JP5466444B2 - Container loading / unloading equipment - Google Patents

Description

  The present invention relates to a container loading / unloading apparatus that transfers containers between a stacker crane and a container storage section such as a three-dimensional warehouse, for example.

  In a three-dimensional warehouse in which articles can be stored / extracted by automatic control, there is one in which articles are stored / extracted by inserting / removing containers containing articles into / from a storage compartment. Containers can be standardized in size, facilitating control of stacker cranes that transfer containers to and from container storage compartments in three-dimensional warehouses, and control of transfer devices built into stacker cranes, etc. Because. In order to efficiently use the article storage space of the three-dimensional warehouse, a plurality of containers can be stored side by side in the depth direction of the three-dimensional warehouse, and containers can be loaded into and extracted from the plurality of container storage spaces in the depth direction. A loading / unloading apparatus or a cargo transfer apparatus that can perform the above-described process has been proposed.

The invention related to the container storage device described in Patent Document 1 and Patent Document 2 is configured to store and store a plurality of containers side by side in the depth direction of a three-dimensional warehouse.
The invention described in Patent Document 1 includes a container transporter that includes a lifting platform and travels along a shelf front surface, and the lifting platform supports the container so that the container can be slid back and forth along the depth direction. The lifting platform is also provided with an arm device that can be expanded and contracted between a contracted state on the lifting platform and a stretched state reaching the container stored at the back of the shelf, and two upper and lower containers. A transfer device including a hook that can be engaged with and disengaged from any of the handles is provided. The arm device includes an arm supporting member fixed to the swivel base, a first sliding arm member capable of sliding on the arm supporting member in the front-rear direction, and a front-rear direction on the first sliding arm member. It is a three-stage arm type consisting of a second sliding arm member that can slide on.

  Similarly to the invention described in Patent Document 1, the invention described in Patent Document 2 also includes a transfer device that transfers the container between the lifting platform and the shelf, and the container between the front side of the shelf and the back side of the shelf. The moving device has a multi-stage slide system including a base end slide member, an intermediate slide member, and a tip slide member, and the intermediate slide member has left and right side plates and is in a channel shape. And two guide rollers that are respectively fitted in the grooves of the base end slide member on the inside and outside of the both side plates, and four guide rollers at the front and rear ends, respectively.

  A load transfer device using a three-stage fork type drive device for transferring a load between a warehouse and a load transfer device is also known from Patent Document 3 relating to the patent of the present applicant. In the invention described in Patent Document 3, a fork and an engaging portion attached to the front and rear end portions of the fork form a frame body having an inner diameter dimension larger than the planar outer dimension of the luggage, and the luggage is enclosed by the frame body. Be able to. The frame body is driven by an advancing / retracting mechanism so that the frame body can be drawn into the baggage transport apparatus body and pushed out of the baggage transport apparatus body.

  In Patent Document 4, in order to obtain a load transfer device having a high storage space efficiency, a simple and efficient operation, and a simple configuration, a string member is hung between rotating wheels, A claw that moves as the string-like member is driven is connected to the chamfer member via a pin so that the claw can be rotated, and the claw is guided in a vertical direction that guides the movement in the vertical direction while maintaining a certain posture. A load transfer device provided with a member and a horizontal guide member for guiding the movement in the horizontal direction is described. When the connecting member is between the rotating wheels, the claw moves in parallel, and when the connecting member is at the position of the rotating wheel, the connecting member moves along the rotating wheel so that the claw moves up and down. The claw is raised when the container is transferred and lowered after the transfer is completed.

Japanese Patent No. 2566530 Japanese Patent No. 3352846 Japanese Patent No. 2954457 Japanese Patent No. 3773096

  The inventions described in Patent Documents 1, 2, and 3 all extend and retract the arms in multiple stages, and when operating by providing rollers that roll as the arms extend and contract between the arms. Reduces frictional resistance. However, according to these inventions, in the state where each arm is extended, the load applied to the arm is received by the contact of the roller, so that it is received as a point contact, and in addition to this, each arm is extended. Since the load distribution applied to the rollers is biased, the drop at the arm tip becomes large between the expanded state and the contracted state. As a result, smooth expansion / contraction operation cannot be performed, or a problem may occur in the transfer device.

  In that respect, the invention described in Patent Document 4 can move the container stably and surely because the claws are surely moved while maintaining a predetermined position and moving stroke, and the reliability of the operation. Is expensive. However, in the invention described in Patent Document 4 alone, in the shelf in which a plurality of containers are stored in the depth direction of the shelf, the movement stroke of the claw is required to load and unload the article in the storage space on the back side. There is a drawback that it is not enough.

  Accordingly, an object of the present invention is to provide a container loading / unloading device that solves the above-described problems of the conventional technology and enables a smooth expansion / contraction operation of the transfer device.

The container loading / unloading apparatus according to the present invention is:
Use a container having a hook-shaped first engaging portion opened downward and a second engaging portion at a position higher than the first engaging portion on the front and rear wall surfaces,
A three-dimensional automatic warehouse having a container storage space capable of storing a plurality of containers in front and rear, and a container that pushes the container into the container storage space from a container mounting table and pulls out the container from the container storage space to the container mounting table A stacker crane equipped with a transfer device,
The container transfer device is
Sprockets provided in pairs before and after the transfer direction of the container, string members spanned between the sprockets, and parallel to each other between the sprockets paired by being connected to the string members A first transfer device having a first pawl that moves and moves up and down along the arc of the sprocket at the position of the sprocket to engage with the first engaging portion of the container;
And a second transfer device for have a second pawl which can engage with the second engagement portion of the container and having a multi-stage frame in which a plurality of frames to stretch in multiple stages,
The second transfer device has a plurality of sliders interposed between a plurality of frames constituting the multistage frame,
The slider has a slide unit holding plate, a plurality of slide units fixed to one side of the slide unit holding plate, and a plurality of slide units fixed to the other side of the slide unit holding plate,
The slide unit fixed to one side of the slide unit holding plate is fitted into a guide member fixed to one of the opposed frames, and the slide unit fixed to the other side of the slide unit holding plate is opposed to Fitted to a guide member fixed to the other of the frame,
The first transfer device is a transfer device of a container between the container table of the container receiving space and the stacker crane,
The second transfer device is a container transfer device between a container storage position in the container storage space and a delivery position to the container mounting table.
This is the main feature.

  The first transfer device includes a pair of left and right first claws that can engage with a first engagement portion provided in a pair of left and right containers, and moves the pair of first claws. In order to achieve this, it is preferable that a sprocket arranged in a pair on the left and right and a string-like member spanned between the sprockets on the left and right are provided.

  The uppermost frame of the multi-stage frame has a claw at the end in the moving direction, and this claw is intermediate in the left-right direction with respect to the first engaging part provided on the left and right of the container and is more than the first engaging part. It is preferable that the second engagement portion formed on the upper portion is engaged with the second engagement portion.

When a container is transferred between the container storage space of a three-dimensional warehouse and a stacker crane , it is good to provide the slide mechanism which makes the mounting base in which the container loading / unloading apparatus was incorporated approach the container storage space.

According to the present invention, a pair of sprockets, a string-like member spanned between the sprockets, a pair of sprockets coupled to the string-like member to move in parallel in the horizontal direction, and the sprocket A first transfer device having a first claw that can move up and down along the arc of the sprocket and engage with the first engagement portion of the container, and a multi-stage frame, And a second transfer device having a second claw capable of engaging with the second engagement portion of the container while the frame expands and contracts in multiple stages. Can be secured sufficiently long. In addition, since the transfer stroke of the container can be shared by the first and second transfer devices, the operation stroke of each transfer device can be shortened to realize a compact transfer device as a whole. it can.
In the second transfer device, even if the frame expands and contracts, the load support point of each frame does not change, and it is possible to ensure stable support force and smooth operation. In addition, the slider positions of the front, rear, left and right can be synchronized, and the weight distribution can be kept even regardless of the operation position, so that the performance of the apparatus can be exhibited stably.

It is a front view which shows the Example of the container loading / unloading apparatus which concerns on this invention. It is a front view which shows the part of the 2nd transfer apparatus in the said Example. It is a side view which shows the part of the drive mechanism of the said 2nd transfer apparatus. It is a side view which shows the part of the drive mechanism of the 1st transfer apparatus in the said Example. It is a side view of the container loading / unloading apparatus slide mechanism integrated in the said Example. It is a top view which shows the slider urging | biasing structure of the said 2nd transfer apparatus, (a) shows the state which the 2nd transfer apparatus contracted, (b) shows the state which the 2nd transfer apparatus expanded. FIG. It is a top view which shows the relationship between a slider and a guide member in the state which the said 2nd transfer apparatus contracted. It is a top view which expands and shows a part of FIG. It is a front view which shows the up-and-down moving mechanism of the 2nd load transfer apparatus in the said Example. It is a perspective view which shows the characteristic component part of the said 1st transfer apparatus. It is a side view which expands and shows the part of the drive mechanism in the state which the said 2nd transfer apparatus contracted. It is a side view which expands and shows a part of the drive mechanism in the state which the said 2nd transfer apparatus extended | stretched. It is a side view which expands and shows the remaining part of the drive mechanism in the state which the said 2nd transfer apparatus extended. It is a perspective view which shows the example of the container applied to this invention. It is a side view which shows operation | movement of the Example of the container loading / unloading apparatus which concerns on this invention in order. It is a side view which shows operation | movement of the Example of the container loading / unloading apparatus which concerns on this invention following the operation | movement shown in FIG. It is a side view which shows another operation | movement of the Example of the container loading / unloading apparatus which concerns on this invention in order. It is a side view which shows operation | movement of the Example of the container loading / unloading apparatus which concerns on this invention following the operation | movement shown in FIG. It is an external appearance front view showing roughly an example of a storage shelf which constitutes a three-dimensional warehouse where a container loading / unloading apparatus according to the present invention is used. It is a front view which expands and shows the part shown by line AA in FIG. 19 of the said storage shelf. It is a front view which shows the relationship between the container in the said storage shelf, and the container loading / unloading apparatus which concerns on the Example of this invention.

  Embodiments of a container loading / unloading apparatus according to the present invention will be described below with reference to the drawings.

  First, an example of a container used in the present invention will be described with reference to FIG. In FIG. 14, the container 1 has a rectangular box shape with an open top for storing items such as books, and is moved in the left-right direction in FIG. And the container storage space of a three-dimensional warehouse. A first engaging portion 3 and a second engaging portion 5 are formed on the wall surfaces of the container 1 before and after the transfer direction in a bowl shape with the lower part opened. A total of two first engaging portions 3 are formed at the lower left and right sides when the container 1 is viewed from the front, and one second engaging portion 5 is provided at the center in the left and right direction when the container 1 is viewed from the front. It is formed relatively wide. The second engagement portion 5 is at a higher position than the first engagement portion 3. Such a container 1 can be manufactured by integral molding of resin. A claw 20 of a first load transfer device 10 to be described later is engaged with the first engagement portion 3, and a claw 52 of the second load transfer device 40 is engaged with the second engagement portion 5. Engage.

  The container storage space of the three-dimensional warehouse in which the container 1 configured as described above is stored has two containers arranged in the depth direction when the front-rear direction when facing the container entrance is the depth direction. It can be stored. That is, containers can be stored on the front side and the back side, respectively. Hereinafter, an outline of an example of a three-dimensional warehouse will be described.

  In FIG. 19 thru | or FIG. 21, the code | symbol 100 shows the three-dimensional warehouse which consists of the storage shelf of the container 1. FIG. The three-dimensional warehouse 100 includes a plurality of support columns 101 standing at predetermined intervals, and a load receiving member 97 having an L-shaped cross-sectional shape connected in a horizontal direction across the plurality of support columns 101. One container storage space is formed by a pair of struts 101 adjacent to each other and a pair of load receiving members 97 connected to the same height position of the opposing surfaces of these struts 101. A large number of container storage spaces are formed in one three-dimensional warehouse 100, and the containers 1 can be stored in each container storage space by supporting the bottom surfaces of the left and right sides of the container 1 by the pair of load receiving members 97. It is like that. The front end portion of the load receiving member 97 is a load receiving portion 98 that transfers the container 1 to and from the load transfer device 120 described later.

In the illustrated example, two three-dimensional warehouses 100 are installed in parallel at regular intervals, and the space between the two three-dimensional warehouses 100 serves as a passage through which the stacker crane 110 travels. The stacker crane 110 has a carriage that runs along the rails laid in the passage, and a guide column 111 that guides the vertical movement of the load transfer device 120 rises from the carriage. When the stacker crane 110 travels along the rail and the load transfer device 120 moves up and down along the guide column 111, the load transfer device 120 moves to the front of the arbitrarily designated container storage space and stops. can do. At this stop position, the load transfer device 120 transfers the container 1 to and from the load receiving unit 98, and pushes the container 1 into the container storage space while sliding the container 1 on the pair of load receiving members 97, It can be pulled out again. The container storage space has storage spaces on the front side and the back side as viewed from the stacker crane 110 side. That is, one of the container receiving space, it is possible to house the two containers 1 on the front side and the rear side. Thus, in order to transfer the container 1 between the near side or the back side of the container storage space and the stacker crane 110, the load transfer device 120 includes a first transfer device 10 which will be described in detail later. And a second transfer device 40.

  Next, an embodiment of a container loading / unloading apparatus using the container 1 and the three-dimensional warehouse will be described. FIG. 1 is a view of an embodiment of a container loading / unloading apparatus as viewed from the container loading / unloading direction. The container loading / unloading apparatus is incorporated in a stacker crane mounting table as follows. Between the pair of left and right base frames 6 fixed to the mounting table of the stacker crane, a first load transfer device 10 surrounded by an imaginary line is assembled and is surrounded by the first load transfer device 10. In this way, the second load transfer device 40 enclosed by another virtual line is assembled. The first cargo transfer device 10 has a pair of left and right frames 80 formed in a frame shape with open front and rear ends and an upper end. The frames 80 are integrally coupled, and the integrated frame 80 is connected to the pair of left and right base frames 6 through the pair of left and right first guide members 90 and the first slider 9 so as to be slidable in the front-rear direction. ing. The first guide member 90 is fixed to the base frame 6, and the first slider 9 is fixed to the frame 80. The container mounting table 7 is fixed to the upper ends of the outer walls of the left and right frames 80 so as to spread left and right in the horizontal direction. A container guide 8 that guides the container 1 when the container 1 is transferred rises outside the container mounting table 7.

  The configuration of the first load transfer device 10 will be described in detail. 1, 4 and 10, the drive shaft 11 is rotatably supported by bearings through the inner side wall of each frame 80, and sprockets 12 and 12 are fixed to both ends of the drive shaft 11. Yes. As shown in FIG. 10, the rotation shaft 17 is supported in parallel with the drive shaft 11 at a certain distance from the drive shaft 11. Similarly to the drive shaft 11, the rotary shaft 17 passes through the inner side wall of each frame 80 and is rotatably supported by a bearing. Sprockets 14 and 14 having the same diameter as the sprockets 12 and 12 are fixed to both ends of the rotating shaft 17.

  Power is transmitted to the drive shaft 11 via a power transmission mechanism as shown in FIG. In FIG. 4, a motor 19 is attached below the drive shaft 11, and a chain 29 is hung on a sprocket 21 fixed to the output shaft of the motor 19 and a sprocket 23 fixed to the drive shaft 11. Therefore, the rotational force of the motor 19 is transmitted to the rotary shaft 11 via the sprocket 21, the chain 29, and the sprocket 23, and the rotary shaft 11 and the sprockets 12 and 12 integrated therewith are driven to rotate forward and backward. As described with reference to FIG. 10, the front and rear sprockets 12 and 14 form a pair, and two pairs of sprockets forming the pair are arranged on the left and right. Chains 15 and 15 are respectively hung between the sprockets 12 and 14 that are arranged on the left and right and make a pair in front and rear. Therefore, the pair of chains 15 and 15 that are paired on the left and right are linearly moved between the sprockets 12 and 14 synchronously, and are moved while drawing an arc along the arc of the sprockets 12 and 14 at the positions of the sprockets 12 and 14.

Pins 18 and 18 are attached to the pair of chains 15 and 15 at the same positions when viewed from the direction in which the chains 15 and 15 overlap, that is, from the side. The pins 18 and 18 are connected to lower ends of claws 20 and 20 which will be described in detail later, and the respective chains 15 and the claws 20 are connected so as to be relatively rotatable around the pin 18 .

  As shown in FIG. 1, a slider 22 is attached to the outer surface of each claw 20 in the vertical direction. Each slider 22 is fitted so as to be freely movable along a guide member 23 fixed in the vertical direction, and each claw 20 is movable in the vertical direction together with each slider 22. As shown in FIG. 10, the second slider 24 is attached to each guide member 23 on the surface opposite to the slider 22 in the horizontal direction. Each slider 24 is fitted to the inner surface of the outer wall of each frame 80 so as to be freely movable horizontally along the second guide member 25 fixed in the horizontal direction. As each slider 24 moves in the horizontal direction, each claw 20 can also move in the horizontal direction.

  In this way, each claw 20 can move both in the vertical direction and in the horizontal direction, and the movement locus thereof is the same as the movement locus of the respective pins 18 and 18. Since the movement trajectory of the pins 18 and 18 is the same as that of the chain 15 spanned between the front and rear sprockets 12 and 14, “horizontal movement → moves while drawing a semicircular arc along one sprocket. → Move horizontally → Move while drawing a semi-arc along the other sprocket ”. The drive source of each claw 20 is a single motor. When this motor is driven to rotate forward and backward, when each pin 18, 18 is on the upper side between the sprockets 12, 14, each claw 20 is in the raised position and is horizontal. Move back and forth in the direction. When each pin 18, 18 is on the lower side between the sprockets 12, 14, each claw 20 is in a lowered position and moves back and forth in the horizontal direction. When the pins 18 and 18 are moving along the arcs of the sprockets 12 and 14 together with the chains 15 and 15, the claws 20 are also moved in the vertical direction along the arcs of the sprockets 12 and 14. However, each claw 20 always maintains a posture in which the slider 22 and the guide member 23 face the vertical direction.

Each claw 20 is formed in a fork shape that is long in the vertical direction and has an upper half divided into two. When each claw 20 is in the raised position as described above, the fork-shaped upper half protrudes above the upper surface of the container mounting table 7, 7 and is formed on the left and right of the front and rear wall surfaces of the container 1. The first engaging portions 3 can be engaged with each other. When the claws 20 are in the lowered position, the entire claws 20 are retracted downward from the upper surfaces of the container platforms 7 and 7 and are separated from the first engaging portion 3 of the container 1. In addition, although the drive mechanism of the nail | claw 20 is arrange | positioned at the right-and-left both sides of the 1st load transfer equipment 10, in FIG. 10, only the drive mechanism of the claw 20 of one side is shown.
Each chain 15 and 15 may be replaced with an appropriate string-like member, for example, a belt, a toothed belt, a rope, a wire, or the like.

  Next, the configuration of the second load transfer device 40 will be described in detail. As shown in FIGS. 1 and 2, the second load transfer device 40 includes a lower frame 41, an intermediate frame 42, and an upper frame 43. The lower frame 41 is provided substantially integrally with each of the frames 80, and has side walls 44 that are open at the front and rear ends and rise from the left and right sides. A third guide member 45 is fixed to the inner surface side of the side walls 44 in the horizontal direction, and a third slider 46 is fitted so as to be movable along the third guide member 45.

  The middle frame 42 is also provided with side walls 48 that are open at the front and rear ends and rise on the left and right sides, and a fourth guide member 47 is fixed to the outer surface of each side wall 48 in the horizontal direction. Each of the fourth guide members 47 is fitted to the third slider 46, and can move in the horizontal direction along the third slider 46 together with the middle frame 42. A fifth guide member 49 is fixed to the inner surface side of both side walls 48 of the middle frame 42 in the horizontal direction, and a fourth slider 50 is fitted to the fifth guide member 49. The slider 50 is fitted to the fifth guide member 49. Can be moved back and forth in the horizontal direction.

  The upper frame 43 is a flat plate member having side walls that hang downward from left and right side edges, and a sixth guide member 51 is fixed to the outer surface of each side wall in the horizontal direction. The fourth slider 50 is fitted to each guide member 51, and the upper frame 43 is guided together with the guide member 51 by the fourth slider 50, so that it can move back and forth in the horizontal direction with respect to the middle frame 42. Claws 52 that can be engaged with the second engaging portion 5 of the container 1 are integrally attached to the left and right of the front and rear ends of the upper frame 43.

  As described above, the lower frame 41, the middle frame 42, and the upper frame 43 can move in the front-rear direction with the aid of the guide member and the slider. Each guide member is a straight rail-like member, and each slider may be moved as much as possible along the guide member without resistance. In addition, between the lower frame 41 and the middle frame 42, and between the middle frame 42 and the upper frame 43, two guide members fixed to the respective frames are fitted into one slider, and the frames move relative to each other. It is connected as possible. In other words, between the lower frame 41 and the middle frame 42, and between the middle frame 42 and the upper frame 43, there is one slider and two guide members fitted on both sides of the slider.

FIGS. 7 and 8 show more specifically the configuration of the sliders 46 and 50 interposed between the frames 41, 42 and 43. The third slider 46 includes a slide unit holding plate 53, a pair of two slide units 54 fixed to one side of the slide unit holding plate 53, and two pieces fixed to the other side of the slide unit holding plate 53. A pair of slide units 55 is provided.
The fourth slider 50 includes a slide unit holding plate 56, a pair of two slide units 57 fixed to one surface of the slide unit holding plate 56, and two fixed to the other surface of the slide unit holding plate 56. A pair of slide units 58 is provided.

The two slide units 54 are fitted into the third guide member 45, and the two slide units 55 are fitted into the fourth guide member 47. Further, the two slide units 57 are fitted into the fifth guide member 49, and the two slide units 58 are fitted into the sixth guide member 51.
In this embodiment, as the slide units 54, 55, 57, 58, a plurality of ball bearings are enclosed in the slide unit that moves along the guide member, and the inside of the slide unit is moved while the ball bearing contacts the guide member. A part called “linear motion guide” that is circulated is used. Accordingly, each slide unit can smoothly move relative to the guide member by circulating the ball bearing therein. In addition, the slider used in the present embodiment is assumed to be configured in the same way as the slide unit holding plate and the slide unit as described above.

  Next, the three-stage telescopic drive mechanism of the lower, middle, and upper frames 41, 42, and 43 that are supported so as to be movable relative to each other as described above will be described. 11 to 13, a second transfer device drive motor 60 is attached below the one end side in the front-rear direction of the lower frame 41. A chain 62 is hung on a sprocket 62 fixed to the output shaft of the motor 60 and a sprocket 63 rotatably mounted thereon. Further, a sprocket 65 is rotatably attached to the lower frame 41 below the central portion in the front-rear direction, and a chain 64 is hung on the sprocket 65 and the sprocket 63. A pinion 66 is fixed integrally with the sprocket 65, the pinion 66 meshes with a pinion 67, and the pinion 67 meshes with a rack 69 formed on the lower surface of the middle frame 42 in the front-rear direction. Therefore, the rotational force of the motor 60 is transmitted to the pinion 67 through the sprocket, chain, and pinion, and the rotational force of the pinion 67 is transmitted to the rack 69 so that the middle frame 42 moves in the front-rear direction. Yes.

  A chain fixing member 71 is fixed to the middle frame 42 on the lower surface side of one end in the front-rear direction, and one end of a chain 73 is fixed to the chain fixing member 71. A sprocket 72 is attached to the upper surface of the other end in the front-rear direction of the middle frame 42 so as to be rotatable about a horizontal axis in the left-right direction. The chain 73 is hung from the lower side to the upper side of the sprocket 72 and folded while drawing a semicircle, and the other end of the chain 73 is fixed to a chain fixing member 74 fixed to one end of the upper frame 43. .

  Now, the motor 60 is driven, and the pinion 66 is rotationally driven through the sprocket 61, the chain 62, the sprocket 63, the chain 64, and the sprocket 65, and this rotational force is transmitted to the rack 69 so that the middle frame 42 is shown in FIG. Suppose you move to the left. 12 and 13 show the movement of the middle frame 42 to the left. Since the middle frame 42 and the upper frame 43 are connected by a chain 73 folded back by a sprocket 72 attached to the middle frame 42, when the middle frame 42 moves to the left, the upper frame 43 is pulled by the chain 73. Thus, it moves toward the left by a movement amount that is twice the movement amount of the middle frame 42. The middle frame 42 and the upper frame 43 are smoothly moved by the linear motion guide constituted by the fitting of the guide member and the slider.

  In order to return the upper frame 43 and the middle frame 42 that have moved to the left to their original positions, or to move them from the original position to the right in FIG. 11, the motor 60 is reversed and the middle frame 42 is moved to the right. Move. However, the chain 73 and the sprocket 72 are effective when the upper frame 43 is pulled to the left. To pull the upper frame 43 to the right, a chain and a sprocket other than the chain 73 and the sprocket 72 are used. It is necessary to provide. In FIG. 11 to FIG. 13, a chain fixing member denoted by reference numerals 71A and 74A, a sprocket denoted by reference numeral 72A, and a chain denoted by reference numeral 73A. When the middle frame 42 is moved to the right by the pinion 67 and the rack 69, the chain 73A pulls the upper frame 43 to the right and moves the upper frame 43 with a movement amount twice the movement amount of the middle frame 42. Move.

  The sliders 46 and 50 are interposed between the lower, middle, and upper frames 41, 42, and 43, and are freely movable along the guide members. However, if an arbitrary position can be taken within the movable range, the balance distribution of the weight applied from the middle frame 42 and the upper frame 43 to the lower frame 41 becomes disordered, and the second load transfer device 40 tilts. Therefore, it may not be possible to carry out the load transfer operation smoothly. Therefore, the slider 46 is always positioned at the center position of the range where the lower frame 41 and the middle frame 42 overlap, and the slider 50 is always positioned at the center position of the range where the middle frame 42 and the upper frame 43 overlap. It is urged by a tension coil spring. FIG. 6 shows how the middle frame 42 and the upper frame 43 are urged by the coil spring.

  In FIG. 6, reference numerals 75 </ b> A and 75 </ b> B denote a pair of tension coil springs for urging the second slider 46 interposed between the lower frame 41 and the middle frame 42. Reference numerals 76 </ b> A and 76 </ b> B denote a pair of tension coil springs for urging the fourth slider 50 interposed between the middle frame 42 and the upper frame 43. The coil springs 75 </ b> A are disposed on the left and right sides of the middle frame 42, and the coil springs 75 </ b> B are also disposed on the left and right sides of the middle frame 42. The coil springs 76 </ b> A are disposed on the left and right sides of the upper frame 43, and the coil springs 76 </ b> B are also disposed on the left and right sides of the upper frame 43. In FIG. 6, one end of each of the pair of coil springs 75A is hung on a spring hook 411 fixed to one end portion in the front-rear direction of the lower frame 41, and the other end is provided on the other end portion in the front-rear direction of the slide unit holding plate 53. The spring hook 532 is hung. One end of each of the pair of coil springs 75B is hooked on a spring hook 412 fixed to the other end in the front-rear direction of the middle frame 42, and one end is a spring hook 531 provided at one end in the front-rear direction of the slide unit holding plate 53. It is hung on. Accordingly, the middle frame 42 is urged in the opposite directions to the lower frame 41 by the coil spring 75A and the coil spring 75B.

  Two pairs of tension coil springs 76A and 76B that are on the left and right sides of the upper frame 43 and bias the upper frame 43 with respect to the middle frame 42 are also arranged in the same manner as the tension coil springs 75A and 75B as described below. Yes. In FIG. 6, one end of each of the pair of coil springs 76 </ b> A is hung on a spring hook 421 fixed to one end portion in the front-rear direction of the middle frame 42, and the other end is provided on the other end portion in the front-rear direction of the slide unit holding plate 56. It is hung on the spring hanger 562. One end of each of the pair of coil springs 76B is hooked on a spring hook 422 fixed to the other end in the front-rear direction of the upper frame 43, and one end is a spring hook 561 provided at one end in the front-rear direction of the slide unit holding plate 56. It is hung on. Accordingly, the upper frame 43 is urged in the opposite directions relative to the middle frame 42 by the coil spring 76A and the coil spring 76B.

  The tension coil springs 75A and 75B have the same thickness and length, and the tension coil springs 76A and 76B have the same thickness and length. Therefore, in the state where no external force is applied to the middle frame 42, the coil springs 75A and 75B are arranged such that the center position of the middle frame 42 matches the center position of the lower frame 41 in the front-rear direction as shown in FIG. Energize to do. That is, the urging forces of the coil springs 75 </ b> A and 75 </ b> B balance and the middle frame 42 takes a neutral position with respect to the lower frame 41. Similarly, when no external force is applied to the upper frame 43, the coil springs 76 </ b> A and 76 </ b> B urge the upper frame 43 so that the center position in the front-rear direction matches the center position in the front-rear direction of the middle frame 42. That is, the urging forces of the coil springs 76 </ b> A and 76 </ b> B balance and the upper frame 43 takes a neutral position with respect to the middle frame 42.

  When no external force is applied to the middle frame 42, no external force is also applied to the upper frame 43. During normal times when no load transfer operation is performed, the middle frame 42 and the upper frame 43 are compared with the lower frame 41 in FIG. The neutral position shown in a) is maintained. In this neutral position, the third slider 46 is positioned at the center of the range where the lower frame 41 and the middle frame 42 overlap on both the left and right sides of the middle frame 42, and the middle frame 42 and the upper frame on both the left and right sides of the upper frame 43. The fourth slider 50 is located in the center of the range where 43 overlaps. Therefore, in a state where the container 1 is transferred onto the upper frame 43 which will be described later, the front and rear slide units 54 and the slide unit 55 constituting the third slider 46 are almost equally loaded, and the fourth slider 50 A load is applied substantially evenly to the slide unit 57 and the slide unit 58 before and after the structure.

  FIG. 6B shows a state in which the middle and upper frames 42 and 43 are extended to one side in the front-rear direction with respect to the lower frame 41 by the three-stage telescopic drive mechanism described with reference to FIGS. Yes. If the position shown in FIG. 6A is the original position, the upper frame 43 relative to the lower frame 41 with respect to the amount of movement of the middle frame 42 relative to the lower frame 41 from this original position to the maximum extended position shown in FIG. Doubles the amount of movement. Meanwhile, the overlapping amount of the middle frame 42 with respect to the lower frame 41 and the overlapping amount of the upper frame 43 with respect to the middle frame 42 are continuously reduced.

  During this time, the middle frame 42 moves against the urging force of the coil springs 75A disposed on the left and right sides thereof, and therefore further urges the middle frame 42 while extending the coil springs 75A. On the other hand, the coil spring 75B contracts and its urging force is weakened. Due to the distribution of the urging force by the pair of coil springs 75A and 75B, the third slider 46 is always located at the center of the range where the lower frame 41 and the middle frame 42 overlap, and the front and rear slide units constituting the third slider 46 54 and the slide unit 55 are always almost equally loaded.

  Similarly, the upper frame 43 moves against the urging force of the coil springs 76A arranged on both the left and right sides thereof, so that the upper frame 43 is further urged while extending the coil springs 76A. On the other hand, the coil spring 76B contracts and its urging force is weakened. Due to the distribution of the urging force by the pair of coil springs 76 </ b> A and 76 </ b> B, the fourth slider 50 is always located at the center of the range where the middle frame 42 and the upper frame 43 overlap, and the front and rear slide units constituting the fourth slider 50. 57 and the slide unit 58 are always almost equally loaded.

  FIG. 6B shows the case where the middle and upper frames 42 and 43 move to one side in the front-rear direction, but the same applies when the middle and upper frames 42 and 43 move to the other side in the front-rear direction. Operate. However, the expansion / contraction relationship of the coil springs 75A, 75B and the expansion / contraction relationship of the coil springs 76A, 76B are reversed.

  The claws 52 provided at both front and rear ends of the upper frame 43 are for engaging the second engaging portion 5 of the container 1 to pull out the container 1 from the container storage space of the three-dimensional warehouse and to push it into the container storage section. It is. In order to engage the claw 52 with the engaging portion 5 of the container 1, a mechanism for moving the second load transfer device 40 up and down is provided. Next, the vertical movement mechanism of the second load transfer device 40 will be described. In FIG. 9, a gear mechanism 82 for transmitting the rotational force of the motor 81 is disposed below the lower frame 41 constituting the second load transfer device 40, and a sprocket 83 is provided on the output shaft of the gear mechanism 82. Is attached. Another sprocket 84 is disposed above the sprocket 83, a chain 85 is hung on the sprocket 83 and the sprocket 84, and the rotational driving force of the motor 81 is transmitted to the sprocket 84. A pinion 86 is provided integrally with the sprocket 84, and the pinion 86 meshes with a rack 87 that is integrally suspended from the bottom surface of the lower frame 41. Side walls 88 are integrally suspended from the left and right sides of the bottom surface of the lower frame 41, and sliders 89 are fixed to the outer side surfaces of the both side walls 88 in the vertical direction. The slider 89 is fitted in a guide member 91 fixed in the vertical direction, and is movable in the vertical direction together with the second load transfer device 40 including the lower, middle, and upper frames 41, 42, and 43. It has become.

  When the motor 81 is driven to raise the second load transfer device 40, the claw 52 can be engaged with the second engaging portion 5 of the container 1, and the motor 60 is driven to rotate in this state. By operating the second load transfer device 40, the container 1 can be pulled out from the container storage space of the three-dimensional warehouse and pushed into the container storage section. When this container pulling-out operation or pushing-in operation is completed, the motor 81 is rotationally driven in the reverse direction, the second load transfer device 40 is lowered, and the engagement portion 5 of the container 1 and the claw 52 are disengaged. .

  The container loading / unloading device is provided with a container storage space so that, for example, the stacker crane 110 (see FIG. 19) can freely move the front of the container storage space of the three-dimensional warehouse 100 in the vertical direction and the horizontal direction. Appropriate intervals must be maintained between them. Therefore, the claw 52 cannot be engaged with the engaging portion 3 of the container 1 only when the container loading / unloading device faces the predetermined container storage space, and the container loading / unloading device is brought close to the container storage space. It is necessary to operate the container loading / unloading device in the state. The first guide member 90 and the first slider 9 described with reference to FIG. 1 constitute a slide mechanism for that purpose, and FIG. 5 shows the drive mechanism of the slide mechanism. In FIG. 5, a first guide member 90 is fixed to the outer surface of each outer wall 801 of the pair of frames 80, and these first guide members 90 are fitted to the slider 9 fixed to the base frame 6. Yes. Below the frame 80, a motor 93 is attached substantially integrally with the base frame 6, and a pinion 94 integrally provided on the output shaft of the motor 93 meshes with a rack 95 that is substantially integrally fixed to the lower surface side of the frame 80. ing. The rack 95 is relatively short and is mounted in the front-rear direction (left-right direction in FIG. 5). When the motor 93 is driven to rotate forward and backward, the frame 80 slides back and forth via the pinion 94 and the rack 95, and the first load transfer device 10 and the first load transfer device constructed on the frame 80. 40 also slides back and forth.

  Next, a series of operations of the embodiment of the container loading / unloading apparatus will be described with reference to FIGS. In FIG. 15A, the stacker crane operates in accordance with the command, and the mounting table having the container loading / unloading device including the first load transfer device 10 and the second load transfer device 40 is stored in a predetermined container. The state which moved to the entry / exit position with respect to space is shown. The container 1 is placed and stored on a load receiving member 97 constituting a three-dimensional warehouse. As described above, the two containers 1 can be placed on the cargo receiving member 97 and stored on the near side and the far side. A front end portion of the load receiving member 97 is a load receiving portion 98. In the state shown in FIG. 15A, the container 1 is stored in the back side of the container storage space. Here, it is assumed that the container 1 is taken out. First, as shown in FIG. 15 (b), the container loading / unloading device is moved slightly in the horizontal direction to approach the load receiving portion 98 of the load receiving member 97. The container loading / unloading apparatus is moved by the slide mechanism and its driving mechanism shown in FIG.

  Next, the vertical movement mechanism of the second load transfer device 40 shown in FIG. 9 is operated, and the second load transfer device 40 is slightly raised as shown in FIG. Further, the driving device of the second load transfer device 40 shown in FIGS. 11 to 13 is operated to extend the middle frame 42 and the upper frame 43 to the maximum as shown in FIG. In this state, the claw 52 provided on the upper frame 43 is positioned below the second engagement portion 5 on the front end side of the container 1, so that the vertical movement mechanism of the second load transfer device 40 is next. Is operated to further raise the second load transfer device 40 as shown in FIG. With this operation, the claw 52 engages with the second engagement portion 5 so as to pass through between the first engagement portions 3 on the left and right of the container 1.

  Next, the drive device of the second load transfer device 40 shown in FIG. 13 is operated in the reverse direction, and as shown in FIG. 16A, the middle frame 42 constituting the second load transfer device 40 and The upper frame 43 is contracted to the original position. By this contraction operation, the container 1 is pulled toward the container loading / unloading apparatus by the claw 52. Next, as shown in FIG. 16B, the second load transfer device 40 is lowered to release the engagement between the claw 52 and the second engaging portion 5, and the drive mechanism shown in FIG. The first load transfer device 10 is operated by being activated. Here, the motor 19 shown in FIG. 4 is driven so that the claw 20 of the first load transfer device 10 moves from left to right in FIG. By this driving, when the pin 18 (see FIG. 4) connecting the claw 20 to the chain 15 rises along the sprocket 12 while drawing an arc, the claw 20 rises and engages with the engaging portion 3 of the container 1. Further, the motor 19 is driven to move the claw 20 together with the chain 15 between the sprockets 12 and 14, whereby the container 1 is drawn into the container loading / unloading device and placed on the container mounting table 7 shown in FIG. Since the claw 20 is on the left and right, engages with the first engaging portions 3 on the left and right of the container 1 and moves synchronously, the transfer of the container 1 by the first load transfer device 10 is It is done in a well-balanced manner without breaking the posture.

  As shown in FIG. 16C, when the container 1 is pulled to the center position of the container mounting table 7, the claw 20 descends while drawing an arc along the arc of the sprocket 14, and the claw 20 engages with the container 1. The engagement with the part 3 is released, and the transfer operation by the first load transfer device 10 is completed. Next, the slide mechanism and its drive mechanism shown in FIG. 5 are driven, and the container loading / unloading apparatus is separated from the cargo receiving portion 98 by a predetermined distance as shown in FIG. The stacker crane can be operated in a state where the container loading / unloading device is separated from the cargo receiving unit 98 by a predetermined distance, and the container loading / unloading device can be moved to an arbitrary position.

  Next, a case where the container 1 placed on the container loading / unloading apparatus is stored in a predetermined storage space, that is, a loading operation will be described. The warehousing operation is almost the same as the operation for unloading the container 1 from the storage space. First, as shown in FIG. 17 (a), the container loading / unloading apparatus on which the container 1 is placed is moved to a position corresponding to a predetermined storage space, and the container loading / unloading apparatus is unloaded as shown in FIG. 17 (b). Approach part 98. Next, the first load transfer device 10 is activated. In the case of warehousing, it is activated in the opposite direction from that at the time of delivery. As shown in FIG. 17 (c), the pair of left and right claws 20 of the first load transfer device 10 rises from the right end and engages with the pair of first engaging portions 3 of the container 1, respectively. Subsequently, the first load transfer device 10 is driven and the claw 20 moves from the right side to the left side. By the movement of the claw 20, the container 1 is pushed and transferred from the container mounting table 7 to the load receiving portion 98 and further pushed onto the load receiving member 97. FIG. 17 (d) shows a state in which the first load transfer device 10 is in the container 1 pushing limit position, and the claw 20 descends along the arc of the sprocket 12 and is disengaged from the engaging portion 3 of the container 1. ing. Next, as shown in FIG. 17 (e), the second load transfer device 40 is raised in order to push the container 1 by the second load transfer device 40, and the claw 52 of the upper frame 43 is moved to the container 1. Engage with the second engagement portion 5.

  In the state where the claw 52 is engaged with the second engaging portion 5 of the container 1 as described above, the second load transfer device 40 is operated, and as shown in FIG. The middle and upper frames 42 and 43 are extended. By the operation of the second load transfer device 40, the container 1 is pushed toward the back of the storage space by the claw 52. In the example shown in FIG. 18, the container 1 is stored in the back side of the container storage space. However, when the container 1 is already stored in the back side, the container 1 is stored in the storage space on the near side. Whether or not the container 1 is stored on the back side is known in advance, and whether the container 1 is stored on the back side or the front side depends on whether or not the container 1 is stored on the back side. . When the container 1 is stored at the back side, the second load transfer device 40 is operated for the maximum stroke, and when stored at the front side, the short stroke operation is performed accordingly.

  When the container 1 is stored at a predetermined position in the storage space, the second load transfer device 40 is lowered as shown in FIG. 18 (b), and further contracted to the original position as shown in FIG. 18 (d). . Moreover, as shown in FIG.18 (d), a container loading / unloading apparatus is retracted | retreated from the cargo receiving part 98, and a stacker crane and its mounting base are made the state which can move to arbitrary positions.

  FIGS. 15 to 18 show a case in which the container is unloaded from the back side of the storage space and stored into the back side. However, the container is unloaded from the front side of the storage space and is loaded into the near side. The case is almost the same, except that the driving stroke of the second transfer device is shortened. FIGS. 15 to 18 show the case where the container 1 is loaded into and unloaded from the transfer device to the left storage space, but the same applies to the case where the container is loaded into and unloaded from the right storage space. In this case, only the driving directions of the first and second transfer apparatuses 10 and 40 are different. The illustrated container 1 is drawn assuming that books are stored, but the articles stored in the container 1 are arbitrary.

  In the illustrated embodiment, the second transfer device 40 has a three-stage frame structure. However, the number of frame stages is arbitrary, and the second transfer apparatus 40 may be a multistage frame in which a plurality of frames expand and contract in multiple stages. . In that case, the nail | claw which engages with the engaging part of the container 1 is provided in the uppermost frame. Further, a linear motion guide is interposed between the frames.

According to the embodiment described above, the following effects can be obtained.
The first transfer device 10 which is a parallel movement method of the claws and the second transfer device 40 which is a multistage telescopic type are combined, and the first transfer device 10 slides the container 1 in the container storage space of the three-dimensional warehouse. In the second transfer device 40, the container 1 is moved between the container storage space and the container loading / unloading device. Thereby, the movement stroke of the whole transfer apparatus can be ensured sufficiently long. Further, since the transfer stroke of the container 1 can be shared by the first and second transfer devices 10 and 40, the operation stroke of each transfer device can be shortened to make the transfer device as a whole compact. Can be realized.
The first transfer device 10 pulls the left and right sides of the container 1 while moving the claws 20 synchronously on both the left and right sides of the container 1, and pushes and pushes the container 1 to move the container 1. And can be transferred smoothly.

Between the lower, middle, and upper frames 41, 42, and 43 constituting the second transfer device 40, linear motion guides composed of a guide member and a slider are arranged symmetrically so as to be movable relative to each other. Therefore, the relative movement is light and smooth.
The linear motion guides for relatively moving the lower, middle, and upper frames 41, 42, and 43 are urged by coil springs from both sides in the moving direction of the frames 42, 43, so that the lower frame 41 and the middle frame 42 Since it is always located at the center of the overlapping range, the center of the overlapping range of the middle frame 42 and the upper frame 43, it is possible to reduce the imbalance of the weight applied to each frame, and the frame 42 with respect to the frame 41, It is possible to reduce the step at the front end of the frame when 43 is contracted and extended.

  A linear motion guide is interposed between a plurality of stages of frames constituting the second transfer device 40, and the plurality of stages of frames are connected so as to be relatively movable by the linear motion guide without changing the load support point. Therefore, each frame can be expanded and contracted smoothly, and the performance as a container loading / unloading device can be stably exhibited.

  The container loading / unloading apparatus according to the present invention can be used as an automatic book depositing / dispensing apparatus in a library, a container loading / unloading apparatus in a storage warehouse that manages products and parts in units of containers, and the like.

DESCRIPTION OF SYMBOLS 1 Container 3 Engagement part 7 Container mounting base 9 1st slider 10 1st load transfer apparatus 11 Drive shaft 20 Claw 25 2nd guide member 40 2nd load transfer apparatus 41 Lower stage frame 42 Middle stage frame 43 Upper stage frame 45 Third guide member 46 Third slider 47 Fourth guide member 49 Fifth guide member 50 Fourth slider 51 Sixth guide member 52 Claw 53 Slide unit holding plate 54 Slide unit 55 Slide unit 56 Slide unit holding plate 57 Slide unit 58 Slide Unit 90 First guide member 97 Load receiving member 100 Solid warehouse

Claims (6)

Use a container having a hook-shaped first engaging portion opened downward and a second engaging portion at a position higher than the first engaging portion on the front and rear wall surfaces,
A three-dimensional automatic warehouse having a container storage space capable of storing a plurality of containers in front and rear, and a container that pushes the container into the container storage space from a container mounting table and pulls out the container from the container storage space to the container mounting table A stacker crane equipped with a transfer device,
The container transfer device is
Sprockets provided in pairs before and after the container transfer direction , string members spanned between the sprockets, and parallel to the horizontal direction between the sprockets paired by being connected to the string members A first transfer device having a first pawl that moves and moves up and down along the arc of the sprocket at the position of the sprocket to engage with the first engaging portion of the container;
And a second transfer device for have a second pawl which can engage with the second engagement portion of the container and having a multi-stage frame in which a plurality of frames to stretch in multiple stages,
The second transfer device has a plurality of sliders interposed between a plurality of frames constituting the multistage frame,
The slider has a slide unit holding plate, a plurality of slide units fixed to one side of the slide unit holding plate, and a plurality of slide units fixed to the other side of the slide unit holding plate,
The slide unit fixed to one side of the slide unit holding plate is fitted into a guide member fixed to one of the opposed frames, and the slide unit fixed to the other side of the slide unit holding plate is opposed to Fitted to a guide member fixed to the other of the frame,
The first transfer device is a transfer device of a container between the container table of the container receiving space and the stacker crane,
The second transfer device is a container loading / unloading device that is a container transfer device between a container storage position in the container storage space and a delivery position to the container mounting table.   The first transfer device includes a pair of left and right first claws that can engage with a first engagement portion provided in a pair of left and right containers, and moves the pair of first claws. The container loading / unloading apparatus according to claim 1, further comprising: a sprocket arranged in a pair in front and rear and a string-like member spanned between the pair of sprockets in front and rear.   The uppermost frame of the multi-stage frame has a claw at the end in the moving direction, and this claw is intermediate in the left-right direction with respect to the first engaging part provided on the left and right of the container and is more than the first engaging part. The container loading / unloading apparatus according to claim 1, wherein the container loading / unloading device is engaged with a second engagement portion formed on the top. A pair of tension coil springs are connected between the frames via a holding plate between the frames,
One of the pair of tension coil springs is connected to the front end of one frame and the rear end of the holding plate, and the other of the pair of tension coil springs is connected to the rear end of one frame and the front end of the holding plate. The container loading / unloading apparatus according to claim 1 , wherein the slider takes a position where urging forces of the pair of tension coil springs are balanced with respect to the frames . The container loading / unloading apparatus according to claim 1, further comprising a slide mechanism that moves the container mounting table closer to the container storage space when the container is transferred between the container storage space of the three-dimensional automatic warehouse and the container mounting table of the stacker crane . When the container is transferred between the container storage space of the three-dimensional automatic warehouse and the container mounting table of the stacker crane , the second transfer device is used to engage the claws of the upper frame with the second engaging portion of the container. 2. The container loading / unloading apparatus according to claim 1, further comprising a vertical movement mechanism for moving the vertical movement.

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