Conveying system

Abstract

To provide a conveyance system that can automatically place a child pallet, on which cargo is loaded and which may be dirty and brought in from outside, on a parent pallet in a clean condition to form a parent-child pallet.SOLUTION: A conveyance system 1, 100, 200 includes: a parent pallet storage device 12, 46, "a plurality of pallet conveyor devices" (6, 14, 24, 30, 32, 38, unmanned vehicle V, and such) configured to convey a parent pallet PLa and child pallets PLb and / or to load the child pallets PLb onto the parent pallet PLa; and a controller 18, 26, 50, the controller being configured to cause the "pallet conveyance devices" to separately convey the child pallet PLb and the empty parent pallet PLa, and to place the child pallet PLb on the conveyed empty parent pallet PLa.SELECTED DRAWING: Figure 1

Description

Technical Field

[0006] , ,

[0005] ,

[0001] The present invention relates to a conveying system, and particularly to a conveying system for placing a sub-pallet on a parent pallet to convey goods.

Background Art

[0002] Conventionally, a conveying facility for placing a sub-pallet on a parent pallet by a forklift has been known (for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Conventionally, when loading goods from the outside into a production line in a predetermined factory, the goods loaded from the outside are placed on a pallet and stored in an automated warehouse, and are supplied from the automated warehouse to the production line at the timing required in the production line. Also, the pallet loaded with the goods loaded from the outside is directly supplied to the production line without being stored in an automated warehouse or the like.

[0005] Here, in recent years, in factories that require production facilities and the like in a clean environment (for example, factories equipped with a food production line, a pharmaceutical production line, a secondary battery production line, etc.), in order to maintain a clean environment, there has been a demand to carry the pallet loaded with goods such as materials and work-in-progress supplied from the outside into the factory in a cleaner state.

[0006] However, in both cases mentioned above—whether the goods are temporarily stored in an automated warehouse or supplied directly to the factory—the pallets brought in from outside with the goods loaded on them are often not in a clean condition, such as having dirt and grime from the outside attached to them.

[0007] Therefore, one possible method is to transfer the goods on one pallet to a clean pallet for use, but this requires manual labor, and the more goods there are, the more excessive the cost becomes.

[0008] Therefore, the present invention has been made to solve the above-mentioned problems and aims to provide a transport system that can automatically place a potentially dirty child pallet, on which cargo is loaded and which is brought in from the outside, onto a clean parent pallet to form a parent-child pallet system. [Means for solving the problem]

[0009] To achieve the above objective, the present invention provides a transport system for transporting goods by placing child pallets on a parent pallet, wherein the child pallet is a pallet on which goods are brought in from an external source, and the parent pallet is a pallet on which child pallets loaded with goods are placed and transported into a predetermined factory, and the transport system comprises a parent pallet storage unit for storing parent pallets in a predetermined location, a plurality of pallet transport devices configured to transport parent pallets and child pallets and / or to load child pallets onto parent pallets, and a controller for controlling the plurality of pallet transport devices, wherein the controller is configured to have the plurality of pallet transport devices transport child pallets loaded with goods brought in from an external source and empty parent pallets separately, and to place the transported child pallets loaded with goods on top of the empty parent pallets. The pallet transport system includes racks for storing parent pallets and child pallets loaded with goods, and the system includes stacker cranes for individually transporting the parent and child pallets stored in the racks, and parent-child pallet stacking devices for stacking child pallets on top of parent pallets. The controller is configured to use the stacker cranes to transport the parent pallets stored in the racks and child pallets loaded with goods individually and continuously from the racks to the parent-child pallet stacking device, and to use the parent-child pallet stacking device to place the child pallets loaded with goods on top of the parent pallets. It is characterized by the following.

[0010] According to the present invention configured in this way, a potentially dirty child pallet loaded with goods and brought in from outside can be automatically placed on a clean parent pallet to form a parent-child pallet, and this parent-child pallet can be supplied into the factory (production line). As a result, even if the child pallet brought in from outside is dirty, the factory can be kept clean without soiling it. Furthermore, according to the present invention configured in this way, a potentially soiled child pallet brought in from an external source can be automatically placed on a clean parent pallet to form a parent-child pallet, and this parent-child pallet can be supplied into the factory (production line).

[0012] Furthermore, in the present invention, preferably, the parent-child pallet stacking device is a power slider that transports the parent pallet and child pallet individually in the vertical direction to form a parent-child pallet, and the power slider is positioned adjacent to the stacker crane so that the parent pallet and child pallet transported by the stacker crane are directly handed over to the power slider. With the present invention configured in this way, a potentially soiled child pallet brought in from outside can be automatically placed on a clean parent pallet to form a parent-child pallet, and this parent-child pallet can be supplied to the factory (production line) with a simple configuration.

[0013] To achieve the above objective, the present invention provides a transport system for transporting goods by placing child pallets on a parent pallet, wherein the child pallet is a pallet on which goods are brought in from an external source, and the parent pallet is a pallet on which child pallets loaded with goods are placed and transported into a predetermined factory, and the transport system comprises a parent pallet storage unit for storing parent pallets in a predetermined location, a plurality of pallet transport devices configured to transport parent pallets and child pallets and / or load child pallets onto parent pallets, and a controller for controlling the plurality of pallet transport devices, wherein the controller is configured to have the plurality of pallet transport devices transport child pallets loaded with goods brought in from an external source and empty parent pallets individually, and to place the transported child pallets loaded with goods on top of the empty parent pallets. Multiple pallet transport devices are arranged near the parent pallet storage area and include an input conveyor for bringing in child pallets loaded with goods from the outside, an engagement device that engages with child pallets to hold them on the input conveyor, and an unmanned vehicle for transporting parent pallets from the parent pallet storage area to the engagement device. The controller is configured to have the unmanned vehicle transport an empty parent pallet to directly below the child pallet held by the engagement device, thereby forming a parent-child pallet on the unmanned vehicle. According to the present invention configured in this way, a potentially dirty child pallet loaded with goods and brought in from outside can be automatically placed on a clean parent pallet to form a parent-child pallet, and this parent-child pallet can be supplied into the factory (production line). As a result, even if the child pallet brought in from outside is dirty, the factory can be kept clean without soiling it. Also, According to the present invention configured in this way, a potentially soiled child pallet brought in from an external source can be automatically placed on a clean parent pallet to form a parent-child pallet, and this parent-child pallet can be supplied into the factory (production line).

[0014] Furthermore, in the present invention, preferably, the transport system further includes an output conveyor positioned close to the input conveyor for transporting the child pallets to the outside, and the controller is configured to transport only the child pallets to the outside via the output conveyor from the parent-child pallets from which the cargo has been removed, which are transported by an unmanned vehicle, and then move the unmanned vehicle to directly below the child pallet held by the engagement device with the parent pallet on it. According to the present invention configured in this way, after goods are supplied to the factory and the unmanned vehicle returns from the factory, only the child pallet is unloaded from the parent-child pallet to the outside, and then the unmanned vehicle transports the empty parent pallet directly below the engagement device of the nearby input conveyor. Therefore, since it is not necessary to return the parent pallet to the parent pallet storage unit, the travel time and energy of the unmanned vehicle can be saved.

[0015] Furthermore, in the present invention, preferably, the engaging device is equipped with a lifting device, and the controller is configured to operate the lifting device of the engaging device to lower the child pallet held by the engaging device, thereby forming a parent-child pallet on the unmanned vehicle, or the unmanned vehicle is equipped with a lifter, and the controller is configured to operate the lifter of the unmanned vehicle to raise the parent pallet, thereby forming a parent-child pallet on the unmanned vehicle. According to the present invention configured in this way, parent and child pallets can be formed automatically with a simple configuration. [Effects of the Invention]

[0016] According to the transport system of the present invention, a potentially dirty child pallet loaded with goods and brought in from the outside can be automatically placed on a clean parent pallet to form a parent-child pallet, and this parent-child pallet can be supplied into the factory to maintain a clean state within the factory. [Brief explanation of the drawing]

[0017] [Figure 1] This is a front view showing a schematic configuration of an automated warehouse to which a transport system according to one embodiment of the present invention is applied. [Figure 2A] This is a diagram for explaining the operating state of the conveying system shown in FIG. 1. [Figure 2B] This is a diagram for explaining the operating state of the conveying system shown in FIG. 1. [Figure 2C] This is a diagram for explaining the operating state of the conveying system shown in FIG. 1. [Figure 2D] This is a diagram for explaining the operating state of the conveying system shown in FIG. 1. [Figure 2E] This is a diagram for explaining the operating state of the conveying system shown in FIG. 1. [Figure 2F] This is a diagram for explaining the operating state of the conveying system shown in FIG. 1. [Figure 3] This is a front view showing a schematic configuration of an automated warehouse to which a conveying system according to an embodiment of the present invention is applied. [Figure 4A] This is a diagram for explaining the operating state of the conveying system shown in FIG. 3. [Figure 4B] This is a diagram for explaining the operating state of the conveying system shown in FIG. 3. [Figure 4C] This is a diagram for explaining the operating state of the conveying system shown in FIG. 3. [Figure 4D] This is a diagram for explaining the operating state of the conveying system shown in FIG. 3. [Figure 4E] This is a diagram for explaining the operating state of the conveying system shown in FIG. 3. [Figure 4F] This is a diagram for explaining the operating state of the conveying system shown in FIG. 3. [Figure 4G] This is a diagram for explaining the operating state of the conveying system shown in FIG. 3. [Figure 4H] This is a diagram for explaining the operating state of the conveying system shown in FIG. 3. [Figure 4I] This is a diagram for explaining the operating state of the conveying system shown in FIG. 3. [Figure 4J] This is a diagram for explaining the operating state of the conveying system shown in FIG. 3. [Figure 4K]Figure 3 is a diagram illustrating the operating state of the transport system shown. [Figure 5] This is a plan view showing the schematic configuration of an autonomous vehicle and each station to which a transport system according to one embodiment of the present invention is applied. [Figure 6A] Figure 5 is a diagram illustrating the operating state of the sub-pallet loading station of the transport system shown. [Figure 6B] Figure 5 is a diagram illustrating the operating state of the sub-pallet loading station of the transport system shown. [Figure 6C] Figure 5 is a diagram illustrating the operating state of the sub-pallet loading station of the transport system shown. [Figure 6D] Figure 5 is a diagram illustrating the operating state of the sub-pallet loading station of the transport system shown. [Figure 6E] Figure 5 is a diagram illustrating the operating state of the sub-pallet loading station of the transport system shown. [Figure 6F] Figure 5 is a diagram illustrating the operating state of the sub-pallet loading station of the transport system shown. [Modes for carrying out the invention]

[0018] Next, a transport system according to an embodiment of the present invention will be described with reference to the attached drawings.

[0019] First, Figure 1 will illustrate the schematic configuration of a transport system according to one embodiment of the present invention. Figure 1 is a front view showing the schematic configuration of an automated warehouse to which the transport system according to one embodiment of the present invention is applied. First, as shown in Figure 1, reference numeral 1 denotes a transport system according to this embodiment, and this transport system 1 is applied to the automated warehouse 2. The automated warehouse 2 shown in Figure 1 is located at the boundary between the outside (the outside of the automated warehouse and the factory, from which predetermined goods (such as materials and work-in-progress) are transported) and the factory (production line).

[0020] The automated warehouse 2 is capable of storing goods placed on pallets PL (see Figure 2) and has a pair of racks 4 with multiple shelves, and a stacker crane 6 and its passage 8 located between the pair of racks 4. The stacker crane 6 is equipped with a slide fork 10 for retrieving pallets PL stored in the racks 4 or for transferring pallets PL to a power slider 14, which will be described later.

[0021] Although not shown in Figure 1, the automated warehouse 2 includes an input conveyor for bringing in pallets PL (sub-pallets PLb) loaded with goods from the outside, and an output conveyor for transporting predetermined pallets to the outside. The pallets PL loaded with goods brought in by the input conveyor are stored in racks 4 by the stacker crane 6.

[0022] Here, the pallet PL on which goods brought in from the outside by the aforementioned loading conveyor is placed is called the child pallet PLb, and the present invention assumes that this child pallet PLb from the outside is dirty or highly likely to be dirty, and transports the child pallet PLb by placing it on a clean parent pallet PLa (in the state of parent-child pallet PLc), as described later.

[0023] Furthermore, as shown in Figure 1, the transport system 1 includes a pallet magazine (hereinafter referred to as "PL magazine") 12 located on a predetermined shelf in the automated warehouse 2. This PL magazine 12 has the function of stacking and storing multiple clean empty pallets PLa (hereinafter referred to as "parent pallets PLa"), such as 10 pallets, which are kept clean and free of dirt.

[0024] Specifically, the PL magazine 12 has the function of taking out one empty parent pallet PLa from multiple empty pallets PLa stored in the PL magazine 12. Specifically, the PL magazine 12 is configured to lift the top nine of the ten pallets upwards, and to scoop up and take out the remaining bottom pallet PLa from below with the slide fork 10 of the stacker crane 6.

[0025] As a variation, instead of the PL magazine 12 described above, or together with the PL magazine 12, a shelf tier for parent pallets PLa with narrow vertical spacing may be formed on the rack 4, and the stacker crane 6 may take out empty parent pallets PLa one by one from such a shelf tier for parent pallets PLa.

[0026] Such a parent pallet PLa is a pallet used to supply child pallets PLb, on which goods (such as materials or work in progress) P are loaded, to a designated factory. In this invention, the parent pallet PLa is kept clean and is used to load and transport child pallets PLb. In each diagram, for convenience, the parent pallet PLa and the child pallet PLb are shown separately, but basically, the parent pallet PLa and the child pallet PLb are the same shape. However, even if they have different shapes, it is acceptable as long as the parent pallet PLa can load the child pallet PLb.

[0027] Furthermore, as shown in Figure 1, the transport system 1 includes a power slider 14 installed in a portion of the lower level within the automated warehouse 2, on a surface continuous with the factory floor. This power slider 14 is positioned within the automated warehouse 2 and on the factory floor adjacent to the stacker crane 6, and is designed to receive pallets PL directly from the stacker crane 6. A safety door is provided on the side of the automated warehouse 2 to separate the power slider 14 from the factory.

[0028] The power slider 14 mainly consists of two support columns 16 and movable claw members (not shown) provided on each support column 16. Figure 1 is a side view of the power slider 14, and only one support column 16 is shown. The claw members operate between a closed position, where they are housed within each support column 16, and an open position, where they protrude between the support columns 16 to support the pallet PL. The claw members protrude into the pallet PL to support it at approximately the midpoint of the vertical direction on the side of the pallet PL, and move up and down using a ball screw or the like. As the claw members move downward, the pallet PL is lowered (descended and transported onto the floor) onto the floor surface of the factory (shown in Figure 1 as the "production line side"). This floor surface is the floor surface of a designated factory (for example, a factory equipped with a food manufacturing line, a pharmaceutical manufacturing line, a secondary battery manufacturing line, etc.) whose interior must be kept clean.

[0029] The transport system 1 includes a controller 18 (shown only in Figure 1) that controls the operation of the stacker crane 6, its slide fork 10, power slider 14, and other components. The stacker crane 6, power slider 14, and other components operate according to control signals transmitted from the controller 18 via wireless or wired communication.

[0030] Next, the control operation of the transport system 1 by the controller 18 will be explained with reference to Figures 2A to 2F. Figures 2A to 2F are diagrams illustrating the operating state of the transport system shown in Figure 1. First, as shown in Figure 2A, child pallets PLb loaded with goods P are pre-stored in the racks 4 of the automated warehouse 2 via the aforementioned input conveyor and stacker crane 6. Then, an empty parent pallet PLa is dispensed from the PL magazine 12 by the slide fork 10 of the stacker crane 6, and the parent pallet PLa is then lowered to a position adjacent to the power slider 14 as shown in Figure 2A.

[0031] Next, as shown in Figure 2B, the parent pallet PLa is released to the power slider 14 by the slide fork 10 of the stacker crane 6, and the power slider 14 receives it. At this time, the parent pallet PLa is held by the claw member of the power slider 14. Next, as shown in Figure 2C, the parent pallet PLa held by the power slider 14 is lowered to the factory floor (descended and transported onto the floor) by lowering its claw member.

[0032] Next, as shown in Figure 2D, the stacker crane 6 retrieves a sub-pallet PLb loaded with cargo P that was previously stored in the rack 4, and then the sub-pallet PLb is lowered to a position adjacent to the power slider 14 as shown in Figure 2D. Next, as shown in Figure 2E, the child pallet PLb is released to the power slider 14 by the slide fork 10 of the stacker crane 6, and the power slider 14 receives it. At this time, the child pallet PLb is held by the claw member of the power slider 14.

[0033] Next, as shown in Figure 2F, the child pallet PLb held by the power slider 14 is lowered onto the parent pallet PLa which is lowered to the floor surface by lowering its claw member (it is lowered and transported onto the parent pallet PLa), thereby forming a parent-child pallet PLc in which the child pallet PLb is loaded onto the parent pallet PLa. Once the parent-child pallet PLc is formed, a factory worker, for example, uses a hand lift to scoop up the parent-child pallet PLc and transport it to the production line. Through the above processes, external goods (such as raw materials and work-in-progress) P are supplied to the factory's production line. Subsequently, the operations shown in Figures 2A to 2F are repeated depending on the number of child pallets PLb stored in rack 4.

[0034] As a modification of this embodiment, the slide fork 22 may be given a lifting function to raise the parent pallet PLa below the child pallet PLb held at a predetermined height to form a parent-child pallet PLc. In this case, first, the child pallet PLb, which has the cargo P that was previously stored in the rack 4, is released by the stacker crane 6 and then moved to the power slider 14 by the slide fork 10, where it is held at a predetermined height by the claw member of the power slider 14. Next, one empty parent pallet PLa that was stored in the PL magazine 12 is released by the stacker crane 6 and moved to a position below the child pallet PLb by the slide fork 10. Then, the lifting function of the slide fork 10 is used to raise (transport) the parent pallet PLa and bring it into contact with the child pallet PLb from below. Next, the engagement of the claw member of the power slider 14 with the child pallet PLb is released to form a parent-child pallet PLc. That is, the parent pallet PLa is transported upward until the child pallet PLb is placed on top of the parent pallet PLa, and the loading operation is performed.

[0035] Next, the schematic configuration of a transport system according to one embodiment of the present invention will be explained with reference to Figure 3. Figure 3 is a front view showing the schematic configuration of an automated warehouse to which the transport system according to one embodiment of the present invention is applied. Hereafter, the same reference numerals will be used for components similar to those in Figures 1 and 2 described above. First, as shown in Figure 3, reference numeral 100 indicates a transport system according to this embodiment, and this transport system 100 is applied to the automated warehouse 2. The automated warehouse 2 shown in Figure 3 is located at the boundary between the outside and the factory (production line).

[0036] The automated warehouse 2, similar to the embodiment shown in Figure 1, is capable of storing goods placed on pallets PL (see Figure 4) and has a pair of racks 4 with multiple shelves, and a stacker crane 6 and its passage 8 located between the pair of racks 4. The stacker crane 6 is equipped with a slide fork 10 for retrieving pallets PL stored in the racks 4 or for transferring pallets PL to a lifter station 20, which will be described later.

[0037] Although not shown in Figure 3, the automated warehouse 2 includes an input conveyor for bringing in pallets PL (sub-pallets PLb) loaded with goods to be stored in rack 4 from the outside, and an output conveyor for transporting empty pallets PL (sub-pallets PLb) to the outside after the goods have been delivered to a factory or the like. The pallets PL loaded with goods brought in by the input conveyor are stored in rack 4 by the stacker crane 6.

[0038] Here, the pallet PL on which goods brought in from the outside by the aforementioned loading conveyor is placed is called the child pallet PLb, and the present invention assumes that this child pallet PLb from the outside is dirty or highly likely to be dirty, and transports the child pallet PLb by placing it on a clean parent pallet PLa (in the state of parent-child pallet PLc), as described later.

[0039] Furthermore, as shown in Figure 3, the transport system 100 includes a pallet magazine (hereinafter referred to as "PL magazine") 12 provided on a predetermined shelf level in the automated warehouse 2. This PL magazine 12 is the same device as the one described in the embodiment of Figure 1, and has the function of stacking and storing multiple clean empty pallets PLa (hereinafter referred to as "parent pallets PLa"), such as 10 pallets, that are kept clean and free of dirt.

[0040] Such a parent pallet PLa is a pallet used to supply child pallets PLb, on which goods (such as materials or work in progress) P are loaded, to a designated factory. In this invention, the parent pallet PLa is kept clean and is used to load and transport child pallets PLb.

[0041] Furthermore, as shown in Figure 3, the transport system 100 includes a lifter station 20 located in a portion of the lower level within the automated warehouse 2. This lifter station 20 is positioned adjacent to the stacker crane 6 so that pallets PL are transferred from the slide forks 10 of the stacker crane 6. The lifter station 20 has the function of lifting the pallet PL, which allows the slide fork 22 from outside the warehouse, described later, to enter underneath the pallet PL. Furthermore, the lifter station 20 has a function to lower the pallet PL so that the pallet PL is placed on the slide fork 22 outside the warehouse.

[0042] Furthermore, as shown in Figure 3, the transport system 100 is equipped with a slide fork 22 located adjacent to the automated warehouse 2. This slide fork 22 has the same function as the slide fork 10 of the stacker crane 6, and through this function, it has the ability to transfer the pallet PL held by the lifter station 20 to the power slider 24, which will be described later.

[0043] Furthermore, as shown in Figure 3, the transport system 100 includes a power slider 24 provided on the production line side. This power slider 24 has the same configuration and function as the power slider 14 in the embodiment described using Figure 1, so its description is omitted here. When the claw member of the power slider 24 moves downward, the pallet PL is lowered (descended and transported onto the floor) onto the floor surface inside the factory (on the production line side, as shown in Figure 3). This floor surface is the floor surface of a predetermined factory (for example, a factory equipped with a food manufacturing line, a pharmaceutical manufacturing line, a secondary battery manufacturing line, etc.) whose interior must be kept clean.

[0044] The transport system 100 includes a controller 26 that controls the operation of the stacker crane 6 and its slide forks 10, the lifter station 20, the slide forks 22 outside the warehouse, the power slider 24, and other components. The stacker crane 6 and power slider 24 operate according to control signals transmitted from the controller 26 via wireless or wired communication.

[0045] Next, the control operation of the transport system 100 by the controller 26 will be explained with reference to Figures 4A to 4K. Figures 4A to 4K are diagrams illustrating the operating state of the transport system shown in Figure 3. First, as shown in Figure 4A, child pallets PLb, on which goods P are loaded, are pre-stored in rack 4 of the automated warehouse 2 via the aforementioned input conveyor and stacker crane 6. Then, one empty parent pallet PLa is dispensed from PL magazine 12 by the slide fork 10 of the stacker crane 6, and the parent pallet PLa is then lowered to a position adjacent to the lifter station 20, as shown in Figure 4A.

[0046] Next, as shown in Figure 4B, this parent pallet PLa is released to the lifter station 20 by the slide fork 10 of the stacker crane 6, where the lifter station 20, in its raised position, receives and holds it. Next, as shown in Figure 4C, the slide fork 22 extends laterally below the parent pallet PLa, which is held in the raised position. Subsequently, the parent pallet PLa is lowered by the lifting function of the lifter station 20 and placed on the slide fork 22.

[0047] Next, as shown in Figure 4D, the parent pallet PLa, which is placed on the slide fork 22, moves towards the factory side by retracting the slide fork 22, which was extending laterally. Next, as shown in Figure 4E, the slide fork 22 extends laterally toward the power slider 24, and the power slider 24 receives the parent pallet PLa. At this time, the parent pallet PLa is held by the claw member of the power slider 24, and then the claw member is raised to hold the parent pallet PLa in the raised position. Meanwhile, as shown in Figure 4E, the stacker crane 6 retrieves a sub-pallet PLb loaded with cargo P that was previously stored in the rack 4, and then the sub-pallet PLb is lowered to a position adjacent to the lifter station 20 as shown in Figure 4E.

[0048] Next, as shown in Figure 4F, the slide fork 22 is stored below the parent pallet PLa, which is held by the power slider 24. On the other hand, as shown in Figure 4F, the sub-pallet PLb on which the load P is placed is transferred to the lifter station 20, which is in the raised position, by the slide fork 10 of the stacker crane 6.

[0049] Next, as shown in Figure 4G, the parent pallet PLa, which is held in the raised position by the power slider 24, is lowered to the factory floor by lowering its claw members (it is lowered and transported onto the floor). On the other hand, as shown in Figure 4G, a slide fork 22 extends laterally below the child pallet PLb which is held in the raised position, and then the function of the lifter station 20 lowers the child pallet PLb onto the slide fork 22.

[0050] Next, as shown in Figure 4H, the child pallet PLb placed on the slide fork 22 moves toward the factory side by retracting the slide fork 22, which was extending laterally. Next, as shown in Figure 4I, the slide fork 22 extends laterally toward the power slider 24, and the power slider 24 receives the child pallet PLb. At this time, the child pallet PLb is held by the claw member of the power slider 24, and then the claw member is raised to hold the child pallet PLb in the raised position. At this time, similar to Figure 4A described above, the slide fork 10 of the stacker crane 6 dispenses the next parent pallet PLa from the PL magazine 12 and lowers it to a position adjacent to the lifter station 20, as shown in Figure 4I.

[0051] Next, as shown in Figure 4J, the slide fork 22 is retracted below the child pallet PLb held by the power slider 24. On the other hand, as shown in Figure 4J, the next parent pallet to be used, PLa, is transferred to the lifter station 20, which is in the raised position, by the slide fork 10 of the stacker crane 6.

[0052] Next, as shown in Figure 4K, the child pallet PLb held by the power slider 24 lowers its claw member and is lowered onto the parent pallet PLa which is on the floor (it is lowered and transported onto the parent pallet PLa), thereby forming a parent-child pallet PLc in which the child pallet PLb is loaded onto the parent pallet PLa. Once the parent-child pallet PLc is formed, for example, a factory worker can use a hand lift to pick up the parent-child pallet PLc and transport it to the production line. Through the above processes, external goods (such as raw materials and work-in-progress) P are supplied to the factory's production line. Subsequently, the operations shown in Figures 4A to 4K are repeated according to the number of child pallets PLb stored in rack 4.

[0053] In this embodiment, which performs the loading operation as described above using Figures 3 and 4A to 4K, the stacking operation of the parent pallet PLa and child pallet PLb by the power slider 24 and the transport operation of the parent pallet PLa and child pallet PLb by the stacker crane 6 can be performed simultaneously and in parallel. As a result, a large number of packages (P) can be delivered to the designated factory in a shorter amount of time.

[0054] As a variation of this embodiment, the slide fork 22 outside the warehouse described above may be given a lifting function, while the lifting function of the claw member with opening and closing mechanism of the power slider 24 described above may be omitted. In this case, after the child pallet PLb is held by the engaging claw of the power slider (24) without a lifting mechanism, the slide fork (22) is extended to transport the parent pallet PLa to below the child pallet PLb, and the lifting function of the slide fork (22) is used to raise (transport) the parent pallet PLa to form a parent-child pallet PLc. That is, the parent pallet PLa is transported upward until the child pallet PLb is placed on top of the parent pallet PLa, and the loading operation is performed.

[0055] Next, Figure 5 will illustrate the schematic configuration of an autonomous vehicle and each station to which a transport system according to one embodiment of the present invention is applied. Figure 5 is a plan view showing the schematic configuration of an autonomous vehicle and each station to which a transport system according to one embodiment of the present invention is applied. Figure 5 shows an example of applying the transport system according to the present invention to a transport system equipped with an automated guided vehicle (AGV) that can automatically travel along a predetermined route and transport pallets PL. As shown in Figure 5, reference numeral 200 denotes the transport system according to this embodiment, and this transport system 200 is located at the boundary between the outside (the outside of the transport system and the factory, which is the outside from which predetermined goods (such as materials and work-in-progress) are transported) and the factory (production line).

[0056] The transport system 200 comprises an unmanned vehicle V, an area A on which the unmanned vehicle V travels, an input conveyor 30 for bringing sub-pallets PLb into area A from the outside, a sub-pallet loading station (hereinafter referred to as "sub-PL loading station") 32 located within area A and at the end of the input conveyor 30, a sub-pallet removal station (hereinafter referred to as "sub-PL removal station") 34 located adjacent to the sub-PL loading station 32, and an output conveyor 36 for transporting sub-pallets PLb from the sub-PL removal station 34 to the outside.

[0057] First, Area A is located between the input conveyor 30 and the factory (production line), and is separated by a predetermined wall member 37, and is the area on which the unmanned vehicle V travels. At the far end of Area A (the "production line side" in Figure 5), there is a production line of the factory (for example, a factory equipped with a food manufacturing line, a pharmaceutical manufacturing line, a secondary battery manufacturing line, etc.), and this production line is connected to Area A.

[0058] Next, the unmanned vehicle V is an automated vehicle that carries and transports pallets PL, and automatically travels along a predetermined travel line L within area A. In this embodiment, the unmanned vehicle V has a lifter LF (see Figure 6) that raises and lowers the pallets PL.

[0059] Next, the incoming conveyor 30 is a device that transports sub-pallets PLb, which are loaded with goods (such as materials and work-in-progress) P brought in from outside, to the sub-pallet loading station 32 within area A.

[0060] Next, the child pallet loading station 32 is equipped with a power slider 38 (see Figure 6), which will be described later. As will be described later, the child pallet loading station 32 is a station that uses the power slider 38 to place the child pallet PLb on the parent pallet PLa brought by the unmanned vehicle V, thereby forming a parent-child pallet PLc. The parent-child pallet PLc is supplied by the unmanned vehicle V to the production conveyor at the back of area A.

[0061] Next, the child pallet removal station 34 is a station that separates the parent-child pallet PLc (parent-child pallet PLc with no cargo on the child pallet) that has been loaded onto an unmanned vehicle V from the factory after goods have been supplied to the factory (production line), into a parent pallet PLa and a child pallet PLb. The empty child pallet PLb separated at this child pallet removal station 34 is transported to the outside by the discharge conveyor 36.

[0062] On the other hand, at the child PL removal station 34, when the child pallet PLb is separated, the empty parent pallet PLa is transported to the child PL loading station 32 by the unmanned vehicle V if there is a child pallet PLb to be transported to the factory at the child PL loading station 32. In other words, in this case, the unmanned vehicle V moves to the adjacent child PL loading station 32. On the other hand, if there are no child pallets PLb to be transported to the factory at the child pallet loading station 32, the empty parent pallet PLa is transported by the unmanned vehicle V to the parent pallet stacking magazine 46, which will be described later.

[0063] Here, the pallet PL on which the cargo P brought in from the outside by the loading conveyor 30 is loaded is called the child pallet PLb, and the present invention assumes that this child pallet PLb from the outside is dirty or highly likely to be dirty, and transports the child pallet PLb by placing it on a clean parent pallet PLa (in the state of parent-child pallet PLc), as described later.

[0064] Next, as shown in Figure 5, the transport system 200 includes a parent pallet buffer station (hereinafter referred to as "parent PL buffer station") 44, a parent pallet stacking magazine (hereinafter referred to as "parent PL stacking magazine") 46, and a parent pallet unstacking magazine (hereinafter referred to as "parent PL unstacking magazine") 48.

[0065] First, the parent PL buffer station 44 is a station for temporarily storing multiple clean empty pallets PLa (hereinafter referred to as "parent pallet PLa"), such as 10 pallets, that have been kept in a clean and uncontaminated state.

[0066] Next, the parent PL stacking magazine 46 is a station for stacking (for example, up to 10) parent pallets from the unmanned vehicle V onto the parent pallet group in the parent PL stacking magazine 46, after the child pallet PLb has been separated at the child PL loading station 32 and, for example, another transport instruction has been assigned. The parent PL stacking magazine 46 is configured to lift multiple layers of parent pallets PLa upwards, store the parent pallets PLa on the unmanned vehicle V below them, and then lower the lifted multiple layers of parent pallets PLa for stacking.

[0067] Next, the parent PL pallet disassembly magazine 48 is a magazine that has the function of stacking and storing multiple parent pallets PLa, for example, 10 pallets, that are kept clean and free of dirt. Specifically, the parent PL disassembly magazine 48 has the function of taking one parent pallet PLa from multiple parent pallets PLa stored in the parent PL disassembly magazine 48 and placing it on the unmanned vehicle V. For example, in order to hand over one pallet PLa to the unmanned vehicle V, the parent PL disassembly magazine 48 lifts the upper nine of the ten pallets upwards and places the remaining lower pallet PLa on the unmanned vehicle V.

[0068] Here, the parent pallet PLa, which is loaded from the parent PL dismantling magazine 48 onto the unmanned vehicle V, is a pallet used to supply child pallets PLb loaded with cargo (materials, work in progress, etc.) P into a designated factory. In this invention, the parent pallet PLa is kept clean and is used to carry and transport child pallets PLb. The parent pallets stored in the parent PL unpacking magazine 48 are transported from the parent PL stacking magazine 46 by the unmanned vehicle V at predetermined times.

[0069] The transport system 200 includes a controller 50 (shown only in Figure 5) that controls the operation of each of the following: the unmanned vehicle V and its lifter LF, the input conveyor 30, the child PL loading station 32 and its power slider 38, the child PL removal station 34, the output conveyor 36, the parent PL stacking magazine 46, the parent PL unstacking magazine 48, etc. These unmanned vehicle V, child PL loading station 32, etc., operate according to control signals transmitted from the controller 50 via wireless or wired communication.

[0070] Next, the control operation of the transport system 200 by the controller 50 will be explained with reference to Figures 6A to 6F. Figures 6A to 6F are diagrams illustrating the operating state at the child pallet loading station of the transport system shown in Figure 5. First, the configuration of the power slider 38 provided in the sub-PL loading station 32 will be explained with reference to Figures 6A to 6F. As shown in Figures 6A to 6F, the power slider 38 mainly consists of two support columns 40 and vertically movable claw members 42 provided on each support column 40. The claw members 42 operate between a closed position where they are housed within each support column 40 and an open position where they protrude between the support columns 40 from this closed position to support the pallet PL. The claw members 42 protrude into the pallet PL to support the pallet PL at approximately the midpoint of the vertical direction on the side surface of the pallet PL, and move up and down in the vertical direction by means of a ball screw or the like.

[0071] Next, we will explain the formation operation of the parent and child pallets PLc in the child PL loading station 32. First, as shown in Figure 6A, the sub-pallet PLb carrying the cargo P arrives at the sub-pallet loading station 32 via the input conveyor 30. Next, as shown in Figure 6B, the claw member 42 of the power slider 38 is inserted (opened) into the side of the arriving child pallet PLb, and the child pallet PLb is held in place. Next, as shown in Figure 6C, the claw member 42 rises, and the child pallet PLb is held in an elevated position a predetermined distance away from the loading conveyor 30. Next, as shown in Figure 6D, the unmanned vehicle V carrying the parent pallet PLa enters below (directly below) the child pallet PLb, which is held in the raised position. The parent pallet PLa is resting on the lifter LF of the unmanned vehicle V. Next, as shown in Figure 6E, the claw member 42 of the power slider 38 descends, and the child pallet PLb is lowered onto the parent pallet PLa on the unmanned vehicle V (it descends and is transported onto the parent pallet PLa). Next, as shown in Figure 6F, the claw member 42 that was holding the child pallet PLb is withdrawn (set to the closed position), and the parent and child pallets PLc are formed on the unmanned vehicle V.

[0072] Specifically, as shown in Figures 6A to 6F, the (potentially dirty) child pallet PLb is held in an upward position, and an automated guided vehicle V with a lifter carrying a (clean) parent pallet PLa is sent below it. The claw member 42 of the power slider 38 is lowered, disengaging from the child pallet PLb, and the child pallet PLb is transported onto the parent pallet PLa. This creates a parent-child pallet PLc with the cargo P on it. By transporting this parent-child pallet PLc by the automated guided vehicle V, the parent-child pallet PLc with the cargo P is supplied to the production conveyor in the factory.

[0073] As a modification of this embodiment, the parent pallet PLa may be raised (transported) by the operation of the lifter LF of the unmanned vehicle V to form a parent-child pallet PLc. In this case, first, the child pallet PLb loaded with cargo P is transported to the child PL loading station 32 by the input conveyor 30. Next, for example, the child pallet PLb is raised by the lifting function of the claw member 42 until it reaches a predetermined height position where there is a gap below the child pallet PLb on the input conveyor 30 for the parent pallet PLa to enter, and is held at that height position. Next, the unmanned vehicle V carrying the parent pallet PLa is brought below the child pallet PLb, and the parent pallet PLa is raised (transported) by the lifter LF and brought into contact with the child pallet PLb from below. Next, the engagement of the claw member 42 with the child pallet PLb is released to form a parent-child pallet PLc on the unmanned vehicle V. In other words, the loading operation is performed by transporting the parent pallet PLa upwards until the child pallet PLb is placed on top of the parent pallet PLa.

[0074] Next, the effects and advantages of the transport system according to embodiments of the present invention and its modifications will be described. First, the conveying systems 1, 100, and 200 according to this embodiment and its modifications are conveying systems for transporting cargo P by placing a child pallet PLb on a parent pallet PLa, where the child pallet PLb is a pallet on which cargo P is brought in from outside, and the parent pallet PLa is a pallet on which the child pallet PLb loaded with cargo P is placed and transported into a predetermined factory (for example, a factory equipped with a food manufacturing line, a pharmaceutical manufacturing line, a secondary battery manufacturing line, etc.), and the conveying systems 1, 100, and 200 include a parent pallet storage section (pallet magazine 12, parent pallet disassembly magazine 48, rack shelf for parent pallets) for storing the parent pallet PLa in a predetermined location, and the parent pallet PLa and child pallet PLb The system comprises "multiple pallet transport devices" (stacker crane 6, power sliders 14, 24, lifter station 20, slide fork 22, unmanned vehicle V, input conveyor 30, child pallet loading station 32, power slider 38, etc.) configured to transport and / or load child pallets PLb onto parent pallets PLa, and controllers 18, 26, 50 that control these "multiple pallet transport devices". The controllers are configured to have the aforementioned "multiple pallet transport devices" transport child pallets PLb carrying goods P brought in from outside and empty parent pallets PLa individually, and to place the child pallets PLb on top of the transported empty parent pallets PLa. With the transport systems 1, 100, and 200 configured in this way, a potentially dirty child pallet PLb, on which cargo P is loaded and brought in from outside, can be automatically placed on a clean parent pallet PLa to form a parent-child pallet PLc, and this parent-child pallet PLc can be supplied into the factory (production line). As a result, even if the child pallet PLb brought in from outside is dirty, the factory can be kept clean without soiling it.

[0075] In this invention, the "multiple pallet transport devices" configured to transport a parent pallet PLa and a child pallet PLb and / or to load the child pallet PLb onto the parent pallet PLa refer to multiple devices consisting of a stacker crane 6 and a power slider 14 which is a parent-child pallet stacking device, as shown in the embodiments and modified examples in Figures 1 and 2. Furthermore, in the present invention, "multiple pallet transport devices" configured to transport a parent pallet PLa and a child pallet PLb and / or load the child pallet PLb onto the parent pallet PLa means, in the embodiments and modified examples shown in Figures 3 and 4, a stacker crane 6 and multiple devices consisting of a power slider 24, a lifter station 20, and a slide fork 22, which are parent-child pallet stacking devices. Furthermore, in the present invention, "multiple pallet transport devices" configured to transport a parent pallet PLa and a child pallet PLb and / or load the child pallet PLb onto the parent pallet PLa means, in the embodiments and modified examples shown in Figures 5 and 6, multiple devices consisting of an input conveyor 30, an unmanned vehicle V, and a power slider 38 which is an engagement device that engages with the child pallet PLb.

[0076] Furthermore, the transport systems 1 and 100 applied to the automated warehouse 2 are equipped with racks 4 for storing a parent pallet PLa and a child pallet PLb loaded with goods, respectively. The aforementioned "multiple pallet transport devices" include a stacker crane 6 for individually transporting the parent pallet PLa and child pallet PLb stored in the racks 4, and a parent-child pallet stacking device (power sliders 14 and 24, lifter station 20, slide fork 22) for stacking the child pallet PLb on top of the parent pallet PLa. The controllers 18 and 26 are configured to use the stacker crane 6 to transport the parent pallet PLa and the child pallet PLb loaded with goods individually and continuously from the racks 4 to the parent-child pallet stacking device (14, 24, 20, 22), and to use the parent-child pallet stacking device (14, 24, 20, 22) to place the child pallet PLb loaded with goods on top of the parent pallet PLa. With a transport system 1,100 configured in this way, a potentially dirty child pallet PLb brought in from outside can be automatically placed on a clean parent pallet PLa to form a parent-child pallet PLc, and this parent-child pallet PLc can be supplied into the factory (production line).

[0077] Furthermore, in the transport systems 1 and 100 applied to the automated warehouse 2, the parent-child pallet stacking device is a power slider 14 that transports the parent pallet PLa and child pallet PLb individually in the vertical direction to form a parent-child pallet PLc. The power slider 14 is positioned adjacent to the stacker crane 6 so that the parent pallet PLa and child pallet PLb transported by the stacker crane 6 are directly handed over to the power slider 14. With a transport system 1,100 configured in this way, a potentially dirty child pallet PLb brought in from outside can be automatically placed on a clean parent pallet PLa to form a parent-child pallet PLc, and this parent-child pallet PLc can be supplied into the factory (production line) with a simple configuration.

[0078] Furthermore, in the transport system 200 applied to the unmanned vehicle system, the aforementioned "multiple pallet transport devices" include an input conveyor 30 that brings in child pallets PLb loaded with cargo P from the outside, located near the parent pallet storage unit (parent pallet unpacking magazine 48); an engagement device (power slider 38 of the child pallet loading station 32) that engages with the child pallet PLb to hold the child pallet PLb loaded with cargo P on the input conveyor 30; and an unmanned vehicle V for transporting the parent pallet PLa from the parent pallet storage unit (48) to the engagement device (38). The controller 50 is configured to have the unmanned vehicle V transport an empty parent pallet PLa to directly below the child pallet PLb held by the engagement device (38), thereby forming a parent-child pallet PLc on the unmanned vehicle V. With a transport system 200 configured in this way, a potentially dirty child pallet PLb brought in from outside can be automatically placed on a clean parent pallet PLa to form a parent-child pallet PLc, and this parent-child pallet PLc can be supplied into the factory (production line).

[0079] Furthermore, the transport system 200 applied to the unmanned vehicle system is further equipped with an outgoing conveyor 36 positioned close to the input conveyor 30 for transporting the child pallet PLb to the outside. The controller 50 is configured to transport only the child pallet PLb to the outside via the outgoing conveyor 36 from the empty parent-child pallet PLc, from which the cargo (P) has been removed and which is being transported by the unmanned vehicle V. After that, the controller 50 is configured to move the unmanned vehicle V to directly below the child pallet PLb, which is held by the engagement device (38) with the parent pallet PLa on it. With this configuration of the transport system 200, when the cargo P is supplied to the factory and the unmanned vehicle V returns from the factory, only the child pallet PLb is unloaded from the parent-child pallet PLc to the outside, and then the unmanned vehicle V transports the empty parent pallet PLa directly below the engagement device (38) of the nearby input conveyor 30. Therefore, since the parent pallet PLa does not need to be returned to the parent pallet storage unit (48), the travel time and energy of the unmanned vehicle V can be saved.

[0080] Furthermore, in the transport system 200 applied to the unmanned vehicle system, the unmanned vehicle V is equipped with a lifter LF, and the controller 50 is configured to operate the lifter LF of the unmanned vehicle V to raise (transport) the parent pallet PLa, thereby forming a parent-child pallet PLc on the unmanned vehicle V. Alternatively, the engaging device (38) is movable up and down, and the controller 50 is configured to operate the lifting device of the engaging device (38) to lower (transport) the child pallet PLb held by the engaging device (38), thereby forming a parent-child pallet PLc on the unmanned vehicle V. With a transport system 200 having this configuration, a parent-child pallet PLc can be formed with a simple configuration. [Explanation of Symbols]

[0081] 1, 100, 200 Conveyor Systems 2 Automated warehouse 4 racks 6. Stacker crane (pallet handling device) 8. Crane walkway 10. Stacker crane slide fork (pallet transport device) 12. Pallet Magazine (Parent Pallet Storage Device, Parent Pallet Storage Section) 14, 24 Power slider (pallet transport device, parent / child pallet stacking device) 16 pillars 18, 26 Controllers 20. Lifting Station (Pallet Conveying Device, Parent-Child Pallet Stacking Device) 22. Slide fork (pallet transport device, parent / child pallet stacking device) 30. Incoming conveyor (pallet transport device) 32. Sub-pallet loading station (pallet transport device, engagement device) 34. Small Pallet Removal Station 36. Discharge conveyor 38 Power slider (pallet transport device, engagement device) 40 pillars 42 Power slider claw component 44 Parent Pallet Buffer Station 46 Parent Pallet Stacking Magazine 48. Parent pallet detangling magazine (parent pallet storage device, parent pallet storage section) 50 Controllers A. Operating area for autonomous vehicles P Luggage PL Palette PLa Parent Palette PLb child palette PLc Parent-Child Palette V. Autonomous vehicle (pallet transport device) L: Driving line for autonomous vehicles LF Unmanned Vehicle Lift

Claims

1. A transport system for transporting goods by placing a child pallet on a parent pallet, A sub-pallet is a pallet that carries goods brought in from outside, and a parent pallet is a pallet that carries the sub-pallets loaded with goods and transports them into the designated factory. The above transport system is A parent pallet storage unit that stores parent pallets in a designated location, Multiple pallet transport devices configured to transport parent pallets and child pallets, and / or to load child pallets onto parent pallets, The system includes a controller that controls the above-mentioned multiple pallet transport devices, The above controller is configured to individually transport child pallets loaded with goods brought in from the outside and empty parent pallets using the above-mentioned multiple pallet transport devices, and to place the transported child pallets loaded with goods on top of the empty parent pallets. It is equipped with racks for storing both the parent pallet and the child pallets loaded with goods. The above-mentioned multiple pallet transport devices are, A stacker crane for individually transporting the parent pallets and child pallets stored in the above rack, Includes a parent-child pallet stacking device for stacking child pallets on top of parent pallets, The above controller is configured to transport, individually and continuously, from the rack to the parent-child pallet stacking device, using the stacker crane, the parent-child pallet stacking device, and to place the child pallet with the goods on top of the parent pallet.

2. The above-mentioned parent-child pallet stacking device is a power slider that transports parent and child pallets individually in the vertical direction to form parent-child pallets. The conveying system according to claim 1, wherein the power slider is positioned adjacent to the stacker crane so that the parent pallet and child pallet conveyed by the stacker crane are directly handed over to the power slider.

3. A transport system for transporting goods by placing a child pallet on a parent pallet, A sub-pallet is a pallet that carries goods brought in from outside, and a parent pallet is a pallet that carries the sub-pallets loaded with goods and transports them into the designated factory. The above transport system is A parent pallet storage unit that stores parent pallets in a designated location, Multiple pallet transport devices configured to transport parent pallets and child pallets, and / or to load child pallets onto parent pallets, The system includes a controller that controls the above-mentioned multiple pallet transport devices, The above controller is configured to individually transport child pallets loaded with goods brought in from the outside and empty parent pallets using the above-mentioned multiple pallet transport devices, and to place the transported child pallets loaded with goods on top of the empty parent pallets. The above-mentioned multiple pallet transport devices are, Located near the above-mentioned main pallet storage area, an incoming conveyor is used to bring in sub-pallets loaded with goods from the outside. An engagement device that engages with a sub-pallet to hold the sub-pallet on which the goods on the above-mentioned loading conveyor are located, This includes an unmanned vehicle for transporting the parent pallet from the parent pallet storage unit to the engagement device, The above-mentioned controller is configured to transport an empty parent pallet to directly below the child pallet held by the engagement device using the above-mentioned autonomous vehicle, thereby forming a parent-child pallet on the autonomous vehicle.

4. The above transport system further includes an output conveyor positioned adjacent to the input conveyor for transporting sub-pallets to the outside. The transport system according to claim 3, wherein the controller is configured to transport only the child pallet from the parent-child pallet, from which the cargo has been removed and which is being transported by the unmanned vehicle, to the outside using the transport conveyor, and then to move the unmanned vehicle to directly below the child pallet held by the engagement device with the parent pallet on it.

5. The engagement device is equipped with a lifting device, and the controller is configured to operate the lifting device of the engagement device to lower the child pallet held by the engagement device, thereby forming a parent-child pallet on the unmanned vehicle, or The transport system according to claim 3 or 4, wherein the unmanned vehicle is equipped with a lifter, and the controller is configured to operate the lifter of the unmanned vehicle to raise the parent pallet, thereby forming a parent-child pallet on the unmanned vehicle.

Images