JP2010037067A - Traveling mechanism - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a traveling mechanism for reducing the occupying space of a traveling carriage, by lowering a lower limit of a movable range of a movable device on the traveling carriage, while facilitating manufacture and installation by reducing and simplifying constituting members. <P>SOLUTION: A traveling rail 211 for making a traveling wheel 221 of the traveling carriage 220 travel, is opened on the traveling carriage 220 side in a cross-sectional U shape, and a guide rail 212 for making a guide wheel 222 of the traveling carriage 220 travel, is vertically erected from an opening side end part of an upper part of the traveling rail 211. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a traveling mechanism having a traveling carriage having traveling wheels and guide wheels, a traveling rail on which the traveling wheels travel, and a guide rail on which the guide wheels travel, and in particular, a large number of storage shelves are integrated. The present invention relates to a suitable traveling mechanism for a stacker crane used in an automatic three-dimensional warehouse in which a storage shelf unit loads and unloads stored items.

  2. Description of the Related Art Conventionally, a traveling mechanism of a stacker crane used in an automatic three-dimensional warehouse in which storage items are stored in and stored in a storage shelf unit in which a large number of storage shelves are integrated, a traveling carriage having traveling wheels and guide wheels, and the traveling wheels travel. As a traveling mechanism having a traveling rail and a guide rail on which the guide wheels travel, a traveling rail provided with a guide rail is known.

As shown in FIGS. 15 and 16, the known traveling mechanism 500 places and supports a traveling wheel 521 in which an upper surface of a rail body 510 having an H-shaped cross section installed along a conveyance path is provided on a traveling carriage 520. Guide rail 512 that functions as a traveling rail 511 that guides a pair of guide wheels 522 provided on the traveling carriage 520 such that the left and right side surfaces of the central portion of the rail body 510 having an H-shaped cross section regulate the movement in the left-right direction. Is functioning as
(Refer to patent document 1 etc.).
JP 2007-269415 A (particularly, page 2, FIG. 3, FIG. 4)

However, although the known traveling mechanism 500 is provided with both functional portions of the traveling rail 511 and the guide rail 512 in one rail body 510 and is simplified by reducing the number of components, the traveling wheel 521 is easy to manufacture. There is a problem that the position of the traveling rail 511 on which the vehicle is placed and supported becomes high, and the lower limit of the movable range of a movable device on the traveling carriage 520, for example, a lifting / lowering device of a stacker crane, becomes high.
Further, since the left and right side surfaces of the central portion of the rail body 510 are guide rails 512, it is necessary to support the guide wheels 522 on the traveling carriage 520 outside the traveling wheels 521, and the traveling carriage 520 becomes wider and occupies space. There was a problem of getting bigger.

  Therefore, the technical problem to be solved by the present invention, that is, the object of the present invention is to simplify and reduce the number of components, and to lower the lower limit of the movable range of the movable device on the traveling carriage. And it is providing the driving | running | working mechanism which made the occupation space of a driving cart small.

  First, the invention according to claim 1 is a travel mechanism including a travel carriage having travel wheels and guide wheels, a travel rail traveled by the travel wheels, and a guide rail traveled by the guide wheels. However, the above-mentioned problem is solved by having a U-shaped cross section with the traveling carriage side open, and the guide rail standing vertically from the open end of the upper portion of the traveling rail. is there.

  The invention according to claim 2 further solves the above-described problem in the travel mechanism according to claim 1, wherein the guide rail is formed integrally with the travel rail from a single material. It is.

  Further, the invention according to claim 3 is the travel mechanism according to claim 2, wherein the guide rail is formed by bending a plate-like material integrally with the travel rail, whereby the above-described problem is further increased. It has been solved.

  Furthermore, the invention according to claim 4 is the traveling mechanism according to any one of claims 1 to 3, wherein the traveling wheels are provided on both sides of the traveling carriage, and the traveling rail has a U-shaped cross section. Two open surfaces are provided so as to face each other, and a bottom surface inside each U-shaped cross section is used as a traveling surface of the traveling wheel, and the guide rail is provided at an upper portion of at least one of the two traveling rails. The above-described problems are further solved by being erected vertically from the open end.

  The invention according to claim 5 is the traveling mechanism according to any one of claims 1 to 4, wherein the traveling carriage causes a storage shelf unit in which a large number of storage shelves are stacked to store and retrieve stored items. By being a traveling cart of a stacker crane used in an automatic three-dimensional warehouse, the above-described problems are further solved.

  The traveling mechanism according to claim 1 of the present invention is a traveling mechanism having a traveling carriage having traveling wheels and guide wheels, a traveling rail on which the traveling wheels travel, and a guide rail on which the guide wheels travel. In addition, since the traveling carriage side is open with a U-shaped cross-section, strength can be ensured with a U-shaped cross-section, so that a thin plate-like material can be used, and the components can be simplified to facilitate manufacture and installation. In addition, the bottom surface inside the U-shaped cross section can be used as a traveling surface on which the traveling wheel travels, so that the lower limit of the movable range of the movable device on the traveling carriage can be lowered, and the guide rail can travel Since the running rail and the guide rail can be integrated by being erected vertically from the open end of the upper part of the rail, the number of components can be reduced and installation can be facilitated. Moni, the guide wheels of the traveling carriage for can be supported without jumping out to the side, it is possible to reduce the space occupied by the traveling vehicle.

  In the traveling mechanism according to claim 2, the guide rail is integrally formed of a single material with the traveling rail, so that the guide rail also travels in addition to the effect exhibited by the traveling mechanism according to claim 1. Since it can be formed of a thin plate-like material together with the rails, it is not necessary to fix the alignment of the traveling rail and the guide rail, so that the number of components can be reduced and the manufacturing and installation can be facilitated.

  Further, in the traveling mechanism according to the third aspect, the guide rail is formed by bending a plate-like material integrally with the traveling rail, so that the traveling mechanism according to the second aspect exhibits the effect Rails and guide rails can be manufactured more easily.

  In the traveling mechanism according to the fourth aspect of the present invention, traveling wheels are provided on both sides of the traveling carriage, and two traveling rails are provided so as to face an open surface having a U-shaped cross section. The bottom surface of the character-shaped interior is used as a traveling surface of the traveling wheel, and the guide rail is erected vertically from the open end of at least one upper portion of the two traveling rails. In addition to the effect exhibited by the traveling mechanism according to any one of the three, both the traveling rails can be used as traveling surfaces on which the traveling wheels travel on the bottom surfaces of the traveling rails in the U-shaped cross section on both sides of the traveling carriage. In both cases, since a sufficient strength can be secured, a thin plate-like material can be used, and the number of constituent members can be reduced and the manufacturing and installation can be facilitated.

  Furthermore, the traveling mechanism according to claim 5 is a traveling cart of a stacker crane that is used for an automatic three-dimensional warehouse that stores and unloads stored items in a storage shelf unit in which a large number of storage shelves are accumulated. In addition to the effects exhibited by the traveling mechanism according to any one of claims 1 to 4, the lower limit of the movable range of the movable device on the traveling carriage can be reduced and the space occupied by the traveling carriage can be reduced. The overall space efficiency of the warehouse can be improved.

  A traveling mechanism of the present invention is a traveling mechanism having a traveling carriage having traveling wheels and guide wheels, a traveling rail on which traveling wheels travel, and a guide rail on which guide wheels travel. The traveling rail has a U-shaped cross section. The traveling carriage side is open, and the guide rails are erected vertically from the open end of the upper part of the traveling rail, so that the number of components can be reduced and manufacturing and installation can be facilitated. As long as the lower limit of the movable range of the movable device on the traveling carriage can be lowered and the traveling mechanism capable of reducing the occupied space of the traveling carriage is provided, the specific embodiment is any. No matter what.

  For example, the traveling mechanism of the present invention may be a traveling mechanism of any device such as an automatic guided vehicle, a transport table, a transfer device, and is particularly preferably a traveling mechanism of a stacker crane used in an automatic three-dimensional warehouse. is there.

The guide rail of the traveling mechanism of the present invention may be erected by any means such as welding or fastening with respect to the traveling rail, and particularly preferably erected integrally from a single material. It is.
The running rail and the guide rail can be integrally formed by any forming means such as extrusion, drawing, cutting, molding, pressing, and the like, and it is particularly preferable to form the plate-like material by bending.

An embodiment of the present invention will be described with reference to FIGS.
Here, FIG. 1 is an overall explanatory view of an automatic three-dimensional warehouse using a traveling mechanism according to an embodiment of the present invention, and FIG. 2 is a cross-sectional view of the traveling mechanism according to an embodiment of the present invention. FIG. 3 is a perspective explanatory view of the storage used in the automatic three-dimensional warehouse shown in FIG. 1, FIG. 4 is a perspective explanatory view of the storage shelf and the stacker crane, and FIG. 5 is a schematic side view of the horizontal transfer device. 6 is a schematic plan view of the horizontal transfer device, FIG. 7 is a schematic front view of the horizontal transfer device, FIG. 8 is a perspective view of the storage shelf unit, and FIG. 9 is a storage shelf. FIG. 10 is a plan view showing the mounting structure of the unit shelf column and guide frame, FIG. 10 is a side view showing the mounting structure of the shelf column and guide frame of the storage shelf unit, and FIG. 11 is the shelf column of the storage shelf unit. FIG. 12 is a front view showing the mounting structure of the guide frame and FIG. Is a schematic view showing a state, FIG. 13 is a schematic diagram illustrating the operation procedure when taking out the storage thereof, FIG. 14 is a schematic diagram illustrating the operation procedure for storing the storage thereof.

  First, as shown in FIG. 1, an automatic three-dimensional warehouse 100 using a traveling mechanism 200 according to an embodiment of the present invention has a large number of storage shelves 121 for storing stored items 110 as shown in FIG. Have two storage shelf units 120 that are divided into a front row shelf group and a back row shelf group and are stacked in multiple stages at the same height shelf position, and on the installation floor surface of these storage shelf units 120 A stacker crane 130 is provided that can freely travel along the unit installation direction by the traveling mechanism 200 and stops at a predetermined position.

Here, in the storage shelf 121, a pair of guide frames 122 that support the stored items 110 </ b> A and 110 </ b> B on the side surfaces in the traveling direction are fixed to the shelf columns 123 to continuously configure the front row shelf group and the rear row shelf group. It is constructed like this.
Further, the stored items 110 </ b> A of the front row shelf group are stored in a slightly overhanging state from the front row shelf group of the storage shelf 121 so that the stored items 110 </ b> A can be easily taken out from the front row shelf group of the storage shelf 121.

  As shown in FIGS. 1 and 4, the stacker crane 130 described above includes a lifting table 140 that moves up and down along a lifting column 131 suspended from the traveling carriage 220 and holds and stops at a predetermined height position. Further, the lifting table 140 includes two sets of horizontal transfer devices 150A and 150B that are arranged in parallel on the lifting table 140 and can be individually moved forward and backward in the horizontal direction. The horizontal transfer devices 150A and 150B are sequentially opposed to the designated storage shelf 121 so that the stored items 110 are loaded and unloaded.

Further, the two sets of horizontal transfer devices 150A and 150B each have a transfer chain 152 attached with a locking means 151 for detachably engaging with an engaging means 115 of the stored article 110 so as to protrude horizontally. Are provided on both sides of the horizontal transfer device 150.
In FIG. 1 and FIG. 4, reference numeral 133 denotes an elevating cable body composed of a drive chain and a drive belt for elevating the elevating table 140, and reference numeral 135 denotes elevating and lowering driving the elevating cable body 133. It is a motor.

  As shown in FIG. 2, the traveling mechanism 200 for traveling the stacker crane 130 along the unit installation direction of the storage shelf unit 120 includes a traveling carriage 220 having traveling wheels 221 and guide wheels 222, and traveling wheels 221 traveling. And a rail body 210 integrally formed with the guide rail 211 on which the guide wheels 222 travel.

  The rail main body 210 is erected vertically from a traveling rail 211 having a U-shaped cross-section with the traveling carriage 220 side opened and the inner bottom surface serving as the traveling surface of the traveling wheel 221, and from the open end of the upper portion of the traveling rail 211. It consists of guide rails 212, and two rail bodies 210 are fixed on the floor surface base 201 so that the open surfaces having a U-shaped cross section face each other. In this embodiment, both rail bodies 210 on both sides have guide rails 212, but only one running rail 211 having a U-shaped cross section may be provided on one side.

The traveling carriage 220 has traveling wheels 221 that are rotatably supported by traveling wheel shafts 223 on both sides and are configured to roll on the traveling surfaces of the traveling rails 211 on both sides.
In addition, a pair of guide wheels 222 that are rotatably supported by guide wheel support members 224 and travel on both side surfaces of the guide rail 212 are provided on one side of the traveling carriage 220. Note that reference numeral 226 in FIG. 2 is a position detecting means for the traveling carriage 220.

As shown in FIG. 3, the container 110 includes engaging means 115 having L-shaped cross-section hooks on both sides of the front and rear surfaces, and a transfer chain 152 of the horizontal transfer device 150 is provided on the engaging means 115. The latching means 151 attached so as to protrude horizontally is engaged to transfer between the stored item 110 and the horizontal transfer device 150.
A notch portion 116 is provided below the attachment position of the engaging means 115 on the front and rear end faces, and the transfer chain 152 can be provided without causing the engaging means 115 to protrude greatly by the notch portion 116. It is possible to prevent the locking means 151 that rotates and rises at the end of the contact with the container 110.

  In addition, the stored item 110 includes a connecting means 111 that is detachably engaged with each other at the center of the front and rear surfaces. The connecting means 111 is detachably connected to the adjacent stored item 110 by the lifting and lowering operation of the lifting table 140. The L-shaped cross-section hooks 111a provided on the front surface and the reverse L-shaped cross-section hooks 111b provided on the rear surface are combined. The engagement between the inverted L-shaped hook 111b provided in 110A and the L-shaped hook 111a provided in the stored item 110B of the rear shelf group is easily detached.

Then, a stored information display unit 112 including a bar code display for recognizing the presence of the stored product 110 is provided on the outer surface of the stored product 110 as shown in FIG. Based on the bar code display information 112, the presence of the stored item 110 is recognized, and the reliable storage management is achieved.
In this embodiment, the automatic three-dimensional warehouse 100 receives and stores the stored item 110 that is a safe deposit box, and reference numeral 113 in FIG. 3 indicates an opening and closing for opening and closing the stored item 110 that is a safe deposit box in the direction of the arrow. Reference numeral 114 denotes a lock for the open / close lid.

  As shown in FIGS. 5 to 7, the horizontal transfer device 150 includes a transfer device main body 154 and a base 153, and the transfer device main body 154 is stored on a slide rail 159 provided on the base 153. 110 is configured to be movable in the transfer direction of 110, and the base 153 is fixed to the lifting table 140 of the stacker crane 130, and the transfer device main body 154 is vertically and horizontally movable with respect to the storage shelf unit 120. It is configured to be movable in three directions of contact and separation.

  The transfer device main body 154 includes a storage material receiving rail 157 that supports the stored material 110 that is extended and transferred in the transfer direction from below, and a stored material guide 158 that guides the transferred material from both sides. Under the storage guides on both sides, there are end sprockets 155 provided at both ends in the transfer direction and transfer chains 154 wound around drive sprockets 156 provided near the center.

  The storage guides 158 on both sides include an introduction guide portion 158B in which the left and right intervals gradually expand toward the end in a section of about 1/3 of the length of the storage 110 from both ends in the transfer direction, It has a parallel guide portion 158A having a constant left and right interval, and is configured to allow an error in the horizontal position with respect to the storage shelf 121 during transfer.

In addition, each transfer chain 154 is provided with a locking means 151 that detachably engages with an engagement means 115 provided in the storage 110, and drives the transfer chain 154. As a result, the locking means 151 engages with the engaging means 115 of the stored item 115 and is pulled out from the storage shelf 121, and the locking means 151 stores by pressing the end surface of the engaging means 115 portion of the stored item 110. It is configured to enter the shelf 121.
In this embodiment, the end sprockets 155, the drive sprockets 156, and the transfer chain 154 on both sides have a double-row structure, so that the locking means 151 is held by the double-row transfer chain 154. In addition, the driving force with respect to the stored item 110 is strengthened, and the locking means 151 is prevented from rotating in a horizontal plane, so that the position of the transfer chain 154 and the position of the stored item 110 are less likely to occur.

  As shown in FIGS. 8 to 11, the storage shelf 121 is a guide frame formed in a pair of left and right cross-sections that is fixed to the shelf column 123 and guides the stored item 110 and supports the lower part of the side surface of the stored item 110. 122, a plurality of shelf columns 123 combined with a plurality of shelf horizontal frames 126, and storage shelves 121 constituted by a pair of left and right guide frames 122 are provided in multiple rows in the vertical direction and in multiple rows in the left and right directions. 120 is configured.

  Each guide frame 122 is fixed to the shelf column 123 using a rivet 124. The shelf column 123 is previously provided with a fixing hole at the position, and each guide frame 122 is preliminarily provided with the head of the rivet 124 at the position. A concave drawn portion 125 having a depth that does not protrude from the guide surface is provided, and a fixing hole is provided.

  Further, among the plurality of shelf pillars 123, the shelf pillar 123 that is closest to the stacker crane 130 is fixed at a position away from the end of the guide frame 122 on the stacker crane 130 side, and the floor surface of the storage shelf unit 120. Each storage shelf 121 is configured to overhang on the stacker crane 130 side with respect to the installation section in FIG. 1, and as shown in FIGS. 1 and 4, the traveling wheels 221 for running the stacker crane 130 and the floor surface are configured. The installed traveling rails 211 are provided below the overhang portions of the storage shelves 121 and the lifting mechanism is housed inside the traveling carriage 220 in the stacker crane 130 so that the lowering limit of the lifting table 140 is lowered. And the storage shelf unit 120 is improved in storage efficiency by lowering the height of the lowermost stage of the storage shelf 121. That.

  Furthermore, each pair of left and right guide frames 122 is an introduction frame in which the left and right intervals gradually expand toward the end in a section that is approximately one third of the transfer direction length of the stored item 110 from the end on the transfer device side. The unit 122B and the parallel frame unit 122A having a constant left-right interval are configured to allow an error in the horizontal position with the horizontal transfer device 150 during transfer.

Next, the procedure for taking out the stored items 110 in the automatic three-dimensional warehouse 100 using the traveling mechanism 200 of this embodiment will be described with reference to FIG. 13 and the storage operation procedure will be described with reference to FIG.
First, as shown in FIG. 13 (a), the procedure for taking out the stored item 110 is designated in such a manner that the stored item 110A of the front row shelf group and the stored item 110B of the rear row shelf group are engaged with each other. The stacker crane 130 is moved in the horizontal direction by the traveling mechanism 200 with respect to the storage shelf 121, and the lifting table 140 is moved up and down to face the horizontal transfer device 150A.
The vertical position of the lifting / lowering table 140 is positioned so that the stored item receiving rail 157 of the horizontal transfer device 150 </ b> A is at the same height as the guide frame 122 of the designated storage shelf 121. At this time, the upper end of the end sprocket 155, that is, the traveling surface of the upper portion of the transfer chain 152 is positioned above the engaging means 115 of the stored item 110A.

  Then, as shown in FIG. 13B, the transfer device main body 154 slides toward the stored object 110A so that the apex of the end sprocket 155 is positioned on the side of the engaging means 115 of the stored object 110A. At this time, the locking means 151 provided on the transfer chain 154 is positioned below the lower end portion of the engaging means 115 of the stored item 110A.

When the drive sprocket 156 is driven in this state, the locking means 151 provided on the transfer chain 154 rises along the end sprocket 155 and engages with the engagement means 115 of the stored item 110A. The stored item 110A is pulled out in the running direction 154, and the stored item 110A is transferred to the horizontal transfer device 150 as shown in FIG.
At this time, since the stored item 110B is also engaged with the stored item 110A by the connecting means 111, the stored item 110B is pulled out in the direction of the horizontal transfer device 150A simultaneously with the stored item 110A and moved to the initial position of the stored item 110A in the front row shelf group. .

And as shown in FIG.13 (d), the raising / lowering table 140 is slightly lowered | hung, the engagement by the connection means 111 of the stored item 110A and the stored item 110B is cancelled | released, as shown in FIG.13 (e), By moving the transfer device main body 154 back to the original position, the transfer of the stored item 110A to the horizontal transfer device 150A is completed.
When the stored item 110 </ b> A is a desired delivery item, the stacker crane 130 is driven by the elevating table 140 and the traveling mechanism 200 to move to the target take-out location.

  When the stored item 110B is a desired delivery item, after the stored item 110A is transferred to the horizontal transfer device 150A, the stacker crane 130 is moved in the horizontal direction by the traveling mechanism 200 as shown in FIG. Then, the horizontal transfer device 150B is opposed to the stored item 110B of the storage shelf 121, and as shown in FIG. 13 (g), the lifting table 140 is slightly raised, and the stored item receiving rail 157 of the horizontal transfer device 150B is It is positioned so as to be the same height as the guide frame 122 of the designated storage shelf 121.

  And as shown in FIG.13 (h), the transfer apparatus main body 154 slides to the stored object 110B side so that the vertex of the edge part sprocket 155 may be located in the side part of the engaging means 115 of the stored object 110B. At this time, the locking means 151 provided on the transfer chain 154 is positioned below the lower end of the engaging means 115 of the stored item 110B.

  When the drive sprocket 156 is driven in this state, the locking means 151 provided on the transfer chain 154 rises along the end sprocket 155 and engages with the engagement means 115 of the stored item 110B. The stored item 110B is pulled out in the running direction 154, and the stored item 110A is transferred to the horizontal transfer device 150 as shown in FIG.

  Then, as shown in FIG. 13 (j), the transfer device main body 154 is slid back to the original position to complete the transfer of the stored item 110B to the horizontal transfer device 150B. The stacker crane 130 is driven by the traveling mechanism 200 and moved to a target take-out location.

  As described above, the operation of taking out the stored item 110A of the front row shelf group or the stored item 110B of the rear row shelf group stored in the designated storage shelf 121 is sequentially completed.

Next, the storage operation procedure of the stored item 110 will be described in a state where both the stored items 110A and 110B are transferred to the horizontal transfer devices 150A and 150B.
As shown in FIG. 14 (a), the stacker crane 130 is moved in the horizontal direction by the traveling mechanism 200 with respect to the designated storage shelf 121, and the lifting table 140 is moved up and down to face the horizontal transfer device 150B.
The vertical position of the lifting / lowering table 140 is positioned so that the stored item receiving rail 157 of the horizontal transfer device 150B is at the same height as the guide frame 122 of the designated storage shelf 121. At this time, the upper end of the end sprocket 155, that is, the upper running surface of the transfer chain 152 is positioned above the engaging means 115 of the stored item 110B.

  Then, as shown in FIG. 14B, when the stored item 110B reaches the position of the front row shelf group of the storage shelf 121, the apex of the end sprocket 155 is positioned on the side of the engaging means 115 of the stored item 110B. As described above, the transfer device main body 154 slides toward the storage shelf 121 side.

  When the drive sprocket 156 is driven in this state, the locking means 151 provided on the transfer chain 154 rises along the end sprocket 155 and the engagement means 115 at the left end portion of the stored item 110B in the figure. The stored object 110B is pushed out in the traveling direction of the transfer chain 154 in contact with the end surface, and the stored object 110B is transferred to the position of the front row shelf group of the storage shelf 121 as shown in FIG.

  At this time, the transfer device main body 154 is arranged such that the apex of the end sprocket 155 is positioned on the side of the engaging means 115 of the stored item 110B when the stored item 110B reaches the position of the front row shelf group of the storage shelf 121. Therefore, the locking means 151 provided on the transfer chain 154 descends along the end sprocket 155 and automatically pushes out when the stored item 110B reaches the position of the front row shelf group of the storage shelf 121. To complete, an accurate stop control of the drive sprocket 156 is not necessary.

  Next, as shown in FIG. 14D, after the transfer device body 154 is slid back to the original position, as shown in FIG. 14E, the connecting means for the stored items 110A and 110B. The elevator table 140 is slightly lowered to a height at which the 111 does not engage with each other, and the stacker crane 130 is moved in the horizontal direction by the traveling mechanism 200 as shown in FIG. Facing the storage 110A.

Then, as shown in FIG. 14 (g), when the stored item 110A reaches the position of the front row shelf group of the storage shelf 121, the apex of the end sprocket 155 is positioned on the side of the engaging means 115 of the stored item 110A. As described above, the transfer device main body 154 slides toward the storage shelf 121 side.
At this position, as shown in FIG. 14 (h), when the elevating table 140 is slightly raised, the connecting means 111 of the stored item 110A and the stored item 110B are engaged.

  Then, when the drive sprocket 156 is driven, the locking means 151 provided on the transfer chain 154 rises along the end sprocket 155 and reaches the end surface of the engaging means 115 portion at the left end in the figure of the storage 110A. The stored object 110A is pushed out in the traveling direction of the transfer chain 154, and the stored object 110A is transferred to the position of the front row shelf group of the storage shelf 121 as shown in FIG. 110B is pushed by the stored item 110A and moves to the position of the back shelf group.

  Also at this time, the transfer device main body 154 is arranged such that the apex of the end sprocket 155 is positioned on the side of the engaging means 115 of the stored item 110A when the stored item 110A reaches the position of the front row shelf group of the storage shelf 121. Therefore, the locking means 151 provided on the transfer chain 154 descends along the end sprocket 155 and automatically pushes out when the stored item 110A reaches the position of the front row shelf group of the storage shelf 121. Therefore, the stop control of the drive sprocket 156 is not necessary, and the locking means 151 provided on the transfer chain 154 is lowered to a position where it does not engage with the engagement means 115 of the stored article 110A. As shown in FIG. 14J, the storing operation is completed by sliding the transfer device main body 154 as it is to the original position.

  As described above, the storage operation of the stored item 110A in the front row shelf group and the stored item 110B in the rear row shelf group with respect to the designated storage shelf 121 is sequentially completed.

  In this embodiment, as the storage shelf unit 120 for storing the stored items 110 so as to freely enter and exit, the storage shelf 121 is divided into a front row shelf group and a rear row shelf group at the same height shelf position. Is used as an example, but the storage shelf 121 is divided into a plurality of row shelf groups such as a front row shelf group, a middle row shelf group, and a rear row shelf group at the same height shelf position. Needless to say, there is no fundamental difference between the procedure for taking out the stored item 110 and the procedure for storing it.

  As described above, according to the traveling mechanism of the present invention, it is possible to simplify and reduce the number of components, and to lower the lower limit of the movable range of the movable device on the traveling carriage, and The space occupied by the traveling cart can be reduced, and in particular, by applying it to a stacker crane in an automatic three-dimensional warehouse, the storage shelf can be provided at a low position and the interval between the storage shelf and the stacker crane can be reduced. There is also a synergistic effect with other configurations that enhance the storage efficiency in the above-described embodiment, and the effect is enormous, such as an auto three-dimensional warehouse with extremely high storage efficiency.

BRIEF DESCRIPTION OF THE DRAWINGS The whole explanatory drawing of the autostereoscopic warehouse using the traveling mechanism which is one Example of this invention. Sectional drawing of the traveling mechanism which is one Example of this invention. The perspective explanatory drawing of the stored thing used in the autostereoscopic warehouse shown in FIG. The perspective explanatory drawing of a storage shelf and a stacker crane. The side schematic diagram of a horizontal transfer apparatus. The plane schematic of a horizontal transfer apparatus. The front schematic of a horizontal transfer apparatus. The perspective view of a storage shelf unit. The top view which shows the attachment structure of the shelf column and guide frame of a storage shelf unit. The side view which shows the attachment structure of the shelf column and guide frame of a storage shelf unit. The front view which shows the attachment structure of the shelf column and guide frame of a storage shelf unit. The schematic diagram which shows the connection engagement state of the storage thing of a front row shelf group, and the storage thing of a back row shelf group. The schematic diagram explaining the operation | movement procedure at the time of taking out the stored thing. The schematic diagram explaining the operation | movement procedure at the time of storing a storage thing. Sectional drawing of the conventional traveling mechanism. The perspective view of the rail main body of the conventional traveling mechanism.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 ... Auto-stereoscopic warehouse 110 ... Stored item 111 ... Connection means 112 ... Stored item information display part 113 ... Opening / closing cover 114 ... Locking 115 ... Engagement unit 120 ... Storage shelf unit 121 ・ ・ ・ Storage shelf 122 ・ ・ ・ Guide frame 122A ・ ・ ・ Parallel frame portion 122B ・ ・ ・ Introduction frame portion 123 ・ ・ ・ Shelve column 124 ・ ・ ・ Rivet 125 ・ ・ ・ Drawing portion 126 ・ ・・ Shelf horizontal frame 130 ・ ・ ・ Stacker crane 131 ・ ・ ・ Elevating strut 133 ・ ・ ・ Elevating cable body 135 ・ ・ ・ Elevating motor 140 ・ ・ ・ Elevating table 150 ・ ・ ・ Horizontal transfer device 151 ・ ・ ・Locking means 152 ... transfer chain 153 ... base 154 ... transfer device body 155 ... end sprocket 156 ... drive sprocket 157 ... containment receiving rail 158 Containment guide 158A ... parallel guide part 158B ... introduction guide part 159 ... slide rail 200, 500 ... travel mechanism 201 ... floor surface base 210, 510 ... rail main body 211, 511 ... travel rails 212, 512 ... guide rails 220,520 ... travel carts 221, 521 ... travel wheels 222,522 ... guide wheels 223 ... travel wheel shafts 224 ... guide wheels Support member 226 ... Position detecting means

Claims (5)

In a traveling mechanism having a traveling carriage having traveling wheels and guide wheels, a traveling rail on which the traveling wheels travel, and a guide rail on which the guide wheels travel,
The traveling rail is U-shaped in cross section, and the traveling carriage side is open,
The travel mechanism according to claim 1, wherein the guide rail is erected vertically from an open side end of the upper portion of the travel rail.   The travel mechanism according to claim 1, wherein the guide rail is formed integrally with the travel rail using a single material.   The travel mechanism according to claim 2, wherein the guide rail is formed by bending a plate-like material integrally with the travel rail. The traveling wheels are provided on both sides of the traveling carriage;
The traveling rail is provided with two U-shaped open surfaces facing each other, and the bottom surface inside the U-shaped cross section is the traveling surface of the traveling wheel,
The travel mechanism according to any one of claims 1 to 3, wherein the guide rail is erected vertically from an open side end portion of at least one upper portion of the two travel rails.   5. The traveling cart of a stacker crane used in an automatic three-dimensional warehouse in which a storage shelf unit in which a large number of storage shelves are integrated is used for loading and unloading stored items. The traveling mechanism according to the above.

Images