Automatic warehouse

Abstract

Provided is an automated warehouse capable of storing a plurality of types of goods having different widths in the depth direction of a shelf and efficiently storing the goods in a storage position near the front side of the shelf. An automated warehouse (1) is provided with a shelf (2), an ex-warehouse trolley (4) having a transfer device (12), and controllers (22, 50), the transfer device (12) is provided with arms (32, 34, 36, 38), front and rear end hooks (46), and an intermediate hook (48), and the controller (22) or the controller (50) is configured so that when a cargo is transferred to a storage position (S) on the near front side, the transfer device (12) moves the cargo to the storage position (S) on the near front side, and the transfer device (12) moves the cargo to the storage position (S) on the near front side. When the cargo width (W1) of the inner cargo (A2, B2) is larger than the cargo width of the cargo (A1, B1) to be transferred to the front side, the cargo is transferred by means of a replacement operation for the rear end hook section (46) and the intermediate hook section (48) of the cargo (A1, B1), and when the cargo width of the inner cargo is smaller than or equal to the cargo width of the cargo to be transferred to the front side, the rear end hook section (46) and the intermediate hook section (48) of the cargo (A1, B1) are transferred by means of a replacement operation for the rear end hook section (46) and the intermediate hook section (48). The cargo is transferred by the rear end hook part (46) without performing a hook part replacement operation.

Description

Technical Field

[0001] The present invention relates to an automated warehouse, and more particularly to an automated warehouse comprising shelves capable of storing a plurality of goods in a depth direction, a loading and unloading trolley that travels along the shelves and has a transfer device for transferring goods to the shelves, and a controller. Background Art

[0002] Conventionally, rear hook-type transfer devices are known, comprising side arms and hooks for transferring cargo. For example, Patent Document 1 discloses a transfer device in which a pair of retractable left and right side arms are provided with freely openable and closable hooks at the front and rear ends. The device unloads cargo onto a shelf by extending the hooks at the rear ends and advancing the arms.

[0003] In addition, Patent Document 2 discloses the following technology, in which a sensor composed of an infrared sensor, a visible light sensor, etc. for detecting the presence of an object (cargo) is installed in the transfer device, and the sensor is used to detect the gap, that is, whether a part for the side arm of the transfer device to enter is ensured on the side of the shelf where unloading is performed.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Re-publication No. WO2012 / 029339

[0007] Patent Document 2: Japanese Patent Application Publication No. 2019-104588 Summary of the Invention

[0008] In an automated warehouse, when storing (or unloading) multiple items along the depth of a shelf using a rear hook-type transfer device, there is a situation where, while ensuring a specified amount of side arm extension and contraction, the hooks provided at the front and rear ends of the side arms are exchanged with the intermediate hook provided therebetween, allowing multiple items of varying widths to be stored along the depth of the shelf. In such a situation, it is particularly desirable to improve the cycle time required for unloading when storing items at a loading position near the front of the shelf.

[0009] Therefore, the present invention is completed to solve the above-mentioned problems, and its purpose is to provide an automatic warehouse that can store a variety of goods with different widths along the depth direction of the shelf, and can efficiently store the goods in the storage position near the front side of the shelf.

[0010] In order to achieve the above-mentioned purpose, the present invention is an automatic warehouse, which has a shelf that can store multiple goods in the depth direction, a trolley for loading and unloading that travels along the shelf and has a transfer device for transferring goods to the shelf, and a controller. The automatic warehouse is characterized in that the transfer device has: an arm that moves forward and backward relative to the shelf; a front hook provided at the front end of the arm; a rear hook provided at the rear end of the arm; and at least one intermediate hook provided at the middle position of the arm. The controller is constructed so that when goods are stored in the storage position on the inner side and are to be transferred to the storage position that is located farther away than the storage position on the inner side, the controller can control the storage position to be moved forward and backward. When storing goods in the storage position near the front side, if the width of the goods in the inner storage position is larger than the width of the goods to be transferred to the storage position near the front side, the arm is retracted after the goods are pushed out a specified distance by the rear end hook, and then the middle hook is used to transfer the goods to the storage position near the front side and store the goods in the storage position near the front side; if the width of the goods in the inner storage position is smaller than or the same as the width of the goods to be transferred to the storage position near the front side, the rear end hook is used to transfer the goods to the storage position near the front side and store the goods in the storage position near the front side.

[0011] According to the present invention thus constructed, when the width of the goods stored in the rear is smaller than the width of the goods to be stored near the front, the hook replacement operation can be omitted, thereby shortening the transfer time. Therefore, a variety of goods with different widths can be efficiently stored in the storage position near the front of the shelf.

[0012] In addition, in the present invention, it is preferred that the warehousing and outbound trolley is equipped with a scanning sensor, which scans and detects the width of the goods stored in the shelf through the movement of the warehousing and outbound trolley. The controller is configured to calculate the width of the goods at the inner storage position based on the moving distance during the period when the scanning sensor detects the goods during the movement of the warehousing and outbound trolley when storing the goods.

[0013] According to the present invention thus constituted, the cargo width is calculated while the loading / unloading trolley is moving to store the cargo, so that the actual cargo width and position can be confirmed without requiring extra time for cargo width measurement.

[0014] In addition, in the present invention, it is preferred that the warehousing and outbound trolley is equipped with a sensor for detecting the width of the goods in the process of transportation loaded on the transfer device, and the controller is configured to store the detection result of the width of the goods detected by the sensor when the transported goods are stored in the storage position on the inner side.

[0015] According to the present invention thus constructed, the width of the goods stored in the rear storage location can be used when the goods are subsequently stored in the front storage location. In addition, the width measurement of the goods during the movement of the loading and unloading trolley can be eliminated.

[0016] In the present invention, the controller is preferably configured to detect, using a scanning sensor, the amount of deviation of the goods stored in the back storage position relative to the predetermined position in the goods width direction together with the goods width of the goods in the back storage position.

[0017] According to the present invention thus constructed, whether a replacement operation is necessary can be determined by considering not only the width of the goods in the rear storage position but also the positional deviation of the goods. For example, if the rear goods are significantly deviated from their intended position, preventing them from being properly stored in the near-front storage position, a hook replacement operation can be determined to avoid interference between the side arms and the rear goods.

[0018] In addition, in the present invention, it is preferred that the controller is configured so that when the detected offset of the goods stored at the storage position on the inner side relative to the specified position in the goods width direction exceeds the specified allowable offset, the arm is retracted after the goods are pushed out a specified distance by the rear end hook, and the goods are transferred to the storage position on the near front side by the middle hook and stored in the storage position on the near front side.

[0019] According to the present invention thus constituted, when the amount of deviation of the goods stored on the back side from the predetermined position exceeds a predetermined allowable deviation amount, the hook portion is replaced, thereby avoiding interference between the arm and the goods on the back side.

[0020] Effects of the Invention

[0021] According to the present invention, in an automated warehouse capable of storing a plurality of types of goods having different widths in the depth direction of a shelf, the goods can be efficiently stored in a storage position near the front side of the shelf. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a front view showing a schematic configuration of an automated warehouse according to an embodiment of the present invention.

[0023] Figure 2 It is a plan view showing a schematic structure of an automated warehouse according to an embodiment of the present invention.

[0024] Figure 3 This is a perspective view showing a schematic structure of a storage and receiving trolley and a transfer device thereof in the automated warehouse according to the present embodiment.

[0025] Figure 4This is a block diagram showing a schematic configuration of a control system of a transfer device included in the loading and unloading vehicle according to the present embodiment.

[0026] Figure 5 Schematic diagram showing a transfer pattern by the transfer device according to this embodiment, showing a rack and a shuttle path defining two placement positions for large items in the depth direction.

[0027] Figure 6 This is a schematic diagram showing the operation mode of the transfer device when transferring a large item to a loading position near the front in a rack that stores items of two or more widths and has two loading positions for large items defined in the depth direction.

[0028] Figure 7 Schematic diagram showing a transfer pattern by the transfer device according to this embodiment, showing a rack and a shuttle path defining three small item placement positions in the depth direction.

[0029] Figure 8 It is a schematic diagram showing a transfer mode according to a modification of the present embodiment.

[0030] Figure 9 This is a schematic diagram for explaining the operation of a loading and unloading trolley and its transfer device when transferring goods to a loading position near the front side of a shelf in the automated warehouse according to this embodiment. Figure 9 (A) and Figure 9 (B) indicates the action of the trolley that measures the width of the goods on the inner side of the shelf. Figure 9 (C) is a diagram showing a state in which the transfer device is transferring the cargo to a storage position near the front.

[0031] Figure 10 This is a schematic diagram of a transfer device for explaining a cargo width detection operation performed during the transfer of cargo stored on a shelf, according to a modification of the present embodiment. DETAILED DESCRIPTION

[0032] Next, an automated warehouse according to an embodiment of the present invention will be described with reference to the accompanying drawings.

[0033] First, according to Figure 1 and Figure 2 The schematic structure of an automated warehouse according to an embodiment of the present invention will be described. Figure 1 This is a front view showing a schematic structure of an automatic warehouse according to an embodiment of the present invention. Figure 2 It is a plan view showing a schematic structure of an automated warehouse according to an embodiment of the present invention.

[0034] like Figure 1 and Figure 2As shown, reference numeral 1 denotes an automated warehouse (hereinafter referred to as "automatic warehouse") according to this embodiment. In this embodiment, the automated warehouse 1 is a shuttle type automated warehouse having a plurality of loading and unloading trolleys 4 with transfer devices 12.

[0035] As a variation of this embodiment, the automated warehouse 1 may also be a well-known stacker crane-type automated warehouse. In this case, the operations of the loading and unloading trolley 4 and the transfer operations of the transfer device 12 of the loading and unloading trolley 4, described later, can be applied in a manner corresponding to the operations of the stacker crane and the transfer operations of the transfer device provided on the stacker crane (not shown).

[0036] The automated warehouse 1 of this embodiment includes racks 2 and a plurality of storage and retrieval carts (hereinafter referred to as “carts”) 4 .

[0037] The shelf 2 has a plurality of shelf layers 8 in the vertical direction (Z direction shown in the figure), and the shelf layer 8 has a row of shelves 6 arranged in the horizontal direction (X direction shown in the figure). It should be noted that the plurality of shelves 6 can be separate or integrally formed.

[0038] Next, if Figure 2 As shown, multiple trolleys 4 move independently in the left and right directions along a travel path 10 having a pair of tracks, and use a transfer device 12 described later to transfer goods to and from the shelves 2, that is, unloading (transferring) goods to the shelves 2 and loading goods from the shelves 2 to the trolleys 4. Multiple trolleys 4 are arranged on each of the multiple shelf layers 8. Figure 2 As shown, the rack 2 includes a pair of racks 2 that face each other across a travel path 10 for the vehicle 4 .

[0039] Furthermore, as a modification of the automatic warehouse 1 of this embodiment, the automatic warehouse 1 may be such that a loading and unloading trolley with a lift is provided for every three shelf layers 8 , and the three shelf layers 8 are stored with the one trolley.

[0040] Next, if Figure 1 and Figure 2 As shown, the automated warehouse 1 includes a first workstation 14 and a second workstation 16 on both sides thereof, which are used to receive goods to be stored in the shelves 2 and to receive goods taken out from the shelves 2. In this embodiment, the first workstation 14 is arranged at a position in the vertical direction corresponding to the bottom shelf layer 8, and the second workstation 16 is arranged at a position in the vertical direction corresponding to the top shelf layer 8.

[0041] The automated warehouse 1 also includes a first lifting device 18 and a second lifting device 20 for lifting and lowering cargo. The first lifting device 18 and the second lifting device 20 are respectively used to transfer cargo between the first workstation 14 and the second workstation 16 and the cart 4.

[0042] The automated warehouse 1 includes a controller 22 for controlling the operation of the carts 4 and the like. The carts 4 and the like operate in accordance with control signals transmitted from the controller 22 via wireless communication or wired communication.

[0043] Here, the basic storage and removal operations of goods in the automated warehouse 1 performed by the controller 22 will be described.

[0044] First, as a warehousing operation for goods, the goods transported by the warehousing conveyor 24 of the first workstation 14 are loaded onto the warehousing loading area 26 at a height corresponding to the shelf layer 8 to be stored by the first lifting device 18. The goods loaded onto the warehousing loading area 26 are retrieved by the trolley 4 of the corresponding shelf layer 8 and transferred (unloaded) to a shelf 6 of the shelf layer 8.

[0045] Next, as a cargo outbound operation, the cargo placed on a shelf 6 of the incoming shelf layer 8 is grabbed by the trolley 4 of the corresponding shelf layer 8 and transported to the outbound loading area 28 at a height position corresponding to the shelf layer 8. The cargo transported to the outbound loading area 28 is moved to the outbound conveyor 30 via the first lifting device 18 and then transported to the transport destination connected to the outbound conveyor 30.

[0046] Similar to the first workstation 14, the second workstation 16 is equipped with a storage conveyor 25, a storage loading area 27, a storage loading area 29, and a storage and removal conveyor 31, and performs the aforementioned storage and removal operations. Furthermore, the storage and removal operations performed via one of the first workstation 14 and the second workstation 16 can be performed independently of the storage and removal operations performed via the other.

[0047] In addition, in a modified example of a stacker crane-type automatic warehouse, instead of the above-mentioned multiple trolleys 4 and lifting devices 18 and 20, a stacker crane not shown in the figure operates according to a control signal sent from the controller 22, and a transfer device installed in the stacker crane transfers goods to multiple storage positions on the shelf 2.

[0048] Next, use Figure 3 and Figure 4 The schematic configuration of a storage and receiving trolley and its transfer device of the automated warehouse according to this embodiment will be described. Figure 3 This is a perspective view showing the schematic configuration of a loading and unloading trolley and its transfer device in an automated warehouse according to this embodiment. Figure 4This is a block diagram showing a schematic configuration of a control system of a transfer device included in the loading and unloading vehicle according to the present embodiment.

[0049] First, if Figure 3 As shown, the carriage 4 includes a transfer device 12. The transfer device 12 includes a pair of side arms 32, which are moved in the front-rear direction ( Figure 1 、 Figure 2 It can be extended and retracted in the Y direction (shown in the figure) to carry out the loading (loading) and unloading (unloading) of goods.

[0050] The pair of side arms 32 each includes a base arm 34, an intermediate arm 36 connected to the base arm 34, and a top arm 38 connected to the intermediate arm 36. The structures of the arms 34, 36, and 38 of the pair of side arms 32 are identical on the left and right sides, so the following description will focus on the arm on one side.

[0051] Although description is omitted below, the stacker crane of the modified example is provided with a transfer device having the same structure or capable of performing the same operation as the transfer device 12 of the present embodiment.

[0052] The base arm 34 is fixed to the carriage 4. At the center of the base arm 34, a spline shaft 40 extends in the left-right direction ( Figure 1 、 Figure 2 The spline shaft 40 is extended by the motor ( Figure 4 The arm advance and retreat motor 52 shown is driven to rotate.

[0053] Four pinions 42 are arranged in a row at the front and rear of the spline shaft 40 so as to mesh with each other, and a rack 44 of the intermediate arm 36 is arranged so as to mesh with these pinions 42 .

[0054] Although not shown in the figure, pulleys are provided at both ends of the intermediate arm 36 in the front-rear direction, and a belt is wound around these pulleys and fixed to both ends of the top arm 38 in the front-rear direction.

[0055] In this embodiment, primarily through these configurations, when the spline shaft 40 is rotated in a predetermined direction, the driven pinions 42 rotate, and the rack 44, receiving this rotation, moves in either the forward or backward direction, thereby causing the intermediate arm 36 to extend or contract relative to the base arm 34. Furthermore, as the intermediate arm 36 extends or contracts, the top arm 38, under the action of a belt wound around a pulley, extends or contracts by twice the amount of the intermediate arm 36. In this manner, the top arm 38 extends or contracts in conjunction with the extension or contraction of the intermediate arm 36.

[0056] It should be noted that, in this embodiment, the side arm 32 is formed by using three plate arms 34, 36, and 38, but the side arm (32) may also be formed by using four plate arms, such as a double-extended arm.

[0057] The side arm 32 having the base arm 34, the middle arm 36, and the top arm 38 can enter the racks 2 (shelves 6) arranged on both sides of the travel path 10 of the trolley 4 through the above-mentioned driving mechanism (40, 42, 44, etc.), and its top end can enter the rear end position of the goods transferred to the innermost side in the depth direction of the rack 2. For example, in the later described Figures 5 to 7 In the depth direction of the shelf 2, the top end of the top arm 38 can enter the rear end position of the goods transferred to the innermost side (especially, refer to Figure 7 (B) shows the position of the cargo B1 and the top arm 38. The top arm 38 located at this rear end position can engage the protruding end hook 46 with the rear end of the cargo B1, thereby taking (loading) the cargo B1 onto the cart 4.

[0058] Next, the top arm 38 is provided with end hooks 46 at its front and rear ends. These end hooks 46 are configured to be able to be stored in the escape position ( Figure 3 The hooks 46 are arranged to rotate between the position shown in FIG. 1 and the protruding position, which is rotated approximately 90 degrees from the avoidance position and protrudes between the pair of top arms 38. In the protruding position (in the protruding state), the end hooks 46 engage with the front or rear end of the cargo to take in or out the cargo.

[0059] In addition, the top arm 38 is provided with a central hook portion 48 at the middle position in the front-back direction. The central hook portion 48 is also configured to be able to be stored in the top arm 38 in the same manner as the end hook portion 46. Figure 3 The handle 36 is rotated between the position shown in the figure) and the protruding position protruding between the pair of top arms 38. At its protruding position (in the protruding state), it engages with the front end or rear end of the cargo to take in or send out the cargo.

[0060] The center hook portion 48 is formed by connecting two rod-shaped members 48a having the same shape as the end hook portion 46 with a single plate-shaped member 48b to form an integral hook portion. Figure 3 It can be seen that the thickness of the central hook portion 48 in the front-rear direction (the width in the depth direction of the shelf 2 described later) formed in this way is sufficiently larger than the thickness of the end hook portion 46 in the front-rear direction (the width in the depth direction of the shelf 2).

[0061] The thickness of the central hook portion 48 in the front-to-back direction (width in the depth direction) is set to the following size, that is, when three small items are stored in the depth direction of each shelf 2, the small items can be moved to the innermost loading position of the shelf 2 using only the central hook portion 48. Details will be described later.

[0062] Next, a motor (not shown) is incorporated into the cart 4 to move the base arm 34 left and right, thereby narrowing or widening the gap between the pair of side arms 32. Specifically, when transferring cargo of a specified width, the motor first narrows the gap between the top arms 38 to a distance sufficient for one of the hooks 46, 48 to engage the front and rear ends of the cargo. In this state, the top arms 38 are brought together to maintain a small gap between them, or they are tightened to a level that prevents excessive pressure from being applied to the cargo.

[0063] In addition, the top arm 38 is provided with a hook opening and closing motor 54 (see Figure 3 ).

[0064] Here, in this specification, the "cargo width" of the cargo refers to the width of the cargo in the left-right direction (X direction), which is the width of the cargo in the traveling direction of the trolley 4 (for example, in the later described Figure 9 (B) is the width shown by the reference numeral W1).

[0065] On the other hand, the "depth width" of the goods refers to the width of the goods in the front-back direction (Y direction), which is the width of the goods in the depth direction of the shelf 2 (for example, in the later described Figure 9 (B) is the width shown by the reference numeral W2).

[0066] Next, if Figure 4 As shown, the transfer device 12 includes a controller 50 for controlling the movement of the arms 34, 36, 38 and hooks 46, 48. The controller 50 controls an arm advance / retract motor 52 that rotates the spline shaft 40 to extend and retract the side arms 32. The controller 50 also controls a hook opening / closing motor 54 that opens and closes the end hooks 46 and the center hook 48. Furthermore, the controller 50 controls an arm opening / closing motor 56 that adjusts the spacing between the side arms 32.

[0067] Furthermore, the controller 50 is connected to a photoelectric sensor 58 (see FIG. 1 ) which is provided on the side surface of the carriage 4 (the side surface on the shelf 2 side) and will be described later. Figure 9 ), the detection signal of the goods stored on the shelf 2 sent from the photoelectric sensor 58 is input.

[0068] Furthermore, in the automated warehouse 1 of this embodiment, although not shown, the cargo detection signal from the photoelectric sensor 58 is also transmitted from the controller 50 mounted on the transfer device 12 via wireless or wired communication to the controller 22 for controlling the control cart 4 and the like. Thus, the controller 22 is configured to control the operation of the control cart 4 based on the cargo detection signal from the photoelectric sensor 58.

[0069] Next, the prerequisites for the automated warehouse 1 according to this embodiment will be described.

[0070] First, in this embodiment Figures 1 to 3 In the automatic warehouse 1 shown, the ratio of the width of the trolley 4 in the front-to-back direction (Y direction), that is, the width of the area between a pair of side arms 32 that can carry goods in the front-to-back direction, to the width of the single-sided shelf 2 (shelf 6) in the front-to-back direction (depth direction) is 4:6.

[0071] In addition, depending on the customer, there are cases where the automatic warehouse 1 is used to store goods of one width (width in the direction of travel of the trolley) on the shelf 2, and cases where the automatic warehouse 1 is used to store goods of two or more widths on the shelf 2. However, the automatic warehouse 1 of the present embodiment described below is designed to be able to store two or more goods of different widths (width in the direction of travel of the trolley 4) on the shelf 2.

[0072] The automated warehouse 1 of this embodiment is designed with the following assumptions: a situation where the width of the goods in the depth direction (hereinafter referred to as "depth width") is relatively large, allowing a maximum of two goods to be stored in the depth direction of each shelf 2, and a situation where the depth width of the goods is relatively small, allowing a maximum of three goods to be stored in the depth direction of each shelf 2. Hereinafter, the goods in the former situation will be referred to as "large goods," and the goods in the latter situation will be referred to as "small goods." In this embodiment, the ratio of the width of such large goods to the width of such small goods is 3:2.

[0073] In this embodiment, the width of the cart 4 in the front-rear direction, the width of the rack 2 (shelf 6) in the depth direction, the width of the large cargo in the depth direction, and the width of the small cargo in the depth direction are in a ratio of 4:6:3:2.

[0074] Furthermore, the automated warehouse 1 of this embodiment is suitable for large items with a depth of greater than 400 mm and less than 600 mm, and for small items with a depth of greater than 200 mm and less than 400 mm. The aforementioned ratio of "4:6:3:2" refers to the case where the width in the depth direction of large items is 600 mm, and the width in the depth direction of small items is 400 mm.

[0075] Here, when storing goods of various shapes such as cardboard boxes, for example, these numerical ranges are used to distinguish each of the various shapes of goods into "large goods" and "small goods" and transfer them to the rack 2 as described below.

[0076] Although not shown in the figure below, it is also possible to store a very large item larger than the above-mentioned large item on the shelf 2 .

[0077] Next, use Figures 5 to 7The main transfer modes of transferring goods to the racks 2 by the transfer device 12 in this embodiment will be described. Figure 5 : is a schematic diagram showing a transfer mode by a transfer device according to this embodiment, and is a diagram showing a rack and a shuttle passage defining two loading positions for large goods in the depth direction. Figure 6 This is a schematic diagram showing the operation mode of the transfer device when transferring a large item to a loading position near the front in a rack storing items of two or more widths and having two loading positions for large items defined in the depth direction. Figure 7 This is a schematic diagram showing the transfer mode based on the transfer device of this embodiment, which is a diagram showing the rack and shuttle passage that define three small cargo loading positions in the depth direction. Figures 5 to 7 In the figure, only one side arm 32 is shown for simplicity.

[0078] The operation of the transfer mode described below is performed by the controller 50 (see Figure 4 )control.

[0079] First, use Figure 5 An example of a transfer pattern in the case of "large items" in which a maximum of two items can be transferred in the depth direction of the rack 2 on one side will be described.

[0080] like Figure 5 As shown in (A), a large cargo A1 before unloading is loaded on a trolley 4 (not shown). The mode of transferring the large cargo A1 at this position to the loading position on the near front side of the shelf 2 is shown in FIG. Figure 5 (B) and Figure 5 (C).

[0081] first, Figure 5 (B) is an example of a case where two or more types of cargo widths are stored in the automated warehouse 1, and a large cargo A1 is transferred using the central hook 48. In this example, since there are two or more cargo widths, if, for example, the width of the large cargo A2 stored in the back is larger than the width of the large cargo A1 to be transferred to the front, the side arms 32 will not extend to the back and abut or interfere with the large cargo A2.

[0082] Furthermore, in the automatic warehouse 1 of this embodiment, when transferring two or more types of goods with different widths to the loading position near the front side of the shelf 2, when the transfer mode using the central hook 48 is different, as described later, for example Figure 9 When the width of the goods stored on the inner side is smaller than the width of the goods to be stored near the front side, or the width of the goods stored on the inner side is the same as the width of the goods to be stored near the front side, there is no need to replace the hook part, and the goods can be stored only by the rear end hook part 46.

[0083] On the other hand, Figure 5 As shown in (C), when goods of one width are stored in the automatic warehouse 1, the width of the goods on the inner side is the same as the width of the goods loaded toward the front side. Even if the side arm 32 is extended to the inner side, it will not interfere with the large goods A2 on the inner side. Therefore, the end hook 46 on the travel path 10 side is used to transfer the large goods A1.

[0084] In addition, if Figure 5 As shown in (D), when a large article A1 is transferred to a loading position on the back side of the shelf 2, the central hook 48 is used to transfer the large article A1 regardless of whether the article width is one or two or more.

[0085] Next, use Figure 6 The following describes the extension and retraction of the side arms 32 and the opening and closing of the end hooks 46 and the center hook 48 when transferring a large item A1 to a loading position near the front of the shelf 2 when storing two or more items of different widths in the automated warehouse 1. Figure 6 In the transfer mode shown, when the width of the large cargo A2 stored in the back is larger than the width of the large cargo A1 to be transferred to the front, the hooks are replaced (cargo holding is switched) from the end hooks 46 to the center hooks 48 .

[0086] First, if Figure 6 As shown in (A), the end hook 46 on the travel path 10 side is brought into a protruding position, and the end hook 46 is used to move the large cargo A1 on the trolley 4 to a temporary placement position. This "temporary placement position" corresponds to the position "after the cargo is pushed out a predetermined distance by the rear end hook" (see claims 1, 5, and paragraphs 10 and 18 of the specification). In addition, this "temporary placement position" is the position where the rear end edge (end edge on the travel path 10 side) of the cargo A1 moved to the temporary placement position is relative to the position where the side arm 32 returns to the original position ( Figure 6 The front end edge of the central hook portion 48 (the edge on the shelf 2 side) is located at the inner side (the middle position in the width direction of the travel path 10 shown by the single-dot chain line in (A) to (C). Figure 6 In the state shown in (A), the central hook 48 is in the avoidance position so as not to interfere with the large cargo A1. Hereinafter, the hook portion is omitted from the illustration in the case of such an avoidance position. Figure 6 Reference symbol A0 in (A) indicates the position of the large article A1 on the carriage 4 before transfer.

[0087] Then, if Figure 6 As shown in FIG. 5 (B), the side arm 32 is returned to the position where the central hook portion 48 can engage with the large cargo A1, and the central hook portion 48 that was in the evacuated position is brought into the protruding position.

[0088] Then, if Figure 6As shown in (C), the side arm 32 is extended toward the shelf 2, and the central hook 48 in the protruding position is used to move the large item A1 to the loading position near the front of the shelf 2. In addition, reference numeral A2 indicates a large item already stored in the back.

[0089] It should be noted that when storing goods of a single width in the automated warehouse 1, although not shown in the figure, the end hooks 46 on the travel path 10 side are first positioned in the protruding position, while the central hook 48 and the end hooks 46 on the inner side are positioned in the retracted position. Next, the side arms 32 are extended toward the shelf 2, and the end hooks 46 are used to store the large item A1 in the storage position near the front of the shelf 2. Furthermore, in this case, since the goods have a single width, the width of the goods on the inner side is the same as that of the goods loaded toward the front. Therefore, even if the side arms 32 are extended to the loading position of the large item A2 on the inner side, they will not interfere with the large item A2 on the inner side. In this example, the hooks are not replaced with the central hooks 48.

[0090] Furthermore, when storing goods of one or more different widths on the rear side of the shelf 2, although not shown in the figure, the end hooks 46 on the travel path 10 side are first positioned in the protruding position, and the central hook 48 is positioned in the retracted position, thereby moving the large item A1 from its initial position A0 on the cart 4 to a temporary placement position. Next, the side arms 32 are returned to a position where the central hook 48 can engage with the large item A1, and the central hook 48, which was previously in the retracted position, is positioned in the protruding position. Next, the side arms 32 are extended toward the shelf 2, and the protruding central hook 48 is used to transfer the large item A1 to a placement position on the rear side of the shelf 2. In this example, the hooks are replaced from the end hooks 46 to the central hooks 48.

[0091] Next, use Figure 7 An example of the transfer pattern will be described in which a maximum of three “small items” are stored in the depth direction of the rack 2 .

[0092] First, if Figure 7 As shown in FIG. 2 (A), a small cargo B1 before unloading is loaded on a trolley 4 (not shown).

[0093] Here, in this embodiment, Figure 7 As shown in FIG. 5 (A), the central hook portion 48 is provided to form a predetermined interval S with respect to each end hook portion 46 .

[0094] In addition, the central hook portion 48 has a greater width than each end hook portion 46 as described above. Figure 7 As shown in FIG. 2 (B), the width W of the central hook portion 48 in the depth direction is set to a width that allows the “small items” to be transferred to the innermost placement position of the shelf 2 using only the central hook portion 48 .

[0095] The predetermined interval S between the end hooks 46 and the center hook 48 is equal to the depth of a small item. Thus, the small item is stored between the protruding end hooks 46 and the protruding center hook 48.

[0096] In this embodiment, the "depth width of a small load" refers to the maximum depth width of 400 mm within the aforementioned range of small loads. Furthermore, in this embodiment, the predetermined spacing S is set at 420 mm, providing a gap of +20 mm between each hook 46, 48 and the small load. This gap is appropriately set based on the specifications of the automated warehouse 1.

[0097] In this embodiment, by the structure of the end hooks 46 and the central hook 48, it is not necessary to stop the extension and contraction of the side arms 32, and the central hook 48 alone can be used to move the side arms 32 to the side of the vehicle. Figure 7 The small item B1 at the position shown in (A) is moved to the loading position on the inner side of the shelf 2 ( Figure 7 (B)), the middle loading position ( Figure 7 (C)) and the loading position near the front side ( Figure 7 Any one of (D)). Figure 6 In the example shown, the hook portion is not replaced with the central hook portion 48 .

[0098] Here, as a modified example, the central hook portion 48 may be set to have a width substantially equal to that of each end hook portion 46, and one central hook portion 48 may be provided at an intermediate position equidistant from the two end hook portions 46. In this case, for example, Figure 6 As in the hook replacement mode shown in FIG. 1 , the small items are transferred by replacing the end hooks 46 with the center hooks 48 .

[0099] In addition, as a modified example, two intermediate hooks 48 having the same width as the width of each end hook 46 may be provided at a predetermined distance between the end hooks 46 at both ends. Figure 6 As in the hook replacement mode shown in FIG. 1 , small items are transferred by replacing the end hooks 46 with either of the center hooks 48 .

[0100] Here, if Figure 8 As shown, a modification example is described in which, in a structure in which two intermediate hooks 49a and 49b having the same width as that of each end hook 46 are provided at a predetermined distance between the end hooks 46 at both ends, goods with two or more widths are stored near the front side of the shelf 2.

[0101] In this example, if Figure 8 As shown in (A), a large article A1 is loaded on a trolley 4 (not shown) at a position away from the rack 2 to be transferred. The mode of transferring the large article A1 at this position to the loading position near the front side of the rack 2 is shown in FIG. Figure 8 (B) and Figure 8 (C) In addition, reference numeral A2 indicates large goods that have been stored on the inner side.

[0102] first, Figure 8 (B) is a diagram showing a transfer pattern when the width of the large cargo A2 stored in the back is smaller than the width of the large cargo A1 to be transferred to the front. Figure 8 In the example shown in (B), as described above, the hook portion is not replaced, and only the rear end hook portion 46 on the near front side is used to store the cargo. This also applies when the cargo width of the cargo on the back side is the same as the cargo width of the cargo loaded toward the near front side. Without replacing the hook portion, even if the side arm 32 is extended to the loading position of the large cargo A2 on the back side, the side arm 32 will not interfere with the large cargo A2 on the back side.

[0103] on the other hand, Figure 8 (C) shows a transfer mode in which the width of the large cargo A2 stored in the back is larger than the width of the large cargo A1 to be transferred to the front. Figure 8 In the example shown in (C), the hook portion is replaced and the cargo is transferred as described above so that the side arm 32 does not extend to the back side and abut or interfere with the large cargo A2.

[0104] More specifically, although the illustration of the movement during transfer is omitted, the end hook 46 on the near side is brought into a protruding position, and the large cargo A1 on the trolley 4 is moved to a temporary placement position using the end hook 46. In this state, the middle hook 49a on the near side is in a retracted position so as not to interfere with the large cargo A1. Next, the side arm 32 is returned to a position where the middle hook 49a can engage with the large cargo A1, and the middle hook 49a that was in the retracted position is brought into a protruding position. Finally, as shown in FIG. Figure 8 As shown in (C), the side arm 32 is extended toward the shelf 2 side, and the large article A1 is transferred to the placement position near the front side of the shelf 2 by using the middle hook portion 49a in the protruding position.

[0105] also, Figure 8 The modified example shown is also applicable to a case where a small item ( B1 ) not shown is loaded on the trolley 4 on a side away from the rack 2 to be transferred.

[0106] In the present embodiment and the above-mentioned modified examples, when the replacement action is performed as described above, for example, if the example of small goods is used for explanation, when the width of the small goods B2 and B3 stored on the inner side is larger than the width of the small goods B1 to be transferred to the near front side, the side arm 32 can be prevented from extending to the inner side and abutting / interfering with the small goods B2 and B3. For example, when storing toward the near front side as shown by the small goods B1, it will not abut / interfere with the small goods B2 stored on the inner side thereof. In addition, when storing toward the middle position as shown by the small goods B2, it will not abut / interfere with the small goods B3 stored on the inner side thereof (refer to Figure 7 ).

[0107] On the other hand, in this embodiment, as described later Figure 9 As shown, when the width of the goods stored on the inner side is smaller than the width of the goods to be stored near the front side, or the width of the goods stored on the inner side is the same as the width of the goods to be stored near the front side, there is no need to replace the hook part, and the goods can be stored only by the rear end hook part 46.

[0108] In addition, the above-mentioned storage loading areas 26 and 27 (see Figure 2 ) is loaded onto the trolley 4, the extension and contraction amount of the side arms 32 is adjusted so that the small item is loaded onto the trolley 4 at a predetermined holding position in the front-rear direction. The predetermined holding position is a position where, when the small item held on the trolley 4 is transferred to the shelf 2, the central hook 48 can push the small item toward the shelf 2 on the side where it is to be stored.

[0109] Next, use Figure 9 The operation of the loading and unloading trolley and its transfer device when transferring goods to a loading position (storage position) near the front side of the shelf 2 of the automated warehouse 1 according to this embodiment will be described. Figure 9 This is a schematic diagram for explaining the operation of a loading and unloading trolley and its transfer device when transferring goods to a storage position near the front side of a shelf in the automated warehouse according to this embodiment. Figure 9 (A) and Figure 9 (B) shows the action of the trolley that measures the width of the goods on the inner side of the shelf. Figure 9 (C) shows the state where the loading and unloading trolley has arrived at the storage position of the shelf and the transfer device is preparing to transfer the goods. Figure 9 (D) is a diagram showing a state in which the transfer device is transferring cargo to a storage position on the near side.

[0110] First, the concept of the "near-front storage position (loading position)" of the shelf in this embodiment will be described.

[0111] In this embodiment, the "storage position (loading position) near the front side" of the shelf 2 is a storage position of the following goods, that is, when the goods are loaded in the loading areas 26 and 27 for storage as described above (see Figure 2 ) is loaded onto the trolley 4, the trolley 4 is driven on the driving path 10 and unloaded using the transfer device 12, the storage position of the goods located near the front side becomes an empty space compared to the goods already stored in the shelf 2.

[0112] For example, in the case of the above-mentioned large cargo A, Figure 5 In the example shown in (D), the loading position is when the cargo A1 is stored at a position closer to the front side than the loading position at the back side where the cargo A1 is already stored. Figure 5 As shown in (D), no cargo is stored at the loading position near the front side, and cargo is stored in this empty space.

[0113] In addition, for example, in the case of the above-mentioned small cargo B, Figure 7 In the example shown in (B), the storage position is the "middle position" or "nearest front position" which is located near the front side compared to the innermost loading position where the cargo B1 is already stored. Figure 7 In the example shown in (B), it is a storage position that is not stored with goods and becomes an empty space among the two positions (middle position or nearest front position) located near the front side compared to the innermost position. Figure 7 In the example shown in (C), the storage position is located at the “closest front side” which is an empty space and is located closer to the front side than the back loading position (middle position) where the article B1 is already stored.

[0114] Next, a method for detecting the “cargo width” of the cargo (A, B) stored on the rear side of the shelf 2 will be described.

[0115] like Figure 9 (A) and Figure 9 As shown in (B), photoelectric sensors (scanning sensors) 58 are provided on both sides of the trolley 4 (sides of the shelf 2) to scan the goods stored on the shelf 2 and detect the width of the goods. Figure 9 For simplicity, only one photoelectric sensor 58 is shown in the figure.

[0116] The photoelectric sensor 58 irradiates a laser beam from the side of the trolley 4 toward the side of the shelf 2, that is, in a direction perpendicular to the direction of travel of the trolley 4, and detects the reflected light from the goods, thereby detecting the presence of the goods. Such detection of goods is performed by the controller 50 (see Figure 4 ) or controller 22 (refer to Figure 1 ) and proceed.

[0117] Here, a rotary encoder (not shown) is mounted on a wheel (not shown) of the trolley 4 , and the controller 50 or the controller 22 calculates the travel distance of the trolley 4 based on an output signal of the encoder.

[0118] Therefore, the controllers 50 and 22 can calculate the widths of the cargoes A and B by calculating the travel distance of the vehicle 4 during the period when the cargoes A and B are detected by the photoelectric sensor 58 .

[0119] Furthermore, the travel distance can be calculated using the value calculated by a laser distance sensor (not shown) provided on the trolley 4. This laser distance sensor is composed of, for example, a laser irradiation device provided on the trolley 4 and a reflection device provided at the origin of the automated warehouse 1. The travel distance of the trolley 4 from the origin of the automated warehouse 1 is calculated using the light reflected by the reflection device from the irradiated laser.

[0120] Next, a description will be given of a method for detecting the “cargo width” of the cargo (A, B) placed on the carriage 4 and to be stored in the “near front storage position”.

[0121] As described above, from the storage loading areas 26 and 27 (see Figure 2 ) Loading the goods A and B onto the cart 4. In this case as well, the width of the goods A and B in the incoming loading areas 26 and 27 to be stored next in the "near-front storage position" is calculated based on the photoelectric sensor 58 and the travel distance of the cart 4, as described above. More specifically, the width of the goods can be detected based on the travel distance that the cart 4 has traveled to the incoming loading areas 26 and 27 to take in the goods A and B, and the detection structure of the goods in the incoming loading areas 26 and 27 by the photoelectric sensor 58.

[0122] Furthermore, as a modified example, a laser rangefinder (not shown) capable of directly measuring the width of the goods A and B may be provided in the storage areas 26 and 27 to detect the width of the goods A and B to be stored in the "near front storage position".

[0123] Next, in this embodiment, the width of the goods to be stored on the front side (A1, B1) is compared with the width of the goods already stored on the back side (A2, B2) to change the storage method of the goods A1, B1 on the shelf 2.

[0124] That is, when the width of the goods A1 and B1 to be stored near the front is smaller than the width of the goods A2 and B2 on the back, when unloading the goods to the shelf 2, in order to avoid the interference between the side arms 32 and the goods A2 and B2 on the back, the side arms 32 are mainly used. Figure 6 The end hook portion 46 is replaced with the center hook portion 48 in the above-described manner.

[0125] On the other hand, when the width of the goods A2 and B2 on the back side is smaller than the width of the goods A1 and B1 to be stored near the front side, or when the width of the goods A2 and B2 on the back side is the same as the width of the goods A1 and B1 to be stored near the front side, the above-mentioned replacement operation of the hook portion is not performed ( Figure 6 etc.), the goods A1 and B1 are stored in the storage position near the front side (see Figure 9 (D)).

[0126] Below, using Figure 9 An example of the operation of the receiving and unloading trolley and its transfer device when transferring the goods A1 and B1 to the storage position near the front side of the shelf 2 will be described.

[0127] That is, first, if Figure 9 As shown in (A), the trolley 4 carrying the goods A1 and B1 to be unloaded moves toward the unloading destination along the moving direction shown by the reference symbol D. During this movement, the goods A2 and B2 stored on the shelf 2 are scanned by the laser L emitted from the photoelectric sensor 58. It should be noted that Figure 9 In the process, the controller 22 (refer to Figure 1 ) The storage position near the front side where the goods A1 and B1 are to be stored is an area surrounded by a two-dot chain line shown by the reference numeral S.

[0128] Here, when the goods A1 and B1 are loaded onto the cart 4 from the conveyors of the storage loading areas 26 and 27, as shown in FIG. Figure 9 As shown in (A), one of the pair of side arms 32 is slid in the direction of sandwiching the cargo A1, B1 (indicated by the arrow M). As described above, the distance between the side arms 32 is narrowed to a distance such that one of the hooks 46, 48 can engage with the front and rear ends of the cargo. At this time, the sliding side arm 32 is in the reference position R (refer to Figure 9 The side arm 32 on the opposite side of (C)) can thereby align the cargo A1 and B1 on the cart 4 with the reference position R.

[0129] Then, if Figure 9 As shown in (B), the trolley 4 arrives at the target position for unloading and detects the width W1 of the goods A2 and B2 on the inner side of the shelf 2. In this embodiment, the target position is determined by the controller 22 based on the specified reference storage position ( Figure 9 (C), as indicated by the double-dashed line R).

[0130] Furthermore, considering the possibility that items A2 and B2 on the rear side of shelf 2 may shift in the width direction from the reference storage position R due to various factors, including the passage of time, the trolley can be driven to the point where detection of the width W1 of items A2 and B2 is completed and then stopped at that point. This allows for simultaneous detection of the width W1 of items A2 and B2 and the amount of displacement relative to the reference storage position R. In this case, the controller 50 or controller 22 determines, based on the information about the reference storage position R, that the detected width W1 includes the displacement and calculates the value of the displacement.

[0131] Furthermore, when the offset is detected in this manner, for example, when the offset of the inner cargo A2, B2 relative to the reference storage position R exceeds a predetermined allowable offset (a predetermined offset that is estimated to be highly likely to cause interference between the side arm 32 and the inner cargo A2, B2), it can be determined that a hook replacement operation should be performed in order to avoid the possibility of interference between the side arm 32 and the inner cargo A2, B2.

[0132] On the other hand, when the controllers 50 and 22 determine that the cargo width W1 includes an offset, they may perform a correction operation to return the positions of the rear cargo A2 and B2 to the reference positions.

[0133] In this case, before storing the articles A1 and B1 on the trolley 4 on the shelf 2, the intermediate arms 36 and top arms 38 are extended to the sides of the articles A2 and B2 on the inner side while all the hooks 46 and 48 are returned to the retracted positions. The trolley 4 is then moved slightly to use these arms 36 and 38 to return the articles A2 and B2 on the inner side to positions aligned with the reference storage position R, thereby correcting the offset. By performing this correction operation, when the articles A1 and B1 are transferred to the near-front storage position S, the side arms 32 do not interfere with the articles A2 and B2 on the inner side, and the storage positions of the articles A1, B1, A2, and B2 on both the inner and near-front sides are aligned with the reference storage position R.

[0134] Such a correction operation is performed, for example, by moving the vehicle 4 again after stopping along the reference storage position R, or while the vehicle 4 is traveling (without stopping) to unload the cargo A1 and B1 near the front.

[0135] Next, if Figure 9As shown in (C), when the width of the goods A1 and B1 to be stored on the front side is larger than the width of the goods A2 and B2 on the back side, the hook portion is not replaced, and only the end hook portion 46 on the rear side is used to store the goods A1 and B1 on the shelf 2. Here, the width of the goods A1 and B1 to be stored on the front side can be measured by, for example, a laser rangefinder (not shown) provided in the storage loading areas 26 and 27 and capable of directly measuring the width of the goods A1 and B1, or by using Figure 10 The detection is performed by clamping the side arm 32 as will be described later.

[0136] Furthermore, as a modified example of detecting the width of goods A2 and B2 already stored on the inner side of shelf 2, first, a laser rangefinder (not shown) capable of directly measuring the width of goods A2 and B2 is installed in the loading areas 26 and 27 for storage. The measured width is stored in the controller 50 or the controller 22, and the goods A2 and B2 are loaded onto the cart 4. Thereafter, when the goods A2 and B2 are stored in the target inner storage location, the stored width is associated with the storage location of shelf 2, thereby also enabling the width of goods A2 and B2 stored on the inner side of shelf 2 to be determined.

[0137] In addition, using Figure 10 A modified example of detecting the width of the items A and B stored on the shelf 2 will be described. Figure 10 This is a schematic diagram of a transfer device for explaining a cargo width detection operation performed during the transfer of cargo stored on a shelf, according to a modification of the present embodiment.

[0138] like Figure 10 As shown, during the transportation process by the trolley 4, the cargo A and B loaded on the trolley 4 in the storage loading areas 26 and 27 may be clamped by a pair of side arms 32 to measure the cargo width W1. Figure 10 In the example, as described above, one side arm 32 is slidably moved in the direction of reference numeral M to clamp (see Figure 9 (A)).

[0139] In this case, a rotary encoder (not shown) is incorporated into the motor (not shown) that causes the pair of side arms 32 to slide as a whole. The controller 50 or controller 22 calculates the cargo width W1 based on the encoder's output signal and the position data of the side arms 32. In other words, in this example, the encoder that causes the side arms 32 to slide functions as a sensor. Alternatively, a linear position sensor that directly detects the amount of sliding of the side arms 32 may be used.

[0140] When the transfer device 12 stores the cargo A and B at the rear storage position, the controller 22 or the controller 50 stores the detection results of the detected cargo widths of the cargo A and B.

[0141] Next, the effects of the automated warehouse according to the embodiment and its modified examples of the present invention will be described.

[0142] First, the automatic warehouse 1 of this embodiment and its modified example comprises: a shelf 2 capable of storing a plurality of goods A1 to A2, B1 to B3 in the depth direction; a warehousing and retrieval trolley 4 that travels along the shelf and has a transfer device 12 for transferring the goods to the shelf; and a controller 22, 50 for controlling the warehousing and retrieval trolley 4 and / or the transfer device 12, the transfer device 12 comprises: arms 32, 34, 36, 38 that move forward and backward relative to the shelf; a front end hook 46 provided at the front end portion of the arm; a rear end hook 46 provided at the rear end portion of the arm; and at least one intermediate hook 48, 49 provided at the middle position of the arm, the controller 22 and / or the controller 50 is configured so that when goods A2, B2 are stored in the storage position on the inner side and are to be transferred to the storage position compared with the storage position on the inner side. When storing goods A1 and B1 at the storage position S on the near-front side, if the width W1 of the goods A2 and B2 at the inner storage position is larger than the width of the goods A1 and B1 to be transferred to the storage position on the near-front side, the arm is retracted after the goods A1 and B1 are pushed out a specified distance by the rear end hook 46, and then the middle hooks 48 and 49 are used to transfer the goods to the storage position on the near-front side and store the goods A1 and B1 in the storage position S on the near-front side; if the width W1 of the goods A2 and B2 at the inner storage position is smaller than or the same as the width of the goods A1 and B1 to be transferred to the storage position on the near-front side, the rear end hook 46 is used to transfer the goods A1 and B1 to the storage position S on the near-front side and store the goods A1 and B1 in the storage position S on the near-front side.

[0143] According to this embodiment, when the width W1 of the goods A2 and B2 stored in the rear is smaller than the width of the goods A1 and B1 to be stored near the front, the replacement operation of the hooks 46, 48, and 49 can be omitted, thereby shortening the transfer time. Therefore, a variety of goods with different widths can be efficiently stored in the storage position S near the front of the shelf 2.

[0144] In addition, in this embodiment, the warehousing and outbound trolley 4 is equipped with a photoelectric sensor (scanning sensor) 58, which scans and detects the cargo width W1 of the goods A2 and B2 stored in the shelf 2 through the movement of the warehousing and outbound trolley 4. The controller 22 and / or the controller 50 is configured to calculate the cargo width W1 of the goods A2 and B2 at the inner storage position based on the moving distance during the period when the scanning sensor 58 detects the goods A2 and B2 during the movement of the warehousing and outbound trolley 4 when storing the goods A1 and B1.

[0145] According to this embodiment configured as described above, the cargo width is calculated while the loading / unloading trolley is moving to store the cargo. Therefore, the actual cargo width and position can be confirmed without requiring extra time for cargo width measurement.

[0146] In addition, in a modified example of the present embodiment, the warehousing and outgoing trolley 4 is provided with an encoder or the like (sensor) of the side arm 32 for detecting the cargo width of the cargo A2 and B2 loaded on the transfer device 12 during transportation, and the controller 22 and / or the controller 50 is configured to store the detection result of the cargo width of the cargo A2 and B2 detected by the encoder or the like of the side arm 32 when the cargo A2 and B2 are stored in the storage position on the inner side.

[0147] According to this embodiment, the stored widths of the items A2 and B2 at the rear storage location can be used when the items A1 and B1 are subsequently stored at the front storage location S. Furthermore, the measurement of the item width during the movement of the loading and unloading trolley 4 can be eliminated.

[0148] In addition, in this embodiment and its variations, the controller 22 and / or the controller 50 is configured to use a photoelectric sensor (scanning sensor) 58 to detect the offset of the goods A2 and B2 stored in the storage position on the inner side in the goods width direction relative to the specified position together with the goods width W1 of the goods A2 and B2 at the storage position on the inner side.

[0149] According to this embodiment, the need for replacement can be determined by considering not only the width W1 of the goods A2 and B2 at the rear storage position but also the amount of positional deviation of the goods. For example, if the rear-facing goods A2 and B2 are significantly offset from the predetermined position (reference storage position, storage reference line) R, preventing the goods A1 and B1 from being properly stored at the front storage position S, a decision can be made to replace the hooks 46, 48, and 49 to avoid interference between the side arms 32 and the rear-facing goods A2 and B2.

[0150] Furthermore, in this embodiment, the controller 22 and / or the controller 50 is configured to perform a hook replacement operation when the detected offset of the articles A2 and B2 stored in the rear storage position relative to a predetermined position (reference storage position, storage reference line) R in the article width direction exceeds a predetermined allowable offset (a predetermined offset estimated to be a high probability of interference between the side arms 32 and the rear articles A2 and B2). The hook replacement operation involves pushing the articles A1 and B1 a predetermined distance with the rear hook 46, then retracting the arm, and then transferring the articles A1 and B1 to the near-front storage position with the intermediate hooks 48 and 49, thereby storing the articles A1 and B1 in the near-front storage position S.

[0151] According to the present embodiment configured as described above, interference between the side arm 32 and the cargo A2 and B2 on the rear side with a large offset can be avoided by the replacement operation of the hook portion.

[0152] Description of Reference Numerals

[0153] A1, A2: Large cargo

[0154] B1, B2: small cargo

[0155] D: Moving direction of the trolley for inbound and outbound storage

[0156] L: Laser of photoelectric sensor

[0157] M: Moving direction of the side arm

[0158] R: Cargo storage reference position (reference line) / trolley stop reference position

[0159] S: Storage location near the front

[0160] W1: cargo width

[0161] W2: width of the cargo in the depth direction

[0162] 1: Automatic warehouse

[0163] 2: Shelves

[0164] 4: Carts for inbound and outbound transport

[0165] 6: Shelf

[0166] 8: Shelf layer

[0167] 10: Driving Road

[0168] 12: Transfer device

[0169] 14, 16: Workstation

[0170] 22: Controller

[0171] 32: Sidearm

[0172] 34: Base arm

[0173] 36: Middle arm

[0174] 38: Top arm

[0175] 46: End hook

[0176] 48: Central hook

[0177] 50: Controller

[0178] 58: Photoelectric sensor (scanning sensor).

Claims

1. An automated warehouse comprising shelves capable of storing a plurality of goods in a depth direction, a loading and unloading trolley that travels along the shelves and has a transfer device for transferring goods to the shelves, and a controller, wherein the automated warehouse is characterized in that: The transfer device comprises: an arm that moves forward and backward relative to the shelf; a front hook portion provided at the front end portion of the arm; a rear end hook portion provided at the rear end portion of the arm; and At least one intermediate hook is provided at the middle position of the arm. The controller is configured so that, when goods are stored in a storage position on the back side and goods are to be stored in a storage position located closer to the front side than the storage position on the back side, When the width of the cargo at the inner storage position is larger than the width of the cargo to be transferred to the near-front storage position, the arm is retracted after the cargo is pushed out a predetermined distance by the rear hook, and the cargo is transferred to the near-front storage position by the middle hook and stored in the near-front storage position. When the width of the goods in the inner storage position is smaller than or equal to the width of the goods to be transferred to the near-front storage position, the rear end hook is used to transfer the goods to the near-front storage position and store the goods in the near-front storage position.

2. The automatic warehouse according to claim 1, characterized in that: The loading and unloading trolley is equipped with a scanning sensor, which scans and detects the width of the goods stored in the shelf through the movement of the loading and unloading trolley. The controller is configured to calculate the width of the cargo at the rear storage position based on a movement distance while the scanning sensor detects the cargo during movement of the loading and unloading cart to store the cargo.

3. The automatic warehouse according to claim 1, characterized in that: The loading and unloading trolley is provided with a sensor for detecting the width of the cargo being transported and placed on the transfer device. The controller is configured to store a detection result of the width of the cargo detected by the sensor when the cargo being transported is stored in the storage position on the rear side.

4. The automatic warehouse according to claim 2, characterized in that: The controller is configured to detect, using the scanning sensor, an amount of deviation of the goods stored at the inner storage location relative to a predetermined position in a goods width direction, together with the goods width of the goods at the inner storage location.

5. The automatic warehouse according to claim 4, characterized in that: The controller is configured to, when the detected offset of the goods stored at the storage position on the inner side relative to the specified position in the goods width direction exceeds a specified allowable offset, retract the arm after pushing the goods a specified distance using the rear end hook, and then transfer the goods to the storage position on the near front side using the middle hook to store the goods in the storage position on the near front side.

Images