JPH0672509A - Article receiving method and its device - Google Patents

Abstract

PURPOSE:To narrow the occupied space of an article receiving house and to simplify the taking in and out of an article by setting up at least on of, many receiving spaces in the receiving house as an empty space, and repeating the movement of a carrier far the empty space in order. CONSTITUTION:A carrier B is stored so as to form at least one empty space D0 in many flat and solid article receiving spaces, and the required carrier B is taken out of an outlet (b) by repeating the movement of the carrier B from an adjacent receiving space D in order. Thus a receiving house A dispenses with an article carrying passage, and the taking in and out of the article can be unmannedly and laborsavingly executed. The carrier B is a container in itself and moreover a container moving inside the receiving house A, and rolling wheels 4a, 4b, 6a, 6b utilize a X-axis rail 2b and Y-axis rails 3a, 3b as a guide and severally come into contact with the rail and roll on it to lead the movement of the carrier B in X and Y directions. In addition, the movement of the carrier B in a Z-axis direction is assigned to the double acting means of cylinders 7a, 7b, 9a, 9b.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an article storage method and apparatus for use in a storage such as a warehouse for storing various kinds of luggage and articles or a distribution base.

[0002]

2. Description of the Related Art Conventionally, in an article storage in a garage, a warehouse, or a distribution base for storing luggage, an empty space which serves as a passage for loading and unloading articles is left separately from the article storage space, or in each storage space. It is known that a rail and a moving carrier or an article conveying device such as an elevator are provided so as to be connected, and a method and a device for robotizing the carrier to freely select and take out an article at an arbitrary position are known. Has been. Further, in a parking lot or the like, it has been well known that a loading / unloading passage is connected to a specific position in a turning locus of a gondola by an endless chain such as a gondola type multi-level parking lot.

[0003]

However, in the above-mentioned conventional storage, it is necessary to specially provide a space for loading or unloading articles and a device space for loading / unloading, and the loading and unloading of these articles. The space for must be connected to all the goods storage spaces,
Since a large passage space is required inside the storage cabinet, the space efficiency is poor, and the structures constituting the storage cabinet are inevitably increased in size. In addition, although a gondola-type parking lot has high space efficiency, it is necessary to move a large amount of stored items with a single drive unit or interlocking mechanism, so the chain and drive unit become large, and the efficiency of unloading is not good. There was a problem. The present invention is intended to provide an article storage method and apparatus for solving these problems.

[0004]

In order to solve the above-mentioned problems, the method of the present invention has a carrier B inside.
A plurality of storage spaces D capable of accommodating a plurality of rows are arranged in close proximity to each other in a plane or three-dimensionally formed storage box so that at least one empty space D ₀ is always left in the storage space D from the entrance a. While the carrier B is being sent, the carrier B can be moved between adjacent storage spaces D, D, and the movement of the carrier B to the empty space D ₀ is sequentially repeated, so that an arbitrary carrier is output from the outlet b of the storage. It is characterized by taking out.

Similarly, in the device according to the second aspect of the invention, a plurality of storage spaces D having a fixed shape and the same shape are arranged in the storage frame 1 of the storage cabinet A so as to be adjacent to each other in a plurality of rows so as to be connected in the horizontal or vertical direction. A carrier B for storing articles, which is formed in the above-mentioned storage space D and is connected to the carrier B side or another storage space D adjacent in each storage space D. A guide for guiding the movement to the other storage space D is formed, and a moving means for moving the carrier B along the guide is provided in either or both of the storage frame 1 and the carrier B, and at least one of the storage boxes is provided. It is characterized in that an inlet a for feeding stored items into the individual storage space D and an outlet b for taking out stored items from at least one storage space are provided.

The apparatus of the third invention is the apparatus of the second invention, wherein the guides penetrate through the adjacent storage spaces D and are fixedly mounted on the storage frame 1 side on the rails 2a, 2b, 3a ,.
3b, the X-axis rails 2a, 2b for plane movement are at the bottom corner of the storage space D, and the Y-axis rails 3a, 3b for plane movement intersecting the X-axis direction are at the top corner of the storage space D. The rails 2a, 2b, 3a, which are provided substantially horizontally, and serve as moving means on the carrier B side,
The upper or lower storage space at least adjoining the rolling wheels 4a, 4b, 6a, 6b for engaging and disengaging to and from the rails 2a, 2b, 3a, 3b. D rails 2a, 2b, 3a, 3
It is supported by a return device that linearly extends to a length that allows it to reach b and be engaged and disengaged, and the return device is also used as a moving guide along the vertical Z axis.

The apparatus of the fourth aspect of the present invention is the third aspect of the present invention, wherein a guide is provided between the corners of the storage spaces D and the corresponding corners of the carrier B corresponding to the guides. The X-axis rails 2a and 2b in the original direction, the Y-axis rails 3a and 3b, and the Z-axis rail 10 and the guide wheels 4 and 15 rollingly contacting these rails are provided, and the return device is provided in each storage space D and each. The X-axis rails 2a, 2b, the Y-axis rails 3a, 3b, Z are provided at the corresponding corners of the carrier B.
The linear magnets 40a and 40b are arranged along the shaft rail 10 and linearly move the carrier B by magnetic force.

Further, in the apparatus of the fifth aspect of the present invention, in the second aspect of the present invention, a guide is provided corresponding to each corner of each storage space D and each corner of the carrier B corresponding thereto. The X-axis rails 2a and 2b in the original direction, the Y-axis rails 3a and 3b, and the Z-axis rail 10 and the guide wheels 4 and 15 rollingly contacting these rails are provided, and the return device is provided in each storage space D and each. At the corresponding corners of the carrier B, the X-axis rails 2a and 2b, the Y-axis rails 3a and 3b,
Arranged on the side of the storage frame 1 along the Z-axis rail 10,
It is constituted by air nozzles 51 and 52 that linearly move the carrier B in a three-dimensional direction by ejecting high-pressure air.

[0009]

In the article storage method of the present invention, at least one of the many storage spaces D in the storage A is set as an empty space D _0, and the carrier B is moved from the storage space D adjacent to the empty space D _0. By repeating the above operation sequentially, the necessary carrier B is taken out from the outlet b, so that the storage case A is formed in the storage case A without always requiring the article transport passages connected to the respective storage spaces D. In addition, the storage and removal of the articles can be automated or labor-saving. A large number of storage spaces D in the apparatus of the present invention are spaces for storing articles and at the same time store articles A
The carrier B itself serves as a container for accommodating articles, and at the same time as a container for moving within the storage A. The moving means of the carrier B moves the carrier B in the storage A, and the movement guide guides the linear movement for the movement.

X-axis rails 2a and 2b and Y-axis rail 3a,
The 3b and Z-axis rails (liners) 10 are used as guides for moving the carrier B in the X-axis, Y-axis, and Z-axis directions, respectively, and the rolling wheels 4, 4a, 4b, 6a, 6b, 15 are used.
Guides the movement of the carrier B by rolling on one of the rails. As shown in the first embodiment, the rollers 4a, 4b, 6a, 6b themselves may be rotationally driven as driving wheels in the X-axis direction and the Y-axis direction to act as a moving means for the carrier B. In this case, the movement in the Z-axis direction is performed by the returning means such as the cylinders 7a, 7b, 9a, 9b. In other cases, the linear magnets 40a and 40b arranged in the storage space D or on the carrier B side, and the air nozzle 5
1, 52, etc. are responsible for movement in the X-axis, Y-axis, and Z-axis directions.

[0011]

DETAILED DESCRIPTION FIG. 1 is a depiction of distribution system utilizing the apparatus of the present invention, a plurality of distribution base A ₁ consisting storage box for storing a large number of carrier B for accommodating the luggage in this example one place - a ₃ and another base, not shown, connected by high-speed conveyance path C ₁ -C ₄ composed of moving means other by rails and a linear motor, the conveying path C ₁ any carrier B, C _2, C ₃ , C ₄ to transport to another base or destination. In this system, distribution base A ₁ ~
To A ₃ is a large number of carriers is freely carried, and any carrier has a structure which can be freely unloaded, the carrier B is traveling on a conveyance path C ₁ -C ₄ itself or another mobile pallet, It is carried by self-propelled means such as. The identification of the carrier to be moved and the control of the movement are controlled by a central controller composed of a computer or a terminal possessed by a relay station or an end user.

FIG. 2 is an explanatory view showing an example of an article storage system in a port, in which a ship E at berth and a warehouse (storage) A on land are connected by a transport path C and stored in the ship 1 or warehouse A. As described above, the cargo contained in the carrier B is carried out arbitrarily or sequentially from one side to the other side and is loaded and unloaded. a _{1 to} a ₄ are entrances for loading and unloading luggage to and from the warehouse A from land.

FIG. 3 is an explanatory view of the principle of the method and apparatus for storing articles according to the present invention. In this example, the storage box A has three-dimensional coordinates on the X axis,
Sixteen storage spaces D each consisting of four cubes are arranged in a row in the Y-axis direction, and eight storage spaces formed in a four-tiered stack in two rows are further arranged on the upper side of one corner of these. It is formed and consists of a total of 24 storage spaces. Except for one storage space D ₀ , the other 23 storage spaces D store the carriers B so as to be linearly movable between the adjacent storage spaces. The inlet for accommodating the carrier B is a and the outlet is b. When retrieving arbitrarily selected carrier B in this configuration from the outlet b, first moves from other storage space D adjacent to the free space D ₀ of the carrier B to the free space D _0, empty space while repeating such movement D ₀ is sequentially moved to a position adjacent to the storage space D in which the carrier B to be taken out is stored. Subsequently, the carrier B to be taken out is moved to the empty space D _0, and at the same time, the empty space D is moved toward the takeout direction side of the carrier B.
Carry out the necessary carrier movements in order to form ₀ ,
By repeating these movements, the empty space D ₀
Is formed in the direction of the outlet b, and the carrier B to be finally taken out from the outlet b is taken out.

According to the above structure, a large number of storage spaces D are provided.
By always leaving at least one of them as an empty space, it is possible to take out any carrier in the storage A from the outlet, and the larger the number of empty spaces D ₀ , the more times the carrier is moved during the above-mentioned taking out process. Less and less time is required. Further, if the positions of the empty space D ₀ and the carrier B desired to be taken out are specified, the taking-out course in which the movement of the empty space D _{0 and} the movement of the adjacent carrier B for that purpose is minimized is also specified.
If the take-out movement order for each case is incorporated in the program in advance, it is possible to take out any carrier B at any time by only operating the keyboard. For this purpose, each carrier B and each storage space D are mutually exchanged. It is desirable to attach an identification element such as a bar code for identifying the combination or a sensor. The storage A may be one in which the storage spaces D are arranged in a row in a plane, or may be three-dimensionally combined as shown in the drawing.
Further, in the range where a constant take-out speed of the carrier B is ensured, the number of combinations of the storage spaces D is X-axis, Y-axis,
It can be increased freely in the Z-axis direction.

FIGS. 4 to 10 show a first embodiment of the storage device A. In this example, movement of the box-shaped carrier B having a rectangular parallelepiped or cubic shape in the X-axis and Y-axis directions is performed by rails and wheels. And the cylinder moves in the Z-axis direction. As shown in FIG. 4, a large number of rectangular parallelepiped storage spaces D for accommodating the carriers B are formed in the storage A by the storage frame 1 in a frame-like manner like a jungle gym. It is configured to be able to move between spaces. In the storage frame 1, rails 2a, 2 in the X-axis direction are provided at the upper corners of the storage spaces D.
In the lower corner, rails 3a and 3b in the Y-axis direction are laid between the adjacent storage spaces.

On the other hand, on the side of each carrier B, the upper drive wheels 4a, 4a and 4b, 4b are provided on both sides of the upper end corner.
Are rotatably supported by the rails 2a and 2b so as to project into the rails 2a and 2b, respectively. Lower drive wheels 6a, 6a rollingly contacting the rails 3a, 3b and lower driven wheels 6b, 6b are pivotally supported at the lower end corners of the rails 3a, 3b so as to project toward the rails 3a, 3b. Of these, the upper rollers 4a and 4b are rods 8 of cylinders 7a and 7b that are expanded and contracted upward by hydraulic pressure.
The lower rollers 6a and 6b are rotatably supported at the tip ends of the rods, and the lower wheels 6a and 6b are rotatably supported at the lower ends of the rods 11 of the cylinders 9a and 9b which are extended and driven downward.

The cylinders 7a, 7b and the cylinder 9a,
The combined stroke of 9b needs to be higher than the height of the carrier B. For example, from the state of FIG. 4, the cylinders 9a and 9b are extended to push the carrier B upward, and then the cylinders 7a and 7b are extended to engage the wheels 4a and 4b with the rails 2a and 2b of the storage space D adjacent to the upper portion. Carrier B by stopping and subsequently reducing the cylinders 7a, 7b
Can be moved up to the upper storage space D. (The engagement and disengagement of the rolling wheels with respect to the rail during lifting and lowering will be described later.)

When the carrier is lowered to the storage space D adjacent to the lower part, the upward cylinders 9a and 9b are extended to lower the carrier B partly, and then the downward cylinders 9a and 9b are extended to the lower part. Rolling wheels 5a, 5
After b is brought into contact with the rails 3a, 3b of the lower storage space D, the carrier B is lowered into the lower storage space D in the order of reduction of the upward cylinders 7a, 7b and reduction of the downward cylinders 9a, 9b.

Inside the carrier B, an X-axis direction driving motor 12 and a Y-axis direction driving motor 13 are provided, and the motor 12 includes a motor shaft 14 and a relay shaft 1 as shown in the drawing.
6, 17, 18 and gear unit (box) 19, 2
It is a mechanism for rotationally driving the upper drive wheels 4a, 4a via 1 to 24. Similarly, the motor 13 is the motor shaft 2
5, relay shafts 26, 27 and gear unit (box) 2
The lower drive wheels 6a, 6a are rotationally driven via 8, 29, 31. The carrier B is moved in either the X-axis direction or the Y-axis direction by rotating either of the drive wheels 4a, 6a.

5 (A) and 5 (B) show the rotation drive mechanism of the upper drive wheel 4a and the engagement / disengagement mechanism with respect to the rails 2a and 2b. FIG. 5 (A) shows the wheel 4a on the rails 2a and 2b. In the state shown in FIG. 1B, the rolling wheels 4a are engaged with each other,
It shows a state of being removed from a and 2b. Cylinder 7a
At the upper end of the gear box 23, insert the rod 8
Gear 23a fixed to the insertion end of the relay shaft 17
And a gear 23b rotatably fitted to the rod 8 always mesh with each other. A gear box 24 is attached to the tip of the rod 8.
Is attached, and the roller shaft 32 of the roller 4a is rotatably supported so as to be freely slidable and rotatable. The end of the roller shaft 32 is connected to the solenoid 33. By sliding left and right in the direction, engagement and disengagement with the rail 2a is performed. A gear 24a is rotatably supported on the upper end of the rod 8, and a gear 24b is fitted to the spline portion of the roller shaft 32 so that both gears 24a and 24b always mesh with each other. A clutch 34 is formed between the gearboxes 23 and 24 to be engaged and disengaged as the rod 8 moves up and down. When the clutch 34 is engaged (the state shown in FIG. 5A), the relay shaft 17 rotates. Is transmitted to the wheel 4a. The rod 8 is lifted as shown in FIG.
In the state of (B), the clutch 34 becomes "disengaged" and the rolling wheel 4a
Is not driven to rotate.

FIGS. 6 (A) and 6 (B) show the shaft support structure of the upper driven roller 4b, and FIG. 6 (A) shows the state in which the roller 4b engages and contacts the rail 2a (or 2b). FIG. 3B shows the disengaged state. In this example, a roller wheel shaft 37 is slidably and horizontally rotatably supported by a bearing portion 36 attached to the upper end of the rod 8, and the roller wheel shaft 37 is horizontally slid by a solenoid 38 having a return spring.
The engagement and disengagement of the rolling wheel 4b with respect to the rail 2a is performed.

7 (A) and 7 (B) show the drive mechanism of the lower drive wheel 6a and the engagement / disengagement mechanism with respect to the rails 3a, 3b, both of which are shown in FIGS. 5 (A) and 5 (B). The description is omitted because it is substantially the same as the case of the upper drive wheel 4a shown in FIG. 8A and 8B show the shaft support structure of the lower driven wheel 6b and the engagement / disengagement mechanism with respect to the rails 3a, 3b. In this case as well, FIG. 6A showing the upper driven wheel 4b. , (B), the structure is almost the same as that of the case, and the description thereof is omitted.

In addition, in the carrier B configured as described above, a battery power source for driving the motors 12, 13 and the like, a hydraulic drive device for driving the cylinder, limit switches, sensors and the like (none of which are shown). ) Is installed. Alternatively, the power source is an insulated rail 2
An external power source may be connected to and supplied from a, 2b and 3a, 3b.

Next, the movement of the carrier in the storage device will be described with reference to FIG. 9. In FIG. 9A, the lower wheels 6a and 6b of the carrier B can move in the Y-axis direction while being in rolling contact with the rails 3a and 3b. In this state, the upper rollers 4a, 4b are raised by operating the cylinders 7a, 7b and the solenoid 33 from this state, and as shown in FIG.
The state in which the shaft rails 2a and 2b can be engaged is shown in FIG.
After the carrier B is hung from the rails 2a and 2b by operating the cylinders 7a and 7b, the upper drive wheel 4a is driven to move the carrier B in the X-axis direction.

FIG. 10 shows a method of moving the carrier B in the Z-axis direction. First, the downward cylinders 9a and 9b are extended from the Y-axis movable state of FIG. 10A as shown in FIG. After that, the upward cylinders 7a and 7b are extended so that the upper roller wheels 4a and 4b can be engaged with the X-axis rails 2a and 2b, and subsequently, the cylinders 7a and 7b and the cylinders 9a and 9b are contracted, and the same figure ( Set the condition as shown in C) and finish the ascent. The descending operation may be the reverse operation of the above order.

11 to 16 show a second embodiment of the device of the present invention, and FIG. 11 is an overall configuration diagram thereof. In this example, the X-axis rails 2a and 2b are laid at the upper corner of the storage space D in the storage frame 1, and the Y-axis rail 3 is provided at the lower corner.
a, 3b are laid, and the carrier B is installed on these rails 2a,
It is common to the first embodiment in that it is moved in the X-axis and Y-axis directions along 2b or 3a, 3b. However, in this embodiment, the linear magnets 40a composed of a large number of electromagnets are arranged at regular intervals along the frame 1 forming each side of the corner of the storage space D, and the corresponding carrier B side is arranged on the carrier B side. , A large number of linear magnets 40b are similarly arranged along the ridgeline of each corner, and the carrier B is moved in the X-axis, Y-axis, and Z-axis directions by utilizing attractive repulsion between both magnets 40a and 40b and magnetic levitation. It is what makes me.

To guide the movement of the carrier B in the X-axis direction, when the carrier B travels while being magnetically levitated, a rolling wheel 4 protruding from the upper rails 2a and 2b and rolling contact is attached to the carrier B side. Further, when the carrier B travels in the Y-axis direction, a rolling wheel 4 is mounted on the bottom side so as to project from the lower rails 3a and 3b and make rolling contact therewith so as to support the carrier B. Further, as a guide for moving the carrier B in the Z-axis direction, a vertical rail-shaped liner (Z-axis rail) 10 is fixed to each corner of the carrier B in the Z-axis direction, and a corresponding storage space D is provided. On the frame 1 side in the vertical direction of each of the corners, there are mounted rolling wheels 15 that roll-contact the liner 10 in two directions when the carrier B is moved up and down.

12 (A) and 12 (B) show the support structure of the rolling wheel 10 and the state when the rolling wheel 10 is projected and stored. The rolling wheel 10 is restricted in rotation by a cylinder 41 fixedly mounted on the carrier B side. Is rotatably supported by the tip of a rod 42 that slides in and protrudes, and is slid back in the axial direction by a solenoid 43 with a return spring in the cylinder, and in a protruding state, the rails 3a, 3b (or 2a, 2b). ).
Reference numeral 44 is a solenoid lock device including a return spring that locks the state in which the rod 42 projects and the rolling wheel 10 is in rolling contact with the rail.

13 (A) and 13 (B) show the support structure of the rolling wheel 15 and its operating and non-operating state. The rolling wheel 15 is rotatable at the branch end of a rod 46 whose tip is branched in a Y shape. The rod 46 is slidably inserted in the cylinder 47 in a rotation-restricted state. A solenoid 48 with a return spring is provided in the cylinder 47 for sliding the rod 46 into the protrusion. The solenoid 48 rolls into contact with the liner 10 of the carrier B when the rod 46 protrudes, and does not contact the retracted state. 49 is a rod 46
It is a solenoid lock device with a return spring that locks the protruding state of.

FIGS. 14A and 14B are explanatory views showing a state in which the carrier B is moved from the storage space D to the adjacent empty space D ₀ in the X-axis direction. In this case, the lower Y-axis rails 3a, 3b are shown. Carrier B with lower roller 4 separated
And float the upper roller 4 on the upper X-axis rails 2a, 2b.
Are brought into contact with each other so that the state of FIG.

Similarly, FIGS. 15A to 15C show a carrier B.
Is moved to the adjacent empty space D ₀ in the Y-axis direction. In this case, the lower roller 4 is brought into rolling contact with the Y-axis rails 3a and 3b so that the carrier B is supported on the Y-axis rails 3a and 3b. The linear magnets 40a, 4 arranged in the Y-axis direction with the roller 4 separated from the X-axis rails 2a, 2b.
The state (A) is moved to the states (B) and (C) by 0b.

FIGS. 16 (A) to 16 (C) similarly show the sequence of moving the carrier B in the Z-axis direction. In this case, the upper roller 4 and the lower roller 4 are moved to the upper and lower X, Y axis rails 2a, 2b. And 3a, 3b, the linear magnets 40a, 40b in the Z-axis direction are operated to move the carrier B to the adjacent empty space D ₀ .

17 to 22 show a third embodiment of the device of the present invention. In this example, the X-axis rail 2a,
2b and Y-axis rails 3a and 3b are laid, and a cylinder 47 with a rolling wheel 15 is arranged in the Z-axis direction. The carrier B side is separated from the X-axis rails 2a and 2b and the Y-axis rails 3a and 3b. A cylinder 41 with a rolling wheel 4 that can be contacted with each other and rail-like liners (Z-axis rails) 10 are provided at four corners in common with the mechanism of the second embodiment, and the X-axis, Y-axis, and Z-axis are provided. The movement of the direction and the action of each part at the time of movement are also common.

However, in the third embodiment, the carrier B
17 is characterized in that high pressure air is used as a means for moving the horizontal movement nozzle 51 shown in FIG. 18 in the frame 1 in the storage space X-axis and Y-axis directions. Are arranged in a straight line, and a plurality of vertical movement nozzles 5 shown in FIG.
2 are arranged linearly. Corresponding to the horizontal movement nozzle 51 and the vertical movement nozzle 52, the carrier B
A pressure receiving plate 53 is attached to each ridge line portion in the horizontal direction and the vertical direction. When the pressure receiving plate 53 receives the high-pressure air ejected from the nozzles 51 and 52, the carrier B is guided by the wind pressure to the rails 2a and 2b. Or 3a, 3c and the rolling wheel 4, or the liner 10 and the rolling wheel 15, the X axis,
It moves in the Y-axis and Z-axis directions. The pressure receiving plate 53 is shown in FIG.
As shown in FIG. 7, a large number of ribs 53b are fixed in a beam 53a having an angled cross section which is opened in a diagonal direction of the carrier B so as to easily receive the wind pressure of each nozzle 51, 52.

FIG. 18 shows the detailed structure of the horizontal movement nozzle 51. In this example, two nozzle openings 57 in a Y shape project from the nozzle body 56, and two nozzle openings 57, 57 are provided in the nozzle body 56. A valve 58 for closing both or one of them is accommodated, and the valve 58 is slidably driven by a drive motor 61 in a case 59 connected to the main body 56, and the valve is operated by this drive. A high-pressure air pipe 62 is connected to the rear end of the nozzle body 56, and the air supply is stopped and the jet direction is switched by switching the valve 58 to switch the carrier forward and backward.

FIG. 19 shows the detailed structure of the vertical movement nozzle 52. In this example, the nozzle opening 63 is always directed upward, the nozzle opening / closing valve 64, the drive motor 67 in the case 66, and the nozzle body 68. Is connected to the air pipe 62. The horizontal movement nozzle 51 shown in FIG.
It is similar to the case of. The air blown out from the nozzle port 63 acts as a driving force for lifting when the carrier B moves in the ascending direction, and when the carrier B moves in the descending direction, a brake for smoothly and slowly descending the carrier B. Acts as.

The movement of the carrier in the storage frame 1 in this embodiment is as shown in FIGS. 14 to 16 except that the action of attraction and repulsion of the linear magnet in the second embodiment is replaced by the action of jetting force of high pressure air. The explanation is omitted because it is the same as the case shown. The method and apparatus of the present invention have been described in detail with reference to the first to third embodiments. However, in any of the embodiments, if the carrier movement in the Z-axis direction is omitted, it can be used as a method and apparatus for storing articles only by planar movement. Is possible. Also the X axis,
The movements in the Y-axis and Z-axis directions are not necessarily limited to the movements in the orthogonal or vertical directions, and one axis direction may have an obtuse angle or an acute angle in the other axis direction. May be

[0038]

As a result of the method and apparatus of the present invention having the above-mentioned configuration, the storage space is extremely space-saving and compact,
In addition to the extremely high storage efficiency, the storage and removal of articles from the storage can be automated by computer control, which greatly contributes to labor saving and efficiency of warehouses and distribution bases. When the method or apparatus of the present invention is used as a distribution base, if the carrier itself or a container for collectively carrying a fixed amount of carriers is used as a transportation means between the bases and is a self-propelled device using a railroad or a linear motor, it is transported. In addition to speeding up and improving efficiency, it is possible to unmanned or reduce labor in physical distribution, and in addition to truck transportation and the like, advantages such as safety and protection of the global environment from exhaust gas can be obtained.

[Brief description of drawings]

FIG. 1 is an explanatory diagram of a physical distribution system using the method and apparatus of the present invention.

FIG. 2 is an explanatory view showing a loading or unloading state in a harbor using the method and apparatus of the present invention.

FIG. 3 is a principle explanatory view of the method and apparatus of the present invention.

FIG. 4 is a partially enlarged perspective view showing a first embodiment of the device of the present invention.

5 (A) and 5 (B) are explanatory views of moving means in the X-axis and Z-axis directions of the carrier in the first embodiment.

6A and 6B are explanatory views of a movement guide in the X-axis direction and a movement means in the Z-axis direction of the carrier.

7 (A) and 7 (B) are the Y-axis and Z-axis of the same carrier.
Explanatory drawing of the moving means of an axial direction.

8A and 8B are explanatory views of a Y-axis direction movement guide and a Z-axis direction movement means of the carrier.

9A to 9C are explanatory views showing a transition state of the carrier from the Y-axis direction movement state to the X-axis direction movement state in the first embodiment.

10A to 10C are explanatory views showing a process in which the carrier moves from the Y-axis direction moving position to the Z-axis direction adjacent empty space and moves to the X-axis direction moving position.

FIG. 11 is a partially enlarged perspective view showing a second embodiment of the present invention.

12 (A) and 12 (B) are diagrams for explaining a device for moving guides in the X-axis direction and the Y-axis direction in the second embodiment, and an operation explanatory diagram thereof.

13 (A) and 13 (B) are the same Z-axis direction movement guide device and its operation explanatory diagram.

14 (A) and 14 (B) are explanatory views showing a moving state of the carrier in the X-axis direction.

15 (A) to 15 (C) are explanatory views showing the movement state of the carrier in the Y-axis direction.

16 (A) to 16 (C) are explanatory views showing a movement state of the carrier in the Z-axis direction.

FIG. 17 is a partially enlarged perspective view showing a third embodiment of the present invention.

FIG. 18 is the X-axis direction, Y, of the carrier in the third embodiment.
Sectional drawing of the nozzle which comprises the moving means of an axial direction.

FIG. 19 is a cross-sectional view of a nozzle that also constitutes moving means in the Z-axis direction.

[Explanation of symbols]

A storage B carrier D storage space D ₀ empty space X, Y, Z carrier moving direction a inlet b outlet 1 storage frame 2a, 2b, 3a, 3b rails 4, 4a, 4b, 6a, 6b rolling wheel 10 liner (rail ) 40a, 40b Linear magnet 51, 52 Air nozzle

Claims (5)

[Claims] 1. A storage box having a plurality of storage spaces (D) each accommodating a carrier (B) closely arranged in a plurality of rows and formed in a planar or three-dimensional manner, and at least one empty space (D) is always provided. The carrier (B) is fed into the storage space (D) from the inlet (a) so that the space ( ₀ ) is left, and the adjacent storage spaces (D) and (D)
In the article storing method, the carrier (B) is made movable between them, and the carrier (B) is sequentially moved to the empty space (D ₀ ) to take out an arbitrary carrier from the outlet (b) of the storage box. . 2. A plurality of storage spaces (D) having a fixed shape and the same shape are formed in the storage frame (1) of the storage box (A) so as to be adjacent to each other in a plurality of rows so as to be connected in the left-right or up-down direction.
A carrier (B) for storing articles to be stored in the storage space (D) is provided, and is connected to the carrier (B) side or another storage space (D) adjacent in each storage space (D). A guide for guiding the movement of the carrier (B) to another storage space (D) is formed, and one or both of the storage frame (1) and the carrier (B) and the carrier (B) as a guide. There is provided a moving means for moving along, and an inlet (a) for sending the stored article into at least one storage space (D) of the storage box and an outlet (b) for taking out the stored article from at least one storage space. Article storage device. 3. A storage space (D) adjacent to the guide.
Rails (2) that penetrate through the inside and are fixedly installed on the side of the storage frame (1)
a), (2b), (3a), and (3b), and the X-axis rails (2a) and (2b) for plane movement are located at the bottom corners of the storage space (D) and intersect with the X-axis direction. Y-axis rails (3a) and (3b) for movement are provided substantially horizontally at the upper corners of the storage space (D), and the rail (2) is used as a movement means on the carrier (B) side.
a), (2b), (3a), and (3b) are provided with the respective wheels (4a), (4b), (6a), and (6b) that engage and disengage, and the rails (2a), (2b), ( 3a), (3
Wheels (4a), (4b), (6a) that engage and disengage from b)
(6b) at least adjacent rails (2a), (2b), (3a) of the upper or lower storage space (D),
The reciprocating device, which is linearly extended to a length for reaching and engaging with (3b), is supported, and the reciprocating device is also used as a moving guide along the vertical Z axis. Item storage device. 4. A three-dimensional X-axis rail (2a) provided with a guide between each corner of each storage space (D) and each corner of the corresponding carrier (B). , (2b), Y-axis rails (3a), (3b),
A Z-axis rail (10) and guide wheels (4) and (15) rolling on each of these rails are provided, and a return device is provided in each storage space (D) and a corresponding corner portion of each carrier (B). A linear magnet (40a) arranged along the X-axis rails (2a) and (2b), the Y-axis rails (3a) and (3b), and the Z-axis rail (10) to linearly move the carrier (B) by magnetic force. ), (40b), The article storage device according to claim 2. 5. A three-dimensional X-axis rail (2a) in which a guide is provided between each corner of each storage space (D) and each corner of the corresponding carrier (B). , (2b), Y-axis rails (3a), (3b),
A Z-axis rail (10) and guide rolling wheels (4) and (15) rolling on each of these rails are provided, and a return device is provided in each storage space (D) and a corresponding corner portion of each carrier (B). Is disposed on the storage frame (1) side along the X-axis rails (2a) and (2b), the Y-axis rails (3a) and (3b), and the Z-axis rail (10), and blows high-pressure air. The article storage device according to claim 2, wherein the carrier (B) is constituted by air nozzles (51), (52) that linearly move in three dimensions.