JP2006137577A - Automatic warehouse and transfer device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an automatic warehouse for storing loads capable of storing/retrieving the loads and a transfer device capable of picking up the loads by simple structures. <P>SOLUTION: This automatic warehouse comprises a rack having a plurality of shelves arranged in the vertical and fore-and-aft directions and capable of loading the loads thereon, a crane movable along the rack in the fore-and-aft direction, a lifting table 300 supported on the crane and movable in the vertical direction, and the transfer device 400 having a pair of tip forks 410 as a long mechanism arranged in parallel with each other in the fore-and-aft direction by facing their longitudinal direction in the lateral direction, a lateral moving mechanism 420 capable of laterally moving the pair of tip forks 410, and a fore-and-aft moving mechanism capable of moving fore-and-aft at least one of the pair of tip forks 410 and supported on the lifting table 300. The pair of tip forks 410 comprise a load support mechanism brought into contact with the side faces of a load 10 to support the load 10. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to an automatic warehouse for storing luggage and a transfer device capable of picking up the luggage. In particular, the present invention relates to a structure for picking up a luggage and an automatic warehouse and a transfer device characterized by the procedure.

Automated warehouses are used to store packages and store or retrieve packages without human power.
A general automatic warehouse is composed of a rack, a crane, a lifting platform, and a transfer device.
The rack is a structure including shelves arranged in a plurality of stages in the vertical direction and in a plurality of rows in the front-rear direction. A plurality of racks are arranged side by side with a gap therebetween.
A crane travels forward and backward through the gap.
The lifting platform is supported by the crane and is movable in the vertical direction.
The transfer device is a device that transfers a load between a shelf and a lifting platform.
In conventional automatic warehouses, one piece of luggage is stored on one shelf.
When handling a small package, for example, a plurality of packages loaded on a pallet are handled as one package. Also, for example, bundles of packages were handled together without using a pallet. For convenience of explanation, this operation is referred to as a bundle loading / unloading operation.
In such an automatic warehouse, in order to individually load and unload a plurality of packages accommodated on a shelf, a dedicated space is provided at the loading / unloading port of the automatic warehouse, and the load on the pallet can be loaded manually or by a dedicated device in the dedicated space. Handled individually. This work is called a picking work, and an apparatus used for this work is called a picking apparatus.
For example, the picking device includes an arm and a vacuum cup. A vacuum cup is provided at the tip of the arm. A single piece of baggage is vacuumed and handled from multiple pieces on the pallet.

In recent years, the number of parts has been diversified, and there has been an increasing demand for picking work in an automated warehouse. In order to respond to this request, a picking device is mounted on a lifting platform and a picking operation is performed at the position of the shelf.
For example, a picking device composed of an arm and a vacuum cup is mounted on the lifting platform. The picking device is moved to the front of the shelf by the crane, and the picking device is automatically operated to transfer a specific baggage from the plurality of loads accommodated on the shelf to the lifting platform.

In an automatic warehouse having such a function, a crane that travels in the front-rear direction and a crane that travels in the front-rear direction with a device that performs bundle loading and unloading operations are arranged with a rack interposed therebetween. For example, when a bundle loading / unloading operation is performed, the luggage stored on the shelf is accessed from the left side of the rack, and when the picking operation is performed, the luggage stored on the shelf is accessed from the right side of the rack.
Alternatively, there are some cranes equipped with both devices.
In these automatic warehouses, the system is complicated and the total weight of the crane is large.

  In addition, when a picking device composed of an arm and a vacuum cup is used, a space is required for the vacuum cup and the tip of the arm to enter on the luggage stored in the shelf. For this reason, inconvenience may arise in increasing the storage efficiency in the vertical direction.

JP-A-8-81011 JP-A-11-208817 JP 2000-118615 A JP 2000-203800 A Japanese Patent Application Laid-Open No. 2002-226011

  The present invention has been devised in view of the above-described problems, and has a simple configuration and an automatic warehouse for storing luggage that can be loaded and unloaded, and a transfer device that can pick up the luggage. And try to provide.

  In order to achieve the above object, an automatic warehouse for storing luggage according to the present invention includes a rack having a plurality of shelves arranged in the vertical direction and the front-rear direction and capable of loading the luggage, and along the rack in the front-rear direction. A movable crane, a lifting platform supported by the crane and movable in the up-down direction, a pair of tip forks and a pair of long mechanisms arranged in parallel in the front-rear direction with the longitudinal direction set to the left-right direction And a front-rear moving mechanism capable of moving at least one of the pair of front-end forks in the front-rear direction and supported by the lifting platform. And a pair of the front end forks abutting against the side surface of the load to support the load.

  According to the configuration of the present invention, the rack has a plurality of shelves arranged in the vertical direction and the front-rear direction, and a load can be loaded thereon, the crane is movable in the front-rear direction along the rack, and the lifting platform is attached to the crane. In the transfer device supported and movable in the vertical direction, the pair of tip forks are long mechanisms arranged in parallel in the front-rear direction with the longitudinal direction in the left-right direction, A left-right movement mechanism can move the pair of tip forks in the left-right direction, a front-rear movement mechanism can move at least one of the pair of tip forks in the front-rear direction, and the pair of tip forks Because the load support mechanism of the bag can support the load by abutting against the side of the load, the lifting platform is moved to the side of an arbitrary shelf by a crane, and a pair of tip forks are moved forward and backward by the forward / backward moving mechanism. When the pair of front forks are moved into the shelf by the left / right movement mechanism and the distance between the pair of front forks is narrowed by the front / rear movement mechanism, the load support mechanism comes into contact with the side of the load. If the pair of forks are moved out of the shelf by the left and right moving mechanism, the package stored in the shelf can be picked.

  In order to achieve the above object, a transfer device capable of picking up a load according to the present invention includes a pair of tip forks, which are long mechanisms arranged in parallel in the front-rear direction with the longitudinal direction set to the left-right direction, and 1 A back-and-forth movement mechanism capable of moving at least one of the pair of front end forks in the front-rear direction, and a load support mechanism capable of supporting the load by contacting the side surfaces of the load with the pair of front end forks. I had it.

  According to the configuration of the present invention, the pair of tip forks is a long mechanism in which the longitudinal direction is in the left-right direction and is arranged in parallel in the front-rear direction, and the front-rear movement mechanism has at least one of the pair of tip forks. It can be moved in the front-rear direction, and the load supporting mechanism of the pair of tip forks can contact the side of the load to support the load. When the transfer device is moved to the position where the load is placed and the distance between the pair of front and rear forks is narrowed by the forward / backward movement mechanism, the load support mechanism comes into contact with the side of the load to support the load. Can be taken up.

As described above, the automatic warehouse for storing luggage according to the present invention has the following effects due to its configuration.
A crane is moved along a rack in which a plurality of shelves are lined up and down, and the transfer device is placed on a lifting platform that moves up and down along the crane. It is assumed that it has a left / right movement mechanism that can move and a front / rear movement mechanism that moves the tip fork in the front-rear direction, and the tip fork abuts the side of the load to support the load. The pair of front and rear forks is wider than the front and rear width of the load by the front and rear movement mechanism, the pair of front and rear forks are moved into the shelf by the left and right movement mechanism, and the pair of front and rear forks is moved by the front and rear movement mechanism. When the distance between the tip forks is reduced, the load support mechanism abuts the side of the load to support the load, and when the pair of tip forks are moved out of the shelf by the left and right moving mechanism, picking of the load stored in the shelf can do.
Moreover, the transfer apparatus which can pick up the load based on this invention has the following effects by the structure.
It is assumed that it is equipped with a pair of front end forks with transfer devices arranged in front and rear and a front and rear movement mechanism that moves the front end forks in the front and rear direction. When the pair of front end forks is expanded beyond the longitudinal width of the load by the back and forth movement mechanism, the transfer device is moved to the position where the load is placed, and the distance between the pair of front end forks is reduced by the back and forth movement mechanism, The support mechanism abuts against the side of the load to support the load and can pick up the load.
Therefore, it is possible to provide an automatic warehouse for storing luggage that can be loaded and unloaded with a simple configuration and a transfer device that can pick up the luggage.

  Several embodiments of the automatic warehouse according to the present invention will be described below. The present invention includes a mode in which any of the embodiments described below or two or more of them are combined.

The automatic warehouse or transfer device according to an embodiment of the present invention has a longitudinal structure in which a pair of tip forks each extend in the left-right direction along the load support mechanism to form a support surface that can support the bottom of the load. Have a member.
With the configuration of the above embodiment, the support surface of the longitudinal structural member extends in the left-right direction along the load support mechanism and can support the bottom of the load, so the left and right moving mechanism moves the tip fork under the load. Then, the load can be supported by the support surface, and the load can be supported and handled from below. For example, a plurality of packages can be handled together as a single package.

In the automatic warehouse or transfer device according to an embodiment of the present invention, the load support mechanism of one of the tip forks includes a rotation roller that can be driven to rotate about a rotation shaft extending in the left-right direction, and the rotation After the outer peripheral surface of the roller abuts on the side of the load and supports the load, the roller rotates to contact the bottom of the load and support the load.
With the configuration of the above-described embodiment, the rotating roller can be driven to rotate about a rotating shaft extending in the left-right direction, and the rotating roller rotates after the outer peripheral surface of the rotating roller abuts against the side surface of the luggage to support the luggage. Since the front fork that sandwiches the load is moved in the front-rear direction and the rotating roller is pressed against the side of the load, the side of the load is placed on the outer surface. It is supported and lifted up, and the bottom surface of the load rides on the outer peripheral surface of the rotating roller, so that the load can be stably supported.

Further, in the automatic warehouse or transfer device according to the embodiment of the present invention, the pair of tip forks each extend in the left-right direction along the load support mechanism and form a support surface that can support the bottom surface of the load. Having a structural member, the uppermost vertical position of the outer peripheral surface of the rotating roller is lower than the vertical position of the support surface,
According to the configuration of the above embodiment, the pair of tip forks can support the bottom surface of the load by extending the left and right directions along the load support mechanism. Since the upper vertical position is lower than the vertical position of the support surface, it is possible to support the load using a rotation roller, and when the tip fork is moved to the lower side of the load by a left-right moving mechanism, the load is supported by the support surface. It is also possible to support the baggage from below and handle it. For example, a plurality of packages can be handled together as a single package.

Further, in the automatic warehouse or transfer device according to the embodiment of the present invention, the load supporting mechanism of one of the tip forks includes a plurality of pressing members arranged in series in the left-right direction and each of the pressing members in the front-rear direction. And a pressing member supporting mechanism that individually supports with a predetermined elastic force, and the side surface of the pressing member can contact the side surface of the load to support the load.
With the configuration of the above embodiment, the plurality of pressing members are arranged in series in the left-right direction, and the pressing member support mechanism individually supports each pressing member in the front-rear direction with a predetermined elastic force. When the sandwiched tip fork is moved in the front-rear direction and the push member elastically supported by the push member support mechanism is pressed against the side surface of the load, the load is supported by the push member, and the load can be stably supported.

Further, in the automatic warehouse or transfer device according to the embodiment of the present invention, the load supporting mechanism of one of the tip forks has a push member extending in the left-right direction and a needle with a sharp tip aligned with the side surface of the push member. The tip portion can bite into the side surface of the load and support the load.
According to the configuration of the above-described embodiment, the push member extends in the left-right direction, the needle-like members with sharp tip portions are arranged on the side surface, and the tip portion can bite into the side surface of the load to support the load. When the tip fork that sandwiches the load is moved in the front-rear direction and the tip is bitten into the side of the load, the load is supported by the pushing member, and the load can be stably supported.

Further, in the automatic warehouse or transfer device according to the embodiment of the present invention, the front / rear drive mechanism moves the at least one of the pair of front end forks in the front / rear direction and the front end fork in the front / rear direction. And an urging mechanism for urging with a predetermined pressing force.
With the configuration of the above embodiment, the front-rear drive mechanism moves at least one of the pair of front-end forks in the front-rear direction, and the biasing mechanism biases the front-end fork in the front-rear direction with a predetermined pressing force. When the front end fork sandwiching the load is moved in the front-rear direction by the front-rear movement mechanism, the load is pressed against the front fork with a predetermined pressing force, and the load can be stably supported.

  The best mode for carrying out the present invention will be described below with reference to the drawings. In each figure, common portions are denoted by the same reference numerals, and redundant description is omitted.

First, an automatic warehouse and a transfer device according to a first embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a side view of the automatic warehouse according to the first embodiment of the present invention. FIG. 2 is a front view of the automatic warehouse according to the first embodiment of the present invention. FIG. 3 is an AA cross-sectional view of the transfer device according to the first embodiment of the present invention. FIG. 4 is a BB cross-sectional view of the transfer device according to the first embodiment of the present invention. FIG. 5 is a C arrow view of the transfer device according to the first embodiment of the present invention.

  The automatic warehouse is for storing luggage, and includes a rack 100, a crane 200, a lifting platform 300, and a transfer device 400.

The rack 100 stores luggage, and includes a plurality of shelves 110, a conveyor 120, and a rack mount 130.
The plurality of shelves 110 are arranged in the up-down direction and the front-rear direction, and can load cargo.
The conveyor 120 is a horizontal transfer device that can store or unload a package. For example, a conveyor 120 for unloading luggage is provided on the rack base 130.
The rack mount 130 is a truss structure that supports the plurality of shelves 110 and the conveyor 120.

The crane 200 is a structure that can move in the front-rear direction along the rack 100, and includes an upper rail 210, a lower rail 220, and a crane mount 230.
The upper rail 210 is a track extending in the front-rear direction along the rack 100. The upper rail 210 is disposed at a position higher than the uppermost part of the rack 100. The track surface of the upper rail 210 faces downward.
The lower rail 220 is a track extending in the front-rear direction along the rack 100. The lower rail 220 is disposed at a position lower than the lowermost portion of the rack 100. The track surface of the lower rail faces upward.
The upper rail 210 and the lower rail 220 are installed in parallel.
The crane mount 230 is a structure that is guided by the upper rail 210 and the lower rail 220 and can be self-propelled in the front-rear direction. For example, the crane mount 230 includes a pair of masts 231, an upper frame 232, and a lower frame 233 that stand up and down.
An upper frame 232 connects the upper parts of the pair of masts 231.
A lower frame 233 connects the lower portions of the pair of masts 231.

The lifting platform 300 is a structure that is supported by a crane and is movable in the vertical direction.
The lifting platform 300 is arranged so as to be sandwiched between a pair of masts 231. The lifting platform 300 is guided by a pair of masts 231 so as to be movable up and down, and is suspended by a cable mechanism installed on the crane 200. As the cable mechanism pulls the cable, the lifting platform 300 moves in the vertical direction.

The transfer device 400 is a mechanism capable of picking up the luggage 10a, and includes a pair of tip forks 410, a left / right moving mechanism 420, and a front / rear moving mechanism 430.
3 and 4 show the detailed structure of the transfer device 400. FIG.

  The tip fork 410 is a long mechanism that is arranged in parallel in the front-rear direction with the longitudinal direction in the left-right direction, and includes a load support mechanism 411 and a longitudinal structural member 412.

The load support mechanism 411 is a mechanism capable of supporting the load by abutting against the side of the load, and includes a leading fork main structure 411a and a rotating roller 411b.
The tip fork main structure 411a is a longitudinal member that is guided by the left-right moving mechanism 420 so as to be movable in the left-right direction and is moved in the left-right direction.
The rotating roller 411b is a cylindrical member that can be driven to rotate about a rotating shaft extending in the left-right direction. The outer peripheral surface S1 of the rotating roller 411b can support the load by contacting the side surface of the load to support the load and then rotating to contact the bottom surface of the load.
For example, the rotation roller 411b is rotatably supported on the side surface of the tip fork main structure 411a. The rotating roller 411b incorporates an electric motor and can rotate by electric drive. The rotating roller 411b can rotate so as to move upward on the side of the outer peripheral surface S1 that contacts the side surface of the load.
The rotating roller 411b may be provided on one tip fork. Further, the rotating roller 411b may be provided on both of the front end forks.

The longitudinal structural member 412 is a member that extends in the left-right direction along the load support mechanism 411 and forms a support surface S2 that can support the bottom of the load.
The uppermost vertical position of the outer peripheral surface S1 of the rotating roller may be lower than the vertical position of the support surface S2.
For example, the longitudinal structural member 412 may be bolted to the top of the tip fork main structure 411a.

The left / right moving mechanism 420 is a mechanism that can move the pair of tip forks 410 in the left / right direction, and includes an intermediate fork 421, a fixed fork 422, and left / right drive mechanisms 423, 424.
The intermediate fork 421 is a long mechanism that extends in the longitudinal direction along the left-right direction and guides the tip fork 410 so as to be movable in the left-right direction, and includes an intermediate fork main structure 421a and an intermediate fork cam floor 421b. .
The intermediate fork main structure 421a is a longitudinal member that extends the longitudinal direction along the left-right direction.
The intermediate fork cam floor 421b is a cam roller that is rotatably fixed to the intermediate fork main structure 421a. The intermediate fork cam floor 421b supports the tip fork main structure 411a with a rolling surface whose rolling direction is left and right.

The fixed fork 422 is a long mechanism that extends in the longitudinal direction along the left-right direction and guides the intermediate fork 421 so as to be movable in the left-right direction, and includes a fixed fork main structure 422a and a fixed fork cam floor 422b. .
The fixed fork main structure 422a is a longitudinal member that extends the longitudinal direction along the left-right direction.
The fixed fork cam floor 422b is a cam roller that is rotatably fixed to the fixed fork main structure 422a. The fixed fork cam roller 422b supports the intermediate fork main structure 421a with a rolling surface whose rolling direction is left and right.

The left and right drive mechanisms 423 and 424 are drive mechanisms that move the intermediate fork 421 and the tip fork 410 in the left-right direction based on the fixed fork 422.
The left-right drive mechanism 423 moves the tip fork main structure 411a in the left-right direction based on the intermediate fork main structure 421a.
The left-right drive mechanism 424 moves the intermediate fork main structure 421a in the left-right direction based on the fixed fork main structure 422a.
When the left and right drive mechanisms 423 and 424 move the tip fork 410, the center position of the tip fork 410 coincides with the center position of the fixed fork 422 and the tip fork 410 is positioned above the shelf 110 arranged on the left and right. The state can be changed between.

The front-rear moving mechanism 430 is a mechanism that can move at least one of the pair of tip forks in the front-rear direction.
Hereinafter, a case where both of the pair of front end forks 410 can be moved in the front-rear direction will be described as an example.

The front-rear moving mechanism 430 includes a front-rear guide mechanism 431, a front-rear drive mechanism 432, and an urging mechanism 433.
The front / rear guide mechanism 431 is a mechanism for guiding the tip fork 410 in the front / rear direction.
For example, the front-rear guide mechanism 431 includes an oilless bearing that guides the fixed fork 422 in the front-rear direction based on the lifting platform 310. A lower member of the front / rear guide mechanism 431 is fixed to the lifting platform 310, and an upper member of the front / rear guide mechanism 431 is fixed to the fixed fork main structure 422a. The upper member of the front / rear guide mechanism 431 slides on the lower member of the front / rear guide mechanism 431.

The front-rear drive mechanism 432 is a drive mechanism that moves the tip fork 410 in the front-rear direction.
For example, the front-rear drive mechanism 432 is a rack and pinion mechanism that moves the fixed fork 422 in the front-rear direction based on the lifting platform 310. The rack 432b is fixed to the lifting platform 310 via the urging mechanism 434 with the longitudinal direction facing forward and backward. A pinion 432a that meshes with the rack 432b is rotatably fixed to the fixed fork main structure 422a. The pinion 432a is rotated by an electric motor controlled by an inverter.
The force generated by the front / rear drive mechanism 432 is transmitted to the fixed fork main structure 422a.

The biasing mechanism 433 is a mechanism that biases the tip fork 410 in the front-rear direction with a predetermined pressing force. For example, the urging mechanism 434 includes a rack guide 434a, a spring 434b, a stopper 434c, a buffer 434d, and a limit switch 434e.
The rack guide 434a supports the rack 432b so as to be movable in the front-rear direction. For example, the rack guide 434a is a roller with a hook. The rack 432b is sandwiched between the hooks of the hooked roller and can move in the front-rear direction.
The spring 434b biases the rack 432b with a predetermined force in the front-rear direction. The predetermined force is a compressive force of a pre-compressed spring, and acts so that one tip fork approaches the other tip fork.
The stopper 434c is a mechanical element that stops the rack 434c at a predetermined position.
The buffer 434d is a mechanical element that attenuates an impact force when the rack 434c hits the stopper 434c.
The limit switch 434e is a switch that detects that the forward / backward movement of the rack 434c is stopped by the stopper 434c.
The fixed fork main structure 422a of one tip fork is pushed by the compression force of the spring in a direction approaching the other tip fork.

Hereinafter, the operation of the transfer device 400 according to the first embodiment of the present invention will be described with reference to the drawings.
FIG. 6 is an operation diagram 1 of the transfer device according to the first embodiment of the present invention. FIG. 7 is a second operation diagram of the transfer device according to the first embodiment of the present invention. FIG. 8 is a third operation diagram of the transfer device according to the first embodiment of the present invention. FIG. 9 is a fourth operation diagram of the transfer device according to the first embodiment of the present invention.

First, the operation of the transfer apparatus 400 when carrying out bundle loading / unloading will be described.
Below, the case where bundled goods are received is demonstrated to an example.
FIG. 6 shows a state in which a load is bundled using a transfer device.
In the case of bundle storage, steps E1 to E1 are performed in order.

(Step A1)
The center of the tip fork 410 coincides with the center of the fixed fork 422.
A bundle of loads is mounted on the support surface S <b> 2 of the tip fork 410.
A transfer device is located beside the shelf 110.
The vertical position of the support surface S2 is above the height position of the upper surface of the shelf.

(Step B1)
The left / right moving mechanism 420 moves the tip fork 410 to the shelf side.
The leading fork main structure 411a is guided in the left-right direction by the intermediate fork cam floor 421b, is driven by the left-right drive mechanism 423, and moves toward the shelf 110.
The intermediate fork main structure 421a is guided in the left-right direction by the fixed fork cam floor 422b, is driven by the left-right drive mechanism 424, and moves toward the shelf 110.

(Step C1)
After the tip fork 410 stops on the upper side of the shelf 110, the lifting platform 300 is lowered.
The vertical position of the support surface S2 of the tip fork 410 is lower than the height direction position of the upper surface of the shelf.
A plurality of packages 10 in a bundle are transferred from the support surface S2 of the front fork 410 to the upper surface of the shelf 110.

(Step D1)
The tip fork 410 moves toward the fixed fork 422.
The leading fork main structure 411a is guided in the left-right direction by the intermediate fork cam floor 421b, is driven by the left-right drive mechanism 423, and moves toward the fixed fork 422.
The intermediate fork main structure 421a is guided by the fixed fork cam floor 422b in the left-right direction, is driven by the left-right drive mechanism 424, and moves toward the fixed fork 422.

(Step E1)
The center of the tip fork 410 coincides with the center of the fixed fork 422.

  In the case of carrying out bundle shipping, the steps from Step E1 described above to Step A1 are performed in order.

Next, the operation of the transfer device 400 when performing a picking operation will be described.
In the following, an example will be described in which a package is picked from a bundle of packages on a shelf.
FIG. 7 shows a state in which a load is picked using the transfer device.
When picking, steps from step A2 to step E2 are performed in order.

(Step A2)
A bundle of luggage 10 is mounted on the shelf 110.
The transfer device 400 is located beside the shelf 110.
The center of the tip fork 410 coincides with the center of the fixed fork 422.
The tip fork 410 is in an empty state.
The width dimension of the space between the pair of tip forks 410 is wider than the front-rear width of the luggage 10a.

(Step B2)
The left / right moving mechanism 420 moves the tip fork 410 to the shelf side.
The leading fork main structure 411a is guided in the left-right direction by the intermediate fork cam floor 421b, is driven by the left-right drive mechanism 423, and moves toward the shelf 110.
The intermediate fork main structure 421a is guided in the left-right direction by the fixed fork cam floor 422b, is driven by the left-right drive mechanism 424, and moves toward the shelf 110.

(Step C2)
A pair of tip forks move back and forth of the luggage 10a.
Hereinafter, the operation of step C2 will be described in detail with reference to the drawings.
8 and 9 are operation diagrams 3 and 4 of the transfer device according to the first embodiment of the present invention.

(Step C2-1)
A pair of front end forks 410 are located at the front and rear positions of the luggage 10a.
A pair of tip forks 410 pinches the load.

(Step C2-2)
The transfer device 4000 is lowered.
The vertical position of the load support mechanism 411 matches the vertical position of the load 10a.

(Step C2-3)
The forward / backward moving mechanism 530 moves the tip fork 410 in a direction in which the pair of tip forks approaches each other.
The outer peripheral surface of the rotation roller 411b of the load support mechanism 411 hits the side surface of the load.
The force of the urging mechanism acts on the side surface of the luggage 10a.

(Step C2-4)
The rotating roller 411b rotates.
The outer peripheral surface S1 of the rotating roller 411b abuts on the side surfaces of some of the plurality of loads and raises the load 10a. The outer peripheral surface of the rotating roller 411b contacts the bottom surface of the raised luggage.

(Step C2-5)
Further, the rotating roller 411b rotates.
The outer peripheral surface S1 of the rotating roller 411b abuts against the side surface of the remaining load among the plurality of loads, and lifts the load 10a upward. The outer peripheral surface of the rotating roller 411b contacts the bottom surface of the raised luggage.
The outer peripheral surface of one tip roller supports the bottom surfaces of a plurality of loads.

(Step C2-6)
Further, the rotating roller 411b rotates.
The rotating rollers 411b of the pair of front end forks 410 hit the side surfaces of both ends of the plurality of loads and lift both ends of the loads. The rotation roller 411b of the pair of tip forks 410 supports the bottom surfaces of the plurality of loads 10a.

(Step D2)
A plurality of loads 10a are placed on the tip fork 410.
The tip fork 410 moves toward the fixed fork 422.
The leading fork main structure 411a is guided in the left-right direction by the intermediate fork cam floor 421b, is driven by the left-right drive mechanism 423, and moves toward the fixed fork 422.
The intermediate fork main structure 421a is guided by the fixed fork cam floor 422b in the left-right direction, is driven by the left-right drive mechanism 424, and moves toward the fixed fork 422.

(Step E2)
The center of the tip fork 410 coincides with the center of the fixed fork 422.
Thereafter, the crane 200 moves the transfer device 400 on the lifting platform 300 to a place where the delivery conveyor is located.

  When transferring a plurality of picked parcels to the conveyor 120, steps E2 to A2 are performed in order.

Next, the operation of the automatic warehouse according to the first embodiment of the present invention will be described with reference to the drawings.
FIG. 10 is an operation procedure diagram 1 of the automatic warehouse according to the first embodiment of the present invention. FIG. 11 is the operation | movement procedure figure 2 of the automatic warehouse which concerns on 1st embodiment of this invention. FIG. 12 is the operation | movement procedure figure 3 of the automatic warehouse which concerns on 1st embodiment of this invention. FIG. 13 is an operation procedure diagram 4 of the automatic warehouse according to the first embodiment of the present invention. FIG. 14 is an operation procedure diagram 5 of the automatic warehouse according to the first embodiment of the present invention. FIG. 15 is an operation procedure diagram 6 of the automatic warehouse according to the first embodiment of the present invention.

(Procedure S100)
Check your work.
If the work content is warehousing work, S200 is performed. A description will be given assuming that the warehousing work is a work of warehousing the bundled luggage 10 on a shelf.
If the work content is a leaving work, S300 is performed. The delivery operation will be described as an operation in which a plurality of packages 10a are picked from a bundle of packages 10 mounted on a shelf and transferred to a delivery conveyor.
When S200 or S300 is completed, the process returns to S100.

Hereinafter, the procedure of S200 will be described in detail.
(Procedure S201)
Load your luggage on the warehousing port.
Place the bundled baggage 10 at the entrance using a forklift or the like.
(Procedure S202)
The transfer device is located next to the warehousing port.
Enter goods receipt data from the management computer.
(Procedure S203)
Receive a warehousing instruction.
(Procedure S204)
The tip fork is moved back and forth, and the tip fork interval is set to the optimum value according to the load width.
(Procedure S205)
The tip fork is extended to the warehousing side by the left / right movement mechanism.
(Procedure S206)
Stop at the position where the tip fork is most extended.
The tip fork is located under the bundled luggage at the warehousing port.

(Procedure S207)
Ascend the platform at low speed.
The support surface S2 of the tip fork comes into contact with the bottom of the bundled luggage at the warehousing port.
(Procedure S208)
After raising about 100 mm, correct the lifting of the lifting platform.
The support surface S2 of the tip fork supports the bundled load.
(Procedure S209)
The tip fork is contracted by the left / right movement mechanism and moved to the fixed fork.
A bundle of luggage on the support surface S2 of the tip fork is positioned on the lifting platform.
(Procedure S210)
The tip fork is stopped on the fixed fork by the left-right movement mechanism.
The center of the tip fork and the center of the fixed fork coincide.
(Procedure S211)
Using the presence detection limit switch, check the presence of a bundle of packages located on the platform.

(Procedure S212)
The crane travels in the front-rear direction, raises or lowers the elevator, and moves the elevator to the side of the commanded shelf 110.
(Procedure S213)
The elevator platform is stopped beside the shelf 110 for which the entry is designated.
(Procedure S214)
Confirm that there is no load on the shelf using a photoelectric switch on the platform.
A light beam is emitted from the photoelectric switch, reflected by a reflecting plate provided beside the shelf 110, and received by the photoelectric switch.
If the photoelectric switch does not receive the light beam, it is determined that the luggage is on the shelf 110.
(Procedure S215)
The front-end fork is extended toward the shelf 110 by the back-and-forth movement mechanism.
A bundle of packages supported by the tip fork moves onto the shelf.
(Procedure S206)
Stop the tip fork at the most extended position.
The bundled luggage 10 is located on the shelf 110.

(Procedure S217)
The crane is lowered at a low speed by a crane.
The bundled luggage 10 moves from the support surface S2 of the tip fork to the upper surface of the shelf 110.
(Procedure S218)
Stop the descent of the lifting platform with the crane.
The tip fork becomes empty, and the bundled luggage 10 gets on the shelf 110.
(Procedure S219)
The left / right moving mechanism 420 contracts the tip fork toward the fixed fork.
(Procedure S220)
The left / right moving mechanism 420 stops the tip fork on the fixed fork.
The center of the tip fork 410 coincides with the center of the fixed fork.
(Procedure S221)
Check if there is a next warehousing operation.
When there is a next warehousing operation, the crane moves the lifting platform to the warehousing port and performs step S201.
If there is no next warehousing operation, a response indicating completion of the warehousing operation is returned to the management computer, and step S100 is performed.

Hereinafter, the procedure of S300 will be described in detail.
(Procedure S301)
Enter the data of goods issued from the management computer.
(Procedure S302)
Receive a shipping order.
(Procedure S303)
Use the presence detection limit switch to check that no luggage is on the platform.
(Procedure S304)
Move the elevator to the side of the desired shelf with a crane.
(Procedure S305)
The front-rear position of the pair of tip forks is adjusted by the front-rear moving mechanism.
The dimension in the front-rear direction of the space sandwiched between the pair of front end forks is made slightly larger than the width dimension in the front-rear direction of the luggage 10a.

(Procedure S306)
The elevator platform stops beside the intended shelf 110.
(Procedure S307)
Use a photoelectric switch to confirm that there is a load on the shelf.
(Procedure S308)
The elevator is moved up and down by a crane, and the vertical position of the tip fork is moved in the direction of the uppermost stage of the load.
(Procedure S309)
The elevator platform is raised and lowered, and the position of the tip fork is made to coincide with the position calculated from the luggage and inventory data.
(Procedure S310)
The front and rear forks are extended to the shelf side by the back and forth movement mechanism.

(Procedure S311)
The tip fork is stopped at the fork extension position calculated from the data.
(Procedure S312)
The presence or absence of a load is confirmed using a load detection sensor provided at the tip of the tip fork.
The light beam is emitted from a light emitter provided at the tip of one tip fork and received by a light receiver provided at the tip of the other tip fork.
When the light receiver receives the light beam, it is determined that there is a load.
(Procedure S313)
The rotating roller is rotated, and the pair of front end forks are moved back and forth by the back and forth moving mechanism.
The rotating roller comes into contact with the side surface of the load, and a pair of tip forks sandwich the load.
By the operation of the transfer device described above, the rotating roller supports the bottom surface of the load.
(Procedure S314)
When the tip fork moves to a predetermined position, the forward / backward moving mechanism stops the tip fork and stops the rotation of the rotating roller.
(Procedure S315)
The front and rear fork is moved to the fixed fork by the back and forth movement mechanism.
The luggage is located in the center of the platform.

(Procedure S316)
The crane self-propels in the front-rear direction, raises and lowers the elevator, and moves the elevator to the side of the conveyor 120.
(Procedure S317)
A lifting platform is located next to the delivery conveyor.
(Procedure S318)
A back-and-forth movement mechanism moves the tip fork to the exit conveyor side.
(Procedure S319)
The tip fork stops at the fully extended position.

(Procedure S320)
The crane is lowered at a low speed by a crane.
The bundled luggage 10 moves from the support surface S2 of the tip fork to the upper surface of the delivery conveyor.
(Procedure S321)
Stop the descent of the lifting platform with the crane.
The tip fork becomes empty, and the bundle is loaded onto the delivery conveyor.
(Procedure S322)
The left / right moving mechanism 420 contracts the tip fork toward the fixed fork.
(Procedure S323)
The left / right moving mechanism 420 stops the tip fork on the fixed fork.
The center of the tip fork 410 coincides with the center of the fixed fork.
The package is left behind on the exit conveyor.
(Procedure S324)
Check if there is a next shipping operation.
If there is a next entry / exit operation, the crane moves the platform to the shelf and performs step S303.
If there is no next shipping operation, a response indicating completion of the shipping operation is returned to the management computer, and step S100 is performed.

Next, the configuration of the transfer device according to the second embodiment of the present invention will be described with reference to the drawings.
FIG. 16 is a cross-sectional view taken along line AA of the transfer device according to the second embodiment of the present invention.
The transfer device is a mechanism capable of picking up the luggage 10a, and includes a pair of tip forks 410, a left / right moving mechanism 420, and a front / rear moving mechanism 430.
Since the configuration of the left / right moving mechanism 420 and the front / rear moving mechanism 430 is the same as that of the transfer device according to the first embodiment, the description thereof is omitted.

The tip fork 410 is a long mechanism that is arranged in parallel in the front-rear direction with the longitudinal direction in the left-right direction, and includes a load support mechanism 411 and a longitudinal structural member 412.
Since the structure of the longitudinal structural member 412 is the same as that of the transfer apparatus according to the first embodiment, description thereof is omitted.
The load support mechanism 411 is a mechanism capable of supporting the load by contacting the side of the load, and includes a plurality of push members 411c and a push member support mechanism 411d.
The push member 411c is a member arranged in series in the left-right direction. The side surface S3 of the push member can contact the side surface of the load to support the load.
For example, the plurality of pushing members 411c are cubic members arranged along the tip fork main structure 411a. The side surface S3 of the cube comes into contact with the side surface of the load.
The push member support mechanism 411d is a mechanism that individually supports each push member 411c in the front-rear direction with a predetermined elastic force.
For example, the push member support mechanism 411d is an elastic body provided between the tip fork main structure 411a and the plurality of push members 411c. The elastic body is a spring, rubber or the like.
Since the plurality of pushing members are supported by each with a predetermined elastic force, even when simultaneously supporting a plurality of loads having slightly different lengths in the width direction, the individual pushing members move independently and stably. Can support the sides of multiple packages.

  The operation of the transfer device according to the second embodiment of the present invention is that the side surface of the push member abuts on the side surface of the load and supports the load. Since it is the same as the operation of the transfer device according to the first embodiment, the description is omitted.

Next, the configuration of the transfer device according to the third embodiment of the present invention will be described with reference to the drawings.
FIG. 17 is a cross-sectional view taken along line AA of the transfer device according to the third embodiment of the present invention.
The transfer device is a mechanism capable of picking up the luggage 10a, and includes a pair of tip forks 410, a left / right moving mechanism 420, and a front / rear moving mechanism 430.
Since the configuration of the left / right moving mechanism 420 and the front / rear moving mechanism 430 is the same as that of the transfer device according to the first embodiment, the description thereof is omitted.

The tip fork 410 is a long mechanism that is arranged in parallel in the front-rear direction with the longitudinal direction in the left-right direction, and includes a load support mechanism 411 and a longitudinal structural member 412.
Since the structure of the longitudinal structural member 412 is the same as that of the transfer apparatus according to the first embodiment, description thereof is omitted.
The luggage support mechanism 411 is a mechanism capable of supporting the luggage by abutting against the side surface of the luggage, and includes a push member 411e and a large number of needle-like members 411f.
The push member 411e is a member extending in the left-right direction.
For example, the push member 411e is a longitudinal member fixed to the tip fork main structure 411a.
The needle-like member 411f is a member having a pointed tip aligned with the side surface of the push member, and the tip portion can bite into the side surface of the load to support the load.

  The operation of the transfer device according to the third embodiment of the present invention is that the tip of the push member bites into the side surface of the load and supports the load. Since it is the same as the operation of the transfer device according to the first embodiment, the description is omitted.

If the automatic apparatus and transfer apparatus of the above-described embodiment are used, the following effects are exhibited.
In an automatic warehouse composed of a rack, a crane, a lifting platform, and a transfer device, the transfer device is composed of a pair of tip forks, a left / right moving mechanism, and a front / rear moving mechanism, and the pair of tip forks are attached to the side of the load. Since the load can be supported by abutting, the side of the load on the shelf can be supported by the tip fork and the picking operation can be performed, and the automatic warehouse can be made compact.
In addition, since the bottom of the load can be supported by the top surface of the tip fork, the bundle of loads can be supported by the tip fork and can be loaded and unloaded.
Even when a bundle of packages is packed on a pallet, the package and the pallet can be supported as a single package by a tip pallet and loaded and unloaded.
Further, the tip fork is composed of a tip fork main structure and a rotating roller supported by the tip fork main structure, and the outer peripheral surface of the rotating roller abuts against the side of the load to support the load and rotates to load the load. Since the load can be supported by contacting the bottom surface, the load can be stably supported and the picking operation can be performed.
In addition, since the outer peripheral surface of the rotating roller abuts the side of the load and supports the load, it rotates so that it can contact the bottom of the load and support the load. When supporting the items simultaneously, the items can be lifted in order from the long-width package, and the bottom surfaces of all the packages can be reliably supported.
In addition, the tip fork is composed of the tip fork main structure, a push member support mechanism supported by the tip fork main structure, and a plurality of push members supported by the push member support mechanism in the front-rear direction with a predetermined elastic force. Even if the widths of the plurality of loads are different from each other, the plurality of push members can support the side surfaces of the respective loads and stably pick the loads.
The tip fork is composed of a tip fork main structure, a push member supported by the tip fork main structure, and a number of needle-like members with sharp tips fixed to the push member. Since it was bitten into the side, it was possible to pick up luggage stably.
In addition, the forward / backward movement mechanism consists of a linear movement mechanism and an urging mechanism, and the forward / backward movement force of the linear movement mechanism is transmitted to the forward / backward movement of the tip fork via the urging mechanism. With this control, the side surface of the load can be pinched with a predetermined pressing force generated by the urging mechanism, and the load can be picked stably.

The present invention is not limited to the embodiments described above, and various modifications can be made without departing from the scope of the invention.
Although the example in which the front-rear moving mechanism has the front-rear drive mechanism and the biasing mechanism that biases the front-end fork with a predetermined pressing force in the front-rear direction has been described, the present invention is not limited to this. And a force detection device that detects a horizontal force in the front-rear direction, and the front-rear drive mechanism may be driven according to the output of the force detection device.
In addition, although an example of picking up and loading a bundled bag with the same tip fork has been described, the present invention is not limited to this, and a dedicated tip fork for picking and a bundled baggage are loaded and unloaded. A dedicated tip fork may be provided.
Moreover, although the transfer apparatus was demonstrated as what was equipped in the automatic warehouse, it is not limited to this, For example, the transfer apparatus may be equipped with the hawk lift.

It is a side view of the automatic warehouse which concerns on 1st embodiment of this invention. It is a front view of the automatic warehouse which concerns on 1st embodiment of this invention. It is AA sectional drawing of the transfer apparatus which concerns on 1st embodiment of this invention. It is BB sectional drawing of the transfer apparatus which concerns on 1st embodiment of this invention. It is C arrow line view of the transfer apparatus which concerns on 1st embodiment of this invention. It is the operation | movement figure 1 of the transfer apparatus which concerns on 1st embodiment of this invention. It is the operation | movement figure 2 of the transfer apparatus which concerns on 1st embodiment of this invention. It is the effect | action figure 3 of the transfer apparatus which concerns on 1st embodiment of this invention. It is the effect | action figure 4 of the transfer apparatus which concerns on 1st embodiment of this invention. It is the operation | movement procedure figure 1 of the automatic warehouse which concerns on 1st embodiment of this invention. It is the operation | movement procedure figure 2 of the automatic warehouse which concerns on 1st embodiment of this invention. It is the operation | movement procedure figure 3 of the automatic warehouse which concerns on 1st embodiment of this invention. It is the operation | movement procedure figure 4 of the automatic warehouse which concerns on 1st embodiment of this invention. It is the operation | movement procedure figure 5 of the automatic warehouse which concerns on 1st embodiment of this invention. It is the operation | movement procedure diagram 6 of the automatic warehouse which concerns on 1st embodiment of this invention. It is AA sectional drawing of the transfer apparatus which concerns on 2nd embodiment of this invention. It is AA sectional drawing of the transfer apparatus which concerns on 3rd embodiment of this invention.

Explanation of symbols

S1 outer peripheral surface S2 support surface S3 side surface 10 bundled luggage 10a luggage 100 rack 110 shelf 120 conveyor 130 rack mount 200 crane 210 upper rail 220 lower rail 230 crane mount 231 mast 231
232 Upper frame 233 Lower frame 300 Lifting table 400 Transfer device 410 Tip fork 411 Luggage support mechanism 411a Tip fork main structure 411b Rotating roller 411c Push member 411d Push member support mechanism 411e Push member 411f Needle member 412 Longitudinal structure member 420 Left and right Movement mechanism 421 Intermediate fork 421a Intermediate fork main structure 421b Intermediate fork cam floor 422 Fixed fork 422a Fixed fork main structure 422b Fixed fork cam floor 423 Left and right drive mechanism 424 Left and right drive mechanism 430 Front and rear movement mechanism 431 Front and rear guide mechanism 432 Front and rear drive mechanism 432a Pinion 432b Rack 433 Energizing mechanism 433a Rack guide 433b Spring 433c Stopper 433d Buffer 433e Limit switch Ji

Claims (14)

An automated warehouse for storing luggage,
A rack having a plurality of shelves arranged in the vertical direction and the front-rear direction and capable of carrying a load, and a crane movable in the front-rear direction along the rack;
A lifting platform supported by the crane and movable in the vertical direction;
A pair of tip forks that are long mechanisms arranged in parallel in the front-rear direction with the longitudinal direction in the left-right direction, a pair of left-right movement mechanisms that can move the pair of tip forks in the left-right direction, and the pair of tip ends A transfer device having a back-and-forth movement mechanism capable of moving at least one of the forks in the front-rear direction, and supported by the lifting platform;
With
A pair of tip forks having a load support mechanism capable of supporting the load by contacting the side of the load;
An automatic warehouse characterized by that. A pair of tip forks each having a longitudinal structural member that forms a support surface that extends in the left-right direction along the load support mechanism and can support the bottom of the load;
The automatic warehouse according to claim 1, wherein: The load support mechanism of one of the tip forks includes a rotation roller that can be driven to rotate about a rotation shaft extending in the left-right direction,
The outer peripheral surface of the rotating roller abuts against the side of the load and supports the load, and then rotates to support the load by contacting the bottom of the load.
The automatic warehouse according to claim 1, wherein: Each of the pair of tip forks has a longitudinal structural member that forms a support surface that extends in the left-right direction along the load support mechanism and can support the bottom surface of the load,
The uppermost vertical position of the outer peripheral surface of the rotating roller is lower than the vertical position of the support surface;
The automatic warehouse according to claim 3. The load supporting mechanism of one of the tip forks includes a plurality of pressing members arranged in series in the left-right direction and a pressing member supporting mechanism for individually supporting the pressing members in the front-rear direction with a predetermined elastic force,
The side surface of the push member can contact the side surface of the load to support the load,
The automatic warehouse according to claim 1, wherein: The load support mechanism of one of the tip forks includes a push member extending in the left-right direction and a needle-like member having a pointed tip aligned with a side surface of the push member,
The tip can bite into the side of the luggage and support the luggage,
The automatic warehouse according to claim 1, wherein: The front-rear movement mechanism has a front-rear drive mechanism that moves at least one of the pair of front-end forks in the front-rear direction and a biasing mechanism that biases the front-end fork with a predetermined pressing force in the front-rear direction.
The automatic warehouse according to claim 1, wherein: A transfer device capable of picking up luggage,
A pair of tip forks which are long mechanisms arranged in parallel in the front-rear direction with the longitudinal direction in the left-right direction;
A back-and-forth movement mechanism capable of moving at least one of the pair of tip forks in the front-rear direction;
With
A pair of tip forks having a load support mechanism capable of supporting the load by contacting the side of the load;
A transfer device characterized by that. A pair of tip forks each having a longitudinal structural member that forms a support surface that extends in the left-right direction along the load support mechanism and can support the bottom of the load;
The transfer apparatus according to claim 8, wherein: The load support mechanism of one of the tip forks includes a rotation roller that can be driven to rotate about a rotation shaft extending in the left-right direction,
The outer peripheral surface of the rotating roller abuts against the side of the load and supports the load, and then rotates to support the load by contacting the bottom of the load.
The transfer apparatus according to claim 8, wherein: Each of the pair of tip forks has a longitudinal structural member that forms a support surface that extends in the left-right direction along the load support mechanism and can support the bottom surface of the load,
The uppermost vertical position of the outer peripheral surface of the rotating roller is lower than the vertical position of the support surface;
The transfer apparatus according to claim 10. The load supporting mechanism of one of the tip forks includes a plurality of pressing members arranged in series in the left-right direction and a pressing member supporting mechanism for individually supporting the pressing members in the front-rear direction with a predetermined elastic force,
The side surface of the push member can contact the side surface of the load to support the load,
The transfer apparatus according to claim 8, wherein: The load support mechanism of one of the tip forks includes a push member extending in the left-right direction and a needle-like member having a pointed tip aligned with a side surface of the push member,
The tip can bite into the side of the luggage and support the luggage,
The transfer apparatus according to claim 8, wherein: The front-rear movement mechanism has a front-rear drive mechanism that moves at least one of the pair of front-end forks in the front-rear direction and a biasing mechanism that biases the front-end fork with a predetermined pressing force in the front-rear direction.
The transfer apparatus according to claim 8, wherein:

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