JPS6310045B2 - - Google Patents
Info
- Publication number
- JPS6310045B2 JPS6310045B2 JP24148383A JP24148383A JPS6310045B2 JP S6310045 B2 JPS6310045 B2 JP S6310045B2 JP 24148383 A JP24148383 A JP 24148383A JP 24148383 A JP24148383 A JP 24148383A JP S6310045 B2 JPS6310045 B2 JP S6310045B2
- Authority
- JP
- Japan
- Prior art keywords
- cargo
- loading
- vehicle
- automated
- shelf
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 230000003028 elevating effect Effects 0.000 claims description 6
- 230000032258 transport Effects 0.000 claims 3
- 238000007726 management method Methods 0.000 description 17
- 238000005192 partition Methods 0.000 description 14
- 238000004891 communication Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/10—Storage devices mechanical with relatively movable racks to facilitate insertion or removal of articles
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
- Loading Or Unloading Of Vehicles (AREA)
Description
【発明の詳細な説明】 産業上の利用分野 本発明は貨物輸送積卸装置に関する。[Detailed description of the invention] Industrial applications The present invention relates to a cargo transport loading/unloading device.
従来例の構成とその問題点
従来の貨物輸送は鉄道便とトラツク便に頼つて
いるのが現状であつて、自動的に目的地へ輸送貨
物を送り届けることができない。そこで、自動的
に輸送する方法としては、鉄道便の各駅間を移動
する搬送車の走行をその搬送車に積載された輸送
貨物の配送先に応じて、コントロールセンタの大
型コンピユータで管理することが考えられる。し
かし、サービスエリアの拡大に伴つて搬送車の台
数が増加すると共に1台の搬送車に積載される配
送先の異なる貨物の数が増加すると、従来のシス
テムでは所定の貨物を荷卸しすると共に積込みす
るのに時間がかかりすぎるという欠点がある。Conventional configuration and its problems Conventional freight transportation currently relies on rail and truck freight, and it is not possible to automatically deliver the freight to the destination. Therefore, one method of automatic transportation is to use a large computer in a control center to manage the movement of a transport vehicle between each railway station, depending on the destination of the cargo loaded on the transport vehicle. Conceivable. However, as the number of transport vehicles increases with the expansion of the service area, and the number of cargoes loaded onto a single transport vehicle with different destinations increases, the conventional system unloads and loads the specified cargo. The disadvantage is that it takes too much time.
発明の目的
本発明は上記従来の欠点を解消する貨物輸送積
卸装置を提供することを目的とする。OBJECTS OF THE INVENTION It is an object of the present invention to provide a cargo transport loading/unloading device that eliminates the above-mentioned conventional drawbacks.
発明の構成
上記目的を達成するため本発明の貨物輸送積卸
装置は、サービスエリア内に分散して配置された
複数の自動倉庫と、この自動倉庫の間を結ぶ軌道
設備と、輸送貨物を積載して前記軌道設備の軌道
上を移動する自動搬送車とを設け、自動倉庫に横
付けされた自動搬送車の適当な載置棚を引出す引
出装置を設け、自動倉庫内において軌道に沿つて
移動自在な台車上に昇降テーブルを昇降自在に設
け、該昇降テーブル上に配設されると共に所定の
引出された載置棚のエリアの底板を開けてそのエ
リアから落下してきた貨物を受けとつて所定場所
まで搬送する荷卸装置を設け、昇降テーブルの上
に昇降手段を介して昇降自在に配置されると共に
持込まれた貨物を所定の引出された載置棚のエリ
ア内に積込む積込装置を設けたものである。Composition of the Invention In order to achieve the above object, the cargo transport loading and unloading device of the present invention includes a plurality of automated warehouses distributed in a service area, a track facility connecting the automated warehouses, and a cargo transport loading/unloading device for loading transportation cargo. and an automatic guided vehicle that moves on the track of the track facility, and a pull-out device that pulls out a suitable loading shelf of the automatic guided vehicle that is next to the automated warehouse, so that the automated guided vehicle can be moved freely along the track within the automated warehouse. An elevating table is provided on a trolley that can be raised and lowered freely, and the bottom plate of a loading shelf area placed on the elevating table is opened and a predetermined pulled out area is opened to receive cargo that has fallen from that area and placed at a predetermined place. The cargo is placed on a lifting table so as to be freely raised and lowered via a lifting means, and a loading device is installed to load the brought cargo into a predetermined area of a loaded shelf that has been pulled out. It is something.
実施例と作用
以下、本発明の一実施例を図面に基づいて説明
する。Embodiment and Operation An embodiment of the present invention will be described below based on the drawings.
第1図は本発明の貨物輸送設備の基本的な構成
を示す。1a,1b,1c,1dはサービスエリ
ア2に分散して配置された自動倉庫、3は自動倉
庫1a〜1d間を結ぶ軌道設備、4は軌道設備3
上を移動する自動搬送車、5は各自動倉庫1a〜
1dで受付けた貨物の管理情報を記憶する貨物管
理装置である。管理情報とは、受付けられた各貨
物ごとに入力されており、その内容は次のような
ものである。 FIG. 1 shows the basic configuration of the cargo transportation equipment of the present invention. 1a, 1b, 1c, and 1d are automated warehouses distributed in the service area 2, 3 is track equipment connecting the automated warehouses 1a to 1d, and 4 is track equipment 3.
Automated guided vehicles moving above, 5 are each automated warehouse 1a ~
This is a cargo management device that stores management information of the cargo received in 1d. Management information is entered for each received cargo, and its contents are as follows.
貨物No.
等級
荷主の住所、氏名、電話番号
荷受人の住所、氏名、電話番号
配送先自動倉庫
取扱いの種類
貨物通過位置
なお、「貨物No.」とは「受付け自動倉庫No.」、
「受付日時」、「受付No.」から成つており、「等級」
とはその貨物の「大きさ」、「重量」、「種類」から
成つている。Cargo No. Class Shipper's address, name, and phone number Consignee's address, name, and phone number Delivery destination Automated warehouse Handling type Cargo transit position
It consists of "reception date and time", "reception number", and "grade"
consists of the "size", "weight", and "type" of the cargo.
第2図は自動倉庫1a〜1dの構成と軌道設備
3の構成を示す。各自動倉庫1a〜1dの構成は
何れも同じであるため、ここでは自動倉庫1aを
例に挙げて説明する。また、以下の説明では自動
搬送車4が軌道設備3上を矢印方向に走行する
ものとして説明する。 FIG. 2 shows the configuration of the automated warehouses 1a to 1d and the configuration of the track equipment 3. Since the configurations of the automatic warehouses 1a to 1d are all the same, the automatic warehouse 1a will be described here as an example. Furthermore, in the following description, it is assumed that the automatic guided vehicle 4 travels on the track equipment 3 in the direction of the arrow.
6は各貨物の管理情報を入力するための入力装
置、7は受付けた貨物を自動搬送車4へ積込む積
込装置、8は自動倉庫1aの構内で停車した自動
搬送車4(以下、自搬車と称す)から貨物を荷卸
しする荷卸装置、9は自搬車4を所定位置でクラ
ンプして貨物の積卸し中の自搬車4の位置を拘束
するクランプ装置、10は停車中の自搬車4とフ
オトカプラ等を介してデータの授受を実行する通
信装置、11は自動倉庫1a構内の軌道を前記ク
ランプ装置9によつてクランプされる停車経路1
2と通過経路13とを切換えるポイント装置、1
4は停車した自搬車4の扉15(第3図参照)に
係合してこの扉15を開閉する開閉装置、16は
自動倉庫1aの上記各装置を制御する自動倉庫制
御装置である。 6 is an input device for inputting management information for each cargo; 7 is a loading device for loading received cargo onto the automated guided vehicle 4; 8 is an automated guided vehicle 4 (hereinafter referred to as automated guided vehicle) stopped in the premises of the automated warehouse 1a; 9 is a clamping device for clamping the mobile vehicle 4 at a predetermined position and restraining the position of the mobile vehicle 4 during loading and unloading of cargo; 10 is a clamping device for unloading cargo from a stopped vehicle; A communication device for exchanging data with the self-propelled vehicle 4 via a photocoupler or the like, and 11 a parking route 1 whose track within the automated warehouse 1a is clamped by the clamping device 9.
a point device for switching between 2 and a passing route 13;
4 is an opening/closing device that engages with the door 15 (see FIG. 3) of the stopped personal vehicle 4 to open and close the door 15, and 16 is an automatic warehouse control device that controls the above-mentioned devices of the automatic warehouse 1a.
自搬車4は、第3図に示すように扉15の開放
によつて自動倉庫1a側へ引き出すことができる
第1〜第25の載置棚A1〜A25が設けられてお
り、各載置棚A1〜A25はそれぞれ4つのエリアB1
〜B4に区切られており、各エリアB1〜B4に貨物
を載置収容することができる。自搬車4の制御部
45は第4図に示すように、自搬車制御装置18
によつて制御されている通信装置19と、扉ロツ
ク装置20と、扉開閉検出装置21と、走行駆動
装置22と、自搬車4の走行にブレーキをかける
制動装置23と、自搬車4の走行中に各種の情報
を受信する位置情報受信装置24と、停車要求受
信装置25と、空棚番地メモリ26および積載貨
物管理装置27から構成されており、空棚番地メ
モリ26および積載貨物管理装置27には各載置
棚A1〜A25の各エリアB1〜B4にそれぞれ対応す
る書き込み位置1―1,1―2,1―3,1―
4、2―1…25―1,25―2,25―3,2
5―4が設けられている。積載貨物管理装置27
の書込み位置1―1〜25―4には積込まれた貨
物の「貨物No.」、「等級」、「配送先自動倉庫No.」が
その都度書き込まれる。 As shown in FIG. 3, the personal carrier 4 is provided with first to twenty-fifth loading shelves A 1 to A 25 that can be pulled out to the automated warehouse 1a side by opening the door 15. Each of the storage shelves A 1 to A 25 has four areas B 1
It is divided into areas B1 to B4 , and cargo can be placed and accommodated in each area B1 to B4 . As shown in FIG.
a communication device 19 controlled by the vehicle 4, a door lock device 20, a door opening/closing detection device 21, a travel drive device 22, a braking device 23 that brakes the travel of the vehicle 4, and a It is composed of a position information receiving device 24 that receives various information while the vehicle is running, a stop request receiving device 25, an empty shelf address memory 26, and a loaded cargo management device 27. The device 27 has writing positions 1-1, 1-2, 1-3, 1- corresponding to the areas B1 to B4 of the storage shelves A1 to A25 , respectively.
4, 2-1...25-1, 25-2, 25-3, 2
5-4 is provided. Loaded cargo management device 27
In the writing positions 1-1 to 25-4, the "cargo number", "class", and "delivery destination automated warehouse number" of the loaded cargo are written each time.
第7図と第8図は自動倉庫制御装置16のフロ
ーチヤートを示し、第9図は自搬車4に搭載され
た自搬車制御装置18のフローチヤートを示す。 7 and 8 show a flowchart of the automatic warehouse control device 16, and FIG. 9 shows a flowchart of the self-transported vehicle control device 18 mounted on the self-transported vehicle 4.
次に自搬車4の詳細を第10図〜第16図に基
づいて説明する。46は側面が開放された車体で
あつて、その天板46Aおよび底板46Bには矢
印方向に沿つて適当間隔ごとに複数(この実施
例では4本)の仕切溝47を形成してある。48
は各仕切溝47内に抜出し自在に挿入された仕切
壁であつて、格子状の壁本体48Aと、その壁本
体48Aの両側面に上下方向当間隔ごとに固着さ
れたガイドレール48Bとからなり、その各ガイ
ドレール48B上には前記各載置棚A1〜A25が引
出し自在に配置されている。49は壁本体48A
の上下端中央に形成された切欠部である。また前
記仕切溝47の切欠部49に対向する箇所にも切
欠口50を形成してある。51は車体46の上面
および下面に配設された仕切壁固定装置であつ
て、各仕切溝47の切欠口50に対向する箇所に
固着された支持枠52と、該各支持枠52内に移
動自在に挿通された移動杆53と、該移動杆53
に一体的に形成されると共に対向する切欠口50
および切欠部49に嵌入させられるキー54と、
本体が車体46に固定されると共にピストンロツ
ド先端が移動杆53の一端にピン連結された移動
杆用シリンダ装置55とから構成されている。そ
してたとえば大きな貨物34を搬送したいときに
は、まずシリンダ装置55を作動させて移動杆5
3を引張り、これによつて各キー54を切欠口5
0および切欠部49から抜き出して仕切壁48の
固定を解除し、次に適当な載置棚A1〜A25および
仕切壁48を車体46内から引き出すことによ
り、その車体46内に大きな空間を形成し、その
空間内に大きな貨物34を挿入すればよい。また
仕切壁48の交換の場合にも同様の操作をすれば
よい。20は扉ロツク装置であつて、第12図に
示すごとく中央部が車体46の前面適所に回動自
在にピン57連結されたロツクレバー58と、本
体が車体46の前面にピン連結されると共にピス
トンロツド先端がロツクレバー58の基端にピン
連結されたロツク用シリンダ装置59とから構成
されている。そして自搬車4の走行中は第12図
仮想線で示すごとくシリンダ装置59のピストン
ロツドを縮小させてロツクレバー58の先端を扉
15の先端折曲部15Aに当接させてその扉15
が開放されるのを防止し、貨物34の積卸時に
は、それに先立つてシリンダ装置59のピストン
ロツドを伸長させ、ロツクレバー58の先端を扉
15の先端折曲部15Aから離間させ、もつて扉
15が開放されるのを許容するものである。60
は走行車輪、61は横揺れ防止用車輪、62は車
体46の後面の支持枠63に上端が回動自在に支
持された回動レバー、64は該回動レバー62に
設けられた通電ブラシであつて、ばね装置65に
より軌道設備3の導線66に当接させられてい
る。67は車体46の前後面に配設されたダンパ
ーである。前記開閉装置14は、第2図および第
11図に示すごとく矢印方向に沿つてのびる長
尺の扉開閉用シリンダ装置69と、その扉開閉用
シリンダ装置69のピストンロツド先端に固定さ
れた水平移動テーブル70と、中央部が該テーブ
ル70に回動自在にピン連結されたフツクレバー
71と、本体がテーブル70にピン連結されると
共にピストンロツド先端がフツクレバー71の基
端にピン連結されたフツクレバー用シリンダ装置
72とから構成されている。そして扉15を開放
するときには、扉開閉用シリンダ装置69のピス
トンロツドを伸長させてフツクレバー71を扉1
5の先端に対向させ、次にフツクレバー用シリン
ダ装置72のピストンロツドを縮小させて第11
図仮想線状態のフツクレバー71の先端を扉15
の先端の係合口73に係合させ、次に扉開閉用シ
リンダ装置69のピストンロツドを縮小させて扉
15を引き出し、開放する。次に第11図実線に
示すごとく扉開閉用シリンダ装置69のピストン
ロツドを若干伸長させた後、第11図仮想線で示
すごとくフツクレバー用シリンダ装置72のピス
トンロツドを伸長させてフツクレバー71を回動
させ、フツクレバー71を扉15から離間させれ
ばよい。扉15を閉鎖するときには、上記と逆の
手順によりフツクレバー71の先端を係合口73
に係合させた後、扉開閉用シリンダ装置69のピ
ストンロツドを伸長させればよい。前記クランプ
装置9は、クランプ用シリンダ装置74と、該ク
ランプ用シリンダ装置74によつて自搬車4の四
隅の突出部75に対し嵌合、離脱させられるクラ
ンプブロツク76とから構成されている。なおそ
のクランプブロツク76と突出部75にはフオト
カプラ等の通信手段を配設してある。次に載置棚
A1〜A25、載置棚引出装置33および載置棚A1〜
A25の底板17を開閉する底板開閉装置79につ
いて第16図〜第22図に基づいて説明する。載
置棚A1〜A25は、四角形枠体80と、該枠体80
内を仕切つて4つのエリアB1〜B4を形成する仕
切板81と、各エリアB1〜B4の底面に配設され
ると共に基端が枠体80に支軸82を介して矢印
イ,ロ方向回動自在に支持されかつ先端のピン8
2が枠体80の下面の凹部83に嵌入自在な底板
17と、中央部が枠体80の両側壁に突設された
ピン85に矢印ハ,ニ方向回動自在に支持された
ストツパレバー86と、枠体80の両側壁に固定
したボツクス87内に矢印ホ,ヘ方向移動自在に
配設されると共に先端のロツク部88Aがストツ
パレバー86の基端に係合することによりそのス
トツパレバー86の先端で底板17の先端を支持
させるロツクブロツク88と、該ロツクブロツク
88を矢印ホ方向へ付勢するばね89と、枠体8
0の前面に固着された係合口90付き連結板91
とから構成されている。なお底板17には2つの
切欠部92を形成してある。載置棚引出装置33
は、シリンダ本体94と、該シリンダ本体94内
に矢印ト,チ方向移動自在に配設されたラツク9
5と、ラツク95の上面に当接する押えローラ9
6と、ラツク95に噛合するピニオン97と、該
ピニオン97を正逆転させる駆動モータ(図示せ
ず)と、ラツク95の先端に回転自在に配設され
たT字杆98と、該T字杆98に固着された操作
杆99と、本体がラツク95にL字杆100を介
して固定されると共にピストンロツド先端の連結
杆101が上記操作杆99の先端の長穴102内
に嵌入するT字杆用シリンダ装置103とから構
成されている。前記底板開閉装置79は、シリン
ダ本体94から載置棚A1〜A25に向けてのびる支
持板105と、中央部が支持板105の先端のブ
ラケツト106にピン107を介して矢印リ,ヌ
方向回動自在に支持された解除レバー108と、
該解除レバー108を回動させる解除レバー用シ
リンダ装置109と、基端部が支持板105に矢
印ル,オ方向回動自在に支持された底板引上げ用
レバー110と、該引上げ用レバー110を回動
させる引上げレバー用シリンダ装置(図示せず)
とから構成されている。そして載置棚A1〜A25の
エリアB1〜B4内の貨物34を荷卸す場合には、
まず載置棚引出装置33を所定の載置棚A1〜A25
に対向させた後、ピニオン97を一方向へ回転さ
せてラツク95を矢印ト方向へのばし、T字杆9
8の先端を連結板91の係合口90内に嵌入させ
る。次に第17図実線状態のT字杆用シリンダ装
置103のピストンロツドを伸長させ、第17図
仮想線で示すごとくT字杆98を90゜回転させ、
そのT字杆98を連結板91に連結する。次にピ
ニオン97を逆転させてラツク95を矢印チ方向
へ移動させ、載置棚A1〜A25を所定量引出し、第
20図状態にする。次に解除レバー用シリンダ装
置109のピストンロツドを伸長させ、解除レバ
ー108を矢印ヌ方向へ回動させ、解除レバー1
08の先端によりロツクブロツク88をばね89
に抗して矢印ヘ方向へ押し込む。これによつてス
トツパレバー86のロツク状態が解除され、第2
1図に示すごとく底板17が自重により下方(矢
印イ方向)へ回動し、その上の貨物34が荷卸装
置8上に払出される。次に第22図に示すごとく
引上げ用レバー110を矢印オ方向へ回動させて
底板17を引上げ、次に解除レバー用シリンダ装
置109のピストンロツドを縮小させる。すると
解除レバー108が矢印リ方向へ回動してその先
端がストツパレバー86に当たり、そのストツパ
レバー86が矢印ニ方向へ回動させられてその基
端がロツクブロツク88のロツク部88Aに再び
係合し、第20図に示す元の状態に戻る。第5図
および第6図において112はシリンダ32によ
り昇降させられる昇降テーブルであり、軌道設備
3に沿つて移動自在な台車(図示せず)に支持さ
れている。また前記載置棚引出装置33および底
板開閉装置79もその昇降テーブル112を介し
て台車に支持されている。昇降テーブル112上
には荷卸装置8を構成するベルトコンベア31が
配置されている。113は積込装置7を構成する
ベルトコンベア35上に貨物34を送り込むため
の積込用ベルトコンベアである。 Next, details of the self-guided vehicle 4 will be explained based on FIGS. 10 to 16. 46 is a vehicle body with open sides, and a plurality of (four in this embodiment) partition grooves 47 are formed at appropriate intervals along the arrow direction in the top plate 46A and bottom plate 46B. 48
is a partition wall that is inserted into each partition groove 47 so that it can be extracted freely, and is made up of a lattice-shaped wall body 48A and guide rails 48B fixed to both sides of the wall body 48A at regular intervals in the vertical direction. On each guide rail 48B, the above-mentioned mounting shelves A 1 to A 25 are arranged so as to be freely drawn out. 49 is the wall body 48A
This is a notch formed at the center of the upper and lower ends of the Further, a notch 50 is also formed in a portion of the partition groove 47 that faces the notch 49 . Reference numeral 51 denotes a partition wall fixing device disposed on the upper and lower surfaces of the vehicle body 46, which includes a support frame 52 fixed to a portion facing the notch 50 of each partition groove 47, and a partition wall fixing device that moves into each support frame 52. A movable rod 53 that is freely inserted, and the movable rod 53
Notches 50 integrally formed with and facing each other.
and a key 54 that is fitted into the notch 49;
It consists of a moving rod cylinder device 55 whose main body is fixed to the vehicle body 46 and whose piston rod tip is connected with a pin to one end of a moving rod 53. For example, when it is desired to transport a large cargo 34, the cylinder device 55 is first activated to move the moving rod 5.
3, thereby inserting each key 54 into the notch 5.
0 and the notch 49 to release the fixation of the partition wall 48, and then pull out the appropriate mounting shelves A1 to A25 and the partition wall 48 from inside the car body 46, thereby creating a large space inside the car body 46. The large cargo 34 may be inserted into the space. Further, when replacing the partition wall 48, a similar operation may be performed. Reference numeral 20 denotes a door lock device, as shown in FIG. 12, the lock lever 58 has a center portion rotatably connected to the front surface of the vehicle body 46 with a pin 57, and the main body is connected to the front surface of the vehicle body 46 with a pin and has a piston rod. It consists of a locking cylinder device 59 whose distal end is connected to the proximal end of a locking lever 58 by a pin. While the vehicle 4 is running, the piston rod of the cylinder device 59 is contracted as shown by the imaginary line in FIG.
When loading and unloading the cargo 34, the piston rod of the cylinder device 59 is extended in advance, and the tip of the lock lever 58 is separated from the bent portion 15A of the door 15, thereby preventing the door 15 from being opened. It allows it to be released. 60
61 is a running wheel, 61 is a wheel for preventing rolling, 62 is a rotating lever whose upper end is rotatably supported by a support frame 63 on the rear surface of the vehicle body 46, and 64 is an energized brush provided on the rotating lever 62. It is brought into contact with a conducting wire 66 of the track equipment 3 by a spring device 65. 67 is a damper arranged on the front and rear surfaces of the vehicle body 46. The opening/closing device 14 includes a long door opening/closing cylinder device 69 extending in the direction of the arrow as shown in FIGS. 2 and 11, and a horizontally movable table fixed to the piston rod tip of the door opening/closing cylinder device 69. 70, a foot lever 71 whose central portion is rotatably connected to the table 70 with a pin, and a cylinder device 72 for a foot lever whose main body is connected with a pin to the table 70 and whose piston rod tip is connected with a pin to the base end of the foot lever 71. It is composed of. When opening the door 15, the piston rod of the door opening/closing cylinder device 69 is extended to move the lever 71 to the door 1.
5, and then reduce the piston rod of the cylinder device 72 for the lever lever to open the piston rod 11.
The tip of the foot lever 71 in the virtual line state is the door 15.
Then, the piston rod of the door opening/closing cylinder device 69 is contracted to pull out the door 15 and open it. Next, as shown by the solid line in FIG. 11, the piston rod of the door opening/closing cylinder device 69 is slightly extended, and then, as shown by the phantom line in FIG. 11, the piston rod of the foot lever cylinder device 72 is extended to rotate the foot lever 71. The foot lever 71 may be separated from the door 15. When closing the door 15, move the tip of the foot lever 71 into the engagement opening 73 by reversing the above procedure.
After the piston rod of the door opening/closing cylinder device 69 is engaged, the piston rod of the door opening/closing cylinder device 69 may be extended. The clamping device 9 is composed of a clamping cylinder device 74 and a clamping block 76 that is fitted into and disengaged from the projections 75 at the four corners of the mobile vehicle 4 by the clamping cylinder device 74. Note that the clamp block 76 and the protrusion 75 are provided with communication means such as a photocoupler. Next is the shelf
A 1 to A 25 , the mounting shelf pull-out device 33 and the mounting shelf A 1 to
The bottom plate opening/closing device 79 for opening and closing the bottom plate 17 of the A 25 will be explained based on FIGS. 16 to 22. The mounting shelves A 1 to A 25 include a rectangular frame 80 and a frame 80
A partition plate 81 partitions the inside to form four areas B 1 to B 4 , and a partition plate 81 is arranged on the bottom of each area B 1 to B 4 and has a base end connected to the frame 80 via a support shaft 82 in the direction of the arrow mark. , and a pin 8 at the tip of the
2 is a bottom plate 17 that can be fitted into a recess 83 on the lower surface of the frame 80, and a stopper lever 86 whose center part is supported by a pin 85 protruding from both side walls of the frame 80 so as to be rotatable in the two directions shown by the arrows. , is disposed in a box 87 fixed to both side walls of the frame 80 so as to be movable in the directions of the arrows H and 80, and when the lock portion 88A at the tip engages with the base end of the stopper lever 86, the tip of the stopper lever 86 is engaged. A lock block 88 that supports the tip of the bottom plate 17, a spring 89 that biases the lock block 88 in the direction of arrow H, and a frame 8.
Connecting plate 91 with engagement port 90 fixed to the front surface of 0
It is composed of. Note that two notches 92 are formed in the bottom plate 17. Placing shelf drawer device 33
9 includes a cylinder body 94 and a rack 9 disposed within the cylinder body 94 so as to be movable in the directions of arrows T and H.
5 and the presser roller 9 that comes into contact with the top surface of the rack 95.
6, a pinion 97 that meshes with the rack 95, a drive motor (not shown) that rotates the pinion 97 in forward and reverse directions, a T-shaped rod 98 rotatably disposed at the tip of the rack 95, and the T-shaped rod. An operating rod 99 is fixed to the operating rod 98, and a T-shaped rod whose main body is fixed to the rack 95 via an L-shaped rod 100 and whose connecting rod 101 at the tip of the piston rod fits into the elongated hole 102 at the tip of the operating rod 99. It is composed of a cylinder device 103 for use. The bottom plate opening/closing device 79 includes a support plate 105 extending from the cylinder body 94 toward the mounting shelves A 1 to A 25 , and a central portion connected to a bracket 106 at the tip of the support plate 105 through a pin 107 in the direction of arrows R and N. a release lever 108 rotatably supported;
A release lever cylinder device 109 for rotating the release lever 108, a bottom plate lifting lever 110 whose base end is supported by the support plate 105 so as to be rotatable in the directions of arrows R and O, and a lever for pulling up the bottom plate 110 for rotating the lifting lever 110. Cylinder device for the pull-up lever to be moved (not shown)
It is composed of. When unloading cargo 34 in areas B 1 to B 4 of loading shelves A 1 to A 25 ,
First, the loading shelf pull-out device 33 is moved to a predetermined loading shelf A1 to A25.
After facing the T-shaped rod 9, rotate the pinion 97 in one direction to extend the rack 95 in the direction of the arrow T.
8 is inserted into the engaging opening 90 of the connecting plate 91. Next, the piston rod of the T-shaped rod cylinder device 103 shown in the solid line state in FIG. 17 is extended, and the T-shaped rod 98 is rotated 90 degrees as shown by the phantom line in FIG. 17.
The T-shaped rod 98 is connected to the connecting plate 91. Next, the pinion 97 is reversed to move the rack 95 in the direction of the arrow H, and the racks A 1 to A 25 are pulled out by a predetermined amount, resulting in the state shown in FIG. Next, the piston rod of the release lever cylinder device 109 is extended, the release lever 108 is rotated in the direction of arrow N, and the release lever 1
Lock block 88 is connected to spring 89 by the tip of 08.
Push it in the direction of the arrow against the As a result, the lock state of the stopper lever 86 is released, and the second
As shown in FIG. 1, the bottom plate 17 rotates downward (in the direction of arrow A) due to its own weight, and the cargo 34 thereon is discharged onto the unloading device 8. Next, as shown in FIG. 22, the lifting lever 110 is rotated in the direction of arrow O to pull up the bottom plate 17, and then the piston rod of the release lever cylinder device 109 is contracted. Then, the release lever 108 rotates in the direction of arrow R, and its tip hits the stopper lever 86, and the stopper lever 86 is rotated in the direction of arrow D, and its base end engages again with the lock portion 88A of the lock block 88, and the Return to the original state shown in FIG. In FIGS. 5 and 6, reference numeral 112 is an elevating table that is raised and lowered by a cylinder 32, and is supported by a cart (not shown) that is movable along the track equipment 3. Further, the above-mentioned shelf drawer device 33 and bottom plate opening/closing device 79 are also supported by the cart via the lifting table 112 thereof. A belt conveyor 31 constituting the unloading device 8 is arranged on the lifting table 112. 113 is a loading belt conveyor for feeding the cargo 34 onto the belt conveyor 35 constituting the loading device 7.
次に第7図〜第9図のフローチヤートに基づい
て自搬車4の運行制御、貨物の積卸し制御、管理
データ処理を詳しく説明する。 Next, operation control of the self-propelled vehicle 4, cargo loading/unloading control, and management data processing will be explained in detail based on the flowcharts shown in FIGS. 7 to 9.
先ず、各自動倉庫1a〜1dで輸送貨物の受付
け時に入力装置6で管理情報が入力され、この管
理情報は通信線路28を介して貨物管理装置5に
書き込まれる。輸送貨物を受付けた自動倉庫の自
動倉庫制御装置16には、前記入力装置6による
管理情報の入力時に輸送貨物固有の「貨物No.」
「等級」ならびに「配送先自動倉庫No.」が書き込
まれている。 First, management information is input through the input device 6 at each automated warehouse 1a to 1d when transport cargo is accepted, and this management information is written into the cargo management device 5 via the communication line 28. When the management information is input using the input device 6, the automatic warehouse control device 16 of the automated warehouse that has received the transported cargo receives a "cargo number" unique to the transported cargo.
The "grade" and "delivery destination automatic warehouse number" are written.
ここで、自搬車4が第2図のように自動倉庫1
dから1aの間を走行中において、自動倉庫1a
は第7図フローチヤートに基づいて制御されてい
る。以下説明では自動倉庫を端庫と称する。端庫
1aは前端庫1dから通信線路29を介して報告
された「自搬車No.」「当端庫1aでの荷卸しの有
無」「空棚情報」を受信〔a―1〕する。また、
当端庫1aで荷卸しが可能か否かをチエツク〔a
―2〕して、荷卸しを実行できる場合には〔a―
1〕の受信データを見て「荷卸しの有無〕をチエ
ツク〔a―3〕する。〔a―3〕で「荷卸し有り」
と判定された場合には当端庫1aの自動倉庫制御
装置16の内容を見て「積荷の有無」をチエツク
〔a―4〕する。〔a―4〕で「積込むべき貨物な
し」と判定された場合には、〔a―3〕で判定さ
れた荷卸しのために直ちに送信手段30を介して
走行中の自搬車4に停車要求信号Sが送られる。
〔a―5〕。 Here, the self-transported vehicle 4 is moved to the automated warehouse 1 as shown in Fig. 2.
While traveling between d and 1a, the automated warehouse 1a
is controlled based on the flowchart shown in FIG. In the following explanation, the automated warehouse will be referred to as a terminal warehouse. The terminal warehouse 1a receives the "self-carrying vehicle number", "whether or not cargo is being unloaded at the current terminal warehouse 1a", and "empty shelf information" reported from the front terminal warehouse 1d via the communication line 29 [a-1]. Also,
Check whether unloading is possible at the temporary warehouse 1a [a
-2], and if unloading can be carried out, [a-
Look at the received data in [1] and check [a-3] whether there is unloading. Check [a-3] if there is unloading.
If it is determined that this is the case, the contents of the automatic warehouse control device 16 of the current warehouse 1a are checked to see if there is any cargo [a-4]. If it is determined in [a-4] that there is "no cargo to be loaded," the message is immediately sent to the traveling personal vehicle 4 via the transmitting means 30 for unloading as determined in [a-3]. A stop request signal S is sent.
[a-5].
〔a―3〕で「荷卸し無し」と判定された場合
には〔a―1〕で受信した「空棚情報」をチエツ
ク〔a―6〕して、〔a―6〕で「空棚あり」と
判定されると〔a―4〕と同じく「積荷の有無」
をチエツク〔a―7〕し、〔a―7〕で「積荷あ
り」と判定された場合には、〔a―1〕で受信し
た「空棚情報」の“空棚の数”、“大きさ”などに
基づいて積込める貨物を検索して決定〔a―8〕
して〔a―5〕を実行する。〔a―4〕で「積荷
あり」と判定された場合にも〔a―8〕を介して
〔a―5〕が実行される。 If it is determined in [a-3] that there is no unloading, check [a-6] the "empty shelf information" received in [a-1], and check the "empty shelf information" in [a-6]. If it is determined that there is a cargo, the same as [a-4]
[a-7], and if it is determined that there is cargo in [a-7], the “number of empty shelves” and “large Search and decide on cargo that can be loaded based on
Then execute [a-5]. [a-5] is executed via [a-8] even if it is determined in [a-4] that there is a cargo.
〔a―2〕で「荷卸し不可」と判定された場合
と、〔a―6〕〔a―7〕で「積込みを実行しな
い」と判定された場合には、何れも通信線路29
を介して当端庫1aの次の端庫1bの「端庫No.」
を送信手段30を介して走行中の搬送車4へ報告
〔a―9〕すると共に、自搬車4を通過させるべ
く端庫1a構内のポイント装置11を駆動して軌
道を第2図仮想線位置に切換える〔a―10〕。 If it is determined in [a-2] that "unloading is not possible" or if it is determined in [a-6] or [a-7] that "loading will not be carried out", the communication line 29
"Terminal store No." of the terminal warehouse 1b next to the current terminal warehouse 1a via
is reported to the traveling vehicle 4 via the transmitting means 30 [a-9], and at the same time, the point device 11 in the depot 1a is driven to allow the self-transported vehicle 4 to pass, and the trajectory is changed to the imaginary line in Fig. 2. Switch to position [a-10].
第9図のように、自搬車4は端庫1bの発車後
に停車要求受信装置25によつて〔a―5〕の実
行で出力される停車要求信号Sを「受信したか」
をチエツク〔b―1〕し、到着するであろう当端
庫1aの「端庫No.=Pt」を位置情報受信装置2
4を介して読み取り〔b―2〕、自搬車4に積載
済の「配送先端庫No.」が書き込まれた積載貨物管
理装置27を検索して、〔b―2〕で読み取つた
「Ptに一致する検索データPoの有無」をチエツク
〔b―3〕し、〔b―3〕で一致を検出しない場合
には、〔b―1〕に戻る。〔b―1〕で停車要求信
号Sを受信した場合、または〔b―3〕でPo=
Ptを検出した場合、つまり端庫1aで積卸しが
有る場合には、走行駆動装置22と制動装置23
に「減速・停止」を指示〔b―4〕する。 As shown in FIG. 9, the self-propelled vehicle 4 asks whether it has received the stop request signal S output by the stop request receiving device 25 in execution of [a-5] after the vehicle departs from the depot 1b.
Check [b-1] and check the "terminal warehouse No. = Pt" of the current terminal warehouse 1a that will arrive at the location information receiving device 2.
4 [b-2], searches the loaded cargo management device 27 in which the "delivery front warehouse No." loaded on the personal transport vehicle 4 is written, and reads the "Pt Check [b-3] whether there is search data Po that matches [b-3], and if no match is detected in [b-3], return to [b-1]. When the stop request signal S is received at [b-1], or Po= at [b-3]
When Pt is detected, that is, when there is loading and unloading at the terminal storage 1a, the traveling drive device 22 and the braking device 23
Instruct the vehicle to “decelerate and stop” [b-4].
一方〔b―4〕の実行によつて自搬車4が端庫
1aの構内に入つて停車すると、端庫制御装置1
6は第8図のルーチンを実行する。この場合、所
定の積卸し箇所に停車したことを検出〔a―11〕
すると、クランプ装置9によつて自搬車4をクラ
ンプ〔a―12〕して、通信装置10,19を介し
て自搬車4と端庫1aの間で各種データの授受が
行われる。〔a―13〕。〔a―13〕では、「自搬車
No.」の読み取り、「当端庫No.」の報告、「当端庫で
の荷卸し棚番地」の読み取り、「空棚番地」の読
み取りが実行される。なお、第9図においてこの
〔a―13〕に対応する部分は〔b―5〕,〔b―
6〕,〔b―7〕であつて、〔b―7〕実行後に自
搬車4ではロツク装置20にロツク解除が指示
〔b―8〕される。 On the other hand, when the mobile vehicle 4 enters the premises of the depot 1a and stops by executing [b-4], the depot control device 1
6 executes the routine shown in FIG. In this case, it is detected that the vehicle has stopped at a predetermined loading/unloading location [a-11]
Then, the clamp device 9 clamps the mobile vehicle 4 [a-12], and various data are exchanged between the mobile vehicle 4 and the terminal shed 1a via the communication devices 10 and 19. [a-13]. [a-13]
No.," reporting the "current warehouse No.," reading the "unloading shelf address at the current warehouse," and reading the "empty shelf address." In addition, in Fig. 9, the parts corresponding to [a-13] are [b-5] and [b-
6], [b-7], and after the execution of [b-7], the lock device 20 of the self-propelled vehicle 4 is instructed to release the lock [b-8].
〔a―13〕を完了した端庫1aでは開閉装置1
4に自搬車4の扉15の開放〔a―14〕を指示
し、〔a―13〕で受信したデータをもとに荷卸装
置8によつて引き出される載置棚を決定〔a―
15〕して荷卸し〔a―16〕を実行する。 In the terminal shed 1a where [a-13] has been completed, the opening/closing device 1
4 to open the door 15 of the vehicle 4 [a-14], and determine the loading shelf to be pulled out by the unloading device 8 based on the data received at [a-13] [a-
15] and unload [a-16].
この荷卸しは、まず第5図aに示すごとく〔a
―15〕で決定された載置棚Aに載置棚引出装置3
3を対向させ、その載置棚引出装置33のラツク
95を矢印ト方向へ移動させてT字杆98を載置
棚Aの係合口90に係合させ、同図bに示すごと
くラツク95を矢印チ方向へ移動させて載置棚A
を所定量引出す。次に同図cに示すごとく底板開
閉装置79により所定のエリア(たとえばB4)
の底板17のロツクを解除する。すると底板17
が下方へ回動し、そのエリアB4内の貨物34が
荷卸装置8のベルトコンベア31上に荷卸しされ
る。次に底板引上げ用レバー110で底板17を
引上げた後、同図dに示すごとくラツク95を矢
印ト方向へ移動させて載置棚Aを自搬車4内に押
し込み、T字杆98を載置棚Aから外せばよい。
このようにして荷卸しが完了すると、〔a―13〕
で受信した空棚番地をもとに引き出される載置棚
Aを決定〔a―17〕して積込み〔a―18〕を実行
する。積込みはまず第6図aに示すように、シリ
ンダ32,36のピストンロツドを伸長させて積
込装置7のベルトコンベア113と同一レベルに
し、積込用ベルトコンベア113上の貨物34を
ベルトコンベア35上に移し替える。またこれと
同時に載置棚引出装置33を〔a―17〕で決定さ
れた載置棚Aに対向させ、次に同図bに示すごと
く載置棚引出装置33で載置棚Aを所定量引出
し、ベルトコンベア35を降下させ、該ベルトコ
ンベア35を作動させてその上の貨物34を所定
のエリアB3内に投入し、載置棚Aを自搬車4内
に押し込めばよい。 This unloading is first carried out as shown in Figure 5 a.
-15] The loading shelf drawer device 3 is placed on the loading shelf A determined in
3 facing each other, and move the rack 95 of the shelf drawer 33 in the direction of the arrow H to engage the T-shaped rod 98 with the engagement opening 90 of the shelf A, and then open the rack 95 as shown in Figure b. Move it in the direction of arrow H and place it on shelf A.
Withdraw a predetermined amount. Next, as shown in FIG .
Unlock the bottom plate 17 of the Then the bottom plate 17
rotates downward, and the cargo 34 in the area B 4 is unloaded onto the belt conveyor 31 of the unloading device 8. Next, after pulling up the bottom plate 17 with the bottom plate lifting lever 110, move the rack 95 in the direction of the arrow T as shown in FIG. Just remove it from shelf A.
When unloading is completed in this way, [a-13]
Based on the empty shelf address received in , the loading shelf A to be pulled out is determined [a-17] and loading is executed [a-18]. For loading, first, as shown in FIG. 6a, the piston rods of the cylinders 32 and 36 are extended to be at the same level as the belt conveyor 113 of the loading device 7, and the cargo 34 on the loading belt conveyor 113 is moved onto the belt conveyor 35. Transfer to. At the same time, the loading shelf pullout device 33 is moved to face the loading shelf A determined in [a-17], and then, as shown in FIG. It is sufficient to draw out the drawer, lower the belt conveyor 35, operate the belt conveyor 35, throw the cargo 34 thereon into the predetermined area B3 , and push the loading shelf A into the transport vehicle 4.
このようにして積卸しが完了すると、〔a―16〕
〔a―18〕の積卸しに基づいて自搬車4の空棚番
地メモリ26と積載貨物管理装置27のデータ更
新を実行〔a―20〕し、自搬車4へ「次の端庫
No.」を報告する〔a―21〕。 When loading and unloading is completed in this way, [a-16]
Based on the loading and unloading of [a-18], the data of the empty shelf address memory 26 and the loaded cargo management device 27 of the mobile vehicle 4 is updated [a-20], and
No.” [a-21].
〔a―20〕〔a―21〕は、自搬車4側では第9
図の〔b―9〕〔b―10〕に対応しており、自搬
車4は〔b―10〕のデータをもとに積載貨物管理
装置27を検索して次の端庫1bでの荷卸し貨物
を検索〔b―10〕して、端庫1aへ次の端庫1b
への連結データを報告〔b―12〕する。 [a-20] [a-21] is the 9th vehicle on the mobile vehicle 4 side.
Corresponding to [b-9] and [b-10] in the figure, the self-propelled vehicle 4 searches the loaded cargo management device 27 based on the data in [b-10] and moves to the next terminal 1b. Search for unloaded cargo [b-10] and go to terminal warehouse 1a to next terminal warehouse 1b
Report the linked data to [b-12].
〔b―12〕の連絡データは、端庫1aでは第8
図の〔a―22〕で受信される。なお、受信された
連絡データは自搬車4の「現在の空棚」、「次の端
庫での荷卸しデータ」、「自搬車No.」であつて、こ
の受信データは通信線路29を介して端庫1bへ
転送〔a―23〕される。また、開閉装置14に扉
15の閉鎖〔a―24〕が指示されて発車命令が出
力〔a―25〕される。この際、クランプ装置9に
よる自搬車4のクランプも解除される。 The contact data for [b-12] is the 8th one in terminal storage 1a.
It is received at [a-22] in the figure. The received communication data includes the "current empty shelf", "unloading data at the next terminal", and "car No." of the mobile vehicle 4, and this received data is transmitted to the communication line 29. It is transferred to the terminal storage 1b via [a-23]. Further, the opening/closing device 14 is instructed to close the door 15 [a-24], and a departure command is output [a-25]. At this time, the clamp on the mobile vehicle 4 by the clamp device 9 is also released.
〔a―24〕〔a―25〕は、自搬車4側では〔b
―13〕〔b―14〕に対応し、制動装置23と走行
駆動装置22によつて発車〔b―15〕を実行す
る。 [a-24] [a-25] is [b] on the mobile vehicle 4 side.
-13] Corresponding to [b-14], the braking device 23 and traveling drive device 22 execute the departure [b-15].
このようにして、積込み・搬送・荷卸しが行わ
れて配送先端庫に到着した貨物は、自搬車4から
配送先の端庫1aへの荷卸しに際して、〔b―7〕
で「貨物No.」を含む荷卸しデータが端庫制御装置
16に書き込まれており、端庫1aから荷受人へ
の配送に際して貨物の「貨物No.」に基づいて貨物
管理装置5に問い合せが行われ、貨物管理装置5
から得られた管理情報に従つて配送業務が実行さ
れる。 In this way, the cargo that has been loaded, transported, and unloaded and has arrived at the delivery depot 1a is unloaded from the transport vehicle 4 to the destination depot 1a.
The unloading data including the "cargo number" is written in the depot control device 16, and an inquiry is made to the cargo management device 5 based on the "cargo number" of the cargo when it is delivered from the depot 1a to the consignee. carried out, cargo management device 5
Delivery operations are executed in accordance with the management information obtained from.
発明の効果
以上述べたごとく本発明によれば、自動倉庫に
到着した自動搬送車の所定の載置棚を引出し、そ
の引出された載置棚の所定のエリアの底板を開放
して、そのエリア内の貨物を卸し、また引出され
た所定の載置棚の所定のエリア内に貨物を積込む
一連の作業を自動的にスムーズにしかも短時間で
おこなうことができるものである。Effects of the Invention As described above, according to the present invention, a predetermined loading shelf of an automatic guided vehicle that has arrived at an automated warehouse is pulled out, the bottom plate of a predetermined area of the pulled out loading shelf is opened, and the area is The series of operations of unloading the cargo inside the container and loading the cargo into a predetermined area of a predetermined loading shelf that has been pulled out can be automatically and smoothly carried out in a short time.
図は本発明の一実施例を示し、第1図は概略平
面図、第2図は第1図の要部詳細図、第3図は自
動搬送車の斜視図、第4図は自動搬送車の構成
図、第5図と第6図は積卸し装置の動作説明図、
第7図と第8図は自動倉庫制御装置のフローチヤ
ート図、第9図は自搬車制御装置のフローチヤー
ト図、第10図は自動搬送車の側面図、第11図
は同車の平面図、第12図は同車の正面図、第1
3図は同車の背面図、第14図は同車の要部の分
解斜視図、第15図は仕切壁の斜視図、第16図
は載置棚引出装置の縦断面図、第17図は第16
図の―矢視図、第18図は載置棚の斜視
図、第19図は同棚の底面図、第20図〜第22
図は底板開閉手順を示す縦断面図である。
1a〜1d…自動倉庫、2…サービスエリア、
3…軌道設備、4…自動搬送車、7…積込装置、
8…荷卸装置、A1〜A25…載置棚、B1〜B4…エ
リア、17…底板、32,36…シリンダ、33
…載置棚引出装置、34…貨物、112…昇降テ
ーブル、113…積込用ベルトコンベア。
The figures show one embodiment of the present invention, in which Fig. 1 is a schematic plan view, Fig. 2 is a detailed view of the main part of Fig. 1, Fig. 3 is a perspective view of an automatic guided vehicle, and Fig. 4 is a schematic plan view of the automated guided vehicle. , and Figures 5 and 6 are explanatory diagrams of the operation of the loading and unloading device.
Figures 7 and 8 are flowcharts of the automatic warehouse control system, Figure 9 is a flowchart of the self-transported vehicle control system, Figure 10 is a side view of the automatic guided vehicle, and Figure 11 is a plan view of the vehicle. Figure 12 is a front view of the same vehicle, Figure 1
Figure 3 is a rear view of the vehicle, Figure 14 is an exploded perspective view of the main parts of the vehicle, Figure 15 is a perspective view of the partition wall, Figure 16 is a longitudinal sectional view of the loading shelf pull-out device, and Figure 17. is the 16th
Figure 18 is a perspective view of the shelf, Figure 19 is a bottom view of the shelf, Figures 20 to 22
The figure is a longitudinal sectional view showing the procedure for opening and closing the bottom plate. 1a to 1d...Automated warehouse, 2...Service area,
3...Track equipment, 4...Automatic guided vehicle, 7...Loading device,
8...Unloading device, A1 to A25 ...Placement shelf, B1 to B4 ...Area, 17...Bottom plate, 32, 36...Cylinder, 33
... Loading shelf pull-out device, 34... Cargo, 112... Lifting table, 113... Loading belt conveyor.
Claims (1)
の自動倉庫と、この自動倉庫の間を結ぶ軌道設備
と、輸送貨物を積載して前記軌道設備の軌道上を
移動する自動搬送車とを設け、自動倉庫に横付け
された自動搬送車の適当な載置棚を引出す引出装
置を設け、自動倉庫において軌道に沿つて移動自
在な台車上に昇降テーブルを昇降自在に設け、該
昇降テーブル上に配設されると共に所定の引出さ
れた載置棚のエリアの底板を開けてそのエリアか
ら落下してきた貨物を受けとつて所定場所まで搬
送する荷卸装置を設け、昇降テーブルの上に昇降
手段を介して昇降自在に配置されると共に持込ま
れた貨物を所定の引出された載置棚のエリア内に
積込む積込装置を設けたことを特徴とする貨物輸
送積卸装置。1. A plurality of automated warehouses distributed in a service area, track equipment connecting these automated warehouses, and automated guided vehicles loaded with transport cargo and moved on the tracks of the track equipment, A pull-out device is provided to pull out an appropriate loading shelf for an automated guided vehicle placed next to an automated warehouse, and an elevating table is provided on a trolley that can be moved freely along a track in the automated warehouse so that it can be raised and lowered, and the elevating table is placed on the elevating table. At the same time, an unloading device is installed that opens the bottom plate of a predetermined area of the loading shelf that has been pulled out, receives the cargo that has fallen from that area, and transports it to a predetermined location. 1. A cargo transport/unloading device characterized by being provided with a loading device which is freely arranged and which loads brought cargo into an area of a predetermined pulled-out loading shelf.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP58241483A JPS60132803A (en) | 1983-12-20 | 1983-12-20 | Cargo conveyance and load/unload equipment |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP58241483A JPS60132803A (en) | 1983-12-20 | 1983-12-20 | Cargo conveyance and load/unload equipment |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS60132803A JPS60132803A (en) | 1985-07-15 |
JPS6310045B2 true JPS6310045B2 (en) | 1988-03-03 |
Family
ID=17074980
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP58241483A Granted JPS60132803A (en) | 1983-12-20 | 1983-12-20 | Cargo conveyance and load/unload equipment |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS60132803A (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8919571B2 (en) * | 2007-10-04 | 2014-12-30 | Emd Millipore Corporation | Filtration device |
-
1983
- 1983-12-20 JP JP58241483A patent/JPS60132803A/en active Granted
Also Published As
Publication number | Publication date |
---|---|
JPS60132803A (en) | 1985-07-15 |
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