JPH06107305A - Article carrying in and out device - Google Patents

Abstract

PURPOSE:To execute the carrying in/out of an article between a picker and a load receiving space without using a container of a special shape or an article shape. CONSTITUTION:At a picker 5 to conduct the carrying in/out of an article W in regard to the rack plate 2a of a load receiving space formed at a rack frame, a pair of right and left side plates are provided so as to be able to move advancingly and retreatingly in regard to the load receiving space with an article mounting portion 13 interposed, and are driven by means of a pinion drive motor and a pinion 15 and upper and lower racks 14, 31. On the respective inner surraces of the right and left plates, chains 43, 43 to couple the front and rear positions of the article W in an annular shape that is a side surface view, are hang-windingly arranged at chain sprockets 37, 38 located at the height position of the middle portion between the upper and lower portions of the article W on the article mounting portion 13, and at chain sprockets 41, 42 located at the upper position than the article W, and while both ends of a stick body 44 long from side to side are connected horizontally to the pair of right and left chains 43, 43, arrangement is made so that one side chain 43 may be driven in forward/backward rotation by means of a chain drive motor.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for loading and unloading articles into and from a cargo receiving space of a shelf in a warehouse or the like.

[0002]

2. Description of the Related Art Conventionally, in a shelf frame provided in a warehouse or the like, cargo receiving spaces are formed in a matrix in the vertical and horizontal directions, and a picker that moves along the front surface of the shelf frame is used. Various means have been devised for loading and unloading the container from the loading space. Out of which, 51-11
In Japanese Patent No. 1681, a pair of front and rear shelf frames are arranged so as to have a load receiving space in front of and behind the picker, and downward L-shaped engaging portions are provided on the front and rear surfaces in the loading / unloading direction of the container, while The picker to move up and down,
A roller that supports the lower surface of the container and a pair of left and right endless chains that are driven to wind around the container along the carrying-in / out direction of the container are provided on the picker. In the pair of left and right endless chains, a pair of laterally long horizontal locking rods orthogonal to the loading / unloading direction of the container are arranged along the loading / unloading direction at intervals slightly longer than the longitudinal length of the container. Attach the base of the stop bar across the pair of left and right endless chains and attach the pair of locking bar
It is configured to pass over the upper side and the lower side of the roller as the endless chain is driven.

When the container is unloaded from the load receiving space to the picker, the endless chain is normally rotated to lock the one of the locking horizontal bars (on the unloading side) from below to the engaging portion on the front surface of the container in the load receiving space. Then, by the forward rotation of the endless chain, the container is pulled so as to be transferred to the picker by the locking horizontal bar that moves in the carry-out direction above the roller. On the contrary, when the container is loaded into the load receiving space from the picker, the locking horizontal bar located on the loading rear surface side of the container is placed in the gap between the rear surface side of the container and the engaging portion on the rear side by reverse rotation of the endless chain. It is configured to fit and push the rear surface of the container into the load receiving space as the locking horizontal bar moves above the roller in the loading direction.

According to this structure, a special container having engaging portions on the front and rear surfaces is required, the length of the container in the loading / unloading direction satisfies a certain condition, and the container is loaded / unloaded in the load receiving space. If it is not stopped at a predetermined position in the direction, there is a problem that the engaging lateral bar and the engaging portion cannot be engaged and disengaged. Further, in Japanese Utility Model Laid-Open No. 63-277107,
The picker is provided with a pair of left and right slide arms that move forward and backward with respect to the left and right sides of the load receiving space. An endless chain is wound around the pair of slide arms in a longitudinal direction along the forward and backward directions to drive the endless chains. Discloses a configuration in which an engagement body is provided that engages and disengages with an engagement portion formed on both left and right side surfaces (side surfaces along the advancing / retreating direction) of the container.

According to this structure, if there are no engaging portions on the left and right sides of the container, the container cannot be pulled out of the load receiving space into the picker or pushed into the load receiving space from the picker, and the container cannot be placed at a predetermined position in the load receiving space. If the engagement part on the side of the container is not located, it will still be impossible to engage and disengage,
There was a problem that it was not possible to carry in and out the container.

The present invention solves the above problems of the prior art,
An object of the present invention is to provide an article loading and unloading device that does not require the use of a container having a special shape, and has no limitation on the length in the loading and unloading direction of an article to be loaded into or unloaded from the container or the placement position with respect to the load receiving space. It is a thing.

[0007]

In order to achieve the above object, the present invention moves a picker for loading and unloading articles into and from an article receiving space formed in a shelf frame along the open side of the shelf frame. In the article loading / unloading device freely provided, the picker is provided with a pair of left and right side plates so as to be moved forward and backward with respect to the load receiving space with the article placing portion of the picker interposed therebetween.
On each inner surface of the pair of left and right side plates, an endless body that connects the vertical position of the article on the article placement portion, the position above the article, and the front-rear position of the article in a ring shape in side view is wound. It is characterized in that both ends of a horizontally long rod are horizontally connected to the pair of left and right endless bodies while the at least one endless body is driven to rotate forward and backward.

[0008]

[Embodiments] Next, embodiments embodying the present invention will be described. In this embodiment, a pair of left and right long shelf frames 1 and 1 are formed with a plurality of stages of cargo receiving spaces 2 ... To do. The traveling rails 4 and 4 are arranged in the passage 3 at the respective heights of the steps of the load receiving space 2, and the front and rear parts of the picker 5 to be described later for each step in the load receiving space 2 of the step. It can be moved left and right so as to face the open side of the front and back.

Axles 8, 8 are mounted on the upper surface of the traveling table 6 of each picker 5 via bearings 12, and the traveling rails 4, 4 project from the front and rear edges of the traveling table 6 at the ends of both axles 8. Is provided with four traveling wheels 7, and power is transmitted from one traveling motor 9 mounted on the traveling table 6 to the one axle 8 through a chain or a V belt. A sandwiching roller pair 11 is provided on a bracket 10 projecting from the traveling platform 6, and the sandwiching roller pair 11 sandwiches vertical pieces of the traveling rails 4 and 4 and guides them without lateral displacement, inclination, or wheel removal.

On the upper surface of the traveling table 6 of each of the pickers 5,
The front and rear edges of a plate-shaped article placing portion 13 having a width dimension (W1) are fixedly provided.
8 in parallel (parallel to the loading / unloading direction of the article W) with a pair of lower racks 14 and 14 having a front-rear length (L1) appropriately spaced (W).
1) Separately fix to the carriage 6. Both lower racks 14, 14
Pinions 15, 15 that mesh with the teeth formed on the upper surface of the
Is fixed to the drive shaft 16.

The hollow intermediate bases 17 and 18 that can reciprocate along the longitudinal direction of the lower racks 14 and 14 are slid on the slide rails 21 and 22 on the upper surfaces of the support frames 19 and 20 fixed to the traveling base 6. It is slidably supported via 23 and 24. An end portion of the drive shaft 16 is rotatably supported by bearings 25 and 26 projecting downward from the lower surfaces of the intermediate bases 17 and 18, and a forward / reverse rotatable step motor or the like provided in one intermediate base 17 is provided. Pinion drive motor 27
The drive shaft 16 is driven via the pulley 28, the belt 29, and the pulley 30.

The upper racks 31 and 31 having a length (L1) that mesh with the upper surfaces of the pinions 15 and 15 include left and right side plates 32 and 3.
It is fixed to the lower end part of 2, and left and right side plates 32, 32
Sliders 35 and 36 fixed to the side surfaces of the intermediate bases 17 and 18 are slidably fitted back and forth on intermediate rails 33 and 34, which are fixed to the outer surface of the intermediate rails 33 and 34 and extend longitudinally. In addition,
The left and right side ends of the article placing section 13 are provided with upper racks 31,
It is bent and formed in a stepped shape so as to cover the upper surface and the inner side surface of 31.

As shown in FIGS. 2 and 3, the inner surfaces of the left and right side plates 32, 32 are located above the upper racks 31, 31 (height (H1) above the upper surface of the article placing portion 13).
While the lower chain sprockets 37, 37, 38, 38 are rotatably supported by bearings near the front and rear edges of the side plates 32, 32, the side plates 32 are located near the upper edges of the side plates 32. , 32 near the front and rear edges,
The support shafts 39, 40 are pierced through at a height position (H2) higher than the upper surface, and the upper chain sprockets 41, 41, 42, 42 are attached to the support shafts 39, 40, and the inner surface of each side plate 32 is attached. The upper and lower chain sprockets 37, 3
An endless chain 43 is arranged so as to surround the outer peripheral surfaces of 8, 41 and 42.
Both ends of a horizontally long rod body 44 are horizontally connected to 3, 43.

And the one side (the side close to the intermediate stand 17)
The side plate 32 of the lower chain sprocket 37, 38
A drive shaft 4 of a chain drive motor 46 provided in the intermediate stand 17 with a through hole 45 having a length (L2) provided in a section between
The chain sprocket 48 to be mounted on the lower chain sprocket 3 is attached to the inner surface of the side plate 32 through the insertion hole 45.
The chain 43 is engaged with the lower peripheral surface of the chain sprocket 48 at a position substantially the same as the lower peripheral surfaces of the wheels 7, 38. At this time, in order to ensure the meshing with the chain 43, the side plate 3
On the inner surface of 2, a support block 4 having longitudinal lengths for supporting the chain 43 below the chain sprocket 48 is provided.
Attach 9.

A short support block is fixed to the intermediate table 17 with a proper gap (to the extent that the chain 43 can pass) from the lower peripheral surface of the chain sprocket 48, and the short support block and the drive shaft 47 of the chain sprocket 48 move forward and backward. The vertical dimension of the insertion hole 45 may be set so as to be movable. As shown in FIGS. 1 to 3, an article W (conveyed object) having a maximum width dimension (W3), a maximum length dimension (L3), and a maximum height dimension (H3) is provided in the article placement portion 13 of the picker 5. )
The maximum height dimension (H
3) is such that the rod body 44 attached to the support shafts 39, 40 and the chain 43 does not interfere with the rod body 44 when it is located between the upper chain sprockets 41, 42 (see FIG. 3).

If the upper surface of the article placing portion 13 on the traveling table 6, the upper surface of the traveling rail 4 and the upper surface of the shelf board 2a are set at the same height, the article W which is moved in and out can be moved. Since the lower surface of the sliding contact the upper surface of the traveling rail 4,
There is no inconvenience that the lower edge of the article W can be stuck at the front and rear edges of the above and the front edge of the shelf 2a. Further, by setting the lower end surface of the traveling platform 6 at substantially the same height as the lower end surface of the traveling rail 4,
Although the traveling platform 6 has high rigidity, the required height dimension up to the upper edge of the side plate 32 that must be inserted into the load receiving space 2 can be increased, and a wasteful height space in the shelf frame 1 and the article carrying-in / out apparatus can be provided. Can be reduced.

Next, the operation of the article carrying-in / out apparatus will be described. The article W on the article placement unit 13 is shown in FIG.
As shown in FIG. 5, in order to carry in (push) the shelf 2a in the load receiving space 2 located on the left side of the drawing, the chain drive motor is positioned so that the rod body 44 is located on the right edge side of the left and right side plates 32, 32. First, 46 is rotated in the forward direction to move the chain 43 in the direction of arrow A so that the bar 4 is moved to the back side of the article W to be loaded.
4 is abutted and the article W is pushed in the direction of arrow B. In this state, when the pinion drive motor 27 is then rotated forward, the pinion 15 rotates forward, and the intermediate stands 17 and 18 that move integrally with the pinion 15 move away from the lower rack 14 in the direction of arrow B (L4). ), And the upper rack 31 that meshes with the upper surface of the pinion 15 moves the same distance (L4) with respect to the pinion 15 as described above.
32 is a distance (2 ×
By moving (forward) by L4), the article W can be pushed onto the shelf board 2a in the load receiving space 2.

In this way, by simultaneously operating the chain drive motor 46 and the pinion drive motor 27, the work of loading the article W can be completed in a short time. In addition, the article W is placed at a predetermined position on the shelf 2a (a mounting position in the depth direction).
In order to stop at, the left and right side plates 32, 3 are considered in consideration of the reduction ratios of the chain drive motor 46 and the pinion drive motor 27.
The operating time of each of the drive motors 27 and 46 may be calculated from the moving speed of 2 and the moving speed of the rod 44.

Of course, the pinion drive motor 27 may be operated after the chain drive motor 46 is operated for an appropriate time. Next, in order to carry out the article W from the shelf plate 2a, the chain drive motor 46 is rotated in the reverse direction to move the rod body 44 in the direction of arrow C in FIG. . At about the same time, the pinion drive motor 27 is rotated forward so that the front ends of the left and right side plates 32, 32 enter the load receiving space 2, and as shown in FIG. At this point, the rod 44 passes above the article W on the shelf 2a and wraps around to the back side. Then, the chain drive motor 46 is rotated while the pinion drive motor 27 is rotated in the reverse direction.
To continue the reverse rotation operation. Then, the left and right side plates 3
Since the rods 2 and 32 move so as to push out from the back side of the article W while moving from the cargo receiving space 2 to the article placing section 13 side, the article W can be carried onto the article placing section 13 in a short time. become.

As described above, the maximum depth, height, and length of the articles W that can be placed on the article placing portion 13 of the picker 5 and the shelf 2a are limited as in the conventional case. However, according to the present invention, since the article W is only pushed from the rear surface (the rear side in the transport direction) by the rod body 44, a container having a special shape that particularly needs an engaging portion is not necessary. According to the present invention, a simple dish-shaped container on which the article W is loaded, a product in a deep open container, a product in a cardboard box, or a cylinder such as a barrel may be used. ,
It does not hinder the loading and unloading of articles (objects to be transported) in these states.

In the case of carrying in and out, these left and right side plates 32, 3
The downward load of the article W does not act on the 2 or the chain 43, and when the article W is moved back and forth, the rod body 44 attached to the chain 43 has a horizontal reaction force on the side close to the upper rack 31 (low position). Since it works, it is not necessary to make the bearings of the chain sprockets 37 and 38 strong and to make the side plate 32 thick.

In the present embodiment, since the pickers 5 are arranged in the load receiving spaces 2 in the upper and lower stages, the work of carrying out the article W and the work of carrying in the article W can be performed in parallel for each of the stages. . Further, the chain drive motor 46 and the pinion drive motor 27 in the picker 5 are configured to be rotatable in the forward and reverse directions, and the left and right side plates 32, 32 can be moved in and out in the front-back direction of the article placing portion 13, so that the front and rear of the picker 5 can be moved. The storage efficiency of the articles W can be increased by forming the shelf frames 1 and 1 in a warehouse in a form in which they are arranged.

If chain drive motors 46, 46 for synchronously driving the chains 43, 43 of the pair of left and right side plates 32, 32 in forward and reverse directions are provided on the intermediate tables 17, 18, the heavy articles W can be carried in and out. Work can be performed smoothly. Further, the chain 43 and the chain sprockets 37, 38,
Instead of 41 and 42, a timing belt and a pulley may be used. Also, the article placing portion 13 and the shelf board 2a
The upper surface of 1 may be coated with a surface material having a small sliding friction coefficient, such as fluororesin (polytetrafluoroethylene), so that the article W may slip easily.

According to the present invention, a vertically elongate column is provided upright on a traveling vehicle body which is movable along the front surface of a shelf frame in which the cargo receiving spaces are arranged in a multi-stage and a plurality of right and left so-called matrix forms, and the above-mentioned configuration is provided in the column. Needless to say, it may be an article loading / unloading device in which the picker of FIG.

[0025]

As described above, in the present invention, the picker for loading and unloading articles into and from the cargo receiving space formed in the shelf frame is movable along the open side of the shelf frame. In the article loading and unloading device provided, the picker is provided with a pair of left and right side plates so as to be moved forward and backward with respect to the load receiving space with the article placing portion of the picker interposed therebetween, and on each inner surface of the pair of left and right side plates. Is an endless body that loops the vertical position of the article on the article placement part, the position above the article, and the front-rear position of the article in a ring shape in a side view. Since both ends of a horizontally long rod are connected horizontally to the body, and at least one of the endless bodies is driven to rotate forward and backward, the left and right side plates are loaded when loading articles into the loading space. Operate a pair of endless bodies while moving them into space. Pressing the carry-back side of the article Te at the two endless body horizontal shaped rod linked to.

On the contrary, when the article is carried out from the load receiving space to the picker, the left and right side plates are inserted into the left and right outer sides of the article in the load receiving space, and the horizontal bar passes above the article to the back side. After wrapping around, the pushing back side of the article is pushed by the rod and the left and right side plates are moved to the picker side. As described above, according to the present invention, since the left and right side plates are moved and the back side of the moving direction of the article (object to be conveyed) is pushed by the rod, the article to be carried in and out is stored in a container having a special shape. It is not necessary to store the product in the housing and the shape of the article is not particularly limited.

Further, the movement of the left and right side plates and the operation of pushing the back side of the article in the moving direction with the rod can be performed at the same time, so that the work time required for loading and unloading the article can be shortened and the quick loading and unloading work can be performed. Can be realized.

[Brief description of drawings]

FIG. 1 is a plan view of a shelf frame and a picker.

FIG. 2 is a sectional view taken along the line II-II of FIG.

FIG. 3 is a sectional view taken along the line III-III of FIG.

4 (a), (b), and (c) are explanatory diagrams of an article loading operation.

FIG. 5 is an explanatory diagram of an article unloading operation.

[Explanation of symbols]

 1 Shelf Frame 2 Loading Space 2a Shelf Board 4 Travel Rail 5 Picker 6 Travel Platform 13 Article Placement Section 14 Lower Rack 15 Pinion 27 Pinion Drive Motor 31 Upper Rack 32 Side Plate 37, 38 Lower Chain Sprocket 41, 42 Upper Chain Sprocket 43 Chain 44 Rod 45 Insertion Hole 46 Chain Drive Motor 48 Chain Sprocket

Claims (1)

[Claims] 1. An article loading and unloading device comprising a picker for loading and unloading articles into and from an article receiving space formed in a shelf frame, the article loading and unloading device being provided movably along an open side of the shelf frame. , A pair of left and right side plates are provided so as to be moved forward and backward with respect to the load receiving space with the article placing part of the picker interposed therebetween, and the inner surfaces of the pair of left and right side plates are provided with a midway up and down of the article on the article placing part. An endless body that connects the part height position, the position above the article, and the front-back position of the article in a ring shape in a side view is wound around, and both ends of a laterally long rod are horizontally connected to the pair of left and right endless bodies. On the other hand, the article loading and unloading device, wherein the at least one endless body is configured to be driven to rotate forward and backward.