JP5363028B2 - Storage equipment - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a storage facility capable of easily changing the volume of a demarcated storage space. <P>SOLUTION: The storage facility I comprises storage shelves S1, S2 with a plurality of unit storage spaces Sb in a common opening end face Sa, and a picking device P which is provided adjacent to the opening end face Sa side of the storage shelves S1, S2 to take/put the cargoes N out/in the storage shelves S1, S2 by inserting a fork 53 in the opening end face Sa of the storage shelves S1, S2. The storage shelves S1, S2 have a frame 1 and a shelf element 3 attachable/detachable to/from the frame 1. <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

The present invention relates to a storage facility capable of receiving and shipping a package by taking it in and out of a storage shelf by a picking device.

  Conventionally, a picking device that can travel along the opening end surface of a storage shelf takes out the luggage stored in the storage shelf, and then places the luggage at a predetermined location, thereby shipping the luggage from the predetermined location. Various facilities have been proposed (see, for example, Patent Document 1).

The storage shelf has a structure in which each shelf element is rigidly connected to the frame, for example, at a predetermined interval. For example, each storage space defined by a column or shelf element has the same capacity. It can be stored. These storage spaces are associated with shipping destinations having different shipping amounts, and each shipping amount having a different shipping amount is adjusted by adjusting the number of storage spaces to be associated according to the shipping amount of the shipping destination. It is supposed to be able to respond first.
JP 2004-345838 A

  However, in the above-described case, when the storage shelf is to be installed, the attachment of each shelf element includes many steps including, for example, screwing for rigidly connecting the shelf element to the frame. It requires a lot of man-hours. Therefore, the present situation is that the installation of the storage shelf itself takes a lot of time and labor. In addition, for example, when handling larger luggage than before, or when changing the size of the storage space due to other specification changes, disassemble the entire storage shelf or a large part, and reassemble the columns and shelf elements newly The current situation is that it is difficult to respond to rapid specification changes and storage space capacity changes.

  This invention pays attention to such a malfunction, and provides the storage equipment which can change the capacity | capacitance of the storage space defined easily.

  In order to achieve such an object, the present invention takes the following measures. That is, the storage facility according to the present invention has a storage shelf in which a plurality of unit storage spaces are opened on a common opening end surface, and an opening end surface side of the storage shelf, and a fork is inserted into the opening end surface of the storage shelf. A picking device for taking in and out a luggage with respect to a storage shelf, the storage shelf including a frame and a shelf element configured to be detachable from the frame.

  If it is such, since the process of screwing etc. for rigidly connecting a shelf element to a frame can be omitted, the man-hour for attaching a shelf element to a frame can be saved greatly. By doing so, the assembly of the storage shelf can be effectively simplified. As a result, the time and labor required for assembling the storage shelves can be greatly reduced, and simple and quick installation of the storage shelves can be realized. Furthermore, when handling larger luggage than before, or when changing the size of the storage space by changing other specifications, it is possible to respond quickly. Further, by removing a required shelf element, the capacity of the unit storage space can be increased in the vertical direction, so that it is possible to set the capacity according to the shipping amount required for the shipping destination.

Even when the shelf element is removed and the capacity of the unit storage space is increased in the vertical direction, the present invention moves the picking device to an arbitrary position on the opening end surface of the storage shelf in order to effectively use the unit storage space. And the head for positioning the load by pressing the load against the positioning wall and the positioning wall for locking one side of the load positioned on the base end side of the fork. A width-shifting member for holding and a scraping-off for preventing the load on the fork from dropping when the tip of the fork entered beyond the opening end surface of the storage shelf is retracted from the opening end surface. It comprises, and it comprises so that the said scraping off member can be operated using the motion of the said width-adjusting member .

  And in order to set the capacity of the unit storage space more accurately, the frame has shelf mounting rods, and the shelf mounting rods have shelf element mounting portions formed at equal intervals in the height direction. It is desirable to do.

  And in order to adjust the capacity | capacitance of a unit storage space more correctly, it is preferable to have a partition which can divide the flame | frame in the width direction in the intermediate position of a shelf element.

  According to the present invention, since the man-hour for attaching the shelf element to the frame can be greatly reduced, the assembly of the storage shelf can be effectively simplified. As a result, the time and labor required for assembling the storage shelves can be greatly reduced, and simple and quick installation of the storage shelves can be realized. In addition, it is possible to respond quickly even when handling larger luggage than before or when changing the size of the storage space by changing other specifications. Further, by removing a required shelf element, the capacity of the unit storage space can be increased in the vertical direction, so that it is possible to set the capacity according to the shipping amount required for the shipping destination.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

  In the embodiment shown in FIG. 1, the packages N sequentially loaded by the upstream conveyor II are stored in a plurality of sets of storage facilities I having an automatic storage function, and the packages N derived from the storage facilities I are stored as necessary. It can be delivered to the truck T from the carry-out station III. The luggage N is assumed to be a bundle of a plurality of paper sheets such as leaflets.

  As shown in FIGS. 2 and 3, each storage facility I includes a pair of storage shelves S1 and S2 that are arranged with the opening end surfaces Sa facing each other, and a picking device P that is disposed between the storage shelves S1 and S2. And a loading / unloading device Q for delivering the package N to the picking device P.

  As shown in FIGS. 1, 2, 3, and 5, the storage shelves S1 and S2 include a frame 1 that serves as a structural frame of the storage shelves S1 and S2, and a plurality of shelves attached to the frame 1. A plurality of unit storage spaces Sb respectively formed on the shelf elements 3 are opened on a common opening end surface Sa. That is, the frame 1 and the plurality of shelf elements 3 form a large number of unit storage spaces Sb that are opened in the same opening end surface Sa and are arranged vertically and horizontally.

  As shown in FIGS. 2, 3, 5, and 6, the frame 1 is vertically moved by a frame main body 1 a that forms the main body of the frame 1, a shelf mounting rod 1 b for mounting the shelf element 3, and the shelf element 3. And a partition wall 1c for further partitioning the partitioned space.

  As shown in FIG. 3, the frame body 1 a is formed by firmly connecting a column 1 a 1 standing up and down the shelf element 3 and a beam 1 a 2 extending in the horizontal direction to each other. A shelf mounting rod 1b is attached to the column 1a1 provided on the side opposite to the end surface Sa, and the shelf mounting rod 1b and the partition rod 1c are supported by the beam 1a2.

  As shown in FIGS. 3, 5, and 6, the shelf mounting rod 1 b is for detachably supporting the shelf element 3, and the first mounting rod 1 b 1 that supports the rear end portion of the shelf element 3. And the second mounting rod 1b2 provided at a predetermined interval with respect to the first mounting rod 1b1, and the first mounting rod 1b1 and the second mounting rod 1b2 as described above are spaced at a predetermined interval. The interposition rod 1b7 shown in FIG. The first mounting rod 1b1 and the second mounting rod 1b2 are respectively provided with a first contact projection 1b3 and a second contact projection 1b4, which are shelf element mounting portions of the present invention, spaced apart at equal intervals in the vertical direction. There are several. The first contact protrusion 1b3 and the second contact protrusion 1b4 are inverted in the vertical direction, and the first contact protrusion 1b3 and the second contact surface 1b5 are in contact with the downward contact surface 1b5. The shelf element 3 is abutted and supported by the upward abutting surface 1b6 of the protrusion 1b4.

  As shown in FIGS. 3, 5, and 6, the partition wall 1 c is supported by a beam 1 a 2 at an upper end (not shown), and hangs downward in a state in which one end side is slightly protruded from the opening end surface Sa, for example, about 10 mm. The unit storage space Sb can be configured together with the shelf element 3 by equally dividing the space on the shelf element 3 in the width direction by extending to the intermediate position of the shelf element 3, and The partition rod 1c is a dog for a storage shelf position detection sensor 87 (described later) attached to the picking device P to recognize the position of the unit storage space Sb in the left-right direction. Further, the partition wall 1c is fixed at several points including the uppermost shelf element 3 and the lowermost shelf element 3 of the storage shelves S1 and S2 of the shelf element 3, and the intermediate shelf element 3, and the other shelf The assembly accuracy is easily ensured by positioning the upper and lower shelf elements 3 with each other in the width direction by allowing the element 3 to pass through the partition wall passing portion 3b3.

  As shown in FIGS. 3, 5 and 6, the shelf element 3 includes a gap 3a formed in the vicinity of the center in the width direction, a plurality of support plates 3b for placing the luggage N to be stored, and a support plate 3b. It has the connection board 3c for connecting a base end part by welding, for example.

  As shown in FIGS. 5 and 6, the gap 3a is formed so that the fork 53 of the picking device P can be passed in the vertical direction by providing a predetermined interval between the support plates 3b. More specifically, as shown in FIG. 6, the first gap 3a1 allows passage of a main fork 53a, which will be described later, and the second gap 3a2 allows passage of a sub fork 53b, which will be described later. The width dimension of the first gap 3a1 and the second gap 3a2 is set to be 20 mm larger than the width dimension of the main fork 53a and the sub fork 53b. That is, when the main fork 53a and the sub fork 53b pass through the first gap 53a and the second gap 53b, there is a margin of 10 mm on both sides of the main fork 53a and the sub fork 53b. Then, the shelf element 3 allows the fork 53 on which the load N is placed to be positioned upward by the gap 3a and then descends vertically to pass the gap 3a so that the load N on the fork 53 is placed on the shelf element 3. When the cargo N on the shelf element 3 can be taken out, the fork 53 is positioned immediately below the gap 3a, and then the fork 53 is moved vertically to pass through the gap 3a. The baggage N can be placed on the top.

  As shown in FIGS. 5 and 6, a plurality of support plates 3b are provided in a channel shape opened downward in cross-sectional view with different dimensions in the width direction, and are flush with the opening end surface Sa. The formed front end face 3b1, the upper surface 3b2 on which the luggage N can be placed, and the compartment pass section 3b3 provided by denting a part of the front end face 3b in order to pass the compartment fence 1c described above in the vertical direction; have. As described above, the uppermost shelf element 3 and the lowermost shelf element 3, and the front end surface 3 b 1 of any intermediate shelf element 3, the partition wall 1 c and the shelf at the position of the illustrated partition wall passage portion 3 b 3. Although it is the structure which fixes the element 3, detailed description and illustration of such a structure shall be abbreviate | omitted.

  The connection plate 3c includes an upper upright plate portion 3c1 that is in contact with the rear end portion of the support plate 3b, a horizontal plate portion 3c2 that is in contact with the lower end of the support plate 3b from below, and a front end of the horizontal plate portion 3c2. It has a lower upright plate portion 3c3 that is bent downward. The connection plate 3c is obtained by connecting the support plates 3b by joining the support plates 3b, for example, by spot welding at predetermined positions in the upper upright plate portion 3c1 and the horizontal plate portion 3c2.

  As shown in FIGS. 5 and 7 to 12, the picking device P includes a head 5 for taking in and out the luggage N with respect to the storage shelves S1 and S2, and an opening of the storage shelves S1 and S2. And a head driving means 7 for operating vertically and horizontally along the end surface Sa.

  The head driving means 7 is provided between a floor rail 9 disposed between the storage shelves S1 and S2 and a ceiling rail 11 provided in parallel with the floor rail 9, and runs on the floor rail 9. A traveling unit 13 that is supported on the traveling unit 13 and has an upper end supported on the ceiling rail 11 so as to be movable, and a head 5 supported on the movable column 15 so as to be movable up and down. And an elevating part 17 for movement.

  The traveling unit 13 includes a gantry 21 that travels in the left-right direction on the floor rail 9 via wheels 19, and a traveling drive mechanism 23 that is provided on the gantry 21 and rotationally drives the wheels 19. .

  The movable support column 15 is made of, for example, an aluminum extruded material, and is rigidly connected to the mount 21. Specifically, a square pipe-like column main body 25 and guide protrusions 27 provided on both side surfaces of the column main body 25 are provided.

  The elevating unit 17 includes a pulley 29 provided at the upper end of the movable support column 15, a wire 31 having one end connected to the head 5 and the other end guided to the base 21 via the pulley 29, and the wire A winch 33 that moves up and down the head 5 by winding or unwinding the other end side of 31 and a winch drive mechanism 35 for driving the winch 33 forward and backward.

  The head 5 includes a base 37 supported by the movable support column 15 so as to be movable up and down, a fork portion 39 mounted on the base 37, and a width provided on the base 37 adjacent to the fork portion 39. It includes a gathering portion 41 and a scraping-off portion 43 disposed on the base 37 in association with the width gathering portion 41.

  The base 37 includes a vertical frame 45 and a horizontal frame 47 protruding from the vertical frame 45.

  The vertical frame 45 includes a first guide wheel 49 that forms a pair sandwiching both surfaces of the guide protrusion 27 of the movable support column 15, and a second guide wheel 51 that makes rolling contact with the tip of the guide protrusion 27 of the movable support column 15. And are mounted on the movable support column 15 through the guide wheels 49 and 51 so as to be movable up and down.

  The horizontal frame 47 is cantilevered from the lower end of the vertical frame 45 and is rigidly connected to the vertical frame 45.

  The fork unit 39 includes a fork 53 on which a load N can be loaded, a fork drive mechanism 55 for moving the fork 53 forward and backward, and a load position changing mechanism for moving the load N on the fork 53 relative to the fork 53. 57.

  As described above, the fork 53 includes the main fork 53a for supporting all the loads N and the sub fork 53b having a smaller width than the main fork 53a.

  The fork drive mechanism 55 drives the motor 55 a forward and reverse, thereby causing the fork 53 to be inserted into the first storage position S 1 where one end of the fork 53 is inserted into the one storage shelf S 1, and the other of the forks 53. Between the second insertion position β in which the tip of the storage shelf S2 is inserted into the other storage shelf S2 and the neutral position γ outside the storage shelves S1 and S2 in which the fork 53 is set between the insertion positions α and β. It is to be operated. Specifically, the fork drive mechanism 55 includes a base 55b attached to the base 37 of the head 5, and a first intermediate slider 55c disposed on the base 55b so as to be slidable in the storage shelves S1 and S2. And a second intermediate slider 55d disposed on the first intermediate slider 55c so as to be slidable in the directions of the storage shelves S1 and S2. The fork 53 is placed on the second storage slider S1 on the second intermediate slider 55d. , Slidably supported in the S2 direction. The fork drive mechanism 55 includes a slider drive mechanism 55e that moves the first intermediate slider 55c forward and backward with respect to the base 55b by the driving force of the motor 55a, and the first intermediate slider with respect to the base 55b. The first interlocking mechanism 55f that operates the second intermediate slider 55d with respect to the first intermediate slider 55c using the movement of the 55c, and the fork using the movement of the second intermediate slider 55d And a second interlocking mechanism 55g for operating 53 with respect to the second intermediate slider 55d.

  The base 55b is, for example, a flat plate, and is fixed on a horizontal frame 47 forming a pair with the base 37. The base 55b is provided with a guide rail 55b1 extending in the direction of projecting and retracting with respect to the opening end surface Sa of the storage shelves S1 and S2 on the upper surface.

  The first intermediate slider 55c is, for example, a flat plate, and is disposed on the base 55b. The first intermediate slider 55c is slidably supported on the guide rail 55b1 of the base 55b via a slide bearing 55c1. The first intermediate slider 55c includes a guide rail 55c2 extending on the upper surface thereof so as to project and retract with respect to the opening end surface Sa of the storage shelves S1 and S2.

  The second intermediate slider 55d includes, for example, a block-shaped slider main body 55d1 and a flange portion 55d2 provided on the slider main body 55d1, and is disposed on the first intermediate slider 55c. . The second intermediate slider 55d is slidably supported on the guide rail 55c2 of the first intermediate slider 55c via a lower slide bearing 55d3. The main fork 53a and the sub fork 53b are slidably supported on the flange portion 55d2 of the second intermediate slider 55d via an upper slide bearing 55d4.

  A slider drive mechanism 55e for driving the first intermediate slider 55c is positioned between the lateral frames 47 of the base 37 and mounted on the lower surface of the base 55b, and mounted on the output shaft of the motor 55a. Drive pulley 55e2, a plurality of guide pulleys 55e3 pivotally attached to the base 55b, and a timing belt 55e4 spanning the pulleys 55e2 and 55e3. The first intermediate slider 55c is connected via a bracket 55e5.

  The first interlocking mechanism 55f for operating the second intermediate slider 55d with respect to the first intermediate slider 55c includes a pair of pulleys 55f1 that are pivotally attached to both ends of the first intermediate slider 55c, and these pulleys. A timing belt 55f2 spanned between 55f1 and a bracket 55f3 for connecting the lower predetermined portion of the timing belt 55f2 to the base 55b. The upper predetermined portion of the timing belt 55f2 2 is connected to the intermediate slider 55d.

  A second interlocking mechanism 55g for operating the fork 53 at a speed twice that of the second intermediate slider 55d relative to the first intermediate slider 55c is pivotally attached to the second intermediate slider 55d and can rotate integrally. A pair of pinion gears 55g1, a lower rack 55g2 fixed to the first intermediate slider 55c and meshing with the pinion gear 55g1, and an upper rack 55g3 fixed to the fork 53 and meshing with the pinion gear 55g1 are provided. It becomes.

  When the fork 53 is outside the storage shelves S1 and S2, the load position changing mechanism 57 positions the load N at the center base end of the fork 53 as shown in FIG. , S2 is for positioning the load N on the front end side of the fork 53 as shown in FIGS. 10 and 12 when inserted into the opening end surface Sa of S2. That is, as shown in FIG. 8, the load position changing mechanism 57 positions the load N at the center base end portion of the fork 53 when the fork 53 is in the neutral position γ, as shown in FIGS. As described above, when the fork 53 is at the first insertion position α and the second insertion position β, the load N can be positioned at one tip or the other tip of the fork 53, respectively. It is. Specifically, the load position changing mechanism 57 includes a load support belt 57a that moves forward and backward through the upper surface of the fork 53, and uses the forward and backward movement of the fork 53 to move the load support belt 57a forward and backward. Is. More specifically, the luggage support belt 57a is bridged between pulleys 57b provided in pairs at both ends of the main fork 53a and the sub fork 53b. The luggage support belt 57a is connected at a predetermined position to the second intermediate slider 55d via a bracket 57c.

  The width aligning portion 41 positions and holds the load N by pressing the load N against the positioning wall 59 and a positioning wall 59 for locking one side of the load N positioned at the central base end of the fork 53. For this purpose, a width adjusting member 61 and a width adjusting member driving mechanism 63 for driving the width adjusting member 61 are provided. Specifically, a fixed frame 65 having a guide shaft 65a is fixed to the base 37 of the head 5, and the movable frame 67 is brought into contact with the positioning wall 59 via a slide bearing 67a on the guide shaft 65a of the fixed frame 65. The width-adjusting member 61 is erected at the forward end of the movable frame 67 so as to be able to advance and retract in the direction of separation.

  The positioning wall 59 is provided upright at a position closer to the movable support column 15 than the main fork 53 a of the base 37.

  The width adjusting member 61 has a comb-like shape, and the front edge of the width adjusting member 61 can press the side surface of the load N in a direction approaching the positioning wall 59 so as to advance and retreat with the movable frame 67. It has become.

  The width adjusting member drive mechanism 63 includes a motor 63a provided on the fixed frame 65, a drive pulley 63b attached to the output shaft of the motor 63a, and a guide pivotally attached to the fixed frame 65 in correspondence with the drive pulley 63b. A pulley 63c and a timing belt 63d bridged between the pulleys 63b and 63c are provided, and a specific portion of the timing belt 63d is connected to the movable frame 67.

  The scraping section 43 keeps the luggage N on the fork 53 in the storage shelves S1 and S2 when the tip of the fork 53 that has entered the storage shelves S1 and S2 is retracted outside the storage shelves S1 and S2. And a sawing member driving mechanism 71 for driving the sawing member 69. The scraping member 69 is operated by utilizing the movement of the width adjusting member 61. Specifically, a sawing member support frame 73 is fixed to the movable frame 67 of the width adjusting portion 41, and a pair of slide rods 69a that are paired at both outer ends of the sawing member support frame 73 are provided outward. The shaving member 69 is attached to the outer ends of the slide rods 69a. The slide rod 69a is urged in a direction in which the slide rod 69a is retracted inward by an elastic member 69b such as a tension coil spring. That is, a connecting member 69c for connecting the slide rod 69a is provided between the inner ends of the paired slide rods 69a, and the connecting member 69c is pulled inward by the elastic member 69b.

  The scraping member drive mechanism 71 is guided by the cam surface 71a and guided outward when the cam surface 71a provided on the fixed frame 65 and the movable frame 67 move forward beyond the normal movable range δ. The cam follower 71b is pivotally attached to the connecting member 69c. Here, the “regular movable range δ” of the movable frame 67 is a movable range for pressing the load N on the fork 53 by the width adjusting member 61. That is, the regular movable range δ refers to a range from the start point ε to the pressing end point ζ, as shown in FIGS. 11 and 12. Then, the load N is taken out into the storage shelves S1 and S2 by the fork 53, and the width adjusting member 61 can be advanced beyond the normal movable range δ in a state where there is no load N in a portion corresponding to the positioning wall 59. It can be done. As shown in FIG. 12, at the position where the width adjusting member 61 is most advanced beyond the normal movable range δ, that is, at the position where the cam follower 71b reaches the width adjusting point η shown in FIGS. 69 is above the fork 53, and the outer side surface 69d of the scraping member 69 reaches a position near the opening end surface Sa of the storage shelves S1 and S2 or a position slightly entering the storage shelves S1 and S2 than the opening end surface Sa. Thus, the shape of the cam surface 71a is set.

  On the other hand, the loading / unloading device Q includes an input conveyor 75 provided along the open end surface Sa of one storage shelf S1, a receiving conveyor 77 provided in the middle of the input conveyor 75, and an open end surface of the other storage shelf S2. And a shipping conveyor 79 provided along Sa.

  The input conveyor 75 is branched from the upstream conveyor II and is used to convey the cargo N received from the upstream conveyor II toward the receiving conveyor 77. Specifically, the input conveyor 75 is disposed at the lower part of one storage shelf S1, and a large number of drive rollers 75b are installed between the conveyor frames 75a. The drive roller 75b is a normal one configured to stop when a load of a certain level or more is applied. In this embodiment, the downstream portion of the input conveyor 75 relative to the receiving conveyor 77 is configured to be forward-reversely fed, and the waiting baggage N is temporarily placed in that portion. That is, when the portion upstream of the receiving conveyor 77 in the loading conveyor 75 is filled with the waiting baggage N, the receiving conveyor 77 is passed through, and the portion of the loading conveyor 75 downstream of the receiving conveyor 77 is passed. The load N is made to wait, and when the upstream waiting load N is exhausted, the loading conveyor 75 in the downstream portion is reversely fed to supply the waiting load N to the receiving conveyor 77.

  As shown in FIG. 4, the receiving conveyor 77 is for delivering the cargo N carried in by the input conveyor 75 to the picking device P, and is arranged at substantially the center of the movable range of the picking device P. In this embodiment, two picking devices P are arranged on a common floor rail 9, and the first storage area A that forms one half of the storage shelves S 1 and S 2 and the storage shelves S 1 and S 2 are arranged. A second storable area B which forms the other half is set, and a picking device P is associated with each of the storable areas A and B. The receiving conveyor 77 is arranged in the approximate center of each of the storage areas a and b. Specifically, the receiving conveyor 77 is provided so as to be capable of appearing and retracting at a conveyor frame 77a, a plurality of forward and reverse drive rollers 77b installed in the conveyor frame 77a, and an upstream end and a downstream end of the conveyor frame 77a. And an upstream stopper 77c, a downstream stopper 77d, and a lifter 77e for lifting the load N locked by the downstream stopper 77d on the drive roller 77b. Further, the receiving conveyor 77 is provided with a positioning projection 77f so as to be able to protrude and retract, and a positioning pressing member 77g capable of moving back and forth on the receiving conveyor 77 in a direction approaching and separating from the positioning projection 77f is provided on the receiving conveyor 77. The load N is pushed out toward the positioning projection 77f. The cargo N on the receiving conveyor 77 is positioned by the downstream stopper 77d and the positioning projection 77f, and an identifier such as a barcode attached to the cargo N by the reader 77h in the positioning state. Data can be read, and the package N is stored in the unit storage space Sb corresponding to the identifier read by the reader 77h using the picking device P. The lifter 77e can lift the load N to a position where the fork 53 of the picking device P can be inserted into the lower surface side of the load N. In FIG. 4, an imaginary line indicates a state in which the upstream stopper 77c, the downstream stopper 77d, the lifter 77e, and the positioning projection 77f are projected upward.

  The shipping conveyor 79 is provided over substantially the entire storage area A and B along the opening end surface Sa of the other storage shelf S2, and conveys the luggage N toward the unloading station III and is outside the storage shelves S1 and S2. To be discharged. Specifically, the shipping conveyor 79 is disposed at the lower part of the other storage shelf S2, and a large number of drive rollers 79b are installed between the conveyor frames 79a. The shipping conveyor 79 may be a belt conveyor instead of a roller conveyor.

  In this embodiment, the shipping conveyor 79 has a load N for which the identifier data cannot be read by the reader 77h, or a load N to be stored in the storage shelves S1 and S2 of another storage facility I whose data has been read. It is also used as a canceling conveyor that immediately discharges the baggage N and the like that is slanted more than allowed and interferes with storage.

  As described above, in the storage facility I in this embodiment, the picking device P is disposed between the paired storage shelves S1 and S2, the input conveyor 75 and the receiving conveyor 77 are disposed on one storage shelf S1 side, and the other A shipping conveyor 79 is arranged on the storage shelf S2 side, and a plurality of sets of storage facilities I having such a configuration are installed in parallel.

  On the upstream side of the storage facility I, for example, the upstream conveyor II for sequentially carrying a load N formed by bundling a plurality of sheets with a binding machine (not shown) is arranged. Branch points are respectively set in the portions corresponding to the storage facilities I of the upstream conveyor II, and a carry-in branch conveyor 81 for carrying the cargo N to the loading conveyor 75 is connected to each branch point. ing. At each branch point of the upstream conveyor II, a sorting mechanism (not shown) for delivering each load N on the upstream conveyor II to a corresponding carry-in branch conveyor 81 is arranged. The sorting mechanism operates in response to a command signal corresponding to the data attached to each cargo N, and plays a role of diverting each cargo N on the upstream conveyor II onto the carry-in branch conveyor 81 corresponding to the data. Since the configuration of the sorting mechanism is a normal one, the description is omitted.

  On the downstream side of the storage facility I, an unloading station III for delivering the cargo N unloaded from the storage facility I to a truck T or the like is installed. The unloading station III is provided with unloading conveyors 83 each having a starting end connected to the shipping conveyor 79 of each storage facility I, and the luggage N unloaded by these unloading conveyors 83 is loaded on a corresponding truck T or the like. It is supposed to be.

  Next, the operation of this embodiment will be described.

  For example, a luggage N formed by bundling a plurality of paper sheets by a bundling machine (not shown) is sequentially carried by the upstream conveyor II. Each cargo N carried in by the upstream conveyor II is moved to the carry-in branch conveyor 81 at a branch point corresponding to unique data by the function of the sorting mechanism, and delivered to the input conveyor 75 of the corresponding storage facility I. .

  The cargo N delivered to the input conveyor 75 reaches the receiving conveyor 77 through the lower part of the one storage shelf S1, is locked by the downstream stopper 77d, and waits on the receiving conveyor 77. At that time, the positioning protrusion 77f moves up and appears on the receiving conveyor 77, and the load N is pressed against the positioning protrusion 77f by the positioning pressing member 77g for positioning. In this positioning state, the reader 77h reads the identifier data attached to the baggage N, measures the height of the baggage N by a separately provided baggage height measuring mechanism 77i, and sends the identifier data to a control unit (not shown). And height data. The storage shelves S1 and S2 to be stored for each baggage N are determined in advance, and the control unit that receives the identifier data and the height data uses the data to determine the storage shelves S1 and S2 to be stored in advance. Which unit storage space Sb is specified. When the unit storage space Sb is specified, a storage command signal indicating that the cargo N should be picked from the receiving conveyor 77 and stored in the specified unit storage space Sb is output to the picking device P. That is, when the unit storage space Sb in which the baggage N is to be stored is specified by the data, or when the baggage N is stored first, the height data of the previous baggage N and the baggage to be stored in the future When the unit storage space Sb that can be stored is specified from the height data of N in consideration of the gap between the thickness of the fork 53 and the upper surface of the previous load N during storage and the clearance with the upper shelf element 3 To the picking device P, a storage command signal indicating that the load N should be stored in the specified unit storage space Sb by picking from the receiving conveyor 77 is output. The stop height position of the head 5 designated at this time is a height corresponding to the height position of the shelf element 3, but when the luggage N is stacked on the previous luggage N, it is input to the control unit. In addition to the height of the previous load N, the thickness of the fork 53 and the height including the gap to be secured when stored are specified. In addition, since the exact height of the load N is found before picking, the unit storage space Sb cannot be specified in advance when stacking. Therefore, when the luggage N is stored first, the thickness of the fork 53 and the previous luggage N at the time of storage are determined from the height data of the previous luggage N and the height data of the luggage N to be stored. The unit storage space Sb that can be stored is specified in consideration of the clearance between the upper surface and the upper shelf element 3. When the unit storage space Sb is specified by the above-described procedure and the luggage N is stored in the unit storage space Sb, the fact (identifier data, that is, the package name and height data) is output to the control unit, The control unit accumulates and stores stored baggage data indicating what type of baggage N is stored for each unit storage space Sb, and total height data of one or more packages N stored in the unit storage space Sb. In order to cope with the next stacking and the specification of the luggage N at the time of shipment. On the other hand, when the control unit determines that the unit storage space Sb to be stored cannot be specified based on the data sent from the reader 77h, it picks the baggage N from the receiving conveyor 77 toward the picking device P and cancels it. A discharge command signal indicating that it should be immediately transferred onto the shipping conveyor 79 that also functions as a conveyor is output. When a plurality of packages N are successively loaded onto the loading conveyor 75, the upstream stopper 77c is protruded to lock the loads N other than the loading N on the receiving conveyor 77, and onto the loading conveyor 75. Wait.

  When the storage command signal is output from the control unit, the lifter 77e of the receiving conveyor 77 rises to form a space below the luggage N, and the head 5 of the picking device P corresponds to the receiving conveyor 77. The fork 53 of the head 5 enters the space. Thereafter, the lifter 77e is lowered and returned to the position before being raised, so that the luggage N is placed on the fork 53. Of course, the head 5 may be slightly raised and the load N on the lifter 77e may be placed on the fork 53. However, when the lifter 77e is lowered, when the cargo N is discharged to the cancel line, for example, the shipping conveyor 79, the fork 53 is moved up and down and the width-adjusting portion 41 moves without the head 5 being lifted and discharged. Can be discharged in a short time. The fork 53 returns to the neutral position γ while holding the load N. When the fork 53 returns to the neutral position γ, the loading position of the luggage N is changed from the front end side of the fork 53 to the central base end side by the operation of the luggage position changing mechanism 57 as will be described later. Will be located. In this state, the width adjusting portion 41 is operated, and the load N is pressed against the positioning wall 59 by the width adjusting member 61 and positioned. As a result, the load N is brought close to a regular position on the fork 53 and held under pressure so as not to drop or shift. In this state, the raising / lowering unit 17 and the traveling unit 13 of the picking device P are operated, and the head 5 moves up, down, left, and right within the range of the retractable area A or B that the picking device P is in charge of. Then, the head 5 stops at a position corresponding to the unit storage space Sb specified by the data. Thereafter, the restraint of the load N by the width adjusting portion 41 is released, and the fork 53 enters the open end surface Sa of the storage shelves S1 and S2. As a result, the luggage N placed on the fork 53 is positioned on the shelf element 3 of the unit storage space Sb. Then, the width adjusting portion 41 is advanced in the direction of the positioning wall 59, the scraping member 69 is set at a predetermined position, the fork 53 is pulled out, and the luggage N is scraped off and placed on the shelf element 3. Of course, the head 5 may be slightly lowered and the load N on the fork 53 may be placed on the shelf element 3. Thereafter, the fork 53 returns to the neutral position γ and the storing operation is completed. By repeating the above operation, the luggage N carried from the input conveyor 75 onto the receiving conveyor 77 is stored in the unit storage space Sb of the storage shelves S1 and S2 corresponding to the data.

  On the other hand, when a discharge command signal is output from the control unit, the cargo N on the receiving conveyor 77 is immediately conveyed onto the shipping conveyor 79 by the action of the picking device P according to the above-described operation. 79 is discharged outside the storage facility I. The discharged luggage N is guided to the discharge branch conveyor 85 provided in the middle of the carry-out conveyor 83 of the carry-out station III and moved to a required location. When the load N supported on the front end side of the fork 53 is transferred onto the shipping conveyor 79, the scraping unit 43 operates as described later, and the bagging N is placed on the shipping conveyor 79 by the scraping member 69. While being locked, the fork 53 is retracted to the neutral position γ so as to be pulled out.

  Next, when the truck T arrives at the carry-out end of the carry-out conveyor 83 corresponding to the carry-out station III and it becomes necessary to ship a specific baggage N from the storage facility I, a touch panel (not shown) provided on the side of the carry-out conveyor 83 The shipment request is transmitted to the control unit by selecting the baggage N, and a shipment command signal is output from the control unit to the picking device P.

  When a shipment command signal is output from the control unit, the picking device P is activated and the head 5 moves to a position facing the unit storage space Sb in which the cargo N to be shipped is stored. By the reverse operation, the load N on the shelf element 3 is placed on the fork 53 and held at the center position. In this state, for example, the elevating unit 17 of the picking device P is operated, and the head 5 holding the load N moves up and down to a position corresponding to the shipping conveyor 79. After that, the cargo N placed on the fork 53 of the head 5 is delivered to the shipping conveyor 79 by the same operation as when canceling, and the shipping operation is completed. Note that the storage facility I shown in the present embodiment is one in which each part operates in response to each command signal output from the control part based on an automatic operation mode programmed in advance in the control part. Since it is a thing, description is abbreviate | omitted.

  Here, the operation of the fork 39 will be described in detail.

  In the neutral position γ shown in FIG. 8, both ends of the fork 53 are at a certain distance from the opening end surfaces Sa of the storage shelves S1 and S2, and the head 5 freely moves between the storage shelves S1 and S2. Be able to. The fork 53 can be moved to the first insertion position α shown in FIG. 10 or the second insertion position β shown in FIG. 12 by rotating the motor 55a forward and backward.

  The operation when moving from the neutral position γ to the first insertion position α will be described as follows. First, when the motor 55a rotates in the forward direction (X direction), the first intermediate slider 55c slides to the right in the drawing by the action of the slider drive mechanism 55e. When the first intermediate slider 55c slides to the right in the drawing, the second intermediate slider 55d slides to the right in the drawing with respect to the first intermediate slider 55c by the action of the first interlocking mechanism 55f. When the second intermediate slider 55d slides to the right in the drawing, the fork 53 slides to the right in the drawing with respect to the second intermediate slider 55d by the action of the second interlocking mechanism 55g, and the fork 53 is placed in the storage shelf. The unit enters the unit storage space Sb beyond the open end surface Sa of S1 and S2.

  More specifically, when the motor 55a of the fork drive mechanism 55 is operated to rotate the drive pulley 55e2, the timing belt 55e4 of the slider drive mechanism 55e moves in the forward direction, and the upper portion of the timing belt 55e4 is shown in the figure. Move to the right. As a result, the first intermediate slider 55c connected to the upper portion of the timing belt 55e4 slides to the right in the drawing together with the timing belt 55e4. When the first intermediate slider 55c slides to the right in the drawing, the timing belt 55f2 of the first interlocking mechanism 55f moves in the forward direction. That is, since the lower portion of the timing belt 55f2 is fixed to the base 55b, the upper portion of the timing belt 55f2 moves to the right in the drawing at a speed double the sliding movement speed of the first intermediate slider 55c. As a result, the second intermediate slider 55d fixed to the upper part of the timing belt 55f2 slides. When the second intermediate slider 55d moves to the right in the figure, the pair of pinion gears 55g1 that are mounted on the second intermediate slider 55d move at the same speed. The lower side of these pinion gears 55g1 is engaged with the lower rack 55g2 provided on the first intermediate slider 55c, and the upper side is engaged with the upper rack 55g3 provided on the fork 53, so that the pinion gear 55g1 is When moving while rotating to the right in the figure, the fork 53 integrated with the upper rack 55g3 with the lower rack 55g2 as a scaffold is moved to the first intermediate slider 55c at a speed twice the moving speed of the second intermediate slider 55d. On the other hand, it moves to the right in the figure.

  As described above, the fork 53 moves from the neutral position γ to the first insertion position α. In order to move the fork 53 from the neutral position γ to the second insertion position β, the motor 55a may be rotated in the reverse direction (Y direction).

  Next, the load position changing mechanism 57 will be described in detail.

  When the fork 53 moves from the neutral position γ to the first insertion position α, the upper portion of the load supporting belt 57a that spans between the pulleys 57b that are pivotally attached to both ends of the fork 53 is on the right in the figure. Move towards. That is, since the lower portion of the load supporting belt 57a is connected to the second intermediate slider 55d via the bracket 57c, when the fork 53 moves to the right in the drawing with respect to the second intermediate slider 55d, the load supporting belt 57a is supported. The upper part of the belt 57a moves to the right in the drawing at a speed higher than that of the fork 53.

  In order for the fork 53 to move from the neutral position γ to the second insertion position β, the upper portion of the luggage support belt 57a moves to the left in the drawing at a speed higher than that of the fork 53 by an operation according to this.

  Next, the operation of the width adjusting portion 41 will be described in detail.

  When the load N is placed on the fork 53 at the neutral position γ, the width adjusting portion 41 moves the width adjusting member 61 within the normal movable range δ to position the load N and sandwich the load N. Pressure holding is performed. That is, in this case, when the timing belt 63d is moved in the forward / reverse direction by operating the motor 63a of the width adjusting member driving mechanism 63, the movable frame 67 connected to the upper portion of the timing belt 63d is moved relative to the fixed frame 65. The width adjusting member 61 supported by the movable frame 67 moves forward and backward with respect to the positioning wall 59. Therefore, the load N can be positioned at a normal position on the fork 53 by advancing the width adjusting member 61 and pressing the load N toward the positioning wall 59. Then, the luggage N can be held on the head 5 by maintaining the pressed state.

  Next, the operation of the scraping section 43 will be described in detail.

  The scraping portion 43 is operated by using the movement of the movable frame 67 of the width adjusting portion 41, and moves the movable frame 67 forward in the direction of the positioning wall 59 beyond the normal movable range δ. Accordingly, the saw-off member 69 of the saw-off part 43 is operated. More specifically, when the movable frame 67 of the width adjusting portion 41 moves forward and backward within the normal movable range δ, the scraping member 69 does not move forward and backward in the storage racks S1 and S2 and It is not located in. When the movable frame 67 moves forward in the direction of the positioning wall 59 beyond the normal movable range δ, the cam follower 71b is guided to the cam surface 71a, and as the movable frame 67 advances, the cam follower 71b gradually moves into the storage shelf S1, Move in a direction approaching S2. The movement of the cam follower 71b is transmitted to the scraping member 69 through the connecting member 69c and the slide rod 69a that pivotally support the cam follower 71b, and the scraping member 69 corresponds to the movement of the cam follower 71b. Move in the S1 and S2 directions. Further, the scraping member 69 moves in the direction approaching the positioning wall 59 as the movable frame 67 moves forward and backward. Finally, as shown in FIGS. It reaches the cutting-off position set above and near the opening end surface Sa of the storage shelves S1 and S2.

  The scraping unit 43 is mainly used when the next baggage N is stacked on the previous baggage N in a state where the baggage N is previously stored in the specific unit storage space Sb. That is, the fork 53 on which the next luggage N is placed is stopped at a position slightly higher than the upper surface of the previous luggage N, and the fork 53 is moved from the neutral position γ to the first insertion position α or the second insertion position in this state. By moving to β, the next load N is positioned above the previous load N. Thereafter, the saw-off member 69 is positioned at the saw-off position by advancing the width adjusting member 61 beyond the normal movable range δ. When the fork 53 is moved to the neutral position γ in this state, the load N is blocked by the scraping member 69 and stays above the previous load N. Therefore, when the fork 53 is extracted from under the load N, the next time The load N is loaded on the previous load N. The upper surface of the previous load N is specified by the height data of the load N measured in advance by the load height measuring mechanism 77i provided immediately before the receiving conveyor 77. The position of the head 5 is determined based on the height data, and is inserted into the unit storage space Sb of the fork 53. The fork 53 is actually attached to the head N by the load upper end detection sensor 92. After confirming that there is no luggage N above the upper end surface, that is, at the height of the fork 53, storage is started. In addition, when carrying out the multistagely loaded luggage N in this way, it is placed on the fork 53 and moved to the shipping conveyor 79 while being multistagely stacked. Further, the scraping section 43 is also used when scraping the luggage N onto the shipping conveyor 79 by an operation according to this. The head 5 of the picking device P detects whether or not the luggage N stored in each unit storage space Sb protrudes beyond the opening end surface Sa of the storage shelves S1 and S2 toward the picking device P. The unit storage space Sb of the storage shelves S1 and S2 is detected by detecting the position of the above-mentioned partition box 1c serving as a dog provided on the storage shelves S1 and S2 and the baggage storage position detection sensor 91 serving as the luggage storage position detection means. A storage shelf position detection sensor 87 for recognition is provided. Further, the head 5 is provided with a stock detection sensor 89 for detecting whether or not the baggage N is already in the unit storage space Sb, and a monitor camera 94 for manually operating the picking device P when trouble occurs. Provided. The height position of the luggage storage position detection sensor 91 is different from the height position of the luggage upper end detection sensor 92.

  Therefore, the storage facility I according to the present embodiment has the shelf element 3 configured to be detachable from the frame 1 as described above. Here, a procedure for attaching and detaching the shelf element 3 from the frame 1 will be described with reference to FIGS. 13 and 14.

  First, in the state where the shelf element 3 is attached as shown in FIG. 13, the first contact protrusion 1b3 of the first attachment rod 1b1 is close to the upper upright plate portion 3c1 at the rear end portion of the support plate 3b. Alternatively, the downward contact surface 1b5 of the first contact protrusion 1b3 is in contact with the upper surface 3b2 at the rear end of the support plate 3b. On the other hand, the second contact protrusion 1b4 of the second mounting rod 1b2 is positioned at a position close to or in contact with the lower upright plate portion 3c3, and the upward contact surface 1b6 of the second contact protrusion 1b4 is the connection plate. It is in a state of contacting the front end of the horizontal plate portion 3c2 of 3c. In this state, the load applied to the shelf element 3 acts as a force in a direction for pushing up the first mounting rod 1b1 and a force for pushing down the second mounting rod 1b2. Since the first mounting rod 1b1 and the second mounting rod 1b2 are provided extending in the vertical direction, the force applied to the two mounting rods 1b1 and 1b2 is applied in the direction perpendicular to the thickness direction. Even if the flanges 1b1 and 1b2 have a flat plate shape, they can withstand a large load. Further, the upper upright plate portion 3c1 and the lower upright plate portion 3c3 of the connection plate 3c are responsible for positioning the shelf element 3 in the depth direction in the state shown in FIG.

  When removing the shelf element 3 from the contact protrusions 1b3 and 1b4, as shown in FIG. 14, the shelf element 3 is rotated around the second contact protrusion 1b4 by lifting the front end side of the shelf element 3. The first mounting rod 1b1 and the upper upright plate portion 3c1 can be easily detached by separating them. Since the contact protrusions 1b3 and 1b4 are provided at predetermined equal intervals in the vertical direction, if the shelf element 3 is removed, a unit storage space Sb having a size approximately double in the vertical direction can be formed. Moreover, it is also possible to form a unit storage space Sb having an arbitrary capacity by attaching the shelf element 3 to other contact protrusions 1b3, 1b4 to which the shelf element 3 is not attached.

  As described above, the storage facility I according to the present embodiment is configured so that the shelf elements 3 included in the storage shelves S1 and S2 are detachable, so that the shelf elements 3 are rigidly connected to the frame 1. The process such as screwing can be omitted. That is, the number of steps for attaching the shelf element 3 to the frame 1 is greatly reduced. With such a configuration, the number of assembling steps of the storage shelves S1 and S2 can be effectively reduced. As a result, the time and labor required for assembling the storage shelves S1 and S2 are greatly reduced, and simple and quick installation of the storage shelves S1 and S2 is realized. In addition, for example, when handling larger luggage N than before, or when changing the size of the storage space by changing other specifications, it is possible to quickly respond. Further, by removing the required shelf element 3, the capacity of the unit storage space Sb can be increased in the vertical direction, so that the unit storage space Sb can be set to a capacity according to the shipping amount required for the shipping destination. .

  Even when the shelf element 3 is removed and the capacity of the unit storage space Sb is increased in the vertical direction, the front end of the fork 53 that has entered beyond the opening end surface Sa of the storage shelves S1 and S2 is retracted from the shipping conveyor 79. At this time, since a saw-off member 69 is provided for preventing the cargo N on the fork 53 from moving backward and dropping, the unit storage space Sb having a large vertical distance between the shelf elements 3 is provided. By laminating the luggage N, the unit storage space Sb can be used effectively.

  In order to set the capacity of the unit storage space Sb more accurately, in this embodiment, the frame 1 has a frame body 1a and a shelf mounting rod 1b, and the shelf mounting rods 1b are equally spaced in the height direction. It has the contact protrusion 1b3 and 1b4 which are the shelf element attachment parts formed in this.

  Further, in the present embodiment, a partition rod 1c that can partition the intermediate position of the shelf element 3 in the width direction is provided, and the capacity of the unit storage space Sb can be accurately adjusted according to the shipping destination. . In particular, in the present embodiment, the picking device P can work at an accurate position by causing the picking device P to detect the partition rod 1c.

  Although the embodiment of the present invention has been described above, the specific configuration of each unit is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the present invention.

  For example, the aspect which attaches a shelf element so that attachment or detachment is possible can employ | adopt various aspects, such as attaching to a support | pillar directly or attaching to a beam. The space | interval which provides a shelf element attaching part is not limited to the space | interval of illustration, It is possible to provide in arbitrary space | intervals.

  In addition, the specific configuration of each part is not limited to the above embodiment, and various modifications can be made without departing from the spirit of the present invention.

The typical top view of the whole storage system provided with the storage equipment concerning one embodiment of the present invention. Structure explanatory drawing of the storage equipment which concerns on the same embodiment. The typical front view of the storage equipment which concerns on the same embodiment. The perspective view which shows the principal part of the carrying in / out apparatus which concerns on the same embodiment. The perspective view which shows the picking apparatus which concerns on the same embodiment. The perspective view which shows the principal part of the storage shelf which concerns on the same embodiment. Structure explanatory drawing of the picking apparatus which concerns on the same embodiment. The front view which shows the principal part of the picking apparatus which concerns on the same embodiment. FIG. 8 is a cross-sectional side view of the center of the picking device shown in FIG. 7. Operation | movement explanatory drawing of the picking apparatus shown corresponding to FIG. The top view which shows the principal part of the picking apparatus which concerns on the same embodiment. Explanatory drawing of operation | movement of the picking apparatus shown corresponding to FIG. The typical front view which shows the principal part of the storage shelf which concerns on the same embodiment. Explanatory drawing of an effect | action of the storage shelf shown corresponding to FIG.

Explanation of symbols

I ... Storage equipment 1 ... Frame 1b ... Shelf mounting rod 1b3 ... Shelf element mounting portion (first contact protrusion)
1b4 ... Shelf element mounting portion (second contact protrusion)
1c ... compartment 3 ... shelf element 5 ... head 53 fork 69 ... scraping member N ... luggage P ... picking device S1 ... storage shelf (one storage shelf)
S2 ... Storage shelf (the other storage shelf)
Sa ... Open end surface Sb ... Unit storage space

Claims (3)

A storage shelf having a plurality of unit storage spaces open on a common opening end surface;
A picking device that is erected on the opening end surface side of the storage shelf and inserts a fork into the opening end surface of the storage shelf to take in and out the luggage with respect to the storage shelf;
The storage shelf includes a frame and a shelf element configured to be detachable from the frame ;
The picking device includes a head that moves to an arbitrary position on the opening end surface of the storage shelf, and the head is used to lock the fork and one side of the luggage positioned on the base end side of the fork. A positioning wall, a width adjusting member for pressing and positioning the load against the positioning wall, and a fork that has been moved past the opening end surface of the storage shelf when the fork is moved backward from the opening end surface. A saw-off member for preventing the baggage from moving backward and dropping it,
A storage facility characterized in that the scraping member can be operated by utilizing the movement of the width adjusting member . The storage facility according to claim 1, wherein the frame has a shelf mounting rod, and the shelf mounting rod has shelf element mounting portions formed at equal intervals in the height direction . The storage facility according to claim 1 or 2, wherein the frame has a partition wall that can partition an intermediate position of the shelf element in the width direction .

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