Automated warehouse system

Abstract

To provide an automatic warehouse system dispensing with a passage for movement of a transportation carriage or the like and saved in space, allowing arrangement of many storing parts in a small space, with simple devices, a short construction period and inexpensive introduction cost, and suited to small scale introduction.SOLUTION: An automatic warehouse system 1 comprises: a storing container arrangement space S for arranging multiple storing containers H in a row direction X and a vertical direction Y; a row direction transportation part 2 provided above the storing container arrangement space S and capable of reciprocally moving in the row direction X and capable of transporting the storing containers H in the row direction; and a movable frame 4 having an elevation part 3 for elevating the storing containers H and reciprocally movable in the row direction X.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to an automated warehouse system for storing or retrieving articles.

Background Art

[0002] Conventionally, various automated warehouse systems for automatically storing or retrieving articles have been proposed. For example, there is an automated warehouse system disclosed in Japanese Patent No. 6509150. This automated warehouse system has a shelf unit provided with a plurality of storage units arranged in the row direction and the vertical direction. Then, a carrier cart or a traveling cart moves between a plurality of shelf units arranged in the column direction, ascends and descends to take out an article from each storage unit, or stores an article in each storage unit to perform warehouse operations.

[0003] However, since the above conventional automated warehouse system requires a passage for a carrier cart or the like to move between a plurality of shelf units arranged in the column direction, it requires a relatively large space, and the number of storage units that can be arranged in the space inevitably decreases. In addition, the device itself tends to be complicated, large-scale construction is required, the introduction cost is high, and it is not suitable for small-scale warehouses.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] Therefore, an object of the present invention is to provide an automated warehouse system that does not require a passage for a carrier cart or the like to move, can save space, can arrange more storage units in a small space, has a simple device, a short construction period, a low introduction cost, and is suitable for small-scale introduction.

Means for Solving the Problems

[0006] The solution to the above problem includes a storage container arrangement space for arranging multiple storage containers in the row and vertical directions, a row-direction transport unit provided above the storage container arrangement space that is reciprocally movable in the row direction and capable of transporting storage containers in the row direction, and a lifting unit that can raise and lower the storage containers. On the floor where it was installed The automated warehouse system is characterized by having a movable frame that can reciprocate in the row direction (Claim 1).

[0007] The forward-moving conveying section is preferably configured as a movable conveyor (Claim 2). The movable frame section is preferably configured as an inlet / outlet section for moving the storage container in and out of the movable frame section (Claim 3). The inlet / outlet section is preferably configured as a fixed conveyor (Claim 4). The lifting section is preferably configured as a first lifting motor, a second lifting motor, a first and second winding mediating linkage rotatably provided by the first lifting motor, a third and fourth winding mediating linkage rotatably provided by the second lifting motor, a first gripping section attached to the first and third winding mediating linkages, and a second gripping section attached to the second and fourth winding mediating linkages (Claim 5). The lifting section is preferably configured as a gripping mechanism for gripping or releasing the storage container (Claim 6). The gripping mechanism preferably includes a link shaft with a pin attached to the first winding medial section and the second winding medial section, a link member having an elongated hole into which the pin is inserted, and a claw portion to which the link member is fixed (Claim 7). The automated warehouse system preferably has a plurality of the movable frame portions in the row direction (Claim 8). The automated warehouse system preferably has a loading and unloading conveyor arranged along the row direction (Claim 9). The loading and unloading conveyor preferably has a weighing section for weighing the storage containers (Claim 10). Preferably, the movable frame portion has wheels at its lower part, and when the wheels rotate, the movable frame portion is configured to reciprocate in the row direction (Claim 11). [Effects of the Invention]

[0008] According to the automated warehouse system described in claim 1, there is no need to provide passages for transport carts and the like to move, saving space, and more storage units (storage containers in this invention) can be arranged in a small space. Furthermore, the equipment is simple, the construction period is short, the introduction cost is low, and an automated warehouse system suitable for small-scale implementation can be constructed. According to the automated warehouse system described in claim 2, in addition to the effects of the above claim, the row-direction transport section can be configured with a simple structure. According to the automated warehouse system described in claim 3, in addition to the effects of the above claim, an entry / exit section for storage containers can be configured in a specific part. According to the automated warehouse system described in claim 4, in addition to the effects of the above claim, the entrance and exit sections can be constructed with a simpler structure. According to the automated warehouse system described in claim 5, in addition to the effects of the above claim, the lifting mechanism can be constructed with a simpler structure. According to the automated warehouse system described in claim 6, in addition to the effects of the above claim, the structure can be further simplified by having a gripping mechanism in the lifting section. Claim 7 According to the automated warehouse system described above, in addition to the effects of the above claims, the gripping mechanism can be constructed with a simpler structure. According to the automated warehouse system described in claim 8, in addition to the effects of the above claim, the scale of the automated warehouse can be freely selected and constructed from small to large by adding movable frame sections in the column direction as needed. According to the automated warehouse system described in claim 9, in addition to the effects of the above claim, it is possible to improve the efficiency of receiving and shipping operations and picking operations. In addition to the effects of the above claim, the automated warehouse system described in claim 10 can prevent the entry of overweight storage containers, thereby extending the lifespan of the system. According to the automated warehouse system described in claim 11, there is no need to provide passages for transport carts and the like to move, saving space, and more storage units (storage containers in this invention) can be arranged in a small space. Furthermore, the equipment is simple, the construction period is short, the introduction cost is low, and an automated warehouse system suitable for small-scale implementation can be constructed. [Brief explanation of the drawing]

[0009] [Figure 1] This is a front view of one embodiment of the automated warehouse system of the present invention. [Figure 2] Figure 1 is a plan view of the automated warehouse system. [Figure 3] This is a partially enlarged view of Figure 2, a plan view illustrating the lifting action of the lifting mechanism. [Figure 4] This is an enlarged perspective view illustrating the lifting action of the lifting mechanism. [Figure 5] This is an explanatory diagram illustrating the gripping state of the storage container by the gripping mechanism of the lifting unit. 5(a) is a perspective view of the lifting unit, 5(b) is a right side view of the lifting unit, 5(c) is a front view of the lifting unit, and 5(d) is an enlarged view of the area around the first gripping unit in Figure 5(c). [Figure 6] Figure 5 is a partially enlarged view; Figure 6(a) is an enlarged view of the area around the first and second gripping parts in Figure 5(b); and Figure 6(b) is an enlarged perspective view of the area around the first and second gripping parts. [Figure 7] This is an enlarged right side view to explain the operation of the gripping mechanism of the lifting section. [Figure 8] This is an explanatory diagram illustrating the release state of the storage container from the gripping mechanism of the lifting unit. 8(a) is a perspective view of the lifting unit, 8(b) is a right side view of the lifting unit, 8(c) is a front view of the lifting unit, and 8(d) is an enlarged view of the area around the first gripping unit in Figure 8(c). [Figure 9] Figure 8 is a partial enlargement view, Figure 9(a) is an enlargement view of the area around the first and second gripping parts in Figure 8(b), and Figure 9(b) is an enlarged perspective view of the area around the first and second gripping parts. [Figure 10] Figure 1 is a plan view illustrating the overall structure of the automated warehouse system. [Figure 11] Figure 1 is a front view illustrating the operation of the automated warehouse system shown. [Figure 12] Figure 1 is a front view illustrating the operation of the automated warehouse system shown. [Figure 13] Figure 1 is a front view illustrating the operation of the automated warehouse system shown. [Figure 14] Figure 1 is a front view illustrating the operation of the automated warehouse system shown. [Figure 15]It is a front view for explaining the operation of the automated warehouse system shown in FIG. 1. [Figure 16] It is a front view for explaining the operation of the automated warehouse system shown in FIG. 1. [Figure 17] It is a front view for explaining the operation of the automated warehouse system shown in FIG. 1. [Figure 18] It is a front view for explaining the operation of the automated warehouse system shown in FIG. 1. [Figure 19] It is a front view for explaining the operation of the automated warehouse system shown in FIG. 1. [Figure 20] It is a front view for explaining the operation of the automated warehouse system shown in FIG. 1. [Figure 21] It is a front view for explaining the operation of the automated warehouse system shown in FIG. 1.

Embodiments for Carrying Out the Invention

[0010] In the present invention, there is a storage container arrangement space S for arranging a plurality of storage containers H in the row direction X and the vertical direction Y, a row direction conveyance unit 2 provided above the storage container arrangement space S and capable of reciprocating in the row direction X and conveying the storage container H in the row direction X, and a lifting unit 3 capable of lifting and lowering the storage container H. On the floor where it was installed By providing a movable frame unit 4 capable of reciprocating in the row direction X, it is possible to save space without the need to provide a passage for a transport cart or the like to move, and more storage units (storage containers H) can be arranged in a small space. An automated warehouse system 1 has been realized that is simple in structure, short in construction period, low in introduction cost, and suitable for small-scale introduction.

Examples

[0011] The automated warehouse system of the present invention will be described using an example shown in the drawings. As shown in FIG. 1, the automated warehouse system 1 of this embodiment has a storage container arrangement space S for arranging a plurality of storage containers H in the row direction X and the vertical direction Y, a row direction conveyance unit 2 provided above the storage container arrangement space S and capable of reciprocating in the row direction X and conveying the storage container H in the row direction X, and a lifting unit 3 capable of lifting and lowering the storage container H. On the floor where it was installed It is equipped with a movable frame section 4 that can reciprocate in the row direction X. The following describes each component in detail.

[0012] A feature of the automated warehouse system 1 in this embodiment is that it is equipped with a movable frame section 4 having the above configuration. Picking operations are performed within this movable frame section 4, and loading and unloading operations are performed via the movable frame section 4. Therefore, there is no need to provide passages for transport carts and the like to move, which allows for space saving and makes it possible to arrange more storage units (storage containers H in this embodiment) within a given space.

[0013] The movable frame portion 4 of this embodiment is configured as a rectangular prism, as shown in Figure 1 or Figure 2, and is made of frame materials arranged in the row direction X (horizontal direction in Figures 1, 2, and 10), the up-down direction Y (vertical direction in Figure 1), and the column direction Z (vertical direction in Figures 2 and 10). In this application, the row direction X, the up-down direction Y, and the column direction Z are directions that are orthogonal to each other in three dimensions, as shown in Figures 1, 2, and 10.

[0014] The movable frame section 4 is configured to reciprocate in the direction of travel X. Specifically, as shown in Figure 1 or Figure 2, the movable frame section 4 of this embodiment has wheels 5 near each of the four corners at the bottom, and these wheels 5 are configured to rotate (forward and reverse rotation) via a movable chain 8 by wheel motors 6 located on the upper sides of both sides of the movable frame section 4 in the direction of travel X. When the wheels 5 rotate, they travel on a pair of rails 7 laid parallel to each other along the direction of travel X on the floor, and the movable frame section 4 is configured to reciprocate in the direction of travel X as a result.

[0015] The length of the movable frame section 4 (length in the row direction X) can be shorter than the total length of the storage containers H arranged in the row direction X, since the movable frame section 4 is movable in the row direction X, thereby simplifying the structure of the device. The height of the movable frame section 4 (length in the vertical direction Y) only needs to be sufficient to accommodate at least multiple storage containers H arranged in the vertical direction Y and the row-direction transport section 2. The width of the movable frame section 4 (length in the column direction Z) in this embodiment is approximately 1 m, corresponding to the length of one storage container H, as only one storage container H is arranged in the column direction Z to enable smaller-scale deployment. However, the automated warehouse of the present invention also includes configurations in which multiple storage containers H are arranged in the column direction Z, in which case the width of the movable frame section 4 (length in the column direction Z) is set to a length corresponding to the length when multiple storage containers H are arranged.

[0016] The storage container arrangement space S is a space provided within the movable frame section 4, and is provided to allow multiple storage containers H to be arranged in the row direction X and the vertical direction Y. By providing this storage container arrangement space S, picking and receiving operations can be performed within the movable frame section 4.

[0017] The storage container H is a container for storing articles, and in this embodiment, as shown in Figures 9(a) and (b), a foldable container (Oricon) is used, which is a rectangular prism with an open top end and a flange Ha that protrudes outward near the top end. However, the storage container is not limited to this foldable container, and any container that can be accommodated in the lifting section 3 and has a flange that can be hooked with a claw may be used.

[0018] The row-direction transport unit 2 is for temporarily placing the storage container H to be picked and the storage container H located above it during picking and receiving operations, and is provided above the storage container arrangement space S.

[0019] Specifically, in this embodiment, the row-direction transport unit 2 is provided in two stages, one in each of the vertical Y directions, and each row-direction transport unit 2 has a length in the row direction X that allows three storage containers H to be placed on it. However, the number of row-direction transport units 2 is not limited to two; one or three or more are also included in the scope of the present invention. Furthermore, the number of storage containers H that can be placed on the row-direction transport unit 2 is not limited to three; one, two, or four or more are also included in the scope of the present invention.

[0020] The row-direction conveying unit 2 is configured to be able to reciprocate in the row direction X and to convey the storage container H placed on top of it in the row direction X. In this embodiment, the row-direction conveying unit 2 is made up of a movable conveyor that can realize these functions with a simpler structure.

[0021] Specifically, as shown in Figure 2, the row-direction conveying unit 2 in this embodiment is positioned above a main body moving conveyor 35, which has a main body moving motor 9 that enables the row-direction conveying unit 2 to reciprocate along the row direction X, and a conveyor chain 10 that is rotatable (forward and reverse rotation) by the main body moving motor 9 and arranged along the row direction X. The row-direction conveying unit 2 itself is configured to reciprocate along the row direction X by the rotation (forward and reverse rotation) of the conveyor chain 10.

[0022] Furthermore, as shown in Figure 2, the row-direction conveying unit 2 of this embodiment has a pair of conveyor chains 11 arranged parallel to each other along the row direction X, and a conveyor rotation motor 12 for rotating the conveyor chains 11 (forward and reverse rotation). The storage containers H placed on the conveyor chains 11 can be conveyed in the row direction X by the rotation (forward and reverse rotation) of the conveyor chains 11. 13 are photoelectric sensors for confirming the arrival of the storage containers.

[0023] In this embodiment, the row-direction transport unit 2 is configured to accommodate a total of six storage containers H, with two row-direction transport units 2 arranged in two tiers, upper and lower. This is because, as shown in Figure 11, six storage containers H are arranged in the vertical direction Y within the storage container arrangement space S of the movable frame unit 4 of this embodiment, and when picking the bottom storage container H, a row-direction transport unit 2 capable of accommodating at least six storage containers H is required. In other words, the number of storage containers H that can be placed on the row-direction transport unit 2 is configured to be greater than or equal to the number of storage containers arranged in the vertical direction Y of the storage container arrangement space S, corresponding to the height difference in which the storage containers H are arranged.

[0024] The entry / exit section 14 is the part through which the storage container H containing the goods enters and exits. From here, the storage container H enters the movable frame section 4, and after the picking operation, it is removed from the movable frame section 4.

[0025] The loading / unloading section 14 is configured to transport the storage container H placed on top in the row direction X. Loading / unloading section 1 of this embodiment 4 This is comprised of a fixed conveyor that can achieve the aforementioned functions with a simpler structure.

[0026] Specifically, as shown in Figure 2, the loading / unloading section 14 of this embodiment has a pair of conveyor chains 15 arranged parallel to each other along the row direction X, and a conveyor rotation motor 16 for rotating the conveyor chains 15. The storage containers H placed on the conveyor chains 15 are transported in the row direction X by the rotation (forward and reverse rotation) of the conveyor chains 15, enabling loading and unloading. 17 is a photoelectric sensor for confirming the arrival of storage containers.

[0027] The lifting unit 3 is used to move the storage container H containing the items within the movable frame unit 4 by raising and lowering the storage container H. In this embodiment, as shown in Figure 1, it is provided along the vertical direction Y between the initial position of the row-direction transport unit 2 and the entry / exit unit 14. By providing the lifting unit 3 in this position, the storage container H picked by the row-direction transport unit 2 and the lifting unit 3 can be retrieved from the entry / exit unit 14 more quickly, and the storage container H that has entered from the entry / exit unit 14 can be placed in the desired position more quickly.

[0028] In this embodiment, the lifting unit 3 is located between the initial position of the row-direction transport unit 2 and the entry / exit unit 14. However, the invention is not limited to this configuration. For example, the lifting unit 3 may be located to the left of the row-direction transport unit 2 in Figure 1, and the row-direction transport unit may also serve as the entry / exit unit.

[0029] As shown in Figures 2 to 5, the lifting section 3 of this embodiment includes a first lifting motor 18 and a second lifting motor 19 provided at the top of the movable frame section 4, a first winding media 20 and a second winding media 21 provided so as to be rotatable (forward and reverse rotation) by the first lifting motor 18 at the front and rear of the row direction Z, a third winding media 22 and a fourth winding media 23 provided so as to be rotatable (forward and reverse rotation) by the second lifting motor 19, a first gripping part 24 attached to the inside of the first winding media 20 and the inside of the third winding media 22, and a second gripping part 25 attached to the inside of the second winding media 21 and the inside of the fourth winding media 23. In this embodiment, the first winding media 20, the second winding media 21, the third winding media 22, or the fourth winding media 23 is made of chain.

[0030] Furthermore, as shown in Figure 4, the lifting unit 3 of this embodiment is configured to raise and lower the storage container H held by the first gripping unit 24 and the second gripping unit 25 by synchronously rotating (forward and reverse) two first lifting motors 18 and a second lifting motor 19.

[0031] Specifically, as shown in Figure 5 or Figure 8, when the first lifting motor 18 is rotated clockwise and the second lifting motor 19 is rotated counterclockwise synchronously, the storage container H held by the first gripping part 24 and the second gripping part 25 will descend. Conversely, when the first lifting motor 18 is rotated counterclockwise and the second lifting motor 19 is rotated clockwise synchronously, the storage container H held by the first gripping part 24 and the second gripping part 25 will rise.

[0032] Furthermore, the lifting section 3 has a gripping mechanism 26 for gripping or releasing the storage container H. Specifically, as shown in Figure 9(b), the gripping mechanism 26 in this embodiment has a link shaft 31 with a pin 30, a link member 33 with an elongated hole 32 into which the pin 30 is inserted, and a claw portion 34 to which the link member 33 is fixed, each attached to the inside of the first winding mediation section 20 or the second winding mediation section 21.

[0033] In this embodiment, when the first lifting motor 18 is rotated counterclockwise, the inside of the first winding mediation link 20 or the second winding mediation link 21 rises, and the link shafts 31 rise accordingly. As these link shafts 31 rise, the pin 30 moves through the elongated hole 32 of the link member 33, causing the claw portion 34 to be lifted and extended horizontally, as shown in Figure 7, and to contact the lower surface of the flange Ha of the storage container H, thereby gripping the storage container H. In this state, by further rotating the first lifting motor 18 counterclockwise and the second lifting motor 19 synchronously clockwise, the storage container H gripped by the first gripping portion 24 and the second gripping portion 25 rises.

[0034] Conversely, to release the grip of the storage container H by the gripping mechanism 26, the first lifting motor 18 is rotated clockwise while the container H is placed in a desired position (for example, the upper part of the row-direction transport section 2). This causes the inside of the first winding mediation link 20 or the second winding mediation link 21 to descend, and the link shafts 31 also descend accordingly. As these link shafts 31 descend, the pin 30 moves through the elongated hole 32 of the link member 33, causing the claw portion 34 to extend diagonally downward, as shown in Figure 7, and thus releasing the grip of the storage container H.

[0035] Furthermore, the gripping mechanism 26 does not release the storage container H unless the first lifting motor 18 is rotated clockwise while the storage container H is placed on the upper part of the row-direction transport section 2. Therefore, to lower the storage container H, the first lifting motor 18 is rotated clockwise while the second lifting motor 19 is rotated counterclockwise synchronously while the storage container H is not placed on the upper part of the row-direction transport section 2, allowing the storage container H to be lowered while still being gripped.

[0036] As described above, the automated warehouse 1 of the present invention is equipped with a movable frame section 4 having the above configuration, and picking and loading / unloading operations can be performed within the movable frame section 4. Therefore, there is no need to provide passages for transport carts and the like to move, saving space, and more storage units (storage containers) can be arranged in a small space. The equipment is also simpler, shortening the construction period, and can be introduced in a single row, for example, mounted on a wall, resulting in low introduction costs and making it suitable for small-scale installations.

[0037] Furthermore, as shown in Figure 10, the automated warehouse system 1 of this embodiment has a plurality of movable frame sections 4 in the column direction Z. In this embodiment, seven rows of storage containers H are arranged in the column direction Z, and one movable frame section 4 is installed for each row so as to be able to reciprocate in the row direction.

[0038] Thus, the automated warehouse system 1 of the present invention can be constructed by laying rails 7 as needed, arranging movable frame sections 4, and sequentially adding them in the row direction Z, allowing for flexible selection of the scale of the automated warehouse, from small to large.

[0039] Furthermore, as shown in Figure 10, the automated warehouse system 1 of this embodiment has a loading and unloading conveyor belt 27 arranged along the column direction Z. This loading and unloading conveyor belt 27 is designed to make loading and unloading operations and picking operations more efficient, and it transports the storage containers H containing the goods to the movable frame section 4 that has been moved to the loading area, and also receives the picked storage containers H from the loading movable frame section 4 and loads them out.

[0040] Furthermore, this loading and unloading conveyor belt 27 has a weighing unit 28 for weighing the storage containers H when they are being stored. This prevents the storage containers H from being overweight and extends the lifespan of the system. In addition, this weighing unit 28 is equipped with a 3D scanner for scanning the storage containers H and the items stored inside.

[0041] In this embodiment, the automated warehouse system 1 is configured so that the entire system is controlled by a control panel built into the loading and unloading conveyor belt 27. The rotation control of the loading and unloading conveyor belt 27 and the control units 29 provided in each movable frame section 4 are also controlled by this control panel. Specifically, as shown in Figure 2, the control unit 29 of the movable frame section 4 is located on the upper part of each movable frame section 4 as a battery and control device. Based on various instruction information from the control panel (for example, instructions for picking and retrieving storage containers with desired ID numbers), input information from photoelectric sensors 13, 17 or weighing unit 28, etc., it is configured to control the wheel motor 6, main body movement motor 9, conveyor rotation motors 12, 16, first lifting motor 18 or second lifting motor 19, etc., in order to perform automated warehouse operations (picking, receiving, and retrieving operations, etc.).

[0042] Next, the operation of the automated warehouse 1 of the present invention will be explained using an example shown in Figures 11 to 21. This example illustrates the process of picking and retrieving storage container H1, located at the bottom left of the diagram, from a group of storage containers H arranged in the row direction X and the vertical direction Y (a total of 48 storage containers H). First, the movable frame section 4 moves from the initial position shown in Figure 11 to the location where the storage container H1 is located, as shown in Figure 12, in order to move the lifting section 3. This movement of the movable frame section 4 is achieved by the control unit 29 controlling the wheel motor 6, which rotates the wheels 5 via the movable chain 8, causing the wheels 5 to travel on a pair of rails 7 laid parallel to each other along the direction of travel X on the floor.

[0043] Next, as shown in Figure 13, the claw portion 34 is raised to grip the uppermost (6th) storage container H. This operation is performed by the control unit 29 rotating the first lifting motor 18 counterclockwise, causing the inside of the first winding mediation link 20 or the second winding mediation link 21 to rise, and the link shafts 31 rise accordingly. As these link shafts 31 rise, the pin 30 moves within the elongated hole 32 of the link member 33, causing the claw portion 34 to be lifted and extended horizontally, as shown in Figure 7. In this state, the claw portion 34 rises further and grips the storage container H by making surface contact with the lower surface of the flange Ha of the storage container H, as shown in Figure 7 or Figure 14.

[0044] Subsequently, as shown in Figure 15, the storage container H is lifted, and as shown in Figure 16, when the bottom of the storage container H reaches a position higher than the upper end surface of the upper row-direction conveying section 2, the control unit 29 stops the first lifting motor 18 and the lifting motor 19, then moves the upper row-direction conveying section 2 along the row direction X, moving it below the storage container H and stopping it. These operations are performed by the control unit 29 rotating the main body moving motor 9 to move the upper row-direction conveying section 2 along the conveyor chain 10 arranged along the row direction X, and then stopping the rotation of the main body moving motor 9 based on a signal from the photoelectric sensor 13.

[0045] Then, as shown in Figure 17, the storage container H is placed on the conveyor chain 11 of the row-direction transport unit 2. This operation is performed by the control unit 29 rotating the first lifting motor 18 clockwise and the second lifting motor 19 counterclockwise. Subsequently, by rotating the first lifting motor 18 clockwise, the inside of the first winding medial link 20 or the second winding medial link 21 descends, and the link shafts 31 also descend along with them. As these link shafts 31 descend, the pin 30 moves through the elongated hole 32 of the link member 33, the claw portion 34 extends diagonally downward, and the grip on the storage container H is released. Then, as shown in Figure 18, the storage container H on the conveyor chain 11 is moved in the row direction X, to the left end of the row-direction transport unit 2 in Figure 18. These operations are performed by the control unit 29 driving the conveyor rotation motor 12 to transport the storage containers H placed on the conveyor chain 11 in the direction X by the rotation of the conveyor chain 11, and then stopping the conveyor rotation motor 12 based on a signal from the photoelectric sensor 13.

[0046] Furthermore, as shown in Figure 19, the upper row-direction conveying unit 2 is moved along the row direction X and stopped at its initial position. This operation is performed by the control unit 29 rotating the main unit movement motor 9 to rotate the conveyor chain 10 arranged along the row direction X and move the upper row-direction conveying unit 2, and then stopping the rotation of the main unit movement motor 9 based on a signal from the control unit 29. Meanwhile, the lifting unit 3 lowers the first gripping unit 24 and the second gripping unit 25 in order to grip the fifth storage container H. This operation is performed by the control unit 29 rotating the first lifting motor 18 clockwise and simultaneously rotating the lifting motor 19 counterclockwise.

[0047] Then, by repeating the above operation, all six storage containers H are placed on the upper and lower row-direction transport sections 2, as shown in Figure 20. At this time, the storage container H1 to be picked is located adjacent to the entry / exit section 14.

[0048] While maintaining that state, the movable frame 4 is moved in the direction of the arrow in the row direction X in Figure 21, and brought adjacent to the loading / unloading conveyor belt 27. Then, the control unit 29 drives the conveyor rotation motor 12, and the rotation of the conveyor chain 11 moves the storage container H1 placed on the conveyor chain 11 onto the loading / unloading section 14. The storage container H1 that has been moved onto the loading / unloading section 14 is then moved onto the loading / unloading conveyor belt 27. This operation is performed by the control unit 29 driving the conveyor rotation motor 16, which rotates the conveyor chain 15, and transports the storage container H1 placed on the conveyor chain 15 in the row direction X. The storage container H1 placed on the loading / unloading conveyor belt 27 is released by rotation control by a control panel built into the loading / unloading conveyor belt 27.

[0049] On the other hand, when a storage container H is placed on the loading / unloading conveyor belt 27, it is transported, its weight is measured in the weighing unit 28, and if it is overweight, the items are reduced or discharged from the machine, and if it is within the set weight, the storage container H and the items stored inside are scanned by 3D scanning and then transported. When it reaches the desired row, it moves into the movable frame section 4 via the entry / exit section 14 of the movable frame section 4 of that row, and is placed in the set position in the same manner as the picking operation described above.

[0050] Thus, in the automated warehouse 1 of the present invention, picking and loading / unloading operations are performed via the movable frame section 4, which has a distinctive configuration. Therefore, there is no need to provide passages for transport carts and the like to move, saving space and allowing more storage units to be placed in a small space. Furthermore, the equipment is simple, the construction period is short, the introduction cost is low, and it is possible to construct an automated warehouse system that is suitable for small-scale implementation.

[0051] In the above embodiment, the conveying section 2 in the direction of travel, the conveying belt 35 for moving the main body, or the conveying section 14 are made of chain conveyors, but the invention is not limited to this, and may be made of belt conveyors, roller conveyors, etc.

[0052] Furthermore, in the above embodiment, the lifting section 3 has a first winding mediating link 20, a second winding mediating link 21, a third winding mediating link 22, or a fourth winding mediating link 23 which are rotatable (forward and reverse rotation) by the first lifting motor 18 or the second lifting motor 19 and are made of chains. However, it is not limited to chains, and any material that can function as a winding mediating link in a winding transmission device may be used, such as a belt, wire, or rope. Moreover, although the lifting section 3 in the above embodiment is made of a winding transmission device, it is not limited to this, and any lifting mechanism that can raise and lower the storage container H may be used.

[0053] Furthermore, in the above embodiment, the movable frame 4 is configured to reciprocate in the direction of travel X by having the wheels 5 rotatable (forward and reverse rotation) by the wheel motor 6 and movable chain 8. However, the structure for rotating the wheels 5 is not limited to this, and a wide range of structures for rotating the wheels 5 are included, such as those that rotate them using a built-in motor. [Explanation of Symbols]

[0054] 1. Automated warehouse system 2-row direction conveying section 3. Lifting section 4. Movable frame section 5 wheels 6-wheel motor 7 rails 8. Movable chain 9. Motor for moving the main unit 10,11 Conveyor chain 12 Conveyor rotation motor 13 Photoelectric Sensor 14. Entrance and Exit Department 15 Conveyor Chain 16. Motor for rotating the conveyor 17 Photoelectric Sensor 18. First lifting motor 19. Second lifting motor 20. First Encircling Section 21. Second winding mediation section 22 Third Wrapping Intermediation Section 23. Fourth Revolving Intermediation Section 24 1st grip part 25 Second grip part 26 Gripping mechanism 27. Conveyor for loading and unloading 28 Measuring section 29 Control Unit 30 pins 31 Link shaft 32 Slotted holes 33 Link members 34 Claw part 35 Conveyor for moving the main unit X row direction Y vertical direction Z column direction S Storage container placement space H Storage Container Ha flange

Claims

1. An automated warehouse system characterized by having a storage container arrangement space for arranging multiple storage containers in the row and vertical directions, a row-direction transport unit provided above the storage container arrangement space and capable of reciprocating in the row direction and transporting the storage containers in the row direction, and a lifting unit capable of raising and lowering the storage containers, and comprising a movable frame unit that can reciprocate in the row direction on the floor on which it is installed.

2. The automated warehouse system according to claim 1, wherein the forward-direction transport section is configured with a movable conveyor.

3. The automated warehouse system according to claim 1 or 2, wherein the movable frame portion has an entry / exit portion for moving the storage container in and out of the movable frame portion.

4. The automated warehouse system according to claim 3, wherein the aforementioned entry / exit section is configured with a fixed conveyor.

5. The automated warehouse system according to any one of claims 1 to 4, wherein the lifting section comprises a first lifting motor, a second lifting motor, a first and second winding mediating section rotatably provided by the first lifting motor, a third and fourth winding mediating section rotatably provided by the second lifting motor, a first gripping section attached to the first and third winding mediating sections, and a second gripping section attached to the second and fourth winding mediating sections.

6. The automated warehouse system according to any one of claims 1 to 5, wherein the lifting section has a gripping mechanism for gripping or releasing the storage container.

7. The automated warehouse system according to claim 6, wherein the gripping mechanism comprises a link shaft attached to the first winding medial link and the second winding medial link, respectively, and having a pin; a link member having an elongated hole into which the pin is inserted; and a claw portion to which the link member is fixed.

8. The automated warehouse system according to any one of claims 1 to 7, wherein the automated warehouse system has a plurality of movable frame parts in the row direction.

9. The automated warehouse system according to claim 8, further comprising a loading and unloading conveyor arranged along the row direction.

10. The automated warehouse system according to claim 9, wherein the loading and unloading conveyor has a weighing section for weighing the storage containers.

11. The automated warehouse system according to any one of claims 1 to 10, wherein the movable frame portion has wheels at its lower part, and when the wheels rotate, the movable frame portion is configured to reciprocate in the row direction.

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