JPH0420405A - Shipping and stocking apparatus for automated warehouse - Google Patents

Abstract

PURPOSE:To enable the turn, advance and retreat of a lift with an identical drive apparatus by providing a pivotable member pivotable about the vertical shaft of the lift, a base body slidable left and right to be guided by the pivotable member and a putting-in-and-out device incrementally moved on the base body along with the movement thereof. CONSTITUTION:In stocking operation for example, a lift 18 is vertically moved to oppose a putting-in-and-out device 21 to a desired receiving divisional space. Next, when a drive device 30 is operated to project a putting-in-and-out device 36, a pinion 33 is pivoted counterclock-wise B by a geared motor 31 to mesh with a linear rack part 27B so that a base body 25 is moved into the receiving space by the guide of a guide rail 26. Both sprockets 40 interlocked with the base body 25 are moved to incrementally project the putting-in-and-out device 36 through a chain 41 in the same direction and put the device 36 into the receiving space and retreat by the reverse operation. The turn, advance and retreat can be carried out by an identical drive device.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention is for use in a private warehouse, which is provided between a pair of left and right shelves having compartmentalized storage spaces, and in which articles are taken in and out of the compartmentalized storage spaces in accordance with instructions. This relates to a device for putting in and taking out.

BACKGROUND OF THE INVENTION Conventionally, among warehouse facilities such as those described in ``2'', one that particularly handles thin plate-shaped articles is disclosed in Japanese Patent Application Laid-Open No. 157/1984. This warehouse III + equipment is storage shelf +'+i
A traveling aircraft that travels along a fixed path on the path of the j-plane.

A lifting platform that can be freely lowered (guided by a support frame erected on this traveling machine), a rotating table provided on this lifting platform J2, and a loading/unloading device provided on this rotating table-1 so that it can be moved in and out. Consists of. This loading and unloading device has a fork that supports the bottom of the article, and a pair of clamping plates that can grip both sides of the front of the article on both sides of the fork, and is stopped facing a predetermined compartment storage space. The loading and unloading device is protruded by the egress/egress device provided on the rotary table, the bottom of the article is supported on the fork, and the clamping plates are brought close to each other to clamp and hold the article. was.

According to the conventional type described in item 1 of ``Problems to be Solved by the Invention,'' the rotary table side is provided with a loading/unloading device with a loading/unloading device, resulting in a large weight. becomes large, making it impossible to accurately stop the rotation. Furthermore, two drives are required: an egress device and a rotary drive.

An object of the present invention is to provide a loading/unloading device for an automatic warehouse in which the loading/unloading tool can be rotated easily and accurately, and one driving device can be used for both purposes.

Means for Solving the Problems In order to achieve the above object, the present invention provides a loading/unloading device for an automatic warehouse, which is provided between a pair of left and right transoms having compartment storage spaces, and has a vertical axis on a lifting platform. A rotating member that can freely rotate is provided around the rotating member, and a long plate-shaped base body that is guided to the rotating member side and can be moved in the left and right direction is provided. In addition to forming a passive part, a semicircular passive part that is continuous with both linear passive parts is formed at the edge of one end, and when the base body is located at the home position on the lifting platform, the center of the semicircular shape is formed. is configured to coincide with the vertical axis, and a driving device is provided that interlocks with the boundary between one of the linear passive parts and the semicircular passive part,
A loading/unloading tool movable in the length direction of the base body is provided on the base body, and an interlocking device is provided for increasing the amount of movement of the loading/unloading tool in the same direction as the base body is moved from side to side.

According to the configuration of the present invention, the lifting platform is raised and lowered to direct the loading/unloading tool toward the target compartment storage space, and then the drive device is actuated to cause the loading/unloading tool to enter the shelf. By raising and lowering the platform, articles can be transferred between the divided storage space and the loading/unloading tool, and then the loading/unloading tool can be stored in the lifting platform by operating the drive device in the opposite direction. At that time, the loading and unloading tool is moved in and out by driving the drive device that operates in conjunction with the boundary between the linear passive part and the semicircular passive part so as to act only on the linear passive part, and the base body is moved in and out. This can be done by increasing the amount of movement of the loading/unloading tool via the interlocking device. The direction of the loading/unloading tool can be changed by driving the driving device that is linked to the boundary part so as to act only on the semicircular passive part as described above, so that it can be rotated around the vertical axis as an integral part of the rotating member. It can be done by moving it.

Then, by using the other linear passive part, the loading/unloading tool can be moved in and out from the opposite side.

Example An embodiment of the present invention will now be described based on the drawings.

4 to 6, reference numeral 1 denotes a storage shelf having a plurality of compartment storage spaces 2 in the vertical and horizontal directions, and an outer frame 3.
and post bodies 4 arranged at predetermined intervals in the horizontal direction within this outer frame body 3.

The post body 4 has a plurality of receiving portions 4A extending horizontally from both side surfaces in the vertical direction, and these receiving portions 4A form a partitioned storage space 2. Reference numeral 5 indicates a case (article) that can be freely stored in the divided storage space 2.

1- A pair of storage shelves 1 configured as described above are arranged with passages 10 placed on the floorboard 6, and the passage 10 side is the front side. In this passageway 10, a receiving and passing device 12 is provided which can freely travel on a fixed path ll along the front surface of the storage shelf 1. In other words, a legal barrier 3 is laid within the passage 10,
A traveling body 15 is flexible on this body side rail 13 via a plurality of axles 14, and a traveling drive device 16 is provided on the side of the traveling body 15. From the traveling body 15 to the support frame 17
An elevating table 18 is provided which is erected and supported and guided by the elevating table 18, and an elevating drive device [19 is also provided. A loading/unloading device 20 is provided on the lifting platform 181-, and a cargo handling area 9 is provided outside the end of the storage shelf 1.

Next, details of the loading/unloading device 20 will be explained with reference to FIGS. 1 to 3. A rotary member 2 that rotates around a vertical axis 22 via a bearing 21 is disposed in the center of the lifting platform 18 in the left-right direction.
3 is provided. A plurality of left and right guide bodies 24 (a pair of front and rear guide bodies) are mounted on this rotating member 23 . The elongated plate-shaped base body 25 disposed above the rotating member 23 is
By supporting the guide body 24 with the lower guide rail 26 attached to the lower surface thereof in the length direction, the lower guide rail 26 is guided toward the rotating member 23 and is movable in the left-right direction. The base body 25 has linear rack parts (elongated linear passive parts) 27A and 27B formed at the front and rear edges, and a semicircle continuous to the planar linear rack parts 27A and 27B at one end edge. A rack part (semicircular passive part) 27C is formed, and the rack parts 27A, 27B, 27G are formed by fixing a toothed belt (timing belt) to the edge of the base body 25. . Here, the base body 25 is
When the semicircular center 28 is located at the center of the lifting platform 18, it will be located at the home position 29.

At this time, the semicircular center 28 coincides with the longitudinal axis 22.

When the base body 25 is located at the home position 29, a driving device 30 is operated in conjunction with the boundary between one of the linear rack sections 27A and 27B and the semicircular rack section 27C.
has been established. This drive device 30 is attached to a gear motor 31 with a brake fixed to the lifting platform 18 and an upward output shaft 32 thereof, and includes the rack portion 27A,
27B and 27C, and a pinion 33 that can freely engage with the pinions 27B and 27C, and the gear motor 31 can be driven in forward and reverse directions. A guide roller 34 is attached to the lower surface side of the base body 25 and is offset toward the semicircular rack portion 27C with respect to the semicircular center 28. The guide rails 35A and 35B are the lifting platform 18.
It is installed on the top with the length direction being the left and right direction. A long plate-shaped insertion/removal tool (fork) 36 is disposed above the base body 25.

By supporting the guide body 37 attached to the lower surface of the base body 25 on the upper guide rail 38 attached to the upper surface of the base body 25, the base body 25 can be freely moved in the length direction. An interlocking device 39 is provided which increases the amount of movement of the insertion/removal tool 36 in the same direction as the base body 25 moves laterally. That is, sprockets 40 are attached to both ends of the base body 25 in the left and right direction with their positions shifted back and forth.
The upper end of the right-end chino 41, which is hooked on these sprockets 40 from the outside, is fixed to the lower surface of the insertion/removal tool 36, and the lower end is fixed to the rotating member 23 side.

Said body 'I? tllllll etc. are surrounded by a rectangular box-shaped exterior body 7 that stands up from the floorboard 6, and the exterior body 7
A loading/unloading port 8 corresponding to the cargo handling area 9 is formed in the loading/unloading area.

Next, the operation of the first embodiment will be explained.

When carrying out the retrieval plan, the receiver first runs the transfer device 12 and raises and lowers the lifting platform 18, so that the loading/unloading device 21 faces the targeted compartment storage space 2. At this time, the base body 25 is at the home position 29 as shown by the solid line in FIG.
It matches. A pinion 33 is engaged with the boundary between the linear rack portion 27B and the semicircular rank portion 27C. In this state, the drive device 304 is activated to move the insertion/removal tool 36 in a protruding manner.

That is, by operating the gear motor 31 and rotating the pinion 33 counterclockwise 10 times, the pinion 33 engages from the boundary portion to the linear rack portion 27B in relative terms.
As a result, the base body 25 moves toward the intended partitioned storage space 2 with its lower guide rail 26 being supported and guided by the guide body. At this time, the guy 1-roller 34 is fitted into the guide rail 35B and guided, thereby preventing the base body 25 from swinging back and forth. Since both the sprockets 1 to 40 move together with the base body 25, a moving force in the same direction acts on the insertion/removal JL 36 via the cheno 41. As a result, the body 37 of the loading/unloading unit 36 is supported and guided by the upper guide rail 38 to the guy I, and the body 37 is moved to protrude with double the height. The imaginary line in FIG. 1 shows the middle of the protrusion movement. This allows you to put in and take out JL.
:I6 is.

It protrudes above the divided storage space 2 without swinging (swinging). Next, by raising the elevator platform 18 a little, lift the case 5 supported by the receiver part 4Δ using the take-out tool 36. Then, by operating the drive device 30 in the opposite direction to that described above, the loading/unloading tool 36 supporting the case 5 can be placed in the home position 29 within the lifting platform 18.

Note that by performing an operation opposite to that described above, the case 5 supported by the loading/unloading tool 36 can be stored in the compartmented storage space 2 for which it is intended.

In addition, the receiver runs the transfer device [12 on a fixed route 11, places the loading/unloading device 20 opposite the cargo handling area 9, and performs the same operation as described above to transfer the case 5 to the cargo handling area 9. I can do the handing over.

When loading and unloading cases 5 between one storage shelf 1 and the other handling area 9, or when transferring cases 5 between both storage shelves 1, the orientation of the loading/unloading tool 36 is Be changed. That is, as shown by the solid line in FIG.
0 in the opposite direction to that described above to rotate the pinion 33 in the clockwise direction A.

As a result, the pinion 33 engages from the boundary portion to the semicircular rack portion 27C when viewed from opposite sides, thereby making the base body 25 integral with the rotating member 25 and rotating around the vertical axis 22. . This rotation of the base body 25 is performed on the side opposite to the pinion 33, and by rotating 180 degrees, the pinion 33 is placed at the boundary between the semicircular rack portion 27C and the linear rack portion 27A on the opposite side. opposite. This allows the direction of the insertion/removal tool 36 to be changed.

Note that the protruding movement of the insertion/removal tool 36 after changing the direction is performed by causing the pinion 33 to act on the linear rack portion 27A in the same manner as in the double series.

Effects of the Invention According to the present invention having the structure described in item 2, since the same driving device performs the turning and moving in and out of the loading/unloading tool, the entire device can be made smaller and lighter, the turning can be carried out lightly, and the inertial force is small. The rotation can be stopped with high accuracy.

[Brief explanation of drawings]

The drawings show one embodiment of the present invention, in which FIG. 1 is a plan view of the loading/unloading device, FIG. 2 is a side view of the same, FIG. 73 is a partially cutaway front view of the same, FIG. 4 is a plan view of the whole, FIG. 5 is a side view of the same, and FIG. 6 is a front view of the same. 1...Storage shelf, 2...Divided storage space, 5...Case (
Goods), 12... The receiver is a passing device, 15... Traveling machine body, 17... Support frame, 18... Lifting platform, 20... Loading/unloading device, 2J bearing, 22... Vertical axis center, 23... rotating member,
25...Base body, 26...Lower guy 1-rail, 2
7A, 27B... linear rack part (linear passive part), 2
7C... Semicircular rank part (semicircular passive part), 28... Semicircular center, 29... Home position, 30... Drive device, 31... Gear motor, 33... Pinion, 36...
Insertion/removal tool, 38・-, 1 part guy 1-rail, 39・・
Interlocking device, 40 sprocket, 41 chain. Agent Yoshihiro Morimoto/ Satoshi

Claims (1)

[Claims] 1. A loading/unloading device installed between a pair of left and right shelves having compartmentalized storage space, with a rotating member that is rotatable around a vertical axis provided on the lifting platform, and the device is guided to the rotating member side. A long plate-shaped base body that is movable in the left and right direction is provided, and this base body forms linear passive parts on the front and rear edges, and
A semicircular passive part that is continuous with both linear passive parts is formed at the edge of one end, and when the base body is located at the home position on the lifting platform, the center of the semicircular shape coincides with the vertical axis. In addition, a driving device is provided that interlocks with the boundary between one of the linear passive parts and the semicircular passive part, and an insertion/removal tool is provided on the base body, which is movable in the length direction of the base body. A loading/unloading device for an automatic warehouse, characterized in that an interlocking device is provided for increasing the amount of the loading/unloading tool in the same direction as the base body moves laterally.