JPH0643203B2 - Storage facility - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a storage facility capable of efficiently storing an article, particularly when an article stored in a container is taken out from above the container. The present invention relates to a storage facility that can be preferably used.

(Prior Art) As a conventional technology relating to storage equipment, see Japanese Utility Model Publication No. 62-1.
The thing etc. which are described in 79205 publication are known.

Explaining the conventional technique described in the above publication, in Japanese Utility Model Laid-Open No. Sho 62-179205, a take-out surface of an article is formed on one side surface of a storage section which is divided into multi-stage multi-rows for storing articles. A storage facility for articles is described in which stored articles can be moved toward the ejection surface by their own weight.

(Problems to be Solved by the Invention) However, the above conventional techniques have the following problems.

That is, in the article storage facility described in Japanese Utility Model Laid-Open No. 62-179205, since each stage of the storage section is fixedly installed, the article stored in the container can be taken out from above the container. In order to do so, it is necessary to make the interval of each stage of the storage unit a value that adds the height of the container, the height of the article, and the margin for taking out the article, that is, it is necessary to widen the article. It cannot be stored efficiently.

Therefore, an object of the present invention is to efficiently move an article, particularly an article stored in a container and taken out from above the container, by making the end portion of the article storage unit movable in a substantially horizontal direction. It is to provide storage equipment that can be stored well.

(Means for Solving the Problem) The present invention is directed to a plurality of vertically inclined conveyors (30b).
In the storage facility (30) which is provided with the article (33b) stored at the end of the inclined conveyor (30b), a pair of upper and lower inclined conveyors (30
The inclined conveyor (30b) can be pulled out and retracted by moving the b) in opposite directions via the link (30e), and the article gripping attached to the lift table (5). The above object is achieved by providing a storage facility (30) characterized in that the device (6) is adapted to remove the article (33b) from above the container (33a).

(Operation) In the storage facility of the present invention, the end of the article storage section can be moved in a substantially horizontal direction, so that the article is stored in the container and taken out from above the container. Store goods efficiently.

(Example) An example of the storage device of the present invention will be described below.

FIG. 1 is a side view showing a storage device according to the present invention, which is suitable for taking out a product from the storage device, and FIG.
FIG. 4 is a front view thereof, FIG. 3 is an explanatory view showing a state in which a string-like body (wire) of an article take-out device is stretched, and FIG. 4 is an explanatory view showing a mast upper part of the traveling body and an elevator. FIG. 6 is a perspective view showing the article gripping device, FIG. 6 is a vertical cross-sectional view of a gripping hand using the annular tube, FIG. 7 is a cross-sectional view showing a lifting mechanism of the lifting table, and FIG. 8 is an application example thereof. In these drawings, (1) is a traveling body of an article take-out device, which is provided with a mast (2) made of a square pipe, and which has an intermediate portion of a wire (3) as a traveling string-like body. It is wound around a traveling drive drum (4) as a drive unit for the traveling body installed on the ground side, and the middle portion is fixed to the upper portion of the traveling body (1) and the end is fixed to the lower portion of the traveling body (1). At the same time, locate the wire (3) stretched in the traveling direction of the traveling body (1) and pulling the upper and lower parts of the traveling body (1) in the same direction. Is driven by pulling the direction, it is no so as to run along the storage facility comprising an article storage portion (30a) (30). Also,
(5) is an elevating table that moves up and down along the mast (2), and an intermediate part of the wire (20) as an elevating and lowering string-shaped object is an elevating drive drum (21 ),
It is suspended in the running direction of the running body (1) and
It is driven by pulling a wire (20) looped between the upper part of (1) and the lift (5) and between the lower part of the traveling body (1) and the lift (5) in a desired direction. , Article storage (30
It is adapted to go up and down along the storage facility (30) provided with a).

Further, (30) is a storage facility (fluid shelf) provided with an inclined (roller) conveyor (30b) as an article storage unit (30a) having a plurality of rows and a plurality of stages in the vertical and horizontal directions for storing the container (33a), An article (33b) stored in a container (33a) stored at the end of the inclined conveyor (30b) is taken out, and the inclined conveyor (30b) is moved substantially horizontally by an air cylinder (30c). As shown in FIG. 1, the air cylinder (30c) is movable so that it can move.
The inclined conveyors (30b) that are provided for the inclined conveyors (30b) at every step and are not provided with the air cylinders (30c) are connected via a link (30e) that rotates around a fulcrum (30d). Lower inclined conveyor (30b)
The air cylinder (30c) provided for the movable member is arranged to move in the direction opposite to the lower inclined conveyor (30b). The air cylinder (30c) may be provided for each stage of the inclined conveyor (30b). A hydraulic cylinder, a power cylinder, or the like may be used instead of the air cylinder (30c).

Further, (6) is an article (33) stored in the container (33a).
b) a plurality of gripping heads (9), (9), (10), (1)
An article gripping device including 0) and (11), which is a moving device described later.
The gripping head (9) is attached to the lifting table (5) via (7), and grips and holds the article (33b) by opening and closing the pair of pressing pieces (12) with the cylinder (13). , (10) absorb the air from the suction pad (14) and apply negative pressure to the article (33).
A gripping head for sucking and gripping b), (11) inserts the upper part of the article (33b) into the center of the annular tube (15) and injects air into the annular tube (15) to form the annular tube (1).
A gripping head for gripping an article (33b) inserted by expanding and deforming 5) in the central direction. Further, (7) is an article gripping device
A moving device that moves (6) in the flow direction of the inclined conveyor (30b) is driven by a cylinder, and (8) is a cylinder rod of the moving device (7). Also, (91) is the container (3
The linear guide (91c) of the gripping head (9) on the pulse motor (91a) side is driven by the ball screw (91b) driven by the pulse motor (91a) according to the storage pitch of the articles (33b) stored in 3a). Moving along, gripping head
(9) is a pitch changing device for changing the pitch of (9), and each gripping head (9), (9) grips the articles (33b) housed in the container (33a) one by one. It is done like this. Further, (101) is an article (3) stored in a container (33a).
3b) the pulse motor (101a) side gripping head (10) is driven by the pulse motor (101a) with a ball screw (101b) to move the linear guide (101c) according to the storage pitch of 3b).
A pitch changing device that moves along the gripping head to change the pitch of the gripping heads (10), (10).
0) refers to the article (33b) stored in the container (33a) as 1
It is designed to be held individually. Further, (22) is a terminal fixing point of the lifting wire (20) installed on the ground side, and (23) is a stop fixing the middle part of the traveling wire (3) to the upper part of the mast (2). Landing location, (24) pulley of traveling wire (3), (25) pulley of lifting wire (20), (26) traveling wheel of traveling body (1),
(27) is a guide roll of the traveling body (1), (28) is a lifting roller of the lifting platform (5), (29) is a traveling rail of the traveling body (1), (32) is a storage box conveyor, (34) is a storage box, (37) is a traveling wire
The fixing point where the end of (3) is fixed to the lower part of the traveling body (1),
(39) rotates the article gripping device (6) to grip the gripping heads (9), (1
This is a rotary air motor that enables selection of 0) and (11).

Therefore, in the above-mentioned article take-out device, when the traveling drive drum (4) is rotated in the direction of the arrow in FIG. 2, the traveling wire (3) is attached to the fastening portion (23) and the traveling portion above the mast (2). body
Pull the fastening point (37) at the bottom of (1) to the left to run (1)
To the left, and the traveling drive drum (4) is reversed to drive the traveling body (1) to the right. In addition, the lifting drive drum (2
Rotate 1) in the direction of the arrow to mast the lifting wire (20).
While being paid out below (2), it is rolled up from above the mast (2) and the lift table (5) is raised. In addition, the lifting drive drum (2
If 1) is reversed, the lifting wire (20) moves in the opposite direction and lowers the lifting table (5). If the lifting drive drum (21) is stopped, the lifting wire (20) does not move at the position of the lifting drive drum (21) even when the traveling body (1) runs along the storage facility (30). Therefore, the lifting platform (5) can maintain a constant height regardless of the movement of the traveling body (1). As described above, the traveling of the traveling body (1) and the elevation of the elevator platform (5) are independently performed by the traveling drive drum (4) and the elevation drive drum (21) fixedly installed on the ground.

Next, an aspect of picking an article from the storage facility of the present invention by the above-mentioned article take-out device will be described.

The inclined conveyor (30b) at each stage of the storage facility (30) contains a container (33a) containing one type of article (33b).
Are stored multiple times. The container (33a) is stored on the inclined conveyor (30b) in such a state that the article (33b) can be taken out from the upper surface by opening the upper surface in advance. That is, when the article (33b) is stored in a plastic container or the like having an open upper surface, it may be supplied to the inclined conveyor (30b) as it is, but when it is stored in a corrugated cardboard box or the like, its upper surface is previously stored. It is preferable to feed the slanted conveyor (30b) after cutting it.

Articles (33b) stored on each inclined conveyor (30b)
Is picked in batch units such as by customer,
A predetermined article (33b) is picked in the following manner based on the data arranged in the order of picking type for each batch.

First, for each article (33b) to be picked, the article (33b)
It is decided from which position of the container (33a) placed at the end of the inclined conveyor (30b), that is, the most downstream part, is taken out. In this case, the articles (33b) stored in the inner side of the container (33a) are forcibly picked in order so that the articles (33b) that are not picked and remain in the container (33a) do not fall. Is preferred.

When the picking position of the article (33b) is determined, the traveling body
A movement command including a destination address, a moving speed, a moving acceleration, a type of an acceleration curve, etc. is given to the (1) and the lifting platform (5), and based on the moving command, the traveling body (1) is driven and the lifting platform is moved. (Five)
By moving up and down, the article gripping device (6) moves to a position facing the inclined conveyor (30b) accommodating the article (33b) to be picked.

Simultaneously with the movement command of the article gripping device (6), the most downstream part of the inclined conveyor (30b) from which the article (33b) is taken out is the first
When the product is not in the position for taking out the article (33b) like the second or fourth tilt conveyor (30b) from the bottom in the figure, a movement command is given to the tilt conveyor (30b) to cause the air cylinder (30c) to move. ) Is operated to move in a substantially horizontal direction to a position for taking out the article (33b) like the first or third inclined conveyor (30b) from the bottom in FIG. When the tilt conveyor (30b) on the upper stage of the tilt conveyor (30b) from which the article (33b) is taken out is in the position for picking up the article (33b), a movement command is given to the tilt conveyor (30b). , The air cylinder (30c) operates, and moves in a substantially horizontal direction to a position where the article (33b) is not taken out, and the article (33b)
Prepare a sufficient space above the inclined conveyor (30b) from which is taken out. Incidentally, when the first or third tilt conveyor (30b) from the bottom in FIG. 1 moves in a substantially horizontal direction to a position for taking out articles, the tilt conveyors (30b) on the upper stage move to the links (30e). ), And moves in a substantially horizontal direction to a position where the article is not taken out.

When the article gripping device (6) moves to a position facing the inclined conveyor (30b) storing the article (33b) to be picked, and the most downstream part of the inclined conveyor (30b) moves to a predetermined position, A selection command for the gripping heads (9), (9), (10), (10), (11) is given according to the article (33b) to be picked, and the rotary air motor (39) is selected based on the selection command. Depending on the operation, one of the gripping heads (9), (9), (10), (1
0) and (11) are selected. The gripping heads (9), (9), (1
The selection of 0), (10), and (11) may be performed while the traveling body (1) and the lifting platform (5) are moving.

When the gripping heads (9), (9), (10), (10), (11) are selected, the destination address, moving speed, moving acceleration, type of acceleration curve, etc. are set to the moving device (7). An article gripping device (6) attached to the tip of the cylinder rod (8) by a movement command including the movement command given by the movement device (7) based on the movement command.
Moves onto the article (33b) to be picked. At the same time, a movement command including the address of the destination is given to the pitch changing devices (91) and (101), and the gripping heads (9) and () are driven by the operation of the pulse motors (91a) and (101a) based on the movement command. 9), (10), (10) and (11) move onto the article (33b) to be picked.

When the article gripping device (6) is located on the article (33b) to be picked, the lift table (5) is given a movement command including the destination address, movement speed, movement acceleration, type of acceleration curve, and the like. Based on the movement command, the lifting table (5) is lowered to move the predetermined gripping heads (9), (9), (10), (10), (11) to the article gripping position.

When the predetermined gripping heads (9), (9), (10), (10), (11) move to the article gripping position, the gripping heads (9), (9), (10), (1
A gripping command is given to 0) and (11), and the gripping heads (9), (9), (10), (10) and (11) grip the desired number of articles (33b) based on the gripping command. To do.

When the gripping heads (9), (9), (10), (10), and (11) grip a desired number of articles (33b), the elevator table (5) receives the destination address, moving speed, and moving acceleration. , A movement command including the type of the acceleration curve, etc. is given, and the lifting platform is based on the movement command.
(5) The bottom of the article (33b) rises to a position slightly above the top of the container (33a).

When the bottom of the article (33b) of the lift (5) rises to a position slightly above the top of the container (33a), the moving device (7) indicates the destination address, moving speed, moving acceleration, type of acceleration curve, etc. Is given, and the moving device (7) operates based on the moving command to move the article gripping device (6) attached to the tip of the cylinder rod (8) to the outside of the inclined conveyor (30b). To do.

When the article gripping device (6) moves to the outside of the inclined conveyor (30b), the elevator table (5) receives the destination address, moving speed,
A movement command including a movement acceleration, a type of acceleration curve, and the like is given, and the article (33b) held by the article holding device (6) is lowered by the lowering of the lifting table (5) based on the movement instruction to store the storage box.
Move on to (34).

Storage box for articles (33b) held by the article holding device (6)
When moved above (34), the gripping heads (9), (9), (10), (1
A release command is given to 0) and (11), and the article (33b) held by the gripping heads (9), (9), (10), (10) and (11) is released based on the release command. Then, the article (33b) is placed on the storage box (34).

The storage box (34) on which the released article (33b) is placed is provided with a stopper (shown in the figure) below the inclined conveyor (30b) storing the article (33b) to be picked by the storage box transfer conveyor (32). Items (33b) picked up from the inclined conveyor (30b) above the waiting storage box (34) are sequentially stopped by the omission) and stand by.
When the loading of the articles is completed, the storage box (34) starts, and the inclined conveyor (30) storing the articles (33b) to be stored next is stored.
All the articles (33b) to be loaded into the storage box (34) are sequentially loaded, after being conveyed to the lower part of b), stopped again by the stopper and waiting.

Although the embodiments of the storage facility of the present invention and the picking mode of articles from the storage facility of the present invention by the above-described article take-out device have been described above, the present invention is not limited thereto.

(Effects of the Invention) In the storage facility of the present invention, as described above, the end of the storage section can be moved in a substantially horizontal direction, so that articles are stored in a container and taken out from above the container. Thus, the article can be efficiently stored.

Also, since the article storage unit is an inclined conveyor,
The above effect can be further increased.

[Brief description of drawings]

FIG. 1 is a side view showing a storage facility of the present invention and an article take-out device suitable for taking out an article from the storage facility.
FIG. 4 is a front view thereof, FIG. 3 is an explanatory view showing a state in which the cord-like body of the article take-out device is stretched, FIG. 4 is an explanatory view showing a mast upper part of the traveling body and an elevator, and FIG. FIG. 6 is a perspective view showing an article gripping device, FIG. 6 is a vertical cross-sectional view of a gripping hand using the annular tube, FIG. 7 is a cross-sectional view showing a lifting mechanism of the lifting table, and FIG. 8 is a perspective view showing an application example thereof. It is a figure.
Incidentally, in FIG. 8, the gripping head is partially omitted. (30): Storage facility (30a): Article storage section (30b): Inclined conveyor (33b): Article

Claims (1)

[Claims] 1. An inclined conveyor (30) having a plurality of stages in a vertical direction.
In a storage facility (30) provided with b) and adapted to take out articles (33b) stored at the end of the inclined conveyor (30b), a pair of upper and lower inclined conveyors (30b) are linked (30e). )
The inclined conveyors (30b) can be moved out and in by moving the containers (33a) by means of an article gripping device (6) attached to a lift table (5) by moving the containers (33a) in opposite directions. The storage facility (30) is characterized in that the article (33b) is taken out from above.