Goods storage and retrieval device, goods storage and retrieval device unit, and automated warehouse

Abstract

To provide an article carrying-in-and-out device capable of avoiding a complicated structure.SOLUTION: An article carrying-in-and-out device includes: a frame; a lifting part for moving up / down the frame along a first direction; and a movement mechanism. The movement mechanism includes: a tray conveyance part provided in the frame, and for conveying a tray which can load an article, along a second direction crossing the first direction; and a conveyance auxiliary part for pushing in the tray further to the outside than the frame along the first direction.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] An embodiment of the present invention relates to an article storing / retrieving device, an article storing / retrieving device unit, and an automated warehouse. [Background technology]

[0002] For example, logistics centers have introduced automated warehouses with complex operations to handle the storage and retrieval of large numbers of items. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2014-133654 A Summary of the Invention [Problem to be solved by the invention]

[0004] An object of the present invention is to provide an article storing / retrieving device, an article storing / retrieving device unit, and an automated warehouse that can avoid having a complex structure, for example. [Means for solving the problem]

[0005] According to an embodiment, an article receiving and retrieving device includes a first frame, a lifting unit that lifts and lowers the first frame along a first direction, and a first moving mechanism. The first moving mechanism includes a tray transport unit that is provided within the first frame and transports a tray on which an article can be placed along a second direction intersecting the first direction, and a transport auxiliary unit that pushes the tray outward from the first frame along the second direction. The first moving mechanism further includes a lift section that raises and lowers the tray transport section within the first frame. [Brief description of the drawings]

[0006] [Figure 1] FIG. 1 is a schematic perspective view showing an automated warehouse according to an embodiment. [Diagram 2]FIG. 1 is a schematic block diagram of an automated warehouse according to an embodiment. [Diagram 3] 1 is a schematic diagram of a tray in an automated warehouse according to an embodiment, viewed from the opening side on the -X side through which articles are inserted and removed. FIG. [Figure 4] FIG. 4 is a schematic diagram of the tray shown in FIG. 3 as seen from the -Y side. [Diagram 5] 5 is a schematic diagram of the tray shown in FIG. 4 as seen from the +Z side. [Figure 6] A schematic diagram of part of the tray storage in the automated warehouse shown in Figure 1, viewed from the +X side. [Figure 7] FIG. 2 is a schematic perspective view showing a part of an article storing / retrieving device (first elevator) of the automated warehouse according to the embodiment. [Figure 8] 8 is a schematic diagram showing a state in which the support portion of the lift portion of the article storing and retrieving device of the automated warehouse according to the embodiment shown in FIG. 7 is disposed on an upper stage. [Figure 9] 8 is a schematic diagram showing a state in which the support portion of the lift portion of the article storing and retrieving device of the automated warehouse according to the embodiment shown in FIG. 7 is disposed on the middle level. FIG. [Figure 10] 8 is a schematic diagram showing a state in which the support portion of the lift portion of the article storing and retrieving device of the automated warehouse according to the embodiment shown in FIG. 7 is disposed on a lower stage. [Figure 11] FIG. 2 is a schematic perspective view showing a portion of a tray circulation elevator (second elevator) of the automated warehouse according to the embodiment. [Figure 12] FIG. 12 is a schematic diagram of a tray circulation elevator of the automated warehouse according to the embodiment shown in FIG. 11. [Figure 13] 1 is a schematic diagram showing an article storing / retrieving main transport section, an article storing / retrieving device, a tray storage, and a tray circulation elevator of an automated warehouse according to an embodiment. FIG. [Figure 14] 1 is a schematic diagram showing the operation of an article storing / retrieving device, a tray storage, and a tray circulation elevator of an automated warehouse according to an embodiment. FIG. [Figure 15] 1 is a schematic diagram showing an operation of moving trays using an article receiving and retrieving device, a tray storage, and a tray circulation elevator in an automated warehouse according to an embodiment. FIG. [Figure 16] FIG. 16 is a schematic diagram showing the tray moving operation subsequent to FIG. 15 . [Figure 17]FIG. 17 is a schematic diagram showing the tray moving operation subsequent to FIG. 16 . [Figure 18] 1 is a schematic diagram showing an operation of moving trays using an article receiving and retrieving device, a tray storage, and a tray circulation elevator in an automated warehouse according to an embodiment. FIG. [Figure 19] 19 is a schematic diagram showing the tray moving operation subsequent to FIG. 18 . [Figure 20] FIG. 20 is a schematic diagram showing the tray moving operation subsequent to FIG. 19 . [Figure 21] 1 is a schematic diagram showing an article storing / retrieving main transport section, an article storing / retrieving device, a tray storage, and a tray circulation elevator of an automated warehouse according to an embodiment. FIG. [Figure 22] 1 is a schematic diagram showing an operation of moving a tray using an article storing / retrieving device of an automated warehouse according to an embodiment and an article storing / retrieving main transport section; [Figure 23] 23 is a schematic diagram showing the operation of moving the tray subsequent to FIG. 22; [Figure 24] 1 is a schematic diagram showing an article storing / retrieving device of an automated warehouse according to an embodiment, and an storing / retrieving operation for moving articles using an article storing / retrieving main conveying section; [Diagram 25] FIG. 1 is a schematic perspective view showing a usage layout of an automated warehouse according to an embodiment. [Figure 26] FIG. 11 is a schematic diagram showing an operation of moving trays using an article storing / retrieving device of an automated warehouse according to a first modified example and an article storing / retrieving main transport section. [Figure 27] 27 is a schematic diagram showing the operation of moving the tray subsequent to FIG. 26. [Figure 28] 27 is a schematic diagram showing the operation of moving the tray subsequent to FIG. 26. [Figure 29] 29 is a schematic diagram showing the operation of moving an article in a tray subsequent to FIG. 28. [Diagram 30] FIG. 13 is a schematic diagram showing an article storing / retrieving device for an automated warehouse according to a second modified example. [Diagram 31] 31 is a schematic diagram showing a state in which the rails and sliders of the transport auxiliary part of the article storing and retrieving device of the automated warehouse have been moved upward from the position shown in FIG. 30 . DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0007] An automated warehouse 10 according to an embodiment will be described with reference to Figs.

[0008] Fig. 1 is a schematic perspective view showing an automated warehouse 10 according to an embodiment. Fig. 2 is a schematic block diagram of the automated warehouse 10 according to an embodiment.

[0009] As shown in Figures 1 and 2, the automated warehouse 10 has trays 12, a tray storage 14, an item loading / unloading transport section (hereinafter mainly referred to as the main transport section) 16, an item loading / unloading device (first elevator) 18, a tray circulating elevator (second elevator) 20, and a control section 22.

[0010] 1, the tray storage 14 is adjacent to an article receiving / retrieving device 18 and a tray circulation elevator 20. In this embodiment, the article receiving / retrieving device 18 and the tray circulation elevator 20 are disposed at positions sandwiching the tray storage 14 therebetween.

[0011] In the automated warehouse 10, an XYZ orthogonal coordinate system is used as shown in Fig. 1, in which the direction in which the trays 12 move horizontally is defined as the X-axis direction, the direction perpendicular to the X-axis is defined as the Y-axis direction, and the direction in which the trays 12 move up and down is defined as the Z-axis direction. In the automated warehouse 10, the +X-axis direction, +Y-axis direction, and +Z-axis direction are set as shown in Fig. 1. Here, an example will be described in which the X-axis direction, Y-axis direction, and Z-axis direction are perpendicular to each other, but they may simply intersect without being perpendicular.

[0012] Hereinafter, in the automated warehouse 10, an XYZ orthogonal coordinate system is used as shown in Figs. 3 to 24. Figs. 3 to 5 are schematic diagrams of the tray 12 as viewed from the opening side on the -X side where the article P is put in and taken out, as viewed from the -Y side, and as viewed from the +Z side, respectively. Fig. 6 is a schematic diagram of the tray storage 14 of the automated warehouse 10 shown in Fig. 1 as viewed from the +X side. Fig. 7 is a schematic perspective view showing the article storage and retrieval device (first elevator) 18 of the automated warehouse 10. Note that Fig. 7 shows the article storage and retrieval device unit 24 that stores the tray 12 in the article storage and retrieval device 18 of the automated warehouse 10, without illustrating the lifting section 114. Figs. 8 to 10 are schematic diagrams showing the state in which the support section 162 of the lift section 134 of the article storage and retrieval device 18 shown in Fig. 7 is arranged on the upper stage, the middle stage, and the lower stage, respectively. Fig. 11 is a schematic perspective view showing the tray circulation elevator (second elevator) 20 of the automated warehouse 10. Note that Fig. 11 omits illustration of the lifting section 214. Fig. 12 is a schematic view showing the tray circulation elevator 20 shown in Fig. 11.

[0013] The size of each tray 12 can be set appropriately. Each tray 12 is formed to have the same shape and size. As shown in FIG. 1, FIG. 3 to FIG. 5, the tray 12 has a substantially rectangular bottom plate 32, substantially rectangular side plates 34a, 34b, 34c that are integrated with the bottom plate 32 and extend upward from three sides of the bottom plate 32 to surround the three sides, and a substantially rectangular frame body 36 that is integrated with the upper ends of the side plates 34a, 34b, 34c. The side plates 34a, 34b, 34c of the tray 12 are provided in the positions of the -Y axis direction, the +Y axis direction, and the +X axis direction with respect to the bottom plate 32. That is, the three side plates 34a, 34b, 34c extend downward from three sides of the frame body 36. The tray 12 has an opening edge 38 formed by the bottom plate 32, the side plates 34a, 34b, and the frame body 36 at the position of the -X axis direction with respect to the bottom plate 32. The article P can be inserted and removed from the tray 12 through an opening edge 38 of the tray 12 . It is preferable that all or part of the surface of each tray 12 on the -X-axis direction side is parallel to all or part of the surface on the +X-axis direction side, and that when the trays 12 are moved in the X-axis direction, the trays 12 are in contact with each other and are configured so that the trays 12 can move without deviating from the X-axis direction.

[0014] The bottom plate 32 has, for example, three through holes 40 spaced apart in the Y-axis direction and extending in the X-axis direction. In this embodiment, each through hole 40 is formed as a slit penetrating the bottom plate 32 and extending in the X-axis direction. Each through hole 40 is formed so as to bring a part of a fitting conveyor 192 of the loading / unloading transport section 118, which will be described later, into contact with the article P. Note that although the top surface of the tray 12 shown in FIG. 1 is open, it may be closed.

[0015] As shown in Fig. 1, the tray storage 14 is adjacent to the article receiving / dispatching device 18 in the +X-axis direction, and is formed in multiple tiers in which multiple trays 12 are lined up in the X-axis direction (horizontal direction) and stocked in the Z-axis direction (up and down direction). Fig. 1 shows an example in which 15 shelves (tiers) 54 are lined up in the Z-axis direction. On each shelf 54, six trays 12 are lined up in the X-axis direction. Therefore, in the example shown in Fig. 1, 90 trays 12 are arranged in the tray storage 14.

[0016] The tray storage 14 has, for example, four storage frames 52a, 52b, 52c, and 52d, and a plurality of shelves (stock shelves) 54 that form the stages of the tray storage 14. The four storage frames 52a, 52b, 52c, and 52d are spaced apart in the X-axis direction and in the Y-axis direction, and extend parallel to the Z-axis direction. The spacing between the storage frames 52a and 52b is the same as the spacing between the storage frames 52c and 52d. The spacing between the storage frames 52a and 52c is the same as the spacing between the storage frames 52b and 52d. The spacing between the storage frames 52a and 52b and the spacing between the storage frames 52c and 52d are larger than the spacing between the storage frames 52a and 52c and the spacing between the storage frames 52b and 52d. For this reason, the tray storage 14 is formed in a shape that is long in the X-axis direction and short in the Y-axis direction. The four storage frames 52a, 52b, 52c, and 52d are formed, for example, to have the same length.

[0017] 1 and 6, each shelf portion 54 has a pair of connecting portions 62 that extend in the X-axis direction and face each other in the Y-axis direction, and a pair of support portions 64 that extend from each connecting portion 62 to the opposing connecting portion 62. Each support portion 64 is fixed, for example, to the lower surface of each connecting portion 62. Each support portion 64 extends along the X-axis direction the same length as each connecting portion 62, for example.

[0018] The support portions 64 do not support the entire bottom plate 32 of each tray 12, but support the side plates 34a, 34b of the bottom plate 32. Of course, the support portions 64 may be configured to support the entire bottom plate 32 of the tray 12. The support portions 64 are spaced apart at equal intervals along the Z-axis direction. For this reason, trays 12 of the same shape and size can be stored in each shelf portion 54.

[0019] As shown in FIG. 6, the tray storage 14 is provided with a stopper mechanism 70 that prevents the tray 12 from falling off the tray storage 14. The stopper mechanism 70 has a rotating body 72 that is supported by the storage frame 52b to be rotatable about the X-axis direction as a rotation axis, a cam portion 74 that is fixed to one end of the rotating body 72, and a cam plate 76 that is supported by the storage frame 52b and moves up and down in conjunction with the article storage / retrieval device 18 and the tray circulation elevator 20. When the cam plate 76 comes into contact with the cam portion 74 and rotates the rotating body 72, the rotating body 72 retreats from a position facing the tray 12 along the X-axis direction. At this time, the stopper mechanism 70 can insert and remove the tray 12 from the tray storage 14. When the cam plate 76 leaves the cam portion 74, the rotating body 72 moves to a position facing the tray 12 along the X-axis direction. At this time, the stopper mechanism 70 restricts the insertion and removal of the tray 12 from the tray storage 14.

[0020] The stopper mechanism 70 is preferably provided not only at a position on the +X axis direction side of the tray storage 14 but also on the -X axis direction side, for example, on the storage frame 52c.

[0021] 1 and 2, the main transport unit 16 includes a conveyor 102 and a conveyor drive unit 104 that drives the conveyor 102. An example of the conveyor 102 is a roller conveyor. The conveyor drive unit 104 is controlled by the control unit 22. The conveyor drive unit 104 reverses the transport direction of the conveyor 102 when the article P or tray 12 is carried into the article receiving / retrieving device 18 and stored, and when the article P or tray 12 is carried out from the article receiving / retrieving device 18 and retrieved.

[0022] 7 to 10, the article receiving / retrieving device 18 is configured as a first elevator that moves up and down relative to the storage frames 52a, 52c of the tray storage 14. The article receiving / retrieving device 18 has a frame (first frame) 112, a lifting section 114 (see FIG. 2) that lifts and lowers the frame 112, a first moving mechanism (receiving / retrieving section) 116, and a receiving / retrieving transport section 118.

[0023] The frame 112 is configured as a lifting car of the article receiving and retrieving device 18 as a first elevator. The frame 112 has openings for moving the trays 12 between the frame 112 and the main transport section 16 and between the frame 112 and the tray storage 14. The frame 112 is formed into a rigid frame structure having, for example, a substantially rectangular parallelepiped or substantially cubic shape.

[0024] The lifting section 114 is provided between the main transport section 16 and the storage frames 52a, 52c. The lifting section 114 has a lift shaft 122 (see FIG. 1) that raises and lowers the frame 112 within a predetermined range, and a hoist 124 (see FIG. 2) that raises and lowers the frame 112 along the lift shaft 122.

[0025] The elevator 122 is provided at a position facing the storage frames 52a, 52c. The hoist 124 is provided, for example, at the upper or lower part of the elevator 122. The hoist 124 is controlled by the control unit 22. The frame 112 is connected to the hoist 124, and moves up and down the elevator 122 by the operation of the hoist 124 controlled by the control unit 22. Therefore, the elevator unit 114 raises and lowers the frame 112 in the Z-axis direction along a predetermined elevator 122 facing the storage frames 52a, 52c of the tray storage 14. The structure in which frame 112 raises and lowers lifting section 114 may be, for example, a combination of a pinion gear provided on frame 112 and a rack gear that extends lifting section 114 in the Z-axis direction.

[0026] The frame 112 is connected to the cam plate 76 of the stopper mechanism 70. Therefore, the frame 112 and the cam plate 76 rise and fall together when driven by the hoist 124.

[0027] The first moving mechanism 116 has a tray transport section 132, a lift section 134, and a transport auxiliary section 136. The tray transport section 132, the lift section 134, and the transport auxiliary section 136 are supported by the frame 112, for example.

[0028] The tray transport unit 132 has a pair of conveyors 152 whose transport direction is, for example, along the X-axis direction, and a drive unit 154 that drives the conveyors 152. The pair of conveyors 152 are spaced apart in the Y-axis direction and support the lower surface of the frame 36 of the tray 12. The drive unit 154 is controlled by the control unit 22. The pair of conveyors 152 move in the same direction at the same speed. For example, the drive unit 154 can reverse the transport direction of the conveyors 152 when moving the tray 12 from the -X-axis direction to the +X-axis direction and when moving the tray 12 from the +X-axis direction to the -X-axis direction. Therefore, the pair of conveyors 152 can move the tray 12 in both directions of the +X-axis direction and the -X-axis direction with the frame 36 of the tray 12 placed thereon. The drive unit 154 drives the pair of conveyors 152 to move the tray 12 in a direction to take out the tray 12 from the tray storage 14 to the inside of the frame 112 and in a direction to push the tray 12 from the inside of the frame 112 into the tray storage 14. The drive unit 154 can also move the tray 12 by the pair of conveyors 152 in a direction to take out the tray 12 from the inside of the frame 112 to the main transport unit 16 and in a direction to put the tray 12 from the main transport unit 16 to the inside of the frame 112. Therefore, the tray transport unit 132 can move the tray 12 through the frame 112 between a first position on the main transport unit 16 side outside the frame 112 and a second position on the tray storage 14 side having a plurality of shelves 54 outside the frame 112 on the opposite side of the frame 112 from the first position. The tray transport section 132 can also maintain the state in which the lower surface of the frame body 36 of the tray 12 is supported by a pair of conveyors 152 in the frame 112. This position is defined as the third position. Therefore, the tray 12 can move from the first position to the second position via the third position. The tray 12 can move from the third position to the first position via the second position. Therefore, the tray transport section 132 can move the tray 12 placed on the pair of conveyors 152 to a position where it is placed in the goods receiving / receiving device 18, a position where the tray 12 is removed from the goods receiving / receiving device 18 to the tray storage 14 or the main transport section 16, and a position where the tray is taken in from the tray storage 14 or the main transport section 16 to the goods receiving / receiving device 18.

[0029] The lift unit 134 has a support unit 162 that supports the tray transport unit 132, a rail 164 that is fixed to the frame 112 and extends in the Z-axis direction, a drive unit 166 that is fixed to the frame 112 and moves the support unit 162 up and down within a predetermined range along the rail 164 in the Z-axis direction, and a pair of tray stoppers 168. The drive unit 166 is controlled by the control unit 22. The drive unit 166 can maintain a state in which the support unit 162 has been moved to one of three positions within the frame 112, for example, an upper position shown in FIG. 8, a middle position shown in FIG. 9, and a lower position shown in FIG. 10. The position of the support unit 162 of the lift unit 134 relative to the frame 112 can be adjusted steplessly.

[0030] The pair of tray stoppers 168 are formed, for example, in a plate or block shape and provided in the frame 112. One of the pair of tray stoppers 168 protrudes in the +Y axis direction from the position on the frame 112 that is closest to the +X axis direction or its vicinity and from the position on the -Y axis direction or its vicinity. The other of the pair of tray stoppers 168 protrudes in the -Y axis direction from the position on the frame 112 that is closest to the +X axis direction or its vicinity and from the position on the +Y axis direction or its vicinity. The upper end positions of the pair of tray stoppers 168 protrude above the upper surface of the conveyor 152 when the conveyor 152 is disposed in the middle or lower stage, and are lower than the upper surface of the conveyor 152 when the conveyor 152 is disposed in the upper stage. The width of one of the tray stoppers 168 in the Y axis direction is large enough to contact the frame 36 of the tray 12 but not to contact the side plate 34a. The width of the other tray stopper 168 along the Y-axis direction is large enough to contact the frame 36 of the tray 12 but not to contact the side plate 34b. The length (thickness) of the pair of tray stoppers 168 along the X-axis direction is large enough to allow the tray stopper 168 to fit between the frame 112 and the conveyor 152 on the +X-axis direction side of the conveyor 152. When the conveyor 152 is arranged at the middle or lower stage, the pair of tray stoppers 168 come into contact with the frame 36 of the tray 12 to prevent the tray 12 from moving toward the tray storage 14 and falling off the frame 112 in the +X-axis direction.

[0031] The transport auxiliary unit 136 is mainly used with the support unit 162 of the lift unit 134 positioned at the upper stage relative to the frame 112. The transport auxiliary unit 136 has a rail 182 fixed to the frame 112, a slider 184 that moves along the rail 182, and a drive unit 186 that is fixed to the frame 112 and operates the slider 184. The rail 182 extends along the X-axis direction within the frame 112 at an upper part on the inside of the frame 112. The slider 184's furthest position in the -X-axis direction is within the frame 112. The slider 184's furthest position in the +X-axis direction protrudes from the frame 112 in the +X-axis direction.

[0032] As shown in FIG. 8, when the support portion 162 of the lift portion 134 is located at the upper stage inside the frame 112, the slider 184 of the transport assistant portion 136 can abut against the frame body 36 of the tray 12 supported by a fitting conveyor 192 (described later) of the loading / unloading transport portion 118. In this embodiment, the slider 184 is a pusher that presses the frame body 36 of the tray 12 supported within the frame 112 toward the tray storage 14. The drive portion 186 is controlled by the control portion 22. The drive portion 186 reverses the moving direction of the slider 184 when moving the slider 184 from the -X-axis direction to the +X-axis direction and when moving the slider 184 from the +X-axis direction to the -X-axis direction.

[0033] The driving unit 186 drives the slider 184 to move the slider 184 in the +X-axis direction relative to the rail 182. When the conveyance assisting unit 136 moves the slider 184 in the +X-axis direction relative to the rail 182, it assists in pushing (pushing) the tray 12 from the article receiving / retrieving device 18 into the tray storage 14. Also, for example, when the slider 184 is moved most in the -X-axis direction relative to the rail 182, the frame body 36 of the tray 12 supported by the conveyor 152 of the tray conveying unit 132 abuts against the slider 184. Therefore, the tray 12 taken into the article receiving / retrieving device 18 from the tray storage 14 is restricted from moving in the -X-axis direction relative to the slider 184, that is, is restricted from falling off from the inside of the frame 112 in the -X-axis direction.

[0034] When the support section 162 is located at the upper stage, the goods entering and leaving device 18 is capable of pushing the tray 12 in the goods entering and leaving device 18 into the tray storage 14 in the +X-axis direction by the operation of the pair of conveyors 152 and the slider 184. When the support section 162 is located at the middle stage, the goods entering and leaving device 18 is capable of moving the tray 12 from the main transport section 16 side into the goods entering and leaving device 18 in the +X-axis direction by the operation of the pair of conveyors 152. When the support section 162 is located at the middle stage, the goods entering and leaving device 18 is capable of moving the tray 12 from the main transport section 16 side into the goods entering and leaving device 18 in the -X-axis direction by the operation of the pair of conveyors 152.

[0035] The incoming / outgoing conveying section 118 is supported, for example, by the frame 112. In this embodiment, the incoming / outgoing conveying section 118 is mainly used in a state in which the support section 162 of the lift section 134 is located at the lower level as shown in FIG. 10 relative to the frame 112. The incoming / outgoing conveying section 118 is provided on the frame 112 below the tray conveying section 132, and delivers the article P placed in the tray 12 in the opposite direction to the direction in which the conveying auxiliary section 136 pushes the tray 12. The incoming / outgoing conveying section 118 is supported, for example, by the lower part of the frame 112. The incoming / outgoing conveying section 118 has, for example, a fitting conveyor 192 whose conveying direction is along the X-axis direction, an auxiliary conveyor 194, and a drive section 196 that drives the fitting conveyor 192 and the auxiliary conveyor 194. The fitting conveyor 192 is actively movable by being driven by the drive section 196. The fitting conveyor 192 extends, for example, in the X-axis direction at the bottom within the frame 112. The fitting conveyor 192 uses, for example, a belt conveyor arranged in three rows in the Y-axis direction. The belt of the fitting conveyor 192 is formed to a size that can enter each through-hole 40 of the tray 12. The drive unit 196 is controlled by the control unit 22. The drive unit 196 reverses the conveying direction of the fitting conveyor 192 when moving the article P from the -X-axis direction to the +X-axis direction and when moving the article P from the +X-axis direction to the -X-axis direction. The drive unit 196 drives the fitting conveyor 192 to move it in a direction to remove the article P from the tray 12 and in a direction to put the article P into the tray 12.

[0036] The auxiliary conveyor 194 is actively movable by being driven by a drive unit 196. The auxiliary conveyor 194 is supported, for example, by the frame 112 on the -X axis direction side of the actively operating fitting conveyor 192. The auxiliary conveyor 194 assists in the transport of the article P between the conveyor 102 of the main transport section 16 and the fitting conveyor 192 of the loading / unloading transport section 118. The auxiliary conveyor 194 uses, for example, a roller conveyor that actively rotates in the same direction as the transport direction of the fitting conveyor 192 together with the fitting conveyor 192 when the article P is transported.

[0037] When the support section 162 is located at the lower stage and the fitting conveyor 192 fits into the through hole 40 of the tray 12, the fitting conveyor 192 can contact the article P in the tray 12 through the through hole 40 of the tray 12. Therefore, the fitting conveyor 192 can deliver the article P to the conveyor 102 of the main conveyor section 16 via the auxiliary conveyor 194 while supporting the tray 12 with the conveyor 152. The in-and-out conveyor section 118 controls the drive section 196 to operate the fitting conveyor 192 and the auxiliary conveyor 194, and removes the article P from the tray 12 and delivers it. The in-and-out conveyor section 118 also controls the drive section 196 to operate the fitting conveyor 192 and the auxiliary conveyor 194, and takes the article P into the tray 12 and stores it in the warehouse.

[0038] In this embodiment, as shown in FIG. 7, at least one of the frame 112 and the loading / unloading conveying section 118 has a pair of guides 198 that guide the item P to the tray 12 when the item P is loaded and guide the item P from the tray 12 to the conveyor 102 of the main conveying section 16 when the item P is unloaded. The pair of guides 198 are provided in the frame 112 and spaced apart in the Y-axis direction. The pair of guides 198 do not interfere with the auxiliary conveyor 194 and are provided on the frame 112 at or near the -X-axis side and at or near the -Z-axis side. When the conveyor 152 of the tray conveying section 132 is at the upper and middle levels, the upper end positions of the pair of guides 198 in the Z-axis direction are positions that prevent interference with the tray 12. When the conveyor 152 of the tray transport section 132 is at the lower stage, the upper surface of the bottom plate 32 of the tray 12 is located lower than the upper end positions of the pair of guides 198 in the Z axis direction.

[0039] The pair of guides 198 includes an entrance guide 198a whose width in the Y-axis direction decreases from the -X-axis side toward the +X-axis side at the -X-axis side position, and an exit guide 198b whose width in the Y-axis direction increases from the -X-axis side toward the +X-axis side at the +X-axis side position. The entrance guide 198a and the exit guide 198b are formed in a tapered shape.

[0040] Although not shown, the article receiving and retrieving device 18 may be used with an exterior panel that covers the outside of the frame 112 fixed in place.

[0041] As shown in FIG. 11 and FIG. 12, the tray circulation elevator 20 is provided on the opposite side of the article loading / unloading device 18 across the tray storage 14. The tray circulation elevator 20 cooperates with the article loading / unloading device 18 to stock the trays 12 in the tray storage 14 or to receive the trays 12 from the tray storage 14. The tray circulation elevator 20 is configured as a second elevator that moves up and down relative to the storage frames 52b, 52d of the tray storage 14. The tray circulation elevator 20 has a frame (second frame) 212, a lifting section 214 (see FIG. 2), and a second moving mechanism (loading / unloading section) 216. The structure of the tray circulation elevator 20 has some parts in common with the structure of the article loading / unloading device 18, but is different overall. The tray circulation elevator 20 has a simpler structure than the article loading / unloading device 18.

[0042] The frame 212 is configured as a lifting cage of the tray circulation elevator 20. The frame 212 is formed, for example, in a substantially rectangular parallelepiped or substantially cubic shape. The tray circulation elevator 20 only needs to be able to deliver the trays 12 to and from the tray storage 14 by the second moving mechanism (intake / outlet section) 216 and to push the trays 12 into the tray storage 14. Since the tray circulation elevator 20 does not take out the articles P from the trays 12, the weight of the frame 212 can be reduced by the weight of the intake / outlet conveying section 118. In this embodiment, the bottom plate 32 of the trays 12 is exposed to the lower end of the frame 212.

[0043] The tray circulation elevator 20 may have a cover fixed thereto that covers the underside of the frame 212 and also covers the underside of the trays 12. When the cover is fixed, the cover prevents the trays 12 from falling off.

[0044] In addition, it is also preferable that the frame 212 has the same structure as, for example, the frame 112 of the article receiving and retrieving device 18.

[0045] The lifting unit 214 is provided at a position facing the storage frames 52b and 52d. The lifting unit 214 has a hoistway 222 (see FIG. 1) that lifts and lowers the frame 212 within a predetermined range, and a hoist 224 (see FIG. 2) that is provided, for example, on the hoistway 222. The hoist 224 is provided, for example, at a lower part of the hoistway 222. The hoist 224 is controlled by the control unit 22. The frame 212 is connected to the hoist 224, and moves up and down the hoistway 222 by the operation of the hoist 224 controlled by the control unit 22. Therefore, the lifting unit 214 lifts and lowers the frame 212 in the Z-axis direction along a predetermined hoistway 222 that faces the storage frames 52b and 52d of the tray storage 14.

[0046] The frame 212 is connected to the cam plate 76 of the stopper mechanism 70. The frame 212 and the cam plate 76 are raised and lowered together by the drive of the hoist 224.

[0047] The second moving mechanism 216 has a tray transport section 232 and a transport assistant section 234. The tray transport section 232 and the transport assistant section 234 are supported by the frame 212, for example.

[0048] The tray transport unit 232 has a pair of conveyors 252 whose transport direction is, for example, along the X-axis direction, and a drive unit 254 that drives the conveyors 252. The pair of conveyors 252 are spaced apart in the Y-axis direction and support the lower surface of the frame 36 of the tray 12. The drive unit 254 is controlled by the control unit 22. The pair of conveyors 252 move in the same direction at the same speed. The drive unit 254 can reverse the transport direction of the conveyor 252 when moving the tray 12 from the -X-axis direction to the +X-axis direction, and when moving the tray 12 from the +X-axis direction to the -X-axis direction. The conveyor 252 can move the tray 12 in both directions of the +X-axis direction and the -X-axis direction with the frame 36 of the tray 12 placed on it. The tray transport section 232 drives a pair of conveyors 252 to move the tray 12 in a direction to remove the tray 12 from the tray storage 14 to the inside of the frame 212, and in a direction to push the tray 12 from the inside of the frame 212 into the tray storage 14.

[0049] The transport auxiliary unit 234 has a rail 262 fixed to the frame 212, a slider 264 moving along the rail 262, and a drive unit 266 fixed to the frame 212 and operating the slider 264. The rail 262 extends along the X-axis direction within the frame 212 at the upper part of the inner side of the frame 212. The slider 264 protrudes from the frame 212 in the -X-axis direction at its most -X-axis position. The slider 264 is located inside the frame 212 at its most +X-axis position. In this embodiment, the slider 264 is a pusher that presses the frame 36 of the tray 12 supported within the frame 212 toward the tray storage 14. For this reason, the slider 264 is located at a position where it can abut against the frame 36 of the tray 12 supported by the conveyor 252 of the tray transport unit 232. The drive unit 266 is controlled by the control unit 22. The driving unit 266 reverses the moving direction of the slider 264 when moving the slider 264 from the -X-axis direction to the +X-axis direction and when moving the slider 264 from the +X-axis direction to the -X-axis direction. When driving the slider 264 to move in the -X-axis direction according to the control of the control unit 22, the driving unit 266 assists in pushing the tray 12 from the tray circulation elevator 20 into the tray storage 14. The driving unit 266 drives the slider 264 according to the control of the control unit 22, and, for example, when the slider 264 is moved to the furthest position in the +X-axis direction relative to the rail 262, the frame body 36 of the tray 12 supported by the conveyor 252 of the tray transport unit 232 is brought into contact with the slider 264 of the transport auxiliary unit 234. Therefore, the slider 264 prevents the tray 12 taken out of the tray storage 14 from falling off from the inside of the frame 212 in the +X-axis direction.

[0050] The control unit 22 is, for example, a computer. The control unit 22 includes a processor or integrated circuit (control circuit) including a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array), and a storage medium such as a memory. The control unit 22 may include one or more processors or integrated circuits. The control unit 22 executes a program or the like stored in a storage medium or the like to perform processing.

[0051] The control unit 22 controls the operation of the main conveyor 16, the operation of the goods loading / unloading device 18, and the operation of the tray circulation elevator 20. When the control unit 22 unloads the tray 12 supported by a pair of conveyors 152 in the goods loading / unloading device 18 or the goods P placed on the tray 12 from the main conveyor 16, the control unit 22 controls the conveyor drive unit 104 and controls the conveying direction of the conveyor 102. When the control unit 22 unloads the tray 12 from the main conveyor 16 into the goods loading / unloading device 18 or when the control unit 22 unloads the goods P into the tray 12 in the goods loading / unloading device 18, the control unit 22 controls the conveyor drive unit 104 and controls the conveying direction of the conveyor 102. The control unit 22 controls the lifting and lowering of the frame 112 relative to the tray storage 14 and the operation of the first moving mechanism 116. The control unit 22 controls the lifting and lowering of the frame 212 relative to the tray storage 14 and the operation of the second moving mechanism 216. The control unit 22 controls the hoist 124 to raise and lower the frame 112 in the hoistway 122 of the lifting unit 114 so that the frame 112 can be stopped at a desired position. The control unit 22 controls the hoist 224 to raise and lower the frame 212 in the hoistway 222 of the lifting unit 214 so that the frame 212 can be stopped at a desired position.

[0052] Furthermore, the control unit 22 links the tray 12 with the article P accommodated in the tray 12. For this reason, the control unit 22 updates the placement data of the article P in accordance with the movement of the tray 12 every time the tray 12 is moved.

[0053] 13 and 14 are schematic diagrams showing the circulation operation of circulating the trays 12 using the automated warehouse 10. FIG. 15 to FIG. 17 are schematic diagrams showing the operation of the trays 12 using the goods storage and retrieval device 18, the tray storage 14, and the tray circulation elevator 20 of the automated warehouse 10. FIG. 18 to FIG. 20 are schematic diagrams showing the operation of the trays 12 using the goods storage and retrieval device 18, the tray storage 14, and the tray circulation elevator 20 of the automated warehouse 10. FIG. 21 is a schematic diagram showing the operation of the main conveying section 16, the goods storage and retrieval device 18, the tray storage 14, and the tray circulation elevator 20 of the automated warehouse 10. FIG. 22 and FIG. 23 are schematic diagrams showing the operation of the trays 12 using the goods storage and retrieval device 18 and the main conveying section 16 of the automated warehouse 10. FIG. 24 is a schematic diagram showing the storage and retrieval operation of the goods P using the goods storage and retrieval device 18 and the main conveying section 16 of the automated warehouse 10.

[0054] The operation of the automated warehouse 10 when one tray 12a containing an item P to be removed is removed from the automated warehouse 10 will be described. The operation of the automated warehouse 10 when an item P to be removed is removed from the automated warehouse 10 without removing the tray 12a will also be described. Note that here, the trays moved by the item receiving / removing device 18 and the tray circulation elevator 20 are denoted by symbols 12a, 12b, 12c, 12d, 12e, and 12f. The shelf sections are denoted by symbols 54a, 54b, ..., 54o from the top.

[0055] Here, the tray 12a is moved in sequence as shown in FIGS.

[0056] The control unit 22 operates the main conveying unit 16 as necessary, while also operating the article receiving / retrieving device 18 and the tray circulation elevator 20. Similarly, the control unit 22 operates the main conveying unit 16 and the tray circulation elevator 20 while operating the article receiving / retrieving device 18. The control unit 22 operates the main conveying unit 16 and the article receiving / retrieving device 18 while operating the tray circulation elevator 20.

[0057] As shown in Figs. 1 and 13, the trays 12 are placed on each shelf 54 of the tray storage 14 with no gaps along the X-axis direction. Also, as shown in Figs. 1 and 6, the trays 12 are placed on each shelf 54 of the tray storage 14 with minimal gaps along the Z-axis direction. Therefore, the maximum number of trays 12 are placed on the tray storage 14. In this state, an example will be described in which the item P stored in the tray 12a on the uppermost shelf 54a of the shelf 54 shown in Fig. 13, which is the tray closest to the -X-axis direction, is delivered from the automated warehouse 10 to the main conveyor 16. Note that the trays 12 other than the tray 12a from which the item P is delivered may or may not contain the item P.

[0058] The conveyor 152 of the tray transport section 132 of the first moving mechanism 116 of the article receiving and retrieving device 18 shown in Fig. 13 stops operating while supporting the frame 36 of the tray 12b. In this state, the control section 22 operates the hoist 124 of the article receiving and retrieving device 18 to position the tray 12b facing the tray 12c on the second shelf section 54b from the top, which is located closest to the -X-axis direction. The control section 22 continues to control the hoist 124 to maintain the state in which the tray 12b faces the tray 12c.

[0059] At this time, in the second shelf portion 54b from the top, the cam portion 74 abuts against the cam plate 76, causing the rotating body 72 of the stopper mechanism 70 to rotate, and the tray 12b moves toward the +X axis direction, making it possible to move to the position furthest from the -X axis direction of the tray storage 14.

[0060] The conveyor 252 of the tray transport unit 232 of the second moving mechanism 216 of the tray circulation elevator 20 is not supporting the tray 12. In this state, the control unit 22 operates the hoist 224 of the tray circulation elevator 20, and causes the conveyor 252 of the tray transport unit 232 to move the tray 12d, which is located on the same shelf unit 54b as the tray 12c and is furthest to the +X-axis direction, to a height at which it can support it. The control unit 22 continues to control the hoist 224 to maintain this state.

[0061] At this time, in the second shelf portion 54b from the top, the cam plate 76 comes into contact with the cam portion 74, and the rotating body 72 of the stopper mechanism 70 rotates. As a result, the rotating body 72 retreats from the position facing the tray 12 along the X-axis direction. Therefore, the tray 12d can move from the position closest to the +X-axis side of the tray storage 14 to a position further to the +X-axis side.

[0062] The control unit 22 also controls the drive unit 266 of the transport auxiliary unit 234 of the second moving mechanism 216 of the tray circulation elevator 20 to place the slider 264 at the position furthest on the +X-axis direction side.

[0063] 15, the control unit 22 controls the drive unit 166 of the lift unit 134 of the article receiving and retrieving device 18 to move the support unit 162 to the upper stage within the frame 112. At this time, when the support unit 162 and the conveyor 152 are moved to the upper stage within the frame 112, the tray stopper 168 does not interfere with the movement of the slider 184 of the transport auxiliary unit 136. In this state, the control unit 22 drives the drive unit 154 of the tray transport unit 132 of the article receiving and retrieving device 18 and the drive unit 186 of the transport auxiliary unit 136, and also drives the drive unit 254 of the tray transport unit 232 of the tray circulation elevator 20.

[0064] The pair of conveyors 152 are operated by controlling the drive unit 154 of the tray transport unit 132. The pair of conveyors 152 move in the same direction at the same speed. The tray 12b supported by the pair of conveyors 152 is pushed in the +X-axis direction by the slider 184 while being transported so as to be sent out in the +X-axis direction by the conveyor 152. Therefore, the tray 12b supported by the goods receiving / retrieving device 18 moves from the goods receiving / retrieving device 18 into the tray storage 14 in the +X-axis direction while pushing the tray 12c in the tray storage 14 in the +X-axis direction. The control unit 22 controls the drive unit 154 of the tray transport unit 132 of the first moving mechanism 116 of the goods receiving / retrieving device 18, and keeps the conveyor 152 operating until the frame 36 of the tray 12b is separated from the conveyor 152 in the +X-axis direction. As shown in FIG. 16, the control unit 22 controls the drive unit 186 of the transport auxiliary unit 136 of the first movement mechanism 116 of the article receiving and retrieving device 18 to place the slider 184 at the position furthest to the +X-axis direction side.

[0065] Therefore, the trays 12 arranged without gaps move in the +X-axis direction on the shelf portion 54b in the tray storage 14. At this time, the lower surface of the frame body 36 of the tray 12d closest to the +X-axis direction contacts the upper surface of the conveyor 252 of the tray transport unit 232 of the second moving mechanism 216. Therefore, the tray 12d moves from the tray storage 14 to the tray circulation elevator 20. Since the control unit 22 drives the drive unit 254 of the tray transport unit 232 of the tray circulation elevator 20, the tray 12d is transported so as to be pulled in the +X-axis direction by the conveyor 152 and placed on the tray transport unit 232. The control unit 22 controls the drive unit 254 to drive the conveyor 252 so as to move the tray 12d to the +X-axis direction side of the frame 212 until the frame body 36 of the tray 12d abuts against the slider 264 of the transport auxiliary unit 234. This prevents interference with the tray storage 14 when the frame 212 of the tray circulation elevator 20 moves up and down the hoistway 222.

[0066] 17, the control unit 22 drives the drive unit 186 of the transport auxiliary unit 136 of the article receiving and retrieving device 18 to move the slider 184 in the -X-axis direction. This prevents interference with the tray storage 14 when the frame 112 of the article receiving and retrieving device 18 moves up and down the elevator shaft 122.

[0067] At this time, the control unit 22 updates the placement data of the items P for each movement of the tray 12. When the tray 12 is pushed from the item receiving / discharging device 18 into the tray storage 14 and then handed over from the tray storage 14 to the tray circulation elevator 20, six trays 12 move at the same time. Therefore, the control unit 22 updates the placement data of the items P on each of the six trays 12.

[0068] As shown in FIG. 14, in this state, the control unit 22 operates the hoist 124 of the item storage / retrieval device 18, and moves the conveyor 152 of the tray transport unit 132 to a height capable of supporting the tray 12a furthest in the -X axis direction of the same shelf unit 54a as the tray 12a.

[0069] At this time, in the uppermost shelf 54a, the cam portion 74 abuts against the cam plate 76, causing the rotating body 72 of the stopper mechanism 70 to rotate, and the tray 12a can move to a position on the -X axis side. Meanwhile, in the second shelf 54b from the top, the cam portion 74 moves away from the cam plate 76, causing the rotating body 72 of the stopper mechanism 70 to rotate, and movement of the tray 12b from the position on the -X axis side of the tray storage 14 to a position further to the -X axis side is restricted.

[0070] The control unit 22 also operates the hoist 224 of the tray circulation elevator 20 to make the tray 12d face the tray 12e that is closest to the +X-axis direction of the position of the uppermost shelf section 54a. At this time, the control unit 22 moves the frame 36 of the tray 12d to a position facing the frame 36 of the tray 12e in the X-axis direction. The control unit 22 continues to control the hoist 224 so that the frame 36 of the tray 12d maintains a state in which it faces the frame 36 of the tray 12e.

[0071] At this time, in the uppermost shelf 54a, the cam portion 74 abuts against the cam plate 76 and the rotating body 72 of the stopper mechanism 70 rotates, and the tray 12e, which is at the position furthest on the +X axis direction side of the tray storage 14, can be moved to a position on the -X axis direction side of the tray 12d. Meanwhile, in the second shelf 54b from the top, the cam portion 74 moves away from the cam plate 76 and the rotating body 72 of the stopper mechanism 70 rotates, and movement of the tray 12 from the position furthest on the +X axis direction side of the tray storage 14 to a position further to the +X axis direction side is restricted.

[0072] As shown in Figure 18, the control unit 22 drives the drive unit 254 of the tray transport unit 232 of the tray circulation elevator 20 and the drive unit 266 of the transport auxiliary unit 234, and also drives the drive unit 154 of the tray transport unit 132 of the item storage and retrieval device 18.

[0073] The tray 12d supported by the conveyor 252 of the tray transport section 232 is pushed in the -X-axis direction by the slider 264 while being transported in the -X-axis direction by the conveyor 252. As a result, the tray 12d supported by the tray circulation elevator 20 moves from the tray circulation elevator 20 to the tray storage 14 in the -X-axis direction while pushing the tray 12e closest to the +X-axis direction in the tray storage 14 in the -X-axis direction.

[0074] 19, the control unit 22 controls the drive unit 266 of the transport auxiliary unit 234 of the second movement mechanism 216 of the tray circulation elevator 20 to place the slider 264 at the position furthest to the -X axis direction side. As a result, the tray 12d moves from the tray circulation elevator 20 to the tray storage 14. As a result, the trays 12, which are lined up closely together, move in the -X axis direction on the shelf unit 54a in the tray storage 14.

[0075] At this time, the lower surface of the frame 36 of the tray 12a furthest in the -X axis direction comes into contact with the upper surface of the conveyor 152 of the tray transport section 132 of the first moving mechanism 116. As a result, the tray 12a moves from the tray storage 14 to the item receiving and distributing device 18.

[0076] Since the control unit 22 drives the drive unit 154 of the tray transport unit 132 of the article receiving and retrieving device 18, the frame 36 of the tray 12a is placed on the conveyor 152 of the tray transport unit 132. The control unit 22 controls the drive unit 154 to drive the conveyor 152 so as to move the tray 12a to the -X axis direction side of the frame 112 until the frame 36 of the tray 12a abuts against the slider 184 of the transport auxiliary unit 136. Therefore, when the frame 112 of the article receiving and retrieving device 18 moves up and down the elevator shaft 122, interference with the tray storage 14 is prevented.

[0077] 20, the control unit 22 drives the drive unit 266 of the transport auxiliary unit 234 of the tray circulation elevator 20 to move the slider 264 in the +X-axis direction. This prevents interference with the tray storage 14 when the frame 212 of the tray circulation elevator 20 moves up and down the elevator shaft 222.

[0078] At this time, the control unit 22 updates the placement data of the items P for each movement of the tray 12. When the tray 12 is pushed from the tray circulation elevator 20 into the tray storage 14 and then handed over from the tray storage 14 to the item receiving / retrieving device 18, six trays 12 move at the same time. Therefore, the control unit 22 updates the placement data of the items P on each of the six trays 12.

[0079] 21, the control unit 22 controls the hoist 124 of the article receiving and retrieving device 18 to lower the frame 112 of the article receiving and retrieving device 18 toward the conveyor 102 of the main transport section 16. The control unit 22 also controls the hoist 224 of the tray circulation elevator 20 to lower the conveyor 252 of the tray transport section 232 of the tray circulation elevator 20 to a position where the tray 12 on the lowest shelf section 54o can be placed on it.

[0080] As shown in Fig. 22, the control unit 22 controls the drive unit 166 of the lift unit 134 of the article receiving / retrieving device 18 to move the support unit 162 to the middle stage within the frame 112. At this time, the slider 184 of the transport assistant unit 136 and the tray 12a are not in contact with each other regardless of the position of the slider 184. Note that when the article receiving / retrieving device 18 is operating or when the tray 12a is about to move in the opposite direction to the desired direction, for example, in the +X-axis direction instead of the -X-axis direction due to an external factor such as an earthquake, the tray stopper 168 restricts the tray 12a from moving outward from the frame 112 along the +X-axis direction. As shown in Fig. 23, the control unit 22 controls the hoist 124 of the article receiving and retrieving device 18 to support the bottom plate 32 of the tray 12a at a position slightly above the upper parts of the fitting conveyor 192, auxiliary conveyor 194, and guide 198 (see Fig. 7) with the frame 36 of the tray 12a supported by the conveyor 152 of the tray transport unit 132. In this state, the control unit 22 drives the drive unit 154 of the tray transport unit 132 of the article receiving and retrieving device 18. The control unit 22 also drives the conveyor drive unit 104 of the main transport unit 16.

[0081] The frame 36 of the tray 12a supported by the conveyor 152 of the tray transport section 132 of the article receiving / retrieving device 18 is transported in the -X-axis direction by the conveyor 152. The bottom plate 32 of the tray 12a supported by the conveyor 102 of the main transport section 16 is transported in the -X-axis direction by the conveyor 102. Therefore, the tray 12a containing the article P is delivered from the article receiving / retrieving device 18 to the main transport section 16. Therefore, the tray 12a containing the article P is retrieved by the main transport section 16.

[0082] When an empty tray 12a containing a new item P is stored in the item loading / unloading device 18, the control unit 22 controls the conveyor driving unit 104 of the main conveying unit 16 and the driving unit 154 of the tray conveying unit 132 of the item loading / unloading device 18 to reverse the conveying direction of the conveyors 102, 152 and move the tray 12a in the +X-axis direction. The bottom plate 32 of the tray 12a supported by the conveyor 102 of the main conveying unit 16 is conveyed in the +X-axis direction by the conveyor 102. The frame body 36 of the tray 12a supported by the conveyor 152 of the tray conveying unit 132 of the item loading / unloading device 18 is conveyed in the +X-axis direction by the conveyor 152. Thus, the empty tray 12a containing a new item P is stored in the item loading / unloading device 18. When the tray 12a is stored in the article storing / retrieving device 18, the tray stopper 168 in the frame 112 restricts the tray 12a from moving outward from the frame 112 along the +X-axis direction.

[0083] In addition, the operation of the automated warehouse 10 when retrieving the item P to be retrieved from the automated warehouse 10 without retrieving the tray 12a will also be described.

[0084] The control unit 22 adjusts in advance the position along the X-axis direction of the tray 12 placed on the pair of conveyors 152. That is, the control unit 22 moves the conveyor 152 to place the tray 12a at a position where the through-hole 40 of the tray 12 is disposed in the +Z-axis direction of the fitting conveyor 192 of the loading / unloading transport unit 118. The control unit 22 also drives the drive unit 186 to position the slider 184 at a predetermined position relative to the rail 182. The predetermined position of the slider 184 relative to the rail 182 is the position where the through-hole 40 of the tray 12a is disposed in the +Z-axis direction of the fitting conveyor 192 of the loading / unloading transport unit 118 when the slider 184 is brought into contact with the frame 36 of the tray 12a.

[0085] With the frame body 36 of the tray 12a in contact with the slider 184, the control unit 22 stops the operation of the conveyor 152, and then moves the support part 162 of the lift unit 134 from the upper stage to the lower stage. That is, as shown in FIG. 24, the control unit 22 controls the drive unit 166 of the lift unit 134 of the article receiving and retrieving device 18 to move the support part 162 to the lower stage within the frame 112. The frame body 36 of the tray 12a is positioned below the slider 184, and the fitting conveyor 192 of the receiving and retrieving transport unit 118 fits into the through hole 40 of the tray 12a. At this time, the auxiliary conveyor 194 and the guide 198 do not interfere with the tray 12a. The control unit 22 controls the hoist 124 of the article receiving / retrieving device 18 to position the upper parts of the fitting conveyor 192 and auxiliary conveyor 194 of the receiving / retrieving transport section 118 slightly above the upper part of the conveyor 102 of the main transport section 16. At this time, the upper part of the fitting conveyor 192 of the receiving / retrieving transport section 118 lifts the article P slightly upward from the bottom plate 32 of the tray 12a through the through hole 40 of the tray 12a. In this state, the control unit 22 drives the drive unit 196 of the receiving / retrieving transport section 118 of the article receiving / retrieving device 18. The control unit 22 also drives the conveyor drive unit 104 of the main transport section 16.

[0086] The item P supported on the upper part of the fitting conveyor 192 of the incoming / outgoing transport section 118 is transported in the -X axis direction by the transport of the fitting conveyor 192. The item P supported by the item incoming / outgoing device 18 is transported in the -X axis direction by the transport of the fitting conveyor 192 of the incoming / outgoing transport section 118 of the item incoming / outgoing device 18, the transport of the auxiliary conveyor 194, and the transport of the conveyor 102 of the main transport section 16. Therefore, the item P is handed over from the item incoming / outgoing device 18 to the main transport section 16. Therefore, the item P is transported by the main transport section 16.

[0087] The guide 198 guides the article P, for example, in a Y-axis direction (third direction) intersecting the X-axis direction and the Z-axis direction when transporting and unloading the article P placed on the tray 12. More specifically, when the article P is unloaded from the tray 12 in the frame 112 of the article loading / unloading device 18 toward the conveyor 102 of the main conveying section 16, the unloading guide 198b guides the article P to the center in the Y-axis direction (width direction), and then delivers the article P to the conveyor 102 of the main conveying section 16 by the conveying force of the auxiliary conveyor 194.

[0088] When a new item P is to be stored in the tray 12a, the control unit 22 controls the conveyor driving unit 104 of the main conveying unit 16 and the driving unit 196 of the in-and-out conveying unit 118 of the item receiving and retrieving device 18 to reverse the conveying direction of the conveyors 102, 192 and move the item P in the +X-axis direction. The item P supported by the conveyor 102 of the main conveying unit 16 is conveyed in the +X-axis direction by the conveyor 102. The item P supported by the auxiliary conveyor 194 and the fitting conveyor 192 of the in-and-out conveying unit 118 of the item receiving and retrieving device 18 is conveyed in the +X-axis direction by the auxiliary conveyor 194 and the fitting conveyor 192. As a result, the new item P is stored in the tray 12a supported in the item receiving and retrieving device 18.

[0089] The guide 198 guides the article P, for example, in a Y-axis direction (third direction) intersecting the X-axis direction and the Z-axis direction when transporting and storing the article P placed on the tray 12. More specifically, when the article P is stored from the conveyor 102 of the main transport section 16 toward the tray 12 in the frame 112 of the article storing / retrieving device 18, the storing guide 198a guides the article P to the center in the Y-axis direction (width direction), and then places the article P on the bottom plate 32 through the opening of the opening edge 38 of the tray 12 by the conveying force of the auxiliary conveyor 194.

[0090] Furthermore, when an item P is stored in a tray 12 supported in the frame 112 of the item storage / retrieval device 18, a tray stopper 168 in the frame 112 prevents the tray 12 from moving outward from the frame 112 along the +X axis direction.

[0091] The article loading / unloading device 18 according to this embodiment can raise and lower the frame 112 along the Z-axis direction (first direction) by the lifting unit 114. In addition, the article loading / unloading device 18 can use the tray transport unit 132 of the first moving mechanism 116 to move the tray 12 on which the article is placed in the X-axis direction (second direction) through the frame 112 between a first position on the main transport unit 16 side outside the frame 112 and a second position on the side of the multi-stage tray storage 14 outside the frame 112 on the opposite side of the frame 112 from the first position, in between. That is, the first moving mechanism 116 can transport the tray 12 by the tray transport unit 132 along the X-axis direction intersecting the Z-axis direction, and can push (push) the tray 12 to the outside of the frame 112 along the X-axis direction by the transport auxiliary unit 136. In this way, the article loading / unloading device 18 can perform two-dimensional operations on the XZ plane in the X-axis direction and the Z-axis direction to load and unload the tray 12. The goods receiving and retrieving device 18 operates within a two-dimensional range and not in three dimensions when storing and retrieving the trays 12, so it is possible to avoid a complex structure. Therefore, the goods receiving and retrieving device 18 can reduce the introduction cost to a logistics center compared to an automated warehouse that operates in three dimensions.

[0092] By using the goods loading / unloading device 18, the trays 12 can be unloaded from the tray storage 14 at a desired height, and the trays 12 can be stored in the tray storage 14 at a desired height. The goods loading / unloading device 18 can move the trays 12 in both directions, toward the main conveyor section 16 side and the tray storage 14 side, so that the trays 12 can be loaded and unloaded at an appropriate speed.

[0093] The article loading / unloading device 18 according to this embodiment has a transport auxiliary unit 136 in addition to the tray transport unit 132. When the tray 12 is loaded from the article loading / unloading device 18 to the tray storage 14, the transport of the tray 12 by the conveyor 152 can be pushed and assisted by the slider 184. Therefore, the tray 12 can be reliably transported from within the frame 112 of the article loading / unloading device 18 to the desired shelf unit 54 of the tray storage 14 in the +X-axis direction. Therefore, when the transport auxiliary unit 136 is used, the article loading / unloading device 18 can smoothly transfer the tray 12 between the article loading / unloading device 18 and the tray storage 14. Therefore, a gap can be created between the article loading / unloading device 18 and the tray storage 14 to allow the frame 112 to be raised and lowered when the frame 112 is raised and lowered.

[0094] In addition, when the tray 12 is retrieval from the tray storage 14 to the article receiving / retrieving device 18, the slider 184 of the transport auxiliary unit 136 of the article receiving / retrieving device 18 is moved to a position in the -X-axis direction. In this state, when the tray 12 is transported from the tray storage 14 to the frame 112 of the article receiving / retrieving device 18 in the -X-axis direction, the slider 184 serves as a stopper that restricts the movement of the tray 12 in the -X-axis direction by the operation of the conveyor 152 of the tray transport unit 132. Therefore, the frame body 36 of the tray 12 can be supported at a predetermined position on the conveyor 152 of the tray transport unit 132 of the article receiving / retrieving device 18. Therefore, the article receiving / retrieving device 18 can smoothly transfer the tray 12 between the article receiving / retrieving device 18 and the tray storage 14 by the transport auxiliary unit 136. At this time, by setting the position of the slider 184 of the transport auxiliary section 136, a gap can be created between the article receiving / dispatching device 18 and the tray storage 14 to allow the frame 112 to be raised and lowered when the frame 112 is raised and lowered.

[0095] The article receiving and retrieving device 18 according to this embodiment has a lift unit 134 in addition to the tray transport unit 132 and the transport auxiliary unit 136 of the first moving mechanism 116. The article receiving and retrieving device 18 can move the conveyor 152 of the tray transport unit 132 and the rail 182 and slider 184 of the transport auxiliary unit 136 above the conveyor 152 close to and away from each other within the frame 112 by using the lift unit 134. As described above, when the tray 12 is stored in and retrieved from the tray storage 14, the conveyor 152 of the tray transport unit 132 and the rail 182 and slider 184 of the transport auxiliary unit 136 can be brought close to each other, and the transport of the tray 12 by the conveyor 152 can be assisted by the slider 184. In addition, when the tray 12 is discharged from the article receiving / removing device 18 to the main conveyor section 16 or when the tray 12 is received from the main conveyor section 16 to the article receiving / removing device 18, the conveyor 152 of the tray conveyor section 132 is separated from the rail 182 and the slider 184 of the conveyor auxiliary section 136. Therefore, when the tray 12 is transferred between the article receiving / removing device 18 and the main conveyor section 16, the lift section 134 can be used to prevent the conveyor auxiliary section 136 from restricting the movement of the tray 12. Therefore, the article receiving / removing device 18 can smoothly transfer the tray 12 between the article receiving / removing device 18 and the tray storage 14, and between the article receiving / removing device 18 and the main conveyor section 16, by using the lift section 134.

[0096] The article loading / unloading device 18 according to this embodiment has an inlet / outlet transport section 118 in addition to the tray transport section 132 of the first moving mechanism 116. The article loading / unloading device 18 can fit the tray 12 into the fitting conveyor 192 of the inlet / outlet transport section 118 below the tray transport section 132. With the article P placed on the fitting conveyor 192 of the inlet / outlet transport section 118 through the through hole 40 of the tray 12, the article P can be transported in the -X-axis direction or +X-axis direction through the opening edge 38 of the tray 12. For this reason, the article loading / unloading device 18 can select, for example, to load / unload the tray 12 using the main transport section 16, and to load / unload the article P stored in the tray 12 with the tray 12 supported in the frame 112 of the article loading / unloading device 18. For this reason, the article loading / unloading device 18 can select whether to load / unload the tray 12 or to load / unload the article P according to the order. Therefore, the goods entering and leaving device 18 can perform loading and unloading operations according to customer needs. When goods P are directly entered and unloaded using the goods entering and leaving device 18, the work of removing goods P from the tray 12 using, for example, a person or a robot can be omitted. Therefore, the goods entering and leaving device 18 can reduce loading and unloading costs. When entering and unloading goods P to be stored in the tray 12 while the tray 12 is supported in the frame 112 of the goods entering and leaving device 18, the goods entering and leaving device 18 can directly transport goods P to, for example, a container of a truck using the main transport unit 16, or directly transport goods P from the container of a truck and place them in the tray 12.

[0097] At this time, the guide 198 guides the article P to, for example, the center position in the Y-axis direction relative to the article loading / unloading device 18, so that the article P can be stored at a desired position, such as the center position in the Y-axis direction of the bottom plate 32 of the tray 12. Also, the guide 198 allows the article P to be handed over to the conveyor 102 of the main transport section 16 with the article P positioned at a desired position, such as the center position in the Y-axis direction of the auxiliary conveyor 194.

[0098] Therefore, the article receiving and retrieving device 18 according to this embodiment can avoid having a complicated structure.

[0099] Furthermore, in the article receiving / retrieving device 18 according to this embodiment, when the conveyor 152 of the tray transport section 132 is disposed, for example, at the middle or lower level with respect to the frame 112, the tray stopper 168 can restrict the tray 12 from unintentionally moving in the +X-axis direction relative to the conveyor 152. On the other hand, when the conveyor 152 of the tray transport section 132 is disposed, for example, at the upper level with respect to the frame 112, the tray 12 can be permitted to move in the +X-axis direction relative to the conveyor 152.

[0100] In the article loading / unloading device 18 according to the present embodiment, an example has been described in which the tray 12 or the article P is loaded and unloaded between the main transport section 16 and the article loading / unloading device 18. The article loading / unloading device 18 may be structured to move the tray 12 between the article loading / unloading device 18 and the tray storage 14, and may be structured to load and unload the article P instead of the tray 12 between the main transport section 16 and the article loading / unloading device 18. In this case, the lift section 134 of the article loading / unloading device 18 may be movable to the upper and lower positions. Also, if contact between the article P and the fitting conveyor 192 of the loading / unloading conveyor section 118 is permitted every time, the lift section 134 for raising and lowering the conveyor 152 of the tray conveyor section 132 within the frame 112 may not be necessary. In this case, the conveyor 152 of the tray conveyor section 132 is directly supported by, for example, the frame 112.

[0101] In the automated warehouse 10 according to this embodiment, in the example shown in FIG. 1, 90 trays 12 are arranged in the tray storage 14. The goods receiving / retrieving device 18 and the tray circulation elevator 20 can each hold one tray 12 in addition to the tray storage 14. For this reason, the automated warehouse 10 according to this embodiment configures a goods receiving / retrieving device unit 24 that supports one tray 12 in the goods receiving / retrieving device 18. Therefore, the goods receiving / retrieving device unit 24 according to this embodiment can simultaneously use the number of trays 12 that is the number of trays 12 that can be stocked in the tray storage 14 plus one tray 12. Therefore, the goods receiving / retrieving device unit 24 according to this embodiment can be efficiently used in warehouses such as small and medium-sized logistics centers.

[0102] When the tray circulation elevator 20 transports the tray 12 from the tray circulation elevator 20 to the tray storage 14, the transport of the tray 12 by the conveyor 252 can be assisted by the slider 264 of the transport auxiliary part 234. Therefore, the tray 12 can be reliably transported from within the frame 212 of the tray circulation elevator 20 to the desired shelf part 54 of the tray storage 14 in the -X-axis direction.

[0103] Furthermore, when the tray 12 is transported from the tray storage 14 into the frame 212 of the tray circulation elevator 20 in the +X-axis direction with the slider 264 of the transport auxiliary unit 234 of the tray circulation elevator 20 moved to a position in the +X-axis direction, even if the tray 12 unintentionally moves in the +X-axis direction due to the operation of the conveyor 252 of the tray transport unit 232, the slider 264 serves as a stopper for the frame 36 of the tray 12. Therefore, the conveyor 252 of the tray transport unit 232 of the tray circulation elevator 20 can support the frame 36 of the tray 12 at a predetermined position.

[0104] According to the automated warehouse 10 described above, the same trays 12 are arranged in the X-axis direction and the Z-axis direction, but not in the Y-axis direction. Therefore, the automated warehouse 10 can move the trays 12 in order by pressing the trays 12 from the -X-axis direction side of the tray storage 14 or from the +X-axis direction side of the tray storage 14, or by moving the trays 12 in the Z-axis direction.

[0105] Since the movement direction of the trays 12 is bidirectional (not unidirectional) within one (one level) shelf section 54 (within a horizontal plane), the control unit 22 can output an order that is deemed to be the optimal solution when determining the outgoing order. In the circulation of the trays 12 within the automated warehouse 10 when retrieving an item P, the outgoing order is adjusted according to the outgoing list of the item P, and the sorting of the trays 12 is optimized, thereby shortening the outgoing time. Since the arrangement data of the item P is updated every time the tray 12 moves, the control unit 22 can grasp the storage position of the item P in real time.

[0106] Also, unlike a large automated warehouse installed in a large logistics center, a single automated warehouse 10 moves the trays 12 in the X-axis direction and the Z-axis direction during storage and retrieval, but does not move them in the Y-axis direction. Therefore, the automated warehouse 10 can reduce the introduction cost compared to an automated warehouse that moves in three directions, the X-axis direction, the Y-axis direction, and the Z-axis direction. Also, as shown in Figs. 1 and 6, the tray storage 14 can hold the trays 12 in contact with each other in the X-axis direction and with a small gap in the Z-axis direction. Therefore, the automated warehouse 10 can effectively utilize the space from the floor to the ceiling.

[0107] Incidentally, by collecting empty trays 12 that have been shipped on a specific tier of shelf sections 54, it is possible to prevent the trays 12 on those shelf sections 54 from being used for the circulation of the trays 12. Conversely, by collecting empty trays 12 that have been shipped on a specific tier of shelf sections 54, it is possible to use the empty trays 12 for the circulation of the trays 12 and suppress the movement of the articles P. As a result, the automated warehouse 10 can improve the retrieval efficiency (speed).

[0108] According to the present embodiment, for example, it is possible to provide the article receiving and retrieving device 18, the article receiving and retrieving device unit 24, and the automated warehouse 10, which can avoid having a complex structure.

[0109] As shown in FIG. 25, the automated warehouse 10 can be installed one at a time or lined up in, for example, the Y-axis direction depending on the floor area of ​​the warehouse. In this case, the tray storage 14 storing the trays 12 can easily set the length of the shelf section 54 in the X-axis direction, and the number of stages (number of shelves) of the shelf section 54 storing the trays 12 can easily be set according to the ceiling height. For this reason, the tray storage 14 can be set according to the scale of the installation position of the automated warehouse 10, such as the area and height. The tray storage 14 only needs to support the bottom plate 32 of the tray 12 from below, and the tray 12 is moved in the tray storage 14 by pushing the tray 12 out of the tray storage 14. For this reason, the tray storage 14 does not require a special mechanism and does not have any parts to be operated, so mechanical maintenance is not required. In addition, the stopper mechanism 70 is provided outside the tray storage 14, so maintenance is easy. Since there is no need to maintain the inside of the tray storage 14, multiple trays 12 can be arranged closely together in a horizontal direction in one direction, such as the X-axis direction, and the storage rate of the trays 12 can be improved.

[0110] (First Modification) A first modified example of the automated warehouse 10 according to the embodiment will be described with reference to Figs. 26 to 29.

[0111] As shown in Figures 26 to 29, the main conveying unit 16 has a conveyor 102, a conveyor driving unit 104 that drives the conveyor 102, a lift unit 106, and an incoming / outgoing conveying unit 118. The goods receiving / outgoing device 18 has a frame (first frame) 112, a lifting unit 114 (see Figure 2) that raises and lowers the frame 112, and a first moving mechanism 116. For this reason, in this modification, the incoming / outgoing conveying unit 118 is provided separately from the goods receiving / outgoing device 18. The lifting unit 114, the first moving mechanism 116, and the incoming / outgoing conveying unit 118 are controlled by the control unit 22.

[0112] The support section 162 of the lift section 134 of the first moving mechanism 116 is movable between the upper stage and the middle stage. The lift section 106 of the main transport section 16 supports the inlet / outlet transport section 118 so as to be movable in the Z-axis direction relative to the conveyor 102. The lift section 106 is movable between a position where the upper surfaces of the conveyors 192, 194 are lower in the Z-axis direction than the upper surface of the conveyor 102 (see Figures 26 and 27) and a position where the upper surfaces of the conveyors 192, 194 are aligned in the Z-axis direction with the upper surface of the conveyor 102 (see Figures 28 and 29).

[0113] (Second Modification) A second modified example of the automated warehouse 10 according to the embodiment will be described with reference to Figs. 30 and 31.

[0114] 30 and 31, the transport assistant unit 136 has a lift unit 188 that supports the rail 182 and the slider 184 so as to be movable in the Z-axis direction relative to the frame 112. The operation of the lift unit 188 raises and lowers the rail 182 and the slider 184 while maintaining the position of the support unit 162 of the lift unit 134. With this configuration, the positional relationship between the conveyor 152 of the tray transport unit 132 and the rail 182 and slider 184 of the transport assistant unit 136 may be adjusted.

[0115] In addition, in the automated warehouse 10 according to the second modified example, it is also preferable that the incoming and outgoing transport section 118 is provided separately from the article incoming and outgoing device 18, like the automated warehouse 10 described in the first modified example.

[0116] According to at least one of the embodiments described above, it is possible to provide an automated warehouse 10 including an item loading / unloading device 18, an item loading / unloading device unit 24, and an item loading / unloading device 18, which can avoid having a complex structure, for example.

[0117] Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and spirit of the invention, and are included in the scope of the invention and its equivalents described in the claims. The following is a summary of the claims of this application as filed. [Appendix 1] A first frame; a lifting unit that lifts and lowers the first frame along a first direction; a first moving mechanism provided within the first frame, the first moving mechanism including a tray transport unit that transports a tray on which an article can be placed along a second direction intersecting the first direction, and a transport assistant unit that pushes the tray outward from the first frame along the second direction; An article storage and retrieval device having the above structure. [Appendix 2] the first moving mechanism further includes a lift unit that raises and lowers the tray transport unit within the first frame; 2. An article storage and retrieval device as described in appendix 1. [Appendix 3] the lift unit raises and lowers the tray transport unit to a first position where the transport assistant unit can push the tray outward from the first frame, and a second position below the first position where the transport assistant unit and the tray are not in contact with each other. Item storage and retrieval device as described in appendix 2. [Appendix 4] a tray stopper provided on the first frame and configured to restrict the tray from moving in a pushing-in direction when the tray transport unit is at the second position; 4. An article storage and retrieval device as described in appendix 3. [Appendix 5] The apparatus further includes an in-out transport unit that is provided on the first frame and transports the article placed on the tray in a direction opposite to a direction in which the transport assistant unit pushes the tray, and transports the article to the tray supported within the first frame, thereby storing the article in the tray. An article storage and retrieval device according to any one of Supplementary Note 1 to Supplementary Note 4. [Appendix 6] At least one of the first frame and the loading / unloading transport section has a guide that guides the item placed on the tray in a third direction intersecting the first direction and the second direction when transporting the item and unloading it, and guides the item in the third direction when transporting the item to the tray supported in the first frame and loading the item onto the tray. 6. An article storage and retrieval device as described in appendix 5. [Appendix 7] the first moving mechanism further includes a lift unit that raises and lowers the transport auxiliary unit within the first frame; 2. An article storage and retrieval device as described in appendix 1. [Appendix 8] An article storage and retrieval device according to claim 5 or 6; A substantially rectangular frame supported by the tray transport unit; Three side panels extending downward from three sides of the frame body; A bottom plate provided on the three side plates and capable of placing an item thereon; and A through hole provided in the bottom plate, which allows a part of the loading / unloading conveyor to come into contact with the article. A tray having An article storage and retrieval device unit having the above structure. [Appendix 9] An article storage and retrieval device according to any one of Supplementary Note 1 to Supplementary Note 4; a plurality of trays each having the same shape and size, each tray comprising a bottom plate having a through hole, a plurality of side plates provided on the bottom plate, a frame body provided on an upper portion of the side plate, and an opening edge formed by the bottom plate, the side plates, and the frame body; an in-and-out transport section that transports the article placed on the tray through the opening formed by the opening edge in a direction opposite to the direction in which the transport auxiliary section transports the tray, thereby removing the article from the tray, and transports the article through the opening to the tray supported by the first frame, thereby storing the article in the tray; a tray storage unit adjacent to the article receiving / discharging device, which stores the trays in a multi-tiered arrangement along the second direction and in a multi-tiered arrangement along the first direction; an elevator that is provided on the opposite side of the article receiving / retrieving device across the tray storage, receives another tray that is pushed out of the tray storage by the article receiving / retrieving device pushing the tray in at a first stage, and pushes the other tray into the tray storage at a second stage; An automated warehouse with [Appendix 10] The elevator is A second frame that moves up and down relative to the tray storage; a second moving mechanism provided in the second frame and configured to move the tray between the tray storage outside the second frame and an interior of the second frame; The automated warehouse according to claim 9, [Appendix 11] A control unit that controls the item loading / unloading device, the loading / unloading transport unit, and the elevator. 1. An automated warehouse as described in Appendix 9 or Appendix 10. [Explanation of symbols]

[0118] 10...automated warehouse, 12...tray, 14...tray storage, 16...main transport section for goods entering and leaving, 18...goods entering and leaving device, 20...tray circulation elevator, 22...control section, 24...goods entering and leaving device unit, 32...bottom plate, 34a, 34b, 34c...side plate, 36...frame body, 38...opening edge, 40...through hole, 52a, 52b, 52c, 52d...storage frame, 54...shelf section, 62...connecting section, 64...support section, 70...stopper mechanism, 72...rotating body, 102...conveyor, 104...conveyor drive section, 112...frame, 114...lifting section, 116...first moving mechanism, 118...entry and leaving transport section, 122...hoistway, 124...hoist, 132...tray transport section, 134...lift section, 136...transport auxiliary section, 152...conveyor, 154...drive section, 162...support section, 164...rail, 166...drive section, 182...rail, 184...slider, 186...drive section, 192...engagement conveyor, 194...auxiliary conveyor, 196...drive section, 212...frame, 214...hoistway, 216...second moving mechanism, 222...hoistway, 224...hoist, 232...tray transport section, 234...transport auxiliary section, 252...conveyor, 254...drive section, 262...rail, 264...slider, 266...drive section

Claims

1. A first frame; a lifting unit that lifts and lowers the first frame along a first direction; a first moving mechanism provided within the first frame, the first moving mechanism including a tray transport unit that transports a tray on which an article can be placed along a second direction intersecting the first direction, and a transport auxiliary unit that pushes the tray outward from the first frame along the second direction; having the first moving mechanism further includes a lift unit that raises and lowers the tray transport unit within the first frame. Goods storage and retrieval device.

2. the lift unit raises and lowers the tray transport unit to a first position where the transport assistant unit can push the tray outward from the first frame, and a second position below the first position where the transport assistant unit and the tray are not in contact with each other. The article receiving and retrieving device according to claim 1.

3. a tray stopper provided on the first frame and configured to restrict the tray from moving in a pushing-in direction when the tray transport unit is at the second position; The article receiving and retrieving device according to claim 2.

4. a loading / unloading transport unit that is provided on the first frame and transports the article placed on the tray in a direction opposite to a direction in which the transport assistant unit pushes the tray, thereby unloading the article, and transports the article to the tray supported within the first frame, thereby loading the article onto the tray; The article receiving and retrieving device according to any one of claims 1 to 3.

5. At least one of the first frame and the loading / unloading transport section has a guide that guides the item placed on the tray in a third direction intersecting the first direction and the second direction when transporting the item to be unloaded, and guides the item in the third direction when transporting the item to the tray supported within the first frame and loading the item onto the tray. The article receiving and retrieving device according to claim 4.

6. A first frame; a lifting unit that lifts and lowers the first frame along a first direction; a first moving mechanism provided within the first frame, the first moving mechanism including a tray transport unit that transports a tray on which an article can be placed along a second direction intersecting the first direction, and a transport auxiliary unit that pushes the tray outward from the first frame along the second direction; having the first moving mechanism further includes a lift unit that raises and lowers the transport auxiliary unit within the first frame; Goods storage and retrieval device.

7. An article loading / unloading device according to claim 4 or claim 5, A substantially rectangular frame supported by the tray transport unit; Three side panels extending downward from three sides of the frame body; A bottom plate provided on the three side plates and capable of placing an article thereon; and A through hole provided in the bottom plate, which allows a part of the loading / unloading conveyor to come into contact with the article. A tray having An article storage and retrieval device unit having the above structure.

8. The article receiving and retrieving device according to any one of claims 1 to 3, a plurality of trays each having the same shape and size, each tray comprising a bottom plate having a through hole, a plurality of side plates provided on the bottom plate, a frame body provided on an upper portion of the side plate, and an opening edge formed by the bottom plate, the side plates, and the frame body; an in-and-out transport section that transports the article placed on the tray through the opening formed by the opening edge in a direction opposite to the direction in which the transport auxiliary section transports the tray, thereby removing the article from the tray, and transports the article through the opening to the tray supported by the first frame, thereby storing the article in the tray; a tray storage unit adjacent to the article receiving / discharging device, the trays being arranged in the second direction and stocked in the first direction; an elevator that is provided on the opposite side of the article receiving / retrieving device across the tray storage, receives another tray that is pushed out of the tray storage by the article receiving / retrieving device pushing the tray in at a first stage, and pushes the other tray into the tray storage at a second stage; An automated warehouse with

9. The elevator is A second frame that moves up and down relative to the tray storage; a second moving mechanism provided in the second frame and configured to move the tray between the tray storage outside the second frame and an interior of the second frame; The automated warehouse according to claim 8 .

10. A control unit that controls the item loading / unloading device, the loading / unloading transport unit, and the elevator. The automated warehouse according to claim 8 or 9.

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