JP7031183B2 - Lifting device and automated warehouse - Google Patents

Description

The present invention is an elevating device that raises and lowers a self-propelled trolley to a shelf facility having a three-dimensional article storage space having a plurality of upper and lower layers, and carrying in articles to the shelf facility by the self-propelled trolley. Regarding the automated warehouse that carries out.

A square frame-shaped elevating frame, which is a carriage, is used as a vertical frame as an elevating device for elevating and lowering a self-propelled trolley traveling on the ground for a shelf facility having a three-dimensional article storage space with multiple upper and lower levels. There is one in which the lower end of the wire rope hanging from the hoist is connected to the upper frame of the elevating frame while supporting the elevating machine (see, for example, Patent Documents 1 and 2).
The elevating device of Patent Documents 1 and 2 is a hoisting machine in which a self-propelled trolley (transport trolley) is mounted on a relay trolley rail extending in the front-rear direction provided at the lower portions on both left and right sides of the elevating frame. Raises and lowers the elevating frame and the self-propelled trolley.
The self-propelled carriage travels on the floor surface, and the upper surface of the relay carriage rail at the lowest position of the elevating frame is higher than the floor surface. Wheels running on rails are provided. Further, in Patent Document 1, the self-propelled carriage is raised by an elevating device arranged in a recess provided on the floor surface, and the height of the traveling wheels on the rail is adjusted to the upper surface of the relay carriage rail. In Document 2, the height of the traveling wheel on the rail is adjusted to the upper surface of the relay carriage rail while traveling on the inclined rail for getting on and off by the traveling wheel on the rail.

The height of the upper surface of the relay carriage rail of the elevating device needs to be the same as the height of the upper surface of the passage in the upper and lower multiple stages of the shelf equipment.
For such level adjustment, for example, a receiving portion provided on the rail on the elevating side and a retractable pin provided on the rail on the fixed side that can be fitted and detached horizontally with respect to the receiving portion are used, and an actuator is used. This is done by advancing the retractable pin and fitting it into the receiving portion (see, for example, FIG. 9 of Patent Document 3).

Japanese Unexamined Patent Publication No. 58-188204 Jitsukaisho 58-166506 Gazette Japanese Unexamined Patent Publication No. 2008-174369

In the elevating device and the self-propelled trolley as in Patent Documents 1 and 2, if the elevating device can be moved onto the relay trolley rail of the elevating device while traveling on the floor surface by the traveling wheels on the floor, the patent document 1 provides. It is possible to eliminate the elevating device arranged in the recess provided on the floor surface, the inclined rail for getting on and off in Patent Document 2, and the traveling wheel on the rail of the self-propelled carriage.
However, in order to enable the self-propelled bogie to move on the relay bogie rail of the elevating device while traveling on the floor surface with the traveling wheels on the floor, the relay bogie rail at the lowest position of the elevating frame is used. Since it is necessary to dig a pit on the floor in order to lower the height of the upper surface of the rail, the equipment cost increases.

In an elevating device such as Patent Documents 1 and 2 in which an elevating frame is suspended by a wire rope or a chain hanging from a hoist, the elevating device has a plurality of upper and lower layers of the shelf equipment, as in Patent Document 3. When the retractable pin is advanced in the horizontal direction and fitted to the receiving portion to adjust the level, the tension of the load may remain on the wire rope or the chain.
Therefore, for example, when the load of the elevating device is small as in the state before the movement when the self-propelled trolley moves from the shelf equipment side to the elevating device, the self-propelled article is placed on the elevating device. It is conceivable that when the carriage moves, the load on the elevating device increases, so that the downward load acting on the retractable pin becomes very large. When the load becomes very large in this way, the movement of the mechanism for adjusting the level may be impaired, such as the retractable pin fitted to the receiving portion not being pulled out.
It is conceivable to provide a device for controlling the fluctuation of the tension of the wire rope or the chain that lifts the elevating frame in accordance with such a large fluctuation of the load due to the movement of the self-propelled carriage. Maintenance costs will increase.

Therefore, in view of the above-mentioned situation, the problem to be solved by the present invention is a shelf facility provided with an elevating drive mechanism for elevating and lowering a carriage supported so as to be elevated, and having a three-dimensional article storage space having a plurality of upper and lower layers. On the other hand, in the elevating device that raises and lowers the self-propelled trolley traveling on the ground, the self-propelled trolley can be self-propelled and mounted on the carriage, but the equipment cost and the maintenance cost are not increased. It is to prevent the movement of the operation of performing the level adjustment in each of the upper and lower multiple stages of the above from getting worse.

In order to solve the above-mentioned problems, the elevating device according to the present invention is provided with an elevating drive mechanism for elevating and lowering a carriage supported so as to be elevated, and has a three-dimensional article storage space having a plurality of upper and lower layers. It is a lifting device that raises and lowers a self-propelled carriage traveling on the ground.
The carriage is
At least two stanchions that extend vertically and are separated horizontally,
A horizontal member connecting the upper parts of the columns and
It has a receiving member fixed to the lower part of the column, and has a receiving member.
The receiving member is
A horizontal plate-shaped wheel support on which the traveling wheels of the self-propelled trolley are mounted, and
It consists of a vertical plate-shaped movement restricting part that stands up on the outside in the left-right direction from the wheel support part.
The bottom of the wheel support is the bottom of the carriage .
The elevating drive mechanism
The carriage is raised and lowered in a suspended state by four cords spanning the first rotating shaft core and the rotating body rotating around the second rotating shaft core separated in the left-right direction or the front-back direction.
Two first rotating bodies rotatably supported around the first rotating shaft core, and
Two second rotating bodies fixed to a rotating support shaft rotatably supported around the second rotating shaft core, and
The two second rotating bodies are located outside in the front-rear direction or the left-right direction so as to sandwich the two second rotating bodies, or
Located in the front-back direction or the left-right direction of the two second rotating bodies,
Two third rotating bodies fixed to the rotating support shaft,
A first cord that is hung on the first rotating body and the second rotating body, and the end portion closer to the first axis is fixed to the carriage.
A second cord that is hung on the third rotating body and has an end closer to the first axis fixed to the carriage.
A rotary drive device for driving the rotary support shaft is provided (claim 1).

According to such a configuration, while the traveling wheel of the self-propelled bogie is supported by the wheel support portion of the receiving member fixed to the lower part of the support column, the movement is restricted so as to stand up in the lateral direction from the wheel support portion. The movement of the self-propelled bogie can be restricted in the left-right direction (horizontal direction orthogonal to the direction in which the self-propelled bogie enters the carriage).
Moreover, since the lowermost portion of the wheel support portion is the lowermost portion of the carriage, only a step in the thickness of the wheel support portion with respect to the floor surface occurs when the lower surface of the wheel support portion is in contact with the ground at the lowest position of the carriage. ..
Therefore, the self-propelled trolley traveling on the ground can easily get into the carriage while self-propelling on the traveling wheels by keeping the step in the state of having the step or by simply installing the step-eliminating slope having a small inclination angle. Alternatively, the self-propelled bogie on the carriage can descend to the ground while self-propelling on the traveling wheels.
Furthermore, since the lowermost portion of the wheel support portion is the lowermost portion of the carriage, it is not necessary to dig a pit on the floor surface, so that the equipment cost does not increase.
Moreover, since the two second rotating bodies and the two third rotating bodies are rotated by rotating the rotary support shaft by the rotation driving device, the first cord and the third rotating body hung on the second rotating body are rotated. The four cords of the second cord hung on the machine move up and down in synchronization.
Therefore, the carriage can be raised and lowered in a well-balanced manner while being suspended by the four cords .

Here, the receiving member is a pair of members fixed to each of the columns at the lower part of the column and separated in the left-right direction.
It is a preferred embodiment that the wheel support portion and the movement restricting portion have an L-shaped cross section cut in a plane including the vertical direction and the horizontal direction (claim 2).

According to such a configuration, as a pair of members that separate the receiving member in the left-right direction, the wheel support portion and the movement restriction so that the cross section cut in a plane including the up-down direction and the left-right direction forms an L-shape. Since the portion is provided, the manufacturing cost can be reduced by forming the wheel support portion and the movement restricting portion as an integral body by using the pair of members as, for example, an angle member.

In addition, the carriage is
It is equipped with four columns extending in the vertical direction, front, rear, left, and right, and the columns adjacent to the front, rear, left, and right are connected by a horizontal member.
It is a more preferable embodiment that the guide roller bodies provided above and below the two columns on the shelf equipment side among the four columns are guided by the guide rails in the vertical direction (claim 3).

According to such a configuration, since the carriage is formed by connecting the four columns in the front, rear, left and right with the horizontal member, the rigidity of the carriage can be increased. The guide roller bodies provided above and below the two columns on the shelf equipment side of the highly rigid carriage move up and down while being guided by the guide rails in the vertical direction, so that the carriage moves up and down stably and reliably. Become.

Furthermore, the carriage maintains a level-adjusted state in which the height of the upper surface of the passage in the upper and lower layers of the shelf equipment is matched with the height of the upper surface of the wheel support portion of the receiving member. A level matching part is provided on the support on the shelf equipment side.
The level adjusting portion is driven by a drive mechanism that switches between a standby state and an operating state, and includes a swing member that protrudes toward the shelf equipment in the operating state.
The structure of the elevating device includes an abutting member fixed to an elevating body elastically supported in the vertical direction, to which the lower surface of the swinging member abuts in the operating state.
When the carriage is lowered by the elevating drive mechanism in the operating state,
It is more likely that the lower surface of the swing member abuts on the contact member, the carriage and the elevating body descend, and the lower surface of the elevating body is in contact with the retaining body to be in the level adjustment state. This is a more preferred embodiment (claim 4 ).

According to such a configuration, when the level adjusting portion provided on the support on the shelf equipment side of the carriage is activated, the swing member is projected toward the shelf equipment side, and the carriage is lowered by the elevating drive mechanism, the swing member is lowered. The lower surface of the elevating device comes into contact with the abutting member provided in the structure of the elevating device, the carriage and the elevating body descend, and the lower surface of the elevating body is in a state of being pressed against the retaining body. On the other hand, by guiding the guide roller body of the carriage by the guide rail in the vertical direction, the movement of the carriage is restricted to the vertical movement along the shelf equipment, so that the separation of the carriage from the shelf equipment can be suppressed. By doing so, the level adjustment state in which the height of the upper surface of the passage in the hierarchy of the shelf equipment is matched with the height of the upper surface of the wheel support portion of the receiving member of the carriage is stably and surely maintained.
Therefore, even if the elevating drive mechanism raises and lowers the carriage in a state of being suspended by a rope, tension does not act on the rope in the level adjustment state, so that the wheel is set at the height of the upper surface of the passage. The operation of adjusting the height of the upper surface of the support portion to the level adjustment state can be performed stably and surely, and the movement of the operation does not deteriorate.

In addition, since the carriage is provided with a swing member that protrudes toward the shelf equipment in the operating state on the support on the shelf equipment side, the carriage or the carriage caused by the movement of the self-propelled trolley with respect to the level adjustment state between the carriage and the shelf equipment. It is possible to suppress the influence of vibration on the shelf equipment and the sinking of the carriage caused by the weight of the self-propelled trolley and articles. Therefore, the operation of adjusting the height of the upper surface of the passage of the shelf equipment to the height of the upper surface of the wheel support portion and the movement of the self-propelled trolley between the carriage and the shelf equipment are more stable and reliable. Can be done.
Furthermore, since it is not equipped with a device for controlling the fluctuation of the tension of the cord that lifts the carriage in accordance with the large fluctuation of the load due to the movement of the self-propelled trolley on which the article is placed, the equipment cost and the maintenance cost do not increase. ..

The automated warehouse according to the present invention includes the elevating device and the elevating device.
Shelf equipment with a three-dimensional storage space for goods with multiple levels above and below,
Equipped with a self-propelled trolley that runs on the ground
With the self-propelled trolley mounted on the carriage of the elevating device, the carriage and the self-propelled trolley are moved up and down, and articles are carried in and out of the shelf equipment by the self-propelled trolley (claim). Item 5 ).

As described above, according to the elevating device and the automated warehouse according to the present invention, the following effects are mainly obtained.
(1) Since the lowermost part of the wheel support portion is the lowermost part of the carriage, the self-propelled trolley traveling on the ground can easily get on the carriage while self-propelling on the traveling wheels, and the self-propelled trolley on the carriage. Can descend to the ground while self-propelled on the traveling wheels.
(2) Since it is not necessary to dig a pit on the floor surface, the equipment cost does not increase.
(3) The movement of the operation of adjusting the level at each level of the upper and lower multiple stages of the shelf equipment does not deteriorate.
(4) The operation of adjusting the height of the upper surface of the passage in the hierarchy of the shelf equipment to the height of the upper surface of the wheel support of the carriage receiving member, and the movement of the self-propelled trolley between the carriage and the shelf equipment. Can be performed more stably and reliably.
(5) Since the device for controlling the fluctuation of the tension of the cord that lifts the carriage is not provided in accordance with the large fluctuation of the load due to the movement of the self-propelled carriage, the equipment cost and the maintenance cost do not increase.

It is a schematic left side view which shows the automated warehouse which concerns on embodiment of this invention. It is a perspective view of a self-propelled trolley. It is a perspective view of a carriage. It is a schematic left side view of the main part of the automated warehouse. FIG. 4 is an enlarged schematic left side view of a main part showing a carriage on which a self-propelled trolley is mounted. It is an enlarged schematic front view of a main part of an automated warehouse. FIG. 6 is an enlarged schematic front view of a main part showing a carriage on which a self-propelled trolley is mounted. FIG. 6 is a schematic plan view of an enlarged cross section of a main part shown in FIG. 6 in which a self-propelled trolley is omitted. It is a schematic perspective view which shows the example of the rotating body and the cord in the elevating drive mechanism. It is a partially disassembled perspective view which shows the area around the level adjustment part of a carriage enlarged, and shows the standby state. It is a schematic right side view showing the area around the level adjustment part of the carriage enlarged, and shows the standby state. Similarly, it is a schematic right side view and shows an operating state. It is a schematic rear view showing the area around the level adjustment part on the right front side of the carriage in an enlarged manner, and shows the standby state. It is also a schematic rear view, showing the operating state. It is a left side surface partial vertical sectional view which shows the fall prevention stopper on the right rear side of a carriage, and shows the release state of the fall prevention stopper. It is a schematic front view which shows the operation of the fall prevention stopper on the right rear side of a carriage, (a) shows the operation state of the fall prevention stopper, and (b) shows the release state of the fall prevention stopper. It is an enlarged right side view of the main part which shows the level adjustment operation which adjusts the height of the upper surface of the wheel support part of the carriage receiving member to the height of the upper surface of the passage of the shelf equipment, and shows the standby state of the level adjustment part. Similarly, it is an enlarged right side view of the main part, and shows the level adjustment state in which the height of the upper surface of the wheel support portion is matched with the height of the upper surface of the passage with the level adjustment portion in the operating state. It is an enlarged rear view of the main part which shows the level adjustment operation, and shows the standby state of the level adjustment part. Similarly, it is an enlarged rear view of a main part, and shows the level adjustment state.

Hereinafter, embodiments according to the present invention will be described with reference to the drawings.
In the present specification, the front, rear, left and right are defined with the direction in which the self-propelled trolley enters the carriage (see the arrows Y1 in FIGS. 1, 3 to 5, and 8) as the front, and the view is viewed from the rear to the front. Is the front view.

<Automated warehouse>
As shown in the schematic left side view of FIG. 1, the automated warehouse A according to the embodiment of the present invention travels on the ground with a shelf facility B having a three-dimensional article storage space S having a plurality of upper and lower layers. The self-propelled trolley C is provided with an elevating device 1 for raising and lowering the self-propelled trolley C with respect to the shelf equipment B.
The elevating device 1 is available for warehousing and warehousing.
As shown by the arrow Y1 in FIG. 1, the self-propelled trolley C self-propells and gets into the carriage 2 of the elevating device 1 from the floor surface F in the elevating device 1 for warehousing.
As shown by the arrow Y2 in FIG. 1, the self-propelled trolley C self-propells and descends from the carriage 2 to the floor surface F on the elevating device 1 for delivery.

With the self-propelled trolley C mounted on the carriage 2 of the elevating device 1, the self-propelled trolley C is moved up and down by the elevating drive mechanism 3 to move the self-propelled trolley C to each level of the shelf equipment B. The self-propelled trolley C carries in and out the article W at the relevant level.
As shown in the perspective view of FIG. 2, the self-propelled carriage C has a function of raising and lowering the elevating table 9, and can self-propell to the front, back, left, and right. Therefore, the self-propelled trolley C can place the article W on a predetermined shelf and can receive the article W from the predetermined shelf.

<Carriage of lifting device>
(Structure)
As shown in the perspective view of FIG. 3, the carriage 2 includes four columns 4, 4, ... In addition to being connected by 5B, 6B, 6C, the horizontal members 5A, 5B are connected by horizontal members 6A, 6A.
That is, the structure on the left side and the right side of the carriage 2 is an integrated structure in which the front and rear columns 4 and 4 are connected by horizontal members 6B and 6C in the front-rear direction, and the upper structure thereof is in the left-right direction. It is an integrated structure in which the horizontal members 5A and 5B of the above are connected by the horizontal members 6A and 6A in the front-rear direction, and is a portal frame structure in which these structures are fixed.
Further, the member 7 is fixed to the lower part of the structure on the left side and the right side by welding or the like.
Therefore, the strength and rigidity of the carriage 2 become very high.

(Elevating guide)
Further, the guide rollers 8C and 8D of the upper and lower guide roller bodies 8A and 8B shown in the enlarged outline left side view of the main part of FIG. It is guided by the guide rails GR, GR in the vertical direction, which are H-shaped steels shown in the plan view.
Therefore, as described above, the carriage 2 having high rigidity moves up and down while being guided by the left and right guide rails GR and GR, which are H-shaped steels having high rigidity, so that the raising and lowering operation of the carriage 2 becomes stable and reliable.

(Receiving member)
As shown in the perspective view of FIG. 3 and the enlarged schematic front view of the main part of FIG. 7, the carriage 2 has a receiving member E fixed to the lower part of the support column 4.
The receiving member E is located at the lower part of the columns 4 and 4, and is composed of a pair of members 7 and 7 fixed to each of the columns 4 and 4 and separated in the left-right direction.
The member 7 is composed of a horizontal plate-shaped wheel support portion 7A on which the traveling wheel D of the self-propelled carriage C is placed, and a vertical plate-shaped movement restricting portion 7B that stands up from the wheel support portion 7A in the lateral direction. Become.
Here, in the receiving member E, which is a pair of members 7, 7, the lowermost portion of the wheel support portions 7A, 7A is the lowermost portion of the carriage 2.
Since the member 7 is a wheel support portion 7A and a movement restricting portion 7B having an L-shaped cross section cut in a plane including the vertical direction and the horizontal direction, for example, the wheel support portion 7A and the movement restricting portion 7B are integrated as an angle material. The manufacturing cost can be reduced by forming it as a thing.

According to the configuration of the elevating device 1 provided with such a carriage 2, the traveling wheels D, D of the self-propelled carriage C are provided by the wheel support portions 7A, 7A of the receiving member E fixed to the lower portions of the columns 4, 4, ... In the left-right direction (horizontal direction orthogonal to the direction in which the self-propelled trolley C enters the carriage 2) at the movement restricting parts 7B and 7B that stand up outside the wheel support parts 7A and 7A while supporting the wheels. The movement of the self-propelled trolley C can be restricted.
Moreover, since the lowermost portion of the wheel support portions 7A, 7A is the lowermost portion of the carriage 2, the wheels are in contact with the floor surface F when the lower surfaces of the wheel support portions 7A, 7A are in contact with the ground at the lowest position of the carriage 2. Only a step in the thickness of the support portions 7A and 7A is generated.
Therefore, the self-propelled trolley C traveling on the ground can easily get into the carriage 2 while self-propelling on the traveling wheels D and D while the step is left as it is or by simply installing a step-eliminating slope having a small inclination angle. be able to. Alternatively, the self-propelled carriage C on the carriage 2 can descend to the ground while self-propelling on the traveling wheels D and D.
Furthermore, since the lowermost portions of the wheel support portions 7A and 7A are the lowermost portions of the carriage 2, it is not necessary to dig a pit on the floor surface F, so that the equipment cost does not increase.

(Fall prevention stopper)
As shown in the perspective view of FIG. 3, the carriage 2 is provided with fall prevention stoppers K1 and K2 at the front and rear portions of the wheel support portions 7A and 7A of the receiving member E.
As shown in the enlarged schematic front view of the main part of FIG. 7, the front and rear fall prevention stoppers K1 and K2 are in the positions of FIG. 3 with the traveling wheels D and D of the self-propelled carriage C mounted on the wheel support portions 7A and 7A. By setting the operating state, it is possible to prevent the self-propelled carriage C from unexpectedly falling in the front-rear direction when the carriage 2 is moved up and down.
Further, when the self-propelled carriage C gets on the carriage 2 from the ground, or when the self-propelled carriage C descends from the carriage 2 to the ground, the fall prevention stoppers K2 and K2 on the rear side are released.
Further, when the self-propelled carriage C advances from the carriage 2 to the shelf equipment B, or when the self-propelled carriage C enters the carriage 2 from the shelf equipment B, the fall prevention stoppers K1 and K1 on the front side are released. ..

<Elevating drive mechanism of elevating device>
As shown in the left side view of the enlarged main part of FIGS. 4 and 5, the enlarged schematic front view of the main part of FIGS. 6 and 7, the enlarged schematic cross-sectional view of the main part of FIG. 8, and the schematic perspective view of FIG. The elevating drive mechanism 3 spans the rotating bodies R1, R2, and R3 rotating around the first rotating shaft core F1 and the second rotating shaft core F2 (FIGS. 6 and 9) separated in the left-right direction. The carriage 2 is raised and lowered in a suspended state by ropes 11, 11, 12, and 12, which are load chains, wires, and the like of a book.

The superstructures of the elevating drive mechanism 3, such as the rotating bodies R1, R2, R3, and the rotational driving device M1 described later, are frames X, X, ... Supported by a frame structure containing.

As shown in FIG. 9, the elevating drive mechanism 3 rotatably supports two first rotating bodies R1 and R1 rotatably supported around the first rotating shaft core F1 and around the second rotating shaft core F2. The two second rotating bodies R2 and R2 are sandwiched between the two second rotating bodies R2 and R2 fixed to the rotating support shaft G and the two second rotating bodies R2 and R2 in the front-rear direction. It is provided with two third rotating bodies R3 and R3 fixed to the rotating support shaft G located at.
The positional relationship between the two second rotating bodies R2 and R2 and the two third rotating bodies R3 and R3 is such that the third rotating bodies R3 and R3 are positioned inside the second rotating bodies R2 and R2. You may.

The first cord 11 is hung on the first rotating body R1 and the second rotating body R2, fixes the end portion 11A closer to the first shaft core F1 to the carriage 2, and is far from the first shaft core F1. The end 11B is fixed to the counterweight CW.
The second cord 12 is hung on the third rotating body R3, fixes the end portion 12A closer to the first shaft core F1 to the carriage 2, and counters the end portion 12B farther from the first shaft core F1. It is fixed to the weight CW.

Further, as shown in FIG. 4, the elevating drive mechanism 3 includes a rotation drive device M1 for driving the rotation support shaft G.
In the elevating drive mechanism 3 as described above, the rotating bodies R1, R2, R3, and the cords 11 and 11 are used as the rotating shaft cores in the left-right direction in which the first rotating shaft core F1 and the second rotating shaft core F2 are separated in the front-rear direction. , 12, 12 may be arranged as shown in FIG. 9 so as to be aligned with the axis of rotation.

According to the configuration of the elevating drive mechanism 3 as described above, the two second rotating bodies R2 and R2 and the two third rotating bodies R3 and R3 are rotated by rotating the rotary support shaft G by the rotary drive device M1. Therefore, the four cords of the first cords 11 and 11 hung on the second rotating bodies R2 and R2 and the second cords 12 and 12 hung on the third rotating bodies R3 and R3 move up and down in synchronization.
Therefore, the carriage 2 can be raised and lowered in a well-balanced manner while being suspended by the four cords 11, 11, 12, and 12.
Moreover, since the canter weight CW is fixed to one end 11B, 11B, 12B, 12B of the four cords 11, 11, 12, 12, the gravity of the carriage 2, the self-propelled carriage C, and the article W The torque of the rotary drive device M1 for holding the carriage is reduced.
Therefore, since the capacity of the rotary drive device M1 can be reduced, the manufacturing cost can be reduced and the power can be saved.

<Level adjustment and fall prevention>
Next, in each of the upper and lower layers of the shelf equipment B, the level is adjusted so that the height of the upper surface of the passage of the layer is adjusted to the height of the upper surfaces of the wheel support portions 7A and 7A of the receiving member E of the carriage 2. , And the structure for driving the fall prevention stoppers K1 and K2 will be described.

(Carriage level adjustment part)
As shown in the perspective view of FIG. 3, the carriage 2 is provided with level adjusting portions L and L on the columns 4 and 4 on the front side (shelf equipment B side).
The level adjusting portion L has the height of the upper surface of the wheel support portions 7A and 7A of the receiving member E set to the height of the upper surface of the passage in the upper and lower multiple stages of the shelf equipment B in FIGS. 1 and 4. It maintains the matched level matching state.

As shown in the partially disassembled perspective view of FIG. 10 and the schematic right side view of FIGS. 11 and 12, the level adjusting portion L is driven by the drive mechanism N that switches between the standby state ST1 and the operating state ST2, and is driven by the driving mechanism N that switches between the standby state ST1 and the operating state ST2. A swing member 10 projecting to the front side (shelf equipment B side) is provided.
The drive mechanism N includes a rotary drive device M2, a rotary disk 13 having an eccentric shaft 14 connected to an output shaft J of the rotary drive device M2, an elevating plate 16 supported by a linear guide 15 in the vertical direction, and the like.
The swing member 10 is swingably supported around the swing shaft core I1 in the left-right direction, and has an engaging groove portion 10A.
The engaging shaft portion 17 projecting from the elevating plate 16 engages with the engaging groove portion 10A of the rocking member 10, and the eccentric shaft 14 projecting from the rotary disk 13 engages with the elongated hole 16A in the front-rear direction of the elevating plate 16. It fits.

Therefore, when the rotation drive device M2 is rotated by, for example, 180 ° from the standby state ST1 of FIGS. 10 and 11, the elevating plate 16 driven by the eccentric shaft 14 of the rotating disk 13 descends, and the engaging shaft portion is lowered together with the elevating plate 16. Since 17 also descends, the swing member 10 swings around the swing shaft core I1 as shown in FIG. 12, and the operating state ST2 is set so as to project forward.
Further, when the rotary drive device M2 is further rotated by 180 ° from the operating state ST2 shown in FIG. 12, the elevating plate 16 driven by the eccentric shaft 14 of the rotating disk 13 rises, and the engaging shaft portion 17 also rises together with the elevating plate 16. Therefore, the forward protrusion of the rocking member 10 is released, and the system returns to the standby state ST1 shown in FIG.

(Interlocking of the level adjustment part and the fall prevention stopper on the front side)
As shown in the schematic right side view of FIGS. 11 and 12, and the schematic rear view of FIGS. 13 and 14, the fall prevention stopper K1 on the front side is interlocked with the level adjusting portion L.
That is, the fall prevention stopper K1 on the front side is supported by the member 7 so as to be swingable around the swing shaft core I2 in the front-rear direction, and the upper end portion 19A is connected to the connecting body 18 connected to the elevating plate 16. The lower end 19B of the link 19 is connected.
Therefore, the fall prevention stopper K1 is interlocked with the level adjustment portion L, and in the standby state ST1 of the level adjustment portion L shown in FIGS. 11 and 13, the fall prevention stopper K1 is in an operating state in which the fall prevention stopper K1 is rotated above the wheel support portion 7A. Further, in the operating state ST2 of the level adjusting portion L shown in FIGS. 12 and 14, the fall prevention stopper K1 is in a released state in which the fall prevention stopper K1 is rotated so as to be separated from above the wheel support portion 7A.

(Operation of the fall prevention stopper on the rear side)
As shown in the vertical cross-sectional view of the left side surface portion of FIG. 15 and the schematic front view of FIGS. It is supported so that it can swing.
A pinion 23 that is integrated with a fall prevention stopper K2 and rotates around a swing shaft core I3 on a rack 21 that moves up and down integrally with an elevating body 20 that is elastically supported in the vertical direction by a compression coil spring 22 by a member 7. Engage.

Therefore, the carriage 2 is lowered by the elevating drive mechanism 3, and the lower surface 20A of the elevating body 20 hits the pawl body P placed on the floor surface F as shown in FIGS. 16A to 16B. In a state where the lower surface T1 of the wheel support portion 7A is in contact with the floor surface F, the elevating body 20 and the rack 21 rise relative to the member 7 so as to compress the compression coil spring 22. As a result, the pinion 23 that meshes with the rack 21 rotates, and the fall prevention stopper K2 is rotated so as to separate from above the wheel support portion 7A.
As a result, as described above, the self-propelled carriage C traveling on the ground can enter the carriage 2.
Alternatively, as described above, the self-propelled carriage C can descend from the carriage 2 to the ground.

(Device provided on the structure side of the elevating device)
As described above, the superstructure of the elevating drive mechanism 3 of the elevating device 1 is supported by the frames X, X, ... See FIG. 8). Further, the passages of each layer on the shelf equipment B side are also fixed to the frame structure having high strength of the elevating device 1.
As shown in the enlarged right side view of the main part of FIGS. 17 and 18, and the enlarged rear view of the main part of FIGS. 19 and 20, the frames X, X (GR, GR) of the elevating device 1 are placed on the structure side of the elevating device 1. ) Is provided with an elevating body O elastically supported in the vertical direction by a compression coil spring 24 by a horizontal frame Z fixed to the above), and the elevating body O comes into contact with the lower surface 10B of the swing member 10 in the operating state ST2 of the level adjusting portion L. A contact member U is provided.

(Level matching operation)
First, in order to deliver the self-propelled carriage C in the shelf equipment B, the carriage 2 is moved up and down by the elevating drive mechanism 3 to a position higher than the level where the carriage 2 is moved up and down.
Next, from the solid line in FIG. 17 and the standby state ST1 of the level matching portion L shown in FIG. 19, the level matching portion L is set to the operating state ST2 by the drive mechanism N as shown by the two-dot chain line in FIG. The 10 is projected forward.

Next, when the carriage 2 is lowered by the elevating drive mechanism 3, as shown in FIGS. 18 and 20, the lower surface 10B of the swing member 10 comes into contact with the contact member U, and then the compression coil spring 24 is compressed. In addition, the carriage 2 and the elevating body O descend with respect to the horizontal frame Z on the fixed side, and the lower surface T2 of the elevating body O, which is a movable side portion, is pressed against the retaining body Q on the fixed side.
In this state, the level adjustment state V (FIG. 20) is obtained in which the height H1 of the upper surface of the passage of each layer is combined with the height H2 of the upper surface of the wheel support portion 7A, and this state is maintained.

In such a level adjustment state V, the fall prevention stoppers K1 and K1 on the front side are released in conjunction with the level adjustment portion L, so that the self-propelled carriage C moves from the carriage 2 to the shelf equipment B side. Alternatively, it can be moved to the carriage 2 from the shelf equipment B side.

According to the structure that performs such a level adjustment operation, the level adjustment portion L provided on the columns 4 and 4 on the shelf equipment B side of the carriage 2 is set to the operating state ST2, and the swing member 10 is projected toward the shelf equipment B side. When the carriage 2 is lowered by the elevating drive mechanism 3, the lower surface 10B of the swing member 10 abuts on the contact member U, the carriage 2 and the elevating body O are lowered, and the lower surface T2 of the elevating body O is the stop body Q. It will be in a state of being stopped by. On the other hand, by guiding the guide roller bodies 8A and 8B of the carriage 2 by the guide rail GR in the vertical direction, the movement of the carriage 2 is restricted to the vertical movement along the shelf equipment B, so that the shelf of the carriage 2 is restricted. The separation from the equipment B can be suppressed. By doing so, the level adjustment state V in which the height H1 of the upper surface of the passage in the hierarchy of the shelf equipment B and the height H2 of the upper surface of the wheel support portions 7A and 7A of the receiving member E of the carriage 2 are combined is stable and reliable. Is held in.
Therefore, even if the elevating drive mechanism 3 raises and lowers the carriage 2 in a state of being suspended by the cords 11, 11, 12, and 12, tension is applied to the cords 11, 11, 12, and 12 in the level adjustment state V. Since it does not act, it is possible to stably and surely perform the operation of adjusting the height H1 of the upper surface of the passage and the height H2 of the upper surface of the wheel support portions 7A and 7A to the level adjustment state V, and the movement of the operation can be performed. It doesn't get worse.

Further, since the carriage 2 is provided with swing members 10 and 10 projecting to the front side (shelf equipment B side) in the operating state ST2 on the columns 4 and 4 on the shelf equipment B side, the level between the carriage 2 and the shelf equipment B is provided. It is possible to suppress the influence of the vibration given to the carriage 2 and the shelf equipment B caused by the movement of the self-propelled trolley C and the sinking of the carriage 2 caused by the weight of the self-propelled trolley C and the article W with respect to the aligned state V. Therefore, the operation of adjusting the height H1 of the upper surface of the passage of the shelf equipment B to the height H2 of the upper surfaces of the wheel support portions 7A and 7A to bring the level adjustment state V, and the self-propelled operation between the carriage 2 and the shelf equipment B. The movement of the carriage C can be performed more stably and reliably.
Furthermore, since it is not equipped with a device for controlling the fluctuation of the tension of the ropes 11, 12, ... That lift the carriage 2 in accordance with the large fluctuation of the load due to the movement of the self-propelled carriage C, the equipment cost and the maintenance cost are increased. Does not increase.

1 Elevating device 2 Carriage 3 Elevating drive mechanism 4 Strut 5A, 5B, 6A, 6B, 6C Horizontal member 7 Member 7A Wheel support 7B Movement control unit 8A, 8B Guide roller body 8C, 8D Guide roller 9 Elevating table 10 Swing Member 10A Engagement groove 10B Bottom surface 11 1st cord 11A, 11B End 12 2nd cord 12A, 12B End 13 Rotating disk 14 Eccentric shaft 15 Linear guide 16 Elevating plate 16A Long hole 17 Engagement shaft 18 Connecting body 19 Interlocking link 19A Upper end 19B Lower end 20 Elevator 20A Lower surface 21 Rack 22 Compression coil spring 23 Pinion 24 Compression coil spring A Automatic warehouse B Shelf equipment C Self-propelled carriage CW Counterweight D Traveling wheel E Receiving member F Floor surface F1 No. 1 Rotating shaft core F2 2nd rotating shaft core G Rotating support shaft GR guide rail H1 Height of the upper surface of the passage of each level H2 Height of the upper surface of the wheel support I1, I2, I3 Swing shaft core J Output shaft K1, K2 Fall prevention stopper L Level adjustment part M1, M2 Rotation drive device N Drive mechanism O Elevating body P, Q Stopping body R1 First rotating body R2 Second rotating body R3 Third rotating body S Article storage space ST1 Standby state ST2 Operation State T1, T2 Bottom surface U Contact member V Level adjustment state W Article X Frame Y1 Direction in which the self-propelled trolley enters the carriage from the ground Y2 Direction in which the self-propelled trolley descends from the carriage to the ground Z Horizontal frame

Claims (5)

It is an elevating device that elevates and elevates a self-propelled trolley running on the ground to a shelf facility that has a three-dimensional article storage space with multiple levels of upper and lower, equipped with an elevating drive mechanism that elevates and lowers a carriage that is supported up and down. There,
The carriage is
At least two stanchions that extend vertically and are separated horizontally,
A horizontal member connecting the upper parts of the columns and
It has a receiving member fixed to the lower part of the column, and has a receiving member.
The receiving member is
A horizontal plate-shaped wheel support on which the traveling wheels of the self-propelled trolley are mounted, and
It consists of a vertical plate-shaped movement restricting part that stands up on the outside in the left-right direction from the wheel support part.
The bottom of the wheel support is the bottom of the carriage .
The elevating drive mechanism
The carriage is raised and lowered in a suspended state by four cords spanning the first rotating shaft core and the rotating body rotating around the second rotating shaft core separated in the left-right direction or the front-back direction.
Two first rotating bodies rotatably supported around the first rotating shaft core, and
Two second rotating bodies fixed to a rotating support shaft rotatably supported around the second rotating shaft core, and
The two second rotating bodies are located outside in the front-rear direction or the left-right direction so as to sandwich the two second rotating bodies, or
Located in the front-back direction or the left-right direction of the two second rotating bodies,
Two third rotating bodies fixed to the rotating support shaft,
A first cord that is hung on the first rotating body and the second rotating body, and the end portion closer to the first axis is fixed to the carriage.
A second cord that is hung on the third rotating body and has an end closer to the first axis fixed to the carriage.
It is characterized by being provided with a rotation drive device for driving the rotation support shaft .
lift device. The receiving member is a pair of members fixed to each of the columns at the lower part of the column and separated from each other in the left-right direction.
The wheel support portion and the movement restricting portion have an L-shaped cross section cut in a plane including the vertical direction and the horizontal direction.
The elevating device according to claim 1. The carriage is
It is equipped with four columns extending in the vertical direction, front, rear, left, and right, and the columns adjacent to the front, rear, left, and right are connected by a horizontal member.
The guide roller bodies provided above and below the two columns on the shelf equipment side among the four columns are guided by the guide rails in the vertical direction.
The elevating device according to claim 1 or 2. The carriage is a level adjustment unit that maintains a level adjustment state in which the height of the upper surface of the passage in the upper and lower layers of the shelf equipment is matched with the height of the upper surface of the wheel support portion of the receiving member. In preparation for the support on the shelf equipment side
The level adjusting portion is driven by a drive mechanism that switches between a standby state and an operating state, and includes a swing member that protrudes toward the shelf equipment in the operating state.
The structure of the elevating device includes an abutting member fixed to an elevating body elastically supported in the vertical direction, to which the lower surface of the swinging member abuts in the operating state.
When the carriage is lowered by the elevating drive mechanism in the operating state,
The lower surface of the swing member abuts on the contact member, the carriage and the elevating body descend, and the lower surface of the elevating body is in contact with the retaining body to reach the level adjustment state.
The elevating device according to any one of claims 1 to 3 . The elevating device according to any one of claims 1 to 4 , and the elevating device.
Shelf equipment with a three-dimensional storage space for goods with multiple levels above and below,
Equipped with a self-propelled trolley that runs on the ground
An automated warehouse in which the carriage and the self-propelled trolley are moved up and down with the self-propelled trolley mounted on the carriage of the elevating device, and articles are carried in and out of the shelf equipment by the self-propelled trolley.

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