた運転台と出し入れ具（フォーク
）との間にピッキング作業台を形成して、棚から取出し
たケース（荷）に対して作業台上の作業者がピッキング
を行なう形式が提供されている。Conventional technology warehouse equipment, as seen in Japanese Unexamined Patent Publication No. 58-26703, is provided in an IJI' having a plurality of compartment storage windows vertically and horizontally, and a passage is formed in front of the shelf. In this passageway, a loading/unloading device is provided which runs along the front surface of the shelf to load/unload items into/from the compartment storage space. By the operation of the loading/unloading device, the cargo is automatically received and transferred between the intended compartmented storage space and the cargo handling area provided outside the shelf. In this case, the goods (or cases containing goods) are handled individually, and if order picking is to be carried out in this format, goods will be frequently moved between the handling area where oak picking is performed and the shelves. The work efficiency is very poor. Therefore, for example, as seen in Japanese Utility Model Publication No. 53-47745, a picking workbench is formed between the driver's cab and the loading/unloading tool (fork) provided on the lifting platform, and the picking workbench is formed between the driver's cab and the loading/unloading tool (fork), and the picking workbench is used to handle the cases (loads) taken out from the shelf. On the other hand, there is a method in which picking is performed by an operator on a workbench.
発明が解決しようとする問題点
上記のような従来のピッキング形式によると、ピッキン
グ作業者が必ず搭乗しなければならず、場合によっては
運転者との二人搭乗も行なわれている。したがって省人
化（完全自動化）に逆行することになり、さらには危険
な場所での作業となる。また榊１からケースを取出し、
そしてオーダピッキングを行ない、その後に棚へケース
を入れたのち、出し入れ装置は次の目的地に向って走行
などの動作を行なうことから、全体の作業（流れ）は能
率的に行えない。Problems to be Solved by the Invention According to the conventional picking method as described above, a picker must always be on board, and in some cases, two people are on board together with the driver. This goes against labor saving (full automation) and requires work in dangerous locations. Also, take out the case from Sakaki 1,
After the order is picked and the case is placed on the shelf, the loading/unloading device then moves toward the next destination, making the overall work (flow) inefficient.
本発明の目的とするところは、オーダピッキングも自動
的に行なえ、しかもオーダピッキングの作業中に次の目
的地に対する動作を行なえる倉庫設備全提供する点にあ
る。An object of the present invention is to provide a complete warehouse facility that can automatically perform order picking and, moreover, can move to the next destination during order picking.
問題点を解決するための手段
上記問題点を解決すべく本発明の倉庫設備は、上下方向
ならびに横方向に複数の区画収納空間を有するａｔ−設
け、この棚の前面に形成した通路内で、棚の前面に沿っ
て走行自在な出し入れ装置金膜け、この出し入れ装Ｍ？
、走行機体と、この走行機体に設けた昇降台と、この昇
降台上の走行方向複数箇所に設けた横方向出退自在な出
し入れ具と、これら出し入れ具の上方向で移動自在なマ
ニピュレータとから構成している。Means for Solving the Problems In order to solve the above-mentioned problems, the warehouse equipment of the present invention is provided with a plurality of partitioned storage spaces in the vertical and horizontal directions, and in the passage formed in the front of the shelf, This loading and unloading device M?
, a traveling body, a lifting platform provided on the traveling body, loading/unloading tools provided at multiple locations in the traveling direction on the lifting platform that can be moved in and out in the lateral direction, and a manipulator that is movable in the upper direction of these loading/unloading tools. It consists of
作 用
かかる本発明構成によると、第１の出し入・れ具で集配
パレット’６支持した状態において、出し入れ装置Ｖｉ
の走行と昇降台の昇降とにより第２の出してマニピュレ
ータにより保管パレットに移す間に、△
出し入れ装置の走行と昇降台の昇降とによって、第３の
出し入れ具によ９次の保管パレットの取り出しを行なえ
る。次いで第３の出し入れ冥土の保管パレットから集配
パレットに物品を移す間に、ηＩＩ述した走行と昇降な
どによジ、第２の出し入れ冥土の保管パレット’を棚側
に戻すとともに、この第２の出し入れ具により次の保管
パレットを取ジ出す。この繰り返しによって所期のオー
ダピッキングを行なえる。According to the configuration of the present invention, in the state where the collection and delivery pallet '6 is supported by the first loading/unloading device, the loading/unloading device Vi
While the second storage pallet is being taken out by the running of the △ loading/unloading device and the lifting platform is being raised and lowered by the lifting platform, the ninth storage pallet is being taken out by the third loading/unloading tool. can be done. Next, while the goods are being transferred from the storage pallet of the third storage pallet to the collection and delivery pallet, the second storage pallet of storage pallets is returned to the shelf side, and the second Use the loading/unloading tool to remove the next storage pallet. By repeating this process, desired order picking can be performed.
実施例 以下に本発明の一実施例を図面に基づいて説明する。Example An embodiment of the present invention will be described below based on the drawings.
（１）は上下方向ならびに水平方向にそれぞれ複数の区
画収納空間（２）を有する棚で、通路（３）装置いて一
対並役しである。この通路（３）内には、棚（１）の前
面に沿った一定経路（４）上で走行自在で、かつ前記区
画収納空間（２）との間で保管バＶット（ケースなど）
（５）の出し入れを行なう出し入れ装置（６）が設けら
れる。この出し入れ装ｆｉ！（６）は、床レール（７）
に支持案内され、かつ天井レール（８）に案内される走
行機体（９）と、この走行機体（９）に設けた走行駆動
装置００と、走行機体（９）の一部をなすボスト０υに
案内される昇降台μｓ、ならびに昇降駆！Ｅ！Ｉ装置（
至）と、前記昇降台（２）上の走行方向三箇所（複数箇
所）に、それぞれ各別に横方向出退自在に設けた出し入
れ具（１４１０４ｍ Ｑｔｊと、昇降台（２）に一体の
上部枠αηに対して走行方向、すなわち各出し入れ具０
弔（至）ＯＱの上方間で移動自在に取付けたマニピュレ
ータ０８９などから構成される。前記出し入れ具Ｑ４）
Ｑ５αＱのうち、中央の出し入れ具ＱｃＪは、ＩＪｌ
（１）の端部外側に設けた荷受台０１との間で集配パレ
ット（１）の受は渡しを行なう専用のものであり、また
前後両側の出し入れ具αカαｅは、区画収納空間（２）
ならびに荷受台０１との間で保管パレット（５）の受は
渡しを行なうものである。前記マニピュレータ（至）は
、上部枠α力に支持案内される移動部？υと、この移動
部ぐυに取付けた回転部いと、この回転部（イ）に取付
けた昇降部■、ならびに昇降部のに取付けたチャック部
（ハ）などから構成される。（イ）は制御バネ／Ｌ／ｆ
示す。(1) is a shelf having a plurality of compartment storage spaces (2) in the vertical and horizontal directions, and a pair of aisles (3) are arranged side by side. In this passageway (3), storage bags (cases, etc.) can be moved freely along a fixed path (4) along the front surface of the shelf (1), and are connected to the divided storage space (2).
(5) A loading/unloading device (6) is provided for loading/unloading. This loading/unloading fi! (6) is the floor rail (7)
A traveling body (9) that is supported and guided by and guided by a ceiling rail (8), a traveling drive device 00 provided on this traveling body (9), and a boss 0υ that forms a part of the traveling body (9). Guided lifting platform μs and lifting drive! E! I device (
(to)), and a loading/unloading device (14104m Qtj) provided at three locations (multiple locations) on the platform (2) in the traveling direction so that it can be moved in and out in the lateral direction, and an upper frame integrated with the platform (2). The running direction with respect to αη, that is, each loading/unloading tool 0
It consists of a manipulator 089 that is movably attached above the OQ. The above-mentioned loading/unloading tool Q4)
Among Q5αQ, the central insertion/extraction tool QcJ is IJl
The receiver of the collection/delivery pallet (1) is used exclusively for handing over the cargo receiving platform 01 provided on the outside of the end of the pallet (1). )
The storage pallet (5) is also transferred to and from the receiving platform 01. The manipulator (to) is a moving part that is supported and guided by the upper frame α force? It consists of υ, a rotating part attached to this moving part (g), an elevating part (2) attached to this rotating part (A), and a chuck part (C) attached to the elevating part. (A) is the control spring/L/f
show.
次に上記実施例の作用を説明する。Next, the operation of the above embodiment will be explained.
昇降台Ｑ上が空の状態からオーダピッキング全行なう作
業を説明する。先ず出し入れ装置（６）をホームポジシ
ョンに停止させ、中央の出し入れ具Ｑ５を荷受台０９に
対向させる。そして出、し入れ具α９の出退勤と昇降台
０９の昇降動との組合せ動作によって、荷受台ａ９上の
空の集配パレット（１）を昇降台０場上に引き入れる。The operation of carrying out all order picking operations from a state where the platform Q is empty will be explained. First, the loading/unloading device (6) is stopped at the home position, and the central loading/unloading tool Q5 is made to face the cargo receiving platform 09. Then, the empty collection and delivery pallet (1) on the receiving platform a9 is pulled onto the platform 0 by a combined operation of the loading/unloading tool α9 and the lifting/lowering movement of the lifting platform 09.
このとき集配バレッＨ）内に取出そうとする物品のオー
ダに基づく作動指令が制御部にセットされる９次いで作
動指令に基づいて、走行機体（９）の走行動と昇降台＠
の昇降動とを行なわせ、前後の出し入れ具α４１Ｍのう
ちの一方、たとえば出し入れ具α４）ｔ−目的とする区
画収納空間（２）に対向させる。次いで出し入れ具α復
の出退勤と昇降白亜の昇降動との組合せ動作によって、
目的とする保管パンツ） （５） ｋ昇降台（２）上に
取り出す。この後、オーダピッキング作業と次の保管パ
レット（５）の取り出し作業とが同時に行なわれる。す
なわち、出し入れ装置（６）はプログラムに基づいて次
の走行と昇降台（２）の昇降とを行ない、その間にマニ
ピュレータ（至）によって保管パレット（５）内の物品
の＃望数が集配パンツＢｇに移つされる。マニピュレー
タ（至）は、移動部Ｑ１）の移動によジ保管パレット（
５）の上方に位置し、そして回転部＠の回転動と昇降部
＠の下降動とによって開動しているチャック部（財）を
目的とする物品に対応させ、次いでチャック部（至）の
閉動と昇降部（ハ）の上昇動とによって物品を上方に持
ち上げる。そして前述の動作のうち、移動、回転、下降
、開動など全適宜性なうこと罠よって、物品全集配パレ
ット（ホ）の希望位置に渡す。その後、上昇によって次
の取り出し作業のため待機する。At this time, an operation command based on the order of the article to be taken out into the collection/delivery barre H) is set in the control section.Next, based on the operation command, the traveling behavior of the traveling body (9) and the lifting platform @
One of the front and rear loading/unloading tools α41M, for example, the loading/unloading tool α4)t, is made to face the intended storage space (2). Next, by the combined movement of the loading and unloading tool α's arrival and departure and the lifting and lowering movement of the lifting chalk,
(5) Take out the pants onto the lifting platform (2). Thereafter, order picking work and taking out the next storage pallet (5) are performed simultaneously. That is, the loading/unloading device (6) performs the next run and lifts and lowers the lifting platform (2) based on the program, and during that time, the desired number of articles in the storage pallet (5) is adjusted by the manipulator (to) to the collection/delivery pants Bg. will be transferred to The manipulator (to) moves the storage pallet (to) by moving the moving part Q1).
5) The chuck part located above and opened by the rotational movement of the rotating part @ and the downward movement of the elevating part @ corresponds to the target article, and then the chuck part (to) is closed. The article is lifted upward by the movement and the rising movement of the lifting section (c). Then, among the above-mentioned operations, all the articles are delivered to the desired position on the collection and delivery pallet (E) by all appropriate operations such as movement, rotation, lowering, opening, etc. After that, it rises and waits for the next extraction operation.
前述した出し入れ装置（６）の走行と昇降台□□□の昇
降とは、他方の出し入れ具α０を目的とする区画収納空
ｆｉｌ （２）に対向させて停止される。次いで出し入
れ具ｑ０により保管パンツ）（５）？取り出し、この保
管パレット（５）に対して前述したようなオーダピッキ
ング作業が行なわれる。その間に走行と昇降とが行なわ
れ、前回で出し入れ具０４によジ取り出した保管パレッ
ト（５）が元の区画収納空間（２）に戻されるとともに
、この空になった出し入れ具０局によって次の保管パレ
ット（５）の取ジ出しが行なわれる。以降は同様な作業
が繰り返され、集配パレット（１）に次々と物品をオー
ダピッキングして行く。所定のオーダピッキングを終え
た集配パレット（１）は適宜の荷受台０１に渡され、そ
して次の新たな集配パンツ）Ｊを受は取る。なお空にな
った保管パレット（５）は出し入れ装置（６）によって
荷受台Ｑ’Ｊに出され、物品を詰め込んでいる実の保管
パンツ） （５）と入れ替えられる。The traveling of the above-mentioned loading/unloading device (6) and the lifting/lowering of the lifting platform □□□ are stopped when the other loading/unloading tool α0 is opposed to the intended compartment storage space fil (2). Next, store the pants using the loading/unloading tool q0) (5)? The order picking operation as described above is performed on this storage pallet (5). During this time, traveling and lifting are carried out, and the storage pallet (5) that was taken out by the loading/unloading tool 04 last time is returned to the original compartment storage space (2), and the empty loading/unloading tool 0 is used for the next storage pallet (5). The storage pallet (5) is taken out. Thereafter, similar operations are repeated, and items are ordered and picked one after another onto the collection and delivery pallet (1). The collection/delivery pallet (1) that has completed the predetermined order picking is delivered to an appropriate receiving platform 01, and the next new collection/delivery pants (J) are picked up. Note that the empty storage pallet (5) is taken out to the receiving platform Q'J by the loading/unloading device (6) and replaced with the actual storage pants (5) filled with articles.
なお出し入れ具０局０９０Ｑの数は三箇所であるが、三
箇所以上であればさらに多数箇所であってもよい。Note that the number of insertion/removal tool 0 stations 090Q is three, but there may be a greater number of locations as long as there are three or more.
発明の効果
上記構成の本発明によると、マニピュレータを使用して
オーダピッキングを自動的に行なうことができ、その際
に複数の出し入れ具を使い分けるべく制御することによ
って、オーダピッキング作業中に出し入れ装置を走行な
どさせて次の棚からの取り出しを行なうことができる。Effects of the Invention According to the present invention having the above configuration, it is possible to automatically perform order picking using a manipulator, and at that time, by controlling the plurality of loading/unloading tools to be used selectively, the loading/unloading device can be operated during the order picking operation. It is possible to move the device and take it out from the next shelf.
これにより、省人化（完全自動化）ｔ−遂行でき、かつ
全体の作業（流れ）を能率的に行なうことができる。ま
たオークピッキング作業は、パレットなど’ＩＩから昇
降台上に移して行なうことから、区画収納空間はオーダ
ピッキングのための作業空間を必要とせず、棚の大型化
は招かない。As a result, labor saving (complete automation) can be achieved, and the entire work (flow) can be carried out efficiently. Further, since the oak picking work is carried out by moving from a pallet or the like onto a lifting platform, the partitioned storage space does not require a working space for order picking, and does not lead to an increase in the size of the shelves.
図面は本発明の一夾施例を示し、第１図は要部の斜視図
、第２図は全体の一部切欠正面図、第３図は同一部切欠
き平面図である。The drawings show one embodiment of the present invention, with FIG. 1 being a perspective view of the main parts, FIG. 2 being a partially cutaway front view of the whole, and FIG. 3 being a partially cutaway plan view of the same.
Claims (1)
する棚を設け、この棚の前面に形成した通路内で、棚の
前面に沿って走行自在な出し入れ装置を設け、この出し
入れ装置を、走行機体と、この走行機体に設けた昇降台
と、この昇降台上の走行方向複数箇所に設けた横方向出
退自在な出し入れ具と、これら出し入れ具の上方間で移
動自在なマニピュレータとから構成したことを特徴とす
る倉庫設備。1. A shelf having a plurality of compartment storage spaces in the vertical and horizontal directions is provided, and a loading/unloading device that can freely run along the front of the shelf is installed in a passage formed in the front of the shelf. It consists of an aircraft body, a lifting platform provided on the traveling aircraft, loading/unloading tools installed at multiple locations in the traveling direction on the lifting platform that can be moved in and out in the lateral direction, and a manipulator that is movable above these loading/unloading tools. Warehouse equipment characterized by:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10338286A JPS62259905A (en) | 1986-05-06 | 1986-05-06 | Warehouse equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10338286A JPS62259905A (en) | 1986-05-06 | 1986-05-06 | Warehouse equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS62259905A true JPS62259905A (en) | 1987-11-12 |
Family
ID=14352534
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP10338286A Pending JPS62259905A (en) | 1986-05-06 | 1986-05-06 | Warehouse equipment |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS62259905A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01192603A (en) * | 1988-01-26 | 1989-08-02 | Seibu Electric & Mach Co Ltd | Material handling method and device |
| JPH01164208U (en) * | 1988-05-10 | 1989-11-16 | ||
| JPH04341404A (en) * | 1991-05-14 | 1992-11-27 | Murata Mach Ltd | Automatic warehouse |
| WO2019049557A1 (en) * | 2017-09-06 | 2019-03-14 | 株式会社ダイフク | Transport vehicle and transport facility |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5131669A (en) * | 1974-09-11 | 1976-03-17 | Hidaka Seiki Kk |
-
1986
- 1986-05-06 JP JP10338286A patent/JPS62259905A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5131669A (en) * | 1974-09-11 | 1976-03-17 | Hidaka Seiki Kk |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01192603A (en) * | 1988-01-26 | 1989-08-02 | Seibu Electric & Mach Co Ltd | Material handling method and device |
| JPH01164208U (en) * | 1988-05-10 | 1989-11-16 | ||
| JPH04341404A (en) * | 1991-05-14 | 1992-11-27 | Murata Mach Ltd | Automatic warehouse |
| WO2019049557A1 (en) * | 2017-09-06 | 2019-03-14 | 株式会社ダイフク | Transport vehicle and transport facility |
| JP2019043753A (en) * | 2017-09-06 | 2019-03-22 | 株式会社ダイフク | Conveying vehicle and conveying equipment |
| US11338997B2 (en) | 2017-09-06 | 2022-05-24 | Daifuku Co., Ltd. | Transport vehicle and transport facility |
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