Item storage equipment

Abstract

The control device performs a selection process to determine the destination of the target item via a specific conveyor. The selection process is as follows: The second conveyor that is the upstream item of the same type as the target item and has no adjacent groups of the same type, and the second conveyor that is the upstream item of the same type and has an even number of adjacent groups of the same type, are designated as paired target conveyors. If a paired target conveyor exists, it is designated as the selected conveyor. If no paired target conveyor exists, the second conveyor selected according to the prescribed basic selection rules is designated as the selected conveyor.

Description

Technical Field

[0001] The present invention relates to an article holding device comprising a plurality of automated warehouse units having conveying devices and holding racks for holding articles conveyed by the conveying devices, and a supply device for supplying articles to the conveying devices of the plurality of automated warehouse units. Background Technology

[0002] In such item-containing equipment, the conveying device of the automated warehouse unit is sometimes configured to convey two items together. An example of such an automated warehouse unit is disclosed in Japanese Utility Model Application Publication No. 63-119509 (Patent Document 1). Hereinafter, in the description of this background art, the symbols and names in Patent Document 1 are referenced in parentheses.

[0003] The automated warehouse unit of Patent Document 1 includes: a conveying device (goods storage and retrieval device 8) having a traveling trolley (11) that travels on a predetermined travel path (7); a storage rack having multiple storage sections (partitioned storage spaces 2) arranged along the travel path (7); and a supply device (storage conveyor 21) that supplies items to the conveying device (8). Furthermore, taking the direction along the travel path (7) as the travel direction and the direction perpendicular to the travel direction as the rack depth direction, the conveying device (8) includes two transfer devices (storage and retrieval devices 16A, 16B) mounted on the traveling trolley (11) and arranged side-by-side along the travel direction. Each transfer device (16A, 16B) is configured to hold two items side-by-side along the rack depth direction. That is, the conveying device (8) is configured to transport two items (6) together using each of the two transfer devices (16A, 16B). Moreover, in conjunction with the configuration of such a conveying device (8), the supply device (21) is a conveyor that transports the two items (cylindrical cans 6) side by side along the depth direction of the rack in the direction of travel.

[0004] Prior art literature

[0005] Patent documents

[0006] Patent Document 1: Japanese Utility Model Application Publication No. 63-119509 (Figure 4). Summary of the Invention

[0007] The problem that the invention aims to solve

[0008] As with the automated warehouse unit in Patent Document 1, when the conveying device is configured to convey two items together, in cases where there are multiple types of items, it is sometimes easy to improve the efficiency of the conveying device in conveying items to the storage rack or to increase the efficiency of the items in the storage rack when conveying items together.

[0009] Furthermore, in a conveying device, in order to convey two items of the same kind together, it is ideal that the two items of the same kind are conveyed in an adjacent state by a supply device in front of the conveying device. However, Patent Document 1 does not specifically disclose the configuration for conveying two items of the same kind in an adjacent state by a supply device.

[0010] Therefore, when the conveying device is configured to convey two items together, it is required to have an item holding device that can supply the same type of items to the conveying device in a relatively simple configuration, in pairs adjacent to each other.

[0011] Solution for solving the problem

[0012] The article-containing device disclosed herein is an article-containing device having multiple automated storage units and having a supply device and a control device. Each automated storage unit has a conveying device and a receiving rack for articles conveyed by the conveying device. The supply device supplies the articles to the respective conveying devices of the multiple automated storage units. The control device controls the supply device. The conveying device is configured to convey two articles together. The supply device includes a first conveyor, multiple second conveyors branching from the first conveyor, and a branching device located at branches of the first conveyor and each of the second conveyors to control the destination of the articles. Each of the second conveyors is configured to supply the articles to the corresponding conveying device of the automated storage unit. Given that there are multiple types of articles with different attributes, the control device determines which of the articles conveyed by the first conveyor is the target article and which second conveyor is the destination of the target article. The selection process for the selected conveyor controls the first conveyor, multiple second conveyors, and multiple branch devices in a manner that transports the aforementioned object item to the selected conveyor. In each of the multiple second conveyors, the upstream item is designated as the upstream item, and a group of one or more items of the same type as the upstream item that are adjacent to the downstream side of the upstream item is designated as an adjacent group of the same type of item. The selection process is as follows: the second conveyor where the upstream item is of the same type as the object item and there is no adjacent group of the same type of item, and the second conveyor where the upstream item is of the same type as the object item and the number of items constituting the adjacent group of the same type of item is even, are designated as the paired object conveyor. If a paired object conveyor exists, the paired object conveyor is determined as the selected conveyor. If no paired object conveyor exists, the second conveyor selected according to the prescribed basic selection rules is determined as the selected conveyor.

[0013] According to this configuration, in the selection process for the second conveyor, which is the destination of the items transported by the first conveyor, the second conveyor capable of arranging items of the same type in a state of two adjacent units (pairing) is designated as the pairing conveyor. If a pairing conveyor exists, it is designated as the selection conveyor; otherwise, the second conveyor selected according to a predetermined basic selection rule is designated as the selection conveyor. Therefore, the proportion of items of the same type transported in a state of two adjacent units on multiple second conveyors can be increased, thereby increasing the proportion of items of the same type supplied to the respective conveying devices of multiple automated warehouse units in a state of two adjacent units.

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

[0015] Figure 1 This is a 3D view of a part of an automated warehouse unit.

[0016] Figure 2 This is a top view of a part of an automated warehouse unit.

[0017] Figure 3 This is a diagram illustrating an example of inbound control.

[0018] Figure 4 This is a diagram illustrating another example of inbound control.

[0019] Figure 5 It is a control block diagram.

[0020] Figure 6 It is a control flow diagram.

[0021] Figure 7 This is a top view of part of the container for holding items.

[0022] Figure 8 This is a diagram illustrating an example of a scenario where selection processing is performed.

[0023] Figure 9 It is shown in comparison Figure 8 A diagram showing the situation at a later time.

[0024] Figure 10 It is shown in comparison Figure 9 A diagram showing the situation at a later time.

[0025] Figure 11 This is a diagram illustrating another example of a scenario where selection processing is performed.

[0026] Figure 12It is shown in comparison Figure 11 A diagram showing the situation at a later time.

[0027] Figure 13 This is a diagram illustrating an example of the pre-processing of the conveying sequence of items to the conveyor side.

[0028] Figure 14 This is another example of the advance processing of the conveying sequence of items to the conveyor side.

[0029] Figure 15 This is another example of the pre-processing of the conveying sequence of items to the conveyor side.

[0030] Figure 16 This is a diagram showing another example of a conveying device.

[0031] Figure 17 This is a diagram showing yet another example of a conveying device. Detailed Implementation

[0032] The embodiments of the article-containing device will be described with reference to the accompanying drawings.

[0033] like Figure 7 As shown, the goods receiving device 100 includes: a plurality of automated storage units 1; a supply device 4 that supplies goods W to the respective conveying devices 20 of the plurality of automated storage units 1; and a control device 2 (see reference). Figure 5 ), and its control supply device 4. For example Figure 1 and Figure 2 As shown, the automated warehouse unit 1 includes a conveying device 20 and a receiving rack 10 for holding the items W conveyed by the conveying device 20. The conveying device 20 includes a traveling trolley 21 that travels along a predetermined first direction X.

[0034] The storage rack 10 includes a plurality of receiving portions 11 arranged along a first direction X. In this embodiment, the article holding device 100 includes a first storage rack 10A and a second storage rack 10B, which are arranged opposite each other along a second direction Y. The second storage rack 10B is arranged at a distance from the first storage rack 10A along the second direction Y. The first storage rack 10A includes a plurality of first receiving portions 11A arranged along the first direction X, and the second storage rack 10B includes a plurality of second receiving portions 11B arranged along the first direction X. Hereinafter, when describing the common features of the first storage rack 10A and the second storage rack 10B, they will be collectively referred to as storage rack 10, and when describing the common features of the first receiving portions 11A and the second receiving portions 11B, they will be collectively referred to as receiving portions 11.

[0035] In this embodiment, the first direction X is a direction along the horizontal plane. One side of the first direction X is designated as the first direction first side X1, and the other side of the first direction X (the side opposite to the first direction first side X1) is designated as the first direction second side X2. The second direction Y is a direction orthogonal to the first direction X when viewed in the vertical direction Z (vertical direction). Here, the second direction Y is defined as a direction along the horizontal plane. One side of the second direction Y is designated as the second direction first side Y1, and the other side of the second direction Y is designated as the second direction second side Y2. The first receiving frame 10A is positioned relative to the second receiving frame 10B on the second direction first side Y1.

[0036] like Figure 1 As shown, the receiving rack 10 includes a support frame 12 that supports an article W (specifically, supported from the lower Z2 side). The support frame 12 is fixed to a pillar 13 erected on the floor. The article W is received in the receiving rack 10 in a state supported by the support frame 12. That is, the receiving portion 11 is formed by the support frame 12, and the size of the receiving portion 11 in the second direction Y is determined accordingly to the size of the support frame 12 in the second direction Y. The support frame 12 is formed in a plate shape (including the case where it is formed as a whole in a plate shape by assembling multiple components), as in this embodiment, such as Figure 1 As shown, multiple items W are supported side-by-side along the first direction X by a support frame 12. Items W are, for example, corrugated cardboard boxes or containers.

[0037] In this embodiment, each of the plurality of receiving portions 11 (specifically, each of the plurality of first receiving portions 11A and each of the plurality of second receiving portions 11B) is capable of accommodating a plurality of (in this embodiment, 2) articles W side by side along the second direction Y. In other words, the articles W processed by the article receiving device 100 include articles W whose size (specifically, the size along the second direction Y in the state of being contained in the receiving portion 11) is such that a plurality of (in this embodiment, 2) articles W can be accommodated side by side along the second direction Y. Alternatively, the articles W processed by the article receiving device 100 may include articles W whose size is so large that one article W occupies the receiving portion 11. When two articles W are accommodated side by side along the second direction Y in the receiving portion 11, as... Figure 2 As shown, the item W on the front side (the side where the item W is accessed via the conveyor 20) of the two items W is accommodated in the first accommodating position P1, and the item W on the back side (the side opposite to the front side in the second direction Y) of the two items W is accommodated in the second accommodating position P2, which is further back than the first accommodating position P1.

[0038] like Figure 1As shown, in this embodiment, the receiving rack 10 has a plurality of receiving portions 11 arranged in the vertical direction Z. Specifically, a plurality of support frames 12 are fixed to the support column 13 at intervals in the vertical direction Z, and the article W is received in each of the plurality of shelves (shelves) arranged side by side in the vertical direction Z in a state supported by the support frames 12.

[0039] The traveling trolley 21 travels along the first direction X between the first receiving rack 10A and the second receiving rack 10B in the second direction Y. In this embodiment, the conveying device 20 is a stacker crane. Specifically, in addition to the traveling trolley 21, the conveying device 20 also includes a column 22 erected on the traveling trolley 21 and a lifting section 23 that is guided by the column 22 and moves up and down (moving along the vertical direction Z). The travel path of the traveling trolley 21 is formed by a track 24 arranged along the first direction X. The conveying device 20 includes a transfer device 30 mounted on the traveling trolley 21. In this embodiment, the transfer device 30 is mounted on the traveling trolley 21 by being supported by the lifting section 23. The transfer device 30 is moved to a position corresponding to the transfer target part (receiving part 11 or the discharge device 3 and supply device 4 described later) of the article W by the traveling action of the traveling trolley 21 (in this embodiment, in addition to the traveling action of the traveling trolley 21, the lifting action of the lifting section 23 is also used). The position corresponding to the transfer target part is the position where the article W can be transferred between the mounting part 31 (described later) and the transfer target part. Specifically, it is the position where the transfer device 30 is positioned opposite the transfer target part along the second direction Y (opposite along the second direction Y at the same height (position Z in the vertical direction)). When the transfer device 30 is positioned corresponding to the transfer target part, it performs the transfer operation of the article W between the mounting part 31 and the transfer target part.

[0040] After being supplied from the supply device 4 constituting the receiving line to the receiving rack 10, the item W is conveyed by the conveyor 20 to the receiving section 11 and stored therein. After being removed from the receiving rack 10 by the conveyor 20 from the receiving section 11 and conveyed to the discharge device 3, the item W is transported by the discharge device 3 to the receiving line, etc. The conveyor 20 stores and retrieves the item W from the second direction to the second side Y2 relative to the first receiving rack 10A (specifically, the first receiving section 11A), and stores and retrieves the item W from the second direction to the first side Y1 relative to the second receiving rack 10B (specifically, the second receiving section 11B).

[0041] like Figure 1 and Figure 2As shown, in this embodiment, the conveying device 20 includes a first transfer device 30A and a second transfer device 30B as two transfer devices 30. The second transfer device 30B is disposed relative to the first transfer device 30A on a first side X1 in a first direction. The first transfer device 30A and the second transfer device 30B can perform transfer operations independently of each other. In this embodiment, each of the first transfer device 30A and the second transfer device 30B has a mounting section 31 capable of mounting multiple (in this embodiment, two) articles W side by side along the second direction Y. In other words, the articles W handled by the article receiving device 100 include articles W of a size (specifically, the size along the second direction Y when mounted on the mounting section 31) capable of mounting two articles W side by side along the second direction Y in the mounting section 31.

[0042] The conveying device 20 is configured to convey two items W together. Here, conveying two items W together means conveying one or more sets of items W in groups of two. In this embodiment, each of the first transfer device 30A and the second transfer device 30B can hold two items W, so the conveying device 20 is configured to convey two sets of items W in groups of two. However, although the conveying device 20 is configured to convey two items W together, it is not always possible to convey two items W together.

[0043] Each of the first transfer device 30A and the second transfer device 30B moves the article W along the second direction Y, performing a transfer operation of the article W between the mounting portion 31 and the receiving portion 11. Each of the first transfer device 30A and the second transfer device 30B is capable of transferring the article W between the mounting portion 31 and the first receiving position P1, and is also capable of transferring the article W between the mounting portion 31 and the second receiving position P2. In this embodiment, the first transfer device 30A and the second transfer device 30B are supported side-by-side along the first direction X by a common lifting portion 23, and move up and down integrally with the lifting portion 23. Hereinafter, when describing the common aspects of the first transfer device 30A and the second transfer device 30B, they will be collectively referred to as transfer device 30.

[0044] The configuration of the transfer device 30 is not limited to this, but in this embodiment, such as Figure 1 , Figure 3 and Figure 4As shown, the transfer device 30 includes a pair of arms 32 whose spacing in the first direction X can be changed and which can move forward and backward in the second direction Y. Each of the pair of arms 32 is formed as a flat plate with the thickness direction (orthogonal to the plate surface) in the first direction X. The transfer device 30 performs a transfer operation between the receiving portion 11 (the first receiving portion 11A or the second receiving portion 11B, hereinafter the same) and the placing portion 31 by moving the pair of arms 32 forward and backward in the second direction Y with an article W disposed between the pair of arms 32 (specifically, between the pair of arms 32 in the first direction X, hereinafter the same). Specifically, the transfer device 30 performs a transfer operation by moving the pair of arms 32 forward and backward in the second direction Y with the spacing in the first direction X of the pair of arms 32 being a spacing corresponding to the size of the article W disposed between the pair of arms 32 in the first direction X. A pair of arms 32 are configured to move forward and backward to both sides in the second direction Y, and the transfer device 30 can transfer an article W relative to either the first receiving part 11A or the second receiving part 11B.

[0045] like Figure 3 and Figure 4 As shown, each of the pair of arms 32 is supported by a fixing member 33 fixed at a position in the second direction Y (the position in the second direction Y relative to the traveling carriage 21) in a manner that allows it to slide along the second direction Y. The arm 32 is disposed inside the fixing member 33 supporting the arm 32 in the first direction X (towards the center position in the first direction X between the pair of arms 32). The arm 32 may also be directly supported by the fixing member 33, but in this embodiment, the arm 32 is indirectly supported by the fixing member 33 (specifically, via an intermediate member 34 disposed between the arm 32 and the fixing member 33).

[0046] In the transfer operation of item W, the action of transferring item W from the placement part 31 to the receiving part 11 is considered as an unloading action, and the action of receiving item W from the receiving part 11 to the placement part 31 is considered as a picking action. The transfer device 30 moves the item W disposed between the pair of arms 32 along the second direction Y by moving the pair of arms 32 forward and backward, thus performing the transfer operation of item W. Specifically, the transfer device 30 moves the item W placed on the placement part 31 to the second direction first side Y1 by moving the pair of arms 32 outward in the second direction first side Y1, thus performing the unloading action of transferring item W from the placement part 31 to the first receiving part 11A, and moves the item W contained in the first receiving part 11A to the second direction second side Y2 by moving the pair of arms 32 backward in the second direction second side Y2, thus performing the picking action of receiving item W from the first receiving part 11A to the placement part 31. In addition, the transfer device 30 moves the item W placed in the placement part 31 to the second side Y2 in the second direction by moving the pair of arms 32 outward, and performs the unloading action of transferring the item W from the placement part 31 to the second receiving part 11B. By moving the pair of arms 32 backward in the first side Y1 in the second direction, the item W contained in the second receiving part 11B moves to the first side Y1 in the second direction, and performs the picking action of receiving the item W from the second receiving part 11B to the placement part 31.

[0047] like Figure 3 and Figure 4 As shown, in this embodiment, each of the pair of arms 32 is provided with a hook 35 (an example of an abutment member). The transfer device 30 uses the hooks 35 to push or pull the article W out or in by moving the pair of arms 32 forward and backward, so that the article W disposed between the pair of arms 32 moves along the second direction Y. Specifically, the transfer device 30 uses the hooks 35 to push the article W placed in the placement part 31 towards the receiving part 11 by moving the pair of arms 32 outward, and to transfer the article W to the receiving part 11 by moving the pair of arms 32 backward, and to pull the article W contained in the receiving part 11 towards the placement part 31 by moving the pair of arms 32 backward, and to receive the article W into the placement part 31.

[0048] Figure 3 The diagram shows the second transfer device 30B simultaneously unloading two items W that are placed side-by-side in the mounting section 31 along the second direction Y. Figure 4 This illustrates a situation where the first transfer device 30A simultaneously unloads two items W that are placed side-by-side in the mounting section 31 along the second direction Y. Figure 3In the illustrated configuration, a hook 35 located at the center of each pair of arms 32 in the second direction Y pushes one item W to the second receiving position P2, and a hook 35 located at the end of each pair of arms 32 on the first side Y1 in the second direction pushes another item W to the first receiving position P1, thus unloading the two items W. Additionally, in Figure 4 In the situation shown, one item W is pushed to the second receiving position P2 by the hook 35 located at the center of the second direction Y of each pair of arms 32, and another item W is pushed to the first receiving position P1 by the hook 35 located at the end of the second side Y2 of the second direction of each pair of arms 32, thus performing the unloading action of the two items W.

[0049] like Figure 1 , Figure 3 and Figure 4 As shown, in this embodiment, the transfer device 30 (specifically, the placement unit 31) includes a conveyor 36 (e.g., a belt conveyor) for conveying articles W along the second direction Y. Articles W are placed on the placement unit 31 in a state supported by the conveying surface of the conveyor 36. The conveyor 36 is configured to convey articles W to both sides of the second direction Y. In this embodiment, the placement unit 31 includes two conveyors 36 capable of independently performing the conveying operation of articles W. These two conveyors 36 are arranged side-by-side along the second direction Y. One of the two articles W placed side-by-side on the placement unit 31 along the second direction Y is placed on the conveyor 36 on the first side Y1 of the second direction, and the other of the two articles W is placed on the conveyor 36 on the second side Y2 of the second direction.

[0050] In this embodiment, the transfer device 30 is configured such that, during the unloading operation, the conveyor 36 carrying the item W operates in a manner synchronized with the moving direction and speed of the item W, which is moved out based on the pair of arms 32. Furthermore, in this embodiment, the transfer device 30 is configured such that, during the picking operation, the conveyor 36 carrying the item W operates in a manner synchronized with the moving direction and speed of the item W, which is moved backward based on the pair of arms 32.

[0051] For an article W, there are multiple categories with different attributes. The attributes of article W are classifications that distinguish articles W that can be disposed of in the article receiving device 100 according to predetermined criteria. In this embodiment, the attribute of article W is the size of its shape, specifically, the size of its shape in the first direction X (specifically, the size along the first direction X when placed on the mounting section 31 or contained in the receiving section 11). Furthermore, in this embodiment, the category of article W and its size (the size of its shape) are determined accordingly to which of the predetermined size classifications it belongs to. Therefore, articles W of the same category have mutually equal (same or similar) sizes in the first direction X. Figures 1 to 4 The text shows two types of items W: small items WS belonging to an item W of one size division and large items WL belonging to an item W of a size division that is larger than the size of the item W in the first direction X of that size division. However, there may also be items W belonging to a size division that is different from these two size divisions.

[0052] In this embodiment, with an article W positioned between a pair of arms 32, the transfer device 30 moves the pair of arms 32 forward and backward along the second direction Y, thereby transferring the article W between the receiving portion 11 and the mounting portion 31. Therefore, when two articles W arranged side-by-side along the second direction Y of the mounting portion 31 have the same size in the first direction X, these two articles W can be unloaded simultaneously. In this embodiment, the aforementioned size division is set so that when two articles W arranged side-by-side along the second direction Y of the mounting portion 31 are of the same type, the transfer device 30 can simultaneously transfer these two articles W.

[0053] In this embodiment, such as Figure 1 and Figure 2 As shown, in each receiving section 11, items W of the same type are arranged side by side along the second direction Y. Furthermore, in this embodiment, when an item W is received in the receiving section 11 of the receiving rack 10, the control device 2 sets the position and width of the receiving section 11 in the first direction X in accordance with the size of the item W in the first direction X. For example, the control device 2 sets the position and width of the receiving section 11 in the first direction X in accordance with the size of the received item W in the first direction X, so that the gap between two adjacent items W along the first direction X is equal. Thus, as a configuration where items W of the same type are arranged side by side along the second direction Y in each receiving section 11 and the position and width of the receiving section 11 of the receiving rack 10 are not fixed, the efficiency of receiving items W in the receiving rack 10 can be improved. Moreover, from the viewpoint of improving the conveying efficiency of the conveying device 20 for items W, it is ideal to arrange two items W of the same type side by side in the placement section 31 along the second direction Y, such as... Figure 3 or Figure 4 As illustrated, two items W placed side-by-side in the placement section 31 along the second direction Y can be unloaded simultaneously. In this item holding device 100, by configuring the supply device 4 to supply the items W to the conveying device 20 as follows, the proportion of items W of the same kind that can be transferred together to each transfer device 30 can be increased.

[0054] like Figure 7 As shown, the supply device 4 includes: an upstream conveyor 5; a plurality of downstream conveyors 6 branching from the upstream conveyor 5; and a branching device 9, which is provided at the branch sections 8 of each of the upstream conveyor 5 and the plurality of downstream conveyors 6 to control the destination of the article W. The upstream conveyor 5 transports the article W in a side-by-side arrangement. Additionally, the downstream conveyors 6 (specifically, each of the first conveying section 7A, the second conveying section 7B, and the third conveying section 7C, described later) transport the article W in a side-by-side arrangement. Figure 7 In the diagram, an arrow indicates the transport direction T of the article W using the upstream conveyor 5, and another arrow indicates the transport direction T of the article W using the downstream conveyor 6. The side towards which the arrow indicating the transport direction T points is the downstream side, and the opposite side is the upstream side. The upstream conveyor 5 and the downstream conveyor 6 are, for example, roller conveyors or belt conveyors. In this embodiment, the upstream conveyor 5 corresponds to "first conveyor," and the downstream conveyor 6 corresponds to "second conveyor."

[0055] The branching device 9 switches the destination of the item W (transported from the upstream side of the upstream conveyor 5 to the branch 8) located at the branch 8 to the downstream side of the upstream conveyor 5, which is further downstream than the branch 8, and to the downstream conveyor 6 connected to the branch 8. The branching device 9 may be configured, for example, using a roller conveyor that transports the item W along the transport direction T of the upstream conveyor 5; and a chain conveyor that is vertically positioned between the rollers constituting the roller conveyor and transports the item W along the transport direction T of the downstream conveyor 6. In this case, the transport surface of the chain conveyor is lowered to a lower position Z2 than the transport surface of the roller conveyor, thereby switching the destination of the item W located at the branch 8 to the downstream side of the upstream conveyor 5, which is further downstream than the branch 8. In addition, by raising the conveying surface of the chain conveyor to a position Z1 higher than that of the roller conveyor, the destination of the item W located in the branch 8 is switched to the downstream conveyor 6 connected to the branch 8.

[0056] Each of the multiple downstream conveyors 6 is configured to supply items W to the corresponding conveying device 20 of the multiple automated warehouse units 1. For example... Figure 2 and Figure 8 As shown, in this embodiment, the downstream conveyor 6 includes a first conveying section 7A, a second conveying section 7B, and a third conveying section 7C. The upstream end of the third conveying section 7C is the upstream end of the downstream conveyor 6, which includes the third conveying section 7C, and is connected to the branch section 8. Furthermore, the upstream end of the first conveying section 7A is connected to the third conveying section 7C, and the upstream end of the second conveying section 7B is also connected to the third conveying section 7C. In this embodiment, the first conveying section 7A is connected to the third conveying section 7C further downstream than the second conveying section 7B. Articles W supplied from the upstream conveyor 5 to the downstream conveyor 6 are conveyed downstream from the third conveying section 7C and then supplied to either the first conveying section 7A or the second conveying section 7B. Although details are omitted, the downstream conveyor 6 is equipped with a device similar to the branch device 9 described above, which allows the destination of articles W conveyed downstream from the third conveying section 7C to either the first conveying section 7A or the second conveying section 7B.

[0057] The first conveyor section 7A is configured as follows: when the traveling trolley 21 is located at the designated storage position L (refer to...) Figure 2 In the state where the traveling carriage 21 is in the storage position L, it is adjacent to the second transfer device 30A on the first side Y1 in the second direction. The second conveying section 7B is configured such that, in the state where the traveling carriage 21 is in the storage position L, it is adjacent to the second transfer device 30B on the first side Y1 in the second direction. The storage position L is the position where the conveying device 20 receives the item W from the supply device 4, specifically, it is the position where the first transfer device 30A receives the item W from the first conveying section 7A and the second transfer device 30B receives the item W from the second conveying section 7B. That is, in the state where the traveling carriage 21 is in the storage position L, the first transfer device 30A is positioned at the position corresponding to the first conveying section 7A, and the second transfer device 30B is positioned at the position corresponding to the second conveying section 7B.

[0058] The first conveying section 7A is configured to convey an article W along the second direction Y. The transfer of the article W from the first conveying section 7A to the first transfer device 30A (specifically, the mounting section 31 of the first transfer device 30A) is performed by at least one of the first conveying section 7A and the first transfer device 30A (both in this embodiment). In this embodiment, the article W is moved from the first conveying section 7A to the mounting section 31 of the first transfer device 30A by the conveying action of the first conveying section 7A and the conveyor 36 of the first transfer device 30A, thus transferring the article W from the first conveying section 7A to the first transfer device 30A. In this way, the first transfer device 30A (in this embodiment, the conveyor 36 of the first transfer device 30A) moves the article W along the second direction Y, performing the transfer action of the article W between the mounting section 31 and the supply device 4 (specifically, the first conveying section 7A). Alternatively, the forward and backward movement of a pair of arms 32 provided with the first transfer device 30A can be used to transfer the article W from the first conveying section 7A to the first transfer device 30A.

[0059] The second conveying section 7B is configured to convey an article W along the second direction Y. The transfer of the article W from the second conveying section 7B to the second transfer device 30B (specifically, the mounting section 31 of the second transfer device 30B) is performed by at least one of the second conveying section 7B and the second transfer device 30B (both in this embodiment). In this embodiment, the article W is moved from the second conveying section 7B to the mounting section 31 of the second transfer device 30B by the conveying operation of the second conveying section 7B and the conveyor 36 of the second transfer device 30B, thus transferring the article W from the second conveying section 7B to the second transfer device 30B. In this way, the second transfer device 30B (in this embodiment, the conveyor 36 of the second transfer device 30B) moves the article W along the second direction Y, performing the transfer operation of the article W between the mounting section 31 and the supply device 4 (specifically, the second conveying section 7B). Alternatively, the forward and backward movement of a pair of arms 32 provided by the second transfer device 30B can be used to transfer the article W from the second conveying section 7B to the second transfer device 30B.

[0060] As will be described later, the item receiving device 100 can increase the proportion of items W of the same type that can be conveyed in pairs on each of the multiple downstream conveyors 6. This increased proportion is achieved through the selection process described later by the control device 2. For example, even when the number of downstream conveyors 6 is less than the number of types of items W, the proportion of items W of the same type that can be conveyed in pairs on each of the multiple downstream conveyors 6 can be increased. By conveying items W of the same type in pairs on the downstream conveyors 6, even without changing the conveying order of items W to the conveying device 20, such as… Figure 2 As shown, it is also possible to transfer two identical items W together to the transfer device 30. Figure 2 In the example shown, two small items WS conveyed in an adjacent state in the third conveying section 7C are transferred from the first conveying section 7A to the first transfer device 30A, and two large items WL conveyed in an adjacent state in the third conveying section 7C are transferred from the second conveying section 7B to the second transfer device 30B.

[0061] like Figure 7 As shown, a detection device 90 for detecting the attributes of the item W is provided on the transport path of the item W using the upstream conveyor 5. As described above, in this embodiment, the attribute of the item W is the size of its shape (specifically, the size in the first direction X), and therefore the detection device 90 detects the size of the item W's shape. Furthermore, the detection device 90 can be a device that directly detects the size of the item W by detecting light, or it can be a device that indirectly detects the size of the item W. In the latter case, for example, the detection device 90 can be configured to detect the identification information (barcode, etc.) of the item W to be detected, and obtain the size of the item W by referring to the size data of the item W associated with the detected identification information. The information on the attributes of the item W detected by the detection device 90 is sent as attribute data 91 of the item W to the control device 2 (see below). Figure 5 ).

[0062] like Figure 5As shown, the item containing device 100 includes a control device 2 that controls the operation of the conveying device 20 and the supplying device 4. The control device 2 controls the operation of the controlled object by controlling the drive of a power source (e.g., an electric motor or solenoid) located in each part. The control device 2 includes a processing unit such as a CPU and peripheral circuits such as a memory. Through the cooperation of these hardware components and a program executed on the processing unit, the various functions of the control device 2 are realized. The control device 2 may not be a single piece of hardware, but rather a collection of multiple pieces of hardware (multiple separate pieces of hardware) capable of communicating with each other. Furthermore, at least a portion of the control device 2 may be integrally provided with the controlled object. For example, at least a portion of the control device 2 may be provided in the conveying device 20.

[0063] The conveying device 20 operates under control from the control device 2. Specifically, the conveying device 20 is provided with a conveying device control unit 40 (machine controller), which controls the drive of the drive power source in accordance with the instructions from the control device 2, and controls various actions of the conveying device 20 (the traveling action of the traveling trolley 21, the lifting action of the lifting unit 23, and the transfer action of the transfer device 30).

[0064] The supply device 4 operates under control from the control device 2. Specifically, the supply device 4 is equipped with a supply device control unit 41 (machine controller), which controls the drive of the drive power source in response to instructions from the control device 2, and controls various operations of the supply device 4 (the conveying operation of the upstream conveyor 5, the conveying operation of the downstream conveyor 6, and the branching operation of the branching device 9). The branching operation of the branching device 9 is a switching operation performed by the branching device 9 to determine the destination of the item W.

[0065] Furthermore, the technical features of the control device 2 disclosed in this specification can also be applied to the control method of the supply device 4, and a control method for the supply device 4 is also disclosed in this specification. This control method includes a selection process described later (specifically, performing...). Figure 6 The process shown is a procedure for each processing step, or a process for controlling the upstream conveyor 5, multiple downstream conveyors 6 and multiple branch devices 9 by transporting the object WT to the selected conveyor determined by the selected process.

[0066] In the article-containing device 100, the control device 2 performs the selection process described below, thereby increasing the proportion of the same type of articles W that can be transported in pairs on each of the multiple downstream conveyors 6. (Refer to...) Figures 8 to 10 The example shown and Figures 11 to 12Another example will be shown to illustrate this point. Here, we will describe the case where four downstream conveyors 6, namely the first downstream conveyor 6A, the second downstream conveyor 6B, the third downstream conveyor 6C, and the fourth downstream conveyor 6D, are selected as objects for processing, but the number of downstream conveyors 6 branching from the upstream conveyor 5 is not limited to this.

[0067] exist Figures 8 to 12 and referenced later Figures 13 to 15 In this embodiment, the type of item W is indicated by the letter written inside the quadrilateral representing each item W, and items W with the same letter represent items of the same type. In this embodiment, the control device 2 obtains information about the attributes of the item W detected by the detection device 90 (attribute data 91) (see reference). Figure 5 ), obtain information about the type of each item W transported by the upstream conveyor 5. Additionally, in Figure 8 In the process, multiple items W transported by the upstream conveyor 5 are sequentially designated as item 1 W1, item 2 W2, item 3 W3, item 4 W4, and item 5 W5, starting from the downstream side. Figure 11 In the middle, multiple items W transported by the upstream conveyor 5 are sequentially designated as item 6 W6, item 7 W7, and item 8 W8, starting from the downstream side.

[0068] Here, in each of the multiple downstream conveyors 6, the upstream item W is designated as the upstream item WU, and a group of one or more items W of the same type as the upstream item WU that are adjacent to the downstream side of the upstream item WU is designated as the adjacent same-type item group GW. Figure 8 In the scenario shown, neither the upstream item WU nor the adjacent group of the same item GW exists on either downstream conveyor 6. Figure 9 In the scenario shown, on the second downstream conveyor 6B, the third item W3 is the upstream item WU; on the third downstream conveyor 6C, the second item W2 is the upstream item WU; and on the fourth downstream conveyor 6D, the first item W1 is the upstream item WU. Figure 9 In the scenario shown, there is no adjacent group of the same type of items GW on either downstream conveyor 6.

[0069] exist Figure 11 In the scenario shown, on the second downstream conveyor 6B, item W of type A is the upstream item WU; on the third downstream conveyor 6C, item W of type A is the upstream item WU; and on the fourth downstream conveyor 6D, item W of type B is the upstream item WU. Figure 11In the scenario shown, on the third downstream conveyor 6C, there is an adjacent group of the same type of items GW consisting of one item W, and on the fourth downstream conveyor 6D, there is an adjacent group of the same type of items GW consisting of two items W.

[0070] Control device 2 takes each item W transported by upstream conveyor 5 as an object item WT and performs a selection process to determine the downstream conveyor 6 as the destination of the object item WT. This process controls the upstream conveyor 5, multiple downstream conveyors 6, and multiple branch devices 9 to transport the object item WT to the selected conveyor. The selection process is as follows: if a paired object conveyor exists, it is designated as the selected conveyor; if no paired object conveyor exists, the downstream conveyor 6 selected according to a predetermined basic selection rule is designated as the selected conveyor. The paired object conveyors will be described later. If multiple paired object conveyors exist, one is selected and designated as the selected conveyor. In this case, for example, one paired object conveyor is selected from multiple paired object conveyors according to the basic selection rule. The selection process is performed sequentially on the multiple items W transported by upstream conveyor 5, starting with the downstream item W.

[0071] Control device 2 is positioned at the designated selection point P (refer to) after the object WT has passed the upstream conveyor 5. Figure 7 In the case of ), the selection process is performed. Control device 2 follows Figure 6 The flowchart shown determines the selection of the conveyor. That is, control device 2 determines whether the object item WT has passed selection position P (step #01). If it is determined that the object item WT has passed selection position P (step #01: Yes), it determines whether a paired object conveyor exists (step #02). Then, if a paired object conveyor exists (step #02: Yes), control device 2 determines the paired object conveyor as the selection conveyor (step #03). On the other hand, if no paired object conveyor exists (step #02: No), control device 2 determines the selection conveyor according to the basic selection rules (step #04). Specifically, control device 2 determines the downstream conveyor 6 selected according to the basic selection rules as the selection conveyor. Furthermore, as... Figure 7 As shown, the selected position P is set at a position further upstream than the most upstream branch 8 among the multiple branches 8 arranged along the upstream conveyor 5. Figure 7 In the example shown, the detection device 90 is located at the selection position P, but the detection device 90 can also be located further upstream than the selection position P.

[0072] In the selection process, downstream conveyors 6 that have items of the same type as the target item WT as their upstream item WU and do not have adjacent groups of the same type of items GW, and downstream conveyors 6 that have items of the same type as the target item WT as their upstream item WU and constitute an even number of adjacent groups of the same type of items GW, are designated as paired target conveyors. Furthermore, in the selection process, if the target item WT, which has already undergone selection, has not yet been transported to the selection conveyor whose destination has been determined (i.e., it exists on the upstream conveyor 5), it is assumed that the target item WT will be transported to that selection conveyor, and it is determined whether a paired target conveyor exists. For example, in... Figures 8 to 10 In the example shown, during the selection process of the fourth item W4 as the target item WT, the fourth downstream conveyor 6D is determined to be the selection conveyor. Therefore, when the selection process of the fifth item W5 as the target item WT is performed, if the fourth item W4 has not yet been conveyed to the fourth downstream conveyor 6D, it is assumed that the fourth item W4 has been conveyed to the fourth downstream conveyor 6D, and it is determined whether a matching target conveyor exists. In this case, during the selection process of the fifth item W5 as the target item WT, the fourth item W4 becomes the upstream item WU of the fourth downstream conveyor 6D.

[0073] As described above, in the selection process, if no matching conveyor is available, the downstream conveyor 6 selected according to the prescribed basic selection rules is determined as the selected conveyor. The basic selection rules can be, for example, rules that select (the downstream conveyor 6) based on at least one of the following: the capacity ratio of each of the multiple shelves 10 as the number of already held items W relative to the capacity of the items W, and the number of items W being transported by each of the multiple downstream conveyors 6. Furthermore, "transporting" means the state of loading onto the downstream conveyor 6, including not only during transport but also during a stop. Alternatively, the basic selection rules can also be rules that select (the downstream conveyor 6) based on at least one of the following: the capacity ratio of each of the multiple shelves 10, the number of items W being transported by each of the multiple downstream conveyors 6, and the position of each of the multiple downstream conveyors 6 relative to the branch 8 of the upstream conveyor 5. The control device 2 obtains information (e.g., the aforementioned capacity ratio information) necessary for selecting the downstream conveyor 6 according to the basic selection rules from its own managed information or from other devices.

[0074] When the basic selection rule is to select the downstream conveyor 6 based on the respective capacity of the multiple storage racks 10, it is appropriate to increase the priority of supplying the items W to the downstream conveyor 6 of the conveying device 20 of the automated warehouse unit 1 equipped with the storage rack 10 as the capacity of the storage rack 10 decreases (selecting the conveyor as the priority). In this case, the load deviation among the multiple automated warehouse units 1 can be reduced.

[0075] When the basic selection rule is to select a downstream conveyor 6 based on the number of items W being transported by each of the multiple downstream conveyors 6, it is appropriate to increase the priority of that downstream conveyor 6 (selection priority) as the number of items W being transported by that downstream conveyor 6 decreases. In this case, it is possible to reduce the load deviation among the multiple downstream conveyors 6.

[0076] When the basic selection rule is to select a downstream conveyor 6 based on the position of each of the multiple downstream conveyors 6 relative to the branch 8 of the upstream conveyor 5, it is suitable to select the conveyor sequentially, starting from the downstream conveyor 6 that is upstream of the upstream conveyor 5 at the branch 8 position, or sequentially from the downstream conveyor 6 that is downstream of the upstream conveyor 5 at the branch 8 position (i.e., cyclically). In this case, the load deviation among the multiple downstream conveyors 6 can be reduced using a relatively simple control configuration.

[0077] When the basic selection rule is based on both the capacity of each of the multiple storage racks 10 and the number of items W being transported by each of the multiple downstream conveyors 6, the configuration can be as follows: for example, the priority mentioned above is determined in such a way that it increases as the capacity of the storage racks 10 decreases, and also increases as the number of items W being transported by the downstream conveyors 6 decreases. Furthermore, when the basic selection rule is based on at least one of the capacity of each of the multiple storage racks 10 and the number of items W being transported by each of the multiple downstream conveyors 6, and also on the position of each of the multiple downstream conveyors 6 at its branch point 8 with the upstream conveyor 5, the configuration can be as follows: for example, the downstream conveyors 6 are selected cyclically from among the multiple downstream conveyors 6 that have equally high priority.

[0078] Next, in Figures 8 to 10 The examples are explained in detail below. Figure 8In the scenario shown, none of the following downstream conveyors—6A (first), 6B (second), 6C (third), and 6D (fourth)—contains item W. Therefore, in the selection process for the first item W1, which is the downstream object item WT, there is no matching conveyor, and the selected conveyor (downstream conveyor 6) is determined to be the destination of the first item W1 according to the basic selection rules. Since the first item W1, the second item W2, and the third item W3 are items W of different types, there is also no matching conveyor in the selection process for the second item W2, which is the next object item WT, or the third item W3, which is the next after that object item WT. Therefore, the selected conveyor is also determined to be the destination of the second item W2 or the third item W3 according to the basic selection rules.

[0079] Here, starting from the downstream side conveyor 6 downstream of the upstream side conveyor 5 at the branch 8 position, the downstream side conveyor 6 that becomes the destination of the first item W1, the second item W2, and the third item W3 is selected sequentially and cyclically. Specifically, for the first item W1, the fourth downstream side conveyor 6D is selected; for the second item W2, the third downstream side conveyor 6C is selected; and for the third item W3, the second downstream side conveyor 6B is selected. The result is as follows: Figure 9 As shown, the first item W1 is conveyed to the fourth downstream conveyor 6D, the second item W2 is conveyed to the third downstream conveyor 6C, and the third item W3 is conveyed to the second downstream conveyor 6B.

[0080] exist Figure 9 In the scenario shown, during the selection process for the fourth item W4, which is the downstream object item WT, the fourth downstream conveyor 6D is a downstream conveyor 6 where the item W of the same type as the object item WT is the upstream item WU and there is no adjacent group of the same type of item GW. That is, the fourth downstream conveyor 6D is a paired object conveyor, and for the fourth item W4, the fourth downstream conveyor 6D is determined to be the selection conveyor. During the selection process for the fifth item W5, which is the next object item WT, it is assumed that the fourth item W4 is transported to the fourth downstream conveyor 6D, and it is determined whether there is a paired object conveyor. Therefore, although the fourth downstream conveyor 6D has the item W of the same type as the object item WT as the upstream item WU, the number of items W constituting the adjacent group of the same type of item GW is not even, but odd (specifically, 1), and therefore it will not become a paired object conveyor. As a result, in the selection process for item W5, there is no matching transport that is determined to be the destination of item W5 according to the basic selection rules.

[0081] Here, among the four downstream conveyors 6, only the first downstream conveyor 6A does not contain item W. Therefore, the first downstream conveyor 6A, which carries the fewest items W, is chosen as the destination for the fifth item W5. As a result, as... Figure 10 As shown, the fourth item W4 is conveyed to the fourth downstream conveyor 6D, and the fifth item W5 is conveyed to the first downstream conveyor 6A.

[0082] exist Figures 8 to 10 In the example shown, multiple object items (WT) are selected sequentially as described above. Figure 10 As shown, in the fourth downstream conveyor 6D (in this example, the first conveying section 7A), two items W of the same kind (specifically, items W of type A) are arranged adjacently (paired state), and these two items W of the same kind can be transferred together to the conveying device 20 (specifically, the transfer device 30).

[0083] Next, regarding Figures 11 to 12 The examples shown provide a detailed illustration. In Figure 11 In the scenario shown, item W is absent in the first downstream conveyor 6A, three items W are present in the second downstream conveyor 6B, two items W are present in the third downstream conveyor 6C, and three items W are present in the fourth downstream conveyor 6D. In the selection process for the sixth item W6, which is the object item WT at the very downstream end, the second downstream conveyor 6B becomes the downstream conveyor 6 where item W of the same type as object item WT is the upstream item WU and there is no adjacent group of the same type of item GW. That is, the second downstream conveyor 6B is the paired object conveyor. On the other hand, although the third downstream conveyor 6C has item W of the same type as object item WT as the upstream item WU, the number of items W constituting the adjacent group of the same type of item GW is not even, but odd (specifically, one), and therefore it will not become the paired object conveyor. As a result, for the sixth item W6, the second downstream conveyor 6B is determined to be the selection conveyor.

[0084] In the selection process for the 7th item W7, which is the next target item WT, the 4th downstream conveyor 6D is a downstream conveyor 6 where the number of items W of the same type as the target item WT, which is the upstream item WU, and which constitutes an even number (specifically, 2) of adjacent items of the same type GW, is determined. That is, the 4th downstream conveyor 6D is a paired target conveyor, and for the 7th item W7, the 4th downstream conveyor 6D is determined as the selection conveyor. In the selection process for the 8th item W8, which is the next target item WT, there is no paired target conveyor, and the selection conveyor is determined as the destination of the 8th item W8 according to the basic selection rules. Here, among the 4 downstream conveyors 6, only the 1st downstream conveyor 6A does not have any items W, and the 1st downstream conveyor 6A, which is the downstream conveyor 6 with the fewest items W being transported, is determined as the selection conveyor as the destination of the 8th item W8. As a result, as Figure 12 As shown, item 6 W6 is conveyed to the second downstream conveyor 6B, item 7 W7 is conveyed to the fourth downstream conveyor 6D, and item 8 W8 is conveyed to the first downstream conveyor 6A.

[0085] exist Figures 11 to 12 In the example shown, multiple object items (WT) are selected sequentially as described above. Figure 12 As shown, in the second downstream conveyor 6B (each of the first conveying section 7A and the second conveying section 7B in this example), the third downstream conveyor 6C (the first conveying section 7A in this example), and the fourth downstream conveyor 6D (each of the first conveying section 7A and the second conveying section 7B in this example), two items W of the same type are arranged adjacent to each other, and these two items W of the same type can be transferred together to the conveying device 20 (specifically, the transfer device 30).

[0086] However, in this embodiment, each of the multiple downstream conveyors 6 is configured to advance the conveying sequence of the items W to the conveying device 20 by a specific amount. (Refer to...) Figures 13 to 15 This point will be explained. Figures 13 to 15 In each of these examples, the object item WT is treated as the item W to be transported ahead of schedule. The following diagrams, in the order of (a), (b), (c), and (d), show the situation at each moment when the transport sequence of the object item WT to the conveyor 20 is advanced. Furthermore, in... Figure 13 In (a), it is envisioned that on the downstream conveyor 6 (specifically, the third conveying section 7C), there are, sequentially arranged from the upstream side, an upstream item WU of a different type from the target item WT, and an item WK of the same type as the target item WT. Furthermore, in Figure 14In (a), it is envisioned that on the downstream conveyor 6 (specifically, the third conveying section 7C), starting from the upstream side, there are an upstream item WU of a different type from the target item WT, an item W of the same type as the upstream item WU, and an item WK of the same type. Furthermore, in Figure 15 In (a), it is envisioned that the downstream conveyor 6 (specifically, the third conveying section 7C) is arranged sequentially from the upstream side with an upstream item WU of a different type from the target item WT, two items W of the same type as the upstream item WU, and an item WK of the same type.

[0087] As from Figures 13 to 15 It is understood that even when there is a different type of item W between the target item WT and the same type of item WK, the different type of item W is transported to the transport section that transports the target item WT and the same type of item WK (in Figure 13 and Figure 14 In the middle, the first conveyor section 7A, in Figure 15 In the middle, the second conveying section 7B) is a different conveying section (in Figure 13 and Figure 14 In the middle, the second conveyor section 7B, in Figure 15 In the first conveying section 7A), the conveying sequence of the object item WT to the conveying device 20 can also be advanced to achieve a state where the object item WT and the same type of item WK are arranged adjacent to each other (see reference). Figure 13 (d) Figure 14 (d) Figure 15 (d)). In Figure 13 In the example shown, the conveying sequence of the object item WT to the conveyor 20 is advanced by one item. Figure 14 In the example shown, the conveying sequence of the object item WT to the conveyor 20 is advanced by 2 steps. Figure 15 In the example shown, the object item WT is transported to the conveyor 20 side in a 3-step advance.

[0088] The maximum number of items W that can be transported in advance to the conveying device 20 side is determined accordingly to the configuration of the downstream conveyor 6. For example, the number of items W that can be arranged in the first conveying section 7A or the second conveying section 7B (in Figures 13 to 15 In the example shown, increasing the number of items (2) increases the maximum quantity. Additionally, by increasing the number of items W that can be configured in the third conveyor section 7C further downstream than the connection with the second conveyor section 7B (in... Figures 13 to 15 In the example shown, adding 1 increases the maximum number.

[0089] The maximum number of times the object item WT can be transported to the conveying device 20 can be advanced varies depending on the state of the downstream conveyor 6. Specifically, depending on the number or position of the items W disposed on the downstream conveyor 6, the maximum number of times the object item WT can be transported to the conveying device 20 can be advanced is smaller than the maximum number mentioned above that is determined accordingly to the configuration of the downstream conveyor 6.

[0090] Thus, in this embodiment, each of the multiple downstream conveyors 6 is configured such that the transport sequence of the items W to the conveying device 20 is advanced by a specific number. Therefore, the configuration can be as follows: the control device 2 obtains information about the specific number of each of the multiple downstream conveyors 6. In the selection process, the downstream conveyors 6 include those that are paired with the target item conveyor, where the upstream item WU is a different type of item W from the target item WT, and an odd number of the same type of item WK (of the same type as the target item WT) are being transported within a specific number of downstream items from the upstream item WU. Furthermore, this specific number corresponds to the maximum number mentioned above and varies accordingly with the state of the downstream conveyors 6. Additionally, the control device 2 obtains information about the specific number of each of the multiple downstream conveyors 6 from its own managed information or from other devices.

[0091] exist Figure 13 (a) Figure 14 (a) and Figure 15 In each of the situations shown in (a), the specific quantity is "3". Additionally, in... Figure 13 In the situation shown in (a), the same type of item WK is located one item downstream of the upstream item WU. Figure 14 In the situation shown in (a), the same item WK is located two downstream of the upstream item WU. Figure 15 In the situation shown in (a), the same item WK is located three downstream from the upstream item WU. Furthermore, in Figure 13 (a) Figure 14 (a) and Figure 15 In each of the situations shown in (a), the downstream conveyor 6 is conveying one of the same type of item WK. Therefore, Figure 13 (a) Figure 14 (a) and Figure 15 (a) The downstream conveyor 6 shown is as follows: the upstream item WU is of a different type than the target item WT, and there are a certain number (here, 3) of the same type of item WK in the range from the upstream item WU to the downstream side, and an odd number (here, 1) of the same type of item WK are being transported.

[0092] Therefore, in the case where the control device 2 is configured as described above, Figure 13 (a) Figure 14 (a) and Figure 15 (a) The downstream conveyor 6 shown becomes the paired conveyor. In the case where the downstream conveyor 6 is determined to be the selected conveyor, such as Figures 13 to 15 As shown, the control device 2 controls the downstream conveyor 6 to advance the conveying sequence of the object item WT to the conveying device 20 until the object item WT is arranged adjacent to the same type of item WK. Furthermore, even if each of the multiple downstream conveyors 6 can advance the conveying sequence of the object item W to the conveying device 20 by a specific number, it can be configured such that, in the selection process, the downstream conveyor 6 is not included in the paired object conveyor: the upstream item WU is of a different type than the object item WT, and there are same type items WK within a specific number of downstream from the upstream item WU, and an odd number of the same type of items WK are being conveyed.

[0093] Other implementation methods

[0094] Next, other embodiments of the item-containing device will be described.

[0095] (1) In the above embodiment, the following configuration was described as an example: the conveying device 20 includes two transfer devices 30 (specifically, a first transfer device 30A and a second transfer device 30B) capable of performing transfer operations independently of each other. However, this disclosure is not limited to this configuration, as in... Figure 16 As shown in the example, the conveying device 20 can also be configured to have only one transfer device 30. In this case, the conveying device 20 differs from the embodiment described above, and is configured to convey one group of items W in groups of two.

[0096] (2) In the above embodiment, the following configuration has been described as an example: each of the first transfer device 30A and the second transfer device 30B is capable of holding two articles W. However, this disclosure is not limited to such a configuration, as in Figure 17 As shown in the example, it can also be configured such that each of the first transfer device 30A and the second transfer device 30B can only hold one item W. In this case, the conveying device 20 differs from the above embodiment and is configured to convey one set of items W in groups of two (specifically, the first transfer device 30A holds one item W, and the second transfer device 30B holds another item W, conveying a total of two items W).

[0097] When both the first transfer device 30A and the second transfer device 30B are configured to hold only one item W, such as Figure 17As shown in the example, in a manner where the article W transferred from the first conveying section 7A to the first transfer device 30A and the article W transferred from the second conveying section 7B to the second transfer device 30B are of the same type, the two articles W of the same type, which are conveyed adjacently in the third conveying section 7C, are separately supplied to the first conveying section 7A and the second conveying section 7B. Figure 1 and Figure 2 As illustrated, generally speaking, multiple items W of the same type are arranged adjacent to each other in the receiving rack 10. Therefore, by making the items W held in the first transfer device 30A and the items W held in the second transfer device 30B the same type of items W, these two items W can be accommodated in the same receiving section 11 or two receiving sections 11 arranged close to each other, thereby improving the conveying efficiency of the conveying device 20 for the items W.

[0098] (3) In the above embodiment, the example described is that the attribute of article W is the size of its shape. However, this disclosure is not limited to this configuration, and it is also possible to configure it as follows: the attribute of article W is a category other than the size of its shape, and the type of article W is determined accordingly. As attributes of article W other than the size of its shape, examples that can be included are the type of goods (goods, etc.) contained in article W, the delivery order to which article W belongs (in other words, is assigned), the shape of article W, and the weight of article W.

[0099] (4) In the above embodiment, the following configuration is described as an example: when the control device 2 accommodates the article W in the accommodating portion 11 of the accommodating shelf 10, the position and width of the accommodating portion 11 in the first direction X are set in accordance with the size of the article W in the first direction X. However, this disclosure is not limited to such a configuration, and a configuration in which the position and width of the accommodating portion 11 of the accommodating shelf 10 are fixed is also possible.

[0100] (5) In the above embodiment, the following configuration is described as an example: each of the pair of arms 32 is provided with a hook 35, and the transfer device 30 uses the hooks 35 to push or pull the article W in by moving the pair of arms 32 forward and backward, so that the article W disposed between the pair of arms 32 moves along the second direction Y. However, this disclosure is not limited to this configuration, and it is also possible to have a configuration in which hooks 35 are not provided in each of the pair of arms 32. For example, it is possible to have a configuration in which the transfer device 30 moves the article W disposed between the pair of arms 32 along the second direction Y by moving the pair of arms 32, which are in a state of holding the article W from both sides in the first direction X, forward and backward. In such a configuration, it is also possible to have a configuration in which a conveyor (e.g., a belt conveyor) is provided in each of the pair of arms 32 to abut against the side of the article W and transport the article W along the second direction Y, and the article W disposed between the pair of arms 32 moves along the second direction Y by the operation of the conveyor in addition to the forward and backward movement of the pair of arms 32. Alternatively, the transfer device 30 can be configured such that, instead of a pair of arms 32, it has a support portion that supports the article W from below Z2, and the support portion moves forward and backward along the second direction Y to perform the transfer action of the article W.

[0101] (6) In the above embodiment, the following configuration is described as an example: the mounting section 31 is equipped with a conveyor 36 for conveying the article W along the second direction Y (in the example of the above embodiment, two conveyors 36 are arranged side by side along the second direction Y), and the transfer device 30 operates the conveyor 36 in a manner synchronized with the moving direction and speed of the article W based on the forward and backward movement of a pair of arms 32 during the transfer operation. However, this disclosure is not limited to this configuration, and it is also possible to have a configuration in which the mounting section 31 does not have a conveyor 36, and the article W slides on the mounting section 31 (specifically, on the support surface of the mounting section 31 facing upward Z1) during the transfer operation.

[0102] (7) In the above embodiment, the following configuration is described as an example: the first transfer device 30A and the second transfer device 30B are supported side by side along the first direction X by a common lifting part 23, and rise and fall together with the lifting part 23. However, this disclosure is not limited to this configuration, and it is also possible for the first transfer device 30A and the second transfer device 30B to rise and fall independently by being supported by two lifting parts that can rise and fall independently of each other.

[0103] (8) In the above embodiment, the example described is that the conveying device 20 is a stacker crane. However, this disclosure is not limited to such a configuration, and the conveying device 20 can also be a conveying device other than a stacker crane, such as a conveying device that travels along a travel path provided corresponding to each layer of the housing 10.

[0104] (9) In the above embodiments, the configuration of the receiving rack 10 having a plurality of receiving portions 11 arranged in the vertical direction Z was described as an example. However, this disclosure is not limited to this configuration, and the receiving rack 10 may also have a receiving portion 11 at only one height. In addition, in the above embodiments, the configuration of the article receiving device 100 having a pair of receiving racks 10 arranged opposite each other in the second direction Y was described as an example. However, this disclosure is not limited to this configuration, and the article receiving device 100 may also have a receiving rack 10 on only one side of the travel path of the traveling carriage 21 in the second direction Y. In addition, in the above embodiments, the configuration of each of the plurality of receiving portions 11 being able to accommodate a plurality of articles W side by side in the second direction Y was described as an example. However, this disclosure is not limited to this configuration, and the configuration of each of the plurality of receiving portions 11 being able to accommodate only one article W was also possible.

[0105] (10) Furthermore, 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) as long as they do not create contradictions. Regarding other configurations, the embodiments disclosed in this specification are merely illustrative at all points. Therefore, various changes can be made appropriately without departing from the spirit of this disclosure.

[0106] [Summary of the above embodiments]

[0107] The following is a summary of the article-containing device described above.

[0108] An item holding device is provided, comprising multiple automated storage units, a supply device, and a control device. Each automated storage unit includes a conveying device and a shelf for holding items conveyed by the conveying device. The supply device supplies the items to the respective conveying devices of each of the multiple automated storage units. The control device controls the supply device. The conveying device is configured to convey two items together. The supply device includes a first conveyor, multiple second conveyors branching from the first conveyor, and a branching device located at branches of the first conveyor and each of the second conveyors to control the destination of the items. Each of the second conveyors is configured to supply the items to the corresponding conveying device of the automated storage unit. Given that the items have multiple different attributes, the control device selects the second conveyor as the destination for each item conveyed by the first conveyor, considering each item as a target item. The selection process for the conveyor involves controlling the first conveyor, multiple second conveyors, and multiple branch devices in a manner that transports the aforementioned object item to the aforementioned selection conveyor. In each of the multiple second conveyors, the upstream item is designated as the upstream item, and a group of one or more items of the same type as the upstream item that are adjacent to the downstream side of the upstream item is designated as an adjacent group of the same type of item. The selection process is as follows: the second conveyor where the upstream item is of the same type as the object item and there is no adjacent group of the same type of item, and the second conveyor where the upstream item is of the same type as the object item and the number of items constituting the adjacent group of the same type of item is even, are designated as paired object conveyors. If a paired object conveyor exists, the paired object conveyor is determined as the aforementioned selection conveyor. If no paired object conveyor exists, the second conveyor selected according to the prescribed basic selection rules is determined as the aforementioned selection conveyor.

[0109] According to this configuration, in the selection process for the second conveyor, which is the destination of the items transported by the first conveyor, the second conveyor capable of arranging items of the same type in a state of two adjacent units (pairing) is designated as the pairing conveyor. If a pairing conveyor exists, it is designated as the selection conveyor; otherwise, the second conveyor selected according to a predetermined basic selection rule is designated as the selection conveyor. Therefore, the proportion of items of the same type transported in a state of two adjacent units on multiple second conveyors can be increased, thereby increasing the proportion of items of the same type supplied to the respective conveying devices of multiple automated warehouse units in a state of two adjacent units.

[0110] Here, it is appropriate that each of the aforementioned second conveyors is configured in such a way that the transport order of the aforementioned items of the target object to the aforementioned conveying device side is advanced by a specific number. The aforementioned control device obtains information on the aforementioned specific number of each of the aforementioned second conveyors. In the aforementioned selection process, the aforementioned second conveyor is also included in the aforementioned pairing object conveyor as follows: the aforementioned item of a different type from the aforementioned target item is the aforementioned upstream item, and there is an identical item of the same type as the aforementioned target item within the range of the aforementioned specific number from the aforementioned upstream item to the downstream side, and an odd number of the aforementioned identical items are being transported.

[0111] According to this configuration, when each of the multiple second conveyors is configured to advance the delivery sequence of items to the conveying device by a specific number, the second conveyors that can be paired by such advance delivery can also be included in the pairing conveyor. Therefore, the proportion of items of the same type that can be supplied to the respective conveying devices of multiple automated warehouse units in a two-to-one arrangement can be further increased.

[0112] Additionally, it is appropriate that the aforementioned basic selection rule is a rule selected based on at least one of the following: the capacity ratio of the number of the aforementioned items already contained in each of the plurality of aforementioned containers to the number of items that can be contained, and the number of the aforementioned items being transported by each of the plurality of aforementioned second conveyors.

[0113] According to this configuration, in the absence of a paired conveyor, the selection of a conveyor can be appropriately determined based on the capacity of the respective racks of the multiple automated storage units or the congestion level of the corresponding second conveyors of the multiple automated storage units. Therefore, it is easy to reduce the load deviation of the multiple automated storage units and the multiple second conveyors.

[0114] Additionally, it is appropriate that the number of the aforementioned second conveyors is less than the number of the aforementioned types of items.

[0115] When the number of second conveyors exceeds the number of item types, it is easy to achieve a state where items of the same type are paired up in pairs on each second conveyor. However, when the number of second conveyors is less than the number of item types, special handling is required to achieve this state. According to this configuration, even when the number of second conveyors is less than the number of item types, it is possible to increase the proportion of items of the same type that can be transported in pairs, making it suitable.

[0116] Additionally, it is suitable that the aforementioned control device performs the aforementioned selection process when the aforementioned object has passed the predetermined selection position of the aforementioned first conveyor, the aforementioned selection position being set at a position further upstream than the aforementioned branch located on the most upstream side among the plurality of aforementioned branches arranged along the aforementioned first conveyor.

[0117] According to this configuration, a selection process can be performed before the object item arrives at the upstream branch among the multiple branches arranged along the first conveyor. Therefore, a selection process for choosing which of the multiple second conveyors to transport the object item can be performed at the appropriate time.

[0118] Additionally, it is appropriate that the aforementioned attribute is the size of the aforementioned item's shape, and that the aforementioned type of the aforementioned item and the size of the aforementioned item belong to which of the predetermined size classifications are determined accordingly.

[0119] According to this configuration, the external dimensions of two items that are adjacent to each other on multiple second conveyors can be made relatively close. Therefore, in operations such as supplying items from the second conveyor to the conveying device or receiving items from the conveying device to the receiving rack, it is easy to transfer two items simultaneously. In other words, according to this configuration, the transfer operation of two items is easily simplified.

[0120] The article-containing device involved in this disclosure only needs to be able to achieve at least one of the above-mentioned effects.

[0121] Symbol Explanation

[0122] 1: Automated Warehouse Unit

[0123] 2: Control device

[0124] 4: Supply device

[0125] 5: Upstream Conveyor (Conveyor 1)

[0126] 6: Downstream conveyor (second conveyor)

[0127] 8: Branch Office

[0128] 9: Branching device

[0129] 10: Storage rack

[0130] 20: Conveying device

[0131] 100: Item storage equipment

[0132] GW: Adjacent to the same item group

[0133] P: Select Location

[0134] W: Items

[0135] WK: Same type of item

[0136] WT: Object Item

[0137] WU: The most upstream item.

Claims

1. An item holding device comprising multiple automated storage units and a supply device and a control device, wherein each automated storage unit includes a conveying device and a receiving rack for items conveyed by the conveying device; the supplying device supplies the items to the respective conveying devices of the multiple automated storage units; and the control device controls the supplying device, wherein... The conveying device is configured to convey the two items together. The supply device includes a first conveyor, a plurality of second conveyors branching from the first conveyor, and a branching device provided at each of the first conveyor and the plurality of second conveyors to control the destination of the article. Each of the plurality of second conveyors is configured to supply the items to the conveying device of the corresponding automated warehouse unit in the plurality of automated warehouse units. For the items mentioned, there are multiple categories with different attributes. The control device takes each item transported by the first conveyor as an object item and performs a selection process to determine which second conveyor will be the destination of the object item, thereby controlling the first conveyor, multiple second conveyors, and multiple branching devices to transport the object item to the selected conveyor. In each of the plurality of the second conveyors, the upstream item is designated as the upstream item, and a group of one or more items of the same type as the upstream item that are adjacent to the downstream side of the upstream item is designated as the adjacent same type item group. The selection process is as follows: the second conveyor that has the same type of item as the target item as the upstream item and does not have the adjacent group of the same type of item, and the second conveyor that has the same type of item as the target item as the upstream item and the number of items forming the adjacent group of the same type of item is even, are designated as the pairing target conveyor. If the pairing target conveyor exists, it is determined as the selection conveyor. If the pairing target conveyor does not exist, the second conveyor selected according to the prescribed basic selection rules is determined as the selection conveyor.

2. The article containing device according to claim 1, wherein, Each of the plurality of the second conveyors is configured in such a way that the conveying order of the items to the conveying device side is advanced by a specific number. The control device obtains information on the specific quantity of each of the multiple second conveyors, and in the selection process, the second conveyor is also included in the pairing object conveyor as follows: the item of a different type from the object item is the upstream item, and there are items of the same type as the object item within the range of the specific quantity from the upstream item to the downstream side, and an odd number of the same items are being conveyed.

3. The article containing device according to claim 1 or 2, wherein, The basic selection rule is a rule selected based on at least one of the following: the capacity ratio of each of the plurality of containers as the number of the items already contained to the number of items that can be contained, and the number of the items that are being conveyed by each of the plurality of second conveyors.

4. The article containing device according to claim 1 or 2, wherein, The number of the second conveyors is less than the number of types of items.

5. The article containing device according to claim 1 or 2, wherein, The control device performs the selection process after the object has passed the designated selection position of the first conveyor. The selected position is set at a position further upstream than the most upstream branch among the plurality of branches arranged along the first conveyor.

6. The article containing device according to claim 1 or 2, wherein, The attribute is the dimensions of the item's shape. The type of the item is determined according to which of a predetermined size classification the item's size belongs to.

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