JP7415900B2 - Transfer equipment - Google Patents

Description

The present invention relates to a transfer device.

BACKGROUND ART Conventionally, as a transfer device used in a warehouse system, one described in Patent Document 1, for example, is known. This warehouse system has multiple shelves for storing and transporting objects. The shelves have an entry route and an exit route that extend in the extending direction and are adjacent to each other. The transfer device is provided at a position adjacent to the warehousing route, and can transfer objects stored on the warehousing route to the warehousing route by pushing them out. Since the transfer device can move in the extending direction of each path, it can push out objects placed at any position in the extending direction of the warehousing path.

Japanese Patent Application Publication No. 2020-79149

The above-mentioned transfer device is installed at a position adjacent to the warehousing route on the opposite side to the warehousing route, with sufficient space secured at the position adjacent to the warehousing route. Here, in warehouse systems, there has been a demand for further downsizing of transfer devices so that space can be used more effectively.

An object of the present invention is to provide a transfer device that can be downsized.

A transfer device according to one aspect of the present invention is a transfer device that is installed in a warehouse system including shelves for transporting objects using divided shelf transport members, and that transfers objects. The extrusion device includes an extrusion device that extrudes the object in the width direction, and a movement mechanism that moves the extrusion device in the extending direction of the shelf. an extrusion drive mechanism that extends and applies a driving force to move the arm member in the width direction, the extrusion drive mechanism is disposed below the shelf, and the arm member passes through the gap between the plurality of shelf conveyance members. Push the object out while holding the object.

The transfer device includes an extrusion device that extrudes the object in the width direction of the shelf, and a movement mechanism that moves the extrusion device in the extending direction of the shelf. Therefore, the moving mechanism moves the extrusion device to the position of the object on the shelf, and the extrusion device pushes out the object, thereby making it possible to transfer the object. The extrusion device includes an arm member that extrudes the object to one side in the width direction, and an extrusion drive mechanism that extends in the width direction and applies a driving force to the arm member to move in the width direction. Therefore, the arm member can move in the width direction while being given a driving force by the extrusion drive mechanism, and can push out the object on the shelf conveyance member of the shelf. Here, the extrusion drive mechanism is arranged below the shelf. Therefore, the size of the extrusion drive mechanism disposed in the space on the other side of the shelf in the width direction can be reduced in size. Further, the arm member pushes out the object while passing through the gap between the plurality of shelf conveyance members. As a result, even if the extrusion drive mechanism is placed below the shelf, the arm member can push out the object on the shelf conveyance member while avoiding interference with the shelf conveyance member. can. As described above, it is possible to downsize the transfer device.

The moving mechanism may include a rack gear that extends in the extending direction, and a pinion gear that is attached to the drive section and meshes with the rack gear. In this case, the moving mechanism can appropriately move the extrusion device, which is disposed at a low position, in the extending direction by being disposed below the shelf.

The moving mechanism includes a horizontal guide that extends in the extending direction and guides the horizontal movement of the extrusion device, a first guide roller that comes into contact with the horizontal guide, and a biasing member that biases the first guide roller toward the horizontal guide. It may further include. In this case, the moving mechanism can position the extrusion device in the width direction by urging the first guide roller toward the horizontal guide, and guide the movement in the extending direction using the horizontal guide. Thereby, a state in which the pinion gear can appropriately mesh with the rack gear can be maintained.

The moving mechanism may further include a second guide roller that comes into contact with the back surface of the rack gear due to a reaction force caused by urging the first guide roller toward the horizontal guide. In this way, by effectively using the reaction force generated by the rear surface of the rack gear and the positioning by the first guide roller, further positioning can be performed by the second guide roller. Thereby, more accurate positioning can be performed at low cost and in a small space.

The arm member may have at least two contact portions that contact the object. In this case, the arm part can push out the object in a stable state with at least two contact parts.

The extrusion drive mechanism includes a linear guide that supports the arm member and guides the arm member in the width direction, an endless belt that is fed in the width direction with the arm member attached, and an endless belt at one end in the width direction. and a pulley that supports the endless belt at the other end in the width direction, and a linear guide may be disposed on the inner peripheral side of the endless belt. In this case, the extrusion drive mechanism can apply a driving force to the arm member via the endless belt. On the other hand, by effectively utilizing the space on the inner peripheral side of the endless belt, the linear guide can be installed at a lower position. Therefore, the height of the extrusion drive mechanism can be kept low, resulting in a compact configuration.

According to the present invention, it is possible to provide a transfer device that can be downsized.

1 is a schematic side view showing a warehouse system to which a transfer device according to an embodiment of the present invention is applied. It is a schematic plan view of a warehouse system and a transfer device. It is a schematic plan view of a warehouse system and a transfer device. It is a schematic front view of a warehouse system and a transfer device. It is a schematic front view of a warehouse system and a transfer device. It is a perspective view of an extrusion device. FIG. 2 is a schematic side view of the warehouse main body and the transfer device as viewed from the negative side to the positive side in the width direction X. FIG. FIG. 3 is a schematic diagram of the extrusion drive mechanism and the arm member viewed from the positive side to the negative side in the width direction X. FIG. FIG. 2 is a perspective view showing the vicinity of the end on the positive side in the extending direction Y of the main body portion of the base member. FIG. 3 is a perspective view showing the vicinity of the end on the positive side in the width direction X of the extension portion of the base member. FIG. 3 is an enlarged view of the base member viewed from the bottom side.

Embodiments of the present invention will be described in detail below with reference to the drawings. In addition, in the drawings, the same or equivalent elements are given the same reference numerals, and overlapping explanations will be omitted.

FIG. 1 is a schematic side view showing a warehouse system 100 to which a transfer device 1 according to an embodiment of the present invention is applied. As shown in FIG. 1, the warehouse system 100 is a system that can store and store a plurality of packages 150 (objects) and take out items that should be taken out of the stored packages 150. The warehouse system 100 includes a warehouse main body 101 , a warehousing passage 102 , an outgoing passage 103 , an incoming elevator 104 , and an outgoing elevator 105 . The warehouse main body 101 has multiple shelves 110. The shelves 110 extend from one end of the warehouse main body 101 to the other end. The warehousing passageway 102 is provided at one end of the warehouse main body 101, and is a mechanism for warehousing cargo 150 onto the shelves 110 at each stage. The unloading passageway 103 is provided at the other end of the warehouse main body 101, and is a mechanism for unloading the luggage 150 from the shelves 110 at each stage. The warehousing elevator 104 raises or lowers the cargo 150 and supplies the cargo 150 to the warehousing passageway 102 at the stage corresponding to the desired shelf 110. The unloading elevator 105 receives the luggage 150 to be unloaded from the shelf 110 and the unloading passageway 103, and moves it up and down to the unillustrated exit exit.

Note that in the following explanation, the explanation may be made using an XYZ coordinate system. The direction in which the shelf 110 extends is referred to as the "extending direction Y." The width direction of the shelf 110, which is a horizontal direction orthogonal to the extending direction Y, is referred to as the "width direction X." The vertical direction is referred to as "vertical direction Z." In addition, in the extending direction Y, the exit passageway 103 side is defined as the positive side, and the warehousing entrance warehousing passageway 102 side is defined as the negative side. In the width direction X, the back side of the paper in FIG. 1 is the positive side, and the front side of the paper is the negative side. In the vertical direction Z, the upper side is defined as the positive side, and the lower side is defined as the negative side.

Next, the structure of the shelves 110 in each stage and the transfer device 1 will be explained with reference to FIGS. 2 to 5. 2 and 3 are schematic plan views of the warehouse system 100 and the transfer device 1. 4 and 5 are schematic front views of the warehouse system 100 and the transfer device 1. 2 and 4 show the state before the transfer device 1 transfers the luggage 150. 3 and 5 show the state after the transfer device 1 transfers the luggage 150.

As shown in FIGS. 2 and 3, the shelf 110 includes an entry route 111 and an exit route 112, which are lined up in the width direction X and extend linearly in the extension direction Y. The warehousing route 111 is arranged on the negative side in the width direction X, and the exit route 112 is arranged on the positive side in the width direction X. The warehousing route 111 and the warehousing route 112 are configured as roller conveyors by roller members 113 (shelf transport members) divided in the extending direction, and can transport the cargo 150 in the extending direction Y. The plurality of roller members 113 are arranged so that their rotational axes extend in the width direction X, and are arranged so as to be spaced apart from each other at regular intervals in the extension direction Y.

Thereby, the warehousing route 111 is configured so that the cargo 150 can be temporarily stopped midway through the route, and can serve both as a transportation route and a temporary storage function. The unloading route 112 is a route for receiving packages 150 that need to be unloaded from the warehousing route 111, conveying them to the unloading passageway 103, and leaving the warehouse.

The roller member 113 that constitutes the warehousing path 111 is rotatably supported by a pair of support members 114 and 116 extending in the extension direction Y. The support member 114 supports the negative end of the roller member 113 in the width direction X, and the support member 116 supports the positive end of the roller member 113 in the width direction X. The roller member 113 constituting the exit route 112 is rotatably supported by a pair of support members 116 and 117 extending in the extending direction Y. The support member 116 supports the negative end of the roller member 113 in the width direction X, and the support member 117 supports the positive end of the roller member 113 in the width direction X.

Here, as shown in FIGS. 4 and 5, the shelves 110 at each stage have a reference height SH for that stage. The reference height SH is defined by the upper surface 120a of the frame member 120 that supports the load of the constituent members of the shelf 110. The frame members 120 are arranged at predetermined intervals in the extending direction Y and are provided so as to extend in the width direction X. The frame member 120 is arranged at a position that separates the shelves 110 of adjacent stages in the vertical direction Z. With respect to such a reference height SH, the warehousing route 111 and the warehousing route 112 are arranged at positions spaced apart upwardly. A space is formed below the warehousing route 111 and the warehousing route 112 and the frame member 120 . Note that the negative end of the frame member 120 in each stage in the width direction X is supported by a column member 121 extending in the vertical direction Z.

Next, the configuration of the transfer device 1 will be explained. The transfer device 1 is a device that transfers cargo 150 (see FIGS. 2 and 4) stored in the storage path 111 to the exit path 112 by pushing it toward the positive side in the width direction X (see FIGS. 3 and 4). (See Figure 5). As shown in FIGS. 4 and 5, the transfer device 1 includes an extrusion device 2 and a moving mechanism 3. The extrusion device 2 is a device that extrudes the luggage 150 in the width direction X. Further, the transfer device 1 includes components fixed to the warehouse main body 101 and components that move relative to the warehouse main body 101, but the extrusion device 2 includes components that move relative to the warehouse main body 101. It also functions as the main body of the component. The moving mechanism 3 is a mechanism that moves the extrusion device 2 in the extending direction Y.

The extrusion device 2 mainly includes a base member 11, an arm member 12, and an extrusion drive mechanism 13. The base member 11 is a member on which various components of the extrusion device 2 are mounted. The arm member 12 is a member that pushes out the luggage 150 to the positive side in the width direction X. The extrusion drive mechanism 13 is a mechanism that extends in the width direction X and applies a driving force to move the arm member 12 in the width direction X.

The base member 11 has a region disposed below the warehousing route 111 of the shelf 110 and a region protruding from the warehousing route 111 to the negative side in the width direction X. The extrusion drive mechanism 13 is mounted on the base member 11. The extrusion drive mechanism 13 is provided in both the region of the base member 11 below the warehousing path 111 and the region extending toward the negative side of the warehousing path 111 in the width direction X. Therefore, (at least a part of) the extrusion drive mechanism 13 is arranged below the storage path 111 of the shelf 110. With this configuration, the arm member 12 moves from a position protruding toward the negative side of the width direction X of the warehousing path 111 to the positive side of the width direction can be moved to. As a result, as shown in FIGS. 3 and 5, the arm member 12 pushes out the cargo 150 while passing through the gaps between the plurality of roller members 113.

A more detailed configuration of the extrusion device 2 will be described with reference to FIG. 6. FIG. 6 is a perspective view of the extrusion device 2. As shown in FIG. 6, the base member 11 has a main body 21 having a rectangular shape on the negative side in the width direction X, and an end 21a on the positive side in the width direction It has an extension part 22 extending to the positive side. The extension portion 22 extends in the width direction X from approximately the center position of the end portion 21a in the extending direction Y. The extension part 22 extends to a position below the support member 116 between the warehousing path 111 and the warehousing path 112 (see FIG. 4). Note that a notch 23 is formed at a position closer to the end 21a of both ends of the main body 21 in the extending direction Y.

The arm member 12 is arranged at a position spaced above the base member 11 so as to be able to reciprocate in the width direction X along a linear guide to be described later. The arm member 12 has a bottom portion 26, a pair of upright portions 27, and a pair of overhang portions 28. The bottom portion 26 is configured in a plate shape so as to extend parallel to the XY plane, and extends in the extending direction Y. A slider 30 is provided on the lower surface of the bottom portion 26 (see FIG. 8). The pair of upright portions 27 are portions that stand upward from both ends of the bottom portion 26 in the extending direction Y, respectively. The pair of overhanging portions 28 are portions that overhang toward the positive side in the width direction X from the upper end portions of the pair of upright portions 27 . The upright portion 27 and the projecting portion 28 are configured in a plate shape so as to extend parallel to the XZ plane. Contact portions 29 that come into contact with the luggage 150 are provided at the positive end portions of the pair of projecting portions 28 in the width direction X, respectively. As a result, the arm member 12 has two contact portions 29. The contact portion 29 may be made of rubber, resin, or the like so as not to damage the luggage 150 when it comes into contact with the luggage 150. Alternatively, the contact portion 29 may be formed by smoothing the tip of the projecting portion 28 and brought into direct contact with the cargo. Note that the number of contact portions 29 (that is, the number of upright portions 27 and overhang portions 28) is not limited to two, and may be one or three or more. By increasing the number of contact parts 29, a large load 150 can be pushed out in a stable state.

Referring to FIG. 7, the shape of the arm member 12 will be described in more detail. FIG. 7 is a schematic side view of the warehouse main body 101 and the transfer device 1 viewed from the negative side to the positive side in the width direction X. FIG. 7 shows a state when the arm member 12 pushes out the baggage 150. As shown in FIG. 7, the bottom portion 26 is arranged in a space below the roller member 113 of the warehousing path 111. The upright portion 27 passes through the gap between the pair of roller members 113 and extends from the upper end of the roller member 113 to an upper position. As a result, the projecting portion 28 and the contact portion 29 are arranged at a position protruding above the upper end of the roller member 113 (see also FIG. 5). Two roller members 113 are present between one standing portion 27 and the other standing portion 27 . Note that the distance between the pair of upright portions 27 in the extending direction Y is not particularly limited. Here, the support member 114 supports the plurality of roller members 113 by extending in the Y direction with a wall portion 114a extending parallel to the YZ plane. The support member 114 has a notch 130 at a position overlapping with the upright portion 27, the overhanging portion 28, and the contact portion 29 of the arm member 12 in order to avoid interference with these members. With the above configuration, the arm member 12 can push out the cargo 150 while passing through the gaps between the plurality of roller members 113.

As shown in FIG. 4, in the state before extrusion, the contact portion 29 of the arm member 12 is in a spaced position facing the wall portion 114a of the support member 114 on the negative side with respect to the width direction X. Placed. As shown in FIG. 5, upon completion of extrusion, the contact portion 29 of the arm member 12 passes over the upper surface of the support member 116 and is disposed in a position that slightly protrudes to the exit path 112. Note that the upright portion 27 at this time is arranged at a position on the negative side of the support member 116 in the width direction X.

Returning to FIG. 6, the extrusion drive mechanism 13 will be explained. The extrusion drive mechanism 13 includes a linear guide 31, an endless belt 32, a drive section 33, and a pulley 34. The linear guide 31 is a member that supports the arm member 12 and guides the arm member 12 in the width direction X. The linear guide 31 is fixed to the upper surface of the base member 11. The linear guide 31 extends from near the end 21b on the negative side in the width direction X of the main body portion 21 to near the end 22a on the positive side in the width direction X of the extension portion 22. The endless belt 32 is a member that is fed in the width direction X with the arm member 12 attached thereto.

The extrusion drive mechanism 13 will be explained with reference to FIGS. 7 and 8. The drive unit 33 is a device that drives the endless belt 32 on the negative end side in the width direction X. The drive portion 33 is provided at a position protruding from the end portion 21b of the main body portion 21 to the negative side in the width direction X via the mounting bracket 35. Note that the mounting bracket 35 is attached to the main body portion 21 in such a manner as to sandwich these members from both sides in the width direction X so as not to interfere with the linear guide 31 and the endless belt 32. The drive unit 33 includes a drive pulley 33a at a position corresponding to the endless belt 32 in the vertical direction Z for applying rotational driving force to the endless belt 32 (see FIG. 8). The pulley 34 is a member that supports the endless belt 32 on the positive end side in the width direction X (see FIG. 6). The pulley 34 is provided near the end 22a of the extension 22. The endless belt 32 is supported at both ends in the width direction X from the inner peripheral side by a drive pulley 33a (see FIG. 8) and a pulley 34. Note that a timing belt is used as the endless belt, and teeth (not shown) that mesh with each other may be formed on the inner circumferential surface of the endless belt 32 and on each of the pulleys 33a and 34. As a result, the endless belt 32 has a feed section 32a that spans between the negative end of the drive pulley 33a (see FIG. 8) and the pulley 34 in the extending direction Y, and a drive pulley 33a (see FIG. 8) and the pulley 34. 34 on the positive side in the extending direction Y. The arm member 12 is connected to the sending section 32a. Thereby, when moving the arm member 12 to the positive side in the width direction X, the driving part 33 sends the sending part 32a to the positive side in the width direction X. At this time, the returning portion 32b is returned to the negative side in the width direction X. When moving the arm member 12 to the negative side in the width direction X, the drive section 33 sends the sending section 32a to the negative side in the width direction X. At this time, the returning portion 32b is returned to the positive side in the width direction X.

With reference to FIG. 8, the appearance of the extrusion drive mechanism 13 when viewed from the width direction X will be described. FIG. 8 is a schematic diagram of the extrusion drive mechanism 13 and the arm member 12 viewed from the positive side to the negative side in the width direction X. As shown in FIG. 8, the arm member 12 is movably attached to a linear guide 31 via a slider 30 extending downward from the bottom portion 26. As shown in FIG. Here, the linear guide 31 and the slider 30 are arranged between the sending part 32a and the returning part 32b of the endless belt 32 in the extending direction Y. This results in a configuration in which the linear guide 31 is arranged on the inner peripheral side of the endless belt 32. Note that the arm member 12 is connected to the sending section 32a by connecting members 36 and 37 that sandwich the sending section 32a. The connecting member 36 is a member extending downward from the bottom portion 26. The connecting member 37 is a member that faces the connecting member 36 in the extending direction Y with the feeding portion 32a sandwiched therebetween. By connecting the connecting member 36 and the connecting member 37 to each other with bolts, the connecting member 36 and the connecting member 37 are connected to the sending portion 32a.

Next, the moving mechanism 3 will be explained in detail with reference to FIGS. 9 to 11. FIG. 9 is a perspective view showing the vicinity of the positive end of the main body portion 21 of the base member 11 in the extending direction Y. As shown in FIG. FIG. 10 is a perspective view showing the vicinity of the end 22a on the positive side in the width direction X of the extension portion 22 of the base member 11. As shown in FIG. FIG. 11 is an enlarged view of the base member 11 viewed from the bottom side.

As shown in FIG. 9, the moving mechanism 3 includes a traveling mechanism 40 and a linear drive mechanism 41. The traveling mechanism 40 is a mechanism for causing the extrusion device 2 to travel at a position on the negative side in the width direction X. The traveling mechanism 40 includes a guide rail 42 extending in the extending direction Y, and wheels 43 that allow the extrusion device 2 to travel in the extending direction Y.

The guide rail 42 is a member that is supported on the frame member 120 and spanned between the plurality of frame members 120 (see FIGS. 4 and 5). The guide rail 42 includes a bottom wall portion 44 that is parallel to the XY plane, and a horizontal guide 46 that rises upward from the positive end of the bottom wall portion 44 in the width direction X. The bottom wall portion 44 is arranged below the main body portion 21 of the base member 11. The bottom wall portion 44 has a space in the width direction X that is large enough to accommodate the linear drive mechanism 41, a first guide roller 71, which will be described later, and wheels 43. The bottom wall portion 44 functions as a running route for the wheels 43. Note that the function of the horizontal guide 46 will be described later.

The wheel 43 is rotatably supported by a support wall 47 that extends downwardly from the negative end 21b in the width direction X of the main body 21 . Note that the wheels 43 are also provided near the negative end of the main body 21 in the extending direction Y (see FIG. 6).

The linear drive mechanism 41 includes a rack gear 51 and a pinion gear 52. The rack gear 51 is a member that is provided on the upper surface of the bottom wall portion 44 and extends in the extending direction Y. The rack gear 51 has a gear portion 51a on the negative side surface in the width direction X. The pinion gear 52 is a member that is attached to the drive section 53 and meshes with the rack gear 51 (see also FIG. 11). The drive unit 53 is provided on the upper surface of the main body 21 , and has a rotating shaft (not shown) extending downward from the lower surface of the main body 21 . The pinion gear 52 is connected to the rotating shaft of the drive section 53. As a result, the gear portion 52a formed on the outer peripheral surface of the pinion gear 52 meshes with the gear portion 51a of the rack gear 51. As the pinion gear 52 rotates, the pinion gear 52 moves in the extending direction Y along the rack gear 51 while meshing with the rack gear 51. Along with this, the entire extrusion device 2 moves in the extending direction Y.

As shown in FIG. 10, the moving mechanism 3 includes a traveling mechanism 60. The traveling mechanism 60 is a mechanism for causing the extrusion device 2 to travel at a position on the positive side in the width direction X. The traveling mechanism 60 includes a guide rail 61 extending in the extending direction Y, and wheels 62 that allow the extrusion device 2 to travel in the extending direction Y.

The guide rail 61 is a member that is supported on the frame member 120 and spanned between the plurality of frame members 120 (see FIGS. 4 and 5). The guide rail 61 includes a bottom wall 64 that is parallel to the XY plane, a side wall 66 that rises upward from the positive end of the bottom wall 64 in the width direction X, and a side wall 66 that extends upward in the width direction It has an upper wall portion 67 bent toward the negative side. The bottom wall portion 64 functions as a travel path for the wheels 62. The guide rail 61 also functions as a member that supports the support member 116 above the frame member 120 (see FIGS. 4 and 5). Therefore, the upper surface of the upper wall portion 67 of the guide rail 61 becomes a surface that supports the support member 116. The wheel 62 is rotatably supported by a support wall 68 (see FIG. 6) that extends downwardly from the positive end 22a in the width direction X of the extension portion 22 (see FIG. 6).

As shown in FIG. 11, the moving mechanism 3 has a guide mechanism 70. The guide mechanism 70 is a mechanism that positions the extrusion device 2 in the width direction X and guides movement of the extrusion device 2 in the extending direction Y. The guide mechanism 70 includes the above-described horizontal guide 46, a first guide roller 71, a spring member 72 (biasing member), and a second guide roller 73.

The horizontal guide 46 extends in the extending direction Y at a position spaced apart from the rack gear 51 on the positive side in the width direction X. Further, it stands up parallel to the YZ plane. Thereby, the horizontal guide 46 functions as a member that guides the horizontal movement of the extrusion device 2.

The first guide roller 71 is a roller that comes into contact with the horizontal guide 46 . The first guide roller 71 is attached to the support plate 74 via a rotating shaft (not shown) extending in the vertical direction Z. The support plate 74 is rotatably attached to the lower surface of the main body portion 21 via a rotation shaft 76 . The support plate 74 extends from the rotating shaft 76 toward the notch 23 at the positive end of the main body 21 in the extending direction Y. The first guide roller 71 is arranged so as to be rotatable around the rotating shaft 76 together with the support plate 74 at a position corresponding to the notch 23 .

One end of the spring member 72 is fixed to the end of the support plate 74 . Further, the other end of the spring member 72 is fixed near the end 21a on the positive side of the main body 21 in the width direction X. With this configuration, the spring member 72 can pull the first guide roller to the positive side in the width direction X together with the support plate 74. Therefore, the spring member 72 can generate a biasing force F1 that biases the first guide roller toward the horizontal guide 46.

The second guide roller 73 is attached to the lower surface of the main body 21 via a rotating shaft (not shown) extending in the vertical direction Z. The second guide roller 73 is arranged on the positive side in the width direction X with respect to the back surface 51b of the rack gear 51. This second guide roller 73 can come into contact with the back surface 51b of the rack gear 51 due to the reaction force F2 caused by urging the first guide roller 71 toward the horizontal guide 46. Specifically, when the first guide roller 71 comes into contact with the horizontal guide 46, the main body portion 21 supporting the spring member 72 receives a reaction force. Since the horizontal guide 46 is a fixed structure, the main body 21 moves toward the negative side in the width direction X with respect to the horizontal guide 46 . As a result, the second guide roller 73 attached to the main body portion 21 comes into contact with the back surface 51b of the rack gear 51 in a pressed manner.

Note that a guide mechanism 70 having the same meaning as the guide mechanism 70 shown in FIG. 11 is also provided on the negative side of the main body portion 21 in the extending direction Y (see FIG. 6). Therefore, the extrusion device 2 can move while being guided by the horizontal guide 46 while being positioned by the guide mechanism 70 at both ends in the extending direction Y.

Next, the functions and effects of the transfer device 1 according to this embodiment will be explained.

The transfer device 1 includes an extrusion device 2 that extrudes the luggage 150 in the width direction X of the shelf 110, and a movement mechanism 3 that moves the extrusion device 2 in the extending direction Y of the shelf 110. Therefore, the moving mechanism 3 moves the extrusion device to the position of the object on the shelf, and the extrusion device 2 pushes out the luggage 150, so that the luggage 150 can be transferred to the exit route 112. The extrusion device 2 includes an arm member 12 that extrudes the cargo 150 to the positive side in the width direction X, and an extrusion drive mechanism 13 that extends in the width direction , is equipped with. Therefore, the arm member 12 can move in the width direction while being given a driving force by the extrusion drive mechanism 13, and can push out the luggage 150 on the roller member 113 of the shelf 110. Here, the extrusion drive mechanism 13 is arranged below the shelf 110. Therefore, the size of the extrusion drive mechanism disposed in the space on the negative side of the shelf 110 in the width direction X can be reduced in size. Furthermore, the arm member 12 pushes out the cargo 150 while passing through the gaps between the plurality of roller members 113. As a result, even when the extrusion drive mechanism 13 is disposed below the shelf 110, the arm member 12 pushes out the cargo 150 on the roller member 113 while avoiding interference with the roller member 113 of the shelf 110. be able to. As described above, the size of the transfer device 1 can be reduced.

The moving mechanism 3 may include a rack gear 51 extending in the extending direction Y, and a pinion gear 52 that is attached to the drive section 53 and meshes with the rack gear 51. In this case, the moving mechanism 3 can appropriately move the extrusion device 2, which is disposed at a low position, in the extending direction by being disposed below the shelf 110. In this embodiment, the rack gear 51 is provided at a lower position of the extrusion device 2 on the bottom wall portion 44 which is also used as a travel path for the wheels 43. Therefore, the moving mechanism 3 can move the extrusion device 2 with a compact configuration.

The moving mechanism 3 includes a horizontal guide 46 that extends in the extending direction Y and guides the horizontal movement of the extrusion device 2, a first guide roller 71 that contacts the horizontal guide 46, and a horizontal guide that guides the first guide roller 71. A spring member 72 biasing toward 46 may further be included. In this case, the moving mechanism 3 positions the extrusion device 2 in the width direction by urging the first guide roller 71 toward the horizontal guide 46, and at the same time, moves the extrusion device 2 in the extending direction Y using the horizontal guide 46. can guide you. Thereby, it is possible to maintain a state in which the pinion gear 52 can appropriately mesh with the rack gear 51.

The moving mechanism 3 may further include a second guide roller 73 that comes into contact with the back surface 51b of the rack gear 51 due to the reaction force F2 caused by urging the first guide roller 71 toward the horizontal guide 46. In this way, by effectively using the reaction force generated by the rear surface 51b of the rack gear 51 and the first guide roller 71 during positioning, further positioning can be performed by the second guide roller 73. Thereby, more accurate positioning can be performed at low cost and in a small space.

The arm member 12 may have at least two contact portions 29 that contact the luggage 150. In this case, the arm member 12 can push out the cargo 150 in a stable state using at least two contact portions 29.

The extrusion drive mechanism 13 includes a linear guide 31 that supports the arm member 12 and guides the arm member 12 in the width direction X, and an endless belt 32 that is fed in the width direction X with the arm member 12 attached. A drive unit 33 that drives the endless belt 32 at one end in the width direction X, and a pulley 34 that supports the endless belt 32 at the other end in the width direction 31 may be arranged. In this case, the extrusion drive mechanism 13 can apply a driving force to the arm member 12 via the endless belt 32. On the other hand, by effectively utilizing the space on the inner peripheral side of the endless belt 32, the linear guide 31 can be installed at a lower position. Therefore, the height of the extrusion drive mechanism 13 can be kept low, resulting in a compact configuration.

The invention is not limited to the embodiments described above.

For example, the overall configuration of the warehouse system and the specific configuration of the shelves are not limited to those described above. Further, in the above-described embodiment, an example of the roller member 113 divided in the extending direction is shown as an on-shelf conveyance member, but a belt conveyor or the like divided in the extending direction may also be used.

Further, the specific shape of the transfer device is not particularly limited, and can be changed as appropriate within the spirit of the present invention. For example, the extrusion drive mechanism does not need to be a drive system using an endless belt, and may appropriately employ a ball screw, a linear motor, or the like. Further, the linear drive mechanism of the moving mechanism is not limited to one using a rack gear and pinion gear, and various drive methods such as a belt, a ball screw, a linear motor, etc. may be appropriately adopted. Furthermore, the horizontal and vertical guide mechanisms for the extrusion device are not particularly limited, and any known guide mechanism may be employed as appropriate.

DESCRIPTION OF SYMBOLS 1... Transfer device, 2... Extrusion device, 3... Moving mechanism, 12... Arm member, 13... Extrusion drive mechanism, 29... Contact part, 31... Linear guide, 32... Endless belt, 33... Drive part, 34... Pulley , 46... horizontal guide, 51... rack gear, 52... pinion gear, 71... first guide roller, 72... spring member (biasing member), 73... second guide roller, 100... warehouse system, 113... roller member (Shelf transport member), 150...Luggage (object).

Claims (6)

A transfer device that is installed in a warehouse system including a shelf that transports objects using divided shelf transport members, and that transfers the objects,
an extrusion device that extrudes the object in the width direction of the shelf;
A moving mechanism that moves the extrusion device in the extending direction of the shelf,
The extrusion device includes:
an arm member that pushes out the object to one side in the width direction;
an extrusion drive mechanism extending in the width direction and applying a driving force to move the arm member in the width direction;
the extrusion drive mechanism is located below the shelf;
A transfer device in which the arm member pushes out the object while passing through a gap between the plurality of shelf conveyance members. The moving mechanism is
a rack gear extending in the extending direction;
The transfer device according to claim 1, further comprising a pinion gear attached to a drive section and meshing with the rack gear. The moving mechanism is
a horizontal guide extending in the extending direction and guiding horizontal movement of the extrusion device;
a first guide roller that comes into contact with the horizontal guide;
The transfer device according to claim 1 or 2, further comprising a biasing member that biases the first guide roller toward the horizontal guide. The moving mechanism is
The transfer device according to claim 3, further comprising a second guide roller that comes into contact with a back surface of the rack gear due to a reaction force caused by urging the first guide roller toward the horizontal guide. The transfer device according to any one of claims 1 to 4, wherein the arm member has at least two contact portions that come into contact with the object. The extrusion drive mechanism is
a linear guide that supports the arm member and guides the arm member in the width direction;
an endless belt that is fed in the width direction with the arm member attached;
a drive unit that drives the endless belt at one end in the width direction;
a pulley that supports the endless belt on the other end side in the width direction,
The transfer device according to any one of claims 1 to 5, wherein the linear guide is arranged on the inner peripheral side of the endless belt.

Images