Article storage device

Abstract

The delivery-priority mode is a mode in which the conveyance device sequentially performs the first transfer operation, the second transfer operation, the first travel operation, the third transfer operation, and the second travel operation. The first transfer operation is an operation of transferring the second article to the conveyance device, the second transfer operation is an operation of transferring the first article to the conveyance device, the first travel operation is an operation of traveling until a position corresponding to the relay portion while holding the first article and the second article, the third transfer operation is an operation of transferring the third article to the conveyance device after transferring the first article to the relay portion, and the second travel operation is an operation of traveling until a position corresponding to the storage portion while holding the second article and the third article.

Description

Technical Field

[0001] The present invention relates to an item storage device, comprising: an item storage rack having a storage section capable of storing multiple items side by side along a depth direction; a relay device for transferring items between an inbound / outbound section and the relay section; and a conveying device for transferring items between the relay section and the storage section. Background Technology

[0002] Japanese Patent Application Publication No. 7-97006 (Patent Document 1) discloses an example of an item storage device having an item storage rack capable of storing multiple items side-by-side along the depth direction. The symbols shown in parentheses in the following background description are those of Patent Document 1. The item storage device described in Patent Document 1 includes: a storage rack (7) capable of storing two items (8, 9) side-by-side along the depth direction; and a workpiece conveying device (3) that conveys the stored items (8, 9) between an inlet / outlet (6) and the storage rack (7). The workpiece conveying device (3) is equipped with two inlet / outlet devices (4, 5) for storing and retrieving the stored items (8, 9) from the storage rack (7) in a side-by-side configuration along the width direction of the storage rack (7). Furthermore, as described in paragraph 0015 of Patent Document 1, in this article storage device, when the front-side stored item (8) is not removed but the inner-side stored item (9) is removed, the workpiece conveying device (3) uses the first inbound / outbound device (4) to remove the front-side stored item (8), and then uses the second inbound / outbound device (5) to remove the inner-side stored item (9). Then, after the workpiece conveying device (3) uses the first inbound / outbound device (4) to return the front-side stored item (8) to the storage rack (7), it travels to the inbound / outbound port (6) and moves the inner-side stored item (9) out to the inbound / outbound port (6).

[0003] Prior art literature

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 7-97006. Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] However, as described in paragraph 0003 of Patent Document 1, there is sometimes an urgent need to retrieve items stored in the item storage rack (in Patent Document 1, the stored items in the storage rack). In the item storage device of Patent Document 1, when the item to be retrieved (hereinafter referred to as "the first item") is arranged side by side on the back side (inner side) of the item storage rack relative to the item not to be retrieved (hereinafter referred to as "the second item"), as described above, after the second item and the first item are taken out of the item storage rack in sequence, the second item is returned to the item storage rack, and then the first item is moved out to the relay section (in Patent Document 1, the inlet / outlet) which serves as the part for retrieving items. Therefore, corresponding to the time required to return the second item to the item storage rack, the time until the first item is moved out to the relay section becomes longer, and there is room for improvement in shortening this time. Furthermore, ideally, it is possible to improve the overall efficiency of item handling within the equipment while simultaneously reducing the time until the first item is moved to the relay station.

[0008] Therefore, the desired technology is to improve the overall efficiency of item handling when outgoing items are arranged side-by-side on the back of the item storage rack relative to non-outgoing items, and to shorten the time until outgoing items are moved to the relay station.

[0009] Solution for solving the problem

[0010] The item storage device disclosed herein includes: an item storage rack having a storage section capable of storing multiple items side-by-side along the depth direction; an inbound / outbound section disposed relative to the storage section on the outer side of the item storage rack in the width direction for moving items in and out; a relay device for transporting items between the inbound / outbound section and the relay section disposed between the inbound / outbound section and the storage section in the aforementioned width direction; and a conveying device that travels relative to the storage section on its front side, which is on the aforementioned depth direction, along the aforementioned width direction for conveying items between the storage section and the aforementioned relay section. The document describes a system comprising: an item; and a control device that controls the operation of the aforementioned conveying device, which is equipped with multiple transfer machines arranged side-by-side along the aforementioned width direction, capable of transferring items relative to the aforementioned storage section and the aforementioned relay section; a back side, defined as the side opposite to the aforementioned front side in the aforementioned depth direction; an item to be retrieved from the aforementioned item storage rack designated as a first item; an item not to be retrieved from the aforementioned item storage rack designated as a second item; one of the aforementioned transfer machines designated as the first transfer machine; and another designated as the second transfer machine; and the control device controlling the operation of the aforementioned first item in the aforementioned storage section. When the unit is arranged side-by-side with the second item on the rear side, the control mode of the conveying device can be switched to an outbound priority mode. The outbound priority mode causes the conveying device to sequentially perform a first transfer action, a second transfer action, a first travel action, a third transfer action, and a second travel action. The first transfer action uses the second transfer machine to transfer the second item from the storage unit to the conveying device, and the second transfer action uses the first transfer machine to transfer the first item from the storage unit to the conveying device. The aforementioned first driving action is to drive the first item and the second item while maintaining their positions until they reach the position corresponding to the relay unit. The aforementioned third transfer action is to use the first transfer machine to transfer the first item from the aforementioned conveying device to the aforementioned relay unit, and then use the first transfer machine to transfer the third item, which is an item moved into the aforementioned relay unit by the aforementioned relay device, from the aforementioned relay unit to the aforementioned conveying device. The aforementioned second driving action is to drive the second item and the third item while maintaining their positions until they reach the position corresponding to the aforementioned storage unit.

[0011] According to this configuration, when the first item, which is an item to be retrieved from the item storage rack, is arranged side-by-side on the back side of the storage section of the item storage rack relative to the second item, which is not an item to be retrieved from the item storage rack, the control mode of the conveying device can be switched to a retrieval priority mode. In the retrieval priority mode, after the second item and the first item are sequentially transferred from the storage section to the conveying device, the conveying device, which retains the state of the second item (excluding the first item), travels to the position corresponding to the relay section, and the first item is transferred from the conveying device to the relay section. Therefore, compared to the case where the conveying device, which retains the state of the first item, travels to the position corresponding to the relay section after the second item is transferred from the conveying device to the storage section (i.e., after returning to the storage section), the action of transferring the second item from the conveying device to the storage section is not performed, and correspondingly, the time until the first item is moved to the relay section can be shortened.

[0012] Furthermore, in the outbound priority mode, after the first item is transferred from the conveyor to the relay unit, and after the third item (an item that was moved from the relay unit to the relay unit, i.e., an item intended for storage on the item storage rack) is transferred from the relay unit to the conveyor, the conveyor, which maintains the states of the second and third items, travels to the position corresponding to the storage unit, and the second or third item is transferred from the conveyor to the storage unit. Therefore, by utilizing the travel action of the conveyor for returning the second item to the storage unit, the third item can be transported from the relay unit to the position corresponding to the storage unit. Compared to the case where the second item is returned to the storage unit without transferring the third item from the relay unit to the conveyor, the overall item handling efficiency of the equipment can be improved.

[0013] As described above, based on this configuration, when the first item is arranged side by side on the back side of the item storage rack relative to the second item, it is possible to improve the overall item handling efficiency of the equipment and at the same time shorten the time until the first item is moved out to the relay section.

[0014] Further features and advantages of the item storage device become clear from the following description of the embodiments illustrated with reference to the accompanying drawings. Attached Figure Description

[0015] Figure 1 It is a 3D diagram of a part of an item storage device.

[0016] Figure 2 This is a top view of a part of an item storage device.

[0017] Figure 3 It is a control block diagram.

[0018] Figure 4This is a flowchart illustrating the sequence of processes performed by the control device.

[0019] Figure 5 This is a flowchart illustrating the processing sequence of outbound priority control.

[0020] Figure 6 This is a flowchart illustrating the processing order of inbound priority control.

[0021] Figure 7 This diagram illustrates one scenario of outbound control.

[0022] Figure 8 This diagram illustrates one scenario of outbound control.

[0023] Figure 9 This diagram illustrates one scenario of inbound control.

[0024] Figure 10 This diagram illustrates one scenario of inbound control.

[0025] Figure 11 This diagram illustrates one scenario of priority control for outbound shipments.

[0026] Figure 12 This diagram illustrates one scenario of priority control for outbound shipments.

[0027] Figure 13 This diagram illustrates one scenario of priority control for outbound shipments.

[0028] Figure 14 This diagram illustrates one scenario of priority control for outbound shipments.

[0029] Figure 15 This diagram illustrates one scenario of priority control for inbound goods.

[0030] Figure 16 This diagram illustrates one scenario of priority control for inbound goods.

[0031] Figure 17 This diagram illustrates one scenario of priority control for inbound goods.

[0032] Figure 18 This diagram illustrates one scenario of priority control for inbound goods.

[0033] Figure 19 This is a top view of a part of the item storage device involved in other embodiments. Detailed Implementation

[0034] The embodiments of the item storage device will be described with reference to the accompanying drawings. Here, an example will be given of an item storage device in which the item storage device of this disclosure is applied to an item storage device in which a conveying device travels along a travel path corresponding to each layer of the item storage rack.

[0035] like Figure 1 As shown, the item storage equipment 100 includes an item storage rack 1, an inbound / outbound section 2, a relay device 4, a conveying device 5, and a control device 9 (see reference). Figure 3 The storage rack 1 has a storage section 10 capable of storing multiple items W side-by-side along the depth direction Y. Here, as... Figure 2 As shown, the storage position P is located at the depth direction Y of the storage section 10 where the stored item W is stored. The storage section 10 supports the item W from the lower side Z2 (the lower side of the vertical direction Z). The item W is, for example, a corrugated cardboard box or a container shell. The depth direction Y is a direction orthogonal to the width direction X of the item storage rack 1. Here, both the width direction X and the depth direction Y are horizontal directions along the horizontal plane. In this embodiment, a pair of item storage racks 1 are provided facing each other along the depth direction Y, sandwiching the travel path of the conveying device 5. The item storage rack 1 can also be configured to be provided only on one side of the travel path of the conveying device 5 in the depth direction Y.

[0036] like Figure 1 and Figure 2 As shown, in this embodiment, the storage section 10 is configured to store two items W side-by-side along the depth direction Y. That is, in this embodiment, the items W are stored in either of two storage positions P (specifically, the first storage position P1 and the second storage position P2) within the storage section 10. Figure 2 As shown, the first storage position P1 is the front-side storage position P of the two storage positions P, Y1, and the second storage position P2 is the rear-side storage position P of the two storage positions P, Y2. Here, the front-side Y1 is the side in the depth direction Y (specifically, the side relative to the storage section 10 for storing and retrieving the item W), and the rear-side Y2 is the side in the depth direction Y opposite to the front-side Y1.

[0037] like Figure 2 As shown, the storage section 10 is configured to store multiple items W side-by-side along the width direction X. That is, the storage section 10 is configured at each of the storage positions P (here, each of the first storage position P1 and the second storage position P2) to store multiple items W side-by-side along the width direction X. For example, multiple plate-shaped bodies can be arranged side-by-side along the width direction X to form a storage section 10 capable of storing multiple items W side-by-side along the width direction X. These plate-shaped bodies are, for example, rectangular in top view (viewed along the vertical direction Z), or U-shaped with an opening on the front side Y1 in top view.

[0038] In this embodiment, the item storage rack 1 has storage sections 10 at multiple locations in the vertical direction Z, so that items W can be stored in each of multiple shelves arranged side by side in the vertical direction Z. Alternatively, the item storage rack 1 can also be configured to have a storage section 10 at only one location in the vertical direction Z.

[0039] The inbound / outbound section 2 is positioned outside the storage section 10 in the width direction X. That is, the inbound / outbound section 2 is positioned outside the storage section 10's designated area in the width direction X. The inbound / outbound section 2 is positioned relative to the storage section 10 on the first side X1 of the width direction X. In other words, the storage section 10 is positioned relative to the inbound / outbound section 2 on the second side X2 of the width direction X (i.e., the side opposite to the first side X1). In the inbound / outbound section 2, items W are moved in and out. Specifically, items W stored in the item storage rack 1 are moved from the inbound line, etc., to the inbound / outbound section 2, and items W removed from the item storage rack 1 are moved out of the inbound / outbound section 2 to the outbound line, etc. Furthermore, the moving and removing of items W in the inbound / outbound section 2 can also be performed by a transport vehicle or an operator.

[0040] like Figure 1 and Figure 2 As shown in the diagram, in this embodiment, a first conveyor 41 and a second conveyor 42 are provided in the inbound / outbound section 2. In other words, the inbound / outbound section 2 is provided on the transport path of the item W using the first conveyor 41 or the transport path of the item W using the second conveyor 42. The first conveyor 41 is an inbound conveyor for storing the item W in the item storage rack 1, and it transports the item W towards the second side X2 in the width direction in the inbound / outbound section 2. The second conveyor 42 is an outbound conveyor for removing the item W from the item storage rack 1, and it transports the item W towards the first side X1 in the width direction in the inbound / outbound section 2. The first conveyor 41 is, for example, a conveyor that forms an inbound line, and the second conveyor 42 is, for example, a conveyor that forms an outbound line. For example, roller conveyors or belt conveyors can be used as the first conveyor 41 and the second conveyor 42. In addition, the first conveyor 41 or the second conveyor 42 can also be used as either an inbound conveyor or an outbound conveyor, depending on the current state of the item storage equipment 100.

[0041] like Figure 1 and Figure 2As shown, a relay section 3 is arranged between the inbound / outbound section 2 and the storage section 10 in the width direction X. Specifically, the relay section 3 is arranged adjacent to the storage section 10 on the first side X1 in the width direction. Items W that are stored in the item storage rack 1 are transferred from the inbound / outbound section 2 to the storage section 10 via the relay section 3, and items W that are taken out of the item storage rack 1 are transferred from the storage section 10 to the inbound / outbound section 2 via the relay section 3.

[0042] In this embodiment, a third conveyor 43 and a fourth conveyor 44 are provided in the relay section 3. In other words, the relay section 3 is provided on the transport path of the item W using the third conveyor 43 or the transport path of the item W using the fourth conveyor 44. The third conveyor 43 is an inbound conveyor for storing the item W into the item storage rack 1, and in the relay section 3, it transports the item W towards the second side X2 in the width direction. The fourth conveyor 44 is an outbound conveyor for removing the item W from the item storage rack 1, and in the relay section 3, it transports the item W towards the first side X1 in the width direction. As the third conveyor 43 and the fourth conveyor 44, for example, roller conveyors or belt conveyors can be used. Furthermore, the third conveyor 43 or the fourth conveyor 44 can also be configured to be used as either an inbound conveyor or an outbound conveyor, depending on the current state of the item storage device 100.

[0043] As described above, in this embodiment, a pair of storage racks 1 are arranged opposite each other along the depth direction Y, sandwiching the travel path of the conveying device 5. Furthermore, the third conveyor 43 is arranged side-by-side with the storage portion 10 of one storage rack 1 on the first side X1 of the width direction, and the fourth conveyor 44 is arranged side-by-side with the storage portion 10 of the other storage rack 1 on the first side X1 of the width direction, and the storage portion 10 of the other storage rack 1 is also arranged side-by-side with it on the first side X1 of the width direction. Additionally, the first conveyor 41 is arranged side-by-side with the third conveyor 43 on the first side X1 of the width direction, and the second conveyor 42 is arranged side-by-side with the fourth conveyor 44 on the first side X1 of the width direction, and the storage portion 10 of the other storage rack 1 is arranged side-by-side with it ...

[0044] like Figure 1As shown in the diagram, in this embodiment, relay units 3 are provided at various heights (positions in the vertical direction Z) where the storage unit 10 is located. Specifically, a third conveyor 43 and a fourth conveyor 44 are provided at each height where the storage unit 10 is located. Furthermore, a first lifting device 45 and a second lifting device 46 are provided between the inbound / outbound unit 2 and the relay unit 3 in the width direction X. The first lifting device 45 is arranged such that it is sandwiched between the first conveyor 41 and the third conveyor 43 from both sides in the width direction X, and the second lifting device 46 is arranged such that it is sandwiched between the second conveyor 42 and the fourth conveyor 44 from both sides in the width direction X. The first lifting device 45 and the second lifting device 46 are configured to be able to move up and down (i.e., to be able to move along the vertical direction Z). Furthermore, when the first lifting device 45 is raised to a height corresponding to the first conveyor 41, an item W is transferred between the first lifting device 45 and the first conveyor 41; when the first lifting device 45 is raised to a height corresponding to any one of the third conveyors 43, an item W is transferred between the first lifting device 45 and that third conveyor 43. Additionally, when the second lifting device 46 is raised to a height corresponding to the second conveyor 42, an item W is transferred between the second lifting device 46 and the second conveyor 42; when the second lifting device 46 is raised to a height corresponding to any one of the fourth conveyors 44, an item W is transferred between the second lifting device 46 and that fourth conveyor 44.

[0045] The relay device 4 is a device for transporting items W between the inbound / outbound section 2 and the relay section 3. The relay device 4 transports items W that have been stored on the item storage rack 1 from the inbound / outbound section 2 to the relay section 3, and transports items W that have been taken out of the item storage rack 1 from the relay section 3 back to the inbound / outbound section 2. In this embodiment, the relay device 4 includes a first conveyor 41, a second conveyor 42, a third conveyor 43, a fourth conveyor 44, a first lifting device 45, and a second lifting device 46. Items W stored on the item storage rack 1 are transported sequentially by the first conveyor 41, the first lifting device 45, and the third conveyor 43, thereby transporting them from the inbound / outbound section 2 to the relay section 3. Similarly, items W taken out of the item storage rack 1 are transported sequentially by the fourth conveyor 44, the second lifting device 46, and the second conveyor 42, thereby transporting them from the relay section 3 to the inbound / outbound section 2.

[0046] Thus, in this embodiment, the relay device 4 is configured such that: a device group including a first conveyor 41 and a third conveyor 43 (in this example, a device group including a first lifting device 45) is used to transport the item W from the inbound / outbound section 2 to the relay section 3, and a device group including a second conveyor 42 and a fourth conveyor 44 (in this example, a device group including a second lifting device 46) is used to transport the item W from the relay section 3 to the inbound / outbound section 2. Furthermore, the relay device 4 can also be configured to use one device group for both transporting the item W from the inbound / outbound section 2 to the relay section 3 and transporting the item W from the relay section 3 to the inbound / outbound section 2. In this case, the relay device 4 can also be configured to include only one of the two device groups described above.

[0047] The conveying device 5 is a device that travels along the width direction X on the front side Y1 relative to the storage section 10, and transports items W between the storage section 10 and the relay section 3 (in this embodiment, the third conveyor 43 and the fourth conveyor 44). That is, the conveying device 5 performs a traveling action R along the width direction X and a transfer action T of the items W relative to the storage section 10 or the relay section 3. The conveying device 5 transports items W stored in the item storage rack 1 from the relay section 3 (in this embodiment, the third conveyor 43) to the storage section 10, and transports items W removed from the item storage rack 1 from the storage section 10 to the relay section 3 (in this embodiment, the fourth conveyor 44). Figure 1 As shown in the diagram, in this embodiment, the travel path of the conveying device 5 is formed in the same way as the number of layers of the item storage rack 1 (in other words, the number of storage sections 10 arranged side by side in the vertical direction Z). Specifically, as shown in the diagram... Figure 1 and Figure 2 As shown, the travel path of the conveying device 5 is formed by a pair of tracks 51 arranged opposite each other in the depth direction Y at the same position in the vertical direction Z. The conveying device 5 is arranged on the travel path of each layer to transport items W between the storage section 10 and the relay section 3 of the same layer (in other words, between the storage section 10 and the relay section 3 arranged at the same position in the vertical direction Z). Figure 1 Only the conveying device 5, which is located on the uppermost Z1 (the upper side of the vertical direction Z), is shown.

[0048] like Figure 2As shown, the conveying device 5 is equipped with multiple transfer machines 60 arranged side-by-side along the width direction X, capable of transferring items W relative to the storage section 10 and the relay section 3. The conveying device 5 uses the transfer machines 60 to perform the transfer action T of items W. The conveying device 5 has a traveling section 50 that travels along the width direction X, and the transfer machines 60 are supported by the traveling section 50. As described above, in this embodiment, a pair of item storage racks 1 are arranged opposite each other along the depth direction Y, sandwiching the travel path of the conveying device 5, and the conveying device 5 is configured such that the transfer machines 60 can be used to transfer items W to the storage section 10 of either of the pair of item storage racks 1.

[0049] Here, one of the multiple transfer machines 60 is designated as the first transfer machine 61, and the other as the second transfer machine 62. In this embodiment, the first transfer machine 61 is disposed on the first side X1 in the width direction relative to the second transfer machine 62. Specifically, the first transfer machine 61 is the transfer machine 60 adjacent to the second transfer machine 62 on the first side X1 in the width direction. In this embodiment, the number of transfer machines 60 provided on the conveying device 5 is two. That is, the conveying device 5 has two transfer machines 60, namely the first transfer machine 61 and the second transfer machine 62. Thus, in this embodiment, the number of items W that can be stored side by side in the depth direction Y of the storage section 10 is equal to the number of transfer machines 60 provided on the conveying device 5 (specifically, two).

[0050] The transfer machine 60 is configured to transfer the item W by moving it along the depth direction Y. Specifically, the transfer machine 60 transfers the item W from a transfer target location such as the storage section 10 or the relay section 3 to the conveying device 5 by moving the item W to the rear side Y2, and transfers the item W from the conveying device 5 to a transfer target location. The item W transferred from the transfer target location to the conveying device 5 is supported by a support part provided by the conveying device 5 (such as a support part provided by the transfer machine 60 or a support part provided by the traveling section 50), and is thus held by the conveying device 5. Figure 2The diagram illustrates the following situation: the first transfer machine 61 performs a transfer operation T that transfers the item W between the first storage position P1 of the storage section 10 and the conveying device 5, and the second transfer machine 62 performs a transfer operation T that transfers the item W between the second storage position P2 of the storage section 10 and the conveying device 5. Thus, the transfer machines 60 are configured such that the item W can be transferred at either storage position P of the storage section 10 (in this embodiment, at either the first storage position P1 or the second storage position P2). Furthermore, the first transfer machine 61 and the second transfer machine 62 are provided on the conveying device 5 in such a way that these two transfer machines 60 can be used to simultaneously or in parallel transfer two items W (here, two items W arranged side-by-side in the width direction X without sandwiching other items W) between the transfer target area and the conveying device 5 in the storage section 10 or the relay section 3.

[0051] like Figure 2 As shown in the diagram, in this embodiment, the transfer machine 60 is configured such that the abutment portion 66, which abuts against the article W, moves forward and backward (forward movement towards the rear side Y2 and backward movement towards the front side Y1) using a forward and backward mechanism 65 (sliding mechanism, etc.), thereby moving the article W along the depth direction Y. Specifically, the transfer machine 60 pushes the article W towards the rear side Y2 by moving the abutment portion 66 forward, transferring the article W from the conveying device 5 to the transfer target area. Furthermore, the transfer machine 60 pulls the article W towards the front side Y1 by moving the abutment portion 66 backward, transferring the article W from the transfer target area to the conveying device 5. Figure 2 For simplicity, the diagram of the abutment 66 used when pushing the item W towards the back side Y2 is omitted. Furthermore, the configuration of the transfer machine 60 is not limited to this; for example, the transfer machine 60 can also be a fork-type transfer machine that moves the support body supporting the item W from the lower side Z2 forward and backward along the depth direction Y, or a clamping-type transfer machine that moves the clamping part holding the item W forward and backward along the depth direction Y.

[0052] The control device 9 is a device for controlling the operation of the conveying device 5. The control device 9 includes a CPU or other arithmetic processing unit, and peripheral circuits such as a memory. The various functions of the control device 9 are realized through the cooperation of this hardware and the program executed on the arithmetic processing unit or other hardware. The control device 9 controls the operation of various motors by, for example, based on detection information from various sensors. The control device 9 controls the operation of the traveling unit 50 to perform the traveling action R, and controls the operation of the transfer machines 60 (in this embodiment, the operation of the first transfer machine 61 and the operation of the second transfer machine 62) to perform the transfer action T. The technical features of the control device 9 disclosed in this specification can also be applied to the control method of the conveying device 5, which is also disclosed in this specification. This control method includes performing… Figures 4 to 6 The process steps (each step) are shown in the diagram.

[0053] In this embodiment, the control device 9 performs outbound control (removing item W from item storage rack 1) or inbound control (removing item W into item storage rack 1) based on instructions from a higher-level control device. When performing outbound control, the control device 9 sequentially executes the following actions: a travel action R to the position corresponding to the item W in the storage area of ​​the storage section 10 (specifically, the position where the transfer machine 60 and the item W are opposite each other along the depth direction Y); a transfer action T to transfer the item W from the storage section 10 to the transport device 5 using the transfer machine 60; a travel action R while holding the item W to the position corresponding to the relay section 3 (specifically, the position where the transfer machine 60 and the item W are opposite each other along the depth direction Y in the transfer area of ​​the relay section 3); and a transfer action T to transfer the item W from the transport device 5 to the relay section 3 using the transfer machine 60.

[0054] When performing warehousing control, the control device 9 causes the conveying device 5 to sequentially perform the following actions: a travel action R to the position corresponding to the relay unit 3 (specifically, the position where the transfer machine 60 and the item W disposed in the relay unit 3 are opposite each other along the depth direction Y); a transfer action T to transfer the item W from the relay unit 3 to the conveying device 5 using the transfer machine 60; a travel action R to the position corresponding to the storage unit 10 while holding the item W (specifically, the position where the transfer machine 60 and the item W are opposite each other along the depth direction Y in the storage area of ​​the storage unit 10); and a transfer action T to transfer the item W from the conveying device 5 to the storage unit 10 using the transfer machine 60.

[0055] In the following, items W that are taken out of the storage rack 1 will be designated as item 1 W1, and items W that are not taken out of the storage rack 1 will be designated as item 2 W2. Figures 7 to 10This is an example of a scenario in which the control device 9 performs an outbound control to remove two first items W1 from the item storage rack 1, and then performs an inbound control to put the two items W back into the item storage rack 1. Figure 8 Shown in self Figure 7 The situation at the next moment, Figure 9 Shown in self Figure 8 The situation at the next moment, Figure 10 Shown in self Figure 9 The situation at a later time.

[0056] like Figure 7 As shown, after the conveying device 5 performs a travel action R to travel to a position corresponding to the storage location of the two first items W1 in the storage section 10, it performs a transfer action T using the first transfer machine 61 and the second transfer machine 62 to transfer the two first items W1 from the storage section 10 to the conveying device 5. Figure 7 In the example shown, at that moment, the relay device 4 performs a loading action E to move the two items W of the loading target into the relay unit 3. Then, as... Figure 8 As shown, after the conveying device 5 performs a travel action R that carries the two first items W1 to a position corresponding to the relay unit 3, it performs a transfer action T that uses the first transfer machine 61 and the second transfer machine 62 to transfer the two first items W1 from the conveying device 5 to the relay unit 3.

[0057] like Figure 9 As shown, the conveying device 5 performs a transfer operation T using the first transfer machine 61 and the second transfer machine 62 to transfer two items W disposed in the relay unit 3 from the relay unit 3 to the conveying device 5. Figure 9 In the example shown, at that moment, relay device 4 performs a removal action L to move the two first items W1 from relay unit 3. Then, as... Figure 10 As shown, after the conveying device 5 performs a travel action R, carrying two items W until it reaches a position corresponding to the storage unit 10, it performs a transfer action T, using the first transfer machine 61 and the second transfer machine 62 to transfer the two items W from the conveying device 5 to the storage unit 10. Figure 10 In the example shown, at this moment, the relay device 4 performs the loading action E, which loads the two items W of the loading object into the relay unit 3.

[0058] However, sometimes the first item W1, which is the item to be shipped, is arranged side-by-side on the back side Y2 of the storage section 10 relative to the second item W2, which is not the item to be shipped (specifically, without other items W sandwiched between them, they are arranged side-by-side on the back side Y2). In this embodiment, at the same position in the width direction X, when the first item W1 is stored in the second storage position P2 and the second item W2 is stored in the first storage position P1, the first item W1 is arranged side-by-side on the back side Y2 relative to the second item W2. The control device 9 is configured to switch the control mode of the conveying device 5 to the shipping priority mode when the first item W1 is arranged side-by-side on the back side Y2 relative to the second item W2 in the storage section 10.

[0059] The outbound priority mode is a mode in which the conveying device 5 executes the first transfer action T1, the second transfer action T2, the first travel action R1, the third transfer action T3, and the second travel action R2 in sequence. Furthermore, executing multiple object actions sequentially (here, the aforementioned five actions) means that even if actions other than these multiple object actions are executed midway (e.g., a travel action R required for the next object action), the execution order of these multiple object actions is a predetermined order (here, the order of the first transfer action T1, the second transfer action T2, the first travel action R1, the third transfer action T3, and the second travel action R2). Additionally, the travel action R of the conveying device 5 needs to be performed as needed.

[0060] Here, the first transfer action T1 is the action of transferring the second item W2 from the storage section 10 to the conveying device 5 using the second transfer machine 62. The second transfer action T2 is the action of transferring the first item W1 from the storage section 10 to the conveying device 5 using the first transfer machine 61. The first travel action R1 is the action of traveling until the position corresponding to the relay section 3 while holding the first item W1 and the second item W2. The third transfer action T3 is the action of transferring the third item W3, which is an item W moved from the relay section 4 to the relay section 3, from the relay section 3 to the conveying device 5 after the first item W1 is transferred from the conveying device 5 to the relay section 3 using the first transfer machine 61. The second travel action R2 is the action of traveling until the position corresponding to the storage section 10 while holding the second item W2 and the third item W3.

[0061] When the control device 9 switches the control mode of the conveying device 5 to the outbound priority mode, it performs outbound priority control based on the outbound priority mode to enable the conveying device 5 to operate. That is, the control method for the item storage equipment 100 includes a mode switching process of switching the control mode of the conveying device 5 to the outbound priority mode and an outbound priority control process (the process of executing outbound priority control) to enable the conveying device 5 to operate based on the outbound priority mode. Figure 5 As shown in the diagram, in the outbound priority control, the operation of the conveying device 5 is controlled to execute the first transfer action T1 (step #10), the second transfer action T2 (step #11), the first travel action R1 (step #12), the third transfer action T3 (step #13), and the second travel action R2 (step #14) in sequence.

[0062] Figures 11 to 14 This is an example of a scenario where control device 9 performs outbound priority control in sequence. Figure 12 Shown in self Figure 11 The situation at the next moment, Figure 13 Shown in self Figure 12 The situation at the next moment, Figure 14 Shown in self Figure 13 The situation at a later time.

[0063] like Figure 11 As shown, after the conveying device 5 travels to the position corresponding to the storage location of the first item W1 and the second item W2 in the storage section 10 (specifically, the position where the second transfer machine 62 is opposite the second item W2 along the depth direction Y), it performs the first transfer action T1. In this example, at this moment, the relay device 4 performs the transfer action E, which transfers the third item W3 and the fourth item W4, which are the two items W to be transferred, into the relay section 3. Then, as... Figure 12 As shown, after the conveying device 5 performs a travel action R (here, a travel action R that moves towards the second side X2 in the width direction) while holding the second item W2, until the first transfer machine 61 and the first item W1 are positioned opposite each other in the depth direction Y, the second transfer action T2 is performed. That is, the travel action R while holding the second item W2 is performed between the first transfer action T1 and the second transfer action T2.

[0064] like Figure 13 As shown in the diagram, the conveying device 5 performs the first traveling action R1. Figure 13 In the example shown, the position corresponding to the relay unit 3 in the first driving action R1 is the position where the first transfer machine 61 and the third item W3 disposed in the relay unit 3 are opposite each other along the depth direction Y. Additionally, in Figure 13In the example shown, the third item W3 is positioned relative to the fourth item W4 on the first side X1 in the width direction. After performing the first travel action R1, the conveying device 5 performs the third transfer action T3. In the third transfer action T3, after the first transfer machine 61 is used to transfer the first item W1 from the conveying device 5 to the relay unit 3 (see reference...), Figure 13 The first transfer machine 61 is used to transfer the third item W3 from the relay unit 3 to the conveying device 5 (see reference). Figure 14 The relay device 4 performs a removal action L, in which the first item W1, which was transferred from the conveying device 5 to the relay unit 3, is removed from the relay unit 3.

[0065] like Figure 14 As shown, the conveying device 5 performs the second travel action R2. The positions corresponding to the storage section 10 in the second travel action R2 are: the position where the first transfer machine 61 and the third item W3 are opposite each other in the storage area of ​​the storage section 10 along the depth direction Y; the position where the second transfer machine 62 and the second item W2 are opposite each other in the storage area of ​​the storage section 10 along the depth direction Y; or the position where the first transfer machine 61 and the third item W3 are opposite each other in the storage area of ​​the storage section 10 along the depth direction Y, and the second transfer machine 62 and the second item W2 are opposite each other in the storage area of ​​the storage section 10 along the depth direction Y. Although the illustration is omitted, after the second travel action R2, the conveying device 5 performs a transfer action T to transfer the third item W3 from the conveying device 5 to the storage unit 10 using the first transfer machine 61 or to transfer the second item W2 from the conveying device 5 to the storage unit 10 using the second transfer machine 62.

[0066] In this embodiment, the control device 9 is configured such that when the first item W1 is arranged side by side with the second item W2 on the back side Y2 of the storage section 10, in addition to the outbound priority mode, the control mode of the conveying device 5 can also be switched to the inbound priority mode.

[0067] The warehousing priority mode is as follows: the conveying device 5 sequentially performs the first transfer action T1, the second transfer action T2, the third travel action R3, the third transfer action T3, and the fourth travel action R4, and the conveying device 5 performs the fourth transfer action T4 between the first transfer action T1 and the third travel action R3, and performs the fifth transfer action T5 between the third travel action R3 and the fourth travel action R4. Here, the fourth transfer action T4 is the action of using the second transfer machine 62 to transfer the second item W2 from the conveying device 5 to the storage section 10 (specifically, the object transfer location described later). The third travel action R3 is the action of traveling until the position corresponding to the relay section 3 while holding the first item W1. The fifth transfer action T5 is the action of using the second transfer machine 62 to transfer the fourth item W4, which is different from the third item W3 and was moved from the relay device 4 to the transfer device 5. The fourth travel action R4 is the action of traveling until the item W3 and the fourth item W4 are in the same state and corresponding to the position of the storage unit 10.

[0068] When the control device 9 switches the control mode of the conveying device 5 to the storage priority mode, it performs storage priority control based on the storage priority mode to enable the conveying device 5 to operate. That is, the control method for the item storage equipment 100 includes a mode switching process of switching the control mode of the conveying device 5 to the storage priority mode and a storage priority control process (the process of executing storage priority control) to enable the conveying device 5 to operate based on the storage priority mode. Figure 6 As shown, in the warehouse priority control, the operation of the conveying device 5 is controlled to execute the first transfer action T1 (step #20), the second transfer action T2 (step #21), the third travel action R3 (step #23), the third transfer action T3 (step #24), and the fourth travel action R4 (step #26) in sequence, and the fourth transfer action T4 (step #22) is executed between the first transfer action T1 (step #20) and the third travel action R3 (step #23), and the fifth transfer action T5 (step #25) is executed between the third travel action R3 (step #23) and the fourth travel action R4 (step #26).

[0069] exist Figure 6 In this example, the fourth transfer action T4 is performed between the second transfer action T2 and the third travel action R3. However, it can also be configured to perform the fourth transfer action T4 between the first transfer action T1 and the second transfer action T2, or to perform the fourth transfer action T4 in parallel with the second transfer action T2. ​​Furthermore, performing the two actions in parallel means that the two actions are performed in a manner that at least a portion of one action period is repeated during the other action period. Additionally, in... Figure 6In the example shown, the fifth transfer action T5 is performed between the third transfer action T3 and the fourth travel action R4. However, it can also be configured to perform the fifth transfer action T5 between the third travel action R3 and the third transfer action T3, or to perform the fifth transfer action T5 in parallel with the third transfer action T3.

[0070] Figures 15 to 18 This is an example of a scenario where control device 9 performs inbound priority control in sequence. Figure 16 Shown in self Figure 15 The situation at the next moment, Figure 17 Shown in self Figure 16 The situation at the next moment, Figure 18 Shown in self Figure 17 The situation at a later time.

[0071] Although the illustration is omitted, it is related to Figure 11 Similarly, in the example shown, after the conveying device 5 performs the traveling action R, it performs the first transfer action T1. Then, as... Figure 15 As shown in the figure, with Figure 12 Similarly, in the example shown, after the conveying device 5 performs the traveling action R, it performs the second transfer action T2. ​​In this example, at this moment, the relay device 4 performs the transfer action E, which moves the third item W3 and the fourth item W4 into the relay unit 3. Figure 16 As shown, after the conveying device 5 performs a travel action R while holding the first item W1 and the second item W2 until it reaches a position corresponding to the second item W2 in the transfer location (hereinafter referred to as the "object transfer location") of the storage section 10 (specifically, the position where the second transfer machine 62 is opposite to the object transfer location along the depth direction Y), it performs a fourth transfer action T4. The object transfer location is an empty space in the storage section 10.

[0072] The object transfer location can be either the first storage position P1 or the second storage position P2. However, if the first storage position P1, which is adjacent to the second storage position P2 on the front side Y1, does not contain any item W, then the second storage position P2 is selected as the object transfer location. It is also possible to make the object transfer location a location that contains the first item W1 or a location that contains the second item W2. Furthermore, as in this example, when the fourth transfer operation T4 is performed after the second transfer operation T2, from the viewpoint of minimizing the travel distance of the conveying device 5 in the third travel operation R3, it is suitable to make the object transfer location a location positioned between the location in the storage section 10 containing the first item W1 and the second item W2 and the width direction X of the relay section 3. Furthermore, the control device 9 can also be configured such that, given the existence of an object transfer location located between the storage section 10 containing the first item W1 and the second item W2 and the relay section 3 in the width direction X, the control mode of the conveying device 5 is switched to the storage priority mode.

[0073] like Figure 17 As shown, the conveying device 5 performs the third travel action R3. Figure 17 In the example shown, the position corresponding to the relay unit 3 in the third driving action R3 is the position where the first transfer machine 61 and the third item W3 disposed in the relay unit 3 are opposite each other along the depth direction Y. Additionally, in Figure 17 In the example shown, the third item W3 is positioned relative to the fourth item W4 on the first side X1 in the width direction. The position corresponding to the relay unit 3 in the third travel action R3 is where the first transfer machine 61 and the third item W3 positioned in the relay unit 3 are opposite each other along the depth direction Y, and the second transfer machine 62 and the fourth item W4 positioned in the relay unit 3 are opposite each other along the depth direction Y. After performing the third travel action R3, the conveying device 5 performs the third transfer action T3. In the third transfer action T3, after the first transfer machine 61 is used to transfer the first item W1 from the conveying device 5 to the relay unit 3 (see reference...). Figure 17 The first transfer machine 61 is used to transfer the third item W3 from the relay unit 3 to the conveying device 5 (see reference). Figure 18 The relay device 4 performs a removal action L, in which the first item W1, which was transferred from the conveying device 5 to the relay unit 3, is removed from the relay unit 3.

[0074] like Figure 18As shown, in this example, the conveying device 5 performs the fifth transfer action T5 in parallel with the third transfer action T3. Then, after performing the third transfer action T3 and the fifth transfer action T5, the conveying device 5 performs the fourth travel action R4. The positions corresponding to the storage section 10 in the fourth travel action R4 are: the position where the first transfer machine 61 and the third item W3 are opposite each other in the storage area of ​​the storage section 10 along the depth direction Y; the position where the second transfer machine 62 and the fourth item W4 are opposite each other in the storage area of ​​the storage section 10 along the depth direction Y; or the position where the first transfer machine 61 and the third item W3 are opposite each other in the storage area of ​​the storage section 10 along the depth direction Y and the second transfer machine 62 and the fourth item W4 are opposite each other in the storage area of ​​the storage section 10 along the depth direction Y. Although the illustration is omitted, after the fourth travel action R4, the conveying device 5 performs a transfer action T to transfer the third item W3 from the conveying device 5 to the storage unit 10 using the first transfer machine 61 or to transfer the fourth item W4 from the conveying device 5 to the storage unit 10 using the second transfer machine 62.

[0075] In this embodiment, the control device 9 is configured such that, when the first item W1 is arranged side-by-side with the second item W2 on the rear side Y2 of the storage unit 10, it determines, at least based on information related to the first item W1, whether the removal of the first item W1 from the storage rack 1 has a higher priority than the insertion of the fourth item W4 into the storage rack 1. That is, the control method for controlling the item storage device 100 includes a priority determination step that determines whether the removal of the first item W1 from the storage rack 1 has a higher priority than the insertion of the fourth item W4 into the storage rack 1. The control device 9 obtains information related to the first item W1, for example, from a higher-level control device. The determination is performed solely based on information related to the first item W1, or based on other information (e.g., information about the fourth item W4) in addition to information related to the first item W1. Furthermore, the control device 9 can also be configured to perform the determination without relying on information related to the first item W1.

[0076] Information related to the first item W1 includes, for example, the expiration date (delivery date or usage period, etc.) of the first item W1. In this case, if the remaining time until the expiration date is less than a threshold, the control device 9 can be configured to prioritize the removal of the first item W1 from the item storage shelf 1 over the storage of the fourth item W4 into the item storage shelf 1. Alternatively, information related to the first item W1 can also be used to indicate whether the first item W1 is part of a group of items W that are being removed from the item storage shelf 1. In this case, if the first item W1 is part of a group of items W that are being removed from the item storage shelf 1, the control device 9 can be configured to prioritize the removal of the first item W1 from the item storage shelf 1 over the storage of the fourth item W4 into the item storage shelf 1.

[0077] When the control device 9 determines that the first item W1 is taken out of the storage rack 1 and the fourth item W4 is put into the storage rack 1, the control device 9 switches the control mode of the conveying device 5 to the outgoing priority mode. When the control device 9 determines that the first item W1 is taken out of the storage rack 1 and the fourth item W4 is put into the storage rack 1, the control mode of the conveying device 5 switches to the incoming priority mode. That is, the control method for controlling the item storage device 100 includes the following mode switching process: when it is determined that the first item W1 is taken out of the item storage rack 1 and the fourth item W4 is put into the item storage rack 1, the control mode of the conveying device 5 is switched to the outgoing priority mode; when it is determined that the first item W1 is taken out of the item storage rack 1 and the fourth item W4 is put into the item storage rack 1, the control mode of the conveying device 5 is switched to the ingoing priority mode.

[0078] In this embodiment, the control device 9 follows Figure 4 The flowchart shown in the diagram switches the control mode of the conveying device 5 to an outbound priority mode and an inbound priority mode. Specifically, when the first item W1 is arranged side by side with the second item W2 on the back side Y2 of the storage section 10 (step #01: Yes), the control device 9 determines, at least based on information related to the first item W1, whether the removal of the first item W1 from the item storage rack 1 has a higher priority than the insertion of the fourth item W4 into the item storage rack 1 (step #02). When the control device 9 determines that the removal of the first item W1 from the item storage rack 1 has a higher priority than the insertion of the fourth item W4 into the item storage rack 1 (step #02: Yes), it switches the control mode of the conveying device 5 to the outbound priority mode and executes the following... Figure 5The outbound priority control is illustrated in the example (step #03). Additionally, if the control device 9 does not determine that the first item W1 being taken out of the storage rack 1 has a higher priority than the fourth item W4 being put into the storage rack 1 (step #02: No), the control mode of the conveyor device 5 is switched to the inbound priority mode, and the following steps are performed: Figure 6 The inbound priority control is illustrated in step #04.

[0079] [Other Implementation Methods]

[0080] Next, other implementation methods of the item storage device will be described.

[0081] (1) In the above embodiment, the example described is a conveying device 5 that travels along a travel path corresponding to each layer of the item storage rack 1. However, this disclosure is not limited to such a configuration, and the conveying device 5 can also be a conveying device with other configurations, such as a stacker crane.

[0082] exist Figure 19 The image shows an example where the conveying device 5 is a stacker crane. Figure 19 In the example shown, the track 51 forming the travel path of the conveying device 5 is provided on the floor. Furthermore, the conveying device 5 includes: a traveling section 50, which is guided by the track 51 to travel in the width direction X; and a lifting body 53, which is guided to rise and fall by a column 52 erected on the traveling section 50. The transfer machine 60 is supported by the lifting body 53, and when the lifting body 53 rises to a height corresponding to the storage section 10 of the transfer object, it transfers the item W between the conveying device 5 and the storage section 10. Additionally, when the lifting body 53 rises to a height corresponding to the relay section 3, the transfer machine 60 transfers the item W between the conveying device 5 and the relay section 3. Furthermore, in Figure 19 In the example shown, the relay device 4 does not have a first lifting device 45 or a second lifting device 46. The items W that are stored in the storage rack 1 are transported in sequence by the first conveyor 41 and the third conveyor 43, thereby being transported from the storage and retrieval section 2 to the relay section 3. The items W that are retrieved from the storage rack 1 are transported in sequence by the fourth conveyor 44 and the second conveyor 42, thereby being transported from the relay section 3 to the storage and retrieval section 2.

[0083] (2) In the above embodiment, the following configuration is described as an example: the control device 9 determines whether the first item W1 being taken out of the item storage rack 1 has a higher priority than the fourth item W4 being put into the item storage rack 1, and switches the control mode of the conveying device 5 to an outbound priority mode and an inbound priority mode. However, this disclosure is not limited to this configuration, and the control device 9 can also be configured such that the determination of whether the first item W1 being taken out of the item storage rack 1 has a higher priority than the fourth item W4 being put into the item storage rack 1 is not performed, and the control mode of the conveying device 5 is switched to an outbound priority mode and an inbound priority mode is not performed. For example, the control device 9 can be configured such that when more items W are taken out of the item storage rack 1 than items W are put into the item storage rack 1, or during a period of time or time when more items W are taken out of the item storage rack 1 than items W are put into the item storage rack 1, the control mode of the conveying device 5 is switched to an outbound priority mode.

[0084] (3) In the above embodiment, the following configuration is described as an example: when the first item W1 is arranged side by side in the storage section 10 with respect to the second item W2 on the back side Y2, in addition to the outbound priority mode, the control device 9 can also switch the control mode of the conveying device 5 to the inbound priority mode. However, this disclosure is not limited to such a configuration. The item W is taken out of the item storage rack 1 when the item W is needed. Therefore, the removal of the item W from the item storage rack 1 is generally required to be as fast as the removal of the item W from the item storage rack 1. In view of this, the control device 9 can also be configured such that when the first item W1 is arranged side by side in the storage section 10 with respect to the second item W2 on the back side Y2, the control mode of the conveying device 5 is always switched to the outbound priority mode.

[0085] (4) In the above embodiment, the configuration in which the first transfer machine 61 is disposed relative to the second transfer machine 62 on the first side X1 in the width direction has been described as an example. However, this disclosure is not limited to this configuration, and it is also possible to configure the first transfer machine 61 to be disposed relative to the second transfer machine 62 on the second side X2 in the width direction. In this case, unlike the above embodiment, Figure 12 or Figure 15 The driving action R shown is a driving action R that moves towards the first side X1 in the width direction. The third item W3 is positioned on the second side X2 in the width direction relative to the fourth item W4 in the relay unit 3.

[0086] (5) In the above embodiment, the following configuration is described as an example: the number of items W that can be stored side by side in the storage section 10 along the depth direction Y and the number of transfer machines 60 provided on the conveying device 5 are both 2. However, this disclosure is not limited to this configuration, and these numbers may also be integers of 3 or more (for example, 3). In addition, unlike the above embodiment, the number of items W that can be stored side by side in the storage section 10 along the depth direction Y and the number of transfer machines 60 provided on the conveying device 5 may also be different from each other. In the configuration where the number of items W that can be stored side by side in the storage section 10 along the depth direction Y is 3 or more, for example, when the second item W2 is stored at the storage position P at the frontmost side Y1, or when no other items W are stored at the front side Y1 relative to the second item W2, the control device 9 performs the various controls described in the above embodiment.

[0087] (6) Furthermore, as long as no contradiction arises, the configurations disclosed in the above embodiments can be combined with the configurations disclosed in other embodiments (including combinations of embodiments described as other embodiments). Regarding other configurations, the embodiments disclosed in this specification are merely illustrative at all points. Therefore, various changes can be appropriately made without departing from the spirit of this disclosure.

[0088] [Summary of the above embodiments]

[0089] The following is a summary of the storage equipment described above.

[0090] The item storage device includes: an item storage rack having a storage section capable of storing multiple items side-by-side along the depth direction; an inbound / outbound section disposed relative to the storage section on the outer side of the item storage rack in the width direction for moving items in and out; a relay device for transporting items between the inbound / outbound section and a relay section disposed between the inbound / outbound section and the storage section in the aforementioned width direction; and a conveying device that travels relative to the storage section on its front side, which is on the aforementioned depth direction, along the aforementioned width direction for transporting items between the storage section and the aforementioned relay section; and A control device controls the operation of the aforementioned conveying device, which is equipped with multiple transfer machines arranged side-by-side along the aforementioned width direction, capable of transferring items relative to the aforementioned storage section and the aforementioned relay section. The side opposite to the aforementioned front side in the aforementioned depth direction is designated as the back side. Items destined for removal from the aforementioned item storage rack are designated as first items, and items not destined for removal from the aforementioned item storage rack are designated as second items. One of the multiple transfer machines is designated as the first transfer machine, and the other as the second transfer machine. The control device controls the operation of the aforementioned first item relative to the aforementioned storage section. When the aforementioned second item is arranged side-by-side on the aforementioned rear side, the control mode of the aforementioned conveying device can be switched to an outbound priority mode. The outbound priority mode is a mode in which the aforementioned conveying device sequentially performs a first transfer action, a second transfer action, a first travel action, a third transfer action, and a second travel action. The aforementioned first transfer action is the action of using the aforementioned second transfer machine to transfer the aforementioned second item from the aforementioned storage section to the aforementioned conveying device. The aforementioned second transfer action is the action of using the aforementioned first transfer machine to transfer the aforementioned first item from the aforementioned storage section to the aforementioned conveying device. The first driving action is to drive the first item and the second item while holding them in place until they reach the position corresponding to the relay unit. The third transfer action is to use the first transfer machine to transfer the first item from the conveying device to the relay unit, and then use the first transfer machine to transfer the third item, which is an item moved into the relay unit by the relay device, from the relay unit to the conveying device. The second driving action is to drive the second item and the third item while holding them in place until they reach the position corresponding to the storage unit.

[0091] According to this configuration, when the first item, which is an item to be retrieved from the item storage rack, is arranged side-by-side on the back side of the storage section of the item storage rack relative to the second item, which is not an item to be retrieved from the item storage rack, the control mode of the conveying device can be switched to a retrieval priority mode. In the retrieval priority mode, after the second item and the first item are sequentially transferred from the storage section to the conveying device, the conveying device, which retains the state of the second item (excluding the first item), travels to the position corresponding to the relay section, and the first item is transferred from the conveying device to the relay section. Therefore, compared to the case where the conveying device, which retains the state of the first item, travels to the position corresponding to the relay section after the second item is transferred from the conveying device to the storage section (i.e., after returning to the storage section), the action of transferring the second item from the conveying device to the storage section is not performed, and correspondingly, the time until the first item is moved to the relay section can be shortened.

[0092] Furthermore, in the outbound priority mode, after the first item is transferred from the conveyor to the relay unit, and after the third item (an item that was moved from the relay unit to the relay unit, i.e., an item intended for storage on the item storage rack) is transferred from the relay unit to the conveyor, the conveyor, which maintains the states of the second and third items, travels to the position corresponding to the storage unit, and the second or third item is transferred from the conveyor to the storage unit. Therefore, by utilizing the travel action of the conveyor for returning the second item to the storage unit, the third item can be transported from the relay unit to the position corresponding to the storage unit. Compared to the case where the second item is returned to the storage unit without transferring the third item from the relay unit to the conveyor, the overall item handling efficiency of the equipment can be improved.

[0093] As described above, based on this configuration, when the first item is arranged side by side on the back side of the item storage rack relative to the second item, it is possible to improve the overall item handling efficiency of the equipment and at the same time shorten the time until the first item is moved out to the relay section.

[0094] Here, it is appropriate that the aforementioned control device is configured such that, when the first item is arranged side-by-side with the second item on the rear side of the storage section, in addition to the aforementioned outbound priority mode, the control mode of the aforementioned conveying device can also be switched to an inbound priority mode. The inbound priority mode causes the conveying device to sequentially execute the first transfer action, the second transfer action, the third travel action, the third transfer action, and the fourth travel action, and causes the conveying device to execute the fourth transfer action between the first transfer action and the third travel action, and between the third travel action and the fourth travel action... The fifth transfer operation is performed in the following manner: the fourth transfer operation is to use the second transfer machine to transfer the second item from the conveying device to the storage unit; the third travel operation is to travel while holding the first item until it reaches the position corresponding to the relay unit; the fifth transfer operation is to use the second transfer machine to transfer the fourth item, which is different from the third item and was moved from the relay unit to the conveying device; and the fourth travel operation is to travel while holding the third and fourth items until it reaches the position corresponding to the storage unit.

[0095] According to this configuration, when a first item, which is an item to be retrieved from the item storage rack, is arranged side-by-side on the back side of the storage section of the item storage rack relative to a second item, which is not an item to be retrieved from the item storage rack, the control mode of the conveying device can be switched not only to the retrieval priority mode but also to the inbound priority mode. In the inbound priority mode, the conveying device (i.e., the conveying device that does not hold the second item) after transferring the second item from the conveying device to the storage section can travel to the position corresponding to the relay section, and the first item can be transferred from the conveying device to the relay section. In the inbound priority mode, the time until the first item is moved to the relay section is more likely to be longer than in the retrieval priority mode, but the fourth item can be moved from the relay section to the position corresponding to the storage section by utilizing the travel action of the conveying device used to move the third item from the relay section to the position corresponding to the storage section. Therefore, it is possible to move the first item to the relay unit and simultaneously and efficiently store multiple items into the storage rack. Thus, for example, in situations where there are frequent requests to store items into the storage rack, switching the control mode of the conveying device to the storage priority mode can improve the overall item handling efficiency of the equipment.

[0096] As described above, it is appropriate that, in the case where the first item is arranged side by side with the second item on the rear side of the storage unit, and in addition to the outbound priority mode, the control device can also switch the control mode of the conveying device to the inbound priority mode, the control device determines, at least based on information related to the first item, whether the first item leaving the storage rack has a higher priority than the fourth item entering the storage rack. If it is determined that the first item leaving the storage rack has a higher priority than the fourth item entering the storage rack, the control mode of the conveying device is switched to the outbound priority mode. If it is determined that the first item leaving the storage rack has a lower priority than the fourth item entering the storage rack, the control mode of the conveying device is switched to the inbound priority mode.

[0097] According to this configuration, when the first item is taken out of the storage rack and the fourth item is put into the storage rack, the control mode of the conveying device is switched to the outgoing priority mode, thereby enabling the first item to be quickly moved out to the relay unit. On the other hand, when the first item is taken out of the storage rack and the fourth item is put into the storage rack, the control mode of the conveying device is switched to the incoming priority mode, thereby enabling the first item to be moved out to the relay unit and simultaneously and efficiently putting multiple items into the storage rack.

[0098] The item storage device disclosed herein only needs to achieve at least one of the aforementioned effects.

[0099] Symbol Explanation

[0100] 1: Item storage rack

[0101] 2: Inbound and Outbound Department

[0102] 3: Relay Unit

[0103] 4: Relay device

[0104] 5: Transport device

[0105] 9: Control device

[0106] 10: Storage Department

[0107] 60: Transfer machine

[0108] 61: First Transfer Machine

[0109] 62: Second Transfer Machine

[0110] 100: Item storage equipment

[0111] R1: First driving action

[0112] R2: Second driving action

[0113] R3: Third driving action

[0114] R4: Fourth driving action

[0115] T1: First transfer action

[0116] T2: Second transfer action

[0117] T3: Third transfer action

[0118] T4: Fourth transfer action

[0119] T5: Fifth transfer action

[0120] W: Items

[0121] W1: Item 1

[0122] W2: Item 2

[0123] W3: Item 3

[0124] W4: 4th item

[0125] X: Width direction

[0126] Y: Depth direction

[0127] Y1: Front Side

[0128] Y2: Back side.

Claims

1. A storage device for items, comprising: A storage rack that has a storage section that can store multiple items side by side along the depth direction; The inbound and outbound section is located on the outside of the item storage rack in the width direction relative to the storage section, and is used for moving items in and out. A relay device that transports items between the inbound / outbound section and the relay section, wherein the relay section is disposed in the width direction between the inbound / outbound section and the storage section; A conveying device that travels along the width direction from the front side of the receiving section on one side of the depth direction, and conveys items between the receiving section and the relay section; and A control device that controls the operation of the conveying device. The conveying device is equipped with multiple transfer machines arranged side-by-side along the width direction, capable of transferring items relative to the storage section and the relay section. The side opposite to the front side in the depth direction is designated as the back side. Items from the item storage rack are designated as first items, and items not from the item storage rack are designated as second items. One of the multiple transfer machines is designated as the first transfer machine, and the other as the second transfer machine. The control device is configured to switch the control mode of the conveying device to an outbound priority mode when the first item is arranged side-by-side with the second item on the back side of the storage section. The outbound priority mode is a mode in which the conveying device performs the first transfer action, the second transfer action, the first travel action, the third transfer action, and the second travel action in sequence. The first transfer action is the action of using the second transfer machine to transfer the second item from the storage section to the conveying device. The second transfer action is the action of using the first transfer machine to transfer the first item from the storage section to the conveying device. The first driving action is to drive the vehicle until it reaches a position that corresponds to the relay unit while maintaining the first and second items, and that is a position where the third item, which is a third item moved into the relay unit by the relay device, is opposite the first transfer machine along the depth direction. The third transfer operation is the operation of transferring the third item from the relay unit to the conveying unit using the first transfer machine after the first transfer machine has transferred the first item from the conveying device to the relay unit. The second driving action is to drive the vehicle until it reaches the position corresponding to the storage unit while keeping the second and third items in place.

2. The item storage device according to claim 1, wherein, The control device is configured such that, when the first item is arranged side-by-side with the second item on the back side of the storage section, in addition to the outbound priority mode, it can switch the control mode of the conveying device to an inbound priority mode. The warehouse entry priority mode is a mode in which the conveying device performs the first transfer action, the second transfer action, the third travel action, the third transfer action, and the fourth travel action in sequence, and performs the fourth transfer action between the first transfer action and the third travel action, and performs the fifth transfer action between the third travel action and the fourth travel action. The fourth transfer action is the action of using the second transfer machine to transfer the second item from the conveying device to the storage section. The third driving action is to drive the vehicle while maintaining the first item until it reaches the position corresponding to the relay unit. The fifth transfer action is the use of the second transfer machine to transfer a fourth item, which is a different item from the third item and was moved from the relay device to the conveying device. The fourth driving action is to drive the vehicle until it reaches the position corresponding to the storage unit while keeping the third and fourth items in place.

3. The item storage device according to claim 2, wherein, The control device determines, based at least on information related to the first item, whether the removal of the first item from the storage rack has a higher priority than the insertion of the fourth item into the storage rack. If it determines that the removal of the first item from the storage rack has a higher priority than the insertion of the fourth item into the storage rack, the control mode of the conveying device is switched to the removal priority mode. If it determines that the removal of the first item from the storage rack has a lower priority than the insertion of the fourth item into the storage rack, the control mode of the conveying device is switched to the insertion priority mode.

Images