Delivering device for automated warehouse, automated warehouse system and stacking device

Abstract

To improve handleability of multiple objects.SOLUTION: A delivering device for an automated warehouse installed in the automated warehouse, includes: a plurality of delivery article support sections 80 that are provided corresponding to each of a plurality of tiers and receive and support articles 18 to be delivered from the warehouse via horizontal transport vehicles at each corresponding tier; and a delivery article moving section 74 that moves the articles downward. The plurality of delivery article support sections include delivery article support sections 82 for stacking. The delivery article support sections for stacking are configured to be switched between a first state in which they are overlapped in a planar view on the articles to be delivered from the warehouse, and a second state in which they are retracted from the position in which they are overlapped in a planar view on the articles to be delivered from the warehouse, and the delivery article moving section is configured to move the articles to be received at the delivery article support sections for stacking downward so that they are stacked on a stacking object below.SELECTED DRAWING: Figure 9

Description

[Technical field]

[0001] The present disclosure relates to an automated warehouse retrieval device that stacks objects, an automated warehouse system, and a stacking device. [Background technology]

[0002] Patent document 1 discloses a lifting device that directly or indirectly transfers or receives objects to or from multiple horizontal conveying bodies for storing or retrieving objects from an object storage shelf, and an external conveying device that transports objects from or to an external position. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2023-133854 A Summary of the Invention [Problem to be solved by the invention]

[0004] It is considered that the multiple objects taken out from the storage shelf are handled in a stacked state. In this case, the task of stacking the multiple objects taken out from the automated warehouse in a separate location is troublesome.

[0005] Therefore, an object of the present disclosure is to improve the ease of handling multiple items. [Means for solving the problem]

[0006] The retrieval device for an automated warehouse is installed in an automated warehouse including a storage shelf including a plurality of shelves, a lifting device that performs a retrieval process for moving an object to be stored from a retrieval height position to a height position of the shelf corresponding to a storage location, a plurality of running paths that are associated with the plurality of shelves and are arranged side by side above and below each other, each running path extending along a horizontal direction at a position adjacent to the shelf, and a plurality of horizontal transport vehicles that are arranged corresponding to each of the plurality of running paths and travel on the corresponding running path to transport the object between the lifting device and the shelf and retrieve the object from the shelf, and an outgoing item moving section that moves the items downward, at each of the corresponding tiers, wherein the outgoing item support sections include an outgoing item support section for stacking that is configured to be switched between a first state in which it overlaps the item being outgoing in a planar view and a second state in which it retracts from a position in which it overlaps the item being outgoing in a planar view, and the outgoing item moving section is configured to move the item received at the outgoing item support section for stacking downward so that it is stacked on the stacking object below.

[0007] The stacking device also comprises a plurality of object support sections arranged at intervals in the vertical direction and receiving and supporting stacking objects, and an object moving section which moves the stacking objects downward, wherein the plurality of object support sections include stacking object support sections which are configured to be switched between a first state in which they are overlapped on the stacking objects in a planar view, and a second state in which they are retracted from a position in which they are overlapped on the stacking objects in a planar view, and the object moving section is configured to move the stacking objects received by the stacking object support sections downward so as to be stacked on the stacking objects below. Effect of the Invention

[0008] Since items are stacked, handling of multiple items is improved. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic side view showing an automated warehouse system according to an embodiment. [Diagram 2] FIG. 2 is a schematic plan view showing the automated warehouse system. [Diagram 3] FIG. 3 is a schematic side view showing an automatic warehouse retrieval device. [Figure 4] FIG. 4 is an explanatory diagram showing an example of a configuration for moving the cart. [Diagram 5] FIG. 5 is a schematic side view showing the outgoing item support section and the outgoing item moving section. [Figure 6] FIG. 6 is a schematic plan view showing the outgoing item support section and the outgoing item moving section. [Figure 7] FIG. 7 is an explanatory diagram showing an example of the operation of the holding section and the stacking outgoing item support section. [Figure 8] FIG. 8 is an explanatory diagram showing an example of the operation of the holding section and the stacking outgoing item support section. [Figure 9] FIG. 9 is an explanatory diagram showing the stacking operation. [Figure 10] FIG. 10 is an explanatory diagram showing the stacking operation. [Figure 11] FIG. 11 is a diagram showing a modified example of a retrieval device for an automated warehouse. [Figure 12] FIG. 12 is a diagram showing another modified example of a retrieval device for an automated warehouse. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] {Embodiment} Hereinafter, an automated warehouse retrieval device, an automated warehouse system, and a stacking device according to the embodiments will be described.

[0011] <Automated Warehouse System> The overall configuration of the automated warehouse system will be described below. Fig. 1 is a schematic side view showing the automated warehouse system, and Fig. 2 is a schematic plan view showing the automated warehouse system.

[0012] The automated warehouse system 10 includes an automated warehouse 20 and an emitting device 70 for the automated warehouse. The automated warehouse 20 is a device that automatically stores received items 18 in storage shelves 50. The emitting device 70 for the automated warehouse is a device for emitting, from the automated warehouse 20, the items 18 that have been emitted from the storage shelves 50. The emitting device 70 for the automated warehouse is also a device for stacking the items 18.

[0013] The automated warehouse 20 includes a storage shelf 50, a lifting device 30, a travel path 48, and a horizontal transport vehicle 40. The automated warehouse 20 may include an input transfer shelf 34. The automated warehouse 20 may include an output transfer shelf 36. The automated warehouse 20 may further include an input conveyor 28.

[0014] The incoming conveyor 28 is an example of an outer conveying device that conveys the object 18 from a position outside the storage shelf 50 to a position closer to the storage shelf 50. The incoming conveyor 28 is, for example, a roller conveyor or a belt conveyor.

[0015] The storage conveyor 28 may be omitted. For example, the object 18 may be directly carried into the lifting device 30 by a robot device, a worker, or the like. Also, for example, the object 18 may be directly carried out from the lifting device 30 to the outside by a robot device, a worker, or the like.

[0016] The storage shelves 50 store objects in a plurality of tiers at different heights. The storage shelves 50 are provided on at least one side of the running path 48 of the horizontal transport vehicle 40. In this embodiment, a pair of storage shelves 50 is provided on both sides of the running path 48. The storage shelves 50 have a plurality of tiers of shelves 52 that are supported at intervals in the vertical direction. Each tier of shelves 52 can support and store objects 18. The shelves 52 in each tier can also support a plurality of objects 18. Therefore, when viewed as a whole, the plurality of objects 18 are stored in a state of being arranged vertically and horizontally. In the storage shelves 50, the space in which the objects 18 are stored is the storage space. Therefore, in the storage shelves 50, a plurality of storage spaces are formed that are aligned along the moving direction of the horizontal transport vehicle 40 traveling on the running path 48. The storage spaces may be continuous without partitions, or may be partitioned.

[0017] Here, the object 18 to be stored has a stackable configuration. The object 18 may be, for example, a rectangular parallelepiped container with an open top. The upper opening of the container may be closed by a lid. The container may be a foldable container. The object 18 may be a cardboard box, etc.

[0018] A plurality of running paths 48 are provided in a line above and below and associated with each of a plurality of upper and lower shelves 52. The running paths 48 of each stage extend horizontally at a position adjacent to the shelf 52. In this embodiment, the running paths 48 are provided between a pair of storage shelves 50 in the extending direction therebetween. The running paths 48 extend to the transfer shelves 34, 36. Each running path 48 may be configured to include, for example, a pair of rails. The rails may also serve as the horizontal frame of the storage shelf 50, or may be configured as separate entities from the storage shelf 50.

[0019] The horizontal transport vehicle 40 is a device also called a picker or dolly, and is provided corresponding to each of the multiple travel paths 48. At each stage, the horizontal transport vehicle 40 travels on the corresponding travel path 48. The horizontal transport vehicle 40 is provided with an object insertion / removal mechanism 42 that inserts and removes the object 18 into and from the storage shelf 50 and the transfer shelf 34, 36. The object insertion / removal mechanism 42 has, for example, a pair of arms that can move in and out of the storage shelf 50 and the transfer shelf 34, 36. A pair of claws is provided on the tip side in the advancing direction of the pair of arms and on the front side of the tip. By moving the pair of arms forward with the claws protruding, the object 18 on the horizontal transport vehicle 40 is pushed toward the storage shelf 50 or the transfer shelf 34, 36. By protruding the pair of claws at the tip with the pair of arms protruding, and then moving the pair of arms back, the object 18 on the storage shelf 50 or the transfer shelf 34, 36 side is pulled toward the storage shelf 50 side. This allows the object 18 to be moved between the horizontal transport vehicle 40 and the storage shelf 50 or the transfer shelves 34, 36. The object 18 is taken in and out of the storage shelf 50 from the running path 48 side. The horizontal transport vehicle 40 traveling on the running path 48 can take the object 18 in and out of both of the pair of storage shelves 50 by selectively moving the pair of arms in and out of the pair of storage shelves 50.

[0020] By traveling on the travel path 48, the horizontal transport vehicle 40 can move back and forth between a position corresponding to the incoming transfer shelf 34 and a position corresponding to the storage shelf 50, and can move back and forth between a position corresponding to the storage shelf 50 and a position corresponding to the outgoing transfer shelf 36. By the horizontal transport vehicle 40 moving back and forth between a position corresponding to the incoming transfer shelf 34 and a position corresponding to the storage shelf 50, the horizontal transport vehicle 40 can transport the object 18 between the lifting device 30 and the shelf 52. By the horizontal transport vehicle 40 moving back and forth between a position corresponding to the storage shelf 50 and a position corresponding to the outgoing transfer shelf 36, the horizontal transport vehicle 40 can take out the object 18 from the storage shelf 50.

[0021] Note that the horizontal transport vehicle 40 transporting the object 18 between the lifting device 30 and the shelf 52 means that the horizontal transport vehicle 40 receives the object 18 directly or indirectly from the lifting device 30 and moves with the object 18 loaded to a position where the object 18 can be transferred to the storage shelf 50. In this embodiment, an example is described in which the horizontal transport vehicle 40 receives the object 18 from the lifting device 30 via the receiving transfer shelf 34. In the automated warehouse, the receiving transfer shelf 34 may be omitted and the object may be transferred directly from the lifting device to the horizontal transport vehicle 40.

[0022] In this embodiment, an example will be described in which multiple travel paths 48 and multiple horizontal transport vehicles 40 are provided corresponding to each upper and lower shelf level, but this is not essential. For example, one travel path common to multiple upper and lower shelf levels may be provided, and the horizontal transport vehicles may run on this travel path. In this case, the horizontal transport vehicle may be equipped with multiple loading and unloading mechanisms stacked vertically, and the multiple-stage loading and unloading mechanisms may be able to load and unload stored items onto and from separate upper and lower shelves. Also, multiple horizontal transport vehicles may run on one travel path.

[0023] A lifting device 30 and transfer shelves 34, 36 are provided in a portion of the extension direction of the storage shelf 50. In this embodiment, the incoming transfer shelf 34, the lifting device 30 and the incoming conveyor 28 are provided at one end of each of the pair of storage shelves 50. In addition, the outgoing transfer shelf 36 is provided at the other end of each of the pair of storage shelves 50. A transfer shelf, a lifting device and an incoming / outgoing conveyor may be provided in the middle of the pair of storage shelves 50 in the longitudinal direction. The incoming transfer shelf, lifting device and conveyor may also be used for outgoing.

[0024] The receiving transfer shelf 34 is also called a temporary storage shelf. The receiving transfer shelf 34 is a device that relays the object 18 between the lifting device 30 and the horizontal transport vehicle 40. The receiving transfer shelf 34 has a plurality of transfer tables 35 corresponding to each of the plurality of shelf levels. The plurality of transfer tables 35 are provided at positions next to the storage shelf 50 and at the same height as the corresponding shelf 52. When the object 18 is lifted or lowered by the lifting device 30 to a height position corresponding to one of the shelves 52, the object 18 is transferred from the lifting device 30 to the shelf 52 at that height position. The object 18 is temporarily held by the transfer table 35 at that height position until it is taken in by the horizontal transport vehicle 40. In other words, the receiving transfer shelf 34 functions as a buffer zone that temporarily holds the object 18 between the lifting device 30 and the horizontal transport vehicle 40.

[0025] The transfer table 35 may be, for example, a roller conveyor. The object 18 on the transfer table 35 may be moved by being pushed by a pusher driven by a separately provided actuator such as a cylinder.

[0026] The lifting device 30 is a lifting device that directly or indirectly delivers or receives the object 18 to the horizontal transport vehicle 40 or the storing conveyor 28. In this embodiment, the storing lifting device 30 receives the object 18 directly from the storing conveyor 28. The lifting device 30 also delivers the object 18 indirectly to the horizontal transport vehicle 40 via the storing transfer shelf 34.

[0027] The lifting device 30 is a device that lifts and lowers the object 18, and is also called a reservoir or a lifter. The lifting device 30 includes a lifting platform 32 on which the object 18 is placed. The lifting platform 32 is lifted and lowered while supporting the object 18. The lifting platform 32 can move the object 18 along a conveying direction connecting the storage conveyor 28 and the transfer platform 35. For example, the lifting platform 32 may be a roller conveyor or a belt conveyor that conveys the object 18. The lifting platform 32 may include a pusher that pushes and moves the object 18.

[0028] The lifting platform 32 is driven to move up and down by the lifting drive mechanism 33. The lifting drive mechanism 33 has, for example, a drive source 33a and a circulating rotator 33b. The drive source 33a is, for example, a motor that is electrically driven and controlled. The circulating rotator 33b is a chain or a circulating belt that is wound around a sprocket or a pulley that is rotatably supported above and below the column 31. By rotating the drive source 33a, the circulating rotator 33b is rotated in a circular manner, and the lifting platform 32 connected to the circulating rotator 33b is raised and lowered. By driving the lifting platform 32 to move up and down in conjunction with the operation of the drive source 33a, the lifting platform 32 is raised and lowered to a position corresponding to each of the multiple transfer platforms 35 next to the transfer shelf 34. By positioning the lifting platform 32 at a height corresponding to one of the transfer platforms 35, the object 18 can be transferred by moving horizontally between the lifting platform 32 and the transfer platform 35. In addition, the lifting platform 32 is raised and lowered to a position corresponding to each of the receiving conveyors 28, next to the end of the receiving conveyors 28 that is closer to the storage shelves 50. By positioning the lifting platform 32 at a height corresponding to the receiving conveyors 28, the object 18 can be transferred by moving horizontally between the lifting platform 32 and the receiving conveyor 28. The lifting device 30 performs a storage process in which the object 18 to be stored is moved from the storage height position to the height position of the step corresponding to the storage location.

[0029] The outgoing transfer shelf 36 is a part called a temporary storage shelf, and is a device that relays the object 18 between the horizontal transport vehicle 40 and the automatic warehouse outgoing device 70. The outgoing transfer shelf 36 has a plurality of transfer tables 37 corresponding to each of the plurality of shelf levels. The plurality of transfer tables 37 are provided at positions next to the storage shelf 50 and at the same height as the corresponding shelf 52. When the object 18 is taken out from the storage shelf 50 by the horizontal transport vehicle 40 at the height position of each level, the object 18 is transferred to the transfer table 37 at that height position. The object 18 is temporarily held by the transfer table 37 at that height position until it is sent to the automatic warehouse outgoing device 70. In other words, the outgoing transfer shelf 36 functions as a buffer zone that temporarily holds the object 18 between the horizontal transport vehicle 40 and the automatic warehouse outgoing device 70.

[0030] The transfer table 37 is, for example, a roller conveyor having rollers 37a (see FIG. 3). By driving and rotating a motor built into the rollers 37a, the object 18 can be moved along the automatic warehouse retrieval device 70. The object 18 on the transfer table 37 may be moved by being pushed by a pusher driven by a separately provided actuator such as a cylinder. The transfer table 37 may have a size capable of supporting a plurality of objects 18. In this case, it is preferable that the transfer table 37 can sequentially transfer the plurality of objects 18 one by one to the automatic warehouse retrieval device 70.

[0031] The control unit 90 controls the transport operation of the receiving conveyor 28, the lifting and transfer operation of the lifting device 30, the transfer operation on the transfer shelves 34, 36, the traveling operation of the horizontal transport vehicle 40 and the loading and unloading operation of the object 18, and further controls the automated warehouse retrieval device 70. In this automated warehouse 20, the receiving and unloading of the object 18 are performed under the control of the control unit 90.

[0032] The overall operation of the automated warehouse 20 will now be described.

[0033] Focusing on the item 18 to be stored, the item 18 to be stored is transferred from the storage conveyor 28 to the lifting platform 32 with the lifting platform 32 located at a height position corresponding to the storage conveyor 28. The lifting device 30 then raises and lowers the lifting platform 32 to a position corresponding to the shelf level where the item 18 is to be stored. After this, the item 18 supported by the lifting platform 32 is transferred to the storage transfer shelf 34. The item 18 supported by the storage transfer shelf 34 is transferred to the horizontal transport vehicle 40. The horizontal transport vehicle 40 travels on the travel path 48 while supporting the item 18, and moves toward the intended storage position of the item 18 on the storage shelf 50. When the horizontal transport vehicle 40 reaches the intended storage position, the item 18 is transferred from the horizontal transport vehicle 40 to the storage shelf 50, and the item 18 is stored in the storage shelf 50. After the lifting device 30 lifts and lowers the object 18 to the shelf position where it is to be stored, the object 18 is temporarily supported on the storage transfer shelf 34 until the horizontal transport vehicle 40 takes in the object 18. This reduces the waiting time of the lifting device 30 and the horizontal transport vehicle 40, and the object 18 is efficiently stored.

[0034] Focusing on the item 18 to be unloaded, the horizontal transport vehicle 40 on the shelf level corresponding to the storage position of the item 18 travels to the position corresponding to the storage position of the item 18. Thereafter, the horizontal transport vehicle 40 retrieves the item 18 from the storage shelf 50. The horizontal transport vehicle 40 that has retrieved the item 18 moves toward the outgoing transfer shelf 36 and transfers the item 18 to the outgoing transfer shelf 36. By executing the above process on each of the multiple levels, the item 18 is supported on each of the multiple transfer tables 37.

[0035] The objects 18 supported on each of the multiple transfer tables 37 are transferred to the automatic warehouse retrieval device 70. In the automatic warehouse retrieval device 70, the multiple objects 18 are supported so as to be lined up vertically. The automatic warehouse retrieval device 70 moves the multiple objects 18 downward so as to stack them. As a result, the multiple objects 18 are stacked vertically. The vertically stacked objects 18 can be easily removed from the automatic warehouse 20 using a cart 16 or the like. The horizontal transport vehicle 40 may transfer the objects 18 directly to the automatic warehouse retrieval device 70.

[0036] In addition, in this automated warehouse 20, when an item 18 is stored, a database that associates specific information of the item 18 (item identification code or identification name) with a storage location is generated and updated. When the item 18 is stored, vacant locations on the storage shelf 50 are identified by referring to the database, and one of the vacant locations is selected as a planned storage location. In addition, when the item 18 is removed from the warehouse, the database is referred to to identify the storage location of the item 18. The database may be stored in a memory unit in the control unit 90, or may be stored in another memory unit.

[0037] <Automated warehouse delivery device> The automated warehouse retrieval device 70 will now be described in more detail.

[0038] Fig. 3 is a schematic side view showing the automatic warehouse retrieval device 70. In Fig. 3, the retrieval transfer shelf 36, the cart push-out device 56, and the cart 16 are shown.

[0039] The automated warehouse retrieval device 70 comprises a plurality of retrieval item support sections 80 and an retrieval item moving section 74.

[0040] The plurality of outgoing object support parts 80 are provided corresponding to each stage of the storage shelf 50 and the outgoing transfer shelf 36. For example, each outgoing object support part 80 is arranged next to the corresponding transfer platform 37 at a height position where the object 18 can be received at the same height position as the corresponding transfer platform 37. For example, the outgoing object support part 80 is arranged next to the transfer platform 37 on the opposite side to the storage shelf 50. The outgoing object support part 80 may be arranged next to the transfer platform 37 on the opposite side to the travel path 48. Then, in each corresponding stage, the outgoing object support part 80 receives and supports the object 18 that is outgoing via the horizontal transport vehicle 40. The number of stages is arbitrary, for example, 4 to 5 stages.

[0041] The outgoing transfer shelf 36 is configured to be able to transfer the object 18 toward the outgoing item support section 80. For example, each transfer table 37 of the outgoing transfer shelf 36 sends the object 18 placed thereon toward the outgoing item support section 80. As described above, for example, the transfer table 37 may be a roller conveyor having rollers 37a, and the object 18 may be sent toward the outgoing item support section 80 by the rotational drive of the rollers 37a. The transfer table may push out the object 18 by a pusher.

[0042] The outgoing item moving section 74 moves downward the item 18 supported by the outgoing item support section 80. As described in this embodiment, the outgoing item moving section 74 may move downward the item 18 supported by the outgoing item support section 80 by releasing the item 18 from the supported state by the outgoing item support section 80. The outgoing item moving section may move downward while still supported by the outgoing item support section, as described in a modified example later.

[0043] As described in this embodiment, the outgoing item moving section 74 may be provided in each of the plurality of outgoing item support sections 80. As described in a later modified example, the outgoing item moving section may be provided in common to the plurality of outgoing item support sections.

[0044] The outgoing item moving section 74 moves the item 18 received by the outgoing item support section 80 downward so as to be stacked on the stacking object 18 below. The stacking object 18 is, for example, an item 18 supported by the outgoing item support section 80 at the lower level of each outgoing item support section 80. With regard to the lowest outgoing item support section 80, the stacking object 18 may be a cart 16, a work platform, or the floor surface.

[0045] FIG. 4 shows an example in which a configuration for sequentially moving the cart 16 below the storage shelf 50, the retrieval transfer shelf 36, and the automated warehouse retrieval device 70 is provided.

[0046] That is, a cart storage space 54 in which the carts 16 are stored is located below the multiple outgoing item support sections 80. A cart supply space 55 is located below the outgoing transfer shelf 36 and the automated warehouse outgoing device 70. The cart supply space 55 and the cart storage space 54 are continuous, and the carts 16 can travel from the cart supply space 55 toward the cart storage space 54. The cart storage space 54 opens on the side opposite the storage shelf 50, and the cart storage space 54 can exit on the side opposite the storage shelf 50.

[0047] A carriage pushing device 56 is disposed in the carriage storage space 54. The carriage pushing device 56 is configured to receive the carriage 16 supplied through the carriage supply space 55 and to push the received carriage 16 outward. More specifically, the carriage pushing device 56 includes a carriage pushing section 56a. The carriage pushing section 56a is configured to be switchable between a retracted state and a protruding state by a push-out drive section 56b including an actuator such as a motor or an electromagnetic solenoid. The retracted state is a state in which the carriage 16 is permitted to move into the carriage storage space 54. The protruding state is a state in which the carriage 16 protrudes toward the carriage storage space 54 more than the retracted state and can come into contact with the carriage 16.

[0048] For example, two cart push-out parts 56a are disposed at both sides of the cart storage space 54 and protrude toward the cart storage space 54 in a protruding state. In the protruding state, the distance between the tips of the two cart push-out parts 56a becomes smaller than the width of the cart 16. This allows the tips of the two cart push-out parts to come into contact with the cart 16 in the cart storage space 54 from the outgoing transfer shelf 36 side. In the retracted state, the distance between the tips of the two cart push-out parts 56a becomes larger than the width of the cart 16. This allows the cart 16 supplied via the cart supply space 55 to pass between the tips of the two cart push-out parts and enter the cart storage space 54.

[0049] In addition, the cart pusher 56a can be moved back and forth between an initial position close to the retrieval transfer shelf 36 and a push-out position away from the retrieval transfer shelf 36 by the push-out drive unit 56b. The push-out drive unit 56b is composed of, for example, a fluid cylinder, a linear motor, or a drive mechanism using a pulley and a belt. In the initial position, the cart pusher 56a is in a retracted state. In this state, the cart 16 can enter the cart storage space 54 from the cart supply space 55 through between the tips of the two cart pushers.

[0050] The outgoing item moving section 74 may move the items 18 received by the multiple outgoing item support sections 80 downward so that they are stacked on the carts 16 within the cart storage space 54.

[0051] With the objects 18 stacked on the dolly 16, the dolly pusher 56a is switched to a protruding state. Then, in the protruding state, the dolly pusher 56a moves from the initial position toward the pushing position. Then, the dolly pusher 56a comes into contact with the dolly 16 from the rear in the pushing direction, and can push the dolly 16 in the dolly accommodating space 54 out of the dolly accommodating space 54.

[0052] The dolly 16 may be sent into the dolly accommodating space 54 with the dolly push-out portion 56a moving to the push-out position and in a protruding state. In this case, the dolly 16 sent into the dolly accommodating space 54 can be restricted by the dolly push-out portion 56a so as not to go out. After the dolly 16 is sent into the dolly accommodating space 54, the dolly push-out portion 56a may be switched to a retracted state and move from the push-out position toward the initial position.

[0053] A cart transport device 57 is disposed in the cart supply space 55. The cart transport device 57, like the cart pushing device 56, can be configured to push the cart 16 in the cart supply space 55 toward the cart accommodating space 54 by being configured to include a pushing portion 57a.

[0054] The configuration for moving the cart 16 may be omitted. The cart 16 may be an automatic guided vehicle (AGV). The cart 16 may be moved manually.

[0055] A more detailed description will be given of the configuration of the outgoing item support section 80 and the outgoing item moving section 74. Fig. 5 is a schematic side view showing the outgoing item support section 80 and the outgoing item moving section 74, and Fig. 6 is a schematic plan view showing the outgoing item support section 80 and the outgoing item moving section 74.

[0056] As shown in Figures 3, 5 and 6, each of the multiple outgoing item support portions 80 includes an outgoing item support portion 82 for stacking.

[0057] The stacking outgoing item support section 82 can be switched between a first state and a second state. In the first state, it is superimposed on the outgoing item 18 in a plan view (see Figs. 6 and 7). In the second state, it is retracted from the position superimposed on the outgoing item 18 in a plan view (see Fig. 8). In the first state, the stacking outgoing item support section 82 can receive and support the item 18 from the outgoing transfer shelf 36. In the second state, the item 18 can be moved in the vertical direction.

[0058] More specifically, the automated warehouse retrieval device 70 includes two support pillars 71. The two support pillars 71 are erected on both sides of the cart storage space 54. Each of the multiple retrieval item support parts 80 includes a pair of left and right support parts 81. The two support pillars 71 support the pair of left and right support parts 81 at the height positions of the corresponding stages.

[0059] Each of the pair of support parts 81 includes a stacking outgoing item support part 82. The stacking outgoing item support part 82 includes a belt conveyor 83 and an ingress / egress drive part 84 that drives the belt conveyor 83 to ingress and egress.

[0060] The upper support surface of the belt conveyor 83 is located on an extension of the support surface of the corresponding transfer table 37. Therefore, the object 18 sent from the transfer table 37 to the automated warehouse retrieval device 70 is placed on the support surface of the belt conveyor 83. The belt conveyor 83 is driven for transport by a drive unit such as a motor. The belt conveyor 83 is driven for transport so as to take in the object 18 sent from the transfer table 37 onto itself, whereby the object 18 is supported on the support surface of the belt conveyor 83.

[0061] The stacking outgoing item support parts 82 of the pair of support parts 81 protrude in directions opposing each other from the support frames 81F of the pair of support parts 81. Both sides of the item 18 are supported on the belt conveyors 83 of the pair of opposing stacking outgoing item support parts 82, thereby stably supporting the item 18.

[0062] The advance / retract drive unit 84 is a drive mechanism including a fluid cylinder or a motor, etc., and is supported by the support frame 81F. The advance / retract drive unit 84 drives the belt conveyor 83 to advance / retract so as to switch between a first state and a second state. In the first state, the belt conveyor 83 advances / retracts from the support frame 81F of the pair of support parts 81, and the pair of belt conveyors 83 approach each other. In this state, the distance between the pair of belt conveyors 83 is smaller than the width of the object 18. In the second state, the belt conveyor 83 approaches the support frame 81F of the pair of support parts 81, and the pair of belt conveyors 83 are separated from each other. In this state, the distance between the pair of belt conveyors 83 is larger than the width of the object 18.

[0063] The outgoing item moving unit 74 comprises a holding unit 75 and a holding drive unit 76 that switches and drives the holding unit 75.

[0064] The holding section 75 is switched between a standby state and a holding state. The standby state is a state in which the holding section 75 waits to the side of the object 18 supported by the stacking outgoing item support section 82 in the first state (see FIG. 6). The holding state is a state in which the holding section 75 comes into contact with the object 18 supported by the stacking outgoing item support section 82 in the first state and holds the object 18 (see FIGS. 7 and 8).

[0065] More specifically, each of the pair of support parts 81 supports a holding part 75. The holding parts 75 are arranged so as to be able to protrude in directions opposing each other from the support frames 81F of the pair of support parts 81. The pair of opposing holding parts 75 protrude toward the object 18 supported on the belt conveyor 83, allowing the pair of holding parts 75 to come into contact with both sides of the object 18. This allows the pair of holding parts 75 to hold the object 18 by sandwiching it between them.

[0066] The holding portion 75 may hold the object 18 by frictional force by pinching both side surfaces of the object 18. The holding portion 75 may hold the object 18 by vacuum suction or electromagnet suction. The holding portion 75 may hold the object 18 by engaging with recesses or protrusions formed on both sides of the object 18.

[0067] The holding drive unit 76 is a drive mechanism including a fluid cylinder or a motor, etc., and is supported by the support frame 81F. The holding drive unit 76 drives the holding unit 75 to move forward and backward so as to switch between a standby state and a holding state. In the standby state, the holding unit 75 retreats from above the belt conveyor 83 to the support frame 81F side. This allows the object 18 to move in the area above the belt conveyor 83 without the holding unit 75 getting in the way. In the holding state, the holding unit 75 protrudes and moves above the belt conveyor 83 from the support frame 81F. This allows the pair of holding units 75 to hold the object 18 on the pair of belt conveyors 83.

[0068] The outgoing item moving section 74 further includes a descent drive section 78. The descent drive section 78 is configured by a drive mechanism using a fluid cylinder, a linear motor, or a pulley and a belt, etc. The descent drive section 78 drives the holding section 75 downward. In this embodiment, the descent drive section 78 is supported by the support column 71 and drives the support frame 81F up and down. Therefore, the descent drive section 78 drives not only the holding section 75 and the holding drive section 76 supported by the support frame 81F up and down, but also the stacking outgoing item support section 82 up and down.

[0069] That is, in this embodiment, a plurality of sets of stacking outgoing item support parts 82 and holding parts 75 are provided in each tier. Holding parts 75 can move held items 18 downward so as to stack them on items 18 to be stacked that are located in the tier below. For this reason, descent drive part 78 that moves holding part 75 downward only needs to be configured to move holding part 75 downward by a height corresponding to one tier, and descent drive part 78 can be made compact.

[0070] An example of the operation of the holding unit 75 and the stacking outgoing item support unit 82 will be described.

[0071] When the items 18 are transferred from the outgoing item moving section 74 to the automated warehouse retrieval device 70, the holding section 75 is placed in a standby state for each tier, and the stacking outgoing item support section 82 is placed in a first state.

[0072] 6, the object 18 is sent from the transfer platform 37 onto the belt conveyor 83 of a pair of stacking outgoing object support sections 82. The object 18 is taken onto the belt conveyor 83 by the belt conveyor 83.

[0073] 7, the holding parts 75 are switched from the standby state to the holding state, whereby the object 18 is sandwiched and held by the pair of holding parts 75 above the belt conveyor 83.

[0074] Thereafter, as shown in Fig. 8, the stacking outgoing item support section 82 is switched to the second state. Then, the pair of belt conveyors 83 retracts outwardly on both sides from the area of ​​the items 18 in a plan view. The bottom surface of the item 18 held by the holding section 75 is opened downward. Therefore, when the lowering drive section 78 lowers the holding section 75 holding the item 18, the item 18 held by the holding section 75 can be stacked on top of the item 18 below it.

[0075] The automated warehouse retrieval device 70 may include a stopper 86. The stopper 86 is a stopper that prevents the object 18 supported by the stacking retrieval object support portion 82 in the first state from moving downstream in the object receiving direction.

[0076] For example, the stopper 86 is disposed at a position above the support surface of the belt conveyor 83 and downstream in the feed direction of the belt conveyor 83. Then, when an object 18 moving on the outgoing item support section for stacking 82 attempts to move past the support position in the outgoing item support section for stacking 82, the object 18 comes into contact with the stopper 86, and the movement downstream is restricted, and falling off is suppressed.

[0077] The stopper 86 may be switched between a movement inhibiting state and a movement released state. The movement inhibiting state is a state in which the movement of the object 18 supported by the stacking outgoing object support portion 82 is inhibited, and the stopper 86 protrudes in the same direction as the belt conveyor 83 in the first state. The movement released state is a state in which the inhibition of the movement of the object 18 is released, and the stopper 86 retracts in the same direction as the belt conveyor 83 in the second state.

[0078] The stopper 86 may be moved by a drive unit 87 such as a cylinder or an electromagnetic actuator for driving the stopper 86. The stopper 86 may be driven to move in and out together with the belt conveyor 83 by an in and out drive unit 84 for the belt conveyor 83.

[0079] The stopper 86 may be in a movement inhibiting state when the object 18 is being sent onto the belt conveyor 83 of the stacking outgoing object support section 82 (see FIG. 6). Also, when the object 18 stacked on the cart 16 moves outward from the stacking outgoing object support section 82, the stopper 86 may be retracted and in a movement released state similarly to the stacking outgoing object support section 82. When the object 18 is to be moved downward, the stopper 86 may be in a movement inhibiting state or in a movement released state.

[0080] The operation of the automated warehouse retrieval device 70 for stacking the objects 18 will be described with reference to Figures 9 and 10. Note that in each tier in Figures 9 and 10, the holding section 75 and the portion of the belt conveyor 83 that supports the objects 18 are indicated by solid lines or dashed lines.

[0081] The objects 18 supported on the transfer tables 37 of each stage are transferred onto the belt conveyor 83 of the corresponding stage. As a result, the multiple objects 18 are supported on the belt conveyor 83 of each stage and lined up at intervals in the vertical direction. Then, under the control of the control unit 90, the outgoing object moving unit 74 stacks the multiple objects 18 received by the multiple stacking outgoing object support units 82 in order from top to bottom.

[0082] That is, as shown in FIG. 9(a), at the top tier, the holding section 75 is in the holding state and the object 18 is held by the holding section 75. Also, the stacking outgoing object support section 82 is switched to the second state and the bottom surface of the object 18 is opened downward. At each tier below the top tier, the object 18 is in a state supported on the belt conveyor 83 by the stacking outgoing object support section 82 that maintains the first state. Note that the object 18 may also be in a state held by the holding section 75 at each tier below the top tier. Note that the holding section 75 at the top tier returns to its original position at the top tier at any timing after the holding is released (see arrow c in FIG. 9(c)).

[0083] 9(b), the uppermost holder 75 is lowered by the drive of the topmost lowering drive unit 78 (see arrow a). As a result, the topmost object 18 is stacked on the second object 18 from the top. The uppermost holder 75 is then switched to a standby state, and the holding state of the object 18 is released.

[0084] Next, in the second tier from the top, holding portion 75 is put into the holding state and object 18 is held by holding portion 75. Also, stacking outgoing object support portion 82 is switched to the second state and the bottom surface of object 18 is opened downward.

[0085] 9(c), the second-highest holder 75 is lowered by the drive of the second-highest lowering drive unit 78 (see arrow b). As a result, the stack of objects 18 in the top and second-highest levels is stacked on top of the object 18 in the third level from the top. Thereafter, the second-highest holder 75 is switched to a standby state, and the holding state of the object 18 is released.

[0086] By repeating the above operation from the top tier, other objects 18 are stacked on top of the object 18 held by the holding portion 75 of the lowest tier, as shown in Fig. 10(d). In other words, the holding portion 75 of the lowest tier holds a stack of multiple objects 18.

[0087] The dolly 16 is disposed in the dolly accommodation space 54 below the lowest holding part 75. As shown in FIG. 10(e), the lowest holding part 75 is lowered by the drive of the lowest-stage lowering drive part 78 (see arrow d). As a result, the stack of the multiple objects 18 held by the lowest-stage holding part 75 is stacked on the dolly 16 as the object to be stacked. Thereafter, the lowest-stage holding part 75 is switched to a standby state, and the holding state of the objects 18 is released. Also, the lowest-stage holding part 75 returns to the position of the original stage. At a timing before the dolly 16 leaves the dolly accommodation space 54, the stopper 86 is switched to a movement release state.

[0088] As shown in Fig. 10(f), the cart 16 is pushed out of the cart storage space 54 by driving the cart pushing portion 56a. A plurality of objects 18 are stacked on the pushed-out cart 16. Therefore, the stacked objects 18 can be easily transported to another location by using the cart 16.

[0089] <Effects, etc.> According to the automated warehouse retrieval device 70 and the automated warehouse 20 configured as described above, the item 18 to be retrieved is received and supported by the retrieved item support section 80 in each of the multiple tiers. The item 18 received by the retrieved item support section 82 for stacking among the multiple retrieved item support sections 80 is moved downward by the retrieved item moving section 74 so as to be stacked on the stacking target item below. As a result, the items 18 received by the multiple retrieved item support sections 80 are stacked. The stacked items 18 can be easily transported to the outside. This improves the handleability of the items 18 taken out from the multiple shelves 52. For example, it is not necessary for the items 18 to be transported to the outside by a conveyor from the automated warehouse and then stacked on a trolley again outside. In addition, the installation area of ​​the equipment can be reduced by the amount that the conveyor can be omitted.

[0090] Furthermore, the outgoing item moving section 74 includes a holding section 75 that is switched between a standby state and a holding state. Then, when the stacking outgoing item support section 82 is in the second state, the holding section 75 holding the item 18 is lowered, so that the item 18 held by the holding section 75 can be stacked on the stacking target item below it.

[0091] In addition, the outgoing item moving section 74 is equipped with a plurality of stacking outgoing item support sections 82, and stacks the multiple items 18 received by the multiple stacking outgoing item support sections 82 in order from top to bottom, thereby enabling the stacking of the items 18 to be carried out smoothly.

[0092] For example, if stacking of objects 18 is performed first with multiple tiers interrupted, there will be no vertical gap between the stacked objects 18. This results in a larger gap between the top surface of the topmost object 18 of the stacked objects 18 and the object 18 supported above it. In this case, the higher the tier, the greater the distance that the object 18 must be lowered. By stacking the objects 18 in order from the top tier, the amount of descent for each tier can be reduced.

[0093] In addition, the automated warehouse retrieval device 70 further includes a stopper 86 that suppresses movement of the object 18 downstream in the receiving direction. This prevents the object 18 from falling off the stacking retrieval object support portion 82 when the object 18 is received.

[0094] In addition, the stopper 86 can be switched between a movement suppressing state and a movement released state. Therefore, when the stacking outgoing article support section 82 is in the second state, the holding section 75 is in the standby state, and the stopper 86 is in the movement released state, the article 18 can easily be released from the stacking outgoing article support section 82 and the holding section 75. This allows the stacked multiple articles 18 to be easily transported out of the automated warehouse retrieval device 70.

[0095] In addition, below the plurality of outgoing article support parts 80, the cart storage space 54 in which the carts 16 are stored is located, and the outgoing article moving part 74 moves the articles 18 downward so as to be stacked on the carts 16 in the cart storage space 54. For this reason, the plurality of articles 18 supported by the plurality of outgoing article support parts 80 can be easily stacked on the carts 16 by the outgoing article moving part 74.

[0096] In addition, since the automated warehouse retrieval device 70 is equipped with the trolley push-out section 56a that can be switched between a retracted state and an extended state, it is easy to move an empty trolley into the trolley storage space 54 and to move a trolley 16 with objects 18 stacked thereon from the trolley storage space 54 to the outside.

[0097] In addition, a plurality of sets of stacking outgoing item support parts 82 and holding parts 75 are provided corresponding to the respective tiers, and the holding parts 75 of each tier move the held item 18 downward so as to be stacked on the stacking target item 18 located in the tier below. Therefore, the holding parts 75 only need to move the held item 18 downward so as to be stacked on the stacking target item 18 located in the tier below. Therefore, the amount of descent of each holding part 75 can be reduced.

[0098] By providing the automated warehouse system 10 with the automated warehouse retrieval device 70, it is possible to easily retrieve a plurality of objects 18 from the automated warehouse 20. In addition, since it is not necessary to provide an retrieval conveyor, it is possible to reduce the size of the automated warehouse system 10 accordingly.

[0099] {Variation} In the automatic warehouse retrieval device, it is not essential that a holding unit 75 is provided for each tier. For example, as shown in FIG. 11, a holding unit 175 may be provided commonly to each tier. In this case, for example, belt conveyors 83a and 83b corresponding to the belt conveyor 83 may be provided at intervals in the conveying direction. The holding drive unit 176 may use the space between the belt conveyors 83a and 83b to move the holding unit 175 up and down to a position corresponding to each tier. In this case, the holding unit 175 moves to a position corresponding to each tier to hold the object 18 on the belt conveyors 83a and 83b of each tier and stack it on the object below.

[0100] Furthermore, in the automated warehouse retrieval device, it is not essential that a holding section 75 exists separately from the stacking retrieval item support section 82, as in the combination of the belt conveyor 83 of the stacking retrieval item support section 82 and the holding section 75.

[0101] 12, for example, the stacking outgoing object support section 282 may include a slide support section 283 on which the object 18 is slidably supported, and the slide support section 283 may be supported so as to be movable in a direction away from the object 18 to the side and to be movable up and down. In this case, the first state and the second state are switched by the horizontal movement of the slide support section 283. Also, the object 18 can be stacked on the object 18 below by the downward movement of the slide support section 283 itself.

[0102] In this case, the slide support portion 283 may, for example, slidably support a step portion 18S formed on a side surface of the object 18. In addition, the movement from the transfer platform 37 to the slide support portion 283 may be performed by, for example, a pusher.

[0103] In the above-mentioned automated warehouse system 10, a lifting device for retrieval and a retrieval conveyor may be provided separately from the automated warehouse retrieval device 70.

[0104] Furthermore, the support portion that supports the lowest stacked object may be a fixed shelf, or may be a support portion on which a dolly is placed.

[0105] The automated warehouse retrieval device 70 can also be used as a stacking device for the object 18 that is not based on an automated warehouse. For example, it can be used as a device for stacking the object 18 from a multi-stage conveyor.

[0106] The configurations described in the above embodiment and modifications can be combined as appropriate as long as they are not mutually inconsistent.

[0107] The present disclosure discloses the following aspects.

[0108] A first aspect is an retrieval device for an automated warehouse that is installed in an automated warehouse, the device comprising: a storage shelf including a plurality of shelves; a lifting device that performs a retrieval process for moving an object to be stored from a retrieval height position to a height position of the shelf corresponding to a storage location; a plurality of running paths that are associated with the plurality of shelves and are arranged side by side above and below, each running path extending horizontally at a position adjacent to the shelf; and a plurality of horizontal transport vehicles that are arranged corresponding to each of the plurality of running paths and run on the corresponding running path to transport the object between the lifting device and the shelf and to retrieval the object from the shelf, the plurality of horizontal transport vehicles being arranged corresponding to each of the plurality of shelves and the plurality of outgoing item support sections include outgoing item support sections for stacking, which are configured to be switched between a first state in which they overlap the item being shipped in a planar view and a second state in which they move away from a position in which they overlap the item being shipped in a planar view, and the outgoing item moving section is configured to move the item received at the outgoing item support sections for stacking downward so that it is stacked on the stacked item below.

[0109] According to this automated warehouse retrieval device, an outgoing item is received and supported by the outgoing item support section on each of the multiple shelves. An outgoing item received into an outgoing item support section for stacking among the multiple outgoing item support sections is moved downward by the outgoing item moving section so as to be stacked on the stacking object below. In this way, the outgoing items received into the multiple outgoing item support sections are stacked. The stacked items can be easily transported to the outside. This improves the handleability of the items removed from the multiple shelves.

[0110] The configurations according to the second and subsequent aspects may be adopted as optional configurations that are not essential. The second aspect is the retrieval device for an automated warehouse according to the first aspect, in which the retrieval object moving unit includes a holding unit that is switched between a standby state in which it waits to the side of the object supported by the retrieval object support unit for stacking in the first state and a holding state in which it contacts the object supported by the retrieval object support unit for stacking in the first state and holds the object, and in a state in which the retrieval object support unit for stacking is in the second state, the holding unit holding the object is lowered to stack the object held by the holding unit on the stacking object below it.

[0111] This allows the items supported by the stacking outgoing item support section to be held by the holding section and moved downward, thereby allowing the items to be stacked.

[0112] A third aspect is an automatic warehouse retrieval device relating to the first or second aspect, which is provided with a plurality of tiered retrieval item support sections, and the retrieval item moving section stacks the plurality of items received by the plurality of tiered retrieval item support sections in order from top to bottom.

[0113] This allows multiple items received by the multiple stacking outgoing item support sections to be stacked in order from top to bottom, making it possible to stack the items smoothly.

[0114] A fourth aspect is an automatic warehouse retrieval device relating to any one of the first to third aspects, further comprising a stopper that prevents the item supported by the stacking retrieval item support section in the first state from moving downstream in the receiving direction of the item.

[0115] This makes it possible to prevent items from falling off the stacking outgoing item support section during receiving, etc.

[0116] A fifth aspect is an automatic warehouse retrieval device relating to the fourth aspect, wherein the stopper is switched between a movement suppression state in which the movement of the object supported by the stacking retrieval object support section is suppressed, and a movement release state in which the suppression of the movement of the object is released.

[0117] As a result, when the stacking retrieval item support section is in the second state and the stopper is in the movement release state, the item can easily be removed from the stacking retrieval item support section, allowing multiple stacked items to be easily transported out of the automated warehouse retrieval device.

[0118] A sixth aspect is an automatic warehouse retrieval device relating to any one of the first to fifth aspects, wherein a cart storage space in which a cart is stored is located below the plurality of retrieval item support sections, and the retrieval item moving section moves the items received in the plurality of retrieval item support sections downward so as to be stacked on the carts in the cart storage space.

[0119] This makes it easy to stack multiple items supported by multiple outgoing item support sections onto the cart in the cart storage space by the outgoing item moving section.

[0120] The seventh aspect is an automatic warehouse retrieval device relating to the sixth aspect, which is a retrieval device for an automatic warehouse that is switched between a retracted state that allows the cart to move into the cart storage space and a protruding state that protrudes toward the cart storage space further than the retracted state and can contact the cart, and further includes a cart pushing section that, in the protruding state, pushes the cart within the cart storage space out of the cart storage space.

[0121] In this way, by putting the carriage pushing portion into the retracted state, the carriage can be easily moved into the carriage accommodating space. Also, the carriage pushing portion can move the carriage in the carriage accommodating space to the outside.

[0122] The eighth aspect is an automatic warehouse retrieval device relating to any one of the second to seventh aspects, in which a plurality of sets of the stacking retrieval item support section and the holding section are provided, and the holding section moves the held item downward so as to stack it on the stacking object located on the tier below.

[0123] In this way, the holders can simply move downward so that the held object is stacked on the stacking target object located below them, thereby making it possible to reduce the amount of descent of each holder.

[0124] A ninth aspect is an automated warehouse system comprising: an automated warehouse including a storage shelf including multiple shelves; a lifting device that performs an entry process by moving an item to be entered from a height position for entry to a height position of the shelf corresponding to a storage location; a plurality of running paths that are associated with the multiple shelves and are arranged in a row above and below, each extending horizontally next to the shelf; and a plurality of horizontal transport vehicles that are arranged corresponding to each of the plurality of running paths and run on the corresponding running path to transport the item between the lifting device and the shelf and to retrieve the item from the shelf; and an retrieval device for the automated warehouse relating to any one of the first to eighth aspects.

[0125] As a result, the outgoing items are received and supported by the outgoing item support section at each of the multiple tiers. The outgoing items received at the outgoing item support section for stacking are moved downward by the outgoing item moving section so as to be stacked on the stacking target item below. As a result, the outgoing items received at the multiple outgoing item support sections are stacked in tiers. The multiple stacked items can be easily transported to the outside. This improves the handleability of the multiple items taken out from the multiple tiers of shelves.

[0126] A tenth aspect is a stacking device comprising a plurality of object support sections arranged at intervals in the vertical direction and receiving and supporting stacking objects, and an object moving section which moves the stacking objects downward, wherein the plurality of object support sections include stacking object support sections which are configured to be switched between a first state in which they are overlapped on the stacking objects in a planar view, and a second state in which they are retracted from a position overlapping the stacking objects in a planar view, and wherein the object moving section is configured to move the stacking objects received by the stacking object support sections downward so as to be stacked on the stacking objects below it.

[0127] According to this stacking device, a stacking object is received and supported by each of the multiple object support sections. The stacking object received by the stacking object support section is moved downward by the object moving section so as to be stacked on the stacking object below. In this way, the objects received by the multiple object support sections are stacked in layers. This improves the ease of handling of the multiple stacked objects.

[0128] The above description is illustrative in all respects, and the present invention is not limited thereto. It is understood that countless variations not illustrated can be assumed without departing from the scope of the present invention. [Explanation of symbols]

[0129] 10 Automated Warehouse System 16 Trolley 18 Things 20 Automated Warehouse 30 Lifting device 34 Transfer shelf for warehousing 36. Shipping Shelf 37 Transfer platform 40 Horizontal transport vehicle 48 Running Track 50 Storage Shelf 52 Shelf 54 Trolley storage space 56 Cart pushing device 56a Cart push-out section 56b Extrusion drive unit 70 Automatic warehouse delivery device 71 Pillar 74 Outgoing Goods Transfer Department 75, 175 Holding part 76, 176 Holding drive unit 78 Lowering drive 80 Output support part 82, 282 Support for stacked items 83;83a, 83b conveyor belt 84 Ingress / egress drive section 86 Stopper 87 Drive unit 90 Control section 283 Slide Support

Claims

1. A storage shelf including a plurality of shelves; a lifting device for performing a storage process to move an item to be stored from a storage height position to a height position of the step corresponding to the storage location; A plurality of running paths are provided in a vertical line in association with the plurality of shelves, each running path extending horizontally adjacent to the shelf; a plurality of horizontal transport vehicles provided corresponding to the plurality of travel paths, each of which travels on the corresponding travel path to transport the object between the lifting device and the shelf and to remove the object from the shelf; An automatic warehouse retrieval device installed in an automatic warehouse comprising: A plurality of outgoing object support units are provided corresponding to the plurality of stages, and receive and support the objects outgoing via the horizontal transport vehicle at the corresponding stages; An outgoing object moving unit that moves the object downward; Equipped with The plurality of outgoing item support parts include a stacking outgoing item support part, The stacking object support portion is configured to be switched between a first state in which it overlaps the object to be unloaded in a planar view and a second state in which it retreats from a position overlapping the object to be unloaded in a planar view, The outgoing item moving section is configured to move the item received in the stacking outgoing item support section downward so as to stack it on the stacking object below.

2. The automatic warehouse retrieval device according to claim 1, The outgoing item moving unit is A holding unit that is switched between a standby state in which the holding unit waits beside the object supported by the stacking object support unit in the first state and a holding state in which the holding unit contacts the object supported by the stacking object support unit in the first state and holds the object, An automated warehouse retrieval device which, when the stacking retrieval item support section is in the second state, lowers the holding section holding the item, thereby stacking the item held by the holding section on the stacking object below.

3. The automatic warehouse retrieval device according to claim 1 or 2, The stacking item support portion is provided in plurality, The outgoing item moving section stacks the multiple items received by the multiple stacking outgoing item support sections in order from top to bottom, in an automated warehouse outgoing device.

4. The automatic warehouse retrieval device according to claim 1 or 2, An automated warehouse retrieval device further comprising a stopper that prevents the object supported by the stacking retrieval object support portion in the first state from moving downstream in the receiving direction of the object.

5. The automatic warehouse retrieval device according to claim 4, The stopper is switched between a movement suppression state in which the movement of the object supported by the stacking object support section is suppressed, and a movement release state in which the suppression of the movement of the object is released.

6. The automatic warehouse retrieval device according to claim 1 or 2, A cart storage space in which a cart is stored is located below the plurality of outgoing item support parts, The outgoing item moving section moves the items received in the multiple outgoing item support sections downward so as to be stacked on the carts within the cart storage space, providing an outgoing item delivery device for an automated warehouse.

7. The automatic warehouse retrieval device according to claim 6, An automatic warehouse retrieval device further comprising a cart pushing section which is switched between a retracted state which allows the cart to move into the cart storage space and a protruding state which protrudes further toward the cart storage space than the retracted state and can contact the cart, and which in the protruding state pushes the cart within the cart storage space out of the cart storage space.

8. The automatic warehouse retrieval device according to claim 2, A plurality of sets of the stacking item support parts and the holding parts are provided, An automatic warehouse retrieval device in which the holding section moves the held object downward so as to stack it on the stacking object located on the lower level.

9. A storage shelf including a plurality of shelves; a lifting device for performing a storage process to move an item to be stored from a storage height position to a height position of the step corresponding to the storage location; A plurality of running paths are provided in a vertical line in association with the plurality of shelves, each running path extending horizontally adjacent to the shelf; a plurality of horizontal transport vehicles provided corresponding to the plurality of travel paths, each of which travels on the corresponding travel path to transport the object between the lifting device and the shelf and to remove the object from the shelf; An automated warehouse comprising: The automatic warehouse retrieval device according to claim 1 or 2, An automated warehouse system equipped with:

10. A plurality of object support sections arranged at intervals in the vertical direction to receive and support the objects to be stacked; An object moving unit that moves the stacked objects downward; Equipped with The plurality of object supports include a stacking object support, The stacking object support portion is configured to be switched between a first state in which it overlaps the stacking object in a plan view and a second state in which it retreats from a position overlapping the stacking object in a plan view, A stacking device, wherein the object moving section is configured to move the stacking object received in the stacking object support section downward so as to stack it on the stacking object below it.

Images