JPH07187330A - Bidirectional transfer equipment in automatic warehouse - Google Patents

Abstract

PURPOSE:To provide bidirectional transfer equipment in an automatic warehouse by which articles can be transferred and loaded from both side shelves and large and small articles different in the size can be transferred and loaded one by one and plural small articles can be simultaneously transferred and loaded and which is suitable for efficiently handling small lot and various kind articles and by which the other articles can be also successively transferred and loaded without delivering articles after the articles are transferred and loaded. CONSTITUTION:A pair of comb teeth-shaped forks 25 and 26 which can respectively independently freely protrude to and retreat from both sides and can be independently freely raised and lowered, are arranged in the inverse direction in a main body part 24, and a pair of these is arranged in a singularity or juxtaposed in a plurality with each other along picking shelves 1a and 1b, and unit members 27 and 28 constituting both forks being a pair are alternately arranged, and a container in which plural projecting strips capable of meshing the forks with an upper surface are juxtaposed in a comb teeth shape with each other, is arranged in the picking shelves, and a height of the projecting strips is set higher than a vertical width of the forks. Articles on the container housed in the picking shelves can be transferred to and loaded on the main body part by the respective forks or by cooperation of the plural forks.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bidirectional transfer device in an automatic warehouse, and more specifically, it is capable of transferring articles from shelves on both sides and is capable of transferring a wide variety of various single or plural articles. The present invention relates to a two-way transfer device in an automatic warehouse, which is suitable for transferring items, and can transfer other items after transferring the item.

[0002]

2. Description of the Related Art As a conventional automatic warehouse, a plurality of fixed shelves, each of which has a plurality of unit shelves arranged in rows and columns, are provided side by side with a predetermined passage, and a plurality of fixed shelves can be moved in the passage between them. Various types of stacker cranes are provided, in which the articles stored in the fixed shelves are unloaded and the articles are stored in the empty unit shelves. In addition, instead of the stacker crane, it is possible to move laterally in each of the upper and lower shelves, and as in the above, there are already various structures having a picking dolly for loading and unloading articles from the fixed shelf. It is provided.

Further, in the conventional automated warehouse, when the articles are directly stored in the fixed shelf unit shelves, the size of each article is made constant, or a single or a plurality of articles are required due to the requirement of easy transfer. Storing a standard tray containing
It is common to store a container or pallet of a certain standard on which one or a plurality of articles are placed, and accordingly, the transfer device also has a structure suitable for transferring one object of a specific shape. Has been adopted. For example, for a structure having a pusher for pushing an object from the back of the unit shelf to the unit shelf, a structure having a pair of arms capable of sandwiching and pulling the object from both sides, a tray, a container or a pallet. There are structures that are locked and pulled out.

However, since a conventional transfer device in an automatic warehouse has a direction for transferring articles, one picking crane or a plurality of picking dollies are provided in pairs for one fixed shelf. Only one side of the shelf could be accommodated, and space efficiency was poor. Further, both are intended for the transfer of one object, there is a drawback that it is not possible to transfer multiple objects at the same time, or when the size and shape of the transferred objects are different, It has not been possible to meet the recent demand for efficiently handling a wide variety of products. Moreover, after the article is transferred to the transfer device, another article cannot be subsequently transferred, and it is necessary to transfer the article once transferred and then transfer the other article.

[0005]

In view of the above-mentioned situation, the present invention is to solve the problem that the articles can be transferred from the shelves on both sides in exactly the same manner, and the articles of different sizes. It is possible to transfer each one at a time, and it is also possible to transfer a plurality of small articles at the same time, which is suitable for efficiently handling a wide variety of various articles, and without transferring the articles after they are transferred. Then, another point is to provide a bidirectional transfer device in an automatic warehouse that can transfer other articles.

[0006]

In order to solve the above-mentioned problems, the present invention provides a pair of comb-tooth-shaped forks that are independently retractable from both sides of the main body and independently movable up and down. It is provided in the opposite direction, and the pair is arranged singly or in parallel along the picking shelf, and the unit members constituting the paired forks are alternately arranged. A container in which a plurality of ridges that can be meshed are arranged side by side in a comb shape is arranged, and the height of the ridges is set higher than the vertical width of the forks, and each fork or a plurality of forks cooperate with each other. Then, a bidirectional transfer device in an automatic warehouse was constructed in which the articles on the container stored in the picking shelf can be lifted and transferred into the main body.

[0007]

The bidirectional transfer device in the automatic warehouse of the present invention having the above-mentioned contents is arranged between both picking shelves provided in parallel with each other with a predetermined moving space, and the main body unit responds to a request for delivery of an article. From the one or more forks corresponding to the picking shelf on one side, projecting in the depth direction of the picking shelf,
A plurality of forks in which one or more small articles are placed on or cooperated with each fork by being inserted between the comb-shaped protrusions formed in the container, positioned below the article, and then raised. A large article is placed on the main body and the fork is pulled into the main body to transfer the article from the picking shelf into the main body. Further, the articles are transferred from the picking shelf on the other side by the other single or plural forks corresponding thereto in the same manner as described above.

In addition, once an article is placed on a fork and transferred to the main body, and then another article stored in one picking shelf is transferred, the The other fork corresponding to the picking shelf is placed on the one fork by lowering the other fork while keeping the one fork stationary, and the tip of the one fork is stored in the picking shelf in that state. After placing the transferred article at the base end of the other fork by inserting it between the ridges of the placed container, the other fork is raised to place the transferred article at its base end. . Next, after pulling one fork into the main body, lower the other fork, and
With one fork lifted and the transferred article placed on the tip of the one fork, it is moved toward the container to bring the transferred article into contact with another article on the container, and then the The fork is lowered to support the transferred article on the edge of the container, and the fork is inserted between the ridges of the container so that its tip is located below the other article. When the one fork is inserted, the transferred article slides on the fork and relatively moves. Then, the one fork is raised to place the transferred article and the other article on the tip end,
Finally, by pulling this fork into the main body, other articles can be transferred.

[0009]

The present invention will be described in more detail with reference to the embodiments shown in the accompanying drawings. FIG. 1 shows a typical embodiment of an automated warehouse according to the present invention, in which 1a and 1b are picking shelves,
2 is a storage shelf, 3 is a stacker crane, and 4 is a picker.

In the automated warehouse according to the present invention, the picking shelves 1a and 1b are arranged in two rows with the moving space 5 therebetween, and the storage shelves 2 are separated from the picking shelf 1a by a predetermined transfer passage 5. After collecting the empty container on the picking shelf 1 by the stacker crane 3 arranged side by side and arranged in the transfer passage 6, the article loading container on the storage shelf 2 is replenished at the position where the empty container was, and the picking shelf Only the articles on the container are taken out by the picker 4 from the front of 1a. Here, the picker 4 is arranged in the moving space 5 and can transfer articles from both picking shelves 1a and 1b. A storage shelf for replenishing the picking shelf 1b with goods is omitted.

Specifically, the automated warehouse has picking shelves 1a and 1b in which a plurality of unit shelves 7, ... Opened at the front and rear are arranged vertically and horizontally, and a transfer passage 6 facing the picking shelves 1a and 1b. , A storage rack 2 in which at least front unit shelves 8 ... Opened in the vertical and horizontal directions are arranged in the transfer passage 6, and an empty container on the picking shelf 1a is transferred. Between the stacker crane 3 in which the transfer table 9 having the loading section 9a and the replenishing transfer section 9b for transferring the article loading container in the storage shelf 2 arranged in parallel is movable, and the picking shelves 1a, 1b. It is possible to move within the moving space 5,
The picker 4 is provided with a picker 4 capable of individually transferring a plurality of articles on a container 10 housed in the unit shelves 7 of the picking shelves 1a and 1b and taking them out.

In this embodiment, the container 10 having a rectangular shape in plan view is used, and the unit shelf 7 of the picking shelf 1a is used.
The frontage is set corresponding to the long side of the container 10, and the frontage of the unit shelf 8 of the storage shelf 2 is set corresponding to the short side of the container 10. Further, the replenishment transfer section 9b of the stacker crane 3 is provided with a rotary table 11 for transferring the article loading container and rotating 90 degrees.

In the first embodiment shown in FIG. 1, as the picker 4, rails 12 are provided for each step of the unit shelves 7, ... And arranged along the moving space 5 between the picking shelves 1a, 1b.
In the second embodiment shown in FIG. 2, a picking dolly 4a that can be self-propelled on the rail 12 is used as the picker 4 and rails 1 arranged above and below the moving space 5.
A picking crane 4b in which an elevating table 15 is provided so as to be movable up and down is used for a support body 14 which can be moved along 3,3. The container 1 on the unit shelves 7, ... Of the picking shelves 1a, 1b is attached to the main body of the picking dolly 4a or the lift 15 of the picking crane 4b.
A bidirectional transfer device 17 of the present invention is provided for taking out the article 16 placed on the 0. Since the bidirectional transfer device 17 of the present invention does not differ between the case where it is used for the picking dolly 4a and the case where it is used for the picking crane 4b, the details of the case where it is used for the picking dolly 4a will be described in this embodiment. explain.

Here, the stacker crane 3 has a pair of columns 19 and 19 which are guided by guide rails 18 and 18 arranged above and below the transfer passage 6 and are movable along the transfer passage 6. However, a transfer table 9 is provided on the columns 19 and 19 so as to be movable up and down. Then, about half of the transfer table 9 becomes the recovery transfer section 9a, and the other half becomes the replenishment transfer section 9b, and each transfer section has a picking shelf 1a.
Alternatively, known transfer means (not shown) capable of transferring the container 10 from the storage shelf 2 to the transfer table 9 and from the transfer table 9 to the picking shelf 1a or the storage shelf 2 are provided.

Next, the flow of the articles 16 in the automatic warehouse of this embodiment will be described with reference to FIG. Here, the stacker crane 3 in one of the picking shelves 1a and the storage shelf 2 is used.
The transfer on the picking dolly 4a will be described. In the container 10, a plurality of articles 16, ... Are placed in parallel along the long side direction thereof, and a plurality of articles 16 are also arranged in the short side direction. A container 1 having articles 16, ... Mounted on each of the unit shelves 7, ... Of the picking shelf 1a.
0, ... are stored so that their long sides are oriented along the frontage, and each unit shelf 8, ...
A similar container 10 is housed so that its short side direction is oriented along the frontage.

First, the desired article 16 for which the delivery request has been made.
The case where is present in the picking shelf 1a will be described.
In that case, the picking dolly 4a on the stage where the target article 16 is present moves along the rails 12 and 12 and stops in front of the desired unit shelf 7, and the target article 16 is moved by the bidirectional transfer device 17. The article 16 is transferred to the picking dolly 4a, then transferred to the article output shelf 20 provided at the side edge of the picking shelf 1a, and then the article 16 is transferred to the elevator type reservoir 21 adjacent to the article output shelf 20. And then leave.

Next, a specific unit shelf 7 of the picking shelf 1a
When the article 16 is completely absent, and when the desired article 16 for which the delivery request is made does not exist in the picking shelf 1a, the unit shelf 8 of the storage shelf 2 corresponding to the desired article 16 is stored.
The transfer table 9 of the stacker crane 3 moves to the position
The replenishment transfer section 9b is positioned in front of the predetermined unit shelf 8 and stopped, and the article mounting container 10 stored in the unit shelf 8 is transferred onto the rotary table 11 of the replenishment transfer section 9b. By rotating the rotary table 11, the orientation of the container 10 is rotated by 90 degrees. After that, or at the same time as the rotation table 11 rotates, the transfer table 9 of the stacker crane 3 moves to the empty position of the unit shelf 7 of the picking shelf 1a, and the recovery transfer section 9a moves to the rear of the unit shelf 7. After being positioned and stopped, the empty container 10 is transferred to the recovery transfer section 9a. Then, the transfer table 9 is moved to position the supplementary transfer section 9b at the rear of the unit shelf 7 and stop, and the article mounting container 10 is transferred from the supplemental transfer section 9b to the unit shelf 7. is there. In this state, the target article 16 for which the leaving request has been issued can be taken out in the same manner as described above.

Further, the empty container 10 transferred to the recovery transfer section 9a of the stacker crane 3 is transferred to the empty container delivery line 22 provided at the side end of the storage shelf 2 and carried out. And the empty container 10 that has been carried out
The articles 16 to be replenished again are placed on the storage container 23, are carried into the storage line 23 adjacent to the empty container delivery line 22, and the replenishment transfer part 9b or the recovery transfer part 9a of the stacker crane 3 is loaded. It is used and stored in the empty unit shelf 8 of the storage shelf 2.

As described above, by using the stacker crane 3 and the picker 4 together, the target article 16 for which the delivery request is issued is present on the picking shelf 1a even when the delivery request and the delivery request overlap. In some cases, those loading / unloading requests are executed in parallel. Further, even when the shipping request and the loading request are overlapped and the target article 16 does not exist in the picking shelf 1a, the article loading container 10 and the empty container 10 can be simultaneously placed on the transfer table 9 of the stacker crane 3. Therefore, the target article 16 can be quickly replenished from the storage shelf 2 to the picking shelf 1a, and the target article 16 can be taken out by the picker 4. Then, unless the target article 16 does not exist in the subsequent delivery request, the picker 4 issues the goods, the stacker crane 3 carries the empty container 10 to the outside, and the article loading container 10 to the storage shelf 2 from the outside. It is possible to replenish in parallel. Here, since there is a low probability that the target article 16 does not exist in any of the continuous delivery requests, the average waiting time for delivery can be shortened as a whole.

If the article 16 for which the delivery request has been issued does not exist in the picking shelf 1a and the empty container 10 does not exist, the article 16 other than the delivery request has been issued.
The container 10 carrying the object 10 is transferred from the picking shelf 1a to the storage shelf 2 by using the replenishment transfer section 9b of the stacker crane 3, and the container 10 carrying the target article 16 is transferred from the storage shelf 2 to the picking shelf 1a. Transfer to the empty unit shelf 7. Further, when the article loading container 10 is carried out for the purpose of not being transferred from the picking shelf 1a to the storage shelf 2, it is carried out in the same manner as the carrying out of the empty container 10 described above.

When the articles 16 stored in the picking shelf 1a are to be unloaded, if the picking dolly 4a is arranged at each stage, the shipping time is much shorter than that when the picking crane 4b is used. The lower limit of the height of the unit shelf 7 is regulated by the vertical height of the picking dolly 4a. However, since the height of each unit shelf 8 of the storage shelf 2 can move the transfer table 9 of the stacker crane 3 to a desired height position, the regulation is a minimum that can transfer the article mounting container 10. It is also possible to set the number of stages of the storage shelves 2 larger than the number of stages of the picking shelves 1a, for example, it is possible to make the number of stages of the storage shelves 2 twice the number of stages of the picking shelves 1a. . This increase in the number of stages and the narrow frontage of each unit shelf 8 synergize with each other, so that the storage shelf 2 can store more than three times as many article loading containers 10 as the picking shelf 1a. However, since the depth width of the storage shelf 2 is substantially equal to the long side of the container 10, it becomes larger than the depth width of the picking shelf 1a and occupies a large space, but the space efficiency due to the large size of the storage shelf 2 is improved. The storage space efficiency increases due to the increase in the number of stored containers 10 rather than the decrease.

As shown in FIG. 3, the bidirectional transfer device 17 of the present invention comprises a pair of combs which can be independently retracted from both sides of the main body 24 of the picking dolly 4a and can be independently raised and lowered. Tooth-shaped forks 25 and 26 are provided in the opposite direction, and a pair of forks 25 and 26 are arranged in parallel along the picking shelves 1a and 1b, and a pair of forks 25 and 26 is formed. Member 27,
28 are arranged alternately. Here, the fork 25 corresponds to the picking shelf 1a, and the fork 26
Corresponds to the picking shelf 1b. Here, each unit member 2 that constitutes one of the forks 25 or 26.
The number of 7 or 28 is required to be at least 2 or more, and preferably about 5 to 10.

The bidirectional transfer device 17 of the present invention is shown in FIGS.
Will be described in more detail based on. The bidirectional transfer device 17 is
A plurality of screw shafts 31, ... Are rotatably provided at regular intervals between the horizontal rails 30, 30 of the elevating frame 29 that are vertically movable with respect to the main body 24 (not shown). Axis 31
The moving body 32 is screwed onto the moving body 32, and one or more unit members 27 having an L-shape in a side view are fixed to the moving body 32. In the illustrated example, one unit member 27 is fixed to one moving body 32. This is illustrated as an example, and a plurality of unit members 27 are combined to form one comb tooth-shaped fork 25, and two pairs of these are combined. Here, the unit members 27, ... Or the moving bodies 32, .., which constitute one fork 25 are connected to each other so as to move integrally. Also,
The movable body 32 has a guide shaft 3 provided in parallel with the screw shaft 31.
It is also preferable to slidably insert 3 to regulate the rotation. Then, as a drive mechanism of the elevating frame 29, racks 34, ... Provided at the four corners of the elevating frame 29 are fixed, and a pinion 36 connected to a rotary shaft of a servo motor 35 attached to the main body 24 is meshed with the rack. Each pinion 36, ... Is configured so as to rotate in conjunction with each other by appropriately combining a transmission shaft 37, ..., a pulley 38 ,. Therefore, when the servo motor 35 is rotated in a certain direction, the lifting frame 2
9 rises, and when it is reversely rotated, it falls. Also,
The screw shafts 31 ... Can rotate in conjunction with another servo motor (not shown), and when the screw shaft 31 rotates in a certain direction, the moving body 32 moves in the direction of the picking shelf 1a and becomes integral with it. The fork 25 protrudes laterally from the main body portion 24, and when it is rotated in the reverse direction, the fork 25 is drawn into the main body portion 24.

Then, as shown in FIG. 5, an elevating frame 40 having the same structure as the elevating frame 29 is arranged in the opposite direction to the elevating frame 29 with their positions slightly shifted from each other. Here, in the elevating frame 40, a plurality of screw shafts 42, ... Are rotatably provided at regular intervals between the horizontal rails 41, 41 facing each other in the same manner as described above, and the moving body 43 is attached to the screw shaft 42. One or a plurality of unit members 28, which are L-shaped members viewed from the side, are fixed to the moving body 43 by screwing. One shown in the figure is one moving body 43 to which one unit member 28 is fixed. For example, a plurality of unit members 28 are combined to form one comb-tooth-shaped fork 26. The unit members 28, ... Or the moving bodies 43, .., which constitute one fork 26 are connected to each other so as to move integrally as described above. It is also preferable that the movable body 43 be slid and guided by a guide shaft 44 arranged in parallel with the screw shaft 42. Then, the horizontal shaft 30 of the elevating frame 29 is inserted with the screw shaft 42 and the guide shaft 44 provided in the elevating frame 40 to form vertically elongated holes 45, ... Side rail 41 of lifting frame 40
A vertically long slot 46, through which the screw shaft 31 and the guide shaft 33 provided in the elevating frame 29 are inserted, is formed in the. Further, similarly to the above, the drive mechanism of the elevating frame 40 also fixes the racks 47, ... Provided at the four corners of the elevating frame 40, and the pinion 49 connected to the rotary shaft of the servo motor 48 attached to the main body 24.
Are engaged with each other, and the pinions 49, ... Are configured so as to interlock with each other by appropriately combining a transmission shaft 50, ..., a pulley 51, ... And a belt 52 ,. The substantially horizontal transfer portions 53, 54 of the forks 25, 26 bypass the upper portions of the horizontal rails 30, 41 of the elevating frames 29, 40 so that they can project and retract to the side of the main body portion 24. There is. Here, the movable body 32 or 43 is rotated by rotating the screw shaft 31 or 42.
Move, but they pass each other without touching each other.

In FIG. 7, the pulley 38 is directly fixed to the transmission shaft 37 penetratingly fixed to the pinion 36, and the pulley 3 of the transmission shaft 37 penetratingly fixed to the pinion 36 arranged on the other side.
8 shows another example of an elevating mechanism for winding the belt 39. In this case, the belt 39 is cross-engaged as shown in FIG. 8 so that both transmission shafts 37, 37 rotate in reverse and the elevating frame 29 is simultaneously interlocked. It is set so that it can be moved up and down. For reverse rotation transmission between the transmission shafts 37, 37, a gear 55a is used instead of the pulley 38 as shown in FIG. 9, and a reverse gear 55b that meshes with the gear 55a is interposed, and the reverse gear 55b is rotated. The belt 39 can be wound around the pulley fixed to the rotating shaft and the pulley 38 on the other side without crossing.

The bidirectional transfer device 17 shown here is
The same can be applied to the lifting platform 15 of the picking crane 4b. Further, the bidirectional transfer device 17 of the present invention can be applied not only to the automatic warehouse in which the above-mentioned picking shelf 1a is fixed, but also to an electric shelf device in which the shelves rotate, and the structure of the automatic warehouse is limited. Not done.

As shown in FIG. 10, the container 10 has a rectangular plate shape in plan view, and has a plurality of ridges 57, ... On the upper surface of the substrate 56 along the short side direction at regular intervals. The protrusions are formed in a comb shape. Then, as shown in FIG. 11, the transfer portion 53 or 5 of the fork 25 or 26 is provided in each groove 58 between the adjacent ridges 57, 57.
4 is insertable, and the height of the protrusion 57 is set higher than the vertical width of the transfer portions 53, 54 of the forks 25, 26. Therefore, as shown in FIG. 12, with the article 16 placed on the upper edges of the protrusions 57, ... Of the container 10, the transfer portion 53 of the fork 25 is inserted into the concave grooves 58 ,. When the elevating frame 29 is raised and the transfer portion 53 of the fork 25 is lifted upward from the protrusions 57, ..., The article 16 on the container 10 is lifted by the transfer portion 53 as shown in FIG. By pulling the fork 25 into the main body portion 24 in this state, the articles 16 on the container 10 stored in the unit shelf 7 of the picking shelf 1a are transferred into the main body portion 24 of the picking dolly 4a. This means that the transfer portion 54 of the other fork 26 and the container 10
The same applies to the relationship between the ridge 57, the groove 58, and the article 16.

Furthermore, since the long side direction of the container 10 is oriented along the frontage of the unit shelf 7 of the picking shelf 1a, that is, the short side direction is oriented in the depth direction, the fork 25 of the picking dolly 4a is arranged. It is only necessary to make the retracting stroke substantially match the length of the short side of the container 10, and therefore it is possible to set the depth width of the picking dolly 4a to be small, whereby the width of the moving space 5 can also be narrowed. Therefore, space efficiency can be improved.

Next, a predetermined dolly 4 is picked up.
A transfer method in the case of transferring another article after the transfer in the main body 24 of a will be described with reference to FIGS. 14 and 15. Here, it is assumed that the pair of forks 25, 26 is used, and the transferred article 16a shown by hatching is already mounted on the base end of the transfer section 53 of the fork 25, and the picking shelf 1a is mounted on the picking shelf 1a. A case where the other article 16b in the front row on the stored container 10 is subsequently transferred will be described. The forks 25 and 26 are set up and down in three stages. In the highest state (u state), the upper ends of the transfer portions 53 and 54 of the forks 25 and 26 are located above the upper ends of the ridges 57 of the container 10. In the intermediate state (m state) located above, the transfer portions 53 and 54 can be inserted into the concave grooves 58 between the protrusions 57 and 57, and the upper ends of the transfer portions 53 and 54 have the protrusion 57. Is located below the upper end of the, and is located below the m state in the lowest state (d state). In each step S1 to S13 of each figure, the above-mentioned u-state, m-state and d-state are represented by three one-dot chain lines.

First, the above-mentioned situation setting is shown in S1, and the transferred article 16a is placed on the base end of the transfer section 53 of the fork 25 and is located in the main body section 24 (not shown). The operation up to the subsequent steps will be described in order. (S2) One fork 25 corresponding to the picking shelf 1a is lowered to the d state while the other fork 25 is placed in the m state, and the transferred article 16a is placed only on the base end of the fork 25.
(S3) With the fork 25 in the m state, the tip of the transfer section 53 is inserted between the ridges 57, 57 of the container 10 on which the other article 16b stored in the picking shelf 1a is placed, and the transferred article 16a is removed. It is positioned above the base end of the other fork 26. (S4) The fork 26 is raised to the u state, and the transferred article 16a is placed on the base end of the transfer section 54. (S
5) Pull the fork 25 into the main body 24 while keeping the m state. (S6) The fork 26 is lowered to the m state.
(S7) The fork 25 is raised to the u state and the transferred article 16a is placed on the tip of the transfer section 53 of the fork 25. (S8) Container 1 with fork 25 in u state
The transferred article 16a is moved in the direction of 0 and brought into contact with another article 16b on the container. (S9) The fork 25 is lowered to the m state, and a part of the transferred article 16a is mounted on the edge of the ridge 57, ... Of the container 10. (S10) The ridges 57, 5 of the container 10 with the fork 25 in the m state
It inserts between 7 and positions the front-end | tip part of the transfer part 53 below the other article 16b. When the fork 25 is inserted, the transferred article 16 a slides on the transfer section 53 of the fork 25 and relatively moves. (S11) The fork 25 is raised to the u state, and the transferred article 16a and the other article 16b are placed on the tip of the transfer section 53. (S12) u fork 25
It is pulled into the main body 24 in the state. (S13) The fork 25 is lowered to the m state, and the transferred article 16a and the other article 16b are also placed on the transfer section 54 of the other fork 26.

In this way, even if the article is already placed on the transfer sections 53 and 54 of the forks 25 and 26 that have been drawn into the main body section 24, as long as there is an extra space for placing another article. It is possible to transfer other articles into the main body 24 by cooperating the pair of forks 25 and 26 with the retracting operation and the lifting operation. Also, the picking shelf 1b on the other side
The article can be transferred in the same manner as above. Further, when there is a vacant space in one of the containers 10 stored at the opposite positions of both picking shelves 1a and 1b, the already transferred article is temporarily transferred to this vacant space to further complicate the process. Transfer is also possible.

Finally, the control of the one side fork 25, ... When the bidirectional transfer device 17 is provided with four pairs of forks 25, 26 ,. The forks 25, ... on one side are F1, F2, F3 in order from one end.
F4, and as shown in FIG.
1 to A4, B1, B2, C1 and C2 are placed, the upper surface of the container 10 is divided into 16 as shown in FIG. 17, and addresses 0 to 15 are set in each block as shown in FIG. The position information in the container 10 corresponding to is stored in the memory of the control device in a bit pattern as shown in FIG. 18 in association with the block number. Then, when there is an article delivery request, the number of drive forks and the fork insertion distance are determined from the bit pattern of the block in which the corresponding article is placed by checking the memory, and the servo motor control for driving the fork is performed. It is output to the circuit and taken out as described above. The way of dividing the block can be set freely, and the number of forks can also be set freely. Also, the other fork 2
The same applies to the control of 6, ..., However, when the pair of forks 25 and 26 are controlled in cooperation with each other to perform complicated transfer as described above, the pair of forks 25 and 26 are paired in advance in accordance with each transfer pattern. It is also preferable that the operations of the forks 25 and 26 are stored in a memory and the operation information corresponding to each situation is read and controlled.

[0033]

As described above, the bidirectional transfer device in the automatic warehouse according to the present invention has a pair of comb tooth-shaped forks that can be independently retracted from both sides of the main body and can be independently raised and lowered. Are provided in the opposite direction, and the pair is arranged in parallel along a single or a picking shelf, while the unit members constituting the paired forks are alternately arranged,
A container in which a plurality of protrusions capable of meshing the forks are arranged side by side in a comb shape on the upper surface of the picking shelf is arranged, and the height of the protrusions is set higher than the vertical width of the forks. With a fork or a plurality of forks working together, it was possible to lift the items on the container stored in the picking shelf and transfer them to the main body. A corresponding fork or plural forks are projected in the depth direction of the picking shelf, inserted between the comb-shaped projections formed in the container, positioned below the article, and then raised. It is possible to transfer one or a plurality of small articles to the fork or a large article to a plurality of cooperating forks, and pull the forks into the main body to transfer the articles from the picking shelf into the main body. Also, from the picking shelf on the other side, articles can be transferred in the same manner as described above by the other fork or a plurality of forks corresponding to the picking shelf, which is very effective for efficiently transferring a large number of products of a large variety. It is effective.

Furthermore, once the article is transferred to the main body,
Then, other items can be transferred easily by operating a pair of forks arranged on both sides in cooperation with each other, and even if there is no empty space in the container on which other items are placed, If there is room to place another article in the transfer section, the already transferred article can be subsequently transferred to the main body section without unloading, and the average waiting time for unloading can be shortened.

[Brief description of drawings]

FIG. 1 is a partially cutaway simplified perspective view showing a first embodiment of an automated warehouse according to the present invention.

FIG. 2 is a partially cutaway simplified perspective view showing the same second embodiment.

FIG. 3 is a simplified plan view showing the concept of the bidirectional transfer device of the present invention.

FIG. 4 is a perspective view of a lifting frame that constitutes the bidirectional transfer device of the present invention.

FIG. 5 is a partially omitted perspective view showing a state in which two lifting frames constituting the bidirectional transfer device of the present invention are combined.

FIG. 6 is an abbreviated perspective view showing a state in which a fork is incorporated in the lifting frame.

FIG. 7 is a perspective view of a main part showing another example of the interlocking lifting mechanism.

FIG. 8 is an explanatory view showing a belt winding state in the same manner.

FIG. 9 is an explanatory diagram showing a mechanism for transmitting reverse rotation using gears.

FIG. 10 is a perspective view of a container.

FIG. 11 is an abbreviated perspective view showing a relationship between a container and a fork of the bidirectional transfer device.

FIG. 12 is a simplified front view showing a state before an article placed on the container is placed on one of the forks of the bidirectional transfer device.

FIG. 13 is a simplified front view showing a state after the article placed on the container is placed on one of the forks of the bidirectional transfer device.

FIG. 14 is an explanatory diagram showing the first half of a process of once transferring an article to the main body using the bidirectional transfer device of the present invention and subsequently transferring another article.

15 is an explanatory diagram showing a second half of the transfer process shown in FIG. 14 subsequent to the first half thereof.

FIG. 16 is an explanatory plan view showing a positional relationship between a container, an article, and a fork.

FIG. 17 is an explanatory plan view showing an example of addresses of blocks set in a container.

FIG. 18 is a memory structure diagram showing an example of information stored in the memory of the control device.

[Explanation of symbols]

 1a, 1b Picking rack 2 Storage rack 3 Stacker crane 4 Picker 4a Picking dolly 4b Picking crane 5 Moving space 6 Transfer passage 7 Unit shelf 8 Unit shelf 9 Transfer table 9a Recovery transfer section 9b Replenishment transfer section 10 Container 11 rotation Table 12 Rail 13 Rail 14 Support 15 Lifting platform 16 Article 16a Already-transferred article 16b Other article 17 Bidirectional transfer device 18 Guide rail 19 Column 20 Article exit shelf 21 Reservoir 22 Empty container exit line 23 Entry line 24 Main body 25 , 26 Fork 27, 28 Unit member 29, 40 Elevating frame 30, 41 Horizontal rail 31, 42 Screw shaft 32, 43 Moving body 33, 44 Guide shaft 34, 47 Rack 35, 48 Servo motor 36, 49 Pinion 37, 50 Transmission Shaft 38,51 Pulley 39,5 Belt 45, 46 elongated holes 53, 54 transfer unit 55a gear 55b reversing gear 56 substrate 57 protrusion 58 recess groove

[Procedure amendment]

[Submission date] May 25, 1994

[Procedure Amendment 1]

[Document name to be amended] Statement

[Name of item to be corrected] 0030

[Correction method] Change

[Correction content]

First, the situation setting described above(S1)Shown in
The transferred article 16 is transferred to the base end of the transfer section 53 of the fork 25.
a is placed and is located inside the main body 24 (not shown).
It The operation up to the subsequent steps will be described in order.
(S2) One fork 2 corresponding to the picking shelf 1a
While keeping 5 in the m state, lower the other fork 26 to the d state
Fork the already transferred article 16a25Only on the base end
Place. (S3) Transfer unit 5 with fork 25 in the m state
Other item 16b in which the tip of No. 3 is stored in the picking shelf 1a
Is inserted between the ridges 57, 57 of the container 10 on which
Transfer the transferred article 16a to the base end of the other fork 26.From about 1
A storage space for the goods is provided.Be positioned higher than.
(S4) Lift the fork 26 to the u state and transfer
Transfer the product 16a to the transfer section 5To fourPlace it. (S5) Four
The hook 25 is pulled into the main body 24 in the m state. (S6)
Lower the fork 26 to the m stateAlready transferred article 16a
Also put on the fork 25It (S7) Fork26To
dUp to the stateDescendingThen, the transferred article 16a is transferred to the fork 2
5Transfer ofTip of mounting portion 53To place a space for about one article
Position providedPlace on. (S8) Fork 25mStatus
as it isTransfer by inserting between the ridges 57, 57 of the container 10.
The tip of the part 53 is located below the other article 16b.
(S9) Fork 25Raise the tip of another item
It contacts the lower surface of 16b.(S10) Fork 25u
StatusUp toTip of transfer section 53ToOther article 16b
To place.(S11)Book with fork 25 in u state
Pull it into the body 24.(S12)Fork 25 in m state
Down to.(S13) Fork26Up to m state
RiseThe transferred article 16a and the other article 16bTheFo
It is also placed on the transfer section 54 of the ark 26.In this state,
The peaks 25 and 26 are both in the initial state (m state).

[Procedure Amendment 2]

[Document name to be corrected] Drawing

[Name of item to be corrected] Fig. 14

[Correction method] Change

[Correction content]

FIG. 14

[Procedure 3]

[Document name to be corrected] Drawing

[Correction target item name] Figure 15

[Correction method] Change

[Correction content]

FIG. 15

Claims (1)

[Claims] 1. A pair of comb tooth-shaped forks, which can be independently retracted from both sides of the main body and independently movable up and down, are provided in opposite directions, and a plurality of the pair are singly or along a picking shelf. A container in which unit members constituting both pairs of forks are arranged alternately and a plurality of protrusions capable of meshing the forks on the upper surface of the picking shelf are arranged in a comb tooth shape. The height of the ridge is set to be higher than the vertical width of the forks, and each fork or a plurality of forks cooperates to lift the articles on the container stored in the picking shelf to lift the inside of the main body. A two-way transfer device in an automated warehouse, which is capable of transfer to