JPH0383701A - Custody equipment - Google Patents

Abstract

PURPOSE:To easily take out articles from the upper side of containers in equipment for keeping the articles using bottles and the like as a container by making an end of a custody section movable horizontally. CONSTITUTION:A travelling body 1 is made to travel in the left and right direction by a travelling drum and wire and a light bed 5 is moved vertically in order to move an article gripping means 6 to an opposite position to an inclined conveyor 30b on which articles 33a to be picked up are contained. At the same time, the inclined conveyer 30b is moved horizontally to a taking out position by an air cylinder 30c. If another inclined conveyer 30b(third inclined conveyer 30b from below in the drawing) is located above the inclined conveyer 30b, it is retreated, and the articles 33b are taken out from the upper side of the gripping means 6.

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention relates to @pipe equipment that can efficiently store articles, and in particular, to a pipe facility that allows articles stored in a container to be taken out from above the container. The present invention relates to a storage facility that can be suitably used in various cases.

(Prior art) The conventional technology related to storage equipment is Utility Model Application No. 62-1.
The one described in Japanese Patent No. 79205 is known.

To explain the conventional technology described in the above-mentioned publication, Utility Model Application Publication No. 179205/1983 discloses that an article take-out surface is formed on one side of a storage section divided into multiple stages and rows for storing articles. 1. The stored items can be moved by their own weight toward the extraction surface. O (Problem to be Solved by the Invention) However, the above-mentioned conventional technology had the following problems.

That is, in the article storage equipment described in Japanese Utility Model Application Publication No. 62-179205, each stage of the storage section is fixedly installed, so that the articles stored in the container can be taken out from above the container. In order to do this, the spacing between each tier in the storage section needs to be the sum of the height of the container, the height of the items, and the allowance for taking out the items. Therefore, an object of the present invention is to make it possible to move the end of the article storage section in a substantially horizontal direction so that articles stored in a container can be taken out from above the container. An object of the present invention is to provide a storage facility that can efficiently store articles such as paper towels, etc. (Means for Solving the Problem) A storage facility configured to take out articles stored at an end of an article storage section, characterized in that the end of the article storage section is movable in a substantially horizontal direction. The above purpose has been achieved by providing the following.

Note that it is preferable that the article storage section is an inclined conveyor.

(Function) In the storage equipment of the present invention, the end of the article storage section is movable in a substantially horizontal direction, so that articles stored in a container can be taken out from above the container. Store items efficiently.

(Example) An embodiment of the storage facility of the present invention will be described below.

FIG. 1 is a side view showing a storage facility of the present invention and an article retrieval device suitable for taking out articles from the storage facility;
3 is an explanatory diagram showing the tensioned state of the string-like body (wire) of the article retrieval device, FIG. 4 is an explanatory diagram showing the upper part of the mast of the traveling body and the lifting platform, and 5 Figure 6 is a perspective view showing the article gripping device, Figure 6 is a vertical sectional view of the gripping hand using the annular tube, Figure 7 is a sectional view showing the lifting mechanism of the lifting platform, and Figure 8 is an example of its application. In these drawings, (1) is a traveling body of an article retrieval device, and is equipped with a mast (2) twisted from a square pipe.
The middle part of the wire (3) as a running string body is connected to a running drive drum (as a driving device for a running body installed on the ground side).
4), the middle part is fixed to the upper part of the running body (1), the terminal end is fixed to the lower part of the running body (1), and the middle part is fixed to the lower part of the running body (1).
1) and by pulling the wire (3) stretched in the same direction so as to pull the upper and lower parts of the traveling body (11) in the same direction, the article storage section (30a) is driven. It is designed to run along the storage membrane #1t3IJ provided.Also, (5) is the mast (2)
On the lifting platform that goes up and down along the )
The wire is stretched in the traveling direction of the vehicle and is looped between the upper part of the traveling body (1) and the lifting platform (5) and between the lower part of the traveling body (1) and the lifting platform (5). It is driven by pulling the (roller) in the desired direction.
There is no vertical movement along the storage facility (2) with 30a).

In addition, (2) is a storage facility (fluid shelf) with an inclined (--ra) conveyor (30b) as an article storage section (30a) with multiple rows and multiple stages in the vertical and horizontal directions for storing containers (33a). ), the article (33b) stored in the container (33a) stored at the end of the inclined conveyor (30b)
) and the inclined conveyor (30
b) can be moved in a substantially horizontal direction by an air cylinder (3°C), and as shown in Figure PJ1, the air cylinder (30C) is connected to an inclined conveyor (30
)), and the air cylinder (30e)
The inclined conveyor (30b) on the stage where the fulcrum (30b) is not provided with
An air cylinder (30c) provided for the lower stage inclined conveyor (30b) via a link (30e) which rotates around the lower stage inclined conveyor (30b) It's time to move.

In addition, the air cylinder (30c) is connected to the inclined conveyor (
30b).

Moreover, a hydraulic cylinder, a power cylinder, etc. may be used instead of the product cylinder (30c).

In addition, (6) is the article (
a plurality of gripping heads (9), (9
).

<IG, (1), (11) is attached to the lifting platform (5) via a moving device t (7), which will be described later, and (9) is equipped with a pair of pressing pieces (+2 In is a gripping head that clamps and grips the article (33b) by opening and closing the cylinder (in) with a suction pad (14), and a gripping head that suctions air from the suction pad (14 and suctions and grips the article (33b) with negative pressure). , (10 is a circular chain 0) By inserting the upper part of the article (33b) into the center of the sieve and injecting air into the circular tube H, the inserted article (33b) is expanded and deformed in the direction of the center. (7) is a gripping head that grips an article. Also, (7) is an article gripping device (6)
This is a moving device that moves in the flow direction of the inclined conveyor (30b), and is driven by a cylinder, and (8) is the cylinder rod of the moving device (7). In addition, (9I) is a gripping head (
9) is moved along a linear guide (91C) by a ball screw (91b) driven by a pulse motor (91a) to change the pitch of the gripping heads (9), (9), respectively. gripping head (9), (
9i is Yong! Articles stored in I (33a) (33
b) without gripping 1fI at a time. Also,(
101) is the article (33) stored in the container 1it (33a).
b) Depending on the storage pitch, the pulse data (iota)
(11 gripping heads (In) pulse motor (101a)
It moves along the linear guide (101c) by a ball screw (LOLB) driven by
, +113, each gripping head (11, (II) is a pitch changing device for changing the pitch of the container (33a)
It is designed so that the articles (33b) stored in the bag are held one by one. In addition, (2) is the terminal fixing point of the lifting wire (a) installed on the ground side, and (2) is the stop that fixes the middle part of the running wire (3) to the top of the mast (2). Arrival point, (24 is the pulley of the running wire (3), (2!9
is the lifting wire (pulley of 21), (to) is the running wheel of the traveling body (1), (c) is the guide rule of the traveling body (1), Ql
is the lifting roller of the lifting platform (5), the running rail of (rumor has it the running body + 1), (2) is the storage box conveyor, (Foundation) is the storage box, (3 is the end of the running wire (3) The running body (1
), the shaft is attached to the gripping device (6
) to rotate the gripping head (9), (11, (11)
This is a rotating near motor that allows selection of

Therefore, in the above-mentioned article retrieval device, when the traveling drive drum (4) is rotated in the direction of the arrow in FIG. The attachment point at the bottom of the body (1) (3) is applied to the left to make the traveling body (1) travel to the left, and by reversing the traveling drive drum (4), the traveling body (1) is moved to the right. Drive in the direction.

Furthermore, by rotating the elevating drive drum @0 in the direction of the arrow, the elevating wire (2) is fed out below the mast (2) and is reeled in from above the mast (2), raising the elevating table (5). Furthermore, if the lifting drive drum rotation 0 is reversed, the lifting wire (A) moves in the opposite direction and lowers the lifting platform (5). If the elevating drive drum (20) is stopped, even if the traveling body (1) runs along the storage facility, the elevating wire 4 will not move at the elevating drive drum (2υ position).
The lifting platform (5) can maintain a constant height regardless of the movement of the traveling body (1). In this way, the traveling of the traveling body +1) and the raising and lowering of the lifting platform (5) are carried out independently from each other by the traveling drive drum (4) and the lifting drive drum (21) which are fixedly installed on the ground.

Next, a mode of picking articles from the storage facility of the present invention using the above-mentioned article retrieval device will be described.

The storage equipment (inclination conveyor (30b) of each stage of cypress is equipped with containers (3) storing h1 types of goods <33b)
3a) are stored. In addition, by opening the top surface of the container (33a) in advance, articles (
33b), the inclined conveyor (30b)
is stored in. That is, if the article (33b) is stored in a plastic container with an open top, etc., it may be fed as is to the inclined conveyor (30b), but if the article (33b) is stored in a cardboard box, etc., the container should be It is preferable to cut the top surface or the like before supplying it to the inclined conveyor (30b).

Articles (33) stored on each inclined conveyor (30b)
When b) is picked in batches such as by customer, predetermined articles (33b) are picked in the following manner based on data organized in the order of picking types for each batch.

First, for each item (33b) to be picked, the item (
33b) is to be taken out from the end of the inclined conveyor (30b), that is, from the bottom of the container (33a) placed at the most downstream part. In this case, please leave it alone! (33
Control is performed to sequentially pick items (33b) stored at the back of item (a), and items that are not picked and items (33b) are picked sequentially.
a) It is preferable to prevent the article (33b) remaining inside the container from falling over.

When the picking position of the article (33b) is determined, a movement command including the destination address, movement speed, movement acceleration, acceleration curve type, etc. is given to the traveling body (1) and the lifting platform (5), Based on the movement command, the article gripping device (6) moves to a position opposite to the inclined conveyor (30b) storing the articles to be picked (33b) by traveling the traveling body (1) and raising and lowering the lifting platform (5). Moving.

At the same time as the movement command of the article gripping device (6), the article (33b)
) is not in a position to take out the article (33b), such as the second or fourth inclined conveyor (30b) from the bottom in FIG. The inclined conveyor (30b
) is given a movement command, the air cylinder (30c) is activated, and the conveyor (30b), which is the first or third inclined conveyor from the bottom in FIG. Move horizontally. Furthermore, when the upper stage of the inclined conveyor (30b) from which the article (33b) is taken out is in the position for taking out the article (33b), the inclined conveyor (30b)
A movement command is given to air cylinder (30c).
is activated and moves in a substantially horizontal direction to a position where the article (33b) is not taken out, thereby preparing a sufficient space above the inclined conveyor <30b) from which the article (33b) is taken out.

In FIG. 1, when the first or third inclined conveyor (30b) from the bottom moves approximately horizontally to the position for taking out articles, the inclined conveyor (30b) on the upper stage moves to the link (30e). ) to move in a substantially horizontal direction to a position where the article is not taken out.

Article (33b) to be picked by the article gripping device (6)
When the most downstream part of the inclined conveyor (30b) moves to a predetermined position, the articles to be picked (3
3b) according to the gripping head (9), (9), (II
.
n) is selected. In addition, the gripping head (9), (9),
(IQ, (1 mouth, (+1) selection is running body (1)
It may also be performed while the lifting platform (5) is moving.

Gripping head (9), (9), 0, (lt)
, (When ++1 is selected, the moving device (7) is given a moving command including the destination address, moving speed, moving acceleration, type of acceleration curve, etc., and the moving device (7) moves based on the moving command. By the operation of , the article gripping device (6) attached to the tip of the cylinder rod (8) moves onto the article to be picked (33b).At the same time, the pitch changing device!+91) and (101) move to the destination A movement command including the address of is given, and based on the movement command, the pulse motors (91a), (101a) are operated.Thus, the gripping heads (9), (9), fl■,
(10, (lυ moves above the item (33b) to be picked.

Article (33b) to be picked by the article gripping device (6)
When placed on top of the platform, the destination address and
A movement command including movement speed, movement acceleration, type of acceleration curve, etc. is given, and based on the movement command, the lifting platform (5)
lower the predetermined gripping head (9).

(9), (II, (11, It) moves to the article gripping position Q.

Predetermined gripping head (9), (9),
(II) moves to the article gripping position, the gripping head (
9), (9), H.

A gripping command is given to (II), (II), and based on the gripping command, the gripping heads (9), (9), (un,
0■, (10 grips the desired quantity of articles (33b).

Gripping head (9), (9), (+■, (1(
e, (When lυ grasps the desired quantity of articles (33b), a movement command including the destination address, movement speed, movement acceleration, acceleration curve type, etc. is given to the lifting platform (5), and the movement command is Based on the lifting platform (5), the goods (33b)
The bottom surface of the container (33a) rises to a position slightly above the top surface of the container (33a).

The bottom of the product (33b) is the container (33a) on the lifting platform (5).
When the moving device (7) rises to a position slightly above the top of the
) is given a movement command including the 7 dress, movement speed, movement acceleration, type of acceleration curve, etc. inland H, and based on the movement command, the movement device (7) operates to move the cylinder rod (8
) is moved toward the outside of the inclined conveyor (30b).

When the article gripping device (6) moves outward on the inclined conveyor (30b), a movement command including the destination address, movement speed, movement acceleration, type of acceleration curve, etc. is given to the lifting platform (5), and The article (3) held by the article gripping device 1 (6) is lifted by lowering the lifting platform (5) based on the movement command.
3b) onto the storage box (2).

When the article (33b) gripped by the article gripping device (6) is moved onto the storage box (2), the gripping head (91, +9
).

A release command is given to (10), (11, (Il,), and based on the release command, gripping hemeds (9), (9+,
(Field, (1F1. Item held by 111 (3)
3b) is released, and the article (33b) is placed in the storage box (34).

The storage box (34) on which the released item (33b) is placed is the inclined conveyor (30b) storing the item (33b) to be picked by the storage box conveyor ((support)).
) are arranged so that they are placed on standby for being sequentially removed by a stopper (not shown), and the articles (33b) picked from the waiting storage box (slanted conveyor (30b) above Sakaki) have been completely loaded. Then, the storage box (34) starts and is conveyed to the lower part of the inclined conveyor (30b) storing the next item (33b) to be stored, and is stopped again by a stopper and tilted to wait. The storage box (all items to be put in 34 (33b)
inputs are made sequentially.

The embodiments of the storage facility of the present invention and the mode of picking articles from the storage facility of the present invention using the above-mentioned article retrieval device have been described above, but the present invention is not limited thereto. For example, storage equipment (rows are as shown in Figure 9)
The end of the inclined conveyor (30b), that is, the most downstream part (30f)
) may be configured to be moved in a substantially horizontal direction by an air cylinder (30c), and the upstream portion of the inclined conveyor (30b) may be fixedly installed. In this case, containers (33a) containing articles (33b) can be supplied to the upstream portions of all inclined conveyors (30b) at any time.

(Effects of the Invention) As described above, the storage equipment of the present invention has a rack so that the end of the storage section can be moved in a substantially horizontal direction, so that articles stored in a container can be stored, especially from above the container. Articles that can be taken out can be efficiently stored.

In addition, since the article storage section is an inclined conveyor,
The above effect can be further increased0

[Brief explanation of drawings]

FIG. 1 is a side view showing a storage facility of the present invention and an article retrieval device suitable for taking out articles from the storage facility;
Figure 3 is an explanatory diagram showing the tensioned state of the string-like body of the article retrieval device, Figure 4 is an explanatory diagram showing the upper part of the mast of the traveling body and the lifting platform, and Figure 5 is an explanatory diagram showing the lifting platform. FIG. 6 is a vertical cross-sectional view of the gripping device using the annular tube, FIG. 7 is a cross-sectional view of the elevating mechanism of the lifting platform, and FIG. 8 is an example of its application. Perspective view shown, No. 9.
This figure is a side view showing a storage facility different from that shown in FIG. 1. still,
In FIG. 8, the gripping head is partially omitted. 12 Storage equipment (30a): Article storage section (30b): Inclined conveyor (33b): Article patent applicant Seibu Denki Co., Ltd. Agent Mr. Toshima Part 4 Part 2 Figure r f

Claims (1)

[Claims] 1) In a storage facility comprising a plurality of article storage sections in the vertical direction and configured to take out articles stored at an end of the article storage section, the end of the article storage section 1. A storage facility characterized by being configured such that its parts can be moved in a substantially horizontal direction. 2) The storage facility according to claim 1, wherein the article storage section is an inclined conveyor.