JPH083367Y2 - 3D automated warehouse - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention improves storage efficiency by enabling storage and storage of flat-bottomed luggage having a flat bottom surface and curved-bottomed luggage having a curved bottom surface. It is related to the 3D automated warehouse.

[Prior Art] In a three-dimensional automated warehouse, a stacker crane that travels between multi-tiered high-rise shelves and enables horizontal movement of cargo by a sliding fork provided on a lifting platform is used for the multi-tiered high-rise shelves. Luggage is taken in and out of the storage compartment.

Conventionally, in a three-dimensional automatic warehouse, the shapes and dimensions of the items to be stored and stored in the three-dimensional automatic warehouse have been standardized, and a multi-stage high-layer shelf and a stacker crane have been designed to comply with the standard.

That is, in a certain three-dimensional automated warehouse, only luggage with a flat bottom surface (including cases where the luggage is placed on a pallet, etc.) is stored and stored.
Only the luggage having a curved bottom surface (the luggage having a cylindrical shape or a cylindrical shape) is stored and stored.

[Problems to be solved by the invention] However, in recent years, in order to further improve the storage efficiency of a three-dimensional automated warehouse, two types of luggage having different bottom shapes are stored and stored in the same multi-tiered high-level shelf or opposing multi-leveled high-level shelves. Although there is a desire to be able to do so, as described above, the conventional three-dimensional automated warehouse cannot store and store two types of luggage having different bottom shapes.

The present invention solves the above problems and provides a three-dimensional automatic warehouse capable of storing and storing flat-bottomed luggage having a flat bottom surface and curved-bottomed luggage having a curved bottom surface. Has an aim.

[Means for Solving the Problems] In order to achieve the above object, in a three-dimensional automatic warehouse of the present invention, a flat luggage storage compartment and a bottom curved luggage which are provided with flat supports for supporting bottom flat luggage from both lower sides. And a multi-tiered high-rise shelf, each of which has a curved luggage storage compartment with a curved supporter for supporting the same from below, and which are erected so as to be opposed, and can be traversed along the multi-tiered high-rise shelf between the multi-tiered high-rise shelves. And a pair of left and right first sliding forks attached to the lifting platform of the stacker crane so as to be able to move forward and backward with respect to the flat luggage storage compartment of the multi-tiered high-rise shelf. A drive device for operating the first slide-out fork and a curved load storage of a multi-tiered high-level shelf located between the first slide-out fork on the lifting platform of the stacker crane. A second slide-out fork mounted so as to be able to move forward and backward with respect to the storage compartment, and a drive device for operating the second slide-out fork, and the first slide-out fork supports the flat bottom luggage from below. The second slide-out fork is formed in a shape capable of supporting the bottom-surface curved load from below.

[Operation] In the three-dimensional automated warehouse of the present invention, when storing flat-bottomed flat luggage on a multi-tiered high-level shelf, when loading the luggage on the first sliding fork, and when storing bottom curved curved luggage on the multi-tiered high-level shelf, After placing the load on the second slide-out fork, the stacker crane is operated to face the flat bottom load or the curved bottom load to the flat load storage compartment or the curved load storage compartment to support the load. The loaded first or second sliding fork is advanced into the storage compartment to insert the luggage into the storage compartment, and the lifting platform is lowered to support the luggage in the storage compartment.

Further, when carrying out the luggage stored in the multi-stage high-layer shelf, the stacker crane is operated so that the upper surfaces of the first and second sliding forks are located below the lower surface of the luggage to be carried out, and then , The first or second slide-out fork is moved forward into the storage compartment in accordance with the shape of the bottom surface of the load to be carried out, and the load-carrying platform is raised to support the load on the forward-moved slide-out fork,
Further, the sliding fork supporting the load is retracted to take out the load from the storage compartment, and the stacker crane is further operated to convey the load to a predetermined position.

[Embodiment] An embodiment of the present invention will be described below with reference to the drawings.

In FIG. 1 and FIG. 2, 1 is a multi-tiered high-rise shelf facing the interior of a three-dimensional automated warehouse, and each multi-tiered high-rise shelf is horizontal on the left and right sides of a pair of columns 36, 37 extending vertically. The front and rear ends of the flat support tool 38 extending in the vertical direction are fixed at equal intervals in the vertical direction, and the front and rear columns 36, 37 are provided upright at equal intervals in the horizontal direction. 3
7. Flat luggage storage compartment 2a divided by flat support 38
Also, a number of curved luggage storage compartments 2b described later are formed.

The flat support member 38 is a rod-shaped member having a substantially flat upper surface, and in the flat luggage storage compartment 2a, on the upper surfaces of the left and right flat support members 38,
The flat-bottomed luggage 40a is supported from below to store and store the luggage 40a (see also FIG. 3).

Further, at the tip of a part of the left and right flat supports 38 facing each other,
A left and right curved support 39 having a support surface 41 which can be circumscribed from below is fixed to a bottom curved baggage 40b having a cylindrical shape or a cylindrical shape extending parallel to the left and right flat support 38, and the left and right curved support Supporting surface 41 of the tool 39 with curved bottom
A curved luggage storage compartment 2b for supporting and supporting the luggage 40b from below is formed (see also FIG. 4).

1 and 2, the flat luggage storage compartment 2a and the curved luggage storage compartment are provided on both of the facing multi-tiered high-level shelves 1.
2b are mixed, but storage compartments 2a, 2b are mixed in only one multi-tiered high-level shelf 1 or one multi-tiered high-level shelf 1
The storage compartment 2a may be provided on the other side, and the storage compartment 2b may be provided on the other multi-tiered high-level shelf 1.

A lower rail 4 is laid along the front surface of the multi-tiered high-level shelf 1 on the floor surface 3 in the three-dimensional automated warehouse, and an upper rail 5 is provided directly above the lower rail 4 in parallel with the lower rail 4. So that the uppermost bonding material 6 of the left and right multi-tiered high-level shelves 1
And the lower rails 4 and the upper rails 5 are attached to the stacker crane 7 and constitute a traveling path of the stacker crane 7 described below.

As shown in FIG. 1, the stacker crane 7 includes a lower saddle 8 which is parallel to the lower rail 4, two columns 9 which are vertically erected from both ends of the lower saddle 8, and an upper rail 5 at the upper end of the column 9. The main body frame is formed in a vertically long rectangular shape by the upper saddle 10 attached in parallel with.

A lower driven wheel 11 and a lower drive wheel 12 are rotatably attached to the lower saddle 8 so as to rotate and move on the lower rail 4. The lower drive wheel 12 includes a motor and a speed reducer. It is adapted to be rotationally driven by the lower drive device 13 provided.

The upper saddle 10 also includes an upper driven wheel 14 and an upper drive wheel.
15 and 15 are mounted so as to rotate by sandwiching the upper rail 5 from both sides, and the upper drive wheel 15 is rotationally driven by an upper drive device 16 equipped with a motor and a speed reducer.

The lower drive unit 13 and the upper drive unit 16 are arranged in the column 9
Are controlled simultaneously by the control panel 17 attached to the lower drive wheel 12 and the upper drive wheel 15 to rotate or stop at the same time to move or stop the stacker crane 7 along the lower rail 4 and the upper rail 5. Or The stacker crane 7 may be driven and stopped only by the lower drive wheels 12 and the lower drive device 13 without mounting the upper drive wheels 15 and the upper drive device 16.

An elevating and lowering platform 18 is provided between the two columns 9 so as to be vertically movable, and is suspended by a hoisting chain 20 which is wound and unwound by a hoisting device 19.

As shown in FIGS. 3 and 4, the lifting platform 18 is provided with a pair of left and right first slide-out forks 21a that are horizontally movable toward the multi-stage high-level shelf 1, and further the left and right first slide-out forks 21a. Similarly, a second sliding fork 21b that is horizontally movable toward the multi-tiered high-level shelf 1 is provided between them.

Dimension W ₁ between the outer sides of the first sliding forks 21a arranged in parallel
Is smaller than the tip-to-end dimension W ₂ of the left and right flat supports 38 of the flat luggage storage section 2a.

As shown in FIG. 5, the first and second slide-out forks 21a and 21b are fixed forks fixed to the upper surface of the lifting / lowering platform 18.
22 and an intermediate fork 23 externally fitted to the fixed fork 22 so as to be horizontally movable toward the multi-tiered high-level shelf 1, and similarly fitted externally to the intermediate fork 23 so as to be horizontally movable toward the multi-tiered high-level shelf 1. It has tip forks 24a, 24b.

The tip fork 24a of the first sliding fork 21a is the third
As shown in the figure, the left and right tip forks 24a can support a luggage 40a having a flat upper surface and a flat lower surface.

As shown in FIG. 4, the tip fork 24b of the second sliding fork 21b has, on its upper surface, a concave surface 42 which can be circumscribed on the outer peripheral surface of the cylindrical or cylindrical load 40b extending in the moving direction of the tip fork 24b. Is formed, the luggage 40
The concave surface 42 can support b so that it does not roll.

The upper surface of the tip fork 24b is formed lower than the upper surface of the tip fork 24a.

As shown in FIG. 5, the fixed fork 22 and the intermediate fork 23 have sprockets 25 and 27 on one end A side.
Further, on the other end B side, sprockets 26, 28 are supported rotatably around an axis extending in the moving direction of the stacker crane 7, and the sprocket 25 has a sprocket.
29 is fixed coaxially.

One end of the intermediate fork drive chain 30 is locked to one end A side of the intermediate fork 23. The intermediate fork drive chain 30 is wound around the sprocket 26, and the other end of the intermediate fork 23 is connected to the intermediate fork 23. It is locked on the other end B side.

Further, one end of a tip fork drive chain 31 is locked on one end A side of the tip forks 24a, 24b, and the tip fork drive chain 31 is wound around the sprocket 28 and the other end is One end A of the fixed fork 22
It is locked to the side.

On the other hand, one end of a tip fork drive chain 32 is locked to the other end B side of the tip forks 24a, 24b, and the tip fork drive chain 32 is wound around the sprocket 27 and other The end is locked to the other end B side of the fixed fork 22.

Further, slide-fork drive devices 34a and 34b having a sprocket 33 are installed in the lifting platform 18, and a drive chain 35 is wound around the sprocket 33 and 29.

The slide-out fork 21a, 21b is a slide-out fork drive device so that the sprocket 33 rotates in the direction of arrow C.
When 34a or 34b is driven, the intermediate fork 23 and the tip fork 24 are compared with the fixed fork 22 and the intermediate fork 23.
When either a or 24b horizontally moves to the A side at one end, and the sprocket 33 slides out so as to rotate in the direction of arrow D and the fork drive device 34a or 34b is driven, the fixed fork 2
2. With respect to the intermediate fork 23, the intermediate fork 23 and the tip fork 24a or 24b horizontally move to the other end B side.

In the above-mentioned three-dimensional automated warehouse, flat-bottomed luggage 40
When storing a or bottom curved baggage 40b, the stacker crane 7 is pulled out from between the multi-tiered high-level shelves 1, and the lifting platform 18 is lowered.
Place the luggage 40a or 40b on the tip fork 24a or 24b.

At this time, the tip forks 24a, 24b and the intermediate fork 2
Leave 3 not protruding from the lifting platform 18.

For example, suppose that the flat bottomed luggage 40a is now stored in the multi-tiered high-level shelf 1, and the luggage 40a is placed on the tip fork 24a, the stacker crane 7 is caused to travel along the upper and lower rails 5 and 4 and moved up and down. Lift the loading platform 18 and load
40a is opposed to the empty flat luggage storage compartment 2a.

At this time, the lower surface of the luggage 40a is positioned above the upper surface of the flat support tool 38.

Then, the slide-out fork drive device 34a is driven to move the tip fork 24a forward into the flat luggage storage compartment 2a, position the luggage 40a above the flat support tool 38, and lower the lifting platform 18 to flatly support the luggage 40a. It is stored in the flat luggage storage compartment 2a by being supported by the tool 38.

If the luggage 40a is stored in the flat luggage storage compartment 2a,
Drive the slide-out fork drive device 34a to drive the tip fork 2
4a is retracted from the flat luggage storage compartment 2a.

Further, when storing the bottom curved luggage 40b in the multi-tiered high-level shelf 1, the same procedure as when the luggage 40b is placed on the tip fork 24b and the bottom flat luggage 40a is stored in the flat luggage storage section 2a. Curved luggage compartment 2b with luggage 40b empty
The stacker crane 7 is moved so as to face the fork, and the sliding fork drive device 34b is driven to drive the tip fork 24b.
To the curved luggage storage compartment 2b by positioning the luggage 40b above the curved support tool 39 and lowering the lifting platform 18 so that the luggage 40b is supported by the curved support tool 39. store.

When carrying out the bottom flat luggage 40a or the bottom curved luggage 40b stored in the flat luggage storage compartment 2a or the curved luggage storage compartment 2b, the luggage 4
The stacker crane 7 and the first and second slide-out forks 21a, 21b are operated in the reverse order of the steps of storing 0a, 40b in the storage compartments 2a, 2b.

That is, the stacker crane 7 is operated so that the top surfaces of the tip forks 24a and 24b are located below the bottom surfaces of the loads 40a and 40b, and then the slide-out fork drive device 34a.
Alternatively, by driving 34b, the tip forks 24a, 24b are advanced into the storage compartments 2a, 2b, and the tip forks 24a, 24b are moved to the luggage 40a,
The loads 40a, 40b are supported by the tip forks 24a, 24b while being positioned below the 40b and the lifting platform 18 is raised.

Further, the slide-out drive devices 34a, 34b are driven to move the tip forks 24a, 24b back from the storage compartments 2a, 2b to load the luggage 40a, 40b.
The b is positioned on the lifting platform 18, the stacker crane 7 is pulled out from between the multi-stage high-rise shelves 1, and the lifting platform 18 is lowered to convey the loads 40a and 40b to predetermined positions.

The three-dimensional automatic warehouse of the present invention is not limited to the above-mentioned embodiment, but the drive sources of the first and second sliding forks, the method of winding the chain, the shape of the tip fork, and the storage compartment. It goes without saying that various changes can be made within the scope not departing from the gist of the present invention, such as changing the arrangement appropriately.

[Effects of the Invention] As described above, according to the three-dimensional automatic warehouse of the present invention,
Various excellent effects as described below can be obtained.

(1) Curved luggage storage including flat luggage storage compartments provided with flat supports for supporting flat bottom luggage from both sides below and curved supports for supporting bottom curved luggage from both sides on opposing high-level shelves. Since the compartments are provided respectively, the flat-bottomed cargo and the curved-bottom cargo can be efficiently stored, and the storage efficiency of the three-dimensional automated warehouse is improved.

(2) On the lifting platform of the stacker crane, a pair of left and right first slide-out forks capable of supporting flat bottomed luggage,
A second slide-out fork capable of supporting a curved bottom load is provided, and the first slide-out fork and the second slide-out fork are operated by separate drive devices, so that Both the bottom curved cargo can be stably carried in and out of the multi-tiered high-level shelf by one stacker crane, and the construction cost of the three-dimensional automated warehouse is not significantly increased.

[Brief description of drawings]

1 is a side view of one embodiment of the present invention, and FIG. 2 is a side view of FIG.
II-II arrow view, FIG. 3, FIG. 4 is a detailed view showing the relationship between the first and second slide-out forks and the load and storage compartment, and FIG. 5 is the drive of the first and second slide-out forks. It is a figure which shows a mechanism. In the figure, 1 is a multi-tiered high-rise shelf, 2a is a flat luggage storage compartment, 2b is a curved luggage storage compartment, 7 is a stacker crane, 18 is a lifting platform, 21a is a first sliding fork, 21b is a second sliding fork, and 34a. , 34b are fork drive devices, 38 is a flat support tool, 39 is a curved support tool, 40a is a flat bottom load, and 40b is a bottom curved load.

Claims (1)

[Scope of utility model registration request] 1. A flat luggage storage compartment provided with flat supports for supporting bottom flat luggage from both lower sides and a curved luggage storage compartment provided with curved supports for supporting bottom curved luggage from both lower sides. And a multi-tiered high-rise shelf which is erected so as to be opposed to each other, a stacker crane which is disposed between the multi-tiered high-rise shelves so as to be able to traverse along the multi-tiered high-rise shelf, and has a hoisting platform, and a hoisting platform of the stacker crane. A pair of left and right first slide-out forks mounted so as to be able to move forward and backward with respect to a flat luggage storage compartment of a multi-stage high-rise shelf, a drive device for operating the first slide-out forks, and a lifting platform for the stacker crane. A second, located between the first sliding forks and mounted to be able to advance and retract with respect to the curved luggage compartment of the multi-tiered high rack
Of the slide-out fork and a drive device for operating the second slide-out fork, the first slide-out fork is formed in a shape capable of supporting a flat bottom surface, and the second slide-out fork is formed in a curved bottom surface. A three-dimensional automatic warehouse characterized by being formed into a shape that can support luggage from below.