JP4815068B2 - Transport mechanism and automatic warehouse equipped with the same - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
  The present invention relates to a vertical circulation type transport mechanism and an automatic warehouse equipped with the same.
[0002]
[Prior art]
  There are various types of automatic warehouses. A stacker crane system that loads and unloads the racks with a single stacker crane, a cart system in which self-propelled carts are arranged horizontally for each shelf, or a load There is a free rack system in which the shelves are configured with a plurality of rollers so as to move on the shelves.
[0003]
  In the case of the stacker crane method, the load is directly transferred between the storage conveyor and the output conveyor and the shelf by the stacker crane, but in the case of the cart method or the free rack method, it is close to the end of the shelf group. A lift device is provided, and goods are loaded and unloaded via this lift device.
[0004]
  There are two types of lift devices, one lifter moving up and down, and a number of lifters circulating in the vertical direction. Examples of the latter include, for example, Japanese Patent Publication No. 55-3241 and Japanese Utility Model Application Publication No. 6-47230. It is described in the gazette.
[0005]
[Problems to be solved by the invention]
  By the way, in an automatic warehouse equipped with a vertical circulation type lift device, the lifter is continuously moved in order to make full use of the capacity of the lift device and increase the efficiency of delivery or receipt.ofIs preferred.
[0006]
  In that case, for example, when a lift device is provided in the shipping section, it is necessary to provide a discharge conveyor for transferring the load to the lifter for each shelf.
[0007]
  The inventors have studied such an automatic warehouse. The height of the discharge conveyor is constant, but the height of the lifter changes (lowers), that is, the discharge conveyor at the beginning of the transition of the load. Even when the lifter and the lifter are the same height, the lifter is lower than the discharge conveyor when it completely moves, so there is a phenomenon that the load is thrown into the lifter so that the load is easily damaged by impact. At the same time, the durability of the lifter may be lowered.
[0008]
  For example, in order to efficiently deliver a large number of loads, it is preferable that the loads can be simultaneously transferred from a plurality of discharge conveyors to a plurality of lifters. However, conventionally, special consideration has not been given to the vertical intervals of the lifters. In addition, since the vertical spacing of the shelves and the vertical spacing of the lifters do not match, the load cannot be transferred to a plurality of lifters at the same time, resulting in low shipping efficiency.
[0009]
  In addition, if the vertical distance of the lifter and the distance between the shelves do not match, the calculation system becomes complicated when controlling the height position of a specific lifter to a specific discharge conveyor height, and the processing speed is slow. Also hindered the improvement of shipping efficiency.
[0010]
  This invention makes it a subject to improve such a problem.
[0011]
[Means for Solving the Problems]
  The invention according to claim 1 relates to a transport mechanism, and the transport mechanism includes a vertical circulation type lift device provided so as to circulate a plurality of lifters capable of carrying one load in a vertical direction, and the lifter. Discharge conveyor for transferring loadsAnd a temporary placing conveyor for sending a load to the discharge conveyor. The temporary conveyor is in a horizontal position, while the discharge conveyor is tilted about the rear end close to the temporary conveyor so as to change the position from a substantially horizontal position to a position inclined downward toward the lifter. The load is sent from the temporary conveyor to the discharge conveyor in a substantially horizontal posture, and the load is transferred to the lifter in a posture in which the discharge conveyor is inclined.
[0012]
  The invention according to claim 2 relates to an automatic warehouse, and the automatic warehouse includes a hangar in which shelves capable of storing a large number of loads are provided in multiple stages, and each shelf has a shelf.A temporary placement conveyor with a horizontal posture is connected to the end of each temporary placement conveyor.Each has a discharge conveyor for delivery,SaidOutside the group of each discharge conveyor,A structure in which a vertical circulation type lift device provided so as to circulate a number of lifters capable of carrying one load in a vertical direction is arranged, and the load is transferred from the discharge conveyor to the circulating lifter The temporary conveyor is in a horizontal posture, while the discharge conveyor is centered on the rear end portion close to the temporary conveyor so that the posture of the discharge conveyor is changed from a substantially horizontal posture to a posture inclined downward toward the lifter. The load is sent from the temporary conveyor to the discharge conveyor in a substantially horizontal posture, and the load is transferred to the lifter in a posture in which the discharge conveyor is inclined.
[0013]
  According to a third aspect of the present invention, in the first or second aspect, the discharge conveyor is provided with a sensor for detecting a lifter.
[0014]
  According to a fourth aspect of the present invention, in the automatic warehouse according to the second or third aspect, the distance between adjacent lifters in the lift device is set to be the same as the vertical distance between the shelves.
[0015]
[Operation and effect of the invention]
  According to the first aspect of the present invention, even if the lifter is continuously moved, a difference in height occurs between the tip of the discharge conveyor and the lifter by tilting the discharge conveyor following the lifting and lowering of the lifter. Can be prevented or suppressed.
[0016]
  Therefore, the delivery of the load can be performed smoothly to prevent the load and the lifter from being impacted. As a result, the damage of the load and the decrease in the durability of the lifter can be prevented.
[0017]
  For example, in the case of claim 2, the load is transferred from the discharge conveyor to the lowering lifter. By following the lowering movement of the lifter and tilting the discharge conveyor downward, the upper surface of the lifter and the discharge conveyor Since the upper surface can be held substantially in the same plane, the load can be smoothly transferred from the discharge conveyor to the lifter.
[0018]
  As a result, it is possible to prevent the damage of the load and the durability of the lifter from being lowered under a state in which the shipping efficiency is remarkably improved.
[0019]
  By the way, in the case of Claim 2, for example, if the forward tilting timing of the discharge conveyor is too early, the load may collide with the front surface of the lifter. In this respect, since the position of the lifter can be accurately detected by the sensor, the tilting movement of the discharge conveyor can be made to follow the lowering movement of the lifter more accurately. The delivery of the load can be performed accurately.
[0020]
  If comprised like Claim 4, since each lifter moves by the space | interval same as the up-and-down space | interval of a shelf, a load can be simultaneously transferred with respect to a some lifter from the discharge conveyor of a some stage. Therefore, the efficiency of shipping can be improved significantly.
[0021]
  In addition, when the control device calculates which lifter is at which height position, the calculation formula becomes simple, so that it is possible to perform calculation processing as to which lifter should be transferred at high speed. As a result, the movement control of the lifter can be performed quickly, and the efficiency of loading and unloading can be further improved.
[0022]
DETAILED DESCRIPTION OF THE INVENTION
  Next, embodiments of the present invention will be described with reference to the drawings.
[0023]
  1 is a schematic perspective view of the automatic warehouse as viewed from the warehousing part, and FIG. 2 is a schematic plan view of the automatic warehouse near the warehousing part. Based on these drawings, an outline of the automatic warehouse excluding the delivery part will be described.
[0024]
  (1) Overview
  The automatic warehouse has a hangar 2 provided with multiple shelves 1 in which loads W can be arranged side by side in the frontage direction, a cart traveling unit 3 arranged so as to overlap the front surface of the hangar 2, and the hangar 2 in series in a plan view. The temporary storage part 4 for warehousing arrange | positioned so that it may rank in a line is provided. FIG. 1 shows a state in which two automatic warehouses are arranged back to back.
[0025]
  The hangar 2 is composed of a large number of front and rear columns 5 and a front frame 6 and a rear frame 7 arranged for each shelf to constitute a main frame. On the other hand, each trolley travel unit 3 is composed of a column 5 and front and rear rails 6 and 8 arranged for each shelf, and a self-propelled trolley 9 is mounted on the pair of rails 6 and 8. Is going to run.
[0026]
  The front frame 6 of the hangar 2 and the front rail 6 of the cart traveling unit 3 are the same members and are therefore denoted by the same reference numerals.
[0027]
  The temporary storage unit 4 for warehousing is composed of front and rear support columns 5 and front and rear rails 10 arranged for each shelf, and a main frame is constituted by a pair of rails 10. 11 (which may be referred to as a temporary storage shelf) is movably disposed.
[0028]
  The cart traveling unit 3 extends to a substantially middle portion of the temporary storage unit 4 for warehousing. Therefore, the load W can be transferred from the temporary cart 11 to the self-propelled cart 9. In addition, the temporary storage part 4 for warehousing is not restricted to a cart system, but may be a roller conveyor system or the like.
[0029]
  (2). Receipt Department
A storage elevator 13 (reservoir) 13 is disposed so as to be movable up and down via a pair of columns 12 at a site along the front surface of the temporary storage unit 4 and on the side of the carriage travel unit 3. A temporary storage conveyor 15 for warehousing connected to the terminal end of the warehousing conveyor 14 is provided below the temporary storage section 4 for warehousing.
[0030]
  As shown in the schematic perspective view of FIG.Is a bookA body frame 16 is provided, and five sets of transfer units 17 are provided on the main body frame 16. Each lifting / lowering unit 17 includes a large number of forks 18, and the five transfer units 17 as a whole move up and down after moving forward in the lowered state, or move forward and lowered after moving forward in the raised state. Or retreat.
[0031]
  Elevating guide bodies 19 are provided at both left and right ends of the main body frame 16, and guide rollers 20 for moving up and down along the columns 16 are provided on the elevating guide bodies 19. The elevating guide body 19 is suspended from a chain 21 wound around a sprocket that is pivotally supported on the upper end of the column 12, and by driving the chain 21, the elevating platform 13 for raising and lowering is raised to an arbitrary height. Can do.
[0032]
  The temporary storage conveyor 15 is a roller conveyor system, and a fork 18 of the storage elevator 13 is inserted between adjacent rollers. Therefore, by moving the transfer unit 17 forward in the lowered state and then raising and retreating, the five loads W can be simultaneously transferred to the warehousing platform 13.
[0033]
  (3). Temporary storage part for storage and trolley for temporary storage
  As shown in FIG. 4, the temporary carriage 11 includes a body frame 23 having a rectangular shape in plan view, and a large number of support bodies 24 formed by bending pipes in a lateral L-shape are juxtaposed on the body frame 23. is doing.
[0034]
  Five loads W can be placed side by side on the temporary carriage 11. And since the loading part of the temporary carriage 11 is comb-shaped with a large number of supports 24, the transfer unit 17 is advanced in the raised state after the warehousing platform 13 is raised. Then, the five loads W can be simultaneously transferred to the temporary placing cart 11 by being lowered and then retracted.
[0035]
  Although not shown, the body frame 23 includes a plurality of pairs of wheels that travel on the rail 10 of the temporary storage unit 4 for warehousing. As shown in FIG. 2, a sprocket 25 is rotatably attached to a column 5 (not shown) provided at an end of the temporary storage part 4 for storage and a bracket (not shown) provided on the rear rail 10, respectively. A chain 26 is wound around 25. The chain 26 is driven by a motor 27 disposed at the end of the temporary storage part 4 for warehousing.
[0036]
  As shown in FIGS. 2 and 4, the end of the body frame 23 is fixed to a part of the chain 26 via a bracket 28. Accordingly, by rotating the motor 27 forward and backward, the temporary carriage 14 is moved to the carriage travel unit 3.ofYou can move it forward or backward.
[0037]
  (4). Structure of shelf 1
  As shown in FIG. 5, the shelf 1 is provided with a large number of supports 24 extending in the depth direction, like the temporary carriage 11.
[0038]
  The front and rear ends of each support 24 are fixed to a support frame 29, the front support frame 29 is fitted in the upward concave groove 6 a of the front frame 6, and the rear support frame 29 is formed on the inner surface of the rear frame 7. It is fixed.
[0039]
  (5) Self-propelled cart
  As shown in FIG. 6, the self-propelled carriage 9 includes a main body frame 30 formed in a rectangular shape in a plan view, and a pair of traveling wheels 32 driven by a motor 31 and a fork 18 are provided on the main body frame 30. Five transfer units 33 provided are provided.
[0040]
  Each transfer unit 33 includes a drive motor 34. When the motor 34 is rotated forward, the transfer unit 33 moves forward and then moves upward and then moves backward. Thereby, the load W is replaced from the temporary storage cart 13 for warehousing.Butit can. Conversely, when the motor 34 is reversed, the transfer unit 33 moves forward and then moves downward and then moves backward. As a result, the load W can be transferred to the shelf 1.
[0041]
  In the self-propelled carriage 9, each transfer unit 33 can be independently driven when the load W is stored in the shelf 1 and there is not necessarily a space that can be stored in the shelf 1 at all. This is because five are not necessarily arranged.
[0042]
  (6) Overview of the shipping department
  Next, the outline | summary of the delivery part to which this invention is applied is demonstrated based on FIG. On the opposite side of the temporary storage unit 4 with respect to the hangar 2, temporary storage conveyors 36 of a length capable of simultaneously transferring five loads W from the self-propelled carriage 9 are placed on each shelf. It is provided for each stage.
[0043]
  A discharge conveyor 37 is disposed on the opposite side of the shelf 1 across the temporary storage conveyors 36, and the discharge conveyor 3737A circulation type unloading device 38 is disposed on the opposite side of the unloading temporary storage conveyor 36 across the group.
[0044]
  The circulation type unloading device 38 includes a pair of guide frames 39 extending vertically, a sprocket 40 rotatably attached between the upper end and the lower end thereof, a chain 41 wound around the upper and lower sprockets 40, and a shelf 1 A number of lifters 42 attached to the chain 41 with the same distance as the vertical distance H are provided.
[0045]
  The guide frame 39 is held by the support frame 43 so as not to fall down. Although not shown, a motor for driving the chain 41 is attached to the lower end of the guide frame 39.
[0046]
  A comb-shaped dispensing conveyor 44 and a relay conveyor 45 connected thereto are arranged below the discharge conveyor 37 and the temporary storage conveyor 36 located at the lowermost stage. The load W is transferred from the lifter 42 to the comb-shaped delivery conveyor 44 and the relay conveyor 45, and then loaded on the delivery conveyor 47 via the relay table 46 by means of lateral movement (not shown) such as a pusher. Be replaced.
[0047]
  (7). Temporary conveyor for shipping
  8 is a plan cross-sectional view of the shipping section, FIG. 9 is a partially enlarged view of FIG. 8, FIG. 10 (A) is a perspective view, and FIG. 11 is a side cross-sectional view.
[0048]
  For example, as shown in FIG. 10, the temporary placement conveyor 36 is a roller conveyor system having a large number of rollers 50 driven by a chain 49, and adjacent rollers.50Between these, there is a space for the fork 21 of the self-propelled carriage 9 to enter. Therefore, 1 to 5 loads W can be transferred from the self-propelled carriage 9 to the temporary placement conveyor 36 for delivery.
[0049]
  (8) .Discharge conveyor
  The discharge conveyor 37 includes a pair of side frames 51.OutClose to temporary storage conveyor 36At the rear edgeThe drive pulley 52 penetrates, and the driven pulley 53 is rotatably attached to the tip, and a belt 54 is wound around these pulleys 52 and 53.
[0050]
  One end of the drive pulley 42 is connected to the rotating shaft of the feed motor 55, and the other end is rotatably supported by a fixed frame 56 fixed to the column 5. Accordingly, the discharge conveyor 37 can swing up and down around the drive pulley 52. The feed motor 55 is fixed to the fixed frame 56.
[0051]
  A pair ofThe side frames 51 are integrally connected by a reinforcing shaft 57. A plurality of idle pulleys 58 that support the belt 54 are rotatably supported on the side frame 51.
[0052]
  A longitudinally long slot 59 is formed in a portion near the front end of the side frame 51, and the operating shaft 60 passes through the slot 59. Arms 61 extending in the same direction are fixed to both ends of the operating shaft 60, one arm 61 is fixed to the output shaft of a gear box provided in the tilting motor 62, and the other arm 61 is The pin is rotatably attached to the fixed frame 56 by a pin.
[0053]
  For this reason, the arm 60 and the operating shaft 60 are in the form of a crank. Accordingly, when the tilting motor 62 is driven to rotate the arm 61 downward, the discharge conveyor 37 can be tilted downward.
[0054]
  A roller 63 that contacts the belt 54 is rotatably fitted to the operating shaft 60. As shown in FIG. 11, the left and right fixed frames 56 are connected by a reinforcing frame 64 that also serves as a rotational position restriction for the discharge conveyor 37.
[0055]
  As shown in FIGS. 9 to 11, the left and right side frames 51 are provided with first photoelectric sensors 65 for detecting the lifters 42 (contact sensors such as limit switches and other non-contacts). You may use a mechanical sensor.).
[0056]
  One arm 61 of the two arms 61 is integrally provided with a dog 66. Further, as schematically shown in FIG. 10, a second sensor 67 for detecting the dog 66 is provided on the fixed frame 56 and the tilting motor.
[0057]
  (9). Circulation type delivery device
  Next, the lifter 42 will be described mainly based on FIGS.
[0058]
  12 and 13 are separated perspective views. As shown in these drawings, the lifter 42 includes two upper and lower base bodies 69 and 70. The lower base body 70 includes a bearing 71, a bracket 72, and With the pins 73, four (or other numbers) receiving forks 74 are attached so as to rotate up and down around the base.
[0059]
  A first side roller 75 located on both the left and right sides of the upper base 69 is rotatably attached, and a second side roller 76 and a third side roller 77 are rotatably attached to the lower base 70. ing. The upper base 69 is formed in a downward convex shape, and is formed in an upward concave shape with the lower base 70, and the upper and lower bases 70 are connected in a bendable state by the rotation shaft of the second side roller 76.
[0060]
  As shown in FIG. 13A, a U-shaped bracket 78 is fixed to the back surface of the lower base 70, and the bracket 78 is connected to the chain 41 by a pin 79. A pair of back rollers 80 are rotatably attached to the back surfaces of the upper and lower bases 69 and 70.
[0061]
  The guide frame 39 includes a guide groove 81 into which the side rollers 75 to 77 can freely roll, and a guide surface 82 on which the back roller 80 rolls. The guide groove 81 and the guide surface 82 are annular. By being continuous, each lifter 42 circulates (circulates) up and down by the circulation of the chain 41.
[0062]
  In this case, since the receiving fork 74 is rotatably attached to the lower base 70, as clearly shown in FIG. 14, the receiving fork 74 is in a downward posture due to its own weight as shown in FIG. If it turns to, the receiving fork 74 will fall to the posture which can load the load W with its own weight, and will rotate.
[0063]
  As in this embodiment, when the receiving fork 74 is tilted downward in the ascending stroke, there is an advantage that the space can be effectively used.
[0064]
  The pair of guide frames 39 are connected by reinforcing rods 84 arranged at appropriate intervals. Moreover, as shown in FIG. 14, the upper and lower ends of the guide frame 39 are in a state of slightly bulging radially outward. This is because the side rollers 75 to 77 smoothly circulate (not necessarily in this embodiment)..)
  For example, as shown in FIG. 14, the receiving fork 74 is set so as to be inclined obliquely upward when it is located on the side close to the shelf. Therefore, a posture holding body 83 for receiving the load W in a wide area is fixed to the lower base 70.
[0065]
  Further, a projection 74 a for preventing the load W from dropping off is provided at the tip of each receiving fork 74. The protrusion 74a is gently inclined toward the tip of the receiving fork 74, and is abruptly inclined on the front side. This is because the delivery of the load W from the discharge conveyor 37 is performed smoothly.
[0066]
  By the way, when the lifter 42 has only one base and the upper and lower side rollers are attached thereto, when the lifter 42 circulates the vertical curved portion of the guide frame 39, the radius of curvature of the rotation of the bracket 78 is the pitch of the sprocket 40. Since the dimension of the half of the circle is constant, a phenomenon occurs in which the side roller can be held (twisted) in the guide groove 81.
[0067]
  For this reason, the groove width of the guide groove 81 in the guide frame 39 must be widened in the up and down curved portion, which increases the labor of processing. In addition, it is difficult for the lifter 42 to smoothly pass through the upper and lower curved portions of the guide frame 39.
[0068]
  On the other hand, when the bases 69 and 70 of the lifter 42 are separated into a plurality of upper and lower parts and side rollers 75 to 77 are provided on the bases 69 and 70 as in this embodiment, the guide grooves 81 in the guide frame 39 are provided. Even if is equal, it can be used by changing the posture of the upper and lower base 70RuSince the phenomenon is avoided, there is an advantage that the upper and lower bases 70 can be smoothly passed through the upper and lower curved portions of the guide frame 39.
[0069]
  (10). Dispensing conveyor and relay conveyor
  FIG. 15 is a perspective view of the payout conveyor 44 and the relay conveyor 45, and FIG. 16 is a plan view. As shown in these drawings, the payout conveyor 44 includes a bearing frame 85 formed in a comb-teeth shape, A belt 88 is wound around a main pulley 86 and a driven pulley 87 that are supported by the bearing frame 85.
[0070]
  The bearing frame 85 is provided with a number of idle pulleys 89. The main pulley 87 is driven by a motor 90. Needless to say, the receiving fork 74 of the lifter 42 passes through the space between the adjacent belts 88, whereby the load W is transferred from the lifter 42 to the delivery conveyor 44.
[0071]
  (11). Transfer to lifter
  The lifter 42 of the unloading device 38 is continuously moving. Therefore, as can be understood from FIG. 11B and FIG. 14, when transferring the load W from the discharge conveyor 37 to the lifter 42, the discharge conveyor 37 is made to follow the downward movement of the lifter 42 to have a substantially horizontal posture. Tilt to a forward leaning posture.
[0072]
  Since the discharge conveyor 37 tilts forward following the lowering of the lifter 42 in this manner, the upper surface of the receiving fork 74 and the upper surface of the discharge conveyor 37 can be held in the same plane during the delivery process of the load W. W can be slid smoothly with respect to the lifter 42.
[0073]
  In the present embodiment, driving of the discharge conveyor 37 (feeding of the load W) and forward tilting timing are performed by detecting the lifter 42 with the first sensor 65. That is, when it is detected by the first sensor 65 that the tip of the receiving fork 74 is at the same height as the discharge conveyor 37, the feeding of the load W is started and the discharge conveyor 37 is started to be tilted forward.
[0074]
  In this case, since there is a slight time lag between the detection by the first sensor 65 and the operation of the tilting motor 62, the control device is set so that the forward tilt of the discharge conveyor 37 starts in consideration of the time lag. It is set.
[0075]
  For example, the first sensor 65 is provided at a position slightly higher than the discharge conveyor 37, the receiving fork 74 is detected at a position slightly higher than the discharge conveyor 37, and the tip of the receiving fork 74 is at the same height as the discharge conveyor 37. At the same time, the discharge conveyor 37 can be set to start to tilt forward.
[0076]
  By the way, when the discharge conveyor 37 is returned to the horizontal state from the forward tilted state, if the discharge conveyor 37 returns too much to the state of jumping up from the horizontal initial posture or conversely, the load W with respect to the lifter 42 is not sufficient. Discharge timing will shift.
[0077]
  That is, if the discharge conveyor 37 returns too much to the state of jumping from the reference state, the discharge conveyor 37ButSince it becomes higher than the receiving fork 74 and throws the load W onto the lifter 42, the discharge conveyor 37 is tilted.ThisThe significance of this will decline. On the other hand, when the discharge conveyor 37 is insufficient to return, the discharge conveyor 37 may be lower than the tip of the receiving fork 74 and the load W may collide with the receiving fork 74.
[0078]
  In this regard, the second sensor 67 is used to decelerate the tilting motor 62, for example, just before the discharge conveyor 37 returns to the horizontal state, and when the dog 66 is detected by the second sensor 67, the motor 62 is instantaneously moved. It can be solved by the control to stop.
[0079]
  As a means for sending a deceleration start signal to the tilting motor 62, a deceleration start detection sensor for detecting the dog 66 may be provided just before the discharge conveyor 37 returns to its original posture, or the output shaft of the motor 62 may be provided. An angle sensor for detecting the rotation angle may be provided, or a timer for operating the discharge conveyor 37 from the start of return may be used.
[0080]
  It is possible to set so that the dog 66 is detected by the second sensor 67 slightly before the discharge conveyor 37 returns to the horizontal state, and when the dog 67 is detected, it can be set to decelerate and stop accurately. is there. It is also possible to provide a stopper that holds the discharge conveyor 37 in a horizontal position.
[0081]
  (12). Transfer to payout conveyor
  In FIG. 17, from the lifter 42 to the discharge conveyor 44.LoadThe delivery state is shown.
[0082]
  By the way, when the load W is transported by the delivery conveyor 44, there is a possibility that the load W cannot be accurately transported if the belt 88 is partially in contact with the load W (the load W is turned horizontally or relayed). There is a possibility that it cannot be transferred to the conveyor 45 correctly..).
[0083]
  On the other hand, when the receiving fork 74 of the lifter 42 is inclined upward at a certain angle θ as in the present embodiment, the resistance of the receiving fork 74 is applied to the load W until the receiving fork 74 is completely removed from the upper surface of the delivery conveyor 44. Therefore, even if the belt 88 is partially in contact, the belt 88 is not conveyed, and when the receiving fork 74 is removed from the delivery conveyor 44, the load W is in a flat posture and the friction of each belt 88 on the bottom surface. Works equally.
[0084]
  That is, since the receiving fork 74 is inclined upward, the load W has a resistance against the pulling-in force of the belt 88 of the payout conveyor 44 until the receiving fork 74 passes through the payout conveyor 44. Since the resistance disappears all at once, the load W can be accurately conveyed by the delivery conveyor 44.
[0085]
  In this way, accurate conveyance by applying a conveyance resistance at the time of delivery to the delivery conveyor 44 also contributes to the provision of the protrusion 74 a at the tip of the receiving fork 74. Therefore, at least one of inclining the receiving fork 74 and providing the protrusion 74a may be employed.
[0086]
  (14). Other
  The present invention can be embodied in various ways other than the above embodiment. The discharge conveyor is not limited to a belt type but may be a roller type. In addition, the transfer device of the present invention can be applied to a warehouse part of an automatic warehouse, and of course can be applied to a handling facility other than the automatic warehouse.
[0087]
  Moreover, it is also possible to apply to the receipt or delivery part of the automatic warehouse provided with the shelf of the free rack system.
[0088]
[Brief description of the drawings]
FIG. 1 is a schematic perspective view of an automatic warehouse according to an embodiment of the present invention as viewed from a warehousing unit side.
FIG. 2 is a schematic plan view of a portion near the warehousing part in the automatic warehouse.
FIG. 3 is a schematic perspective view of a lifting platform for warehousing.
FIG. 4 is a partial perspective view of a temporary storage unit for warehousing.
FIG. 5 is a partially separated perspective view of a shelf.
FIG. 6 is a schematic perspective view of a self-propelled carriage.
FIG. 7 is a perspective view of a delivery part in an automatic warehouse.
FIG. 8 is a cross-sectional plan view of a shipping part.
9 is a partially enlarged view of FIG.
FIG. 10A is a partial perspective view of a delivery part, and FIG. 10B is a mechanism diagram of a discharge conveyor.
11A is a side cross-sectional view of the discharge conveyor, and FIG. 11B is a diagram illustrating the operation.
FIG. 12 is an exploded perspective view of the circulation type unloading device.
FIG. 13 is an exploded perspective view of the circulation type unloading device.
FIG. 14 is a side view showing a transfer state from the discharge conveyor to the lifter.
FIG. 15 is a perspective view of a payout conveyor.
FIG. 16 is a plan view of a payout conveyor.
FIG. 17 is a side view showing a transfer state to the payout conveyor.
[Brief description of symbols]
    1 shelf
    2 Hangar
    3 Dolly traveling section
    4 Temporary storage for storage
    9 Self-propelled cart
  11 Temporary storage cart for warehousing
  13 Lifting platform for warehousing
  15 Temporary conveyor for warehousing
  36 Temporary conveyor for shipping
  37 discharge conveyor
  38 Circulation-type shipping device
  42 Lifter
  44 Dispensing conveyor
  45 Relay conveyor
  47 Delivery conveyor
  74 Receiving fork
  65,67 sensor

Claims (4)

Send a vertical circulation lifting device provided so as to circulate a large number in the vertical direction of the lifter which can be placed one of the load, the discharge conveyor for transferring the load on the lifter, a load on the discharge conveyor A temporary conveyor,
While the temporary conveyor is in a horizontal position,
The discharge conveyor is tiltable about a rear end close to the temporary storage conveyor so as to change the posture from a substantially horizontal posture to a posture inclined downward toward the lifter, and the discharge conveyor has a substantially horizontal posture. The load is sent from the temporary conveyor, and the transfer of the load to the lifter is performed with the discharge conveyor inclined.
Transport mechanism. It has a hangar with multiple stages of shelves that can store a large number of loads. A horizontal temporary conveyor is connected to the end of each shelf , and each temporary conveyor has a discharge conveyor for delivery. There are connected, the outside of the group of the discharge conveyor, vertical circulation lifting device provided to circulate vertically plurality of lifters that can put one of the load are arranged, the circulating The load is transferred from the discharge conveyor to the lifter that is,
While the temporary conveyor is in a horizontal position,
The discharge conveyor is tiltable about a rear end close to the temporary storage conveyor so as to change the posture from a substantially horizontal posture to a posture inclined downward toward the lifter, and the discharge conveyor has a substantially horizontal posture. The load is sent from the temporary conveyor, and the transfer of the load to the lifter is performed with the discharge conveyor inclined.
Automatic warehouse. The discharge conveyor is provided with a sensor for detecting a lifter.
The transport mechanism according to claim 1 or the automatic warehouse according to claim 2. The distance between adjacent lifters in the lift device is set to the same dimension as the vertical distance between the shelves.
The automatic warehouse according to claim 2 or claim 3.

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