JP3835189B2 - Supply equipment - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an article supply facility that is employed when, for example, a rectangular article having a narrow (small) lateral width with respect to the front-rear width is stored in an automatic warehouse.
[0002]
[Prior art]
Conventionally, as this type of equipment, for example, a storage conveyor is provided in the storage unit, and after the articles to be stored are transported by the conveyor, the structure is stopped by a stopper device at the end thereof. Then, the stopped article is received by the fork body of the taking in / out device, and stored in the intended compartment storage space of the shelf. At that time, the article is stored in the intended compartment storage space by the putting in / out device with reference to the surface (stopped surface) received by the stopper device. Accordingly, in the compartment storage space, articles are received with the reference planes aligned in the direction in which the compartment storage space group is provided.
[0003]
[Problems to be solved by the invention]
However, according to the above-described conventional configuration, since articles are received with the reference planes aligned in the direction in which the compartment storage spaces are arranged, articles of the same shape (size, etc.) are always conveyed by the warehousing conveyor. When coming, there is no problem. However, for example, when articles having different shapes (sizes, etc.) are conveyed at random, there will be a problem in the storage. That is, the articles supported by the fork body of the loading / unloading device have an unstable support posture because the positions of the centers of gravity are not uniform, and the loading posture in the compartment storage space is also unstable.
[0004]
In response to this, it is conceivable to control the stop position of the loading / unloading device according to the type and shape of the article, and to align the fork body with the center of gravity of the article. In this case, the shape of the article is detected. Therefore, it is necessary to perform complicated control for stopping the loading / unloading apparatus based on the detection. For this reason, pallets are used for loading and unloading articles. In this case, a large number of pallets must be prepared.
[0005]
SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide an article supply facility that can supply an article with its center of gravity always kept constant without preparing complicated stop control and a large amount of pallets. It is what.
[0006]
  Further, an object of the present invention is to provide an article supply facility that can easily cope with the conveying direction by the conveying means.
  AndClaim 6The described invention aims to provide an article supply facility that can be suitably employed in an automatic warehouse or the like.
[0007]
[Means for Solving the Problems]
  In order to achieve the above-described object, the article supply facility according to claim 1 of the present invention is provided with an article stop position in an article transport path by the transport means, and the stopped article is placed at the article stop position. Article holding means that can be lifted after aligning from the lateral direction is provided. The article holding means includes a lifting body interlocked with the lifting device, a pair of left and right sandwiching bodies provided on the lifting body, Consists of a clamping device that moves the clamping members toward and away from each other.In addition, the sandwiching device is configured to align the article from the width direction by the sandwiching force by causing both sandwiching bodies to move closer to each other and abut against both side surfaces of the article,Below the article holding means, it acts on the lower part of both sandwiching bodies and the sandwiching movement device.According to the movement of both clampsOperates synchronouslyTo force the lower part of both clamps to approachA lower clamping device is provided.
[0008]
  Therefore, according to the first aspect of the present invention, the article conveyed by the conveying means is stopped at the article stop position in the article holding means. The stopped article can be lifted after being aligned from the lateral direction by the article holding means.In other words, the article holding means in the accepting state lowers the elevating body and moves both the holding bodies away from each other. In such a state, the article conveyed by the conveying means is moved between both sandwiched bodies and stopped at the article stop position. The article can be aligned from the lateral direction by the clamping force by moving the two clamping bodies closer to each other on the lateral sides of the article by the operation of the clamping device. At that time, the lower part of the sandwiching body can be forcibly moved closer by the lower sandwiching apparatus that operates in synchronization with the sandwiching apparatus. Then, the article can be raised by raising the elevating body by operating the elevating means and raising both the sandwiching bodies.
[0009]
According to a second aspect of the present invention, there is provided the article supply facility according to the first aspect, wherein the article holding means is configured to be pivotable about the longitudinal axis when lifted. It is a thing.
[0010]
  Therefore, according to the second aspect of the present invention, the article can be turned at a predetermined angle while maintaining the alignment by turning it around the longitudinal axis after lifting.
  The article supply facility according to claim 3 of the present invention is the above-described claim 1.Or 2In the described configuration, the article holding means isBothFrom the bottom of the sandwich to the opposite sideHoldLifting action partIs providedIt is characterized by being.
[0011]
  Therefore, according to the invention of claim 3, the article holding means in the accepting state lowers the elevating body, positions the lifting action portion below the conveying surface, and both sandwiching bodiesTouchThe article can be aligned from the direction of the width by the clamping force by being moved close and brought into contact with both side surfaces on the width side of the article. ThenBothLift the lifting action part together with the clamping bodyThenThe lifting action part comes into contact with the lower surface of the article, and thereafter, the article can be raised through the lifting action part.
[0012]
  Further, the article supply facility according to claim 4 of the present invention is the above-described claim.1 to 3In the described configuration, the pair of sandwiching bodies includes arm portions that are moved toward and away from each other by the sandwiching movement device, and sandwiching portions that are provided on opposite sides of these arm portions and elastically protruded and biased toward the opposite sides. It is characterized by comprising.
[0013]
Therefore, according to the invention of claim 4, due to the approaching movement of both arms in both sandwiched bodies, the sandwiched portions are brought into contact with both side surfaces on the lateral width side of the article, so that the article is aligned from the lateral width direction by the sandwiching force. Can do. At that time, clamping is performed against the elastic force.
[0014]
  In addition, the article supply equipment according to claim 5 of the present invention is the above-mentioned.Claim 1In the structure in any one of -4, the raising / lowering body of an article holding means is the raising / lowering part interlock | cooperated with the raising / lowering apparatus, and the turning part provided so that turning with respect to this raising / lowering part was possible around a vertical axis center And a turning device.
[0015]
Therefore, according to the fifth aspect of the invention, after the article is aligned from the lateral direction by the close movement of the both sandwiching bodies, the lifting body is first raised by the operation of the lifting device, and the article is raised together with the both sandwiching bodies. Next, the swivel device can be swung about the vertical axis by the operation of the swivel motion device, so that the article can be swung through both sandwiching bodies on the swivel unit side.
[0018]
  And of the present inventionClaim 6The article supply facility described above is the above-described claim 1.5In the configuration described in any of the above, an article receiving means that can act on the article lifted by the article holding means from a direction orthogonal to the alignment direction is provided. .
[0019]
  ThereforeClaim 6According to the present invention, the article receiving means can act on the article that has been aligned and lifted by the article holding means from a direction perpendicular to the alignment direction.
[0020]
DETAILED DESCRIPTION OF THE INVENTION
Below, the 1st Embodiment of this invention is described based on FIGS. 1-14 as the state employ | adopted for the receipt of automatic warehouse.
[0021]
In FIG. 2, an automatic warehouse (automatic warehouse facility) 11 is capable of traveling on a shelf 14 having a plurality of compartment storage spaces 13 in a setting room 12 and on a certain traveling route 15 along the front surface of the shelf 14. A loading / unloading device (an example of an article receiving means) 20 is provided. Here, a plurality of compartment storage spaces 13 are formed in the direction along the traveling route 15 and in the vertical direction.
[0022]
In the embodiment, a pair of shelves 14 opposed to each other and a loading / unloading device 20 that can travel on a travel route 15 formed between the shelves 14 are set as one set and installed in the installation room 12. However, this may be a form in which one shelf 14 and a set of a loading / unloading device 20 that can travel on a traveling route 15 along the front surface of the shelf 14 are combined. In addition, a plurality of sets may be installed in the installation room 12.
[0023]
The loading / unloading device 20 includes a lower frame 21 supported and guided by wheels on the floor side rail 16, a pair of front and rear columns 22 erected from the lower frame 21, and a ceiling provided between the upper ends of these columns 22. The apparatus main body 23 is constituted by an upper frame (not shown) guided to the side rail via a roller. A carriage 24 is provided between the support columns 22, and a fork body (insertion / removal tool) 25 that allows the article 1 to be taken in and out of the compartment storage space 13 is provided on the carriage 24.
[0024]
On the apparatus body 23 side of the loading / unloading apparatus 20, a control panel 26 and the like are provided on the other side of the column 22 opposite to the home position HP among the columns 22, and the column on the home position HP side. On the other side of the outer surface 22, an elevating drive means 27, a travel drive means 28 and the like are provided. The control panel 26 and the like may be provided in reverse. An example of the taking-in / out apparatus 20 is comprised by the above 21-28.
[0025]
Out of the end of one shelf 14, an article supply facility 30 for warehousing is provided outside the end on the home position HP side, and an article for taking out is taken out outside the end on the opposite side. Facilities (not shown) are provided. Here, the article 1 has, for example, a rectangular shape whose width is narrow (small) with respect to the front-rear width, and many types having different shapes (sizes, etc.) are handled.
[0026]
1 to 3 and 5, the article supply facility 30 includes a transport unit 31 in which a transport direction is a direction along the travel path 15, a terminal portion of transport by the transport unit 31, and the home. It is constituted by an article holding means 41 or the like disposed so as to face the position HP.
[0027]
That is, the conveying means 31 is a roller conveyor type, and includes a conveyor frame 32, a group of rollers 33 supported by the conveyor frame 32, a conveyor driving device 34, and an article conveying path 35 formed by the rollers 33 group. One example is constituted by the side guide bodies 36 located on both sides, the bulk detector 37 of the article 1 disposed at the starting end portion of the article transport path 35, the installation leg 38, and the like.
[0028]
1 to 10, the article holding means 41 is provided at the end portion of the article transport path 35 in a state of facing the home position HP. The article holding means 41 is configured to be capable of being lifted after the article 1 stopped at the article stop position is aligned from the lateral direction, and to be pivotable about the vertical axis in the lifted state.
[0029]
That is, the article holding means 41 includes a fixed frame body 42, and the fixed frame body 42 includes four column members 43 disposed across the article conveyance path 35 and upper ends of these column members 43. The upper flat frame member 44 provided between them, the horizontal member 45 provided between the middle portions of the column members 43, and the like. At that time, the transverse member 45 is provided so as not to obstruct the passage of the article 1 in the article conveyance path 35 and the movement of the article 1 by the taking-out apparatus 20.
[0030]
An article stop position 39 is provided in the article conveyance path 35 by the conveyance means 31. That is, an article stopping means 46 is provided on the fixed frame 42 side so as to face the end of the article transport path 35. The article stopping means 46 includes a holding body 47 provided at the upper and lower intermediate positions on the fixed frame body 42 side, a plate-like stopper body 48 positioned to face the end of the article transport path 35, and the stopper body 48. An example is constituted by a guide body 49 connected to the rear surface side and guided to the holding body 47 side, a cylinder device 50 provided on the holding body 47 side and having a piston rod connected to the stopper body 48, and the like. Has been.
[0031]
Therefore, in a state where the stopper body 48 is protruded into the article conveyance path 35 by the extension movement of the cylinder device 50, the article 1 conveyed by the conveying means 31 is brought into contact with the stopper body 48 and stopped. An article stop position 39 is provided in the article transport path 35.
[0032]
The article holding means 41 that can be lifted after the article 1 stopped at the article stop position 39 is aligned from the lateral direction and can be turned around the vertical axis in the lifted state is moved up and down at the upper part thereof. A lifting body linked to the apparatus is provided.
[0033]
That is, the holding body 52 is provided at two places (one place or a plurality of places) on the upper flat frame member 44, and below the upper flat frame member 44, a vertical guide guided to the holding body 52 side. An elevating body 54 is provided via a body 53. Further, the holding body 52 is provided with an elevating cylinder device (an example of an elevating device) 55 in which a downward piston rod is coupled to the elevating body 54.
[0034]
Here, the elevating body 54 is interlocked with the elevating cylinder device 55 and the guide body 53 is connected to the elevating part 54A, and the revolving unit 54A is provided so as to be rotatable about the vertical axis 56. The unit 54B is configured by a turning device and the like. That is, a bearing 57 is provided at the central portion of the elevating part 54A, and a vertical axis 58 supported by the bearing 57 and rotatable about the vertical axis 56 is provided. 54B. A turning cylinder device (an example of a turning device) 60 is provided between the arm 59 provided at the upper end of the vertical axis 58 and the elevating part 54A.
[0035]
A stopper body 61 is provided at the upper end of the vertical axis 58, and a stopper body 62 is provided on the elevating part 54A side. Here, the stopper body 61 is brought into contact with the stopper body 62 so that the extension limit of the turning cylinder device 60 is regulated. A positioned body 63 is provided on the elevating part 54A side, and a positioning body 64 is provided on the upper flat frame member 44 side. Here, the positioned body 63 is engaged with the positioning body 64 from above, so that the lower limit posture of the elevating body 54 is positioned.
[0036]
A proximity switch, a detection plate, and the like are provided on the upper flat frame member 44 side and the lifting body 54 side to detect the operation on the lifting body 54 side.
A pair of left and right sandwiching bodies 71 and a sandwiching movement device 80 for moving both sandwiching bodies 71 toward and away from each other are provided on the elevating body 54 side, and the lower portions of both sandwiching bodies 71 are directed toward the opposite sides. All lifting action portions 74 are provided. That is, both the sandwiching bodies 71 each have an arm portion 72, and these arm portions 72 are provided between an arm rod 72a that is long in the vertical direction and provided with four in the lateral direction and the upper portion of these arm rods 72a. The upper plate member 72b and the intermediate plate member 72c provided at a plurality of positions in the middle of the armband 72a.
[0037]
On the opposite sides of both arm portions 72, a holding portion 75 that is elastically projected and biased toward the opposite sides is provided. That is, the both sandwiching portions 75 include a lateral guide body 76 provided at a plurality of positions on the intermediate portion plate member 72c, a plate-like contact body 77 connected between the inner ends of the guide bodies 76, and the abutment. A piston rod is connected to the outer surface side of the body 77, and the main body side is constituted by a spring cylinder device 78 provided on the intermediate plate member 72c side. In addition, the said lifting action part 74 is provided in the lower end part of each armband 72a toward the mutually opposing side.
[0038]
The clamping device 80 has a pair of lateral guide rods 81 provided on the revolving part 54B side of the elevating body 54, and a cylindrical shape provided on the upper plate member 72b of both arm parts 72 on both guide rods 81. When the body 73 is externally fitted, the arms 72 are supported between the guide rods 81 and are configured to be able to approach and separate from each other. A pair of ball screws 82 are arranged in parallel between the guide rods 81, and these ball screws 82 are rotatably supported on the turning portion 54B side.
[0039]
One end of one ball screw 82 is interlocked and coupled to a drive unit 83 mounted on the turning unit 54B side via a transmission mechanism 84, where the drive unit 83 is a motor or a speed reducer that can be driven forward and reverse. It is comprised by. Further, the other ends of the ball screws 82 are interlocked and connected via a gear transmission mechanism 85. Both ball screws 82 are distributed and acted on a pair of arm portions 72, and any one of nut bodies 86 provided on these arm portions 72 is screwed together.
[0040]
Between the both arms 72, photoelectric switches 87 for article detection are provided at a plurality of locations. Each of the arm portions 72 is provided with a limit switch 88 for detecting an article, a limit switch 89 for detecting when the holding body 77 is held, and the like. An example of the pinching and moving device 80 is configured by the above 81 to 89 and the like. An example of the article holding means 41 is configured by 42 to 89 and the like.
[0041]
Below the article holding means 41, there is provided a lower clamping device 90 that acts on the lower part of both clamping bodies 71 and is operated in synchronism with the clamping device 80. The lower clamping device 90 has the same configuration as that of the clamping device 80, and a base body 97 is provided on the conveyor frame 32 side in the conveying means 31. And it has a pair of the guide rod 91 of the horizontal direction provided in the base body 97 side, and the cylindrical body 99 provided in both the locking bodies 98 is fitted by both guide rods 91, and both locking is carried out. The body 98 is supported between both guide rods 91 and is configured to be close to and away from each other.
[0042]
Further, a pair of ball screws 92 are disposed in parallel between the guide rods 91, and these ball screws 92 are rotatably supported on the base body 97 side. One end of one ball screw 92 is interlocked and coupled to a drive unit 93 provided on the base body 97 side via a transmission mechanism 94, where the drive unit 93 is a motor or a speed reducer that can be driven forward and reverse. It is comprised by. Further, the other ends of the ball screws 92 are interlocked and connected via a gear transmission mechanism 95. Both ball screws 92 are distributed and act on a pair of locking bodies 98, and any one of nut bodies 96 provided on these locking bodies 98 is screwed together.
[0043]
The locking body 98 is configured to be able to lock to the lower portion of the armband 72a group from the outside. Further, on the base body 97 side, a proximity switch 100 for controlling the separation position of both locking bodies 98, a proximity switch 101 for controlling the approaching position of both locking bodies 98, and the proximity limit of both locking bodies 98 are provided. A stopper body 102 and the like are provided to regulate the above. An example of the lower clamping device 90 is configured by the above 91-102 and the like.
[0044]
Hereinafter, the operation of the first embodiment will be described.
The article 1 is supplied to the starting end portion of the conveying means 31. At that time, the article 1 has a rectangular shape having a width W narrower (smaller) than the front-rear width L and a height H similar to the front-rear width L, and many types having different shapes (sizes, etc.). Handled. Then, the article 1 is placed on the starting end portion of the conveying means 31 with the front-rear width L along the article conveying path 35. By carrying the article 1 while being placed in this manner, even if the lateral width W is small, it can be always stably conveyed.
[0045]
The article 1 conveyed on the article conveyance path 35 is positioned in the article holding means 41 by being conveyed to its terminal portion. At that time, in the conveying means 31, when the article holding means 41 is in an acceptable state by interposing a stopper means on the upper side of the article holding means 41 or by dividing and controlling the drive, The article 1 is configured to be supplied to the article holding means 41 side.
[0046]
As shown by the solid lines in FIGS. 1, 3, 5, and 11, the article holding means 41 in the acceptable state descends the elevating body 54 and moves the lifting action portion 74 on the conveyance surface by the group of rollers 33. It is located below, and both clamping bodies 71 are moved away from each other. Further, as indicated by the phantom line in FIG. 1 and the phantom line in FIG. 5, the cylinder device 50 of the article stopping means 46 is extended and the stopper body 48 is positioned on the upper side.
[0047]
In such a state, the article 1 conveyed by the conveying means 31 as described above is moved between the both sandwiching portions 75 and brought into contact with the stopper body 48 to stop at the article stop position 39. After the stopped article 1 is detected by the photoelectric switch 87, the article 1 is aligned in the lateral direction by the synchronous operation of the holding device 80 and the lower holding device 90.
[0048]
That is, in both apparatuses 80 and 90, the drive parts 83 and 93 are driven, and the rotational force is transmitted to one of the ball screws 82 and 92 via the winding transmission mechanisms 84 and 94, and the gear transmission mechanism 85, It is transmitted to the other ball screws 82 and 92 through 95. Accordingly, the upper plate members 72b and the locking members 98 can be moved closer to each other via the nut bodies 86 and 96.
[0049]
As shown by the approach movement of both upper plate members 72b, that is, as shown by the phantom line in FIG. 11, the contact body 77 of the sandwiching portion 75 is brought into contact with both side surfaces of the article 1 on the lateral width W side. The article 1 can be aligned from the direction of the lateral width W by being brought into contact with each other and sandwiched by both contact bodies 77. At that time, the clamping by both the abutments 77 is performed against the spring elastic force by the spring cylinder device 78, so that the centering can be performed reasonably and sufficiently by the elastic pressure.
[0050]
In addition, when the alignment is performed only by the clamping device 80, the lower part is delayed when the clamping bodies 71 approach each other, and the alignment may be insufficient or the clamping device 80 may be damaged. . However, by operating the lower clamping device 90 to move the two locking bodies 98 closer to each other, the lower part of the clamping body 71 with which the locking bodies 98 are engaged is forced to move closer. Accordingly, the lower part of both the sandwiching bodies 71 is moved closer to the upper part in synchronization with the upper part so that the alignment can be sufficiently performed, and the sandwiching movement device 80 can always operate suitably without causing damage.
[0051]
After aligning as described above, first, as shown by the solid line in FIG. 1 and the solid line in FIG. 5, the cylinder device 50 of the article stopping means 46 is contracted to move the stopper body 48 to the lower side. Retreat. Next, the elevating body 54 is raised by the contraction movement of the elevating cylinder device 55, and the lifting action portion 74 is raised together with the both sandwiching bodies 71.
[0052]
Then, both contact bodies 77 come into sliding contact with the weight of the article 1, the article 1 remains on the group of rollers 33, and the lifting action portion 74 located below the conveying surface is placed on the lower surface of the article 1. After the contact, the article 1 is raised through the lifting action portion 74. As a result, as shown in FIGS. 4 and 12, the article 1 can be lifted while maintaining alignment.
[0053]
After such lifting, the swiveling unit 54B is swung about the vertical axis 56 with respect to the lifting / lowering unit 54A by the extending movement of the swiveling cylinder device 60, so that both sandwiching bodies 71 on the swiveling unit 54B side are swung. The article 1 is swung via. This turning is performed until the to-be-stopped body 61 comes into contact with the stopper body 62. Therefore, as shown in the phantom line of FIG. 6 and FIG. Is rotated at a predetermined angle (90 °).
[0054]
In this way, the loading / unloading device (article receiving means) 20 can be applied to the article 1 lifted by the article holding means 41 from the direction orthogonal to the alignment direction after finishing the alignment and turning. That is, in the automatic warehouse 10, the traveling machine body 21 in the loading / unloading device 20 is stopped at the home position HP and the fork body 25 is protruded so as to be positioned below the article 1 as shown by the solid line in FIG. 14. Let
[0055]
Next, the spring cylinder device 78 is contracted against the spring elastic force, and as shown by the solid line in FIG. 14, both abutments 77 are moved away from each other to release the clamping. Then, the article 1 can be received by the loading / unloading device 20 by moving the carriage 24 up and moving the fork body 25 back and forth. Thereafter, the article 1 can be stored in the intended compartment storage space 13 by a combined operation of the traveling movement of the traveling machine body 21, the raising / lowering movement of the carriage 24, and the moving-in / out movement of the fork body 25. In addition, by the same operation of the loading / unloading apparatus 20, the articles 1 in the target compartment storage space 13 can be unloaded to an unloading article take-out facility.
[0056]
As described above, the fork body 25 of the loading / unloading device 20 is made to act on the article 1 lifted by the article holding means 41 from the direction orthogonal to the alignment direction, thereby supporting the article supported by the fork body 25. 1 has a stable support posture because its center of gravity is aligned. Moreover, the warehousing posture into the compartment storage space 13 is also stabilized.
[0057]
After the article 1 is received by the loading / unloading device 20 as described above, in the article holding means 41, the reverse turning movement of the turning section 54B, the lowering movement of the raising / lowering section 54A (the raising / lowering body 54), and the holding parts 75 By performing the separation movement in a predetermined order, the posture of receiving the first article 1 can be returned. Note that the lower limit of the elevating part 54A is positioned by engaging the positioned body 63 with respect to the positioning body 64 from above by the downward movement of the elevating part 54A.
[0058]
Next, a second embodiment of the present invention will be described with reference to FIG.
That is, the direction of the article conveying path 35 of the conveying means 31 is orthogonal to the direction of the traveling path 15 of the loading / unloading device 20. According to such a configuration, in the article holding means 41, the article 1 stopped at the article stop position 39 by the article stopping means 46 may be lifted after alignment from the lateral direction. A configuration for turning around the longitudinal axis 56 may be omitted. The article stopping means 46 is configured to be able to escape to a position that does not hinder the receipt of the article 1 by the loading / unloading device 20.
[0059]
Next, a third embodiment of the present invention will be described with reference to FIG.
That is, the direction of the article conveying path 35 of the conveying means 31 is orthogonal to the direction of the traveling path 15 of the loading / unloading device 20. The two sandwiching bodies 71 are configured to be able to approach and separate from each other in the direction of the article transport path 35. According to such a structure, it is comprised so that both the clamping bodies 71 can be withdrawn with respect to the articles | goods conveyance path | route 35, and it can align when it protrudes. Thereby, the structure which abbreviate | omitted the article | item stop means 46 is also attained.
[0060]
Next, a fourth embodiment of the present invention will be described with reference to FIG.
That is, the direction of the article conveying path 35 of the conveying means 31 is orthogonal to the direction of the traveling path 15 of the loading / unloading device 20. The transport means 31 is configured to be able to transport the article 1 such that the width W of the article 1 is along the article transport path 35. Further, the both sandwiching bodies 71 are configured to be able to approach and separate from each other in the direction of the article transport path 35.
[0061]
According to the configuration of the fourth embodiment as described above, both the sandwiching bodies 71 can be moved in and out of the article transport path 35 so that the article 1 can be aligned from the direction of the width W when it is projected. It is configured. Thereby, the structure which abbreviate | omitted the article | item stop means 46 is also attained. The aligned article 1 is lifted and turned, and its front-rear width L is made perpendicular to the direction of the travel path 15 and then received by the loading / unloading apparatus 20 side.
[0062]
In the above-described embodiment, by providing the article stop means 46 at the terminal portion of the article transport path 35 by the transport means 31, the article stop position 39 is formed above the article stop means 46. For example, the article 1 may be detected by a sensor and the conveying unit 31 may be stopped.
[0063]
In the first embodiment described above, the article holding means 41 is configured to be pivotable around the longitudinal axis 56 in the lifted state, as shown in the second and third embodiments. It may be of a type that does not turn.
[0064]
In the above-described embodiment, the article holding means 41 is provided with the lifting action portion 74 from the lower part of the both sandwiching bodies 71 toward the opposite side. However, when sufficient sandwiching is obtained by the both sandwiching bodies 71, Alternatively, when a lifting means is separately provided, the lifting action portion 74 can be omitted.
[0065]
In the above-described embodiment, the pair of sandwiching bodies 71 have the sandwiching portions 75 that are elastically projected and biased toward the opposite sides, but this may be a sandwiching type that does not use elastic force. Good.
[0067]
In the above-described embodiment, the loading / unloading device 20 of the automatic warehouse 11 is shown as an article receiving means that can act on the article 1 lifted by the article holding means 41 from a direction orthogonal to the alignment direction. The fork body 25 of the loading / unloading apparatus 20 is configured to act. As the article receiving means, the article 1 is brought into the carriage 24 side by a drawing means (arm type, drawer type, etc.) provided on the loading / unloading apparatus 20 side. It may be in a format that is received.
[0068]
In the embodiment described above, the loading / unloading device 20 of the automatic warehouse 11 is shown as the article receiving means that can act on the article 1 lifted by the article holding means 41 from a direction perpendicular to the alignment direction. However, the article receiving means may be a self-propelled carriage, a forklift or the like.
[0069]
In the above-described embodiment, the lifting cylinder device 55 is used as the lifting device, and the turning cylinder device 60 is used as the swing device. The lifting device and the swing device may be a rack and pinion type, It may be a drive gear type.
[0070]
【The invention's effect】
  According to the first aspect of the present invention, the article conveyed by the conveying means can be stopped at the article stop position in the article holding means. The stopped article can be lifted after being aligned from the lateral direction by the article holding means. In other words, the article holding means in the accepting state lowers the elevating body and moves both the holding bodies away from each other. In such a state, the article conveyed by the conveying means is moved between both sandwiched bodies and stopped at the article stop position. The article can be aligned from the lateral direction by the clamping force by moving both of the clamping bodies closer to each other on the lateral side of the article by the operation of the clamping device. At that time, the lower clamping device forcibly operating with this clamping device forcibly moves the lower part of the clamping body closer, so that the lower parts of both clamping bodies are moved closer to the upper part in synchronization with the upper part. The lead can be sufficiently performed, and the pinching device can always operate suitably without causing damage. Next, the lifting / lowering means is raised by the operation of the lifting / lowering means, and both the sandwiching bodies are raised, whereby the article can be lifted while maintaining the alignment. Accordingly, the article can be supplied with its center of gravity always kept constant without preparing complicated stop control and a large amount of pallets.
[0071]
According to the second aspect of the present invention described above, the article can be swung at a predetermined angle while maintaining alignment by lifting and swiveling around the longitudinal axis so that the article can be conveyed by the conveying means. Can easily cope with the direction.
[0072]
  According to the above-described third aspect of the present invention, the article holding means in an acceptable state lowers the elevating body, positions the lifting action portion below the conveying surface, and both sandwiching bodies.TouchThe article can be aligned from the width direction by the clamping force by moving it closer and bringing it into contact with both lateral surfaces of the article. ThenBothWhen the lifting action part is raised together with the sandwiching body, the lifting action part comes into contact with the lower surface of the article, and after that, the article can be raised through the lifting action part, so that the article is maintained in alignment. Can be lifted with.
[0073]
Further, according to the fourth aspect of the present invention described above, due to the close movement of the both arm portions of both the sandwiching bodies, the sandwiching portions are brought into contact with both side surfaces on the lateral width side of the article, so that the article is brought into the lateral direction by the sandwiching force. Can be aligned. At that time, the clamping is performed against the elastic force, and therefore, the alignment can be performed easily and sufficiently by the elastic pressure.
[0074]
In addition, according to the fifth aspect of the present invention, after the article is aligned from the lateral direction by the close movement of both the sandwiching bodies, the lifting body is first lifted by the operation of the lifting device, and the article is lifted together with both sandwiching bodies. it can. Next, the swiveling device is swiveled around the vertical axis by the operation of the swivel motion device, so that the article can be swiveled via both sandwiching bodies on the swivel unit side.
[0076]
  And the above-described present inventionClaim 6According to the present invention, the article supported by the article receiving means is applied to the article that has been aligned and lifted by the article holding means from the direction orthogonal to the alignment direction. Since the positions of the center of gravity are aligned, a stable support posture can be obtained, and a storage posture into the compartment storage space can also be stably performed. Thereby, it can employ | adopt suitably for an automatic warehouse.
[Brief description of the drawings]
FIG. 1 is a side view of an article supply facility according to a first embodiment of the present invention.
FIG. 2 is a plan view of an automatic warehouse using the article supply facility.
FIG. 3 is a partially cutaway front view of the article supply facility when receiving an article.
FIG. 4 is a partially cutaway front view of the article supply facility when the article is lifted.
FIG. 5 is a partially cutaway plan view of the main part of the article supply facility when receiving an article.
FIG. 6 is a partially cutaway plan view of the main part of the article supply facility during article turning.
FIG. 7 is a partially cutaway side view of a lifting body portion of the article supply facility.
FIG. 8 is a partially cut-out bottom view of a lifting body portion of the article supply facility.
FIG. 9 is a partially cutaway side view of the lower clamping and moving device portion of the article supply facility.
FIG. 10 is a partially cut-out plan view of a lower clamping movement device portion of the article supply facility.
FIG. 11 is a front view illustrating a sandwiching body operation of the article supply facility.
FIG. 12 is a schematic side view showing an article lifting state of the article supply facility.
FIG. 13 is a schematic side view showing an article turning state of the article supply facility.
FIG. 14 is a schematic side view showing an article delivery state of the article supply facility.
FIG. 15 is a plan view of an automatic warehouse using an article supply facility according to a second embodiment of the present invention.
FIG. 16 is a plan view of an automatic warehouse using an article supply facility according to a third embodiment of the present invention.
FIG. 17 is a plan view of an automatic warehouse using an article supply facility according to a fourth embodiment of the present invention.
[Explanation of symbols]
1 article
11 Automatic warehouse (automatic warehouse equipment)
13 compartment storage space
14 shelves
15 Travel route
20 Loading and unloading device (goods receiving means)
24 Carriage
25 fork body
30 Goods supply equipment
31 Conveying means
33 Laura
35 Article transport route
39 Article stop position
41 Article holding means
42 Fixed frame
46 Article stopping means
48 Stopper body
50 cylinder device
52 Holder
54 Elevator
54A Elevator
54B Turning part
55 Elevating cylinder device (elevating device)
56 Vertical axis
58 Vertical axis
60 Cylinder device for turning (turning device)
71 Nipping body
72 arms
72a armband
74 Lifting action part
75 Clamping part
77 Contact body
78 Spring cylinder device
80 Clamping device
82 Ball screw
83 Drive unit
90 Lower clamping device
92 Ball screw
93 Drive unit
98 Locking body
HP home position
L Front / rear width
W width
H height

Claims (6)

An article stop position is provided in the article transport path by the transport means, and an article holding means is provided at the article stop position that can be lifted after the stopped article is aligned from the lateral direction. The lifting and lowering body interlocked with the lifting and lowering device, a pair of left and right sandwiching bodies provided on the lifting and lowering body, and a sandwiching and moving device that moves the sandwiching members closer to and away from each other. The body is moved closer to each other and brought into contact with both side surfaces of the article, so that the article is aligned from the width direction by the clamping force. Below the article holding means, the lower part of both the clamping bodies is arranged. article supply equipment, characterized in that act and lower clamping Automatic device for forcibly close movement of the lower portion of the operating in synchronous form the approach movement of the two clamping members by clamping Automatic device both holding member is provided .   2. The article supply facility according to claim 1, wherein the article holding means is configured to be pivotable about a longitudinal axis when it is lifted.   The article supply facility according to claim 1 or 2, wherein the article holding means is provided with a lifting action portion from the lower part of both sandwiching bodies toward the opposite side.   The pair of sandwiching bodies is configured by arm portions that are moved toward and away from each other by a sandwiching movement device, and sandwiching portions that are provided on opposite sides of these arm portions and elastically protrude and biased toward the opposite sides. The article supply equipment according to any one of claims 1 to 3.   The lifting / lowering body of the article holding means is configured by a lifting / lowering unit interlocked with the lifting / lowering device, a turning unit provided so as to be turnable around the vertical axis with respect to the lifting / lowering unit, and a turning device. The article supply equipment according to any one of claims 1 to 4, wherein   The article receiving means according to any one of claims 1 to 5, further comprising an article receiving means capable of acting on the article lifted by the article holding means from a direction orthogonal to the alignment direction. Supply equipment.

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