JP3889249B2 - Automatic warehouse - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an automatic warehouse.
[0002]
[Prior art]
There are various types of automatic warehouses, but when viewed from the transfer mechanism, in general, a stacker crane system in which loading and unloading is performed by one stacker crane, and disclosed in, for example, Japanese Utility Model Publication No. 6-46884. as there, by placing the self-propelled carriage for each trays hangar, is widely used and bogie scheme to perform e transferred the load changeover between the self-propelled truck and the shelf.
[0003]
The latter trolley method has the advantage that the efficiency of loading and unloading is significantly higher than the stacker crane method because it can load and unload each stage independently and can run the self-propelled trolley at high speed. .
[0004]
In bogie type generally lift (lift reservoir) provided at the end of the hangar, and performs a load of transferred conversion example between the self-propelled carriage with goods movements conveyor of each stage lift .
[0005]
In a trolley type automatic warehouse, a self-propelled trolley has at least a pair of front wheels and a rear wheel, and these wheels are supported by a pair of rails so as to be freely rotatable (either front wheel or rear wheel). Is the driving wheel).
[0006]
In the above publication, the load placing part of the self-propelled carriage, the rail, and the shelf board are set to the same height so that the load is slid and transferred between the load placement part and the shelf board of the self-propelled carriage. It is described. According to this configuration, the vertical space between the shelves can be reduced, so that space can be used effectively, and loads such as cardboard boxes and wooden boxes can be easily handled.
[0007]
[Problems to be solved by the invention]
By the way, although the self-propelled carriage is made to travel by utilizing friction between the wheels (particularly, the drive wheels) and the rails, the wheels may slip.
[0008]
For example, when the temperature inside the warehouse is low or the humidity is high, such as in an automatic warehouse for a freezer or a cold district, the wheels may be condensed due to condensation on the rails or condensation water icing. There is a risk of slipping.
[0009]
Even if the inside of the cabinet is not low temperature or high humidity, the rail top surface gets wet with water leaking from the load, the rail gets wet with water leaking from the ceiling, or dust adheres to the rail. This may cause wheel slip.
[0010]
If the wheel slips, the traveling position of the self-propelled carriage cannot be controlled and it becomes impossible to load and unload, or it may cause an accident such as overrun outside the traveling range and colliding with the protective material. In the meantime, when the vehicle is run at a low speed so as not to slip, the warehouse efficiency is significantly reduced.
[0011]
The present invention aims to improve such a current situation.
[0012]
[Means for Solving the Problems]
An automatic warehouse according to the present invention includes a pair of left and right rails extending in parallel in a plan view, a self-propelled carriage supported so as to be able to run on these rails, and shelves arranged on both sides or one side across the pair of rails. The part between the left and right rails is a carriage travel passage, and the load placing part of the self-propelled carriage, the rail and the shelf are arranged at substantially the same height, so that the load can be separated from the self-propelled carriage. It can be made to slide between the shelf boards.
[0013]
Further, a timing belt having a large number of teeth is disposed on at least one of the left and right rails so as to extend over substantially the entire length of the rail, while the self-propelled carriage is engaged with the timing belt. A gear is provided, and the self-propelled carriage runs by the rotation of the timing gear.
[0014]
Furthermore, a step portion located below the end portion of the load placing portion in the self-propelled carriage is formed on a side portion of the rail on which the timing belt is disposed, which is located on the side of the carriage traveling passage. While the timing belt is disposed in the part, the self-propelled carriage is provided with a pressing roller that brings the timing belt close to or in close contact with the stepped part on both sides of the timing gear.
[0015]
[0016]
[Operation and effect of the invention]
In the present invention, self-propelled carriage, a timing gearing provided in this order to travel in a state where each other viewed engage the timing belt, there is no possibility that the wheel is slipping.
[0017]
Accordingly, the self-propelled carriage can be accurately driven at a high speed even in a poor environment where the rails are wetted by water due to condensation or the like, icing occurs, or dust adheres. As a result, regardless of the installation environment, it is possible to prevent accidents caused by slipping and load / unload the load at high speed.
[0018]
Further, by using the timing belt being city sales, it is possible to run the self carriage accurate and fast.
[0019]
Furthermore, by arranging the timing belt on the rail stage, the timing belt and the self-propelled carriage do not interfere with each other, so the self-propelled carriage does not increase in size and the interval between the left and right rails does not increase. Space can be used effectively.
[0020]
DETAILED DESCRIPTION OF THE INVENTION
Next, embodiments of the present invention will be described with reference to the drawings.
[0021]
(1) Overview
Also not a, an outline with reference to FIG. 1. FIG. 1 is a schematic perspective view of an automatic warehouse, and the automatic warehouse according to the present embodiment includes a pair of hangars 1 arranged to face each other. Both hangars 1 are provided with shelf boards 2 in multiple stages.
[0022]
Both hangars 1 are provided with a large number of front columns 3 and rear columns 4 that are erected at regular intervals along the frontage direction. The adjacent front columns 3 support rails ( front frames) 5 in multiple stages, the rear frame 6 is supported in multiple stages in rear strut 4, and supports the shelf plate 2 between each rail 5 and the rear frame 6.
[0023]
At the end of the shelf at each stage, temporary base 7 made of roller conveyors are connected, on the outside of the group of these temporary placement table 7 and the mast 8 is erected, it lifts the mast 8 (Elevation reservoir) 9 is attached to be movable up and down. The load W is transferred via a lift 9 to a conveyor 10 for entering or leaving and a temporary table 7.
[0024]
This will be described in detail below with reference to the drawings of FIG. 2 is a partial perspective view of the automated warehouse, FIG. 3 is also a partial plan sectional view of the automated warehouse, FIG. 4 is an enlarged plan view of the main part, FIG. 5 is a sectional view taken along the line VV in FIG. 4 is a sectional view taken along line VI-VI in FIG. 4, FIG. 7 is a sectional view taken along line VII-VII in FIG. 4, and FIG. 8 is a sectional view taken along line VIII-VIII in FIG.
[0025]
(2). Rail and shelf plate As shown in FIG. 2, the rail 5 is formed in a downward-opening U-shape, and a hook-shaped receiving portion 5 a is formed on the opposite side of the carriage travel path 11 by bending. The downward bent portion 2a of the front end of the shelf 2 is fitted in the receiving portion 11a so as not to be displaced.
[0026]
The upper surface of the rail 5 and the upper surface of the shelf plate 2 are flush with each other (there may be a slight difference in height due to processing errors).
[0027]
The rail 5 is divided into many pieces, and the end of each part is fastened to the front column 3 with bolts and nuts (not shown). A space between adjacent front columns 3 is a unit storage portion (unit shelf space), and a plurality of loads W can be stored side by side in each unit storage portion.
[0028]
The rail 5 one of the pair of left and right rails 5, forms a step portion 5b positioned on the side of the truck traveling passage 11, are disposed Thailand timing belt 12 to the stepped portion 5b. The timing belt 12 has the teeth 12 a facing downward, and both ends are fixed to the rail 5.
[0029]
As shown in FIG. 3, a self-propelled carriage 14 is disposed in the carriage travel passage 11. The self-propelled carriage 14 includes a main body frame 15 having a rectangular shape in plan view. A pair of front and rear wheels 17 are attached to the main body frame 15 via bearings 16, and a travel drive mechanism 18 and a load placement section described later in detail. 19 etc. are provided.
[0030]
The travel drive mechanism 18 is provided on one side of the load placement unit 19 and at a portion biased to the rail 5 on which the timing belt 12 is mounted. Reference numeral 20 in FIG. 3 denotes a control box. In the present embodiment, the rail 5 and the shelf board 2 are separate members, but the rail 5 can be integrally bent at the front end of the shelf board 2.
[0031]
(3). Loading section As shown in FIGS. 3 and 5, guide frames 21 extending in a direction perpendicular to the traveling direction of the self-propelled carriage 14 are arranged on both sides of the loading section 19. . Both guide frames 21 are formed in a substantially U shape in a side view that opens toward the load placing portion 19.
[0032]
One guide frame 21 located on the side of the travel drive mechanism 18 is fixed to the main body frame 15, and the other guide frame 21 is not shown in the figure so that it can move relative to one guide frame 21. It is attached to the main body frame 15 via. One guide frame 22 can be moved and adjusted by a first motor indicated by reference numeral 22 in FIG.
[0033]
A support plate 23 on which the load W is placed is fixed to both guide frames 21. Both support plates 23 are supported by the main body frame 15. Further, both support plates 23 partially overlap. When both guide frames 21 are fixed to the main body frame 15, only one support plate 23 may be used.
[0034]
The support plate 23 has substantially the same height as the rail 5 and the shelf 2. As shown in FIG. 8, the support plate 23 protrudes outside the main body frame 15, and one end portion thereof is located above the step portion 5 b in the one rail 5. The other end of the support plate 23 is slightly spaced from the other rail 5.
[0035]
Accordingly, the load W can be slid between the load placing portion 19 and the shelf 2. In order to make the sliding movement of the load W smooth, both ends of the support plate 23 are bent slightly downward.
[0036]
(4) Transfer mechanism A first arm 24 and a second arm 25 extending in the same direction as the guide frames 21 are arranged inside the guide frames 21. The first arm 24 is slidably supported by the guide frame 21 by a number of first roller groups 26 so as to advance and retreat toward the inside of the shelf.
[0037]
The second arm 25, as can be moved back and forth toward the interior of the shelf and is mounted for relative movement to the first A over arm 24 by a number of second roller group 27.
[0038]
An interlocking shaft 28 extending in the traveling direction is rotatably disposed below the loading unit 19. A pinion 30 that meshes with a rack 29 fixed to the lower surface of the first arm 24 is fixed to the interlocking shaft 28. Has been. The interlocking shaft 28 is driven by the second motor 31. The second motor 31 is fixed to a stay 32 that is fixed to the main body frame 15.
[0039]
Picker 33 for pushing and pulling the load W is incorporated in the left and right ends of the second arm 25. Each picker 33 is attached to the second arm 25 so as to horizontally rotate from a posture hidden behind the second arm 25 to a posture extending in a direction crossing the load mounting portion 19.
[0040]
The pickers 33 at both ends are driven in synchronization by a drive device (not shown) provided on the second arm 25. In this case, one picker 33 and the other picker 33 are set to move in opposite directions.
[0041]
Although details are omitted, the double speed mechanism is set so that the advance / retreat amount of the second arm 25 is twice the advance / retreat amount of the first arm 24, thereby making the second arm 25 larger in the shelf. You can get in.
[0042]
Then, the combination of the forward / backward movement of the second arm 25 and the horizontal rotation of the picker 33 causes the load W to be transferred from the self-propelled carriage 14 to the shelf or temporary table 7, or the load W is transferred from the shelf or temporary table 7. It can be pulled into the self-propelled carriage 14. Needless to say, the transfer mechanism can employ various other structures.
[0043]
(5) Travel drive mechanism The travel drive mechanism 18 includes a timing gear 35 with which the timing belt 12 meshes from above, and a pressing roller (or pressing pulley) 36 that presses the timing belt 12 downward on both sides thereof. The timing gear 35 and the pressing roller 36 are pivotally supported on a bracket plate 37 fixed to the main body frame 15.
[0044]
A third motor 38 that drives the timing belt 12 is fixed to the bracket plate 37. The bracket plate 37 is reinforced by a reinforcing plate 39.
[0045]
The pressing roller 36 is located slightly above the step portion 5b of the rail 5. Therefore, the timing belt 12 is slightly lifted from the step portion 5b at the position of the pressing roller 36. For this reason, the timing belt 12 is easily bent and deformed, and the timing gear 35 can be rotated at high speed.
[0046]
An auxiliary pressure roller 36 a is provided on the opposite side of the timing gear 35 with one pressure roller 36 interposed therebetween. The auxiliary pressing roller 36 is pivotally supported on the main body frame 15.
[0047]
An encoder unit 40 for detecting the travel position (or travel distance) of the self-propelled carriage 14 is attached to the bracket plate 37. The encoder unit 40 includes a rotary encoder 41 and a driven sprocket 42 that rotates its rotor, and a chain 44 is wound around the driven sprocket 42 and a main sprocket 43 that is fixed to the rotating shaft of the timing gear 35. . Not shown figure, the inside of one of the rails 5 are arranged trolley for power supply.
[0048]
(6) Summary Since the timing gear 35 meshes with the timing belt 12, even if the upper surface of the rail 5 is wet with water, the wheels 17 do not slip and the self-propelled carriage 14 travels accurately. Can be made. Further, since the timing belt 12 is disposed on the step portion 5b of the rail 5, the timing belt 12 does not hinder the sliding movement of the load W.
[0049]
When the teeth 12a of the timing belt 12 are directed downward as in the present embodiment, there is an advantage that the meshing between the timing belt 12 and the timing gear 35 can be ensured and dust can be prevented from accumulating on the teeth 12a.
[0050]
In the present embodiment, since the rotation of the timing gear 35 (in other words, the rotation of the third motor 38) is directly detected by the encoder 41 by the chain 44, the position control of the self-propelled carriage 14 is accurately performed without any detection error. Can be done.
[0051]
Note that the timing belt 12 may be disposed on the left and right rails 5 and a pair of left and right timing gears 35 may be provided on the self-propelled carriage 14.
[0052]
[0053]
[0054]
[0055]
[0056]
[0057]
[0058]
[0059]
[0060]
[0061]
[0062]
[0063]
(7). Others The present invention can be embodied in various ways. For example, the cross-sectional shape of the rail is not limited to the illustrated shape, and various other forms can be adopted.
[0064]
[0065]
[0066]
[0067]
In the present invention, the rails need to extend in a series along the frontage direction of the shelf, but the shelf does not necessarily have to be spread over the entire shelf. For example, the rail is formed in a comb shape in a plan view. It is also possible.
[Brief description of the drawings]
FIG. 1 is a perspective view of an automatic warehouse.
FIG. 2 is a partial perspective view of an automatic warehouse.
FIG. 3 is a partial plan sectional view of an automatic warehouse.
FIG. 4 is an enlarged plan view of a main part.
5 is a cross-sectional view taken along the line VV in FIG. 4;
6 is a cross-sectional view taken along the line VI-VI in FIG. 4;
7 is a cross-sectional view taken along the line VII-VII in FIG.
8 is a cross-sectional view taken along the line VIII-VIII in FIG.
[Brief description of symbols]
DESCRIPTION OF SYMBOLS 1 Hangar 2 Shelf plate 5 Rail 5b Step part 12 Timing belt 14 Self-propelled carriage 15 Main body frame 17 Wheel 18 Travel drive mechanism 19 Load mounting part 35 Timing gear 36 Pressing roller 38 Third motor for driving 40 Encoder unit

Claims (1)

A pair of left and right rails extending in parallel in plan view, a self-propelled carriage supported by these rails so as to run freely, and shelves arranged on both sides or one side across the pair of rails. The part in between is the bogie travel path,
By aligning the luggage placement portion, rail and shelf of the self-propelled carriage at substantially the same height, the load can be slid between the self-propelled carriage and the shelf board,
Further, a timing belt having a large number of teeth is disposed on at least one of the left and right rails so as to extend over substantially the entire length of the rail, while the self-propelled carriage has a timing gear meshing with the timing belt. The self-propelled cart runs by the rotation of the timing gear.
Is an automated warehouse,
A step portion located below the end of the load carrying portion in the self-propelled carriage is formed on a side portion of the rail on which the timing belt is disposed, which is located on the side of the carriage traveling passage. While arranging the timing belt,
The self-propelled carriage is provided with a pressing roller that brings the timing belt close to or in close contact with the stepped part on both sides of the timing gear.
Automatic warehouse.

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