JP2007045545A - Loading and unloading device for cargo in automated warehouse - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a loading and unloading device for cargo in an automated warehouse capable of efficiently performing loading and unloading of cargos by a staker crane even when cargos with different sizes are mixed. <P>SOLUTION: In this loading and unloading device for cargos 4 in the automated warehouse, a cargo shelf with a plurality of stages storing the cargos 4 and a stacker crane capable of freely running along the cargo shelf and having a liftable/lowerable cargo bed 13 on which the cargos 4 are placed are provided, and the cargos 4 are transferred between the cargo bed 13 and the cargo shelf by transfer means 27 provided on the cargo bed 13 and are taken in and out by a loading and unloading table 16 arranged in the vicinity of a running path of the stacker crane. The plurality of transfer means 27 are juxtaposed on the cargo bed 13, and the stacker crane can change stop positions of the cargos 4 on the loading and unloading table 16 to back and forth and/or vertical height direction, in accordance with the sizes of the cargos 4 placed on the cargo bed 13 or placement positions of the cargos 4 on the cargo bed 13. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an apparatus for loading and unloading loads in an automatic warehouse in which loads are loaded and unloaded using a stacker crane or the like at target positions of a plurality of stages of load racks.

  Conventionally, libraries with a large amount of collections have introduced automatic storage systems that automate the lending and returning of books, and in such automatic storage systems, containers (loads) with different dimensions are prepared. The container accommodating the books classified according to the dimensions can be taken out from the library using a stacker crane or the like and transported to the station. Further, two adjacent containers can be connected by an engagement piece (see, for example, Patent Document 1).

Japanese Patent No. 2851237 (paragraphs 0040-0042, FIGS. 4 and 11)

  However, in Patent Document 1, the amount of container (load) that can be placed on the loading platform of the stacker crane is always connected in the left-right direction by the engagement piece, regardless of whether the size of the container is large or small. Since there are only two containers, and the size of the loading platform is formed in accordance with the largest container, when a small container is placed on the loading platform, the space in the front-rear direction on the loading platform is wasted, The container could not be loaded and unloaded efficiently.

  The present invention has been made paying attention to such problems, and in an automatic warehouse for loading and unloading using a stacker crane or the like, even when loads of different sizes are mixed, the stacker crane can efficiently load the load. It is an object of the present invention to provide a loading / unloading apparatus for an automatic warehouse capable of loading / unloading.

In order to solve the above-mentioned problem, a loading / unloading device for a load in an automatic warehouse according to claim 1 of the present invention,
A stacker crane having a plurality of stages for storing the load, and a stacker crane provided so as to be able to travel along the load shelf and capable of moving up and down to load the load. Loading and unloading in an automatic warehouse where the loading and unloading means transfers the load between the loading platform and the loading shelf, and loads and unloads the loading and unloading at a loading / unloading platform arranged near the traveling path of the stacker crane. A shipping device,
A plurality of the transfer means are juxtaposed on the loading platform, and the stacker crane determines the load stop position on the loading / unloading platform according to the size of the load placed on the loading platform or the load on the loading platform. It is characterized in that it can be changed in the front-rear and / or vertical height direction in accordance with the mounting position.
According to this feature, even if a load with a different size is placed on the loading platform or the loading position of the load on the loading platform may change, the loading / unloading platform can be changed according to the size and loading position of the loading. Since the load stop position can be changed, loading / unloading of the load at the loading / unloading table becomes easy, and a load can be individually placed on each of the plurality of transfer means, or a plurality of transfer means can be used to Since as many loads as possible can be placed on the loading platform in accordance with the size of the load, such as placing a load, the load can be efficiently moved by a stacker crane.

A loading / unloading apparatus for loads in an automatic warehouse according to claim 2 of the present invention is a loading / unloading apparatus for loads in an automatic warehouse according to claim 1,
The loading platform is provided with elevating means for raising and lowering the load on the loading platform relative to the loading platform.
According to this feature, the load stop position in the height direction can be changed by raising and lowering the lifting means without changing the stop position of the loading platform.

A loading / unloading apparatus for loads in an automatic warehouse according to claim 3 of the present invention is a loading / unloading apparatus for loads in an automatic warehouse according to claim 1 or 2,
The lifting means is arranged to be able to lift and lower a load placed on a transfer means arranged far from the loading / unloading base among transfer means arranged in parallel on the loading platform. It is characterized by.
According to this feature, out of a plurality of loads placed on the loading platform, the loading of the loading by raising the loading placed on the transfer means arranged far from the loading / unloading platform. Or, even when the load is placed in front of the cargo, the loading can be easily performed without the obstacle.

A loading / unloading apparatus for loads in an automatic warehouse according to claim 4 of the present invention is a loading / unloading apparatus for loads in an automatic warehouse according to any one of claims 1 to 3,
The load is provided with an RFID tag in which article information of the load is stored, and the loading / unloading base is provided with a reading device for reading out the article information stored in the RFID tag.
According to this feature, it is possible to manage the load at the loading / unloading stand by reading out the RFID tag storing the article information of the load at the loading / unloading stand.

A loading / unloading apparatus for loads in an automatic warehouse according to claim 5 of the present invention is a loading / unloading apparatus for loads in an automatic warehouse according to any one of claims 1 to 4,
An accommodation space portion capable of accommodating a part of the loading platform is provided below the top plate of the loading / unloading platform, and can be stopped in a state where a part of the loading platform is accommodated in the accommodation space portion. It is characterized by being.
According to this feature, since the load placed far from the loading / unloading table can be stopped as close to the loading / unloading table as much as possible, loading / unloading of the load is facilitated.

  The best mode for carrying out a loading / unloading apparatus in an automatic warehouse according to the present invention will be described below based on an embodiment.

  An embodiment of the present invention will be described with reference to the drawings. First, FIG. 1 is a front view showing a stacker crane and a cargo rack in an embodiment of the present invention, and FIG. 2 is a side view showing the stacker crane and a cargo rack. FIG. 3 is a plan view showing a stacker crane and a cargo rack. 1 is the front side (front side) of the stacker crane, the left side of FIG. 2 is the front side (front side) of the stacker crane, and the lower side of FIG. 3 is the front side (front side) of the stacker crane. ).

  In recent years, libraries and the like having a large amount of collections have been automated, such as lending and returning books, and various automatic loading and unloading devices for loading and unloading books from unmanned automatic warehouses have been used. Reference numeral 1 in FIG. 1 is a stacker crane as a loading / unloading device installed in an automated library or the like.

  As shown in FIG. 1, a rectangular frame 2 is disposed on the left and right sides of the stacker crane 1, and a multistage shelf 3 is provided on the frame 2. Containers 4 and 4 ′ as loads are placed on the shelves of each stage 3. The left and right frames 2 are connected to each other by an upper frame 5 disposed at the upper part. A ceiling rail 6 is attached to the center of the upper frame 5, and the floor surface 7 also faces the same direction as the ceiling rail 6. A floor rail 8 is fixed, and a traveling path is constituted by the ceiling rail 6 and the floor rail 8.

  A small container 4 in which a small-sized book B is stored is placed on the load shelf 3 disposed on the left side of the stacker crane 1 in FIG. 1, and the load shelf 3 disposed on the right side of the stacker crane 1 has a size. A large container 4 ′ in which a large book B is stored is stored. As shown in FIG. 3, the front-rear width dimension of the small container 4 is almost half of the front-rear width dimension of the large container 4 '. Note that the books B stored in these large and small containers 4 and 4 ′ are RFID tags storing information related to each book B (for example, book ID, title, contents, author and book size, type, etc.). (Not shown) is attached to a predetermined location.

  Furthermore, the handle 4a comprised by the rod member which faces the front-back direction of the containers 4 and 4 'is attached to the edge part which faces the stacker crane 1 in the small container 4 and the large container 4'. One handle 4a is attached to the end of the small container 4, and two handles 4a are attached to the end of the large container 4 'in the front-rear direction.

  As shown in FIG. 2, the stacker crane 1 is provided with a mast 9 extending vertically between the ceiling rail 6 and the floor rail 8, and can travel on the floor rail 8 below the mast 9. A cart 10 is provided. By driving a traveling motor 11 provided on the cart 10, the stacker crane 1 is guided by the ceiling rail 6 and the floor rail 8, and is arranged in a plurality of stages arranged on the left and right sides. It is possible to travel along the load shelf 3.

  The mast 9 of the stacker crane 1 is provided with an elevating part 12 that can be moved up and down, and the elevating part 12 is provided with a loading platform 13. The elevating unit 12 is connected to a chain 14 disposed along the mast 9, and by driving an elevating motor 15, the elevating unit 12 can be pulled up and down by the chain 14. . By moving the stacker crane 1 and raising and lowering the elevating unit 12, the loading platform 13 can be moved to the intended loading rack 3 among the plurality of loading racks 3 arranged before and after the stacker crane 1. it can.

  As shown in FIG. 3, at the front end of the floor rail 8 on which the stacker crane 1 travels, as a loading / unloading stand for loading / unloading containers 4, 4 ′ as loading / unloading into / from the loading rack 3. A station 16 is arranged. A partition wall 17 is disposed between the station 16 and the cargo rack 3, and the partition wall 17 hides the cargo rack 3 and the stacker crane 1 from the line of sight of the user who uses the station 16. Yes.

  As shown in FIG. 2, a loading / unloading port 19 penetrating the partition wall 17 is formed on the base plate 18 constituting the station 16, and the containers 4 and 4 ′ are conveyed by the stacker crane 1. As described above, the entrance / exit 19 is provided with an RFID antenna 20 as a reading device in the present embodiment for reading out article information stored in the RFID tag attached to each book B. As shown in FIG. 3, the RFID antenna 20 can move in the left-right direction. The RFID tag 20 attached to the book B stored in the containers 4, 4 ′ transported to the loading / unloading port 19 ( The information stored in (not shown) can be read out.

  Next, the loading platform 13 for transporting the containers 4 and 4 ′ will be described with reference to FIGS. 4 to 9. 4 is a plan view showing the loading platform 13, FIG. 5 is a front sectional view taken along line AA showing the loading platform 13 in FIG. 4, and FIG. 6 shows the loading platform 13 and the station 16 on which the small container 4 is placed. FIG. 7 is a side view showing the loading platform 13 in a state where the rear small container 4 is raised, and FIG. 8 is a loading platform in the state where the rear small container 4 is brought close to the station 16. FIG. 9 is a side view showing the loading platform 13 on which the large container 4 ′ is placed and the station 16. Hereinafter, the left side in FIG. 4 is the front side (front side) of the loading platform 13, the front side in FIG. 5 is the front side (front side) of the loading platform 13, and the left side in FIGS. 6 to 9 is the front side of the loading platform 13 ( This will be described as the front side.

  As shown in FIG. 4, the loading platform 13 has an elevating part 12 attached to the mast 9, and a support body 21 extending forward is attached to the elevating part 12. In addition, four substantially guide rails 22 for mounting the containers 4 and 4 ′ are attached to the upper portion of the support 21. As shown in FIG. 6, the guide rails 22 arranged on the front side and the rear side are formed with rising pieces 22 a, and the containers 4 and 4 ′ placed on the guide rails 22 are guided rails 22. It is guided so as not to be displaced in the front-rear direction.

  As shown in FIG. 4, two base bodies 23 whose longitudinal sides are directed in the left-right direction are arranged side by side between the two guide rails 22 arranged at the center and the guide rails 22 arranged at the front and rear. Has been. The base body 23 can slide in the left-right direction on the slide rail 24 and can move in the left-right direction with respect to the support body 21 by driving a drive motor (not shown) disposed inside the support body 21. . Further, the base body 23 can be moved up and down by driving an actuator 25 disposed inside the support body 21.

  Further, a plate member 26 is provided on two base bodies 23 arranged in parallel in the front-rear direction of the loading platform 13, and the plate members 26 are drive motors (illustrated) arranged in the respective base bodies 23. (Omitted) can be moved in the left-right direction with respect to the base body 23. Further, two hooks 27 are provided at the left and right end portions of one plate member 26, and as shown in FIG. 5, the hooks 27 are attached to the left and right end portions of the plate member 26, and the upper side is viewed from the front. It has a substantially concave shape that opens. The base body 23, the plate member 26 and the hook 27 constitute transfer means in this embodiment.

  As shown in FIG. 5, when the small container 4 disposed on the left side of the stacker crane 1 is placed on the loading platform 13, first, the actuator 25 is driven to lower the base body 23, and the slide rail 24 is moved. The plate member 26 is moved to the left end portion of the base body 23 in a state where the base body 23 is moved to the left side. Then, the hook 27 is arranged below the handle 4a of the small container 4 placed on the load shelf 3.

  Then, by raising the base body 23, the hook 27 formed in a substantially concave shape that opens upward is fitted and held on the handle 4a of the small container 4 from below. When the base body 23 and the plate member 26 are moved to the right side with the hook 27 holding the handle 4 a of the small container 4, the small container 4 is placed on the guide rail 22 of the loading platform 13.

  Similarly, when the large container 4 ′ disposed on the right side of the stacker crane 1 is placed on the loading platform 13, the front and rear base bodies 23 and the hooks 27 are moved with the front and rear base bodies 23 lowered. The hook 27 can hold the handle 4a of the large container 4 'by moving it to the right side and placing the hook 27 below the handle 4a and then raising it.

  As shown in FIG. 5, by fitting the handle 4a from below, the handle 4a is sandwiched by the hook 27 from the left and right directions, so that the containers 4, 4 'can be moved in either the left or right direction. Further, as shown in FIG. 6, the handle 4a of the container 4 has a longitudinal direction extending in the front-rear direction of the container 4, and the hook 27 can hold the entire front-rear direction of the handle 4a.

  The containers 4 and 4 ′ placed on the guide rails 22 of the loading platform 13 by the hooks 27 of the base body 23 and the plate member 26 are moved to the station 16 while being placed on the guide rails 22. The

  As shown in FIGS. 4 and 5, the two base bodies 23 arranged side by side in the front-rear direction of the loading platform 13 and the plate member 26 to which the hooks 27 are fixed can be driven simultaneously. Therefore, it is possible to transfer two small containers 4 arranged side by side on the load shelf 3 onto the guide rail 22 at the same time, or to transfer one large container 4 ′ using two hooks 27. Further, the plate member 26 to which the two base bodies 23 and the hooks 27 are fixed can be driven separately. For example, on the guide rail 22 on the front side of the loading platform 13, on the predetermined loading rack 3. After the placed small container 4 is transferred, the loading platform 13 is moved, and the small container 4 placed on the separated load shelf 3 can be transferred onto the guide rail 22 on the rear side.

  Since two hooks 27 are provided at the left and right end portions of one plate member 26, when the plate member 26 is moved to either the left or right end portion of the base body 23, One of the hooks 27 can protrude from the base body 23. Since the hook 27 protrudes from the base body 23, when the hook 27 is disposed at a position below the handle 4a of the container 4, 4 ', the base body 23 comes into contact with the load rack 3 or the container 4, 4'. Can be prevented.

  Further, the loading platform 13 will be described in detail. As shown in FIG. 6, a lifting frame having a substantially U shape in a side view in which the small container 4 disposed on the rear side of the loading platform 13 can be moved up and down at a position below the guide rail 22. 28 is arranged. As shown in FIG. 5, two lifting frames 28 are arranged on the left and right sides of the loading platform 13, and the two lifting frames 28 are connected by one lifting plate 29. The elevating plate 29 is connected to a slide rail 30 fixed to the elevating unit 12, and the elevating frame 28 is slid together with the elevating plate 29 by driving a drive motor (not shown) disposed inside the elevating unit 12. While being guided by the rail 30, it can be moved up and down.

  As shown in FIG. 4, a cutout portion 28 a that is in contact with the bottom and corners of the small container 4 is formed at the upper end of the elevating frame 28. Further, the upper end of the elevating frame 28 is exposed from the slit hole 31 formed in the guide rail 22 to the upper surface side of the guide rail 22. As shown in FIG. 6, when the elevating frame 28 is raised and lowered, the upper end of the elevating frame 28 protrudes above the guide rail 22 from the slit hole 31, and the notch 28 a of the elevating frame 28 abuts against the bottom surface of the small container 4. By pushing up, the small container 4 is raised with respect to the guide rail 22. In addition, the raising / lowering frame 28 which raises / lowers the small container 4 relatively with respect to the loading platform 13 is provided in the loading platform 13, so that the raising / lowering frame 28 can be raised without changing the height position of the loading platform 13 itself. Thus, the small container 4 on the loading platform 13 can be accurately adjusted to the position of the loading / unloading platform 19.

  Therefore, for example, when the loading platform 13 is stopped at a stop position as shown in FIG. 7, the container 4 is placed on the base body 23 in front of the station 16 and the rear side (station 16). When the book B stored in the container 4 placed on the base body 23 on the back side as viewed from the side is taken out (shipped), or when the book B is stored in the container 4 (stored) By arranging the book B at a position higher than the container 4, the front container 4 and the book B do not get in the way, so that the book B behind can be easily put in and out. Moreover, since the raising / lowering frame 28 is provided in the loading platform 13, the rear container 4 can be raised / lowered irrespective of the stop position of the loading platform 13 in the station 16. FIG.

  Driving devices such as traveling of the stacker crane 1, raising and lowering of the loading platform 13 with respect to the mast 9, and transfer of the base body 23 and the plate member 26 are connected to a control device (not shown). In the control device, a program related to the storage position of each container in the cargo rack 3, the stop position in the station 16, and the like are registered, and entry / exit control according to the book B to be entered / exited is performed. .

  As shown in FIG. 6, when the small container 4 is transported to the station 16 by the stacker crane 1, the RFDI tag (attached to the book B stored in the small container 4 arranged on the front side on the loading platform 13 ( The RFID antenna 20 reads the article information stored in (not shown). The information related to the book B read by the RFID antenna 20 is registered in a management computer (not shown) installed in the station 16 together with the usage status information such as the rental date and time and the user ID. And so on.

  Further, in order for the RFID antenna 20 to read the article information stored in the RFID tag (not shown) of the small container 4 arranged on the rear side on the loading platform 13, first, as shown in FIG. To raise the small container 4 arranged on the rear side. And the raising / lowering part 12 is lowered | hung and the loading platform 13 whole is lowered | hung.

  Next, as shown in FIG. 8, by moving the stacker crane 1 forward, the small container 4 disposed on the front side of the loading platform 13 is placed under the base plate 18 of the station 16. Then, the small container 4 arranged on the rear side approaches the RFID antenna 20 installed at the entrance / exit 19 and is stored in the RFID tag (not shown) of the book B stored in the small container 4 arranged on the rear side. In addition to being able to read out the article information that has been placed, the book B stored in the small container 4 arranged on the rear side can be brought as close as possible to the loading / unloading port 19, so that loading / unloading into the container 4 is facilitated. .

  Thus, in the cargo loading / unloading apparatus according to the present embodiment, the stop position at the loading / unloading port 19 according to the size of the small container 4 and the large container 4 ′ and the front and rear placement positions on the loading platform 13. Can be changed in the front-rear direction or the vertical height direction, it is easy for the user to put in and take out the book B stored in the small container 4 from the loading / unloading table 19. Furthermore, among the two small containers 4 placed side by side on the loading platform 13, the small container 4 placed on the far side (rear side) from the loading / unloading port 19 can be moved up and down by the lifting frame 28. Thus, the small container 4 placed on the front side of the loading platform 13 can be brought under the base plate 18 of the station 16 so that the remote small container 4 can be brought close to the loading / unloading port 19.

  As shown in FIG. 9, when the large container 4 ′ is transported, the two handles 4 a attached to the end of the large container 4 ′ are simultaneously held by the hooks 27 arranged at the front and rear. Then, the large container 4 ′ can be transferred onto the guide rail 22 and conveyed to the station 16 by the stacker crane 1. Thus, when the containers 4 and 4 ′ having different sizes in the front-rear direction, such as the small container 4 and the large container 4 ′, are stopped at the loading / unloading port 19, the stop position is set in the front-rear direction or the vertical height depending on the size By being able to change in the vertical direction, it is easy for the user to put in and take out the book B stored in the small container 4 from the loading / unloading table 19.

  In addition, according to the present embodiment, the loading platform 13 is provided with two base bodies 23 provided with hooks 27 that can move in the left-right direction while holding the handle 4 a in the front-rear direction of the loading platform 13. The two small containers 4 can be placed in the front-rear direction, the amount of the small containers 4 that can be moved at once by the stacker crane 1 can be increased, and the books B stored in the small containers 4 can be efficiently loaded and unloaded. It becomes like this.

  Further, when there are a small container 4 and a large container 4 ′ having different front and rear width dimensions, by arranging the guide rails 22 in accordance with the large container 4 ′ having a large front and rear width dimension, the large container 4 having a large front and rear width dimension is arranged. 'Is placed using the entire front and rear direction of the loading platform 13, and two small containers 4 with small front and rear width dimensions are placed in the front and rear direction of the loading platform 13, so that the space on the loading platform 13 can be efficiently used. A large number of books B can be moved to the loading / unloading port 19 at a time regardless of which of the small container 4 and the large container 4 ′ is placed on the loading platform 13.

  Although the embodiments of the present invention have been described with reference to the drawings, the specific configuration is not limited to these embodiments, and modifications and additions within the scope of the present invention are included in the present invention. It is.

  For example, in the above-described embodiment, the loading platform 13 has two base bodies 23 provided with the hooks 27 that can move in the left-right direction while holding the handle 4a in the front-rear direction of the loading platform 13. However, the number of the base bodies 23 provided with the hooks 27 may be three or more in the front-rear direction of the loading platform 13, or more than the number of the base bodies 23. Alternatively, a container having a smaller front-rear width dimension may be prepared, and the base body may be formed in accordance with the front-rear width dimension of the container.

It is a front view which shows the stacker crane and loading shelf in the Example of this invention. It is a side view which shows a stacker crane and a load shelf. It is a top view which shows a stacker crane and a load shelf. It is a top view which shows a loading platform. It is an AA vertical front view which shows the loading platform in FIG. It is a side view which shows the loading platform and station which mounted the small container. It is a side view which shows the loading platform of the state which raised the small container of the back side. It is a side view which shows the loading platform of the state which brought the back side small container close to the station. It is a side view which shows the loading platform and station which mounted the large container.

Explanation of symbols

1 Stacker crane 3 Loading shelf 4 Small container (load)
4 'large container (load)
6 Ceiling rail (running path)
8 Floor rails (travel path)
12 Lifting unit 13 Loading platform 16 Stations
20 RFID antenna 21 Support body 23 Base body (transfer means)
26 Plate member (transfer means)
27 Hook (transfer means)
28 Elevating frame 28a Notch 31 Slit hole B Book

Claims (5)

A stacker crane having a plurality of stages for storing the load, and a stacker crane provided so as to be able to travel along the load shelf and capable of moving up and down to load the load. Loading and unloading in an automatic warehouse where the loading and unloading means transfers the load between the loading platform and the loading shelf, and loads and unloads the loading and unloading at a loading / unloading platform arranged near the traveling path of the stacker crane. A shipping device,
A plurality of the transfer means are juxtaposed on the loading platform, and the stacker crane determines the load stop position on the loading / unloading platform according to the size of the load placed on the loading platform or the load on the loading platform. A loading / unloading device for a load in an automatic warehouse, wherein the loading / unloading device can be changed in the front-rear and / or up-and-down height direction in accordance with the mounting position.   The loading / unloading apparatus for loads in an automatic warehouse according to claim 1, wherein the loading platform includes lifting means for lifting and lowering the load on the loading platform relative to the loading platform.   The lifting means is arranged to be able to lift and lower a load placed on a transfer means arranged far from the loading / unloading base among transfer means arranged in parallel on the loading platform. Item 3. A cargo loading / unloading device in an automatic warehouse according to item 1 or 2.   The said load is provided with the RFID tag in which the article information of the said load was memorize | stored, and the said loading / unloading stand is provided with the read-out apparatus which reads the article information memorize | stored in the said RFID tag. Loading and unloading equipment in automated warehouses.   An accommodation space portion capable of accommodating a part of the loading platform is provided below the top plate of the loading / unloading platform, and can be stopped in a state where a part of the loading platform is accommodated in the accommodation space portion. The loading / unloading apparatus for loads in an automatic warehouse according to any one of claims 1 to 4.

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