JP2017132562A - Automatic warehouse system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic warehouse system which inhibits a shuttle from colliding with components forming a storage part and cargos.SOLUTION: An automatic warehouse system includes: a storage shelf having first storage parts 18 in which roll bodies 2 are respectively stored; and a transport device for transporting the roll bodies 2. The transport device has a shuttle which moves into or away from each first storage part 18 to carry the roll body 2 into the first storage part 18 and carry the roll body 2 from the first storage part 18. The storage shelf has a guide member 22 which guides a position of the shuttle in a horizontal direction when the shuttle moves into the first storage part 18.SELECTED DRAWING: Figure 3

Description

  The present invention relates to an automatic warehouse system.

   In the automatic warehouse system, a transport device such as a stacker crane is preferably used to put in and out articles from the storage shelf. In the automatic warehouse system described in Patent Document 1, the transport device is equipped with a shuttle that advances and retreats to the storage unit in order to carry the load into the storage unit of the storage shelf or to carry the load out of the storage unit.

JP 2010-42921 A

  The distance between the storage part of the storage shelf and the load in the storage part varies depending on the load stored in the storage part. When this distance is small, there is a possibility that the load may collide with the components constituting the storage unit or the shuttle when the load enters the storage unit or enters the shuttle and the storage unit to carry the load out of the storage unit. In particular, when the load collides with the shuttle, the load is damaged.

  In order to prevent the shuttle from colliding with parts or loads constituting the storage unit, it is conceivable to accurately position the shuttle and enter the storage unit. However, it is difficult to accurately position the shuttle and enter the storage portion due to backlash of the storage shelf or an error in the position on the stacker side.

  This invention is made | formed in view of such a condition, The objective is to provide the automatic warehouse system which can suppress that a load collides with the components and shuttle which comprise a storage part.

  In order to solve the above problem, an automatic warehouse system according to an aspect of the present invention includes a storage shelf having a plurality of storage units in which loads are stored, and a transport device for transporting the loads. The transport device has a shuttle that advances and retreats to the storage unit in order to carry the load into the storage unit or carry the load out of the storage unit. The storage shelf includes a guide member that guides the position of the shuttle in the horizontal direction when the shuttle enters the storage unit.

  Note that any combination of the above-described constituent elements, and those obtained by replacing the constituent elements and expressions of the present invention with each other among methods, apparatuses, systems, etc. are also effective as an aspect of the present invention.

  ADVANTAGE OF THE INVENTION According to this invention, it can suppress that a load collides with the components and shuttle which comprise a storage part.

It is a perspective view which shows the roll body accommodated in the automatic warehouse system which concerns on embodiment. It is a front view which shows the automatic warehouse system which concerns on embodiment. FIGS. 3A to 3C are enlarged views showing one of the plurality of storage units of the storage shelf in FIG. It is a front view which shows the shuttle apparatus of FIG. 2, and its periphery. It is a top view which shows the shuttle apparatus of FIG. 2, and its periphery. It is the sectional view on the AA line of FIG. It is a perspective view which shows the shuttle of the shuttle apparatus of FIG. 8A to 8C are perspective views showing a shuttle of the shuttle device of FIG.

  Hereinafter, the same or equivalent components and members shown in the respective drawings are denoted by the same reference numerals, and repeated descriptions thereof are omitted as appropriate. In addition, the dimensions of the members in each drawing are appropriately enlarged or reduced for easy understanding. Also, in the drawings, some of the members that are not important for describing the embodiment are omitted.

  FIG. 1 is a perspective view showing a roll body 2 housed in an automatic warehouse system according to an embodiment. The roll body 2 is obtained by winding a strip-shaped or sheet-shaped material 4 such as a film or paper around a core 6. The core 6 becomes a base when the material 4 is wound.

  FIG. 2 is a front view showing the automatic warehouse system 100 according to the embodiment. The automatic warehouse system 100 includes a storage shelf 10 for storing the roll body 2 and a transport device 12 for transporting the roll body 2.

  The storage shelf 10 includes a plurality of shelf columns 14, a plurality of beams 16 (not shown in FIG. 1), a plurality of first storage units 18, and a plurality of second storage units 19. The plurality of shelf columns 14 are arranged in two rows in the x direction, which is a predetermined horizontal direction. In FIG. 2, only one row on the near side in the y direction (horizontal direction orthogonal to the x direction) among the shelf columns 14 arranged in two rows in the x direction is shown.

  The plurality of first storage portions 18 are arranged in a matrix when viewed from the y direction. The first storage portion 18 has a substantially rectangular shape when viewed from the y direction, and is configured to be able to store the roll body 2. The first storage portion 18 is one storage area (one unit of storage) in which the roll body 2 can be stored.

  3A to 3C show an enlarged view of one of the plurality of first storage portions 18. 3A to 3C are a top view, a front view, and a side view of the first storage portion 18, respectively.

  The plurality of beams 16 are stretched over the front and rear shelf columns 14 in the y direction. In particular, the plurality of beams 16 are provided at intervals in the z direction (vertical direction) so as to correspond to the first storage portion 18.

  Each first storage unit 18 includes a pair of shelf receivers 20 and a pair of guide members 22. Each of the pair of shelf supports 20 is attached to the beam 16 so as to sandwich the first storage portion 18 in the x direction, and protrudes from the beam 16 so as to approach each other in the x direction. The pair of shelf supports 20 supports the roll body 2 by supporting the protruding portions of the core 6 protruding from both ends of the roll body 2. The upper ends of the pair of shelf supports 20 are V-shaped so that the roll body 2 does not roll.

  Each of the pair of guide members 22 is attached to the shelf column 14 below the shelf receiver 20 so as to sandwich the first storage portion 18 in the x direction. In particular, the pair of guide members 22 are attached to the shelf columns 14 by bolts or the like. Each of the pair of guide members 22 is a plate-like member having a substantially rectangular shape when viewed from the x direction. The portions 22a of the pair of guide members 22 that protrude to the front side in the y direction with respect to the shelf column 14 on the front side in the y direction are closer to the back side from the front side in the y direction (that is, toward the first storage portion 18). The interval is narrowed. In other words, the pair of guide members 22 are configured to guide the position of the shuttle 48 in the x direction and the position of the roll body 2 when the shuttle 48 enters the first storage portion 18 as will be described later. The

  Returning to FIG. 2, the plurality of second storage portions 19 are arranged above the plurality of first storage portions 18 in a matrix as viewed from the y direction. The second storage portion 19 has a rectangular shape when viewed from the y direction, and is configured to be capable of storing a core 6 (hereinafter referred to as an empty core) around which the material 4 is not wound. The second storage portion 19 is one storage area in which the empty core can be stored. Since the second storage unit 19 stores the empty core, it does not require a height as compared with the first storage unit 18. Therefore, in the second storage portion 19, the interval between the shelf supports 20 in the z direction is smaller than that of the first storage portion 18.

  The conveying device 12 is configured by a stacker crane. The transport device 12 includes a travel rail 24, a guide rail 26, a travel carriage 28, two masts 30, an upper frame 32, a lifting platform 34, a shuttle device 36, a cord 38, The elevating roller 40 and the elevating drive device 42 are provided.

  The traveling rail 24 is laid so as to extend in the x direction. The guide rail 26 is installed above the traveling rail 24 so as to extend in the x direction. The two masts 30 are erected on the traveling carriage 28 with an interval in the x direction. An upper frame 32 is connected to the upper portions of the two masts 30. The two masts 30 move along the traveling rail 24 and the guide rail 26 together with the traveling carriage 28 and the upper frame 32.

  The lifting platform 34 is suspended and supported by a cord-like body 38. Four lifting rollers 40 are installed on both sides of the lifting platform 34 in the x direction. The lifting roller 40 sandwiches the mast 30 from both sides in the y direction as a pair. The lifting drive device 42 includes a drum 44 and a lifting motor 46 that rotationally drives the drum 44. One end of a cord-like body 38 is wound around the drum 44. The elevating drive device 42 drives the drum 44 to rotate forward and backward, thereby winding or feeding the cord-like body 38 and raising or lowering the elevating platform 34. At this time, the lifting platform 34 is guided by the lifting rollers 40 to move along the mast 30.

  FIG. 4 is a front view showing the shuttle device 36 and its periphery. FIG. 5 is a top view showing the shuttle device 36 and its periphery. 6 is a cross-sectional view taken along line AA in FIG. FIG. 7 is a perspective view showing the shuttle 48. FIGS. 8A to 8C are a top view, a front view, and a side view showing the shuttle 48. The shuttle device 36 includes a shuttle 48, a first core receiving portion 50, a second core receiving portion 52, a first x-direction driving portion 54 (see FIG. 8), and a second x-direction driving portion 56 (see FIG. 8). , A movement restricting mechanism 58.

  The shuttle 48 is configured to be slidable and extendable. The shuttle 48 includes a first plate 60, a second plate 62, and a third plate 64. The first plate 60 is fixed to the lifting platform 34. The second plate 62 is connected to the upper surface side of the first plate 60 so as to be slidable with respect to the first plate 60. In particular, the second plate 62 is connected to the first plate 60 so as to be slidable in the y direction toward the storage shelf 10. The third plate 64 is connected to the upper surface side of the second plate 62 so as to be slidable with respect to the second plate 62. In particular, the third plate 64 is connected to the second plate 62 so as to be slidable in the y direction toward the storage shelf 10. The second plate 62 and the third plate 64 are each slidable in the y direction by the driving force from the plate driving unit 65.

  When the second plate 62 and the third plate 64 slide in the y direction toward the storage shelf 10 with respect to the first plate 60 and the second plate 62 respectively, that is, when the shuttle 48 extends slidably in the y direction, The three plates 64 enter the first storage portion 18 of the storage shelf 10. When the second plate 62 and the third plate 64 slide away from the storage shelf 10 in the y direction with respect to the first plate 60 and the second plate 62, respectively, that is, when the shuttle 48 contracts slidably in the y direction, The third plate 64 leaves the first storage unit 18 of the storage shelf 10.

  The first core receiving part 50 and the second core receiving part 52 are provided on the third plate 64 so as to be separated from each other in the x direction. The first core receiving portion 50 is an L-shaped member when the shuttle device 36 is viewed from the front side in the y direction. The second core receiving portion 52 is an L-shaped member that is reversed left and right when the shuttle device 36 is viewed from the front side in the y direction. The upper ends of the first core receiving part 50 and the second core receiving part 52 are V-shaped so that the roll body 2 does not roll during transfer.

  On the opposite side of the first core receiving portion 50 from the second core receiving portion 52, a first free roller 66 is attached so as to contact the guide member 22 in the x direction. The first free roller 66 is particularly configured to be able to take the direction of the wheel in any direction. Accordingly, when the third plate 64 enters the first storage unit 18, the first universal roller 66 moves the third plate 64 up and down in the z direction while the third plate 64 enters the first storage unit 18. When the third plate 64 retreats from the first storage portion 18, the guide member 22 is rolled. A second free roller 68 is attached to the second core receiving portion 52 on the side opposite to the first core receiving portion 50. The second free roller 68 is configured similarly to the first free roller 66.

  The first x-direction drive unit 54 moves the first core receiving unit 50 linearly in the x direction with respect to the third plate 64. The first x-direction drive unit 54 is configured by combining two linear guides 70 and a slide drive device 72. Similarly, the second x-direction drive unit 56 linearly moves the second core receiving unit 52 in the x direction with respect to the third plate 64. The second direction drive unit is configured by combining a linear guide 74 and a slide drive device 76. Both the first x-direction drive unit 54 and the second x-direction drive unit 56 are fixed to the upper surface of the third plate 64.

  By moving the first core receiving portion 50 and the second core receiving portion 52 in the x direction, the length of the shuttle 48 entering the first storage portion 18 in the x direction (particularly, the length between the free rollers) can be changed. In FIG. 8B, the first core receiving portion 50 and the second core receiving portion 52 are moved in a direction approaching each other, and the length in the x direction of the shuttle 48 entering the first storage portion 18 is reduced. Shown with dotted lines.

  The movement restricting mechanism 58 switches between a state in which the shuttle 48 cannot substantially move in the x direction with respect to the lifting platform 34 and a state in which the shuttle 48 can move within a predetermined range in the x direction. Specifically, the movement restriction mechanism 58 includes a linear guide 78, a positioning drive device 80, a positioning roller 82, and a positioning guide 84. The linear guide 78 is fixed to the lifting platform 34 and supports the shuttle 48 (particularly the first plate 60) so as to be movable in the x direction with respect to the lifting platform 34.

  The positioning drive device 80 is fixed to the linear guide 78. The positioning roller 82 is attached to the tip of the rod 80 a of the positioning drive device 80.

  The positioning guide 84 is fixed to the lower surface of the first plate 60 of the shuttle 48. The positioning guides 84 are a pair of first positioning guide portions 84a extending in the y direction, and a pair of second positioning guide portions that are positioned in the positioning driving device 80 more than the first positioning guide portions 84a and extend in the y direction. 84b, and a third positioning guide portion 84c that connects the first positioning guide portion 84a and the second positioning guide portion 84b. The first positioning guide portions 84a are provided apart from each other in the x direction at substantially the same interval as the width of the positioning roller 82. The second positioning guide portions 84b are provided apart from each other in the x direction at a wider interval than the pair of first positioning guide portions 84a.

  When the positioning roller 82 is moved between the pair of first positioning guide portions 84a by the positioning drive device 80, the positioning roller 82, the positioning drive device 80 to which the positioning roller 82 is attached, and the linear to which the positioning drive device 80 is fixed. Movement of the shuttle 48 in the x direction with respect to the guide 78 is restricted via the pair of first positioning guide portions 84a.

  When the positioning roller 82 is moved between the pair of second positioning guide portions 84b by the positioning driving device 80, the positioning roller 82, the positioning driving device 80 to which the positioning roller 82 is attached, and the positioning driving device 80 are fixed. Movement of the shuttle 48 in the x direction relative to the linear guide 78 is allowed within the range of the gap G between the pair of second positioning guide portions 84 b and the positioning roller 82. That is, the restriction on movement of the shuttle 48 in the x direction is released.

  In the automatic warehouse system 100 configured as described above, an operation when the shuttle 48 enters or leaves the first storage unit 18 will be described.

  While the movement restriction mechanism 58 restricts the movement of the shuttle 48 in the x direction with respect to the lifting platform 34, the traveling table is moved together with the mast 30 in the x direction and the lifting platform 34 is moved up and down in the z direction. The first storage unit 18 is moved to the front.

  Subsequently, the movement restriction in the x direction of the shuttle 48 with respect to the lifting platform 34 by the movement restriction mechanism 58 is released. In this state, the shuttle 48 is extended in a sliding manner, and the third plate 64 enters the first storage portion 18.

  When the shuttle device 36 is not positioned accurately, that is, when the positioning accuracy of the shuttle device 36 is low, the third plate 64 is guided by the pair of guide members 22 (that is, one of the pair of guide members 22). The first storage portion 18 is entered. When the third plate 64 enters to a certain extent, the wheels of the first free roller 66 and the wheels of the second free roller 68 turn in the y direction to roll the guide member 22.

  Since the movement restriction of the shuttle 48 in the x direction with respect to the lifting platform 34 is released, when the guide member 22 guides the positioning of the third plate 64 in the x direction, the entire shuttle 48 moves with respect to the lifting platform 34 in the x direction. And the entire shuttle 48 is positioned in the x direction.

  With the third plate 64 entering the first storage unit 18, the lifting platform 34 is appropriately moved in the z direction to transfer the roll body 2 to the shelf receiver 20 of the first storage unit 18, or the roll body 2. Is received from the shelf holder 20 of the first storage unit 18.

  According to the automatic warehouse system 100 according to the present embodiment described above, the shuttle 48 is first used to load the roll body 2 into the first storage section 18 of the storage shelf 10 or to carry the roll body 2 out of the first storage section 18. When entering the storage portion 18, the shuttle 48 is guided by the guide member 22. Therefore, even when the shuttle device 36 is not accurately positioned, the first core receiving portion 50 and the second core receiving portion 52 of the shuttle 48 are stored in the shelf receiver 20 and the first storage portion 18 of the first storage portion 18. Collision with the roll body 2 being made can be suppressed. In other words, in the automated warehouse system 100, the shuttle 48 is guided by the guide member 22 so that the position of the shuttle device 36 in the x direction is accurately positioned. The body 2 can also be handled. Conversely, since the protruding portion of the core 6 of the roll body 2 can be made relatively short, the storage shelf 10 can be made smaller in the x direction.

  Further, in the automatic warehouse system 100 according to the present embodiment, when the traveling carriage 28 is moved and the roll body 2 is moved to the front of the target first storage unit 18, the movement of the shuttle 48 with respect to the lifting platform 34 is restricted. To do. Thereby, it can suppress that the roll body 2 shakes and falls from the shuttle apparatus 36. FIG. On the other hand, when the shuttle 48 is extended in a sliding manner and the third plate 64 enters the first storage portion 18 and the roll body 2 is carried in, the movement restriction in the x direction of the shuttle 48 with respect to the lifting platform 34 is released. . Thus, when guided by the guide member 22 and positioned in the x direction of the third plate 64, the entire shuttle 48 moves in the x direction with respect to the lifting platform 34 and the entire shuttle 48 is positioned in the x direction. . Thereby, the shuttle 48 can enter the first storage portion 18 relatively straight. That is, the shuttle 48 can enter the first storage portion 18 relatively smoothly.

  Further, according to the automatic warehouse system 100 according to the present embodiment, the shuttle 48 includes a free roller that rolls the guide member 22. Thereby, the shuttle 48 can enter the 1st accommodating part 18 smoothly along a guide. In addition, since the universal roller is configured so that the direction of the wheel can be taken in any direction, when the shuttle 48 is moved up and down in the z direction with the shuttle 48 entering the first storage portion 18. The free roller doesn't get in the way. That is, the shuttle 48 can be smoothly raised and lowered in a state where the shuttle 48 has entered the first storage portion 18.

  Further, according to the automatic warehouse system 100 according to the present embodiment, that is, the length of the shuttle 48 in the x direction can be changed. Here, in the automatic warehouse system 100, the storage shelf 10 includes a plurality of second storage units 19 for storing empty cores. As for the 2nd accommodating part 19, the space | interval of the shelf holder 20 in az direction is comparatively small. Therefore, when the shuttle 48 is extended in a sliding manner and the empty core is carried into the second storage unit 19, the shuttle 48 (especially a free roller) can interfere with the shelf holder 20 of the second storage unit 19 one level below. On the other hand, according to the automatic warehouse system 100 according to the present embodiment, since the length of the shuttle 48 in the x direction can be changed as described above, the shuttle 48 can be moved to the second storage portion 19 by shortening the length. Interference with the shelf holder 20 can be suppressed.

  The configuration and operation of the automatic warehouse system according to the embodiment have been described above. It is to be understood by those skilled in the art that these embodiments are exemplifications, and that various modifications can be made to combinations of the respective components, and such modifications are within the scope of the present invention.

(Modification 1)
In the embodiment, the case where the roll body 2 is stored in the storage shelf 10 has been described, but the present invention is not limited thereto. For example, a predetermined article packed in a box may be stored in the second storage unit 19. In this case, the boxed article may be placed on a pallet, and the entire pallet may be carried into or out of the storage unit of the storage shelf 10.

  Any combination of the above-described embodiments and modifications is also useful as an embodiment of the present invention. The new embodiment generated by the combination has the effects of the combined embodiment and the modified examples.

  10 storage shelves, 12 transport devices, 22 guide members, 34 lifts, 48 shuttles, 100 automatic warehouse systems.

Claims (4)

A storage shelf having a plurality of storage units in which loads are stored;
A transport device for transporting the load,
The transport device has a shuttle that advances and retreats to the storage unit in order to carry the load into the storage unit or carry the load out of the storage unit,
The automatic storage system, wherein the storage shelf includes a guide member that guides a position of the shuttle in a horizontal direction when the shuttle enters the storage unit. The transport device includes a lifting platform that supports a shuttle;
The shuttle is configured to be able to change between a state in which the shuttle is movable in the horizontal direction with respect to the elevator and a state in which the movement is restricted in the horizontal direction with respect to the elevator. The automatic warehouse system according to 1.   3. The automatic warehouse system according to claim 1, wherein the shuttle has a roller for rolling the guide member on a side surface thereof.   The automatic warehouse system according to any one of claims 1 to 3, wherein the shuttle is configured to be adjustable in length in the horizontal direction.

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