JP3686830B2 - 3D automatic warehouse - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a three-dimensional automatic warehouse for loading and unloading loads from a shelf using a crane and a conveyor, and more particularly, to a three-dimensional automatic warehouse capable of smoothly delivering a load between a crane and a conveyor.
[0002]
[Prior art]
Conventionally, a storage shelf provided with a plurality of shelves in the horizontal direction and the vertical direction, a stacker crane that takes out and stores loads between the storage shelves, and a conveyor that loads and unloads loads from the outside are provided. There is a three-dimensional automatic warehouse. And the load received by the conveyor from the outside is taken out by a stacker crane at a predetermined position and stored in a predetermined place on the storage shelf. On the other hand, the load taken out from the storage shelf by the stacker crane is put on a predetermined position of the conveyor and delivered outside.
[0003]
By the way, in the conventional three-dimensional automatic warehouse, when delivering the load between the stacker crane and the conveyor, the delivery place is determined at a plurality of places, and the load between the stacker crane and the conveyor is set at each delivery place. A cargo delivery assisting means was installed for smooth delivery. As the load delivery assisting means, for example, there is a branch conveyor, and this branch conveyor has a structure in which the load moving on the conveyor is branched and led to the load take-out storage section of the stacker crane.
[0004]
However, in the case of the conventional example described above, it is necessary to install a load delivery assisting means such as a branch conveyor at each load delivery location. Therefore, if the number of load delivery locations increases, the number of installed load delivery assisting devices increases, resulting in an increase in cost. It was.
[0005]
[Problems to be solved by the invention]
The present invention has been made in view of the above points, and an object of the present invention is to provide a three-dimensional automatic warehouse capable of reducing the number of installed load delivery assisting means and reducing the cost.
[0006]
[Means for Solving the Problems]
In order to solve the above problems, the present invention includes a storage shelf having a plurality of rows of shelves in a plurality of stages, and a load take-out storage unit for taking out and storing the load between the storage shelves, along the storage shelf. A crane that travels in the horizontal direction, and a conveyor that is installed along the traveling direction of the crane, and loads the cargo taken out from the storage shelf by the crane unloading storage unit on the conveyor, In a three-dimensional automatic warehouse for storing a load placed on the conveyor in a storage shelf by a crane unloading and storing unit, a traveling carriage that travels in parallel with the traveling of the crane is installed below the conveyor, and This traveling carriage is provided with load delivery assisting means for assisting the movement of the load between the conveyor and the load take-out storage unit by protruding upward from the bottom of the conveyor.
[0007]
Here, the load delivery assisting means is configured to include a plurality of sets of rollers arranged in such a manner that a plurality of rollers can freely enter and exit from the lower surface side of the conveyor and are inclined obliquely in the width direction of the conveyor, It is preferable that the load held by the crane load take-out storage unit is placed from the higher side of the roller of the load delivery assisting means and rolled on the roller to be guided onto the conveyor.
[0008]
The load delivery assisting means is configured such that a plurality of sets of belts wound around a pulley are provided so that the belt can freely enter and exit from the lower surface side of the conveyor, and the load is transferred to the load delivery assisting means. You may comprise so that a load may be moved between the unloading storage part of a crane, and a conveyor on a belt.
[0009]
The present invention also includes a storage shelf having a plurality of rows of shelves in a plurality of stages, and a load take-out storage unit that takes out and stores the load between the storage shelves and travels in the horizontal direction along the storage shelf. A crane and a conveyor installed along the traveling direction of the crane, and loads the cargo taken out from the storage shelf by the crane unloading and storing unit on the conveyor, and loads the cargo on the conveyor In a three-dimensional automatic warehouse that stores the loaded load in a storage shelf by the crane unloading and storing unit, when the crane enters the lower side of the conveyor and the crane unloading and storing unit approaches the one side of the conveyor, the lower surface of the conveyor A load delivery assisting means is provided which protrudes from the side to the upper surface side and assists the movement of the load between the conveyor and the load take-out storage unit.
[0010]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
FIG. 1 is an overall schematic view showing an embodiment of a three-dimensional automatic warehouse 10 to which the present invention is applied. FIG. 1 (a) is a schematic cross-sectional view taken along the line AA (front view) in FIG. (B) is the BB cross-section schematic (side view) of the figure (a).
[0011]
As shown in the figure, this three-dimensional automatic warehouse 10 has two storage shelves 11 and 11 installed in parallel on both sides of the stacker crane moving space C, a stacker crane 30 installed in the stacker crane moving space C, and The conveyors 15 and 15 are respectively installed along the traveling direction of the stacker crane 30 at the lowermost side of the storage shelves 11 and 11, and the traveling carriages 50 and 50 are further installed below the conveyors 15 and 15. Yes. Each component will be described in detail below.
[0012]
Each of the storage shelves 11 and 11 includes a plurality of shelves 13 in a plurality of rows. On the other hand, the conveyors 15, 15 penetrate the storage shelves 11, 11 in the longitudinal direction, and one end is, for example, a load storage side and the other end is a load output side. Here, FIG. 2 is a diagram showing the conveyors 15, wherein FIG. 2A is a schematic plan view and FIG. 2B is a schematic side view. As shown in the figure, the conveyor 15 is configured such that a large number of rollers 151 are arranged in parallel, and each roller 151 is rotationally driven by a drive mechanism (not shown). Therefore, the load placed on the roller 151 can be conveyed in either the left or right direction depending on the rotation direction of the roller 151.
[0013]
Next, as shown in FIG. 3, the stacker crane 30 is configured so that the main body 31 can slide between the rails 41 and 43 passed up and down. The body portion 31 is provided with load take-out storage portions 37 and 37 that move up and down independently by two motors 33 and 35, respectively. That is, the belt 333 is wound around a pulley 331 that is rotationally driven by the motor 33, and both ends thereof are fixed to the base 375 of the cargo take-out storage unit 37 via the upper and lower pulleys 335 and 337, and the motor 33 is driven to take out the load. The storage portion 37 is configured to move up and down. The operation of the motor 35 is the same.
[0014]
A roller 39 that is rotationally driven by a motor (not shown) and slides on the stacker crane 30 is attached to the lower end of the main body 31. Conveyors 371, 372, and 373 are attached to the lower surface and both side surfaces of the load take-out storage unit 37, respectively. These conveyors 371, 372, and 373 are installed toward the front side and the back side in FIG. 3, and the load 100 is driven in a state in which the load 100 is housed in the front side or the back side in FIG. To be moved. That is, the conveyors 371, 372, and 373 slide to the storage shelf 11, and the conveyor 372 and the conveyor 373 pinch the luggage 100 and push the luggage 100 into the storage rack 11, or conversely take in the luggage 100 of the storage shelf 11. To do.
[0015]
4 and 5 are views showing the traveling carriage 50, FIG. 4 is a front view, and FIG. 5 is a side view (viewed from the direction of arrow A). As shown in both figures, the traveling carriage 50 is configured to move the load on the conveyor 15 by rotating the wheels 57 and 57 mounted on the rails 55 and 55 by a driving device 53 attached on the carriage body 51. It is comprised so that it may drive | work in parallel. On both sides of the carriage main body 51, cargo delivery assisting means 60 are installed.
[0016]
The load delivery assisting means 60 includes a load delivery unit 61 constituted by arranging a plurality of freely rotating rollers 65 on both upper sides of the mounting plate 63 formed in a substantially U shape so as to be inclined, and a load delivery unit 61. It comprises drive means 67 that moves up and down. The rollers 65 are arranged so as to be inclined obliquely in the width direction of the conveyor 15 so that the side of the conveyor 15 where the unloading storage unit 37 approaches is higher and lower toward the opposite side. Yes. When the load delivery unit 61 that is normally at the position indicated by the solid line in FIG. 5 is raised by the drive of the driving means 67, the roller 65 slightly protrudes from between the rollers 151 onto the conveyor 15 as indicated by the dotted line. The cargo delivery unit 61 on the left side of FIG. 4 also shows the state at that time. Further, as shown in FIG. 5, a stopper 70 for stopping the rolled load 100 is attached to the side of the conveyor 15 where the roller 65 is lowered.
[0017]
Note that the gaps between the rollers 151 shown in FIG. 4 are larger at the portion where the load delivery portion 61 protrudes and smaller at the other portions, but the load delivery portion 61 is placed on the conveyor 15 at any location. Therefore, the gap between the conveyors 15 may be increased in the same manner.
[0018]
The interval between the two load delivery units 61 and 61 (that is, the interval between the load delivery assisting means 60 and 60) is the same as the interval between the two load take-out storage units 37 and 37 (see FIG. 3) of the stacker crane 30. It is configured as follows. The traveling carriage 50 is controlled by a computer so that it is always located next to the stacker crane 30 in parallel and moves with the movement of the stacker crane 30. Reference numeral 71 shown in FIG. 5 denotes an auxiliary roller for smoothly moving the load 100 on the load take-out storage unit 37 onto the roller 65, and is installed on the upper side of the side of the conveyor 15 where the load 100 moves. .
[0019]
Next, FIG. 6 is a view showing the load pushing means 80 used in the three-dimensional automatic warehouse 10, wherein FIG. 6 (a) is a plan view, FIG. 6 (b) is a front view, and FIG. 6 (c) is a side view. It is a BB arrow line view of figure (b). The position where the load pushing means 80 is attached is a position where the load is moved from the conveyor 15 to the load take-out storage unit 37 of the stacker crane 30 and is, for example, a position a1 in FIG.
[0020]
That is, the load extruding means 80 has a stay 81 fixed to the lower side of one side of the conveyor 15, and one rodless cylinder 85 and two guides between two mounting bases 83, 83 mounted on the stay 81. The rods 86 and 86 are passed, a drive main body 87 is attached to the rodless cylinder 85 and the guide rods 86 and 86, and an arm 89 is attached to the upper part of the drive main body 87. The drive main body 87 is normally in the illustrated position, but is configured to slide to the right end as shown by the dotted line by supplying air to the rodless cylinder 85 by an air supply means (not shown). The means for slidingly moving the drive main body 87 is not limited to that of this embodiment, and there are various other mechanisms, and it goes without saying that any of them may be used.
[0021]
The arm 89 is configured by providing a pressing portion 93 extending in the horizontal direction on vertical bars 91, 91 that pass between the two rollers 151. As shown in FIG. 6B, the pressing portion 93 is positioned in the vicinity of one end of the roller 151 when not in operation so as not to obstruct the movement of the load 100 on the roller 151. Reference numeral 73 denotes an auxiliary roller.
[0022]
Next, a method for controlling the operation of the three-dimensional automatic warehouse 10 having the above configuration will be described. This control is performed by a computer. That is, first, from the delivery, the load take-out storage unit 37 of the stacker crane 30 in FIG. 1 faces the predetermined shelf 13 and drives the conveyors 371, 372, 373 (see FIG. 3) as described above to load 100. Is taken down to the position of the conveyor 15. At this time, the traveling carriage 50 is located at a position aligned with the stacker crane 30, so that the two cargo take-out storage portions 37 and the two cargo delivery portions 61, 61 are in positions facing each other.
[0023]
Then, the cargo delivery unit 61 of the traveling carriage 50 is driven and raised to move to a position indicated by a dotted line in FIG. 5 is moved onto the roller 65 of the load delivery unit 61 via the auxiliary roller 71, the roller 65 is inclined obliquely, so that the load 100 is moved to the roller 65. The top slides against the stopper 70. That is, the load 100 is surely placed on the conveyor 15. Then, the cargo delivery unit 61 is driven and lowered, whereby the cargo 100 is placed on the roller 151, the roller 151 is driven by a driving means (not shown), is conveyed on the conveyor 15, and is discharged from the three-dimensional automatic warehouse 10.
[0024]
On the other hand, when loading the load 100 into the three-dimensional automatic warehouse 10, the load 100 is received from the outside into the three-dimensional automatic warehouse 10 by the conveyors 15 and 15 shown in FIG. 2, and stops at any position a1. Next, the stacker crane 30 is moved so that the load take-out storage unit 37 is opposed to the position a1 (see FIG. 6B). When the drive main body 87 and the arm 89 are moved from the solid line position shown in FIG. 6B to the dotted line position, the load 100 on the conveyor 15 is pushed out onto the load take-out storage part 37 via the auxiliary roller 73. Then, it is reliably taken into the cargo take-out and storage unit 37 by the conveyors 371, 372, and 373 (see FIG. 3) of the cargo take-out and storage unit 37. The load 100 taken into the load take-out storage unit 37 is carried to and stored in a predetermined shelf 13.
[0025]
As described above, when the traveling carriage 50 according to the present invention is used, the load can be easily and smoothly transferred from the stacker crane 30 to the conveyor 15 at any location.
[0026]
In the above embodiment, when the load 100 is moved from the conveyor 15 to the stacker crane 30, the load pushing means 80 is used. Therefore, the stacker crane 30 must be moved to the position a1 where the load pushing means 80 is installed. If the three-dimensional automatic warehouse 10 is large, the number of the load extruding means 80 is increased, which may increase the cost.
[0027]
FIG. 7 is a view showing a traveling carriage 50 in which this drawback is also eliminated. FIG. 7 (a) is a schematic front view of the main part, and FIG. 7 (b) is a schematic side view of the main part. In the figure, the same or corresponding parts as those in the above-described embodiment are designated by the same reference numerals and their detailed description is omitted.
[0028]
In the figure, the difference from the above embodiment is only the structure of the cargo delivery section 61. Specifically, instead of attaching the roller 65 to the attachment plate 63, three belts 93 are used for the attachment plate 63. This is the point where a hanging mechanism is attached. In this hooking mechanism, a belt 93 is hooked on three pulleys 91, and a gear 95 attached to a single shaft 92 (a row of three pulleys 91 is fixed) is attached to a shaft of a motor 99. It is comprised so that it may mesh with 97 and may be rotationally driven.
[0029]
When the upper portion of the belt 93 is raised to the position indicated by the dotted line in FIG. 7B on the roller 151 of the conveyor 15, the load 100 is moved from the load take-out storage portion 37 of the stacker crane 30 to the conveyor 15. 93 is moved in the direction of arrow C, and conversely, when the load 100 is moved from the conveyor 15 to the load take-out storage section 37, the belt 100 can be moved in the direction of arrow D to smoothly move the load 100 via the auxiliary roller 71. Delivery can be done.
[0030]
FIG. 8 is a schematic side view of an essential part showing still another embodiment of the present invention. In each of the above embodiments, the load delivery unit 61 is installed on the traveling carriage 50 that travels in synchronization with the stacker crane 30. In this embodiment, the main body 31 itself of the stacker crane 30 is attached to the main body 31 by the attachment member 69. A cargo delivery unit 61 is attached. The load delivery unit 61 according to this embodiment has substantially the same structure as that shown in FIG. 7, but the pulley 91 and the belt 93 of the load delivery unit 61 are lifted and lowered by a lifting mechanism (not shown) inside the load delivery unit 61. It is configured. Instead of the cargo delivery unit 61, the same structure as the cargo delivery unit 61 shown in FIG. 5 may be used. Then, when the cargo take-out storage unit 37 is brought close to one side of the conveyor 15, the pulley 91 and the belt 93 of the load delivery unit 61 on the lower side of the conveyor 15 are projected upward from the lower side of the conveyor 15. The movement of the load 100 between the load take-out storage unit 37 and the conveyor 15 is assisted. In the case of this embodiment, since the cargo delivery part 61 is inserted from the side part of the conveyor 15, it is preferable to make the roller 151 cantilever supported only at one end thereof. If comprised in this way, the traveling trolley | bogie 50 will become unnecessary and a control program will also be simplified and the further cost reduction can be aimed at.
[0031]
Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the claims and the technical idea described in the specification and drawings. Deformation is possible. Note that any shape, structure, or material not directly described in the specification and drawings is within the scope of the technical idea of the present invention as long as the effects and advantages of the present invention are exhibited. For example, the load delivery assisting means 60 according to the present invention is not limited to the one having the above-described structure, and other various structures can be considered. Any structure may be used as long as it is a load delivery assisting means for assisting the movement of the load between the load take-out and storage section of the crane.
[0032]
【The invention's effect】
As described above in detail, according to the present invention, the load delivery assisting means is provided in the traveling carriage that travels in parallel with the traveling of the crane, or the load delivery assisting means is attached to the crane itself. The load delivery assisting means can deliver the load at a plurality of locations on the conveyor, and has an excellent effect that the cost can be reduced.
[Brief description of the drawings]
FIG. 1 is an overall schematic view showing an embodiment of a three-dimensional automatic warehouse 10 to which the present invention is applied, in which FIG. These are the BB cross-sectional schematics of the figure (a).
2A and 2B are diagrams illustrating conveyors 15 and 15. FIG. 2A is a schematic plan view, and FIG. 2B is a schematic side view.
FIG. 3 is a front view showing a stacker crane 30. FIG.
4 is a front view showing a traveling carriage 50. FIG.
5 is a side view showing the traveling carriage 50 (a view seen from the direction of arrow A in FIG. 4). FIG.
6A and 6B are views showing the load pushing means 80, wherein FIG. 6A is a plan view, FIG. 6B is a front view, and FIG. 6C is a side view.
FIGS. 7A and 7B are diagrams showing a traveling carriage 50-2 according to another embodiment, in which FIG. 7A is a schematic front view of the main part, and FIG.
FIG. 8 is a schematic side view of an essential part showing still another embodiment.
[Explanation of symbols]
10 three-dimensional automatic warehouse 11 storage shelf 13 shelf 15 conveyor 151 roller 30 stacker crane (crane)
37 Cargo unloading and storing section 371, 372, 373 Conveyor 50 Traveling carriage 51 Cart body 53 Driving device 60 Load delivery assisting means 61 Load delivery section 63 Mounting plate 65 Roller 67 Driving means 69 Mounting member 70 Stopper 71 Auxiliary roller 80 Load pushing means 90 Belt Pulling drive mechanism 91 Pulley 92 Shaft 93 Belt 95 Gear 97 Gear 99 Motor 100 Load

Claims (4)

A storage shelf having a plurality of rows of shelves in a plurality of stages, a crane having a load take-out storage portion for taking out and storing the load between the storage shelves, and traveling in the horizontal direction along the storage shelf, and the crane A conveyor installed along the traveling direction of the vehicle, the load taken out from the storage shelf by the crane unloading and storing unit is loaded onto the conveyor, the load loaded onto the conveyor is loaded into the crane In a three-dimensional automatic warehouse that is stored in a storage shelf by the unloading storage unit,
A traveling carriage that runs in parallel with the traveling of the crane is installed below the conveyor,
In addition, the three-dimensional automatic warehouse is provided with a load delivery assisting means for assisting the movement of the load between the conveyor and the load take-out storage unit by projecting upward from the bottom of the conveyor. The load delivery assisting means includes a plurality of sets of rollers, in which a plurality of rollers are arranged so as to be able to enter and exit from the lower surface side to the upper surface side of the conveyor and are inclined obliquely in the width direction of the conveyor. 2. The three-dimensional automatic warehouse according to claim 1, wherein a load held by the load take-out storage unit is placed from a higher side of the roller of the load delivery assisting means and is rolled on the roller to guide it onto a conveyor. The load delivery assisting means includes a plurality of sets of belts wound around a pulley so that the belt can freely enter and exit from the lower surface side of the conveyor. 2. The three-dimensional automatic warehouse according to claim 1, wherein the load is moved between the load take-out storage unit of the crane and the conveyor. A storage shelf having a plurality of rows of shelves in a plurality of stages, a crane having a load take-out storage portion for taking out and storing the load between the storage shelves, and traveling in the horizontal direction along the storage shelf, and the crane A conveyor installed along the traveling direction of the vehicle, the load taken out from the storage shelf by the crane unloading and storing unit is loaded onto the conveyor, the load loaded onto the conveyor is loaded into the crane In a three-dimensional automatic warehouse that is stored in a storage shelf by the unloading storage unit,
When the crane enters the lower side of the conveyor and brings the crane's unloading storage part closer to one side of the conveyor, it protrudes from the lower surface side of the conveyor to the upper surface side to move the load between the conveyor and the unloading storage part. A three-dimensional automatic warehouse, which is equipped with auxiliary cargo delivery assistance means.

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