JP2003034407A - Automated storage and retrieval warehouse equipment and tray used therefor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To efficiently store and retrieve samples and to improve the storing efficiency in the automated storage and retrieval warehouse epuipment wherein a group of containers storing various kinds of samples are stored in a state of being loaded on a tray. SOLUTION: The storage tray 4 has the long shape, and plural containers 2, 4 can be arranged in a line on the tray. Whereby the containers 2, 4 can be prevented from being unnecessarily taken out in comparison with a case when the containers 2, 4 are loaded in plural lines. The storage tray 4 is stored in a shelf device 52 with the attitude extended in the direction orthogonal to the traveling direction of a stacker crane 50. Whereby a depth dimension of the shelf device 52 can be enlarged, as a result, the number of the storage trays 4 stored per a unit traveling length of the stacker crane 50 can be increased, and the storing efficiency can be improved.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic warehouse facility (automatic warehouse system) suitable for storing various kinds of samples and a storage or work (collection and delivery) tray used therefor.

[0002]

2. Description of the Related Art Enormous kinds and amounts of samples may be used in laboratories and companies of chemical, pharmaceutical or biological systems. Examples of the samples include reagents, chemicals, chemical substances, gene samples, blood samples, tissue samples, soil samples, and seed samples.

When these samples are handled for testing or research, one sample is treated as a unit,
There are cases where a large number of sample groups are collectively treated as one unit.

In the former case, the samples are generally enclosed in a cylindrical small container such as a vial bottle or a mini tube,
A large number of these small containers are inserted into the indirect accommodating holes of the upward opening formed in a large number of rectangular parallelepiped-shaped containers to hold them in an upright state. A container that holds a large number of tubular small containers can be called an indirect storage type container.

On the other hand, in the latter case, as represented by a deep well, a rectangular parallelepiped container is often used in which a large number of direct enclosing holes are opened upward, and this is provided with a detachable lid. ing. Such a container that directly encloses the samples can be referred to as a direct storage container.

[0006] These containers (storage / transportation containers)
Are used depending on the purpose. Regardless of which type of container is used, the number of containers increases enormously, and therefore an automatic warehouse facility for automatic storage is required.

[0007]

If there are too many types of samples stored in one container, whether it is an indirect storage type container or a direct storage type container, unnecessary samples are discharged. However, it becomes difficult to handle. Also, the container cannot be made too large for the convenience of researchers carrying it by hand in the work area.

[0008] As described above, since the containers cannot be made too large, in the case of automatic warehouse equipment using these containers, from the viewpoint of easiness of loading and unloading, a plurality of containers are loaded on the tray, It is preferable to store and take out to and from the shelving device via the.

In this case, various ways of arranging the containers on the tray and the storage form of the tray on the shelf device can be considered, but the efficiency of loading and unloading samples, the storage efficiency of the shelf device, the storage efficiency of the tray device Ease of loading and unloading of containers or loading and unloading of trays to and from an automatic loading / unloading device such as a stacker crane is required.

An object of the present invention is to provide an automatic warehouse facility and a tray which meet such a demand.

[0011]

The automatic warehouse facility according to the present invention can store a large number of containers that can store various types of samples, a large number of trays that can hold a plurality of containers, and a large number of trays. It is equipped with a shelf device and an automatic loading / unloading system.

Further, in the invention of claim 1, the tray is formed in an elongated shape in a plan view so that a plurality of containers can be arranged in a line and stacked.
A large number of unit storage units capable of storing one tray in a posture extending long in the depth direction are formed.

According to the second aspect of the present invention, the container includes a direct container type container having a large number of direct enclosing holes into which the samples are directly inserted, and an indirect accommodating portion capable of accommodating a small container for enclosing the samples in a removable manner. While there are two types of indirect storage type containers in which a large number of trays are formed, at least a portion of the tray on which the container is placed is formed in a thin shape such as a plate shape or a shallow container shape with an upward opening.

According to a third aspect of the present invention, the storage device is provided with a storage area in which the shelving device is arranged, and a storage room in which a hand-held cart for collection and delivery can be set, and the storage area and the storage room are automatically moved. It is a loading area, and as the indirect storage type container, an indirect storage type container for storage that circulates between the storage area and the automatic transfer area, and a work that circulates the automatic transfer area, the storage room, and the work area. There are two types of indirect storage type containers used.

On the other hand, two types of trays are used: a storage tray that circulates in the storage area and the automatic transfer area, and a work tray that circulates in the automatic transfer area, the loading / unloading room, and the work area. .

In the automatic transfer area, a conveyor group for separately carrying a storage tray and a work tray,
A first transfer device for transferring a small container to a storage indirect storage type container and a work indirect storage type container transported via a tray, and a direct storage in a storage tray and a work tray which are in the process of being transferred. A second transfer device with a clamp device for transferring the expression type container is arranged.

Further, the storage tray and the work tray are provided with through holes for allowing the directly accommodating container to be pushed up by the elevating member.

The invention of the present application also includes a tray used for storage or working, or both as described in any one of claims 1 to 3.

[0019]

When a plurality of containers are loaded on the tray, there are considered a mode in which the containers are lined up in a plurality of lines (single line mode) and a mode in which the containers are lined up in a line (parallel mode). In addition, as an aspect of storing the elongated tray in the shelf device, there are an aspect in which the tray is stored in an attitude such that the tray extends in the front direction of the shelf apparatus, and an aspect in which the tray is stored in an attitude such that the tray extends in the depth direction of the shelf apparatus. Can be considered.

However, if the number of containers lined up in a line is the same in the single-row system and the double-row system, the number of containers becomes too large in the double-row system, and unnecessary containers are taken out from the shelf device. There is a risk that the loading and unloading efficiency will rather decrease as the frequency of access increases.

Further, when the trays are arranged in a posture that extends in the front direction of the shelves, the depth of the shelving device becomes small, and therefore the length of the shelving device inevitably becomes long to store a large number of trays. In addition to the long distance traveled by stacker cranes, etc., the efficiency of loading and unloading becomes poor, but the storage efficiency of trays inevitably decreases when installed in a place where the length of the room is limited.

On the other hand, in the present invention, since the containers are arranged in a line in the tray, it is possible to reduce the frequency of taking out unnecessary containers to improve the loading and unloading efficiency. Since it is stored in a posture that extends long in the depth direction of the shelving device, the traveling distance of the loading / unloading device such as a stacker crane can be shortened as much as possible to improve loading / unloading efficiency, and the length of the installation space is limited. However, many trays can be stored efficiently.

When the tray is formed thin as in claim 2, the amount of material used can be suppressed and the manufacturing cost can be reduced.
Further, since it is possible to reduce the weight, it is not necessary to make the shelf device have an excessively strong structure, and as a result, it is possible to contribute to the suppression of the manufacturing cost of the shelf device.

By the way, when a sample is enclosed in a cylindrical small container such as a vial bottle or a mini tube, not all the samples contained in one indirect container type container are used, and many samples are contained. Often only some of them are used.

However, conventionally, even when only a part of the sample is required, the indirect storage type container is directly transported to the shelving device and the work area, which causes a great deal of waste. In addition, in this type of automatic sample storage warehouse, in order to prevent alteration or deterioration of the sample, the inside of the shelving device may be adjusted to +5, for example.
In most cases, the work area is kept at a normal temperature, while the work area is kept at a low temperature of about -20 ° C to -20 ° C. There was also a risk of doing so.

On the other hand, according to the third aspect of the present invention, only the necessary sample contained in the indirect container type container can be taken out, so that the efficiency of loading and unloading can be improved and the sample can be not used. It is possible to prevent alteration and the like due to being transported to the work area.

When the tray is divided into a storage tray and a work tray as in claim 3, the storage tray is formed to have a size in consideration of storage efficiency and the like, while the work tray is carried by a worker. Since it is sufficient to set the size in consideration of the ease of storage, it is possible to achieve both storage efficiency and workability. Further, even if the inside of the shelf device is cooled to a low temperature, the work tray and the work indirect storage type container are not cooled, which is also advantageous in that it is easy for a worker to handle.

Furthermore, when the direct accommodation type container is transferred to the storage tray and the working tray by the transfer mechanism equipped with the clamp device, the direct accommodation type container can be clamped by the clamping device in a lifted state.
The clamp member can be directly applied to the bottom surface of the storage container, and thus the direct storage container can be reliably clamped in a non-fallable state and transferred to the storage tray and the work tray. That is, the direct storage container can be reliably transferred without causing a fall accident.

[0029]

Embodiments of the present invention will now be described.

(1). First automatic transfer area (FIGS. 1 to 17). Tray and Container (Box) FIGS. 1 to 17 show the first embodiment. Among these, FIG. 1 shows a mini tube 6 as an example of a cylindrical small container in which a sample is enclosed, an indirect storage type storage container 1 capable of storing a large number of the mini tubes 6, and a plurality (for example, 4 to 4).
It is a perspective view with the storage tray 2 which loads the indirect storage type container 1 for storage of seven pieces in a line. The mini tube 6 is sealed with a lid.

As shown in FIG. 1, the storage tray 2 is formed in an elongated rectangular shape in a plan view, and has hook-shaped locking portions 13 facing downward at both ends thereof. Further, the recesses 2b are formed side by side as positioning means so that the indirect storage type storage containers 1 can be stacked in a line in a non-displaceable state so that they can be stacked. There is.

The indirect accommodating container 1 for storage is formed in a rectangular parallelepiped shape, and the rectangular (or circular) indirect accommodating hole 1a for holding the mini tube 6 in an upright state is formed on the upper surface thereof.
Many are laid out vertically and horizontally. The indirect storage type storage container 1 and the storage tray 2 may be made of metal, but are preferably made of synthetic resin in terms of weight reduction and chemical resistance.

Although not shown, the bottom and side surfaces of the mini tube 6 are provided with an I
Identification means such as a D number and a bar code are displayed by sticking or printing a label. Also, on the side surface of the indirect storage type container 1 for storage, identification means such as a bar code is displayed by sticking or printing a label for individual identification.

FIG. 2 shows another example of the storage tray 2, in which (A) is a plan view and (B) is a side view. In this example, the storage tray 2 is formed in a plate shape, and the lower end four corners of the storage / indirect storage container 1 are fitted to the storage tray 2 as an example of positioning means for the storage indirect storage container so as not to be laterally displaced. A group of upward engaging protrusions 9 having a substantially L shape in plan view is formed.

FIG. 3 is a side view of the work tray 5 used in a work area where an operator or a researcher uses a sample to conduct experiments and researches, and FIG. 4 is a perspective view of the work tray 5. . This work tray 5 has a plurality of (for example, four)
Indirect storage type containers 1'for work can be arranged in a line and stacked.

In the present embodiment, the same indirect storage type container 1 for storage and the same indirect storage type container 1'for work are used, but the shape and storage of the container for storage and work (for collection and delivery) It goes without saying that the number may be different.

The work tray 5 is formed in a plate shape,
As in the case of FIG. 2, as the positioning means, a group of upward engaging protrusions 9 having a substantially L-shape in plan view in which the lower four corners of the indirect storage type container 1'for work are fitted so as not to be laterally displaced are formed side by side. There is.

In this embodiment, the indirect storage type container 1 for storage and the indirect storage type container 1'for work share the same type. Of course, it is possible to make the size and shape different. It is also possible to use different materials for the storage tray 2 and the work tray 5 and different positioning means for the containers 1 and 7.

At both ends of the working tray 5 in the longitudinal direction, a handle 10 for the operator to carry by hand is provided so as to project upward. The height of the handle 10 is set to be higher than the upper surface of the contained mini-tube 6, and thus the work trays 5 accommodating the mini-tube 6 can be stacked in multiple stages.

.. Outline of Automatic Warehouse Equipment Next, the automatic warehouse equipment will be described with reference to the drawings starting from FIG. First, the outline will be described with reference to FIGS. Fig. 5 is a schematic plan view of automated warehouse equipment, and Fig. 6 is VI of Fig. 5.
-VI side view, FIG. 7 is a VII-VII front view of FIG.

In this automatic warehouse equipment, samples used for experiments and tests are stored in a shelf device in a warehouse room where a predetermined temperature (constant temperature) and humidity are maintained, and the samples are taken out as needed. Samples transferred to the test / research work area or returned or added from the work area are automatically stored in the shelf device.

As roughly shown in FIG. 5, the automatic warehouse facility is roughly divided into a storage area A in which a large number of storage trays 2 can be stored, an automatic transfer area B provided adjacent to the storage area A, and a storage area B adjacent to the storage area A. A storage room (storage / delivery station) C provided outside. Each area A, B is surrounded by a wall 66 having a heat insulating structure, and the inside thereof is, for example, + 5 ° C. to −20.
It is kept at a low temperature of about ℃ and low humidity (temperature and humidity are 1 depending on the type of sample).

The loading / unloading chamber C is also maintained at a low temperature of about + 5 ° C. and low humidity. Although not shown, a door is provided in the loading / unloading chamber C in order to keep the temperature and humidity constant.
The loading / unloading room C is provided with a pair of gates 21 on which a hand-held work cart (wagon) 8 can be set. In this case, the two gates 21 are divided into a warehouse dedicated and a warehouse dedicated.

As can be seen from FIG. 6, the storage area A
The storage units A1 each having a pair of shelving units 52 arranged to face each other are arranged in two rows in parallel (a single unit or units having three rows or more may be used).

As can be understood from FIG. 5, the shelf device 52 can store the storage tray 2 in a posture that extends in the depth direction. Although not shown, the shelving device 52 includes a vertical frame and a horizontal frame (struts and horizontal bars) that form a frame,
Alternatively, it is configured as a rack system including a support portion on which the storage tray 2 is placed, and unit storage portions capable of storing one storage tray 2 are formed in multiple stages and in multiple rows in the horizontal direction.

As can be understood from FIG. 6, in each storage unit A1, the shelving device 52 is of a two-tiered type (one or three or more stages may be used), and a pair of shelving devices 52 are provided in each stage. A stacker crane 50 is movably arranged as an example of an automatic loading / unloading conveyance device which is a part of an automatic loading / unloading system, in a passage between the shelving devices 52 arranged facing each other and facing each other in each stage. .

For example, as roughly shown in FIG. 5, the automatic transfer area B is a first conveyor (may be called a temporary storage conveyor or a temporary storage shelf or a transfer shelf) arranged outside each shelf device 52. 54, an elevating type reservoir (relay lift device) 55 arranged outside the first conveyor 54, a second conveyor 24 arranged outside the reservoir 55, and a third conveyor 24 'connecting the two second conveyors 24, Third
A fourth conveyor 23 is provided outside the conveyor 24 'so as to extend in parallel therewith.

As shown in FIG. 6, the first conveyor 54 is provided corresponding to the remarkable shelving unit 52, but the second to fourth conveyor groups 24, 24 'and 23 are the upper and lower first conveyors. Only one step is arranged at a mid-height position between 54.
Also, there is one third conveyor 24 'for each storage unit A1, but there is only one fourth conveyor 23,
It runs side by side with each third conveyor 24 '.

As schematically shown in FIG. 5, in the automatic transfer area B, a pair of first transfer devices 25 are arranged so as to overlap the third conveyor 24 'and the fourth conveyor 23 in plan view. By the first transfer device 25, the indirect storage type container 1 for storage loaded on the storage tray 2 and the indirect storage type container 1 ′ for work loaded on the work tray 5 are provided.
The mini tube 6 is transferred to and.

.. Outline of the entry / exit path of the mini tube The following describes the general exit procedure of the mini tube 6.

First, in response to a delivery command signal, the stacker crane 50 located in the storage area A in which the desired mini-tube 6 is stored travels to the corresponding position of the shelving unit 52,
The storage tray 2 on which the desired mini tubes 6 are loaded is taken out, and the storage tray 2 is transferred to the first conveyor 5
Move to 4. Note that a plurality of storage trays 2 can be taken out by one run of the stacker crane 50.

The storage tray 2 conveyed to the first conveyor 54 is transferred to the second conveyor 24 by relaying the reservoir 55. On the other hand, in the vicinity of the end of the second conveyor 24 of the fourth conveyor 23, the work tray 5 loaded with the indirect storage type container 1'for work is preliminarily conveyed and is on standby. Then, from the storage indirect storage type container 1 of the storage tray 2 stopped at the end of the second conveyor 24,
The desired mini-tube 6 is transferred to the indirect storage type working container 1 '.

Storage tray 2 on which the indirect storage type storage container 1 from which the desired mini-tube 6 is taken out is loaded
Are sequentially conveyed in the order of the second conveyor 24 → the third conveyor 24 ′ → the reservoir 55 → the first conveyor 54 → the stacker crane 50, and are returned to the original unit storage section of the shelf device 52.

By repeating such work, the mini tubes 6 stored in the arbitrary unit storage portions of the respective storage units A1 are used for the work trays 5 stopped on the fourth conveyor 23. It is transferred to the indirect storage type container 1 '.

This automatic warehousing work is carried out separately in the two storage units A1, and when the unloading work is completed,
The work tray 5 is moved to the end portion of the fourth conveyor 23, and the work tray 5 is automatically transferred to the work carriage 7 by the robot device (auto changer machine) 26.

By repeating such work, a large number of mini tubes 6 are transferred to a large number of indirect storage type working containers 1 '. When all the pieces have been taken out, the work cart 7 is pulled out from the gate 21 and pushed to the work area where researchers are working. Will be delivered to. The storage of the mini tube 6 is performed in the reverse order of the above.

As described above, since the ID code is attached to each mini-tube 6 and the indirect storage type storage container 1 is also attached with the ID code, this ID code and the storage unit A1 Classification, division of upper and lower shelving devices 52, division of left and right shelving devices 52, height and row position of shelves, indirect storage type for storage in storage tray 2, loading position of container 1, indirect storage type for storage The address of the enormous amount of mini tubes 6 is specified by the combination of the data of the row and column positions of the accommodation holes 4 in the container 1.

As shown by the arrows in FIG. 5, the storage trays 2 in each of the storage units A1 in each storage unit A1 include one first conveyor 54 → one reservoir 55 → one second conveyor 24, as shown by the arrow in FIG. → 3rd conveyor 2
4 ′ → the other second conveyor 24 → the other reservoir 55 →
The other first conveyor 54 is a one-way system that flows in one direction. Therefore, the storage tray 2 can be smoothly transported.

Next, each part will be described with reference to the drawings starting from FIG.

.. Stacker Crane FIG. 8 and FIG. 9 mainly show the stacker crane 50. FIG. 8 is a plan view of the stacker crane 50 when traveling to the location of the storage unit A1, and FIG. 9 is a schematic vertical side view of the stacker crane 50. The stacker crane 50 is a traveling rail 5 fixed to the lower part of each shelf device 52.
The traveling rail 53 extends to the automatic transfer area B (the stacker crane 50).
Because it is necessary to travel to the location of the first conveyor 54).

The stacker crane 50 has a traveling carriage 56 provided with wheels 57 for rolling on the traveling rails 53, a pair of pillars 58 standing on the traveling carriage 56, and an elevator board 61 mounted on the pillars 58 so as to be vertically movable. The endless chain 59 is wound around the sprockets received between the upper and lower ends of the pair of columns 58, and the chain 59 is lifted up and down.
1 is fixed. The chain 59 is driven by a motor 60. The wheels 57 are driven by the traveling motor 62. It goes without saying that a lifting means other than the chain can be used.

Picking units 63 for transferring the storage trays 2 to the shelving unit 52 and the first conveyor 54 are arranged on the lift table 23 in a double line. Although detailed description is omitted, these picking units 63 include a support frame 63a extending in the depth direction of the shelf device 52,
The support frame 28 is provided with an endless chain 63b that circulates along the longitudinal direction and a picker (not shown) fixed to the chain 63b.

Then, the chain 63b is driven to rotate the picker, and the claw 31 provided on the picker is hooked on the locking portion 2a of the storage tray 2 from below to pull out the storage tray 2 to the picking unit 63. be able to. On the contrary, when the picker is rotated in the opposite direction, the storage tray 2 is pushed by the claws and the storage tray 2 is moved to the shelving unit 5.
It is sent to the second or first conveyor 54.

The number of picking units 63 provided on one elevator 61 can be set arbitrarily. When the number of the picking units 63 is large, it is preferable to arrange the columns 22 on both sides of the lifting platform 61 from the viewpoint of stability.

.. Conveyor Group / Work Cart In the present embodiment, each conveyor group is configured as a belt type or a roller type. When the belt type is used, a flat belt may be used, or a plurality of narrow belts such as a timing belt may be arranged side by side.

The first conveyor 54 is provided with an elevating buffer conveyor (or slide chute) for transferring the storage tray 2 to the mousse with the stacker crane 50, but it is omitted in the figure. . Also, the second
An elevating buffer conveyor is also provided at the connection between the conveyor 24 and the third conveyor 24 'in order to smoothly transfer the storage tray 2.

The work cart 7 is constructed so that a large number of work trays 5 can be stacked in multiple rows and is set on the gate 21. A transfer robot 26 having a clamp arm that can move in the up-down direction and the left-right direction is arranged at the location of both gates 21, and these robots 26 enable the transfer of the fourth conveyor 23 and the work carriage 7. The work tray 5 can be automatically transferred in the meantime.

In this embodiment, the stacker crane 50, the conveyor groups 54, 24, 24 ', 23 and the reservoir 5 are provided.
5, the first transfer device 25, the transfer robot 26,
The automatic loading / unloading system according to claim 1 is configured (the gate 21 can be regarded as a part of the automatic loading / unloading system).

.. Outline of First Transfer Device Next, the first transfer device for transferring the mini-tube 6 will be described with reference to the drawings starting from FIG. Figure 10
Of these, (a) is a plan view of the first transfer means, and (b) is a side view.

As shown in FIG. 10, the first transfer device 25
Includes a first traveling portion 29 arranged on a first horizontal rail 28 extending long along the side of the fourth conveyor 23, and the first traveling portion 29.
From the traveling section 29 to the second conveyor 24 and the fourth conveyor 23
Second horizontal rail 3 extending so as to be orthogonal to each other in plan view
0, and a second movable laterally along the second horizontal rail 30.
The traveling unit 31, the vertical rail 32 that extends vertically on the surface of the second traveling unit 31, the vertical drive unit 33 that can move up and down along the vertical rail 32, and the vertical drive unit 33 are provided. An upper and lower gripping device 34 that moves up and down is provided.

Details of the gripping device 34 are shown in FIGS. 11 is a side view of the gripping device, FIG. 12 is a partial front sectional view of the gripping device, FIG. 13 is an exploded perspective view of components of the gripping device, and FIG. FIG. 15A is a plan view of the guide block portion in a state, FIG.
FIG. 16 is a plan view of the guide block portion in which the space between the upper guide pieces is narrowed, FIG. 16B is a plan view showing the container gripping state in which the space between the first gripping bodies is narrowed, and FIG. FIG. 17A is a plan view, FIG. 17A is a cross-sectional view showing a main part of the second grip body, and FIG. 17B is a cross-sectional view of another embodiment.

The gripping device 34 is provided with an upper gripping mechanism 34a for gripping (clamping) the upper part of the mini tube 6 and a lower gripping mechanism 34b for gripping the lower part of the mini tube 6, and both mechanisms 34a, 34b cooperate with each other. Working mini tube 6
To pick up.

.. Structure of the upper gripping mechanism in the first transfer device As shown in FIGS. 11 to 13, the upper gripping mechanism 34a includes a frame 35 having an inverted L-shaped cross section, and an upper plate 43 thereof.
A rotary solenoid 36 as an actuator is fixed to the center of the lower surface of a while the vertical plate 3 of the frame 35 is fixed.
A guide block 37 is fixed to 5b. In the guide block 37, a central vertical hole 46 is formed at a central portion in a plan view, and four substantially rectangular first guide grooves 39 extending in the radial direction with the central vertical hole 38 sandwiched therebetween are vertically provided. It is drilled so as to penetrate through.

An upper guide piece 41, to which a vertically elongated first gripping body 40 is detachably attached at the lower end, is fitted in each of the first guide grooves 39 so as to be movable in the radial direction. Actuating blocks 42 are arranged above and below the guide block 37. The upper and lower actuating blocks 42 are disposed on the central shaft 43 rotatably fitted in the central vertical hole 46 and on the outer peripheral side of the guide block 37. The plurality of connecting shafts 44 arranged are connected so as to integrally rotate horizontally.

By connecting at least the upper and lower ends of the connecting shaft 44 to the upper and lower operating blocks 42 with screws 53 or the like, the upper and lower operating blocks 42 are connected so as not to separate from each other.

Further, as shown in FIGS. 12 to 14 (a), the upper and lower operation blocks 42 have the first guide grooves 3 formed therein.
Second guide groove 4 extending in a direction intersecting with 9 in plan view
6 is provided. Round shaft-shaped guide pins 47 formed above and below the respective upper guide pieces 41 are horizontally slidably fitted into the respective second guide grooves 46.

In a plan view, the second guide groove 46 is the first guide groove 39.
The angle intersecting with is set as follows.

That is, the state of FIG. 14A, that is,
When the guide pin 47 is located at one end of the second guide groove 46 at a position radially outward of the first guide groove 39, each guide is started from the rotation center O of the operation block 42 (vertical center axis of the center shaft 43). If the radius R1 to the axial center of the pin 47 is set, when the guide pin 47 is located at one end of the second guide groove 46,
The upper guide piece 41 moves in the radius inward direction of the first guide groove 39 to have a relationship of radius R2 (<R1), the interval between the first gripping bodies 40 facing each other at the lower end is narrowed, and at least the outer circumference of the minitube 6 is at least. The arrangement relationship is set so that the two first grips 40 can be gripped.

The upper end of each first gripping body 40 is embedded and fixed in a mounting body 48, and this mounting body 48 is located at a portion of the lower guide pin 47 which projects downward from the lower operating block 42. It is fixed with screws 57 (Fig. 14).
(See (b)). An elongated hole 70 is formed in one side of the upper operation block 42, and an engaging pin 72 at the tip of a rotary arm 71 provided in the rotary solenoid 36 is fitted into the elongated hole 70. .

As shown in FIGS. 11 to 13, the first gripping body 40 is in the shape of a round bar extending vertically, and the lower end portion 40 is appropriately located above the lower end portion (grasping portion) 40b.
A locking portion 2a having a diameter smaller than that of b is provided.

Then, when the outer peripheral surface of the mini-tube 6 is gripped by the outer peripheral surface of the round bar-shaped large diameter of the four first gripping bodies 40, the protruding collar portion a having a large diameter near the upper end is When the four first grippers 40 are simultaneously raised and the mini-tube 6 is pulled up at the locking portion 2a, the protruding collar portion 1a is locked at the lower end side of the locking portion 2a and the mini-tube is pulled up. 6 is effectively prevented from falling out.

.. Operation of Upper Gripping Mechanism As shown in FIGS. 14A and 15A, each guide pin 47 can be located only at the overlapping portion of the first guide groove 39 and the second guide groove 46 in plan view. From Fig. 14 (a)
The rotation phase position of the operation block 42 shown in FIG.
When the upper guide piece 41 of the grip body 40 is located outside the radius of the first guide groove 39, the operation block 42
And the center of rotation O of the fixed guide block 37 (the central shaft 43
The guide pin 47 is located at one end of the second guide groove 46 such that the radius R1 from the vertical center axis of the guide pin 47 to the axial center of each guide pin 47 is large.

Therefore, in this state, the four lower vertical bar-shaped first grippers 40 are located away from the outer peripheral surface of the minitube 6 (see FIG. 14B).

In the state where the four first gripping bodies 40 are spaced apart from each other in this manner, the lower end portions 40 of the respective first gripping bodies 40 are
b is the upper gripping mechanism 3 so that it is located in the gap between the adjacent mini tubes 6 in the indirect container type containers 1 and 7.
4a can be lowered (see the two-dot chain line state in FIG. 11).

After the lowering of the upper gripping mechanism 34a is stopped, the rotary solenoid 36 is driven to drive the upper and lower operation blocks 42 by a proper angle (clockwise in plan view) up to the phase shown in FIG. 15 (a). When rotated by about 45 degrees in the embodiment, each guide pin 47 moves so as to approach the central axis 43 while being fitted in each second guide groove 46, and each first grip body 40 moves the operation block 42. And a radius R2 (<R1) from the rotation center O of the guide block 37 (vertical central axis of the central shaft 43) to the axial center of each guide pin 47.

In this state, the interval between the four first gripping bodies 40 is narrowed to the position where the outer peripheral surface of the mini tube 6 is gripped by their lower ends 40b (see FIG. 15 (b)).
In this gripping state, the portion parallel to the vertical axis of each first gripping body 40, the vertical axis of the tubular minitube 6 and the vertical axis of each first gripping body 40 are parallel to each other. The outer peripheral surface of the round bar-shaped lower end portion (grip portion) 40b of the grip body 40 and the outer peripheral surface of the mini-tube 6 make line contact.

Then, the upper gripping mechanism 34a is raised to pick up the desired mini-tube 6 from the indirect storage type containers 1 and 7.

The lower end portion (grasping portion) of the first gripping body 40
40b is provided with a non-slip means such as coating with a material having a large friction coefficient, for example, silicone rubber resin, or knurling so as to make it hard to slip when abutting (pressing) on the outer peripheral surface of the mini tube 6. Is preferred.

.. Lower Gripping Mechanism of First Transfer Device Next, the configuration of the lower gripping mechanism 32b will be described with reference to FIGS.
A description will be given with reference to 2, 16 and 17.

The lower gripping mechanism 34b includes upper and lower plates 73a,
A frame 73 composed of 73b is provided, and the third conveyor 24 'is provided between the upper and lower plates 73a and 73b.
A pair of rack rods 74 extending on the left and right sides orthogonal to the longitudinal direction of the upper storage tray 2 and the work tray 5 on the fourth conveyor 23 and a pair of rack gears 75 meshing with these are arranged, and By connecting the rack rod 74 to a rotor 77 fixed to the rotary shaft of a rotary solenoid 76 as an actuator, one rack rod 74 can be moved left and right.

In that case, as shown in FIG. 16, a pair of rack gears 75 are engaged with each other to form a pair of rack rods 7.
4 are configured to approach and separate from each other.

The upper and lower plates 73a and 73b are connected to each other at a plurality of points by connecting pieces (spacers) 78 having a round bar shape, and the connecting pieces 66 make the pair of rack rods 74 linear. Only guided to be movable. Also, although not shown, the upper and lower plates 73a, 73b
The rack rod 74 is guided so as not to fluctuate up and down by a slider piece interposed between the rack rods 74.

A second gripping body 79, which is substantially L-shaped in plan view, is attached to the tips of the pair of rack rods 74,
The tip portions (grip portions) 79a of the pair of second gripping bodies 79 are
It has a substantially L-shaped recess in plan view, and by this recess,
The lower end of the mini-tube 6 can be gripped tightly.

As shown in FIG. 17 (a), in order to prevent the mini-tube 6 in the gripped state from falling off, the stepped portion 8 is formed on the inner surface side of the gripping portion 79a such that the lower space is narrowed.
0 is provided and the bottom portion of the mini tube 6 is received by the both step portions 80, or as shown in FIG. 17 (b),
A receiving piece 81 for receiving the bottom surface of the mini tube 6 may be provided on the lower end side of the one grip portion 79a.

In the above structure, the upper gripping mechanism 3
4a is actuated to grip the upper portion of the mini tube 6 with the first grip body 40, and then the lower end portion of the mini tube 6 is located at the height position of the grip portion 79a of the second grip body 79 in the lower grip mechanism 34b. Pull up until Until then, the lower gripping mechanism 34b is held in a state where the gap between the pair of gripping portions 79a is expanded, and then the rotary solenoid 7 is held.
By driving 6 to operate the rack rod 74, the gap between the pair of grip portions 79a can be narrowed and the lower portion of the mini tube 6 can be clamped.

As described above, the mini-tube 6 is moved up and down and horizontally while the mini-tube 6 is held by the upper gripping mechanism 34a and the lower gripping mechanism 34b so that the mini-tube 6 cannot be removed. It can be reliably transferred to the indirect storage type container 1 '.

When the upper end of the mini-tube 6 is open, a plurality of (2-4) first gripping bodies 40 are inserted into the opening while being narrowed, and then the first gripping body It is also possible to clamp and move the upper end of the mini-tube 6 by expanding the space.

(2). Second Embodiment (FIGS. 18 to 35) FIGS. 18 to 35 show the second embodiment. In this embodiment, in addition to the storage using the mini tube 1, the deep well D, which is an example of a direct storage container, can be handled.

.. Storage tray In FIG. 18, (a) is a partially cutaway plan view of the deep well D, (b) is a sectional view taken along line bb of (a), and (c) is a front view of the minitube 6. Deepwell D has
A large number of test tube-shaped enclosing cylinders D1 that are open upward are aligned vertically and horizontally, and adjacent encapsulating cylinders D1 are connected to each other by ribs. Each enclosure cylinder D1 is closed by one lid D2.

In the present embodiment, the upper surface of the deep well D is covered with one lid D1. However, the individual encapsulation holes D2 are closed with individual lids, or the plurality of encapsulation holes D1 are set as one group. It is also possible to block it individually.

The mini-tube 1 is closed by a cap having an inner plug shape, and the cap is set so as not to protrude from the outer peripheral surface of the mini-tube 1. Further, an identification means 6 ″ such as an ID code is displayed on the bottom surface of the mini tube 1 by means such as sticking a label or printing.

FIG. 19 is a vertical sectional side view of the storage tray 4 on which the deep well D is loaded, FIG. 20 is a plan view of the storage tray 4, and FIG. 21 is a perspective view showing the separation of the deep well D and the storage tray 4. 22 is a partial perspective view in which the storage tray 4 is turned upside down.

As shown in these figures, the storage tray 4
Is basically formed in a shallow tray shape similar to that of the first embodiment, and is provided with a hook-shaped engaging portion 4a.
One of the features of this embodiment is that each recess 4b is formed with a rectangular (or other shape) transparent hole 4c. 1
The two recesses 4b are formed with two transparent holes 4c on both sides of the longitudinal center line, for the purpose of ensuring the strength of the storage tray 4.

Then, the indirect storage type container 3 for storage and the deep well D are made to have the same planar shape and the same size in a plan view so that the indirect storage type container 3 for storage is stored in one type of storage tray 4. Both the Deepwell D and the Deepwell D can be loaded.

Further, similarly to the first embodiment, the indirect storage type storage container 3 is held in the storage tray 4 in a non-separable state by fixing means such as fitting or screwing or engaging means. .

Since the deep well D itself moves to the work area, it is detachably mounted on the storage tray 4. In order to ensure the fitting of the deep well D in this case, an inclined surface inclined upward is formed on the wall portion surrounding the recess 4a of the storage tray 4.

Further, as shown in FIGS. 20 and 21, upward projections 2e are formed at the corners of each recess 4b in the storage tray 4. This is for holding the storage indirect storage type container 3 (or the deep well D) in a predetermined posture when fitting it, and therefore,
A positioning hole (not shown) that fits into the protrusion 2e only when in a predetermined posture is formed on the bottom surface of the indirect storage type storage container 3.

As shown in FIG. 22, bulges 2f are formed on both longitudinal edges of the lower surface of the storage tray 4. In this case, the rib 2f is formed so as to extend intermittently by providing the dividing portion 2g of the rib 2f at a position near the end of the storage tray 4 (the use thereof will be described later).

.. Loading Relationship between Tray and Container In the present embodiment, neither the storage tray 2 nor the working tray 5 can be mixed with the mini tube containers 1 and 1 ′ and the deep well D.

Even if the mini-tube containers 1 and 2'and the deep well D have the same shape and size, for example, when the deep well D is placed on the mini-tube containers 1 and 1 ', the projections interfere. By providing a special fitting means for the trays 2 and 5 such that they are not fitted together, the mini tube containers 1, 1'and the deep well D can be placed on one tray 2, 5. It can be prevented.

In the case of the work tray 5, if the mini-tube container 1'and the deep well D are mixedly mounted on one tray 5, there is a risk that it may interfere with automatic take-out. , 5 are distinguished in advance, there is an advantage that troubles during automatic storage and removal can be prevented.

.. Overview of the structure of automated warehouse equipment (Fig. 23-Fig.
27) Next, an outline of the automatic traveling facility will be described with reference to FIGS. 23 to 26. 23 is a schematic perspective view of cancer, FIG. 24 is a schematic plan view, FIG. 25 is a partial schematic plan view of an essential part, and FIGS. 26 and 27 are schematic perspective views of an essential part.

Like the first embodiment, this embodiment also has two storage units A1 with a pair of shelving units 52 facing each other, and both storage units A1 are of a two-stage type. Further, at the end of each shelf device 52, the shelf device 52
2 stages of the first conveyor C1 corresponding to each stage, a pair of the reservoirs 55, and 2 stages of the second to third conveyors C.
2 and C3 are arranged.

Further, as a feature of this embodiment, one fourth conveyor C4 and one fifth conveyor C4 are provided outside the third conveyor C3.
The conveyor C5 is arranged in parallel. A lifter 83 is disposed as an example of a lifting type transfer means on the outer sides of the fourth conveyor C4 and the fifth conveyor C5 in the longitudinal direction. Needless to say, the lifter 83 is mounted on the column 84 so as to be able to move up and down.

Further, a pair of left and right conveyors 85 for loading and unloading is provided in the vicinity of both lifters 83 and at a middle height position between the ends of the upper and lower fourth and fifth conveyors C4, C5.
Extend in a direction orthogonal to the fourth conveyor C4 and the fifth conveyor C5 in a plan view. At the starting end of the loading / unloading conveyor 85, the gate 21 for setting the work carriage 7 is arranged, as in the first embodiment.

As schematically shown in FIG. 24, a transfer robot 26 for transferring the work tray 6 to the work carriage 7 and the loading / unloading conveyor 85 is disposed at the loading / unloading conveyor 85 and the gate 21. is doing. In FIG. 24, reference numeral 26
Denoted by a is a hand-operated conveyor for interrupt loading (or interrupt exiting).

Further, as shown in FIG. 24, the loading / unloading conveyor 85 is separated into an internal conveyor 85a and an external conveyor 85b, and a shutter 86 having a heat insulating structure such as a lifting type is provided between the two conveyors 85a and 75b. It is arranged. Further, the heat insulating wall 8 is arranged at the position of the shutter 86.

The inner conveyor 85a is the outer conveyor 85b.
It is configured to be movable toward. In this way, the storage / conveyance conveyor 85 is divided, the shutter 86 is provided, and the internal conveyor 85a is configured to be movable. This is because ventilation between the automatic transfer area B and the storage / reception chamber C is possible. This is because the temperature inside the warehouse is kept as constant (low temperature) as possible by shutting off. Although not shown, the loading / unloading chamber C is provided with an air conditioner having a dehumidifying function.

The entire loading / unloading conveyor 85 is arranged inside the shutter 86, and after opening the shutter 86, the work tray 6 is transferred between the loading / unloading conveyor 85 and the work carriage 7. However, if the loading / unloading conveyor 85 is divided as in the embodiment, the opening / closing time of the shutter 86 can be extremely short, which is advantageous in that loss of cold air leakage can be suppressed.

On both lifters 83, a conveyor for moving the work tray 6 in the left-right direction when viewed from the carrying direction of the loading / unloading conveyor 85 is arranged so as to be movable back and forth. Therefore, the work tray 6 can be transferred in the cross direction (the transport direction of the third and fourth conveyors C4 and the transport direction of the loading / unloading conveyor 85) in plan view. Therefore, the fourth conveyor C4
The fifth conveyor C5 and both lifters 83 cooperate to form one closed loop circulation path.

That is, by raising and lowering the lifter 83 to the height positions of the upper and lower third and fifth conveyors C3 and C5, the work tray 6 is moved to the fourth and fifth conveyors C4 and C5 via the lifter 83. Can be transferred to. In this case, the posture of the work tray 6 remains constant.

Also, the lifter 83 is used for loading / unloading the conveyor 8
By setting the height position to 5, the work tray 6 can be transferred to the lifter 83 and the loading / unloading conveyor 85.

.. Aspect of storage and storage In this embodiment, as shown in FIG.
Is a storage area for the mini tube A'in the appropriate area on the front side and a storage area for the deep well A'in the rear area. It is divided into and.

As a method of dividing the storage portion, the pair of storage areas A are divided into a mini tube dedicated and a deep well dedicated, or one of the upper and lower shelving units 52 in each storage area A is used for a mini tube. For example, various methods can be adopted, such as using the other deep well, or using one shelf device 52 facing each other in each storage area A for a mini tube and the other for a deep well.

In this embodiment, one of the gates 21 is used as a loading / unloading gate dedicated to the minitube, and the other gate 21 is used.
Is a gate for loading and unloading exclusively for deep wells, and the upper conveyor group is an automatic transfer section dedicated for mini tubes, and the lower conveyor group is a transfer section dedicated for deep wells (thus , The first transfer device 25 is provided at the location of the lower conveyor group).

More generalized, a pair of gates 21 and a conveyor 85 for loading and unloading, and a group of vertically separated conveyors are used to transfer the mini tube 1 and the deep well D.
It is divided into Further, by making the flow of the work tray 6 one-way, the mini-tube 1 and the deep well D are efficiently loaded and unloaded.

As a specific control mode for loading and unloading, the delivery of the mini tube 1 will be described as an example.

First, as a premise, a group of work trays 6 loaded with empty work indirect storage type containers 7 are set on the work trolley 7, and the work trolley 7 is set on one gate 21. Set it. Then, the work tray 6
Is one conveyor 85 for loading and unloading → one lifter 83
→ The fifth conveyor C5 on the upper stage → the other lifter 83 → the fourth conveyor C4 on the upper stage are conveyed in this order to the location of the first transfer device 25.

Since there are two first transfer devices 25, the mini tubes 1 are stored in the work indirect storage type containers 7 of the work tray 6 at the respective positions. The first transfer device 25 has a structure similar to or similar to that of the first embodiment (of course, another structure such as a vacuum suction type may be used).

A large number of work trays 6 are provided on the fifth conveyor C5.
And the fourth conveyor C4, and the mini tubes 1 are stored in order from the first one. The remaining work tray 6 stands by on the fourth conveyor C4 and the fifth conveyor C5. The solid line arrow in FIG. 26 indicates the transfer route of the empty work tray 6, and the dotted line arrow indicates the transfer route of the stored work tray 6.

The work tray 6 for which the transfer of the mini-tube 1 has been completed is, as shown by a dotted arrow in FIGS. 24 and 26, the upper fourth conveyor C4 → one lifter 83 → one loading / unloading conveyor 85. , And are set in the work carriage 7.

In this way, the mini tubes 1 are sequentially transferred to the indirect storage type containers 7 for work of the work tray 6, and when all the mini tubes 1 are stored,
When the completion of the delivery is displayed and the gate is unlocked, the work carriage 7 can be taken out from the gate 21.

The number of work trays 6 that can stand by on the fourth conveyor C4 and the fifth conveyor C5 depends on the work carts 7.
When the number of loaded trays is less than the number of loaded trays, the working trays 6 loaded with empty working indirect storage type containers 7 are sent to the automatic transfer area B, and the working trays 6 that have finished storing the mini tubes 1 are worked. Returning to the cart 7 may be sequentially performed.

As described above, in this embodiment, each of the shelving devices 52 is divided into the mini tube storage portion A'and the deep well storage portion A ". Therefore, the mini tube 1 is installed in all the shelving devices 52. It is stored.

Therefore, when the desired mini-tube 1 is stored in the upper shelf device 52, the storage tray 4 is stored at the upper stage in the storage location → stacker crane 50 → one of the first conveyors. C1 → one reservoir 55 →
One second conveyor C2 → (transfer) → third conveyor C3
→ The other second conveyor C2 → the other reservoir 55 → the other second conveyor C2 → the other first conveyor C1 → the stacker crane 50 → the original storage location.

On the other hand, when the target mini-tube 1 is stored in the lower shelf device 52, the storage location → the lower stacker crane 50 → the one first conveyor C1 arranged in the lower stage → the one reservoir 55 → (up) → one second conveyor C2 arranged at the upper stage → third conveyor C3 at the upper stage → other second conveyor C2 arranged at the upper stage → other reservoir 55 → (descent) → arranged at the lower stage The first conveyor C1 on the other side → the stacker crane 50 on the lower stage → the storage location is conveyed.

When the mini-tube 1 is stored, the flow of the work tray 6 is the same as that of the storage (the storage tray 4 can be reversed in the storage and the storage). ).

As conceptually shown in FIG. 27, the deep well D itself is transferred to the storage tray 4 and the work tray 6 by the second transfer device 25 '. Second
The transfer device 25 'includes a clamp device that clamps the deep well D, and a moving mechanism that raises and lowers it and horizontally moves it (an outline will be described later).

As described above, the unloading and warehousing of the deep well D is performed using the lower conveyor group,
The transport paths of the storage tray 4 and the work tray 6 are basically the same as those in the case of the mini tube 1, and thus the description thereof will be omitted.

The deep well D may be transferred using the upper conveyor group, and the minitube 1 may be transferred using the lower conveyor group. Also,
The storage and work trays 4 and 6 may be circulated in the opposite direction to the above description. In addition to the lifter 83, the fourth
It is also possible to provide a relay dedicated conveyor connecting the conveyor C4 and the fifth conveyor C5 up and down, or to completely connect the fourth conveyor C4 and the fifth conveyor C5. Further, it is possible to arrange a plurality of standby fifth conveyors C5 in parallel.

In this embodiment, the stacker crane 50,
Conveyor groups C1 to C5, 75, reservoir 55, lifter 72, transfer robot 32, first and second transfer device 2
The automatic storage system comprises 5,25 '.

Next, the structure of some parts of the automatic warehouse equipment will be described with reference to the drawings starting from FIG.

.. Outline of Shelving Device (FIGS. 28 to 30) First, the structure of the shelving device 52 will be described with reference to FIGS. 28 and 29. 28 is a plan view partially showing the stacker crane 50, and FIG. 29 is an exploded perspective view.

The shelf device 52 includes a large number of front columns 88 standing upright on the traveling passage side of the stacker crane 50, a large number of rear columns 89 arranged on the opposite side of the traveling passage, and a pair of adjacent columns. A support rack 90 supported by a front support 88 and a rear support 89, a reinforcing member (not shown) such as a horizontal rail, and the like are provided.

In this embodiment, two storage trays 4 can be placed side by side on one rack 90, and therefore two unit storages can be stored in one area between the adjacent front columns 88. Part has been formed. Therefore, the number of columns 88 and 79 can be reduced to improve the storage efficiency. Only one or three or more storage trays 4 may be mounted on one rack 90.

The rack 90 is made of synthetic resin (may be made of metal), and has a vertically wide side plate 90a, a partition 90b extending along the longitudinal center line, and a stopper 90c for preventing the storage tray 4 from falling backward. I have it. In order to guide the retracting of the storage tray 4, the front end of the partition 90b and the tips of the left and right side plates 90a are inclined in a plan view. Further, the rack 90 includes ribs 2f of the storage tray 4.
Is formed with a groove 90d. For this reason, the storage tray 4 is in a state where the entire bottom surface thereof overlaps the rack 90.

Each of the columns 88 and 89 is formed in a U shape in plan view (a prismatic shape or the like is also possible). And rack 9
The front and rear locking claws 91 and 92 formed on the left and right side surfaces of 0 are fitted into the engagement holes 93 and 94 formed in the columns 88 and 89, thereby holding the rack 90 so that it cannot be displaced.

In this case, the front engaging claw 91 extends in the front-rear direction, and the rear engaging claw 82 extends vertically. The rack 90 can be forcibly attached to the columns 88 and 89 by deforming against its elasticity.

.. Conveyor group and reservoir (Fig. 30-Fig. 3
2) Next, the structure of the conveyor group and the reservoir 55 will be described mainly based on FIGS. 30 to 32. 30, (A) is a partial plan view, (B) is a partial sectional view taken along the line BB of (A), FIG. 31 is a sectional view taken along the line XXXI-XXXI of FIG. 30, and FIG.
2 is a sectional view taken along the line XXXVII-XXXVII in FIG.

As can be generally understood from FIG. 30, the first conveyor C1 is of a parallel belt type composed of two parallel belts B1 and a sprocket group S1. An elevating type chute 93 is arranged so as to be able to move up and down corresponding to the distance between the picking units 63 in the stacker crane 50 between the two belts B1. Also,
An outer frame 95 that also serves as a stopper and a guide for the storage tray 4 is arranged outside the first conveyor C1.

The reservoir 55 is mounted on a pair of columns 55a, and two belts B2 and two sprockets S2 are installed.
There is provided an inner conveyor 96 including a group of the above, and an outer conveyor 97 including a group of two belts B3 and a sprocket S3. The reservoir 55 also includes a guide frame 98 that guides the storage tray 4. The second conveyor C2 is also a parallel belt system having two belts B4.

The end of the second conveyor C2 and the third conveyor C
The third conveyor C3 crosses the end portion of the third conveyor C3, and the third conveyor C3 includes a lifting conveyor C3 ′ arranged between the belts B4 of the second conveyor C2 and a fixed conveyor C3 arranged outside the second conveyor C2. ″, Each of which has two belts. Fixed conveyor C3 ″
Is slightly higher than the second conveyor C2,
By raising the elevating conveyor C3 ', the storage tray 4 can be inherited from the second conveyor C2.

All of the belts constituting the above-mentioned conveyor group are of the timing belt system, and gears of non-slip gears are formed on the surface on which the storage tray 4 is placed. Each conveyor group is not limited to the timing belt system, and various structures such as a flat belt system, a roller conveyor system, or a chain system can be adopted. Moreover, when using a belt having an elongated timing belt shape as in the embodiment, three or more belts may be run in parallel.

As is apparent from FIGS. 30 to 32, the inner conveyor 96 of the reservoir 55 and the first conveyor C1 are partially overlapped by making the intervals between the belts B1 and B2 different from each other, and , Reservoir 55
The outer conveyor 97 and the second conveyor C2 have their ends overlapped with each other by making the intervals between the belts B3 and B4 different from each other. Further, the inner conveyor 97 and the outer conveyor 98 in the reservoir 55 are also partially overlapped by making the intervals between the belts B3 and B4 different from each other.

In this way, by overlapping the adjacent conveyors with each other, even when the storage tray 4 is moved in the width direction, it can be smoothly conveyed between the conveyors without causing rattling or falling. it can.

As is clear from FIG. 32, the belt B1 of the first conveyor C1 is located at the outer end of the dividing portion 2g of the rib 2f in the storage tray 4, and the belt B3 of the inner conveyor 1 in the reservoir 55. However, the belt B1 of the first conveyor C1 is the rib 2f of the storage tray 4.
It is set so as to be located at the inner end of the divided portion 2g.
Belt B of the outer conveyor 98 in the reservoir 55
3 and the belt and storage tray 4 in the second conveyor C2
The relationship with is similar.

As described above, the dividing portion 2g of the rib 2f in the storage tray 4 has a function of positioning the storage tray 4 with respect to each conveyor, and therefore the storage tray 4 is arranged in the longitudinal direction thereof. It is transported in a state in which it maintains the correct posture and position without shifting.

As shown in FIGS. 26 and 31, the fourth conveyor C4 and the fifth conveyor C5 are also of a parallel belt type composed of two belts and a group of sprockets. Of course, other types of conveyors may be used. It should be noted that each conveyor is provided with a large number of idle sprockets and guides for supporting the upper part of the belt so that the trays 4 and 6 can be stably transported.

.. Main Points of Second Transfer Device (FIGS. 38 to 40) Next, the main points of the second transfer device will be described with reference to FIGS. 33 to 35. FIG. 33 is a cross-sectional view showing the lifted state of the deep well, FIG. 34 is a partial plan cross-sectional view of the deep well,
FIG. 35 is a sectional view of the state before lifting.

As described above, the deep well D is lifted while being clamped (sandwiched) by the clamp device. In this case, if the bottom of the deep well D is hit by the clamper, it is possible to ensure that it falls unexpectedly. There is an advantage that can be prevented.

Therefore, as shown in FIG. 33, as a part of the second transfer device 25 ', a push-up member 99 which is moved up and down from the through hole 4c formed in the storage tray 4 is provided, and the push-up member 99 is raised. By doing so, the deep well D is pushed up to a state more than the side edge of the storage tray 4, and in that state, the deep well D is held by the pair of hook-shaped clampers 100 arranged on both sides sandwiching the storage tray 4. I try to grab it.

In this embodiment, four push-up members 12 are used.
7 is set so as to hit the deep-well D near the four corners. In this case, as shown in FIG.
11 is inserted into a space D3 surrounded by four enclosing holes D2 located at four corners of the deep well D. Therefore, the deep well D can be lifted in an accurate position and posture.

When the deep well D is transferred from the storage tray 4 to the work tray 6, the deep well D, which is being lowered toward the work tray 6, is received by the push-up member 99 provided below the deep well D, and then clamped. Will be released and it will be lowered further. For this reason,
As shown in FIG. 7, the work tray 6 also has a lifting member 99.
There is a hole 6c for moving up and down.

The lifting type lifting members 99 may be arranged below the first conveyor C1 and below the fourth conveyor C4, respectively, or one lifting member may be provided as the third conveyor C3.
It may be configured to move laterally below and below the fourth conveyor C4.

(3). Others The present invention can be embodied in various ways other than the above embodiment. For example, the container to be used is not limited to the container for deep well or mini tube, but a test tube or the like can be used.

When a small-diameter container such as a mini tube is used, the container for accommodating the small tube is not limited to having a large number of storage holes as in the embodiment, and a large number of rods can be arranged vertically and horizontally. It is also possible to stand upright and hold a small diameter container between four adjacent rods.

Further, the small container for individually enclosing the sample is not limited to a vial bottle or a mini tube, and a thin container such as a petri dish can be used. In that case, for storage and work. The shape of the indirect storage type container is also in accordance with the shape.

Further, it is not always necessary to use a hand-operated work cart as the loading / unloading means, and for example, a work area such as a laboratory is connected to an automated warehouse facility by a conveyor such as a ceiling traveling type or a wall-embedded type conveyor. By doing so, it is possible to automatically transport the samples from the shelf device to the user (researcher). Of course, it is also possible to directly feed the work tray to the loading / unloading conveyor.

Further, the container does not necessarily have a rectangular shape such as a rectangular parallelepiped shape or a cube shape, and may have another shape such as a cylindrical shape or a hexagonal shape in a plan view. Further, in the present invention, at least the storage tray among the storage tray and the work tray may be formed in a thin and long shape.

[Brief description of drawings]

FIG. 1 is a partially cutaway perspective view showing a usage state of a storage tray according to a first embodiment.

FIG. 2A is a plan view of a storage tray, and FIG. 2B is a side view.

FIG. 3 is a side view showing a stacked state of the work trays according to the first embodiment.

FIG. 4 is a perspective view of a work tray.

FIG. 5 is a plan view of the automatic warehouse facility of the present invention according to the first embodiment.

6 is a side view taken along the line VI-VI of FIG.

FIG. 7 is a front view taken along the line VII-VII of FIG.

FIG. 8 is a plan view of the transfer device.

FIG. 9 is a side view of the transfer device.

FIG. 10 (a) is a plan view showing a luggage transfer section on the transfer line, and FIG. 10 (b) is a side view of the luggage transfer section on the transfer line.

FIG. 11 is a side view of a gripping device (an upper gripping mechanism and a lower gripping mechanism) according to the present invention.

FIG. 12 is a front view of a partial cross section of the gripping device.

FIG. 13 is an exploded perspective view of components of the upper gripping mechanism.

FIG. 14A is a plan view of a guide block portion in which an interval between upper guide pieces is expanded, and FIG. 14B is a plan view in which an interval between first gripping bodies is expanded.

FIG. 15 (a) is a plan view of a guide block portion in a state in which a space between upper guide pieces is narrowed, and FIG. 15 (b) is a plan view in which a space between first gripping bodies is narrowed and a container is gripped.

FIG. 16 is a plan view showing a drive unit of a lower gripping mechanism (second gripping body).

FIG. 17 (a) is a cross-sectional view showing the main part of the second grip body,
(B) is sectional drawing of other embodiment.

FIG. 18 is a perspective view of an individual storage container used in the second embodiment.

FIG. 19 is a partial cross-sectional view of a storage tray according to the second embodiment in which individual storage containers are stacked.

FIG. 20 is a plan view of a storage tray according to the second embodiment.

FIG. 21 is an exploded perspective view of a deep well and a storage tray.

FIG. 22 is a partial perspective view of the storage tray turned upside down.

FIG. 23 is a schematic perspective view of the automatic warehouse facility according to the second embodiment.

FIG. 24 is a schematic oblique plan view of the automatic warehouse facility according to the second embodiment.

FIG. 25 is a partial plan view of the automatic warehouse facility.

FIG. 26 is a schematic perspective view showing a transfer location of the mini tube.

FIG. 27 is a schematic perspective view of a transfer location of a deep well.

FIG. 28 is a plan view partially showing the stacker crane.

FIG. 29 (a) is an exploded perspective view of the rack, and FIG. 29 (b) is a partial sectional view of the all-lock device.

FIG. 30 (a) is a partial plan view of the automatic transfer area,
(B) is a partial cross-sectional view taken along the line bb of (a).

31 is a cross-sectional view taken along the line XXXI-XXXI of FIG. 30.

32 is a sectional view taken along the line XXXII-XXXII of FIG. 30.

FIG. 33 is a cross-sectional view showing a lifted state of a deep well.

FIG. 34 is a partial plan cross-sectional view of a deep well.

FIG. 35 is a cross-sectional view of a state before the deep well is lifted.

[Simple explanation of symbols]

A storage area (zone) B Automatic transfer area (zone) Station for loading and unloading D Deepwell as an example of a direct storage container 1 Indirect storage container for storage of mini tubes Working indirect storage container for 1'mini tubes 2 Storage tray 2a through hole 5 Working tray 6 Mini tube as an example of small container for sample encapsulation 7 Work cart 23, 24, 24 ', C1-C5, 85 conveyor 25 First Transfer Device 25 'Second transfer device 50 stacker crane 52 shelving 55 Reservoir 83 lifters 99 push-up member 100 clamper

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Shunji Kuwahara             Shares 1-6-11 Awaji-cho, Chuo-ku, Osaka-shi             Company Itoki F term (reference) 3F022 BB02 BB04 CC05 DD01 DD02                       DD03 EE01 EE09 FF01 HH04                       JJ09 KK14 KK16 LL32 LL33                       MM03 MM11 MM19 PP04                 3F072 AA07 AA27 GB04 GD03 KD01                       KE05

Claims (4)

[Claims] 1. A large number of containers capable of storing various kinds of samples, a large number of trays capable of loading a plurality of containers, a shelf device capable of storing a large number of trays, and an automatic loading / unloading system. The tray is formed in an elongated shape in plan view so that a plurality of containers can be arranged in a line and stacked. Many are formed,
Automatic warehouse equipment. 2. The container comprises a direct storage container having a large number of direct sealing holes into which samples are directly inserted, and a large number of indirect storage portions capable of storing a small container for storing samples in a removable manner. 2. The container according to claim 1, wherein at least a portion of the tray on which the container is placed is formed into a thin shape such as a plate shape or a shallow container shape with an upward opening. Automatic warehouse equipment. 3. A storage area in which the shelving device is arranged, and a loading / unloading room in which a hand-held cart for collection and delivery can be set, and an automatic transfer area is provided between the storage area and the loading / unloading room. As the indirect storage type container, an indirect storage type container for storage that circulates between the storage area and the automatic transfer area,
While two types are used: an automatic transfer area, a loading / unloading room, and a work indirect storage type container that circulates in the work area, the tray is a storage tray that circulates in the storage area and the automatic transfer area. Two types are used: an automatic transfer area, a loading / unloading room, and a work tray that circulates in the work area. In the automatic transfer area, there are a conveyor group that separately conveys a storage tray and a work tray. , A first transfer device for transferring small containers to a storage indirect storage type container and a work indirect storage type container conveyed via a tray, and directly to a storage tray and a work tray in the middle of transfer A second transfer device with a clamp device for transferring the accommodating container is arranged, and further, the accommodating container is directly attached to the storage tray and the work tray by an elevating member. Toruana for enabling push-up are spaced, automatic warehouse facility according to claim 2. 4. A tray used for storage, work, or both according to any one of claims 1 to 3.