JP2004115241A - Automatic storing/retrieving device of automatic warehouse - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a stacker crane type storing/retrieving device capable of transferring a load between a plurality of shelves by elevating a transferring unit, having a simple structure while allowing a balanced elevation of the transferring unit. <P>SOLUTION: Upper and lower sprockets 56, 57 are built in a pair of hollow columns 23. An elevating chain 49 is applied over the sprockets respectively. The both upper sprockets 50 are mounted on the columns 23, one lower sprocket 51 is fixed to a driving shaft 52, and another lower sprocket 51 is rotatably fitted to the driving shaft 52 and is rotated by three bevel gears 56-58 in a reverse direction of a rotating shaft 52. A transferring unit 24 is suspended by the chain 96 on the opposite side across the center line 53. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
TECHNICAL FIELD The present invention relates to an automatic storage and unloading device for a load provided with a vertically movable transfer unit in an automatic warehouse.
[0002]
[Prior art]
There are many types of automatic warehouses. Generally, a type of warehouse is provided with a hangar in which shelves are arranged in multiple stages, and a type in which a load is automatically taken in and out of an arbitrary shelf in the hangar is generally used.
[0003]
Looking at the automatic storage and unloading of loads on shelves, in general, there is a single stacker system in which a single stacker crane stores and unloads loads on all shelves, It is roughly divided into a truck system with a running truck.
[0004]
As an intermediate form between the two, as described in Patent Document 1, a multi-stage stacker system in which a plurality of stacker cranes are arranged, or as described in Patent Document 2, transferred to a self-propelled vehicle There is also a multi-stage cart system with multiple units.
[0005]
When a transfer unit that can move up and down like a stacker crane is provided, there are cases where the transfer unit is attached to one column and cases where it is attached to two columns. Excellent in stability and load resistance.
[0006]
As a means for moving the transfer unit up and down, it is common to move the transfer unit up and down by a chain. Needless to say, the chain is wound around a pair of sprockets. In the case of a stacker crane having two columns, the sprockets are arranged at the upper end and the lower end of the two columns, and the chain is attached to these. Is wound around.
[0007]
In order to raise and lower the transfer unit with two chains, it is necessary to rotate both chains in synchronization and to raise and lower the transfer unit in a well-balanced manner.
[0008]
As one method that satisfies these two conditions, as shown schematically in the plan view of FIG. 12A, in providing sprockets 61 at both upper and lower ends of a column 60, a rotation axis 62 of each sprocket 61 is connected to a stacker crane. By arranging the two sprockets 61 in a direction perpendicular to the running direction of the transfer unit 63, a line connecting both chains 65 in a plan view passes through a substantially center of gravity of the transfer unit. There is a method of rotating by a power transmission mechanism including a mechanism and a drive shaft. Reference numeral 66 denotes a traveling vehicle body, reference numeral 67 denotes an elevator, and reference numeral 68 denotes a shelf.
[0009]
As another method, as described in Patent Document 3 filed by the present applicant and schematically shown in the plan view of FIG. 12B, the sprocket 61 has its rotating shaft 62 in the running direction of the stacker crane 63. By displacing the sprocket 61 in a direction orthogonal to the traveling direction of the stacker crane 63 in a plan view while disposing it so as to extend, the line connecting the suspension portions of the two chains 65 passes substantially the center of gravity of the elevating table 67 in a plan view. There is a method of setting and further winding both chains 65 around a drive sprocket 70 attached to a drive shaft 69.
[0010]
[Patent Document 1]
JP-A-1-122806 [Patent Document 2]
JP-A-10-120115 [Patent Document 3]
JP 2000-120993 A
[Problems to be solved by the invention]
Since the chain 65 is driven by one motor, the drive shaft 69 is arranged to extend in the traveling direction of the stacker crane 63. Therefore, if the sprocket 61 is arranged in the posture shown in FIG. 12A, the power transmission mechanism of the sprocket 62 may be complicated.
[0012]
On the other hand, the configuration as shown in FIG. 12B has an advantage that the rotation axis 62 of the sprocket 61 and the drive shaft 69 extend in parallel, so that the power transmission mechanism can be prevented from becoming complicated.
[0013]
In the case of FIG. 12A, since the chain 65 spreads in the traveling direction of the stacker crane 63, the chain 65 tends to interfere with other members and the structure tends to be complicated as a whole. In B), since the chain 65 and the sprocket 61 can be housed inside the column 60 or can be arranged so as to be brought close to one side of the column 60, interference with other members can be avoided to complicate the structure. There is an advantage that the conversion can be avoided.
[0014]
An object of the present invention is to further simplify the structure of the transfer unit when the chains are arranged as in the prior application without impairing the balance of the transfer unit.
[0015]
[Means for Solving the Problems]
According to the first aspect of the present invention, a pair of columns are erected on a bogie main body that runs along an opening surface of a hangar in which shelves are arranged in multiple stages, at intervals along the running direction of the bogie main body. In a storage and take-out device provided with a transfer unit for transferring a load to and from a shelf with a cable such as a chain stretched up and down along both columns, the transfer unit by the two cables is used. The suspension position is distributed to both sides of a line extending along the traveling direction of the bogie main body through the substantially center of gravity of the transfer unit.
[0016]
The invention according to claim 2 is a preferred example of the structure according to claim 1, wherein a chain is used as a cable, and the upper end and the lower end of the two columns have the same direction as the traveling direction of the bogie. Sprockets that rotate around axes extending in the direction are arranged, and chains are wound around these upper and lower sprockets.
[0017]
Then, a drive shaft that is driven to rotate by a motor is inserted between the sprockets located at the upper part or between the sprockets located at the lower part, and one of the two sprockets penetrated by the drive shaft is fixed to the drive shaft. The other sprocket is rotatably fitted to the drive shaft, and the third bevel gear is meshed with the first bevel gear fixed to the drive shaft and the second bevel gear fixed to the other sprocket, One sprocket and the other sprocket are rotated in reverse.
[0018]
When the two sprockets penetrating the drive shaft rotate in the opposite direction, the two chains wound around the sprockets rotate in opposite directions, but both chains extend in two lines on both sides of the sprocket. Therefore, both chains have portions that move in the same direction, and the portions that move in the same direction are located on both sides of the drive shaft in plan view.
[0019]
Therefore, when the portions of the two chains that move in the same direction are fixed to the transfer unit, the fixing points (suspension points) of the transfer unit by the chains are located on opposite sides of the drive shaft in plan view. By disposing the drive shaft so as to pass through the center of gravity of the transfer unit in plan view, the transfer unit is suspended and supported by the chain in a well-balanced manner.
[0020]
[Action and Effect of the Invention]
According to the present invention, even if the sprockets around which the rope is wound have a simple structure in which the rotation axis extends concentrically with the center line of the transfer unit in plan view, the transfer by both the ropes is performed. Since the suspension portions of the loading unit are located on both sides of the center line of the loading unit, the loading unit can be suspended and supported in a well-balanced manner.
[0021]
For this reason, the structure of the suspension mechanism of the transfer unit can be simplified and made compact, even though the storage / extraction device can suspend and support the transfer unit in a well-balanced manner. In particular, according to the second aspect, since the first bevel gear and the second bevel gear are fitted on the drive shaft, the reverse rotation mechanism of the sprocket can have a simple and compact structure. There is an advantage that it can be stored in the hollow portion of the column.
[0022]
DETAILED DESCRIPTION OF THE INVENTION
Next, an embodiment of the present invention will be described with reference to the drawings.
[0023]
(1). Outline of Automatic Warehouse First, an outline of the automatic warehouse will be described with reference to FIGS. 1 is a perspective view, FIG. 2 is a front view, FIG. 3 is a plan sectional view taken along line III-III of FIG. 2, and FIG. 4 is a sectional view taken along line IV-IV of FIG.
[0024]
The automatic warehouse includes two hangars 1 arranged opposite to each other, and a transfer passage 2 for taking in and out of a load is formed between the two hangars 1. The hangar 1 is composed of multi-stage shelves 3, and each shelf 3 is of a flat shelf type with a shelf plate 4 (a rack type may be used).
[0025]
The hangar 1 includes a group of front columns 5 located on the side facing the transfer passage, a group of rear columns 6 facing outward, and a group of horizontal rails connecting the columns. Further, both hangars 1 are integrally connected by an upper frame 7 at the upper end.
[0026]
In the transfer passage, an automatic storage and unloading device for loading and unloading the load to and from the shelf 3 is arranged. In the present embodiment, the storage and unloading device is used to load and unload the load to and from the plurality of shelves 3 in a four-wheel traveling system. A trolley-type stacker crane (or a stacker-type self-propelled trolley) 8 and a self-propelled trolley 9 for loading / unloading the load W to / from one shelf 3 are used in combination.
[0027]
Specifically, the load W is put in and taken out of the four lower shelves 3 by the bogie type stacker crane 8, and the load W is put on the upper shelves 3 by the self-propelled bogies 9 arranged for each stage. To put in and out.
[0028]
At one end of both hangars 1, a group of temporary storage shelves (reservoirs) 10 is arranged so as to extend from the shelves 3. In order to transfer the load W between the conveyor 3 and the loading / unloading conveyor 11, a lift device 13 having a platform 12 which can be moved up and down is arranged. The temporary storage shelf 3 and the platform 12 are of a conveyor type such as a roller type.
[0029]
In this case, the temporary shelves 3 are respectively arranged on the fifth and higher shelves 3 for loading and unloading the load W by the self-propelled truck 9, and the load W is loaded and unloaded by the truck type stacker crane 8. In the first to fourth steps, the temporary storage shelves 3 are provided only at the heights corresponding to the shelves 3 of the first and second steps. This is because the temporary storage shelves 3 are of a roller conveyor type and the cost is increased, so that the temporary storage shelves 3 necessary for the entrance / exit capacity are arranged.
[0030]
Of course, the temporary shelves 3 may be arranged corresponding to the respective shelves 3 in the first to fourth tiers. In the case where the temporary shelves 3 having a smaller number of shelves than the shelves 3 to be taken in and out by the cart type stacker crane 8 are arranged, the arrangement height position of the temporary shelves 3 can be set arbitrarily. In FIG. 4, reference numeral 14 denotes a walkway used for maintenance or the like, which is provided at the boundary of the shelf 3 between the fourth step and the fifth section.
[0031]
As shown in FIG. 4, the self-propelled trolley 9 includes a main body 16 having a frame structure having a pair of front and rear wheels 15, and a pair of picking units 17 provided to extend in parallel with the main body 16. , The wheels 15 roll on the rails 18.
[0032]
Although not described in detail, the picking unit 17 includes a movable arm that enters the interior of the shelf 3 deeply, and horizontally pivotable pickers provided at both ends of the movable arm. The load W can be transferred to the shelf 3 and the self-propelled trolley 9 in combination with the horizontal rotation.
[0033]
(2). FIG. 5 is a partial longitudinal front view of the hangar 1. As shown in this figure, in the shelf 3 of 1 to 4 stages in which the load W is loaded and unloaded by the bogie type stacker crane 8, the front of the shelf plate 4 has a front frame 19 fixed to the adjacent front column 5. It is supported by. The front frame 19 does not protrude from the front column 5.
[0034]
A stacker rail 20 for running the bogie type stacker crane 8 is arranged at a height slightly lower than the first shelf 3. The stacker rail 20 is of a double type (for supporting a large load) and is fixed to the front surface of the front support 5.
[0035]
At the location of the shelf 3 at the fifth stage or higher, a bogie rail 18 is fixed to the front surface of the front column 5, and the front column 5 supports the front end of the shelf 4. In the fifth and higher shelves 3, the load W slides between the shelves 3 and the self-propelled trolley 9 via the trolley rails 18.
[0036]
The difference between the area of the trolley type stacker crane 8 and the area of the self-propelled trolley 9 is that the system of the shelf plate 4 and the rails 18 and 20 is different from that of the trolley type stacker crane 8 and the self-propelled trolley 9. This is because the picking unit 17 extending upward is shared. In other words, in the bogie type stacker crane 8, since the same picking unit 17 provided on the self-propelled bogie 9 is allowed to move up and down, the front frame 19 is set so as not to protrude from the front surface of the front support column 5. is there.
[0037]
In each of the shelves 3 in each step, a portion between the adjacent front supports 5 is a unit storage area, and a plurality of loads (for example, cardboard boxes) W can be stored in the unit storage area.
[0038]
(3). Dolly type stacker crane Next, the dolly type stacker crane 8 will be described with reference to FIGS. 6 is a schematic perspective view, FIG. 7 is a plan view, FIG. 8 is a schematic side view, FIG. 9 is a longitudinal side view of a main part, and FIG. 10 is a schematic view of a lifting drive mechanism.
[0039]
The bogie type stacker crane 8 includes a traveling vehicle body 22 having a frame structure, two front and rear columns 23 erected thereon, and a transfer unit 24 arranged between the front and rear columns 23. Both columns 23 are formed in a hollow shape so as to open in opposite directions, and their upper ends are integrally connected by a top frame 25. A group of guide rollers 27 sandwiched between a top rail 26 (see FIG. 2) is attached to the top frame 25 so as to be horizontally rotatable.
[0040]
A pair of front and rear wheels 28 that roll on the upper surface of the stacker rail 20 is disposed in a portion of the traveling vehicle body 22 that is outside the front and rear of the column 23. In the embodiment, as a traveling drive system of the traveling vehicle body 22, in the embodiment, a timing belt 29 is stretched on the stacker rail 20, and both ends thereof are fixed, and the timing belt 29 is engaged with the timing gear 31 driven by the traveling motor 30. A matching mechanism is adopted.
[0041]
The timing gear 31 is fixed to a driving cylinder 33 rotatably fitted to an axle 32 of one wheel 28, and the driving cylinder 33 is driven by a traveling motor 30. That is, the timing gear 31 and one wheel 28 are set coaxially. This is to reduce the length of the traveling body 22 in the front-rear direction. Of course, the wheel 28 and the timing gear 31 may be separated.
[0042]
Reference numeral 34 shown in FIG. 6 is a pressing roller, and reference numeral 35 is a separation prevention roller. As shown in FIG. 5, the bogie rail 20 is stepped, but a timing belt 29 is disposed on the step portion 20a, and wheels are mounted on a high portion.
[0043]
The column 23 is slightly lower than the lower surface of the traveling body 22 and is fixed to a stay 36 extending across the traveling body 22. Although not described in detail, it is also fixed to the traveling vehicle body 22 by a reinforcing member (reinforcing bracket) 37 in order to maintain verticality.
[0044]
The transfer unit 24 has an elevating frame 39 made of a frame material, and a pair of picking units 17 for transferring the load W are arranged on the elevating frame 39 in parallel. The picking unit 17 includes a base frame 40 and first and second movable arms (only the second movable arm 41 is shown in FIG. 8) disposed inside the base frame 40. At both ends, a horizontally rotating picker (claw) 42 is provided.
[0045]
In both picking units 17, the movable arm 41 moves forward and backward in synchronization with the driving of the first motor 43 (see FIG. 7). The load W can be transferred between the shelf 3 and the transfer unit 24 by pushing and pulling the load W by combining the forward / backward movement of the movable arm 41 and the horizontal rotation of the picker 42.
[0046]
A mounting plate 44 on which the load W is placed is fixed to both base frames 40. Further, in the present embodiment, it is possible to cope with the difference in the load width, so that the position of one picking unit 17 is fixed, while the other picking unit 17 can be moved by driving the second motor 45. It has become. In order to allow a change in the interval between the picking units 17, the two mounting plates 44 partially overlap.
[0047]
As described above, the load W is transferred on the self-propelled trolley 9 via the rail 18, and therefore, as shown in FIG. Located inside.
[0048]
The mounting plate 44 of the truck type stacker crane 8 is the same as that of the self-propelled truck 9, so that there is a large space between the mounting plate 44 and the front frame 19. For this reason, as shown in FIGS. 5 and 7, an auxiliary roller 46 for smoothly transferring the load W is mounted between the front ends of the base frames 40 in both the picking units 17. In addition, the auxiliary roller 46 is attached in a state where the movement of the movable picking unit 17 is not impaired.
[0049]
The placement of the members is considered so that the center of gravity of the transfer unit 24 is located substantially at the center in the width direction in plan view, and the columns 23 are also located on both sides of the center of gravity of the transfer unit 24. Are arranged as follows.
[0050]
(4). As shown in FIG. 7, for example, as shown in FIG. 7, a guide body 47 having a shape surrounding the column 23 is fixed to the elevating frame 39 of the transfer unit 24. A group of guide rollers 48 for elevating and lowering is rotatably mounted, a chain 49 for elevating is fixed, and the transfer unit 24 is suspended by the chain 49 for elevating.
[0051]
The elevating chain 49 is wound around an upper sprocket 50 disposed above the hollow portion of the column 23 and a lower sprocket 51 disposed below the hollow portion of the column 23. The upper sprocket 50 is rotatably attached to the column 23. The sprockets 50 and 51 are arranged such that the rotation axis thereof substantially overlaps with a center line 53 passing through the center of gravity of the transfer unit 24 in plan view. The center line of the transfer unit 24 substantially overlaps the center line of the transfer passage 2.
[0052]
On the other hand, both the lower sprockets 51 are fitted on one drive shaft (interlocking shaft) 52, but one lower sprocket 51 is fixed to the drive shaft 52, and the other lower sprocket 51 is rotatable about the drive shaft 52. Is fitted. The drive shaft 52 is rotatably attached to one of the stays 36 and the other column 23, and is driven via a motor 54 with a speed reducer fixed to the one column 23 and a chain 56.
[0053]
A first bevel gear 56 is fixed near an end of the drive shaft 52 that is supported by the other column 23, and a second bevel gear 57 is fixed to the other lower rocket 51. I have. Further, a third bevel gear 58 that meshes with the first and second bevel gears 56 and 57 is attached to the other stay 36 so as to be horizontally rotatable.
[0054]
With the reversing mechanism constituted by the three bevel gears 56 to 58, the two elevating chains 49 rotate around in opposite directions by the rotation of the drive shaft 52. Since there is a rising part and a falling part, as shown in FIG. 10, the part moving in the same direction in both lifting chains 49 is located on the opposite side of the center line 53 of the transfer unit 24. I have.
[0055]
Therefore, one guide body 47 of the transfer unit 24 is fixed to the elevating chain 49 in a state of being divided into one side and the other side of the center line 53 of the transfer unit 24. For this reason, the line 59 connecting the fixed portions of the two chains 49 substantially passes through the center of gravity of the transfer unit 24, and the transfer unit 24 can be suspended and supported in a well-balanced manner.
[0056]
The group of bevel gears 56 to 58 for reversing the two elevating chains 49 can be stored compactly inside the other column 23, so that they do not interfere with other members and the structure is simplified and compact. can do. Note that a plurality of lifting chains may be arranged in each column 23.
[0057]
(5). Other Embodiments In the above embodiment, the column 23 has a column shape (mast shape). However, in a modification shown in FIG. 11, the column 23 is formed in a gate shape. With such a configuration, the vertical movement stability of the transfer unit 24 can be further improved, so that it can be said that the transfer unit 24 is suitable for storing heavy objects.
[0058]
(6). Others The present invention can be embodied in various ways other than the above-described embodiment. For example, the column 23 is not limited to a column shape or a gate shape, and may be any type as long as it can guide the transfer unit up and down.
[0059]
Also, the rope for suspending the transfer unit is not limited to a chain, but various wires such as a wire and a timing belt can be used. Needless to say, sprockets for orbiting the rope have a structure corresponding to the type of the rope, such as a timing gear shape.
[0060]
The reversing mechanism for rotating the pair of elevating chains in opposite directions is not limited to using a bevel gear, but various mechanisms such as using a worm gear or a normal gear group can be adopted. It is also possible to arrange the drive shaft so as to extend between the upper ends of the columns.
[0061]
Needless to say, the specific structure of the transfer unit is not limited to the embodiment. Further, the present invention can be applied not only to a four-wheel truck type stacker crane, but also to a stacker crane traveling on one rail fixed to the floor.
[Brief description of the drawings]
FIG. 1 is a perspective view of an automatic warehouse.
FIG. 2 is a front view of an automatic warehouse.
FIG. 3 is a plan view taken along the line III-III of FIG. 2;
FIG. 4 is a plan view as viewed from IV-IV in FIG. 2;
FIG. 5 is a partial longitudinal front view of the hangar.
FIG. 6 is a schematic perspective view of a bogie type stacker crane.
FIG. 7 is a plan view of a bogie type stacker crane.
FIG. 8 is a schematic side view of a bogie type stacker crane.
FIG. 9 is a vertical sectional side view of a main part.
FIG. 10 is a schematic diagram of an elevating mechanism of the transfer unit.
FIG. 11 is a view showing a modification.
FIG. 12 is a diagram showing a conventional example.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Hangar 2 Transfer passage 3 Shelf 4 Shelf 8 Dolly type stacker crane 9 Self-propelled trolley 22 Running body 17 Picking unit 23 Column 39 Transfer unit lifting frame 50, 51 Sprockets 56-58 Bevel gear

Claims (2)

On a bogie body that runs along the opening surface of the hangar in which shelves are arranged in multiple stages, a pair of columns are erected at intervals along the running direction of the bogie body, and up and down along both columns A storage and unloading device provided with a transfer unit for transferring a load to and from a shelf with a rope such as a stretched chain,
The suspending position of the transfer unit by the two ropes is distributed to both sides of a line extending along the traveling direction of the bogie main body through the center of gravity of the transfer unit,
Automatic storage and retrieval equipment in automatic warehouses. At the upper end and the lower end of the two columns, sprockets rotating around an axis extending in the same direction as the traveling direction of the bogie main body are arranged, and chains are wound around these upper and lower sprockets, respectively.
Further, a drive shaft driven by a motor is passed through between the sprockets located at the upper part or between the sprockets located at the lower part, and one of the two sprockets penetrated by the drive shaft is fixed to the drive shaft. The other sprocket is rotatably fitted to the drive shaft, and the third bevel gear is meshed with the first bevel gear fixed to the drive shaft and the second bevel gear fixed to the other sprocket, One sprocket and the other sprocket are rotating in reverse.
An automatic storage and retrieval device in the automatic warehouse according to claim 1.

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