JP2017052612A - Automated warehouse - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automated warehouse capable of improving reliability of cargo holding work by the tip sides of arm means.SOLUTION: There is provided an automated warehouse comprising a transferring/conveying device 2 for holding and transferring cargo 10 which is stored on a storage shelf 3 including a plurality of cargo storage partitions 3a, 3a, ... and on, and placing and conveying the cargo 10. The transferring/conveying device 2 comprises: a base table 6 including a placement part 6a for the cargo 10; base frames 7; and at least one arm means 5 capable of telescopically moving in the storage shelf 3 direction from the base frames 7. The base frames 7 are configured to be able to relatively move to the base table 6 in the telescopic motion direction of the arm means 5.SELECTED DRAWING: Figure 9

Description

  The present invention relates to an automatic warehouse for loading and unloading a plurality of storage shelves.

  In order to store a large number of loads, an automatic warehouse is used in which a plurality of multi-row and multi-stage storage shelves that can store a plurality of loads are loaded and unloaded with a stacker crane (transfer / transport device).

  For example, an automatic warehouse disclosed in Patent Document 1 travels on a traveling path formed between a plurality of racks (storage shelves) that store a plurality of loads and racks arranged opposite to each other and receives a transfer instruction. And a transfer device for transferring a load to the storage shelf. The transfer device includes a base having a mounting table (mounting unit) for mounting a load, a base frame firmly fixed on the base, and an arm member that can extend and contract from the base frame toward the rack ( Arm means). The arm member is composed of a plurality of flat plate-like members provided in a nested manner with respect to the base frame, and the tip side of the arm member can hold a load. Based on a command from the control device, the transfer device moves to a predetermined opening of the rack, and a plurality of stages of flat members are extended from the base frame, and the load is held by the tip side of the arm member. Thereafter, the load can be pulled out on the mounting table by contracting the flat plate members in a plurality of stages into the base frame.

JP 2012-236683 A (6th page, FIG. 5)

  However, in the automatic warehouse of Patent Document 1, it is a structure that holds a load on the tip side of the arm member by extending a plurality of flat plate members from a base frame firmly fixed to the base. As the load storage position becomes farther from the base frame, the amount of extension of the multi-stage flat plate members required to reach the load on the tip side of the arm member increases, so the tip side of the arm member with respect to the base frame There is a problem that the position of the arm is not stable, and the reliability of the holding operation between the load and the distal end side of the arm member is lowered.

  The present invention has been made paying attention to such problems, and an object of the present invention is to provide an automatic warehouse capable of improving the reliability of the load holding operation by the tip end side of the arm means.

In order to solve the above problems, the automatic warehouse of the present invention is:
While holding and transferring the load stored in a storage shelf having a plurality of load storage sections, an automatic warehouse equipped with a transfer / transport device for mounting and transporting the load,
The transfer / transport device includes a base including the load mounting portion, a base frame, and at least one arm means that can extend and contract from the base frame toward the storage shelf,
The base frame is characterized in that it can move relative to the base in the direction of expansion and contraction of the arm means.
According to this feature, in addition to the expansion and contraction movement of the arm means from the base frame toward the storage shelf, the base frame is moved relative to the base so as to be close to the storage shelf. Since the amount of expansion / contraction from the base frame is reduced, the tip position of the arm means is stabilized, and the reliability of the load holding operation by the tip side of the arm means is improved.

The relative movement of the base frame with respect to the base and the expansion / contraction movement of the arm means with respect to the base frame are performed by different driving devices.
According to this feature, the relative movement of the base frame on the base and the expansion and contraction movement of the arm means with respect to the base frame are separately performed by different driving means, so that the variation of the operation of the base frame and the arm means The load transfer capability of the transfer / transport device can be improved.

The base includes a travel guide extending in the storage shelf direction, and the base frame travels along the travel guide.
According to this feature, since the base frame is guided along the traveling guide, the base frame can be stably moved relative to the base.

The arm means is provided in a pair with respect to the base frame, and the pair of arm means is movable in directions toward and away from each other.
According to this feature, the base frame is moved relative to the base so that the amount of substantial expansion and contraction of the pair of arm means is small, and the load is held by bringing the pair of arm means close to each other in that state. Since it can hold | maintain, a load can be hold | maintained firmly.

It is a side view which shows the automatic warehouse in an Example. It is a top view which shows an automatic warehouse. It is a partial top view which shows the relationship between the stacker crane and the load accommodated and stored in the storage shelf in a transfer process. It is a perspective view which shows the structure of a stacker crane. It is a system block diagram which shows from receipt of the received load to receipt in an automatic warehouse. It is a sectional side view which shows the structure of a transfer apparatus. It is back sectional drawing which shows the structure of a transfer apparatus. (A) is a top view which shows the structure of a transfer apparatus, (b) is a top view which shows the state which expanded the width | variety between arm members from the state of (a). (A), (b), (c) is the upper surface schematic diagram explaining the operation | movement which latches the latching | locking part of an arm means to the clamping part of the 1st side wall part of the load accommodated in the storage shelf. It is a principal part perspective view which shows the state of FIG.9 (c). (A), (b), (c) is a schematic top view for explaining the operation of locking the locking portion of the arm means to the locking piece of the second side wall portion of the load arranged in the vicinity of the front edge of the storage shelf. It is. (A), (b), (c) is the upper surface schematic diagram explaining the operation | movement which transfers a load on the mounting base from the state of (c) of FIG. (A), (b), (c) is the upper surface schematic diagram explaining the operation | movement which transfers the load on a mounting base to the front opening vicinity of a storage shelf. (A), (b), (c) is the upper surface schematic diagram which shows the operation | movement which sends out the load arrange | positioned in the front opening vicinity of a storage shelf to the back | inner side of a storage shelf.

  EMBODIMENT OF THE INVENTION The form for implementing the automatic warehouse which concerns on this invention is demonstrated below based on an Example.

  The automatic warehouse according to the first embodiment will be described with reference to FIGS. Hereinafter, in the automatic warehouse of FIG. 3, the left side of the screen (storage shelf 3 side) will be described as the forward direction, and the right side of the screen (storage shelf 3 'side) will be described as the backward direction. Further, the left and right sides of the storage shelf 3 viewed from the stacker crane 2 shown in FIG.

  As shown in FIG. 1 and FIG. 2, the automatic warehouse 1 in the present embodiment includes a plurality of stacker cranes 2, 2, 2, 2 (refer to FIG. 3) having a plurality of loads 10, 10,. This is a large warehouse that can be moved and stored automatically by a transfer / transport device) and can be operated efficiently. The storage shelves 3, 3 ′ are arranged on opposite sides of the storage shelf blocks A, B, C, D. As shown in FIG. 3, the storage shelves 3, 3 ′,... Are multi-row / multi-stage shelves provided with a plurality of load mounting rails 3 a, 3 a,. In the load mounting rails 3a, 3a, a plurality of loads 10, 10,... (Three in this embodiment) can be arranged side by side in the front-rear direction. Furthermore, since the configurations of the storage shelf blocks A, B, C, and D are almost the same, the storage shelf block A arranged on the left side of the screen in FIG. , D will be omitted.

  Next, an outline of loading / unloading of the loads 10, 10,... In the automatic warehouse 1 will be described. As shown in FIG. 5, an entrance / exit station for entering / exiting the loads 10, 10,... Is provided on one end entrance side of the storage shelf block A, and the entrance / exit station is provided in the entire automatic warehouse 1. A system controller SC that operates based on a command from the main computer MC that manages the loads 10, 10,... And controls the transfer processing of the loads 10, 10,. Further, a branch transfer device 8a branched from the transfer device 8 that carries in and out the loads 10, 10,... That are loaded and unloaded is arranged up to a position near the entrance of the storage shelf block A at the loading / unloading station.

  As shown in FIGS. 3 and 5, for example, when a load 10 ′ received in the automatic warehouse 1 is received into the storage shelf 3 constituting the storage shelf block A, first, the storage shelf block A is received. At the delivery station, the system controller SC is operated based on a command from the main computer MC so that the load 10 ′ carried in via the transfer device 8 branches toward the branch transfer device 8 a extending to the storage shelf block A. Then, it is carried into the vicinity of the entrance of the storage shelf block A through the branch transfer device 8a. Then, after the loading process of the load 10 ′ is performed between the stacker crane 2 that operates based on the command of the system controller SC1 and the branch transfer device 8a, the stacker crane 2 in a state where the load 10 ′ is placed. Move between the storage shelves 3 and 3 ′ and a transfer device 4 described later moves up and down and stops at a predetermined storage position of the storage shelf 3, and then loads 10 on the storage shelf 3. 'Transfer process is performed.

  Next, the structure of the stacker crane 2 will be described. As shown in FIG. 4, the stacker crane 2 includes a traveling rail 2a extending on the floor between the storage shelves 3 and 3 'facing each other, and a traveling that automatically travels on the traveling rail 2a by a driving device (not shown). Loads 10, 10,... Between the carriage 2 b, a pair of masts 2 c, 2 c erected on the left and right of the traveling carriage 2 b, and storage shelves 3, 3 ′ attached to the pair of masts 2 c, 2 c. And the transfer device 4 that performs the transfer.

  The transfer device 4 includes a base 6 provided with a mounting table 6a (mounting unit) for mounting the loads 10, 10,... And a pair of left and right arm means that can expand and contract in the direction of the storage shelves 3, 3 ′. 5 and 5 and a base frame 7 that supports the arm means 5 and 5 on the base 6.

  As shown in FIG. 4, the base 6 is supported horizontally between the elevating members 6 b and 6 b that are guided and supported by the drive device (not shown) with respect to the masts 2 c and 2 c, and the elevating members 6 b and 6 b. The rigid body 6c is provided, and can be moved up and down along the masts 2c and 2c. The rigid body 6c includes a frame 6d having a substantially rectangular shape when viewed from above, and guide rails 6e and 6e installed on the side plates before and after the frame 6d, and has high strength (see FIG. 8).

  As shown in FIGS. 6 to 8, the guide rails 6e, 6e are fixed at the upper ends thereof with protruding strips 6f, 6f (traveling guides) extending along the longitudinal direction. A base frame 7 is arranged on the upper and lower sides of the ridges 6f and 6f, and the base frame 7 is movable back and forth along the ridges 6f and 6f, that is, with respect to the base 6. The relative movement is possible.

  The base frame 7 includes base rails 7a and 7a that extend in the left-right direction, and plate-like members 7b and 7b that connect the lower ends of the left and right ends of the base rails 7a and 7a. Recesses 7c and 7c (refer to FIG. 7 in particular) that can engage with the protrusions 6f and 6f are provided at the lower ends of the plate-like members 7b and 7b, respectively. The recesses 7c and 7c and the protrusions 6f , 6f, the base frame 7 is guided back and forth to be movable. Further, on the upper ends of the base rails 7a and 7a, protruding ridges 7d and 7d extending along the longitudinal direction of the base rails 7a and 7a are fixed.

  As shown in FIGS. 6 to 8, the front / rear movement along the ridges 6 f, 6 f of the base frame 7 is performed by a front / rear drive device 9 provided below the base frame 7. The front-rear drive device 9 includes a rod-shaped member 9a installed at the center between the front and rear side plates of the frame 6d, a drive motor 9b movable along the rod-shaped member 9a, and a guide member 9c inserted through the rod-shaped member 9a. A connecting member 9d for connecting the drive motor 9b and the guide member 9c, and the drive motor 9b and the guide member 9c are fixed to the lower ends of the base rails 7a and 7a, respectively. By driving the drive motor 9b, the drive motor 9b, the guide member 9c, and the connecting member 9d move integrally along the rod-like member 9a, and accordingly, the base frame 7 and the arm means 5 and 5 are projected. It moves forward and backward along the parts 6f and 6f. The front-rear driving device 9 has a driving force larger than the driving force of the expansion / contraction driving device 12 for expanding / contracting arm means 5, 5 described later.

  In this way, the base frame 7 is guided by the ridges 6f and 6f and moves back and forth, so that the base frame 7 can be stably moved relative to the base 6.

  In addition, stoppers (not shown) are provided at the front and rear ends of the ridges 6f and 6f, respectively. Therefore, even if the base frame 7 moves back and forth, the movement is restricted by the stopper, and the base frame 7 does not stick out of the base 6 (see FIG. 9B). Therefore, even if the arm means 5 and 5 move relative to the base 6 back and forth, the support strength of the arm means 5 and 5 by the base frame 7 does not change, so the arm means 5 and 5 are placed on the base 6. A stable supported state can be maintained.

  As shown in FIGS. 6 to 8, the arm means 5, 5 has outer frames 51, 51 having recesses 51 a, 51 a (see particularly FIG. 6) that engage with the protrusions 7 d, 7 d of the base frame 7. And a plurality of plate-like members 52, 52, 53, 53, 54, 54 provided in multistage on the opposite sides of the outer frames 51, 51, respectively. The outer frames 51, 51 are movable in the left-right direction along the ridges 7 d, 7 d when the recesses 51 a, 51 a are engaged with the ridges 7 d, 7 d of the base frame 7. The flat plate member 54 includes engaging portions described later that can engage with the loads 10, 10,..., For example, pins 54a and 54b at both front and rear ends.

  As shown in FIG. 8, the left and right driving devices 11 and 11 move the outer frames 51 and 51 in the left-right direction along the protruding portions 7 d and 7 d. The left and right drive devices 11 and 11 include drive motors 11a and 11a fixed to the plate-like members 7b and 7b, respectively, and drive shafts 11b and 11b extending from the drive motors 11a and 11a toward the mounting table 6a. Yes. The drive shafts 11b and 11b have male screw portions formed on the outer surfaces thereof, and female screw members 11c and 11c having female screw portions formed on the inner surfaces are screwed into the male screw portions. Outer frames 51 and 51 are fixed to the female screw members 11c and 11c, respectively. By driving the drive motors 11a and 11a and rotating the drive shafts 11b and 11b, the outer frames 51 and 51 can move in the left-right direction along the drive shafts 11b and 11b via the female screw members 11c and 11c. It is like that.

  As shown in FIG. 4, the plate-like members 52, 52, 53, 53, 54, 54 can be moved relative to each other in the front-rear direction, and the storage shelves 3 and storage shelves can be moved from the outer frames 51, 51. It can be extended in the 3 'direction. More specifically, the flat members 52, 52, 53, 53, 54, 54 are connected to each other by a chain and a ratchet (not shown), and are driven to the flat members 52, 52 in the front-rear direction by the telescopic drive device 12 described later. A force is applied, and the flat plate members 53, 53, 54, 54 are interlocked in the same direction following the force. That is, the flat members 52, 52, 53, 53, 54, 54 with respect to the outer frames 51, 51 are flat with respect to the outer frames 51, 51 from the state in which they are in the neutral expansion / contraction reference position (state of FIG. 6). The arm members 5 and 5 can extend in the front and rear sides by relative movement of the shaped members 52, 52, 53, 53, 54 and 54.

  As shown in FIG. 8, the arm means 5 and 5 are expanded and contracted by an expansion and contraction drive device 12 provided on the base frame 7. The telescopic drive device 12 includes a drive motor 12a fixed on the plate-like member 7b on one side, and a drive shaft 12b that extends over the left and right plate-like members 7b, 7b and rotates under the drive of the drive motor 12a. I have. Specifically, the drive force is transmitted from the drive motor 12a to the drive shaft 12b by meshing the pinion gear fixed to the drive motor 12a and the drive gear fixed to the drive shaft 12b. The drive shaft 12 b is provided with pinion gears 12 c and 12 c at positions corresponding to the flat members 52 and 52 (see FIGS. 6 and 7). The pinion gears 12 c and 12 c are the bottoms of the flat members 52 and 52. It meshes with racks 52a, 52a provided continuously in the longitudinal direction. By rotating the drive shaft 12b by the drive motor 12a, the flat plate members 52, 52, 53, 53, 54, 54 can be moved relative to the outer frames 51, 51 in the same direction. It has become.

  The pinion gears 12c and 12c are loosely fitted to guide pieces 51b and 51b (see FIG. 7) extending from the outer frames 51 and 51, respectively, and can move in the left and right directions together with the outer frames 51 and 51. In other words, the pinion gears 12c and 12c are splined to the drive shaft 12b. According to this, even if the outer frames 51, 51 move in the left-right direction as described above, the racks 52a, 52a of the flat members 52, 52 and the pinion gears 12c, 12c are always kept in meshing state. It has become.

  As shown in FIG. 10, the load 10 is a box-like container that opens upward, and a book, other articles, and the like are accommodated therein although not shown. The load 10 has a rectangular shape in plan view, and the first side wall portions 10a, 10a on the long side thereof are a pair of sandwiching engagement pieces 100, 100 provided near the center of a predetermined dimension from the left and right end portions of each outer side surface. (First clamping portion) and a plurality of locking pieces 101, 101,... Provided at a predetermined distance in the left-right direction of each outer side surface. The sandwiching engagement pieces 100, 100 protrude outward from the first side wall portion 10 a and have a substantially L shape in a top view when bent and extended in a direction away from each other. Further, the locking pieces 101, 101,... Form a flat plate shape that extends vertically and protrudes outward from the first side wall portion 10a, and also functions as a rib of the first side wall portion 10a. Similarly to the first side wall portions 10a and 10a, the second side wall portions 10b and 10b (second holding portions) on the short side of the container of the load 10 are closer to the center of the predetermined dimension from the left and right end portions of the outer side surfaces. Has a pair of sandwiching engagement pieces 100 ′, 100 ′ and a plurality of locking pieces 101, 101,...

  Next, transfer processing of the load 10 from the storage shelf 3 to the mounting table 6a will be described with reference to FIGS. In the present embodiment, the loads 10, 10,... Are arranged in the storage shelf 3 in a state where the first side wall portions 10a, 10a face in the front-rear direction, and the target load 10 is transferred. The aspect accommodated in the position (back side of the storage shelf 3) far from the apparatus 4 will be described.

  As shown in FIG. 9 (a), the stacker crane 2 is moved to stop the transfer device 4 in the vicinity of the opening of the load mounting rail 3a of the storage shelf 3 in which the target load 10 is stored. At this time, the arm means 5 and 5 are in a state in which the plate-like members 52, 52, 53, 53, 54 and 54 are in the expansion / contraction reference position with respect to the outer frames 51 and 51, and the base frame 7 is In this state, the base 6 is in the front / rear reference position (the center position of the base 6). The front-rear reference position of the base 6 does not have to be exactly the center in the front-rear direction of the base 6, and the base frame 7 only needs to be able to move back and forth from the front-rear reference position of the base 6.

  Next, as shown in FIG. 9B, the operation of moving the base frame 7 forward relative to the base 6 so as to be close to the storage shelf 3 by driving the front-rear drive device 9 described above, The operation of extending the arm means 5 and 5 toward the load 10 by driving the telescopic drive device 12 is performed simultaneously. According to this, since the forward movement of the base frame 7 and the extending movement of the arm means 5 and 5 are simultaneously performed in the same direction (the direction of the storage shelf 3), the forward movement of the base frame 7; Compared with the case where the arm means 5 and 5 are extended separately, the pins 54a and 54a of the flat plate members 54 and 54 are arranged at positions where they can engage with the holding engagement pieces 100 and 100 of the load 10. You can save time.

  Further, the pair of arm means 5 and 5 can be moved forward by the same distance toward the storage shelf 3 by the forward movement of the base frame 7, and the movement of the base frame 7 moves the front and rear of the arm means 5 and 5. Since the relative position does not change, the arm means 5 and 5 can be expanded and contracted by one expansion / contraction drive device 12. That is, it is possible to accurately arrange the pins 54a and 54a at positions where they can be engaged with the sandwiching engagement pieces 100 and 100 by making the expansion and contraction amounts of the arm means 5 and 5 the same.

  9 (c) and 10, when the pins 54a and 54a are arranged (moved) at positions in the front-rear direction that can be locked to the sandwiching engagement pieces 100 and 100, the arm means 5, 5 is stopped, and the width between the arm means 5 and 5 is narrowed so that the arm means 5 and 5 come close to each other by driving the left and right drive devices 11 and 11. Thus, the sandwiching engagement pieces 100, 100 of the load 10 are sandwiched from the left and right directions by the arm means 5, 5, and the sandwiching engagement pieces 100, 100 and the pins 54a, 54a are engaged.

  Thus, by moving the base frame 7 relative to the base 6 so as to be close to the storage shelf 3, the substantial amount of extension of the arm means 5, 5 required to reach the load 10 (outside) Since the amount of movement of the flat plate members 52, 52, 53, 53, 54, 54 relative to the frames 51, 51 is small, the positions of the pins 54a, 54a of the flat plate members 54, 54 can be stabilized. Therefore, the reliability of the work of holding the load 10 by the pins 54a and 54a of the arm means 5 and 5 is improved.

  Further, as described above, the base frame 7 is moved relative to the base 6, so that the substantial extension of the arm means 5, 5 is small (the arm length of the arm means 5, 5 is short). Thus, since the clamping engagement pieces 100, 100 are clamped by the arm means 5, 5, the load 10 can be firmly held by the arm means 5, 5.

  Further, the arm 10 can hold the load 10 only by sandwiching the sandwiching engagement pieces 100, 100 from the left and right directions by the arm means 5, 5 and engaging the sandwiching engagement pieces 100, 100 with the pins 54a, 54a. The holding operation of the load 10 can be easily performed without moving the 5, 5 itself or the transfer device 4 up and down.

  Further, since the sandwiching engagement pieces 100, 100 are provided closer to the center of the first side wall portion 10a, the arm means 5, 5 are provided on the left and right sides of the load 10 (side of the second side wall portions 10b, 10b). The clamping engagement pieces 100, 100 can be clamped without overhanging, and the arm means 5, 5 interferes with the columns 3b, 3b,... There is no.

  Next, as shown in FIG. 11 (a), the base frame 7 is moved backward from the state of FIG. 9 (c) while the load 10 is held by the arm means 5, 5, and the arm means 5, 5 is contracted, and the load 10 is pulled out from the end of the load mounting rail 3a on the side of the transfer device 4 to a position where a part of the load 10 protrudes (near the entrance of the storage shelf 3). Since the column 3b, 3b,... Of the storage shelf 3 is not provided at the end of the loading rail 3a on the transfer device 4 side, the arm means 5 is not obstructed by the columns 3b, 3b,. , 5 can be arranged on the left and right of the second side wall portions 10b, 10b of the load 10 (see FIG. 11C). Here, since the base frame 7 is configured to be movable in the front-rear direction and the base frame 7 is moved rearward, the load 10 interferes with the outer frames 51, 51 having a narrower width than the lateral width of the load 10. The load 10 can be pulled out to a position where a part of the load 10 protrudes from the end on the transfer device 4 side, in other words, a position partially overlapping the mounting table 6a. Therefore, the depth of the front of the storage shelf 3 can be shortened.

  Although not shown, when the load 10 is pulled out from the end of the load mounting rail 3a on the transfer device 4 side to a position where a part of the load 10 protrudes, first, a base close to the storage shelf 3 of the base 6 is used. An operation of moving the frame 7 to the reference position before and after the base 6 is performed. Thereafter, before the movement of the base frame 7 to the front / rear reference position is completed, the operation of contracting the arm means 5, 5 (the plate-like members 52, 52, 53, 53, 54, 54 is moved to the outer frames 51, 51). The movement to the expansion / contraction reference position is started. When the contraction operation of the arm means 5 and 5 is completed, the load 10 is pulled out from the end of the load mounting rail 3a on the transfer device 4 side to a position where a part of the load 10 protrudes. According to this, the stationary load 10 (load 10 subject to static friction) to which a large frictional force is applied is started to move by the front / rear drive device 9 having a driving force larger than the driving force of the telescopic drive device 12. Then, since the pulling-out operation of the load 10 (the load 10 on which dynamic friction is applied) is taken over by the driving force of the expansion / contraction drive device 12, the load applied to the expansion / contraction drive device 12 can be reduced.

  Furthermore, when the load 10 is pulled out from the end of the load mounting rail 3a on the transfer device 4 side to a position where a part of the load 10 protrudes, the operation procedure is not limited to the above. The movement operation to the position and the contraction operation of the arm means 5, 5 may be started at the same time, or the contraction operation of the arm means 5, 5 while the base frame 7 is close to the storage shelf 3 of the base 6. After that, the plate members 52, 52, 53, 53, 54, 54 may be further moved relative to the rear side of the outer frames 51, 51. At this time, it is possible to prevent the flat members 54, 54 from extending to the storage shelf 3 ′ side opposite to the storage shelf 3 and to prevent interference with the load 10 waiting in the vicinity of the opening of the storage shelf 3 ′. preferable.

  Next, as shown in FIG. 11 (b), the arm means 5, 5 are separated from each other so that the flat members 54, 54 open outward from the lateral width of the load 10. Then, as shown in FIG. 11 (c), the base frame 7 arranged at the front and rear reference position of the base 6 is moved away from the storage shelf 3, and the arm means 5, 5 Perform decompression. The extending operation of the arm means 5 and 5 at this time is such that the pins 54a and 54a on the front end side can be locked to the locking pieces 101 and 101 provided on the most front end side in the second side wall portions 10b and 10b of the load 10. Until it is placed.

  Subsequently, as shown in FIG. 12 (a), the second side wall portions 10b, 10b of the load 10 are sandwiched from the left and right directions by the arm means 5, 5, and the pins 54a, 54a are locked to the locking pieces 101, 101. Let

  Next, as shown in FIG. 12B, the contraction operation of the arm means 5 and 5 and the movement operation of the base frame 7 to the front-rear reference position are performed simultaneously to load the load 10 from the load mounting rail 3a. Transfer on 6a. According to this, since the operation of the base frame 7 and the operations of the arm means 5 and 5 are simultaneously performed in the opposite directions, the moving speed of the load 10 from the load mounting rail 3a onto the mounting table 6a becomes slow. The accuracy of transferring the load 10 onto the mounting table 6a is improved.

  In this way, the relative movement of the base frame 7 with respect to the base 6 and the expansion and contraction movement of the arm means 5 and 5 are performed at the same time by the different front and rear drive devices 9 and 12 respectively. Relative to the base frame 7 and the expansion and contraction movement of the arm means 5 and 5 can be driven in the same direction or in the opposite direction, that is, the base frame 7 and the arm means 5 and 5 Can increase the variation of the operation. Therefore, for example, as described above, the work time for arranging the pins 54a and 54a at positions where they can be engaged with the sandwiching engagement pieces 100 and 100 of the load 10 is shortened, and the load 10 is transferred onto the mounting table 6a. The accuracy can be improved. That is, the transfer capability of the load 10 of the transfer device 4 can be improved.

  Further, as described above, after the arm means 5 and 5 are pulled out to a position where the second side wall portions 10b and 10b can be accessed, the load 10 is transferred onto the mounting table 6a. In addition, even when the gap between the load 10 and the support columns 3b, 3b,... Of the storage shelf 3 is set narrow, the load 10 can be transferred onto the mounting table 6a.

  Furthermore, the holding work of the load 10 when the arm means 5 and 5 are pulled out to the position where the second side wall portions 10b and 10b can be accessed is the holding work of the load 10 when the load 10 is transferred onto the mounting table 6a. In addition, since the arm engaging means 5 and 5 are used to hold the sandwiching engagement pieces 100 and 100 and the second side wall portions 10b and 10b from the left and right, respectively, the control for holding the load 10 is simplified.

  Further, when the holding engagement pieces 100, 100 and the second side wall portions 10b, 10b of the load 10 are held by the arm means 5, 5, the pin 54a is attached to the holding engagement pieces 100, 100 and the locking pieces 101, 101. , 54a are locked, so that when the load 10 is moved, the holding state of the load 10 by the arm means 5, 5 is prevented from being released.

  In this embodiment, after the load 10 is pulled out from the end of the load mounting rail 3a on the transfer device 4 side to a position where a part of the load 10 protrudes, the pins 54a and 54a on the front end side are connected to the second side wall portion 10b. , 10b has been described in which the load 10 is locked to the locking pieces 101, 101 provided on the most front end side, and the load 10 is transferred onto the mounting table 6a by one pull-out operation. After the load 10 is pulled out from the end on the transfer device 4 side to a position where a part of the load 10 protrudes, the locking pieces 101, 101 provided with the pins 54a, 54a on the most front end side in the second side wall portions 10b, 10b. In the case where the load 10 cannot be locked, the operation from FIG. 11C to FIG. 12B may be repeated a plurality of times to transfer the load 10 onto the mounting table 6a.

  Next, as shown in FIG. 12 (c), the arm means 5 and 5 are separated from each other to release the load 10 from being held, and then the flat members 52, 52, 53, 53, 54 and 54 are attached to the outer frame. 51 and 51 are moved to the expansion / contraction reference position. Thereby, the arm means 5 and 5 are in a state in which the plate-like members 52, 52, 53, 53, 54, 54 are in the expansion / contraction reference position with respect to the outer frames 51, 51, and the front / rear reference of the base 6 It will be in the position. And although not shown in figure, the stacker crane 2 is moved and operated with the load 10 mounted on the mounting table 6a, and the load 10 is transported to the loading / unloading station.

  Thus, when the load 10 is transported, the flat members 52, 52, 53, 53, 54, 54 are in the expansion reference position with respect to the outer frames 51, 51, and the base frame 7 is in the base 6 When the state is at the front-rear reference position, the storage shelf 3 or 3 ′ on both sides of the transfer device 4 can be quickly moved when the load 10 is transferred to the next transfer process. The transfer process can be started.

  Next, transfer processing of the load 10 from the mounting table 6a to the storage shelf 3 will be described with reference to FIGS.

  As shown in FIG. 13A, first, the arm means 5 and 5 are extended toward the storage shelf 3. At this time, the extending operation of the arm means 5 and 5 is such that the pins 54b and 54b on the rear end side can be locked to the locking pieces 101 and 101 provided on the most rear end side in the second side wall portions 10b and 10b of the load 10. Until it is placed in the correct position. Then, the second side wall portions 10b and 10b of the load 10 are sandwiched from the left and right directions by the arm means 5 and 5, and the pins 54b and 54b are locked to the locking pieces 101 and 101, respectively.

  Next, as shown in FIG. 13 (b), the extending operation of the arm means 5 and 5 and the moving operation of the base frame 7 from the front and rear reference position to the rear are performed simultaneously to load the load 10 with the mounting table 6a. It arrange | positions so that it may straddle between the mounting rails 3a. According to this, since the operation of the base frame 7 and the operations of the arm means 5 and 5 are simultaneously performed in the opposite direction, the load 10 is moved from the mounting table 6a to the loading platform rail 3a. The speed is reduced, and the transfer accuracy of the load 10 between the mounting table 6a and the load mounting rail 3a is improved.

  Then, as shown in FIG. 13 (c), the arm means 5 and 5 are separated from each other to release the holding state of the load 10, and then the arm means 5 and 5 are contracted and moved, and the base frame 7 is mounted on the base. 6 is moved in the forward direction toward the position close to the storage shelf 3. The contraction operation of the arm means 5 and 5 at this time is arranged at a position where it can engage with the locking pieces 101 and 101 (or the sandwiching engagement pieces 100 ′ and 100 ′) closer to the center of the second side wall portions 10b and 10b. It is done until it is done. The second side wall portions 10b and 10b of the load 10 are sandwiched from the left and right directions by the arm means 5 and 5, and the locking pieces 101 and 101 near the center of the second side wall portions 10b and 10b (or the clamping engagement pieces 100 ′, 100 '), the front end pins 54a and 54a are locked.

  Next, as shown in FIG. 14 (a), the extending operation of the arm means 5 and 5 and the moving operation of the base frame 7 from the rear position to the front / rear reference position are simultaneously performed, and the load 10 is placed on the mounting table 6a. To the loading rail 3a. According to this, since the operation of the base frame 7 and the operations of the arm means 5 and 5 are simultaneously performed in the opposite direction, the load 10 is moved from the mounting table 6a to the loading platform rail 3a. The speed is reduced, and the accuracy of transferring the load 10 to the load mounting rail 3a is improved.

  Subsequently, as shown in FIG. 14B, the arm means 5 and 5 are once contracted until the front ends of the flat plate members 54 and 54 are arranged behind the load 10. And while making the arm means 5 and 5 adjoin each other, the front end of the flat members 54 and 54 is made to contact | abut to the 1st side wall part 10a of the back side.

  Then, as shown in FIG. 14 (c), the base frame 7 is moved forward from the front-rear reference position and the arm means 5 and 5 are simultaneously extended. Thereby, since the operation of the base frame 7 and the operation of the arm means 5 and 5 are simultaneously performed in the same direction (the direction of the storage shelf 3), the work for storing the load 10 in a predetermined storage position is performed. You can save time.

  In the above embodiment, since the base frame 7 can move in the forward direction with respect to the base 6, the substantial amount of extension of the arm means 5 and 5 required to reach the load 10 can be small. Only the fact that the pins 54a and 54a of the flat members 54 and 54 can be stabilized has been described. However, since the substantial extension of the arm means 5 and 5 can be small, the flat member as compared with the conventional arm means. Since 52, 52, 53, 53, 54 and 54 can be formed short, there is an effect that the manufacturing cost of the arm means 5 and 5 can be reduced.

  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 stacker crane 2 has been described as an example of the transfer / transport device. However, the present invention is not limited to this, and a rail is laid on the rear surface of the storage shelf 3. By traveling, it may be possible to access the frontage of the load mounting rail 3a of the storage shelf 3 in which the target load 10 is stored.

  Moreover, although the said Example demonstrated the aspect in which the load 10,10, ... was arrange | positioned in the storage shelf 3 in the state where the 1st side wall part 10a, 10a faced the front-back direction, the load 10,10 was demonstrated. ,... May be arranged in a vertically placed state on the storage shelf 3 with the second side wall portions 10b and 10b facing in the front-rear direction, or may be arranged in a mixed manner. Further, when the loads 10, 10,... Are arranged in a vertically placed state, the sandwiching engagement pieces 100 ′, 100 ′ function as the first sandwiching portion, and the first side wall portions 10a, 10a are the second sandwiching portion. It functions as a part.

  Further, in the above embodiment, the load 10 is held by the arm means 5, 5 by holding the load 10 by the arm means 5, 5 and by locking the pins 54 a, 54 a (pins 54 b, 54 b) with the load 10. However, only one of the holding of the load 10 by the arm means 5 and 5 or the locking of the pins 54a, 54a and the load 10 may be adopted, and the other may be omitted. When the locking of the pins 54a and 54a and the load 10 is employed, the arm means 5 and 5 are not necessarily provided as a pair, and the arm 10 may be locked to the load 10 by one arm means 5.

1 Automatic warehouse 2 Stacker crane (transfer / transport device)
3, 3 'Storage shelf 3a Loading rail (load storage section)
4 Transfer device 5 Arm means 51, 51 Outer frames 52, 53, 54 Flat plate members 54a, 54b Pins (locking portions)
6 base 6a mounting table (mounting part)
6f Convex section (traveling guide)
7 Base frame 9 Front / rear drive device 10, 10 'Load 10a First side wall 10b Second side wall (second clamping portion)
100, 100 'clamping engagement piece (first clamping part)
11 Left-right drive 12 Telescopic drive A, B, C, D Storage shelf block MC Main computer SC1 System controller

Claims (4)

While holding and transferring the load stored in a storage shelf having a plurality of load storage sections, an automatic warehouse equipped with a transfer / transport device for mounting and transporting the load,
The transfer / transport device includes a base including the load mounting portion, a base frame, and at least one arm means that can extend and contract from the base frame toward the storage shelf,
The automatic warehouse, wherein the base frame is movable relative to the base in the extending and contracting direction of the arm means.   2. The automatic warehouse according to claim 1, wherein relative movement of the base frame with respect to the base and expansion / contraction movement of the arm means with respect to the base frame are performed by different driving devices.   The automatic warehouse according to claim 1, wherein the base includes a traveling guide extending in the storage shelf direction, and the base frame travels along the traveling guide.   The arm means is provided in a pair with respect to the base frame, and the pair of arm means are movable in directions toward and away from each other. Described in the automatic warehouse.

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