TW200538376A - Pallet conveyance device - Google Patents
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- TW200538376A TW200538376A TW94103368A TW94103368A TW200538376A TW 200538376 A TW200538376 A TW 200538376A TW 94103368 A TW94103368 A TW 94103368A TW 94103368 A TW94103368 A TW 94103368A TW 200538376 A TW200538376 A TW 200538376A
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200538376 九、發明說明： 【發明所屬之技術領域】 本發明有關於一種托板搬運裝置，特別是有關於一種具 有托板搬運裔’在物品搬運用托板在堆疊於搬出搬入收納架 的棚架收納用托板上的狀態下，可搬運上述棚架收納用托板 的托板搬運裝置。200538376 IX. Description of the invention: [Technical field to which the invention belongs] The present invention relates to a pallet conveying device, and in particular, to a shelf having a pallet conveying shelf, which is used for stacking and unloading an item into a storage rack. The pallet conveying device which can convey the said shelf storage pallet in the state of the storage pallet.
【先前技術】 相關的托板搬運裝置，為了在載置物品的狀態下可將搬 入的各種尺寸的物品搬運用托板收納於收納架，在該物品搬 運用托板載置並堆疊於適用於收納架的棚架收納用托板上 的狀態下’而收納於收納架的構造。在習知技術中，可接受 物品搬運用托板的外部搬出入用的托板接受處係設置於比 地面高的位置上，托板搬運裝置為在托板接受處可搬運棚架 收納用托板的構造（例如，參照專利文獻1)。 [專利文獻1]特公平4-46844號公報 【發明内容】 [發明所欲解決的問題] 然而，在相關的托板搬運裝置中，在從外部將物品搬運 用托板搬入之際，將物品搬運用托板搬入至位於托板接受處 的棚架收納用托板，而將物品搬運用托板搬運至外部之際， 將載置於位在托板接受處之棚架收納用托板上的物品搬運 用托板搬出，但在上述的構造中，由於托板接受處係設置於 7037-6831-pp.Ghentf 5 200538376 比地面南的位置，相對於物品搬運用托板的棚架收納用托板 搬出入，可用將物品搬運用托板向上舉高的堆高機進行，作 是無法以手動升降器冑物品搬運用板向±舉冑至大略相 同的高度，將物品搬運用托板相對於接受處做搬出入的裝置 被將物品搬運用托板舉高的裝置所限制，相對於外部的物品 搬運用托板的搬出入難以進行。[Prior art] The related pallet conveying device is used to store the pallets of various sizes to be carried in the storage rack while the articles are being placed, and the pallets are placed and stacked on the pallets. A structure in which the shelf storage pallet of the storage shelf is stored in the storage shelf. In the conventional technology, a pallet receiving place for carrying in and out of an acceptable article transporting pallet is installed at a position higher than the ground, and a pallet transporting device is capable of transporting a shelf storage shelf at the pallet receiving place. Structure of the plate (for example, refer to Patent Document 1). [Patent Document 1] Japanese Unexamined Patent Publication No. 4-46844 [Summary of the Invention] [Problems to be Solved by the Invention] However, in a related pallet transporting device, when an pallet for transporting an article is carried in from the outside, the article is moved. When the transport pallet is moved to the pallet storage pallet located at the pallet receiving area, and the article transport pallet is transported to the outside, it is placed on the pallet storage pallet located at the pallet receiving area. The pallets for transporting articles are carried out, but in the above-mentioned structure, since the pallet receiving place is located at 7037-6831-pp.Ghentf 5 200538376, it is located south of the ground, and is used for the storage of the shelves relative to the pallets for transporting articles. The loading and unloading of pallets can be carried out by a stacker that raises the pallets for transporting articles. As a manual lifter, the pallets for transporting articles cannot be lifted up to ± the same height, and the pallets for transporting articles are opposed. The device for carrying in and out at the receiving place is restricted by the device for raising the pallet for article transport, and it is difficult to carry in and out of the pallet for article transport to the outside.
有鑑於此，本發明<目的在於提供一種相對於外部的物 品搬運用托板的搬出入容易進行的托板搬運裝置。 •[解決問題的手段] 本發明之托板搬運裝置具有托板搬運器，在物品搬運用 托板在堆疊於搬出搬入收納架的棚架收納用托板上的狀態 下，可搬運上述棚架收納用托板。 第一構造特徵為可接受上述物品搬運用托板的外部搬 出搬入用托板的接受處係設置於地面上；上述托板搬運器可 |於比上述托板接受處高的托板移載處，搬運上述棚架收納用 托板；該托板搬運裝置具有一托板移載器，在上述托板接受 處與位於上述托板移載處的上述棚架收納用托板之間，移載 上述物品搬運用托板。 即，在設置於地板上的外部搬出入用的托板接受處以及 由托板搬運器搬運而位於比托板接受處高的托板移載處的 棚架收納用托板之間，具有移載物品搬運用托板的托板移載 器，在將物品搬運用托板搬入之際，藉由將棚架收納用托板 搬入於設置在地板上的托板接受處，將位於托板接受處的物 7037-6831-PF;Chentf 6 200538376 品搬運用托板以托板移載器移載而載置於位在托板移載處 的棚架收納用托板上，又在將物品搬運用托板搬出外部之 際，载置於位在托板移載處的棚架收納用托板的物品搬運用 托板以托板移載器移載至托板接受處。 即’在托板接受處與位於托板移載處的棚架收納用托板 之間’設有移載物品搬運用托板的托板移載裝置，因此物品 搬運用托板的搬出入可對應於托板接受處進行，該托板接受In view of this, an object of the present invention is to provide a pallet conveying device that can easily carry out loading and unloading of pallets for external product transportation. [Means for Solving the Problem] The pallet conveying device of the present invention includes a pallet conveyer, and the pallet can be transported in a state where the pallet for article transportation is stacked on the shelf pallet for carrying out and loading into the storage shelf. Shelves for storage. The first structural feature is that the receiving place that can accept the external carrying out and carrying in of the pallet for article transportation is installed on the ground; the pallet carrier can be located at a pallet transfer position higher than the pallet receiving position. To carry the shelf storage pallet; the pallet transportation device has a pallet transfer device that transfers between the pallet receiving place and the shelf storage pallet located at the pallet transfer place The pallet for carrying the article. That is, there is a transfer between a pallet receiving place for external loading and unloading provided on the floor and a shelf storage pallet which is carried by a pallet carrier and located at a pallet transferring place higher than the pallet receiving place. When a pallet transfer device for pallets for carrying articles is carried in, the pallet for pallet storage is moved to a pallet receiving place provided on the floor, and the pallet pallet is placed on the pallet. 7037-6831-PF; Chentf 6 200538376 The pallet for product transportation is transferred by the pallet transfer device and placed on the shelf storage pallet located at the pallet transfer location. When a pallet is used to carry the outside, the pallet for transporting articles placed on the shelf storage pallet located at the pallet transfer place is transferred to the pallet receiving place by the pallet transfer device. In other words, a pallet transfer device is provided between the pallet receiving place and the shelf storage pallet located at the pallet transfer location. The pallet transfer device for transferring the pallet for transporting articles can be carried in and out. Corresponds to the pallet acceptance, the pallet acceptance
處由於設置於地面上’可將物品搬運用耗板舉高的堆高機以 及無法將物品搬運用托板舉至相同高度的手動升降器，相對 於把板接受處，可將物品搬運用托板搬出入，而提供一種相 對於外部易於進行物品搬運用托板的搬出入的托板搬運裝 置。 第二構造特徵為在第一構造特徵中上述托板移載器包 括升降裝置以及中繼搬運裝置。升降裝置使上述物品搬運用 托板，在上述托板接受處與承載於位於上述托板移載處的上 |述棚架收納用托板時的高度相同或略高的中繼處之間做升 降中繼搬運裝置將上述物品搬運用托板，在上述中繼處與 位於上述托板移載處的上述棚架收納用托板之間做搬運。 即，將物品搬運用托板在托板接受處與位於托板移載處 的棚架收納用托板之間移載，同時使物品搬運用托板在托板 接觉處與中繼處之間升降係以升降裝置進行，將物品搬運用 托板在中繼處與位於托板移載處的棚架收納用托板之間的 搬運係以中繼裝置進行而分擔，由於升降裝置與中繼裝置係 以處理功能單純化構成，·托板移載器的構造可簡化。 7 7037-6831-PF；chentf 200538376 第三構造特徵為在第二構造特徵中，上述中繼搬運裝置 包括叉狀的托板支持部以及旋轉台。叉狀的托板支持部係插 入設於上述物品搬運用托板的叉插入部，以支持上述物品搬 運用托板，該托板支持部在旋轉台之長度方向可滑動操作地 支持。上述旋轉台係於一中繼旋轉位置以及一移載用旋轉位 置之間進行旋轉操作，中繼旋轉位置係相對於位於上述中繼 處的上述物品搬運用托板使上述托板支持部插入或脫離的Because it is installed on the ground, it is a stacker that can raise the consumption plate for article transportation and a manual lifter that cannot raise the article transportation pallet to the same height. Compared with the board receiving place, the article transportation bracket can be used. A pallet conveying device is provided which facilitates carrying in and out of a pallet for article transportation with respect to the outside. The second structural feature is that in the first structural feature, the pallet transfer device includes a lifting device and a relay conveying device. The lifting device enables the pallet for article transportation to be made between the pallet receiving place and the relay place which is carried at the pallet transfer place where the pallet is received at the same height or slightly higher. The elevating relay conveying device conveys the article transport pallet between the relay place and the shelf storage pallet located at the pallet transfer place. That is, the pallet for article transportation is transferred between the pallet receiving place and the shelf storage pallet located at the pallet transfer place, and the article transport pallet is placed between the pallet receiving place and the relay place. The lifting and lowering is performed by a lifting device, and the conveyance of the article transport pallet between the relay and the shelf storage pallet located at the pallet transfer is performed by the relay. The relay device is constructed with a simplistic processing function, and the structure of the pallet transfer device can be simplified. 7 7037-6831-PF; centf 200538376 The third structural feature is that in the second structural feature, the relay conveying device includes a fork-shaped pallet support portion and a rotary table. A fork-shaped pallet support portion is inserted into a fork insertion portion provided in the pallet for transporting articles to support the pallet for transporting the articles, and the pallet support is slidably supported in the lengthwise direction of the turntable. The rotary table is rotated between a relay rotation position and a transfer rotation position. The relay rotation position is such that the pallet support part is inserted into the pallet support part or Detached
位置，移載用旋轉位置係相對於被承載於位在上述托板移載 處的上述棚架收納用托板的上述物品搬運用托板使上述托 ，板支持部插入或脫離的位置。 即，藉由插入設於上述物品搬運用托板的叉插入部，以 支持上述物品搬運用托板，該托板支持部在旋轉台之長度方 向可滑動操作地支持，使旋轉台可於一中繼旋轉位置以及一 移載用旋轉位置之間進行旋轉操作，物品搬運用托板可於中 繼處與位於托板移載處的棚架收納用托板之間搬運，可簡化 胃|中繼搬運裝置的構造。 第四構造特徵為在第三構造特徵中，上述托板搬運器包 括一主搬運部以及一旋轉台侧搬運部，該旋轉台側搬運部在 上述旋轉台位於上述移載用旋轉位置時與上述主搬運部之 間可搬運上述棚架收納用托板’而且上述棚架收納用托板被 支持於上述托板移載處；上述旋轉台側搬運部係裝設於上述 旋轉台，並可於將上述棚架收納用托板支持於上述托板移動 處的移載高度以及比該移載高度低的退避高度之間實施升 降操作。 7〇37-6831-PF；chentf 8 200538376 即，托板支持部在滑動之際’藉由使旋轉台側搬運部下 降至退避咼度，使支持於托板支持部的物品搬運用托板與位 於托板移載處的棚架收納用托板不接觸而使托板支持部滑 動，因此使中繼用搬運部的物品搬運用托板於托板接受處與 位於托板移載處的棚架收納用托板之間的移載可順利地進 行。 第五構造特徵為在第四構造特徵中，在上述旋轉台側搬 運部，伴隨上述物品搬運用托板堆疊狀態下上述棚架收納用 ®托板的搬運，上述粍板支持部插入或脫離上述物品搬運用托 架。 即，藉由旋轉台側搬運部的搬運，物品搬運用托板堆疊 狀態下上述棚架收納用托板向托板移動處移動，托板支持部 被插入於物品搬運用托板，藉由物品搬運用托板堆疊狀態下 上述棚架收納用托板向遠離托板移載處的方向移動，托板支 持部與物品搬運用托板分離。因此，藉由旋轉台側搬運部搬 %運堆疊狀態的棚架收納用托板，使托板支持部插入脫離物品 搬運用托板，在堆疊狀態的棚架收納用托板位於托板移載處 的狀態下，無須使托板支持部插入脫離物品搬運用托板，可 提升作業性。 第六構造特徵為在第一或第二特徵中，上述托板搬運器 係为別5史置朝上述收納架的搬入用的托板搬運器以及朝上 述托板移載處的搬出用的托板搬運器；上述托板移載裝置係 分別設置對應於上述搬入用托板搬運器的搬入用托板移載 裝置以及對應於上述搬出用托板搬運器的搬出用托板移載 7037-6831-PF；Chentf 9 200538376 裝置。 即，物品搬運用托板收納於棚架收納用托板的情況下， 當物品搬運用托板被搬入托板接受處時，物品搬運用托板由 搬入用的托板移載器移載至位於托板移載處的棚架收納用 托板’而成為使物品搬運用托板載置於棚架收納用托板上的 堆疊狀態’該堆疊狀態的棚架收納用托板以搬入用的托板搬 運裝置搬運而收納於收納架上。 又’物品搬運用托板搬出至外部的情況下，收納於收納 架的堆疊狀態的棚架收納用托板以搬出用的托板搬運裝置 搬運至托板移載處，將載置於搬運至該托板移載處的棚架收 納用托板上的物品搬運用托板以搬出用的托板移載器移載 至托板接嗳處，可將移載至該托板接受處的物品搬運用托板 搬出至外部。 即，由於托板搬運器及托板移載器係各別設置，物品搬 運用托板搬出外部及朝收納架搬入可有效地進行。 % 第七構造特徵為第六構造特徵中，在上述搬出用的托板 移載裝置中的上述之旋轉台係於空托板搬出用旋轉位置上 進行旋轉操作，而且在上述搬入用的托板移載裝置中的上述 之旋轉台係於空托板搬入用旋轉位置上進行旋轉操作；設有 一托板堆疊裝置，在上述搬出用的托板移載裝置中的上述之 旋轉台在空托板搬出用旋轉位置上旋轉的狀態下，將自上述 旋轉台側搬運部搬出的空狀態的上述棚架收納用托板搬入 並堆疊；設有一托板去堆叠裝置，在上述搬入用的托板移載 裝置中的上述之旋轉台在空托板搬入用旋轉位置上旋轉的 7037-683l-PF/Chentf 10 200538376 狀態下’將堆疊狀態的上述棚架收納用托板其中之一供給至 上述旋轉台側搬運部；設有一堆疊托板搬運裝置，將由上述 托板堆疊裝置所堆疊的上述棚架收納用托板，運送至上述托 板去堆疊裝置。 即，位於搬出用托板搬運器的托板移載處的空狀態的棚 架收納用托板，在搬出用移載器的旋轉台於空托板搬運用旋 轉位置旋轉操作的狀態下，使從旋轉台搬運部以托板堆疊裝 置搬入而以該堆疊裝置成為堆疊的狀態，將以堆疊裝置堆疊 的棚架收納用托板由堆疊托板搬運裝置搬運至去堆疊裝 置，托板去堆疊裝置係在搬入用的托板托板移載裝置的旋轉 口於空托板搬運用旋轉位置做旋轉操作的狀態下，將堆疊狀 態的上述棚架收納用托板其中之一供給至上述旋轉台侧搬 運部’將空狀態的棚架收納用托板搬運至搬入用的托板搬運 裝置的托板移載處。 即’當空狀態的棚架收納用托板搬運至收納架，同時收 %納於收納架的空狀態的棚架收納用托板搬運至托板移載處 時，由於搬運需要時間而導致效率降低，但是空狀態的棚架 收納用托板以托板堆疊裝置在堆疊狀態下回收至與收納架 不同的處所，而且由去堆疊裝置去堆疊並供給至托板移載 處，空狀態的棚架收納用托板的搬運效率提高，裝置全體的 效率提升。 【實施方式】 [第一實施例] 7037-6831-PF;Chentf 11 200538376 以下根據®式說明適用於自動倉庫的托板搬運裝置的 實施型態。The position and the rotation position for transfer are the positions where the pallet and the plate support portion are inserted or detached from the pallet for transporting the articles carried on the pallet storage pallet located at the pallet transfer position. That is, a fork insertion portion provided on the article conveying pallet is inserted to support the article conveying pallet. The pallet supporting portion is slidably supported in the length direction of the rotary table, so that the rotary table can be mounted on the pallet. The rotation operation is performed between the relay rotation position and a transfer rotation position. The pallet for article transportation can be transported between the relay and the shelf storage pallet located at the pallet transfer position, which can simplify the stomach | 中Following the construction of the handling device. A fourth structural feature is that in the third structural feature, the pallet carrier includes a main conveying unit and a turntable side conveying unit, and the turntable side conveying unit is the same as the above when the turntable is located in the transfer rotation position. The pallets for pallet storage can be transported between the main transport sections, and the pallets for pallet storage are supported at the pallet transfer place; the rotary table-side transport section is installed on the rotary table, and can be mounted on the rotary table. The shelving support pallet is supported between a transfer height at which the pallet is moved and a retreat height lower than the transfer height to perform a lifting operation. 7〇37-6831-PF; centf 8 200538376 That is, when the pallet support part is sliding, the pallet support part for carrying the article is supported by the lowering of the turntable side conveyance part to the retreat degree. The shelf storage pallet located at the pallet transfer place does not contact and slides the pallet support portion. Therefore, the article transport pallet at the relay transfer unit is placed at the pallet receiving area and the shelf at the pallet transfer area. The transfer between the rack storage pallets can be performed smoothly. A fifth structural feature is that in the fourth structural feature, in the turntable-side conveyance unit, the pallet support unit is inserted into or disengaged from the shelf-supporting® pallet in a state in which the pallets for article transportation are stacked. Cargo carrier. That is, by the conveyance section on the turntable side, the pallet for pallet storage is moved to the pallet moving position in the state where the pallets for article transportation are stacked, and the pallet support part is inserted into the pallet for article transportation, and the article When the pallets for transportation are stacked, the pallet for shelf storage moves in a direction away from the place where the pallet is transferred, and the pallet support part is separated from the pallet for article transportation. Therefore, the shelf-supporting pallet in the stacked state is moved by the turntable-side conveying unit, and the pallet supporting part is inserted into and detached from the article-transporting pallet, and the shelf-receiving pallet in the stacked state is located on the pallet and transferred In this state, it is not necessary to insert the pallet support portion into and out of the pallet for article transportation, which can improve workability. A sixth structural feature is that, in the first or second feature, the pallet carrier is a pallet carrier for carrying in to the storage rack and a carrier for carrying out to the pallet transfer place. Plate carrier; the pallet transfer device is provided with a pallet transfer device for carrying in corresponding to the pallet carrier for carrying in and a pallet transfer for carrying out 7037-6831 corresponding to the pallet carrier for carrying out -PF; Chentf 9 200538376 device. That is, in the case where the pallet for article transportation is stored in the pallet for shelf storage, when the pallet for article transportation is carried into the pallet receiving place, the pallet for article transportation is transferred to the pallet transfer device for carrying in The shelf storage pallets located at the pallet transfer position are in a stacked state where the pallets for article transportation are placed on the shelf storage pallets. The pallet conveying device conveys and stores it on a storage rack. When the pallet for article transportation is carried out, the pallet rack storage pallets stored in the stacked state of the storage rack are transferred to the pallet transfer place by the pallet transfer device for carrying out, and the pallet is transferred to The pallets for carrying goods on the shelf storage pallet at the pallet transfer place are transferred to the pallet receiving place by the pallet transfer device for carrying out, and the articles transferred to the pallet receiving place can be transferred The carrying pallet is carried out. That is, since the pallet conveyer and the pallet transfer device are provided separately, it is possible to efficiently carry out the goods transfer using the pallet to the outside and to the storage rack. % The seventh structural feature is the sixth structural feature in which the rotary table in the pallet transfer device for carrying out is rotated at the rotary position for carrying out the empty pallet, and the pallet for carrying in is carried out. The above-mentioned rotary table in the transfer device is rotated at the rotating position for empty pallet loading; a pallet stacking device is provided, and the above-mentioned rotary table in the above-mentioned pallet transfer device for carrying out is on the empty pallet. In the state of being rotated at the carrying-out rotation position, the empty shelf pallets carried out from the turntable-side conveying unit are carried in and stacked; a pallet destacking device is provided, and the pallets for carrying in are moved 7037-683l-PF / Chentf 10 200538376 in which the above-mentioned rotary table in the loading device rotates in the rotary position for empty pallet loading. 'Supply one of the above-mentioned shelf storage pallets in a stacked state to the above-mentioned rotary table. A side conveying section; a stacking pallet conveying device is provided, and the pallets for pallet storage stacked by the pallet stacking device are transported to the pallet destacking device. That is, the empty shelf storage pallet located at the pallet transfer position of the carrying pallet carrier is rotated while the rotary table of the carrying pallet is rotated to the rotary position for carrying the empty pallet. It is carried in from the turntable conveying section with a pallet stacking device and the stacking device is stacked. The shelf storage pallets stacked with the stacking device are transferred from the stacking pallet conveying device to the destacking device, and the pallet destacking device. In a state where the rotary port of the loading pallet transfer device for carrying in is rotated at the rotary position for empty pallet transportation, one of the above-mentioned shelf storage pallets is supplied to the rotary table side. The conveyance part 'conveys the empty shelf storage pallet to the pallet transfer place of the pallet conveyance apparatus for carrying in. That is, when an empty shelf storage pallet is transported to the storage rack, and at the same time, the empty shelf storage pallet received in the storage rack is transported to the pallet transfer place, the efficiency is reduced due to the time required for transportation. However, in the empty state, the pallets for storage of the shelf are recovered to different places from the storage shelf by the pallet stacking device, and are stacked by the destacking device and supplied to the pallet transfer place. The empty shelf The carrying efficiency of the storage pallet is improved, and the efficiency of the entire device is improved. [Embodiment] [First embodiment] 7037-6831-PF; Chentf 11 200538376 The following describes the implementation form of a pallet handling device suitable for an automatic warehouse according to ®.
如第1圖所示，在該自動倉庫中，具有複數個收納部ia 的收納架1以一對為一組而配設有複數組。雖然圖中未示， 各收納帛1㈣造為收納冑la S上下方向與橫方向上複數 個並列。如第7圖所示，收納部la的構造為在搬出搬入於 收納架1的棚架收納用托板P1上，可將物品搬運用托板p2 在堆疊的狀態下收納於棚架收納用托板P1。又，物品w係載 置於物品搬運用托板P2上。 如第3圖及第5圖所示，可接受物品搬運用托板？1的 外部搬出入用的托板接受處20係設置於地面上。而且，在 托板接受處20與位於比托板接受處20高的托板移載處18 的棚架收納用托板p 1之間，設有移載物品搬運用托板P2的 托板移載器22，以及在物品搬運用托板P2堆疊狀態下，可 將棚架收納用托板p 1於托板移載處18與收納架1之間搬運 的托板搬運器21。 然後，如第1圖所示，托板搬運器21係分別設有向收 納架1搬入的搬入用的托板搬運器21A以及向托板移載處18 搬出的搬出用的托板搬運器21B。托板移載器22設有對應於 搬入用托板搬運器21A而配備的搬入用托板移載器22A以及 對應於搬出用的托板搬運器21B而配備的搬出用托板移載器 22B。 即，在物品W搬入收納架1的情況中，設於地面F上的 托板接受處20的物品搬運用托板P2係由圖外的手動式升降 7037-6831-PF;Chentf 12 200538376 為搬入，該物品搬運用托板P2係由托板移载器22a移載而 使位於托板移載處丨8的棚架收納用托板成為堆疊的狀態， 該堆疊狀態的棚架收納用托板？1由搬入用的托板搬 〜 搬入收納架1。 口 又，物品w從收納架丨搬出的情況中，由搬出用的托板 搬運器21B將堆疊狀態的棚架收納用托板ρι從收納架^搬 運至托板移載處1 8。載置於該棚架收納用托板ρι上的物品 搬運用托板P2由托板移載器22移載至托板接受處2〇。而 且，位於該托板接受處20的物品搬運用托板p2用圖外的手 動式升降器等搬出。 接著，詳述托板搬運器21。 如第1圖所示，在各組相向的收納架丨之間，具有可上 下方向升降的升降台及又的堆疊起重機（st〇cker cran幻2沿 軌道3可移動地設置，由該堆疊起重機2，將位於收納架。! 入口側的搬人用升降機4上的棚架收納用托板入收納 |部la，又，收納部la的棚架收納用牦板ρι搬出至搬出用升 降機5上。 在遠離上述搬入用升降機4的收納架Μ一侧設有搬入 用移載升降機6’又在遠離搬出用升降機5的收納架μ — 側’同樣設有搬出料移載升降機7，在搬人用升降機4與 搬入用移載升降機6之間，設有將移載升降機6上的棚架收 納用托板P1搬運至搬入用升降機4的搬入用輸送考 (convey^，又在搬出用升降機5與搬出用的移載升降機7 之間’設有將搬出用升降機5上的棚架收納用托板ρι搬運 7037-6831-PF；Chentf 13 200538376 至移載升降機7的搬出用輸送器9。 然後’在搬入用的移載升降機6及搬出用的移載升降機 7的收納架1的相反側，配設有自走式的物品搬運車丨〇，該 物品搬運車10可於作為行走路面的地面F上行走，沿其行 走路徑设有導引物品搬運車丨〇的環形行走用導引軌道丨i。 在該物品搬運車1 〇之行走路徑的外側，除了上述搬入 用的移載升降機6及搬出用的移載升降機7之外，設有與上 述搬入用搬運裝置13與搬出用搬運裝置14以及托板堆疊裝 置23與托板去堆疊裝置24。物品搬運車將搬出用的移載 升降機7上的棚架收納用托板pi搬運至搬出用搬運裝置 14，並將來自搬入用搬運裝置13的棚架收納用托板搬運 至搬入用的移載升降機6。 又’物品搬運車10承接由托板堆疊裝置所堆疊的棚 木收納用托板P1，並搬運至去堆疊裝置24，該物品搬運車 10係相當於堆疊搬運裝置58。 % 搬出用搬運裝置14在托板移載處18將空狀態的棚架收 納用托板P1搬出至托板堆疊裝置23。托板堆疊裝置23將搬 出用搬運裝置14搬出的空狀態的棚架收納用托板ρι搬入而 保持堆疊的狀態，並將堆疊狀態的棚架收納用托板p丨移至 物品搬運車1 〇。 又，托板去堆疊裝置24將承接自物品搬運車的堆疊 狀態的棚架收納用托板p丨一個個供給至搬入用搬運裝置 13 ^搬入用搬運裝置13將由托板去堆叠裝置24所供給的空 狀態的棚架收納用托板P1搬運至粍板移載處18，在該托板 7037-683l-PF;Chentf 14 200538376 移載處1 8，使物品搬運用托板p2成為堆疊狀態的棚架收納 用托板P 1移至物品搬運車1 〇。 又若為空狀態，物品搬運用托板P2不在棚架收納用 托板P1上做堆疊。 即，搬入用的托板搬運器21A具有堆疊起重機2、搬入 用輸送器8'物品搬運出10以及搬入用搬運裝置13。搬運 位於托板移載處1 8的堆疊狀態的棚架收納用托板ρι，並搬 入收納架1。搬出用的托板搬運器21B具有堆疊起重機2、 搬出用輸送器9、物品搬運出1〇以及搬出用搬運裝置14。 將收納於收納架1的堆疊狀態的棚架收納用托板ρι搬出， 並搬運至托板移載處18。 然後，搬入用托板搬運器21A以及搬出用托板搬運器21B 分別具有主搬運部31與旋轉台側搬運部3 2。主搬運部31可 接受與物品搬運車1 〇之間的棚架收納用托板p 1，可在旋轉 台側搬運部32與該主搬運部31之間以及在上述托板堆疊裝 置23或托板去堆疊裝置24之間搬運棚架收納用托板ρι，將 棚架收納用托板P1支持於托板移載處1 8。 接著，說明上述拖盤移載器22。 如第3圖、第5圖所示，搬入用拖盤移載器22A以及搬 出用拖盤移載器22B具有升降裝置26與中繼搬運裝置27。 升降裝置26使物品搬運用托板P2在托板接受處20以及與 載置於托板移載處18的棚架收納用托板pi上的高度相同或 大略相同的中繼處1 9之間做升降。中繼搬運裝置2 7將物品 搬運用托板P2在中繼處1 9與位於托板移載處1 8的棚架收 7037-6831-PF；Chentf 15 200538376 納用托板pi之間做搬運。 上述中繼搬運裝置27設有插入物品搬運用托板p2的叉 插入部Pa而支持物品搬運用托板P2的托板支持部28，以及 於該托板支持部2 8長度方向可滑動操作而支持的旋轉台2 9。 然後，上述旋轉台29可於一中繼旋轉位置（如第1〇(d) 圖所示）以及一移載用旋轉位置（如第l〇(a)圖所示）之間以 軸心X進行旋轉操作’中繼旋轉位置係相對於位於中繼處1 g 的物品搬運用托板P2使托板支持部28可插入脫離，而移載 β用旋轉位置係相對於載置於托板移載處1 8的棚架收納用托 板Ρ1上的物品搬運用托板ρ 2使使托板支持部2 8可插入脫 離。又如第4圖及第10(b)圖所示，搬入用的托板移載器22Α 的旋轉台29也在空托板搬入用旋轉位置上繞轴心X做旋轉 操作，搬出用的托板移載器22Β的旋轉台29也在空托板搬 出用旋轉位置上繞轴心X做旋轉操作。 上述升降裝置26，鍊條40係由驅動鍊輪38及從動鍊輪 | 39捲動，承載支持物品搬運用托板ρ2的物品支持體36係連 結支持於該鍊條40上。然後，由移載升降用馬達41使驅動 鍊輪38正反轉，物品支持體36於導引於支柱37而升降， 由該物品支持體36所支持的物品搬運用托板ρ2在上述托板 接受處20與上述中繼處19之間升降。又，在地面ρ上，物 品支持體36形成凹陷部，位於托板接受處2〇的物品搬運用 托板Ρ2的下面係與地面F等高或大略等高。 如第4圖所示，上述托板支持部28，藉由叉移動用馬達 45使驅動輪於正逆方向旋轉，托板支持部28由叉用導引滑 7037-6831-PF;Chentf 16 200538376 軌43導引而於托板支持部28長度方向滑動。As shown in FIG. 1, in this automatic warehouse, a storage array 1 having a plurality of storage sections ia is provided in a plurality as a pair. Although not shown in the figure, each of the storage boxes 1 is formed so that a plurality of storage boxes 1a and 1b are arranged side by side in a vertical direction and a horizontal direction. As shown in FIG. 7, the structure of the storage unit 1a is such that the pallet P1 for article transportation can be stored in the shelf storage pallet in a stacked state on the shelf storage pallet P1 carried out and carried in the storage shelf 1. Board P1. The article w is placed on the article transport pallet P2. As shown in Figures 3 and 5, can you accept pallets for carrying goods? The pallet receiving area 20 for the external carrying in and out of 1 is installed on the ground. Further, between the pallet receiving place 20 and the shelf storage pallet p 1 located at the pallet transferring place 18 higher than the pallet receiving place 20, a pallet transfer for the transfer of the article carrying pallet P2 is provided. The carrier 22 and the pallet carrier 21 that can transport the shelf storage pallet p 1 between the pallet transfer place 18 and the storage rack 1 in a state where the pallets P2 for article transportation are stacked. Then, as shown in FIG. 1, the pallet carrier 21 is provided with the pallet carrier 21A for carrying in to the storage rack 1, and the pallet carrier 21B for carrying out to the pallet transfer place 18, respectively. . The pallet transfer device 22 is provided with a carry-in pallet transfer device 22A provided corresponding to the carry-in pallet transfer device 21A and a carry-out pallet transfer device 22B provided in correspondence with the carry-out pallet transfer device 21B. . That is, in the case where the article W is carried into the storage rack 1, the article carrying tray P2 provided at the tray receiving place 20 on the floor F is manually lifted 7037-6831-PF (not shown); Chenf 12 200538376 is carried in. The pallet P2 for article transportation is transferred by the pallet transfer device 22a, so that the shelf storage pallet located at the pallet transfer place 8 is stacked, and the stacked shelf storage pallet is in a stacked state. ? 1 Carry from the pallet for carrying in ~ Carry in the storage rack 1. In the case where the article w is carried out from the storage rack 丨, the pallet carrier 21B for carrying out the stacking rack storage pallet ρ is transferred from the storage rack ^ to the pallet transfer place 18. The articles placed on the shelf storage pallet ρm are transferred to the pallet receiving place 20 by the pallet transfer device 22. The pallet p2 for transporting articles located at the pallet receiving area 20 is carried out by a manual lifter or the like (not shown). Next, the pallet carrier 21 will be described in detail. As shown in Fig. 1, between the opposite storage racks of each group, there is a lifting platform that can be raised and lowered and a stacking crane (stocker cran 2 is movably installed along the track 3, and the stacking crane 2. Place the storage shelf.! The shelf storage pallet on the entrance-side lifter 4 is stored in the storage | portion la, and the shelf storage shelf plate p in the storage unit la is moved out to the lifting lifter 5 On the side of the storage rack M away from the above-mentioned loading elevator 4, there is a loading transfer lift 6 ′, and on the storage rack μ — side away from the loading lift 5, a loading transfer lift 7 is also provided. There is a conveyance test (convey ^) for conveying the shelf storage pallet P1 on the lifter 6 to the lifter 4 between the lifter 4 and the lifter 6 for conveyance. Between the transfer lifter 7 and the lifter 7 for carrying out, there is a conveyor 7037-6831-PF for transporting the scaffold storage pallets on the lifter 5 for lift-out; Chenff 13 200538376 to the lift-out conveyor 9 for the lifter 7 for transfer. 'In the transfer elevator 6 for moving in and moving On the opposite side of the storage rack 1 of the transfer elevator 7 for delivery, there is a self-propelled article conveyer 丨 0. The article conveyer 10 can be walked on the ground F, which is a road surface, and is provided along its walking path. Guide rails for circular walking of the article carrier 丨 〇. I. Outside the travel path of the article carrier 10, in addition to the above-mentioned transfer elevator 6 for transfer and transfer elevator 7 for carry-out, It is provided with the carrying-in device 13 and carrying-out device 14 described above, and the pallet stacking device 23 and the pallet de-stacking device 24. The article transporter transports the pallet storage tray pi on the transfer elevator 7 for carrying out To the carrying device 14 for carrying out and carrying the shelf storage pallet from the carrying device 13 to the transfer elevator 6 for carrying in. The article carrier 10 also accepts the storage of the shed wood stacked by the pallet stacking device. The pallet P1 is transported to the destacking device 24, and the article transporter 10 is equivalent to the stacking transport device 58.% The transporting device 14 carries out the empty shelf storage pallet P1 at the pallet transfer place 18 To care Stacking device 23. The pallet stacking device 23 carries in the empty shelf storage pallets carried out by the carrying-out conveying device 14 to maintain the stacked state, and moves the stacked shelf storage pallets p to the articles. The transporter 1 〇. Further, the pallet destacking device 24 supplies the pallet storage pallets p 丨 received from the stacked state of the article transporter one by one to the transporting apparatus 13 ^ The transporting apparatus 13 for transporting The empty shelf storage pallet P1 supplied by the stacking device 24 is transported to the fascia transfer site 18, and at this pallet 7037-683l-PF; Chenf 14 200538376 transfer site 18, the pallet for article transportation The shelf storage pallet P1 in which p2 is in a stacked state is moved to the article transport vehicle 10. If it is empty, the pallet P2 for article transportation is not stacked on the pallet P1 for shelf storage. That is, the pallet carrier 21A for carrying in is provided with the stacking crane 2, the carrying conveyor 8 'for carrying out articles 10, and a carrying device 13 for carrying in. Carry the stacked pallets for shelf storage at the pallet transfer point 18 and load them into the storage shelf 1. The carrying-out pallet carrier 21B includes a stacking crane 2, a carrying-out conveyor 9, an article carrying-out unit 10, and a carrying-out unit 14. The shelf storage pallets p stored in the stacked state stored in the storage shelf 1 are carried out and carried to the pallet transfer place 18. Then, the carry-in pallet conveyer 21A and the carry-out pallet conveyer 21B have a main conveyance part 31 and a turntable side conveyance part 32, respectively. The main conveyance unit 31 can accept a shelf storage pallet p 1 between the main conveyance unit 10 and the article conveyance vehicle 10. The main conveyance unit 31 can be used between the turntable-side conveyance unit 32 and the main conveyance unit 31 and the pallet stacking device 23 or pallet. Shelves for pallet storage are carried between the plate destacking devices 24, and the pallet for pallet storage P1 is supported at the pallet transfer place 18. Next, the above-mentioned tray transfer device 22 will be described. As shown in Figs. 3 and 5, the loading tray carrier 22A for carrying in and the moving tray carrier 22B for carrying out include a lifting device 26 and a relay conveying device 27. The lifting device 26 allows the pallet P2 for article transportation to be between the pallet receiving place 20 and the intermediate point 19 which is the same or substantially the same height as the shelf receiving pallet pi placed on the pallet transfer place 18. Do lifting. Relay handling device 2 7 Carry the pallet P2 for goods transportation at the relay place 19 and the scaffold located at the pallet transfer place 18 at 7037-6831-PF; Chenff 15 200538376 accept the pallet pi . The relay conveying device 27 is provided with a fork insertion portion Pa for inserting the article conveyance pallet p2 to support the article conveyance pallet P2, and a slide operation on the pallet support portion 28 in the longitudinal direction. Supported Rotary Table 2 9. Then, the rotary table 29 can be centered on the axis X between a relay rotation position (as shown in Fig. 10 (d)) and a rotation position for transfer (as shown in Fig. 10 (a)). Perform the rotation operation. The “relay rotation position” is relative to the pallet P2 for item transportation located at 1 g of the relay position, so that the pallet support portion 28 can be inserted and detached, and the rotation position for transfer β is shifted relative to the pallet. The article carrying pallet ρ 2 on the shelf storage pallet P 1 at the place 18 allows the pallet support portion 28 to be inserted and detached. As shown in FIG. 4 and FIG. 10 (b), the turntable 29 of the pallet transfer device 22A for carrying in is also rotated about the axis X in the rotary position for empty pallet carrying in, and the pallet for carrying out The rotary table 29 of the board transfer device 22B also rotates around the axis X in the rotary position for carrying out the empty pallet. The lifting device 26 and the chain 40 are scrolled by the driving sprocket 38 and the driven sprocket | 39, and the article support body 36 supporting the goods carrying pallet ρ2 is linked and supported on the chain 40. Then, the drive sprocket 38 is rotated forward and reverse by the transfer lifting motor 41, and the article support 36 is guided up and down by the pillar 37. The article transporting pallet ρ2 supported by the article support 36 is on the pallet. The receiving station 20 and the relay station 19 are moved up and down. In addition, on the ground ρ, the article support 36 forms a recessed portion, and the lower surface of the article transporting tray P2 located at the tray receiving area 20 is at the same height or substantially the same height as the ground F. As shown in FIG. 4, the pallet support portion 28 rotates the driving wheel in the forward and reverse directions by a fork movement motor 45, and the pallet support portion 28 is guided by a fork guide slide 7037-6831-PF; Chentf 16 200538376 The rail 43 is guided and slides in the longitudinal direction of the pallet support portion 28.
即，如第10(c)、10(d)圖所示，托板支持部28藉由滑 動，托板支持部28的前端在托板移載處上的搬運側狀態以 及上述旋轉台29在中繼旋轉位置做旋轉操作的狀態下在托 板移載裝置侧的移載側狀態之間做切換。然後，托板支持部 2 8與堆疊於棚架收納用托板p 1上的物品搬運用托板p 2的叉 插入口 Pa做等高設置，如第1 〇 ( a)圖所示，伴隨由旋轉台側 搬運部32搬運在物品搬運用托板P2為堆疊狀態的棚架收納 用托板P1，插入脫離於物品搬運用托板P2的叉插入部Pa。 上述旋轉台29，如第4圖所示，旋轉部47在底部48經 由軸承49繞軸心X可旋轉地支持著。然後，在設於旋轉部 47的甜甜圈狀的抵接構件64的内周側上形成鎖扣，與該鎖 扣喃合的小齒輪（pinion gear)65由設於底部48的搬運部旋 轉用馬達50驅動旋轉，藉此旋轉部47繞縱軸心旋轉。 搬入用的托板移載器22A的旋轉台29可於上述中繼用 |旋轉位置（參照第1 〇 (c)、1 〇 ( d )圖）、從該中繼用旋轉位置旋 轉90度的上述空托板移載用旋轉位置（參照第i〇(b)圖）以及 從該中繼用旋轉位置旋轉180度的上述移載用旋轉位置（參 照第10(a)圖）間自由旋轉，又搬出用的托板移載器2 2B的旋 轉台29可於上述中繼用旋轉位置（參照第1〇((：)、;1〇((1)圖）、 從該中繼用旋轉位置旋轉90度的上述空托板移載用旋轉位 置（參照第10(b)圖）以及從該中繼用旋轉位置旋轉180度的 上述移載用旋轉位置（參照第l〇(a)圖）間自由旋轉。又，旋 轉台29係根據未圖示之感測器的檢測結果在各旋轉位置停 7037-6831-PF;Chent f 17 200538376 Φ 止0 接著，詳述搬出用搬運裝置14。 如第3、4圖所示，搬出用搬運裝詈 衣1 1 4的碇轉台側搬運 部32係於與鍊條搬運裝置30垂直方向上二個並列地設置， 鍊條搬運裝置30具備捲繞於鍊輪的環狀的鍊條的鍊^輸送 式的構造。搬出用搬運裝置14的棚架收納用粍板ρι的搬運 方向在旋轉台29在移載用旋轉位置做旋轉操作的狀態下成 為主搬運方向，在旋轉台29在空托板搬出用旋轉位查做旋 轉操作的狀態下成為與主搬運方向垂直的上述副搬運方向。 即，搬出用搬運裝置14的旋轉台侧搬運部32在旋轉台 29在移載用旋轉位置做旋轉操作的狀態下，將主搬運部3 j 搬運來的棚架收納用托板P1於主搬運方向做搬運而搬運至 托板移載處18,在旋轉台29在空托板搬出用旋轉位置做旋 轉操作的狀態下，將棚架收納用托板P1的搬運方向切換至 副搬運方向，而以托板移載處丨8的棚架收納用托板ρι以托 板堆疊裝置23做搬運。 又’搬出用搬運裝置14的主搬運部31係與旋轉台側搬 運部32同樣以鍊條輸送式的構造的鍊條搬運裝置3〇與搬運 方向正交方向的二個並列狀態下以支持框35支持，從旋轉 台側搬運部32搬運的棚架收納用托板pi於主搬運方向搬 運，並移至物品搬運車1 〇。 上述搬入用搬運裝置13，其旋轉台侧搬運部32及主搬 運部31’除了搬出用搬運裝置Η於主搬運方向與副搬運方 向做搬運中正逆相反搬運點以外係以相同的構造形成。 7037-6831-PF;Chentf 18 200538376 又’搬出用搬運裝置14的主搬運部31從物品搬運車ι〇 承接的棚架收納用托板P1於主搬運方向搬運而搬運至旋轉 台側搬運部32。又，搬入用搬運褒置13的旋轉台侧搬運部 32,在旋轉台29於空托板搬入用旋轉位置做旋轉操作的狀 態下，從去堆疊裝置24供給的棚架收納用托板？1於副搬運 方向搬運而搬運至托板移載處18，旋轉台29於中繼用旋轉 位置做旋轉操作而將棚架收納用托板ρι的搬運方向切換至 •主搬運方向，將托板移載處18的棚架收納用托板Η搬運至 主搬運部31。 然後，搬入用搬運裝置1 3的旋轉台側搬運部32以及搬 出用搬運裝置14的旋轉台侧搬運部32，如第4圖所示，具 有旋轉台29，將棚架收納用托板P1在托板移載處丨8而支持 的移載用高度與比該移載用高度低的退避高度之間可旋轉 地升降操作。即，在旋轉台側搬運部32的一對鍊條搬運裝 置30,藉由搬運升降用馬達33的小齒輪34做正逆方向的旋 |轉而一體地升降，在上述移載用高度與退避用高度之間升降 操作。 接著，說明托板堆疊裝置23。 如第2圖所示，托板堆疊裝置23包括將旋轉台側搬運 4 32搬運來的棚架收納用托板pi於副搬運方向搬運的—對 副方向搬運部51、將棚架收納用托板p 1於主搬運方向搬運 並移至物品搬運車的主方向搬運部52以及分別從一對副方 向搬運部51搬運來的棚架收納用托板π的搬運方向從副搬 運方向切換至主搬運方向並搬運至主方向搬運部51的旋轉 7〇37-683l-pP;chentf 19 200538376 搬運部53。 然後，托板堆叠裝置23的旋轉搬運部53係由搬入狀能 與搬出狀態所構m狀態是在旋轉部54上上述鍊條搬 運裝置30係與搬運方向垂直：個並列設置，將副方向搬運 部51所搬出的空狀態的棚架收納用托板ρι搬入而朝副㈣ 方向搬運。搬出狀態是從該搬入狀態繞縱轴心旋冑9〇产， 將空狀態的棚架收㈣托板P1的搬運方向切換至主搬^方 向，而搬出主方向搬運部52。 在托板堆疊裝置23的主方向搬運部52中，如第6圖所 示，具有使旋轉台侧搬運部32搬運來的棚架收納用托板Η 成為堆疊狀態的托板堆叠裝155。該托板堆叠裝置Η插入 於設於棚架收納用托板P1上的支持材插入部，而設置支持 棚架收納用托板P1的升降支持材5 6。 、 然後’升降支持材56於可於壁部59出入且可升降，在 退至壁部59内的退避狀態下’不會與棚架收納用托板以干 涉而可升降，在從壁部59突出的突出狀態下，在支持棚架 收納用托板p 1的狀態下構成可升降。 因此’從旋轉台侧搬運部32搬出的空狀態的棚架收納 用托板P1成為堆疊的情況下，使支持先搬出的堆疊狀態的 棚架收納用托板P1的升降支持材56下降，所支持的最下方 的棚架收納用托板P1下降至載置於搬出的空狀態的棚架收 納用托板P1 #高度後切換至退避狀態。然後，最下方的棚 架收納用托板P卜即，對應於從旋轉台側搬運部32搬出的 空狀態的棚架收納用托板P1的高度而使升降支持材56下降 7037-6831-PF；Chentf 20 200538376 56上升至設定高 成為堆疊狀態， 而切換至突出狀態後，藉由使升降支持材 度，使搬出的空狀態的棚架收納用托板P1 而由托板堆疊裝置55支持。 接著’說明托板去堆疊裝置24。 托板去堆疊裝置24,如第 、〇 Γ _ 如弟2圖所不，包括一對主方向搬 運口Ρ 5 2、一 §丨】方向搬運部5丨 Ρ 51以及一軛轉搬運部53。主方向 搬運部5 2將物品搬運車1 〇銘夺步 早 移又來的棚架收納用托板ρ 1於That is, as shown in FIGS. 10 (c) and 10 (d), the pallet support portion 28 slides, and the front end of the pallet support portion 28 is on the transfer side of the pallet transfer place, and the above-mentioned rotary table 29 is in The relay rotation position is switched between the transfer-side state on the pallet transfer device side and the rotation operation state. Then, the pallet support portion 28 and the fork insertion opening Pa of the article transport pallet p 2 stacked on the shelf storage pallet p 1 are set at the same height, as shown in FIG. 10 (a), accompanied by The pallet-receiving pallet P1 in which the article transport pallet P2 is stacked is transported by the turntable-side transport unit 32, and is inserted into and separated from the fork insertion portion Pa of the article transport pallet P2. As shown in Fig. 4, the rotary table 29 is rotatably supported at the bottom portion 48 about the axis X via a bearing 49. Then, a lock is formed on the inner peripheral side of the donut-shaped abutment member 64 provided in the rotating portion 47, and a pinion gear 65 fused with the lock is rotated by a conveying portion provided in the bottom portion 48. The rotation is driven by the motor 50, whereby the rotation portion 47 rotates about the vertical axis. The turntable 29 of the pallet transfer device 22A for carrying in can be rotated in the above-mentioned relay | rotation position (refer to Figures 10 (c) and 10 (d)). The empty pallet transfer rotation position (refer to FIG. 10 (b)) and the transfer rotation position (refer to FIG. 10 (a)) which rotates 180 degrees from the relay rotation position are free to rotate, The turntable 29 of the pallet transfer device 2 2B for carrying out can be placed in the above-mentioned relay rotation position (refer to Nos. 10 ((:),; 10 ((1))). The above-mentioned empty pallet transfer rotation position (refer to FIG. 10 (b)) rotated by 90 degrees and the aforementioned transfer rotation position (refer to FIG. 10 (a)) rotated 180 degrees from the relay rotation position. Rotate freely between each other. In addition, the turntable 29 is stopped at each rotation position based on the detection result of a sensor (not shown) 7037-6831-PF; Chen f 17 200538376 Φ Stop 0 Next, the carrying device 14 for carrying out will be described in detail. As shown in FIGS. 3 and 4, the turntable-side conveying section 32 of the conveyance garment 1 1 4 for carrying out is arranged in parallel with two parallel to the chain conveying device 30. The chain conveying device 30 has a chain-conveying structure of an endless chain wound around a sprocket. The conveying direction of the shelf-receiving cymbal plate of the conveying device 14 for carrying out is rotated on the rotary table 29 for transfer When the position is rotated, it becomes the main conveyance direction, and when the turntable 29 is rotated by the rotation position for empty pallet removal, it becomes the above-mentioned sub conveyance direction perpendicular to the main conveyance direction. That is, the conveyance device 14 for conveyance The rotary table-side conveying section 32 conveys the shelf storage pallet P1 conveyed by the main conveying section 3 j in the main conveying direction in a state where the rotating table 29 rotates at the rotating position for transfer. The plate transfer place 18 is to switch the conveying direction of the shelf storage tray P1 to the sub-conveying direction while the rotary table 29 is rotating at the rotating position for the empty tray carrying out. The shelf storage pallets 8 of 8 are conveyed by the pallet stacking device 23. The main conveying section 31 of the conveying device 14 for carrying out is a chain conveying device 3 having a chain conveying structure similar to the turntable-side conveying section 32. 〇With moving The two pallets in the orthogonal direction are supported by the support frame 35, and the shelf storage pallet pi conveyed from the turntable-side conveyance unit 32 is conveyed in the main conveyance direction and moved to the article conveyance vehicle 10. The conveying device 13 is formed with the same structure except that the conveying device 32 on the turntable side and the main conveying portion 31 ′ are conveyed in the main conveying direction and the sub conveying direction, and the conveying points are opposite to each other. PF; Chentf 18 200538376 The main conveyance section 31 of the conveyance device 14 for carrying out is transported in the main conveyance direction from the shelf storage pallet P1 received from the article conveyer 10 to the turntable-side conveyance section 32. In addition, the turntable-side conveyance unit 32 of the carry-in conveyance set 13 is a shelf storage pallet supplied from the destacking device 24 in a state where the turntable 29 is rotated at the rotary position for empty pallet carry-in. 1 Carry in the sub-conveying direction and carry it to the pallet transfer place 18, and the rotary table 29 rotates at the relay rotation position to switch the conveying direction of the shelf storage pallet ρ to the main conveying direction, and move the pallet The shelf storage pallet Η of the transfer place 18 is conveyed to the main conveyance part 31. Then, as shown in FIG. 4, the turntable-side conveyance unit 32 of the carry-in conveyance device 13 and the turntable-side conveyance unit 32 of the carry-out conveyance device 14 have a turntable 29, and the shelf storage pallet P1 is The support plate transfer position 丨 8 can be rotatably raised and lowered between a transfer height supported by the transfer height and a retreat height lower than the transfer height. In other words, the pair of chain conveying devices 30 in the turntable-side conveying section 32 are rotated in the forward and reverse directions by the pinion 34 of the conveying and elevating motor 33, and are integrally lifted and lowered. Lifting operation between heights. Next, the pallet stacking device 23 will be described. As shown in FIG. 2, the pallet stacking device 23 includes a shelf storage pallet pi transported from the turntable side conveyance 4 32 in the secondary conveyance direction—to the secondary direction conveyance unit 51 and a shelf storage pallet. The conveyance direction of the plate p 1 is transferred from the main conveyance direction to the main conveyance portion 52 of the article transport truck and the shelf storage tray π conveyed from the pair of sub-direction conveyance portions 51 from the sub conveyance direction to the main Rotation of the conveying direction and conveying to the main direction conveying section 51 〇37-683l-pP; centf 19 200538376 conveying section 53. Then, the rotary conveying unit 53 of the pallet stacking device 23 is configured by the carrying-in state and the carrying-out state. The state of the chain carrying device 30 on the rotating portion 54 is perpendicular to the carrying direction: one side by side, and the sub-direction carrying unit The empty shelf storage pallets 51 carried out are carried in, and are carried in the direction of the auxiliary cymbals. In the unloading state, the 90-degree product is rotated around the longitudinal axis from the unloading state, and the conveyance direction of the empty shelf receiving tray P1 is switched to the main conveyance direction, and the main direction conveyance unit 52 is unloaded. As shown in FIG. 6, the main-direction conveying section 52 of the pallet stacking device 23 includes a pallet stacker 155 for placing the shelf storage pallet Η carried by the turntable-side conveying section 32 in a stacked state. This pallet stacking device Η is inserted into a support material insertion portion provided on the shelf storage pallet P1, and an elevating support material 56 supporting the shelf storage pallet P1 is provided. Then, 'the lifting support material 56 can be moved in and out of the wall portion 59, and can be raised and lowered, and retracted into the wall portion 59,' it can be raised and lowered without interfering with the shelf storage pallet, In the protruding state, it can be raised and lowered in a state of supporting the shelf storage pallet p 1. Therefore, when the empty shelf storage pallets P1 carried out from the turntable-side conveyance unit 32 are stacked, the lifting support material 56 supporting the shelf storage pallets P1 that are carried out in the stacked state first is lowered, so that The lowermost shelf storage tray P1 supported is lowered to the height of the shelf storage tray P1 placed in the unloaded empty state, and then switched to the retracted state. Then, the lowermost shelf storage pallet P1, that is, the lifting support material 56 is lowered in accordance with the height of the empty shelf storage pallet P1 carried out from the turntable-side conveyance unit 32, 7037-6831-PF Chentf 20 200538376 56 rises to the set height to become a stacking state, and after switching to the protruding state, the supporting shelf stacking device P1 for the empty rack shelf storage is lifted by raising and lowering the support material level and supported by the pallet stacking device 55. Next, the pallet destacking device 24 is explained. The pallet destacking device 24 includes, as shown in FIG. 2 and FIG. 2, a pair of main-direction transport ports P 5 2, a § 丨】 direction transport unit 5 丨 51, and a yoke transport unit 53. Main direction Carrying section 5 2 Takes away the goods carrier 1 〇 The rack for storing the shelves ρ 1
主搬運方向上做搬運。副古—如^ r _ 建田彳方向搬運部Η將棚架收納用托板 P 1於副搬運方向上傲播；璽-EL yr .. J上做搬運而搬運至旋轉台側搬運部Μ。旋 轉搬運部53將主方向搬運部52搬運來的棚架收納用托板Η 的搬運方向從主搬運方向切換至副搬運方向，並分配至一對 副方向搬運部51做搬運。 然後，托板去堆疊装置24的旋轉搬運部53，在旋轉部 54上，上述鍊條搬運裳i 3〇二個並列言交置於與搬運方向垂 直的方向Ji並於一搬入狀態以及一般出狀態之間實施旋轉 操作。搬入狀態係指將主方向搬運部52搬出的空狀態的棚 架收納用托板P1搬入而於主搬運方向上做搬運，搬出狀態 係指從該搬入狀態繞縱軸心旋轉9〇度而使棚架收納用托板 P1的搬運方向切換至副搬運方向而搬出至副方向搬運部5卜 在托板去堆疊裝置24的主方向搬運部52上，如第6圖 所示，設有將堆疊狀態的棚架收納用托板ρι的一個做去堆 疊的托板去堆疊裝置57。該托板去堆疊裝置57與上述之堆 疊裝置55具相同的構造。 然後在堆受狀態的棚架收納用托板p 1的一個做去堆 7037-683l-PF;Chentf 21 200538376 疊的情況下，使支持滩聂灿能 于隹f狀態的棚架收納用托板P1的升降 支持材5 6下降，下陷^^ 丨伞至所支持的最下方的棚架收納用托板 P1載置於主方向搬運邻△ 逆。卩5 2上的向度後切換至退避狀態。然 後，使升降支持材$ fi f* 44· s 竹bb上升至對應於從下方算來第二個棚架 收、内用托板P1的支持材插入部的高度而切換至突出狀態 後，使升降支持材56上升至設定高度，藉此使堆疊狀態的 棚架收納用托板的一個做去堆昼。 如此構成的自動倉庫，如第8圖所示，由控制裝置H對 上述堆疊起重機2、搬入用升降機8、搬出用升降機9、物品 搬運車ίο、搬入用搬運裝置13、搬出用搬運裝置14、托板 移載器22、托板堆疊裝置23以及托板去堆疊裝置24等的動 作進仃控制。在該控制裝置Η上，可輸入設於搬入用的托板 移載器22Α的托板接受處2〇並檢測物品搬運用托板ρ2是否 搬入完成的感測器61的感測訊號，以及可輸入設於搬出用 的托板移載器22Β附近的出庫開關62的指令資訊。 | 接著，根據第9圖所示的流程圖說明自動倉庫的動作。 當出庫開關62下達搬出指令時，根據指令資訊實施搬 出動作。 此搬出動作係將收納於收納架1的對應於出庫開關 的搬出指令的堆疊狀態的棚架收納用托板ρι，用堆疊起重機 2搬出用升降機9、物品搬運車1〇、搬出用搬運裝置14搬 運至托板移載處18，將堆疊於位在托板移載處1 8的棚架收 納用托板P1上的物品搬運用托板P2移載至托板接受處2〇。 針對與搬出動作中與搬出用搬運裝置14以及托板移載 7037-6831-PF；Chentf 22 •200538376 器22B的動作做詳細說明。如第1 〇 (a)圖所示，旋轉台29在 移載用旋轉位置上做旋轉操作的狀態下，從物品搬運車i 〇 移來的棚架收納用托板P1從主搬運部3 ][搬運至旋轉台侧搬 運部3 2而搬運至托板移載處1 8。伴隨該棚架收納用托板p j 搬運至托板移載處1 8，托板支持部2 8被插入於物品搬運用 牦板P2。Transport in the main transport direction. Vice ancient—such as ^ r _ Jiantian 彳 direction conveying department 傲 broadcast the scaffold storage pallet P 1 in the auxiliary conveying direction; Xi-EL yr .. J is conveyed to the conveying section side conveying section Μ . The rotary conveyance unit 53 switches the conveyance direction of the shelf storage pallet Η conveyed from the main direction conveyance unit 52 from the main conveyance direction to the sub conveyance direction, and allocates it to a pair of sub direction conveyance units 51 for conveyance. Then, on the rotary conveying section 53 of the pallet destacking device 24, on the rotating section 54, the above-mentioned chain conveying clothes i 30 are placed side by side in a direction Ji perpendicular to the conveying direction, and are carried in a state and a general out state. Perform a rotation operation between. The carry-in state refers to the empty state of the shelf storage pallet P1 carried out by the main-direction carrying unit 52 and is carried in the main transport direction. The carry-out state refers to a 90-degree rotation around the vertical axis from the carry-in state to make The conveying direction of the shelf storage pallet P1 is switched to the sub-conveying direction and carried out to the sub-direction conveying unit 5. The main direction conveying unit 52 of the pallet destacking device 24 is provided with a stacking mechanism as shown in FIG. 6. One of the shelves in the state of the shelf storage racks is a stacking and stacking device 57 for stacking. The pallet destacking device 57 has the same structure as the stacking device 55 described above. Then, when one of the shelf storage pallets p 1 in the stacking state is stacked 7037-683l-PF; Chentf 21 200538376, the shelf storage pallets supporting Tan Nie Chan can be placed in the 隹 f state. The lifting support material 56 of P1 is lowered and sunk ^^ 丨 The umbrella P1, which is the lowest supporting shelf for storage, is placed in the main direction to carry the adjacent △ reverse.卩 5 The direction on 2 is switched to the retreat state. Then, raise and lower the supporting material $ fi f * 44 · s bamboo bb to a height corresponding to the supporting material insertion portion of the second scaffolding and internal pallet P1 calculated from below, and switch to the protruding state, then The raising / lowering support material 56 is raised to a set height, thereby making one of the shelf storage pallets in a stacked state pile up. As shown in FIG. 8, the automatic warehouse configured as described above is controlled by the control device H to the stacking crane 2, the lifter 8 for carrying in, the lifter 9 for carrying out, the article conveyer lor, the carrying device 13 for carrying out, and the carrying device 14 for carrying out. The operations of the pallet transfer device 22, the pallet stacking device 23, and the pallet destacking device 24 are controlled. On this control device ，, a sensor signal of the sensor 61 provided at the pallet receiving place 20 of the pallet transfer device 22A for carrying in and detecting whether or not the pallet ρ2 for carrying goods has been carried in can be input, and The command information of the unloading switch 62 provided in the vicinity of the pallet transfer device 22B for carrying out is input. | Next, the operation of the automated warehouse will be described based on the flowchart shown in FIG. When the unloading switch 62 issues a unloading instruction, the unloading operation is performed based on the command information. This unloading operation is to store the shelf storage pallets stacked in the storage rack 1 in accordance with the unloading switch's unloading instruction, and use the stacker crane 2 to unload the lifter 9, the article carrier 10, and the unloading conveying device 14 It is transferred to the pallet transfer place 18, and the article transfer pallet P2 stacked on the shelf storage pallet P1 located at the pallet transfer location 18 is transferred to the pallet receiving location 20. The operation of the carrying-out device 14 and the transfer of the carrier 7037-6831-PF; Chenff 22 • 200538376 22B during the carrying-out operation will be described in detail. As shown in FIG. 10 (a), in a state where the rotary table 29 is rotated in the rotation position for transfer, the shelf storage pallet P1 moved from the article transport vehicle i 〇 from the main conveyance section 3] [Conveyed to the turntable-side conveying section 3 2 and conveyed to the pallet transfer place 18. As this pallet storage pallet p j is transferred to the pallet transfer place 18, the pallet support portion 28 is inserted into the article transport fascia P2.
之後，使旋轉台側搬運部3 2下降至退避位置，使位於 旋轉台側搬運部32上的棚架收納用托板pi以及托板支持部 28所支持的物品搬運用托板P2於上下方向分離，如第i〇(b) 圖所示，旋轉台29在空托板搬出用旋轉位置做旋轉操作後， 在旋轉台側搬運部32，空狀態的棚架收納用托板pi搬出至 托板堆疊裝置23。又，搬出至托板堆疊裝置23的棚架收納 用托板P1由托板堆疊裝置23保持堆疊的狀態或返回收納架 然後’如第10(c)圖所示’旋轉台29旋轉操作至中繼旋 %轉位置後，托板支持部28從搬運側狀態切換至移載側狀態， 托板支持部28所支持的物品搬運用托板P2搬運至中繼處， 使升降裝置26的物品支持體36上升，由該物品支持體36 支持位於中繼處的物品搬運用托板P2，托板支持部28從移 載侧狀態切換至搬運側狀態並從托板支持部退出，使升降I 置2 6中的物品支持體3 6下降，由該物品支持體3 6所支持 的物品搬運用托板P2下降至托板接受處20，物品搬運用托 板P2移載至托板接受處20。 由搬入感測器61檢測物品搬運用托板P2的搬入是否^ 7037-6831-PF;Chentf 23 •200538376 成’並根據其檢測訊號實施搬入動作。 此搬入動作係將搬入托板接受處20的物品搬運用托板 P2移載而堆疊於位在托板移載處1 8的棚架收納用托板p j 上’堆疊狀態的棚架收納用托板P1用搬入用搬運裝置1 3、 物品搬運車1 0、搬入用輸送器8以及堆疊起重機2搬入收納 架1。After that, the turntable-side conveying section 32 is lowered to the retracted position, and the shelf storage pallet pi and the article conveying pallet P2 supported by the pallet support section 28 on the turntable-side conveying section 32 are moved up and down. Separately, as shown in FIG. 10 (b), after the rotary table 29 is rotated at the rotary position for empty pallet carrying out, the empty shelf shelf receiving pallet pi is carried out to the pallet in the rotary stage side conveying section 32.板 stack 装置 23. In addition, the shelf storage pallet P1 carried out to the pallet stacking device 23 is kept in a stacked state by the pallet stacking device 23 or returned to the storage shelf, and then the rotary table 29 is rotated to the middle as shown in FIG. 10 (c). Following the% turn position, the pallet support portion 28 is switched from the transport side state to the transfer side state, and the article transport pallet P2 supported by the pallet support portion 28 is transported to the relay place to support the articles of the lifting device 26 The body 36 rises, and the article support bracket P2 at the relay place is supported by the article support body 36. The tray support portion 28 is switched from the transfer-side state to the transfer-side state and exits from the tray support portion, so that the lift I is set. The article support 36 in 2 6 is lowered, and the article carrying pallet P2 supported by the article support 36 is lowered to the pallet receiving place 20, and the article carrying pallet P2 is transferred to the pallet receiving place 20. The carry-in sensor 61 detects whether the carrying pallet P2 has been carried in. 7037-6831-PF; Chentf 23 • 200538376, and performs a carry-in operation based on the detection signal. This loading operation is to transfer the pallet P2 for article transportation carried in the pallet receiving area 20 and stack it on the shelf storage pallet pj located at the pallet transfer position 18 to 'stack storage shelf. Carrying device 1 for board P1 3, article carrier 10, carrying conveyor 8 and stacking crane 2 are carried into storage rack 1.
針對搬入動作中搬入用搬運裝置13以及托板移載器22A 的動作做詳細說明。首先，使升降裝置26中的物品支持體 36上升’由該物品支持體36所支持的物品搬運用托板p2上 升至中繼處19,旋轉台29在中繼旋轉位置做旋轉操作的狀 態下，托板支持部28從搬運側狀態切換至移載側狀態，將 托板支持部28插入於位在中繼處丨9的物品搬運用托板p2， 使物品支持體36下降並由托板支持部28支持物品搬運用托 板P2。 之後，托板支持部28從移載用侧狀態切換至搬運用侧 狀態，使旋轉台29在空托板搬入用旋轉位置做旋轉操作， 將托板去堆疊裝置24來的空狀態的棚架收納用托板ρι在退 避高度搬人旋轉台側搬運部32，使旋轉台側搬運部32上升 而使物品搬運用托板P2上升至移載用高度，將棚架收納用 托板P1搬運至托板移載處18，且將物品搬運用托板p2載置 於棚架收納用托板P1上而成為堆疊狀態。又，由托板去堆 疊裝置24保持在堆疊狀態的棚架收納用托板ρι的其中之 一，或者是從收納架i搬運至乾板去堆疊裝置24的空狀態 的棚架收納用托板pi被搬入旋轉台側搬運部32。 7037>6831-PF；chentf •200538376 然後，旋轉台2 9在移載用旋轉位置做旋轉操作後，將 位於托板移載處18的棚架收納用托板p 1從旋轉台侧搬運部 32搬運至主搬運部31而移至物品搬運車1 〇。伴隨該棚架收 納用托板P1從托板移載處1 8搬運至主搬運部31侧托板支 持部28從物品搬運用托板P2脫離。 [第二實施型態]The operations of the carrying-in conveyance device 13 and the pallet transfer device 22A during the carrying-in operation will be described in detail. First, the article supporting body 36 in the lifting device 26 is raised 'the article carrying pallet p2 supported by the article supporting body 36 is raised to the relay 19, and the rotary table 29 is rotated in the relay rotation position. The pallet support part 28 is switched from the conveying side state to the transfer side state, and the pallet support part 28 is inserted into the article conveying pallet p2 located at the relay place 9 to lower the article support 36 and move the pallet from the pallet. The support part 28 supports the pallet P2 for conveying articles. After that, the pallet support portion 28 is switched from the transfer-side state to the transport-side state, so that the rotary table 29 is rotated in the rotary position for the empty pallet carry-in, and the pallet is destacked from the empty shelf 24. The storage pallets are moved to the turntable-side conveyance unit 32 at the retreat height, and the turntable-side conveyance unit 32 is raised to raise the article conveyance pallet P2 to the transfer height, and the shelf storage pallet P1 is conveyed to The pallet transfer place 18 places the pallet p2 for conveying articles on the shelf storage pallet P1 to be stacked. In addition, one of the shelf storage pallets kept in the stacked state by the pallet destacking device 24, or an empty shelf storage pallet pi carried from the storage rack i to the dry panel destacking apparatus 24 It is carried into the turntable side conveyance part 32. 7037 >6831-PF; chentf • 200538376 Then, after the rotary table 2 9 is rotated at the rotation position for transfer, the shelf storage pallet p 1 located at the pallet transfer position 18 is moved from the rotary table side conveying section 32 It is conveyed to the main conveyance part 31 and moved to the article conveyance vehicle 10. This pallet receiving tray P1 is transported from the pallet transfer place 18 to the main conveying section 31 side pallet support section 28 to be separated from the article conveying pallet P2. [Second embodiment]
以下’根據圖面說明本發明之自動倉庫中，托板移載器 22的升降裝置26在托板接受處20與位於托板移載處18的 棚架收納用托板P1之間移載物品搬運用托板P2的構造。 又與第一實施型態相同的元件給予相同的符號並省略 其說明。 如第11〜13圖所示，搬入用搬運裝置13以及搬出用搬 運裝置14分別包括上述主搬運部31、在與該主搬運部31之 間可搬運棚架收納用托板P1而在托板移載處18支持棚架收 納用托板P1的行走搬運部71。 上述行走搬運部71係沿著地面F上的搬運部用導引滑 執72於主搬運方向行走，而可於一與上述主搬運部之間 可搬運棚架收納用托板P1的搬運位置（如第16(a)圖所示） 以及一從搬運位置行走至上述主搬運方向的托板移載裝置 側而由订走搬運部71所支持的棚架收納用托板ρι位於托板 移載處18的移載位置（如第16(b)圖所示）之間行走移動。 然後，搬入用托板移載器22A以及搬出用托板移載器22B 的構造為在升降裝置73，在托板接受處20與位於托板移載 處18的棚架收納用托板P1之間移載物品搬運用托板P2。 7037-6831-PF;Chentf 25 200538376 即升降裳置73由驅動鍊輪75與從動鍊輪76捲動鍊條 77由支柱74所導引的升降構件78由該鍊條77所連結支 持。在該升降構件78上，卡合構件79繞縱軸心可搖動地設 置，卡合構件79藉由搖動可於卡合狀態與解除狀態之間作 切換。卡合狀態為插入於物品搬運用托板Μ的卡合構件插 入邛Pb而可支持物品搬運用托板ρ2，解除狀態係解除對於 卡合構件插入部Pb的卡合。 然後，藉由升降用馬達80正逆方向轉動驅動鍊輪75， 上述卡合構件79可於以下三個高度之間升降：如第16(。 所示，對應於位於托板接受處2〇的物品搬運用托板p2的卡 合構件插入部Pb的接受用高度，如第16(b)圖所示，對應於 載置於位在托板移載處丨8的棚架收納用托板ρι上的物品搬 運用托板P2的卡合構件插入部pb的搬運用高度，如第 16(a)、16(c)圖所示，以及比搬運用高度高的退避用高度。 即，藉由在支持物品搬運用托板P2的狀態下使卡合構件79 |升降，由物品支持體36所支持的物品搬運用托板p2可於上 述托板接受處20、位於托板移載處18的棚架收納用托板ρι 以及比該等處所高的處所升降。又，位於托板接受處2〇的 物品搬運用托板P2係處於由上述搬運部用導引滑軌所支 持的狀態。 如此構造的自動倉庫’如第15圖所示，由控制裝置h 對上述堆疊起重機2、搬入用升降機g、搬出用升降機9、物 品搬運車10、搬入用搬運裝置13、搬出用搬運裝置14、托 板移載器22等的動作進行控制。在該控制裝置H上，σ _ 可輸 7037-6831-PF;Chentf 26 *200538376 入上述感測器61的感測訊號，以及上述出庫開關62的指令 資訊。 針對搬出動作的搬出用搬運裝置1 4以及搬出用托板移 載器22B的動作做詳細說明。行走用搬運部71在位於搬運 位置的狀態下，從物品搬運車1 〇移來的棚架收納用托板P1 從主搬運部31搬運至行走用搬運部71，使行走用搬運部71 移動至移載位置而將棚架收納用托板p丨搬運至托板移載處 32 〇Hereinafter, in the automatic warehouse of the present invention according to the drawings, the lifting device 26 of the pallet transfer device 22 transfers articles between the pallet receiving portion 20 and the shelf storage pallet P1 located at the pallet transfer portion 18. Structure of the carrier pallet P2. The same components as those in the first embodiment are given the same reference numerals and their descriptions are omitted. As shown in FIGS. 11 to 13, the carrying-in conveying device 13 and the carrying-out conveying device 14 each include the above-mentioned main conveyance unit 31, and a shelf storage pallet P1 can be conveyed between the main conveyance unit 31 and the pallet. The transfer place 18 supports the traveling conveyance part 71 of the shelf storage pallet P1. The walking and conveying section 71 travels along the main conveying direction along the conveying section guide slider 72 on the ground F, and can convey the shelf storage pallet P1 between the main conveying section and the main conveying section ( As shown in FIG. 16 (a)) and a pallet transfer device side that is moved from the transport position to the pallet transfer device side in the main transport direction described above and is supported by the order transport unit 71 is located on the pallet transfer Walk between the transfer positions of location 18 (shown in Figure 16 (b)). Then, the loading pallet transfer device 22A for carrying in and the carrying pallet transfer device 22B for carrying out are structured in a lifting device 73, a pallet receiving place 20, and a shelf storage pallet P1 located at the pallet transferring place 18 Pallet P2 for transfer of articles. 7037-6831-PF; Chentf 25 200538376 That is, the lifting gear 73 is driven by the driving sprocket 75 and the driven sprocket 76 to roll the chain 77. The lifting member 78 guided by the pillar 74 is connected and supported by the chain 77. In the lifting member 78, the engaging member 79 is swingably provided around the longitudinal axis, and the engaging member 79 can be switched between the engaged state and the released state by shaking. The engaged state is such that the engaging member inserted in the article transporting pallet M is inserted into Pb to support the article transporting pallet ρ2, and the released state is released from the engagement with the engaging member insertion portion Pb. Then, by rotating the driving sprocket 75 in the forward and reverse directions of the lifting motor 80, the above-mentioned engaging member 79 can be raised and lowered between the following three heights: as shown at 16 (.), Corresponding to As shown in FIG. 16 (b), the height for receiving the engaging member insertion part Pb of the pallet p2 for article transportation corresponds to the shelf-receiving pallet placed on the pallet transfer place 丨 8. As shown in Figs. 16 (a) and 16 (c), the height of the transporting member pb of the engaging member insertion plate p2 on the upper surface is higher than the height of the transport. The engaging member 79 | is raised and lowered while supporting the pallet P2 for article transportation, and the pallet p2 for article transportation supported by the article support 36 can be located at the pallet receiving place 20 and at the pallet transferring place 18. Shelves for pallet storage ρι and spaces higher than these spaces are lifted. Moreover, the pallet P2 for transporting articles located at the pallet receiving area 20 is in a state supported by the guide rails for the transport section. As shown in FIG. 15, the structured automatic warehouse is moved into the stacking crane 2 by the control device h. It is controlled by the actions of the elevator g, the elevator 9 for carrying out, the article transporter 10, the carrying device 13 for carrying in, the carrying device 14 for carrying out, the pallet carrier 22, etc. In this control device H, σ _ can lose 7037 -6831-PF; Chentf 26 * 200538376 The sensing signal of the above-mentioned sensor 61 and the instruction information of the above-mentioned storage switch 62. The operation of the carrying-out conveying device 14 and the carrying-out pallet transfer device 22B for the carrying-out operation In detail, the walking conveyance section 71 is located at the conveyance position, and the shelf storage pallet P1 moved from the article conveyance truck 10 is conveyed from the main conveyance section 31 to the walking conveyance section 71 and conveyed for walking. Portion 71 moves to the transfer position to carry the shelf storage pallet p 丨 to the pallet transfer position 32.
▲然後，使卡合構件79下降至接受高度後切換至解除狀 態，而使物品搬運用托板P2移載至托板接受處。 搬入動作之搬入用搬運裝置13以及搬入用托板移載器 22A的動作做詳細說明，位於接受用高度的卡合構件π從解 除狀態切換到卡合狀態’使卡合構件79卡合至托板接受處 2〇的物品搬運用托板P2，使該卡合構件79上升至退避用高 度然後’使仃走用搬運部71從搬運位置移動至移載位置 後:使卡合構件79從下降至搬㈣高度的狀態切換至解除 狀態，使物品搬運用托板P2載置於棚架收納用托板ρι而成 為堆疊的狀態。 之後，位於搬運用高度的卡合構件79從解除狀態切換 至卡合狀態，將卡合構件79卡合於托板移載處18的物品搬 運用托板P2上，使該卡合構件79±升至退避用高度。然後， 使行走用搬運部71從搬運位置移動至移載位置後，使卡合 構件79下降至搬運用高度而切換至解除狀態，使物品搬運 用托板P2載置於棚架收納用托板ρι而成為堆疊狀態。 7037-6831-PF;Chentf 27 200538376 之後，使行走用搬運部71移動至搬運位置，堆疊狀態 的棚架收納用托板P1從行走用搬運部n搬運至主搬運部 31 ’而將棚架收納用托板p 1移至物品搬運車1 〇。 [其他實施型態] (1)在上述第一實施型態中，雖然托板移載器包括升降 裝置與中繼搬運裝置，但不限於此，在托板接受處2〇與位 於托板移載處的棚架收納用托板p丨之間移載物品搬運用托 板P2亦可。即’具有例如可從側面把持物品搬運用托板p2 的把持部、將該把持部與托板移載裝置的本體部連結的左右 一對的平行四連桿機構、以及操作左右一對的平行四連桿機 構而操作升降台1升降的驅動機構。藉由驅動機構對平行四 連桿機構的操作，由把持部所把持的物品搬運用托板p2移 載至托板接受處20與位於托板移載處的棚架收納用托板ρι 之間。 (2)在上述第一實施型態中，雖然旋轉台側搬運部3 2可 操作於移載用尚度與退避高度之間升降，取代旋轉台側搬運 部32可升降操作的構造，托板支持部亦可在相對於位在 托板移載處1 8的棚架收納用托板p 1所支持的物品搬運用托 板P2堆疊狀態的堆疊高度，與相對於棚架收納用托板p 1所 支持的物品搬運用托板P2分離至上方的分離高度之間進行 升降操作。 (3 )在上述第一實施型態中，雖然伴隨於旋轉台側搬運 部32物品搬運用托板p2堆疊狀態的棚架收納用托板pi的 搬運，托板支持部28可插入脫離物品搬運用托板P2，但是 7037-6831-PF;Chentf 28 •200538376 藉由托板支持部28於長度方向滑動操作，托板支持部28可 插入脫離堆疊在位於托板移載處18的棚架收納用托板P1上 的物品搬運用托板P2亦可。 (4) 在上述第一及第二實施型態中，托板搬運器雖然 分別设置收納架1搬入用托板搬運器21A以及托板移載處18 的搬出用的托板搬運器21B，托板移載器22雖然分別設置對 應於搬入用托板搬運器21A的搬入用托板移載器22A以及對 應於搬出用的托板搬運器21β的搬出用托板移載器22B，一 個托板搬運器21兼做搬入搬出用，一個托板移載器22兼做 搬入搬出用的構造亦可。 (5) 在上述第一實施型態中，雖然設有托板堆疊裝置23 及托板去堆疊裝置24，但是不設置托板堆疊裝置23及托板 去堆疊裝置24亦可。即如上述第二實施型態，將位於搬出 用搬運裝置14中的扼板移載處18的空狀態的棚架收納用托 板P1由搬出用搬運裝置14搬運至收納架1，同時將收納於 |收、’、内架1的空狀態的棚架收納用托板p丨由搬入用搬運裝置 搬運至托板移載處18。 (6) 在上述第一實施型態中，將托板堆疊裝置23堆疊的 棚架收納用托板Pi搬運至托板去堆疊裝置24的堆疊托板搬 運裝置雖然叹置於物品搬運車中，但是堆疊托板搬運裝置與 物品搬運車1 〇分開設置亦可。 【圖式簡單說明】 第1圖為自動倉庫的平面圖。 7037-6831-PF;Chentf 29 200538376▲ Then, the engaging member 79 is lowered to the receiving height, and then switched to the released state, so that the article transport pallet P2 is transferred to the pallet receiving place. The operation of the carrying-in conveying device 13 and the carrying-in pallet transfer device 22A for carrying-in operation will be described in detail. The engaging member π at the receiving height is switched from the released state to the engaged state, and the engaging member 79 is engaged with the carrier. After the article transport pallet P2 at the board receiving place 20 is raised, the engagement member 79 is raised to the retreat height, and then the transporting section 71 is moved from the transport position to the transfer position: the engagement member 79 is lowered The state from the carrying height is switched to the released state, and the article transport pallet P2 is placed on the shelf storage pallet ρ and is stacked. After that, the engaging member 79 located at the transport height is switched from the released state to the engaged state, and the engaging member 79 is engaged with the article transporting pallet P2 of the pallet transfer place 18 so that the engaging member 79 ± Raise to retreat height. Then, after the walking conveyance unit 71 is moved from the conveyance position to the transfer position, the engaging member 79 is lowered to the conveyance height and switched to the released state, and the article conveyance pallet P2 is placed on the shelf storage pallet. It becomes stacked. 7037-6831-PF; Chentf 27 200538376 After that, the moving conveying section 71 is moved to the conveying position, and the shelf storage pallet P1 in the stacked state is conveyed from the walking conveying section n to the main conveying section 31 ′ to store the shelf. The pallet p 1 is used to move to the article handling vehicle 10. [Other Implementation Modes] (1) In the above-mentioned first implementation mode, although the pallet transfer device includes a lifting device and a relay conveying device, it is not limited to this. The pallet P2 for conveying articles may also be transferred between the pallet storage pallets p 丨 at the loading place. In other words, for example, a “parallel four-link mechanism having a pair of left and right parallel links that connect the holding portion to the main body of the pallet transfer device, and a parallel four-bar linkage mechanism that can hold the pallet p2 for conveying articles from the side; The four-link mechanism operates a driving mechanism for raising and lowering the lifting platform 1. By the operation of the drive mechanism on the parallel four-link mechanism, the article carrying pallet p2 held by the gripping section is transferred between the pallet receiving place 20 and the shelf storage pallet ρι located at the pallet transferring place. . (2) In the above-mentioned first embodiment, although the turntable-side conveying section 32 can be operated to move between the load tolerance and the retreat height, instead of the structure in which the turntable-side conveying section 32 can be raised and lowered, the pallet The support unit may also be stacked at a stacking height relative to the pallet P2 supported by the shelf storage pallet p1 located at the pallet transfer position 18, and relative to the shelf storage pallet p. The supported pallet P2 for item conveyance 1 is separated and lifted to the upper separation height. (3) In the above-mentioned first embodiment, the pallet support portion 28 can be inserted into and detached from the pallet, while the pallet pi for accommodating the shelf is transported in the stacked state of the pallet conveying portion 32 on the turntable side. Use pallet P2, but 7037-6831-PF; Chentf 28 • 200538376 By sliding operation of the pallet support portion 28 in the length direction, the pallet support portion 28 can be inserted and removed from the shelf storage at the pallet transfer place 18 The pallet P2 for conveying articles on the pallet P1 may be used. (4) In the above-mentioned first and second embodiments, although the pallet carrier is provided with a storage rack 1 for carrying in the pallet carrier 21A for carrying in and a pallet carrying part 21B for carrying out at the pallet transfer site 18, The plate transfer device 22 is provided with a loading plate transfer device 22A corresponding to the loading plate transfer device 21A and a loading plate transfer device 22B corresponding to the loading plate transfer device 21β, and one loading plate The carrier 21 can also be used for loading and unloading, and a single pallet transfer device 22 can also be used for loading and unloading. (5) In the first embodiment, although the pallet stacking device 23 and the pallet destacking device 24 are provided, the pallet stacking device 23 and the pallet destacking device 24 may not be provided. That is, as in the second embodiment described above, the empty shelf storage pallet P1 located at the choke transfer portion 18 in the carrying-out conveying device 14 is transferred to the storage rack 1 by the carrying-out conveying device 14 while storing In the retracted position, the empty shelf shelf pallet p 丨 of the inner shelf 1 is transported to the pallet transfer place 18 by the carrying-in conveying device. (6) In the above-mentioned first embodiment, although the stacking pallet conveying device that transports the shelf storage pallet Pi stacked by the pallet stacking device 23 to the pallet destacking device 24 is placed in an article handling vehicle, However, the stacking pallet conveyance device may be provided separately from the article conveyance truck 10. [Schematic description] Figure 1 is a plan view of the automatic warehouse. 7037-6831-PF; Chentf 29 200538376
第2圖為搬入用㈣裳置與托板去堆叠 第3圖為搬入用搬運裝置與升降裝置的 第4圖為旋轉台搬運部與托板支持部的 第5圖為升降裝置的正視圖。 第6圖為托板堆疊裝置的正視圖。 第7圖表示棚架收納用托板的收納狀態 第8圖為控制方塊圖。 第9圖為流程圖。 裝置的平面圖 側視圖。 正視圖。 〇 第10(a)〜 的作用圖。 10(d)圖為搬入用搬運裝置與托板移載裝 置 第11圖為第二實施型態的自動倉庫的平面圖。 第12圖為第二實施型態的搬入用搬運裝置與升降裝置 的平面圖。 圖為第一實施型態的搬入用搬運裝置與升降裝置 的平面圖。 第14圖為第二實施型態的升降裝置的正視圖。 第15圖為第二實施型態的控制方塊圖。 16(a) l6(d)圖為第二實施型態的搬入用搬運裝置 與托板移載裝置的作用圖。 【主要元件符號說明】 1〜收納架； 2〜堆疊起重機； 5〜搬出用升降機； 1 a〜收納部； 4〜升降機； 6〜搬入用移載升降機； 30 7〇37-683l-pF;Chentf •200538376Fig. 2 is a stacking device for carrying in and stacking of pallets. Fig. 3 is a carrying device and lifting device for carrying in. Fig. 4 is a front view of a lifting device for a turntable carrying section and a pallet supporting section. Figure 6 is a front view of the pallet stacking device. Fig. 7 shows the storage state of the shelf storage pallet. Fig. 8 is a control block diagram. Figure 9 is a flowchart. Plan view of the device Side view. Front view. 〇 Action diagrams from 10 (a) to. Fig. 10 (d) is a plan view of a second embodiment of an automatic warehouse, and Fig. 10 (d) is a conveying device for loading and a pallet transfer device. Fig. 12 is a plan view of a carrying device and a lifting device for carrying in the second embodiment. The figure is a plan view of the carrying device and the lifting device of the first embodiment. Fig. 14 is a front view of a lifting device according to a second embodiment. Fig. 15 is a control block diagram of the second embodiment. 16 (a) and 16 (d) are diagrams showing the operation of the carrying device and the pallet transfer device of the second embodiment. [Description of main component symbols] 1 ~ storage rack; 2 ~ stacking crane; 5 ~ lift for carrying out; 1 a ~ storage section; 4 ~ lift; 6 ~ transfer lift for carrying in; 30 7〇37-683l-pF; Chenf • 200538376
7〜移載升降機； 9〜搬出用輸送器； 11〜行走用導引軌道； 14〜搬出用搬運裝置； 1 9〜中繼處； 21〜托板搬運器； 2 2〜托板移載器； 23〜托板堆疊裝置； 2 4〜托板去堆疊裝置； 26〜升降裝置； 2 8〜托板支持部； 30〜鍊條搬運装置； 3 2〜旋轉台側搬運部； 3 6〜物品支持體； 3 8〜驅動鍊輪； 4 0〜鍊條； 43〜叉用導引滑執； 47〜旋轉部； 4 9〜轴承； 51〜副方向搬運部； 53〜旋轉搬運部； 56〜升降支持材； 58〜堆疊搬運裝置； 6 1〜感測器； 8〜搬入用輸送器； 1 0〜物品搬運車； 13〜搬入用搬運裝置； 1 8〜托板移載處； 20〜托板接受處； 21A〜搬入用的托板搬運器 21B〜搬出用的托板搬運器 22A〜搬入用托板移載器； 22B〜搬出用托板移載器； 27〜中繼搬運裝置； 2 9〜旋轉台； 31〜主搬運部； 3 5〜支持框； 37〜支柱； 3 9〜從動鍊輪； 41〜移載升降用馬達； 45〜又移動用馬達； 48〜底部； 50〜搬運部旋轉用馬達； 52〜主方向搬運部； 55〜托板堆疊裝置； 57〜托板去堆叠裝置； 5 9〜壁部； 62〜出庫開關； 7037-6831-PF/Chentf 31 •200538376 6 4〜 抵接構件； 6 5〜 小齒輪； 71〜 行走搬運部， 73〜 升降裝置； 74〜 支柱， 75〜 驅動鍊輪； 76〜 從動鍊輪； 77〜 鍊條； 78〜 升降構件； 79〜 卡合構件； 80〜 升降用馬達； P1〜 棚架收納用托板； P2〜 物品搬運用托板； Pa〜 叉插入部； w〜物品。7 ~ transfer elevator; 9 ~ conveyor for carrying out; 11 ~ guide rail for walking; 14 ~ carrying device for carrying out; 1 ~ relay station; 21 ~ pallet carrier; 2 ~ pallet carrier 23 ~ pallet stacking device; 2 4 ~ pallet destacking device; 26 ~ lifting device; 2 8 ~ pallet support section; 30 ~ chain conveying device; 3 2 ~ turntable side conveying section; 3 6 ~ item support Body; 38 ~ Drive sprocket; 40 ~ Chain; 43 ~ Guide slider for fork; 47 ~ Rotating part; 49 ~ Bearing; 51 ~ Sub-direction carrying part; 53 ~ Rotating carrying part; 56 ~ Lifting support Material; 58 ~ stacking conveying device; 6 1 ~ sensor; 8 ~ carrying conveyor; 10 ~ article transporter; 13 ~ carrying conveying device; 18 ~ pallet transfer place; 20 ~ pallet receiving 21A ~ pallet carrier for carrying in 21B ~ pallet carrier for carrying out 22A ~ pallet carrier for carrying in; 22B ~ pallet carrier for carrying out; 27 ~ relay handling device; 2 9 ~ Rotary table; 31 ~ main conveying section; 3 ~ 5 support frame; 37 ~ pillar; 3 ~ 9 driven sprocket; 41 ~ transfer lifting motor 45 ~ Motion motor again; 48 ~ Bottom; 50 ~ Motor rotation motor; 52 ~ Main direction conveying unit; 55 ~ Shelf stacking device; 57 ~ Shelf destacking device; 5 9 ~ Wall; 62 ~ Out of stock Switch; 7037-6831-PF / Chentf 31 • 200538376 6 4 ~ abutment member; 6 5 ~ pinion gear; 71 ~ walking conveying section, 73 ~ lifting device; 74 ~ pillar, 75 ~ drive sprocket; 76 ~ driven Sprocket; 77 ~ Chain; 78 ~ Lifting member; 79 ~ Engaging member; 80 ~ Lifting motor; P1 ~ Shelves for pallet storage; P2 ~ Pallet for carrying goods; Pa ~ Fork insertion part; w ~ Article .
7037-6831-PF;Chentf 327037-6831-PF; Chentf 32
Claims (1)
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2004149018A JP4296498B2 (en) | 2004-05-19 | 2004-05-19 | Pallet transport device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| TW200538376A true TW200538376A (en) | 2005-12-01 |
| TWI275556B TWI275556B (en) | 2007-03-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW94103368A TWI275556B (en) | 2004-05-19 | 2005-02-03 | Pallet conveyance device |
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| Country | Link |
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| JP (1) | JP4296498B2 (en) |
| CN (1) | CN100453431C (en) |
| TW (1) | TWI275556B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4969162B2 (en) * | 2006-06-22 | 2012-07-04 | 日本輸送機株式会社 | Vertical conveyor for cargo handling vehicles |
| TWI453156B (en) * | 2008-11-14 | 2014-09-21 | Au Optronics Corp | A device and method for transferring cartridge is disclosed |
| CN103693450A (en) * | 2013-12-08 | 2014-04-02 | 邵云波 | Automatic supporting plate placement device for wall building block production equipment |
| JP6394509B2 (en) * | 2015-06-09 | 2018-09-26 | 株式会社ダイフク | Transport equipment |
| CN105173758B (en) * | 2015-06-11 | 2018-01-16 | 刘进凯 | A kind of push pedal system |
| JP6512019B2 (en) * | 2015-07-29 | 2019-05-15 | 株式会社ダイフク | Pallet separation equipment |
| JP6744155B2 (en) * | 2016-06-30 | 2020-08-19 | 日本電産サンキョー株式会社 | Transport system |
| US10986760B2 (en) * | 2017-04-17 | 2021-04-20 | Fuji Corporation | Component supply device, and method for moving pallet |
| CN107585586B (en) * | 2017-09-19 | 2019-09-06 | 广西宏发重工机械有限公司 | A kind of outrigger formula pallet magazine |
| JP7080538B2 (en) * | 2017-12-01 | 2022-06-06 | 大阪シーリング印刷株式会社 | Band wrapping equipment |
| JP7099262B2 (en) * | 2018-11-08 | 2022-07-12 | 村田機械株式会社 | Storage system |
| CN114148657B (en) * | 2021-11-17 | 2024-03-22 | 广州绿茵无垠科技有限公司 | Pallet unit pallet removing and layering and stacking method, system and using method |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4928947A (en) * | 1987-11-27 | 1990-05-29 | The Mead Corporation | Sheet feeders for soft coated sheet material |
| JPH07223731A (en) * | 1994-02-08 | 1995-08-22 | Murata Mach Ltd | Plate material carrying device |
| DE19653953A1 (en) * | 1996-12-21 | 1998-06-25 | Topack Verpacktech Gmbh | Method and device for depalletizing articles |
| US6050771A (en) * | 1997-09-22 | 2000-04-18 | Industrial Resources Of Michigan | Pallet workstation accumulator |
| US7150598B2 (en) * | 2002-05-10 | 2006-12-19 | Smets John S | Pallet handling apparatus and method |
-
2004
- 2004-05-19 JP JP2004149018A patent/JP4296498B2/en not_active Expired - Fee Related
-
2005
- 2005-02-03 TW TW94103368A patent/TWI275556B/en active
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| Publication number | Publication date |
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| JP4296498B2 (en) | 2009-07-15 |
| JP2005330044A (en) | 2005-12-02 |
| TWI275556B (en) | 2007-03-11 |
| CN1699127A (en) | 2005-11-23 |
| CN100453431C (en) | 2009-01-21 |
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