JPH08151103A - Container transfer apparatus - Google Patents

Abstract

PURPOSE: To transfer smoothly a container by a rear body of a transfer machine to support the container with a container guide member and locate the horizontal and vertical positions of frontage surface of a shelf on the rear body relative to a shelf rafter by a detecting piece of a detector provided on the container guide member. CONSTITUTION: In the respective shelf rafters 3 of a housing shelf, a pair of left and right container carrier members support a container. One container carrier member 5 is provided with a detecting piece 17 and on a rear body of a transfer machine, a pair of left and right container guide members 26 support the container. One container guide member 26 is provided with a detector to provide a container transfer apparatus for locating the horizontal and vertical positions of shelf frontage surface on a rear body 8 by the detecting piece. When the detecting piece provided in the container carrier member 5 on the shelf rafter 3 side detects the detecting piece of detector on the container guide member 26, the shelf rafter 3 is in the relative positional relation to the rear body 8 irrespective of the housing shelf and stacker. Thus, the container carrier member 5 and container guide member 26 are aligned with each other on the same straight line to smoothly transfer the container.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a container transfer device in an article storage device for loading and unloading a container between shelves of a storage shelf by a stacker type carrier.

[0002]

2. Description of the Related Art An article storage device of this type has a stacker-type carrier bed for loading and unloading a desired article from a predetermined shelf booth among a plurality of rack booths arranged vertically and horizontally on a storage shelf. The container containing the required articles is transposed between the loading platform and the shelving booth facing each other.

In the system in which the container is slid and transferred, the space between the shelves may be such that the objects to be stored do not come into contact with each other, and the space in the width direction is also guided and stored by the side guides, so that it can be pushed in. The size may be as small as possible. On the other hand, a storage device that lifts and transfers a load using a fork-type transfer device must have a considerably large gap in the step direction and the width direction of the load. The device can significantly increase the containment fill factor.

In the storage device of the type in which the container having a high storage and packing efficiency is slid and transferred, the transfer means reciprocates in the direction perpendicular to the front surface of the shelf to disengage the engaging member from the handle of the container or the like. The container is slid between the loading platform and the shelving booth to be remounted, but because of the high storage and filling efficiency, the vertical and horizontal gaps between the shelving boots are small,
If the pallet and the shelves that are movably supported are not accurately positioned in a predetermined relative positional relationship, the container cannot be transferred smoothly.

Therefore, conventionally, the left and right positions of the rack front of the stacker are detected by counting the detection pieces arranged on the traveling rails while the stacker type carrier travels in the horizontal direction along the front of the rack. There is a method to detect the vertical position of the front side of the front surface of the rack by counting the detection pieces arranged along the pillars of the stacker and to move the rack to the specified rack booth from both detection information. It was There is also a method of calculating the traveling distance of the stacker type transporting machine and the lifting distance of the loading platform by detecting the number of rotations by an encoder provided in the drive system of each motor.

[0006]

[Problems to be Solved] In any of the above methods, the left, right, up, and down count values of each rack booth of the storage rack are stored in advance,
By moving the loading platform of the stacker type transporter by a predetermined count value, the loading platform is positioned in the required shelf booth. However, if the storage rack is distorted or the mast that guides the lifting and lowering of the loading platform of the stacker is tilted even if the loading platform is accurately moved by the predetermined count value, the loading platform should be positioned accurately in the required rack booth. I can't.

Therefore, the stacker manufacturing accuracy is required to be considerably higher than the storage shelf manufacturing accuracy, and the accuracy must be maintained at all times. However, although the accuracy of manufacturing and processing individual containers and shelves is quite high, it is difficult to maintain the accuracy of the verticality of the pillars of the shelf and the verticality of the mast of the stacker as the height becomes higher.

The present invention has been made in view of the above points,
The purpose of this is to provide a container transfer device capable of always accurately positioning the loading platform with respect to the required rack booth without being affected by the manufacturing precision of the storage shelves and the stacker, and enabling the smooth transfer of the container.

[0009]

In order to achieve the above object, the present invention provides a storage shelf in which a large number of shelf booths are arranged vertically and horizontally, and an engaging portion is provided on at least one of front and rear end surfaces. The container provided and an engaging member that is reciprocally moved in a direction perpendicular to the front surface of the shelf by a transfer means provided on a loading platform that is mounted on the container and moves vertically and horizontally along the front surface of the shelf. In an article storage device comprising a stacker type transporter which removably engages with an engaging portion and transfers the container between the loading platform and the shelf booth, each shelf booth of the storage shelf is A pair of left and right container receiving members erected in the direction movably support the container in the front-rear direction, and a detection piece is provided on the front surface of the shelf of one of the container receiving members, The carrier was oriented in the front-back direction A pair of right container guide members support the container so as to be movable in the front-rear direction, and a detector is disposed at an end of one container guide member so as to face the detection piece. Based on the detection, a container transfer device for positioning the loading platform in the horizontal direction and in the vertical direction of the front surface of the rack between the racks.

A detector provided at the end of the container guide member on the cargo bed side faces the detection piece provided at the end of the shelf front surface of the required container receiving member on the shelf booth side to detect the detection piece. At this time, regardless of the manufacturing precision of the storage shelves and stackers, there is a fixed relative positional relationship between the shelving booth and the loading platform, and the container receiving member and the container guide member can be aligned on the same straight line to smoothly transfer the container. it can.

Further, the storage shelves are constructed by combining shelves having different intervals between the pair of left and right container receiving members, and one of the pair of container guide members provided on the bed of the stacker type transporter. The container guide member is fixed, the other container guide member is movable in the left-right width direction, and the detector is arranged on the fixed container guide member, so that there are various container sizes and the container size can be adjusted according to the size of the container. Even if various shelves are configured as storage shelves to improve storage efficiency, the loading platform is always accurately positioned in the required shelves, and the container receiving member and the container guide member are aligned on the left and right to align the container. Reprint can be done smoothly.

Further, the storage shelves are constructed by combining shelves having different intervals between the pair of left and right container receiving members, and the pair of container guide members provided on the loading platform of the stacker type transporter have a left and right width. By moving in the opposite direction, the width between both container guide members can be changed, and by disposing the detector on one container guide member, containers of various sizes and shelves that can store containers of various sizes can be stored. Corresponding to, smooth reprinting of containers is possible.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention shown in FIGS. 1 to 16 will be described below. This embodiment relates to an article storage device 1 for storing books of various sizes, and FIG. 1 is a side view showing the arrangement of a storage shelf 2 and a stacker crane 6 thereof. The storage rack 2 is provided with a large number of rack booths 3 extending in the vertical and horizontal directions. The rack booths 3 are partitioned by columns 4 standing upright in the vertical direction and a container receiving member 5 oriented in the front-rear horizontal direction. Can be stored in each shelf booth 3.

A running rail 12 and a running guide rail 13 are laid in the bottom and top of the shelf passage 11 formed between the front and rear facing shelves of the storage shelf 2 oriented in the longitudinal direction thereof. , The wheels 14 provided on the lower portion of the stacker crane 6 which is a stacker type carrier are mounted on the traveling rail 12, and the upper guide member 15 is movably engaged with the traveling guide rail 13 so that the stacker crane 6 can move forward and backward to the storage rack 2 Move left and right along the front of the shelves.

Although the article storage device 1 shows two storage shelves 2 at the front and rear in FIG. 1, it actually has a plurality of storage shelves 2 at the front and rear.
Are arranged in parallel so that the stacker cranes 6 travel in the rack passages 11 between the respective storage shelves 2. Therefore, the front and rear surfaces of the storage shelves 2 are the front surfaces of the shelves, and the container 9 is a handle at the front and rear end surfaces thereof. 10 is provided so that the container 9 can be carried in and out from the front surface of the storage shelf 2 either in front of or behind the storage shelf 2.

The stacker crane 6 is provided with a loading platform 8 which can be lifted and lowered on a mast 7 which is erected vertically, and has its own drive means so that it can independently move to the left and right, and the lifting and lowering drive of the loading platform 8 is possible. It also has means.

The structure of the shelf booth 3 in the storage shelf 2 is shown in a schematic front view in FIG. Shelf booths of 3 sizes, large, medium and small 3
3 shelves are grouped together, each of the large shelves 3 has 25 shelves, the medium shelves 3 has 28 shelves, and the small shelves 3 has 33 shelves. Has been formed. When partially enlarged, as shown in FIG. 3, a horizontal rail 16 is appropriately installed in the middle of the shelf booth 3 extending vertically for each size, and the width between the adjacent columns 4 and the vertical width of the shelf booth 3 are increased. Is also different for each size.

If the sizes of the shelves of the storage shelves are unified, the container size will be constant, which is suitable for storing only items of a fixed size, but large-sized items can be stored if the sizes of the stored items are different. Cannot be stored, or small-sized articles can be stored with a large room left, resulting in poor storage efficiency. Therefore, one storage shelf is configured by combining racks of different sizes as in this embodiment. By doing so, the storage efficiency can be improved.

As shown in FIG. 4, the container 9 is a large size container 9L for storing A4 size books (see FIG. 4 (1)) and a medium size container 9M for storing B5 size books (see FIG. 4 (2)). )) And a small-sized container 9S (see FIG. 4 (3)) for storing A5 size books, which are partitioned by a cross-shaped partition plate 9a to store books in two rows side by side. It

If the partition plate 9a is removed, the maximum is A2.
It can store books of any size. When storing books in this way, most of the books can be stored and the storage efficiency can be improved by configuring the shelves of the storage shelves with three types of sizes, especially for books with large storage volumes. If the number of rack booths used is increased compared to other sizes, usage efficiency will also improve.

A handle 10 projecting from the front and rear end surfaces of the container 9.
Has a L-shaped cross section and has its tip directed downward, and the height positions from the bottom surface where the handle 10 is attached are all the same even if the size of the container is different.

1 of the storage shelf 2 for storing the container 9
As shown in FIG. 5 and FIG. 6, one shelf booth 3 is extracted, and the shelf booth 3 is a container receiving member 5 having an L-shaped cross section, which is erected between the front and rear columns 4 and arranged symmetrically. The rectangular box-shaped container 9 is supported by a pair of left and right container receiving members 5 at the corners formed by its bottom wall and its left and right side walls, and can be moved forward and backward so that it can be carried in and out as it is. . A detection piece 17 is fixed to one of the container receiving members 5 along the front surface of the shelf.

The detection piece 17 is simply a rectangular steel plate having a high surface reflectance bent into an L shape. One side body is fixed to a predetermined position on the outer surface of the end side wall of the container receiving member 5, and the other side body is fixed. Is parallel to the front surface of the shelf and is oriented in the front-back direction. The detection piece 17 is always located at a predetermined position of each shelf booth 3 constituted by a pair of container receiving members 5. As shown in FIG. 7, the detecting piece 17 'is formed by bending the end of the container receiving member 5'.
May be integrally formed.

Next, a container transfer device provided on the loading platform 8 of the stacker crane 6 will be described with reference to FIGS. 8 to 13. The mast 7 erected on the stacker crane 6 has a square tubular shape, and vertical rails 20 are laid vertically on the front and rear outer surfaces. The vertical sliding rails 21 face each vertical rail 20 and extend vertically. And a pair of left and right guide rollers 22 are arranged on the sliding plate 21 one above the other, and the vertical rollers 20 are formed by the pair of guide rollers 22.
The sliding plate 21 is guided in such a manner that it is sandwiched between the sliding plate 21 and the sliding plate 21 and is moved up and down in the vertical direction. The front and rear sliding plates 21 are integrally connected by the connecting portion 23, and the base 24 extends horizontally from the connecting portion 23. Has been done.

Therefore, the base 24 of the loading platform 8 is cantilevered by the mast 7 via the sliding plate 21 and guided by the vertical rail 20 to move up and down. A long container guide member 26 is integrally attached to a mounting member 25 that horizontally projects from the connecting portion 23 on the base 24 while being oriented in the front-rear horizontal direction. On the other hand, guide receiving members 27 oriented in the left-right direction are provided on the front end side of the base 24 oppositely to each other, and slide guides 28 are laid on the upper surfaces of both guide receiving members 27 in the left-right direction.
Horizontal slide plate installed on slide 28 via slide shoe 29
Another container guide member 31 is fixedly supported in parallel with the container guide member 26 in parallel with the container guide member 26 at the same height (see FIGS. 11 to 13).

Therefore, the fixed container guide member
A pair of parallel container guide members 31 at the same height as 26 move horizontally along the slide guide 28 via the slide shoes 29 so that the space between the container guide member 26 and the container guide member 26 can be changed. A rotary shaft 32 is installed between the front and rear guide receiving members 27, and a driven gear 33 fitted to the rotary shaft 32 meshes with a drive gear 34 fitted to the drive shaft of a drive motor 35 to drive the drive motor 35. And the rotary shaft 32 through the gears 34 and 33
Rotates.

A pinion 36 is fitted to the front and rear ends of the rotary shaft 32, and the pinion 36 meshes with a pair of front and rear racks 37 laid on the lower surface of the horizontal sliding plate 30 in the left-right direction. ing. Therefore, by rotating the drive shaft 35 in the forward and reverse directions, the rotation shaft 32 is rotated in the forward and reverse directions, and the horizontal sliding plate 30, that is, the container guide member 31 is moved left and right through the pinion 36 and the rack 37 to change the width with the container guide member 26. You can

A detection piece 38 is vertically provided on the lower surface near the end of the container guide member 31, and a predetermined number 3 of paths of the detection piece 38 are provided.
Position detectors 39 are provided in some places so as to project from the guide receiving member 27, and containers 9L, 9M, 9 of three sizes are provided.
The container guide member 31 is stopped by detecting the moving position of the container guide member 31 according to S.
It is possible to form three kinds of predetermined widths with the width 26.

As described above, since the other container guide member 31 moves to the left and right with respect to the fixed container guide member 26 and the width between the two is adjusted to the three kinds of containers 9, as shown in FIGS. 14 and 15. Container guide member 26, 31
Can be aligned with the container receiving members 5, 5 of the storage rack 2 having three different widths. As described above, the detection piece 17 faces the shelf front surface at one end of each of the container receiving members 5 and 5, whereas the reflective piece is provided at each end of the fixed container guide member 26 on the loading platform 8 side. A position detecting device 40 including an optical sensor is attached so as to face the detecting piece 17 (see FIGS. 14 to 15).

As shown in FIG. 15, the position detecting device 40 comprises a pair of upper and lower optical sensors 41 and 42 for detecting the position in the ascending and descending direction and a pair of left and right optical sensors 43 and 44 for detecting the position in the traveling direction. When the loading platform 8 faces the shelf booth 3 accurately, the light emitted from the four optical sensors 41, 42, 43, 44 is reflected at upper, lower, left and right positions near the periphery of the detection piece 17, as shown in FIG. When even one of the four emitted lights of the optical sensors 41, 42, 43, 44 is out of the detection piece 17, the positioning is not yet complete, and all four emitted lights are detected by the detection piece 17. Positioning is completed in the reflected state.

A container guide member is provided on the base 24 of the loading platform 8.
Guide support members 50, 50 are erected at the front and rear positions substantially below 31 and slide guides 51, 51 are laid vertically on the side faces facing the center thereof.
Arm members 53, 5 through slide shoes 52, 52 on 1, 51
3 extends horizontally toward the center, and the front and rear arm members 5
A long guide receiving member 54 is provided between the front ends of 3 and 53 in the front-rear direction, and two slide guides 55, 55 are laid in parallel on the upper surface of the guide receiving member 54 in the front-rear direction. A movable box 57 is slidably supported on the slide guides 55, 55 via slide shoes 56 in the front-rear direction.

A drive motor 60 is disposed between the front and rear guide supporting members 50, 50, and a long rotary shaft 63 supported by front and rear bearings 64, 64 is provided below the drive motor 60. The driven gear 62 fitted to the rotary shaft 63 meshes with the drive gear 61 fitted to the drive shaft of the drive motor 60, and the pinions 65 and 65 are provided at both ends of the rotary shaft 63 protruding forward and backward from the bearings 64 and 64.
The pinions 65 and 65 are engaged with racks 66 and 66 which are fitted in and fixed to the base ends of the arm members 53 and 53 in the vertical direction. Therefore, when the drive motor 60 drives,
The rotation shaft 63 is rotated via the gears 61 and 62, and the rotation of the rotation shaft 63 can raise and lower the movable box 57 together with the arm member 53 and the slide guide 55 via the pinion 65 and the rack 66.

A long guide receiving member 70 is erected in the front-rear direction below the fixed container guide member 26, a slide guide 71 is laid on the upper surface of the guide receiving member 70, and a slide shoe is attached to the slide guide 71. A sliding plate 73 is slidably supported in the front and rear direction via a 72, and a long elongate guide bar 74 is fixed to a side of the sliding plate 73 in the vertical direction. A pair of slide shoes 75, 75 provided on the outer side surface of the movable box 57 in the front and rear direction sandwich the guide bar 74 from the front and back so as to be slidable in the vertical direction.

In front of the guide receiving member 70, there is arranged a pulley support frame 77 in which a drive pulley 76 is erected and supported, and a drive motor 78 fixed to the pulley support frame 77 rotates the drive pulley 76. It On the other hand, a driven pulley 79 is provided at the rear end of the guide receiving member 70, and the belt 80 having one end fixed to the sliding plate 73 is wound around the drive pulley 76 toward the front and turned to the rear. It faces the driven pulley 79, is wound around the driven pulley 79, turns to the front and is fixed to the sliding plate 73 at the rear end.

Therefore, when the drive motor 78 is driven,
The drive pulley 76 is rotated, and the sliding plate 73 slides in the front-rear direction along the slide guide 71 via the belt 80.
The back-and-forth movement is caused by sliding the moving box 57 back and forth through the guide bar 74 and the slide shoe 75. Since the slide shoe 75 is engaged with the guide bar 74 so as to be able to move up and down, the moving box 57
No matter which height you move up and down, the drive motor
The moving box 57 can be moved back and forth by driving 78.

The arms 86, 86 are provided on the upper surface of the moving box 57.
A pair of hooks 85, 85 that swivel by are provided on the left and right. Arms 86, 86 have their base ends fitted on vertical support shafts 87, 87, and hooks 85, 85 project upward from their ends, and support shafts 87, 87 are fitted on moving box 57. It is rotatably supported, and gears 88, 88 respectively fitted on both support shafts 87, 87 mesh with each other so that left and right hooks 85, 85 pivot symmetrically.

Another gear coaxially fitted to one support shaft 87
A gear 91 fitted to the drive shaft of the drive motor 90 meshes with 89, and the drive motor 90 itself is fixed to the moving box 57. Therefore, when the drive motor 90 is driven, the gears 91, 8
The hooks 85, 85 turn symmetrically via 9, 88, 88,
As shown in FIG. 8, the arms 86, 86 can pivot from a position opened 180 degrees to the left and right to a position arranged in parallel in the front-rear direction.

Therefore, the pair of hooks 85, 85 that moves up and down by the drive of the drive motor 60 and moves together with the moving box body 57 that moves back and forth by the drive of the drive motor 78 pivot symmetrically by the drive of the drive motor 90. When carrying out the container 9 stored in the shelf booth 3 of the storage rack 2, after the loading platform 8 is opposed to the shelf booth 3 as shown in FIG. 16, the moving box 57 is moved to the lower front and at the same time. If a pair of hooks 85 and 85 are aligned frontward and lifted at an appropriate position, the hooks 85 and 85 are handled.
10 is engaged (state shown by the solid line in FIG. 16).

When the movable box plate 57 is pulled rearward with the hooks 85, 85 engaged with the handle 10 in this manner, the container 9 is pulled out from the shelf booth 3 and the container receiving members 5, 5 on the shelf booth 3 side.
To the container guide members 26 and 31 on the loading platform 8 side
Can be reprinted. Hook 85,85 during this reprint
Turn 180 degrees. On the contrary, when the container 9 is carried into the shelf booth 3, a process substantially reverse to the above is performed.

In order to transfer the container 9 smoothly, the loading platform 8 of the stacker crane 6 exactly faces the required shelf booth 3, and the container receiving members 5 and 5 and the container guide members 26 and 31 are connected. Must match on the same straight line. Therefore, the up, down, left and right running of the loading platform 8 is controlled by a computer, and the control procedure will be described below.

It is assumed that the loading platform 8 travels from the home position for both loading and unloading of the containers, and each shelf booth 3 is associated with the number and the number of stages from the home position. An encoder is provided for each of the motor that drives the stacker crane 6 and the motor that raises and lowers the loading platform. Based on the number of rotations of each motor detected by each encoder, the loading platform 8 is connected to the rack booth 3 and the number of stages.
You can see if you are facing.

As a method for moving the loading platform 8 from the home position to the required shelf booth 3, various methods have been proposed in the related art as described above. Vertical movement is performed by reading the absolute address (serial number) provided for each station (Japanese Patent Laid-Open No. 55-11409), detecting and counting the support column, etc. The loading platform 8 can be moved to the required shelf booth 3 by counting the arrayed detection pieces.

However, the verticality of the columns 4 of the storage shelf 2 or the verticality of the mast 7 of the stacker crane 6 is difficult to maintain high accuracy as the height becomes higher, and it is difficult to maintain the verticality during the vertical movement. It is unavoidable that horizontal displacement occurs in the horizontal direction, so at the above stage, the required number of shelves 3
The loading platform 8 is not exactly facing each other.

Therefore, after the loading platform 8 is made to face the required rack booth 3 in general, it is moved slightly to the left and right, and the optical sensors 43 and 44 for detecting the traveling direction position simultaneously detect the detection piece 17, and at the same time slightly upward and downward. The position detecting device is moved up and down, and the optical sensors 41 and 42 for detecting the position in the vertical direction simultaneously detect the detection piece 17.
If the cargo bed 8 is stopped when all the four optical sensors 41, 42, 43, 44 of 40 detect the detection pieces 17 at the same time, in this state, the stacker crane 6 for the required shelf booth 3 as described above. Of the container receiving members 5 and 5 on the shelf booth 3 side and the container guide member 26 on the loading platform 8 side,
31 and the same line. In this way, the container 9 can be reprinted smoothly.

In the above embodiment, the container guide member 26,
One of the 31 container guide members 26 is fixed,
An example in which both the left and right container guide members are moved to change the width will be described with reference to FIGS. 17 to 22.

Other than the mechanism in which the left and right container guide members move in conjunction with each other, the storage shelf and the container are the same as in the above embodiment, so the same members will be denoted by the same reference numerals. The sliding plate 21 moves up and down on the vertical rail 20 of the mast 7 via the guide roller 22 to connect the front and rear sliding plates 21 to the connecting portion 23.
Are integrally connected, and the base 24 is horizontally extended from the connecting portion 23 is the same as in the above-described embodiment.

17 and 18, slide guides 101 are laid in the left and right directions on the upper surfaces of the guide receiving members 100 provided in front of and behind the connecting portion 23 of the base 24, respectively. A horizontal slide 103 is installed over the slide shoe 102, and one of the container guide members 104 is fixedly supported by the horizontal slide plate 103 in the front-back direction.

Front and rear guide receiving members as shown in FIG.
A rotary shaft 105 is installed between 100, and a pinion 106 is fitted to the front and rear of the rotary shaft 105.
A pinion 106 meshes with a pair of front and rear racks 107 installed on the lower surface of the rack so as to be oriented in the left-right direction. Also the rotating shaft 10
A pair of driven pulleys 108a and 108b are fitted adjacent to each other at 5.

Accordingly, when the rotary shaft 105 rotates, the pinion 106 and the rack 1070 mesh with each other, so that the container guide member 104 along with the horizontal sliding plate 103 can move horizontally along the slide guide 101 via the slide shoe 102.

The other container guide member 31 paired with the container guide member 104 has the same drive mechanism as in the above-mentioned embodiment, and the drive motor 35 is driven in the forward and reverse directions to rotate the rotary shaft 32 in the forward and reverse directions to thereby rotate the pinion. The horizontal sliding plate 30, that is, the container guide member 31 is moved left and right via the rack 36 and the rack 37 (see FIGS. 19 and 22).

Drive pulleys 109a and 109b having the same diameter are fitted to the rotary shaft 32 in correspondence with the driven pulleys 108a and 108b fitted to the rotary shaft 105. As shown in FIG. 22, the intermediate pulleys 111a and 111b are axially supported by the bracket 110 standing on the base 24 below the drive pulleys 109a and 109b, and the intermediate pulley 112 is also below the driven pulleys 108a and 108b.
a and 112b are provided.

Then, referring to the explanatory view of FIG. 21, the drive pulley 109a, the intermediate pulleys 111a and 112a, and the driven pulley 108a.
Are in the same front and rear positions, one end is fixed to the drive pulley 109a, and the belt 113a, which is wound in the clockwise direction, extends downward and is wound around the intermediate pulley 111a, in the clockwise direction for about 1/4 turn, and then horizontally intermediate. Facing the pulley 112a, the intermediate pulley 112a
It is wound in a clockwise direction about 1/4 turn toward the upper side and is wound in a counterclockwise direction on the driven pulley 108a, and the other end is fixed to the driven pulley 108a.

Therefore, when the drive pulley 109a rotates counterclockwise, the drive pulley 109a winds the belt 113a, so that the driven pulley 108a rotates counterclockwise via the intermediate pulleys 111a and 112a.

On the other hand, the drive pulley 109b and the intermediate pulley 111
b, 112b, driven pulley 108b are in the same front and rear position,
Drive pulley 10
The belt 113b wound around 9b in the counterclockwise direction is directed downward and is wound around the intermediate pulley 111b about 1/4 clockwise to face the intermediate pulley 112b, and is rotated about 1/4 clockwise around the intermediate pulley 112b. Wrapped around the circumference and headed upward, driven pulley
It is wound around 108b in a clockwise direction and the other end is fixed to the driven pulley 108b.

Therefore, when the drive pulley 109b rotates clockwise to wind the belt 113b, the intermediate pulley 111b,
The driven pulley 108b is rotated counterclockwise via the 112b.

The interlocking mechanism as described above is constructed such that when the drive motor 35 is driven in the normal direction, the rotary shaft 32 is rotated counterclockwise in FIG. 21 through the meshing of the drive gear 34 and the driven gear 33. Therefore, the container guide member 31 is connected to one of the container guide members through the engagement between the pinion 36 and the rack 37.
Move toward 104 and at the same time drive pulley
109a rotates counterclockwise, and the driven pulley 108a rotates clockwise via the belt 113a.
The rotary shaft 105 which is integrated with is rotated clockwise, so that the container guide member 104 is moved toward the other container guide member 31 through the engagement between the pinion 106 and the rack 107. ．

Drive pulley 109a and driven pulley 108a
Have the same diameter, so the left and right container guide members 104, 31
Move closer to each other by the same distance, and the left-right width can be reduced.

When the drive motor 35 is driven in the reverse direction, the drive shaft 32
Rotates clockwise to move the container guide member 104 in a direction away from one container guide member 104, and at the same time, the drive pulley 109b rotates clockwise and the belt
The driven pulley 108b is rotated counterclockwise via 113b, and the rotary shaft 105 integrated with the driven pulley 108b is rotated counterclockwise, so that the container guide member 104 is moved away from the other container guide member 31. To do. That is, the container guide members 104 and 31 move the same distance in the directions away from each other.

As described above, both container guide members 104, 31
Change the left and right width lengths of the loading platform 8 as they approach or leave each other symmetrically with respect to each other, so that the centers of both are always in a fixed position. A transfer means similar to that of the above-described embodiment is provided at this center fixed position, and two slide guides 55, 55 are laid in parallel on a guide receiving member 54 that moves up and down, and the slide guides 55, 55 have the same structure. A movable box 57 is slidably supported in the front and rear direction via a slide shoe 56.

On the upper surface of the moving box 57, hooks 85, 85 which are swung by arms 86, 86 are provided in a pair on the left and right.
Therefore, hooks 85, 85 that swivel are provided on the moving box 57 that moves up and down and moves back and forth.
5, 85 are always located in the center of the left and right container guide members 104, 31. The same position detecting devices 115, 115 as those in the above-described embodiment are attached to the front and rear ends of one container guide member 104.

Since the loading platform 8 of the present embodiment is constructed as described above, the left and right container guide members 104, 31 are selected in accordance with the required size of the container when carrying out the container.
Are moved symmetrically to set the left and right widths, the loading platform 8 is moved to the required shelf booth 3, and then slightly left and right and up and down so that the four optical sensors of the position detection device 115 all detect the detection pieces 17 at the same time. If the loading platform 8 is stopped at the detected position, the loading platform 8 of the stacker crane 6 accurately faces the required rack booth 3, and the container receiving members 5 and 5 of the rack booth 3 and the container guide member 104 on the loading platform 8 side. , 31 and 31 match on the same straight line.

The hook 85 on the loading platform 8 side is a container guide member.
Since it is located in the center of 104,31, it faces the center of the handle 10 (see FIG. 4) projecting from the front and rear walls of the container housed in the shelf booth 3 (see FIG. 4). Hook 85
Can be engaged to transfer the container to the loading platform 8 side.

Regardless of the size of the container 9, the hook 85 is always engaged with the central part of the handle 10 (the central part of the front and rear walls of the container), so that the left and right balance can be maintained when the container 9 is pulled out by the hook 85. The container is reprinted smoothly. Hook for loading containers into shelves and booths
85 pushes the center part of the front and rear walls of the container, so it is well balanced and can be reprinted smoothly.

The container transfer device provided on the loading platform 8 of the above-described embodiment has the loading platform 8 on the handle 10 projecting from the container 9.
The hook 85 on the side engaged to transfer the container, but in addition to this, an electromagnet to replace the hook was provided on the loading platform side to magnetically bind and engage the end surface of the steel container to transfer the container. Various methods are conceivable, such as a method of carrying out the above or a method of mounting a vacuum suction device on the loading platform side and adsorbing to the end surface of the container to engage and transfer the container.

Further, in the above embodiment, the hook 85 which engages with the handle 10 of the container 9 is swung, but various other types are conceivable, and if there is no problem in space, simply run forward and backward and move up and down. It may be done. Although the optical sensor is used to detect the detection piece 17 in the above-described embodiment, it is also possible to use a proximity sensor using magnetism or the like. Further, the present invention is not limited to the storage device for books, and it goes without saying that it can be applied to the storage of various articles.

[0066]

According to the present invention, a detector provided at the end of the container guide member on the cargo bed side faces a detection piece provided at the end of the front side of the shelf of the container receiving member on the side of the required shelf booth. When the detection piece is detected, the shelf booth and the loading platform have a fixed relative positional relationship regardless of the manufacturing precision of the storage shelves and the stacker, and the container receiving member and the container guide member are aligned on the same straight line to move the container. Reprint can be done smoothly.
Since the storage rack is not required to have such high assembly accuracy, the assembly work can be efficiently performed.

By fixing one container guide member of the pair of container guide members, making the other container guide member movable in the left-right width direction, and disposing the detector on the fixed container guide member, There are various container sizes, and various shelving booths are configured as storage shelves according to the size of the container. Even if storage efficiency is improved, the loading platform is always accurately positioned in the required shelving space, and the container receiving member and container guide member The container can be reprinted smoothly by aligning and on the same straight line. Since the shelves can be configured according to containers of various sizes, the storage efficiency of the storage shelves can be significantly improved and the space can be effectively used.

Further, by moving a pair of container guide members provided on the bed of the stacker type transfer machine in mutually left and right directions so that the left and right width lengths can be changed, and by providing a detector on one of the container guide members, the size can be reduced. It is possible to accommodate storage shelves with high storage efficiency that can store different containers, accurately position the loading platform between required shelves, and move and transfer the containers smoothly.

[Brief description of drawings]

FIG. 1 is a partial side view of an article storage device according to an embodiment of the present invention.

FIG. 2 is a schematic front view of a storage shelf of the article storage device.

FIG. 3 is an enlarged view of the relevant part.

FIG. 4 is a perspective view of various containers.

FIG. 5 is a perspective view of one shelf booth.

FIG. 6 is a perspective view showing a state where a container is stored in the same shelf booth.

FIG. 7 is a perspective view of a modified example of the detection piece.

FIG. 8 is a plan view of the transfer device for the platform.

FIG. 9 is a front view of the same.

FIG. 10 is a front view showing another state.

FIG. 11 is a plan view showing a moving mechanism of the container guide member.

FIG. 12 is a side view of the same.

FIG. 13 is a front view of the same.

FIG. 14 is a perspective view showing a positional relationship between a container receiving member of a shelf booth and a container guide member of a luggage carrier.

FIG. 15 is an explanatory diagram showing a positional relationship between a position detection device and a detection piece.

FIG. 16 is a plan view of relevant parts showing a state immediately before the container is transferred again.

FIG. 17 is a plan view of a loading platform mounting device according to another embodiment.

FIG. 18 is a front view of the same.

FIG. 19 is a plan view of relevant parts showing the interlocking mechanism of the left and right container guide members.

FIG. 20 is a front view of the same.

FIG. 21 is an explanatory diagram of the same interlocking mechanism.

FIG. 22 is a side view showing a moving mechanism of one container guide member.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Article storage device, 2 ... Storage shelf, 3 ... Shelf booth, 4 ... Support post, 5 ... Container receiving member, 6 ... Stacker crane, 7
... mast, 8 ... loading platform, 9 ... container, 10 ... handle, 11 ... shelf passage, 12 ... traveling rail, 13 ... traveling guide rail, 14 ... wheel, 15 ... upper guide member, 16 ... lateral rail, 17 ... Detecting piece, 20 ...
Vertical rails, 21 ... sliding plates, 22 ... guide rollers, 23 ... connecting parts, 24 ... base, 25 ... mounting members, 26 ... container guide members, 27 ... guide receiving members, 28 ... slide guides, 29 ... slide shoes , 30 ... Horizontal sliding plate, 32 ... Rotating shaft, 33 ... Driven gear, 34 ... Drive gear, 35 ... Drive motor, 36 ... Pinion, 37
... rack, 38 ... detection piece, 39 ... position detector, 40 ... position detection device, 41, 42, 43, 44 ... optical sensor, 50 ... guide support member, 51 ... slide guide, 52 ... slide shoe, 53 ... arm Member, 54 ... Guide receiving member, 55 ... Slide guide, 56
… Slide shoes, 57… Moveable box, 60… Drive motor, 61
… Drive gear, 62… Driven gear, 63… Rotating shaft, 64… Bearing, 65
... pinion, 66 ... rack, 70 ... guide receiving member, 71 ... slide guide, 72 ... slide shoe, 73 ... sliding plate, 74 ... guide bar, 75 ... slide shoe, 76 ... drive pulley, 77 ...
Pulley support frame, 78 ... Drive motor, 79 ... Driven pulley, 80
… Belt, 85… Hook, 86… Arm, 87… Shaft, 88, 89
... Gear, 90 ... Drive motor, 91 ... Gear, 100 ... Guide receiving member, 101 ... Slide guide, 102 ... Slide shoe, 10
3 ... Horizontal sliding plate, 104 ... Container guide member, 105 ... Rotating shaft, 106 ... Pinion, 107 ... Rack, 108a, 108b ... Driven pulley, 109a, 109b ... Drive pulley, 110 ... Rack, 111a, 111b ... Intermediate pulley , 112a, 112b ... Intermediate pulleys, 113a, 113b ... Belts, 115 ... Position detection device.

Claims (3)

[Claims] 1. A storage shelf in which a large number of rack booths are arranged vertically and horizontally, a container in which an engaging portion is provided on at least one of front and rear end surfaces, and the container is mounted along the front surface of the shelf. An engaging member reciprocating in a direction perpendicular to the front surface of the shelf is removably engaged with an engaging portion of the container by a transfer means provided on the carrier that moves up, down, left and right, and the loading platform and the shelf booth. In the article storage device including a stacker type transfer machine for transferring the container between the storage rack and the storage rack, a pair of left and right container receiving members erected in the front-rear direction are provided for the container. The container is supported so as to be movable in the front-rear direction, and a detection piece is arranged on the front surface of the shelf of one of the container receiving members.The stacker-type carrier has a pair of left and right container guide members oriented in the front-rear direction that guide the container. Move back and forth And a detector is disposed at the end of one container guide member so as to face the detection piece. Based on the detection of the detection piece by the detector, the shelf front surface of the loading platform with respect to the shelf booth is horizontal. A container transfer device characterized by performing vertical and vertical positioning. 2. The storage shelf is configured by combining shelf booths having mutually different intervals between the pair of left and right container receiving members, and one of a pair of container guide members provided on a bed of the stacker type transporter. 2. The container transfer device according to claim 1, wherein said container guide member is fixed, the other container guide member is movable in the left-right width direction, and said detector is arranged on the fixed container guide member. 3. The storage rack is configured by combining rack booths having different intervals between the pair of left and right container receiving members, and the pair of container guide members provided on the loading platform of the stacker type transporter are mutually left and right. 2. The container transfer device according to claim 1, wherein the container transfer member is moved in a direction opposite to the width so that the width between the two container guide members can be changed, and the detector is disposed on one of the container guide members.