Lifting devices and automated warehouses

Abstract

To suppress displacement and disturbance of the posture of an object on a lifting mounting table when the lifting mounting table is lowered.SOLUTION: A lifting device 30 is provided between a plurality of horizontal conveyance bodies for loading or unloading an object 10 from a storage shelf for the objects and an outer conveyance device for conveying the objects from or toward an outer position. and the lifting device is configured to directly or indirectly deliver or receive the object to or from the horizontal conveyance body or the outer conveyance device. The lifting device comprises: an electrically drive-controlled driving source; and a lifting mount table 32 raised or lowered in conjunction with operation of the driving source, and having a vertical through space 32S penetrating in the vertical direction. The lifting mount table includes an air leakage suppressing part 38 for suppressing air leakage through the vertical through space when lowered. The air leakage suppressing portion 38 overlaps at least a portion of the vertical through space in a plan view.SELECTED DRAWING: Figure 8

Description

Technical Field

[0006] , , ,

[0005] , ,

[0001] This disclosure relates to a lifting device for lifting and lowering objects and an automated warehouse.

Background Art

[0002] Patent Document 1 discloses an automated warehouse including a storage shelf, a temporary storage shelf for incoming goods, a lifting mechanism unit for incoming goods, a temporary storage shelf for outgoing goods, a lifting mechanism unit for outgoing goods, and a transfer cart. Goods conveyed by an incoming conveyor are stored in the storage shelf via the temporary storage shelf for incoming goods and the transfer cart from the lifting mechanism unit for incoming goods and stored. Also, goods stored in the storage shelf are shipped out to an outgoing conveyor via the temporary storage shelf for outgoing goods and the lifting mechanism unit for outgoing goods from the transfer cart. In the lifting mechanism unit for incoming goods and the lifting mechanism unit for outgoing goods, the goods are lifted in a state of being placed on a lifting and transfer unit.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the incoming conveyor and the outgoing conveyor, there may be a space through which the lifting and transfer unit penetrates vertically. In this case, when the lifting and transfer unit descends, there is a possibility that wind flows into the lifting and placement unit from below through the penetration space. This wind may cause displacement of the objects on the lifting and transfer unit and disturbance of their postures.

[0005] Therefore, an object of the present disclosure is to suppress displacement of the objects on the lifting and placement table and disturbance of their postures when the lifting and placement table descends.

Means for Solving the Problems

[0006] To solve the above problems, the lifting device is a lifting device that directly or indirectly passes or receives objects to or from the horizontal transporters or the external transporters between a plurality of horizontal transporters for loading or unloading objects from a storage shelf and an external transporter for transporting objects from or toward an external position, and comprises an electrically driven drive source and a lifting platform that moves up and down in conjunction with the operation of the drive source and has a vertically penetrating space that penetrates in the vertical direction, and the lifting platform has a wind escape suppression part for suppressing wind escape through the vertically penetrating space when it is lowered, and the wind escape suppression part overlaps with the vertically penetrating space in at least a part in a plan view. [Effects of the Invention]

[0007] This lifting device can suppress displacement and distortion of the orientation of objects on the lifting platform when the platform is lowered. [Brief explanation of the drawing]

[0008] [Figure 1] This is a schematic side view showing an automated warehouse according to an embodiment. [Figure 2] This is a schematic plan view of the automated warehouse shown above. [Figure 3] This is a plan view showing a horizontal conveyor, support platform, lifting platform, and outbound conveyor. [Figure 4] This is a front view showing the support base. [Figure 5] Figure 4 is a cross-sectional view along the VV line. [Figure 6] This block diagram shows a partial electrical configuration of an automated warehouse. [Figure 7] This is a flowchart showing an example of the outbound shipping process. [Figure 8] This is an explanatory diagram showing the operation of the lifting platform during its descent. [Modes for carrying out the invention]

[0009] The following describes the lifting device and automated warehouse according to the embodiment.

[0010] <About automated warehouses> The overall configuration of an automated warehouse, which is an example of the application of the lifting device according to the embodiment, will be described. Figure 1 is a schematic side view of the automated warehouse, and Figure 2 is a schematic plan view of the automated warehouse. Figure 3 is a plan view showing the horizontal conveyor 40, support base 62, lifting and mounting base 32, and retrieval conveyor 16.

[0011] The automated warehouse 20 includes an inbound conveyor 18, an outbound conveyor 16, a lifting device 30, a horizontal transport body 40, storage shelves 50, and a transfer device 60.

[0012] The receiving conveyor 18 is an example of an external conveying device that transports goods 10 from an external position to a position closer to the storage shelves 50. The outbound conveyor 16 is an example of an external conveying device that transports goods 10 from a position closer to the storage shelves 50 to an external position further away from the storage shelves 50. The receiving conveyor 18 and the outbound conveyor 16 are, for example, roller conveyors or belt conveyors.

[0013] The storage rack 50 is provided on at least one side of the travel path 48 of the horizontal transporter 40. Here, a pair of storage racks 50 are provided on both sides of the travel path 48. The storage rack 50 has multiple shelves 52 supported at intervals in the vertical direction. Each shelf 52 can support and store an object 10. Each shelf 52 in each level can also support multiple objects 10. Therefore, when viewed as a whole, the storage rack 50 stores multiple objects 10 arranged vertically and horizontally. In the storage rack 50, the space in which the objects 10 are stored is the storage space. Therefore, the storage rack 50 has multiple storage spaces arranged along the direction of movement of the horizontal transporter 40 traveling along the travel path 48. Each storage space may be continuous without partitions, or it may be partitioned.

[0014] The travel path 48 is provided along the extending direction of the storage rack 50, in this case, between a pair of storage racks 50, along the extending direction between them. The travel path 48 extends along the extending direction of the storage rack 50 and extends to the transfer device 60. The travel path 48 is provided corresponding to each of the upper and lower shelf levels. Each travel path 48 may be configured, for example, with a pair of rails. The rails may also serve as the lateral frames of the storage rack 50, or they may be configured separately from the storage rack 50.

[0015] The horizontal conveyor 40 is a device also called a picker or dolly, and is configured to travel back and forth along the above-mentioned travel path 48. The horizontal conveyor 40 is provided with an object loading / unloading mechanism 42 for loading and unloading objects 10 to and from the storage rack 50 and the transfer device 60. The object loading / unloading mechanism 42 has a pair of arms 43 that can move in and out relative to the storage rack 50 and the transfer device 60. A pair of claws 44 are provided on the leading edge of the pair of arms 43 in the direction of advancement and on the front edge of the leading edge. It is possible that if the direction of advancement of the pair of arms 43 is reversed, the positional relationship between the leading edge and the front edge of the leading edge will be reversed. By moving the pair of arms 43 in an advanced position with the front edge of the leading edge protruding, the objects 10 on the horizontal conveyor 40 are pushed out toward the storage rack 50 or the transfer device 60. With the pair of arms 43 extended, the pair of claws at their tips are extended, and then the pair of arms 43 are retracted. This causes the object 10 on the storage shelf 50 or transfer device 60 side to be pulled towards the storage shelf 50. As a result, the object 10 is moved between the horizontal conveyor 40 and the storage shelf 50 or transfer device 60. The object 10 is loaded into and unloaded from the travel path 48 side to the storage shelf 50. The horizontal conveyor 40 traveling along the travel path 48 can load and unload the object 10 to and from both of the pair of storage shelves 50. The horizontal conveyor 40 is an example of a device for loading or unloading the object 10 to and from the storage shelf 50.

[0016] In this embodiment, an example will be described in which a plurality of running paths 48 and a plurality of horizontal conveyors 40 are provided corresponding to each of the upper and lower shelf levels, but this is not essential. For example, one running path common to a plurality of upper and lower shelf levels may be provided, and a transfer cart may travel on the running path. In this case, it is preferable to provide a lifting mechanism on the transfer cart so that stored items can be taken in and out with respect to a plurality of upper and lower shelves. Also, a plurality of transfer carts may travel on one running path.

[0017] The lifting device 30 and the transfer device 60 are provided at a part in the extending direction of the storage shelf 50. In this embodiment, an in-stock transfer device 60, an in-stock lifting device 30, and an in-stock conveyor 18 are provided at each one end of a pair of storage shelves 50. Also, an out-stock transfer device 60, an out-stock lifting device 30, and an out-stock conveyor 16 are provided at each other end of a pair of storage shelves 50. A transfer device, a lifting device, and an in-out stock conveyor may be provided at the longitudinal middle part of a pair of storage shelves 50. The transfer device, the lifting device, and the conveyor do not necessarily need to be divided into in-stock use and out-stock use, and may be used for both in-stock and out-stock.

[0018] The transfer device 60 is a part also called a temporary storage shelf, and is a device that relays objects between the lifting device 30 and the horizontal conveyor 40. The transfer device 60 includes a plurality of support bases 62 corresponding to each of the plurality of shelf levels. The plurality of support bases 62 are provided at a position adjacent to the storage shelf 50 and at the same height position as the corresponding shelf 52. The support base 62 is, for example, a roller conveyor having rollers 63a (see FIG. 3). By rotationally driving a motor built in the roller 63a, the object 10 can be moved along the conveyance direction. The object 10 on the support base 62 may be moved along the conveyance direction by being pushed by a pusher driven by an actuator such as a cylinder provided separately. The horizontal conveyor 40 provided corresponding to each shelf level can transfer the object 10 with respect to the support base 62 and the shelf 52 at that shelf level.

[0019] The lifting device 30 is a lifting device that directly or indirectly delivers or receives the object 10 to or from the horizontal conveyor 40, or the infeed conveyor 18 or the outfeed conveyor 16 which are outer conveying devices. In this embodiment, the infeed lifting device 30 directly receives the object 10 from the infeed conveyor 18. The infeed lifting device 30 indirectly delivers the object 10 to the horizontal conveyor 40 via the infeed transfer device 60. Further, the outfeed lifting device 30 indirectly receives the object from the horizontal conveyor 40 via the outfeed transfer device 60. The outfeed lifting device 30 directly delivers the object to the outfeed conveyor 16. The lifting device 30 may directly deliver or receive the object 10 to or from the transfer device 60.

[0020] The above-mentioned lifting device 30 is a device for lifting the object 10 and is also a device called a reservoir. The lifting device 30 includes a lifting stage 32 that moves up and down while supporting the object 10. The lifting stage 32 can move the object 10 along the conveying direction connecting the infeed conveyor 18 and the support base 62, or along the conveying direction connecting the outfeed conveyor 16 and the support base 62. A configuration example for the lifting stage 32 to move the object 10 along the conveying direction will be described later.

[0021] The lifting platform 32 is driven up and down by a lifting drive mechanism 33. The lifting drive mechanism 33 includes, for example, a drive source 33a and a circulating rotating body 33b. The drive source 33a is, for example, an electrically controlled motor. The circulating rotating body 33b is a chain or circulating belt, which is wrapped around a sprocket or pulley that is rotatably supported above and below the column 31. By rotating the drive source 33a, the circulating rotating body 33b is rotated in a circulating manner, thereby causing the lifting platform 32 connected to the circulating rotating body 33b to move up and down. As the lifting platform 32 is driven up and down in conjunction with the operation of the drive source 33a, the lifting platform 32 is moved up and down to a position corresponding to each of the multiple support bases 62 next to the transfer device 60. By positioning the lifting platform 32 at a height corresponding to either of the support bases 62, the object 10 can be moved horizontally between the lifting platform 32 and the support base 62. The lifting platform 32 is also moved up and down to a position corresponding to either the receiving conveyor 18 or the shipping conveyor 16, adjacent to the end of the shipping conveyor 18 or the shipping conveyor 16 closest to the storage rack 50. By positioning the lifting platform 32 at a height corresponding to either the receiving conveyor 18 or the shipping conveyor 16, the object 10 can be moved horizontally between the lifting platform 32 and the receiving conveyor 18 or the shipping conveyor 16.

[0022] The control unit 90 controls the transport operations of the receiving conveyor 18 and the outgoing conveyor 16, the lifting operation of the lifting device 30, the transfer operation, the transfer operation of the transfer device 60, the travel operation of the horizontal conveyor 40, and the loading and unloading operations of the goods 10. In this automated warehouse 20, the loading and unloading of goods 10 are performed under the control of the control unit 90.

[0023] This section describes the overall operation of this automated warehouse 20.

[0024] Focusing on the incoming items 10, as shown in Figure 3, the incoming items 10 are transferred to the lifting device 30 by the incoming conveyor 18, etc. The lifting device 30 then moves the items 10 up and down to a position corresponding to the shelf where the items 10 will be stored. After this, the items 10 supported on the lifting platform 32 are transferred to the transfer device 60. The items 10 supported by the transfer device 60 are then transferred to the horizontal transport body 40. The horizontal transport body 40 travels along the travel path 48 with the items 10 supported, moving towards the intended storage position of the items 10 on the storage shelf 50. When the horizontal transport body 40 reaches the intended storage position, the items 10 are transferred from the horizontal transport body 40 to the storage shelf 50, and the items 10 are stored on the storage shelf 50. After the lifting device 30 raises the object 10 to the shelf where it is to be stored, the object 10 is temporarily supported by the transfer device 60 until the horizontal transporter 40 picks it up. This reduces the waiting time for the lifting device 30 and the horizontal transporter 40, and allows for efficient storage of the object 10.

[0025] Focusing on the item 10 to be released, the horizontal conveyor 40 on the shelf corresponding to the storage position of the item 10 moves to the position corresponding to the storage position of the item 10. After this, the horizontal conveyor 40 takes the item 10 from the storage shelf 50. Having taken in the item 10, the horizontal conveyor 40 moves toward the transfer device 60 for release and transfers the item 10 to the transfer device 60. The lifting device 30 for release moves the lifting platform 32 up and down to the position on the shelf corresponding to the item 10 to be released. Then, the item 10 on the transfer device 60 is transferred to the lifting platform 32 on that shelf. The lifting device 30 for release moves the lifting platform 32 to a position suitable for release, for example, at the height of the release conveyor 16. After this, the item 10 is transferred to the release conveyor 16. The item 10 is released to the outside by the release conveyor 16. After the horizontal transporter 40 moves toward the transfer device 60 for retrieval, the object 10 can be temporarily supported by the transfer device 60 until the lifting platform 32 moves to the height position for retrieval. Therefore, even when retrieving, the waiting time of the lifting device 30 and the horizontal transporter 40 can be reduced, and the retrieval of the object 10 can be carried out efficiently.

[0026] In this automated warehouse 20, when an item 10 is received, a database is generated and updated that associates the item's identification information (item identification code or name) with its storage location. When an item 10 is received, the available space on the storage shelf 50 is identified by referring to this database, and one of these available spaces is selected as the planned storage location. When an item 10 is released, its storage location is identified by referring to the database. The database may be stored in the storage unit of the control unit 90, or it may be stored in another storage unit.

[0027] To improve the loading and unloading speed of goods 10 in the automated warehouse 20, it is conceivable to increase the lifting speed of the lifting platform 32 in the lifting device 30. For example, the maximum lifting and lowering speed of the lifting platform 32 could be set to 150 m / min, 200 m / min, or 240 m / min. To achieve high speed for the lifting platform 32, the capacity of the drive source 33a is appropriately selected according to the weight of the goods 10. For example, a motor with a rated output of 3.5 kW, preferably 7 kW, may be selected as the drive source 33a.

[0028] It is assumed that the lifting platform 32 has a space that penetrates vertically. For example, it is assumed that the lifting platform 32 is equipped with multiple rollers for transporting objects 10. In this case, a space that penetrates vertically is provided between the multiple rollers. Also, if the lifting platform 32 is constructed by a combination of multiple long frames, or by a mesh-like plate, etc., the lifting platform 32 may have a space that penetrates vertically.

[0029] In this case, as the lifting platform 32 descends, wind passing through the vertical penetration space may blow onto the object 10 on the lifting platform 32 from below. This may cause an upward lifting force to act on the object 10 on the lifting platform 32, potentially causing the object 10 to shift position or become disoriented on the lifting platform 32. It is also conceivable that the object 10 consists of a container with an opening formed in at least a part of its bottom or side, and the contents contained within the container. In this case, wind may blow into the container through the trench, potentially disrupting the arrangement of the contents inside or causing them to float.

[0030] In particular, as described above, if the lifting speed of the lifting platform 32 in the lifting device 30 is increased in order to improve the loading and unloading speed of goods 10 in the automated warehouse 20, the relative velocity of the wind blowing on the goods 10 on the lifting platform 32 increases. The following describes a configuration to suppress the effect of wind blowing from below on the goods 10 on the lifting platform 32.

[0031] <Regarding the lifting platform and wind escape suppression section> Figure 4 is a front view showing the support base 62. Figure 5 is a cross-sectional view taken along line VI-VI in Figure 4.

[0032] The lifting platform 32 has a vertical through-space 32S that penetrates in the vertical direction. In this embodiment, an example is described in which the vertical through-space 32S is a space formed between rollers 36.

[0033] In other words, the lifting platform 32 comprises a frame 34 and rollers 36.

[0034] The frame 34 is formed in the shape of a rectangular frame. More specifically, the frame 34 has a pair of side parts 34a and a pair of connecting parts 34b. The pair of side parts 34a are elongated plate-shaped members that extend along the transport direction of the object 10 on the lifting platform 32. The pair of side parts 34a are arranged in parallel with a gap between them in a horizontal direction perpendicular to the transport direction of the object 10 on the lifting platform 32. The pair of connecting parts 34b are elongated plate-shaped members that extend along a horizontal direction perpendicular to the transport direction of the object 10 on the lifting platform 32. The ends of the pair of connecting parts 34b are connected to the ends of the pair of side parts 34a to form the rectangular frame-shaped frame 34. Note that it is not essential that the frame 34 is rectangular in shape. For example, the middle part of the pair of side parts 34a may be connected by a single connecting part.

[0035] A movable lifting support section 32L, which is driven up and down by a lifting drive mechanism 33, is supported along the column 31 so as to be able to move up and down. A lifting support frame 32LF extends horizontally from the movable lifting support section 32L. The lifting support frame 32LF extends from the lower center of one side section 34a to the lower center of the other side section 34a and is fixed to the lower part of each of the pair of side sections 34a by screws or the like. The lifting motion by the lifting drive mechanism 33 is transmitted to the lifting platform 32 via the movable lifting support section 32L. As a result, the lifting platform 32 moves up and down along the column 31.

[0036] Multiple rollers 36 are supported within the frame 34 in a parallel position with spacing between them. More specifically, the multiple rollers 36 are rotatably supported, for example, by a pair of sides 34a, while aligned along the transport direction on the lifting platform 32. Each roller 36 is positioned along a horizontal direction perpendicular to the transport direction. The object 10 is then placed on the lifting platform 32, straddling the multiple rollers 36. In this state, the rotation of each roller 36 allows the object 10 on the lifting platform 32 to move along the transport direction.

[0037] The object 10 can be transported by, for example, the following configuration: At least one of the multiple rollers 36 incorporates a roller drive unit 36m, such as an electric motor (see Figure 3). At least one end of the roller 36 incorporating the roller drive unit 36m is supported by the frame 34 in a state where rotation is stopped via an axis fixing part. Then, under the control of the control unit 90, the roller drive unit 36m is driven, causing the roller 36 to rotate around its own axis of rotation.

[0038] Furthermore, a transmission belt 36B is wrapped around each combination of adjacent rollers 36 among the multiple rollers 36. When at least one of the multiple rollers 36 rotates due to the drive of the roller drive unit 36m, that rotation is sequentially transmitted to the adjacent rollers 36 via the transmission belt 36B. This allows the multiple rollers 36 to rotate synchronously in the same direction.

[0039] Such a lifting platform 32 is an example of a roller conveyor. With this configuration, the control unit 90 can control the timing and direction of rotation of the roller 36 containing the roller drive unit 36m among the multiple rollers 36, thereby controlling the timing and direction of transport of objects on the lifting platform 32.

[0040] The upper end position of each roller 36 is located above the upper end position of the side portion 34a. Therefore, the object 10 being transported on the rollers 36 can move above the side portion 34a. A pair of lateral guide plate portions 34g are fixed to the pair of side portions 34a. Both ends of the pair of lateral guide plate portions 34g have guide slopes 34gf that gradually incline outward toward the outside in the transport direction. The object 10 is guided between the pair of lateral guide plate portions 34g by the guide slopes 34gf.

[0041] The configuration for transporting objects on the lifting platform 32 is not limited to the above example. For example, the roller drive unit 36m may be incorporated into the frame 34. The objects 10 on the lifting platform 32 may be moved by being pushed along the transport direction by a pusher driven by an actuator such as a separately provided cylinder.

[0042] In this embodiment, the upper end of the connecting portion 34b is lower than the upper end position of the side portion 34a. The auxiliary roller 36p is rotatably supported on the connecting portion 34b.

[0043] A position sensor 37 for detecting the position of the object 10 in the transport direction may be attached to the lifting platform 32. For example, the position sensor 37 may be a light-reflecting type position sensor including a light source such as a light-emitting diode and a light sensor, with the light source and light sensor attached to one side 34a and a light-reflecting member attached to the other side. If the position sensors 37 are provided at intervals along the transport direction, the position of the object 10 in the transport direction can be detected by whether or not the object 10 obstructs the detection light.

[0044] In the lifting platform 32 described above, an upper and lower through space 32S is formed between adjacent rollers 36. Therefore, when the lifting platform 32 is lowered, the wind passing through the upper and lower through space 32S blows onto the object 10 on the lifting platform 32 from below.

[0045] The lifting platform 32 has a wind escape suppression section 38 to suppress wind escape through the vertical through space 32S when it is lowered. In a plan view along the direction of gravity, the wind escape suppression section 38 overlaps with the vertical through space 32S in at least a portion of the way. Therefore, when the lifting platform 32 is lowered, the wind escape suppression section 38 blocks at least a portion of the wind that would otherwise pass through the vertical through space 32S.

[0046] In this embodiment, the wind escape suppression portion 38 is a plate-shaped member. More specifically, the wind escape suppression portion 38 is a rectangular plate-shaped member that extends below the plurality of rollers 36 and over the entire area where the plurality of rollers 36 exist in a plan view. The wind escape suppression portion 38 may be located in a region that blocks the area below a portion of the gaps between adjacent rollers 36. In this embodiment, the wind escape suppression portion 38 is a plate-shaped member that extends in a planar direction, but it may also be a member that bends or curves along the way. Furthermore, the wind escape suppression portion 38 may be formed in a shape that allows wind to escape to the front, rear or side of the lifting and lowering platform 32.

[0047] The wind escape suppression section 38 may be attached to the frame 34 so as to close the downward opening of the rectangular frame-shaped frame 34. In this embodiment, auxiliary edges 34ap and 34bp extend inward from the lower edges of each of the pair of side sections 34a and the pair of connecting sections 34b (see Figure 5). The rectangular plate-shaped wind escape suppression section 38 is superimposed on the lower part of the frame 34 and superimposed from below on the rectangularly extending auxiliary edges 34ap and 34bp. The wind escape suppression section 38 is then fixed to the auxiliary edges 34ap and 34bp by screws S or the like. The lifting support frame 32LF may support the frame 34 via the wind escape suppression section 38.

[0048] The wind-reducing section 38 may be made of, for example, a steel plate. The wind-reducing section 38 may be made of a plate material lighter than a steel plate. For example, the wind-reducing section 38 may be made of an aluminum plate, a resin plate, etc. If a plate with a hollow structure, such as plastic corrugated cardboard made of resin, is used as the resin plate, a lightweight and strong structure can be obtained.

[0049] The wind escape suppression section 38 may be made of a transparent material. The transparency here does not need to be such that the position and orientation of the object 10 can be confirmed by observing the lifting platform 32 from below. If the wind escape suppression section 38 is transparent, the presence, position, orientation, etc. of the object 10 on the lifting platform 32 can be visually confirmed from below when the lifting platform 32 is positioned higher than a person's height.

[0050] <An example of a downward movement> The above-mentioned wind escape suppression section 38 is effective in suppressing the wind that blows onto the object 10 from below as the lifting platform 32 descends, passing through the vertical penetration space 32S. It is particularly effective when the process of starting the descent of the lifting platform 32 is performed before the object 10 transferred to the lifting platform 32 comes to a stop.

[0051] In explaining the above process, we will now describe the partial electrical configuration of the automated warehouse 20 with reference to the block diagram shown in Figure 6.

[0052] The control unit 90 is composed of a computer equipped with a processor 92 such as a CPU (Central Processing Unit), a storage unit 93, and the like. The storage unit 93 is composed of a non-volatile storage device such as flash memory or a hard disk drive. The processor controls the operations related to the loading and unloading of the automated warehouse 20 by processing according to a program 93a pre-stored in the storage unit 93. An example of the operations related to the loading and unloading of the automated warehouse 20 is an unloading operation in which goods 10 are transferred from the storage shelves 50 to the unloading conveyor 16 via a horizontal transporter 40, a transfer device 60, and a lifting device 30. The processor 92 may be a single-core processor or a multi-core processor. The processing by the control unit 90 may be performed by a single computer or by multiple computers connected to each other.

[0053] The control unit 90, the lifting device 30, the transfer device 60, and the horizontal transport body 40 are connected in a communication manner. Under the control of the control unit 90, the lifting and transferring operations of the lifting device 30, the transfer operations of the transfer device 60, and the travel and loading / unloading of objects 10 of the horizontal transport body 40 are controlled. In particular, the lifting device 30 is equipped with a lifting drive mechanism 33, a position sensor 37 of the lifting platform 32, and a roller drive unit 36m. The control unit 90 can control the lifting timing and lifting speed of the lifting platform 32 by driving the lifting drive mechanism 33, and can control the transport timing of objects 10 on the lifting platform 32 by driving the roller drive unit 36m. Furthermore, the control unit 90 can recognize the position of objects 10 along the transport direction on the lifting platform 32 based on the output from the position sensor 37.

[0054] Figure 7 is a flowchart showing an example of the outbound processing.

[0055] When a user or other person issues a command to retrieve an item 10 from the storage shelf 50, the control unit 90 specifies the position of the item 10 and issues a retrieval command to the horizontal transporter 40, as shown in step S1. The horizontal transporter 40 moves in front of the specified item 10 and retrieves the item 10 from the storage shelf 50. After this, the horizontal transporter 40 moves toward the transfer device 60 and transfers the retrieved item 10 to the transfer device 60. In this embodiment, since the horizontal transporter 40 is provided corresponding to each upper and lower shelf level, the vertical position of the shelf level in the storage shelf 50 where the item 10 was stored and the vertical position of the shelf level in the transfer device 60 where the item 10 was transferred are the same.

[0056] In the next step S2, it is determined whether the transfer of the object 10 to the transfer device 60 is complete. For example, the transfer of the object 10 may be determined to be complete when the horizontal conveyor 40 has completed the operation of transferring the object 10 to the transfer device 60. Alternatively, the transfer of the object 10 may be determined based on detection signals from the object detection sensors on the transfer device 60. If it is determined that the transfer is not complete, the process in step S2 is repeated, and if it is determined that the transfer is complete, the process proceeds to the next step S3.

[0057] In step S3, the control unit 90 gives a command to the transfer device 60 and the roller drive unit 36m of the lifting platform 32 to transfer the object 10 from the transfer device 60 to the lifting platform 32. As a result, for example, the roller 63a of the transfer device 60 is driven to rotate, and the roller 36 of the lifting platform 32 is driven to rotate, so that the object 10 on the support base 62 of the transfer device 60 is transported toward the lifting platform 32.

[0058] In the next step S4, the control unit 90 determines, based on the output of the position sensor 37, whether or not the object 10 is located within a predetermined range on the lifting platform 32. The state in which the object 10 is located within a predetermined range on the lifting platform 32 is, for example, a state in which the object 10 is not present on the support base 62 and has moved completely onto the lifting platform 32. In this state, the lifting platform 32 can be raised and lowered even if the object 10 is not located near the center of the lifting platform 32. For example, if the position sensor 37 closest to the transfer device 60 among the multiple position sensors 37 detects the object 10, then becomes undetectable, and another position sensor 37 detects the object 10, it is determined that the object 10 is located within a predetermined range on the lifting platform 32. If the result is NO, the process in step S4 is repeated, and if the result is YES, the process proceeds to the next step S5.

[0059] In step S5, the control unit 90 issues a downward command to the lifting drive mechanism 33 for a distance corresponding to the difference between the current height of the lifting platform 32 and the height of the delivery conveyor 16. As a result, the lifting drive mechanism 33 controls the drive source 33a to move the lifting platform 32 downward to the height of the delivery conveyor 16.

[0060] In the next step S6, the control unit 90 determines, based on the output of the position sensor 37, whether the object 10 on the lifting platform 32 has reached the target position. The target position may be the center of the transport direction on the lifting platform 32, or it may be a position closer to the outbound conveyor 16. If the result is NO, the process in step S6 is repeated; if the result is YES, the process proceeds to step S7.

[0061] In step S7, the control unit 90 issues a command to stop the roller feed operation to the roller drive unit 36m of the lifting platform 32. As a result, the object 10 stops on the lifting platform 32.

[0062] In the next step S8, the control unit 90 determines whether the lifting platform 32 has reached the target height of the outbound conveyor 16. This determination can be made, for example, based on the output of the rotary encoder built into the lifting drive mechanism 33 or the output of the height position detection sensor of the lifting platform 32 incorporated into the lifting device 30. The process in step S8 is repeated until the lifting platform 32 descends to the target position, and once the lifting platform 32 reaches the target position, the process proceeds to the next step S9.

[0063] In step S9, the control unit 90 issues a command to the roller drive unit 36m of the lifting platform 32 and the output conveyor 16 to transfer the object from the lifting platform 32 to the output conveyor 16. As a result, the rollers 36 of the lifting platform 32 are driven to rotate, and the output conveyor 16 begins its transport operation, and the object 10 on the lifting platform 32 is removed to the outside via the output conveyor 16.

[0064] Figure 8 is an explanatory diagram showing the operation of the lifting platform 32 with an object 10 placed on it during its descent. If there is no wind escape suppression section 38, as indicated by arrow A, wind passing through the vertical through space 32S between the rollers 36 blows onto the object 10 from below. As a result, an upward force acts on the object 10 from the lifting platform 32. This force is expected to cause the object 10 on the lifting platform 32 to shift position or become distorted in its posture.

[0065] In particular, according to the above process, after the object 10 is transferred onto the lifting platform 32, the timing of the object 10's movement along the transport direction on the lifting platform 32 coincides with the timing of the lifting platform 32's descent during the initial lowering phase. Therefore, there is a possibility that wind passing through the vertical through-space 32S may blow from below onto the object 10 as it moves on the lifting platform 32. If wind blows from below onto the moving object 10, even a small force may change its direction of movement, making it more likely that the object 10 will be displaced or its posture disturbed.

[0066] In this embodiment, the wind escape suppression unit 38 suppresses the airflow passing through the vertical penetration space 32S. For example, when the lifting platform 32 descends, it is assumed that air will pass around the lifting platform 32 as shown by arrow B. Therefore, it is difficult for wind to blow onto the object 10 on the lifting platform 32 from below. This suppresses displacement and disturbance of the posture of the object 10 on the lifting platform 32.

[0067] The above lowering operation is just one example. The lowering of the lifting platform 32 may begin after the object 10 has stopped on the lifting platform 32.

[0068] <Effects, etc.> With the lifting device 30 and automated warehouse 20 configured in this way, when the lifting platform 32 is lowered, the airflow suppression unit 38 suppresses airflow through the vertical penetration space 32S. As a result, it is difficult for wind to blow upward from below onto the objects 10 on the lifting platform 32. This makes it possible to suppress displacement and disturbance of the orientation of the objects 10 on the lifting platform 32 when the lifting platform 32 is lowered.

[0069] Furthermore, if the maximum descent speed of the lifting platform 32 is 150 m / min or higher, a large wind speed is likely to blow onto the object 10 on the lifting platform 32. Also, the acceleration required for the lifting platform 32 to descend reduces the load on the object 10 on the lifting platform 32. If wind is blown onto the object 10 from below, it is more likely that the object 10 will shift position or its posture will be disturbed. In such cases, it is effective to suppress wind leakage through the vertical penetration space 32S using the wind leakage suppression unit 38. The wind leakage suppression unit 38 can also be applied even when the lifting platform 32 does not move up and down at high speed.

[0070] Furthermore, the lifting platform 32 can be configured to transport objects 10 on the platform 32 using multiple rollers 36. In this case, gaps tend to form between the rollers 36. The airflow passing through the vertical through-space 32S due to these gaps can be suppressed by the airflow suppression unit 38.

[0071] Furthermore, the wind-suppressing section 38 is attached to the frame 34 so as to close the downward opening of the frame-shaped frame 34 that supports the multiple rollers 36. This more reliably suppresses wind from blowing onto the object 10 on the lifting platform 32 from below.

[0072] Furthermore, since the wind escape suppression section 38 is a plate-shaped member, wind escape can be suppressed with a simple structure.

[0073] In particular, if the wind escape suppression section 38 is made of a plate material that is lighter than a steel plate, the lifting load will not increase as much, and wind escape can be suppressed while suppressing the impact on the lifting performance of the lifting platform 32.

[0074] Furthermore, if the airflow suppression section 38 is transparent, the object 10 on the lifting platform 32 can be seen from below the lifting platform 32, and the position, orientation, presence, etc., of the object 10 can be confirmed.

[0075] Furthermore, by starting the descent of the lifting platform 32 before the object 10 received by the lifting platform 32 comes to a stop on the lifting platform 32, the object 10 can be lowered quickly. In this case, if the object 10 is moving on the lifting platform 32, the air passing through the vertical through-space 32S may easily cause displacement or disturbance of the object 10 on the lifting platform 32. In such cases, by suppressing airflow with the airflow suppression unit 38, the object 10 can be lowered quickly while suppressing displacement or disturbance of the object 10 on the lifting platform 32 when the lifting platform 32 is lowered. Of course, the descent of the lifting platform 32 may also start after the object 10 has stopped.

[0076] If the above-mentioned lifting device 30 is incorporated into the automated warehouse 20, displacement and distortion of the orientation of the objects 10 on the lifting platform 32 can be suppressed. This allows for smooth loading and unloading of the objects 10.

[0077] In the above embodiment, when the receiving conveyor 18 is set to a high position, the lifting platform 32 may lower when transferring the object 10 from the receiving conveyor 18 to the transfer device 60. Even in this case, the wind escape suppression unit 38 can effectively suppress the wind blowing through the lifting platform 32.

[0078] The lifting device 30 itself could also be applied to equipment handling goods other than the automated warehouse 20.

[0079] The wind-suppressing section 38 may be positioned so as to overlap at least a portion of the vertical penetration space other than the gap between the rollers 36. For example, when the lifting platform is composed of a combination of multiple long frames, or when it is composed of a mesh-like plate, the wind-suppressing section may be provided overlapping at least a portion of their vertical penetration spaces.

[0080] The wind escape suppression section 38 does not have to be plate-shaped. For example, the wind escape suppression section may be formed in a three-dimensional shape (e.g., dome-shaped) to allow wind to escape from the object on the lifting platform.

[0081] Furthermore, the configurations described in the above embodiments and each of the modified examples can be combined as appropriate, as long as they do not contradict each other.

[0082] This disclosure discloses the following aspects:

[0083] The first embodiment is a lifting device for directly or indirectly transferring or receiving objects to or from a horizontal conveyor or an external conveying device between a plurality of horizontal conveyors for loading or unloading objects from or toward an external position, and an external conveying device for transporting objects from or toward an external position, comprising an electrically driven drive source and a lifting platform that moves up and down in conjunction with the operation of the drive source and has a vertically penetrating space that penetrates in the vertical direction, wherein the lifting platform has a wind escape suppression part for suppressing wind escape through the vertically penetrating space when it is lowered, and the wind escape suppression part overlaps with the vertically penetrating space in at least a part in a plan view.

[0084] This lifting device suppresses airflow through the vertical passageway when the lifting platform is lowered. As a result, it is difficult for wind to blow upwards onto the objects on the lifting platform. This helps to suppress displacement and distortion of the orientation of objects on the lifting platform when it is lowered.

[0085] The second embodiment is a lifting device according to the first embodiment, wherein the maximum lowering speed of the lifting platform is 150 m / min or more.

[0086] If the maximum descent speed of the lifting platform is 150 m / min or higher, objects on the platform are likely to be subjected to strong winds. In such cases, it is effective to suppress wind leakage through the vertical penetration space using a wind escape suppression unit.

[0087] A third embodiment is a lifting device according to the first or second embodiment, wherein the lifting platform has a plurality of rollers, the vertical through space is the gap between adjacent plurality of rollers, and the air leakage suppression part is positioned below the plurality of rollers.

[0088] This makes it possible to realize a configuration in which objects on a lifting platform are transported by multiple rollers. In this case, the airflow passing through the gaps between the rollers can be suppressed by an airflow suppression unit.

[0089] A fourth embodiment is a lifting device according to the third embodiment, wherein the lifting platform has a frame-shaped frame, the plurality of rollers are supported within the frame, and the airflow suppression part is attached to the frame so as to close the downward opening of the frame.

[0090] This more effectively suppresses wind from blowing onto objects on the lifting platform.

[0091] The fifth embodiment is a lifting device relating to any one of the first to fourth embodiments, wherein the air leakage suppression part is a plate-shaped member.

[0092] This allows the plate-like member to suppress airflow.

[0093] The sixth embodiment is a lifting device according to the fifth embodiment, wherein the plate-shaped member is made of a plate material that is lighter than a steel plate.

[0094] This allows for suppressing airflow while minimizing the impact on the lifting performance of the lifting platform.

[0095] The seventh aspect is a lifting device according to the fifth or sixth aspect, wherein the plate-shaped member is a permeable member.

[0096] This allows the items on the lifting platform to be viewed from below.

[0097] The eighth aspect is a lifting device according to any one of the first to seventh aspects, further comprising a control unit for controlling the drive source, wherein the control unit causes the lifting platform to begin descending before the object received by the lifting platform comes to a stop on the lifting platform.

[0098] This allows the lifting platform to descend quickly by starting its descent before the object it has received comes to a complete stop on the platform. When an object is moving on the lifting platform, air passing through the vertical passage can easily cause the object to shift position or its orientation to become distorted. In such cases, by suppressing airflow with the airflow suppression unit, it is possible to descend the object quickly while suppressing the shift position or orientation of the object on the lifting platform as it descends.

[0099] An automated warehouse according to the ninth embodiment comprises a lifting device according to any one of the first to eighth embodiments, storage shelves, and a plurality of horizontal transport bodies for transporting goods between the storage shelves and the lifting device.

[0100] This makes it possible to suppress positional shifts and orientation disturbances of objects on the lifting platform in automated warehouse lifting devices. As a result, objects can be loaded and unloaded smoothly.

[0101] The above description is illustrative in all respects, and the invention is not limited thereto. It is understood that countless variations not illustrated can be conceivable without falling outside the scope of this invention. [Explanation of symbols]

[0102] 10 things 16. Outbound conveyor 18. Conveyor for receiving goods into storage 20 Automated Warehouse 30 Lifting device 32 Lifting platform 32S Through-space 33 Lifting drive mechanism 33a Power source 34 frames 36 Laura 36m Roller drive unit 38 Wind escape suppression section 40 Horizontal conveyor 50 storage shelves 60 Transfer equipment 90 Control Unit

Claims

1. A lifting device that directly or indirectly transfers or receives objects to or from a horizontal conveyor or an external conveyor between a plurality of horizontal conveyors for loading or unloading objects from a storage rack and an external conveyor for transporting objects from or toward an external position, An electrically driven and controlled drive source, A lifting platform that moves up and down in conjunction with the operation of the drive source and has a vertically penetrating space that extends through it in the vertical direction, Equipped with, The lifting platform has a wind escape suppression section to suppress wind escape through the vertical through space when it is lowered, The aforementioned airflow suppression section overlaps with the vertical through space in at least a portion of its form in a plan view, and is a lifting device.

2. A lifting device according to claim 1, A lifting device in which the maximum lowering speed of the lifting platform is 150 m / min or more.

3. A lifting device according to claim 1 or claim 2, The aforementioned lifting platform has a plurality of rollers, The aforementioned vertical through space is the gap between the adjacent plurality of rollers, The aforementioned air leakage suppression unit is a lifting device positioned below the plurality of rollers.

4. A lifting device according to claim 3, The aforementioned lifting platform has a frame-shaped frame, The plurality of rollers are supported within the frame, The aforementioned airflow suppression unit is a lifting device attached to the frame so as to close the downward opening of the frame.

5. A lifting device according to any one of claims 1 to 4, The aforementioned airflow suppression part is a plate-shaped member, which is a lifting device.

6. A lifting device according to claim 5, The aforementioned plate-like member is a plate material that is lighter than a steel plate, in the lifting device.

7. A lifting device according to any one of claims 1 to 6, The system further includes a control unit that controls the aforementioned drive source, The control unit is a lifting device that causes the lifting platform to start descending before the object received by the lifting platform comes to a stop on the lifting platform.

8. A lifting device according to any one of claims 1 to 7, Storage shelves and A plurality of horizontal conveying bodies for transporting objects between the storage shelf and the lifting device, An automated warehouse equipped with [unclear / unclear].

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