JP2003246413A - Storage facility - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide storage facility capable of handling a particular article having an uneven clamped surface, and improving a storage efficiency. <P>SOLUTION: The storage facility 1 is composed of a clamping type article taking in/out means 20, and a shelf device 10. The article taking in/out means 20 has a taking in/out device 30 capable of acting on a storage space 17 of the shelf device 10. The taking in/out 30 is composed of a machine stand 31, and a taking in/out element 51 acting from the machine stand 31 over the inside of the storage space 17. The taking in/out element 51 is composed of a pair of moving portions 52 separately arranged in both sides on the machine stand 31 and capable of relatively approaching and separating, and a clamp portion 60 provided so as to move on stage in a taking in/out direction D and clamping an article A. Clamping by the clamp portion is easily and certainly conducted even about a particular-shaped article. The one staged clamp portion has a thin insertion portion to a storage space side, and a clearance between the articles is narrowed to improve the storage efficiency of the shelf device. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a storage facility which is composed of a clamp type article loading / unloading means and a shelf device and is used for storing and storing articles.

[0002]

2. Description of the Related Art Conventionally, as this type of equipment, for example, the structure of Japanese Patent Laid-Open No. 2000-238905 has been provided. That is, this conventional configuration includes a storage shelf that is supported by columns that are laterally adjacent to each other and that stores a plurality of articles arranged side by side on an article placement member located between them, and an article placement member. An article transfer device that transfers an article to and from the top, a transfer device (stacker crane) that laterally moves and drives the article transfer device, and an article transfer device between the storage rack and the article. A transport control unit that controls the operation of the transport device is provided so as to be positioned at the article transfer position for transfer.

The transfer device is composed of a traveling carriage, a pair of masts provided upright on the traveling carriage, and an elevating platform guided up and down by the pair of masts. The article transfer device provided on the lift table is provided with a pair of conveyor belts that are movable in the approaching and separating directions and clamp the side surfaces of the articles.

According to such a conventional configuration, the transfer belt of the article transfer device moves in and out of the storage rack side.
By the combination of the clamping action of the transport belt and the transport drive of the transport belt, a plurality of articles of different dimensions can be arranged side by side on the article mounting member for efficient storage, and the stored articles can be stored. You can take it out. Further, by moving the article transfer device laterally by the transport device, it is possible to transfer the article to and from the load receiving table.

[0005]

However, in the above-mentioned conventional structure, since the transfer is performed by clamping the transfer belt, for example, a bucket with ribs,
In the case where the clamped surface is an uneven article, transfer is impossible or the transfer posture is disturbed. Further, since the article transfer device is usually configured such that the transport belt is arranged on the movable member that moves in and out of the storage shelf side, the insertion portion on the storage shelf side has a thick configuration. Therefore, when storing a plurality of articles arranged side by side on the article mounting member, it is necessary to place a plurality of articles in the lateral direction with a gap corresponding to the thickness, resulting in a decrease in storage efficiency of the storage rack. Will be done.

Therefore, the invention according to claim 1 of the present invention is intended to provide a storage facility which can deal with a special article having a concavo-convex surface to be clamped and which can improve the storage efficiency. is there.

[0007]

In order to achieve the above-mentioned object, the storage facility according to claim 1 of the present invention is a storage facility comprising a clamp type article loading / unloading means and a shelf device, and the article loading / unloading is performed. The means has a loading / unloading device operable in the storage space of the shelf device, and the loading / unloading device includes a machine base,
A pair of movable parts that are configured to be movable from the top of the machine base to the inside of the storage space, and that are arranged on both sides of the machine base so as to be relatively close to and separated from each other. And a clamp part that is movable with respect to these movable parts in a one-step manner in the withdrawal direction and clamps an article.

Therefore, according to the first aspect of the present invention, the combined operation of the approaching / separating movement of the pair of movable parts and the taking-out movement of both the clamp parts is performed in a state where the taking-out device is opposed to the intended storage space. With this, articles can be taken in and out between the top of the machine base and the inside of the storage space. In this way, since both clamp parts are clamped in and out, it is possible to carry out in and out even in the case of a specially shaped article such as a bucket with ribs whose clamped surface is uneven. Moreover, since the protruding movement of the clamp portion is one step, the insertion portion into the storage space side has a thin structure,
Therefore, for example, when a plurality of articles are stored side by side in the storage space, they may be arranged side by side with a gap corresponding to the thin clamp portion.

The storage facility according to claim 2 of the present invention is
A storage facility comprising a clamp type article loading / unloading means and a shelf device, wherein the article loading / unloading means has a loading / unloading device operable in a storage space of the shelf device.
A machine base, a driven conveyor provided on the machine base, and a loading / unloading body operable over the machine base and the storage space. The loading / unloading body is provided on the machine base. It is composed of a pair of movable parts which are distributed to both sides and can be relatively approached and separated from each other, and a clamp part which is movable with respect to these movable parts in the withdrawal direction and clamps an article. It is characterized in that the clamp position of the article is a tip end portion on the article taking-in / out means side with respect to the shelf device.

Therefore, according to the second aspect of the present invention, in a state where the loading / unloading device is opposed to the intended storage space, the pair of movable parts are moved toward and away from each other, the clamps are loaded / unloaded, and the conveyor is moved. By performing the combination operation of, the articles can be taken in and out between the top of the machine base and the inside of the storage space. At that time, by combining the conveying movements of the conveyor, the action of taking in and out the article can be performed by the pushing force and the pulling force of the clamp portion and the takeout and feeding force of the conveyor.

According to a third aspect of the present invention, in the storage facility according to the second aspect, the clamp part is opened so that the clamped article reaches a predetermined position on the conveyor. It is characterized by being configured into.

Therefore, according to the third aspect of the present invention, the operation of taking in and out the article can be performed well in a short time. Further, the storage facility according to claim 4 of the present invention is a storage facility comprising a clamp type article loading / unloading means and a shelf device,
The article loading / unloading means has a loading / unloading device operable in the storage space of the shelf device, and the loading / unloading device includes a machine base and a loading / unloading body operable on the machine base and in the storage space. , The pair of movable parts are arranged on both sides of the machine base so as to be relatively close to and separated from each other, and the movable parts are provided so as to be movable in the withdrawal direction to clamp an article. When the articles are put into the shelving device by the loading / unloading body, the spaced clamps are positioned on the side opposite to the loading direction and then clamped.

Therefore, according to the invention of claim 4, the action of taking in and out the article can be performed by the pushing force or the pulling force through the clamp portion while the tip portion of the article is always clamped.

Further, in the storage equipment according to a fifth aspect of the present invention, in the structure according to the above-mentioned fourth aspect, the clamp position of the article by the clamp portion is a tip end portion on the article loading / unloading means side with respect to the shelf device. It is characterized by.

Therefore, according to the invention of claim 5, the action of taking in and out the article can be performed in a state where the moving stroke of the clamp portion in the taking-out direction is shortened. According to a sixth aspect of the present invention, in the storage facility according to the fourth or fifth aspect of the present invention, the loading / unloading device is provided with a conveyor that is driven on a machine base, and the separated clamp portion is provided in a loading direction. It is characterized in that the feeding operation by the conveyor is performed during the movement to the opposite side.

Therefore, according to the sixth aspect of the invention, the action of taking in and out the article can be more efficiently performed in a shorter time. In the storage facility according to claim 7 of the present invention, in the structure according to claim 4 or 5 described above, the take-out device is provided with a conveyor driven on the machine base, and the feeding operation is performed by the conveyor. It is characterized in that the article in the state is configured so that the approaching movement and the taking-in movement of the loading / unloading body are performed.

Therefore, according to the seventh aspect of the present invention, the articles are taken in and out between the top of the machine base and the inside of the storage space during the feeding operation by the conveyor and the movement of the pair of movable parts toward and away from each other and the insertion and removal of both clamp parts. This can be done by performing a combination operation with movement.

Further, in the storage equipment according to claim 8 of the present invention, in the construction according to claim 4 or 5, the loading / unloading device is provided with a conveyor driven on a machine stand, and a feeding operation by the conveyor is performed. It is characterized in that after being exposed, the approaching movement and the taking-out movement by the take-out body are performed.

Therefore, according to the invention of claim 8, the respective operations can be accurately performed. Moreover, the storage facility according to claim 9 of the present invention is characterized in that, in the configuration according to any one of claims 1 to 8 described above, the clamp portion is configured to act on the lower portion of the article. It is a thing.

Therefore, according to the invention of claim 9, articles can be stably taken in and out between the machine base and the storage space.

[0021]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below.
It will be described with reference to the drawings. As shown in FIGS. 1 to 5, the storage facility 1 is a facility for storing and storing an article A such as a container or a cardboard box, and includes a pair of shelving units 10
And an article loading / unloading means 20 having a space between the shelving devices 10 as a traveling path, and an article A which is placed on one side in the longitudinal direction of the pair of shelving devices 10 and is loaded / unloaded to / from the shelving device 10. It is composed of a pair of loading trays 2 to be placed, a shelf management device 3 for instructing the article loading / unloading means 20 to enter and exit, and managing the articles A stored therein.

The shelving device 10 is provided with a plurality of vertically extending columns 11 standing upright, a cross beam 12 connected and fixed between the columns 11, and optionally provided. The frame is composed of a plurality of braces 13, beams 14, and the like. An article placing plate 15 as an article placing member is fixed on the horizontal beam 12, and leg devices 16 are attached to the lower ends of the columns 11.

Further, the article placing plate 1 between the adjacent columns 11
A plurality of articles A are arranged side by side in the storage space 17 formed on the storage unit 5 in the lateral direction. Specifically, as schematically shown in FIG. 5, 3 to 6 articles A can be stored side by side in one storage space 17, and one storage space 17 is substantially the same in the lateral direction of the shelf device 10. Items A of size are stored side by side.

The article loading / unloading means 20 includes a traveling machine body 22 supported and guided by the floor-side rail 5 via wheels 21,
A pair of posts 23 erected from the front and rear portions of the traveling machine body 22, an upper frame 24 that connects the upper end portions of the posts 23 and is guided by the ceiling side rail 6, and a travel mounted on the traveling machine body 22. It is composed of a driving device 25, a control device 26, and a clamp type loading / unloading device 30 provided between both posts 23. The article loading / unloading means 20 is supported and guided by the floor side rails 5 and is also guided by the ceiling side rails 6, so that the two shelving devices 10 are provided.
It is configured to be able to travel back and forth on a fixed route 8 in a space sandwiched between.

The loading / unloading device 30 of the article loading / unloading means 20 is operable in the storage space 17 of the shelf device 10, and has a machine base 31, a driven conveyor 41 provided on the machine base 31, and From the machine stand 31 to the storage space 1
It is composed of a loading / unloading body 51 and the like that can act over the inside of 7.

That is, the guided members 32 are arranged in series upward from the front and rear ends of the machine base 31.
The machine base 31 is configured to be able to move up and down by guiding 2 to the side of the post 23. And the guided member 32
Is linked to a lifting drive device 33 mounted on the traveling machine body 22 by a chain (not shown) or the like,
The machine base 31 is configured to be lifted and lowered.

The conveyor 41 is of a roller conveyor type, and its conveyor frame 42 is provided on the machine base 31 in a lengthwise direction as a loading / unloading direction D with respect to the storage space 17 and as a pair in the direction of the fixed path 8. Has been. And a large number of rollers 4 are provided between both conveyor frames 42.
3 is rotatably arranged, and a passive tooth ring 44 is integrally provided at one end of each roller 43.

A conveyor drive device 45 including a motor and a speed reducer is provided on the machine base 31 side, and a drive tooth wheel 47 is provided on an output shaft 46 which is driven in the reverse direction. A transmission chain 48 is hung from the drive tooth wheel 47 to the group of the passive tooth wheels 44. A guide tooth ring 49 is provided at an appropriate position on the conveyor frame 42. An example of the conveyor 41 is configured by the above 42 to 49 and the like.

The loading / unloading body 51 is arranged on both sides of the machine base 31 and is provided with a pair of movable portions 52 which can be relatively approached and separated from each other. It is configured to be movably provided and to be configured by a clamp portion 60 that clamps the article A. The term “clamp” means that both clamp parts 60 are moved relatively close to each other, and are brought into contact with the clamped surfaces which are both side surfaces of the article A,
That is, the article A is sandwiched and held from both sides.

That is, guide rails 53 along the fixed path 8 are provided at two locations on the machine base 31 in the central portion in the loading / unloading direction D, and the guide rails 53 are supported and guided by the slide bodies 54. A pair of moving bases 55 are provided. The movable portion 52 is attached to the inner surfaces of the movable bases 55 facing each other. here,
Both of the movable parts 52 are shaped like rails and have the same length as the machine base 31 with the length direction thereof being the withdrawal direction D.

Further, one post 2 on the machine base 31
An approaching / separating motion device 56 including a motor and a speed reducer is provided on the third side, and a drive wheel 57 is provided on a downward output shaft that is driven in the reverse direction. Further, a passive wheel body 58 is rotatably provided on the other post 23 side, and the endless transmission body 5 is extended between the passive wheel body 58 and the drive wheel body 57.
It is multiplied by 9. Then, both path portions of the endless transmission 59 are sorted and connected to the both moving bases 55.

Therefore, the endless transmission 59 is rotated in the forward and reverse directions by the forward and reverse drive of the approaching / separating movement device 56, so that the movable bases 55 are supported and guided by the guide rail 53 to move the moving bases 55 toward and away from each other. The movable part 52 can be moved toward and away from each other.

The clamp portion 60 is plate-shaped, the inner surfaces facing each other are formed on the clamp surface 60a, and the square bar-shaped guided body 61 provided on the outer surface is the movable portion 52.
By being supported and guided by the guide body 62 provided inside,
It is configured to be movable in the withdrawal direction D. On the machine base 31 side, a retractable device 6 including a motor and a speed reducer.
3 is provided, and a sideways output shaft 64 that is driven in the reverse direction is provided.
Are wound around the forward / backward drive shaft 65 and are interlocked and coupled via a interlocking device 66. Here, the forward / backward drive shaft 65 is disposed so as to penetrate both the moving bases 55, and a predetermined portion is a spline shaft portion.

A pair of drive gear wheels 67 are spline-fitted to the forward / backward drive shaft 65, and these drive gear wheels 67 are rotatably supported by the corresponding movable bases 55, so that both movable bases 5 can be moved.
It is configured so as to move integrally with the approaching / separating movement of 5. Passive toothed wheels 68 are respectively rotatably provided inside the movable portion 52 and at both ends in the longitudinal direction, and an endless chain 69 is hung between the passive toothed wheels 68 and the drive toothed wheels 67. ing. A guide tooth ring 70 is provided at an appropriate position of the movable portion 52. A predetermined portion of the endless chain 69 is connected to the corresponding clamp portion 60.

Therefore, the forward / backward drive of the forward / backward movement device 63 causes both endless chains 69 to synchronously rotate forward / reversely via the winding interlocking device 66, the forward / backward drive shaft 65, etc. Can be moved in the withdrawal direction D while being supported and guided by the guide body 62.

The clamp portion 60 has a thin plate shape, and its length in the inserting / removing direction D is the same as that of the movable portion 52 (machine base 3).
It is a little longer than half the length of 1). The lower surface of the clamp portion 60 is the conveyor 4
It is located close to the conveying surface 41a of No. 1 and has a shorter height so that it acts on the lower part of the article A.

In the movable portion 52, first detecting means 71A, 71 for clamp timing are provided at two locations in the central portion.
B is provided, and the second portion for detecting the presence of the tip end is provided at two places in the middle part.
Detection means 72A and 72B are provided, and third detection means 73A and 73B for detecting the protrusion are provided at two locations on both outer ends. These detecting means 71A, 71B, 72A,
As 72B, 73A, 73B, for example, a photoelectric tube type is adopted. An example of the take-in / out body 51 is configured by the above 52 to 73A and 73B.

A device 30 for loading and unloading the article 20
Is an optical strut detection sensor 35 as strut detection means for detecting the presence or absence of the strut 11 constituting the shelf device 10.
It is provided in a pair so as to detect each of the columns 11 of the shelf device 10. As shown in FIG. 6, the detection information of the column detection sensor 35 controls the traveling drive device 25 and the elevating drive device 33 provided in the traveling machine body 22,
Traveling of article loading / unloading means 20 and loading / unloading device 3
It is input to the control device 26 that controls the elevation of 0.

The control device 26 includes a support detecting sensor 3
In addition to the detection information of 5, the detection information of the rotary encoder 36 that detects the traveling amount of the article loading / unloading means 20 is also input. That is, the rotary encoder 36 functions as a movement amount detection unit that detects a movement amount of the article loading / unloading device 30 in the lateral direction due to the movement drive of the article loading / unloading unit 20.

The operation of the above-described embodiment will be described below. First, the storage facility 1 configured as described above
The transport control of the control device 26 in FIG. The control device 26 executes traveling control of the article loading / unloading means 20 and elevating control of the loading / unloading device 30,
The loading / unloading device 30 is located at the article loading / unloading position (article transfer position) with respect to the article loading plate 15.
Prior to the actual control for loading and unloading the article A, learning for setting the article loading / unloading position is performed. As a process executed by the shelf management device 3 for this learning, (a) in FIG.
An entrance / exit position learning mode is set as shown in the flowchart in FIG.

The processing in the access position learning mode is as follows:
When the storage facility 1 is installed, it is executed by a work instruction input to the shelf management device 3 by a worker or the like before the storage facility 1 starts operating or after the storage facility 1 starts operating as necessary. Specifically, first, the article loading / unloading means 20 is moved to the home position, that is, the end on the existing side of the load receiving base 2 (step # 1), and then the detection pulse of the rotary encoder 36 is counted and the home position is set. Start moving towards the opposite end (step #
2).

During the course of this movement, if the strut detection sensor 35 detects the presence of the strut 11 (step # 3),
The count value at the time of detecting both edges of the column 11 is stored (step # 4). When the article loading / unloading means 20 is moved to the end on the side opposite to the home position and the storage of the count values for all the columns 11 of the shelf device 10 is completed (step # 5), the article loading / unloading position is set. Data of the above is registered (step # 6). Specifically, the center position of each pillar 11 and the distance between the centers of the adjacent pillars 11 are obtained and stored in the memory of the control device 26.

In one storage space 17, the distance between the centers of the columns 11 is set to the number of articles A to be placed in one storage space 17,
That is, the product divided by 3 to 6 is set as the arrangement pitch of the articles A in the storage space 17, so that the articles A are evenly arranged in the storage space 17 at that pitch.
By obtaining the distance between the center position of the column and the center of the adjacent column 11, the article loading / unloading position is substantially set.

Next, the traveling control of the article loading / unloading means 20 during the actual operation based on the information obtained in the above-mentioned loading / unloading position learning mode will be schematically described with reference to the flowchart shown in FIG. 7 (b). . FIG. 7B
The flow chart of FIG. 3 shows only the traveling control of the article loading / unloading means 20, and this control is executed in parallel with the elevation control of the loading / unloading device 30 not shown.

Storage / receipt to / from the control device 26 is instructed by the shelf management device 3, and in the case of storage / receipt, the receiving tray 2 is designated as the first target position and a specific position in the rack device 10 as the second target position. Is specified. Further, in the case of unloading, a specific position in the shelf device 10 is designated as the first target position, and the cargo tray 2 is designated as the second target position.

Designation of a specific position in the shelf device 10 relates to the traveling control of the article loading / unloading means 20.
How many storage spaces 17 are from the home position,
In the storage space 17, the position from the end on the home position side and the storage pattern of the article A,
This is performed by instructing which storage pattern to select. This storage pattern has, for example, four patterns shown in FIG. 5 depending on how many articles A are arranged and stored in one storage space 17, and based on the dimensional information of the articles A stored by the shelf management device 3. Select one of the storage patterns. When the movement processing to the first target position and the second target position designated as described above remains unprocessed (step # 12), the control device 26 determines the "purpose" according to the target position. "Count value" is calculated (step # 1
3).

When the "target count value" is set in this way, the traveling of the article loading / unloading means 20 is started (step # 14), and the count value of the output pulse of the rotary encoder 36 is set higher than the "target count value". When the count value reaches the preceding "deceleration count value", deceleration is started (steps # 15, # 16), and when the "target count value" is reached, it stops (steps # 17, # 18).

The running control of the article loading / unloading means 20 and the elevating / lowering control of the loading / unloading apparatus 30 are executed to position the loading / unloading apparatus 30 at the article loading / unloading position with respect to the article mounting plate 15, whereby the shelf device 10 is operated. The loading / unloading work of the article A is performed. At this time, the traveling of the article loading / unloading means 20 is carried on the fixed path 8 by being supported and guided by the floor side rails 5 and guided by the ceiling side rails 6. The lifting stop position of the loading / unloading device 30 is
It is different at the time of entering and leaving the article A,
In the following, a description will be given together with the loading / unloading work.

That is, when the article A is to be unloaded, the loading / unloading device 30 is moved up and down, and as shown by the solid line in FIG. 1, the conveying surface 41a of the conveyor 41 is slightly moved with respect to the loading surface 15a of the article loading plate 15. As the lower part, the lifting / lowering of the loading / unloading device 30 is stopped. At this time, as shown in FIG. 8A, the movable portions 52 are separated from each other, and the clamp portion 60 is provided.
Has moved to the side of the article A that is about to be delivered while being stored in the machine base 31.

In this state, the operation of the retracting / retracting device 63 causes the clamp portion 60 to project and move to the limit. By this projecting movement, as shown in FIG. 1 and FIG. 8B, the clamp portion 60 is positioned above the mounting surface 15a and outside both sides of the article A. At that time, since the protruding movement of the clamp portion 60 is one step, both the clamp portions 60 face the tip end portion of the shelf device 10 on the article loading / unloading means 20 side.

Before and after this, the conveyor drive device 45 drives the conveyor 41 at high speed in the inserting direction. In this state, the movable unit 52 is moved closer to each other by the operation of the approaching / separating device 56, so that the article A is clamped by the clamping surfaces 60a of the clamping units 60 as shown in FIG. 8C. Become. At that time, the clamp position of the article A by the clamp unit 60 is set to the rack device 10 as described above.
On the other hand, it is the tip end portion on the article loading / unloading means 20 side and the lower portion of the article A (see FIG. 1).

Then, the clamp portion 60 is moved in and out by the reverse operation of the retracting / retracting device 63, and the retracting speed is
This is performed in the same manner as the high speed drive of the conveyor 41. As a result, as shown in FIG. 8D, the article A on the placing surface 15a of the article placing plate 15 can be put on the conveying surface 41a of the conveyor 41. The pulling force by the portion 60 and the inserting and conveying force by the conveyor 41 enable smooth and reliable operation.

Then, when the article A is put into a predetermined position, the article A
The tip end of the movable body 52 is detected by the first detection device 71A, and after a set time from this detection, the approaching / separating device 56 is reversely operated to move the movable portions 52 away from each other to the positions away from the center. As shown in (e) of FIG. 8, the clamps by both the clamp portions 60 are released, and the retracting movement of the clamp portion 60 due to the reverse operation of the retracting / retracting device 63 is decelerated.

By releasing the clamps by the two clamp portions 60 in this way, the pulling force by the clamp portions 60 disappears, but at this time, the inserting and conveying force by the conveyor 41 acts on the lower surface of the tip end side of the article A. Then, as shown in FIG. 8E, the article A can be continuously and smoothly inserted. During this period, the retracting movement of the clamp portion 60 due to the reverse operation of the retracting / retracting device 63 is stopped, and the end portion on the inserting direction side is aligned with the end portion of the movable portion 52.

Then, the tip of the article A is set to the second detecting device 72.
By detecting with B, the conveyor 41 is decelerated after a set time from this detection, and then the conveyor 41 is stopped, so that the article A can be positioned on the conveyor 41 as shown in (f) of FIG. When the tip of the article A protrudes from the machine base 31 for some reason, the correction operation (reverse operation) is performed by detecting it by the third detection device 73B.

In order to store the articles A, the loading / unloading device 30 is moved up and down, and as shown by the phantom line A in FIG. 1, the conveyor surface 41a of the conveyor 41 is placed against the mounting surface 15a of the article mounting plate 15. Is slightly raised and the lifting / lowering of the loading / unloading device 30 is stopped. At this time, as shown in FIG. 9A, both movable parts 52 are separated from each other, and the clamp part 60 is
It is in the state of being housed in the machine base 31, and is moved to the side away from the storage space 17 in which it is to be put, and faces the article A.

In this state, the conveyor drive device 45 drives the conveyor 41 at a low speed in the feeding direction. As a result, the delivery / conveying force of the conveyor 41 acts on the lower surface side of the article A, so that the article A can be delivered at a low speed smoothly and reliably. As shown in FIG. 9B, when the article A is brought out to a predetermined position by such delivery and conveyance, the rear end of the article A passes through the portion of the first detection device 71B, and the first
The detection device 71B becomes non-detection.

Then, after a lapse of a set time from the non-detection, the approaching / separating device 56 is operated to move the movable parts 52 closer to each other, and as shown in FIG. 9 (c), the clamps of the clamp parts 60 are clamped. The surface 60a will clamp the article A. At that time, the article A by the clamp part 60
As described above, the clamp position of is the tip portion of the shelf device 10 on the side of the article loading / unloading means 20 and the lower portion of the article A. Before and after this, the conveyor drive device 45 drives the conveyor 41 at high speed in the delivery direction.

As a result, as shown in FIG. 9D, the article A on the conveying surface 41a of the conveyor 41 is placed on the article mounting plate 15
Can be put out on the mounting surface 15a, and at this time, the action of taking out the article A can be smoothly and surely performed by the pushing force of the clamp portion 60 and the feeding force of the conveyor 41.

The rear end of the article A is the third detection device 73.
When the third detecting device 73A becomes non-detectable after passing through the portion A, both movable parts 52 are moved away from each other by the reverse operation of the approaching / separating device 56, and the conveyor 4
Decelerate 1 and then stop. Thereby, as shown in FIG. 9E, the article A can be completely put out on the placement surface 15 a of the article placement plate 15. After that, the clamp portion 60 is moved in and out by the reverse operation of the retractable device 63, and the end portion on the insertion direction side is aligned with the end portion of the movable portion 52, as shown in FIG. Then, the clamp part 60
Stop moving in and out.

Further, when carrying out the storage operation of the article A, FIG.
As shown in (a) of FIG.
Storage space 17 that is intended to be put in while it is stored inside
When moving to the side closer to, and facing the article A,
First, the separated clamp portion 60 is positioned on the side opposite to the inserting direction. That is, the clamp portion 60 is moved in and out by the reverse operation of the retractable device 63, and as a result, as shown in (b) of FIG. It moves to the side away from 17 and faces the article A.

After that, the same operation as in FIG. 9 described above is performed, that is, (b) of FIG. 10 (a) of FIG.
10 (c) ≈FIG. 9 (b), FIG. 10 (d) ≈FIG.
(C) of FIG. 10, (e) of FIG. 10≈ (d) of FIG. 9, and (f) of FIG. 10≈ (e) of FIG. Shelving 10
On the other hand, the article A on the transport surface 41a of the conveyor 41 can be taken out onto the placing surface 15a of the article placing plate 15 as the lower end portion on the article taking-in / out means 20 side and as the lower portion.

As in the above-described embodiment, the article loading / unloading means 20 has the loading / unloading device 30 operable in the storage space 17 of the shelf device 10, and the loading / unloading device 30 is the platform 3.
1 and an insertion / removal body 51 that can act from the top of the machine base 31 into the storage space 17.
Are a pair of movable parts 52 which are arranged on both sides of the machine base 31 and can be relatively approached and separated, and the movable parts 52.
On the other hand, by being configured by the clamp part 60 that is movable in one step in the withdrawal direction D and clamps the article A, the withdrawal device 30 is opposed to the intended storage space 17. By performing the combined operation of the approaching / separating movement of the pair of movable portions 52 and the taking-out movement of both the clamp portions 60, the article A can be taken in and out between the machine base 31 and the storage space 17.

As described above, since the articles are clamped and withdrawn by the both clamp portions 60, even if the article to be clamped has a concave and convex special shape, such as a ribbed bucket, the article can be easily taken in and out. It can be performed reliably and without disturbing the posture. Moreover, since the protruding movement of the clamp part 60 is one step, the storage space 1
The insertion portion to the 7 side has a thin structure. Therefore, for example, when a plurality of articles A are arranged side by side in the storage space 17, they may be arranged side by side with a gap corresponding to the thin clamp portion 60. As a result, the space between the articles A can be narrowed to improve the storage efficiency of the shelf device 10.

As in the above-mentioned embodiment, the article loading / unloading means 20 has the loading / unloading device 30 operable in the storage space 17 of the shelf device 10, and the loading / unloading device 30 is the machine base 3.
1 and a driven conveyor 41 provided on the machine base 31.
And a loading / unloading body 51 that can act across the machine base 31 and the storage space 17, and the loading / unloading body 51 is
With respect to the pair of movable parts 52, which are arranged on both sides of the machine base 31 and can be relatively approached and separated, and the movable part 52,
According to the configuration, a clamp portion 60 is provided which is movable in the loading / unloading direction D and clamps the article A, and the clamp position of the article A by the clamp portion 60 is the tip end portion of the shelf device 10 on the article loading / unloading means 20 side. Performing a combined operation of moving the pair of movable parts 52 toward and away from each other, moving both clamp parts 60 in and out, and conveying motion of the conveyor 41 in a state where the loading / unloading device 30 faces the intended storage space 17. The storage space 1 on the machine base 31
Articles can be taken in and out of the inside of 7.

At this time, by combining the conveying movements of the conveyor 41, the action of taking in and out the article A is performed by the pushing force and the pulling force of the clamp portion 60 and the taking out and putting force of the conveyor 41. The tip portion of A can be smoothly and surely clamped while being clamped, and the positional irregularity in the case of only the conveyor 41 can be corrected by the operation of the clamp portion 60.

As in the above-described embodiment, the clamp portion 60 is configured so as to open after the article A being clamped moves to a predetermined position on the conveyor 41. The operation of taking in and out can be performed efficiently by shortening the time.

As in the above-mentioned embodiment, the article loading / unloading means 20 has the loading / unloading device 30 operable in the storage space 17 of the shelf device 10, and the loading / unloading device 30 is the machine base 3.
1 and a loading / unloading body 51 that can operate over the machine base 31 and the storage space 17.
Are a pair of movable parts 52 which are arranged on both sides of the machine base 31 and can be relatively approached and separated, and the movable parts 52.
The article A is movably provided in the withdrawal direction D with respect to
When the article 51 is inserted into the shelf device 10 by the loading / unloading body 51, the spaced clamp portion 60 is positioned on the side opposite to the loading direction and then clamped. Thus, the action of taking in and out the article A can be performed smoothly and reliably by the pushing force and the pulling force through the clamp portion 60, with the tip portion of the article A always clamped.

As in the above-described embodiment, the clamp position of the article A by the clamp portion 60 is the tip of the shelf device 10 on the side of the article loading / unloading means 20. This can be performed smoothly and reliably with the movement stroke of the portion 60 in the withdrawal direction D being shortened.

As in the above-described embodiment, the loading / unloading device 30 is provided with the conveyor 41 driven on the machine base 31, and the loading / unloading of the article A in the state where the feeding operation by the conveyor 41 is being performed. Since the body 51 is configured to perform the approaching movement and the taking-out movement, the article A can be put in and taken out between the machine base 31 and the storage space 17.
By performing a combined operation of the approaching / separating movement of the pair of movable portions 52 and the moving in / out movement of both the clamp portions 60 during the feeding operation by the conveyor 41, smooth and reliable operation can be performed efficiently.

As in the above-described embodiment, since the clamp portion 60 is configured to act on the lower portion of the article A, the article A is put in and taken out between the machine base 31 and the storage space 17. Can be performed stably, smoothly and reliably.

In the above-described embodiment, the moving-in / out body 51 is moved toward and away from the article A in a state where the conveyor 41 provided on the machine base 31 is performing the feeding operation. However, this is configured so that the feeding operation by the conveyor 41 is performed while the spaced apart clamp portion 60 is moved to the side opposite to the inserting direction. It may be in the form. In this case, the action of taking in and out the article A can be performed more efficiently by shortening the time.

In the above-described embodiment, the moving-in / out body 51 is moved toward and away from the article A in a state where the conveyor 41 provided on the machine base 31 is performing the feeding operation. However, this is not the case even if it is configured such that the approaching movement and the taking-in / taking-out movement by the take-in / out body 51 are performed after the feeding operation by the conveyor 41 is performed. Good.
In this case, each operation can be performed accurately.

In the above-described embodiments, the type in which the conveyor 41 is provided on the machine base 31 is shown, but in the first and the fourth aspects, the type in which the conveyor 41 is omitted is used. Good.

In the above embodiment, the roller conveyor type is shown as the conveyor 41, but in the second aspect, the belt conveyor type may be used. In the above-described embodiment, both movable parts 52 are moved toward and away from each other. However, in claim 1, claim 2 and claim 4, one side is fixed and only the other side is moved toward and away from each other. It may be in a format to be performed.

In the above-described embodiment, the type in which the clamp section 60 movable in one step is provided is shown, but in claims 2 and 4, the clamp section movable in multiple steps is provided. For example, the format provided with 60 may be used.

In the above embodiment, the clamp portion 60 is used.
However, although the type that acts on the lower portion of the article A is shown, this may be the type that the clamp portion 60 acts on the upper portion or the intermediate portion of the article A.

In the above embodiment, the clamp portion 60 is used.
The clamp position of the article A is shown in the form of clamping the tip end portion of the article device 20 on the shelf device 10 side, but this is also the case in which any position of the article A is clamped. Good.

In the embodiment described above, 3 to 6 articles A can be stored side by side in one storage space 17, and one storage space 17 holds articles A of substantially the same size in the lateral direction of the shelving device 10. Although the form in which they are stored side by side is shown, the number of items stored in the storage space 17 (stored state), the shape of the articles A to be handled, and the like are set arbitrarily.

In the above-described embodiment, as the article loading / unloading means 20, there is shown a crane type which is supported and guided by the floor side rails 5 and guided by the ceiling side rails 6 and is capable of reciprocating on the fixed route 8. This may be a type in which the rail body is movable up and down on the front side of the shelf device 10, and the loading / unloading body 51 is provided on a movable base that is movable in the left-right direction with respect to the rail body.

[0081]

According to the above-mentioned claim 1 of the present invention, in a state where the loading / unloading device is opposed to the intended storage space,
By performing a combined operation of the approaching / separating movement of the pair of movable portions and the taking-out movement of both clamp portions, the articles can be taken in and out between the top of the machine base and the storage space. In this way, since both clamps are used for clamping in and out, even in the case of an article having a concave-convex special shape, such as a bucket with ribs, for example, it can be easily and reliably taken in and out. It can be performed without disturbing the posture.

Moreover, since the projecting movement of the clamp portion is one step, the insertion portion into the storage space side has a thin structure. Therefore, for example, when a plurality of articles are stored side by side in the storage space, they are thin. It suffices to arrange them in the lateral direction with a gap corresponding to the clamp portion, and as a result, the gap between the articles can be narrowed and the storage efficiency of the shelf device can be improved.

According to claim 2 of the present invention described above,
With the loading / unloading device facing the intended storage space, by moving the pair of movable parts closer to and away from each other, moving both clamps in and out, and carrying the conveyor, the combined operation of Articles can be taken in and out of the storage space. At that time, the conveying movement of the conveyor is combined, so that the action of taking in and out the article is performed while the tip end portion of the article is clamped by the pushing force and the pulling force of the clamp portion and the take-out and feeding force of the conveyor. Can be performed smoothly and surely, and the disturbance of the position when only the conveyor is used can be corrected by the operation of the clamp portion.

According to the third aspect of the present invention described above, the action of taking in and out the article can be performed efficiently in a short time. Further, according to the above-mentioned claim 4 of the present invention, the taking-in and taking-out action of the article can be smoothly and surely performed by the pushing force and the pulling-in force through the clamp portion in a state where the tip end portion of the article is always clamped. .

Further, according to the fifth aspect of the present invention described above, the action of taking in and out the article can be smoothly and surely performed with the movement stroke of the clamp portion in the taking-out direction being short.

According to claim 6 of the present invention described above,
The action of putting in and taking out articles can be more efficiently performed in a shorter time. Further, according to the above-mentioned claim 7 of the present invention, articles are put in and taken out between the machine base and the storage space.
By performing a combination operation of the approaching / separating movement of the pair of movable portions and the moving in / out movement of both the clamp portions during the feeding operation by the conveyor, it is possible to perform smoothly and reliably and efficiently.

According to the eighth aspect of the present invention described above, each operation can be performed accurately. Moreover, according to the above-mentioned claim 9 of the present invention, articles can be stably taken in and out between the machine base and the storage space, and small articles can be easily dealt with.

[Brief description of drawings]

FIG. 1 shows an embodiment of the present invention, and is a vertical cross-sectional front view of a part of an access device in a storage facility.

FIG. 2 is a partially cutaway perspective view of the storage facility.

FIG. 3 is a side view of a part of the storage device in the storage facility.

FIG. 4 is a plan view of a part of the storage device in the storage facility.

FIG. 5 is a schematic view showing a storage pattern of articles in the storage facility.

FIG. 6 is a block configuration diagram of the storage facility.

FIG. 7 is a flowchart of the storage facility.

FIG. 8 is a schematic plan view illustrating an article picking operation in the storage facility.

FIG. 9 is a schematic plan view illustrating an article putting operation in the storage facility.

FIG. 10 is a schematic plan view explaining another article putting operation in the storage facility.

[Explanation of symbols]

1 Storage facility 8 fixed route 10 shelving equipment 11 props 15 Article mounting plate 15a mounting surface 17 Storage space 20 means for loading and unloading goods 22 traveling aircraft 23 posts 25 Travel drive 26 Control device 30 In / out device 31 machines 33 Lifting drive device 41 conveyor 41a Transport surface 43 Roller 45 Conveyor drive 48 transmission chain 51 Putting in and out 52 Moving part 55 Mobile platform 56 Moving device 59 Endless transmission 60 Clamp part 60a Clamp surface 63 Move-out device 69 endless chain 70 Guide tooth ring 71A First detection means 71B First detection means 72A Second detection means 72B Second detection means 73A Third detection means 73B Third detection means A article D in / out direction

Claims (9)

[Claims] 1. A storage facility comprising a clamp type article loading / unloading means and a shelf device, wherein the article loading / unloading means comprises:
The storage device of the shelving device has a loading / unloading device operable, and the loading / unloading device includes a machine base and a loading / unloading body operable from the top of the machine space into the storage space. A pair of movable parts which are arranged on both sides of the machine base and can be relatively approached and separated from each other, and a clamp part which is provided so as to be movable in one step in the withdrawal direction with respect to these movable parts and clamps an article. A storage facility characterized by being constituted by and. 2. A storage facility comprising a clamp type article loading / unloading means and a shelf device, wherein the article loading / unloading means comprises:
The storage device has a loading / unloading device operable in the storage space of the shelving device, and the loading / unloading device covers a machine base, a driven conveyor provided on the machine base, the machine base, and the storage space. The movable body is composed of a movable body, and the movable body is arranged on both sides of the machine base so as to be relatively close to and away from each other. A storage facility comprising: a movably provided clamp portion for clamping an article, wherein a clamp position of the article by the clamp portion is a tip end portion on an article loading / unloading means side with respect to a shelf device. 3. The storage facility according to claim 2, wherein the clamp portion is configured to open when the article being clamped moves to a predetermined position on the conveyor. 4. A storage facility comprising a clamp type article loading / unloading means and a shelf device, wherein the article loading / unloading means comprises:
The storage device of the shelving device has a loading / unloading device that can act on the storage space, and the loading / unloading device is configured by a machine base and a loading / unloading body that can work on the machine base and in the storage space. A pair of movable parts which are arranged on both sides of the machine base and can be relatively approached and separated from each other, and a clamp part which is movable in the withdrawal direction with respect to these movable parts and clamps an article. In order to put the articles into the shelving device by the loading / unloading body, the separated clamp parts are
A storage facility characterized by being clamped after being positioned on the side opposite to the insertion direction. 5. The storage facility according to claim 4, wherein the clamp position of the article by the clamp portion is a tip end portion on the article taking-in / out means side with respect to the shelf device. 6. The loading / unloading device is provided with a conveyor driven on a machine base so that the feeding operation by the conveyor is performed while the separated clamp part is moved to the side opposite to the loading direction. The storage facility according to claim 4 or 5, wherein the storage facility is configured as follows. 7. The loading / unloading device is provided with a conveyor driven on a machine base, and is configured so that an approaching movement of the loading / unloading body and a loading / unloading movement of the loading / unloading body are performed with respect to an article in a state of being fed by the conveyor. The storage facility according to claim 4 or 5, wherein the storage facility is configured as follows. 8. The loading / unloading device is provided with a conveyor driven on the machine base, and is configured such that after the feeding operation by the conveyor is performed, the approaching movement and the moving in / out movement by the loading / unloading body are performed. The storage facility according to claim 4, wherein the storage facility is a storage facility. 9. The storage facility according to claim 1, wherein the clamp portion is configured to act on a lower portion of the article.