JP5781772B2 - Automatic warehouse - Google Patents

Description

  The present invention relates to an automatic warehouse that automatically loads and removes articles.

  A conventional automatic warehouse is disclosed in Patent Document 1.

  In Patent Document 1, the transfer unit is provided with a pair of picking units. The fixed frame of one picking unit is fixed to the machine frame, and the fixed frame of the other picking unit is attached to the guide member so that the fixed frame can be moved to and from the one picking unit. The interval between both picking units can be adjusted according to the width of the luggage. An example in which such a transfer unit is applied to a transfer carriage disposed on each shelf so as to run freely is also disclosed.

  A similar configuration is also disclosed in Patent Document 2.

JP 2002-120993 A JP 2003-26307 A

  By the way, in order to transfer a plurality of types of loads having a relatively large difference in load width by the transfer unit as described above, it is necessary to allow the other picking unit to be moved greatly. As a result, the transfer unit becomes large, resulting in an increase in cost.

  Moreover, the transfer time of an article will become long by enlargement of a transfer unit. For example, as the transfer unit becomes larger and heavier, it takes time to travel. In addition, depending on the order of transfer of the load, the load width differs greatly, and it is necessary to move the picking unit greatly. Therefore, it takes time to adjust the movement of the picking unit.

  Therefore, an object of the present invention is to enable quick transfer while reducing costs in an automatic warehouse that handles a plurality of types of articles having different widths.

In order to solve the above-mentioned problem, a first aspect is provided with a storage shelf having a plurality of shelves, and corresponding to at least one of the plurality of shelves, with respect to at least one corresponding shelf A plurality of transfer devices having a pair of picking units for taking in and out the articles, and a vertical movement for moving the articles up and down between positions corresponding to the plurality of shelves and positions where the articles can be transferred to the outside. A plurality of transfer devices, wherein the plurality of transfer devices includes a first transfer device capable of adjusting an interval between the pair of picking units by a first adjustment width, and an interval between the pair of picking units. 1 adjustment width viewed contains a different second adjustable second transfer device in adjusting the width and the first transfer device, the first adjustment width of the plurality of trays On the first shelf for storing the corresponding size article And the second transfer device is a second shelf for storing articles having a size corresponding to the second adjustment width among the plurality of shelves. The lifting / lowering transfer device is provided at a position of the first shelf or the second shelf corresponding to the size of the article to be stored. It moves up and down.

  The second aspect is an automatic warehouse according to the first aspect, wherein the minimum value and the maximum value of the second adjustment width are larger than the minimum value and the maximum value of the first adjustment width, respectively. Is set to

  According to the first aspect, the entire automatic warehouse can handle articles corresponding to the first adjustment width and the second adjustment width. Moreover, the 1st transfer apparatus should just be able to adjust the width | variety of a pair of picking units with a 1st adjustment width, and the 2nd transfer apparatus has a 2nd adjustment width | variety of a pair of picking units. It is sufficient if the width can be adjusted. For this reason, about a 1st transfer apparatus and a 2nd transfer apparatus, cost reduction and speeding-up of a transfer can be achieved.

  According to the second aspect, an article having a relatively small width can be taken in and out by the first transfer device, and an article having a relatively large width can be taken in and out by the second transfer device.

It is a schematic front view which shows the whole structure of the automatic warehouse which concerns on embodiment. It is a schematic plan view which shows the whole automatic warehouse structure same as the above. It is a schematic front view which shows a traveling transfer apparatus. It is a schematic plan view which shows a traveling transfer apparatus. It is a partial schematic side view which shows a traveling transfer apparatus. It is a schematic front view which shows another traveling transfer equipment.

  Hereinafter, the automatic warehouse according to the embodiment will be described.

<Overall configuration of automated warehouse>
FIG. 1 is a schematic front view showing the overall configuration of the automatic warehouse 20 according to this embodiment, and FIG. 2 is a schematic plan view showing the overall configuration of the automatic warehouse 20.

  The automatic warehouse 20 includes a storage shelf 22, a temporary storage shelf 30, a lifting / lowering transfer device 35, a loading / unloading conveyor 40, and a traveling transfer device 50. Schematically, an article W from the outside is stored in the storage shelf 22 via the loading / unloading conveyor 40, the lifting / lowering transfer device 35, and the temporary storage shelf 30 via the travel transfer device 50. Contrary to the above, the articles W stored in the storage shelf 22 are carried out from the traveling transfer device 50 to the outside through the temporary storage shelf 30, the lifting / lowering transfer device 35, and the loading / unloading conveyor 40.

  More specifically, a pair of storage shelves 22 are provided at intervals. It is not essential that one pair of storage shelves 22 is provided, and one storage shelf 22 may be provided. The storage shelf 22 is formed in a substantially long shape in plan view, and has a plurality of shelf steps 24 spaced in the vertical direction. Each shelf 24 is supported by a vertical frame 25 or the like at an interval in the vertical direction, and the article W can be placed and supported on each shelf. Here, a relatively high space is formed above at least one of the plurality of shelves 24 (two in FIG. 1), and a relatively large article W can be stored. It is like that. In addition, a relatively low space is formed above at least one of the plurality of shelves 24 (four in FIG. 1) so that a relatively small article W can be efficiently stored. It has become.

  A traveling rail 26 corresponding to the traveling transfer device 50 is formed between the pair of storage shelves 22. Here, among the plurality of shelves 24, the traveling rails 26 are provided corresponding to the respective lower shelves 24 for storing articles W having a relatively large size. Further, every other traveling rail 26 is provided for the upper shelf 24 for storing articles W of relatively small size.

  A plurality of travel transfer devices 50 are provided, and each of the travel transfer devices 50 is provided corresponding to at least one of the plurality of shelves 24. Then, by traveling on the traveling rail 26 at a height position that can be opposed to at least one corresponding shelf 24, the reciprocating horizontal movement between the corresponding shelf 24 and the temporary storage shelf 30 is performed. It has become.

  Each traveling transfer device 50 is equipped with at least one transfer device 60. The transfer device 60 is also provided corresponding to at least one of the plurality of shelves 24, and a pair of picking units 70 and 75 that take in and out the articles W with respect to each corresponding at least one shelf 24. have.

  Here, one traveling transfer device 50 (hereinafter may be referred to as a traveling transfer device 50B) is provided for one of the lower storage shelves 22 for a large size, and for a small size. One traveling transfer device 50 (hereinafter sometimes referred to as traveling transfer device 50A) is provided for two of the upper storage shelves 22.

  The large size traveling transfer device 50B is provided with one transfer device 60 (second transfer device, hereinafter may be referred to as a transfer device 60B). That is, the large size transfer device 60B is provided in one-to-one correspondence with each shelf 24. The small size travel transfer device 50A is provided with two transfer devices 60 (first transfer device, hereinafter may be referred to as transfer device 60A) in the vertical direction. That is, the transfer device 60A for a small size is also provided in one-to-one correspondence with each shelf 24.

  In addition, the transfer device 60A can adjust the distance between the pair of picking units 70 and 75 with the first adjustment width. Thereby, the transfer device 60A can take in and out the articles W within the range corresponding to the first adjustment width. Further, the transfer device 60B is capable of adjusting the distance between the pair of picking units 70 and 75 with a second adjustment width different from the first adjustment width. Accordingly, the transfer device 60B can take in and out the article W within the range corresponding to the second adjustment width.

  The first adjustment width and the second adjustment width are different from each other when at least one of the minimum value and the maximum value is different. Preferably, the minimum value and the maximum value of the second adjustment width are respectively the first value and the second value. It may be set to be larger than the minimum value and the maximum value of the adjustment width of 1. As a specific example, the first adjustment width is set in a range in which an article W having a load width of 300 mm to 800 mm can be taken in and out, and the second adjustment width is set in a range in which an article W having a load width of 601 mm to 1400 mm can be taken in and out. It is good to set. The adjustment width of the pair of picking units 70 and 75 is defined in a range sandwiched between the minimum value and the maximum value of the interval between the pair of picking units 70 and 75, and the width required for picking is added to this adjustment width. Then, it becomes the range of the load width of the article W that can be taken in and out by the pair of picking units 70 and 75.

  A more specific configuration example of the transfer devices 60A and 60B will be described later.

  The temporary storage shelf 30 is adjacent to one end of the storage shelf 22. Here, a pair of temporary storage shelves 30 are provided corresponding to each of the pair of storage shelves 22. The temporary storage shelf 30 has temporary storage shelf steps 32 provided corresponding to the respective shelf steps 24. The temporary storage shelf 32 is provided at the same height position as the corresponding shelf 24, and the article W is transferred between the temporary storage shelf 32 and the corresponding shelf 24 by the traveling transfer device 50. It is supposed to be transferred. Each temporary storage shelf 32 is configured to be able to exchange articles W with the lifting table 36 of the lifting / lowering transfer device 35. The article W is exchanged between the temporary shelf 32 and the lifting table 36. For example, a plurality of rollers are provided in parallel on each of the temporary shelf 32 and the lifting table 36, and each roller is driven by a motor (not shown). , And the like can be employed to convey the placed article W from the temporary shelf stage 32 toward the lifting table 36 or vice versa. In addition, the article W may be moved between the temporary storage shelf 32 and the lifting table 36 by pushing the article W with a separately provided pusher or the like. Further, the temporary storage rack 30 may be omitted, and the article W may be directly exchanged between the traveling transfer device 50 and the lifting table 36.

  The lifting / lowering transfer device 35 is a device that moves the article W up and down. Here, each of the pair of storage shelves 22 is provided at each outer position, more specifically, between each of the pair of temporary storage shelves 30 and the pair of loading / unloading conveyors 40. The lifting / lowering transfer device 35 has a lifting / lowering table 36 as a movable part that can be moved up and down between a position corresponding to each temporary storage shelf 32 and a position corresponding to the loading / unloading conveyor 40. The articles W are exchanged between the temporary storage shelf 32 and the elevation table 36 in a state where the elevation table 36 is moved to a position corresponding to any temporary storage shelf 32. Further, the articles W are exchanged between the lifting table 36 and the loading / unloading conveyor 40 in a state where the lifting table 36 has moved to a position corresponding to the loading / unloading conveyor 40.

  For example, in the same manner as described above, the transfer of the articles W between the lifting table 36 and the loading / unloading conveyor 40 is provided with a plurality of rollers in parallel on each of the temporary storage shelf 32 and the loading / unloading conveyor 40. By rotating each roller by a motor (not shown), it is possible to adopt a configuration in which the placed article W is conveyed from the temporary storage shelf 32 toward the loading / unloading conveyor 40 or vice versa. . In addition, the structure etc. which push the articles | goods W with the pusher etc. provided separately, and move the said articles | goods W may be sufficient.

  The loading / unloading conveyor 40 is provided so as to extend linearly from the outer side position of the lifting / lowering transfer device 35 toward the outside, and the article W is horizontally disposed between the lifting / lowering transfer device 35 and the outside. It is comprised so that it may move along the linear conveyance path | route along. As such a loading / unloading conveyor 40, for example, it is possible to adopt a configuration in which a plurality of rollers provided in parallel are driven to rotate by a motor (not shown) to move the placed article W linearly. it can. The loading / unloading conveyor 40 is not limited to the configuration, and may be a so-called belt conveyor or the like. Moreover, the loading / unloading conveyor 40 may be provided in the upper and lower two steps. Further, the structure may be such that the loading / unloading conveyor 40 is omitted, and the article W is directly exchanged between the lifting table 36 and a hand or a separately provided table.

  The automatic warehouse 20 performs the next storing operation under the control of a control unit (not shown).

  That is, the article W from the outside is conveyed toward the lifting / lowering transfer device 35 through the loading / unloading conveyor 40. Then, the article W is transferred from the loading / unloading conveyor 40 to the lifting table 36 in a state where the lifting table 36 is moved to a height position corresponding to the loading / unloading conveyor 40. Thereafter, the lifting table 36 is moved up and down to a position corresponding to the shelf 24 corresponding to the storage target location selected from the empty storage locations. The selection of the storage target location is performed in consideration of the following points. That is, the load width of the article W to be stored is recognized separately based on an input command via an input means such as a keyboard (or based on a width detection signal from a sensor). Then, according to the load width of the article W and the adjustment width by the transfer devices 60A and 60B, which transfer device 60A and 60B should store the article W, that is, which shelf 24 should be stored Is judged. That is, the shelf 24 to be stored is selected so that the load width of the article W becomes a width that can be handled by the transfer devices 60A and 60B. Then, the article W is transferred from the lifting table 36 to the temporary storage shelf 32. Thereafter, the travel transfer device 50 takes in the article W from the temporary storage shelf 32, and the travel transfer device 50 travels toward the storage target location. Then, the article W is sent from the traveling transfer device 50 toward the storage target portion of the shelf 24. Thereby, the storing operation of the article W is accommodated. The storage position of the article W is managed by creating a table in which the identification code given to the article W is associated with the storage position in the storage shelf 22 when the article W is stored. Has been.

  In addition, the operation for taking out the article W is performed as follows.

  That is, the travel transfer device 50 corresponding to the shelf 24 where the article W designated as the take-out object exists is caused to travel, and the travel transfer device 50 is moved before the article W designated as the take-out target. The traveling transfer device 50 takes in the article W from the shelf 24 and then travels toward the temporary storage shelf 32. Thereafter, the article W is fed from the traveling transfer device 50 toward the temporary storage shelf 32. Further, the lift table 36 is moved up and down to a height position corresponding to the temporary storage shelf 32, and the article W is transferred from the temporary storage shelf 32 to the lift table 36. Thereafter, the lifting table 36 is moved up and down to a height position corresponding to the loading / unloading conveyor 40, and the article W is transferred from the lifting table 36 toward the loading / unloading conveyor 40. The article W transferred to the loading / unloading conveyor 40 is conveyed outward by the loading / unloading conveyor 40.

<Configuration example of traveling transfer equipment>
A configuration example of the travel transfer device 50 will be described.

  A traveling transfer device 50A for a small size will be described. 3 is a schematic front view showing the travel transfer device 50A, FIG. 4 is a schematic plan view showing the travel transfer device 50A, and FIG. 5 is a partial schematic side view showing the travel transfer device 50A.

  The traveling transfer device 50A is configured such that the traveling device 52 is mounted on the traveling carriage 52 in two upper and lower stages.

  The traveling carriage 52 includes a carriage main body 54 having a substantially rectangular shape in plan view, and wheels 56 provided on the carriage main body 54. Then, in a state where the wheels 56 are disposed on the travel rail 26, the travel transfer device 50A travels on the travel rail 26 by rotating the wheels 56 by driving the travel drive unit including the motor 58. A reciprocating horizontal movement is made between the corresponding shelf 24 and the temporary storage shelf 30.

  A substantially square hole is formed in the cart main body 54, and a lower transfer device 60A is incorporated in the peripheral portion of the hole. Further, a support column 59 is erected on the carriage main body 54, and an upper transfer device 60 </ b> B is incorporated in the upper end portion of the support column 59. As a result, the upper and lower two-stage travel transfer device 50 </ b> A can insert and remove the articles W into and from the upper and lower two-stage shelf 24 or the upper and lower two-stage temporary storage shelf 32.

  Since the upper and lower two-stage transfer device 60A has the same configuration, the lower-stage transfer device 60A will be mainly described.

  The transfer device 60 includes a pair of picking units 70 and 75 and a width adjusting mechanism 90.

  One picking unit 70 of the pair of picking units 70, 75 is fixed at a fixed position with respect to the traveling carriage 52, and the other picking unit 75 can move toward and away from the one picking unit 70. Is provided.

  That is, one picking unit 70 has a long picking frame portion 71 and a picking portion 72 provided in the picking frame portion 71. The picking frame portion 71 is fixed at a fixed position on the cart body portion 54. The picking portion 72 is a long member that can be accommodated in the picking frame portion 71, and is movably disposed in the picking frame portion 71 in a state in which the picking portion 72 can move forward and backward from both ends of the picking frame portion 71. . Further, at both ends of the picking portion 72, claw portions 73 that can be raised and lowered inward are provided. The claw portion 73 is driven to be switched between a state of projecting inside the picking portion 72 and a state of retracting into the picking portion 72 by driving a motor, a fluid cylinder, etc. (not shown).

  The other picking unit 75 has a long picking frame portion 76 and a picking portion 77 provided in the picking frame portion 76. The picking frame part 76 is supported by the cart body part 54 in a parallel posture with respect to the picking frame part 71 and capable of moving toward and away from the picking frame part 71. Support of the picking frame portion 76 can be realized by various configurations that support the picking frame portion 76 in a linearly movable state, such as a linear guide. Like the picking portion 72, the picking portion 77 is movably disposed in the picking frame portion 76 and has claw portions 78 that can be driven up and down at both ends thereof.

  Further, one picking frame portion 71 has a bottom plate 74 extending toward the other picking frame portion 76, and the other picking frame portion 76 has a bottom plate 79 extending toward the one picking frame portion 71. Yes. These bottom plates 74 and 79 overlap each other according to the interval between the picking frame portions 71 and 76.

  Further, the picking units 72 and 77 can be moved forward and backward in synchronization with each other by the following configuration. That is, the spline shaft 82 is rotatably supported so as to extend in a direction connecting the pair of picking units 70 and 75. Further, the rotational motion of the motor 83 fixed to the traveling carriage 52 is transmitted to the spline shaft 82 via a transmission mechanism such as a pulley. One picking unit 70 is provided with a gear 72 a that can mesh with rack teeth provided in the picking portion 72, and the gear 72 a is fixed to the spline shaft 82 so as not to rotate relative to the spline shaft 82. The other picking unit 75 is provided with a gear 77a that can mesh with the rack teeth provided in the picking portion 77, and the gear 77a is movable along the longitudinal direction with respect to the spline shaft 82. Splined.

  When the spline shaft 82 is rotated by driving the motor 83, the gears 72a and 77a rotate synchronously, and the picking parts 72 and 77 move forward and backward synchronously. Further, since the gear 77a is splined so as to be movable along the longitudinal direction with respect to the spline shaft 82, even if the other picking unit 75 is moved toward and away from the one picking unit 70, By driving the motor 83, the picking parts 72 and 77 can be moved forward and backward.

  In the traveling transfer device 50A, the pair of picking portions 72 and 77 are moved forward with respect to the shelf 24 or the temporary storage shelf 32, and the claw portion 73 is placed inside the pair of picking portions 72 and 77. The pair of picking portions 72 and 77 are retracted and moved so as to be taken into the base plate 74 and 79 in the carriage main body portion 54 after being projected on and hooked on the item W. Can do.

  Further, the pair of picking parts 72 and 77 are advanced to the shelf 24 or the temporary storage shelf 32 in a state where the claw 73 is in contact with the article W, whereby the article W is moved to the shelf 24 or Can be pushed into the temporary shelf 32.

  The width adjusting mechanism 90 is configured to move the other picking unit 75 toward and away from the one picking unit 70.

  More specifically, the width adjustment mechanism 90 includes rack teeth 92, a width adjustment gear 94, and a width adjustment drive unit.

  The rack teeth 92 are long members formed so that a plurality of teeth are arranged on one side surface, and the position and posture along the movement path of the other picking unit 75 (here, at the lower part of the cart main body portion 54). , A posture extending from one side portion of the hole portion to the intermediate portion), and is fixed to the carriage main body portion 54.

  Further, the width adjusting gear 94 is rotatably supported by the other picking frame portion 76 while being able to mesh with the rack teeth 92.

  The width adjusting drive unit has a motor 96 fixed to the other picking frame unit 76, and the rotational driving force of the motor 96 is transmitted to the width adjusting gear 94 through a driving force transmitting mechanism such as a pulley. It has become.

  Then, when the width adjustment gear 94 that meshes with the rack teeth 92 is rotated by driving the motor 96 of the width adjustment drive unit, the width adjustment gear 94 rotates to travel on the rack teeth 92. As a result, the other picking unit 75 moves in a direction toward or away from the one picking unit 70.

  In the transfer device 60A having such a configuration, the moving distance of the other picking unit 75 (the guide length of the picking unit 75, the length of the spline shaft 82, etc.), the driving distance of the width adjusting mechanism 90 (the length of the rack teeth 92). Etc.) can be adjusted as appropriate so that the distance between the pair of picking units 70, 75, that is, the adjustment width can be set as appropriate.

  Regarding the transfer device 60B mounted on the large size travel transfer device 50B, basically, the same configuration as that of the transfer device 60A can be adopted. However, as shown in FIG. 6, the width of the carriage main body 54B, the distance that the other picking unit 75 can move, the length of the spline shaft 82B, the driving distance of the width adjusting mechanism 90B (the length of the rack teeth 92B, etc.) Is longer than in the above case. As a result, the transfer device 60B can adjust the distance between the pair of picking units 70 and 75 with a second adjustment width larger than that of the transfer device 60A.

  According to the automatic warehouse 20 configured as described above, an article W having a load width (for example, 300 mm to 800 mm) corresponding to the first adjustment width is taken in and out of the upper shelf 24 by the transfer device 60A. An article W having a load width (for example, 601 mm to 1400 mm) corresponding to the second adjustment width can be stored in and out of the lower shelf 24 by the transfer device 60B.

  For this reason, the whole automatic warehouse can handle and store articles W (for example, 300 mm to 1400 mm) corresponding to the first adjustment width and the second adjustment width. On the other hand, the transfer devices 60A and 60B do not need to be adjustable over the entire range, and may be adjusted within a partial range. For this reason, the adjustable width of the transfer devices 60A and 60B can be reduced to reduce the size, weight, and cost. In addition, the operation can be speeded up by downsizing and lightening.

  Further, since the adjustment width of the pair of picking units 70 and 75, that is, the movement distance is reduced in each of the transfer devices 60A and 60B, the operation speed is improved by shortening the width adjustment period of the pair of picking units 70 and 75. Can also be planned.

  Note that the first adjustment width and the second adjustment width by the transfer device 60A are not limited to the above example, and any one of the minimum value and the maximum value may be different. For example, the first adjustment width may be included in the second adjustment width range.

  However, since the minimum value and the maximum value of the second adjustment width are set to be larger than the minimum value and the maximum value of the first adjustment width, respectively, the transfer device 60A has a relatively small size. The article W can be taken in and out and can be selectively used as a relatively large article W is taken in and out by the transfer device 60B. Both the transfer devices 60A and 60B can be reduced in size, weight, and operation speed. It can be carried out.

<Modification>
In the above embodiment, the upper shelf 24 is provided with one travel transfer device 50A for the two shelves 24, but this is not always necessary, and one travel is performed for one shelf. A transfer device may be provided. In this case, it is only necessary that one traveling transfer device is equipped with one transfer device corresponding to the one shelf.

  Further, even when one traveling transfer device is provided for a plurality of (for example, two) shelves, there is no need to provide transfer devices corresponding to all the shelves. One transfer device may be provided so as to be able to move up and down, and may be arranged to be able to be taken in and out of a plurality of shelves.

  In short, a plurality of transfer devices may be provided, and each transfer device may be provided corresponding to at least one shelf.

  Further, the mechanism for adjusting the width of the picking units 70 and 75 is not limited to the above example, and the picking unit is connected to a sprocket, a belt, etc., and the sprocket, the belt, etc. are rotated by a motor etc. to move the picking unit. It may be a configuration or the like.

  Moreover, although the said embodiment demonstrated the case where two types of things with two adjustment widths were provided as a transfer apparatus, what has another adjustment width may be provided.

20 Automatic warehouse 22 Storage shelf 24 Shelf stage 50 (50A, 50B) Traveling transfer device 52 Traveling cart 60 (60A, 60B) Transfer device 70, 75 Picking unit 90, 90B Width adjustment mechanism W This article

Claims (2)

A storage shelf having a plurality of shelves;
A plurality of transfer devices each having a pair of picking units that are provided corresponding to at least one of the plurality of shelves, and that take in and out articles to and from the corresponding at least one shelves;
An ascending / descending transfer device for moving the article up and down between each position corresponding to the plurality of shelves and a position where the article can be exchanged with the outside;
With
The plurality of transfer devices are:
A first transfer device capable of adjusting an interval between the pair of picking units with a first adjustment width;
A second transfer device capable of adjusting a distance between the pair of picking units with a second adjustment width different from the first adjustment width;
Only including,
The first transfer device is provided corresponding to a first shelf for storing articles having a size corresponding to the first adjustment width among the plurality of shelves.
The second transfer device is a second shelf for storing articles having a size corresponding to the second adjustment width among the plurality of shelves, and is different from the first shelf. Is provided corresponding to
The lifting / lowering transfer apparatus is an automatic warehouse that moves an article to be stored up and down to a position of the first shelf or the second shelf according to the size thereof . An automatic warehouse according to claim 1, wherein
The automatic warehouse, wherein the minimum value and the maximum value of the second adjustment width are set to be larger than the minimum value and the maximum value of the first adjustment width, respectively.

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