JPH08113321A - Article carry in and out device of moving truck in automatic warehouse - Google Patents

Abstract

PURPOSE: To improve the carry in and out efficiency of articles without increasing the dead space of shelves and degradation of durability of pickers in the automatic warehouse. CONSTITUTION: Timing-belt-like racks 37 extending along the moving direction of moving frames 32 are provided on a pair of the moving frames 32 provided on front and rear both sides of the article loading part of a moving carriage 2 movably along the lengthwise direction. Elevatable blocks 48 elevatably moving in pillars 46 are fixedly secured to both ends of front and rear both racks 37, and pickers 53 are mounted on the front and rear elevatable blocks 48 for storing and delivering articles W to shelves 5. By sliding the racks 37 by means of a pinion 38, the right and left pickers 53 are respectively elevatably moved in opposite directions of the vertical direction.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile trolley in an automatic warehouse in which a large number of shelves are provided on both left and right sides along the traveling direction of the mobile trolley so that articles can be put in and taken out of the arbitrary ledge from the mobile trolley. The present invention relates to an improvement of a loading / unloading device for loading / unloading an article to / from an arbitrary shelf.

[0002]

2. Description of the Related Art In an automatic warehouse, a movable carriage is allowed to travel horizontally, a movable carriage is allowed to travel in both vertical and horizontal directions by a stacker crane, or a movable carriage is lifted. There are various types, such as those that can only be moved up and down.

In an automatic warehouse of a type in which a mobile trolley is horizontally moved and articles are put in and taken out of shelves arranged on both left and right sides of a traveling path of the mobile trolley, both sides of the mobile trolley sandwiching the articles are Equipped with a pair of front and rear moving frames that move forward and backward in the shelf along the outer surface of the article, the picker provided on this moving frame pulls the article onto the moving carriage or places the article on the moving carriage on the shelf. It is being pushed in.

As an example thereof, as shown in FIG. 16, pickers 71 are rotatably attached to both ends of the front and rear moving frames 70 so as to be tilted in an inclining position from an upright position. There is a configuration in which four left and right pickers 71 are simultaneously rotated by an endless chain 72 mounted between the upper ends of the front and rear moving frames 70.

However, in this conventional technique, in order to smoothly orbit the long endless chain 72, the diameter of the chain sprocket 73 attached to each moving frame 70 must be set to a certain size. Therefore, there is a problem that the dead space of the shelf increases. Further, since the pickers 71 located on both the left and right sides of the moving frame 70 rotate in the same direction, when the article W is pushed into the shelf 74, the left and right pickers 71 are in a tilted posture, Therefore, the article W is placed on the shelf 7
There is also a problem in that each picker 71 must be raised and rotated before moving the moving frame 70 backward after being pushed into the inside of the carriage 4. Therefore, a time loss occurs in loading and unloading.

Further, since the picker 71 is cantilevered, a bending moment acts on the picker 71 when the article W is taken in and out, so that the durability of the picker 71 is low. On the other hand, the applicant of the present application, in the previous patent application (JP-A-6-107305), winds the endless chain 76 around the chain sprockets 75 provided at the four corners of the front and rear moving frames 60, as shown in FIG. The rod-shaped picker 77 is mounted on the endless chains 76 of the front and rear moving frames 70, and the endless chain 7 of the front or rear moving frame 70 is mounted.
A configuration has been proposed in which the picker 77 is horizontally moved to the front surface portion or the back surface portion of the article W by rotating the motor 6 forward and backward by the motor 78.

[0007]

According to the invention of the prior application, the chain sprocket 75 is arranged so that its axis extends in the horizontal direction orthogonal to the moving direction of the moving frame 70. The width dimension can be reduced and therefore the dead space of the shelf 74 can be reduced. In addition, the article W is placed on the shelf 74.
Since the moving frame 70 can be retracted as it is after being housed in, the time loss at the time of housing the articles can be eliminated.

Further, the picker 77 is a front-rear moving frame 7
Since it is mounted at 0, no bending moment acts on the picker 77 when the article W is taken in and out, and therefore, there is an advantage that the durability of the member picker 77 can be improved. However, the invention of this earlier application is based on the endless chain 76.
Is greatly rotated in both forward and reverse directions to move the picker 77 to the left and right positions of the moving frame 70. In other words, the picker 77 picks up and pushes in the article W by one picker 77, and therefore is in the standby state. There is a problem in that it takes time to go into the operating state, and work efficiency is not always good.

The present invention aims to solve the problem without impairing the advantages of the prior invention.

[0010]

In order to achieve this object, the present invention provides that "a plurality of shelves for storing articles are provided on both left and right sides of a traveling path of a moving carriage along the traveling direction of the moving carriage, and The trolley is provided with an article placing portion configured to allow an article to slide between the left and right shelves, and the left and right sides of the moving trolley at the front and rear sides sandwiching the article placing portion. In an automated warehouse that has a movable frame that can be selectively moved back and forth in any of the shelves, and a picker for pulling out or pushing in articles by moving the moving frame forward or backward is provided in the automatic warehouse. Pickers are mounted between the left ends and right ends of both moving frames, and the left and right pickers are provided on at least one of the front and rear moving frames from a position above the upper end of the article in the shelf to a lower position as appropriate. And the configuration of the way the provision of the lifting mechanism "may moved downward.

[0011]

With this structure, the picker is moved up and down by the lifting mechanism provided on at least one of the left and right moving frames. As shown in FIG. 16, the chain sprocket can be horizontally rotated on the moving frame. Since it is not necessary to provide the movable frame, the width of the movable frame in the front-rear direction can be reduced, and thus the dead space of the shelf can be reduced as in the previous application.

Further, since the picker is mounted between the front and rear moving frames, the durability of the picker can be improved as in the previous application. Since pushing and pulling out articles to and from one shelf are performed separately by the left and right pickers, when the articles are pushed into the shelf by one picker, the other picker is raised to move the moving frame. Not only can it be moved backwards quickly, but the left and right pickers can be moved up and down by a small amount to put them in a stand-by state for operation, thus eliminating time loss and significantly improving the efficiency of goods loading and unloading. be able to.

Therefore, according to the present invention, there is an effect that the efficiency of carrying in and out of articles can be improved without increasing the dead space of the shelf and lowering the durability of the picker. In particular, when the left and right pickers are moved up and down in the opposite direction by one driving means as in claim 2, when one of the left and right pickers pulls out an article, the other picker can push out the article in a standby state. Since it is automatic, there is an advantage that the efficiency of carrying in and out of articles can be remarkably improved even though the structure is simple.

[0014]

Embodiments of the present invention will now be described with reference to the drawings. 1 to 11 show the first embodiment, of which FIG. 1 shows the entire automated warehouse 1. Automated warehouse 1
Includes a pair of left and right rails 3 on which the moving carriage 2 travels in a vertically multi-tiered manner, and shelves 5 for accommodating articles W are stored in shelf frames 4 arranged on both the left and right sides of the rails 3 in each tier. Corresponding to the height of each rail 3 are provided in a matrix in front, rear, left and right.

A loading / unloading lift 7 is vertically movably mounted on a pillar 6 provided near one end of a shelf frame 4 located on one side of the traveling path of the moving carriage 2 so as to move up and down. The articles W are transferred to the movable carriage 2 and the lift 7 so that the articles W can be stored in or out of the arbitrary shelves 5. The end of the conveyor 8 is located below the lift 7, and the
The article W is loaded and unloaded.

The left and right rails 3 are formed in a U-shape with a downward cross section and fixed to a machine frame (not shown). The lower surface of the shelf 5 is set at substantially the same height as the upper surface of the rail 3. Further, the front end edge of the shelf 5 is close to the rail 3. The structure of the movable carriage 2 is shown in FIGS. This will be described below.

As shown in FIG. 2, the movable carriage 2 is provided with a main body 9 which is long in the plan view and which is long in the traveling direction. The left and right ends of the main body 9 which roll on the rail 3 are left and right. A pair of traveling wheels 10 are mounted, and an axle 11 having a pair of front and rear wheels 10 connected thereto
An endless belt 13 such as a timing belt is wound around the rotating shaft of the traveling motor 12 provided on the main body 9. Therefore, the movable carriage 2 travels on the rail 3 by rotating the traveling motor 12 forward and backward.

The traveling motor 12 and the endless belt 13 are covered by the cover 1.
Covered with 4. As shown in FIGS. 2 and 3, the main body 9
A support plate 15 extending downwardly of the rail 3 is fixed to the lower surfaces of the four corners of the rail 3 in a plan view. The support plate 15 holds the inner plate 3a of the rail 3 from both inside and outside. The pair of rollers 16 are rotatably mounted. These rollers 16 allow the mobile trolley 2 to travel without shaking in the left-right direction.

An article placing portion 9a is provided at a portion of the main body 9 that is biased toward one end along the traveling direction. The article placing portion 9a is set to have substantially the same height as the upper surface of the rail 3. Therefore, the article W can be slid and moved between the article placement section 9a and each shelf 5. As shown in FIGS. 3 and 4, support members 17 extending along the loading / unloading direction of the article W are fixed to the front and rear sides of the main body 9 with the article placing portion 9a interposed therebetween. Further, a guide member 18 having a U-shaped cross section that extends in the same direction as the support member 16 is fixed. Reference numeral 19 is a cover, which is fixed to the outer surfaces of the support member 17 and the guide member 18.

The article placing portion 9a is more than the guide member 18
A first moving frame 20 having a substantially L-shaped cross section is provided at a portion near
However, the horizontal plate 20a is arranged in such a posture as to face the article placing portion 9a. A first rack 21 having rack teeth carved on the lower surface is fixed to the outer surface of the lower end portion of the first moving frame 20, and the first rack 21 is the guide member 1 described above.
8 is inserted.

As shown in FIGS. 4 and 5, a ball 23 is inserted between the first rack 20 and the guide member 18 via a retainer 22 in order to facilitate the movement thereof. The lower surface of the first moving frame 20 is supported by a plurality of rollers 24 provided on the main body 9. A first pinion 25 that meshes with the teeth of the first rack 21 is rotatably supported at a position below the left and right middle portion of the first rack 21 in the main body 9. As shown in FIG. 2, the front and rear first pinions 25 are connected by a rotating shaft 26, and the moving motor 2 provided on the rotating shaft 26 and the main body 9
An endless belt 28 is wound around the rotary shaft of 7. Therefore,
By rotating both the first pinions 25 by the moving motor 27, the front and rear first moving frames 20 can be moved back and forth toward the inside of the shelf 5.

As shown in FIGS. 3 and 4, a pair of chain sprockets 29 are rotatably mounted on the outer surfaces of the left and right ends of the front and rear first moving frames 20, respectively. The endless chain 30 is wrapped around. Then, the middle portion of the endless chain 30 is fixed to the first block body 31 fixed to the substantially left and right intermediate portions of the guide member 18 in the main body 9.

Therefore, when the first moving frame 20 advances into the shelf 5, the endless chain 30 moves along with the first moving frame 20 and rotates as indicated by reference numeral A in FIGS. 3 and 6. A second moving frame 32 having an inverted L-shaped cross section is arranged at a portion closer to the article placing portion 9a than the first moving frame 20 so as to cover the first moving frame 20 from the inside. This second moving frame 32
In order to make it relatively slidable with respect to the first moving frame 20, rollers 33 that come into contact with the lower inner surface, the lower surface and the upper outer surface of the first moving frame 20 are provided along the longitudinal direction at multiple intervals at appropriate intervals. It is supported.

The upper plate 32 of the second moving frame 32
On the lower surface of the portion of a near the middle point of the left and right, the second downward facing
A block body 34 is fixed, and the upper portion of the endless chain 30 is fixed to the second block body 34. Therefore, as shown in FIG. 6 (a), when the first moving frame 20 is moved forward into one of the shelves 5, the endless chain 30 orbits in the direction of arrow A, and the endless chain 30 moves in the first direction in conjunction with the orbiting of the endless chain 30. The second moving frame 32 is the first
It moves forward relative to the moving frame 20. In other words, the second moving frame 32 moves forward with respect to the main body 9 of the moving carriage 2 by a distance that is twice the moving distance of the second moving frame 32. In other words, the second moving frame 32 moves back and forth toward the shelf 5 at a speed twice as fast as the moving speed of the first moving frame 20.

A horizontal bracket 35 is fixed to the inner surface of the lower portion of the second moving frame 32, and teeth are attached to the upper surface of the guide rail 36 fixed to the bracket 35 and having a left-right longitudinal direction and an upward U-shaped cross section. The formed second rack 37
Is slidably mounted. The second rack 37 forms a part of a mechanism for moving a picker up and down, which will be described later in detail (an example of the elastic strip described in claim 2).
The timing belt is made of a material such as hard rubber or synthetic resin that can be flexibly deformed without being compressed and deformed.

As shown in FIGS. 3 and 7 (a), a second pinion 38 meshing with the second rack 37 is rotatably supported at a portion of the first moving frame 20 near the midpoint between the left and right sides. Has been done. Note that FIG. 7A is a view of only the second moving frame 32 viewed from the VII-VII viewing direction of FIG. 4. An elevation motor 39, which is a part of an elevation mechanism, moves a main shaft in the moving direction of the second moving frame 32 in a portion of the first moving frame 20 that is slightly separated laterally from the right and left intermediate point. It is fixed in an extended posture.

Further, a horizontal bracket 40 is fixed to a portion above the second pinion 38 in the first moving frame 20 to which the lifting motor 39 is attached, and a pair of bevel gears are fixed to the bracket 40. Conduction box 41 with built-in
The main shaft of the lifting motor 39 is fixed to one bevel gear built in the conduction box 41, while the second pinion 38 is attached to the other bevel gear built in the conduction box 41.
The gear 42 that meshes with is fixed.

Therefore, when the raising / lowering motor 39 is rotated forward / reversely, the second rack 37 is moved forward / backward in the guide rail 36 along its longitudinal direction. As shown in FIG. 7C, the guide rail 36 is provided with a lid 43 so that the second rack 37 can slide reliably along the longitudinal direction thereof.
The upper plate 32a of the second moving frame 32 is partially formed with a hole 44 for allowing the second pinion 38 and the gear 42 to mesh with each other. Further, a cover 45 that covers the lifting motor 39 is fixed to the second moving frame 32.

As shown in FIGS. 7 to 10, at the left and right ends of the second moving frame 32, struts 46 having a substantially E-shaped cross section are erected so as to open inward. A lift block 48 is vertically movably fitted in a guide groove 47 of 46. The elevating block 48 is formed of a material having a small coefficient of friction such as synthetic resin, and a part of the elevating block 48 projects toward the article placing section 9a (this projecting section is indicated by reference numeral 48a).

Reference numeral 49 shown in FIGS. 7 and 10 is a guide plate. The end of the second rack 37 is fixed to the surface of the elevating block 48 facing the guide plate 49 by an appropriate means such as a screw. Therefore, when the second rack 37 is slid along its longitudinal direction, the left and right elevating blocks 48 fixed to both ends thereof are moved up and down in mutually opposite directions.

At the lower end of the column 46, a pair of upper and lower guide assisting members 50a and 50b having arcuate guide surfaces are provided to guide the smooth movement of the second rack 37. Similarly, at the left and right ends of the lower end of the column 46,
A stopper 51 for restricting the lowered position of the lifting block 48 is provided. As shown clearly in FIG. 10B, a slide auxiliary body 52 made of metal or the like is fixed to a portion of the elevating block 48 to which the second rack 37 is fixed.

Further, the protrusions 4 of both the front and rear lifting blocks 48
An end portion of a picker 53 formed in a rectangular tube shape is fitted to 8a. Therefore, the front and rear elevating blocks 48 are connected by the pickers 53 and are integrally elevated. A connecting rod 54 is mounted inside the picker 53, and both ends of the connecting rod 54 are rotatably supported by the front-rear lifting block 48, and both ends thereof are formed at corners of the lifting block 48. It projects into the notch 48b.

While the third pinion 55 is fixed to both ends of the connecting rod 54, a vertically extending third rack 56 meshing with the third pinion 55 is provided on the inner surface of the elevating block 48 via a holding member 57. It is firmly fixed. Therefore, when either one of the front and rear lifting blocks 48 is moved up and down, the connecting rod 54 is rotated and the third lifting blocks 48 of the both lifting blocks 48 are rotated.
Since the pinion 55 meshes with the third rack 56, the front and rear lifting blocks 48 ascend and descend accurately in synchronization.

Next, the operation under the above configuration will be described with reference to FIG. When the article W stored in the shelf 5 is to be taken out to the moving cart 2, the moving cart 2 is moved to the front of the shelf 5 and, as shown in FIG. 11A, the picker 53 on the side close to the article W to be taken out. When the first pinion 25 is driven in such a state that the object is raised above the article W, the first and second moving frames 20 and 32 cause the shelf 5 to move.
Move forward inward.

Then, as shown in FIG.
Both moving frames 2 when 3 is located behind the article W
After stopping the forward movement of 0 and 32, the lifting motor 39 rotates and the picker 53 located on the rear surface of the article W descends along the back surface of the article W as shown in (c). At this time, the picker 53 located on the front side of the article W moves up and also serves as a stopper when the article W is pulled into the main body 9.

Then, when the first pinion 25 is reversed and both the moving frames 20, 32 are retracted, the article W is drawn into the article placing portion 9a of the moving carriage 2. The articles W are stored in the shelves 5 from the movable cart 2 in the reverse order of the above operation. As described above, since the second rack 37 having a timing belt shape is moved in the longitudinal direction thereof to move the picker 53 up and down, the width of the first and second moving frames 20, 32 is reduced. Therefore, the dead space of the shelf 5 can be reduced.

Further, since the left and right lifting blocks 48 are connected by the picker 53, no bending moment acts on the picker 53 when the article W is taken in and out,
Therefore, the durability of the picker 53 and the lifting block 48 can be improved. Furthermore, by providing a pair of left and right pickers 53, the picker 5 can store and take out the articles W individually.
When the moving frames 20 and 32 are retracted after the article W is stored, the picker 53 located on the back surface of the article W is located above the article W. The moving frames 20 and 32 can be retracted, so that the work of storing the article W can be performed quickly.

As in the embodiment, the third member provided with the connecting rod 54
When the pinion 55 is configured to mesh with the third rack 56, the lifting motor 3 is provided only on the one second moving frame 32.
Even when 9 is provided, the four elevating blocks 48 in the front, rear, left, and right can be surely moved up and down in synchronization with each other.
This has the advantage that the picker 53 can be operated accurately and smoothly with a simple structure.

The moving frame is replaced by the first moving frame 2
0 and the second moving frame 32, the picker 5
Since the moving stroke of No. 3 can be increased, it is an advantage that an article W having a large depth dimension can be carried in and out. Further, the cross-sectional shape of the picker 53 does not need to be rectangular, but if the picker 53 is formed into a rectangular tube shape as in the embodiment, the contact area between the picker 53 and the article W can be increased. Even if the article W is made of a weak material such as a cardboard box, it can be pulled out without being crushed and deformed.

The connecting rod 54 may also be used as a picker. FIG. 12 shows a second embodiment in which pickers 53 are provided at both ends of a link 58 rotatably mounted on the second moving frame 32 so that both left and right pickers 53 move up and down in opposite directions. Here is an example. In this case, the link 58 may be rotated by a motor or reciprocating means such as an electromagnetic solenoid.

Needless to say, in each embodiment, the mobile vehicle 2 is supplied with electric power by an appropriate means such as a trolley. In the third embodiment shown in FIG. 13, an endless chain 59 is wound around each of the front and rear second moving frames 32 along the inner circumference of the second moving frame 32, and the pinion 60 is attached to the endless chains 59. A pair of left and right pickers 53 are attached to the front and rear endless chains 59 while being engaged with each other.

The fourth embodiment shown in FIG. 14 is a strip-shaped elastic body 6.
1 is sandwiched between a pair of pinions 62, and both pinions 61 are rotated to move the band-shaped elastic body 61. When an elastic body (hard elastic body) is used as the elevating mechanism, a metal one such as a leaf spring may be used, and the elastic body is not limited to a strip shape and may be a rod shape.

By the way, the depth dimension and the height dimension of the article W to be stored on the shelf 5 may be different from each other, and the moving frame 2 is small even though the depth dimension and the height dimension of the article W are small.
If the forward / backward movement of 0 and 32 and the picker 53 are moved to the full, the movement of the moving frames 20 and 32 and the picker 5
There is a waste of time in raising and lowering 3. With respect to this point, while the number of shelves 5 is changed to an address, the height dimension and / or the depth dimension of the articles W stored in each shelf 5 are stored in the control device (computer) in advance, and the size is set to this dimension. Based on this, it is preferable to control so as to calculate the ascending / descending dimension B of the picker 53 and / or the advance / retreat distance of the moving frames 20, 32. An example of the base is shown in FIG.

That is, in FIGS. 15 (a) to 15 (d), for example, when the article W is loaded from the lift 7 in FIG. The control method is such that the depth dimension of the article W is calculated in advance at the time of replacement. This point will be described. In FIG. 15, first, the moving frame 20 ′ provided with the picker 53 is moved forward to the maximum dimension (the maximum moving position of the moving frame 20 ′ is restricted by the stopper, so the maximum moving position P of the picker 53 is unique. Then, the picker 53 is lowered and then retracted.

At this time, like the first pinion 25 in the first embodiment, the encoder E is provided in the rotary drive unit for moving the moving frame 20 'forward and backward, and the encoder E from the maximum forward position (point P) is provided. The backward distance of the moving frame 20 'is counted as the number of encoder pulses. Further, a pair of left and right sensors S1 and S2 are provided on the main body 9, and the article W drawn into the moving carriage 2 by the picker 53 is provided.
When the front end of the sensor comes to the position of one sensor S1, it is detected.

In this case, from the sensor S1 to the picker 53
The distance L0 to the maximum forward position PO is always constant, while the backward distance L1 of the picker 53 is detected by the encoder E. Therefore, the depth dimension L2 of the article W is calculated by calculating (L0-L1). Is calculated. Then, the depth dimension of the article W thus detected is stored in the control device in association with the specific shelf 5 in which the article W is housed, and the depth dimension L2 of the article W is set at the time of shipping.
The article W is taken out by advancing the moving frame 20 'by a distance obtained by adding a slight margin to the moving frame 20'.

With this structure, the moving distance of the moving frame 20 'can be suppressed to the minimum when the goods are taken out, so that the working efficiency can be improved. Further, when the article W is pulled out from the shelf 5 to the movable carriage 2 by the picker 53, the picker 53 descends at a position close to the back surface of the article W, and therefore, when the picker 53 hits the back surface of the article W, the article W is large. Therefore, the crush deformation of the article W can be prevented without impact.

In the above (a) to (d), the sensors W1 and S2 for detecting the article W are different when the article W is placed on the moving carriage 2 and when the article W is replaced from the right side. However, the number of sensors may be only one. As the sensors S1 and S2, various types such as a non-contact type such as a photoelectric type and an ultrasonic type and a contact type such as a micro switch type can be used.

FIG. 15 (e) is a control device for detecting the height dimension H2 of the article W in advance. A sensor S is provided on the upper surface of the picker 53, and the picker 53 is once raised to the maximum limit and then lowered. , The descending distance H from the maximum rising height dimension H0 until the sensor S detects the upper surface of the article W
The height dimension H2 of the article W is detected by dividing 1 (the descending distance of the picker 53 is calculated by
For example, an encoder linked to the main shaft of the lifting motor may be used).

Also in this case, the picking up of the picker 53 can be prevented from being uselessly raised, and the efficiency of taking out the article W can be improved. Both the depth dimension and the height dimension of the article W may be detected, and the advancing / retracting distance of the moving frame 20 'and the ascending / descending distance of the picker 53 may be controlled based on the dimensions.

When the depth dimension and / or the height dimension of the article W is detected by utilizing the forward / backward movement of the moving frame 20 'when the article W is stored as in the above embodiment, the article can be efficiently structured with a simple structure. There is an advantage that the depth dimension and / or the height dimension of W can be detected. If the control device is set so that both the left and right pickers 53 are stopped at the upper and lower intermediate positions in the work standby state, the article W from either the left or right shelf 5 can be set.
Even when taking in and out, the picker 53 may be moved up and down by half the size, so that the work efficiency can be further improved.

In the above embodiment, the left and right pickers are raised and lowered in conjunction with each other, but they may be raised and lowered separately. Further, the present invention is not limited to the automatic warehouse in which the movable carriage is allowed to travel in the horizontal direction as in the embodiment, and the automatic warehouse in which the movable carriage is moved in the vertical and horizontal directions by the stacker crane. It can also be applied to an automated warehouse in which the moving carriage is only moved up and down.

[Brief description of drawings]

FIG. 1 is a perspective view of an automatic warehouse.

FIG. 2 is a schematic plan view of a moving carriage.

FIG. 3 is a sectional view taken along line III-III of FIGS. 2 and 4.

FIG. 4 is a sectional view taken along line IV-IV of FIG. 3;

5 is a cross-sectional view taken along line VV of FIG.

FIG. 6 (a) is a schematic front view showing the forward / backward movement of the moving frame, and FIG. 6 (b) is a bb view of (a).

7 (a) is a partially cutaway front view of only the first moving frame as viewed from the direction VII-VII in FIG. 3, and FIG. 7 (b) shows the meshing state of the second rack and the second pinion. Enlarged view showing,
(C) is cc sectional drawing of (b).

FIG. 8 is a sectional view taken along line VIII-VIII of FIGS.

9 is an enlarged view of a main part of FIG. 7, and is a cross-sectional view taken along line IX-IX of FIG. 8.

10A is a perspective view showing a mounting state of an elevating block body, and FIG. 10B is an exploded perspective view of the elevating block body.

11 (a), (b) and (d) are diagrams showing an operating state,
(C) is a plan view of (b) taken along line cc.

FIG. 12 is a schematic front view of the second embodiment.

FIG. 13 is a schematic front view of the third embodiment.

FIG. 14 is a cross-sectional view of essential parts of a fourth embodiment.

15A to 15E are diagrams for explaining an example of control of a moving carriage.

FIG. 16 is a diagram showing a conventional technique.

FIG. 17 is a diagram showing another conventional technique.

[Explanation of symbols]

 1 Automatic Warehouse 2 Mobile Truck 3 Rail 5 Shelf 10 Traveling Wheel 18 Guide Member 20 1st Frame 21 1st Rack 25 1st Pinion 27 Motor for Movement 30 Endless Chain 32 2nd Moving Frame 34 2nd Block 36 Guide Rail 37 2nd Rack 38 Second pinion 39 Lifting motor 46 Strut 48 Lifting block body 50 Guide auxiliary body 51 Stopper 53 Picker 54 Connecting rod 55 Third pinion 56 Third rack

Claims (2)

[Claims] 1. A plurality of shelves for storing articles are provided on both left and right sides of a traveling path of a moving carriage along the traveling direction of the moving carriage, and the moving carriage is provided with articles between the shelves on the left and right sides. A movable frame is provided which is provided with an article placing section adapted to be slidable, and is further movable in either of the left and right shelves selectively on the front and rear sides of the moving carriage sandwiching the article placing section. In an automatic warehouse that is equipped with a picker for pulling out or pushing an article in the moving frame by advancing and retracting the moving frame, a picker is provided between the left end and the right end of both the front and rear moving frames. It is mounted, and at least one of the front and rear movement frames is provided with an elevating mechanism capable of vertically moving the left and right pickers from a position above an upper end of an article in a shelf to a lower position as appropriate. An article loading / unloading device for a mobile trolley in an automated warehouse. 2. The left and right pickers according to claim 1,
It is characterized in that the left and right pickers are interlocked so as to move up and down in opposite directions by connecting with a timing belt-shaped hard elastic band member and moving the hard elastic band member in the longitudinal direction by a driving means such as a pinion. An article loading / unloading device for a mobile trolley in an automated warehouse.