Automated warehouse

Abstract

To provide an automated warehouse which can transfer cargo to placement positions far inside while reducing transferring time with fewer operations by a side arm.SOLUTION: An automated warehouse 1 according to the present invention includes a stock in-out cart 4 equipped with a transfer device 12, a pair of racks 2 that can store multiple cargoes in a depth direction, and controllers 22, 50; the transfer device 12 includes a side arm 32 with at least a base arm 34, a middle arm 36, and a top arm 38, end hooks 46 on the top arm 38, and intermediate hooks 48 between the end hooks, and when transferring an item to a loading position at the far side of the rack 2, the controllers 22, 50 extend the side arm 32 in the direction opposite the rack 2 to be transferred, place the intermediate hook 48 in a protruding position, extend the side arm 32 toward the rack 2 to be transferred, and use the intermediate hook 48 to transfer cargoes A, B to the loading position far inside.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to an automated warehouse, and in particular to an automated warehouse that includes a rack that can store multiple items of cargo in the depth direction, an in-and-out cart that has a transfer device that travels along the rack and transfers the items to the rack, and a controller that controls the transfer device. [Background technology]

[0002] Conventionally, rear hook-type transfer devices equipped with side arms and hooks for transferring cargo have been known. For example, Patent Document 1 discloses a transfer device in which openable / closable end hooks are provided at both front and rear ends of a pair of telescopic left and right side arms, and the end hooks on the rear end are placed in a protruding state and the arms are advanced to unload cargo onto a rack. Patent Document 2 also discloses a transfer device in which openable / closable end hooks and intermediate hooks are provided at both front and rear ends and at a front-to-rear intermediate position of a pair of telescopic left and right side arms, and the end hooks or intermediate hooks on the rear end are placed in a protruding state and the arms are advanced to unload cargo onto a rack. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Republished Patent Publication WO2012 / 029339 [Patent Document 2] Japanese Patent Publication No. 2023-107024 Summary of the Invention [Problem to be solved by the invention]

[0004] Here, in an automated warehouse, when transferring cargo from a transfer device installed on a loading / unloading cart in the depth direction of a rack (when so-called "unloading"), a method is known in which a transfer device equipped with an intermediate hook, such as that described in Patent Document 2 above, is used, and the side arm is extended and the cargo is pushed with the end hook on the rear end, then the side arm is returned a predetermined amount to the opposite side, and then the cargo is pushed again with the intermediate hook to transfer the cargo, thereby transferring the cargo by switching the grip of the hook.

[0005] However, in such cases, the extension and retraction of the side arm is required at least three times, and the hook needs to be changed over, which makes it difficult to shorten the time required to transfer cargo, for example, as it is necessary to adjust the acceleration and deceleration of the extension and retraction of the side arm to a lower value. Even when such hook repositioning is not required, there is a demand for shortening the transfer time.

[0006] Therefore, the present invention has been made to solve the above-mentioned problems, and aims to provide an automated warehouse that can transfer cargo to a loading position at the back while shortening the transfer time with fewer side arm movements. [Means for solving the problem]

[0007] In order to achieve the above object, the present invention provides an automated warehouse comprising an loading / unloading cart equipped with a transfer device for transferring cargo, racks arranged on both sides of the travel path of the loading / unloading cart and capable of storing a plurality of cargoes in the depth direction, and a controller for controlling the transfer device, wherein the transfer device comprises side arms having at least a base arm, a middle arm, and a top arm, the side arms being able to advance into the racks on both sides, end hooks arranged at the front and rear ends of the top arm, respectively, and being rotatable between an extended position and a stored position, and a middle hook arranged at an intermediate position on the top arm between the end hooks and being rotatable between an extended position and a stored position, and the controller is configured such that, when transferring cargo to a loading position at the rear of the rack, the controller extends the side arm in a direction opposite the rack to be transferred, rotates the middle hook to the extended position, and extends the side arm towards the rack to be transferred, and transfers the cargo to the loading position at the rear by the middle hook in the extended position.

[0008] According to the present invention configured in this manner, the side arm can be extended in the direction opposite the rack to be transferred, allowing the cargo to be pushed by the intermediate hook. This allows the cargo to be transferred to the rear loading position while shortening the transfer time with less movement of the side arm.

[0009] In order to achieve the above object, the present invention provides an automated warehouse comprising an loading / unloading cart equipped with a transfer device for transferring cargo, racks arranged on both sides of the travel path of the loading / unloading cart and capable of storing a plurality of cargo in the depth direction, and a controller for controlling the transfer device, wherein the transfer device comprises side arms having at least a base arm, a middle arm, and a top arm, the side arms being able to advance into the racks on both sides, and end hooks arranged at the front and rear ends of the top arm, respectively, and being able to rotate between an extended position and a stored position, and wherein, when transferring cargo to a loading position at the rear of the rack, the controller is configured to extend the side arm in the direction opposite the rack to be transferred, rotate the end hook at the front or rear end that is closest to the rack to be transferred to the extended position, extend the side arm towards the rack to be transferred, and transfer the cargo to the loading position at the rear using the end hook in the extended position.

[0010] According to the present invention configured in this manner, by extending the side arm in the direction opposite the rack to be transferred, the cargo can be pushed by the end hook closer to the rack to be transferred, thereby reducing the transfer time with less movement of the side arm and allowing the cargo to be transferred to the loading position at the back.

[0011] In addition, in the present invention, the side arm is preferably configured so that the tip of the top arm can advance to the rear end position of the cargo to be transferred to the farthest side in the depth direction of the rack, and when taking in cargo from a loading position at the rear of the rack, the controller extends the side arm toward the rack on which the cargo at the rear is loaded, rotates the end hook at the front or rear end that is on the side of the rack to be transferred to an extended position, retracts the side arm to a standby position on the loading / unloading cart, and transfers the cargo onto the loading / unloading cart using the end hook in the extended position. According to the present invention configured in this manner, the load can be unloaded as a so-called rear hook type transfer device, while shortening the transfer time with fewer movements of the side arm and transferring the load to the rear loading position.

[0012] In addition, in the present invention, when loading cargo onto the loading position on the front side of the rack, the controller is preferably configured to rotate the end hook at the front or rear end opposite the rack to be transferred to an extended position while the side arm remains in a standby state on the loading / unloading cart, extend the side arm toward the rack to be transferred, and transfer the cargo to the loading position on the front side using the end hook in the extended position. According to the present invention configured in this manner, when loading cargo onto the loading position on the near side, it is not necessary to extend the side arm in the direction opposite the rack to be transferred, thereby shortening the time required to transfer the cargo.

[0013] In addition, in the present invention, when loading cargo onto the loading position on the front side of the rack, the controller is preferably configured to rotate the intermediate hook to the protruding position while the side arm remains in a standby state on the loading / unloading cart, extend the side arm toward the rack to be transferred, and transfer the cargo to the loading position on the front side using the intermediate hook in the protruding position. According to the present invention configured in this manner, when loading cargo onto the loading position on the near side, it is not necessary to extend the side arm in the direction opposite the rack to be transferred, thereby shortening the time required to transfer the cargo.

[0014] In addition, in the present invention, the controller is preferably configured to control the transfer device so that cargo of the same width classification is placed at the same widthwise position on the racks on both sides of the running path of the loading and unloading cart. According to the present invention configured in this manner, it is possible to prevent the side arm of the transfer device from interfering with cargo stored in the rack opposite to the rack to be transferred.

[0015] In the present invention, the rack preferably includes a guide member for regulating the position of the cargo to a predetermined position in the width direction. According to the present invention configured in this manner, it is possible to prevent the side arm of the transfer device from interfering with cargo stored in the rack opposite to the rack to be transferred. [Effects of the Invention]

[0016] According to the automated warehouse of the present invention, it is possible to transfer cargo to a placement position at the rear side while shortening the transfer time with fewer side arm movements. [Brief explanation of the drawings]

[0017] [Figure 1] 1 is a front view showing a schematic configuration of an automated warehouse according to an embodiment of the present invention. [Figure 2] 1 is a plan view showing a schematic configuration of an automated warehouse according to an embodiment of the present invention. [Figure 3] 1 is a perspective view showing a schematic configuration of an inlet / outlet cart and its transfer device of an automated warehouse according to an embodiment of the present invention. FIG. [Figure 4] 1 is a block diagram showing a schematic configuration of a control system for a transfer device provided on a loading / unloading cart of this embodiment. FIG. [Figure 5] 10 is a schematic diagram showing a first transfer pattern by a transfer device equipped with end hooks and intermediate hooks in a rack and shuttle passage in which the placement positions of two large items of luggage are defined in the depth direction according to this embodiment. FIG. [Figure 6] 10 is a schematic diagram showing a second transfer pattern using a transfer device equipped with end hooks and intermediate hooks in a rack and shuttle passage in which the placement positions of two large items of luggage are defined in the depth direction according to this embodiment. FIG. [Figure 7] 10 is a schematic diagram showing a first transfer pattern by a transfer device equipped with end hooks and intermediate hooks in a rack and shuttle passage in which placement positions for three parcels are defined in the depth direction according to this embodiment. FIG. [Figure 8] 10 is a schematic diagram showing a second transfer pattern using a transfer device equipped with end hooks and intermediate hooks in a rack and shuttle passage in which three parcel placement positions are defined in the depth direction according to this embodiment. FIG. [Figure 9] 10 is a schematic diagram showing a transfer pattern by a transfer device equipped with end hooks in a rack and shuttle passage in which the placement positions of two large items of luggage are defined in the depth direction according to this embodiment. FIG. [Figure 10] 10 is a schematic diagram showing a first transfer pattern by a transfer device equipped with end hooks in a rack and shuttle passage in which placement positions for three parcels are defined in the depth direction according to this embodiment. FIG. [Figure 11] 10 is a schematic diagram showing a first transfer pattern by a transfer device equipped with end hooks in a rack and shuttle passage in which placement positions for three parcels are defined in the depth direction according to this embodiment. FIG. [Figure 12] 10 is a schematic diagram showing a transfer pattern in which cargo stored in a rack is transferred onto a loading / unloading cart by the end hooks of the transfer device of this embodiment. FIG. [Figure 13] 2 is a partially enlarged front view seen in the same direction as FIG. 1 to explain a shelf formed by rack columns provided in the rack of the present embodiment and a guide member that guides luggage on the shelf. FIG. [Figure 14] 10A and 10B are schematic diagrams for explaining a pattern of transferring cargo by changing the grip of a hook, shown as a comparative example of this embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0018] Next, an automated warehouse according to an embodiment of the present invention will be described with reference to the accompanying drawings.

[0019] First, the schematic configuration of an automated warehouse according to an embodiment of the present invention will be described with reference to Figures 1 and 2. Figure 1 is a front view showing the schematic configuration of an automated warehouse according to an embodiment of the present invention, and Figure 2 is a plan view showing the schematic configuration of an automated warehouse according to an embodiment of the present invention. 1 and 2, reference numeral 1 denotes an automated warehouse according to this embodiment (hereinafter referred to as an "automated warehouse"). In this embodiment, this automated warehouse 1 is a shuttle-type automated warehouse equipped with a plurality of loading / unloading carts 4 each having a transfer device 12.

[0020] As a modification of this embodiment, the automated warehouse 1 may be a well-known stacker crane type automated warehouse. In this case, the operation of the loading / unloading cart 4 and the transfer operation of the transfer device 12 of the loading / unloading cart 4, which will be described later, can be applied in accordance with the operation of the stacker crane and the transfer operation of a transfer device provided on the stacker crane (not shown).

[0021] As a modified example of the automated warehouse 1 of this embodiment, the automated warehouse 1 may be an automated warehouse 1 that uses a shuttle cart with a known lifting function, in which one loading / unloading cart with a lifter is arranged for every three shelves 8, for example, and that one cart can store cargo on each of the three shelves 8. In that case, the operation of the loading / unloading cart 4 and the transfer operation of the transfer device 12 of the loading / unloading cart 4, which will be described later, can be similarly applied in correspondence with the transfer operation of the transfer device provided on the shuttle cart.

[0022] The automated warehouse 1 of this embodiment includes racks 2 and a plurality of loading / unloading carts (hereinafter referred to as "carts") 4. The racks 2 are arranged in the left-right direction (the X direction in the figure) and have a plurality of shelf levels 8, each having a series of shelves 6, arranged in the up-down direction (the Z direction in the figure). As shown in FIG. 1, the series of shelves 6 is formed between a plurality of rack columns 3, and both sides of the shelf 6 are separate bodies fixed to the rack columns 3 (see FIG. 13). Alternatively, the series of shelves 6 may be formed as a single unit.

[0023] Next, as shown in Fig. 2, the multiple carts 4 move independently from one another in the left-right direction along a travel path 10 having a pair of rails, and a transfer device 12, which will be described later, transfers cargo to and from the rack 2, i.e., unloads (transfers) cargo onto the rack 2 and picks up cargo from the rack 2 onto the carts 4. The multiple carts 4 are arranged one per multiple shelf level 8. As shown in Fig. 2, the rack 2 has a pair of racks 2 facing each other across the travel path 10 for the carts 4.

[0024] Next, as shown in FIGS. 1 and 2, the automated warehouse 1 is provided with first and second stations 14, 16 on both sides thereof for receiving packages to be stored on the racks 2 and for receiving packages removed from the racks 2. In this embodiment, the first station 14 is disposed at a vertical position corresponding to the lowest shelf 8, and the second station 16 is disposed at a vertical position corresponding to the highest shelf 8.

[0025] The automated warehouse 1 also includes first and second lifting devices 18, 20 that raise and lower cargo. The first and second lifting devices 18, 20 mediate the delivery of cargo between the first and second stations 14, 16 and the carts 4, respectively.

[0026] The automated warehouse 1 is equipped with a controller 22 that controls the operations of these carts 4, etc. The carts 4, etc. operate in accordance with control signals transmitted from the controller 22 via wireless communication or wired communication.

[0027] Here, the basic operations of the controller 22 for storing and retrieving goods in and from the automated warehouse 1 will be described. First, in the warehousing operation, the cargo transported by the warehousing conveyor 24 of the first station 14 is placed by the first lifting device 18 in the warehousing placement area 26 at a height position corresponding to the shelf 8 to which the cargo is to be stored. The cargo placed in this warehousing placement area 26 is picked up by the cart 4 of the corresponding shelf 8 and transferred (unloaded) onto one of the shelves 6 of that shelf 8. Next, as a retrieval operation for the cargo, the cargo placed on one of the shelves 6 of the shelf 8 to be received is loaded onto the cart 4 of the corresponding shelf 8 and transported to the retrieval loading area 28 at a height position corresponding to that shelf 8. The cargo transported to this retrieval loading area 28 is moved to the retrieval conveyor 30 via the first lifting device 18, and further transported to a destination connected to the retrieval conveyor 30.

[0028] The second station 16 is similar to the first station 14, and includes an incoming conveyor 25, an incoming placement area 27, an outgoing placement area 29, and an outgoing conveyor 31, and performs the above-mentioned incoming and outgoing operations. In addition, the incoming and outgoing operations via one of the first station 14 and the second station 16 can be performed independently of the incoming and outgoing operations via the other station.

[0029] In the modified stacker crane type automated warehouse, instead of the multiple trolleys 4 and lifting devices 18, 20 described above, a single stacker crane (not shown) operates in accordance with control signals sent from the controller 22, and a transfer device provided on the stacker crane transfers cargo to multiple storage positions on the rack 2.

[0030] Next, the schematic configuration of an loading / unloading cart and its transfer device for the automated warehouse of this embodiment will be described with reference to Figures 3 and 4. Figure 3 is a perspective view showing the schematic configuration of an loading / unloading cart and its transfer device for the automated warehouse of this embodiment, and Figure 4 is a block diagram showing the schematic configuration of a control system for the transfer device provided on the loading / unloading cart of this embodiment. First, as shown in Fig. 3, the carriage 4 is equipped with a transfer device 12. The transfer device 12 is equipped with a pair of side arms 32, which extend and retract in the front-rear direction (the Y direction shown in Figs. 1 and 2) to take in (pick up) and send out (unload) luggage. Each of the pair of side arms 32 has a base arm 34, a middle arm 36 connected to the base arm 34, and a top arm 38 connected to the middle arm 36. The configurations of the arms 34, 36, 38 of the pair of side arms 32 are the same on the left and right, so the following description will focus on one of the arms. Although not described below, the stacker crane according to the modified example is provided with a transfer device that has the same configuration as the transfer device 12 of this embodiment or that can perform the same operation.

[0031] The base arm 34 is fixed to the carriage 4. A spline shaft 40 extends through the center of the base arm 34 in the left-right direction (the X direction shown in FIGS. 1 and 2), and this spline shaft 40 is rotated by a motor (arm extension / retraction motor 52 shown in FIG. 4) built into the carriage 4. Four pinion gears 42 are arranged in a row on each side of the spline shaft 40 so as to mesh with one another, and a rack gear 44 of the middle arm 36 is arranged so as to mesh with these pinion gears 42. Although not shown, pulleys are provided on both ends of the middle arm 36 in the front-rear direction, and belts are passed across these pulleys and fixed to both ends of the top arm 38 in the front-rear direction.

[0032] In this embodiment, mainly due to these configurations, when the spline shaft 40 is rotated in a predetermined direction, the driven pinion gears 42 rotate, and the rack gear 44, receiving the rotation, moves in either the forward or backward direction, causing the middle arm 36 to extend or retract relative to the base arm 34. Furthermore, as the middle arm 36 extends or retracts, the top arm 38 extends or retracts by twice the amount of the middle arm 36 due to the action of the belt wrapped around the pulley. In this way, the top arm 38 extends or retracts in conjunction with the extension or retraction of the middle arm 36.

[0033] In this embodiment, the side arm 32 is made up of three plates 34, 36, and 38, but the side arm 32 may also be made up of four plates. In this four-plate configuration, the side arm 32 is made up of a pair of one base arm, two middle arms, and one top arm.

[0034] In this way, the side arm 32 having the base arm 34, middle arm 36, and top arm 38 can be advanced into the racks 2 (shelves 6) arranged on both sides of the running path 10 of the cart 4 by the above-mentioned drive mechanisms (40, 42, 44, etc.), and its tip can be advanced to the rear end position of the cargo to be transferred to the innermost side in the depth direction of the rack 2. In addition, the transfer device 12 is configured as a so-called rear hook type transfer device that can take in (pick up) cargo stored in the rack 2 into the cart 4 by the end hook 46 at its tip in a protruding state (see Figure 12).

[0035] Next, the top arm 38 is provided with end hooks 46 at its front and rear ends, respectively. These end hooks 46 are configured to be rotatable between a retracted position (position shown in FIG. 3) where they are housed within the top arm 38, and a protruding position where they rotate approximately 90° from this retracted position and protrude between the pair of top arms 38. In the protruding position (protruding state), these end hooks 46 engage with the front or rear end of a baggage to take in or send out the baggage.

[0036] The top arm 38 also has an intermediate hook 48 at its midpoint in the front-to-rear direction. Similar to the end hooks 46 described above, this intermediate hook 48 is configured to be rotatable between a retracted position (position shown in FIG. 3) where it is housed within the top arm 38 and a protruding position where it protrudes between the pair of top arms 38, and in the protruding position (protruding state), it engages with the front or rear end of a package to take in or send out the package.

[0037] In this embodiment, the intermediate hook 48 is formed as an integrated hook by connecting two rod-shaped members 48a formed in the same shape as the end hooks 46 with one plate-shaped member 48b. As is clear from Fig. 3, the thickness in the front-rear direction of the intermediate hook 48 formed in this manner (the width in the depth direction of the rack 2) is greater than the thickness in the front-rear direction of the end hooks 46 (the width in the depth direction of the rack 2).

[0038] As a modification of the intermediate hook 48, one intermediate hook 48 may be provided whose thickness in the front-rear direction is equal to the thickness of the end hook 46 in the front-rear direction. As a further modification of the intermediate hook 48, the two rod-shaped members 48a described above may not be connected to each other, but may be used as two intermediate hooks that can be independently controlled to the retracted position and the extended position. In this case, the distance between the two intermediate hooks may be adjusted to accommodate luggage of various depth widths. As will be described later with reference to FIGS. 9 to 11, the present invention can also be applied to a transfer device 12 that does not have an intermediate hook, although this is not shown.

[0039] Next, a motor (not shown) is incorporated within the dolly 4 to move the base arm 34 left and right so as to narrow or widen the gap between the entire pair of side arms 32. That is, when transferring a load of a predetermined width, this motor first narrows the gap between the top arms 38 to a distance that allows either the hooks 46, 48 to engage with the front or rear end of the load. In this case, the top arms 38 are either moved close enough to a position that maintains a predetermined small clearance between them, or are clamped to an extent that does not apply excessive pressure to the load. The top arm 38 also includes a hook opening / closing motor 54 (see FIG. 3) that rotates the end hook 46 and the intermediate hook 48.

[0040] Here, in this specification, the "cargo width" of a cargo refers to the width of the cargo in the left-right direction (X direction), meaning the width of the cargo in the direction of travel of the cart 4 (for example, the width indicated by the symbol W in FIG. 13 described later). On the other hand, the "depth width" of a cargo refers to the width of the cargo in the front-rear direction (Y direction), meaning the width of the cargo in the depth direction of the rack 2.

[0041] 4, the transfer device 12 has a controller 50 for controlling the operations of the arms 34, 36, 38 and hooks 46, 48. The controller 50 controls an arm extension / retraction 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 each end hook 46 and the middle hook 48. The controller 50 also controls an arm opening / closing motor 56 that adjusts the spacing between the side arms 32. As a modified example, the control functions of the controller 50 of the transfer device 12 may be provided in the controller 22 that controls the basic cargo storage and retrieval operations of the automated warehouse 1 described above.

[0042] Next, the automated warehouse 1 of this embodiment is designed assuming two cases: one in which the width in the depth direction of the luggage (hereinafter referred to as "depth width") is relatively large, allowing up to two luggage to be stored in the depth direction of each rack 2 (see, for example, FIG. 5); and one in which the width in the depth direction of the luggage is relatively small, allowing up to three luggage to be stored in the depth direction of each rack 2 (see, for example, FIG. 7). Hereinafter, luggage in the former case will be referred to as "large luggage," and luggage in the latter case will be referred to as "small luggage." In this embodiment, the ratio between the width of such large luggage and the width of small luggage is 3:2. In addition, the rack 2 in the modified example may be a dedicated rack that can store up to two items of luggage in the depth direction of each rack 2, or a dedicated rack that can store up to three items of luggage in the depth direction of each rack 2.

[0043] 5 to 8, the main patterns of transferring packages to the rack 2 by the transfer device 12 equipped with end hooks 46 and middle hooks 48 in the rack 2 and shuttle aisle 10 according to this embodiment will be described. Fig. 5 is a schematic diagram showing a first transfer pattern by the transfer device equipped with end hooks and middle hooks in the rack and shuttle aisle in which the placement positions for two large packages are defined in the depth direction according to this embodiment. Fig. 6 is a schematic diagram showing a second transfer pattern by the transfer device equipped with end hooks and middle hooks in the rack and shuttle aisle in which the placement positions for two large packages are defined in the depth direction according to this embodiment. Fig. 7 is a schematic diagram showing a first transfer pattern by the transfer device equipped with end hooks and middle hooks in the rack and shuttle aisle in which the placement positions for three small packages are defined in the depth direction according to this embodiment. Fig. 8 is a schematic diagram showing a second transfer pattern by the transfer device equipped with end hooks and middle hooks in the rack and shuttle aisle in which the placement positions for three small packages are defined in the depth direction according to this embodiment. 5 to 7, for the sake of simplicity, only the top arm 38 is shown, and the hooks 46, 48 in the retracted state are not shown, but only the hooks 46, 48 in the protruding position are shown. The operations of the transfer patterns described below are controlled by the above-mentioned controller 50 (see FIG. 4), or by the controller 22 in a modified example.

[0044] [First transfer pattern] First, referring to Figure 5, we will explain the first transfer pattern in which a transfer device 12 equipped with end hooks 46 and intermediate hooks 48 transfers (sends out / unloads) cargo A1 to the rearmost loading position of two loading positions for large cargo in the depth direction of the rack 2. First, as shown in Fig. 5(A), large luggage A1 before unloading is placed on a cart 4 (not shown). Figures 5(B) and 5(C) show patterns for transferring large luggage A1 from this position to a placement position at the back of rack 2 (the position of luggage A1 in Fig. 5(C)).

[0045] 5(B), the middle arm 36 (not shown) and the top arm 38 are extended (retracted) relative to the base arm 34 (not shown) toward the side of the rack 2 opposite to the rack 2 onto which the package A1 is to be transferred. Note that, for the sake of convenience, the extension and contraction movement of the middle arm 36 and the top arm 38 relative to the base arm 34 will be described below as the extension and contraction movement of the side arm 32. In the example shown in FIG. 5(B), the package A2 is already stored in the rack 2 on the opposite side to the rack 2 onto which the package A1 is to be transferred.

[0046] Here, we will explain the definition of the "item width" of the items stored on the racks 2 in the automated warehouse 1 of this embodiment. In the automated warehouse 1 according to this embodiment, it is specified that items of "item width" belonging to the same width category (width direction category) are stored on a pair of racks 2 facing each other across the travel path 10 of the carts 4, at the same width direction position (for example, a middle reference position in the width direction of the stored items is determined) on both of the pair of racks 2, and the controller 22 or the controller 50 controls the transfer device 12 in accordance with such a definition.

[0047] In this embodiment, these regulations and controls ensure that even when the side arms 32 (middle arm 36, top arm 38) are extended toward the side of the rack 2 where luggage is already stored, the side arms 32 do not interfere with the luggage. Here, luggage belonging to the same width category is transferred with the pair of side arms 32 set at the same set interval, so there is no interference. During transfer, the interval between the arms (middle arm 36, top arm 38) is set slightly wider than the luggage, and at this time, the hooks 46, 48 have a predetermined length so that they can engage with the front or rear end of the luggage even if the luggage width varies. Furthermore, luggage with the same width interval is transferred with the same arm interval, so the arms do not interfere with luggage of the same width category.

[0048] It should be noted that a "width category" is a category of "cargo width" having a certain predetermined range of values, and for example, if the width category is defined as a predetermined symbol "S," then cargo with a cargo width within the range defined by the width category S will be subject to unloading onto the rack 2. Such definitions of the automated warehouse 1 are the same as those in Figures 6 to 11 described below, and therefore will not be described further below.

[0049] Returning to the explanation of Figure 5(B), in Figure 5(B), the side arm 32 (top arm 38) is retracted by a predetermined amount. This predetermined amount of retraction is an amount that does not interfere with the rear end of the package A1 when the intermediate hook 48 is rotated to the protruding position. Here, when the package is located on the opposite side as shown in Figure 5(A), this amount of retraction is the same as the length from the end of the arm to the intermediate hook 48, as shown. Note that when the package is located on the cart 4 close to the side of the rack 2 to be transferred, the amount of retraction may be shorter than this amount of retraction. Next, as shown in FIG. 5(B), after the side arm 32 is retracted, the intermediate hook 48 is set to the protruding position. Next, as shown in FIG. 5(C), the rear end of the cargo A1 is pushed by the intermediate hook 48, and the cargo A1 is transferred to a placement position at the rear side of the rack 2.

[0050] [Second transfer pattern] Next, referring to Figure 6, we will explain a second transfer pattern in which a transfer device 12 equipped with end hooks 46 and intermediate hooks 48 transfers cargo A1 to the front loading position of two loading positions for large cargo in the depth direction of the rack 2. 6(A), a large piece of luggage A1 before unloading is placed on the cart 4 (not shown). In the case of this second transfer pattern, the middle arm 36 and the top arm 38 are kept in a standby position where they are not extended or retracted relative to the base arm 34 (a standby position where the side arm 32 is accommodated on the cart 4), and the side arm 32 is not retracted to the rack 2 on the opposite side.

[0051] Then, as shown in FIG. 6(A), the end hook 46 on the opposite side to the rack 2 to be transferred is rotated to the protruding position. Next, as shown in Figure 6(B), the end hook 46 pushes the rear end of the luggage A1, and the luggage A1 is transferred to a loading position on the front side of the rack 2. At this time, although not shown, this type of transfer is possible even if luggage of the same width category is stored at the rear side.

[0052] [Third transfer pattern] Next, referring to Figure 7, we will explain a third transfer pattern in which a transfer device 12 equipped with end hooks 46 and intermediate hooks 48 transfers package B1 to the farthest of the three package placement positions in the depth direction of the rack 2. First, as shown in Fig. 7(A), a parcel B1 before unloading is placed on a cart 4 (not shown). The pattern for transferring parcel B1 from this position to the innermost placement position on rack 2 (the position of parcel B1 in Fig. 7(C)) is shown in Figs. 7(B) and 7(C).

[0053] First, as shown in Fig. 7(B), the side arm 32 (top arm 38) is extended toward the rack 2 opposite the rack 2 onto which the package B1 is to be transferred. In the example shown in Fig. 7(B), package A2 is already stored on the rack 2 opposite the rack 2 onto which the package B1 is to be transferred, but in the automated warehouse 1 of this embodiment, which defines the package width classifications as described above, the side arm 32 is designed not to interfere with package A2.

[0054] Next, in FIG. 7(B), the side arm 32 (top arm 38) is retracted by a predetermined amount. This predetermined retraction amount is an amount that does not interfere with the rear end of the package B1 when the end hook 46 on the side of the rack 2 to which package B1 is to be transferred is rotated to the protruding position. Here, as in FIG. 7(A), when the package is close to the side of the rack 2 to which it is to be transferred on the cart 4, the retraction amount is the same as the length of the package in the depth direction. On the other hand, when the package is close to the side of the rack 2 on the cart 4 opposite to the side of the rack 2 to which it is to be transferred, the retraction amount is the same as the overall length of the arm 32.

[0055] Next, as also shown in FIG. 7(B), after the side arm 32 is retracted, the end hook 46 is brought to the protruding position. Next, as shown in FIG. 7(C), the rear end of the cargo B1 is pushed by the end hook 46, and the cargo B1 is transferred to the placement position at the innermost side of the rack 2. In the example of Figure 7, the end hook 46 is used because the middle hook 48 cannot push the small package B1 all the way to the back, but the middle hook 48 may also be used if the package is large enough to be pushed all the way to the back by the middle hook 48.

[0056] [Fourth transfer pattern] Next, referring to Figure 8, we will explain a fourth transfer pattern in which a transfer device 12 equipped with end hooks 46 and intermediate hooks 48 transfers luggage B1 to the front loading position (the two front loading positions excluding the farthest loading position) of the three loading positions for small luggage in the depth direction of the rack 2. 8(A), a parcel B1 before unloading is placed on the cart 4 (not shown). In the case of this fourth transfer pattern, the side arm 32 remains in a standby position where it is not extended or retracted, and the side arm 32 is not retracted to the rack 2 on the opposite side.

[0057] Then, as shown in FIG. 8(B), the intermediate hook 48 is rotated to the protruding position, and the cargo B1 is transferred to the loading position on the frontmost side of the rack 2.

[0058] Similarly, from the state shown in Figure 8(A) or 8(B), the rear end of the luggage B1 is pushed by the intermediate hook 48 as shown in Figure 8(C), and it is transferred to the front loading position on the rack 2 (the position one position before the farthest loading position).

[0059] This fourth transfer pattern is particularly effective for a specific small parcel whose width in the depth direction of the parcel (B1) is smaller than the distance between the end hook 46 and the middle hook 48. Note that when transferring to an intermediate placement position, the third transfer pattern described above may also be applied.

[0060] 9 to 11, the main patterns of transferring packages onto the rack 2 by a transfer device 12 according to a modified example equipped with end hooks 46 but no intermediate hooks 48 in the rack 2 and shuttle aisle 10 of this embodiment will be described. Fig. 9 is a schematic diagram showing a transfer pattern by a transfer device equipped with end hooks in the rack and shuttle aisle in which the placement positions for two large packages are defined in the depth direction according to this embodiment, Fig. 10 is a schematic diagram showing a first transfer pattern by a transfer device equipped with end hooks in the rack and shuttle aisle in which the placement positions for three small packages are defined in the depth direction according to this embodiment, and Fig. 11 is a schematic diagram showing a first transfer pattern by a transfer device equipped with end hooks in the rack and shuttle aisle in which the placement positions for three small packages are defined in the depth direction according to this embodiment. 9 to 11, for the sake of simplicity, only the top arm 38 is shown, and the hooks 46, 48 in the retracted state are not shown, but only the hooks 46, 48 in the protruding position are shown. The operations of the transfer patterns described below are controlled by the above-mentioned controller 50 (see FIG. 4), or by the controller 22 in a modified example.

[0061] [5th ​​transfer pattern] First, referring to Figure 9, we will explain a fifth transfer pattern in which a modified transfer device 12 equipped with end hooks 46 but not with intermediate hooks 48 transfers (sends out / unloads) cargo A1 to the rearmost of the two loading positions for large cargo in the depth direction of rack 2. First, as shown in Fig. 9(A), large luggage A1 before unloading is placed on a cart 4 (not shown). Figures 9(B) and 9(C) show patterns for transferring large luggage A1 from this position to a placement position at the back of rack 2 (the position of luggage A1 in Fig. 9(C)).

[0062] First, as shown in FIG. 9(B), the side arm 32 (top arm 38) is extended (retracted) toward the side of the rack 2 opposite to the rack 2 onto which the package A1 is to be transferred. In the example shown in Figure 9(B), luggage A2 is already stored in the rack 2 opposite the rack 2 to which luggage A1 is to be transferred, but in the automated warehouse 1 of this embodiment, which defines the width classification of luggage as described above, the side arm 32 is designed not to interfere with luggage A2.

[0063] Next, as shown in FIG. 9(B), the side arm 32 (top arm 38) is retracted a predetermined amount. This predetermined amount of retraction is an amount that does not interfere with the rear end of the package A1 when the end hook 46 on the side of the rack 2 to which the package A1 is to be transferred is rotated to the protruding position. Here, when the package is located on the opposite side as shown in FIG. 9(A), this amount of retraction is the same as the overall length of the arm, as shown. Note that when the package is located on the cart 4 close to the side of the rack 2 to which the package is to be transferred, the amount of retraction is the same as the length of the package in the depth direction. Next, as also shown in FIG. 7(B), after the side arm 32 is retracted, the end hook 46 is brought to the protruding position. Next, as shown in FIG. 9(C), the rear end of the cargo A1 is pushed by the end hook 46, and the cargo A1 is transferred to the placement position at the rear side of the rack 2.

[0064] 9(B), as shown in FIG. 9(D), the rear end of the cargo A1 can be pushed by the end hook 46, and the cargo A1 can be transferred to a loading position on the front side of the rack 2. On the other hand, although not shown, it is also possible to transfer the cargo A1 to a position as shown in FIG. 9(D) by the end hook 46 on the opposite side of the rack 2 onto which the cargo A1 is to be transferred, without retracting the side arm 32 to the rack 2 on the opposite side (leaving the side arm 32 in a standby state), as in FIG. 11 described later.

[0065] [Sixth transfer pattern] Next, referring to Figure 10, we will explain a sixth transfer pattern in which a modified transfer device 12 equipped with end hooks 46 but not with intermediate hooks 48 transfers package B1 to the farthest of the three package placement positions in the depth direction of rack 2. First, as shown in Fig. 10(A), a parcel B1 before unloading is placed on a cart 4 (not shown). The pattern for transferring parcel B1 from this position to the innermost placement position on rack 2 (the position of parcel B1 in Fig. 10(C)) is shown in Figs. 10(B) and 10(C).

[0066] First, as shown in FIG. 10(B), the side arm 32 (top arm 38) is extended (retracted) toward the side of the rack 2 opposite to the rack 2 onto which the package B1 is to be transferred. In the example shown in FIG. 10(B), as described above, the side arm 32 does not interfere with the package A2 already stored in the rack 2 opposite to the rack 2 onto which the package B1 is to be transferred.

[0067] Next, as shown in FIG. 10(B), the side arm 32 (top arm 38) is retracted a predetermined amount. This predetermined amount of retraction is an amount that does not interfere with the rear end of the package B1 when the end hook 46 on the side of the rack 2 to which the package B1 is to be transferred is rotated to the protruding position. Here, as shown in FIG. 10(A), when the package is close to the side of the rack 2 to which the package is to be transferred on the cart 4, the amount of retraction is the same as the length of the package in the depth direction. On the other hand, when the package is close to the side of the rack 2 on the cart 4 opposite to the side of the rack 2 to which the package is to be transferred, the amount of retraction is the same as the overall length of the arm 32.

[0068] Next, as also shown in FIG. 10(B), after the side arm 32 is retracted, the end hook 46 is brought to the protruding position. Next, as shown in FIG. 10(C), the rear end of the cargo B1 is pushed by the end hook 46, and the cargo B1 is transferred to the innermost loading position on the rack 2.

[0069] [7th transfer pattern] Next, referring to Figure 11, we will explain a seventh transfer pattern in which a modified transfer device 12 equipped with end hooks 46 but not with intermediate hooks 48 transfers luggage B1 to the front loading position among the loading positions for small parcels in the depth direction of rack 2. 11(A), a parcel B1 before unloading is placed on the cart 4 (not shown). In the case of this seventh transfer pattern, the side arm 32 remains in the standby position where it is not extended or retracted, and the side arm 32 is not retracted to the rack 2 on the opposite side.

[0070] 11(B), the end hook 46 on the opposite side of the rack 2 onto which the cargo B1 is to be transferred is rotated to the protruding position, and the cargo B1 is transferred to the loading position on the near side of the rack 2. Although not shown, when transferring the cargo B1 to the loading position just before the innermost loading position, the cargo B1 can be transferred by using the end hook 46 on the side of the rack 2 onto which the cargo B1 is to be transferred, as in the above-mentioned FIG.

[0071] Next, a typical transfer operation of a so-called rear hook type transfer device, which transfers cargo stored in a rack by the transfer device of this embodiment onto a loading / unloading cart using the end hooks, will be described with reference to Figure 12. Figure 12 is a schematic diagram showing a transfer pattern in which cargo stored in a rack by the transfer device of this embodiment is transferred onto a loading / unloading cart using the end hooks. 12(A), the tip of the top arm 38 of the transfer device 12 in this embodiment (including the transfer device 12 according to the modified example that does not have the intermediate hook described above) can advance up to the rear end position of the luggage A1 stored at the innermost side in the depth direction of the rack 2. When the top arm 38 is in such a rear end position, the end hook 46 at the tip is rotated to the protruding position, and then the side arm 32 is retracted to engage the end hook 46 with the rear end of the luggage A and push it back toward the cart 4, thereby making it possible to take the luggage A into the cart 4 (item picking). The cargo A loaded onto the cart 4 is transported by the cart 4 (FIG. 12(B)).

[0072] Next, a device for restricting movement of cargo in the width direction on the rack 2 of the automated warehouse 1 of this embodiment will be described with reference to Fig. 13. Fig. 13 is a partially enlarged front view seen in the same direction as Fig. 1, for explaining shelves formed by rack columns provided on the rack of this embodiment and guide members that guide cargo on the shelves. 1 and 13, the automated warehouse 1 of this embodiment includes a plurality of rack columns 3 that support racks 2 and form a plurality of shelves 6, and each shelf 6 is provided with three rows of luggage storage space as shown in Fig. 13. As described above, each row is designed to place / store two or three luggage items in the depth direction.

[0073] As shown in FIG. 13, the rack 2 is provided with a pair of guide plates (guide members) 58 that regulate the widthwise position of the stored luggage A, and luggage A is stored between these guide plates 58. The guide plates 58 are plate-like members that are provided on both sides of the luggage placement position and extend in the depth direction of the rack 2. As a modified example, instead of the plate-like members, anything that regulates the widthwise position of the luggage (for example, a block-shaped member) may be used. Here, the guide plates 58 and modified guide members may be positioned differently depending on the luggage to be placed, such as three rows for large luggage and four rows for small luggage.

[0074] In this embodiment, by providing such a guide plate 58, as described above, even when the side arm 32 is retracted to the opposite rack 2 (for example, Figure 5(B), Figure 9(B), etc.), the side arm 32 is more reliably prevented from interfering with luggage already stored. The height of the pair of guide plates 58 is set to a height that does not interfere with the side arms 32. In other words, the height of the guide plates 58 only needs to be smaller than the distance from the upper surface of the shelf 6 to the lower edge of the side arms 32. On the other hand, if the arms 32 are advanced between the guide plates 58 and shifted in the travel direction to avoid interference, it is not necessary to make the height of the guide plates 58 this small. In other words, the positions of the guide plates 58 and the extension positions of the side arms 32 may be shifted to prevent interference between them.

[0075] Next, a cargo transfer pattern will be described as a comparative example to this embodiment and its modified examples, and the effects of the automated warehouse 1 according to this embodiment and its modified examples will be described with reference to Fig. 14. Fig. 14 is a schematic diagram for explaining a cargo transfer pattern by switching hooks as a comparative example to this embodiment. As shown in FIG. 14 as an example, a conventional method of transferring cargo by switching hooks is known. In "hook switching," first, as shown in FIG. 14(A), the cargo (shown by imaginary line A0) on the cart 4 is moved to a temporary placement position (shown by cargo A1) by the end hook 46 on the opposite side of the rack 2 on which cargo A1 is to be transferred. Next, as shown in FIG. 14(B), the side arm 32 is retracted to a position where the intermediate hook 48 can engage with the large cargo A1. Next, as shown in FIG. 14(C), the side arm 32 is extended toward the rack 2, and the cargo A1 is transferred to a placement position at the rear of the rack 2 by the intermediate hook 48 in the protruding position.

[0076] In this way, when switching the hook (changing the load) from the end hook 46 to the intermediate hook 48, at least three operations are required, including a first operation to move the load to a temporary position, a second operation to return the side arm 32, and a third operation to extend the side arm 32 and transfer the load.

[0077] In contrast to such comparative examples, in this embodiment and its modified examples shown in Figures 5, 7, 9, and 10 described above, the side arm 32 is first retracted to the side of the rack 2 opposite the rack 2 to be transferred (one operation), and then the side arm 32 is extended to the side of the rack 2 to be transferred and the cargo is transferred to the rack 2 using either the end hook 46 or the middle hook 48 (one operation), which requires a total of two operations.This reduces the number of side arm operations and therefore makes it possible to shorten the transfer time.

[0078] When pushing a load, it is necessary to slow down the extension of the side arm to reduce vibrations and shocks to the load. In other words, the degree of acceleration and deceleration when extending and stopping the side arm must be adjusted to a lower value than when not pushing a load. When changing the hook grip, it is necessary to secure such acceleration and deceleration time for two of the operations, which increases the transfer time. In contrast, in the present embodiment and its modified examples, the side arm 32 only needs to push the load once, which reduces the acceleration and deceleration time, and this has the advantage of shortening the transfer time. Furthermore, when not pushing cargo, or when only extending and retracting regardless of the cargo, the arm drive acceleration / deceleration can be set to the maximum, which leads to shorter transfer times.

[0079] Furthermore, when the hooks 46, 48 are used to push a load, it is conceivable that the load will be subjected to a considerable amount of impact when the hooks 46, 48 come into contact with the load. When the hooks are switched, the number of such contacts is two (once by the end hook 46 and once by the middle hook 48), which increases the degree of impact on the luggage. In contrast, in the present embodiment and its modified examples, the number of times that the end hook 46 or the middle hook 48 contacts the luggage is one, which reduces the degree of impact on the luggage.

[0080] As described above, the automated warehouse 1 according to this embodiment and the modified example is particularly advantageous compared to a transfer pattern that involves changing the grip of the hooks.

[0081] Next, the effects of the automated warehouse 1 according to this embodiment and the modified example will be described. The automated warehouse 1 according to this embodiment and the modified example includes an in-and-out cart 4 equipped with a transfer device 12 for transferring cargo (A, B), racks 2 arranged on both sides of a travel path 10 of the in-and-out cart and capable of storing a plurality of cargoes in the depth direction, and controllers 22, 50 for controlling the transfer device 12. The transfer device 12 is a side arm 32 having at least a base arm 34, a middle arm 36, and a top arm 38, and the side arms 32 are arranged at the front and rear ends of the top arm 38 and can advance to the racks 2 on both sides, and the controllers 22, 50 are arranged at the front and rear ends of the top arm 38 and can move between an extended position and a stored position. and an intermediate hook 48 that is disposed at an intermediate position between the end hooks 46 on the top arm 38 and is rotatable between a protruding position and a retracted position, and when transferring cargo to a loading position at the rear of the rack 2, the controllers 22, 50 are configured to extend the side arm 32 in the direction opposite to the rack 2 to be transferred, rotate the intermediate hook 48 to the protruding position, extend the side arm 32 to the side of the rack 2 to be transferred, and transfer the cargoes A and B to the loading position at the rear by the intermediate hook 48 in the protruding position. According to this embodiment and the modified example configured in this manner, the side arm 32 can be extended in the direction opposite to the rack 2 to be transferred, so that the cargo can be pushed by the intermediate hook 48. This allows cargo A and B to be transferred to the rear loading position while shortening the transfer time with minimal movement of the side arm 32.

[0082] Furthermore, the automated warehouse 1 according to this embodiment and the modified example includes an in-and-out cart 4 equipped with a transfer device 12 for transferring cargo (A, B), racks 2 arranged on both sides of a running path 10 of the in-and-out cart and capable of storing a plurality of cargoes in the depth direction, and controllers 22, 50 for controlling the transfer device 12, and the transfer device 12 includes side arms 32 having at least a base arm 34, a middle arm 36, and a top arm 38, the side arms 32 being capable of advancing into the racks 2 on both sides, and end hooks arranged at the front and rear ends of the top arm 38, respectively, and capable of rotating between an extended position and a stored position. 46, and an intermediate hook 48 that is arranged at an intermediate position between the end hooks 46 on the top arm 38 and is rotatable between a protruding position and a retracted position, and when transferring cargo to a loading position at the rear of the rack 2, the controllers 22, 50 are configured to extend the side arm 32 in the direction opposite the rack 2 to be transferred, rotate the end hook 46 at the front or rear end that is on the side of the rack 2 to be transferred to the protruding position, extend the side arm 32 to the side of the rack 2 to be transferred, and transfer cargo A, B to the loading position at the rear by the end hook 46 in the protruding position. According to this embodiment and the modified example configured in this manner, by extending the side arm 32 in the direction opposite the rack 2 to be transferred, the cargo can be pushed by the end hook 46 closer to the rack 2 to be transferred, thereby reducing the transfer time with less movement of the side arm 32 and allowing cargoes A and B to be transferred to the loading position at the rear.

[0083] Furthermore, according to this embodiment and the modified example, the tip of the top arm 38 of the side arm 32 can be advanced to the rear end position of the cargo to be transferred to the farthest side in the depth direction of the rack 2, and when taking in cargo from a loading position at the farthest side of the rack 2, the controller 22, 50 is configured to extend the side arm 32 to the side of the rack 2 on which the cargo at the farthest side is loaded, rotate the end hook 46 at the front or rear end that is on the side of the rack 2 to be transferred to an extended position, retract the side arm 32 to the loading / unloading cart 4, and transfer the cargo onto the loading / unloading cart using the end hook in the extended position. According to this embodiment and the modified example configured in this manner, the cargo can be unloaded as a so-called rear hook type transfer device 12, while shortening the transfer time with fewer movements of the side arm 32, and transferring cargoes A and B to the rear loading position.

[0084] Furthermore, according to this embodiment and the modified example, when loading cargo onto the loading position on the front side of the rack 2, the controller 22, 50 is configured to rotate the end hook 46 at the front or rear end opposite the rack 2 to be transferred to an extended position while the side arm 32 remains in a standby state on the loading / unloading cart 4, extend the side arm 32 toward the rack 2 to be transferred, and transfer the cargo to the loading position on the front side using the end hook 46 in the extended position. According to this embodiment and the modified example configured in this manner, when placing luggage on the front loading position, it is not necessary to extend the side arm 32 in the direction opposite the rack 2 to be transferred, thereby shortening the transfer time of luggage A and B.

[0085] Furthermore, according to this embodiment and the modified example, when placing cargo on the loading position on the front side of the rack 2, the controller 22, 50 is configured to rotate the intermediate hook 48 to the protruding position while the side arm 32 remains in a waiting state on the loading / unloading cart 4, extend the side arm 32 to the side of the rack 2 to be transferred, and transfer the cargo to the loading position on the front side using the intermediate hook 48 in the protruding position. According to this embodiment and the modified example configured in this manner, when placing luggage on the front loading position, it is not necessary to extend the side arm 32 in the direction opposite the rack 2 to be transferred, thereby shortening the transfer time of luggage A and B.

[0086] Furthermore, according to this embodiment and the modified example, the controllers 22, 50 are configured to control the transfer device 12 so that cargo A and B of the same width classification are placed at the same widthwise position on the racks 2 on both sides of the running path 10 of the loading / unloading cart 4, thereby preventing the side arm 32 of the transfer device 12 from interfering with cargo A and B stored on the rack 2 on the opposite side of the rack 2 to be transferred.

[0087] Furthermore, according to this embodiment and the modified example, the rack is provided with a guide member that restricts the position of the cargo to a predetermined widthwise position, thereby preventing the side arm 32 of the transfer device 12 from interfering with cargo A and B stored in the rack 2 on the opposite side of the rack 2 to be transferred. [Explanation of symbols]

[0088] A1, A2 Large luggage B1 Luggage W: width of luggage 1. Automated warehouse 2 racks 3 Rack pillar 4. Incoming and outgoing carts 6 shelves 8 shelves 10 Running Track 12 Transfer equipment Stations 14 and 16 22 Controller 32 Sidearm 34 Base Arm 36 Middle Arm 38 Top Arm 46 End hook 48 Middle hook 50 Controllers 58 Guide plate (guide member)

Claims

1. An automated warehouse comprising: an in- and out-of-stock cart equipped with a transfer device for transferring cargo; racks arranged on both sides of a travel path of the in- and out-stock cart and capable of storing a plurality of cargoes in the depth direction; and a controller for controlling the transfer device, The transfer device is a side arm having at least a base arm, a middle arm, and a top arm, the side arm being capable of advancing into the racks on both sides; end hooks disposed at the front and rear ends of the top arm, respectively, and rotatable between a protruding position and a retracted position; an intermediate hook disposed at an intermediate position between the end hooks on the top arm and rotatable between a protruding position and a retracted position; When transferring a load to a loading position at the rear of the rack, the controller: The side arm is extended in a direction opposite to the rack to be transferred, The intermediate hook is rotated to a protruding position, The automated warehouse is configured so that the side arm is extended to the side of the rack to be transferred, and the intermediate hook in the protruding position transfers the cargo to the loading position at the rear.

2. An automated warehouse comprising: an in- and out-of-stock cart equipped with a transfer device for transferring cargo; racks arranged on both sides of a travel path of the in- and out-stock cart and capable of storing a plurality of cargoes in the depth direction; and a controller for controlling the transfer device, The transfer device is a side arm having at least a base arm, a middle arm, and a top arm, the side arm being capable of advancing into the racks on both sides; end hooks disposed at the front and rear ends of the top arm, respectively, and rotatable between a protruding position and a retracted position; When transferring a load to a loading position at the rear of the rack, the controller: The side arm is extended in a direction opposite to the rack to be transferred, Of the end hooks at the front end or the rear end, the end hook on the side of the rack to be transferred is rotated to a protruding position; The automated warehouse is configured so that the side arm is extended to the side of the rack to be transferred and the cargo is transferred to the loading position at the rear side using the end hook at the protruding position.

3. The side arm is capable of advancing such that the tip of the top arm reaches the rear end position of the cargo to be transferred to the innermost side in the depth direction of the rack, When taking in a load from a loading position at the back of the rack, the controller: Extend the side arm to the side of the rack on which the rear cargo is placed, Of the end hooks at the front end or the rear end, the end hook on the side of the rack to be transferred is rotated to a protruding position; 3. The automated warehouse according to claim 1, wherein the side arms are retracted to a standby position on the loading / unloading cart, and cargo is transferred onto the loading / unloading cart using the end hooks in the extended position.

4. When placing a load on the front loading position of the rack, the controller: While the side arm is in a standby state on the loading / unloading cart, the end hook at the front end or the rear end opposite the rack to be transferred is rotated to a protruding position, 3. The automated warehouse according to claim 1, wherein the side arm is extended toward the rack to be transferred, and the cargo is transferred to the front loading position using the end hook in the protruding position.

5. When placing a load on the front loading position of the rack, the controller: While the side arm is in a standby state on the loading / unloading cart, the intermediate hook is rotated to a protruding position, 2. The automated warehouse according to claim 1, wherein the side arm is extended to the side of the rack to be transferred, and the intermediate hook in the protruding position is used to transfer the cargo to the loading position on the front side.

6. The automated warehouse according to claim 1 or claim 2, wherein the controller is configured to control the transfer device so that cargo of the same width classification is placed at the same widthwise position on the racks on both sides of the running path of the loading and unloading cart.

7. 3. The automated warehouse according to claim 1, wherein the rack comprises a guide member that regulates the position of the cargo to a predetermined widthwise position.

Images