KR0147798B1 - Handling apparatus for automatic warehousing - Google Patents

Abstract

The present invention relates to, for example, a baggage handling apparatus for an automated warehouse in the form of being supported and guided by rails installed on the floor of a factory to move along a fixed track installed on the front of a storage consisting of shelves.

The load handling device 10 includes a pair of struts 12, 13, and struts 12 extending upward from the lower frame 11 and the lower frame 11 and disposed at regular intervals along the longitudinal direction. It includes a vertical movable member 15 disposed between the struts 13 and a stretchable load handling element 17 installed on the vertical movable member 15 for carrying out the loading and unloading operation of the load on the shelf. The lower frame 11 supports the driven wheels 19 and supports the driven unit 30 and the drive wheels 18 having the support connecting portion 32 to which one support 12 is connected, and the other support 13. Drive unit 40 having a horizontal drive mechanism connection portion 46 to which a strut connection portion 42 and a horizontal drive mechanism 27 are connected, and an intermediate unit disposed between the driven unit 30 and the drive unit 40. It consists of 55.

Description

Baggage Handling System for Automated Warehouse

1 is a side view of a load handling apparatus for an automated warehouse according to an embodiment of the present invention.

2 is a front view of the load handling apparatus shown in FIG.

3 is a side view of the lower frame of the load handling device.

4 is a plan view of the lower frame shown in FIG.

5 is a perspective view of the drive unit of the lower frame.

6 is a perspective view of the driven unit of the lower frame.

7 is a perspective view showing a partly cut off the middle unit of the lower frame.

8 is a side view showing a modification of the drive unit.

FIG. 9 is a front view of the drive unit shown in FIG.

10 is a cross-sectional view showing a modification of the intermediate unit.

11 is a cross-sectional view of the intermediate unit shown in FIG. 10 viewed from another side.

FIG. 12 is a plan view of the entire lower frame including the intermediate unit shown in FIG.

FIG. 13 is a sectional view showing a connection portion between the intermediate unit and the driven unit or the drive unit shown in FIG.

FIG. 14 is a side view partially cut away from the connection shown in FIG.

* Explanation of symbols for main parts of the drawings

10: lower handling device 11: lower frame

12, 13: Holding 15: Vertical moving member

17: Baggage handling element 18: Drive wheel

19: Driven wheel 25: Vertical drive mechanism

27: horizontal drive mechanism 30: driven unit

32, 42: Holding connector 40: Drive unit

46: Horizontal drive mechanism connection part 55: Intermediate unit

71: fixed seat 81: end

82A, 82B: Side plate 83A, 83B: Fixed plate

84: Inflation part 86A, 86B: Groove

101: Bolt ball 104: Bolt

105: rotation preventing member 110: nut

The present invention relates to, for example, a baggage handling apparatus for an automated warehouse in the form of being supported and guided by rails installed on the floor of a factory to move along a fixed track installed on the front of a storage unit consisting of shelves.

Automated warehouse facilities consist of shelves and goods handling devices, as described in Japanese Patent Application No. 62-290609. In such known installations, a warehouse vapor or article handling device is guided along a lower frame, a pair of struts fixed vertically extending from a vertically arranged lower frame, an upper frame connecting the upper ends of the struts together, It consists of a vertical moving member.

The lower frame supports the driving wheels and the driven wheels that move while making a cloud contact with the lower guide rails attached to the floor, and the driving wheels and the driven wheels are arranged at regular intervals along the length direction. The lower frame is further provided with a drive motor for driving the drive wheels and a carriage elevating device for operating the carriage up and down by the chain. The load transport device is fixed to the vertical carriage.

According to this well-known configuration, the transfer of cargo between the shelf and the warehouse crane is carried out in the longitudinal direction of the warehouse crane moving along a constant track extending along the front of the shelf, the shank east and the cargo of the vertically moving carriage. The telescopic operation of the conveying device is combined. For this purpose, the movement in the longitudinal direction of the crane is effected by driving the drive wheels forward or backward by the drive motor.

In general, the shape of the warehouse crane is determined by the height of the posts determined by the space between the posts determined by the shape of the load to be handled and the size of the warehouse where the crane is used. By the way, according to the above-mentioned well-known structure, the lower frame is a rigid structure of fixed length. Therefore, the manufacturing company manufactures the lower frame of such a shape which, after receiving an order, is installed in a space between posts suitable for the shape of the article to be handled. This makes it very difficult for a manufacturer to make an order from a user.

It is therefore an object of the present invention to provide a baggage handling apparatus for an automated warehouse using a lower frame that can be consistently used in many parts of the frame in the manufacture of cranes of different specifications and which can be preassembled prior to ordering.

In order to achieve this object, according to the present invention, in a baggage handling apparatus for an automated warehouse, which is supported and guided by a floor rail for moving along a predetermined track installed on the front of a shelf, the baggage handling apparatus includes a lower frame, A pair of struts arranged at regular intervals along the longitudinal direction and extending upward from the lower frame, a vertical movable member disposed between the struts and the struts, and a telescopic operation installed on the vertical movable member to bring in or take out loads from the shelf. The lower frame is composed of possible load handling elements, and the lower frame supports the driven wheels, and includes a driven unit having a strut connection portion to which one strut is connected, and a strut connection portion and a horizontal driving mechanism for supporting the driving wheel and to which the other strut is connected. Unit, driven unit and sphere with horizontal drive unit connection The cargo handling system for automation of the type consisting of an intermediate storage unit which is disposed between the units is provided.

According to such a structure, a driven unit and a drive unit can be manufactured previously in a factory of a manufacturing company. By the user's order, the manufacturer can manufacture an intermediate unit having a length sufficient to be provided in the space between the posts, which is suitable for the shape of the handled article. Therefore, the driven unit and the driving unit can be connected together to the middle unit located at the center. Thereafter, a strut of height suitable to the expected warehouse specification is connected to the corresponding connection of the driven unit and the drive unit, the horizontal drive mechanism is connected to the corresponding connection of the drive unit, and the horizontal drive mechanism is connected to the corresponding connection of the drive unit. To. In this way, a load handling device is manufactured.

Therefore, according to the present invention, by assembling most of the lower frame, the driven unit and the driving unit used in the baggage handling device having different specifications can be manufactured in advance, and therefore can be manufactured quickly according to the order from the user. .

EXAMPLE

1 through 7 show an embodiment of the present invention. 1 and 2 show a pair of framed shelves, each of which has a plurality of storage sections 2 divided in the horizontal and vertical directions. Each reservoir 2 can support the load 3 directly therein by means of a support arm or support the load 3 placed on a pallet. A pair of shelves 1 are arranged in parallel across the passage 4 in which the load handling device 10 moving along the constant track 5 is arranged.

The load handling device 10 has a lower frame 11, a pair of struts 12, 13, 12, which are arranged at regular intervals along the longitudinal direction and fixed vertically in the lower frame 11, ( There is a conveyer consisting of an upper frame 14 which connects the upper end of 13 to each other.

Between the pair of struts 12 and 13, the telescopic operation of the storage unit 2 is performed by the telescopic operation device 16, and the load handling element 17 in the shape of a fork is fixed. Vertical moving member 15 is provided. The lower frame 11 is provided with driving wheels 18 and driven wheels 19 that move along the road surface rail 6, and the driving wheels 18 and driven wheels 19 have a constant distance along the longitudinal direction. Are placed. The upper frame 14 is provided with a guide roller 20 that moves along the ceiling rail 7.

The lower frame 11 supports the driven wheels 19 and supports the driven unit 30 and the driving wheels 18 connected to one support 12 and connected to the support 13 on the other. It consists of a combination of the drive unit 40, the driven unit 30 and the intermediate unit 55 disposed between the drive unit 40.

In more detail, the driven unit 30 is divided into two left and right partitions, as shown in FIGS. 3, 4, and 6, and the left and right shaft plates 31 and the lower frame 11 are separated from each other. The plate-shaped support connecting portion 32 formed integrally with the shaft plate at the upper end located outside the bore in the longitudinal direction, and the flat guide formed integrally with the shaft plate at the upper end located inside the bore in the longitudinal direction of the lower frame 11. 33), it is comprised by the cylindrical driven wheel support part formed in the upper center of the shaft plate 31 extended along the longitudinal direction of the driven unit 30. As shown in FIG. The two segments are combined into a single unit by welding or the like.

In the two shaft plates 31, rivet holes 35 for connecting the intermediate units 55 are formed at regular intervals, respectively. The strut connection part 32 and the guide wheel holder 33 are formed with bolt holes 36 and 37 extending vertically. The driven wheel 19 is supported by the shaft 38 which penetrates the driven wheel support part 34 between two shaft plates 31.

The support 12 has a flange 21 formed integrally with the support 12 at its lower end. The strut 12 is a bolt and nut passing through the bolt hole formed in the flange 21 so that the flange 21 is first placed in the strut connecting portion 32 and corresponds to the bolt hole 36 of the strut connecting portion 32. It is fixed by fastening, so that the strut 21 is connected to the vertical position in the strut connection 32.

As shown in FIGS. 3 to 5, the drive unit 40 is divided into two left and right partitions, and the left and right two shaft plates 41 and the shaft plate 41 at an intermediate upper end portion in the longitudinal direction of the drive unit 40. ) Flat plate support connecting portion (42) formed integrally with the flat plate guide wheel holder 43 formed integrally with the shaft plate (41) at the upper end located in the inner side in the longitudinal direction of the lower frame (11), lower frame (11) Of the flat plate-shaped vertical drive mechanism connecting portion 44 integrally formed with one shaft plate 41 at the upper end located outside of the shaft plate 41 extending along the longitudinal direction of the drive unit 40 in the longitudinal direction of The cylindrical drive wheel support part 45 formed in the upper center, and the vertically extending plate-shaped horizontal drive mechanism connection part 46 integrally formed with the shaft plate 41 at the outer end as seen from the longitudinal direction of the lower frame 11 are comprised. The two segments are combined into a single unit by welding or the like.

In the two shaft plates 41, rivet holes 47 for connecting the intermediate units 55 are formed at regular intervals, respectively. The strut connection part 42, the guide wheel holder 43, and the vertical drive mechanism connection part 44 are formed with the bolt holes 48, 49, and 50 which extend vertically. The horizontal drive mechanism connecting portion 46 is formed with a bolt hole 51 extending horizontally. The drive wheel 18 is supported by the shaft 52 which penetrates the drive wheel support part 45 between two shaft plates 41.

The strut 13 has a flange 23 formed integrally with the strut 13 at its lower end. The strut 13 has a bolt and a nut passing through the bolt hole formed in the flange 23 so that the flange 23 is first placed on the strut connecting portion 42 and corresponding to the bolt hole 48 of the strut connecting portion 42. It is fixed by fastening, whereby the strut 23 is connected to the vertical position at the strut connection 42. The vertical drive mechanism 25 is positioned at the vertical drive mechanism connecting portion 44, and the bolt and nut penetrates the bolt hole formed in the vertical drive mechanism 25 so as to correspond to the bolt hole 50 of the vertical drive mechanism connecting portion 44. By fastening, the vertical drive mechanism 25 is connected to the vertical drive mechanism connecting portion 44. The bolt and nut penetrating the horizontal drive mechanism 27 to the horizontal drive mechanism connecting portion 46 and penetrating the bolt hole formed in the horizontal drive mechanism 26 to correspond to the bolt hole 51 of the horizontal drive mechanism connecting portion 46. By fastening, the horizontal drive mechanism 27 is connected to the horizontal drive mechanism connecting portion 46.

The intermediate unit 55 is a pair of left and right channels, as shown in FIGS. 3, 4 and 7. These sections 56 are arranged such that the openings face outwards, and rivets corresponding to the rivet holes 35 and 47 of the shaft plates 31 and 41 are disposed at opposite ends of the sections 56, respectively. Balls 57 and 58 are formed. The inside of the shaped steel 56 is used for wiring of various electric wires, and therefore, the cover 59 is attached to the opening of the shaped steel so as to be detachable.

The shape steel 56 is brought into close contact with the shaft plate 31 of the driven unit 30 and the shaft plate 41 of the drive unit 40 from each other, and the rivet balls 35, 57 and the rivet balls 47, ( The intermediate unit 55 is connected to the driven unit 30 and the driving unit 40 by passing through the rivets 29 to 58 respectively.

As shown in Figs. 1 to 4, the vertical drive mechanism 25 is composed of a motor having a drive wheel 60 fixed to the output side of the motor, a reduction gear and the like. The pair of ropes or chains 61 wound around the prosthesis wheel 60 have their ends at opposite ends via lower guide wheels 62 and 63 attached to the guide wheel holders 33 and 43. To the lower portion of the vertical movable member (15). The other end of the chain 61 is connected to the upper portion of the vertical moving member 15 at opposite ends via the upper guide wheels 64 and 65 installed in the upper frame 14. The horizontal drive mechanism 27 is composed of a motor having a reduction gear and the like, and the output side is engaged with the driving wheel 18. A ladder 66 is provided outside of the support 12 in the horizontal movement direction of the load handling device 10.

Next, a method of operating the assembly will be described.

The driven unit 30 and the drive unit 40 are assembled in advance in the manufacturing plant. By the user's order, the manufacturer manufactures the intermediate unit 55 with a length L sufficient to be provided in the space between the support 12 and the support 13 so as to conform to the shape of the load to be handled. The intermediate unit 55 is disposed between the driven unit 30 and the drive unit 40, and the driven unit 30 and the drive unit 40 are connected to the intermediate unit 55 by fastening using rivets. Then, the struts 12 and 13 having a height suitable for the size of the warehouse are supported by the struts 22 and the nut 24 of the strut connection portion 32 of the driven unit 30 and the struts of the driving unit 40. It is connected to the connection part 42, respectively. Upper ends of the two struts 12 and 13 are connected by an upper frame 14. The vertical drive mechanism 25 is connected to the vertical drive mechanism connecting portion 44 of the drive unit 40 by bolts and nuts 26. Similarly, the horizontal drive mechanism 27 is driven by bolts and nuts. It is connected to the vertical drive mechanism connection part 46 of 40. In this way, the load handling apparatus 10 is completed. The load handling device 10 and the shelf 1 are vertically assembled to form an automated warehouse. In the automated warehouse configured in this way, the receipt and release of the load 3 is carried out horizontally by the load handling device 10 on the fixed track 5, by the shank movement of the vertical moving member 15, and the load handling element 17. Is performed on the target storage unit of the shelf 1 by a combination of expansion and contraction operations.

In the present embodiment, the rivet 29 is used for the connection between the driven unit 30 and the drive unit 40 and the intermediate unit 55. In the present invention, such a connection may be, for example, a bolt and a nut or a weld. It may also be carried out using other fastening means such as.

8 and 9 show modifications of the drive unit 40. In the embodiment shown in Figs. 1 to 7, in particular Fig. 5, the vertical drive mechanism connecting portion 44 for fixing the vertical drive mechanism 25 to the drive unit 40 is formed by a method such as casting. It is formed integrally with 40). In this modification, such a connection part is formed in the structure which can branch.

In more detail, the mounting seat 71 is attached to the drive unit 40 in a removable state. The fixed seat 71 is a cast product, and the lower connection part 72 which is turned to the side or downward is formed in the bottom surface, and the upper connection part 73 which is upward is formed in the upper surface. The fixed seat 71 is attached to the drive unit 40 in a detachable state by a fastening element such as a bolt, together with the lower connection portion 72 in close contact with the side surface or the upper surface of the drive unit 40 body.

The vertical drive mechanism 25 is fixed to the upper connection portion 73 of the fixed seat 71. The vertical drive mechanism 25 includes a motor 76 and a reduction gear 77. The reduction gear 77 is first brought into close contact with the upper surface of the upper connecting portion 73 and attached to the upper connecting portion 73 in a detachable state by a fastening element 78 such as a bolt or the like.

The horizontal drive mechanism connecting portion 46 is formed to face the side in the drive unit 40.

According to such a structure, in a manufacturing plant, the several types of fixed seat 71 and the several types of vertical drive mechanism 25 are produced previously. According to the user's order, the manufacturer fixes the horizontal drive mechanism 27 to the horizontal drive mechanism connecting portion 46 of the drive unit 40 of the lower frame 11 assembled according to the shape of the ordered device. The vertical drive mechanism 25 is fixed to the drive unit 40 via the fixed seat 71 as a medium.

In this modification, the drive unit 40 has no connecting portion for fixing the vertical drive mechanism 25. Therefore, when the drive unit 40 is manufactured by the casting method, the flow of molten metal is improved, and thus the drive unit can be manufactured in a more stable state. If it is necessary to fix another type of vertical drive mechanism, all of the current vertical drive mechanisms together with the fixed seat 71 may be replaced with a substitute. In this way, the fixed seat 71 can also be replaced at the same time in response to the replacement of the vertical drive mechanism. By this method, replacement with other types of parts can be performed easily.

10 to 14 show modifications of the intermediate unit 55. In this embodiment, the point that the intermediate unit 55 is composed of a pair of shaped steel members is the same as the intermediate unit described above, except that the pair of shaped steel members are disposed to face each other. The section members are vertically extended in the direction opposite to the vertical plate 81, the horizontal plates 82A, 82B extending inward from the upper end and the lower end of the vertical plate 81 inwards from the inside of the intermediate unit 55. It is formed in the middle in the longitudinal direction of the pair of fixing plates 83A, 83B, and the longitudinal plate 81 extending from the inner ends of the horizontal plates 82A, 82B, and toward the inside of the intermediate unit 55. Protruding inflating portion 84 and the like are formed integrally with each other.

The inflation portion 84 occupies a wide portion of the end plate 81, and is formed to extend vertically through the upper inflation point 85A and the lower inflation point 85B facing each other in an inclined state. Each of the shaped steel members of the intermediate unit 55 thus formed has a pair of upper and lower grooves 86A, 86B, fixing plates 83A, 83B, and a lower portion surrounded by the side plates 82A, 82B. There is an inflation point 85B. Rivet holes 57 and 58 for connecting the driving unit 40 and the driven unit 30 to the intermediate unit 55 at both ends of the end plate 81 when viewed in the longitudinal direction of the intermediate unit 55. Is formed. In the present embodiment, the driving unit 40 and the driven unit 30 are a pair of left and right side plates 91 extending vertically, the plate-shaped connecting portion 92, the side plate 91 disposed between the upper end of the side plate 91 The intermediate unit connecting member 93 which protrudes outward from the outer surface of is formed integrally cast. The intermediate unit connecting member 93 is provided with rivet holes 57 and 58 corresponding to the rivet holes 94, respectively. Therefore, the driven unit 30, the drive unit 40, and the intermediate unit 55 are fastened by passing the rivets 29 through the rivet balls 57, 94 and the rivet balls 58, 94. Can be connected in one piece. In that case, the intermediate unit connecting member 93 comes into close contact with the inner surface of the inflation portion 84.

The upper horizontal plate 82A is provided with a plurality of bolt holes 102 extending vertically to correspond to the bolt holes 101 formed in the driven unit 30 and the drive unit 40. Where the bolt hole 102 is formed, a through hole 103 extending from the upper inflation point 85A to the lower inflation point 85B is formed, and through the bolt holes 101 and 102, the bolt ( 104) is used to insert upward. By inserting the bolt 104 from below, the bolt head 104a of the bolt is positioned inside the upper groove 86A.

The anti-rotation member 105 inserted from one longitudinal end of the intermediate unit 55 is disposed inside the upper groove 86A. The anti-rotation member 105 is a strip member whose cross section matches the inner shape of the upper groove 86A. An upper opening 106 is formed in the upper portion of the rotation preventing member 105 so that only the bolt head 104a can enter. At a predetermined position, the upper inflation point 85A is engaged in an inserted state by an anti-slip bolt 107 in close contact with the outer surface of the rotation preventing member 105.

Therefore, after connecting the driven unit 30, the driving unit 40, and the intermediate unit 55 together, they are inserted upward through the bolt 104 and the through hole 103 into the bolt holes 101 and 102. Thus, the bolt head 104a is in the interior of the upper groove 86A, and the anti-rotation member 105 is one of the intermediate units 55 until the bolt head 104a reaches the upper opening groove 106. It is inserted from the side end. In this way, a certain amount of bolts 104 can protrude upward from the strut connection 92.

In the present embodiment, the two pillars 12 and 13 are cylindrical in cross section and have a flange 108 integrally formed at the lower end thereof, and the driven unit 30 and the drive in the flange 108. A plurality of bolt holes 109 extending vertically to correspond to the bolt holes 101 formed in the unit 40 are formed. Therefore, the flange 108 together with the bolt 104 that protrudes from the post connecting portion 92 is positioned in the post connecting portion 92, and thus, after passing the bolt 104 through the bolt hole 109. Fasten the nut 110 to the end of the bolt 104. Thus, the upper portions of the struts 12 and 13 are connected at the strut connection portion 92.

As shown in FIG. 11 and FIG. 12, a pair of upper and lower connecting plates 111 are arranged at the center in the longitudinal direction of the intermediate unit 55, and the connecting plates 111 are formed by means of rivets 112. The member is connected. The inside of the lower groove 68B is used for wiring of the electric wire 113 and the like.

In this modification of the intermediate unit, it is not necessary to provide a cover 59 or the like used in the embodiment shown in FIG. 7, and therefore, a part of the manufacturing cost can be saved. Since the shaped steel member is disposed inward, there is no fear that the electric wire 113 provided inside the member is exposed outward. This makes it possible to configure the lower frame 11 smoothly. It is possible to reduce the expansion of the driven unit 30 and the driving unit 40 outwardly in that the steel intermediate unit 55 has an inwardly expanding portion 84, thus making these units convenient and inexpensive. Can be manufactured. The intermediate unit 55 has fixed plates 83A and 83B and an expansion portion 84 that functions as a rib, which has a characteristic of providing great torsional rigidity and sufficient strength.

In the above embodiment, the rotation of the bolt head 104a is prevented by the rotation preventing member 105. Alternatively, the nut 110 may be provided inside the groove 86A to prevent rotation.

Claims (4)

In the load handling device for an automated warehouse, which is supported and guided by a floor rail for moving along a predetermined track installed on the front of the shelf (1), the load handling device (10) includes a lower frame (11) and a lower frame. A pair of struts 12, 13 extending upwardly from the top, a vertical moving member 15 disposed between the struts 12 and the struts 13, and a load to or from the shelf 1 It consists of a load handling element 17 installed in the vertical moving member 15, the lower frame 11 is driven with a driven unit 30 having a driven wheel 19, and a drive wheel 18 Unit 40 and an intermediate unit 55 disposed between the driven unit and the drive unit, wherein the driven unit 30 has a strut connection portion 32 connected to the support 12. One drive unit 40 has a horizontal linkage with the strut connection 42 connected to another strut 13. Baggage handling device for an automated warehouse, characterized in that consisting of the old connection (46). According to claim 1, wherein the fixed seat 71 is attached to the lower frame 11 in a removable state, and the vertical drive mechanism 25 fixed to the fixed seat 71 and connected to the vertical movable member 15 Baggage handling apparatus for an automated warehouse, characterized in that configured. According to claim 1 or 2, wherein the intermediate unit 55 of the lower frame 11 is composed of a pair of left and right shaped steel members 56, each of the shaped steel members and the vertical plate (81) extending vertically; And a pair of diaphragms 82A, 82B extending inward from the upper end and the lower end of the end plate inwardly in the intermediate unit, and extending from the inner end of each diaphragm 82A, 82B in a vertically opposite direction. The pair of fixing plates 83A, 83B and the end plate 81 formed in the middle in the longitudinal direction, and is characterized in that it comprises an expansion portion 84 that is expanded toward the inside of the intermediate unit 55. Warehouse baggage handling device. The bolt hole 102 formed in at least the upper side plate 82A of the pair of side plates 82A and 82B, the bolt 104 which penetrates the bolt hole 102, and the said side plate ( It is surrounded by 82A) and 82B, the horizontal plate in which the said bolt hole 102 is formed, and the upper expansion point 85A of the stationary plate 83A, 83B, and the expansion part 84, The groove member 86A in which the nut 110 fastened to the bolt head 104a of the bolt 104 or the bolt 104 itself is accommodated, and the shaped member disposed in the longitudinal direction of the intermediate unit 55. Inserted from one end of the nut 110 and the anti-rotation member 105, characterized in that it comprises a rotation preventing member 105 for preventing rotation of the bolt head (104a).