JP2002120905A - Cargo storage method and shelf for automated storage and retrieval warehouse - Google Patents

Abstract

PROBLEM TO BE SOLVED: To smoothly carry cargoes in and out of an automated storage and retrieval warehouse with shelf plates having ends all supported by front frames, even when a level difference exists between the front frame and the shelf plate. SOLUTION: Even if the level difference 48 exists between the shelf plate 40 and the front frame 38, the shelf plate 40 is always set to be located at a lower stage. A cargo W is stored with its portion left placed on the front frame 38. Since the shelf plate 40 is always located at the lower stage, there is no trouble in storing the cargo W, and since the front end of the cargo W is placed on the front frame 38, smooth pick-out is carried out without the influent of the level difference 48.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and a shelf for storing luggage in an automatic warehouse.

[0002]

2. Description of the Related Art In recent years, automatic warehouses have a flat shelf on which a plurality of packages can be placed as they are, so that packages such as cardboard boxes can be stored as they are, and packages of different sizes can be stored. It has become common to adopt a flat shelf system consisting of shelves.

In this case, a hollow and substantially square front frame is horizontally arranged along the opening surface of the shelf, and a shelf plate having the same height as the front frame is arranged behind the front frame. The front edge is supported by a front frame.

[0004] The front frame forms a part of the framework of the hangar, and is connected to front supports arranged at appropriate intervals in the frontage direction. A unit storage area is provided between the adjacent front columns, and a plurality of packages can be stored in the unit storage area (the front columns can be provided only on the left and right ends of the hangar).

[0005] By supporting the front end of the shelf with the front frame constituting the framework of the hangar, it is possible to make the shelf a sturdy structure. In addition, the hangar is equipped with multi-stage shelves, and in the case of a dolly-type automatic warehouse in which transfer trolleys are provided for each shelf, in general, the front frame also serves as a rail on which the transfer trolley runs. I have.

[0006] In the case of an automatic warehouse in which shelves are arranged behind a front frame, when storing and taking out luggage, the luggage is slid and moved between a shelf and a transfer device such as a stacker crane or a transfer trolley. Will be. In that case, conventionally, the luggage is stored such that the entirety thereof is placed on a shelf board. That is, conventionally, luggage is placed on the back of the front frame on the shelf.

[0007]

However, when processing a member such as a front frame or a shelf board, a processing error necessarily occurs. In addition, the shelf board may be warped due to a temperature change or a load of a load. In addition, errors during assembly are inevitably generated.

For this reason, there is a case where a step is slightly generated between the front frame and the shelf (in this case, a step may be formed over the entire width (length in the width direction) of the shelf, (Steps may occur partially).

On the other hand, since the height of each shelf is based on the front frame, the sliding movement between the front frame and the transfer device is performed smoothly, but the step between the shelf plate and the front frame is stepped. When the shelf is higher than the front frame, the phenomenon that the package hits the front end of the shelf when entering (storage) occurs, and conversely, when the shelf is lower than the front frame, A phenomenon occurs in which the load hits the rear edge of the front frame.

[0010] Such a collision phenomenon of luggage caused by a step between the shelf plate and the front frame causes adverse effects such as a decrease in durability of a picker drive mechanism in the transfer device. Further, in the case of a luggage whose bottom and front and rear surfaces are square, such as a wooden box or a plastic box, there is a possibility that storage and removal cannot be performed. By the way, completely eliminating the error is not practical in terms of cost.

An object of the present invention is to improve such a situation.

[0012]

In order to achieve the above object, according to the first aspect of the present invention, there is provided a shelf having a front frame disposed on a front side of a shelf plate, and a transfer device for loading and unloading luggage to and from the shelf. In an automatic warehouse configured to slide and move luggage between the shelf board and the transfer device via the front frame, the luggage is kept in a state where a part of the luggage remains on the front frame. And store it on a shelf.

Although it is unavoidable that an error occurs between the shelf board and the front frame, it is possible to know empirically how much error occurs at the maximum. Therefore, claim 2
Therefore, the shelf structure suitable for use in the method of claim 1 is set so that even if an error occurs, at least the front end of the shelf plate does not project upward from the upper surface of the front frame. ing.

[0014]

When a step is generated between the shelf and the front frame, there are generally two modes, that is, when the shelf is higher and lower than the front frame. In addition, the entire shelf may be higher or lower than the front frame, or may be higher or lower depending on the location along the frontage direction.

However, when the shelf is configured as described in claim 2, the shelf plate is at the same height as the front frame or lower than the front frame. Therefore, if the method of claim 1 is adopted under claim 2, storage (receiving)
At this time, the luggage does not get caught on the front end of the shelf, and at the time of removal (delivery), part of the luggage remains on the front frame, so regardless of the step between the shelf and the front frame, Can be pulled out smoothly.

Therefore, according to the combination of the first and second aspects, even if there is a step between the shelf board and the front frame, it is possible to store (enter) and remove (exit) the luggage smoothly. As a result, it is possible to eliminate any storage mistakes or removal mistakes caused by the steps, and to improve the durability by eliminating damage to the transfer device.

In particular, in the case of a truck type transfer device, the height of the luggage placing portion of the transfer device is constant in accordance with the front frame. It is informative.

According to the first aspect of the present invention, when the shelf is lower than the front frame, there is no problem in storing and taking out. However, when the shelf is higher than the front frame, the luggage collides with the front end of the shelf during storage. Will do.

In this regard, since the width of the front frame in the depth direction is generally much smaller than the size of the bag in the depth direction, in the case of a stacker crane type transfer apparatus, If the height of the luggage placing portion of the stacker crane is set to be slightly higher than the front frame, the luggage can be transferred to the shelf while straddling the front frame. Therefore, the data can be stored smoothly regardless of the step.
Of course, removal can be performed smoothly regardless of the step.

In the case of a truck type transfer apparatus, the configuration of claim 1 cannot prevent the collision phenomenon of luggage when the shelf is higher than the front frame, but has a problem when the shelf is lower than the front frame. Can be eliminated. Therefore,
Even with the configuration of claim 1 alone, regardless of the configuration of the transfer device,
It has a unique significance compared to the prior art.

[0021]

Next, embodiments of the present invention will be described with reference to the drawings.

(1) First Embodiment (FIGS. 1 to 10) FIGS. 1 to 10 show a first embodiment. This embodiment is applied to a stacker crane type automatic warehouse,
First, the overall outline will be described based on the schematic perspective view of FIG.

[0023] General Overview The automatic warehouse includes a pair of hangars 1 arranged opposite to each other, and a stacker crane 2 arranged in a passage between the two hangars 1. The stacker crane 2 includes a bogie unit 3 extending long along the frontage direction of the hangar 1, a pair of front and rear hollow masts (posts, columns) 4 erected on the bogie unit 3, and an upper end connected to the upper end of the front and rear masts 4. It includes a connection frame 5 and a transfer unit 6 mounted on the front and rear support masts 4 so as to be able to move up and down.

In the upper connecting frame 5, a pair of front guide rollers 8 is arranged so as to sandwich the top rail 7 from both right and left sides. The ceiling rail 7 is fixed to an upper aggregate 9 connecting the two hangars 1. The stacker crane 2 travels along a ground rail 10 arranged on the floor.

One end of the bogie unit 3 of the stacker crane 2 has a pair of front and rear running wheels 11 running on the upper surface of the ground rail 10 and a running motor 1 for driving one running wheel 11.
2 is provided. A main sprocket 13 is attached to the upper and lower ends of the front and rear masts 4, and a chain 14 for raising and lowering the transfer unit 9 is wound around the main sprocket 13. The chain 14 is fixed to a platform 15 to which the transfer unit 6 is attached via a bracket 15a.

At the lower ends of the front and rear masts 4, a bracket plate 16 overlapping the bogie unit 5 is fixed, and an idle sprocket 17 and a driving sprocket 18 are mounted on the bracket plate 16. Both drive sprockets 18 are 1
Are linked by a link shaft 19, and the link shaft 19 is
Elevating motor 20 attached to one bracket plate 16
Driven by

[0027] Next, the transfer unit 6 will be described with reference to FIGS. 2 (A) is a plan view, and FIG. 2 (B) is (A).
3 is a sectional view taken along line BB of FIG. 3, and FIG. 3 is a sectional view taken along line III-III of FIG.

The transfer unit 6 includes a machine frame 22 and a pair of front and rear picking units 2 disposed on the upper surface of the machine frame 22.
3 is provided. The two picking units 23 extend in a direction orthogonal to the traveling direction, and a portion between the two picking units 23 serves as a placement portion of the load W.

The two picking units 23 include a fixed frame 24 that does not move in the longitudinal direction and a first roller group 25.
And a picking arm 28 movably attached to the intermediate arm 26 via a second roller group 27. At both ends of the picking arm 28,
A plate-like picker 29 for pushing and pulling the load W is mounted so as to be horizontally rotatable.

Therefore, the luggage W can be transferred to the transfer unit 6 and the storage 1 by a combination of the rotation of the picker 29 and the forward / backward movement of the picking arm 28.

On both fixed frames 24, a load is received by a receiving plate 30.
In this case, the fixed frame 24 of one picking unit 23 is fixed to the machine frame 22 and the fixed frame 24 of the other picking unit 23 is fixed.
Is attached to a guide member (not shown) so as to be movable with respect to one picking unit 23.

Therefore, the interval between the picking units 23 can be freely changed according to the width of the load W. In addition, the two receiving plates 30 overlap each other to allow the movement of one picking unit 23.

Reference numeral 31 in FIG. 2 denotes a motor for synchronously driving the two picking arms 28, and reference numeral 3 denotes a motor.
Reference numeral 2 denotes a motor for moving one picking unit 23. Note that a configuration in which both picking units 23 are moved together may be employed.

As shown in FIG. 2, guide rollers 35 for smoothly transferring the package W between the transfer unit 6 and the shelf 34 are arranged on the left and right sides of the machine frame 22.

[0035] Next, the structures of the hangar 1 and the shelf 34 will be described mainly with reference to FIGS.
It will be described based on. 4 is a partial plan sectional view, FIG. 5 is a sectional view taken along line VV of FIG. 4, and FIGS. 6 and 7 are separated perspective views.

The hangar 1 has a front column 36 disposed at an appropriate interval along the frontage, a rear column 37 forming a pair with the front column 36, and a horizontal column connected to the front column 36 adjacent at each shelf. Shaped front frame 38,
Similarly, a horizontal rear frame 39 connected to adjacent rear columns 37 at each shelf, and the front and rear frames 3
And a shelf plate 40 supported at 8, 39.

The front support 36 and the rear support 37 are connected to each other on each shelf 34 by horizontal rails (not shown). Further, the front support 36 and the rear support 37 are reinforced by braces 41 that are arranged in an X-shape at the steps of each shelf 34. As shown in FIG. 4, the support 3 of the present embodiment
6 and 37 are formed in a U-shaped cross section, and a pair of braces 41 are arranged at a distance from each other.

As shown in FIG.
Is formed in a substantially hollow shape by a metal plate, and has a stepped portion 38a on the shelf plate 40 on which a forefoot piece 40a formed on a front end edge rests, on the side opposite to the traveling path of the stacker crane 2. The leading edge of the step portion 38a rises upward, and folded portions 40b formed on both ends of the shelf plate 40 along the frontage direction are placed on the rising portion 38b.

The rear frame 39 is formed in a hollow shape surrounding the rear portion of the shelf plate 40, and has a lower end formed with a receiving portion 39a on which a rear leg 40c bent on the rear portion of the shelf plate 40 rests. Also, at the front edge of the rear frame 39,
The stopper piece 39b also serving as reinforcement is formed by bending, and the storage position of the load W is regulated by the stopper piece 39b.

The front frame 38 includes a front support 36.
Are fixed with screws 42 (bolts and nuts). In this case, as shown in FIG. 4 and FIG.
On the other hand, the front frame 38 is formed with a notch 44 in the step portion 38a so that the downward U-shaped portion overlaps the front support 36, while forming an engagement hole 43 extending on both sides of the center line. Furthermore, the engagement hole 43 of the front support 36
Is provided with an engagement claw 45 that fits only half.

The front frame 38 is formed by the engagement claws 45.
Is positioned. Adjacent front frames 38
Are fastened to the front column 36 with their end faces abutting each other.

In fastening the rear frame 39 to the rear column 37, as shown in FIGS. 4 and 7, the upper part of the rear frame 39 and the receiving portion 39a are cut out (the notched portion is indicated by reference numeral 46). , The rear frame 39
Is overlapped on the rear support 37, and the two
(Bolts and nuts).

Note that both the front frame 38 and the rear frame 39 may be set to a length that is an integral multiple of the pitch between the adjacent columns 36, 37.

Needless to say, a plurality of luggage can be stored in the area between the adjacent front columns 36. In addition, the area between the adjacent front supports 36 may be configured by a plurality of shelves 40.

[0045] Loading and Unloading of the Luggage As shown in FIG. 8, the luggage W can be stored on the shelf 34 by pushing the luggage W with the picker 29. In that case, luggage W
Is stored in such a state that the front end of the front frame remains in the front frame 38.

As one structure of the shelf 34, FIG.
As shown in (2), in consideration of processing errors of the shelf board 40 and the front frame 38, at least the front edge of the shelf board 40 is set so as not to protrude upward from the front frame 38. That is, the shelf 40 and the front frame 38 are set to be on the same surface, or the shelf 40 is set lower than the front frame 38.

According to the structure of FIG. 9, even if there is a step 48 between the front frame 38 and the shelf board 40, the load W does not collide with the step at the time of both storage and removal.

FIG. 10 shows a state where the shelf board 40 is higher than the front frame 38. In this case, there is no problem when the luggage W is taken out, but the luggage W may collide with the step 48 during storage.

Therefore, in this case, the transfer unit 6 is stored with the load supporting surface thereof being slightly higher than the front frame 38 by a certain dimension H. Then, since the depth dimension L2 of the load W is much larger than the distance L1 between the shelf board 40 and the roller 35, the load W can be transferred to the shelf board 40 while straddling the front frame 38. . Therefore, the luggage W can be smoothly taken in and out without being affected by the step 48 during storage and removal.

In the case of an existing automatic warehouse, since the height difference between the shelf board 40 and the front frame 38 varies, the height of the transfer unit 6 is increased as shown in FIG. The method of storing in the above method is also useful for the existing automatic stacker crane warehouse.

The two-dot chain line in FIG. 5 shows the storage position of the conventional luggage W, and the one-dot chain line shows the luggage W according to the present invention.
Shows the storage position of. As can be easily understood from this comparison, according to the present invention, there is also an advantage that a baggage having a depth dimension larger than that of the related art can be stored.

The luggage W is stored with all edges aligned regardless of the depth dimension. Therefore, the forward distance of the picker 29 may always be constant during storage. When taking out, the picker 29 may be once advanced to the innermost part of the shelf 34, or the advanced dimension may be controlled according to the depth dimension of the load W.

(2) Other Embodiments (FIGS. 11 and 12) FIGS. 11 and 12 show an example in which the present invention is applied to a bogie type automatic warehouse.

In the second embodiment shown in FIG. 11,
The front frame 38 protrudes from the front column 36, and the wheels 51 of the bogie 50 run on the front frame 38.

The front frame 38 includes a front support 36.
Therefore, reinforcing members 52 are fixed to the inside of the front frame 38 at appropriate intervals, and are reinforced by brackets 54 fastened to the front columns 36.

In the third embodiment shown in FIG. 12, a front frame 38 is fixed to a front column 36 in the same structure as in the first embodiment.
, A rail 54 on which the wheels 51 of the carriage 50 run is attached. The rail 54 may be provided integrally with the front frame 38.

In the case of FIGS. 11 and 12, the carriage 50
Since the height of the receiving plate 30 is constant, the shelf plate 40 is preferably set to be the same height or lower than the front frame 38.

(3) Others The present invention can be variously embodied in addition to the above embodiment.

For example, the sectional shapes of the front frame, the columns, and the shelves can be freely changed without departing from the spirit of the present invention. In addition, the present invention is not only an automatic warehouse of a stacker crane system or a trolley system, but also an automatic warehouse in which a lift-type transfer device only moves up and down and takes in and out loads on each shelf.
It can be applied to other types of automatic warehouses.

[Brief description of the drawings]

FIG. 1 is a schematic perspective view of an automatic traveling according to an embodiment of the present invention.

FIG. 2A is a plan view of the transfer unit, and FIG. 2B is a view B of FIG.
FIG.

FIG. 3 is a view along III-III in FIG. 2 (A).

FIG. 4 is a partial plan sectional view of a shelf;

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

FIG. 6 is an exploded perspective view of a front frame and a front support.

FIG. 7 is an exploded perspective view of a rear frame and a rear support.

FIG. 8 is a diagram showing a storage state of a package.

FIG. 9 is a diagram illustrating an example of a relationship between a shelf board and a front frame.

FIG. 10 is a diagram illustrating another example of the relationship between the shelf board and the front frame.

FIG. 11 is a cross-sectional view of the second embodiment.

FIG. 12 is a cross-sectional view of the third embodiment.

[Brief description of reference numerals]

 DESCRIPTION OF SYMBOLS 1 Hangar 2 Stacker crane 4 Mast 6 Transfer unit 23 Picking unit 24 Fixed frame 28 Picking arm 29 Picker 34 Shelf 36 Front support 38 Front frame 40 Shelf board 48 Step W Luggage

Claims (2)

[Claims] 1. A shelf having a front frame disposed on the front side of a shelf plate, and a transfer device for loading and unloading luggage to and from the shelf, wherein the load is transferred to the shelf plate and the transfer device via the front frame. A method for storing luggage in an automatic warehouse, wherein the luggage is stored in a shelf such that a part of the luggage remains on the front frame in an automatic warehouse configured to be slidably moved. 2. A front frame for supporting a front end of the shelf board is disposed on the front side of the shelf board so that at least the front end of the shelf board does not project upward from the upper surface of the front frame. An automatic warehouse shelf used in the method according to claim 1, wherein the shelf is set.