Storage conveyor system

Abstract

A storage conveyor system is provided. A storage conveyor (12) mounted on a vehicle and carrying a cargo (300) has a right-angle turning unit (18) that changes a traveling direction of the cargo (300) from a first direction to a second direction orthogonal to the first direction. When changing the traveling direction of the cargo (300) in the right-angle turning unit (18), the cargo (300) is carried toward a second direction downstream side after the cargo (300) is brought close to a corner portion (Pc) that is a first direction downstream end and a second direction upstream end of the right-angle turning unit (18).

Description

[0001] Cross-references to related applications

[0002] This application claims priority to Japanese Patent Application No. 2022-076272, filed on May 2, 2022, the entire contents of which, including the description, claims, drawings and abstract, are incorporated herein by reference. Technical Field

[0003] This specification discloses a control method for a storage conveyor mounted on a vehicle and a storage conveyor system. Background Technology

[0004] The idea of ​​installing storage conveyors inside vehicles has been proposed for a long time. These conveyors would store goods and move them to any location within the vehicle.

[0005] Patent Document 1 discloses a vehicle comprising a shelf for placing goods, a conveyor located below the shelf for moving goods forward and backward, a stacker crane for moving goods from the shelf up and down and forward and backward to the conveyor, and a robotic arm for handing goods from the conveyor to a traveling robot. According to this technology, goods are automatically removed from the shelf and handed over to the traveling robot, thus enabling efficient delivery to a certain extent.

[0006] Prior art literature

[0007] Patent documents

[0008] Patent Document 1: Japanese Patent Application Publication No. 2020-090151

[0009] Here, storage conveyors sometimes include right-angle turning units that change the direction of travel of goods at a right angle. When the storage conveyor is installed on a horizontal surface, goods can be transported smoothly with simple control. However, when the storage conveyor is mounted on a vehicle, the goods stored in the conveyor may tilt depending on the road surface inclination. Furthermore, in the right-angle turning unit, when the goods are tilted, they may interfere with the sides of the transport path, preventing them from moving forward smoothly.

[0010] Therefore, a storage conveyor system and a control method for the storage conveyor that can smoothly transport goods regardless of the slope of the road surface are disclosed. Summary of the Invention

[0011] The control method for the storage conveyor disclosed in this specification is a control method for a storage conveyor mounted on a vehicle and used to transport goods. The storage conveyor is characterized in that it has a right-angle turning unit that changes the direction of travel of the goods from a first direction at a right angle to a second direction orthogonal to the first direction. When changing the direction of travel of the goods in the right-angle turning unit, the goods are brought close to the corner of the right-angle turning unit, which is the downstream end of the first direction and the upstream end of the second direction, and then the goods are transported to the downstream side of the second direction.

[0012] By bringing the goods closer to the corners, their posture is corrected. Then, by conveying them in a second direction, it is possible to effectively prevent the goods from getting stuck on the sides of the transport path. As a result, according to the above structure, goods can be transported smoothly regardless of the slope of the road surface.

[0013] In this case, it is possible to transport the goods to the downstream side in the first direction and the downstream side in the second direction simultaneously after bringing the goods close to the corner.

[0014] By forming the structure described above, it is possible to prevent the cargo from tilting during the downstream transport in the second direction. As a result, cargo can be handled more smoothly.

[0015] Furthermore, the storage conveyor may also have a straight-line unit that transports the goods without changing the direction of travel of the goods. After the process of bringing the first goods close to the corner begins and before the process of transporting the first goods to the downstream side in the second direction begins, the second goods located on the straight-line unit connected to the upstream side of the right-angle turning unit in the first direction are temporarily transported in the opposite direction to the upstream side in the first direction. Then, the transport of the second goods is stopped until the process of transporting the first goods to the downstream side in the second direction is completed.

[0016] By forming the structure described above, the first cargo, which undergoes a right-angle directional change, and the second cargo located on the upstream side can be properly separated. Furthermore, this prevents the second cargo from entering the right-angle bend while the first cargo is being transported downstream in the second direction. In other words, it prevents the second cargo from being transported downstream in the second direction together with the first cargo before approaching the corner.

[0017] The storage conveyor system disclosed in this specification is characterized by comprising: a storage conveyor mounted on a vehicle for transporting goods; and a controller for controlling the drive of the storage conveyor, the storage conveyor having a right-angle turning unit that changes the direction of travel of the goods from a first direction at a right angle to a second direction orthogonal to the first direction, and the controller controlling the drive of the storage conveyor in such a manner that the goods are brought close to the corner of the right-angle turning unit, which is the downstream end of the first direction and the upstream end of the second direction, and then the goods are transported to the downstream side of the second direction.

[0018] By bringing the goods closer to the corners, their posture is corrected. Then, by conveying them in a second direction, it is possible to effectively prevent the goods from getting stuck in the sides of the transport path. As a result, according to the above structure, goods can be transported smoothly regardless of the slope of the road surface.

[0019] In this case, the right-angle turning unit may have: a plurality of first transport rollers that rotate about an axis parallel to the second direction and transport the goods downstream in the first direction by rotating in the forward direction; and a plurality of second transport rollers that rotate about an axis parallel to the first direction and transport the goods downstream in the second direction by rotating in the forward direction, wherein the controller rotates the first transport rollers in the forward direction and the second transport rollers in the reverse direction when the goods are brought close to the corner, and rotates the first transport rollers in the forward direction and the second transport rollers in the forward direction when the goods are transported downstream in the second direction.

[0020] By forming the aforementioned structure, goods can be brought closer to the corners through simple control. Furthermore, when conveying goods downstream in the second direction, the first conveying roller also rotates forward, thereby preventing the goods from tilting during the process of conveying them downstream in the second direction.

[0021] Furthermore, the right-angle turning unit may be divided into a first region with a plurality of first transport rollers and a second region with a plurality of second transport rollers, with the diagonal of the right-angle turning unit passing through the corner as the boundary. The right-angle turning unit further includes: a first auxiliary roller, disposed in the second region, which transports the goods downstream in a first direction by rotating in a forward direction, and has a diameter larger than the diameter of the second transport rollers; and a second auxiliary roller, disposed in the first region, which transports the goods downstream in a second direction by rotating in a forward direction, and has a diameter larger than the diameter of the first transport rollers.

[0022] By providing a second auxiliary roller, goods can be conveyed in a second direction even when most of the goods are located in the first area; conversely, by providing a first auxiliary roller, goods can be conveyed in the first direction even when most of the goods are located in the second area. As a result, the direction of travel of the goods can be changed at a right angle more appropriately. Furthermore, by making the first and second auxiliary rollers larger in diameter than the second and first conveying rollers, interference is less likely to occur in the power transmission components (e.g., belts) used to transmit power to each roller, thus simplifying the mechanical structure of the power transmission.

[0023] Furthermore, the storage conveyor may also include: a partition wall erected along the transport path, defining the boundary of the transport path of the storage conveyor; and a slide rail, which is a track fastened to the partition wall and prevents the goods from leaving the transport path by abutting against the goods, having a smaller coefficient of friction than the partition wall.

[0024] By forming the structure described above, even when the goods are near the corners, wear and tear caused by friction between the goods and the partition can be prevented.

[0025] Furthermore, the transport route may be a continuous process of transporting the goods in a cyclical manner.

[0026] By cyclically transporting goods, any goods can be moved to any location along the transport route at any time.

[0027] In this case, the transport route may be arranged as follows: after turning back an odd number of times in a zigzag pattern with the outbound route and the return route proceeding in the opposite direction to the outbound route in a direction orthogonal to the outbound route, it proceeds in a direction orthogonal to the outbound route and returns to the starting point. In the turning portion of the transport route, the two right-angle turning units are arranged adjacent to each other in the orthogonal direction.

[0028] By structuring the transport route as described above, it is possible to suppress the formation of dead zones while cyclically transporting goods.

[0029] According to the technology disclosed in this specification, goods can be transported smoothly regardless of the slope of the road surface. Attached Figure Description

[0030] Figure 1 It is a general three-dimensional diagram of the loading and unloading system.

[0031] Figure 2 This is a top view of the loading and unloading system.

[0032] Figure 3 It is along Figure 2 A partial cross-sectional view of line AA.

[0033] Figure 4 It is along Figure 3 A partial cross-sectional view of the BB line.

[0034] Figure 5 This is a general top view of the storage conveyor.

[0035] Figure 6 It is a 3D view of the straight-line unit and the elevator.

[0036] Figure 7 This is a top view of the elevator and forklift.

[0037] Figure 8 This is a 3D diagram of a right-angle turning unit.

[0038] Figure 9 It is a three-dimensional diagram of a right-angle turning unit with some of its constituent elements omitted.

[0039] Figure 10 This diagram illustrates the reason for changing the direction of travel of goods at a right angle.

[0040] Figure 11 This is a schematic diagram illustrating the handling of goods based on a storage conveyor.

[0041] Figure 12A This is a diagram showing another example of a transport route.

[0042] Figure 12B This is a diagram showing another example of a transport route.

[0043] Figure 13 This is a diagram showing another example of a right-angle turning unit. Detailed Implementation

[0044] The structure of the loading and unloading system 10 will now be described with reference to the accompanying drawings. Figure 1 This is a schematic three-dimensional view of the loading and unloading system 10. Figure 2 This is a top view of the loading and unloading system 10. Furthermore, Figure 3 It is along Figure 2 A partial cross-sectional view of line AA. Figure 4 It is along Figure 3 A partial cross-sectional view of the BB line. It should be noted that in the following figures, "Fr", "Up", and "Rh" represent the front of the vehicle, the top of the vehicle, and the right side of the vehicle, respectively.

[0045] In this example, the loading and unloading system 10 is mounted on a vehicle. This vehicle collaborates with unmanned transport aircraft to transport goods 300. Unmanned transport aircraft include, for example, unmanned ground vehicles (hereinafter referred to as "UGVs") 220 that travel on the ground and transport goods 300, and drones 210 that fly and transport goods 300. It should be noted that, hereinafter, without distinguishing between UGV 220 and drone 210, they are referred to as "unmanned transport aircraft." Typically, such unmanned transport aircraft are smaller than vehicles, thus enabling them to enter private residential areas and houses, and possess excellent mobility. On the other hand, unmanned transport aircraft have a shorter range compared to vehicles. Therefore, unmanned transport aircraft are only responsible for transport from the vicinity of the delivery destination to the delivery destination. The vehicle transports goods 300 from the departure location to the vicinity of the delivery destination.

[0046] The loading and unloading system 10 stores the goods 300 inside the vehicle, picks up the goods 300 requested by the unmanned transport aircraft, and delivers them to the unmanned transport aircraft. That is, the delivery of goods 300 from the vehicle to the unmanned transport aircraft is automated through the loading and unloading system 10 without human intervention. It should be noted that the following description focuses on the case where goods 300 are delivered from the loading and unloading system 10 to the unmanned transport aircraft; however, goods 300 can also be delivered from the unmanned transport aircraft to the vehicle. That is, the unmanned transport aircraft can also pick up goods 300 from the point of origin, move to the vehicle, and deliver goods 300 to the loading and unloading system 10.

[0047] [Overall structure of the loading and unloading system]

[0048] Next, the overall structure of the loading and unloading system 10 will be briefly described. The loading and unloading system 10 is mounted on a vehicle as described above. The structure of the vehicle on which the loading and unloading system 10 is mounted is not particularly limited; typically, a box-type or truck-type vehicle capable of carrying a large quantity of cargo 300 is selected. In this example, the vehicle is a box-type with its rear end approximately vertically upright. Door openings 150 are formed on the side of the vehicle to facilitate the entry and exit of personnel and UGV 220 (see reference). Figure 2 , Figure 3 When getting on and off the UGV220, a ramp (not shown) is erected from the lower end of the door opening 150 toward the road surface. Furthermore, a rear door opening (not shown) is formed at the rear of the vehicle to facilitate loading of cargo 300.

[0049] The loading and unloading system 10 is equipped with a storage conveyor 12 for storing multiple goods 300 (in Figure 3 (Illustrations omitted), a stacker crane 50 that picks up goods 300 from the storage conveyor 12 and hands them over to the unmanned transport aircraft, and a relay device 100 that transfers goods between the stacker crane 50 and the unmanned transport aircraft 210. Figure 1 Only the lifting plate 102 of the relay device 100 is shown in the diagram. Figure 2 , Figure 4(Illustration omitted) Controller 130 that manages their actions.

[0050] The storage conveyor 12 is located at the rear of the vehicle and has a horizontal upper surface capable of holding multiple goods 300. In this example, as... Figure 4 As shown, multiple (four in the example) storage conveyors 12 are stacked vertically. It should be noted that... Figure 1 To make the structure of other components easier to see, the illustrations of the storage conveyors 12 beyond the second layer are omitted. Multiple goods 300 are placed on each storage conveyor 12. Therefore, the multiple storage conveyors 12 function as shelves for storing a large number of goods 300.

[0051] Storage conveyor 12 follows a continuous transport path Rt (see reference). Figure 2 ) Circularly transporting 300 goods. (For example, by...) Figure 2 As can be clearly defined, the transport route Rt is a continuous shape that starts from the starting point and returns to the starting point more than twice without taking the same route.

[0052] A first handover point Pf (refer to) is set at a position midway along the transport route Rt and adjacent to the stacker crane 50 for handing over goods 300 to the stacker crane 50. Figure 2 , Figure 4 When any item 300 is requested by the stacker crane 50, the storage conveyor 12 moves the requested item 300 along the transport route Rt to the first handover position Pf. At the first handover position Pf, an elevator 20 for handing over the item 300 is provided (see reference). Figure 2 The goods 300 are delivered to the stacker crane 50 via the elevator 20, as will be described later.

[0053] Stacker crane 50 is at the first junction position Pf and the second junction position Ps (refer to...) Figures 2-4 A device for transferring goods 300 between the stacker crane 50 and the unmanned transport vehicle. The second handover position Ps is located horizontally separated from the first handover position Pf, and is the position where goods 300 are transferred between the stacker crane 50 and the unmanned transport vehicle. In this example, the unmanned transport vehicle includes a UGV 220 that drives into the vehicle and a drone 210 that lands on the roof of the vehicle. It should be noted that... Figure 4 The illustration of UGV220 is omitted in the text. Figure 2 , Figure 4 The illustration of the drone 210 is omitted.

[0054] The second handover position Ps includes a UGV handover position Psv for handing over goods 300 between the stacker crane 50 and the UGV 220, and a UAV handover position Psd for handing over goods 300 between the stacker crane 50 and the UAV 210. However, in the case of delivering goods 300 from the stacker crane 50 to the UAV 210 or from the UAV 210 to the stacker crane 50, a relay device 100 is sandwiched between them. Therefore, the UAV handover position Psd is more accurately the position for handing over goods 300 between the stacker crane 50 and the relay device 100.

[0055] UGV uses the intersection position Psv as an example Figures 2-4 The container 224 of the UGV 220 is positioned as shown between the stacker crane 50 and the door opening 150, at approximately the same height. The handover position Psd for the drone is positioned near the ceiling of the cab and directly above the handover position Psv for the UGV. Therefore, the horizontal positions of the handover position Psv for the UGV and the handover position Psd for the drone are approximately the same.

[0056] The stacker crane 50 is fixed inside the vehicle, adjacent to the front side of the vehicle at the first handover position Pf and adjacent to the right side of the UGV handover position Psv in the vehicle width direction. The stacker crane 50 has a hand 58 for holding the cargo 300. This hand 58 can be raised and lowered in the vertical direction and can be rotated in the horizontal plane. Moreover, the hand 58 can be extended and retracted in the horizontal direction. With the cargo 300 placed in the hand 58, the hand 58 is raised, lowered, rotated, and extended and retracted, thereby transferring the cargo 300 between the first handover position Pf and the second handover positions Psv and Psd.

[0057] Drone 210 Figure 3 The vehicle lands on the roof 120 as shown. An opening 122 for the cargo 300 to pass through is formed on the roof 120. The relay device 100 is located directly below the opening 122 and directly above the UGV's handover position Psv. It should be noted that this is done to facilitate the view of other components. Figure 1 , Figure 2 , Figure 4 The diagram of the relay device 100 is omitted.

[0058] The relay device 100 delivers goods 300 picked up from the stacker crane 50 to the drone 210, or delivers goods 300 picked up from the drone 210 to the stacker crane 50. More specifically, the relay device 100 has a lifting platform 102 configured to move inwards and outwards from the vehicle through a roof opening 122. When delivering goods 300 from the stacker crane 50 to the drone 210, the relay device 100 moves the lifting platform 102 to the upper side of the roof 120 while the goods 300 picked up from the stacker crane 50 are placed on it. The drone 210 uses a hand mechanism (not shown) mounted on it to hold the goods 300 placed on the lifting platform 102. When delivering goods 300 from the drone 210 to the stacker crane 50, the reverse steps are performed.

[0059] The controller 130 controls the operation of the aforementioned storage conveyor 12, stacker crane 50, and relay device 100. The controller 130 is physically a computer having a processor 132 and a memory 134. This "computer" also includes a microcontroller that programs the computer system into an integrated circuit. Furthermore, the processor 132 refers to a processor in a broad sense, including general-purpose processors (e.g., CPU: Central Processing Unit), dedicated processors (e.g., GPU: Graphics Processing Unit, ASIC: Application Specific Integrated Circuit, FPGA: Field Programmable Gate Array, programmable logic device, etc.). The memory 134 may also include at least one of semiconductor memory (e.g., RAM, ROM, solid-state drive, etc.) and disk drive (e.g., hard disk drive, etc.). Moreover, the controller 130 does not need to be a single physical element; it can also be a combination of multiple computers located in physically separate locations.

[0060] [The movement of goods]

[0061] Next, the process of handing over specific goods 300 stored by the storage conveyor 12 to the UGV 220 and the drone 210 will be briefly described. The controller 130 determines the position of the target goods 300 within the storage conveyor 12. If the target goods 300 are not located at the first handover position Pf, the storage conveyor 12 transports the goods 300 along the transport path Rt to the first handover position Pf. Furthermore, the stacker crane 50 causes the handpiece 58 to lift, rotate, extend, and move to the first handover position Pf. Then, the goods 300 transported to the first handover position Pf by the storage conveyor 12 are delivered to the handpiece 58 that has moved to the first handover position Pf.

[0062] At the first handover position Pf, if cargo 300 is placed on the hand 58, the stacker crane 50 raises, lowers, rotates, and extends the hand 58 to move the hand 58 to the handover position Psv for UGV or the handover position Psd for UAV.

[0063] When handing over cargo 300 to UGV 220, stacker crane 50 moves handpiece 58 to the handover position Psv of UGV. Then, cargo 300 placed in handpiece 58 is handed over to container 224 of UGV 220. The specific method of delivery is not particularly limited. Therefore, for example, cargo 300 can be dropped from handpiece 58 towards container 224. Furthermore, a handpiece mechanism for holding and moving cargo 300 can be provided in container 224.

[0064] When handing over cargo 300 to drone 210, stacker crane 50 moves its handpiece 58 to drone handover position Psd. Simultaneously, relay device 100 moves lifting platform 102 to drone handover position Psd. If both handpiece 58 and lifting platform 102 reach drone handover position Psd, cargo 300 is handed over from handpiece 58 to lifting platform 102. Upon receiving cargo 300, relay device 100 raises lifting platform 102, moving it to the upper side of roof 120. Drone 210 uses its handpiece mechanism to receive cargo 300 placed on lifting platform 102. The specific method of cargo delivery in this case is not particularly limited.

[0065] In a typical warehouse system, goods are stored on fixed shelves. When retrieving specific goods from these shelves, a stacker crane typically moves within the warehouse to the vicinity of the goods. In this configuration, sufficient space for the stacker crane to move within the warehouse is necessary. This is not a major issue in warehouse systems located outside vehicles with ample space. However, space is limited within vehicles. Therefore, while ensuring sufficient space for the stacker crane to move, the corresponding storage space for goods decreases, and the number of goods that can be stored inside the vehicle reduces. This leads to a decrease in the efficiency of goods transportation.

[0066] On the other hand, as clearly explained above, in this example, the goods 300 are moved along a continuous transport route Rt within the storage conveyor 12, while the stacker crane 50 itself remains stationary within the vehicle. Therefore, it is not necessary to ensure sufficient space for moving the stacker crane 50. As a result, according to this example, a wider storage space for the goods 300 can be ensured, thereby improving the transport efficiency of the goods 300.

[0067] [Structure of the storage conveyor]

[0068] Next, the structure of the storage conveyor 12 will be described in detail. Figure 5 This is a schematic top view of the storage conveyor 12. As described above, the storage conveyor 12 cyclically transports goods 300 along a continuous transport route Rt. In this example, the transport route Rt is a continuous route that alternates between a forward route Rto (moving towards the rear of the vehicle) and a return route Rtr (moving towards the front of the vehicle) in the vehicle width direction, making an odd number of zigzag turns before proceeding in the vehicle width direction and returning to the starting point. Furthermore, in this example, the transport route Rt reverses its direction of travel by making two right-angle turns. In this reversal section, the right-angle turning units 18, described later, are arranged adjacent to each other in the vehicle width direction. By making the transport route Rt in the shape described above, dead zones can be minimized while transporting goods cyclically.

[0069] However, the shape of the transport route Rt described here is just one example. As long as it includes a right-angle turning unit 18 that changes the direction of travel of the goods at a right angle, the shape of the transport route Rt can be appropriately modified. Therefore, the transport route Rt can also be as follows... Figure 12A As shown, it is a roughly rectangular space with an empty center. Furthermore, the transport route Rt does not need to be continuous; it can also be... Figure 12B As shown, the starting point P1 and the ending point P2 are separated, and the shape bends at a right angle more than once in the middle.

[0070] Such a storage conveyor 12 is constructed by combining multiple handling units. The handling units are as follows: Figure 5As shown, the system includes a straight-line unit 16 for transporting goods 300 in a straight line and a right-angle turning unit 18 for transporting goods 300 by bending at a right angle in their direction of travel. Both the straight-line unit 16 and the right-angle turning unit 18, as described in detail later, have multiple rollers and motors that drive the rollers. The upper surfaces of each of the straight-line unit 16 and the right-angle turning unit 18 function as the transport path for the goods 300. The straight-line unit 16 and the right-angle turning unit 18 have approximately the same size and shape. Therefore, the straight-line unit 16 and the right-angle turning unit 18 do not interfere with each other and do not have large gaps, allowing them to be configured in a matrix. Furthermore, by constructing the storage conveyor 12 with such straight-line units 16 and right-angle turning units 18, the overall size and transport path Rt of the storage conveyor 12 can be easily changed simply by altering the number and arrangement of the transport units 16 and 18.

[0071] Figure 6 This is a perspective view of the straight-line unit 16 and the elevator 20. The straight-line unit 16 has multiple (five in the example) transport rollers 22 arranged in parallel. The axis of each transport roller 22 is parallel to the horizontal direction and orthogonal to the transport direction of the goods 300. Hereinafter, the axis of the transport roller 22 will be referred to as the "transport path width direction". The multiple transport rollers 22 are interlocked by multiple belts 26. Each belt 26 is installed between two adjacent transport rollers 22, transmitting the rotational power of one transport roller 22 to the other. Therefore, the multiple transport rollers 22 rotate synchronously with each other.

[0072] A conveyor motor 24 is disposed below the conveyor roller 22. A belt 26 for transmitting rotational power is also installed between the output shaft of the conveyor motor 24 and one of the conveyor rollers 22. When the conveyor motor 24 rotates in the forward direction, the multiple conveyor rollers 22 rotate in the direction of conveying the goods 300 downstream in the conveying direction. When the conveyor motor 24 rotates in the reverse direction, the multiple conveyor rollers 22 rotate in the direction of conveying the goods 300 upstream in the conveying direction.

[0073] On both sides of the straight-line unit 16, partitions 38 are provided to delineate the boundaries of the transport path for the goods 300. Furthermore, slide rails 40 are installed on the partitions 38. The slide rails 40 are longer components in the transport direction and protrude inwards in the width direction of the transport path compared to the partitions 38. Therefore, although the goods 300 abuts against the slide rails 40, it does not abut against the partitions 38. The surface of the slide rails 40 is made of a low-friction material such as polytetrafluoroethylene or fluoropolymer. By providing the slide rails 40, it is possible to prevent the goods 300 from colliding with and rubbing against the partitions 38, thus preventing deterioration.

[0074] A lift 20 is provided below the straight-moving unit 16 located at the first junction position Pf among multiple straight-moving units 16. The lift 20 has a pair of lifting rods 42. Each lifting rod 42 is a long rod in the width direction of the transport path and is narrower than the gap between two adjacent transport rollers 22. The lifting rod 42 is located at the gap between the two adjacent transport rollers 22 when viewed from above. Furthermore, the lifting rod 42 can move up and down between a retracted position lower than the straight-moving unit 16 and a raised position higher than the straight-moving unit 16. The raising and lowering of the lifting rod 42 can be performed using a straight-moving mechanism powered by an electric motor or a telescopic mechanism with a hydraulic or pneumatic cylinder.

[0075] When the cargo 300 is placed on the straight-line unit 16, and a pair of lifting rods 42 rise from the retracted position to the raised position, the cargo 300 is supported by the pair of lifting rods 42 and lifted off the straight-line unit 16. If this state is changed, the cargo 300 is handed over from the lifting rods 42 to the hand 58 of the stacker crane 50.

[0076] Regarding this point, refer to Figure 7 Let me explain it simply. Figure 7 This is a top view of the elevator 20 and the forklift 80. The stacker crane 50 has a lifting, rotating, and retractable hand 58 (see reference). Figure 1 The hand 58 extends and retracts by sliding multiple plates stacked in the thickness direction onto each other. The fork plate 80 is the uppermost plate in the hand 58. (As shown...) Figure 7 As shown, a notch 80a is formed at the end of the fork plate 80 in the in-and-out direction, through which the lifting rod 42 can pass.

[0077] When delivering goods 300 from the storage conveyor 12 to the stacker crane 50, the lifting boom 42 first rises, lifting the goods 300 placed in the straight-line unit 16. Next, the stacker crane 50 raises, lowers, rotates, and extends its handpiece 58, positioning the fork plate 80 between the lifting boom 42 and the straight-line unit 16. In this state, when the lifting boom 42 is lowered to the underside of the straight-line unit 16, the goods 300 are secured in the fork plate 80 and placed there. Thus, the delivery of goods 300 is completed. When transferring goods 300 from the stacker crane 50 to the storage conveyor 12, the reverse steps are performed.

[0078] Next, refer to Figure 8 , Figure 9 To illustrate the structure of the right-angle turning unit 18. Figure 8 This is a 3D diagram of right-angle turning unit 18. Figure 9 This is a perspective view of the right-angle turning unit 18, with some of its constituent elements omitted. The right-angle turning unit 18 changes the transport direction of the goods 300 from a first direction at a right angle to a second direction orthogonal to the first direction, and transports the goods 300.

[0079] The right-angle turning unit 18 is approximately quadrilateral in plan view. Hereinafter, the corner portion, which is the downstream end in the first direction and the upstream end in the second direction of this quadrilateral, will be referred to as "corner Pc". The right-angle turning unit 18 can be approximately divided into two regions Af and As, with the diagonal Ld passing through the corner Pc of the quadrilateral as the boundary. A plurality of first transport rollers 30f are arranged in the first region Af, which is closer to the upstream side in the second direction than the diagonal Ld. The first transport rollers 30f rotate about an axis parallel to the second direction and are rollers that transport the goods 300 downstream in the first direction by rotating in the forward direction. A plurality of these first transport rollers 30f are spaced apart along the first direction. Furthermore, in order to substantially house the plurality of first transport rollers 30f within the first region Af, the first transport roller 30f closer to the downstream end in the first direction has a shorter axial length.

[0080] A plurality of second transport rollers 30s are arranged in a second region As located upstream of the diagonal Ld in the second direction. The second transport rollers 30s rotate about an axis parallel to the first direction and are used to transport the goods 300 downstream in the second direction by rotating in the forward direction. Multiple second transport rollers 30s are spaced apart along the second direction. Furthermore, to ensure that the multiple second transport rollers 30s are approximately contained within the second region As, the axial length of the second transport roller 30s closer to the upstream end in the second direction is shorter. It should be noted that the diameter of the second transport roller 30s is equal to the diameter of the first transport roller 30f, and the height of the top of the second transport roller 30s (i.e., the portion that contacts the bottom surface of the goods 300) is the same as the height of the top of the first transport roller 30f.

[0081] Within the first region Af, a plurality of (two in the example) second auxiliary rollers 32s are also arranged. The second auxiliary rollers 32s are rollers that rotate about an axis parallel to the first direction, i.e., about an axis parallel to the second transport rollers 30s. The axial dimension of the second auxiliary rollers 32s is sufficiently small compared to the gap between two adjacent first transport rollers 30f, and the second auxiliary rollers 32s are positioned within this gap. Furthermore, the diameter of the second auxiliary rollers 32s is sufficiently large compared to the diameter of the first transport rollers 30f, and the height of the top of the second auxiliary rollers 32s is equal to the height of the top of the first transport rollers 30f. By arranging the second auxiliary rollers 32s in the first region Af in this way, even after the goods 300 have just entered the right-angle turning unit 18, in other words, when the contact area between the goods 300 and the second transport rollers 30s is small, the goods 300 can still be conveyed along the second direction by the second auxiliary rollers 32s.

[0082] Within the second region As, a plurality of (two in the example) first auxiliary rollers 32f are also arranged. Each first auxiliary roller 32f is a roller that rotates about an axis parallel to the second direction, i.e., about an axis parallel to the first transport roller 30f. The axial dimension of the first auxiliary roller 32f is sufficiently small compared to the gap between two adjacent second transport rollers 30s, and the first auxiliary roller 32f is positioned within this gap. Furthermore, the diameter of the first auxiliary roller 32f is sufficiently large compared to the diameter of the second transport rollers 30s, and the height of the top of the first auxiliary roller 32f is equal to the height of the top of the second transport rollers 30s. By providing the first auxiliary rollers 32f, even when the contact area between the goods 300 and the first transport rollers 30f is small, the goods 300 can be conveyed along the first direction by these first auxiliary rollers 32f.

[0083] A first conveyor motor 34f is disposed on the lower side of the first conveying roller 30f. For example... Figure 8 As shown, the rotational power output from the first conveyor motor 34f is transmitted via belt 36 to a plurality of first transport rollers 30f and a plurality of first auxiliary rollers 32f. Consequently, the plurality of first transport rollers 30f and the plurality of first auxiliary rollers 32f rotate synchronously with each other. It should be noted that, as described above, the first auxiliary rollers 32f have a larger diameter than the second transport rollers 30s, and the center of rotation of the first auxiliary rollers 32f is located below the lower end of the second transport rollers 30s. By forming this structure, interference between the power transmission components (belt 36, etc.) connecting the first conveyor motor 34f and the first auxiliary rollers 32f and the second transport rollers 30s is unlikely to occur. As a result, the structure of the power transmission components can be simplified.

[0084] And, as Figure 8 As shown, a second conveyor motor 34s is arranged below the second conveying roller 30s. Figure 8 , Figure 9 Although detailed illustrations are omitted, similar to the first conveyor motor 34f, the rotational power output from the second conveyor motor 34s is transmitted via belt 36 to multiple second conveying rollers 30s and multiple second auxiliary rollers 32s. This second conveyor motor 34s can be driven independently of the first conveyor motor 34f. Therefore, during the period when the first conveyor motor 34f is rotating forward, the second conveyor motor 34s can rotate forward, reverse, or stop.

[0085] It should be noted that in this example, the rotational power of the conveyor motors 34f and 34s does not need to be reduced in speed before being transmitted to rollers 30f, 32f, 30s, and 32s. However, depending on the situation, the rotational power can be transmitted to some or all of the rollers 30f, 32f, 30s, and 32s in a reduced-speed manner. For example, the first auxiliary roller 32f has a larger diameter than the first transport roller 30f, so when their rotational speeds are the same, the circumferential speed of the first auxiliary roller 32f is greater than that of the first transport roller 30f. Alternatively, the rotational power of the first conveyor motor 34f can be reduced in speed and transmitted to the first auxiliary roller 32f so that the circumferential speeds of the two are the same, i.e., the rotational speed of the first auxiliary roller 32f is less than that of the first transport roller 30f. Furthermore, the rotational speeds of the multiple first transport rollers 30f can be varied in a manner that decreases or increases as they approach the downstream side in the first direction.

[0086] It should be noted that, as Figure 8 As shown, partition walls 38 are erected at the downstream end in the first direction and the upstream end in the second direction of the right-angle turning unit 18 to delineate the boundaries of the transport path. Slide rails 40 are also provided on these partition walls 38. By providing the slide rails 40, it is possible to prevent the goods 300 from colliding with and rubbing against the partition walls 38, thus preventing deterioration.

[0087] Each item 300 is equipped with a tag (not shown) that records the item information. A tag reader 44 (see reference) is provided in the storage conveyor 12 to read the item information recorded on the tag. Figure 2 , Figure 4 The cargo information records the identification information of the cargo 300, the sender's information, and the destination information. By setting up the label reader 44, the cargo 300 can be properly identified. It should be noted that the number and location of the label readers 44 are not particularly limited. For example, the label reader 44 can also be located at the first handover position Pf. By setting up the label reader 44 at this location, the cargo 300 handed over to the stacker crane 50 can be clearly identified, reliably preventing the misdelivery of other cargo 300 that has not been requested by the stacker crane 50.

[0088] It should be noted that the label installed on the goods 300 can be a printed medium that displays goods information in the form of text or a barcode, or an IC tag that records goods information electronically. When the goods information is printed in text form, the label reader 44 includes a camera for capturing and reading the text information and an OCR device. Furthermore, when the goods information is printed in barcode form, the label reader 44 includes a barcode reader for reading barcodes. And, when the label is an IC tag, the label reader 44 includes an IC reader that communicates with the IC tag and reads its information.

[0089] [Control of the storage conveyor]

[0090] Next, the control of transporting goods 300 via the storage conveyor 12 will be explained. As described above, in this example, goods 300 are transported cyclically along the transport route Rt by combining the straight-line unit 16 and the right-angle turning unit 18. Here, the right-angle turning unit 18 changes the travel direction of goods 300 at a right angle by adjusting the rotation direction of the two transport rollers 30f and 30s and the two auxiliary rollers 32f and 32s, as well as the drive timing. The reason for changing the travel direction of goods 300 at a right angle is explained below. Figure 10 Let me explain.

[0091] like Figure 10 As shown, consider the scenario where the cargo is folded back approximately 180 degrees and transported. In this case, as... Figure 10 As shown in the lower section, it is also considered that the cargo 300 moves in an arc and then turns back. However, in this case, a large gap is created between the outward and return journeys of the cargo 300. Such a gap is a dead zone that cannot be used in the handling and storage of the cargo 300. On the other hand, as Figure 10 As shown in the upper section, when the structure is configured to allow the cargo 300 to make two right-angle turns, the gap between the outbound and return journeys can theoretically be eliminated. Therefore, when the structure is configured to allow the cargo 300 to change direction at right angles, dead zones can be effectively prevented, and space utilization efficiency can be improved.

[0092] However, in this example, the storage conveyor 12 is mounted on a vehicle. In this case, the angle of the upper surface of the storage conveyor 12, and consequently the orientation of the gravity acting on the goods 300 placed on the storage conveyor 12, varies depending on the slope of the road surface to which the vehicle is grounded. As a result, depending on the slope of the road surface, sometimes the goods 300 are tilted relative to the transport path, making it impossible for the goods 300 to make a right-angle turn. For example, consider... Figure 10 As illustrated by the dashed line in the upper section, when the direction of travel of cargo 300a bends at a right angle, the posture of cargo 300a tilts due to the slope of the road surface. In this case, a portion of cargo 300a may get stuck in the partition 38 of the handling unit during movement, preventing proper delivery of cargo 300a.

[0093] Therefore, in this example, in order to prevent the cargo 300 from tilting unexpectedly and to make the cargo 300 turn reliably at a right angle, the cargo 300 is brought close to the corner Pc, which is the downstream end of the right angle turning unit 18 in the first direction and the upstream end in the second direction, and then the cargo 300 is transported to the downstream side in the second direction. Figure 11This is a schematic diagram illustrating the transportation process.

[0094] In the following explanation, Figure 11 The upper part of the paper is designated as the downstream side in the Y direction, and the right side of the paper is designated as the downstream side in the X direction. Figure 11 In this configuration, a right-angle turning unit 18a is arranged downstream of the straight-ahead unit 16a in the Y direction, another right-angle turning unit 18b is arranged downstream of the right-angle turning unit 18a in the X direction, and another straight-ahead unit 16b is arranged upstream of the right-angle turning unit 18b in the Y direction. Figure 11 In this process, cargo 300a is transported from straight-line unit 16a to straight-line unit 16b via two right-angle turning units 18a and 18b. It should be noted that for right-angle turning unit 18a, the downstream side in the Y direction is the "first direction downstream side," and the downstream side in the X direction is the "second direction downstream side." For right-angle turning unit 18b, the downstream side in the X direction is the "first direction downstream side," and the upstream side in the Y direction is the "second direction downstream side."

[0095] like Figure 11 As shown in state S10, cargo 300a is conveyed downstream in the Y direction from straight-line unit 16a and arrives at right-angle turning unit 18a. In this case, right-angle turning unit 18a rotates the first transport roller 30f and the first auxiliary roller 32f clockwise while reversing the second transport roller 30s and the second auxiliary roller 32s. As a result, cargo 300a approaches the corner Pca of right-angle turning unit 18a as shown in state S12. Finally, both the downstream end face of cargo 300a in the first direction and the upstream end face in the second direction come into contact with the two partitions 38 (more precisely, the slide rails 40 provided on the partitions 38) of right-angle turning unit 18a. Furthermore, even if cargo 300a tilts due to road slope, the posture of cargo 300a is corrected by this contact.

[0096] If the cargo 300a reaches the corner Pca, then as shown in state S14, the right-angle turning unit 18a rotates all rollers 30f, 32f, 30s, and 32s clockwise. As a result, the cargo 300a, while being pushed onto the partition 38 at the downstream end of the right-angle turning unit 18a in the Y direction (i.e., the downstream end of the right-angle turning unit 18a in the first direction), is directly conveyed to the downstream side in the X direction (i.e., the downstream side of the right-angle turning unit 18a in the second direction). Meanwhile, at this time, the right-angle turning unit 18b rotates the first transport roller 30f and the first auxiliary roller 32f clockwise while reversing the second transport roller 30s and the second auxiliary roller 32s. As a result, the cargo 300a approaches the corner Pcb of the right-angle turning unit 18b as shown in state S16. If the cargo 300a reaches the corner Pcb of the right-angle turning unit 18b, the right-angle turning unit 18b will rotate all rollers 30f, 32f, 30s, and 32s clockwise as shown in state S18. Thus, the cargo 300a is sent to the straight-line unit 16b.

[0097] As clearly explained above, in this example, the right-angle turning unit 18 brings the cargo 300 close to the corners Pca and Pcb, which are the ends in the first and second directions respectively. This automatically corrects the posture of the cargo 300, effectively preventing it from getting stuck. Furthermore, in this example, after the cargo 300 reaches the corners Pca and Pcb, all rollers 30f, 32f, 30s, and 32s rotate clockwise. In other words, in this example, the cargo 300 is fed towards the downstream side in the second direction while moving towards the downstream side in the first direction. This effectively prevents the cargo 300 from tilting due to factors such as road slope during its movement towards the downstream side in the second direction.

[0098] It should be noted that, in order to reliably correct the posture of cargo 300a, cargo 300a needs to be reliably pulled to the corners Pca and Pcb. To reliably pull cargo 300a to the corners Pca and Pcb, the amount of cargo 300a delivered can be monitored, and a cargo sensor 46 (refer to [reference]) can be installed to detect the arrival of cargo 300a towards the corners Pca and Pcb. Figure 8 ).

[0099] For example, in Figure 11In the example, the dimension of the travel direction (i.e., the X direction) of the cargo 300a is set as La, and the distance from one corner Pca to the next corner Pcb is set as L1. In this case, after the cargo 300a reaches a corner Pca, if the cargo 300a is sent out a distance L1-La or more in the direction approaching the next corner Pcb (i.e., the X direction), the cargo 300a should reach the next corner Pcb. However, the sizes of the cargoes 300 processed in the storage conveyor 12 vary, making it difficult to accurately determine the X direction dimension of the cargo 300a. Therefore, in this example, the travel direction dimension La of the cargo 300a is regarded as the travel direction dimension Lmin of the smallest cargo 300 processed in the storage conveyor 12. Furthermore, when the cargo 300a pulled to the corner Pca of the right-angle turning unit 18a approaches the corner Pcb of the next right-angle turning unit 18b, the cargo 300a is sent out a distance L1-Lmin or more in the travel direction. Therefore, it is possible to reliably pull goods of various sizes 300a to the corner Pc.

[0100] Alternatively, a cargo sensor 46 can be installed to detect the presence or absence of cargo 300 at the diagonal Pc (see reference). Figure 8 The cargo sensor 46 can be located, for example, near the corner Pc of each of the two slide rails 40 of the right-angle turning unit 18, and is a contact sensor that outputs a signal by contacting the cargo 300. Alternatively, the cargo sensor 46 can be a non-contact sensor that irradiates light or electromagnetic waves toward the corner Pc and detects the presence or absence of the cargo 300 near the corner Pc based on the reflection or transmission of the light or electromagnetic waves. In any case, the cargo 300 continues to be pulled toward the corner Pc before it is detected by the cargo sensor 46, thereby reliably correcting the posture of cargo 300 of any size.

[0101] In addition, Figure 11 The timing of state S14 is the timing when a piece of cargo 300a is sent from the right-angle turning unit 18a to the downstream side in the second direction. When the subsequent piece of cargo 300b enters the right-angle turning unit 18a, the subsequent piece of cargo 300b is also sent to the downstream side in the second direction together with the preceding piece of cargo 300a. In this case, cargo 300b is stuck in the partition 38 between the straight-moving units 16a and 16b, so cargo 300b cannot be properly moved.

[0102] To prevent the entry of subsequent goods 300b, in this example, after the preceding goods 300a begin to enter the right-angle turning unit 18a and before the preceding goods 300a are sent downstream in the second direction, the goods 300b upstream of the preceding goods 300a are temporarily reversed upstream, as shown in state S12. Specifically, the conveying roller 22 of the straight-line unit 16a adjacent to the upstream side of the right-angle turning unit 18a in the first direction is reversed for a certain period of time. Furthermore, the conveying rollers 22 of other straight-line units 16 continuously connected to the upstream side of the straight-line unit 16a are also reversed for a certain period of time. The time for reversing the conveying rollers 22 is not particularly limited, but is usually around a few seconds. This reversal creates a suitable gap between the preceding goods 300a and the subsequent goods 300b.

[0103] After the conveying roller 22 is reversed for a certain period of time, during the period until the preceding cargo 300a is completely disengaged from the right-angle turning unit 18a, such as Figure 11 As shown in state S14, the rotation of the conveying roller 22 of the straight-line unit 16a is stopped, thus stopping the subsequent goods 300b. This prevents the subsequent goods 300b from unsuitably entering the right-angle turning unit 18a. Consequently, unsuitable transfer of the subsequent goods 300b can be prevented.

[0104] It should be noted that the timing for the reversal in the straight-line unit 16 is not particularly limited, as long as it is after the processing of bringing the preceding cargo 300a closer to the corner Pc begins and before the preceding cargo 300a is sent downstream in the second direction, as described above. Therefore, for example, the reverse transport of the subsequent cargo 300b can begin when the preceding cargo 300a is completely housed in the right-angle turn unit 18a. The timing for the preceding cargo 300a to be completely housed in the right-angle turn unit 18a can be determined based on the transport volume of cargo 300a. Furthermore, a sensor that detects the position of cargo 300a can be provided, and the timing can be determined based on the detection value of the sensor.

[0105] It should be noted that, as can be clearly stated in the descriptions so far, and as... Figure 11 As shown, the cargo 300 is transported by being pulled to the corner Pc of the right-angle turning unit 18. Therefore, the container of the cargo 300 (e.g., a cardboard box) may wear down due to friction with the partition 38 during movement. However, in this example, a slide rail 40 covered with a low-friction material is provided on the partition 38, thus effectively preventing such wear and tear on the container of the cargo 300.

[0106] Furthermore, the structure of the storage conveyor 12 described so far is only one example. As long as the goods 300 are pulled to the corner Pc of the right-angle turning unit 18 at least when making a right-angle turn, they can be conveyed downstream in the second direction. Other structures can be modified. Therefore, auxiliary rollers 32f and 32s can be omitted, for example. Furthermore, the first transport roller 30f and the second transport roller 30s can also be rollers that transport the goods 300 in directions inclined relative to the first and second directions, respectively. For example, Figure 13 As shown, spiral protrusions 31f and 31s can also be provided on the circumferential surfaces of the first transport roller 30f and the second transport roller 30s. In this case, the first transport roller 30f rotates about an axis parallel to the second direction. Furthermore, the protrusion 31f, viewed from above, tilts in the direction of upstream movement in the second direction as it moves downstream in the first direction. The second transport roller 30s rotates about an axis parallel to the first direction. Furthermore, the protrusion 31s, viewed from above, tilts in the direction of downstream movement in the first direction as it moves downstream in the second direction. By forming the above structure, the first transport roller 30f rotates forward while the second transport roller 30s stops, thereby allowing the goods 300 to approach the corner Pc. By rotating the second transport roller 30s forward while the first transport roller 30f stops, the goods 300 can be pulled upstream in the first direction while being transported downstream in the second direction.

[0107] Explanation of reference numerals in the attached figures

[0108] 10 Loading and unloading system, 12 Storage conveyor, 16 Straight-line unit, 18 Right-angle turning unit, 20 Elevator, 22 Transport roller, 24 Conveyor motor, 26 Belt, 30f First transport roller, 30s Second transport roller, 31f, 31s Protrusion, 32f First auxiliary roller, 32s Second auxiliary roller, 34f First conveyor motor, 34s ​​Second conveyor motor, 36 Belt, 38 Partition wall, 40 Slide rail, 42 Lifting bar, 44 Tag reader, 46 Cargo sensor, 50 Stacker, 58 Hand, 80 Forklift, 80a Notch, 100 Relay device, 102 Lifting plate, 120 Roof, 122 Roof opening, 130 Controller, 132 Processor, 134 Memory, 150 Door opening, 210 Unmanned aerial vehicle (UAV), 220 UGV, 224 Container, 300 Cargo, Af First Area, As Second Area, Pc Corner, Pf First Handover Location, Ps Second Handover Location, Psd Handover Location for UAVs, Psv Handover Location for UGVs, Rt Transport Route.

Claims

1. A storage conveyor system, characterized in that, have: Storage conveyors, mounted on vehicles, are used to move goods; and The controller controls the drive of the storage conveyor. The storage conveyor has a right-angle turning unit that changes the direction of travel of the goods from a first direction at a right angle to a second direction orthogonal to the first direction. The controller controls the drive of the storage conveyor in such a way that after the goods are brought close to the corner that is the downstream end of the right-angle turning unit in the first direction and the upstream end in the second direction, the goods are transported to the downstream side in the second direction. The right-angle turning unit has: Multiple first conveying rollers, rotating about an axis parallel to the second direction, convey the goods downstream in the first direction by rotating in the forward direction; and Multiple second conveying rollers rotate about an axis parallel to the first direction, conveying the goods downstream in the second direction by rotating in the forward direction. When the controller moves the goods near the corner, it rotates the first transport roller clockwise while simultaneously rotating the second transport roller counterclockwise; when moving the goods downstream in a second direction, it rotates both the first and second transport rollers clockwise. The right-angle turning unit is divided into a first region with a plurality of first transport rollers and a second region with a plurality of second transport rollers, with the diagonal of the right-angle turning unit passing through the corner as the boundary. The right-angle turning unit also features: A first auxiliary roller, disposed in the second region, conveys the goods downstream in a first direction by rotating in the forward direction, and has a diameter larger than that of the second conveying roller; as well as A second auxiliary roller, disposed in the first region, conveys the goods downstream in a second direction by rotating in the forward direction, and has a diameter larger than that of the first conveying roller.

2. The storage conveyor system according to claim 1, characterized in that, The storage conveyor also features: Adjacent to it, erected along the transport route, defining the boundaries of the transport path of the storage conveyor; and A slide rail is a track that is fastened to the partition wall and prevents the goods from leaving the transport route by abutting against the goods, and has a lower coefficient of friction than the partition wall.

3. The storage conveyor system according to claim 1, characterized in that, The transport route is a continuous process of transporting the goods in a cyclical manner.

4. The storage conveyor system according to claim 3, characterized in that, The transport route is arranged in the following manner: after alternating between the outbound route and the return route in the opposite direction to the outbound route in a zigzag pattern an odd number of times, it proceeds in the direction orthogonal to the outbound route and returns to the starting point. In the turnaround section of the transport route, the two right-angle turning units are arranged adjacent to each other in the orthogonal direction.

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