JP2001058704A - Automated storage and retrieval system for rolled article - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automated storage and retrieval system dedicated to a rolled article for storing and carrying out rolled articles by preventing the outer surface of the rolled article from contacting with article storage shelves and an article handling device mounted on an elevating/lowering base of a stacker crane and without using dedicated pallets for rolled articles. SOLUTION: This automated storage and retrieval system comprises a rack device 6, a stacker crane 84 provided to move freely from side to side in front of the rack device 6, and a warehousing station 16 and a delivery station 51 provided adjacent to the rack device 6. A support rod inserting device is provided at the warehousing station 16 for inserting a support rod 3 into the central hall of a rolled article W, and a support rod extracting device is provided at the delivery station 51 for extracting the support rod 3 inserted in the central hole of the rolled article W. An article handling device is provided at an elevating/lowering base 87 of the stacker crane 84 for supporting both ends of the support rod 3 to transfer the rolled article W, and an article storage shelf 12 is composed of a right and left support rod rests 11 supporting both ends of the support rod 3.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to an automatic warehouse for rolled articles.

[0002]

SUMMARY OF THE INVENTION It is an object of the present invention to prevent an article storage shelf or an article transfer device mounted on an elevator of a stacker crane from coming into contact with the outer peripheral surface of a rolled article without using a pallet for rolled articles. Accordingly, an object of the present invention is to provide an automatic warehouse for roll-shaped articles which can store and carry out the roll-shaped articles.

[0003]

Means for Achieving the Object The present invention employs the following means to achieve the object. The invention according to claim 1 includes a rack device, a stacker crane provided to be able to move left and right in front of the rack device, and a storage station and a storage station provided close to the rack device. A support rod insertion device for inserting a support rod into the center hole of the article is provided, and a support rod extracting device for extracting the support rod inserted into the center hole of the roll-shaped article is provided at the unloading station. Is provided with an article transfer device that supports both ends of a support rod and transfers a roll-shaped article, and an article storage shelf of a rack device is constituted by a pair of left and right support rod supports that support both ends of the support rod. It is. Claim 2
The invention according to claim 1, wherein the loading station and the unloading station are provided with a roll article lifting platform for positioning the center of the roll article at a set height position. According to a third aspect of the present invention, there is provided a support rod supply device for supplying a support rod to the support rod insertion device of the storage station, and a support for unloading the support rod extracted to the support rod removal device of the discharge station. 3. The device according to claim 1, wherein a rod unloading device is provided.

[0004]

According to the present invention, the following effects can be obtained by the above configuration. According to the first aspect of the present invention, an article transfer device mounted on an article storage shelf or an elevator of a stacker crane comes into contact with a roll-shaped article using a support rod, that is, on the outer peripheral surface of the roll-shaped article. In such a manner, the roll-shaped articles can be stored or carried out. According to the second aspect of the present invention, even if the outer diameter of the roll-shaped article is different, the center of the roll-shaped article can be located at the set height position. Can be smoothly extracted. According to the third aspect of the present invention, the operation of loading the support rod and the operation of unloading the support rod can be continuously performed by automation.

[0005]

Embodiments of the present invention will be described below. In this description, "front" means the lower side of FIG. 1, "rear" means the upper side, "left" means the left side of FIG. 1, and "right" means the right side of FIG.

First, a description will be given of a roll-shaped article W which is a stored article stored in an article storage shelf 12 described in detail later. The roll-shaped article W is stored in the article storage shelf 12 with the axis thereof oriented in the left-right direction, and has a hollow core 1 (having a center hole with left and right ends opened) with the axis oriented in the left-right direction. And a main body 2 made of paper, a thin metal plate, or the like wound around the hollow core material 1.

[0007] A pair of front and rear rack devices 6 are erected on the floor so as to open the stacker crane passage 5.
As shown in FIGS. 2 and 3, the rack device 6 includes a plurality of front columns 7 arranged at right and left at a predetermined interval, and a rear column arranged behind the front columns 7 with a predetermined interval therebetween. It has a column 7 and horizontal bars 8 provided on the front and rear columns 7 at predetermined intervals in the height direction. The horizontal rails 8 adjacent to each other on the left and right face each other, and support rod receivers 11 having support rod fitting recesses 10 project on the mutually facing surfaces of these horizontal rails 8 so as to face each other. An article storage shelf 12 is formed by a pair of left and right support rod receivers 11 facing each other. The left and right ends of the support bar 3 fitted to the hollow core 1 so that the left and right ends protrude from the hollow core 1 as described later are placed on the support bar receiver 11 by a stacker crane 84 described later. . In addition,
A brace (not shown) or the like is fixed to the column 7 on the rear side (the side not facing the stacker crane passage 5).

A storage station 16 is provided on the left side of the rear rack device 6. As shown in FIGS.
The storage station 16 has an article loading conveyor 1 including a chain conveyor or the like having a transport direction oriented in the left-right direction.
7 are provided. The article carrying conveyor 17 includes:
A dedicated pallet P on which the roll-shaped article W is placed is placed. A space 18 is formed between the right ends of the pair of side frames of the article carry-in conveyor 17, and a roll-shaped article elevating table 19 is positioned in this space 18 by a known elevating / lowering operating device 20. It is provided to be able to move up and down so that it can protrude from the transport surface or descend from the transport surface of the article loading conveyor 17.

A height detecting device 22 for detecting the center of the hollow core material 1 of the rolled article W stopped on the right end of the article carrying conveyor 17 is provided near the right end of the article carrying conveyor 17. The height detecting device 22 includes a pair of right and left columns 23 erected on the floor behind the article carrying conveyor 17.
And a pivot 24 having an axial center directed to these columns 23 in the left-right direction.
A swing arm 25 provided to be vertically swingable via
A transmitter 26 provided at one of the free ends of these swing arms 25 for transmitting signals such as light, radio waves and sound waves, and a transmitter 26 provided at the free end of the other swing arm 25 And a receiver 27 for receiving a signal.

The operation of the height detecting device 22 will be described below. When the roll-shaped article W on the pallet P stops at the right end of the article carry-in conveyor 17, the swing arm 25 that has been standing up to now becomes horizontal by a known operating device (not shown). In this state, one of the swing arms 25
(Transmitter 26) and the other swing arm 25 (receiver 2)
7), and the swing arm 25 (transmitter 26) and the swing arm 25 (receiver 2).
7) is set. In this state, the center line of the hollow core 1 is included in a virtual vertical plane including a line through which a signal emitted from the transmitter 26 passes. In this state, the signal emitted from the transmitter 26 is blocked by the roll-shaped article W and does not reach the receiver 27. Thereafter, the roll-shaped article elevating platform 19 which has been lowered so far rises, and lifts the pallet P. And the transmitter 26
Is passed through the hollow core material 1, the signal that has been blocked by the roll-shaped article W reaches the receiver 27. After a predetermined time from that time, the elevating platform 1 for roll-shaped articles
9 is stopped. Thereby, the center of the hollow core material 1 can be located at the set height position.
The set time is [(inner diameter of hollow core material 1) / 2] ÷
This is the time determined by the (elevation speed of the roll-shaped article elevating table 19). Thereafter, the swing arm 25 returns to the standing state.

The transmitter 26 is replaced with a detector having a transmitter for transmitting signals such as light, radio waves, and sound waves and a detector having a receiver for receiving the signals, and the receiver 27 is replaced with a reflector for reflecting signals. You may.

A support rod supply conveyor 31 is provided to the right of the article carry-in conveyor 17 so that the transport direction is in the front-rear direction. The support rod supply conveyor 31 includes a pair of left and right side frames 32, wheels 33 provided at front and rear ends of each of the side frames 32, an endless chain 34 bridged between the front and rear wheels 33, and an endless chain 34. And support rod receivers 35 provided at predetermined intervals.
The left and right support rod receivers 35 are opposed to each other and support the left and right ends of the support rod 3. The left and right wheels 33 rotate in synchronization.

A space 37 is formed between the front ends of the pair of side frames 32 of the support rod supply conveyor 31, and a support rod elevating table 38 is moved up and down by a known elevating operation device 39 so as to be located in the space 37. It is provided freely. As shown in FIG. 7, a groove 40 in which the support bar 3 is fitted is formed on the upper surface of the support bar lift 38 so that the longitudinal direction of the support bar 3 is oriented in the left-right direction. Note that the center line of the hollow core 1 of the roll-shaped article W on the roll-shaped article elevator 19 and the center line of the hollow core 1 lifted by the support bar elevator 38 are the same virtual vertical plane. It is made to be located within.

The operation of the support bar supply conveyor 31 and the support bar elevator 38 will be described below. When the foremost support bar 3, which has been placed on the support bar receiver 35 and sent forward, comes directly above the support bar elevator 38, the support bar supply conveyor 31.
Stops. After that, the support bar elevating table 38 which has been lowered so far rises and lifts the support bar 3 to a predetermined height position. The predetermined height position refers to a height at which the center line of the hollow core material 1 of the roll-shaped article W lifted by the roll-shaped article elevating platform 19 coincides with the center line of the support rod 3. Thereafter, as described later, when the support rod 3 is inserted into the hollow core material 1, the support rod elevating table 38 descends to its original position, and the support rod supply conveyor 31 transfers the next support rod 3 to the support rod. It is located just above the lifting platform 38.

A support rod insertion device 43 is provided at the front end of the support rod supply conveyor 31. The support rod insertion device 43 includes a support rod supply conveyor 3.
1 and a guide member 45 erected on the floor so as to be located on the left and right sides of the support rod 1 and a guide member 45 passed over these posts 44 and positioned above the support bar elevator 38.
A left and right moving body 46 which can be moved left and right along the guide member 45; a support rod pusher 47 provided on the left and right moving body 46; and a known operating device 48 for operating the left and right moving body 46 (a motor is not shown in the drawing). ). The movement trajectory of the center line of the support rod pusher 47 is made to overlap with the center line of the support rod 3 lifted by the support rod lift 38. The hollow core material 1 of the roll-shaped article W lifted by the roll-shaped article lift 19,
The support bar 3 lifted by the support bar lift 38
Is pushed in by the support rod pusher 47 so that the support rod 3 can be fitted into the hollow core material 1.
The pushing amount of the left and right portions of the support bar 3 fitted into the hollow core 1 is adjusted so as to protrude from the hollow core 1 by the same length. The roll-shaped article W into which the support bar 3 is inserted is stored in the article storage shelf 12 by a stacker crane 84 described later. Thereafter, the roll-shaped article elevator 19 descends, and the empty pallet P is placed on the article carry-in conveyor 17. The empty pallet P is unloaded from the article carry-in conveyer 17 by hand or the like, and is conveyed to an unloading station 51 described later.

A delivery station 51 is provided on the left side of the rear rack device 6. As shown in FIGS. 8 to 11, the storage station 16 is provided with an article unloading conveyor 52 such as a chain conveyor or the like having a transport direction oriented in the left-right direction. An empty pallet P is placed on the left end of the article carrying conveyor 52 by hand or the like. A space 53 is formed between the left ends of the pair of side frames of the article unloading conveyor 52, and the roll-shaped article elevating table 54 is positioned in this space 53 by a known lifting operation device 5.
5, it is provided so as to be able to protrude from the conveying surface of the article unloading conveyor 52 or to be lowered from the conveying surface of the article unloading conveyor 52.

A height detecting device 57 for detecting the center of the support rod 3 fitted to the hollow core material 1 of the roll-shaped article W placed on the pallet P of the article unloading conveyor 52 by a stacker crane 84 described below is used for the article. It is provided near the left end of the unloading conveyor 52. The height detecting device 57 is provided with a column 58 erected on the rear floor of the article unloading conveyor 52.
And a pivot 59 having an axial center oriented in the left-right direction.
A swing arm 60 provided to be vertically swingable via
The light, radio wave,
A transmitter 61 for transmitting a signal such as a sound wave;
A receiver 62 for receiving a signal from a transmitter 61 provided on the swing arm 60 with a gap between the support arm 3 and the support rod 3.
And

The operation of the height detecting device 57 will be described below. When the roll-shaped article W (in a state in which the support bar 3 is inserted) is placed on the pallet P of the article unloading conveyor 52, the swing arm 60 which has been in the upright state until now is moved to a known operating device (illustrated in the drawing). (Omitted), it becomes horizontal. In addition,
In this state, the swing arm 60, the transmitter 61, the receiver 62
Is arranged so as not to collide with or interfere with the roll-shaped article W or the support rod 3, and the left end of the support rod 3 of the roll-shaped article W is positioned immediately below the gap between the transmitter 61 and the receiver 62. ing. Thereafter, the roll-shaped article elevating platform 54 which has been lowered so far rises to lift the pallet P. Then, after a predetermined time from the time when the support bar 3 interrupts the signal from the transmitter 61, the lifting of the roll-shaped article elevating platform 54 is stopped. Thereby, the center of the support bar 3 can be located at the set height position. The set time is
This is the time determined by [(outer diameter of support bar 3) / 2] ÷ (elevation speed of elevating platform 54 for roll-shaped articles). afterwards,
The swing arm 60 returns to the upright state.

The transmitter 61 is replaced by a transmitter having a transmitter for transmitting signals such as light, radio waves, and sound waves and a detector having a receiver for receiving the signals, and the receiver 62 is replaced by a reflector for reflecting signals. You may.

On the left side of the article carry-out conveyor 52, there is provided a support rod carry-out conveyor 64 whose transport direction is oriented in the front-rear direction. The support rod unloading conveyor 64 includes a pair of left and right side frames 65, wheels 66 provided at the front and rear ends of each of the side frames 65, an endless chain 67 wrapped around the front and rear wheels 66, and an endless chain 67. And support rod receivers 68 provided at predetermined intervals.
The left and right support rod receivers 68 oppose each other and support the left and right ends of the support rod 3. The left and right wheels 66 are configured to rotate in synchronization.

A space 70 is formed between the front ends (upstream ends) of the pair of side frames 65 of the support rod carrying conveyor 64,
The support rod elevating table 71 is located in this space 70.
Is provided so as to be able to move up and down by a known elevating operation device 72. A groove 73 (similar to the groove 40) into which the support rod 3 is fitted is formed on the upper surface of the support rod elevating table 71 so that the longitudinal direction is directed to the left and right. In addition, the center line of the support bar 3 fitted to the hollow core material 1 of the roll-shaped article W on the roll-shaped article lift 54 and the center line of the support bar 3 placed on the support-bar lift 71 are as follows. , Are located in the same virtual vertical plane.

The support rod extracting device 7 is positioned at the front end (upstream end) of the support rod discharge conveyor 64.
5 are provided. The support rod extracting device 75 includes:
Supports 76 erected on the floor so as to be located on the left and right sides of the support rod unloading conveyor 64, and guides passed over these supports 76 and positioned above the support rod elevator 71. A member 77, a left and right moving body 78 movably left and right along the guide member 77,
And a known operating device 80 (a motor is not shown) for operating the left and right moving body 78. The supporting rod chuck 79 is operated by a known operating device [not shown]. The support rod chuck 79 chucks the support rod 3 of the roll-shaped article W on the roll-shaped article elevating platform 54.

The support rod 3 of the roll-shaped article W raised to a predetermined height by the roll-shaped article lift 54
Is pinched by the support rod chuck 79 and pulled out to the left. After that, before the support rod 3 completely comes out of the hollow core material 1, the support rod chuck 79 moves to a position where it does not collide with or interfere with the support rod elevating table 71, and then the support rod The elevating table 71 rises to support the support bar 3. After that, the support rod chuck 79 further moves to the left, and the center of the support rod 3 in the left-right direction and the support rod carrying conveyor 64 are moved.
The support rod chuck 79 is aligned with the center of
Stops, and then the support bar chuck 79 opens to release the support bar 3. After that, the support bar elevating table 71 is lowered, and the support bars 3 are placed on the empty left and right support bar receivers 68 waiting immediately below the support bar 3, and thereafter further lowered. Then, the support bar elevator 71 returns to the original lowered position and stops. Also,
The support bar chuck 79 also returns to the original position. Thereafter, the support rod unloading conveyor 64 moves the empty support rod receiver 68 toward the rear.
Is driven below the support bar elevator 71.
The support rod 3 reaching the downstream end (rear side) of the support rod unloading conveyor 64 falls by its own weight when the support rod receiver 68 is directed downward, and enters a box (not shown) provided below. Can be stored. Then, the accumulated support rods 3 are transported to the storage station 16 side. After the support bar 3 is removed, the roll-shaped article elevating platform 54 is lowered, and the pallet P on which the roll-shaped article W is placed is placed on the article carrying-out conveyor 52 and carried out.

As shown in FIGS. 12 and 13, a pair of upper and lower guide rails 83 are disposed in the stacker crane passage 5 so that the longitudinal direction thereof is directed to the left and right. The stacker crane 84 includes a traveling carriage 85 and a lift 87 that can be moved up and down on a mast 86 provided on the traveling carriage 85.
And a slide fork 89 provided on each of the left and right standing walls 88 of the elevating table 87 so as to be horizontally slidable in the front-rear direction by a known advance / retreat mechanism, and a support provided on each of the slide forks 89 so as to face each other. And a rod receiver 90. The known sliding mechanism has a base provided on an upright wall 88, and an intermediate sliding body which is slidable back and forth on the base and is provided with a slide fork 89 slidably back and forth. When the intermediate sliding body moves with respect to the base, the slide fork 89 moves in the same direction and the same amount with respect to the intermediate sliding body in conjunction therewith. The left and right slide forks 89 move back and forth in synchronization. As is clear from the above description,
The left and right slide forks 89 and the support bar receiver 90 constitute an article transfer device 91.

The right and left support rod receivers 90 perform operations such that the support rods 3 (roll-shaped articles W) are lifted by the support rods 3 and lifted by the lifts 87, and retreated to the lifts 87. Then, the roll-shaped article W is pulled into the elevating table 87, and the article storage shelf 12 (the support
1) The roll-shaped article W can be unloaded. In addition,
The support rod receiver 90 supports the support rod 3 slightly inside the left and right ends so that the support rod receiver 11 of the article storage shelf 12 does not collide with or interfere with the support rod receiver 90.

[0026]

[Modifications and the like] Modifications and the like will be described below. (1) Support rod insertion device 43, support rod extraction device 75,
The structures of the support rod supply conveyor 31, the support rod unloading conveyor 64, and the like are arbitrary. (2) The support rod 3 may be hollow or solid. The material of the support rod 3 is also optional. (3) In some cases, the roll-shaped article W does not have the hollow core material 1 but simply has a center hole. (4) The support rod supply device may be other than a conveyor.
Further, the support rod unloading device may be other than the conveyor.

[Brief description of the drawings]

FIG. 1 is a simplified horizontal cross-sectional view showing an embodiment of the present invention, with an intermediate portion omitted.

FIG. 2 is an enlarged view of a part A of FIG. 1;

FIG. 3 is a sectional view taken along line III-III in FIG. 2;

FIG. 4 is an enlarged view of part B of FIG.

FIG. 5 is a sectional view taken along line VV of FIG. 4;

FIG. 6 is a sectional view taken along line VI-VI of FIG. 4;

FIG. 7 is a sectional view taken along line VII-VII of FIG. 4;

8 is an enlarged view of part C of FIG. 1 partially omitted or partially crushed.

9 is a sectional view taken along line IX-IX of FIG.

FIG. 10 is a sectional view taken along line XX of FIG. 9;

FIG. 11 is a sectional view taken along line XI-XI in FIG. 9;

FIG. 12 is an enlarged view of a portion D in FIG. 1;

FIG. 13 is a sectional view taken along line XIII-XIII of FIG. 12;

[Explanation of symbols]

 Reference Signs List 6 rack device 11 support bar receiver 12 article storage shelf 16 storage station 43 support rod insertion device 51 unloading station 75 support rod removal device 84 stacker crane 91 article transfer device

Claims (3)

[Claims] 1. A rack device, a stacker crane provided to be able to move left and right in front of the rack device, and a storage station and a storage station provided near the rack device. A support rod insertion device for inserting a support rod into the center hole of the rolled article is provided, and a support rod extraction device for extracting the support rod inserted into the center hole of the rolled article at the unloading station is provided,
The elevator of the stacker crane is provided with an article transfer device that supports both ends of the support rod and transfers the roll-shaped articles, and an article storage shelf of the rack device has a pair of left and right support rod receivers that support both ends of the support rod. Warehouse for rolled goods, which is composed of: 2. The automatic warehouse for roll-shaped articles according to claim 1, wherein a roll-shaped article elevating platform for positioning the center of the roll-shaped articles at a set height position is provided at each of the entry and exit stations. 3. A support rod supply device for supplying a support rod to a support rod insertion device of the storage station is provided,
3. The automatic warehouse for roll-shaped articles according to claim 1, further comprising a support rod unloading device that unloads the support rod extracted to the support rod unloading device of the unloading station.