JPH0420803Y2 - - Google Patents

Description

[Detailed explanation of the invention] (Industrial application field) This invention is capable of individually and automatically handling long objects such as raw pipes of various sizes used for general piping, as well as important piping related to nuclear power, etc. It is a device that can be delivered, stored and managed, and automatically take out necessary items according to demand.In detail, it has multiple storage shelves divided into multiple rows and stages in both the vertical and horizontal directions. a three-dimensional storage shelf in which a long object entrance is formed on one side of each of these storage shelves, and a long object is received and supported so as to be movable in the longitudinal direction on the long object entrance side of the three-dimensional storage shelf. The vehicle is equipped with a receiving surface and a cart capable of reciprocally driving a long object in the longitudinal direction along the receiving surface, and a clamping mechanism is attached to the cart that can freely clamp and release the clamping of one end of the long object. and an automatic loading/unloading device comprising a traveling device and a lifting device for moving the receiving surface to a position on the extension line of each storage shelf of the three-dimensional storage shelf. This relates to storage equipment for large items.

(Prior art) The above-mentioned configuration specifies the storage shelves in which long items of various sizes are to be stored, registers the designated shelves, carries out the order in which long items are taken out from each storage shelf, and determines the number of empty shelves. By performing consistent data management from input, storage, and output of materials through computer processing, a series of operations such as input, storage, output, and processing of long materials can be completed. It has the advantage of being automated and significantly improving work efficiency, as well as allowing error-free work.

One of the important factors in carrying out such effective and efficient fully automatic loading/unloading work reliably and accurately without mistakes is the storage in the multi-stage, multi-row storage shelves of the three-dimensional storage shelves mentioned above. The end faces of the stored long items on the entrance/exit side of each storage shelf are aligned, and the storage position and posture of the long items are maintained stably even in the event of vibrations such as an earthquake. If the position of the end face of a long object is uneven due to excessive pushing during transport, the position of the end face varies due to the influence of vibration, or the posture is not constant, the clamps in the automatic transport equipment mentioned above may The mechanism's gripping action on one end of a long object becomes uncertain and unstable, leading to mistakes when removing the long object from the storage shelf, or when the object is unexpectedly released during removal, resulting in continuous work being interrupted. cause trouble.

In conventional common equipment of this type, the elongate object receiving surface of each storage shelf is arranged in a horizontal or substantially horizontal position. The reason for such a structure is the fixed idea that stored long objects are stabilized by their own weight.

(Problem to be solved by the invention) However, in a three-dimensional storage shelf equipped with a storage shelf section having a receiving surface in a horizontal or substantially horizontal position, the above-mentioned receiving surface does not hold one end of a long object. In order to be able to smoothly push in and pull out in a clamped state with less resistance, it is usually constructed from a large number of rollers arranged in parallel. As a result, they tend to move unexpectedly due to being pushed in excessively when being carried in or due to vibrations during storage, and therefore have the drawback of easily causing the above-mentioned unloading errors in fully automated work controlled by a computer. .

This idea was made to solve the problems mentioned above, and it is possible to ensure that the posture of the long objects stored in each storage shelf, especially the end face position, is aligned and maintained. It is an object of the present invention to provide a long article storage facility with an automatic loading/unloading device that can rationally solve the adverse effects of the configuration on loading/unloading operations.

(Means for Solving the Problems) In order to achieve the above object, the long object storage equipment with an automatic loading/unloading device according to the present invention has the configuration described in detail at the beginning, and the above-mentioned three-dimensional storage shelves are The long object receiving surface of each storage section is configured in an inclined position such that the long object stored therein slides toward the entrance and exit.
A stopper that can be opened and closed and is normally biased in a closed position is provided, and the stopper is opened against the closing biasing force, and a stopper opening/closing mechanism is attached to an end of the automatic loading/unloading device near the three-dimensional storage shelf side. It is characterized by this structure.

(Function) In the storage equipment of this invention having such a characteristic configuration, the above-mentioned trolley is moved along the long-object receiving surface with one end of the long object being clamped by the clamp mechanism of the above-mentioned automatic loading/unloading device. By driving the long object toward the three-dimensional storage shelf, the long object is pushed into a desired storage shelf in the three-dimensional storage shelf. At this time, a stopper located at the entrance of the storage shelf is closed. Due to the abutting force of the end surface on the moving side of the long object, it opens automatically against the urging force to allow the long object to be carried in. When the long object is pushed in until the end face of the long object on the clamped side passes the stopper, the grip by the clamp mechanism is released, the cart is driven in the opposite direction to the above, and the object is clamped. When the mechanism is completely removed from the storage shelf, the stopper automatically returns to the closed position by force and moves downward along the inclined receiving surface of the storage shelf, that is, the stopper is moved downwardly along the inclined receiving surface of the storage shelf. It slides toward the entrance/exit side, and stops when its one end surface abuts the stopper, and the end surfaces of the long objects carried and stored in all the storage shelves are aligned.

Next, when carrying out a long object stored in the storage shelf section, the clamp mechanism clamps the end of the stored long object on the entrance/exit side, and the long object is temporarily stored. The long object is pushed toward the back of the shelf until the end surface of the object comes off the stopper, and the stopper is opened against the biasing force by the stopper opening/closing mechanism attached to the automatic loading/unloading device. By driving the cart in the long object removal direction from this state, the long object can be pulled out from the storage shelf and held on the receiving surface of the automatic loading/unloading device without sliding against the stopper. be.

(Example) Hereinafter, an example of this invention will be described based on the drawings.

FIG. 1 shows the overall configuration of a long object storage facility according to an embodiment of this invention. In the figure, 1 is a three-dimensional storage shelf, and 2 is an automatic storage device placed on the outside of one side of the three-dimensional storage shelf 1. This is a loading/unloading device.

As shown in FIG. 2, the three-dimensional storage shelf 1 has a plurality of storage shelves 3 that are divided into multiple rows and stages in both the vertical and horizontal directions. As shown in FIG. 3, a large number of flanged rolls 4 are freely rotatably supported in parallel in each storage shelf 3 to allow the pipe P to slide. A receiving surface 5 is configured that allows the vehicle to run in contact with the vehicle. This receiving surface 5
is configured in an inclined position such that the pipes P stored in each storage shelf 3 slide toward the above-mentioned entrance/exit 3A side. Furthermore, as shown in FIG. 4, the entrance 3A of each of the storage shelves 3 can swing open and close around a horizontal support shaft 6, and is normally biased into an upright closed position by the gravity of a weight 7. stopper 8
is installed.

On the other hand, as shown in FIGS. 5 and 6, the automatic loading/unloading device 2 freely loads a large number of flanged rolls 10 at appropriate intervals in the longitudinal direction of a long linear horizontal frame 9. By rotatably supporting the pipe P, a pipe receiving surface 11 is configured to receive and support the pipe P so as to be able to slide in the axial direction.
The frame 9 with the mark is the base frame 12 below it.
Hydraulic table lifter 13 interposed between
(an example of an elevating device), the wheels 15, which are configured to be movable up and down by driving along a guide 14 fixedly extending vertically upward from the base frame 12, are attached to the base frame 12. The above-described structure is transferred onto a rail 16 laid over a length range corresponding to the horizontal width of the three-dimensional storage shelf 1, and the wheels 15 are interlocked and connected to a traveling motor 17 fixed to the base frame 12. A traveling device is configured to laterally move the pipe receiving surface 11 to a position on the extension line of each storage shelf section 3 of the three-dimensional storage shelf 1.
18 is a guide rail 18 connected to the frame 9
A is a trolley that is supported by A so that it can run freely along the receiving surface 11 via wheels 19, and includes a drive motor 21 fixed to the trolley frame 20, a pinion gear 22 attached to the rotation shaft thereof, and the frame 9. It is configured to be capable of reciprocating movement via a fixed rack 23. Reference numeral 24 denotes a clamp mechanism attached to the lower surface of the truck frame 20 of the truck 18, and as shown in FIGS. 7 and 8, this clamp mechanism 24
A pair of left and right clamp claws 26, 26 pivotally supported around the hydraulic cylinder 27, a linear slide shaft 28, and a pair of links 2
It is configured to be able to swing relative to each other through distances 9 and 29, and to be able to clamp and release clamping relative to one end of the pipe P. Reference numeral 30 denotes a stopper opening/closing mechanism for opening the stopper 8 attached to the entrance/exit 3A of each of the storage shelves 3 against the closing biasing force due to the gravity of the weight 7, and this stopper opening/closing mechanism 30 is clearly shown in FIG. As shown in the above frame 9
The entrance 3 of the storage shelf 3 in the three-dimensional storage shelf 1 is opened by expanding and contracting the cylinder 31 attached to one end.
An electromagnet 33 is fixed to a movable plate 32 that can be moved in and out relative to A, and when the electromagnet 33 is energized and excited, the weight 7 of the stopper 8 is attracted and the cylinder 31 is contracted. , the stopper 8 can be swung open as shown by the imaginary line in FIG. 34 is a centering device provided near one end of the pipe receiving surface 11 formed by the 10 groups of flanged rolls;
As shown in the figure, a pair of rotating face bodies 36, which can swing up and down around support shafts 36, 36 along the pipe movement direction, are located on both sides of the center position of the roll 10 in the rotation axis direction. 36, and the pair of rotating face bodies 36, 36 are interlocked via gears 37, 37 of the same shape so as to swing by equal amounts in opposite directions, and one rotating face body 36 is connected to the cylinder 3.
8 and a link 39, and this centering device 34 is for preventing the pipe P from moving laterally during transportation, regardless of the diameter of the pipe P.

In the device configured as described above, the operation of carrying the pipe P received and supported on the receiving surface 11 of the automatic loading/unloading device 2 into the three-dimensional storage shelf 1 and the pipe P stored in the three-dimensional storage shelf 1 are performed. The operation of carrying out the paper onto the receiving surface 11 of the automatic carrying-in/out device 2 will be briefly described below.

One end of the pipe P received and supported on the receiving surface 11 is taught by the clamp mechanism 24, and the entire automatic loading and unloading device 2 is moved through the lateral movement traveling device and the table lifter 13 so that the receiving surface 11 is Among the storage shelves 3 in the three-dimensional storage shelves 1,
After moving the storage shelf 3 to a position on the extension line of the storage shelf 3 designated by the computer, the stopper opening/closing mechanism 30 moves the designated storage shelf 3
The stopper 8 attached to the entrance/exit 3A is swung and released. In this state, by driving the cart 18 toward the three-dimensional storage shelf 1 side, the pipe P is pushed and moved from the entrance/exit 3A onto the receiving surface 5 in the predetermined storage shelf 3, and the terminal end of the pipe P is moved. When the above-mentioned swing release stopper 8 is pushed to the back side beyond the tip, the stopper 7 is released from the weight 7 by the electromagnetic magnet 33 of the stopper opening/closing mechanism 30, and the stopper 7 is moved by the gravity of the weight 7. It automatically returns to the closed position. Therefore, the pipe P released from the clamping mechanism 24 slides downward on the inclined receiving surface 5 of the storage shelf 3, and stops with its end surface in contact with the stopper 8. It will be stored and stored.

On the other hand, the above-mentioned clamp mechanism 24 causes the storage shelf section 3 to
One end of the stored pipe P is held in place, and the cart 18 is driven to move the pipe P to a position where its end face is slightly further back than the stopper tip position when the stopper 8 is released from swinging. After this, the stopper 8 is swung and released by the opening/closing mechanism 30 in the same manner as in the above case. While maintaining the swing release state of the stopper 8,
By moving the cart 18 in a direction away from the three-dimensional storage shelf 1, the pipe P is pulled out from the entrance/exit 3A onto the receiving surface 11 of the automatic loading/unloading device 2, and the loading is completed.

Note that in the above embodiment, the gravity of the weight 7 is used as the means for urging the stopper 8 to close.
It may also be a means that utilizes the elastic force of a spring.

Further, as the stopper opening/closing mechanism 30, although the attraction force of the electromagnetic magnet 33 was used in the above embodiment, physical or mechanical means such as an engaging claw may also be used.

(Effect of the invention) As is already clear from the above explanation, when this invention is used, the posture of the long objects stored in each storage shelf of the three-dimensional storage shelf, especially the end face on the entrance/exit side of the storage shelf By abutting against a stopper provided at a fixed position, the position can be reliably aligned without variation. Therefore, with fully automatic computer-controlled loading/unloading operations, it is possible to ensure that there is always sufficient end clamping allowance, especially when pulling and transporting long objects by clamping their ends, thereby ensuring error-free transport. . Furthermore, in order to ensure such reliable clamping and carrying out, a stopper is provided at the entrance of the storage shelf section, which gets in the way when carrying in and out of long objects. Instead of providing a mechanism for opening and closing on each stopper side so as not to interfere with loading and unloading, automatic loading and unloading mechanism that can be moved optionally to a position on the extension line of each storage shelf of the three-dimensional storage shelf is used. By mounting it on the device side, it is possible to use one opening/closing device for multiple stages and multiple rows of stoppers, and therefore the stopper and the stopper opening/closing mechanism can be installed at a very low cost as a whole.

[Brief explanation of the drawing]

Figure 1 is a side view of the entire storage facility according to an embodiment of this invention, Figure 2 is a schematic front view of a three-dimensional storage shelf,
Figure 3 is an enlarged partially cutaway front view of the main parts showing the configuration of the storage shelf, Figure 4 is an enlarged vertical side view of the stopper configuration, and Figures 5 and 6 are enlarged side views of the automatic loading/unloading device. FIGS. 7 and 8 are a partially cutaway enlarged side view and the same plan view showing the configuration of the clamp mechanism, and FIG. 9 is a partially cutaway enlarged side view showing the stopper opening/closing mechanism. FIG. 10 is an enlarged partially cutaway front view showing the centering device. 1 is a three-dimensional storage shelf, 2 is an automatic loading/unloading device, 3 is a storage shelf, 3A is an entrance/exit, 5 is a receiving surface, 7 is a weight, 8 is a stopper, 11 is a receiving surface, 13 is a table lifter, 18 is a receiving surface 24 is a clamp mechanism, 30 is a stopper opening/closing mechanism, and 33 is an electromagnetic magnet.

Claims (1)

[Claims for Utility Model Registration] (1) A three-dimensional storage shelf that has a plurality of storage shelves divided into multiple rows and stages in both the vertical and horizontal directions, with an entrance for long items formed on one side of each storage shelf. and a receiving surface that receives and supports a long object so as to be movable in its longitudinal direction on the elongated object entrance side of the three-dimensional storage shelf, and a reciprocating drive movement of the long object in its longitudinal direction along this receiving surface. This cart is equipped with a clamp mechanism that can clamp and release one end of a long object, and
an automatic loading/unloading device equipped with a traveling device and a lifting device for moving the receiving surface to a position on the extension line of each storage section of the three-dimensional storage shelf; The long object receiving surface is configured in an inclined position so that the long objects stored there can slide toward the entrance and exit, and the entrance and exit of each storage section has a structure that can be opened and closed and is normally biased to the closed position. The automatic loading/unloading device is characterized in that a stopper is provided, and the stopper is opened against a closing biasing force, and a stopper opening/closing mechanism is attached to an end of the automatic loading/unloading device near the three-dimensional storage shelf side. Long object storage equipment with equipment. (2) The long object storage equipment according to claim 1, wherein the closing biasing means of the stopper is gravity biasing means using a weight. (3) The long object storage equipment according to claim 1 or 2, wherein the stopper opening/closing mechanism utilizes an electromagnetic magnet.