JPH09100010A - Automatic warehouse - Google Patents

Abstract

PROBLEM TO BE SOLVED: To shorten time necessary to warehouse and deliver plural cargoes. SOLUTION: A taking in and out device 7 to take in and out buckets 3 is arranged in front of a shelf 1a, and the taking in and out device 7 is composed of a raising-lowering body 11 arranged in a traveling body and a taking in and out tool 12 which is arranged in the raising-lowering body 11 and takes in and out the buckets 3 between the shelf 1a and the raising-lowering body 11. The raising-lowering body 11 is provided with a stock part 23 to stock plural buckets 3, chain conveyors 30 and 31 to deliver the buckets 3 between the stock part 23 and the taking in and out tool 12 and a transfer device 42 to simultaneously carry in and carry out the buckets 3 between the stock part 23 and the longitudinal outside of the raising-lowering body 11, and the transfer device 42 is composed of freely rotatable support rollers 26 juxtapoed in a plurality in front and in rear.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automated warehouse including a shelf for storing a load and a loading / unloading device for loading / unloading the load on / from the rack.

[0002]

2. Description of the Related Art Conventionally, an automatic warehouse of this type is disclosed in, for example, JP-A-60-77004. That is, a loading / unloading device that travels on a fixed path is provided along a shelf that stores a disk-shaped load, and the loading / unloading device is provided with a pedestal that can be raised and lowered. In this cradle, a carriage that holds a plurality of loads and is movable in the traveling direction,
A movable frame is provided that can approach and separate from the shelf.
The movable frame is provided with a clamp device that clamps both sides of the load.

According to this, when a load is unloaded, the load stored in the shelf is clamped by the clamp device and the movable frame is moved away from the shelf, so that the load is taken out from the shelf onto the carriage. After that, by moving the carriage in the traveling direction, the load first taken out on the carriage is retracted laterally from the movement path of the clamp device, and the second load can be taken out from the shelf onto the carriage. By repeating the above procedure, a plurality of loads are taken out from the shelves and stocked on the carriage, and then the loading / unloading device is made to travel to the home position, and at the home position, the plurality of loads are unloaded from the carriage one by one.

Further, when loading a load, a plurality of loads are loaded one by one on the carriage at the home position,
After that, the loading / unloading device is moved and the pedestal is moved up and down to face the clamp device to the intended storage position on the shelf. After that, the load was stored on the carriage from the carriage in the reverse procedure of the above-mentioned delivery.

[0005]

However, in the above-mentioned conventional method, when the loading / unloading device is returned to the home position at the time of loading and unloading, a plurality of loads are unloaded from the carriage one by one at the home position. It took time and effort. Similarly, at the time of warehousing, a plurality of loads were loaded on the carriage one by one at the home position, so warehousing took time and labor.

Therefore, the invention according to claim 1 of the present invention is intended to further reduce the time required for loading and unloading a plurality of loads.

[0007]

In order to achieve the above-mentioned object, the invention according to claim 1 of the present invention is a shelf,
A plurality of load storage parts are formed vertically, and a loading / unloading device for loading and unloading a load is provided in front of the shelf, and the loading / unloading device is provided on the elevating body and the elevating body. A stock unit configured to store and load a load between the load storage unit and the elevating / lowering body, and a stock unit for stocking a plurality of loads in the elevating / lowering unit; The present invention is characterized in that it is provided with a transfer device for transferring loads between them and a transfer device for loading and unloading loads at the same time between the stock part and the front and rear outside of the elevating body.

According to this, when a plurality of loads are to be delivered,
The elevating body is moved up and down, the load is taken out from the target load storage section to the elevating body using the loading / unloading tool, and then the transport device is operated to transport the load from the loading / unloading tool to the stock section. As a result, the load is stocked in the stock section. Further, a plurality of loads can be stocked in the stock unit by taking out another load from the load storage unit and sequentially stocking it in the stock unit in the same manner as described above. After that, the elevating body is lowered to the loading / unloading area, and the transfer device is operated to discharge a plurality of loads from the stock section to the outside of the lifting / lowering body at the same time. You can leave the warehouse.

When a plurality of loads are to be stored, the transfer device is reversely operated in the loading and unloading place so that the plurality of loads are simultaneously taken into the stock section from the front and rear outside of the elevating body. Can be stocked together in the stock department. After that, the elevating body is moved up and down, and the transport device is further operated to sequentially transport the load from the stock section to the loading / unloading tool, and the loading / unloading tool stores the load in the target load storage section.

According to a second aspect of the present invention, a plurality of load storage portions are formed on the shelf vertically and horizontally, and the loading / unloading device is provided with a traveling body that can travel along the front surface of the shelf, and can be moved up and down on the traveling body. The present invention is characterized by comprising an elevating body provided and a loading / unloading tool that is provided on the elevating body to load and unload loads between the load storage section and the lifting body.

According to this, when a plurality of loads are to be delivered,
After moving the traveling body, raising and lowering the elevating body, and taking out the load from the target load storage section to the elevating body using the loading / unloading tool, operate the transport device to transport the load from the loading / unloading tool to the stock section. . As a result, the load is stocked in the stock section. Further, a plurality of loads can be collectively stocked in the stock unit by taking out another load from the load storage unit and sequentially stocking it in the stock unit in the same manner as described above. After that, the traveling body is caused to travel to the loading / unloading area and the elevating body is lowered to the loading / unloading area, so that a plurality of loads can be collectively put out to the loading / unloading area.

Further, when a plurality of loads are to be stored, the plurality of loads are collectively stocked from the loading and unloading area to the stock section, and then the traveling body is caused to travel, the elevating body is moved up and down, and further the transport device is operated. The load is sequentially transported from the stock section to the loading / unloading tool, and the loading / unloading tool stores the load in the target load storage section.

According to a third aspect of the present invention, the loading / unloading tool comprises a pair of left and right arms that can be retracted in the front-rear direction and engage with both sides of the load, and a lifting / lowering mechanism for lifting and lowering these arms with respect to the lifting / lowering body. The device is characterized in that at least one arm is provided so as to be movable in the width direction with respect to the other arm.

According to this, when loading and unloading a load, a pair of left and right arms are engaged with both sides of the load, and both arms are moved back and forth to move the load between the rack and the loading / unloading device. You can take it in and out with. At this time, the level of both arms can be changed by operating the elevating device to elevate and lower both arms with respect to the elevating body, and further, one arm can be moved in the width direction with respect to the other arm. This allows the width between both arms to be changed. Thereby, a plurality of types of loads having different heights and widths can be loaded and unloaded.

According to a fourth aspect of the present invention, a carrying device comprises a first conveyor located below the loading / unloading tool, and a second conveyor provided in the stock section and continuous with the first conveyor. It is characterized by being.

According to this, at the time of unloading, the load taken out from the load storage section of the shelf to the elevating body by the loading / unloading tool is transferred by the first conveyor, then transferred to the second conveyor, and then transferred by the second conveyor.
Is stocked at the upstream end of the conveyor. Further, when another load is taken out by the loading / unloading tool, the first conveyor and the second conveyor are driven so that the load previously stocked is transported to the downstream side of the second conveyor and stocked. At the same time, the load taken out later is conveyed from the first conveyor to the upstream end of the second conveyor and stocked there. This allows multiple loads to be taken out in the order
The second conveyor can be stocked in line from the downstream side to the upstream side.

Further, at the time of storage, after a plurality of loads are lined up in a line on the second conveyor and stocked, the second conveyor and the first conveyor are operated in reverse, whereby the upstream side of the second conveyor is The load is sequentially transferred to the first conveyor, and the loading / unloading tool stores the load transferred on the first conveyor in the load storage unit.

[0018]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described below with reference to FIGS. As shown in FIGS. 3 and 4, a plurality of load storage units 2 are formed in the vertical and horizontal directions on the pair of front and rear shelves 1a and 1b, respectively. Each load storage unit 2
Is formed so that a plurality of buckets 3 (an example of a load) can be stored. A loading / unloading device 7 for loading / unloading the bucket 3 into / from the load storage 2 is provided between the shelves 1a and 1b. In addition, on the outside of the side of both shelves 1a and 1b, a cargo handling area 5
The loading and unloading station 5 is provided with a pair of front and rear loading and unloading platforms 6a and 6b, and a controller 8 for instructing the loading and unloading command and the size of the bucket 3 to the loading and unloading device 7 by external input. And are installed.

The loading / unloading device 7 is capable of traveling back and forth along a traveling path 9 formed between the shelves 1a and 1b.
And an elevating body 11 provided on the traveling body 10 so as to be vertically movable,
The lifting / lowering body 11 is provided with a loading / unloading tool 12 for loading / unloading the bucket 3 between the load storage section 2 and the lifting / lowering body 11.

The traveling body 10 includes a lower traveling machine section 13, a pair of left and right posts 14 standing on the lower traveling machine section 13, and an upper traveling machine section 15 provided between the upper ends of both posts 14. It consists of The lower traveling unit 13 travels while being supported and guided by a floor rail 17 via a plurality of wheels 16, and the upper traveling unit 15 passes through a plurality of guide rollers 18 and a ceiling rail.
You will be guided by 19.

As shown in FIG. 1, the elevating / lowering body 11 is formed by a pair of front and rear lower frame bodies 21 and side frame bodies 22 erected on both side ends of both lower frame bodies 21. Then, it is supported and guided by both posts 14 via a plurality of guide rollers 20 and moves up and down.

As shown in FIG. 1, FIG. 2 and FIG. 5, the above-mentioned loading / unloading tool 12 is provided on one side frame body 22 side, and on the other side of the loading / unloading tool 12 and above the lower frame body 21. Has a stock portion 23 for stocking a plurality of buckets 3.

As shown in FIG. 1, FIG. 5 and FIG. 7, a transfer device 42 for loading and unloading the bucket 3 into and out of the stock portion 23 and the front and rear outside of the lifting body 11 at the same time. Is provided. The transfer device 42 includes support frames 24 that are erected on both end portions of the upper surface of the lower frame body 21, and a plurality of support frames 24 that are supported between the support frames 24 and are arranged side by side in the front-rear direction and rotate in the left-right direction. A support roller 26 rotatable about an axis 25 and the above-mentioned support rollers via a drive chain 28.
It is composed of a drive motor 27 for driving the 26 in forward and reverse directions all at once.

As shown in FIG. 1, FIG. 5 and FIG. 6, the lower frame body 21 conveys the bucket 3 in the left-right direction and conveys it between the stock portion 23 and the loading / unloading tool 12. Is provided. The transfer device 29 is a pair of front and rear first chain conveyors located below the loading / unloading tool 12.
30 (an example of a first conveyor) and a pair of front and rear second chain conveyors 31 (an example of a second conveyor) provided in the stock section 23 and continuous with the first chain conveyor 30. The first chain conveyors 30 are driven by a first drive motor 33, and the second chain conveyors 31 are driven by a second drive motor 34. In addition, as shown in FIGS. 5 and 7, the first chain conveyor 30 and the second chain conveyor 31 are provided between predetermined support rollers 26, and are raised and lowered with respect to the upper end of the support rollers 26 by the lifting device 35. It can move up and down freely.

As shown in FIG. 8, the elevating device 35 includes a pair of front and rear L-shaped first swing arms 36 and a pair of front and rear second swing arms 37 provided on the lower frame body 21.
A tie rod 38 connected between one free end of the first swing arm 36 and one free end of the second swing arm 37.
And a lifting motor 40 that swings the first swing arm 36 up and down via the connecting rod 39. The other free end of each of the first swing arms 36 and the other free end of the second swing arm 37 corresponds to the first chain conveyor.
It is connected to a conveyor frame 41 which supports both 30 and the second chain conveyor 31.

According to this, the first swing arm is driven through the connecting rod 39 by driving the lifting motor 40.
As the 36 swings, the second swing arm 37 also swings via the tie rod 38 in the same manner as the first swing arm 36,
The conveyor frame 41 is lifted so that the first chain conveyor 30 and the second chain conveyor 31 together rise above the upper end of the support roller 26, as shown in phantom in FIG. 7 and in FIG. Similarly, by driving the lifting motor 40 in the reverse direction, both the first chain conveyor 30 and the second chain conveyor 31 are lowered below the upper end of the support roller 26, as shown by the solid lines in FIGS. 5 and 7. To do.

As shown in FIGS. 1 and 7, between the pair of support rollers 26 facing each other at the front end and between the pair of support rollers 26 facing each other at the rear end, the upper ends of these support rollers 26 are respectively compared. Stopper body 43 that can move up and down
a and 43b are provided. That is, the stopper body
Each of 43a and 43b is a parallel link mechanism that is vertically rotatable with respect to a bracket 44 provided on the lower frame body 21.
Installed via 45. Also, the lower frame body 21
Are provided with stopper motors 46a and 46b for driving the stopper bodies 43a and 43b to move up and down, and the stopper motors 46a and 46b and the parallel link mechanism 45 are interlockingly connected via a connecting rod 47.

According to this, each stopper motor 46a,
By driving 46b, the parallel link mechanism 45 is rotated upward through the connecting rod 47, so that the stopper bodies 43a and 43b are individually supported by the support roller 26 as shown by the phantom line in FIG. Rise above the top edge. Similarly, stopper motor
By driving 46a and 46b in the reverse direction, the stopper bodies 43a and 43b individually descend below the upper end of the support roller 26, as shown by the solid line in FIG.

As shown in FIGS. 7 and 11, the bucket 3
Is formed in a rectangular box shape with an open upper surface, and side ribs 49 projecting outward are formed in the front and rear directions at the upper portions of both side surfaces. A recess 50 having an open bottom is formed in the center of each of the side ribs 49.

As shown in FIG. 1 and FIG.
Is a pair of left and right multi-stage arms 52 that move forward and backward.
a, 52b, and an elevating device 53 for elevating both arms 52a, 52b with respect to the elevating body 11. As shown in FIG. 9, the elevating device 53 includes an elevating frame 54 that can be raised and lowered, an elevating motor 55 attached to the upper surface of one side frame body 22, and a drive shaft of the elevating motor 55. Drive pulley 56, a driven pulley 57 attached to the lower portion of one side frame body 22, and a drive wound between the drive pulley 56 and the driven pulley 57 and connected to the elevating frame 54. It is composed of a belt 58. As shown in FIGS. 5 and 6, a guide rail 59 for guiding the elevating frame 54 in the vertical direction is provided on the inner side surface of the one side frame body 22.

According to this, by driving the lifting motor 55, the driving belt 58 rotates via the driving pulley 56 and the driven pulley 57, and as a result, as shown by the phantom line in FIG. The frame 54 descends while being guided by the guide rail 59. Similarly, by driving the lifting motor 55 in the reverse direction, as shown by the solid line in FIG.
Rises.

As shown in FIGS. 1, 10 and 11, the arms 52a and 52b are paired with a pair of left and right arms which are supported and guided by a pair of front and rear guide shafts 60 provided on the elevating frame 54 and can be opened and closed in the left and right directions. The mounting plates 61a and 61b and the two mounting plates 61a and 61a,
First stage arm portions 62a, 62b provided in the lower part of the inner surface of 61b so as to be able to move forward and backward, and both first stage arm portions 62a, 62
Second-stage arm part that is provided in b so as to be able to move forward and backward
It is composed of 63a and 63b.

Slide members 64a and 64b are provided on the upper portions of the two mounting plates 61a and 61b, respectively.
A and 64b are externally fitted to a rotary shaft 65 provided on the elevating frame 54 so as to be slidable in the left-right direction. The lifting frame 54 is provided with an opening / closing device 67 for opening / closing the gap between the two mounting plates 61a, 61b. That is, as shown in FIG. 1, FIG. 6 and FIG.
An opening / closing motor 68 provided on one side of the opening / closing unit 54, a drive pulley 69 provided on the drive shaft of the opening / closing motor 68, a driven pulley 70 provided on the other side of the elevating frame 54, and a drive unit for these drives. It comprises a drive belt 71 which is wound between a pulley 69 and a driven pulley 70 and which is interlockingly connected to both the slide members 64a and 64b. As shown in FIGS. 10 and 11, the slide member 64a on one side is connected to the forward path 71a of the drive belt 71 via the clamp 72a, and the slide member 64b on the other side is driven via the clamp 72b. Belt 71
Is connected to the return path 71b.

According to this, by driving the opening / closing motor 68, the drive belt 71 rotates via the drive pulley 69 and the driven pulley 70, and both slide members 64a and 64b pass through both clamps 72a and 72b. Are guided by the rotating shaft 65 and move toward each other, and as shown by the phantom line in FIG. 10, both mounting plates 61a, 61b are guided by the guide shaft 60 and move in the closing direction A, The space between the first stage arm portions 62a and 62b and the space between the second stage arm portions 63a and 63b are closed.
Similarly, by reversely driving the opening / closing motor 68, both mounting plates 61a and 61b are guided by the guide shaft 60 to move in the opening direction, and as shown by the solid line in FIG. ，
The space between 62b and the space between both second-stage arm portions 63a and 63b is opened.

As shown in FIG. 9, the elevating frame 54 and the arms 52a, 52b are provided with both the first-stage arm portions 62a, 62a.
A retracting device 73 for retracting 62b and both second-stage arm portions 63a and 63b in the front-rear direction is provided. That is, the retracting device 73 is provided on the elevating frame 54 and is mounted on both the first-stage arm parts.
A motor 74 for moving in and out of 62a, 62b and both second-stage arm portions 63a, 63b, a motor 74 for moving in and out, and the rotary shaft
Gears 75 and 76 for interlocking connection with 65 and the rotary shafts provided inside the slide members 64a and 64b as shown in FIG.
A small gear 77 that rotates integrally with 65, and a large gear 78 that is attached to the inner surfaces of the mounting plates 61a and 61b and that meshes with the small gear 77.
A rack 79 attached to both first-stage arm portions 62a and 62b and meshing with the large gear 78, and first racks as shown in FIG.
A pair of upper and lower sprockets 80 and 81 provided at the front and rear ends of the step arm portions 62a and 62b, and both second step arm portions 63a and 63b and both mounting plates 61a that mesh with these sprockets 80 and 81.
It is composed of chains 82 and 83 connected to 61b.

Two chains 82, 83 are provided on each side. One of the chains 82 has one end connected to one end of the second-stage arm portions 63a, 63b, and the middle portion has the first-stage arm portion. A pair of upper and lower sprockets 81 at the other ends of the 62a and 62b mesh with each other to make a U-turn, and the other ends are connected to one ends of the mounting plates 61a and 61b. The other chain 83 has one end connected to the other ends of the second-stage arm portions 63a and 63b, and an intermediate portion meshed with a pair of upper and lower sprockets 80 at one end of the first-stage arm portions 62a and 62b to make a U-turn. The other end is connected to the other ends of the mounting plates 61a and 61b.

As shown in FIG. 11, both of the first-stage arm portions
62a and 62b are supported and guided by a lower guide rail 85 mounted inside both mounting plates 61a and 61b via a lower guide roller 84 and a lower support roller (not shown), and move forward and backward. It is free. Further, both the second-stage arm portions 63a and 63b are supported and guided by an upper guide roller 87 and an upper-support roller (not shown) attached to both the first-stage arm portions 62a and 62b, and move forward and backward. It is free.

According to this, the entering / leaving motor shown in FIG.
By driving 74, the rotary shaft 65 is rotated through the gears 75 and 76.
11 and the small gears 77 shown in FIG. 11 rotate, the large gears 78 rotate, and the rack 79 causes both the first-stage arm portions 62 to rotate.
a and 62b project forward. As a result, as shown in FIG. 12, the sprocket 81 on the other side rotates via the chain 82 on one side, and the sprocket 80 on the other side rotates via the chain 83 on the other side, so that the second stage arm portions 63a, 63a, 63b also projects forward. Similarly, by driving the retracting motor 74 in the reverse direction, both the first-stage arm portions 62a, 62b and both the second-stage arm portions 63a, 63b retract into the inside of both the mounting plates 61a, 61b. Furthermore, by reversely driving the exit / return motor 74,
Both first-stage arm portions 62a, 62b and both second-stage arm portions 63a,
63b and rearward project.

As shown in FIG. 12, both of the second-stage arm portions described above.
On the upper surfaces of 63a and 63b, a convex portion 90 which is engageable with and disengageable from below in the concave portion 50 of the bucket 3 is formed. Further, as shown in FIG. 11, guide rollers 91 are provided inside the lower end portions of the both mounting plates 61a and 61b so as to abut the both side surfaces of the bucket 3 and guide the bucket 3 in the left-right direction.

As shown in FIG. 5, a lateral member 92 is provided between the upper ends of the frame members 22 on both sides of the elevating body 11, and the lateral member 92 is provided.
92 and the lower frame body 21 are respectively provided with light emitting / receiving devices 93a and 93b of photoelectric switches for detecting that the bucket 3 stocked in the stock portion 23 has expired, and an upstream end of the second chain conveyor 31. 1st of stocked bucket 3
Photoelectric switch emitters / receivers 94a, 94b for detecting protrusion to the side of the chain conveyor 30 and photoelectric switch emitters / receivers 95a, 95b for detecting the bucket 3 reaching the downstream end of the first chain conveyor 30. It is provided. Further, as shown in FIG. 6, both side frame bodies 22 are respectively provided with light-emitters / receivers 97a and 97b of photoelectric switches for detecting the protrusion of the bucket 3 in the front-rear direction, and a photoelectric switch for detecting the presence or absence of the bucket 3. And a light receiving / receiving device 98a, 98b.

As shown in FIG. 13, the handling platforms 6a, 6 are
A plurality of rollers 100, each of which is rotatable around a rotation axis 99 in the left-right direction, are juxtaposed forward and backward on the upper part of b. The rollers 100 are simultaneously rotated in the normal and reverse directions by a motor 101.

The operation of the above structure will be described below.
When a plurality of buckets 3 stored in the front shelf 1a are to be unloaded to the material handling platforms 6a and 6b, the traveling body 10 travels, the elevating body 11 moves up and down, and the loading / unloading tool 12 serves as the intended load storage section. Located in front of 2.

Then, the drive belt 71 is rotated by the driving of the opening / closing motor 68 shown in FIG. 10, and the distance between the arms 52a and 52b is set to the bucket 3 as shown in (a) to (b) of FIG. Is slightly wider than the width W of the second arm, and the elevating frame 54 is lowered by the drive of the elevating motor 55 shown in FIG. 9, and as shown in (c) of FIG. 63
Both arms 52a, 52b descend until the convex portion 90 of a, 63b becomes lower than the side rib 49 of the bucket 3. Then, as shown in FIG. 12, the first and second motors 74 are driven by the drive motor 74.
The stepped arm portions 62a, 62b and the second stepped arm portions 63a, 63b project forward from the mounting plates 61a, 61b, and the second stepped arm portions 63a, 63b are inserted into both sides of the bucket 3 to form side ribs.
Located below 49. Thereafter, the space between the arms 52a and 52b is slightly narrowed, and the convex portion 90 of the second-stage arm portion 63a, 63b is located below the concave portion 50 of the bucket 3.

Then, as the elevating frame 54 rises, as shown in FIG.
Rises, and the both convex portions 90 engage with the concave portion 50 from below.
After that, the first arm portions 62a, 62b and the second arm portions 63a, 63b withdraw from the inside of the mounting plates 61a, 61b, so that the bucket 3 can store the load as shown in FIG. It is taken out from the section 2 to the lifting body 11 and placed on the support roller 26.

Then, as the elevating frame 54 descends, both arms 52a and 52b are moved as shown in FIG.
Is lowered, so that the convex portion 90 is removed below the concave portion 50.
Then, as shown in FIG. 15F, both arms 52a, 52a
The space b is opened so that both arms 52a and 52b retreat to both sides of the bucket 3, and the elevating frame 54 rises, so that both arms 52a and 52b move to the bucket 3 as shown in FIG. Retreat upwards.

Then, as shown in FIG. 8, a lifting motor is used.
By driving 40, the first and second chain conveyors 30, 31
Rises to lift the bucket 3 above the support roller 26, and by driving the first and second drive motors 33 and 34, the first and second chain conveyors 30 and 31 operate to move the bucket 3 to the first position. It is conveyed from the first chain conveyor 30 to the second chain conveyor 31. When the bucket 3 is transferred from the downstream end of the first chain conveyor 30 to the upstream end of the second chain conveyor 31, the first and second chain conveyors 3
As 0 and 31 stop, they descend. As a result, the bucket 3 taken out first is placed on the support roller 26 and is stocked at a position above the upstream end of the second chain conveyor 31.

After that, the traveling body 10 travels again and the elevating / lowering body 11 ascends / descends, and the loading / unloading tool 12 is positioned in front of another load storage section 2. Then, the access tool 12 operates in the same manner as described above, and (a) to (c) of FIG. 14 and (d) to (g) of FIG.
After the above procedure, another bucket 3 is taken out from the load storage unit 2 to the lifting body 11 and placed on the support roller 26. Thereafter, the first and second chain conveyors 30 and 31 ascend to lift the bucket 3 taken out first and the bucket 3 taken out secondly above the support roller 26. After that, the first drive motor 33 drives the first chain conveyor 30, and the second bucket 3 is transported and transferred to the upstream end of the second chain conveyor 31. At this time, the second chain conveyor 31 is also driven by the drive of the second drive motor 34, whereby the first bucket 3 is transported from the upstream end of the second chain conveyor 31 to the downstream side, and the second bucket 3 Is passed to the upstream end of the second chain conveyor 31.

Then, the first and second chain conveyors 3
By stopping and lowering the 0 and 31, the second bucket 3 is placed on the support roller 26 and stocked at a position above the upstream end of the second chain conveyor 31, as shown in FIG. At the same time, the first bucket 3 is placed on the support roller 26 and is stocked adjacent to the downstream side of the second bucket 3.

By repeating the above-mentioned taking-out operation, as shown in FIG. 5, a plurality of buckets 3 can be stocked in a line in the order taken out from the downstream end to the upstream end of the second chain conveyor 31. it can. Then, after the last-taken bucket 3 is placed on the support roller 26 and stocked below the loading / unloading tool 12 and above the first chain conveyor 30, the traveling body 10 faces the loading and unloading platforms 6a and 6b. As the vehicle travels and the lifting body 11 descends, the material handling platforms 6a, 6
Located in front of b.

After that, by driving the driving motor 27 shown in FIG. 5, all the supporting rollers 26 are simultaneously rotated through the driving chain 28, and as shown in FIG. The buckets 3 are collectively discharged from the lifting body 11 to the front loading platform 6a (or the rear loading platform 6b) by the support rollers 26. At this time, the rollers 100 of the front loading platform 6a (or the rear loading platform 6b) also rotate in unison in synchronization with the support rollers 26 of the lifting body 11 due to the driving of the motor 101, so that the plurality of buckets 3 are simultaneously operated. It is automatically placed on the front loading platform 6a (or the rear loading platform 6b).

When the plurality of buckets 3 stored in the rear shelf 1b are to be taken out, as shown by phantom lines in FIG. 6, both first-stage arm portions 62a, 62b and both second-stage arm portions are shown.
63a and 63b may be projected rearward.

Next, when loading a plurality of buckets 3 from the front loading platform 6a to the front shelf 1a, as shown in FIG. 13, the rollers 100 of the front loading platform 6a are driven by the reverse drive of the motor 101. Reversely rotates, and the support roller 26 of the lifting body 11 reversely rotates via the driving chain 28 by the reverse driving of the driving motor 27, so that the plurality of buckets 3 are simultaneously moved from the front loading platform 6a to the lifting body. It is taken into 11 and supported by the support roller 26. At this time, as shown by the phantom line in FIG. 7, the rear stopper motor 43b is driven to raise the rear stopper body 43b above the upper end of the support roller 26, so that the rear stopper body 43b is carried into the elevating body 11 from the front. The bucket 3 abuts on the rear stopper body 43b, so that the bucket 3 is lifted up and down.
It can be prevented from protruding to the rear of. Then, after the plurality of buckets 3 are surely loaded into the lift body 11, the rear stopper motor 43b is reversely driven by the rear stopper motor 46b to move the rear stopper body 43b from the upper end of the support roller 26 as shown by the solid line in FIG. Also descends downward. The same applies when a plurality of buckets 3 are carried in from the rear loading / unloading table 6b to the lifting / lowering body 11. At this time, the front stopper motor 43a is driven to move the front stopper body 43a to the upper end of the support roller 26. It is sufficient to prevent the bucket 3 carried into the elevating body 11 from the rear from protruding to the front of the elevating body 11.

The plurality of buckets 3 thus carried in are placed on the support rollers 26 of the lifting body 11,
They are arranged in a line and are stocked in the stock section 23 and below the access tool 12. After that, the traveling body 10 travels, the elevating body 11 moves up and down, and the loading / unloading tool 12 is positioned in front of the target load storage unit 2.

Then, as the elevating frame 54 descends, as shown in (a) to (b) of FIG.
a and 52b descend, and the convex portions 90 of the second-stage arm portions 63a and 63b
Is lowered below the side rib 49 of the bucket 3,
As shown in FIG. 16C, the distance between the arms 52a and 52b is closed according to the width of the bucket 3, and thus the convex portion 90 is formed.
Is located below the recess 50 of the bucket 3. Next, as the elevating frame 54 rises, both arms 52a and 52b rise, and the protrusion 90 engages with the recess 50 from below as shown in FIG. After that, as shown by phantom lines in FIG. 6, both first-stage arm portions 62a and 62b and both second-stage arm portions 63 are formed.
a and 63b project forward from the inside of the mounting plates 61a and 61b, so that the bucket 3 is moved forward from the lifting body 11 to the shelf 1a.
Is pushed into the load storage unit 2 for the purpose of.

After that, as the elevating frame 54 descends, as shown in FIG. 17 (e), both arms 52a, 52b.
Is lowered, and the convex portion 90 is removed below the concave portion 50. Then, as shown by the solid line in FIG. 6, both first-stage arm portions 62a,
62b and both second-stage arm portions 63a and 63b are mounting plates 61a and 61
Retreat to the inside of b and use both arms as shown in (f) of Fig. 17.
The space between 52a and 52b is opened, and the elevating frame 54 is raised,
Both arms 52a and 52b return upward as shown in FIG. As a result, the bucket 3 stocked below the loading / unloading tool 12 is loaded into the target load storage unit 2.

After that, the first and second chain conveyors 3
0 and 31 rise to lift the remaining bucket 3 above the support roller 26, and further, the first and second chain conveyors.
30 and 31 are driven in reverse. As a result, the second chain conveyor
The plurality of buckets 3 stocked on 31 are moved to the first chain conveyor 30 side at a time, and the second bucket 3 stocked on the starting end of the second chain conveyor 31 is the first chain conveyor. It is conveyed onto the conveyor 30. After that, the first and second chain conveyors 30 and 31 stop and descend. As a result, the remaining buckets 3 are placed on the support rollers 26, and the second bucket 3 is positioned below the loading / unloading tool 12.

The second bucket 3, like the bucket 3 that was initially stored, goes through the steps of (a) to (d) in FIG. 16 and (e) to (to) in FIG. The container 12 is used to store the cargo in the intended load storage unit 2. Furthermore, the third and subsequent buckets 3 are similarly sequentially stored.

As described above, when a plurality of buckets 3 are temporarily stocked in the lifting body 11 at the time of unloading, all of these buckets 3 are unloaded to the loading and unloading platforms 6a and 6b at one time. It can be done in a short time. In addition, at the time of storage, after the plurality of buckets 3 are once stocked from the material handling platforms 6a, 6b to the lifting body 11, the plurality of buckets 3 are all stored on the shelves 1a, without returning to the material handling platforms 6a, 6b. Since it is carried into 1b, it can be stored in a short time.

Further, as shown in FIG. 13, the material handling table 6a,
By rotating each roller 100 of 6b and each support roller 26 of the transfer device 42 of the lifting body 11, the loading and unloading table 6a,
Since a plurality of buckets 3 can be collectively transferred between the 6b and the elevating / lowering body 11, the time required for loading and unloading can be further shortened as compared with the conventional one, and labor can be saved.

Since both arms 52a and 52b are constructed so that they can be opened and closed in the width direction and can be moved up and down, as shown by the solid and phantom lines in FIG. 5, there are a plurality of types with different widths and heights. The bucket 3 can be taken in and out. At this time, the type of bucket 3 and the order of loading and unloading are designated by the controller 8.

Further, in order to prevent the bucket 3 from protruding in the front-rear direction when the traveling body 10 is traveling and when the elevating body 11 is being raised or lowered, as shown by phantom lines in FIG.
43a and 43b may be raised above the upper end of the support roller 26.

Further, since the bucket 3 is guided by the pair of left and right guide rollers 91 as shown in FIG. 11 when the bucket 3 is taken in and out by both arms 52a and 52b,
It is possible to prevent the bucket 3 from shifting in the left-right direction.

In the above-described embodiment, as shown in FIG. 5, the loading / unloading tool 12 is fixedly provided on the elevating / lowering body 11. However, the loading / unloading tool 12 is provided on the transfer path 102 of the first and second chain conveyors 30 and 31. It may be reciprocally movable in the direction of.

Another embodiment of the present invention will be described below with reference to FIG. The first part dedicated to warehousing on one side of the lift 11
Is equipped with a tool 12a for loading and unloading, and the other side is equipped with a second
An outlet / intake tool 12b is provided. The first and second access tools 12a and 12b have the same structure as that of the above-described embodiment. The above first access device 12
A plurality of buckets 3 are provided between a and the second access tool 12b.
A stock portion 23 capable of stocking is formed. First
A first chain conveyor 120a is provided below the loading / unloading tool 12a so that it can be raised and lowered, and a second chain conveyor 120b is provided below the second loading and unloading tool 12b so that it can be raised and lowered. And the second chain conveyor 120b
An intermediate chain conveyor 120c is provided between the above and the other so as to be movable up and down over the range of the stock portion 23. According to this, after the plurality of buckets 3 are stocked below the stock portion 23 and the first loading / unloading tool 12a and below the second loading / unloading tool 12b, the first loading / unloading tool 12a is activated and first Bucket 3
To the front shelf 1a (or the rear shelf 1b), and then the chain conveyors 120a, 120b, 120c are driven to convey the remaining buckets 3 to the first loading / unloading tool 12a side. The second bucket 3 is the first accessor
While being conveyed below 12a, the last bucket 3 is transferred from the second chain conveyor 120b to the intermediate chain conveyor 120b.
It is conveyed to c and the lower part of the second loading / unloading tool 12b becomes empty.

After that, the second loading / unloading tool 12b is activated and the bucket 3 is unloaded from the front shelf 1a (or the rear shelf 1b), and the unloaded bucket 3 is placed below the second loading / unloading tool 12b. Stocked. Next, the first loading / unloading tool 12a is actuated to load the second bucket 3, and thereafter, by repeating the loading and unloading alternately in the above manner, the number of traveling times of the traveling body 10 required for loading and unloading. Since it is possible to further reduce the number of times the elevator 11 is moved up and down, it is possible to further reduce the time required for loading and unloading.

[0066]

As described above, according to the invention of claim 1 of the present invention, at the time of warehousing, the elevating body is moved up and down to store a plurality of loads from the load storage section of the shelf. Once stocked in the loading section, the elevator is returned to the loading / unloading area, and the transfer device is operated to discharge multiple loads from the stock section to the front and rear of the lifting unit at the same time. You can put them all together at the handling area. Therefore, it is possible to shorten the time required for warehousing and save labor.

At the time of loading, at the loading and unloading area,
By reversely operating the transfer device and simultaneously taking in a plurality of loads to the stock section from the front and rear outside of the elevating body, a plurality of loads can be stocked together in the stock section. After that, the elevator is moved up and down and all the plurality of loads are loaded into the shelf without returning the elevator to the loading and unloading area. As a result, the time required for warehousing can be shortened and labor can be saved.

Further, according to the second aspect of the present invention, at the time of warehousing, the traveling body is caused to travel and the elevating body is moved up and down to temporarily stock a plurality of loads from the load storage section of the shelf to the stock section of the elevating body. After that, the elevating body is returned to the loading / unloading area, and a plurality of loads can be collectively discharged by the operation of the transfer device to the loading / unloading area, so that the unloading can be performed in a short time.
In addition, at the time of loading, by reverse operation of the transfer device, a plurality of loads are simultaneously taken from the loading / unloading area into the stock section of the lifting / lowering body and once stocked, and then the lifting / lowering body is not returned to the loading / unloading area one by one, Since it is possible to move the traveling body and raise and lower the elevating body to carry in a plurality of loads all on the shelf,
Goods can be stored in a short time.

Further, according to the third aspect of the present invention, the level of both arms can be changed by operating the elevating device to elevate and lower both arms with respect to the elevating body. By moving the arm in the width direction, the width between both arms can be changed. Therefore, it is possible to load and unload a plurality of types of loads having different heights and widths.

Further, according to the invention as set forth in claim 4, the load taken out from the shelf to the elevating / lowering body by the take-out tool at the time of warehousing is transferred by the first conveyor and then transferred by the second conveyor. , Stocked at the upstream end of the second conveyor. Furthermore, when another load is taken out by the access tool,
By driving the first conveyor and the second conveyor, the load previously stocked is transported to the downstream side of the second conveyor and stocked, and the load taken out later is the first conveyor. To the upstream end of the second conveyor for stocking. This allows multiple loads
In the order in which they are taken out, they can be stocked in a line from the downstream side to the upstream side of the second conveyor.

When a plurality of loads are lined up and stocked on the second conveyor at the time of warehousing, the second conveyor and the first conveyor are driven in reverse, so that the load on the upstream side of the second conveyor is increased. The load is sequentially transferred to the first conveyor, and the loading / unloading tool is sequentially transferred to the first conveyor to store the load in the load storage unit.

[Brief description of the drawings]

FIG. 1 is a perspective view of an elevating / lowering body of an automatic warehouse loading / unloading device according to an embodiment of the present invention.

FIG. 2 is a perspective view of the lifting / lowering body when loading / unloading a load to / from a shelf.

FIG. 3 is a plan view of an automated warehouse.

FIG. 4 is a front view of the access device.

FIG. 5 is a front view of an elevating body.

FIG. 6 is a plan view of an elevating body.

7 is a view on arrow AA in FIG.

FIG. 8 is a front view of a transfer device and its lifting device.

FIG. 9 is a front view of the access tool.

FIG. 10 is a plan view of both arms and the opening / closing device thereof.

FIG. 11 is a front view of both arms and a retracting device thereof.

FIG. 12 is a side view of both arms and a retracting device thereof.

FIG. 13 is a plan view of the material handling table.

FIG. 14 is a diagram showing the movement of both arms when leaving the warehouse.

FIG. 15 is a diagram showing the movement of both arms at the time of leaving the warehouse.

FIG. 16 is a diagram showing the movement of both arms during storage.

FIG. 17 is a diagram showing the movement of both arms during storage.

FIG. 18 is a front view of an elevating / lowering body of the loading / unloading device of the automatic warehouse according to another embodiment of the present invention.

[Explanation of symbols] 1a, 1b Shelf 2 Load storage unit 3 Bucket (load) 7 Loading / unloading device 10 Traveling body 11 Elevating / lowering unit 12 Loading / unloading device 23 Stock unit 29 Conveying device 30 First chain conveyor (first conveyor) 31 Second chain conveyor (second conveyor) 42 Transfer device 52a, 52b Arm 53 Lifting device

Claims (4)

[Claims] 1. A plurality of load storage parts are formed on a shelf vertically, and a loading / unloading device for loading / unloading a load to / from the load storage part is provided in front of the shelf. , A stock unit provided on the lifting body for loading and unloading a load between the load storage section and the lifting body, and a stock section for stocking a plurality of loads on the lifting body and this stock. And a transfer device for transferring the load between the stock part and the front and rear outside of the elevating body at the same time. Automatic warehouse to do. 2. A plurality of load storage parts are formed on the shelf vertically and horizontally, and a loading / unloading device is provided on the traveling body that can travel along the front surface of the shelf, and an elevating body provided on the traveling body so as to be vertically movable. 2. The automatic warehouse according to claim 1, further comprising: a loading / unloading tool provided on the lifting body for loading and unloading a load between the load storage section and the lifting body. 3. The loading / unloading tool is composed of a pair of left and right arms that can be retracted in the front-rear direction and engage with both sides of a load, and a lifting device that lifts and lowers both arms with respect to a lifting body. The automated warehouse according to claim 1, wherein at least one arm is provided so as to be movable in the width direction with respect to the other arm. 4. The transfer device comprises a first conveyor located below the loading / unloading tool, and a second conveyor provided in the stock section and continuous with the first conveyor. The automatic warehouse according to claim 1.