JP7431593B2 - Conveyance equipment and automatic warehouse system - Google Patents

Description

TECHNICAL FIELD The present invention relates to a transport device and an automatic warehouse system for transporting goods.

2. Description of the Related Art Conventionally, for example, in an automated warehouse having a multi-level storage section in the vertical direction, a conveyance device is used to vertically convey objects to and from the multi-level storage section.

In this conveyance device, for example, a warehousing/unloading section is arranged facing each of the multi-level storage sections, a warehousing/unloading station is installed facing the warehousing/unloading section with a gap between the warehousing/unloading section, and a warehousing/unloading section. and a vertical conveyance section installed between the station and the station.

The vertical conveyance section has an upward conveyance section and a downward conveyance section that move around in a vertical plane and convey objects along a conveyance path in an upward direction and a downward direction. When storing an article, the ascending conveyance section receives the article from the loading/unloading station, and the article is sent out from the descending conveying section to the corresponding loading/unloading section.

Japanese Patent Application Publication No. 2016-166079

Here, when taking out the conveyed object, the ascending conveyance part receives the conveyed object from the warehousing/unloading section, and the conveyed object is sent out from the descending conveyance section to the warehousing/unloading station. In other words, since unloading and warehousing operations are performed in opposite directions, it is not possible to take out and take in and out the conveyed objects in parallel using one conveyance device, and the conveyed articles cannot be efficiently conveyed.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a transport device and an automatic warehouse system that can efficiently transport objects.

The conveying device of the present invention includes a conveying table on which a conveyed object is mounted, an ascending conveying section for raising the conveying table, and a descending conveying section for lowering the conveying platform elevated by the ascending conveying section, and the descending conveyance section are disposed on one side of a conveying device main body in a second direction that intersects the first direction of the ascending conveyance section, and are arranged on one side of the ascending conveyance section in a second direction that intersects with the first direction, and facing toward the ascending conveyance section a first carry-in section into which the object to be transported is fed; a second carry-in section which is disposed on one side or the other side of the ascending conveyance section in the second direction and sends the object to be carried toward the ascending conveyance section; a first carrying-out section that receives and carries out the conveyed object sent from the second carrying-in section toward the ascending conveying section from the descending carrying section; a second unloading section that receives and carries out the conveyed object from the descending conveyance section, and the conveyance table has at least two mounting positions arranged in the second direction and each capable of mounting the conveyed object. The conveying device main body includes a first transfer section that receives the conveyed articles sent from the first carrying-in section and delivers them to the conveying platform that ascends the ascending conveying section, and a first transfer section that receives the conveyed articles sent from the first carrying-in section and delivers them to the conveying table that ascends the ascending conveying section; a second transfer section that receives the conveyed object and transfers it to the conveyance table that ascends the ascending conveyance section; a receiving position that is disposed to face the first carrying-in section or the second carrying-in section and receives the conveyed object sent from the first carrying-in section or the second carrying-in section to the ascending conveyance section; A delivery position where the conveyed object received at the receiving position is delivered to the loading position on the side away from the first loading section or the second loading section into which the conveyed object was sent, among the loading positions of the conveyance table; The present invention further includes a delivery mechanism that is movable in the second direction within the ascending conveyance section.

Further, the conveyance device of the present invention includes a conveyance table, an ascending conveyance section for raising the conveyance table, a carry-in section for sending the conveyed object toward the rise conveyance section, and a transfer section for transporting objects from the carry-in section toward the rise conveyance section. a delivery section that receives the conveyed object and delivers it to the conveyance table which ascends the ascending conveyance section; The transfer section is arranged to face the carry-in section with the ascending conveyance section in between, and the transfer section has at least two loading positions in which the conveyed objects can be loaded. A receiving position for receiving the conveyed object sent into the ascending conveyance section, and a delivery for delivering the conveyed object received at this receiving position to the loading position on the side of the conveyance platform that is remote from the loading section. It is possible to move within the ascending conveyance section to different positions.

Further, the automated warehouse system of the present invention includes a storage section formed in multiple levels, a transfer section that is disposed on each level of the storage section and is capable of transporting objects into and out of the storage section, and a second A carry-in section, the second delivery section, and the second carry-out section are provided corresponding to each floor of the storage section, and carry out the stored goods, which are the conveyed objects sent from the first carry-in section, to the second carry-out section. The conveyor according to any one of claims 1 to 5, wherein the conveyor is unloaded from the transfer unit to the transfer unit, and the output item, which is the conveyed object, is received from the transfer unit into the second carry-in unit and carried out from the first carry-out unit. It is equipped with a device.

According to the present invention, objects can be transported efficiently.

1 is a schematic plan view of an automated warehouse system equipped with a transport device showing an embodiment of the present invention. It is a front view of the conveyance device main body of the same conveyance device as the above. It is a top view of the 1st carrying-in part, the 1st delivery part, the 1st carrying-out part, and the 1st sending-out part which are the 1st stage of the same conveyance apparatus as the above. It is a side view of the 1st carry-in part and the 1st delivery part of a conveyance device same as the above. It is a top view of the 2nd carrying-in part, the 2nd delivery part, the 2nd carrying-out part, and the 2nd sending-out part which are the 2nd stage or more of the same conveyance apparatus as the above. It is a side view of the 2nd carry-in part and the 2nd delivery part of the same conveyance device as the above. FIG. 7A is a plan view showing the flow of storage and retrieval by the above-mentioned conveyance device; FIG. FIG. 7A is a side view showing the flow of loading and unloading by the above-mentioned conveyance device; FIG. It is a side view of the 1st carry-in part and the 1st delivery part which show the warehousing operation|movement in the ascending conveyance part by the same conveyance device as above, (a), (b), and (c). It is a side view of the 1st carry-in part and the 1st delivery part which show the warehousing operation|movement in the ascending conveyance part by the said conveyance device following FIG. 9, (a) and (b). It is a side view which shows the warehousing operation|movement in the descending conveyance part by the said conveyance device as shown in (a) and (b). It is a side view of the 2nd carry-in part and the 2nd delivery part which show the unloading operation|movement in the ascending conveyance part by the same conveyance device as above, (a) and (b). FIGS. 7A and 8B are schematic plan views showing modified examples of the layout in which objects can be transported by the transport device as described above; FIGS.

Hereinafter, one embodiment of the present invention will be described with reference to the drawings.

FIG. 1 shows a schematic plan view of the automated warehouse system 10. The automated warehouse system 10 includes a warehouse main body 11 and a transport device 13 that carries in and out of the warehouse main body 11 objects 12, which are articles.

The warehouse main body 11 includes two rows of storage sections 16 that are longitudinally arranged parallel to each other and spaced apart from each other, and a transfer section 17 that is a carrier that moves between these storage sections 16 along the longitudinal direction. We are prepared. The storage section 16 is provided in multiple levels in the vertical direction, and each storage section 16 on each level is provided with a plurality of storage areas for storing the transported objects 12 along the longitudinal direction. The transfer unit 17 is installed individually for each storage unit 16 on each level. Each transfer section 17 is equipped with a delivery mechanism for loading and unloading articles 12 into and out of the storage sections 16 on both sides. Each transfer section 17 receives and delivers the transported object 12 to the transport device 13 at a position where the transport section 17 enters one end side of the storage section 16. Note that the conveyed articles 12 that enter the storage section 16 are referred to as incoming articles A, and the conveyed articles 12 that leave the storage section 16 are referred to as outgoing articles B.

Further, the transport device 13 is installed at one end of the two rows of storage sections 16 in the longitudinal direction. Note that hereinafter, the direction intersecting the longitudinal direction of the storage units 16 (the direction in which two rows of storage units 16 are lined up) will be referred to as a first direction X, and the direction intersecting this first direction X will be referred to as a second direction Y. .

The conveying device 13 includes a conveying device main body 20, a first carrying-in section 21, a second carrying-in section 22, a first carrying-out section 23, and a second carrying-out section 24.

The conveying device main body 20 includes an ascending conveying section 26 that raises the conveyed object 12, and a descending conveying section 27 that lowers the conveyed object 12 raised by the ascending conveying section 26. The ascending conveyance section 26 and the descending conveyance section 27 are arranged side by side in the first direction X. The ascending conveyance section 26 has one side area 26a and the other side area 26b in the second direction Y. The descending conveyance section 27 has one side area 27a and the other side area 27b in the second direction Y.

The first loading section 21 is located on one side in the second direction Y of the ascending conveying section 26 of the conveying device main body 20, that is, on the opposite side to the storage section 16 side, and is closer to the ascending conveying section 26 than the second loading section 22. It is located at one location on the bottom side. The first carry-in section 21 is an entrance station conveyor that can receive incoming goods A from the outside and sequentially send them to the ascending conveyance section 26. In this embodiment, as shown in FIGS. 3 and 4, the first carrying-in section 21 includes an entrance feeding conveyor 21a for feeding the incoming goods A into the ascending conveyance part 26, and an inlet feeding conveyor 21a for feeding the incoming goods A received from the outside into the inlet conveyor 21a. An inlet accumulation conveyor 21b is provided to feed the conveyor 21a. Although a belt conveyor is used for the entrance input conveyor 21a and the entrance accumulation conveyor 21b, a roller conveyor or the like may be used.

The second loading section 22 is arranged in multiple stages in the vertical direction corresponding to each storage section 16 on each floor on the other side in the second direction Y of the ascending conveyance section 26 of the conveyance device main body 20, that is, on the storage section 16 side. has been done. The second carry-in section 22 is a discharge station conveyor that receives the goods B to be discharged from the storage section 16 and sequentially sends them to the ascending conveyance section 26. In the present embodiment, as shown in FIG. 5 and FIG. It is provided with an outgoing accumulation conveyor 22b that accepts and supplies it to an outgoing and inputting conveyor 22a. Although a belt conveyor is used as the delivery/input conveyor 22a and the delivery accumulation conveyor 22b, a roller conveyor or the like may be used.

The first unloading section 23 is disposed on one side of the descending conveyance section 27 of the conveying device main body 20 in the second direction Y, and at a location lower than the second unloading section 24 with respect to the descending conveyance section 27. There is. The first unloading section 23 is an exit station conveyor that receives the goods B to be unloaded from the storage section 16 from the descending conveyance section 27 and sends them out to the outside.

The second unloading section 24 is arranged on the other side of the descending conveying section 27 of the conveying device main body 20 in the second direction Y in a plurality of stages in the vertical direction corresponding to the storage sections 16 of each level. Each of the second unloading sections 24 is a warehousing station conveyor, which is constituted by an accumulation conveyor or the like, which receives the goods A entering the storage section 16 from the descending conveyance section 27 and delivers them to the respective transfer sections 17.

Then, the conveyor main body 20 sends out the stored goods A sent from the first carry-in section 21 to the ascending conveyance section 26 from the descending conveyance section 27 to a predetermined second carry-out section 24, and then carries them upward from the predetermined second carry-in section 22. It operates to send out the goods B sent to the section 26 from the descending conveyance section 27 to the first unloading section 23. Further, the conveyance device main body 20 operates to process the warehousing of the incoming product A and the outgoing of the outgoing product B in parallel.

Next, FIG. 2 shows a front view of the transport device main body 20.

The transport device main body 20 includes a frame 30, a transport mechanism 31, a first delivery section 32 as a delivery section, a second delivery section 33 as a delivery section, a first delivery section 34, and a second delivery section 35.

The frame 30 is erected on the installation surface together with the warehouse main body 11.

Furthermore, the transport mechanism 31 is installed on the frame 30. The transport mechanism 31 includes a plurality of transport tables 37 and a mechanism section 38 that circulates the transport tables 37 between the ascending transport section 26 and the descending transport section 27.

The structure of the conveyance table 37 is shown in FIGS. 3 to 6. The transport table 37 is provided with two mounting positions 40 in the second direction Y at which the objects 12 can be mounted. The two loading positions 40 are one loading position 40a on one side of the transport platform 37 in the second direction Y (first loading section 21 and first loading section 23 side), and one loading position 40a on the other side (second loading section 22 side). and the second unloading section 24 side) is the other side mounting position 40b. The loading position 40a on one side of the conveyor table 37 moves in the one side area 26a of the ascending conveyor section 26 and the one side area 27a of the descending conveyor section 27, and the loading position 40b on the other side of the conveyor table 37 moves on the other side of the ascending conveyor section 26. area 26b and the other side area 27b of the descending conveyance section 27.

The conveyor table 37 is provided in a comb-teeth shape on both sides in the second direction Y. That is, the conveyance table 37 has a central stand portion 41 in the second direction Y, and a plurality of fork portions 42 protruding from the stand portion 41 on both sides in the second direction Y in a comb-teeth shape. The spaces between the plurality of fork parts 42 are opened in the vertical direction and outward in the second direction Y, respectively.

Regulations are provided on both sides of the second direction Y and on both sides of the first direction X at the respective mounting positions 40a and 40b of the transport platform 37 to restrict the positional shift of the incoming goods A or the outgoing goods B loaded at the respective mounting positions 40a and 40b. Sections 43 and 44 are provided. The regulating portions 43 on both sides in the second direction Y are provided to protrude upward from the tip of each fork portion 42. On both sides of the transport platform 37 in the second direction Y, a connecting part 45 is provided at one diagonal position, and a moving part 46 is provided at the other diagonal position. The moving unit 46 includes, for example, one or more rotatable rollers.

As shown in FIGS. 2, 3, and 5, the mechanism section 38 includes one side sprockets 49 rotatably disposed at four upper and lower locations on one side of the frame 30 in the second direction Y, and It has an endless chain 50 on one side stretched over the sprocket 49, and a guide rail section 51 on one side provided in an annular shape at a position that does not interfere with the chain 50 on one side. On the other side of Y, the other side sprocket 52 rotatably arranged at four upper and lower locations, the endless other side chain 53 stretched across these other side sprockets 52, and the other side chain 53 do not interfere with each other. The other side guide rail part 54 is provided annularly at one position.

A part of the chain 50 on one side and the guide rail section 54 on the other side are vertically moved along one end side (the left side in FIGS. 2 and 3) of the first direction The guide rail section 51 on one side and a part of the chain 53 on the other side are arranged vertically along the other end side of the first direction It is stretched in the direction.

The connecting part 45 on one side of each conveyance table 37 is connected to the chain 50 on one side, the moving part 46 on one side is movably arranged on the guide rail part 51 on one side, and the connecting part 45 on the other side is connected to the chain 50 on one side. It is connected to the side chain 53, and the other side moving part 46 is movably arranged on the other side guide rail part 54. Each conveyance table 37 is supported by one side chain 50 and the other side chain 53, and each moving part 46 is supported by each guide rail part 51, 54, so that it is always maintained in a horizontal state.

Note that an upper conveyance section 55 is disposed between the upper ends of the ascending conveyance section 26 and the descending conveyance section 27, in which a conveyance table 37 is horizontally moved from the ascending conveyance section 26 to the descending conveyance section 27. A lower conveyance section 56 is provided between the lower ends of the ascending conveyance section 26 and the descending conveyance section 27, in which a conveyance platform 37 moves horizontally from the descending conveyance section 27 to the ascending conveyance section 26. In the lower conveyance section 56, only the conveyance table 37 moves, and basically the conveyed object 12 does not move.

In the mechanism section 38, the one side sprocket 49 and the other side sprocket 52 are rotated in conjunction with each other by the motor 57 installed on the frame 30, so that the one side chain 50 and the other side chain 53 are rotated in conjunction with each other. The plurality of conveyance tables 37 are moved in a circular manner through the ascending conveyance section 26, the upper conveyance section 55, the descending conveyance section 27, and the lower conveyance section 56 while maintaining the horizontal state. The direction in which the conveyance table 37 circulates is one direction in which the conveyance table 37 ascends the ascending conveyance section 26 and descends the descending conveyance section 27.

Further, as shown in FIG. 2, the first delivery section 32 is disposed on the lower side (lowest part) of the ascending conveyance section 26. As shown in FIGS. 3 and 4, the first delivery section 32 receives the incoming goods A sent from the first carry-in section 21, and the other side of the conveyance table 37 that rises from the lower side of the ascending conveyance section 26. It is delivered to the other side mounting position 40b which is the mounting position 40.

A delivery mechanism 60 is used in the first delivery section 32. The delivery mechanism 60 of the first delivery section 32 is disposed on the other side of the ascending conveyance section 26 in the second direction Y, that is, on the opposite side to the first carrying-in section 21. It is possible to move forward and backward with respect to the ascending path of the transport platform 37.

The delivery mechanism 60 includes a delivery unit 61 and a moving unit 62 that moves the delivery unit 61 forward and backward from the second direction Y into the ascending transport section 26, that is, with respect to the ascending path of the transport platform 37.

The delivery unit 61 has a retracted position outside the ascending conveyance section 26 as its origin position, and also has a receiving position A1 for receiving the stocked goods A sent from the first carry-in section 21 when entering the ascending conveyance section 26. The received goods A can be moved to a delivery position A2 where the received goods A are delivered to the other side loading position 40b, which is the other side loading position 40 of the transport platform 37.

The delivery unit 61 includes a plurality of delivery conveyance bodies 63 that receive and transport incoming goods A, a stopper section 64 that stops the incoming goods A received by these delivery conveyance bodies 63 at a predetermined stop position, a plurality of delivery conveyance bodies 63, and a stopper. A support portion 65 that supports the portion 64 is provided.

The delivery conveyance bodies 63 are arranged in the first direction X at predetermined intervals. The delivery conveyance body 63 corresponds to the position between the plurality of fork parts 42 of the conveyance table 37 so as not to interfere with the conveyance table 37 that ascends the upward conveyance section 26 when it has moved to the delivery position A2 in the upward conveyance section 26. It is arranged as follows. That is, in the first delivery section 32, a plurality of delivery conveyance bodies 63 are arranged in a comb-teeth shape so as not to interfere with the plurality of fork parts 42 arranged in a comb-teeth shape on a conveyance platform 37 that ascends the ascending conveyance section 26. It is located in

The delivery conveyance body 63 is constituted by, for example, a free roller conveyor. The delivery conveyance body 63 includes a plurality of free rollers 66 and a support frame 67 that arranges the plurality of free rollers 66 along the second direction Y and rotatably supports each of them. The support frame 67 is attached to the support section 65 at its proximal end side, which is opposite to the distal end side that enters the ascending conveyance section 26. That is, the delivery conveyance body 63 is supported by the support portion 65 in a cantilevered manner. The support frame 67 is arranged in an inclined manner so that the distal end side rises and the proximal end side descends. Therefore, the conveying surface formed by the upper surface side of the plurality of free rollers 66 is inclined downward in the receiving direction to receive the goods A from the first carry-in section 21. Then, the delivery conveyance body 63 conveys the stocked goods A sent from the first carry-in section 21 in the receiving direction. Note that the inclination angle of the conveying surface constituted by the upper surface side of the plurality of free rollers 66 is such that the incoming goods A sent from the first carry-in section 21 can be conveyed in the receiving direction, and the impact at the time of collision with the stopper section 64 is determined. For example, about 6° is preferable so that the angle is small.

Note that the delivery conveyance body 63 may be made of a slippery material such as resin, or a bar-shaped member with a surface treated. Alternatively, a plurality of rollers or belts may be driven to rotate in the second direction Y. Furthermore, it is not always necessary to incline the conveyance surface of the delivery conveyor 63, and if the first carry-in section 21 can feed the incoming goods A onto the delivery conveyor 63, the conveyance surface of the delivery conveyor 63 can be made to be inclined. I don't mind.

The stopper section 64 includes a plurality of buffer sections 68 arranged corresponding to each delivery conveyance body 63, and a stopper frame 69 that supports these buffer sections 68. The buffer section 68 is for mitigating the impact of a collision when the incoming goods A being transported in the receiving direction by the delivery transport body 63 is stopped at a predetermined stopping position, and is made of a shock absorbing material such as a shock absorbing mat, for example. ing. Note that the buffer section 68 may be a shock absorber, for example. The stopper frame 69 has its proximal end side opposite to the distal end side that enters the ascending conveyance section 26 attached to the support section 65. A plurality of frame portions 70 are provided protrudingly in a comb-teeth shape on the distal end side of the stopper frame 69 in correspondence with the arrangement of each delivery conveyance body 63, and each buffer portion 68 is attached to each of these frame portions 70.

The support section 65 includes a moving table 71 and a plurality of arms 72 provided on the moving table 71. The plurality of arms 72 are arranged at predetermined intervals in the first direction . A support frame 67 of each delivery conveyance body 63 is attached to the tip side of each arm 72 that enters the ascending conveyance section 26, and a stopper frame 69 of the stopper section 64 is attached to the arms 72 on both sides.

Note that when the delivery conveyance body 63 has moved to the delivery position A2 in the ascending conveyance section 26, both the stopper section 64 and the support section 65 interfere with the conveyance platform 37 that ascends the ascending conveyance section 26 in the same way as the delivery conveyance body 63. do not.

Further, the moving unit 62 includes a base 73 fixed to the frame 30, a plurality of rails 74 arranged on the base 73 along the second direction Y, and slides in the second direction Y along these rails 74. It includes a moving section 75 and a plurality of cylinder devices 76 as driving sections that move the moving section 75 in the second direction Y relative to the base 73. A moving table 71 of the delivery unit 61 is mounted on the moving section 75. For example, an electric cylinder is used as the cylinder device 76. The moving unit 62 acquires position information of the moving section 75 from the cylinder device 76, and detects the origin position, receiving position A1, and delivery position A2 of the delivery unit 61 from this position information.

Then, due to the operation of the cylinder device 76, the plurality of delivery conveyance bodies 63 of the delivery unit 61 slide along the second direction Y, and advance and retreat into the ascending conveyance section 26. When entering the ascending conveyance section 26, there is a receiving position A1 that receives the incoming goods A sent from the first carrying-in part 21, and an other side loading position 40b, which is the loading position 40 on the other side of the conveyance table 37, for the received incoming goods A. Move to delivery position A2.

Further, as shown in FIG. 2, the second transfer section 33 is disposed above the first transfer section 32 of the ascending conveyance section 26 and on the ascending path of the conveyance table 37. The second delivery section 33 is arranged in a plurality of stages in the vertical direction relative to the ascending conveyance section 26, corresponding to the positions of the second carry-in sections 22, which are arranged in a plurality of stages in the vertical direction. The second delivery section 33 of this embodiment is arranged, for example, in six stages in the vertical direction. As shown in FIGS. 5 and 6, the second delivery section 33 receives the outgoing goods B sent in by the second carry-in section 22 and delivers them to the conveyance platform 37 that rises from below the ascending conveyance section 26.

As with the first delivery section 32, the second delivery section 33 uses the above-mentioned delivery mechanism 60. The delivery mechanism 60 of the second delivery section 33 has the same configuration as the delivery mechanism 60 of the first delivery section 32, but on one side of the ascending conveyance section 26 in the second direction Y, that is, on the opposite side to the second loading section 22. It is arranged in the second direction Y and can move forward and backward into the ascending conveyance unit 26, that is, the ascending path of the conveyance table 37. The delivery unit 61 of the second delivery section 33 sets the evacuation position outside the ascending conveyance section 26 as the origin position, and when entering the ascending conveyance section 26, the delivery unit 61 receives the delivered goods from the second carry-in section 22. It is possible to move between a receiving position B1 for receiving goods B and a delivery position B2 for delivering the received delivered goods B to a one-side loading position 40a, which is a loading position 40 on one side of the conveyor table 37.

Further, as shown in FIG. 2, the first delivery section 34 is arranged at the lower side (lowest part) of the descending conveyance section 27. As shown in FIG. 3, the first delivery section 34 carries out the goods B loaded at the one-side loading position 40a, which is the loading position 40 on one side of the conveyor platform 37, which descends from the upper side of the descending conveyor section 27. It is received and sent to the first unloading section 23.

A delivery mechanism 80 is used in the first delivery unit 34. The sending mechanism 80 of the first sending section 34 is disposed on one side of the descending conveyance section 27 in the second direction Y, and is capable of advancing and retreating from the second direction Y into the descending conveyance section 27, that is, with respect to the descending path of the conveyance table 37. shall be.

The delivery mechanism 80 includes a delivery unit 81 and a moving unit 82 that moves the delivery unit 81 forward and backward from the second direction Y within the descending transport section 27, that is, with respect to the descending path of the transport platform 37.

The delivery unit 81 includes a plurality of delivery conveyance bodies 83 that receive and convey delivered goods B, a driving section 84 that drives these delivery conveyance bodies 83, and a support section 85 that supports these delivery conveyance bodies 83 and the drive section 84. ing.

The delivery conveyance bodies 83 are arranged in the first direction X at predetermined intervals. The sending conveyance body 83 is arranged corresponding to the position between the plurality of fork parts 42 of the conveyance table 37 so as not to interfere with the conveyance table 37 that descends the downward conveyance section 27 when it enters the downward conveyance section 27. ing. That is, in the first delivery section 34, a plurality of delivery conveyance bodies 83 are arranged in a comb-teeth shape so as not to interfere with the plurality of fork parts 42 arranged in a comb-teeth shape on the conveyance platform 37 that descends the descending conveyance section 27. It is located in

The delivery conveyance body 83 is constituted by, for example, a belt conveyor. The delivery conveyor 83 includes an endless belt 86, a pair of pulleys 87 around which the belt 86 is wound along the second direction Y, and a conveyor frame 88 that rotatably supports these pulleys 87. The conveyor frame 88 has a proximal end side opposite to a distal end side that enters the descending conveyance section 27 attached to the support section 85. Therefore, the delivery conveyance body 83 is supported by the support portion 85 in a cantilevered manner. Note that the delivery conveyance body 83 may be configured by a roller conveyor or the like in which a plurality of rollers are arranged in the second direction Y.

The drive unit 84 includes a rotating shaft 89 disposed along the first direction X, a bearing 90 that rotatably supports the rotating shaft 89 on the support unit 85, and a motor 91 that rotationally drives the rotating shaft 89. There is. A pulley 87 on the proximal end side of each delivery conveyance body 83 is fixed to the rotating shaft 89. As the motor 91 is driven, the belt 86 of each delivery conveyance body 83 rotates toward the first delivery section 23 for the delivered goods B.

Then, the delivery conveyance body 83 receives the outgoing goods B loaded at the one-side loading position 40a, which is the loading position 40 on one side of the conveyance table 37, descending from the upper side of the descending conveyance unit 27, and moves to the first unloading unit. Transport towards 23.

Further, the moving unit 82 includes a base fixed to the frame 30, a plurality of rails 92 arranged on the base along the second direction Y, and a moving section that slides in the second direction Y along these rails 92. 93, and a plurality of cylinder devices 94 as a drive unit that moves the moving unit 93 in the second direction Y with respect to the base. A support section 85 of the delivery unit 81 is attached to the moving section 93. For example, an electric cylinder is used as the cylinder device 94.

Then, due to the operation of the cylinder device 94, the plurality of delivery conveyance bodies 83 of the delivery unit 81 slide along the second direction Y, and advance and retreat into the descending conveyance section 27. The plurality of delivery conveyance bodies 83 of the delivery unit 81 are located at an entry position (indicated by the two-dot chain line in FIG. 3) where they have entered the descending conveyance section 27 and a retracted position (the solid line in FIG. It is possible to move forward and backward between the position shown in ). Further, the retracted position of the plurality of delivery conveyance bodies 83 of the delivery unit 81 is a delivery position for delivering the goods B to the first delivery unit 23.

Further, as shown in FIG. 2, the second delivery section 35 is disposed above the first delivery section 34 with respect to the descending conveyance section 27. The second delivery sections 35 are arranged in a plurality of stages in the vertical direction with respect to the descending conveyance section 27, corresponding to the positions of the second delivery sections 24 arranged in a plurality of stages in the vertical direction. The second delivery section 35 of this embodiment, like the second delivery section 33, is arranged in, for example, six stages in the vertical direction. As shown in FIG. 5, the first delivery section 34 carries the incoming goods A loaded at the other side loading position 40b, which is the loading position 40 on the other side of the conveyor 37, descending from the upper side of the descending conveyor 27. It is received and sent to the second unloading section 24.

As with the first delivery section 34, the second delivery section 35 uses the delivery mechanism 80 described above. The sending mechanism 80 of the second sending section 35 has the same configuration as the sending mechanism 80 of the first sending section 34, but is disposed on the other side of the descending conveyance section 27 in the second direction Y, and descends from the second direction Y. It is possible to advance and retreat within the transport unit 27, that is, with respect to the descending path of the transport platform 37. In the delivery mechanism 80 of the second delivery unit 35, the plurality of delivery conveyance bodies 83 of the delivery unit 81 are moved between the entry position (the position indicated by the two-dot chain line in FIG. 5) and the descending transport It is possible to move forward and backward between the retracted position (the position indicated by the solid line in FIG. 5) from inside the section 27. Further, the retracted position of the plurality of delivery conveyance bodies 83 of the delivery unit 81 is a delivery position at which the second delivery unit 24 sends out the goods A in stock.

Furthermore, as shown in FIG. 4, sensors PHU1-1 are arranged in the first carrying-in section 21 to detect the inventory of the incoming goods A and the passage of the incoming goods A, corresponding to the position on the entrance accumulation conveyor 21b. Sensors PHU1-2 for detecting the inventory of incoming goods A are arranged corresponding to positions on the entrance input conveyor 21a. A sensor PHU1-3 is disposed inside the ascending conveyance section 26 to detect the protrusion of the incoming goods A from the tip side of the entrance input conveyor 21a and the passage of the incoming goods A. Sensors PHU1-4 for checking the inventory of the in-stock items A are arranged corresponding to the position where the delivery mechanism 60 of the first delivery section 32 has moved to the delivery position A2. Within the ascending conveyance section 26, sensors PHU1-5 and PHU1-6 are arranged corresponding to the positions of the first carry-in section 21 and the first delivery section 32 to confirm the passage of the conveyance table 37. The sensor PHU1-5 is a sensor for detecting the entry start timing when the delivery mechanism 60 of the first delivery section 32 starts entering into the ascending conveyance section 26, and the sensor PHU1-6 is a sensor for detecting the timing at which the delivery mechanism 60 of the first delivery section 32 starts entering into the ascending conveyance section 26. It is a detection sensor.

In addition, as shown in FIG. 6, the second carry-in section 22 at the second stage from the bottom detects the stock of outgoing goods B and detects the passage of outgoing goods B in accordance with the position on the outgoing accumulation conveyor 22b. A sensor PHU2-1 is provided to detect the inventory of outgoing goods B, and a sensor PHU2-2 is provided corresponding to the position on the outgoing/input conveyor 22a. A sensor PHU2-3 is disposed within the ascending conveyance section 26 to detect the protrusion of the outgoing goods B from the tip side of the outgoing/input conveyor 22a and the passage of the outgoing goods B. Corresponding to the position where the delivery mechanism 60 of the second delivery section 33 has moved to the delivery position B2, a sensor PHU2-4 for checking the inventory of the delivered goods B is disposed. Within the ascending conveyance section 26, sensors PHU2-5 and PHU2-6 are arranged corresponding to the positions of the second carry-in section 22 and the second delivery section 33 to confirm the passage of the conveyance platform 37. The sensor PHU2-5 is a sensor for detecting the entry start timing when the delivery mechanism 60 of the second delivery section 33 starts entering into the ascending conveyance section 26, and the sensor PHU2-6 is a sensor for detecting the timing at which the delivery mechanism 60 of the second delivery section 33 starts to enter the ascending conveyance section 26. It is a detection sensor. Also, at each position of the second carry-in section 22 and the second delivery section 33 that are the third or higher stage from the bottom, sensors PHU3-1, PHU4-1..., sensors PHU3-2, PHU4-2..., sensors PHU3-3 , PHU4-3..., sensors PHU3-4, PHU4-4..., sensors PHU3-5, PHU4-5..., sensors PHU3-6, PHU4-6... are arranged, respectively.

In addition, as shown in FIG. 11, in the descending conveyance section 27, a conveyor table 37 that descends passes through corresponding to each position of the second unloading section 24 and the second unloading section 35 of the second or higher stage from the bottom. Sensors PHD2-1, PHD3-1, PHD4-1..., PHD2-2, PHD3-2, PHD4-2... that detect Sensors PHD2-3, PHD3-3, PHD4-3, etc. that detect Sensors PHD2-1, PHD3-1, PHD4-1... are sensors for detecting the entry start timing when the delivery unit 81 of the second delivery part 35 starts entering into the descending conveyance part 27, and the sensors PHD2-2, PHD3-2 , PHD4-2, . . . are sensors for detecting the backward start timing when the sending unit 81 of the second sending section 35 starts moving backward from the descending conveyance section 27. Similarly, inside the descending conveyance section 27, sensors PHD1-1 and PHD1-2 ( (not shown), and a sensor PHD1-3 (not shown) that detects the inventory of outbound goods B received from the conveyance table 37 to the first sending unit 34.

Next, the operation of the transport device 13 will be explained.

First, the overall flow of loading and unloading will be explained with reference to FIGS. 7 and 8.

Incoming goods A entering the warehouse main body 11 are sequentially carried into the first carrying-in section 21. The delivery unit 61 of the first delivery section 32 enters the ascending conveyance section 26 and is moved to the receiving position A1, and receives the incoming goods A from the first carry-in section 21. The delivery unit 61 that has received the incoming product A is moved backward to the delivery position A2 in the ascending transport section 26, and receives the incoming product A at the other side loading position 40b of the transport platform 37 that is ascending within the ascending transport section 26. hand over. The delivery unit 61 that has delivered the incoming product A has an error in the warehousing operation of the incoming product A or the outgoing operation of the outgoing product B in the subsequent process, and the transport platform 37 on which the incoming product A or the outgoing product B is mounted is rotating. If it interferes with the incoming product A or the outgoing product B because it ascends inside the ascending conveyance unit 26, it will be moved backward to the origin position outside the ascending transport unit 26, and the incoming product A or the outgoing product B will be moved backwards. If there is no interference, the delivery position A2 in the ascending conveyance unit 26 is placed on standby for the next delivery operation.

The goods B to be discharged from the warehouse main body 11 are sequentially carried into the second carry-in section 22. The delivery unit 61 of the second delivery section 33 enters the ascending conveyance section 26 and is moved to the receiving position B1, and receives the delivered goods B from the second carry-in section 22. The delivery unit 61 that has received the delivered item B is moved backward to the delivery position B2 in the ascending transport section 26, and delivers it to the one-side mounting position 40a of the transport platform 37 that is ascending within the ascending transport section 26. The delivery unit 61 that has delivered the delivered item B moves backward to the outside of the ascending conveyance section 26 and returns to the original position.

Then, on the conveyance table 37 that ascends the ascending conveyance unit 26, there are cases where the incoming product A and the outgoing product B are loaded together, and there are cases where either one of the incoming product A and the outgoing product B is loaded. . The conveyance platform 37 that ascends within the ascending conveyance section 26 moves from the upper part of the ascending conveyance section 26 to the descending conveyance section 27, and then descends inside the descending conveyance section 27.

In the descending transport section 27, based on the position information of each transport platform 37 and the loading information of the incoming product A, in the second delivery section 35 which receives the incoming product A, the sending unit 81 is moved into the descending transport section 27 and lowered. The incoming goods A loaded on the other side loading position 40b of the conveyance table 37 that descends within the conveyance section 27 is received. The delivery unit 81 that has received the stocked product A is retreated out of the descending conveyance section 27 and moved to the delivery position to the second delivery section 24, and sends the stocked product A to the second delivery section 24.

Based on the position information of each conveyor 37 and the loading information of the outgoing product B, in the first sending out section 34 that receives the outgoing product B, the outgoing unit 81 is moved into the descending conveyance section 27 and then descended inside the descending conveyance section 27. The delivery product B loaded on one side loading position 40a of the conveyance table 37 is received. The delivery unit 81 that has received the outgoing product B is retreated out of the descending conveyance section 27 and moved to the delivery position to the first unloading section 23, and sends out the outgoing product B to the first unloading section 23.

Next, specific warehousing operations and warehousing operations will be described with reference to FIGS. 9 to 12.

9(a)(b)(c) and FIG. 10(a)(b) show the warehousing operation in the ascending conveyance section 26, and FIG. 11(a)(b) shows the warehousing operation in the descending conveyance section 27. show.

As shown in FIG. 9(a), the goods A entering the warehouse main body 11 are sequentially carried into the first carry-in section 21. In the first carry-in section 21, the inlet accumulation conveyor 21b and the inlet input conveyor 21a are driven at high speed, and the incoming goods A carried into the inlet accumulation conveyor 21b are conveyed to the inlet input conveyor 21a.

When the sensor PHU1-1 on the forward end side of the inlet accumulation conveyor 21b in the conveyance direction detects the passage of the incoming goods A, the inlet accumulation conveyor 21b and the inlet input conveyor 21a are switched to low-speed drive.

When the incoming product A is detected by the sensor PHU1-2 for detecting inventory on the front end side in the conveyance direction of the inlet input conveyor 21a, the drive of the inlet input conveyor 21a is stopped, and the incoming item A is stopped on the inlet input conveyor 21a. be done. In addition, when sensor PHU1-3 for protrusion detection shown in FIG. Incoming goods A that are conveyed in the direction and protrude from the tip side of the entrance input conveyor 21a are prevented from interfering with the conveyance table 37.

When the incoming product A following the incoming product A on the inlet input conveyor 21a is detected by the sensor PHU1-1 on the front end side in the conveyance direction of the inlet accumulation conveyor 21b, the drive of the inlet accumulation conveyor 21b is stopped.

Then, the incoming product A on the entrance input conveyor 21a is detected by the sensor PHU1-2 for inventory detection, and based on the position information of each conveyance platform 37 and the loading information of the incoming product A, the first delivery section When the sensor PHU1-5 for detecting the conveyance table installed corresponding to the height position of 32 detects the passage of the conveyance table 37 that is one in front of the conveyance table 37 on which the incoming product A is scheduled to be loaded, one Since the previous conveyance table 37 has been raised to a height where it does not interfere with the delivery unit 61 of the first delivery section 32, the delivery unit 61 of the first delivery section 32 is moved into the elevated conveyance section 26. As described above, the delivery unit 61 is moved into the ascending transport section 26 from the origin position outside the ascending transport section 26, and when it is moved into the ascending transport section 26 from the delivery position A2 inside the ascending transport section 26. It may be moved further.

As shown in FIG. 9(b), the delivery unit 61 that is moved into the ascending conveyance section 26 is stopped at the receiving position A1 close to the entrance input conveyor 21a. When the delivery unit 61 moves to the receiving position A1, the entrance input conveyor 21a is driven at high speed, and the incoming goods A on the entrance input conveyor 21a are conveyed onto the delivery unit 61 at high speed.

The delivery unit 61 includes a plurality of free rollers 66, and since the conveying surface formed by the upper surface of the plurality of free rollers 66 is inclined downward toward the receiving direction, the incoming goods A sent from the entrance input conveyor 21a is transported in the receiving direction.

As shown in FIG. 9(c), the stocked goods A conveyed onto the delivery unit 61 come into contact with the stopper part 64 and are stopped. At this time, when the sensor PHU1-2 (see FIG. 9(b)) detects the passage of the incoming goods A, the drive of the entrance input conveyor 21a is stopped. Furthermore, when the incoming item A is transported onto the delivery unit 61 and the passage of the incoming item A is detected by the sensor PHU1-3, the delivery unit 61 is moved backward toward the delivery position A2 in the ascending conveyance section 26. .

When the passage of the incoming goods A is detected by the passage detection sensor PHU1-3, which is also used for detecting protrusion, as described above, the inlet accumulation conveyor 21b and the inlet input conveyor 21a are driven, and the upper part of the inlet accumulation conveyor 21b is driven. The next incoming product A is supplied to the entrance input conveyor 21a.

As shown in FIG. 10(a), the delivery unit 61 moves backward to the delivery position A2 within the ascending conveyance section 26 and is stopped. The inventory detection sensor PHU1-4 confirms the inventory of the received product A on the delivery unit 61, and the movement of the delivery unit 61 to the delivery position A2 is confirmed by checking the inventory.

As shown in FIG. 10(b), the received goods A on the delivery unit 61 located at the delivery position A2 in the ascending transport section 26 are placed at the other side loading position 40b of the transport platform 37 ascending through the ascending transport section 26. is passed on.

When the passage of the conveyance table 37 to which the incoming goods A has been delivered is detected by the conveyance table detection sensor PHU1-5, the delivery unit 61 moves to the receiving position A1 and moves to the first loading section, as described above. Shift to receiving the next incoming product A from 21.

In addition, as shown in FIGS. 11(a) and 11(b), the conveyance table 37 that carries the incoming goods A and ascends within the ascending conveyance section 26 moves from the upper part of the ascending conveyance section 26 to the descending conveyance section 27, It descends within the descending conveyance section 27. In FIGS. 11(a) and 11(b), when the first carrying-out section 23 and the first sending-out section 34 are set as the first stage, 2, 3 on the upper stage of the first carrying-out section 23 and the first sending-out section 34, The second unloading section 24 and the second unloading section 35 in the fourth stage are shown.

As shown in FIG. 11(a), based on the position information of each conveyor 37 and the loading information of the incoming product A, the second delivery unit 35 (the second delivery unit in the second stage shown at the bottom) receives the incoming product A. In the section 35), the sensor PHD2-1 for detecting the conveyance table provided corresponding to the position below the maximum height of the incoming item A from the second sending unit 35 is used to load the incoming item A to be received. When the passage of the conveyance table 37 immediately before the conveyance table 37 is detected, the sending unit 81 of the second sending unit 35 does not interfere with the incoming goods A on the previous conveying table 37. 81 is moved into the descending conveyance section 27 from the retracted position. In addition, if it is difficult to install the sensor PHD2-1 for detecting the conveyor table, the sending-out operation is performed at a predetermined timing after the passage of the conveyor table 37 is detected by the sensor PHD4-1 for detecting the conveyor table installed above. The unit 81 is moved into the descending conveyance section 27 from the retreat position.

As shown in FIG. 11(b), the delivery unit 81 that has moved into the descending transport section 27 receives the received goods A to be received from the other mounting position 40b of the descending transport platform 37. The inventory detection sensor PHD2-3 provided corresponding to the position of the delivery unit 81 that receives the incoming item A detects the incoming item A on the sending out unit 81, and the sensor PHD2-2 for detecting the conveyance table When the passage of the conveyance platform 37 is detected, the delivery unit 81 returns to the retracted position outside the descending conveyance part 27, that is, returns to the delivery position of the incoming goods A to the second unloading part 24, and Item A is delivered to the second unloading section 24.

Then, in the descending conveyance section 27, based on the position information of each conveyance table 37 and the loading information of the incoming goods A, the second unloading part 24 and the second sending out part 35 of each stage perform the warehousing operation of the corresponding incoming goods A. is executed.

Next, FIGS. 12(a) and 12(b) show the unloading operation in the ascending conveyance section 26. In FIGS. 12(a) and 12(b), when the first carrying-in section 21 and the first delivery section 32 are set as the first stage, 2, 3 on the upper stage side of the first carrying-in section 21 and the first delivery section 32, The second loading section 22 and second delivery section 33 of the fourth stage are shown.

As shown in FIG. 12(a), the goods B to be delivered from the warehouse main body 11 are sequentially carried into the second carry-in section 22. In the second carry-in section 22, the outgoing accumulation conveyor 22b and the outgoing loading conveyor 22a are driven at high speed, and the outgoing goods B carried into the outgoing accumulation conveyor 22b are conveyed to the outgoing loading conveyor 22a.

For example, in the second carry-in section 22 of the third stage (the second carry-in section 22 shown in the middle stage), when the passage of the discharged product B is detected by the sensor PHU3-1 on the front end side in the conveyance direction of the discharge accumulation conveyor 22b, the discharge The accumulation conveyor 22b and the delivery/input conveyor 22a are switched to low speed drive.

When the outgoing item B is detected by the sensor PHU3-2 for inventory detection on the forward end side of the outgoing/input conveyor 22a in the conveyance direction, the drive of the outgoing/input conveyor 22a is stopped, and the outgoing item B is stopped on the outgoing/input conveyor 22a. be done. Note that when the protrusion detection sensor PHU3-3 (same as the sensor PHU2-3 in FIG. 6) detects the incoming product A, the outgoing/input conveyor 22a continues until the sensor PHU3-3 no longer detects the outgoing product B. As a result, the delivered product B is transported in the opposite direction, and the delivered product B that has protruded from the tip side of the delivery/input conveyor 22a is prevented from interfering with the conveyance platform 37.

When the outgoing item B following the outgoing item B on the outgoing/input conveyor 22a is detected by the sensor PHU3-1 on the leading end side in the conveying direction of the outgoing accumulation conveyor 22b, the driving of the outgoing accumulation conveyor 22b is stopped.

Then, the inventory detection sensor PHU3-2 detects the outgoing item B on the outgoing/input conveyor 22a, and based on the position information of each conveyor table 37 and the loading information of the outgoing item B, the second delivery When the sensor PHU3-5 for detecting the conveyance table installed corresponding to the height position of 33 detects the passage of the conveyance table 37 that is one in front of the conveyance table 37 on which the outbound item B is scheduled to be loaded, one Since the previous conveyance table 37 has been raised to a height where it does not interfere with the transfer unit 61 of the second transfer section 33, the transfer unit 61 of the second transfer section 33 is moved into the elevated conveyance section 26.

The delivery unit 61 that enters and moves into the ascending conveyance section 26 is stopped at the receiving position B1 close to the delivery/input conveyor 22a. When the delivery unit 61 moves to the receiving position B1, the delivery/input conveyor 22a is driven at high speed, and the delivery item B on the delivery/input conveyor 22a is conveyed onto the delivery unit 61 at high speed.

The delivery unit 61 includes a plurality of free rollers 66, and the conveying surface formed by the upper surface of the plurality of free rollers 66 is inclined downward toward the receiving direction. is transported in the receiving direction.

The delivered goods B conveyed onto the delivery unit 61 come into contact with the stopper part 64 and are stopped. At this time, when the sensor PHU3-2 detects passage of the outgoing product B, the driving of the outgoing and inputting conveyor 22a is stopped. Furthermore, when the delivered item B is conveyed onto the delivery unit 61 and the passage of the delivered item B is detected by the sensor PHU3-3 (same as the sensor PHU2-3 in FIG. is moved backwards toward delivery position B2.

When the passing of the outgoing product B is detected by the sensor PHU3-3, which is also used for detecting protrusion, the outgoing accumulation conveyor 22b and the outgoing input conveyor 22a are driven, and the outgoing accumulation conveyor 22b is driven. The next outgoing item B is supplied to the outgoing/input conveyor 22a.

As shown in FIG. 12(b), the delivery unit 61 moves backward to the delivery position B2 within the ascending conveyance section 26 and is stopped. The inventory detection sensor PHU3-4 confirms the inventory of the delivered item B on the delivery unit 61, and the movement of the delivery unit 61 to the delivery position B2 is confirmed by checking the inventory.

The delivered product B on the delivery unit 61 located at the delivery position B2 in the ascending conveyance section 26 is delivered to the one-side mounting position 40a of the conveyance platform 37 ascending through the ascending conveyance section 26.

When the passage of the conveyance table 37 to which the delivered product B has been delivered is detected by the conveyance table detection sensor PHU3-5, the delivery unit 61 moves backward to the origin position outside the ascending conveyance section 26, as described above. , waits for the delivery operation of the next outbound item B from the second carry-in section 22. Note that if there is no delivered product B from the lower stage side, the delivery unit 61 may wait for the delivery operation of the next delivered product B at the delivery position B2 without returning to the origin position.

In addition, as shown in FIG. 8, the conveyance table 37 that carries the delivered goods B and ascends inside the ascending conveyance section 26 moves from the upper part of the ascending conveyance section 26 to the descending conveyance section 27, and moves inside the descending conveyance section 27. descend.

As shown in FIG. 8(b), based on the position information of each conveyor 37 and the loading information of the outgoing item B, the first sending unit 34 that receives the outgoing item B sends out the outgoing item B from the first sending unit 34. A sensor PHD1-1 (not shown) for detecting the conveyance table provided corresponding to the lower position of the maximum height detects the conveyance table one position before the conveyance table 37 on which the output item B to be received is loaded. 37 is detected, the sending unit 81 of the first sending unit 34 will no longer interfere with the delivered item B on the previous transport table 37, so the sending unit 81 will move from the retracted position into the descending transport unit 27. The approach is moved. In addition, if it is difficult to install the conveyor table detection sensor PHD1-1, for example, the passage of the conveyor table 37 using the conveyor table detection sensor PHD3-1 installed above (see Fig. 11(b)) may be difficult. At a predetermined timing after the detection, the delivery unit 81 is moved into the descending conveyance section 27 from the retreat position.

The delivery unit 81 that has moved into the descending transport section 27 receives the output item B to be received from the mounting position 40a on one side of the descending transport platform 37. The outgoing item B on the outgoing unit 81 is detected by the sensor PHD1-3 (not shown) for inventory detection provided corresponding to the position of the outgoing unit 81 that receives the outgoing item B, and the sensor PHD1-3 (not shown) for detecting the outgoing item When the sensor PHD1-2 (not shown) detects the passage of the conveyance table 37, the delivery unit 81 returns to the retreat position outside the descending conveyance section 27, that is, the delivery unit 81 returns to the retracted position outside the descending conveyance section 27. Returning to the position, the goods B on the delivery unit 81 are delivered to the first delivery section 23.

Further, FIGS. 13(a), 13(b), and 13(c) show modified examples of the layout in which the conveyance device 13 can convey the object 12. The layout in FIG. 13(a) is defined as a first layout, FIG. 13(b) shows a second layout, and FIG. 13(c) shows a third layout. Note that since the first layout shown in FIG. 13(a) is as described above, a description thereof will be omitted here.

In the second layout shown in FIG. 13(b), the second carry-in section 22 is arranged in an area above the first carry-in section 21 on one side of the ascending conveyance section 26. In this case, the first delivery section 32 loads the received goods A, which are sent from the first carry-in section 21 to the ascending conveyance section 26, on the other side of the loading position 40 of the conveyance table 37, which is the side away from the first carry-in section 21. A delivery mechanism 60 is used to deliver to position 40b. The second delivery section 33 uses, for example, a mechanism similar to the delivery mechanism 80 of the delivery sections 34 and 35, and is sent from the second carry-in section 22 to the ascending conveyance section 26 by an operation opposite to the delivery operation by the delivery mechanism 80. Out of stock item B is delivered to one side loading position 40a of the loading positions 40 of the conveyance platform 37, which is the side closer to the second carry-in section 22.

In the second layout, the stored goods A sent in from the first carry-in section 21 are loaded on the other side mounting position 40b of the conveyor table 37 and carried out to the second carry-in section 24. The goods B to be delivered from the second carry-in section 22 are loaded on the loading position 40a on one side of the conveyor table 37 and carried out to the first carry-out section 23. Note that the vertical relationship between the second carry-in section 22 and the first carry-in section 21 can be changed.

In the third layout shown in FIG. 13(c), the second carry-in section 22 is arranged above the first carry-in section 21 on one side of the ascending conveyance section 26, and the first carry-out section 23 is disposed in the descending conveyance section 27. On the other side, second unloading sections 24 are arranged on one side of the descending conveyance section 27, respectively. In this case, the first delivery section 32 uses a mechanism similar to the delivery mechanism 80 of the delivery sections 34 and 35, for example. The incoming goods A sent into the warehouse are transferred to one side loading position 40a, which is the side closer to the first carry-in section 21, among the loading positions 40 of the conveyance table 37. The second delivery section 33 transfers the delivered goods B sent from the second carry-in section 22 to the ascending conveyance section 26 to the other side loading position 40b, which is the side away from the second carry-in section 22, among the loading positions 40 of the conveyance table 37. A delivery mechanism 60 is used.

In the third layout, the stocked goods A sent in from the first carry-in section 21 are loaded on the one-side loading position 40a of the transport table 37 and carried out to the second carry-in section 24. The goods B to be delivered from the second carry-in section 22 are loaded on the other side mounting position 40b of the conveyor table 37 and carried out to the first carry-out section 23. Note that the vertical relationship between the second carry-in section 22 and the first carry-in section 21 can be changed.

In this way, in any of the first to third layouts, it is possible to carry out the conveyance of the conveyed objects 12 to be taken in and out in parallel, and it is possible to efficiently convey the conveyed objects 12 in accordance with the arrangement of upstream and downstream conveying devices, etc. . When the transport device 13 is applied to the automated warehouse system 10, a layout can be applied that can accommodate differences in the arrangement of the storage section 16 and the transfer section 17, the input/output direction of the transported objects 12, etc.

Here, the carrier 37 may be provided with two or more mounting positions 40. For example, if the carrier 37 is provided with two mounting positions 40a on one side and two mounting positions 40b on the other side, At the side loading position 40b, two conveyed articles are transferred from the first delivery section 32 to the conveyor table 37 so that the conveyed article 12 sent out first from the second delivery section 35 on the upper stage is loaded on the other side loading position 40b on the outside. Two conveyed objects 12 are loaded in sequence from the second transfer section 33 located at the lower level at the one side loading position 40a, and two conveyed objects 12 are loaded one after another at the one side loading position 40a on the back side (two objects 12 are loaded at once from the second transfer section 33). It is also possible for these two objects 12 to be carried out from the carriage 37 by the delivery sections 34 and 35.

In addition, it is possible to load a plurality of objects 12 on one side loading position 40a and a single object 12 on the other side loading position 40b, or vice versa, and the conveyance table 37 can carry three or more objects 12. It is possible to carry 12 objects. Then, the first delivery section 32 and the second delivery section 33 load the transported object 12 at a loading position separated from the other delivery section so that one delivery section leaves a loading position used by the other delivery section. This avoids interference between the conveyed object 12 loaded first on the conveyor table 37 and the conveying section 12 mounted later, and leaves a mounting position open for the conveyed object 12 to be mounted next.

As described above, according to the conveying device 13 of the present embodiment, the conveying device main body 20 transports the stored goods A sent from the first carry-in section 21 to the ascending conveyance section 26 from the descending conveyance section 27 to the second carry-out section 24. By sending out the outgoing goods B, which is sent from the second carry-in section 22 to the ascending conveyance section 26, from the descending conveyance section 27 to the first unloading section 23, the incoming goods A can be warehoused and the outgoing goods B can be taken out of the warehouse in parallel. It can be done by

In addition, since the transport platform 37 is provided with loading positions 40 for mounting the transported objects 12 at at least two locations in the second direction Y, the transported objects 12, ie, the incoming product A and the outgoing product B, can be loaded together and transported. Objects 12 can be transported more efficiently.

Moreover, since the delivery parts 32, 33 and the delivery parts 34, 35 are configured to move in the second direction Y with respect to the ascending conveyance part 26 and the descending transport part 27, the delivery parts 32, 33 and the delivery parts 34, 35 in the first direction There is no need to provide a retreat space for the sections 34 and 35, and the distance between the ascending conveying section 26 and the descending conveying section 27 of the conveying device main body 20 can be reduced, making it possible to downsize. Moreover, it can also be applied to an automated warehouse system 10 in which the interval between two rows of storage units 16 is narrow.

Furthermore, since the moving direction of the transfer parts 32, 33 and the sending parts 34, 35 is the same as the direction in which the conveyed object 12 is conveyed by the delivery parts 32, 33 and the sending parts 34, 35, the upper part of the delivery parts 32, 33 and It becomes possible to move the conveyed object 12 while being placed on the sending sections 34 and 35, and the conveying efficiency of the conveying device 13 can be improved.

That is, in the transfer sections 32 and 33, the movement of the transfer unit 61 from the receiving positions A1 and B1 to the transfer positions A2 and B2 and the movement of the conveyed object 12 on the transfer unit 61 are performed within the ascending conveyance section 26. Since the transfer unit 61 and the transported object 12 can be moved at the same time, the transported object 12 can be quickly placed at a predetermined position on the ascending conveyance section 26, compared to the case where the transfer unit 61 and the transported object 12 are moved separately. Therefore, even if the conveyance speed of the conveyance object 12 by the conveyance table 37 is increased, the transfer sections 32 and 33 can cope with the increase, and the conveyance efficiency of the conveyance device 13 can be improved.

Similarly, in the sending units 34 and 35, the sending unit 81 can be retracted from the descending transport unit 27, and the conveyed object 12 received by the sending unit 81 can be moved simultaneously. The timing of retracting the delivery unit 81 can be made earlier than when the delivery unit 81 is retracted after sending out the object 12. Therefore, even if the conveyance speed of the conveyance object 12 by the conveyance platform 37 is increased, the sending units 34 and 35 can cope with the increase, and the conveyance efficiency of the conveyance device 13 can be improved.

Furthermore, the conveyance table 37 is provided with a plurality of fork parts 42 in a comb-teeth shape in the second direction Y, and the transfer parts 32, 33 and the delivery parts 34, 35 can move forward and backward into positions between the fork parts 42 of the conveyance table 37. Since a plurality of delivery conveyance bodies 63 and a plurality of delivery conveyance bodies 83 are provided, the movement direction of the delivery parts 32, 33 and the sending parts 34, 35 and the conveyed objects by the delivery parts 32, 33 and the sending parts 34, 35 are The 12 transport directions can be the same direction.

Further, the delivery mechanisms 60 of the delivery sections 32 and 33 are arranged to face the loading sections 21 and 22 with the ascending conveyance section 26 in between, and are arranged at receiving positions A1 and B1 in the ascending conveyance section 26 and at a delivery position A2, B2, the receiving positions A1 and B1 receive the conveyed object 12 sent from the carry-in sections 21 and 22 to the ascending conveyance section 26, and the conveyed object 12 is transferred to the transfer position A2 and B2 from the loading position 40 of the conveying table 37. Since the transported object 12 can be delivered to the loading position 40 on the side away from the carrying-in sections 21 and 22 into which the transported object 12 was sent, one transfer section 32 and 33 can transfer the transported object 12 from the carrying-in sections 21 and 22 to the conveyance table 37. can be delivered, the configuration can be simplified, and the man-hours and control of the delivery operation can also be simplified.

Furthermore, since the delivery conveyance body 63 of the delivery mechanism 60 has a free roller 66 that conveys the conveyed objects 12 sent from the carry-in sections 21 and 22 in the receiving direction, a drive structure including a drive section is not required, simplifying the configuration. In addition, the man-hours and control of the transport operation can be simplified.

Moreover, since the conveyance surface formed by the upper surface side of the plurality of free rollers 66 has an inclination angle that descends toward the receiving direction of the conveyed objects 12 sent from the carry-in sections 21 and 22, the conveyed objects 12 are It can be reliably transported in the receiving direction.

Note that the conveyance device is not limited to application to automated warehouse systems, but can also be applied to other conveyance systems in which objects are brought in from two directions and transported to different destinations in two directions, and transported to two different destinations. It is also possible to handle items with various attributes, not just incoming items and outgoing items.

The embodiments of the present invention and their modifications have been described above, but the embodiments and their modifications can be combined as appropriate without departing from the gist of the invention.

10 Automatic warehouse system
12 Transported objects
13 Transport device
16 Storage Department
17 Transfer section
20 Transport device body
21 1st loading section
22 2nd loading section
23 1st unloading section
24 Second unloading section
26 Elevating transport section
27 Lowering conveyance section
32 First delivery section which is the delivery section
33 Second delivery section which is the delivery section
37 Transport platform
40 Mounting position
42 Fork part
60 Delivery mechanism
63 Delivery carrier A Incoming goods
A1 receiving position
A2 Delivery position B Output items
B1 receiving position
B2 Delivery position X 1st direction Y 2nd direction

Claims (8)

It has a conveyance table on which an object to be transported is mounted, an ascending conveyance section for raising the conveyance table, and a descending conveyance section for lowering the conveyance table raised by the ascending conveyance section, and the ascending conveyance section and the descending conveyance section are connected to each other. a conveyance device main body in which are arranged in a first direction;
a first carry-in section that is disposed on one side of the ascending conveyance section in a second direction intersecting the first direction and feeds the conveyed object toward the ascending conveyance section;
a second carry-in section that is disposed on one side or the other side of the ascending conveyance section in the second direction and sends the object to be transported toward the ascending conveyance section;
a first carrying-out section that receives and carries out the conveyed object sent from the second carrying-in section toward the ascending carrying section from the descending carrying section;
a second carrying-out section that receives and carries out the object sent from the first carrying-in section toward the ascending carrying section from the descending carrying section;
The conveyance table has at least two mounting positions arranged in the second direction and each capable of mounting the conveyed object,
The conveyance device main body includes a first delivery section that receives the conveyed object sent from the first carrying-in section and delivers it to the conveyance table that ascends the ascending conveyance section, and a first delivery section that receives the carried object sent from the first carrying-in section and delivers it to the conveyance table that ascends the ascending conveyance section, and a first delivery section that receives the carried object sent from the first carrying-in section and delivers it to the conveying table that ascends the ascending conveyance section, and and a second delivery part that receives and delivers the rising transport part to the rising transport platform,
At least one of the first transfer section and the second transfer section is arranged to face the first carry-in section or the second carry-in section across the ascending conveyance section, and the first transfer section or a receiving position for receiving the conveyed object sent from the second carrying-in section to the ascending conveyance section; 1. A transfer device comprising: a transfer mechanism movable in the second direction within the ascending transfer section; the transfer mechanism is located at a transfer position that transfers the transfer to the loading position on a side remote from the first carry-in section or the second carry-in section. The second carrying-in section is disposed on the other side of the ascending conveyance section in the second direction,
The first unloading section is disposed on one side of the descending conveyance section in the second direction,
The second unloading section is disposed on the other side of the descending conveyance section in the second direction,
The first transfer section has the transfer mechanism that transfers the conveyed object sent from the first carry-in section to the ascending conveyance section to the mounting position on the other side of the conveyance table in the second direction,
The second transfer section includes the transfer mechanism that transfers the conveyed object sent from the second loading section to the ascending conveyance section to the mounting position on one side of the conveyance table in the second direction. 2. The conveying device according to claim 1. The second carrying-in section is disposed on one side of the ascending conveyance section in the second direction,
The first unloading section is disposed on one side of the descending conveyance section in the second direction,
The second unloading section is disposed on the other side of the descending conveyance section in the second direction,
The first transfer section has the transfer mechanism that transfers the conveyed object sent from the first carry-in section to the ascending conveyance section to the mounting position on the other side of the conveyance table in the second direction,
1 . The second transfer unit transfers the conveyed object sent from the second carry-in unit to the ascending conveyance unit to the mounting position on one side of the conveyance platform in the second direction. 10 . The conveying device described. The second carrying-in section is disposed on one side of the ascending conveyance section in the second direction,
The first unloading section is disposed on the other side of the descending conveyance section in the second direction,
The second unloading section is disposed on one side of the descending conveyance section in the second direction,
The first transfer unit transfers the conveyed object sent from the first carry-in unit to the ascending conveyance unit to the mounting position on one side of the conveyance table in the second direction,
The second transfer section includes the transfer mechanism that transfers the conveyed object sent from the second loading section to the ascending conveyance section to the mounting position on the other side of the conveyance table in the second direction. 2. The conveying device according to claim 1. The conveyance table has a plurality of fork portions provided in a comb-teeth shape toward the second direction,
The delivery mechanism includes a plurality of delivery transport bodies that transport the objects in a receiving direction at the receiving position, and these delivery transport bodies are connected to the fork portion of the transport platform that ascends the ascending transport unit at the delivery position. The conveyance device according to any one of claims 1 to 4, characterized in that the conveyance device is arranged at a position between. A transport platform,
an ascending conveyance unit that raises the conveyance platform;
a carry-in section that sends objects to be transported toward the ascending conveyance section;
a delivery section that receives the conveyed object sent from the carry-in section toward the ascending conveyance section and delivers it to the conveyance platform that ascends the ascending conveyance section;
The conveyance table is arranged in a direction in which the conveyed object is sent from the carry-in section toward the ascending conveyance section, and has at least two mounting positions each capable of mounting the conveyed object,
The delivery section is arranged to face the carry-in section with the ascending conveyance section in between, and has a receiving position for receiving the conveyed object sent from the carrying-in section to the rising conveyance section, and a receiving position at this receiving position. The conveyance device is characterized in that the conveyance device is capable of moving within the ascending conveyance section to a delivery position where the accepted conveyed object is delivered to the loading position on the side remote from the loading section among the loading positions of the conveyance table. . The conveyance table has a plurality of fork portions provided in a comb-teeth shape in a direction along the moving direction of the delivery portion,
The delivery section includes a plurality of delivery conveyance bodies that transport the conveyed items in a receiving direction at the receiving position, and these delivery conveyance bodies are connected to the fork portion of the conveyance platform that ascends the ascending conveyance section at the delivery position. The conveying device according to claim 6, wherein the conveying device is arranged at a position between. A storage section formed in multiple levels,
a transfer unit that is disposed at each level of the storage unit and is capable of transporting objects into and out of the storage unit;
The second carrying-in section, the second delivery section, and the second carrying-out section are respectively provided corresponding to each floor of the storage section, and the stored goods, which are the conveyed objects sent from the first carrying-in section, are Any one of Claims 1 to 5, wherein the second carrying-out part is carried out toward the transfer part, and the delivered goods, which are the conveyed objects, are received from the transfer part into the second carrying-in part and carried out from the first carrying-out part. An automated warehouse system characterized by comprising the transport device described above.

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