JP2016037334A - Automated warehouse and transport method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To store an object including a free vehicle in a stable state.SOLUTION: An automated warehouse includes: a rack 101 in which an object 200 having a body part 221 and a free vehicle 202 is stored while placed on a placement surface part 111; and a stacker crane 102 which transports the object 200 in a state where the free vehicle 202 is lifted relative to the placement surface part 111. The rack 101 includes wheel guides 112 which have a height higher than a height R at which the object 200 is lifted, are disposed at a lateral side of the placement surface part 111 in a width direction so as to extend along a transport direction of the object 200, and restrict rotation of wheels 221 of the free vehicle 202.SELECTED DRAWING: Figure 6

Description

  The present invention relates to an automatic warehouse in which an object can be stored in a rack and the object can be automatically taken in and out using a stacker crane, and a transfer method, and in particular, an object such as a cart with a free car The present invention relates to an automatic warehouse for storing things and a transfer method.

  A cart with a free wheel (a free wheel) generally describes rolling of a wheel provided in the free wheel (hereinafter, wheel rotation around the horizontal axis (rotation of the wheel around the axle)) as “rolling”. The brake that stops the turning of the wheel around the vertical axis (hereinafter, the rotation of the wheel around the vertical axis is referred to as “turning”. The same applies in the claim). Is not stable because it does not exist. Therefore, when the cart is stored in the rack, the cart may be stored in the automatic warehouse while being placed on the pallet. Also, in the case of an automated warehouse that directly stores a cart without using a pallet, a special cart with fixed legs is used in addition to a free car, and the rack is transported by a stacker crane using the stationary legs. Is stored.

  In Patent Document 1, a rack is provided with a wheel receiver that can restrict rolling of a non-turning wheel provided on the car cart, and the car cart is lifted and placed on the wheel receiver. The technology for storing the cart is described.

JP 09-86610 A

  However, in recent years, there are cases where a cart with a free car is used for all four wheels. Even if such a cart is stored in the rack in a state where the rolling of the wheels is restricted, the wheels turn in all four wheels, making it difficult to store in a stable state.

  SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and is an automatic warehouse that can be stored in a rack in a stable state even for an object such as a cart with a free wheel, and a transfer method. For the purpose of provision.

  In order to achieve the above object, an automatic warehouse according to the present invention includes a rack that mounts and stores an object having a main body and a free wheel having a wheel attached to a lower portion of the main body on a mounting surface portion; A stacker crane for transferring the object to and from the rack in a state in which the free wheel is lifted from a mounting surface that is a horizontal surface including the mounting surface portion, and the rack transfers the object. The mounting surface portion described above in a width direction that has a height higher than a lifting height that is a distance between the mounting surface and the wheel of the free wheel and is perpendicular to a transfer direction and a horizontal plane. It is a side of this, It is arrange | positioned in the state extended along the transfer direction of the said target object, The wheel guide which controls turning of the said wheel of the said universal vehicle is provided, It is characterized by the above-mentioned.

  According to this, when the object is transferred to the rack, the turning of the wheel of the free wheel can be restricted, so that the object can be stored in the rack with the wheel maintained at a predetermined position. . Therefore, even if the object is an object whose wheels are all freewheels, the object can be stored in a rack in a stable state.

  The rack may further include a stopper that is lower than the lifting height and that is disposed in front of and behind the placement surface portion in the transfer direction and restricts movement of the wheels of the universal vehicle.

  According to this, not only turning of the wheel of the free wheel but also rolling can be restricted, and the object can be stored in a more stable state.

  In addition, the wheel guide may include a notch portion that is notched corresponding to a region through which a shaft of a radial bearing of the free wheel passes when the object is placed on the placement surface portion.

  According to this, since the object can be moved up and down without interference between the radial bearing of the free wheel and the wheel guide, the operation when storing the object in the rack or taking out the object from the rack is smooth. It can be carried out.

  Further, the wheel guide may include a tapered portion having a surface inclined so as to gradually move away from a region through which the shaft of the radial bearing passes as it goes upward in a portion corresponding to the notch portion.

  According to this, when the free wheel is arranged at a position corresponding to the notch portion, the tapered portion can correct the position of the wheel even if the wheel turns slightly.

  The stacker crane is determined by the wheel turning means for turning the wheel to determine the turning state of the wheel, and the wheel turning means when transferring the object from the stacker crane to the rack. A second wheel guide for maintaining the turning state of the wheel may be provided.

  In order to achieve the above object, the transfer method according to the present invention is a transfer method for transferring an object having a main body and a free wheel having a wheel attached to a lower portion of the main body from a stacker crane to a rack. The stacker crane moves the object toward the rack in a state in which the free wheel is lifted from a placing surface that is a horizontal surface including a placing surface portion on which the object is placed. When loading, the above-mentioned in the width direction which has a height higher than the lifting height which is the distance between the mounting surface and the wheel of the free wheel, and which is the direction orthogonal to the transfer direction in the horizontal plane The wheel of the free wheel or the side surface of the radial bearing is slid in a contact state on a wheel guide that is located on the side of the mounting surface and extends along the transfer direction of the object. about It is characterized.

  According to this, when the object is transferred to the rack, the turning of the wheel of the free wheel can be restricted, so that the object can be stored in the rack with the wheel maintained at a predetermined position. . Therefore, even if the object is an object whose wheels are all freewheels, the object can be stored in a rack in a stable state.

  Note that the execution of the program for causing a computer to execute each process included in the transfer method also corresponds to the implementation of the present invention. Of course, implementing the recording medium in which the program is recorded also corresponds to the implementation of the present invention.

  According to the present invention, even when the turning of the wheel of the free wheel becomes free by lifting the object with the stacker crane, when the object is transferred to the rack, the turning of the wheel is restricted and The position can be corrected. Therefore, the free wheel of the object stored in the rack can be fixedly held, and the object can be stored in the rack in a stable state.

FIG. 1 is a perspective view schematically showing a part of an automatic warehouse in which an object can be stored and automatically taken in and out. FIG. 2 is a plan view schematically showing a part of the automatic warehouse. FIG. 3 is a perspective view schematically showing the object from below. FIG. 4 is a side view schematically showing the free wheel. FIG. 5 is a side view schematically showing the relationship between a part of the rack and the stacker crane. FIG. 6 is a perspective view schematically showing one unit of a rack for storing one object. FIG. 7 is a side view showing the vicinity of the free wheel in the object transfer process. FIG. 8 is a perspective view schematically showing one unit of a rack for storing one object according to another embodiment.

  Next, embodiments of an automatic warehouse and a transfer method according to the present invention will be described with reference to the drawings. In addition, the following embodiment is only what showed an example of the automatic warehouse which concerns on this invention, and the transfer method. Accordingly, the scope of the present invention is defined by the wording of the claims with reference to the following embodiments, and is not limited to the following embodiments. Therefore, among the constituent elements in the following embodiments, constituent elements that are not described in the independent claims indicating the highest concept of the present invention are not necessarily required to achieve the object of the present invention. It will be described as constituting a preferred form.

  FIG. 1 is a perspective view schematically showing a part of an automatic warehouse in which an object can be stored and automatically taken in and out.

  FIG. 2 is a plan view schematically showing a part of the automatic warehouse.

  As shown in these drawings, the automatic warehouse 100 is an apparatus that can automatically store a loaded object 200 and can automatically carry out the stored object 200. And a stacker crane 102.

  FIG. 3 is a perspective view schematically showing the object from below.

  As shown in these drawings, the object 200 has a main body 201 and a free wheel 202 attached to the lower part of the main body 201 and is an object to be stored in the rack 101. In the case of this embodiment, the target object 200 is a so-called car cart. Note that the target object 200 not only means an empty cart, but the target object 200 is a combination of a cart and a package accommodated in the cart. Specifically, the cart that is the target object 200 has a net-like member erected from the periphery of a rectangular base. In the present embodiment, the object 200 has a free wheel 202 attached to each of the lower four corners of the rectangular main body 201.

  FIG. 4 is a side view schematically showing the free wheel.

  The free wheel 202 is a member called a so-called free caster, and includes a wheel 221, a radial bearing 222, and a thrust bearing 223. In the free wheel 202, a radial bearing 222 is attached to the main body 201 via a thrust bearing 223, and the wheel 221 is attached to the radial bearing 222. Therefore, the wheel 221 of the free wheel 202 rolls around the rolling axis H with respect to the mounting surface F (θ1), and turns around the turning axis V with respect to the main body 201 together with the radial bearing 222 (θ2). )can do.

  The free wheel 202 is arranged in a state where the turning axis V that is the rotation axis of the thrust bearing 223 and the rolling axis H that is the rotation axis of the radial bearing 222 are separated (eccentric), and the direction of the wheel 221 Thus, the contact portion between the wheel 221 and the placement surface F is different within the range of the distance D.

  In the case of this embodiment, the free wheel 202 includes a rolling stopper 224 that can restrict the rolling of the wheels 221.

  The stacker crane 102 is a device that can transport the object 200 along the rack 101 and can transfer the object 200 to and from the rack 101. In the case of this embodiment, the stacker crane 102 extends in the vertical direction (Z-axis direction in the drawing) and the carriage 121 moving in the width direction (Y-axis direction in the drawing) along the rack 101, as shown in FIG. The mast 122 mounted on the carriage 121 and moved in the horizontal direction together with the carriage 121, the elevator 123 that moves up and down along the mast 122, and the object 200 between the stacker crane 102 and the rack 101. And a transfer device 124 for transferring.

  In the case of the present embodiment, the transfer device 124 included in the stacker crane 102 moves the object 200 lifted until the wheel 221 of the free wheel 202 is lifted, that is, the wheel 221 is lifted, toward the rack 101. A so-called slide fork that can be moved is provided.

  The transfer device 124 included in the stacker crane 102 is not particularly limited as long as it is a device that transports the object 200 in a lifted state.

  Further, the stacker crane 102 is a wheel turning means (not shown) for turning the wheel 221 to determine the position of the wheel 221 with respect to the turning axis V of the thrust bearing 223 (hereinafter referred to as “the turning state of the wheel 221”). And a second wheel guide for maintaining the turning state of the wheel 221 determined by the wheel turning means when the object 200 is transferred from the stacker crane 102 to the rack 101.

  FIG. 5 is a side view schematically showing the relationship between a part of the rack and the stacker crane.

  The rack 101 is a facility for placing and storing the object 200 on the placement surface unit 111. Further, when the object 200 is lifted from the placement surface F that is a horizontal plane that includes the placement surface portion 111 and is virtually expanded, the placement surface F and the free wheel 202 are transferred to and from the stacker crane 102. In a direction that is higher than the lifting height R that is the distance from the lowermost part of the wheel 221 with respect to the mounting surface F and that is orthogonal to the transfer direction (X-axis direction in the figure) in the horizontal plane. A wheel guide that is disposed on the side of the mounting surface portion 111 in a certain width direction (Y direction in the drawing) and extends along the transfer direction of the object 200 and restricts the turning of the wheel 221 of the universal vehicle 202. 112 is provided.

  In the case of the present embodiment, the rack 101 includes a plurality of placement surface portions 111 in the vertical direction (Z-axis direction in the drawing) and in the left-right direction (Y-axis direction in the drawing). A wheel guide 112 is provided, and the object 200 can be stored in a stable state.

  In FIG. 1, FIG. 2, etc., only a part of the wheel guide 112 is described, and the description of the other wheel guides 112 is omitted. As shown in FIG. 2, two racks 101 are arranged so as to sandwich one stacker crane 102, and each rack 101 is provided with a wheel guide 112. Note that the transfer device 124 provided in the stacker crane 102 can transfer the target object 200 in a lifted state with respect to any of the racks 101 arranged on both sides. Further, the automatic warehouse 100 may include a plurality of stacker cranes 102 and a plurality of racks 101 corresponding thereto.

  Further, the placement surface F is virtually set in correspondence with each placement surface portion 111 provided in the rack 101.

  FIG. 6 is a perspective view schematically showing one unit of a rack for storing one object.

  As shown in the figure, the wheel guide 112 is a plate-like member erected on the placement surface portion 111 along the transfer direction, and the height T of the wheel guide 112 is the lifting height of the object 200. It is set higher than R. In the case of this embodiment, the two wheel guides 112 are arranged in a parallel state or a substantially parallel state, and form a groove together with the placement surface portion 111. The width of the groove is set to be slightly wider than the width of the wheel 221 of the free wheel 202, and is set to such a width that the wheel 221 cannot freely turn. Therefore, while the stacker crane 102 is transferring the object 200 in a state where the wheel 221 of the object 200 is inserted into the two wheel guides 112 arranged so as to oppose each other, the wheel 221 does not turn and does not turn. The direction (transfer direction) is maintained.

  Further, the wheel guide 112 is cut out corresponding to a region where the radial bearing 222 of the free wheel 202 passes in the vertical direction when the object 200 is placed on the placement surface 111 or lifted. A notch 113 is provided.

  Further, the wheel guide 112 maintains a direction below the notch 113 so as to abut against at least the wheel 221 of the free wheel 202 even when the object 200 is placed on the placement surface portion 111 and regulate the turning of the wheel 221. Part 110 is provided. Thereby, it is suppressed that the target object 200 stored in the rack 101 swings unintentionally.

  Further, the wheel guide 112 includes a tapered portion 115 having a surface inclined so as to gradually move away from a region through which the radial bearing 222 passes as it goes upward.

  As a result, the wheel 221 is disposed at a position corresponding to the notch 113 while the object 200 is being transferred, and the object 200 is lowered while keeping the wheel 221 along the tapered portion 115 even when the wheel 221 turns to some extent. Thus, the wheel 221 can be maintained in the transfer direction in a state where the wheel 221 is aligned with the wheel guide 112.

  Furthermore, the wheel guide 112 includes a second taper portion 119 having a surface inclined so as to gradually move away from a region through which the wheel 221 passes as it goes toward the stacker crane 102 side. As a result, when the object 200 is transferred from the stacker crane 102 to the rack 101, the wheel 221 moves along the second tapered portion 119 regardless of the direction of the wheel 221 of the free wheel 202. It becomes possible to adjust 221 along the transfer direction.

  The wheel guide 112 may have a tapered portion opposite to the second tapered portion 119 at a position corresponding to the notched portion 113, and a tapered portion in the same direction as the second tapered portion 119. You may prepare in the position corresponding to.

  The rack 101 further includes a stopper 116 on the placement surface portion 111. The stopper 116 has a height lower than the lifting height R at which the object 200 is lifted by the stacker crane 102, and is disposed in front of and behind the placement surface portion 111 in the transfer direction (X-axis direction in the drawing). It is a member that regulates the movement of the wheel 221 of the free wheel 202.

  In addition, the distance of the stopper 116 arrange | positioned ahead and the back of the mounting surface part 111 is determined based on the magnitude | size of the wheel 221 when the turning state of the wheel 221 is constant.

  In addition, when the turning state of the wheel 221 is not constant, it is set longer than the distance D that is twice the distance between the turning axis V (see FIG. 4) of the wheel 221 of the free wheel 202 and the rolling axis H of the wheel 221. ing. Thereby, even if the rolling axis H is located in any of the transfer directions with respect to the turning axis V, the movement in the transfer direction is suppressed to the object 200 stored in the rack 101, and the rack 101 It is possible to prevent the object 200 from falling.

  In the drawing (for example, FIG. 6), the stopper 116 is provided for each of the plurality of wheels 221, but the stopper 116 may be provided for at least one wheel 221.

  In the case of the present embodiment, the rack 101 includes a placement surface portion 111 and a wheel guide 112 at a position corresponding to the free wheel 202 disposed on one side in the width direction of the main body 201, and the second side on the other side. A mounting surface portion 118 is provided.

  The second placement surface portion 118 has a planar shape having a size equal to or greater than the distance D that is twice the distance of the rolling shaft H of the wheel 221. According to this, the turning of the free wheel 202 placed on the portion is not restricted, and it is possible to cope with any direction of the wheel 221. The description does not deny that the wheel guide 112 is provided on the other side. Further, the second mounting surface portion 118 may have a circular shape having a diameter equal to or greater than the distance D that is twice the distance of the rolling shaft H of the wheel 221.

  Next, a method for transferring the object 200 using the automatic warehouse 100 will be described.

  FIG. 7 is a side view showing the vicinity of the free wheel in the object transfer process.

  First, as shown on the right side of (1) in the figure, the object 200 is lifted from the placement surface F by a lifting height R (lifting step). The object 200 may be lifted by the lifting platform 123 of the stacker crane 102, or the transfer device 124 may have a lifting structure to lift the object 200.

  Next, the transfer device 124 of the stacker crane 102 transfers the object 200 toward the rack 101 in a state where the free wheel 202 is lifted (transfer process).

  In the case of the present embodiment, in the middle of the transfer process, the upper end portion has a height higher than the lifting height R and is lower than the lower end portion of the thrust bearing 223 of the free wheel 202 in the lifted state. Is located on the side of the mounting surface 111 in the width direction (Y direction in the figure) and extends along the transfer direction (X axis direction in the figure), and the wheels of the free wheel 202. It is corrected so that the side surface of 221 contacts and the direction of the wheel 221 faces the transfer direction.

  In the case of the present embodiment, the wheel guide 112 includes a second tapered portion 119 (not shown in FIG. 7) that widens toward the stacker crane 102 side, so that the wheel 221 of the free wheel 202 is perpendicular to the transfer direction. Even when the wheel 221 is turned in the direction or due to vibration during transfer, the direction of the wheel 221 can be gradually corrected in the transfer direction when the object 200 is transferred to the rack 101. It becomes possible.

  Next, the object 200 is moved in the transfer direction until the free wheel 202 is positioned at the notch 113 while sliding the side surface of the wheel 221 of the free wheel 202 on the wheel guide 112.

  Since the height of the stopper 116 is set lower than the lifting height R, the wheel 221 and the stopper 116 do not interfere with each other during the movement.

  Next, the object 200 is lowered (Z-axis direction in the drawing), and the wheel 221 is placed on the placement surface portion 111.

  As described above, the object 200 can be transferred from the stacker crane 102 to the rack 101, and the object 200 can be stored in the rack 101.

  According to the automatic warehouse 100 and the transfer method described above, when the object 200 is transferred from the stacker crane 102 to the rack 101, the direction of the wheel 221 of the free wheel 202 is corrected in the transfer direction by the wheel guide 112. can do.

  Even when the object 200 is stored in the rack 101, the wheel guide 112 restricts the turning of the wheel 221, so that the object 200 in the stored state can be prevented from swinging due to vibration or the like. . Therefore, it is possible to ensure a stable storage state of the object 200.

  In addition, this invention is not limited to the said embodiment. For example, another embodiment realized by arbitrarily combining the components described in this specification and excluding some of the components may be used as an embodiment of the present invention. In addition, the present invention includes modifications obtained by making various modifications conceivable by those skilled in the art without departing from the gist of the present invention, that is, the meaning described in the claims. It is.

  For example, as shown in FIG. 8, the wheel guide 112 may regulate the turning of all the wheels 221 of the free wheel 202 included in the object 200. Specifically, a wheel guide 112 for restricting the wheel 221 provided at one end in the width direction of the main body 201 of the object 200 and a wheel guide 112 for restricting the wheel 221 provided at the other end are respectively provided. Corresponding positions may be provided. Furthermore, the stoppers 116 may be provided on both sides in the width direction.

  The present invention can be used in an automatic warehouse or the like for storing an object equipped with a free car such as a cart.

D Distance F Placement surface H Rolling axis R Lifting height V Rotation axis Y direction 100 Automatic warehouse 101 Rack 102 Stacker crane 110 Direction maintaining part 111 Placement surface part 112 Wheel guide 113 Notch part 115 Tapered part 116 Stopper 117 Second stopper 118 Second placement surface portion 119 Second taper portion 121 Cart 122 Mast 123 Lifting platform 124 Transfer device 200 Object 201 Main body 202 Free wheel 221 Wheel 222 Radial bearing 223 Thrust bearing 224 Rolling stopper

Claims (6)

A rack that mounts and stores an object having a main body and a free wheel having a wheel attached to a lower portion of the main body;
A stacker crane for transferring the object to and from the rack in a state in which the free wheel is lifted from a mounting surface that is a horizontal surface including the mounting surface portion,
The rack is
A width that is higher than a lifting height that is a distance between the mounting surface and the wheel of the free wheel when the object is transferred, and that is a direction orthogonal to the transfer direction in the horizontal plane. An automatic warehouse provided with a wheel guide that is disposed in a direction extending along the transfer direction of the object and that restricts the turning of the wheel of the universal vehicle. The rack further includes
2. The automatic warehouse according to claim 1, further comprising a stopper that is lower than the lifting height and is disposed in front of and behind the placement surface portion in the transfer direction and restricts movement of the wheels of the free wheel. The wheel guide is
The automatic warehouse according to claim 2, further comprising a cutout portion cut out corresponding to a region through which a shaft of a radial bearing of the free wheel passes when the object is placed on the placement surface portion. The wheel guide is
The automatic warehouse according to claim 3, wherein a taper portion having a surface inclined so as to gradually move away from a region through which the shaft of the radial bearing passes as it goes upward is provided in a portion corresponding to the notch portion. The stacker crane is
Wheel turning means for turning the wheel to determine the turning state of the wheel;
5. The vehicle according to claim 1, further comprising a second wheel guide that maintains a turning state of the wheel determined by the wheel turning means when the object is transferred from the stacker crane to the rack. Automatic warehouse. A transfer method for transferring an object having a main body and a free wheel having a wheel attached to a lower portion of the main body from a stacker crane to a rack,
When the stacker crane transfers the object toward the rack in a state in which the free wheel is lifted from a mounting surface which is a horizontal surface including a mounting surface portion provided on the rack and on which the object is mounted. ,
The lateral side of the mounting surface portion in the width direction, which has a height higher than the lifting height that is the distance between the mounting surface and the wheel of the free wheel and is perpendicular to the transfer direction and the horizontal plane. A transfer method in which the wheel of the free wheel or the side surface of the radial bearing is slid in a contact state with a wheel guide arranged in a state extending along the transfer direction of the object.

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