JP2696149B2 - Loading / unloading equipment for cargo in a three-dimensional warehouse - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for loading / unloading a shelf in a three-dimensional warehouse, and more particularly to an apparatus characterized by an operation of loading / unloading a load to / from a shelf.

[0002]

2. Description of the Related Art A conventional loading / unloading device of this kind is provided with a lifting guide on a truck running on rails arranged along a shelf of a warehouse, and a lifting platform moving up and down along the lifting guide. The fork is provided with a fork that moves linearly horizontally toward the shelf on the elevating table. The load is carried into and out of the shelf by supporting the lower surface of the load with the fork and expanding and contracting the fork. The elevating table is provided with a linear guide and a linear motion mechanism for supporting the fork to be extendable and contractible.

[0003]

However, the linear guide and the linear motion mechanism have a complicated structure in order to smoothly operate, and a large cantilever moment acts on the base end when the fork is extended. Therefore, the length of the base end of the fork must be increased in order to withstand the moment, and the whole device becomes large, and it is difficult to provide a structure that can withstand a heavy load.

An object of the present invention is to provide a loading / unloading device which has a simple structure for loading / unloading and can withstand heavy loads.

[0005]

According to the loading / unloading device of the present invention, a load 33 is provided at the tip of a swing arm 25 provided on a lifting platform 20.
The load 33 is horizontally moved by the swinging operation of the swing arm 25 and the vertical movement of the elevating table 20 in synchronization with the swinging operation of the swing arm 25, and the load 33 is taken in and out of the shelf 2.

That is, the carry-in / carry-out device of the present invention comprises an elevating platform 20 driven up and down along the elevating guide 7 and an arm 25 provided on the elevating platform and driven to swing about horizontal shafts 24 and 41. , And holding devices 31 and 42 for supporting the load 33 are provided at the tip of the arm. When swinging the arm 25, the swing angle of the arm 25 from the perpendicular is set to θ, and its angular velocity is set to ω, and the lift 20 is set to Vs = −aω.
It is characterized by moving up and down at a speed of sin θ. Here, a is the length of the arm 25, and Vs is positive in the rising direction.

The loading / unloading device according to the present invention comprises a cylindrical load 33.
This is particularly convenient when the two ends of a rectangular tubular load with no fixed upper and lower sides are clamped by the tip of the arm 25 and put in and out, but the fork 42 provided at the tip of the arm 25 is horizontally held by a parallel link mechanism. With the structure, the load 33 is
It is also possible to support in and out.

[0008]

When the load 33 is taken in and out of the shelf 2 of the three-dimensional warehouse by the loading / unloading device having the above-described structure, the elevator 20 is moved to the front of the desired shelf 2 and then stopped. And at the same time, an elevating command of the speed Vs is given to the elevating drive device 11 of the elevating table 20. Then, the vertical movement of the load 33 due to the swing of the arm 25 is canceled by the lifting and lowering of the lift 20, and the holding devices 31 and 42 at the tip of the arm 25 move horizontally and are inserted into and removed from the shelf 2. Therefore, the load 33 is lowered on the shelf 2 or the load 33 is picked up from the shelf 2 by slightly raising and lowering only the elevating table 20 and raising and lowering the holding devices 31 and 42 in the shelf 2. In response to a drive command in the minus direction to the arm 25 and a command to raise and lower the speed Vs to the lift 20, the holding device 3
1 and 42 are pulled out from the shelf 2 in the horizontal direction, and the arm 25 is held in the elevator 20 in a state of being perpendicular or suspended so that the elevator 20 is moved to convey the load 33.

According to the above structure, the holding devices 31, 42 are inserted into and removed from the shelf 2 by the swinging operation of the arm 25.
Since the moment acting on the base end of the arm 25 when the arm 25 is in the horizontal direction is borne by the swing drive device 27 itself of the arm 25, the support structure of the arm 25 is simplified and the operation is smooth. it can.

[0010]

1 to 4 show a first embodiment of the present invention. In FIG. 3, 1 is a three-dimensional warehouse, 2 is a three-dimensional warehouse shelf, 3 is a traveling guide rail provided along the ceiling of the three-dimensional warehouse, 4 is a traveling rail provided along the bottom of the three-dimensional warehouse, and 5 is traveling A trolley movable on wheels 4 by wheels 6, two lifting guides 7 erected in parallel with the trolley 5, a controller 8 provided at the base of the left lifting guide, and a right lifting 9 The running motor 10 provided at the base of the guide is a cross beam connecting the left and right elevating guides at the ends, and is guided to the running guide rail 3 by rollers (not shown) provided upright on the upper surface thereof.

Reference numeral 11 denotes an elevating motor fixed to the cross beam;
Is a sprocket driven by a lifting motor, 13 is a cross beam 1
A sprocket 14 is disposed at a connecting portion between the 0 and the left elevating guide 7, and is a synchronous chain stretched between the sprockets 12 and 13. Reference numeral 15 denotes an upper sprocket that is mounted on the upper part of the elevating guide 7, 16 denotes a lower sprocket provided below the elevating guide, and 17 denotes a suspension chain wound around the upper and lower sprockets. The left and right upper sprockets 15 are connected to the sprocket 1 via bevel gears (not shown).
2 and 13 are drivingly connected to each other.
The suspension chain 17 is driven up and down by the forward / reverse rotation of 1.

FIG. 2 is a front view of the loading / unloading device. 20
Is a gate-shaped elevating platform, which comprises a rectangular tubular sliding body 21 slidably mounted on the lifting guide 7 and a horizontal member 22 connecting the upper ends of both sliding bodies. Are connected to the upper and lower ends of the sliding body 21. 23 is horizontal member 2
2 is a bracket extending downward, 24 is a bracket 23
25 is an arm fixed to both ends of the horizontal shaft 24, 26 is a gear fixed to an intermediate portion of the horizontal shaft, 27 is a swing motor mounted on the horizontal member 22, 2
Reference numeral 8 denotes a pinion fixed to the drive shaft.
And the gear 26 of the horizontal shaft mesh with each other. The arm 25 is
It is divided into a base arm 25a and a distal arm 25b at substantially the center, and is hinged by a hinge 29 provided on the base arm 25a.
The two tip arms 25b are swingable in directions in which the arms 25b approach and separate from each other. Reference numeral 30 denotes a cylinder provided between the two distal arms 25b, and reference numeral 31 denotes a frusto-conical holding claw provided inside the distal ends of the distal arms 25b.

FIG. 1 shows the relationship between a shelf of a three-dimensional warehouse and a loading / unloading device. The shelves 2 are arranged in a matrix in the vertical direction and the direction perpendicular to the sheet of FIG. 32 is a conveyor belt arranged at the bottom of each shelf,
Based on the storage completion signal from the carry-in / carry-out device, the loads 33 carried in by intermittent drive for one pitch are sequentially sent to the back side of the shelf. Reference numeral 34 denotes a stopper member protruding from the surface of the conveyor belt.

FIG. 4 is a control block diagram of the traveling motor 9, the lifting motor 11 and the swing motor 27. The drive command of the angular velocity ω for rotating the swing motor is given to the swing motor 27 via the servo amplifier 35, and the rotation speed is fed back from the tacho generator 36 to the servo amplifier 35. The driving command of the angular velocity ω is given to the arithmetic circuit 37, which calculates the distance between the horizontal axis of the arm and the holding claw as a, the swing angle of the arm as θ (FIG. 1),
The angular velocity is calculated as ω so that the lift 20 moves up or down at a speed represented by −aωsin θ, and the output V
s is given as a drive command to the lift motor 11 via the servo amplifier 38. The rotation speed of the lifting motor is fed back from the tacho generator 39 to the servo amplifier 38. The traveling of the carriage 5 and the elevation of the elevating platform 20 are performed by separately giving a speed command Vx to the traveling motor 9 and a speed command Vz to the elevating motor 11.

When the load 33 is stored in the three-dimensional warehouse by the loading / unloading device of this embodiment, drive commands for the traveling speed Vx to the traveling motor 9 and the elevation speed Vz to the elevation motor 11 are given, and
After the elevator 20 is moved so that the rack 3 is located in front of the shelf 2 to be loaded, the swing motor 27 is rotated by an angular velocity ω.
Is given. This drive command is also given to a calculation circuit 37, which calculates a speed command Vs expressed by -aω sin θ, where a is the length of the arm and θ is the swing angle of the arm, and drives the lift motor 11 Give as a command. Then, the holding claws 31 advance in the horizontal direction with the upward and downward movements of the elevating table 20, and carry the load 33 to the shelf 2. Next, the cylinder 30 is extended to open the arm 25, and the load 33 is mounted on the conveyor belt 32 of the shelf. Thereafter, a drive command of the angular velocity -ω is given to the swing motor 27.
This drive command is also given to the arithmetic circuit 37, and the arithmetic circuit 3
7 performs the same operation and outputs the output -Vs to the motor 1
1 as a drive command. Then, the holding claw 31 retreats horizontally in accordance with the downward or upward movement of the lift 20, and the arm 25 is stored in the lift 20. When unloading the load 33 from the shelf 2, the procedure is the same as described above except that the cylinder 30 contracts instead of extending. Holding claw is fork 42
In the case of the structure shown in FIG. 5, the expansion and contraction operation of the cylinder is unnecessary.

FIG. 5 shows a second embodiment of the present invention, in which a horizontal pin 41 is provided on a lifting platform 20, a gear 26 is rotatably provided on the pin, and an arm 25 is provided on the gear.
, And a fork 42 is pivotally mounted on the tip of the arm. Reference numeral 43 denotes a link that is swingably provided on a pin 44 provided on the lift 20, and a distal end thereof is connected to a base extension of the fork 42 to form a parallel link mechanism. The pallet 45 can be used in the loading / unloading device of this embodiment. When the load 33 is heavy, the loading / unloading operation of the load 33 can be simplified by extending the base end of the link 43 upward and attaching a balance weight to the distal end thereof. The control of the lifting motor 11 and the swing motor 27 is the same as in the first embodiment.

[0017]

As described above, in the loading / unloading device of the present invention, the lifting table supporting the arm is moved up and down with the swing of the arm, and the holding device is moved horizontally to load the load to the shelf. Since it is carried out, the structure of the apparatus is extremely simple. In particular, in a three-dimensional warehouse in which a plurality of shelves are arranged in a vertical direction, a lifting motor is indispensable. Therefore, even when the loading / unloading operation as in the present invention is adopted, there is an effect that it can be handled only by changing the control system.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram of a loading / unloading operation.

FIG. 2 is a side view of the loading / unloading device according to the first embodiment.

FIG. 3 is a front view of a three-dimensional warehouse and a loading / unloading device.

FIG. 4 is a control block diagram.

FIG. 5 is a side view showing a second embodiment.

[Explanation of symbols]

 7 Lifting guide 11 Lifting motor 20 Lifting table 24 Horizontal axis 25 Arm 27 Swing motor 31 Holding claw 41 Pin 42 Fork

Claims (1)

(57) [Claims] An elevator (20) driven up and down along a lift guide (7), and an arm (25) swingably driven around a horizontal axis (24, 41) provided on the elevator. A holding device (31, 42) for supporting the load (33) at the tip of the arm,
When the angular velocity command ω is given to the swing drive device (27) of the arm (25), the elevation speed command Vz related to the angular velocity command ω is given to the lifting platform (20).
Arm by simultaneously feeding the lifting drive (11)
Characterized in that the tip of (25) is moved forward and backward in the horizontal direction,
Equipment for loading and unloading cargo in a three-dimensional warehouse.