WO2024042794A1 - Système de transfert - Google Patents

Système de transfert Download PDF

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Publication number
WO2024042794A1
WO2024042794A1 PCT/JP2023/019108 JP2023019108W WO2024042794A1 WO 2024042794 A1 WO2024042794 A1 WO 2024042794A1 JP 2023019108 W JP2023019108 W JP 2023019108W WO 2024042794 A1 WO2024042794 A1 WO 2024042794A1
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WO
WIPO (PCT)
Prior art keywords
transfer
arm
storage
movement
transport vehicle
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Application number
PCT/JP2023/019108
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English (en)
Japanese (ja)
Inventor
洋貴 伊達
敏宏 町田
洋昭 濱田
Original Assignee
株式会社椿本チエイン
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社椿本チエイン filed Critical 株式会社椿本チエイン
Publication of WO2024042794A1 publication Critical patent/WO2024042794A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical

Definitions

  • the present invention relates to a transfer system that is suitable for article storage facilities such as automated warehouses and that loads and takes out objects transported by a transport vehicle to and from storage shelves.
  • the transfer arm installed on the transport vehicle needs to be able to be accommodated within the width of the transport vehicle so as not to become an obstacle when moving the transport vehicle.
  • the structure for moving, extending and contracting the transfer arm and the structure for driving the transfer arm become complicated, and the number of parts increases, making it difficult to reduce the weight of the transport vehicle itself.
  • the present invention solves these problems, and makes it possible to simplify the structure and reduce the weight of the transport vehicle, as well as shorten the transfer processing time by reducing the moving distance of the transfer arm.
  • the purpose is to provide a transfer system.
  • the transfer system of the present invention is a transfer system for loading and unloading objects transported by a transport vehicle into and from storage shelves, and includes:
  • the transport vehicle has a transfer arm that can engage with the object to be transported and that can move forward and backward into the storage space of the storage shelf,
  • the above-mentioned transfer arm solves the above-mentioned problem by having engagement claws that can be selectively engaged near the front end and near the rear end in the moving direction during transfer of the transported object.
  • the transfer arm of the transfer vehicle is configured to be able to selectively engage near the front end and near the rear end of the transferred object in the moving direction during transfer. Even if the storage space of the storage shelf is provided in two rows on the side of the transport vehicle, one in front and one in the back, it is impossible to engage the engaging claw portion of the transfer arm near the front end of the transported object. By being able to select whether to engage near the rear end depending on the case, it is possible to transfer objects to the storage shelf with a short stroke relative to the depth of the storage shelf. By reducing the moving distance, the transfer processing time can be shortened.
  • the length of the transfer arm itself can be reduced, and as a result, it is possible to design the width of the transport vehicle to be smaller. It is possible to simplify the structure for expansion and contraction, and to reduce the size and weight of the transport vehicle. Furthermore, it is possible to reduce the ratio of passage space for transport vehicles in automated warehouses, etc., and increase the amount of objects to be transported per unit area in automated warehouses, etc.
  • the transfer tray in which the transferred object has a transfer tray, by operating the container on the transfer tray, the container cannot be engaged by the engaging claw portion of the transfer arm. Regardless of the size or shape, the transfer tray is equipped with an engaged part that fits the engaging claw of the transfer arm, making it possible to transfer the transferred object to the storage shelf. can do. That is, as long as the container can be placed on the transfer tray, the size and shape of the container are not important, and therefore a high degree of freedom can be obtained in selecting a container that can be transferred.
  • one transport vehicle in which storage shelves are arranged on both sides of the movement path of the transport vehicle, and the transfer arm is configured to be able to advance and retreat on either side of the transport vehicle, one transport vehicle can be used.
  • the storage capacity of transferable objects can be increased, and the ratio of passage space for transport vehicles in automated warehouses, etc. can be further reduced, further improving the storage efficiency of objects to be transferred in automated warehouses, etc. be able to.
  • the transfer system of the present invention in which the two transfer arms are configured to move forward and backward independently, it is possible to extend one transfer arm while simultaneously retracting the other transfer arm.
  • the transfer processing time can be extremely shortened.
  • the guide member that regulates the moving direction of the transported object during transfer even if only one transfer arm is extended and contracted to transfer the transported object, the It is possible to prevent the object from being misaligned and to prevent the object from being misaligned, so that the posture of the transported object can be maintained appropriately.
  • the unloading operation of the transferred object can be completed in the proper position and posture, so that the engaging claw part of the transfer arm is securely connected to the engaged part of the transfer tray during the loading operation of the transferred object. This enables accurate transfer.
  • FIG. 1 is a perspective view showing an overview of article storage equipment provided with a transfer system according to an embodiment of the present invention. It is a perspective view showing an example of composition of a transfer tray. It is a perspective view showing an example of composition of a conveyance truck. It is a top view showing an example of front unloading operation of the transfer system concerning one embodiment of the present invention.
  • FIG. 5 is a perspective view showing a first movement in the front unloading operation of FIG. 4;
  • FIG. 5 is a perspective view showing a second movement in the front unloading operation of FIG. 4;
  • FIG. 5 is a perspective view showing a third movement in the front unloading operation of FIG. 4;
  • FIG. 7 is a perspective view showing the first movement in the front loading operation of FIG. 6;
  • FIG. 7 is a perspective view showing a second movement in the front loading operation of FIG. 6;
  • FIG. 7 is a perspective view showing a third movement in the front loading operation of FIG. 6;
  • It is a top view showing an example of back unloading operation of the transfer system concerning one embodiment of the present invention.
  • 9 is a perspective view showing the first movement in the back unloading operation of FIG. 8.
  • FIG. 9 is a perspective view showing a second movement in the back unloading operation of FIG. 8.
  • FIG. 9 is a perspective view showing a third movement in the back unloading operation of FIG. 8.
  • FIG. 9 is a perspective view showing a fourth movement in the back unloading operation of FIG. 8.
  • FIG. 9 is a perspective view showing a fifth movement in the back unloading operation of FIG. 8.
  • FIG. It is a top view which shows another example of the back unloading operation
  • 11 is a perspective view showing the first movement in the back unloading operation of FIG. 10.
  • FIG. 11 is a perspective view showing a second movement in the back unloading operation of FIG. 10.
  • FIG. 11 is a perspective view showing a third movement in the back unloading operation of FIG. 10.
  • FIG. 11 is a perspective view showing a fourth movement in the back unloading operation of FIG. 10.
  • FIG. It is a top view showing an example of back loading operation of a transfer system concerning one embodiment of the present invention.
  • FIG. 13 is a perspective view showing the first movement in the deep loading operation of FIG. 12; 13 is a perspective view showing a second movement in the deep loading operation of FIG. 12. FIG. 13 is a perspective view showing a third movement in the deep loading operation of FIG. 12. FIG. 13 is a perspective view showing a fourth movement in the deep loading operation of FIG. 12. FIG. 13 is a perspective view showing a fifth movement in the deep loading operation of FIG. 12. FIG. It is a top view which shows another example of the back loading operation
  • FIG. 15 is a perspective view showing the first movement in the deep loading operation of FIG. 14; 15 is a perspective view showing a second movement in the deep loading operation of FIG. 14. FIG. 15 is a perspective view showing a third movement in the deep loading operation of FIG. 14. FIG. 15 is a perspective view showing a fourth movement in the deep loading operation of FIG. 14.
  • FIG. 15 is a perspective view showing the first movement in the deep loading operation of FIG.
  • the transfer system of the present invention is a system for loading and unloading objects transported by transport vehicles into and from storage shelves in article storage facilities such as warehouses, and can be preferably applied to automated warehouses and the like.
  • the article storage facility 100 includes a transport cart 120 that transports the transported object W along a linear movement path in the cart transport direction Y, and
  • a storage shelf 110 is provided with a storage space capable of accommodating two transported objects W side by side at the front and back along the movement direction X during transfer of the transported objects W.
  • the pair of storage shelves 110 are arranged line-symmetrically on both sides of the movement path of the transport vehicle 120. That is, a pair of storage shelves 110 are arranged symmetrically to each other on both sides (right side and left side) across the moving route of the transport vehicle 120.
  • the moving direction X during transfer is the direction in which the transported object W is taken in and out of the storage space of the storage shelf 110 by the transport cart 120
  • the moving direction X during transfer is the direction in which the transport cart 120 transports the transported object W in the storage space of the storage shelf 110.
  • the direction is perpendicular to Y in plan view.
  • the cart transport direction Y is the direction in which the transport cart 120 moves in one storage level in the article storage facility 100.
  • the right side and the left side of the moving route refer to the right side and the left side when the transport vehicle 120 goes from one end of the moving route to the other end.
  • one or more storage shelves 110 are arranged in one storage level along the XY plane.
  • the article storage facility 100 may have a plurality of storage tiers that are stacked in the vertical direction, and one or more storage shelves 110 may be arranged in each storage tier.
  • the structure may be such that the transported objects W are transferred to and from the storage shelves 110 of each storage level using different transport vehicles 120.
  • the article storage facility 100 may have a configuration in which a plurality of article storage units each including a transport vehicle 120 and a storage shelf 110 capable of accommodating objects W to be transported by the transport vehicle 120 are arranged in one storage level. can.
  • the article storage facility 100 there are two rows of storage shelves in which a plurality of storage shelves 110 (four in FIG. They are arranged symmetrically on both sides of the route.
  • the plurality of storage shelves 110 arranged in parallel in the trolley conveyance direction Y are connected to each other or integrated to form a storage shelf row.
  • the storage shelf row consists of a rectangular frame 113 provided along the XY plane.
  • the rectangular frame 113 has two beams 114, 114 that extend parallel to each other along the cart transport direction Y and are spaced apart from each other, and extend parallel to the moving direction X during transfer so as to partition the rectangular frame 113 into each storage shelf 110. It is made up of a plurality of partition members 115 that connect both beams 114, 114.
  • the partitioning member 115 partitions two storage shelves 110 adjacent to each other in the cart transport direction Y, and includes a guide rail 115A on the front side of one storage shelf 110 and a guide rail 115A adjacent to the front side of this storage shelf 110 in the cart transport direction Y.
  • a guide rail 115B on the rear side of the storage shelf 110 is integrally formed with a connecting portion 115C.
  • the partitioning member 115 at the front end of the storage shelf row in the trolley transport direction Y only needs to have the guide rail 115A, and the partitioning member 115 at the rear end only needs to have the guide rail 115B. All you have to do is stay there.
  • the guide rails 115A and 115B include a support plate that projects inward in the cart transport direction Y of the storage space that supports the lower part of the object W, and a support plate that is suspended upward from the support plate and that supports the cart transport of the object W.
  • This is a guide member having an L-shaped cross section and having a regulating wall that regulates displacement in the Y direction.
  • One storage shelf 110 is formed into a frame shape by two beams 114, 114 and two guide rails 115A, 115B. They are arranged on both sides of the accommodation space in the moving direction X during transfer.
  • the upper surfaces of the beams 114, 114 are at approximately the same level as the upper surfaces of the support plates of the guide rails 115A, 115B.
  • a protrusion of the transported object W from the storage space is provided on the back beam 114 far from the movement path of the transport vehicle 120, and at the outer end of the guide rails 115A, 115B which is farthest from the movement path of the transport vehicle 120.
  • an abutment plate 118 is provided extending along the carriage transport direction Y and protruding upward from the support plate.
  • a traveling rail 117 for making the transport cart 120 run in the cart transport direction Y is provided continuously with the beam 114 on the near side in the movement direction during transfer. It is provided so as to protrude toward the front side of the X.
  • the rectangular frame 113 is arranged in such a manner that the movement of the carriage 120 in the carriage transport direction Y is not obstructed.
  • the upper part of the rectangular frame 113 is open, and the space above the area surrounded by the two beams 114, 114 and the two adjacent and opposing guide rails 115A, 115B is used as the storage space for each storage shelf 110.
  • the storage space of one storage shelf 110 is formed over two rows, one in the front and one in the back, on the side of the transport vehicle 120 in the moving direction X during transfer. That is, in the storage space of one storage shelf 110, the transported objects W can be simultaneously stored in the front storage position P1 and the back storage position P2.
  • the transported object W that is directly transferred by the transport vehicle 120 that is, comes into contact with the transfer arms 130 and 140 of the transport vehicle 120, can be used to place objects such as various containers.
  • the transfer tray 150 can be used. As shown in FIG. 2, the transfer tray 150 is made up of a flat recess 151 on which items can be placed, and a substantially rectangular frame-shaped bank portion 152 that surrounds the entire periphery of the flat recess 151. It is shaped and structured. At the four corners of the bank portion 152, engaged portions 153a, 153b, 153c, and 153d are formed that can be engaged with engaging claw portions 131, 132, 141, and 142 of transfer arms 130 and 140, which will be described in detail later.
  • Engaged parts 153a and 153b that can be engaged with the engagement claw parts 131 and 132 are formed, respectively. Either of the two engaging claws 131, 132 of the forward side transfer arm 130 can be selectively engaged with the engaged portion 153a formed at the front end in the moving direction X during transfer. , Only one of the engaging claws (131 or 132) of the forward side transfer arm 130 can be engaged with the engaged portion 153b formed at the rear end in the moving direction X during transfer.
  • engagement claws of the rear transfer arm 140 are provided at two corners near the front end and near the rear end in the movement direction X during transfer, respectively.
  • Engaged parts 153c and 153d that can be engaged with parts 141 and 142 are formed, respectively. Either of the two engaging claws 141, 142 of the transfer arm 140 on the rear side can be selectively engaged with the engaged portion 153c formed at the front end in the moving direction X during transfer.
  • Only one engagement claw part (141 or 142) of the transfer arm 140 on the rear side can be engaged with the engaged part 153d formed at the rear end in the moving direction X during transfer.
  • the engaged parts 153a and 153b of the transfer tray 150 at the front end and the rear end in the trolley transport direction Y are open at the front and upper sides in the transport direction Y, and are opened at the other three sides. It consists of a recess with a closed shape.
  • the engaged parts 153c and 153d on the rear side of the transfer tray 150 in the trolley transport direction Y are the same as the engaged parts 153a and 153b on the front side of the transfer tray 150. It has a shape that is line symmetrical to the center line in the moving direction X during transfer, and consists of a recessed portion that is open on the rear side and the upper side in the trolley transport direction Y, and closed on the other three sides.
  • the front side in the cart transport direction Y refers to the side where the transport cart 120 moves from one end of the moving path to the other end
  • the rear side in the cart transport direction Y refers to the opposite side.
  • the transfer tray 150 has a shape that is line symmetrical about the center line along the moving direction X during transfer and line symmetrical about the center line along the trolley transport direction Y.
  • the storage shelves 110 of either the storage shelf rows on the right side or the left side of the movement path can be used without distinguishing between left and right and back front.
  • the transfer tray 150 shown in FIG. 2 is given the reference numeral corresponding to the case where it is used on the storage shelf 110 on the left side.
  • Objects such as resin containers can be placed in the flat recess 151 of the transfer tray 150. As long as it can be placed in the flat recess 151, the container or other object can be transferred to the storage space as the transfer tray 150 is transferred, regardless of the size or shape of the object. . Usually, a container containing a product is placed in the flat recess 151, but the product may be placed as is in the flat recess 151 and transferred to the storage space.
  • the transport vehicle 120 has a function of transporting the object W in the transport direction Y along the movement route, and a function of moving the object W along the movement direction X during transfer. It has a function of transferring the object W to be transported into the storage space.
  • the transport vehicle 120 can unload the transported object W to a storage position represented by specific XY coordinates according to the transfer direction X and the transport direction Y of the transport vehicle.
  • the transported object W in the accommodation position represented by can be loaded onto the transport vehicle 120.
  • the carriage 120 is supported by a running rail 117 of a rectangular frame 113 and moves on the running rail 117 to move an object W in the carriage transport direction Y along a movement route.
  • Two transfer arms 130 that can engage with the transferred object W (transfer tray 150) and move the transferred object W in the movement direction X during transfer by advancing and retreating into the storage space of the storage shelf 110; 140.
  • the trolley body 121 includes a mounting section 122 on which an object to be transported W can be placed, a driving section 123 provided on the rear side of the mounting section 122 in the trolley transport direction Y, and a movement path in the mounting section 122.
  • the drive unit 123 includes a drive source (not shown) and a control unit (not shown) that controls the movement of the traveling unit 124 in the carriage transport direction Y along the movement route and the expansion and contraction of the transfer arms 130 and 140. is provided.
  • the traveling section 124 includes a plurality of wheels 125 and a support plate 126 that pivotally supports these wheels 125 and extends along the trolley transport direction Y.
  • the transfer arms 130 and 140 are extendable and retractable in the movement direction X during transfer and can move forward and backward with respect to the storage space, and move the transported object W in the movement direction X during transfer to accommodate the storage shelf 110. It performs a transfer operation (unloading operation and loading operation) of loading and unloading the transported object W into and out of the space.
  • the transfer arms 130 and 140 are provided on the front side and the rear side, respectively, of the loading section 122 of the truck main body 121 in the truck transport direction Y.
  • the front side transfer arm 130 is fixed to the front side edge of the drive unit 123 in the cart transport direction Y, stands vertically from the mounting surface of the drive unit 123, and extends along the movement direction X during transfer.
  • the front arm 134 moves in one direction (for example, to the left) in the moving direction X during transfer with respect to the fixed fence 133, and the rear arm 135 moves in the same direction (left side) ), it is possible to extend it to one side (left side) in the movement direction X during transfer.
  • the back arm 135 moves to the other side (to the right) in the moving direction X during transfer with respect to the front arm 134, and the front arm 134 moves during transfer.
  • the fixed fence 133, the front arm 134, and the rear arm 135 all have a length shorter than the width of the trolley body 121 along the moving direction X during transfer.
  • the front side transfer arm 130 has engagement claws 131 and 132 (see FIG. 4, etc.) formed at both ends of the rear arm 135 in the moving direction Accordingly, it is configured to move along the movement direction X during transfer.
  • the transfer arm 130 extends to the left side of the movement path, of the engaging claw parts 131 and 132, the engaging claw part 131 disposed relatively to the left side serves as the engaging claw part on the rear end side.
  • the engaging claw portion 132 which functions and is located relatively on the right side, functions as an engaging claw portion on the proximal end side.
  • the engaging claw portion 132 located relatively on the right side functions as the engaging claw portion on the rear end side
  • the engaging claw portion 132 located relatively on the left side functions as the engaging claw portion 132 on the rear end side
  • the mating claw portion 131 functions as an engaging claw portion on the proximal end side.
  • the engagement claws 131 and 132 are rotatably supported by the rear arm 135 of the transfer arm 130 about the longitudinal direction of the transfer arm 130, and are in a disengaged state in which they protrude upward from the transfer arm 130. , and an engaged state in which it protrudes rearward in the trolley transport direction Y centering on the longitudinal direction of the front transfer arm 130.
  • the engaging claws 131 and 132 are rotated about 90 degrees rearward in the cart transport direction Y around the longitudinal direction of the transfer arm 130.
  • the engaging claw portion (131 or 132) on the rear end side of the forward side transfer arm 130 is connected to the engaged portion (hereinafter referred to as “front end engaged portion”) on the front end portion of the forward side of the transfer tray 150. ) 153a and a rear end engaged portion (hereinafter also referred to as “front and rear end engaged portion”) 153b.
  • the rear side transfer arm 140 has a structure that is plane symmetrical to the front side transfer arm 130 with respect to the center plane in the movement direction X during transfer, and is plane symmetrical to the front side transfer arm 130. It is provided at the rear side edge of the drive unit 123 in the carriage transport direction Y. Specifically, the rear side transfer arm 140 is fixed to the rear side edge of the drive unit 123 in the cart conveyance direction Y, stands vertically from the mounting surface of the drive unit 123, and moves in the movement direction during transfer.
  • a fixed fence 143 extending along X, a front arm 144 supported movably in the movement direction X during transfer with respect to the fixed fence 143, and a front arm 144 that is supported relative to the front arm 144 in the movement direction X during transfer.
  • Both the front arm 144 and the rear arm 145 are configured to be able to move relative to each other along the movement direction X during transfer both to the right and to the left of the movement path. Thereby, the transported object W can be transferred to any of the storage spaces of the storage shelf 110 on the right side and the storage shelf 110 on the left side of the movement route.
  • the front arm 144 moves in one direction (for example, to the left) in the moving direction X during transfer with respect to the fixed fence 143, and the back arm 145 moves in the same direction (left side) in the moving direction X during transfer. ), it is possible to extend it to one side (left side) in the movement direction X during transfer.
  • the rear arm 145 moves to the other side (to the right) in the moving direction X during transfer with respect to the front arm 144, and the front arm 144 moves during transfer.
  • the fixed fence 143, the front arm 144, and the rear arm 145 all have a length shorter than the width of the trolley body 121 along the moving direction X during transfer.
  • the rear transfer arm 140 has engaging claw portions 141 and 142 formed at both ends of the rear arm 145 in the transfer direction X, and moves during transfer as the rear arm 145 moves. It is configured to move along direction X.
  • the engaging claw portion 141 which is relatively arranged on the left side of the engaging claw portions 141 and 142, serves as the engaging claw portion on the rear end side.
  • the engaging claw portion 142 which is functional and relatively arranged on the right side, functions as an engaging claw portion on the proximal end side.
  • the engaging claw part 142 located relatively on the right side functions as the engaging claw part on the rear end side
  • the engaging claw part 142 located relatively on the left side functions as the engaging claw part on the rear end side
  • the mating claw portion 141 functions as an engaging claw portion on the proximal end side.
  • the engagement claws 141 and 142 are rotatably supported by the rear arm 145 of the transfer arm 140 about the longitudinal direction of the transfer arm 140, and are in a disengaged state in which they protrude upward from the transfer arm 140. , and an engaged state in which it protrudes forward in the carriage transport direction Y centering on the longitudinal direction of the rear transfer arm 140.
  • the engaging claws 141 and 142 are rotated approximately 90° toward the front in the cart transport direction Y around the longitudinal direction of the transfer arm 140.
  • the engaging claw portion (141 or 142) on the rear end side of the transfer arm 140 on the rear side is connected to the engaged portion (hereinafter referred to as “rear front end engaged portion”) on the rear front end portion of the transfer tray 150. ) 153c and a rear end engaged portion (hereinafter also referred to as “rear end engaged portion”) 153d.
  • the engagement claw part (141 or 142) on the rear end side engages with the rear rear end engaged part 153d
  • the engagement claw part (141 or 142) on the base end side simultaneously engages with the rear front end engaged part 153d. It engages with the portion 153c.
  • the front side transfer arm 130 and the rear side transfer arm 140 are parallel to each other along the movement direction X during transfer, and the transfer tray 150 can be inserted between these two transfer arms 130 and 140. They are spaced apart from each other with a gap. That is, both the transfer arms 130 and 140 are arranged along both side edges of the transfer tray 150 so as to be able to move back and forth while being slightly spaced apart from the front and rear side edges of the bank portion 152.
  • the transfer arms 130 and 140 are configured to be independently extendable and retractable.
  • the transfer arms 130 and 140 are configured to be extendable and retractable in both directions (right side and left side) of the movement path of the transport vehicle 120 along the movement direction X during transfer.
  • one transport vehicle 120 can transport objects W to the storage spaces of the storage shelves 110 on the right side of the movement route and the storage shelf row on the left side. can be transferred.
  • FIGS. 5a to 5c show a front ejector for placing an object W transported by a transport vehicle 120 at a position on the front side of the storage space of the storage shelf 110 (front storage position P1) to be stored. It shows the loading movement. Note that in FIGS. 4 and 5a to 5c, the unloading operation for the storage shelf 110 arranged on the left side of the moving path of the transport vehicle 120 is explained, When unloading the storage shelf 110, the transfer arms 130 and 140 of the carrier 120 operate symmetrically, and the engagement claws 132 and 142 each function as an engagement claw on the rear end side.
  • the engaging claw portion 131 and the engaging claw portion 141 each function as the engaging claw portion on the proximal end side.
  • the engaging claw parts 131, 132, 141, 142 of the transfer arms 130, 140 are respectively the front rear end engaged part 153b, the front front end engaged part 153a, and the rear rear end of the transfer tray 150. It is engaged with the engaged portion 153d and the rear front end engaged portion 153c.
  • the transfer arms 130, 140 are moved so that the engagement claws 131, 141 on the rear end side are located near the rear end of the front storage position P1 in the storage space. Stretch along the moving direction X during transfer. Thereby, the transfer tray 150 is moved to the front storage position P1. Then, by disengaging the engagement claws 131, 132, 141, 142 of the transfer arms 130, 140, the transfer tray 150 is placed in the front accommodation position P1. Further, as shown in FIGS. 4(c) and 5c, the front unloading operation is completed by retracting the transfer arms 130, 140 to the initial position accommodated in the transport vehicle 120.
  • the above-mentioned front unloading operation can also be performed by one-sidedly pulling either one of the transfer arms 130, 140 by extending and contracting it in the same procedure as above.
  • the other of the transfer arms 130 and 140 which does not extend or contract, is stopped at an initial position where it is accommodated in the transport vehicle 120.
  • the storage shelf 110 is provided with guide rails 115A and 115B.
  • FIGS. 7a to 7c show front loading in which the transported object W placed at the front side position (front storage position P1) of the storage space of the storage shelf 110 to be stored is loaded onto the transport cart 120. Showing operation. Note that in FIGS. 6 and 7a to 7c, the loading operation on the storage shelf 110 arranged on the left side of the movement path of the transport vehicle 120 is explained, but the loading operation on the storage shelf 110 arranged on the right side of the transport vehicle 120 is In the loading operation on the shelf 110, the transfer arms 130 and 140 of the carrier 120 operate symmetrically, and the engagement claws 132 and 142 each function as an engagement claw on the rear end side.
  • the engaging claw portion 131 and the engaging claw portion 141 each function as the engaging claw portion on the proximal end side.
  • the transfer arms 130, 140 are extended in the accommodation space along the movement direction X during transfer.
  • the engaging claws 131, 141 on the rear end side of the transfer arms 130, 140 are moved to a predetermined position (engageable) near the rear end of the front storage position P1.
  • the engaging claws 131, 132, 141, 142 of the transfer arms 130, 140 are moved to the front rear end engaged portion 153b, the front front end engaged portion 153a, and the front end engaged portion 153a of the transfer tray 150, respectively. It engages with the rear rear end engaged portion 153d and the rear front end engaged portion 153c. Furthermore, as shown in FIGS. 6(c) and 7c, by retracting the transfer arms 130 and 140 to the initial position accommodated in the carrier 120, the transfer tray 150 is placed on the loading section 122 of the carrier 120. It is placed and held, and the front loading operation is completed.
  • the above-mentioned front loading operation can also be performed by one-sidedly pulling either one of the transfer arms 130, 140 by extending and contracting it in the same procedure as above.
  • the other of the transfer arms 130 and 140 which does not extend or contract, is stopped at an initial position where it is accommodated in the transport vehicle 120.
  • the storage shelf 110 is provided with guide rails 115A and 115B.
  • FIGS. 8 and 9a to 9e show a back ejector for placing an object W transported by the transport vehicle 120 at a position on the back side of the storage space of the storage shelf 110 to be stored (back storage position P2). It shows the loading movement.
  • FIGS. 9a to 9e the unloading operation for the storage shelf 110 arranged on the left side of the movement path of the transport vehicle 120 is explained, but When unloading the storage shelf 110, the transfer arms 130 and 140 of the carrier 120 operate symmetrically, and the engagement claws 132 and 142 each function as an engagement claw on the rear end side. At the same time, it can be performed in the same manner except that the engaging claw portion 131 and the engaging claw portion 141 each function as the engaging claw portion on the proximal end side.
  • the transfer tray 150 (transferred object W) is placed on the carrier 122 and held on the carrier 120. is moved along the cart transport direction Y and stops in a state aligned with a predetermined storage shelf 110.
  • the engaging claw parts 131, 132, 141, 142 of the transfer arms 130, 140 are respectively the front rear end engaged part 153b, the front front end engaged part 153a, and the rear rear end of the transfer tray 150. It is engaged with the engaged portion 153d and the rear front end engaged portion 153c.
  • FIGS. 8(a) and 9a the transfer tray 150 (transferred object W) is placed on the carrier 122 and held on the carrier 120. is moved along the cart transport direction Y and stops in a state aligned with a predetermined storage shelf 110.
  • the engaging claw parts 131, 132, 141, 142 of the transfer arms 130, 140 are respectively the front rear end engaged part 153b, the front front end engaged part 153a, and the rear rear end of the transfer tray 150. It is engaged
  • the transfer arms 130, 140 are moved so that the engagement claws 131, 141 on the rear end side are located near the rear end of the front housing position P1 in the accommodation space. Stretch along the moving direction X during transfer. Thereby, the transfer tray 150 is moved to the front storage position P1. Furthermore, as shown in FIGS. 8(c) and 9c, the engaging claws 131, 132, 141, 142 of the transfer arms 130, 140 are disengaged, and the transfer arms 130, 140 are temporarily moved to the rear.
  • the transfer tray 150 is placed in the deep accommodation position P2. Thereafter, as shown in FIGS. 8(e) and 9e, the transfer arms 130, 140 are retracted to the initial position accommodated in the transport vehicle 120, thereby completing the deep unloading operation.
  • FIGS. 10 and FIGS. 11a to 11d show a single-pull deep unloading operation in which the deep unloading operations shown in FIGS. 8 and 9a to 9e are performed by extending and contracting the transfer arms 130 and 140 independently of each other. ing. In the case of one-sided pulling, either of the transfer arms 130 and 140 may be selected as the transfer arm to be extended first.
  • the single-pull deep unloading operation shown in FIGS. 10 and 11a to 11d shows the case where the front transfer arm 130 is first extended.
  • the transfer tray 150 (transported object W) is placed and held on the loading section 122.
  • the carriage 120 is moved along the carriage conveyance direction Y, and stops while being aligned with a predetermined storage shelf 110.
  • the engaging claw parts 131, 132, 141, 142 of the transfer arms 130, 140 are respectively the front rear end engaged part 153b, the front front end engaged part 153a, and the rear rear end of the transfer tray 150. It is engaged with the engaged portion 153d and the rear front end engaged portion 153c.
  • FIGS. 10(a) and 11a the transfer tray 150 (transported object W) is placed and held on the loading section 122.
  • the carriage 120 is moved along the carriage conveyance direction Y, and stops while being aligned with a predetermined storage shelf 110.
  • the engaging claw parts 131, 132, 141, 142 of the transfer arms 130, 140 are respectively the front rear end engaged part 153b, the front front end engaged part 153a, and the rear rear end of the transfer tray 150
  • the front transfer arm 130 is moved to the rear end.
  • the engaging claw portion 131 is extended along the movement direction X during transfer until it is located near the rear end of the front accommodation position P1 in the accommodation space.
  • the transfer tray 150 is guided while being regulated by the guide rails 115A and 115B on both side edges, and the transfer tray 150 is moved to the front storage position in a state where the transfer tray 150 is prevented from being misaligned. Moved to P1. Furthermore, as shown in FIGS.
  • the engagement of the engaging claws 131 and 132 of the transfer arm 130 is released, and the transfer arm 130 is retracted to the initial position accommodated in the carrier 120.
  • the transfer arm 140 on the rear side is extended along the movement direction X during transfer until the engaging claw part 141 on the rear end side is located near the front end of the front accommodation position P1 in the accommodation space.
  • the engaging claw portion 141 is rotated inward in the cart conveyance direction Y of the storage space on the front side of the front edge of the bank portion 152 of the transfer tray 150 in the moving direction X during transfer, and this bank portion The front edge of 152 is pressably engaged.
  • the transfer arm 140 is extended along the moving direction X during transfer until the engaging claw portion 141 on the rear end side is located near the front end of the rear accommodation position P2 in the accommodation space.
  • the transfer tray 150 is guided while being regulated by the guide rails 115A and 115B on both side edges, and the transfer tray 150 is moved to the deep storage position in a state where the transfer tray 150 is prevented from being misaligned. It is moved to P2 and placed there.
  • FIG. 10(d) and FIG. 11d by releasing the engagement of the engaging claw portion 141 of the transfer arm 140 and retracting the transfer arm 140 to the initial position accommodated in the transport vehicle 120. , the single-pull deep unloading operation is completed.
  • FIGS. 12 and FIGS. 13a to 13e illustrate a back loading process in which an object W to be transported, which is placed at a position on the back side of the storage space of the storage shelf 110 to be stored (back storage position P2), is loaded onto the transport cart 120. Showing operation. Note that although FIGS. 12 and 13a to 13e illustrate the loading operation on the storage shelf 110 arranged on the left side of the movement path of the transport vehicle 120, the loading operation on the storage shelf 110 arranged on the right side of the transport vehicle 120 is In the loading operation on the shelf 110, the transfer arms 130 and 140 of the carrier 120 operate symmetrically, and the engagement claws 132 and 142 each function as an engagement claw on the rear end side.
  • the engaging claw portion 131 and the engaging claw portion 141 each function as the engaging claw portion on the proximal end side.
  • the transport cart 120 with the loading section 122 empty is moved along the cart transport direction Y, and is placed on a predetermined storage shelf 110.
  • the transfer arms 130, 140 are extended in the accommodation space along the movement direction X during transfer.
  • the engaging claws 131, 141 on the rear end side of the transfer arms 130, 140 are moved to a predetermined position near the front end of the rear accommodation position P2 in the accommodation space.
  • the engaging claws 131 and 141 on the rear end side of the transfer arms 130 and 140 are engaged with the front end engaged part 153a and the rear front end of the transfer tray 150, respectively. It engages with the portion 153c. Furthermore, as shown in FIGS. 12(c) and 13c, the transfer arms 130, 140 are temporarily retracted to a position where the transfer tray 150 can be placed in the front storage position P1, and the transfer arms 130, 140 are The engagement of the engagement claws 131 and 141 is released. As shown in FIGS. 12(d) and 13d, the engaging claws 131, 141 on the rear end side of the transfer arms 130, 140 are located at predetermined positions (engageable) near the rear end of the front accommodation position P1.
  • the engaging claws 131, 132, 141, 142 of the transfer arms 130, 140 are moved to the front rear end engaged portion 153b, the front front end engaged portion 153a, and the front end engaged portion 153a of the transfer tray 150, respectively. It engages with the rear rear end engaged portion 153d and the rear front end engaged portion 153c.
  • the transfer tray 150 is placed on the loading section 122 of the transport vehicle 120. It is placed and held, and the back loading operation is completed.
  • FIGS. 14 and 15a to 15d show a single-pull back loading operation in which the back loading operation of FIGS. 12 and 13a to 13e is performed by extending and contracting the transfer arms 130 and 140 independently of each other. .
  • either of the transfer arms 130 and 140 may be selected as the transfer arm to be extended first.
  • the single-pull deep unloading operation shown in FIGS. 14 and 15a to 15d shows the case where the front side transfer arm 130 is first extended. Note that although FIGS.
  • the carrier 120 with the loading section 122 empty is moved along the carrier transport direction Y, and is placed in a predetermined storage position. It stops aligned with the shelf 110.
  • the front side transfer arm 130 is extended in the transfer movement direction When reaching a predetermined position (engageable position) near the front end of position P2, the engaging claw portion 131 is engaged with the front end engaged portion 153a of the transfer tray 150 placed at the deep storage position P2. do.
  • the transfer arm 140 on the rear side is extended until the engaging claw portion 141 on the rear end side is located at a predetermined position (engageable position) near the rear end of the front storage position P1. At this time, the engagement claw portion 141 is maintained in a non-engaged state. Furthermore, as shown in FIGS. 14(c) and 15c, the front transfer arm 130 is retracted to a position where the transfer tray 150 can be placed in the front accommodation position P1. At this time, the transfer tray 150 is guided while being regulated by the guide rails 115A and 115B on both sides, and the transfer tray 150 is moved to the front accommodation position with the transfer tray 150 prevented from being misaligned. Moved to P1.
  • the engaging claws 141 and 142 of the rear side transfer arm 140 are connected to the rear rear end engaged part 153d and the rear front end engaged part 153c of the transfer tray 150 placed at the front storage position P1. engage with each other.
  • the engagement of the engagement claw portion 131 of the front transfer arm 130 is released.
  • the transfer tray 150 is moved to the mounting portion 120 of the carrier 120.
  • the engaging claws 131 and 132 of the front side transfer arm 130 engage with the front rear end engaged portion 153b and the front front end engaged portion 153a of the transfer tray 150, respectively. As a result, it is held in the placement section 122, and the one-sided back loading operation is completed.
  • the transported object W is described as the transfer tray 150 on which the stored object can be placed, but the present invention is not limited thereto. It is also possible to use the container itself as the object to be transported, in which engaged parts that can be engaged with the parts 131 and 141 are formed at the four lower corners.
  • storage shelf rows in which a plurality of storage shelves 110 are arranged are provided on both sides of the movement path of the transport vehicle 120;
  • the structure may be such that it is provided only on the right side or the left side.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

L'invention concerne un système de transfert conçu pour pouvoir réaliser une structure simplifiée et un support de transport léger (120) et réduire une distance de déplacement d'un bras de transfert (130) pour raccourcir le temps de traitement de transfert.　Le système de transfert selon la présente invention est un système de transfert pour prendre un objet devant être transporté par le support de transport (120) dans et hors d'une étagère de stockage (110), le support de transport comprenant le bras de transfert (130) qui peut venir en prise avec un objet à transporter (W) et peut avancer/se rétracter à l'intérieur d'un espace de stockage de l'étagère de stockage et le bras de transfert a des parties de crochet de mise en prise (131, 132) aptes à venir sélectivement en prise avec le voisinage d'une partie d'extrémité avant et le voisinage d'une partie d'extrémité arrière de l'objet à transporter, dans une direction de déplacement au moment du transfert.
PCT/JP2023/019108 2022-08-25 2023-05-23 Système de transfert WO2024042794A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2022133938A JP2024030797A (ja) 2022-08-25 2022-08-25 移載システム
JP2022-133938 2022-08-25

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WO2024042794A1 true WO2024042794A1 (fr) 2024-02-29

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JP (1) JP2024030797A (fr)
WO (1) WO2024042794A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6132104U (ja) * 1984-07-31 1986-02-26 株式会社日立製作所 シリンダによる移載装置
JP5432917B2 (ja) * 2008-10-27 2014-03-05 デマティック アカウンティング サービシーズ ゲーエムベーハー 立体自動倉庫用の移載シャトル
JP2017052612A (ja) * 2015-09-09 2017-03-16 株式会社岡村製作所 自動倉庫
JP7027735B2 (ja) * 2017-09-01 2022-03-02 村田機械株式会社 搬送装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6132104U (ja) * 1984-07-31 1986-02-26 株式会社日立製作所 シリンダによる移載装置
JP5432917B2 (ja) * 2008-10-27 2014-03-05 デマティック アカウンティング サービシーズ ゲーエムベーハー 立体自動倉庫用の移載シャトル
JP2017052612A (ja) * 2015-09-09 2017-03-16 株式会社岡村製作所 自動倉庫
JP7027735B2 (ja) * 2017-09-01 2022-03-02 村田機械株式会社 搬送装置

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