JP2004123277A - Cargo storage and retrieval method for automatic high-rise warehouse - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve the efficiency of storing cargoes and quicken storage and retrieval of the cargoes in a straight fashion. <P>SOLUTION: A carrying conveyor 2 on the carrying face of which the cargoes n to be stored are placed and an auxiliary conveyor 3 are moved at a level higher than the placement face of a shelf plate 6 to the front face of the shelf plate 6, and the carrying conveyor 2 and the auxiliary conveyor 3 are driven to transfer th cargoes n onto the placement face of the shelf plate 6. After transfer from the front end of the shelf plate 6 to a position where part of the bottom faces of the cargoes n are protruded, the cargoes n are placed and stored on the shelf plate 6. When they are taken out, the front end of the auxiliary conveyor 3 is moved up from a level lower than the placement face of the shelf plate 6, the protruded bottom faces of the cargoes n are lifted up at the front end of the auxiliary conveyor 3 to make the cargoes inclined, and the carrying conveyor 2 is driven to take the cargoes n out of the shelf plate 6 to the side of a stacker crane C. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for loading and unloading goods in a three-dimensional automatic warehouse for loading and unloading goods to and from a desired position on a multi-stage multi-row shelf board by a stacker crane. About the means.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, as a method for loading and unloading a cargo in a three-dimensional automatic warehouse, there have been a method of loading and unloading with a fork provided on an elevating platform, and a method of rotating and reversing a side belt provided on a shelf plate or moving an arm forward and backward.
The method of taking in and out with a fork requires a reciprocating movement of the fork, so that there is a limit to speeding in and out. Especially, a load having no rigidity such as a corrugated cardboard is easily damaged and it is difficult to speed up and out. In addition, in the method of loading and unloading with a side belt or an arm, it is necessary to install equipment on both sides of the position where the load on the shelf is stored, so that there is a problem that the gap between the loads becomes large and the storage efficiency deteriorates.
On the other hand, when transferring loads to shelves or other conveyors, especially in the case of corrugated cardboard, the load applied to the mounting surface is not always uniform due to slight deformation of the bottom surface, so that the ground contact is uneven and the weight is not uniform. Disturbance occurs in the transfer direction due to the difference in frictional force due to the balance, and in some cases, it is difficult to carry out the transfer in a straight line depending on the contents of the load.
[0003]
[Problems to be solved by the invention]
The problem to be solved by the present invention is to solve these conventional problems, to improve the storage efficiency of the load and to make it possible to move in and out quickly, and to maintain a load that is not evenly contacted with the ground and imbalanced in weight. It is an object of the present invention to provide a method for loading and unloading goods in a three-dimensional automatic warehouse that enables the user to move in and out straight.
[0004]
[Means for Solving the Problems]
The configuration of the present invention that has solved such a problem includes:
1) A plurality of loads are stored on a multi-stage, multi-row, one-span shelf board of a three-dimensional warehouse, a movable platform that can move back and forth to the left and right is provided on an elevating platform of a stacker crane, and a transport conveyor is provided on the movable platform. Auxiliary conveyors are provided at each of the left and right ends of the conveyor to assist in the transfer of loads.The auxiliary conveyor can be tilted back and forth around the center of the width of the conveyor so that the load on the transfer surface is uneven. Even when a heavy load is applied, the load can be evenly applied to the transfer surface to prevent bending in the transfer direction of the load.The load is transferred to a specified shelf using a stacker crane, stored, and the stored load is stored. A method for loading and unloading cargo in a three-dimensional automatic warehouse that takes in with the stacker crane,
When storing the load, the stacker crane travels and raises and lowers the load so that the transfer surface of the auxiliary conveyor is slightly higher than the mounting surface of the shelf board to be stored, stops the load, and drives the movable platform. The conveyor and auxiliary conveyor are slid in the immediate vicinity of the shelf, and the conveyor and auxiliary conveyor are driven to transfer the load so that a part of its lower surface is exposed from the shelf to the stacker crane side, and the lifting platform is assisted. Driving the movable table while lowering the conveyor surface of the conveyor to a position slightly lower than the mounting surface of the shelf, and returning the conveyor and the auxiliary conveyor to the original position to store the load and take in the load When the stacker crane travels and moves up and down, the elevating platform is moved so that the transport surface of the auxiliary conveyor is slightly lower than the mounting surface of the shelf board to be taken in, and then the movable platform is driven. Then, slide the transport conveyor and the auxiliary conveyor so that the transport surface of the auxiliary conveyor comes to a position below the exposed surface of the load, and move the elevating platform so that the transport surface of the auxiliary conveyor is slightly higher than the mounting surface of the shelf board. The load is transferred to the stacker crane side by driving the transport conveyor and the auxiliary conveyor while raising the transport conveyor, and the movable table is driven to return the transport conveyor and the auxiliary conveyor to the original position, thereby taking in the load. Method of loading / unloading cargo in a 3D automatic warehouse 2) Loads are stored in a shelf so that a part of the lower surface of the load projects from the tip of the shelf to the stacker crane side, and the lower part of the load is moved from the shelf to the stacker crane. 3) A method for loading and unloading cargo in a three-dimensional automatic warehouse as described in 1) above, which is exposed to the side. 3) A notch wider than the auxiliary conveyor at the tip of the shelf board on the stacker crane side. Is provided, and the load is stored in the shelf so that a part of the lower surface of the load is exposed in the cut-out portion. A loading / unloading method in a three-dimensional automatic warehouse according to any one of the above 1) to 3), wherein a locking portion for preventing the load from falling is provided, and the auxiliary conveyor is configured to load and unload the load at a height higher than the locking portion. is there.
[0005]
[Action]
According to the present invention, the load does not require a reciprocating movement amount of a substantially depth dimension like a fork, so that the load is quickly moved in and out, and the position where the load on the shelf is stored like a method of taking in and out with a side belt or an arm. Since there is no need to install equipment on both sides of the device, the gap between loads stored on the shelf can be made as narrow as possible, thereby improving storage efficiency.
In addition, even if load unevenness and load imbalance occur, the transfer surface of the auxiliary conveyor tilts in the width direction of the transfer conveyor so that the large load sinks and the small load floats. The load is held, and the load is transferred straight without significantly changing the transfer direction.
[0006]
BEST MODE FOR CARRYING OUT THE INVENTION
The form of storing the load of the present invention on the shelf board may be a form in which a part of the bottom surface of the load is protruded from the front end (stacker crane side) of the shelf board, or a notch may be provided at the front end of the shelf at the storage position of the load. There is a form in which a part except for the corners of the bottom of the load is exposed in the notch, and the bottom of the load is opened or exposed downward by the auxiliary conveyor when taking in any case. After lifting a part to incline the load, a method is adopted in which the auxiliary conveyor is driven to take in the load.
The transport conveyor and the auxiliary conveyor are provided on a vertically movable platform that moves up and down along a mast of a stacker crane via a movable platform that can move back and forth to the right and left, and a mechanism configured to be able to transport a load to a position near a shelf board is used. Two small auxiliary conveyors are attached to the end of the conveyor so that the conveyor surface can be tilted so that the conveying surface twists in the direction of the end, and the load with uneven grounding and weight imbalance is transferred straight while maintaining the balance. Let it.
In the method of providing a notch at the front end of the shelf, it is preferable that a locking portion is protruded upward at the front end excluding the notch of the shelf to prevent the load from falling. Loads are taken in and out with the transport surface at a height higher than the locking portion.
The present invention can be applied to loads such as containers, pallets, and buckets, but is a method particularly suitable for cardboard loads.
Hereinafter, embodiments of the present invention will be specifically described with reference to the drawings.
[0007]
【Example】
Example 1 (see FIGS. 1 to 7)
The first embodiment shown in FIGS. 1 to 7 is an example of a form in which a part of the bottom of a load is stored so as to protrude from the front end of a shelf.
FIG. 1 is a plan view of a stacker crane and a shelf according to the first embodiment.
FIG. 2 is a perspective view of the lifting pedestal according to the first embodiment.
FIG. 3 is an explanatory diagram of the auxiliary conveyor according to the first embodiment.
FIG. 4 is an explanatory diagram of the transport conveyor and the auxiliary conveyor according to the first embodiment.
FIG. 5 is an explanatory diagram illustrating a process of storing the load on the shelf board according to the first embodiment.
FIG. 6 is an explanatory diagram illustrating a process of taking a load from a shelf board according to the first embodiment.
FIG. 7 is an explanatory diagram illustrating the operation of the auxiliary conveyor according to the first embodiment.
[0008]
In the drawing, reference numeral 1 denotes an elevating frame, 1a denotes a frame constituting the elevating frame, 1b denotes a rail, 1c denotes a motor for driving the movable table in the forward and backward directions, 1d denotes a gear for meshing with a shelf plate of the conveyor, and 2 denotes a conveyor. 2a is a movable base that slides on a rail, 2b is a rack that meshes with a motor gear to transmit driving force, 2c is a motor that drives the conveyor, 2d is a roller, 2e is a conveyor belt, 2f is a chain, 3 is an auxiliary conveyor, 3a is a drive belt pulley, 3b is a belt pulley, 3c is a conveyor belt, 3d is a drive shaft connecting the respective drive belt pulleys and interlocking with the driving of the conveyor, and 3f is a link between the respective belt pulleys. 3g is a holding arm that supports the center of the rotating shaft so that each belt pulley can tilt in the front-rear direction, 4 is a mast, 5 is a stud. Trajectory of cranes, 6 shelves, C is the stacker crane, n represents a load.
[0009]
In the first embodiment, at the time of storage, after the load n carried into the three-dimensional warehouse is placed on the conveyor 2 of the stacker crane C, the stacker crane C is operated by a management computer (not shown) to determine the load n. 5A, the transport conveyor 2 and the auxiliary conveyor 3 are raised to a position H slightly higher than the mounting surface of the shelf 6 as shown in FIG. The conveyor 2 and the auxiliary conveyor 3 are slid close to the shelf 6.
[0010]
Next, as shown in FIG. 5 (b), the transport conveyor 2 and the auxiliary conveyor 3 are respectively driven to transfer the load n to the shelf 6 and the front of the load n lands on the shelf 6 and enters in an inclined state. I do. At this time, since the bottom surface of the load n is separated from the shelf 6, the load acts in a dotted manner, and the frictional force with the surface of the shelf 6 is smoothly transferred without increasing. 7, the bottom surface of the load n pushes down the belt pulley 3b on the large load side, and the other belt pulley 3b on the small load side moves the load n as shown in FIG. The bottom surface is pushed up relatively and the frictional force on the large load side decreases while the frictional force on the small load side increases, so that the load acts evenly, and the balance is maintained at a certain inclination angle and the load is almost It is transferred straight.
[0011]
Then, when a part of the bottom surface of the front end side of the shelf 6 of the load n reaches a position protruding from the shelf 6 as shown in FIGS. 5C and 5D, the drive of the transport conveyor 2 and the auxiliary conveyor 3 is stopped. Then, by lowering the elevating gantry 1 and sliding the movable gantry 2a to the original position, the bottom surface of the load n is placed at the position ΔL protruding from the front end of the shelf 6 and the storage is completed.
[0012]
At the time of taking in, as shown in FIG. 6 (a), the movable table 2a is driven to slide the transport conveyor 2 and the auxiliary conveyor 3 at a position slightly lower than the shelf plate 6 and below the projecting bottom surface of the load n. As shown in (b), the lifting platform 1 is lifted, the projecting bottom surface of the load n is lifted by the auxiliary conveyor 3, and the lift is stopped in an inclined state apart from the shelf 6 except for a part of the bottom surface of the load n. .
[0013]
Next, as shown in FIG. 6C, the transport conveyor 2 and the auxiliary conveyor 3 are respectively driven to transfer the load n to the stacker crane C side, and the load n is transmitted by the frictional force between the load n and the auxiliary conveyor 3. n moves out of the shelf 6 in an inclined state. At this time, when a heavy object is placed in a state in which the load is offset in the load n as in the case of the storage, the bottom surface of the load n pushes down the belt pulley 3b on the large load side and the other belt on the small load side. The pulley 3b relatively pushes up the bottom surface of the load n, and the frictional force on the large load side decreases while the frictional force on the small load side increases, so that the load acts evenly, and the balance is maintained at a certain inclination angle. The load is held and the load is transferred almost straight.
[0014]
Then, as shown in FIG. 6D, the load n is completely separated from the shelf plate 6 and is taken in by being transferred onto the transport conveyor 2 and the auxiliary conveyor 3, and the stacker crane C is operated by a management computer (not shown). Transported to the loading / unloading position and then leaving the three-dimensional warehouse.
[0015]
In the first embodiment, because of such a configuration, it is possible to quickly load and unload a load without requiring a reciprocating motion amount corresponding to a substantially depth dimension of the load like a fork. In addition, there is no need to install equipment on both sides of the position where the load on the shelf is stored, unlike the method of loading and unloading with a side belt or arm, so the gap between the loads stored on the shelf can be made as narrow as possible and stored. Efficiency improved. Furthermore, since the auxiliary conveyor maintains the balance while correcting the load difference between the loads of uneven ground contact and weight imbalance by relative tilting, the transfer can be performed straight and smoothly without bending the transfer direction.
[0016]
Example 2 (see FIGS. 8 to 11)
The second embodiment shown in FIGS. 8 to 11 has a configuration in which a notch is provided at the front end of the load storage position on the shelf board, and the cutout is stored such that a portion excluding the corner of the bottom surface of the load is exposed. It is an example.
FIG. 8 is a plan view of a stacker crane and a shelf according to the second embodiment.
FIG. 9 is an enlarged plan view of the stacker crane and the shelf of the second embodiment.
FIG. 10 is an explanatory diagram illustrating a process of storing a load on a shelf according to the second embodiment.
FIG. 11 is an explanatory diagram illustrating a process of taking a load from a shelf board according to the second embodiment.
In the drawing, reference numeral 6a denotes a notch formed to have a width X larger than the width Y of the auxiliary conveyor as shown in FIG.
[0017]
In the second embodiment, as shown in FIG. 10A, after the transport conveyor 2 and the auxiliary conveyor 3 are raised to a position H slightly higher than the shelf board 6 by the elevating gantry 1, the movable table 2a is driven to drive the transport conveyor 2 And the auxiliary conveyor 3 are slid above the notch 6a of the shelf plate 6, and the transport conveyor 2 and the auxiliary conveyor 3 are driven to transfer the load n to the shelf plate 6 as shown in FIG. The front of n lands on the shelf 6 and enters in an inclined state.
[0018]
Next, as shown in FIGS. 10C and 10D, when the entire bottom surface of the shelf 6 of the load n arrives at the surface of the shelf 6, the drive of the transport conveyor 2 and the auxiliary conveyor 3 is stopped, and the elevating gantry 1 is moved. By returning to the original position while lowering, the load n is placed in a state where a part of the bottom surface excluding the corners is exposed from the notch 6a of the shelf plate 6 and storage is completed.
[0019]
At the time of taking in, as shown in FIG. 11 (a), the movable table 2a is driven to move the conveyor 2 and the auxiliary conveyor 3 into the notch 6a of the shelf 6 at a position slightly lower than the shelf 6. The load n is slid to the lower side of the exposed bottom surface, and as shown in FIG. 11 (b), the lifting gantry 1 is raised, and the exposed bottom surface of the load n is lifted by the auxiliary conveyor 3, and the shelf plate 6 is removed except for a part of the bottom surface of the load n. The ascent is stopped at a distance from the surface.
[0020]
Next, as shown in FIG. 11C, the transport conveyor 2 and the auxiliary conveyor 3 are driven to transfer the load n to the stacker crane C side, and then the load n is transmitted by the frictional force between the load n and the auxiliary conveyor 3. Is moved out of the shelf 6 in an inclined state, and the load n is completely separated from the shelf 6 and transferred onto the transport conveyor 2 and the auxiliary conveyor 3 as shown in FIG.
[0021]
In the second embodiment, since the configuration is made in this manner, all the corners of the load are located on the shelf plate surface to support the load, and the load can be stored and managed more stably as compared with the first embodiment. No burden. In addition, the reference numerals, configurations, and operations are the same as those of the first embodiment.
[0022]
【The invention's effect】
As described above, according to the present invention, the reciprocating movement amount for the depth of the load is not required unlike the conventional fork, so that the ingress and egress can be performed quickly, and the shelf can be moved in and out with the side belt or the arm. Since there is no need to install equipment on both sides of the position where the load on the board is stored, the gap between the loads stored on the shelf is made as narrow as possible to improve the storage efficiency, and for efficient and efficient operation of the automatic warehouse. Can contribute.
In addition, since the auxiliary conveyor holds the balance while correcting the load difference between the loads having uneven ground contact and weight imbalance by tilting, the auxiliary conveyor can smoothly move in and out straight without changing the transfer direction.
[Brief description of the drawings]
FIG. 1 is a plan view of a stacker crane and a shelf according to a first embodiment.
FIG. 2 is a perspective view of a lifting base according to the first embodiment.
FIG. 3 is an explanatory diagram of an auxiliary conveyor according to the first embodiment.
FIG. 4 is an explanatory diagram of a transport conveyor and an auxiliary conveyor according to the first embodiment.
FIG. 5 is an explanatory diagram illustrating a process of storing a load on a shelf according to the first embodiment.
FIG. 6 is an explanatory diagram illustrating a process of taking in a load from a shelf board according to the first embodiment.
FIG. 7 is an explanatory diagram illustrating the operation of the auxiliary conveyor according to the first embodiment.
FIG. 8 is a plan view of a stacker crane and a shelf according to a second embodiment.
FIG. 9 is a partially enlarged plan view of a stacker crane and a shelf board according to a second embodiment.
FIG. 10 is an explanatory diagram illustrating a process of storing a load on a shelf according to the second embodiment.
FIG. 11 is an explanatory diagram illustrating a process of taking in a load from a shelf board according to the second embodiment.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Elevating stand 1a Frame 1b Rail 1c Motor 1d Gear 2 Conveyor 2a Movable stand 2b Rack 2c Motor 3 Auxiliary conveyor 3a Drive belt pulley 3b Belt pulley 3c Conveyor belt 3d Drive shaft 3f Rotating shaft 3g Holding arm 4 Mast 5 Track 6 Shelf plate 6a Notch C Stacker crane n Load

Claims (4)

Multiple loads are stored on a multi-stage, multi-row, one-span shelf board of a three-dimensional warehouse, a movable platform that can move back and forth to the left and right is installed on an elevating platform of a stacker crane, and a transport conveyor is provided on the movable platform, and the same transport is performed. Auxiliary conveyors are provided at each of the left and right ends of the conveyor to assist in the transfer of loads.The auxiliary conveyor can tilt forward and backward around the center of the width of the conveyor, causing uneven load on the transport surface. In this case, the load is evenly applied to the transfer surface and the load can be prevented from bending in the transfer direction.The load is transferred to a predetermined shelf by a stacker crane and stored, and the stored load is stored in the stacker. A method for loading and unloading cargo in a three-dimensional automatic warehouse that takes in with a crane,
When storing the load, the stacker crane travels and raises and lowers the load so that the transfer surface of the auxiliary conveyor is slightly higher than the mounting surface of the shelf board to be stored, stops the load, and drives the movable platform. The conveyor and auxiliary conveyor are slid in the immediate vicinity of the shelf, and the conveyor and auxiliary conveyor are driven to transfer the load so that a part of its lower surface is exposed from the shelf to the stacker crane side, and the lifting platform is assisted. Driving the movable table while lowering the conveyor surface of the conveyor to a position slightly lower than the mounting surface of the shelf, and returning the conveyor and the auxiliary conveyor to the original position to store the load and take in the load When the stacker crane travels and moves up and down, the elevating platform is moved so that the transport surface of the auxiliary conveyor is slightly lower than the mounting surface of the shelf board to be taken in, and then the movable platform is driven. Then, slide the transport conveyor and the auxiliary conveyor so that the transport surface of the auxiliary conveyor comes to a position below the exposed surface of the load, and move the elevating platform so that the transport surface of the auxiliary conveyor is slightly higher than the mounting surface of the shelf board. The load is transferred to the stacker crane side by driving the transport conveyor and the auxiliary conveyor while raising the transport conveyor, and the movable table is driven to return the transport conveyor and the auxiliary conveyor to the original position, thereby taking in the load. A method for loading and unloading cargo in a three-dimensional automated warehouse. The load is stored on the shelf plate such that a part of the lower surface of the load projects from the tip of the shelf plate toward the stacker crane, and the load is partially exposed from the shelf plate to the stacker crane side. 1. A method for loading and unloading cargo in a three-dimensional automatic warehouse according to 1. 2. A three-dimensional automatic warehouse according to claim 1, wherein a notch wider than the auxiliary conveyor is provided at a tip end of the shelf plate on the stacker crane side, and the load is stored on the shelf plate such that a part of the lower surface of the load is exposed in the notch portion. How to get in and out of cargo. 4. The shelf according to claim 1, wherein a locking portion for preventing a load from falling is provided at a front end of the shelf except for a notch, and the auxiliary conveyor is configured to load and unload a load at a height higher than the locking portion. A method for loading and unloading cargo in a three-dimensional automated warehouse.

Images