JPH082616A - Automatic warehouse - Google Patents

Abstract

PURPOSE:To make an automatic warehouse adaptable even to a long-sized load by providing the first moving body to move laterally in the direction of approach and separation to a shelf on an elevating body along a mast on a traveling body, and the second moving body which has a fork protruding toward a shelf side and is laterally movable on the first moving body. CONSTITUTION:In an automatic warehouse, a pair of shelves is provided in parallel on both the sides of a work passage with the passage held between the shelves, and a stacker crane is travelably provided in the work passage. The stacker crane has an elevating body 22 which can elevate along a mast 28 erected on a traveling body traveling on a travel course 20. The first moving body 23 which moves laterally in the direction of approach and separation to the shelf is provided on the elevating body 22, and the second moving body 24 being laterally movable in the direction of the travel course 20 is provided on the first moving body 23, and a fork 25 being protrudable toward the shelf is provided on the second moving body 24. In the case of dealing with a long- sized load, the second moving body 24 is moved in a direction where the body 24 withdraws from the mast 28.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automated warehouse comprising shelves and stacker cranes.

[0002]

2. Description of the Related Art Conventionally, an automatic warehouse of this type is disclosed in, for example, Japanese Patent Publication No. 50-7344. That is, the stacker crane can travel along a travel route formed along the front surface of the shelf, and the main body of the stacker crane is provided with a lifting platform via an upright mast. The lift table is provided with a slide fork that expands and contracts in the shelf direction to load and unload loads.

According to this method, the stacker crane is moved, and the elevating table is moved up and down along the mast, so that the slide fork faces the front of the intended storage portion of the shelf. After that, by expanding and contracting the slide fork, it is possible to load and unload the target storage unit.

[0004]

However, in the above-mentioned conventional type, the size of the load to be handled is limited,
When the load size is longer than the standard, the pallet is also lengthened according to the load size, so that when holding the load with the slide fork through the pallet, the end of the pallet or the load must be a mast. There was a fear of interference.

The present invention solves the above problems, and an object of the present invention is to provide an automatic warehouse which can be applied to a load of a long object.

[0006]

In order to solve the above problems, an automatic warehouse according to the present invention is an automatic warehouse comprising a shelf and a stacker crane for loading and unloading a load into and from the storage section of the shelf. Is a traveling body capable of traveling on a traveling path formed along the front surface of the shelf, an elevating body provided on the traveling body via a mast, and a shelf provided on the elevating body via a guide device. A first moving body that moves laterally toward and away from the first moving body, a second moving body that is provided on the first moving body and that can move laterally in the traveling route direction, and a second moving body that is provided on the shelf It is composed of a fork protruding to the side.

[0007]

According to the above construction, the traveling body travels along the traveling path and the elevating body ascends and descends along the mast, whereby the fork is positioned in front of the intended storage portion of the shelf. Then, when the first moving body is guided by the guide device and approaches the shelf, the fork is inserted into the intended storage portion, and when the first moving body is separated from the shelf, the fork is aimed at. It is pulled out from the inside of the storage part. As a result, the load can be loaded and unloaded from the intended storage unit.

When the load size is longer than the standard size, the distance from the mast to the fork can be increased by moving the second moving body. Therefore, it is possible to prevent a problem that the end portion of the load interferes with the mast when the elongated load is held by the fork.

[0009]

An embodiment of the present invention will be described below with reference to the drawings. As shown in FIGS. 4 to 6, each of the shelves 1a and 1b includes a pair of front and rear posts 2, which are erected at predetermined intervals.
3, a horizontal connecting member 4 and an oblique connecting member 5 arranged between the posts 2 and 3 adjacent in the depth direction, and a front load receiving member 6 arranged between the front posts 2 adjacent in the width direction. And a rear cargo receiving material 7 disposed between the rear posts 3 adjacent in the width direction, thereby forming a plurality of storage portions 8 in the vertical direction and the lateral direction, respectively. A cradle (not shown) is provided outside the ends of the shelves 1a and 1b. As shown in FIG. 3, the pallets 11 and 12 (11 is a standard size pallet, 12 is a long size pallet) that can be placed on the cargo receiving members 6 and 7 are
Loads 14 and 15 (14 is a standard size load, 15 is a long size load)
And has a pair of fork insertion portions 16.

As shown in FIGS. 3 to 5, the shelves 1a, 1 are
A pair of b is arranged side by side across the working passage 18 with their front surfaces facing each other. In this work passage 18, each shelf 1a, 1b
A stacker crane 19 for loading and unloading the loads 14, 15 into and from the storage section 8 is provided.

That is, the stacker crane 19 has a traveling body 21 capable of traveling on a traveling route 20 formed along the working passage 18, an elevating body 22 provided on the traveling body 21,
A first moving body 23 provided on the lifting body 22 and laterally moving in the approaching / separating direction with respect to the shelves 1a, 1b; and the first moving body
A second movable body 24 provided on the second movable body 24 and laterally movable in the direction of the traveling route 20; and a shelf 1a provided on the second movable body 24.
Alternatively, it includes a fork 25 protruding toward the shelf 1b. The traveling body 21 includes a lower frame 27 and this lower frame.
One mast 28 standing from the middle of 27 and this mast
It is composed of an upper frame 29 connected to the upper end of 28. Further, as shown in FIG. 1, the lifting body 22 is a mast.
A guide rail 30 provided on the front side of the mast 28 and fixed to both side surfaces of the mast 28 is guided through a plurality of rollers 31.

As shown in FIGS. 3 to 5, the lower frame
27 has a drive wheel 34 and a driven wheel 35, which are supported by a running rail 33 on the floor side, which are divided into front and rear, and the upper frame 29,
It has a guide wheel 37 guided by a guide rail 36 on the ceiling side. A traveling device 38 is provided at the rear end of the lower frame 27. The traveling device 38 includes a motor 39 and a speed reducer 40. The output shaft from the speed reducer 40 is wound around a transmission device 41.
It is interlocked with the drive wheel 34 via.

Further, on the lower frame 27, between the mast 28 and the traveling device 38, an elevating device 42 interlocking with the elevating body 22 is provided. The elevating device 42 comprises a motor 43, a speed reducer 44, A drive toothed wheel 45 is fixed to the output shaft from the speed reducer 44. One end side of the chain 46 hung on the drive tooth wheel 45 is connected to the lower part of the lifting body 22 via the lower guide tooth wheel 47 provided on the lower frame 27, and the other end side is provided on the upper frame 29. It is connected to the upper part of the lifting body 22 via an upper guide tooth ring 48.

As shown in FIGS. 1 and 2, a pair of upper and lower guide rails 50, which is an example of a guide device, are attached to the front surface of the elevating body 22. These guide rails 50 are
The channel member is made of a channel material, and its open portions are oriented in opposite directions in the vertical direction, and the length direction is arranged as a lateral direction (lateral direction) orthogonal to the traveling route 20 direction.
Racks 51 having teeth facing forward are provided on the surfaces of the guide rails 50 facing each other.

The first moving body 23 includes a vertical frame body 52 located between the front portions of both guide rails 50, a bracket 53 connected from the upper and lower ends of the vertical frame body 52 rearward, and these brackets 53.
Is attached to the guide rail via a vertical pin 54
A pair of guide rollers 55 fitted to the 50, and a support roller mounted via a horizontal pin 56 continuously connected rearward from an intermediate portion of the vertical frame body 52 and placed on the lower guide rail 50 side from above. It is composed of 57 etc.

Further, in the vertical frame body 52 of the first moving body 23,
A pair of upper and lower guide rails 60 protruding forward and a first drive device 61 for moving the first moving body 23 are provided.
The first drive device 61 includes a vertical rotation shaft 62, a pinion 63 that is attached to the upper and lower ends of the rotation shaft 62 and meshes with a corresponding rack 51, and a double shaft type motor that rotates the rotation shaft 62. It consists of 64 and. In addition, the guide rail 60 is made of a channel material, and the open portions thereof are oriented vertically opposite to each other, and the length direction is the traveling path 20.
It is arranged as a direction. A rack 66 having teeth facing the other side is provided on one side and above the lower guide rail 60 via a bracket 65.

The second moving body 24 is formed in a frame shape by a pair of upper and lower horizontal frames 69 oriented in the same direction as the guide rails 60, and a vertical frame 70 connecting the two horizontal frames 69. A pair of front and rear guide rollers 71, which are fitted to the guide rails 60, are provided on the horizontal frames 69, respectively.
It is provided through 72. Also, the lower horizontal frame 69
A pair of front and rear support rollers 73 placed from above on the bottom surface of the lower guide rail 60 are provided in the above.

A vertical rotary shaft 75 is provided between the ends of the horizontal frames 69 via a bearing (not shown).
The rotating shaft 75 is provided with the pair of left and right forks 25 via a frame member 76. This allows forks
25 is rotatably provided around a vertical axis 77.

The second moving body 24 is provided between the horizontal frames 69.
Drive device for moving the shaft and rotating the rotary shaft 75
78 are provided. The second drive device 78 is a biaxial motor mounted on the second moving body 24 via a bracket.
80, upper gears 81 and 82 that interlock the upper shaft of the motor 80 and the rotating shaft 75, a pinion 83 that meshes with the rack 66, and a lower shaft of the pinion 83 and the motor 80. It is composed of a lower gear 84 to be interlocked. still,
An upper electromagnetic clutch 85 is provided between the motor 80 and the upper gear 81, and a lower electromagnetic clutch 86 is provided between the motor 80 and the lower gear 84. These electromagnetic clutches 85, 86 The upper gear 81 and the lower gear 84 due to the intermittent
The rotation of can be switched separately.

The operation of the above structure will be described below.
During operation, the traveling body 21 of the stacker crane 19 travels on the traveling route 20 while being supported by the traveling rail 33 and guided by the guide rail 36 by the operation of the traveling device 38. Then, the lifting / lowering body 22 is lifted / lowered along the mast 28 while being guided by the guide rail 30 via the roller 31 by the operation of the lifting / lowering device 42.

From one shelf 1a through the pallet 11 the load 14
When the fork is to be unloaded, the traveling motion of the traveling body 21 and the elevating body 22 are performed while the fork 25 is accommodated within the width of the elevating body 22 as shown by the solid line in FIG. Fork insertion part of the pallet 11 in the storage part 8 for the purpose of 25
Face 16 from the front.

After that, by driving the motor 64 of the first drive device 61, the rotary shaft 62 and the pinion 63 rotate, whereby a driving force is applied to the first moving body 23. As a result, in the first moving body 23, the guide roller 55 has the guide rail 55
By being guided by the 50, the pallet 11 is moved to the pallet 11 side, and as shown in FIG.
Can be rushed in from the front. Then, the lifting / lowering body 22 is slightly lifted to lift the pallet 11 above the load receiving members 6 and 7, and further the first driving device 61 is driven to move the first moving body 23 from the shelf 1a side to the lifting / lowering body 22. Move to the side. As a result, as shown in FIG. 7, the load 14 is discharged from the one shelf 1a together with the pallet 11. In addition, when the load 14 and the pallet 11 are loaded into one of the shelves 1a, the procedure described above is the reverse of the shipping operation.

When loading or unloading the other shelf 1b, the upper electromagnetic clutch 85 is operated to connect the motor 80 and the upper gear 81 and the lower electromagnetic clutch 86.
Is operated to disconnect the motor 80 from the lower gear 84. Then, by driving the motor 80 while moving the first moving body 23, the rotary shaft 75 is moved via the upper gears 81 and 82.
Rotates, so that the fork 25 moves vertically as shown in FIG.
Half turn around 77, and the direction is changed from one shelf 1a to the other shelf 1b as shown by the phantom line in FIG. After that, by driving the traveling body 21, the elevating body 22, and the first moving body 23 in the same manner as described above, loading and unloading can be performed on the other shelf 1b.

Further, as shown in FIG. 3, when handling a load 15 longer than the standard size and the pallet 12 lengthened accordingly, the upper electromagnetic clutch 85 is actuated to drive the motor 80. The upper gear 81 is disengaged, and the lower electromagnetic clutch 86 is operated to operate the motor 80 and the lower gear 84.
And connect. Then, by driving the motor 80, the pinion 83 rotates via the lower gear 84,
Driving force is applied to the second moving body 24. As a result, FIG.
2, the second moving body 24 moves forward and moves away from the mast 28 due to the guide roller 71 being guided by the guide rail 60. Therefore, as shown in FIG. 8, since the distance L from the mast 28 to the fork 25 is increased, when the long pallet 12 and the load 15 are supported by the fork 25, the ends of the pallet 12 and the load 15 are moved to the mast 28. There is no interference, and even an elongated load 15 can be handled easily and safely.

As shown in FIGS. 3 and 6, the shelves 1a,
Regardless of the size, whether the pallet 11 or 12 stored in the storage portion 8 of 1b is a standard size pallet 11 or a long size pallet 12 is formed by a pair of front and rear load receiving members 6, 7. The front and rear parts of the lower surface are supported. In this way, since the pallets 11 and 12 of different sizes can be supported by the pair of front and rear load receiving members 6 and 7, the versatility of the shelves 1a and 1b is improved and the cost can be reduced.

When handling a standard-sized load 14, as shown in FIG. 7, the motor 80 is reversely driven to move the second moving body 24 rearward to approach the mast 28, and
The distance L from 28 to the fork 25 should be shortened.

In the above embodiment, as shown in FIG. 2, one motor 80 is switched by the electromagnetic clutches 85 and 86 to move the second moving body 24 and reverse the fork 25 separately. The motor for moving the second moving body 24 and the motor for inverting the fork 25 may be separately provided.

In the above embodiment, as shown in FIG. 3, one mast 28 is erected on the traveling body 21, but it may be a two-mast type. Further, as shown in FIG. 4, the shelves 1a and 1b are provided side by side on both sides of the stacker crane 19, but an automatic warehouse provided with only one of the shelves may be used.

[0029]

As described above, according to the present invention, when the size of the load is longer than the standard size, the distance from the mast to the fork can be increased by moving the second moving body. . Therefore, it is possible to prevent a problem that the end portion of the load interferes with the mast when the elongated load is held by the fork. Thus, not only the standard size load but also the long size load can be handled easily and safely.

[Brief description of drawings]

FIG. 1 is a perspective view of a main part of a stacker crane for an automated warehouse according to an embodiment of the present invention.

FIG. 2 is a view on arrow A in FIG.

FIG. 3 is a partially cutaway front view of the automated warehouse.

FIG. 4 is a partially cutaway side view of the automated warehouse.

FIG. 5 is a partially cutaway plan view of the automated warehouse.

FIG. 6 is a perspective view of a shelf.

FIG. 7 is a perspective view of a main part of the stacker crane when handling a standard-sized load.

FIG. 8 is a perspective view of a main part of the stacker crane when handling a long size load.

[Explanation of symbols]

 1a, 1b Shelf 8 Storage section 14, 15 Load 19 Stacker crane 20 Travel route 21 Traveling body 22 Elevating body 23 First moving body 24 Second moving body 25 Fork 28 Mast 50 Guide rail (guide device)

Claims (1)

[Claims] 1. An automated warehouse comprising a shelf and a stacker crane for loading and unloading a load into and from the storage section of the shelf.
The stacker crane is provided with a traveling body that can travel along a traveling route formed along the front surface of the shelf, an elevating body provided on the traveling body via a mast, and a elevating body via a guide device. A first moving body that moves laterally toward and away from the shelf, a second moving body that is provided on the first moving body and is laterally movable in the traveling path direction, and a second moving body. In addition, the automated warehouse is characterized by being configured with a fork protruding toward the shelf.