Automatic Equipment

Abstract

To support a transferred object in a proper state.SOLUTION: A support facility (for example, a transfer device 60) is used to receive an article 10 from an upstream side facility (for example, a lifting device 30) and transfers the article 10 to a downstream side facility (for example, a movable transport body 40). The support facility includes: a support base 62 to which the article 10 is transferred from the upstream side facility; and a suction part 64 which suctions the article 10 transferred to the support base in at least one direction to support the article 10 in a proper state on the support base.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] This disclosure relates to technology for supporting delivered objects. [Background technology]

[0002] Patent Document 1 discloses an automated warehouse that includes a lifting mechanism that lifts and moves a plurality of articles to positions corresponding to a plurality of levels, a support platform provided corresponding to each level of the storage shelf, and a movable conveyor that supports the articles and moves them in a horizontal direction. The articles are transferred from the lifting mechanism to the support platform. The articles on the support platform are then transferred to the movable conveyor, which then transfers them to the storage shelf. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2014-159340 A Summary of the Invention [Problem to be solved by the invention]

[0004] In order for an article to be transferred smoothly from the lifting mechanism to the support platform and then to the movable conveyor, it is required that the support platform properly support the article being transferred from the lifting mechanism. [Means for solving the problem]

[0005] The support equipment is for receiving an object from an upstream equipment and transferring it to a downstream equipment, and includes a support table onto which the object is transferred from the upstream equipment, and an suction section that suctions the object being transferred to the support table in at least one direction and supports the object in an appropriate state on the support table.

[0006] The automated equipment also includes a lifting device that raises and lowers an object, a movable transport body that moves the object along a horizontal direction, a storage shelf in which a plurality of storage spaces are formed aligned along the movement direction of the movable transport body, and the above-mentioned support equipment that relays the object between the lifting device and the movable transport body. Effect of the Invention

[0007] According to this support equipment or automated equipment, the object is sucked onto the support table by the suction portion, so that the object to be transferred can be supported in an appropriate state. [Brief description of the drawings]

[0008] [Figure 1] FIG. 2 is a schematic side view showing an automated warehouse. [Diagram 2] FIG. 2 is a schematic plan view showing an automated warehouse. [Diagram 3] FIG. 2 is a plan view showing the lifting device, the transfer device, and the movable transport body. [Figure 4] FIG. 4 is a partial side view showing the lifting device and the transfer device. [Diagram 5] FIG. 2 is a functional block diagram of the automated warehouse and transfer device. [Figure 6] 13 is a flowchart showing an example of a process of a suction operation. [Figure 7] 11 is an explanatory diagram showing the operation of a suction part on a support base. FIG. [Figure 8] 11 is an explanatory diagram showing the operation of a suction part on a support base. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] The following describes the support equipment and the automated equipment according to the embodiment. In this embodiment, an example is described in which the automated equipment is an automated warehouse. Also, an example is described in which the support equipment is equipment for receiving an object from an upstream equipment and transferring it to a downstream equipment in the object movement direction.

[0010] <Overall structure> The overall configuration of the automated warehouse 20 will be described below. Fig. 1 is a schematic side view showing the automated warehouse 20, and Fig. 2 is a schematic plan view showing the automated warehouse 20.

[0011] The automated warehouse 20 includes a lifting device 30, a movable carrier 40, a storage shelf 50, and a transfer device 60.

[0012] The storage shelves 50 are provided on at least one side of the travel path 48 of the moving conveyor 40. Here, a pair of storage shelves 50 are provided on both sides of the travel path 48. The storage shelves 50 have multiple tiers of shelves 52 supported at intervals in the vertical direction. Each tier of shelves 52 can support an object 10. The shelves 52 in each tier can also support multiple objects 10. Therefore, when viewed as a whole, the multiple objects 10 are stored in a state of being arranged vertically and horizontally. In the storage shelf 50, the space in which the objects 10 are stored is the storage space. Therefore, in the storage shelf 50, multiple storage spaces are formed that are aligned along the movement direction of the moving conveyor 40 traveling on the travel path 48. Each storage space may be continuous without any partitions, or may be partitioned.

[0013] The running paths 48 are provided along the extension direction of the storage shelves 50, here between a pair of storage shelves 50, along the extension direction between them. The running paths 48 extend along the extension direction of the storage shelves 50 and up to the transfer device 60. The running paths 48 are provided corresponding to each of the multiple upper and lower shelf levels. Each running path 48 may be configured with, for example, a pair of rails. The rails may also serve as the horizontal frame of the storage shelves 50, or may be configured as separate entities from the storage shelves 50.

[0014] The movable conveyance body 40 is a device also called a picker, and is configured to be able to travel back and forth on the travel path 48. The movable conveyance body 40 is provided with an object insertion / removal mechanism 42 that inserts and removes the object 10 into and from the storage shelf 50 and the transfer device 60. The object 10 is inserted into and removed from the storage shelf 50 from the travel path 48 side. The movable conveyance body 40 traveling on the travel path 48 can insert and remove the object 10 into and from both of the pair of storage shelves 50.

[0015] In this embodiment, an example will be described in which a plurality of running paths 48 and a plurality of moving conveyors 40 are provided corresponding to each of the upper and lower shelf levels, but this is not essential. For example, one running path common to the upper and lower shelf levels may be provided, and the transfer cart may run on this running path. In this case, it is preferable to provide the transfer cart with a lifting mechanism so that stored items can be put in and taken out of the upper and lower shelves. Also, a plurality of transfer carts may run on one running path.

[0016] A lifting device 30 and a transfer device 60 are provided at a part of the extension direction of the storage shelf 50. In this embodiment, a transfer device 60 for entry and a lifting device 30 for entry are provided at one end of each of the pair of storage shelves 50. A transfer device 60 for retrieval and a lifting device 30 for retrieval are provided at the other end of each of the pair of storage shelves 50. The transfer device and the lifting device may be provided at the middle part in the longitudinal direction of the pair of storage shelves 50. The transfer device and the lifting device do not need to be separated for entry and retrieval, and may be used for both entry and retrieval.

[0017] The transfer device 60 is also called a temporary storage shelf, and is a device that relays objects between the lifting device 30 and the movable transport body 40. The transfer device 60 has a plurality of support tables 62 corresponding to the plurality of shelf levels. The plurality of support tables 62 are provided at positions adjacent to the storage shelf 50 and at the same height as the corresponding shelves 52. Therefore, the movable transport body 40 provided corresponding to each shelf level can transfer the object 10 to the support table 62 and the shelf 52 at that shelf level.

[0018] The lifting device 30 is a device for lifting and lowering the object 10, and includes a lifting shelf 32 that lifts and lowers while supporting the object 10. The lifting shelf 32 is driven to move up and down by a lifting drive mechanism 34. The lifting drive mechanism 34 may have, for example, a motor and a sprocket or a circulating belt, and may be configured such that the sprocket or the circulating belt is rotated circulatingly by rotating the motor, thereby lifting and lowering the lifting shelf 32 connected to the sprocket or the circulating belt. By driving the lifting shelf 32 to move up and down, the lifting shelf 32 is moved up and down to a position corresponding to each of the multiple support tables 62 at a position next to the transfer device 60. By the lifting shelf 32 being adjacent to the object 10 at a height position corresponding to one of the support tables 62, the object 10 can be transferred by moving horizontally between the lifting shelf 32 and the support table 62.

[0019] The control unit 90 controls the lifting and lowering operation of the lifting device 30, the transfer operation of the transfer device 60, the traveling operation of the movable carrier 40, and the loading and unloading operation of the item 10. In this automated warehouse 20, the item 10 is stored and unloaded under the control of the control unit 90.

[0020] Focusing on the item 10 to be stored, the item 10 is transferred to the lifting device 30 by the storage conveyor 16 or the like. The lifting device 30 then lifts and moves the item 10 to a position corresponding to the shelf level where the item 10 is to be stored. After this, the item 10 supported on the lifting shelf 32 is transferred to the transfer device 60. The item 10 supported by the transfer device 60 is transferred to the moving conveyor 40. The moving conveyor 40 travels along the travel path 48 while supporting the item 10, and moves toward the planned storage position of the item 10 on the storage shelf 50. When the moving conveyor 40 reaches the planned storage position, the item 10 is transferred from the moving conveyor 40 to the storage shelf 50, and the item 10 is stored in the storage shelf 50. After the item 10 is lifted and lowered by the lifting device 30 to the position of the shelf level where the item 10 is to be stored, the item 10 is temporarily supported by the transfer device 60 until the moving conveyor 40 takes in the item 10. This reduces the waiting time of the lifting device 30 and the movable conveyor 40, and allows the item 10 to be stored efficiently.

[0021] Focusing on the item 10 to be unloaded, the mobile conveyor 40 of the shelf corresponding to the storage position of the item 10 travels to the position corresponding to the storage position of the item 10. After this, the mobile conveyor 40 takes in the item 10 from the storage shelf 50. The mobile conveyor 40 that has taken in the item 10 moves toward the unloading transfer device 60 and transfers the item 10 to the transfer device 60. The unloading lifting device 30 lifts and moves the lifting shelf 32 to the position of the shelf corresponding to the item 10 to be unloaded. Then, the item 10 on the transfer device 60 at that shelf is transferred to the lifting shelf 32. The unloading lifting device 30 moves the lifting shelf 32 to a position suitable for unloading, for example, the height position of the unloading conveyor 18. After this, the item 10 is transferred to the unloading conveyor 18. The item 10 is unloaded to the outside by the unloading conveyor 18. After the movable conveyance body 40 moves toward the retrieval transfer device 60, the object 10 can be temporarily supported by the transfer device 60 until the lifting shelf 32 moves to a height position for retrieval. Therefore, even during retrieval, the waiting time of the lifting device 30 and the movable conveyance body 40 can be reduced, and the object 10 can be efficiently retrieved.

[0022] In addition, in this automated warehouse 20, when an item 10 is stored, a database that associates specific information of the item 10 (item identification code or identification name) with a storage location is generated and updated. When the item 10 is stored, vacant locations on the storage shelf 50 are identified by referring to the database, and one of the vacant locations is selected as the planned storage location. In addition, when the item 10 is removed from the warehouse, the database is referred to to identify the storage location of the item 10. The database may be stored in a memory unit in the control unit 90, or may be stored in another memory unit.

[0023] <About the transfer device> The following description focuses on the storage transfer device 60. Fig. 3 is a plan view showing the storage lifting device 30, the storage transfer device 60, and the movable conveyor 40 at one of the shelves. Fig. 4 is a partial side view showing the lifting device 30 and the transfer device 60. The storage transfer device 60 is an example of support equipment that receives an object 10 from the lifting device 30, which is an example of upstream equipment, and transfers the object 10 to the movable conveyor 40, which is an example of downstream equipment.

[0024] 3 and 4 show a state in which the lifting shelf 32 has been lifted and lowered to the shelf level that is the storage target for the item 10. In this state, the lifting shelf 32 and the support platform 62 at that shelf level are positioned at the same height, and the item 10 supported by the lifting shelf 32 is moved horizontally to be transferred to the support platform 62 at that shelf level.

[0025] The lift shelf 32 is a portion that is lifted and lowered by the lift drive mechanism 34 while supporting the object 10. In this embodiment, the lift shelf 32 is a so-called roller conveyor, and is configured such that a plurality of rollers 33a are rotatably supported in parallel on a frame portion 33f. The plurality of rollers 33a are aligned in a direction from the lift shelf 32 toward the support base 62. Some or all of the plurality of rollers 33a are driven to rotate by a motor as drive rollers. With the object 10 placed on the lift shelf 32, the drive rollers are driven to rotate, so that the object 10 on the lift shelf 32 moves horizontally toward the support base 62.

[0026] The transfer device 60 includes a support table 62 and a suction portion 64. The support table 62 and the suction portion 64 are provided corresponding to each shelf.

[0027] The object 10 is transferred onto the support platform 62 from the storage lifting device 30, which is an upstream facility. In this embodiment, the support platform 62 is a so-called roller conveyor, and is configured such that a plurality of rollers 63a are rotatably supported in parallel on a frame portion 63f. The plurality of rollers 63a are aligned in a direction from the support platform 62 toward the lifting shelf 32. Some or all of the plurality of rollers 63a are driven to rotate by a motor as drive rollers. When the object 10 on the lifting shelf 32 is sent to the support platform 62, the drive roller is driven to rotate, so that the object 10 moves to a position away from the lifting shelf 32, in this case, to a position closer to the storage shelf 50.

[0028] In this embodiment, an example has been described in which the object 10 is transferred from the lift-up shelf 32 to the support platform 62 by the drive roller of the rollers 33a, 63a, but this is not necessarily required. For example, the object may be moved from the lift-up shelf 32 to the support platform 62 by pushing the object with a pusher or the like that can advance and retreat by driving an actuator. In this case, at least one of the lift-up shelf 32 and the support platform 62 may not be a conveyor but may simply be a plate.

[0029] In this embodiment, the lifting shelf 32 has a size capable of placing one object 10 thereon, and the support platform 62 has a size capable of placing multiple (e.g., two) objects 10 thereon. If the support platform 62 is capable of placing multiple (e.g., two) objects 10 thereon, the multiple objects 10 transferred from the lifting shelf 32 can be temporarily supported on the support platform 62 until they are taken in by the moving conveying body 40. This further improves the operating efficiency of the lifting device 30 and the moving conveying body 40. The lifting shelf 32 and the support platform 62 may have any size. The lifting shelf 32 may be of a size capable of supporting multiple objects 10, and the support platform 62 may be of a size capable of supporting one object 10.

[0030] The movable transport body 40 includes a pair of arms 43 and a hook portion 44 as the object loading / unloading mechanism 42. The pair of arms 43 are configured to be extendable and retractable from both sides of the support portion 41 of the movable transport body 40 toward the storage shelf 50 or the transfer device 60. The hook portion 44 is configured at the end of the pair of arms 43 to be able to rise and fall between a position protruding toward the pair of arms 43 and a position retracted from the protruding position.

[0031] In this embodiment, the movable carrier 40 takes the object 10 in and out of both sides of the running path 48, so the pair of arms 43 can advance and retreat and can extend and retract on both sides of the running path 48. Also, the hooks 44 on both ends of the arms 43 can be raised and lowered.

[0032] When the moving conveying body 40 takes in the object 10 on the support base 62, the moving conveying body 40 travels along the travel path 48 to a position facing the support base 62. In this embodiment, the moving conveying body 40 moves to a relay position on the support base 62 closer to the storage shelf 50. In this state, when the pair of arms 43 extend toward the support base 62, the pair of arms 43 are positioned on both outer sides of the object 10 on the support base 62. In this state, the ends of the pair of arms 43 protrude on the opposite side of the moving conveying body 40 with respect to the object 10. In this state, when the hooking portion 44 in the retracted position changes its position to the protruding position, the hooking portion 44 is positioned on the opposite side of the moving conveying body 40 with respect to the object 10. In this state, when the pair of arms 43 retract while contracting toward their own support portion 41, the object 10 on which the hooking portion 44 is hooked moves as if it is pushed toward the support portion 41. As a result, the object 10 is transferred by being pulled from the support platform 62 towards the movable carrier 40. After the object 10 has been taken into the movable carrier 40, the movable carrier 40 moves along the travel path 48 to a position facing a predetermined intended storage position on the storage shelf 50. Thereafter, the pair of arms 43 advance toward the predetermined intended storage position with the hook portions 44 on the opposite side in the transfer direction protruding, whereby the object on the movable carrier 40 is transferred toward the predetermined storage position and stored in the storage shelf 50.

[0033] As described above, when the movable carrier 40 takes in the object 10 from the support base 62, the pair of arms 43 advances and is positioned on both outer sides of the object 10. However, if the object 10 is positioned out of position between the pair of arms 43 or if the object 10 is tilted, the pair of arms 43 that advances will hit the object 10. This may result in the pair of arms 43 not being able to properly take in the object 10.

[0034] The suction unit 64 suctions the object 10 transferred to the support base 62 in at least one direction, and supports the object 10 on the support base 62 in an appropriate state. The suction unit 64 may suction the object 10 transferred to the support base 62 in at least one direction. Therefore, the suction direction may be one suction direction, may be a plurality of horizontal directions, or may be a combination of horizontal suction and vertical suction. In this embodiment, the suction unit 64 suctions the object 10 along a direction along which the object 10 is transferred from the lift shelf 32, which is the upstream equipment, to the support base 62. In addition, the suction unit 64 suctions from the far side to the far side in the direction in which the object 10 moves. In addition, the appropriate state is a state suitable for transfer to downstream equipment, and in this embodiment, it is a state in which the object 10 can be properly taken in by the pair of arms 43. More specifically, the appropriate state in this embodiment is a state in which the object 10 fits in the area between the pair of arms 43 when the pair of arms 43 advances while the mobile carrier 40 is located at the relay position. The appropriate state of the object 10 may be defined by at least one of the position and the posture of the object 10.

[0035] More specifically, the suction unit 64 is provided on the rear side of the support table 62 in the direction in which the object 10 is transferred from the upstream equipment. The suction unit 64 is a portion that suctions the object 10 by negative pressure, and has a pad portion 64a that spreads in a dish shape. The suction unit 64 may have a bellows portion 64b that is connected to the small diameter side opening of the pad portion 64a (see Figs. 5, 7 and 8). The pad portion 64a and the bellows portion 64b may be formed of an elastic material such as rubber. The suction unit 64 may be a part called a suction pad. The suction unit 64 is connected to a vacuum pump 68 via a pipe. A negative pressure is generated in the suction unit 64 by the suction of the vacuum pump 68, and the object 10 is sucked by this negative pressure. The suction unit does not need to be configured to perform suction by the suction of a vacuum pump or the like. For example, the suction portion may be configured so that the suction cup portion adheres to the object 10 when the object 10 is pressed against the dish-shaped suction cup portion, and the suction state is released when the suction cup portion is deformed into a flat state by driving an actuator or the like.

[0036] The suction portion 64 is supported at a position on the support platform 62 near the storage shelf 50 with the large diameter side opening of the pad portion 64a facing the lift shelf 32, which is the upstream equipment. Therefore, when the object 10 moves from the lift shelf 32 toward the support platform 62, it faces and approaches the large diameter side opening of the pad portion 64a. Then, by generating negative pressure within the pad portion 64a, the object 10 is sucked into the pad portion 64a. In other words, the suction portion 64 supports the object 10 so as to receive it at a position facing the direction of movement of the object 10 being transferred toward the support platform 62.

[0037] When the object 10 comes into contact with the suction portion 64, the pad portion 64a formed of the elastic material can deform so as to cushion the impact on the object 10. Therefore, the pad portion 64a can function as a buffer portion that cushions the impact on the object. In the case where the suction portion 64 has a bellows portion 64b, the bellows portion 64b can also deform when the object 10 comes into contact with the suction portion 64. Therefore, the bellows portion 64b can function as a buffer portion.

[0038] The number of the suction parts 64 may be one or more. Here, a plurality of suction parts 64 (three in the figure) are provided so as to be arranged at intervals along a horizontal direction perpendicular to the moving direction of the object 10 on the support base 62. Therefore, the object 10 transferred from the lift shelf 32 to the support base 62 is suctioned at a plurality of points along the horizontal direction perpendicular to the moving direction. Therefore, the object 10 is less likely to tilt with respect to the support base 62. At least two suction parts 64 are provided in a direction perpendicular to the moving direction of the object 10, and it is preferable that both ends of the object 10 can be suctioned by the two suction parts 64. If there are four or more suction parts 64, the object 10 can be supported more reliably in an appropriate state. The number of the suction parts 64 may be one. In this case, the suction part 64 may be provided on one end side of the object 10 in the direction perpendicular to the moving direction of the object 10, and a stopper may be provided on the other end side.

[0039] In addition, the support base 62 is provided with a stopper 66 for restricting the movement of the object 10 at a position facing the moving direction of the object 10 transferred toward the support base 62, here, at a position closer to the storage shelf 50. Here, the stopper 66 is formed in a long and narrow plate shape, and its longitudinal direction is along a direction perpendicular to the moving direction of the object 10 on the support base 62. Also, the thickness direction of the stopper 66 is along the moving direction of the object 10 on the support base 62. The stopper 66 may be more rigid than the pad portion 64a and the bellows portion 64b. The stopper 66 is formed with a hole 69h in which the suction portion 64 can be arranged. The hole 69h is formed to have a size in which the pad portion 64a can be arranged, for example. The suction portion 64 is supported so as to be arranged in the hole 69h with the portion on the pad portion 64a side protruding toward the opposite side to the moving direction of the object 10, i.e., toward the lift shelf 32 side. When the object 10 moves toward the suction portion 64 and is suctioned by the suction portion 64, even if the suction portion 64 is significantly deformed, the object 10 hits the stopper 66 and the movement is restricted.

[0040] Incidentally, whether the object 10 is in a position where it contacts the suction portion 64 in its natural state or in a position where it contacts the stopper 66, the pair of arms 43 can move forward and backward on both sides of the outside of the object 10 without interfering with the object 10. Therefore, the appropriate position may be any position included in the range from the position where the object 10 contacts the suction portion 64 in its natural state to the position where it contacts the stopper 66.

[0041] The suction portion 64 and the stopper 66 are provided at a position lower than the arm 43 when the arm 43 advances toward the support base 62. Therefore, the arm 43 can advance and retreat without interfering with the suction portion 64 and the stopper 66.

[0042] In addition, the support base 62 is provided with a position sensor 67 that detects the object 10 before the object 10 reaches the adsorption unit 64. The position sensor 67 may be an optical sensor. Depending on the physical properties of the object 10, other magnetic sensors, inductive proximity sensors, etc. may be used as the position sensor. The position sensor does not need to be a non-contact sensor as in the above examples, and may be a contact type sensor such as a limit switch. The position of the position sensor 67 is arbitrary. For example, the position sensor 67 may be provided on one end side of the roller 63a in the axial direction, or may be provided below between the rollers 63a or above the support base 62. In addition, a position sensor may be provided in front of the object 10 when it moves toward the adsorption unit 64 (i.e., on the adsorption unit 64 side of the support base 62), and the position sensor may detect the approach or movement of the object 10 to the adsorption unit 64. When the object 10 reaches a position a predetermined distance before reaching the adsorption unit 64, the object 10 is detected by the position sensor 67.

[0043] Fig. 5 is a functional block diagram of the automated warehouse 20 and the transfer device 60. Fig. 5 shows functional blocks focusing on the functions when the object 10 is transferred from the lifting device 30 via the transfer device 60 to the movable carrier 40.

[0044] As shown in the figure, the control unit 90 is configured by a computer including a processor 92 such as a CPU (Central Processing Unit), a storage unit 93, etc. The storage unit 93 is configured by a non-volatile storage device such as a flash memory or a hard disk device. The processor controls operations related to storage and retrieval of the automated warehouse 20 by performing processing according to a program 93a pre-stored in the storage unit 93. A part of the operations related to storage and retrieval of the automated warehouse 20 is an operation when transferring the object 10 from the lifting shelf 32 to the moving carrier 40 via the transfer device 60. The processor 92 may be a single-core processor or a multi-core processor. The processing by the control unit 90 may be performed by a single computer or by multiple computers connected to each other.

[0045] The control unit 90 is connected to the lifting device 30, the transfer device 60, and the movable transport body 40 so as to be able to communicate with each other. Under the control of the control unit 90, the lifting operation and transfer operation of the lifting device 30, the transfer operation and suction operation of the transfer device 60, and the travel of the movable transport body 40 and the insertion and removal of the object 10 are controlled. The detection output of the position sensor 67 in the transfer device 60 is output to the control unit 90.

[0046] The vacuum pump 68 is connected to the suction unit 64 of each shelf via a pipe. At each shelf, an electromagnetic valve 69a and a pressure sensor 69b are provided on the pipe. The electromagnetic valve 69a is, for example, an electromagnetic valve having three ports connected to the vacuum pump 68, the suction unit 64, and the outside space, and capable of switching the port on the suction unit 64 side between the port on the vacuum pump 68 side and the port on the outside space side. By switching the port on the suction unit 64 side to the port on the vacuum pump 68 side, the vacuum pump 68 sucks the space in the suction unit 64, generating negative pressure in the suction unit 64, and the suction unit 64 is in a state in which it can suck the object 10. By switching the port on the suction unit 64 side to the port on the outside space side, the space in the suction unit 64 is opened to the outside space, and the suction state is released. The pressure sensor 69b is, for example, a sensor that detects the piping pressure between the electromagnetic valve 69a and the suction unit 64. When the suction portion 64 sucks the object 10, it becomes difficult for the outside air to be sucked through the suction portion 64, and the pressure detected by the pressure sensor 69b becomes smaller.

[0047] The solenoid valve 69a and the pressure sensor 69b are connected to the control unit 90. The control unit 90 can control the solenoid valve 69a based on the detection output of the pressure sensor 69b. The control unit 90 has a function as an adsorption control unit that controls the adsorption operation of the adsorption unit 64. The adsorption control unit controls the adsorption unit 64 to be in an adsorbed state at least when the object 10 transferred to the support base 62 reaches an appropriate position, and to be in a released state at least when the object 10 is transferred from the support base 62 to another location (here, the movable conveyor 40).

[0048] The vacuum pump 68 may be provided for each of the plurality of shelves, or may be provided commonly to the plurality of shelves. In the latter case, the piping extending from the vacuum pump 68 may be divided for each shelf and connected to the suction unit 64. The piping and wiring may be routed together. Even in the latter case, if a solenoid valve 69a and a pressure sensor 69b are provided for each of the plurality of shelves, the suction operation of the suction unit 64 can be controlled for each shelf.

[0049] A more specific description will now be given of an example of the suction operation performed by the control unit 90. FIG 6 is a flow chart showing an example of the suction operation process performed by the control unit 90.

[0050] When an item 10 is stored via the storage conveyor 16 or the like, a planned storage position for the item 10 is determined by referring to a database that has been generated and updated in advance. In step S1, a lifting command is given to the lifting device 30 in accordance with the determined planned storage position. That is, a lifting command is given to the lifting device 30 so that the lifting shelf 32 supporting the item 10 to be stored moves to the position of the storage tier corresponding to the planned storage position. Also, a movement command is given to the movable transport body 40 of the storage tier corresponding to the planned storage position so that the movable transport body 40 moves to a relay position on the transfer device 60 side.

[0051] In the next step S2, it is determined whether or not the lift shelf 32 is located at a storage level corresponding to the intended storage position, based on the operation signal of the lift device 30, etc. If the determination is NO, this process is repeated, and if it is determined that the lift shelf 32 is located at a storage level, the process proceeds to the next step S3.

[0052] In the next step S3, the control unit 90 issues a transfer command to the lifting shelf 32 and the support base 62 in the storage stage. As a result, the rollers 33a of the lifting shelf 32 and the drive rollers among the rollers 63a of the support base 62 are rotated, and the object 10 moves from the lifting shelf 32 toward the support base 62 (see FIG. 7).

[0053] In the next step S4, whether or not the object 10 has been detected is determined based on the detection signal from the position sensor 67. The detection position of the object 10 by the position sensor 67 is line La a predetermined distance before in the moving direction of the object 10. If the object 10 is detected, the object 10 will be positioned beyond line La before reaching the suction unit 64, toward the suction unit 64. If the determination is NO, the process of step S4 is repeated, and if the object 10 is detected, the process proceeds to the next step S5.

[0054] In step S5, the control unit 90 issues a command to the solenoid valve 69a so that the suction unit 64 performs the suction operation. The solenoid valve 69a switches the valve body so that the vacuum pump 68 and the suction unit 64 are connected via a pipe. As a result, the space within the suction unit 64 is sucked by the vacuum pump 68 (see arrow A in FIG. 8).

[0055] In step S6, it is determined whether or not the object 10 has been suctioned. That is, when the object 10 moves beyond the line La toward the suction unit 64 and is suctioned by the suction unit 64, the opening of the suction unit 64 is closed by the suction surface of the object 10. Therefore, the air pressure between the suction unit 64 and the solenoid valve 69a approaches a vacuum state, and the pressure detected by the pressure sensor 69b decreases. The presence or absence of suction by the suction unit 64 is determined when the pressure detected by the pressure sensor 69b becomes equal to or less than a predetermined reference value. When multiple suction units 64 are provided on each shelf, the pressure sensor 69b may be provided for each of the multiple suction units, or one pressure sensor 69b may be provided common to the multiple suction units. In the former case, the presence or absence of suction may be determined by comparing all the detection values ​​by the multiple pressure sensors with a reference value. If it is determined in step S6 that the object 10 has not been suctioned, this step S6 is repeated, and if it is determined that the object 10 has been suctioned, the process proceeds to step S7.

[0056] By going through steps S4 to S6, the suction unit 64 continues suction until the object 10 passes the line La and is sucked by the suction unit 64. Therefore, the suction unit 64 is controlled to be in the suction state at least at the timing when the transferred object 10 reaches the appropriate position.

[0057] In step S7, the control unit 90 issues a command to the solenoid valve 69a to release the suction unit 64. The solenoid valve 69a switches the valve body so that the space inside the suction unit 64 is connected to the outside space. This releases the space inside the suction unit 64 to the outside space, and the suction state of the object 10 by the suction unit 64 is released. Since the object 10 itself is placed on the support base 62, the object 10 maintains the above-mentioned appropriate position and appropriate attitude even when the suction by the suction unit 64 is released.

[0058] In the next step S8, the control unit 90 issues a transfer command to the movable transport body 40. This causes the movable transport body 40 to advance the pair of arms 43 toward the transfer device 60. At this time, since the object 10 is supported in the proper position and posture on the support base 62, the pair of arms 43 can advance to positions on both sides of the object 10 while suppressing interference with the object 10. Therefore, the object 10 can be taken into the movable transport body 40 without failure.

[0059] In the next step S9, the control unit 90 issues a command to the movable carrier 40 to move to the planned storage position. The movable carrier 40 moves to a position corresponding to the planned storage position and transfers the object 10 to the planned storage position. As a result, the object 10 is stored in the storage shelf 50.

[0060] With the automated warehouse 20 as the automated equipment and the transfer device 60 as the support equipment configured in this manner, the suction unit 64 can suction the object 10 to be transferred onto the support table 62 in at least one direction, and support the object 10 in an appropriate state on the support table 62. In particular, when the object 10 is suctioned by the suction unit 64, it is supported in an appropriate state without bouncing. Also, when the object 10 is in an oblique position, for example, the suction unit 64 can suction the object 10 to bring it closer to the appropriate state.

[0061] The appropriate state may be an appropriate position for the next process, for example, for transferring the object 10 to the downstream facility, the movable transport body 40. This allows the object 10 to be transferred smoothly from the support platform 62 to the movable transport body 40.

[0062] In particular, consider a case where the moving speed of the object 10 is increased to stop the object at a predetermined position on the support platform 62 using a stopper in order to increase the speed at which the object 10 is stored and taken out of storage. In this case, the faster the moving speed of the object 10 is, the greater the rebound from the stopper becomes, and the more likely the stopping position of the object 10 will deviate from the predetermined position or become tilted. It is possible to eliminate the tilt by repeatedly hitting the object 10 against the stopper, but in that case, repeated movement time will be required. Also, if the tilt cannot be eliminated, it is possible to stop the operation of the device and have a person manually eliminate the tilt.

[0063] As described above, by adsorbing the object 10 in an appropriate state using the adsorption portion 64, the object 10 can be supported in an appropriate state efficiently in a short time, and excessive tilting is also less likely to occur. In addition, repeated contact of the object 10 with the adsorption portion 64 is suppressed, so damage to the object 10 and the device is also reduced.

[0064] Furthermore, by controlling the suction operation of the suction unit 64 with the control unit 90, the suction and suction release states can be controlled in accordance with the movement timing of the object 10, etc., and the transfer of the object 10 can be performed smoothly.

[0065] For example, it is sufficient that the suction portion 64 is in the suction state when the object 10 transferred to the support platform 62 reaches an appropriate position, and that the suction portion 64 is in the released state at least when the object 10 is transferred from the support platform 62 to another location. This allows the object 10 to be suctioned at the appropriate position when the object 10 is transferred from the lifting shelf 32, which is the upstream equipment, to the support platform 62. Thereafter, when the object 10 is transferred from the support platform 62 to the movable conveyor 40, which is the downstream equipment, the suction portion 64 is in the released state so as not to interfere with the transfer, and the transfer can be performed smoothly.

[0066] In addition, since the suction portion 64 includes a suction pad that generates negative pressure between itself and the object 10 and adheres to the object, restrictions on the material of the object 10 can be reduced, and various types of object 10 can be adhered to the suction portion 64.

[0067] In addition, since the suction portion 64 receives and supports the object 10 at a position opposite to the direction of movement of the object 10 being transferred toward the support table 62, the object 10 can be adsorbed in the appropriate condition without having to move the suction portion 64, and the configuration of the suction portion 64 can be simplified.

[0068] Furthermore, since the suction portion 64 includes the pad portion 64a as a buffer portion, the impact on the object 10 is cushioned when the suction portion 64 receives the object 10. If the suction portion 64 includes the bellows portion 64b, the impact on the object 10 is further cushioned.

[0069] Furthermore, if the stopper 66 is provided separately from the suction portion 64, even if the pad portion 64a serving as a buffer portion is deformed, the object 10 can be stopped by abutting against the stopper 66. This allows the object 10 to be supported at an appropriate position within a certain range.

[0070] {Variation} In this embodiment, the suction unit 64 is put into the suction state at the timing when the object 10 is detected by the position sensor 67, but this is not necessarily required. For example, the suction unit 64 may be put into the suction state when the transfer operation from the lifting shelf 32 to the support table 62 begins. Also, the suction operation of the suction unit 64 may be continued except when transferring to the downstream equipment.

[0071] In this embodiment, the suction unit 64 is released when the suction unit 64 detects that the object 10 has been suctioned, but this is not necessarily required. For example, the suction unit 64 may be released after a predetermined time has elapsed after the suction command in step S5. In this case, the predetermined time may be set to a time equal to or longer than the time required for the object 10 to cross the line La and reach the suction unit 64, taking into account, for example, the moving speed of the object 10 and the distance between the line La and the suction unit 64. Also, for example, the suction unit 64 may be released in accordance with the timing at which the pair of arms 43 of the moving transport body 40 advances.

[0072] In the above embodiment, the example in which the object 10 is transferred from the receiving conveyor 16 to the moving transport body 40 via the receiving transfer device 60 has been described, but it is not necessarily required to adopt the receiving configuration. For example, the configuration related to the suction unit 64 may be adopted even when the object 10 is transferred from the moving transport body 40 as the upstream equipment to the unloading lifting device 30 as the downstream equipment via the unloading transfer device 60. In this case, the suction unit 64 may be provided on the transfer device 60 at a position facing the object 10 sent from the moving transport body 40. Thereby, the object 10 can be transferred to the unloading transfer device 60 in a proper state, and transferred to the unloading lifting device 30 in a proper posture based on the position.

[0073] In this embodiment, the configuration in which the attraction portion 64 attracts the object 10 by negative pressure has been described, but this configuration is not necessarily required. The attraction portion may be configured to attract the object 10 by magnetic force, such as an electromagnet. In this case, the object 10 may be formed of an attractable material (iron, etc.) that can be attracted by magnetic force, or such an attractable material may be attached to the object 10.

[0074] In the present embodiment, the suction unit 64 is provided at a position facing the moving direction of the object 10 relative to the support base 62, but this is not necessarily required. The suction unit may be provided between the rollers 63a, at a position on the support base 62 opposite to the running path 48, or at an upper position of the support base 62. In this case, the suction portion may be configured to suction the object 10 at a timing when the object 10 passes an appropriate position on the support base 62, based on the output of a sensor that detects the position of the object 10, or the like.

[0075] The configurations described in the above embodiment and modifications can be combined as appropriate as long as they are not mutually inconsistent.

[0076] The present specification and drawings disclose the following aspects.

[0077] The first aspect is a support equipment for receiving an object from an upstream equipment and transferring it to a downstream equipment, the support equipment comprising: a support table onto which the object is transferred from the upstream equipment; and an suction section that suctions the object being transferred to the support table in at least one direction and supports the object in an appropriate state on the support table.

[0078] According to this support equipment, since the object is sucked by the suction portion on the support table, the object to be transferred can be supported in an appropriate state (for example, appropriate position, posture, etc.).

[0079] A second aspect is the support equipment according to the first aspect, wherein the suction unit suctions the object to an appropriate position on the support platform for transferring the object to the downstream equipment, thereby enabling the object to be transferred smoothly to the downstream equipment.

[0080] A third aspect is the support facility according to the first or second aspect, further comprising a suction control unit that controls the suction operation of the suction unit. In this manner, the suction control unit controls the suction operation of the suction unit, whereby the transfer of the object is performed smoothly.

[0081] A fourth aspect is the support equipment according to the third aspect, in which the suction control unit controls the suction unit to be in an suction state at least when the transferred object reaches an appropriate position, and to be in a released state at least when the object is transferred from the support platform to another location. This allows the suction unit to suction the object and support it at an appropriate position at the timing when the object is transferred. Thereafter, by releasing the state at the timing when the object is transferred from the support platform to another location, the object can be smoothly transferred to the other location.

[0082] A fifth aspect is the support equipment according to any one of the first to fourth aspects, in which the suction unit includes a suction pad that generates a negative pressure between the suction unit and the object to suction the object. This allows various objects to be suctioned by the suction pad.

[0083] A sixth aspect is the support equipment according to any one of the first to fifth aspects, in which the suction unit supports the object by receiving it at a position opposite to the moving direction of the object transferred toward the support platform. In this case, when the object moves on the support platform, the object is received and supported by the suction unit. This simplifies the configuration of the suction unit.

[0084] A seventh aspect is the support equipment according to the sixth aspect, wherein the suction part includes a buffer part that buffers an impact on the object moving toward the suction part, thereby mitigating the impact on the object when the suction part receives the object.

[0085] The eighth aspect is the support equipment according to the seventh aspect, in which the support platform includes a stopper that restricts the movement of the object at a position opposite to the movement direction of the object transferred to the support platform, and the suction part protrudes on the opposite side to the movement direction of the object transferred to the support platform. As a result, even if the buffer part is deformed, the object abuts against the stopper. As a result, the object is supported at the appropriate position.

[0086] The automated equipment of the ninth aspect is an automated equipment including a lifting device that raises and lowers an object, a movable transport body that moves the object along a horizontal direction, a storage shelf in which a plurality of storage spaces are formed aligned along the movement direction of the movable transport body, and a support equipment of any one of the first to eighth aspects that relays the object between the lifting device and the movable transport body.

[0087] According to the ninth aspect, objects can be transferred smoothly in automated equipment.

[0088] The above description is illustrative in all respects, and the present invention is not limited thereto. It is understood that countless variations not illustrated can be assumed without departing from the scope of the present invention. [Explanation of symbols]

[0089] 10 Things 20 Automated Warehouse 30 Lifting device 32 Adjustable shelf 34 Lifting drive mechanism 40 Mobile carrier 50 Storage Shelf 52 Shelf 60 Transfer equipment 62 Support stand 64 Adsorption part 64a Pad section 64b Bellows section 66 Stopper 90 Control section

Claims

1. A lifting device for lifting and lowering an object; A moving conveyor that moves the object along a horizontal direction; a storage shelf having a plurality of storage spaces arranged along the moving direction of the moving conveyor; a support facility that relays the object between the lifting device and the movable transport body; Equipped with The support facility is a support facility for receiving an object from an upstream facility and transferring it to a downstream facility, A support table onto which the object is transferred from the upstream facility; A suction unit that suctions an object to be transferred to the support platform in at least one direction and supports the object in an appropriate state on the support platform; Equipped with The suction portion supports the object so as to receive the object at a position opposite to a moving direction of the object to be transferred toward the support base, The adsorption portion includes a buffer portion that buffers an impact on the object moving toward the adsorption portion, the support base includes a stopper that restricts movement of the object at a position opposite to a moving direction of the object to be transferred to the support base, The automated equipment, wherein the suction portion protrudes from the stopper in a direction opposite to a direction of movement of the object being transferred toward the support table.

2. 2. The automated equipment according to claim 1, The suction unit is an automated equipment that suctions the object to an appropriate position on the support table for transferring the object to the downstream equipment.

3. The automated equipment according to claim 1 or 2, The automated equipment further includes a suction control unit that controls a suction operation of the suction unit.

4. The automated equipment according to claim 3, The suction control unit controls the suction unit to put the suction unit into an suction state at least when the transferred object reaches an appropriate position, and to put the suction unit into a released state at least when the object is transferred from the support platform to another location.

5. The automated equipment according to any one of claims 1 to 4, The suction unit is an automated equipment that includes a suction pad that generates negative pressure between the suction pad and the object to adsorb it to the object.

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