Automatic warehouse

Abstract

To provide an automatic warehouse capable of increasing the number of storable cargoes.SOLUTION: An automated warehouse 1 of the present invention includes a stacker crane 12, a fixed rack 10 arranged to extend along a path 18 of the stacker crane 12, a plurality of movable racks 20 including a movable rack 20 that can be arranged at a position along the path of the stacker crane and a movable rack 20 that can be arranged at a retreat position 24 spaced apart from a base position 22 along the path of the stacker crane, an automated guided vehicle V that moves the movable rack 20 between the base position 22 and the retreat position 24, and a controller 30 that controls an operation of the automated guided vehicle V. The controller 30 is configured to cause the AGV V to move the movable rack 20 from the home position 22 to the out-of-the-way position 24 and to move the movable rack 20 from the out-of-the-way position 24 to the home position 22.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an automated warehouse, and more particularly to an automated warehouse capable of storing and retrieving cargo. [Background technology]

[0002] For example, Patent Document 1 discloses an automated warehouse unit that has stations on the first and second floors, and is configured so that stacker cranes transfer products and pallets between the stations on each floor. Such a conventional automated warehouse is designed so that once all shelves are filled with goods, no more goods can be stored. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-189568 Summary of the Invention [Problem to be solved by the invention]

[0004] Here, for example, after an automated warehouse starts operating, there may arise a demand to secure a number of shelves (number of cargoes) exceeding the number of shelves (number of stored cargoes) set at the time of initial design. However, conventional automated warehouses (for example, Patent Document 1) have a problem in that it is structurally not easy to increase the number of shelves.

[0005] To address this problem, the inventors focused on vacant floors and spaces in automated warehouse buildings.

[0006] Therefore, the present invention has been made to solve the above-mentioned problems, and has an object to provide an automated warehouse that can increase the number of packages that can be stored therein. [Means for solving the problem]

[0007] In order to achieve the above-mentioned object, the present invention provides an automated warehouse capable of storing and retrieving cargo, comprising a plurality of movable racks including an import / export device for transporting cargo, a fixed rack arranged to extend along the path of the import / export device, at least one movable rack that can be positioned at a position along the path of the import / export device, and at least one movable rack that can be positioned at a retracted position spaced apart from a position along the path of the import / export device, a movable device that moves the movable racks between a position along the path of the import / export device and the retracted position, and a controller that controls the operation of the movable device, wherein the controller is configured to use the movable device to move at least one movable rack at a position along the path of the import / export device to the retracted position, and to move at least one movable rack at the retracted position to a position along the path of the import / export device.

[0008] According to the present invention configured in this manner, by switching the mobile rack between a position along the path of the loading / unloading device and the retreat position, it is possible to increase the number of packages that can be transported by the loading / unloading device and to increase the number of packages that can be stored in the automated warehouse using the fixed racks and multiple mobile racks. Furthermore, according to the present invention, vacant levels or spaces can be used as shelf layers of the mobile racks or spaces for moving the mobile racks, thereby effectively increasing the number of packages that can be stored in the automated warehouse.

[0009] Furthermore, in the present invention, preferably, the positions along the path of the loading / unloading device at which the movable racks can be placed are a plurality of positions provided along the path of the loading / unloading device, the retreat positions are a plurality of positions provided at a distance from the positions along the path of the loading / unloading device, there are one or more movable devices, and the controller controls the one or more movable devices to move the plurality of movable racks between the plurality of positions along the path of the loading / unloading device and the plurality of retreat positions. According to the present invention configured in this way, it is possible to replace a larger number of movable racks.

[0010] In addition, in the present invention, preferably, the positions along the path of the loading / unloading device where the mobile racks can be placed and the waiting positions for the mobile racks are provided in the upper area of ​​the automated warehouse, and the automated warehouse is equipped with an elevator transport device that can transport the mobile racks from the upper area to the ground floor. According to the present invention configured in this manner, the entire movable rack can be carried out from the automated warehouse.

[0011] In addition, in the present invention, preferably, the automated warehouse has a first automated warehouse area having an entry / exit device and a fixed rack, and a second automated warehouse area located at a position spaced apart from the first automated warehouse area, the second automated warehouse area having a second entry / exit device for transporting luggage and a second fixed rack arranged to extend along the path of the entry / exit device, and the controller controls the moving device to move the moving rack between a position along the path of the entry / exit device adjacent to the first automated warehouse area, a waiting position, and a position along the path of the second entry / exit device adjacent to the second automated warehouse area. According to the present invention configured as described above, it is possible to transport goods between two automated warehouse areas using the moving rack and the moving device. [Effects of the Invention]

[0012] According to the automated warehouse of the present invention, the number of packages that can be stored in the automated warehouse can be increased. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is a front view showing a schematic configuration of an inlet / outlet device, fixed shelves, and movable shelves in an upper area of ​​an automated warehouse according to a first embodiment of the present invention. FIG. [Figure 2] 1 is a plan view showing a schematic configuration of an inlet / outlet device, fixed shelves, and movable shelves in an upper area of ​​an automated warehouse according to a first embodiment of the present invention. FIG. [Figure 3] FIG. 10 is a front view showing a schematic configuration of an inlet / outlet device, fixed shelves, movable shelves in an upper area, and an elevator transport device of an automated warehouse according to a second embodiment of the present invention. [Figure 4]FIG. 10 is a front view showing a schematic configuration of a first storing / retrieving device, a first fixed shelf, a movable shelf in an upper area, a second storing / retrieving device, and a second fixed shelf of an automated warehouse according to a third embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0014] Next, an automated warehouse according to an embodiment of the present invention will be described with reference to the accompanying drawings.

[0015] First, the schematic configuration of an automated warehouse according to a first 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 entry / exit device, fixed shelves, and movable shelves in the upper area of ​​the automated warehouse according to the first embodiment of the present invention, and Figure 2 is a plan view showing the schematic configuration of an entry / exit device, fixed shelves, and movable shelves in the upper area of ​​the automated warehouse according to the first embodiment of the present invention. First, as shown in FIG. 1, reference numeral 1 denotes an automated warehouse according to this embodiment, and this automated warehouse 1 is provided in a building 2 having three floors (1st floor to 3rd floor). 1 and 2, the building 2 has a side area 4 that is an open atrium extending from the first to third floors, and an upper area on the third floor (floor 3FL area) 6, which will be described later. The remaining areas 8 on the first and second floors (see FIG. 1) are areas that cannot be used as an automated warehouse.

[0016] First, the configuration of the side area 4 will be described. As shown in Figure 1, the side area 4 is equipped with a pair of fixed racks 10a, 10b, 10c each having multiple shelves and capable of storing cargo P placed on a pallet PL, a stacker crane (storage / retrieval device) 12 provided between the pair of fixed racks 10, and an aisle 14 for the same.

[0017] Next, the stacker crane 12 is equipped with a slide fork device 16 that takes out the pallet PL and cargo P stored in the fixed racks 10a, 10b, 10c, transports them to a predetermined position, and then transfers the pallet PL and cargo P to an in-and-out device such as a conveyor (not shown). Similarly, stacker crane 12 receives pallets PL and packages P from a loading / unloading device such as a conveyor (not shown) using slide fork device 16, transports them to a predetermined shelf position on fixed racks 10a, 10b, 10c, and then stores the pallets PL and packages P on that shelf. The loading / unloading device is connected to a loading / unloading station (not shown). As a modification, the stacker crane 12 may be a case-type stacker crane that transports cargo (cases) and stores them on a predetermined shelf, in addition to the pallet-type stacker crane described above. As a further modification, instead of a stacker crane, a configuration may be adopted in which cargo is transported by a shuttle cart and stored by a transfer device.

[0018] 1, fixed rack 10a is a fixed rack provided in the third floor area, and although not shown, is provided with a number of well-known shelf stages. On the other hand, no fixed rack is provided on the opposite side of fixed rack 10a (the side of upper area 6 described below). Furthermore, fixed racks 10b and 10c are fixed racks provided in the first and second floor areas, and although not shown, are provided with a number of well-known shelf stages. In this way, the fixed racks 10a and 10b on one side are arranged across the first to third floors of the building 2, and the fixed rack 10c on the other side is arranged across the first and second floors of the building 2.

[0019] Also, as shown in Figure 2, fixed rack 10a extends along the path (horizontal path) 18 of stacker crane 12 in a plan view, and is configured so that multiple shelves (not shown) are lined up in its longitudinal direction (the same applies to fixed racks 10b and 10c).

[0020] Next, the configuration of the upper area 6 will be described. First, as shown in FIG. 1, upper area 6 is an area adjacent to side area 4 on the third floor of building 2. In this side area 4, the floor surface of the third floor is extended, and an extension floor 7 is provided that extends above fixed rack 10c and to the vicinity of stacker crane 12. The area on the third floor is an empty area where a stacker crane, shuttle cart, etc. cannot be installed.

[0021] 2, in the upper area 6, basic positions 22a to 22c are defined along the path (horizontal path) 18 of the stacker crane 12 in a plan view, where three movable racks 20a to 20c can be arranged / placed in this example. At these three basic positions 22a to 22c, the pallets PL and packages P can be transferred between the stacker crane 12 and each of the movable racks 20a to 20c. Note that, for example, only one such basic position may be defined along the path 18 of the stacker crane 12, or multiple basic positions may be defined. In this manner, in this embodiment, the vacant upper area 6 in the building 2 is used as a movable shelf.

[0022] Here, the movable rack 20 is a legged portable rack having four legs. This movable rack 20 is transported by an automated guided vehicle (moving device) V (AGV: Automated Guided Vehicle). More specifically, during transportation, the automated guided vehicle V enters between the four legs of the movable rack 20 and lifts up the legged portable rack 20 for transportation. Fig. 1 shows one automated guided vehicle V (below the movable rack 20a), and Fig. 2 shows an automated guided vehicle V waiting below the movable rack 20a at the base position 22a, an automated guided vehicle V traveling in a transfer area 26 (shown in transfer area 26d) which will be described later, and an automated guided vehicle V stopped at a maintenance position 28 (shown in maintenance position 28b) which will be described later. There may be one such automated guided vehicle V, or multiple automated guided vehicles V may be in operation.

[0023] Here, reference numeral 30 shown in FIG. 1 denotes a controller 30 that controls the operation of the automatic guided vehicle V (travel, lifting and lowering operation of the lifter LF, etc.).

[0024] As a modified example, a conveyor for transporting the mobile rack 20 may be provided instead of the automated guided vehicle V. Also, instead of using the automated guided vehicle V, the mobile rack 20 may be provided with a motor and wheels so that the mobile rack is self-propelled. Also, the mobile rack 20 may run on rails laid along a predetermined route. Even in these modified examples, the operation of the conveyor and automated mobile rack is controlled by the controller 30.

[0025] Next, as shown in Fig. 2, in the upper area 6, at positions separated from these three basic positions 22a to 22c, there are defined retraction positions 24 (24d to 24i) where the movable racks 20 (20d to 20i) can be retracted. In this example, six retraction positions 24d to 24i are defined where six movable racks 20d to 20i can be arranged. Note that, for example, only one retraction position or multiple retraction positions may be defined.

[0026] Furthermore, as shown in FIG. 2, in the upper area 6, areas 26a to 26g for moving the movable rack 20 are defined, and maintenance positions 28a and 28b for charging the automatic guided vehicle V are also defined.

[0027] Here, we will explain an example of movement of the movable rack 20 by the automatic guided vehicle V controlled by the controller 30. Here, we will show an example of exchanging the movable rack 20a placed in the base position 22a with the movable rack 20i placed in the waiting position 24i. First, the mobile rack 20a placed at the home position 22a is lifted by the lifter LF of the automated guided vehicle V and temporarily transported to position 26c in the transfer area 26, where the lifter LF is lowered to temporarily place it. Next, the automated guided vehicle V or another automated guided vehicle V travels to the waiting position 24i, where the mobile rack 20i placed at that position is lifted by the lifter LF and transported to the empty home position 22a and placed there. Next, the automated guided vehicle V or another automated guided vehicle V travels to the transfer area 26c, where the mobile rack 20a temporarily placed at that position is lifted by the lifter LF and transported to the empty waiting position 24i and placed there. Through these operational controls, the mobile rack 20a placed at the home position 22a and the mobile rack 20i placed at the waiting position 24i are swapped. For example, the automatic guided vehicle V may temporarily place the movable rack 20i placed at the retracted position 24i in the transfer area 26c, then place the movable rack 20a placed at the base position 22a at the retracted position 22i, and then place the temporarily placed movable rack 20i at the base position 22a. The movement of the movable rack 20 between the three basic positions 22a to 22c and the six retreat positions 24d to 24i along the path 18 of the stacker crane 12 is performed in the same manner as appropriate.

[0028] Next, the schematic configuration of an automated warehouse according to a second embodiment of the present invention will be described with reference to Fig. 3. Fig. 3 is a front view showing the schematic configuration of an entry / exit device, fixed shelves, movable shelves in the upper area, and an elevating transport device of the automated warehouse according to the second embodiment of the present invention. Below, a description of the configuration that is the same as that of the first embodiment described above will be omitted, and the configuration that differs from the first embodiment will mainly be described. The automated warehouse 1 according to the second embodiment shown in Fig. 3 includes, in addition to the configuration of the first embodiment described above, an elevator (lifting and conveying device) 32 that moves (raise and lower) the movable rack 20 in the vertical direction between the first floor and the third floor. In the example of Fig. 3, this elevator 32 can raise and lower the movable rack 20k, together with the unmanned conveying vehicle V that has lifted it with the lifter LF, between the first floor (ground floor 1FL) and the third floor (3FL). As a modified example, the elevator 32 may be a lifting and conveying device that raises and lowers only the movable rack 20.

[0029] In this example, within the automated warehouse 1 (the area from the first to third floors of the building 2), the movable rack 20 is transported by an automated guided vehicle V. As shown in FIG. 3, the movable rack 20 may be transported near the elevator 32 by a forklift or hand lifter, and then transported by the automated guided vehicle V.

[0030] In the second embodiment, the upper area 6 is composed of two areas 6a and 6b, sandwiching the elevator 32, when viewed from the front. The configurations and functions of these upper areas 6a and 6b are similar to those of the first embodiment. For example, as shown in FIG. 3, a standby position 24j for placing a movable rack 20j is also defined in the upper area 6b, which is located on the opposite side of the side area 4. Similarly, although not shown, the above-mentioned transfer area (26) is also defined. A maintenance position (28) may also be defined.

[0031] In the third embodiment, the controller 30 is configured to control the lifting and lowering operation of the movable rack 20 (automated guided vehicle V) by the elevator 32 in addition to the control contents of the first embodiment described above.

[0032] Next, the schematic configuration of an automated warehouse according to a third embodiment of the present invention will be described with reference to Fig. 4. Fig. 4 is a front view showing the schematic configuration of the first loading / unloading device, first fixed shelf, movable shelf in the upper area, second loading / unloading device, and second fixed shelf of the automated warehouse according to the third embodiment of the present invention. In the following, a description of the configuration that is the same as that of the first embodiment described above will be omitted, and the configuration that differs from the first embodiment will mainly be described. 4, an automated warehouse 1 according to a third embodiment has a side area (first side area) (first automated warehouse area) 4 equipped with the above-mentioned fixed racks (first fixed shelves) 10a, 10b, 10c and stacker crane (first loading / unloading device) 12, and on the opposite side thereof, a second side area (second automated warehouse area) 5 equipped with similar fixed racks (second fixed shelves) 10d, 10e, 10f and stacker crane (second loading / unloading device) 12 is provided. Note that, in terms of the areas that make up the automated warehouse, an upper area 6 sandwiched between the side areas 4 and 5, where goods are transported and stored by movable racks 20, can also be said to be a third automated warehouse area 6.

[0033] Here, the configuration of the second lateral area 5 in the third embodiment will be described. First, the configuration of the stacker crane 12 and the like is the same as that of the first side area 4, and for convenience, the same reference numerals are used and the description thereof will be omitted. Next, fixed rack 10d in second side area 5 is a fixed rack provided in the third floor area, similar to first side area 4, and although not shown, is provided with a number of well-known shelves, and there is no fixed rack provided on the opposite side of fixed rack 10d. Furthermore, fixed racks 10e and 10f are fixed racks provided in the first and second floor areas, and although not shown, are provided with a number of well-known shelves. Although not shown, the fixed rack 10d extends along the path (18) of the stacker crane 12 in plan view, and is configured so that a plurality of shelves (not shown) are lined up in the longitudinal direction (see FIG. 2).

[0034] Next, the configuration of the upper area 6 in the third embodiment will be described. The upper area 6 has an extension floor 9 that extends from the floor surface of the third floor to above the fixed rack 10f and near the stacker crane 12, in addition to the configuration of the first embodiment described above. Although not shown, the extension floor 9 of the upper area 6 has defined basic positions 22 (only the basic position of 22n is shown in FIG. 4) at which three movable racks 20 (only the movable rack with reference numeral 20n is shown in FIG. 4) can be arranged / placed along the path of the stacker crane 12, as in the first embodiment (see FIG. 2). As in the first embodiment, at these three basic positions 22n, the pallets PL and the packages P can be handed over between the stacker crane 12 and each movable rack 20n.

[0035] Next, the control contents of the controller 30 in the third embodiment will be described. In this third embodiment, in addition to the control contents of the first embodiment described above, the controller 30 is configured to control the automated guided vehicle V to move the mobile rack 20 between basic positions 22a to 22c along the path of the stacker crane 12 in the upper area 6 adjacent to the first side area (first automated warehouse area) 4, the above-mentioned waiting positions 24d to 24i, and basic position 22n along the path of the stacker crane 12 in the upper area 6 adjacent to the second side area (second automated warehouse area) 5.

[0036] Next, the effects of the automated warehouse 1 according to the embodiment of the present invention will be described. First, an automated warehouse 1 according to first to third embodiments of the present invention includes a stacker crane (storage / retrieval device) 12 for transporting cargo P, a fixed rack 10 arranged to extend along the path of the stacker crane 12, a plurality of movable racks 20 including at least one movable rack 20 that can be positioned at a position along the path 18 of the stacker crane 12, and at least one movable rack 20 that can be positioned at a retreat position 24 separated from a basic position 22 along the path 18 of the stacker crane 12, and a device for attaching the movable racks 20 to the stacker crane. The stacker crane 12 includes an automated guided vehicle (moving device) V that moves the stacker crane 12 between a home position 22 and a retracted position 24 along its path 18, and a controller 30 that controls the operation of the automated guided vehicle V. The controller 30 is configured to cause the automated guided vehicle V to move at least one mobile rack 20 from the home position 22 along the path 18 of the stacker crane 12 to the retracted position 24, and to move at least one mobile rack 20 from the retracted position 24 to the home position 22 along the path 18 of the stacker crane 12.

[0037] According to the first to third embodiments configured in this manner, by switching the mobile rack 20 between the home position 22 and the retracted position 24 along the path 18 of the stacker crane 12, it is possible to increase the number of packages that can be transported by the stacker crane 12 and also to increase the number of packages that can be stored in the automated warehouse 1 by the fixed rack 10 and the multiple mobile racks 20. Furthermore, according to the first to third embodiments, it is possible to effectively increase the number of packages that can be stored in the automated warehouse 1 by using an empty floor or space (the floor space on the third floor) as a shelf layer for the mobile rack 20 or as space for moving the mobile rack.

[0038] Furthermore, according to the first to third embodiments, the basic positions 22 along the path 18 of the stacker crane 12 at which the movable racks 20 can be placed are a plurality of positions (22a to 22c) provided along the path 18 of the stacker crane 12, the retreat positions 24 are a plurality of positions (24a to 24g) provided at a distance from the basic positions 22 along the path 18 of the stacker crane 12, there are one or more unmanned guided vehicles V, and the controller 30 controls the one or more unmanned guided vehicles V to move the multiple movable racks 20 between the multiple basic positions 22 and the multiple retreat positions 24 along the path 18 of the stacker crane 12. According to the first to third embodiments configured in this way, it is possible to replace a larger number of movable racks.

[0039] Furthermore, according to the second embodiment of the present invention, the basic position 22 along the path 18 of the stacker crane 12 where the mobile rack 20 can be placed and the waiting position 24 for the mobile rack 20 are provided in the upper area 6 of the automated warehouse 1, and the automated warehouse 1 is equipped with an elevator (lifting and conveying device) 32 that can transport the mobile rack 20 from the upper area 6 to the ground floor (1FL). According to the second embodiment configured as described above, the entire movable rack 20 can be carried out from the automated warehouse 1.

[0040] Furthermore, according to a third embodiment of the present invention, an automated warehouse 1 has a first automated warehouse area 4 having a stacker crane 12 and fixed racks 10a to 10c, and a second automated warehouse area 5 located at a distance from the first automated warehouse area 4, the second automated warehouse area 5 having a second stacker crane 12 that transports cargo and second fixed racks 10d to 10f arranged to extend along a path (18) of the stacker crane 12, and a controller 30 controls an automated guided vehicle V to move a mobile rack 20 between basic positions 22a to 22c along the path 18 of the stacker crane 12 adjacent to the first automated warehouse area 4, waiting positions 24a to 24g, and a basic position 22n along the path (18) of the second stacker crane 12 adjacent to the second automated warehouse area 5. According to the third embodiment configured as described above, it is possible to transport goods between the two automated warehouse areas 4 and 5 using the movable rack 20 and the automated guided vehicle V. [Explanation of symbols]

[0041] V Automated guided vehicle 1. Automated warehouse 2 Building 4 Side area, first side area (first automated warehouse area) 5 Second side area (second automated warehouse area) 6, 6a, 6b Upper Area 7, 9 Extension floor 10 Fixed Rack 12 Stacker Crane (Stacker Crane 12) 16 Slide fork device 18 Stacker crane route 20 Mobile Rack 22 Basic position 24 Evacuation position 26 Transfer Area 28 Maintenance Position 30 Controllers 32 Elevator (lifting and transporting device)

Claims

1. An automated warehouse capable of receiving and retrieving cargo, a loading / unloading device for transporting luggage; A fixed rack arranged to extend along the path of the loading and unloading device; a plurality of movable racks including at least one movable rack that can be arranged at a position along the path of the storage and retrieval device, and at least one movable rack that can be arranged at a retreat position spaced apart from the position along the path of the storage and retrieval device; a moving device that moves the moving rack between a position along the path of the loading / unloading device and the retreat position; a controller for controlling the operation of the moving device, The controller is configured to use the moving device to move at least one movable rack located along the path of the storage / retrieval device to the retracted position, and to move the at least one movable rack located in the retracted position to a position along the path of the storage / retrieval device.

2. the positions along the path of the loading / unloading device at which the movable rack can be placed are a plurality of positions provided along the path of the loading / unloading device, the waiting positions are a plurality of positions provided at intervals along the path of the loading / unloading device, The mobile device may be one or more; The automated warehouse according to claim 1, wherein the controller controls the one or more moving devices to move the plurality of moving racks between a plurality of positions along the path of the loading / unloading device and the plurality of waiting positions.

3. a position along the path of the loading / unloading device where the movable rack can be placed and a retreat position for the movable rack are provided in an upper area of ​​the automated warehouse, The automated warehouse according to claim 1 or 2, further comprising an elevator transport device capable of transporting the mobile rack from the upper area to the ground floor.

4. The automated warehouse has a first automated warehouse area having the loading and unloading device and the fixed rack, and a second automated warehouse area provided at a position spaced apart from the first automated warehouse area, the second automated warehouse area comprising a second loading and unloading device for transporting luggage, and a second fixed rack arranged to extend along a path of the loading and unloading device, The automated warehouse according to claim 1 or claim 2, wherein the controller controls the moving device to move the mobile rack between a position along the path of the loading / unloading device adjacent to the first automated warehouse area, the waiting position, and a position along the path of the second loading / unloading device adjacent to the second automated warehouse area.

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