JP3189545B2 - Two-way transfer equipment in automatic warehouse - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a two-way transfer device in an automatic warehouse, and more particularly to a device capable of transferring items from shelves on both sides, and a variety of various single or plural items. The present invention relates to a two-way transfer apparatus in an automatic warehouse, which is suitable for transferring an article and can transfer another article after the article is transferred.

[0002]

2. Description of the Related Art As a conventional automatic warehouse, a plurality of fixed shelves in which a plurality of unit shelves are arranged vertically and horizontally are provided at predetermined passages, and a plurality of fixed shelves are arranged at regular intervals so as to be movable in a passage between them. 2. Description of the Related Art Various types of stacker cranes are provided, which have a structure in which articles stored in fixed shelves are taken out of the shelves and articles are stored in empty unit shelves. In addition, instead of the stacker crane, there are already various types of structures in which a picking dolly that can travel in the horizontal direction for each of the upper and lower shelves and that can store articles on the fixed shelf and exit from the fixed shelf as described above is provided. Provided.

Further, in the conventional automatic warehouse, when articles are stored directly on the unit shelf of the fixed shelf, the size of each article is fixed because of the demand for ease of transfer. Storing trays of a certain standard
It is common practice to store containers or pallets of a certain standard on which one or more articles are placed, and accordingly, a transfer device has a structure suitable for transferring a single object of a specific shape. Has been adopted. For example, a structure having a pusher on the unit shelf for pushing an object from the back of the unit shelf, a structure having a pair of arms capable of sandwiching and pulling out an object from both sides, a tray, a container or a pallet. There are ones that are locked and pulled out.

However, since the transfer device in the conventional automatic warehouse has a direction for transferring the articles, one picking crane or a plurality of picking dollies are provided for one fixed shelf in pairs. Only one side of the shelf could be accommodated and space efficiency was poor. In addition, both are intended for the transfer of one object, and have the drawback that when multiple objects are transferred at the same time, or when the size and shape of the objects to be transferred are different, it cannot be handled, In recent years, it has not been possible to respond to the demand for efficiently handling various and diverse articles. In addition, after an article is transferred to the transfer apparatus, another article cannot be transferred subsequently, and it is necessary to transfer another article after unloading the once transferred article.

[0005]

SUMMARY OF THE INVENTION In view of the above situation, it is an object of the present invention to transfer goods from the shelves on both sides in exactly the same manner, and to provide articles of different sizes. Can be transferred one by one, and a plurality of small articles can be transferred at the same time.It is suitable for efficiently handling various and diverse articles, and without transferring the articles after leaving the articles. Subsequently, an object of the present invention is to provide a two-way transfer device in an automatic warehouse that can transfer other articles.

[0006]

According to the present invention, in order to solve the above-mentioned problems, a pair of comb-shaped forks are provided on a main body part, which can be moved up and down independently from both sides thereof and can be raised and lowered independently. Provided in the opposite direction, this pair is arranged singly or in parallel along the picking shelf, and the unit members constituting the paired forks are alternately arranged, while the picking shelf has the forks on the upper surface. A container in which a plurality of ridges that can be engaged is arranged in a comb-like shape is arranged, and the height of the ridge is set higher than the vertical width of the fork, and each fork or the plurality of forks cooperate with each other. Then, a two-way transfer device in an automatic warehouse capable of lifting an article on a container stored in a picking shelf and transferring the article into a main body is configured.

[0007]

According to the present invention, a bidirectional transfer apparatus for an automatic warehouse according to the present invention is provided between two picking shelves provided with a predetermined moving space and arranged side by side. From one or more forks corresponding to the picking shelf on one side, projecting in the depth direction of the picking shelf,
After inserting it between the comb-shaped ridges formed in the container and positioning it below the articles, it is raised to place one or more small articles on each fork, or a plurality of forks that cooperate A large article is placed on the main body and a fork is pulled into the main body to transfer the article from the picking shelf into the main body. In addition, the article is transferred from the picking shelf on the other side by the other one or more forks corresponding thereto in the same manner as described above.

Further, once an article is placed on a fork and transferred into the main body, and subsequently, another article stored on one side of the picking shelf is transferred, it is necessary to use one of the pair of forks. While the one fork corresponding to the picking shelf is stationary, the other fork is lowered to place the already transferred article on the one fork, and in that state, the other end of the fork is stored in the picking shelf. Is inserted between the ridges of the container on which is placed, and the already-transferred article is positioned at the base end of the other fork, and then the other fork is raised to place the already-transferred article on the base end. . Next, after one fork is pulled into the main body, the other fork is lowered,
With one fork raised and the already-transferred article placed on the tip of the one fork, it is moved in the direction of the container to bring the already-transferred article into contact with another article on the container, and then the The fork is lowered to support the transferred article on the edge of the container, and the fork is inserted between the projecting ridges of the container so that the tip of the fork is positioned below the other article. When the one fork is inserted, the transferred article slides on the fork and relatively moves. Then, the one fork is raised, and the already-transferred article and the other article are placed on the leading end,
Finally, by pulling the fork into the main body, other articles can be transferred.

[0009]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing a first embodiment of the present invention; FIG. 1 shows a typical embodiment of an automatic warehouse according to the present invention, wherein 1a and 1b are picking shelves,
Reference numeral 2 denotes a storage shelf, 3 denotes a stacker crane, and 4 denotes a picker.

In the automatic warehouse according to the present invention, picking shelves 1a and 1b are arranged in two rows across a moving space 5, and the storage shelves 2 are separated from the picking shelves 1a by a predetermined transfer passage 5. After collecting empty containers in the picking shelves 1 with the stacker crane 3 arranged in the transfer passage 6 and then refilling the empty containers in the storage shelves 2 with the empty containers, the picking shelves are refilled. The picker 4 takes out only the articles on the container from the front of 1a. Here, the picker 4 is arranged in the moving space 5 so that articles can be transferred from both picking shelves 1a and 1b. Note that a storage shelf for replenishing articles to the picking shelf 1b is omitted.

Specifically, the automatic warehouse includes a plurality of picking shelves 1a, 1b in which a plurality of unit shelves 7,... Open front and rear are arranged vertically and horizontally, and a transfer passage 6 facing the picking shelves 1a, 1b. Are arranged side by side, and at least a storage shelf 2 in which unit shelves 8,... Open at the front are arranged vertically and horizontally, and a collection transfer for disposing an empty container in the picking shelf 1a by disposing in the transfer passage 6. A stacker crane 3 in which a transfer table 9 in which a loading section 9a and a replenishing transfer section 9b for transferring an article loading container in a storage shelf 2 are movable in a vertical and horizontal direction, and the picking shelves 1a and 1b. It is movable in the moving space 5,
And a picker 4 which can individually transfer a plurality of articles on the container 10 stored in the unit shelves 7 of the picking shelves 1a and 1b and take them out.

In this embodiment, a container 10 having a rectangular shape in a plan view is used, and the unit shelf 7 of the picking shelf 1a is used.
The frontage is set corresponding to the long side of the container 10, and the frontage of the unit shelf 8 of the storage shelf 2 is set corresponding to the short side of the container 10. Further, the replenishment transfer section 9b of the stacker crane 3 is provided with a turntable 11 for transferring an article-mounted container and rotating by 90 degrees.

In the first embodiment shown in FIG. 1, the pickers 4 are provided for each of the unit shelves 7,... And the rails 12, which are arranged along the moving space 5 between the picking shelves 1a and 1b.
In the second embodiment shown in FIG. 2, a picking dolly 4a capable of self-propelling on a rail 12 is used.
A picking crane 4b provided with a vertically movable base 15 on a supporter 14 movable along 3 and 13 is used. Then, the container 1 on the unit shelves 7,... Of the picking shelves 1a, 1b is placed on the elevating platform 15 of the picking dolly 4a or the picking crane 4b.
There is provided a bidirectional transfer device 17 of the present invention for taking out the article 16 placed on the top of the apparatus. The bidirectional transfer device 17 of the present invention does not differ between the case where it is used for the picking dolly 4a and the case where it is used for the picking crane 4b. explain.

Here, the stacker crane 3 has a pair of columns 19, 19 which are guided along guide rails 18, 18 disposed above and below the transfer passage 6 and are movable along the transfer passage 6. A transfer table 9 is provided on the columns 19 and 19 so as to be able to move up and down. Approximately half of the transfer table 9 is the collection and transfer section 9a, and the remaining half is the replenishment transfer section 9b. Each of the transfer sections has a picking shelf 1a.
Alternatively, known transfer means (not shown) capable of transferring the container 10 from the storage shelf 2 to the transfer table 9 and from the transfer table 9 to the picking shelf 1a or the storage shelf 2 is provided.

Next, the flow of articles 16 in the automatic warehouse according to the present embodiment will be described with reference to FIG. Here, the stacker crane 3 in one picking shelf 1a and the storage shelf 2
And transfer with the picking dolly 4a will be described. In the container 10, a plurality of articles 16,... Are placed in parallel along the long side direction, and a plurality of articles 16 are arranged in the short side direction. Each of the unit shelves 7,... Of the picking shelf 1a has a container 1 on which articles 16,.
Are stored such that their long sides are oriented along the frontage, and each of the unit shelves 8,.
A similar container 10 is stored such that the short side direction is oriented along the frontage.

First, the target article 16 for which the delivery request has been made
Is present on the picking shelf 1a.
In that case, the picking dolly 4a in the step where the target article 16 is present moves along the rails 12 and 12 and stops in front of the desired unit shelf 7, and the target article 16 is moved by the bidirectional transfer device 17. The articles 16 are transferred to the picking dollies 4a, then transferred to the article retrieval shelves 20 provided at the side ends of the picking shelves 1a, and then the articles 16 are transferred to the elevator type reservoir 21 provided adjacent to the article retrieval shelves 20. And leave it.

Next, a specific unit shelf 7 of the picking shelf 1a
If there is no article 16 at all, or if the target article 16 for which the retrieval request has been made does not exist in the picking shelf 1a, the unit shelf 8 of the storage shelf 2 corresponding to the target article 16
The transfer table 9 of the stacker crane 3 moves to the position of
The replenishment transfer section 9b is positioned in front of the predetermined unit shelf 8 and stopped, and the article loading container 10 stored in the unit shelf 8 is transferred onto the rotary table 11 of the replenishment transfer section 9b. By rotating the rotary table 11, the direction of the container 10 is rotated by 90 degrees. Thereafter, or simultaneously with the rotation of the rotary table 11, the transfer table 9 of the stacker crane 3 moves to the position of the empty unit shelf 7 of the picking shelf 1a, and the collection and transfer section 9a moves to the rear of the unit shelf 7 Then, the container is stopped, and the empty container 10 is transferred to the collection / transfer section 9a. Then, the transfer table 9 is moved so that the replenishment transfer section 9b is positioned behind the unit shelf 7 and stopped, and the article mounting container 10 is transferred from the replenishment transfer section 9b to the unit shelf 7. is there. In this state, the target article 16 for which the retrieval request has been made can be retrieved in the same manner as described above.

The empty container 10 transferred to the collecting and transferring section 9a of the stacker crane 3 is transferred to an empty container exit line 22 provided at the side end of the storage shelf 2 and is carried out. And the empty container 10 that has been carried out
Are loaded again into the stocking line 23 adjacent to the empty container unloading line 22, and the refilling and transferring unit 9b or the collecting and transferring unit 9a of the stacker crane 3 It is stored in the empty unit shelf 8 of the storage shelf 2 by utilizing.

As described above, by using the stacker crane 3 and the picker 4 in combination, even when the retrieval request and the retrieval request are overlapped, the target article 16 for which the retrieval request is made exists in the picking shelf 1a. In such a case, those entry / exit requests are executed in parallel. In addition, even when the outgoing request and the incoming request overlap and the target article 16 does not exist in the picking shelf 1a, the article loading container 10 and the empty container 10 can be simultaneously placed on the transfer table 9 of the stacker crane 3. Therefore, the target article 16 can be quickly replenished from the storage shelf 2 to the picking shelf 1a, and the target article 16 can be delivered from the picker 4. Unless the target article 16 is not present in the subsequently issued retrieval request, the retrieval by the picker 4 and the unloading of the empty container 10 by the stacker crane 3 and the storage shelf 2 of the article-loaded container 10 from the outside are carried out. Can be performed in parallel. Here, since there is a low probability that the target article 16 does not exist in any of the consecutively issued retrieval requests, the average waiting time for retrieval can be shortened as a whole.

If the article 16 for which the retrieval request is made does not exist on the picking shelf 1a and there is no empty container 10, the articles 16 other than the one for which the retrieval request has been made are provided.
Is transferred from the picking shelf 1a to the storage shelf 2 using the replenishment transfer section 9b of the stacker crane 3, and the container 10 loaded with the target article 16 is transferred from the storage shelf 2 to the picking shelf 1a. Transfer to the empty unit shelf 7. Furthermore, when the article-loaded container 10 is carried out for the purpose of not being transferred from the picking shelf 1a to the storage shelf 2, it is carried out in the same manner as the above-described carry-out of the empty container 10.

When articles 16 stored in the picking shelves 1a are unloaded, when the picking dollies 4a are arranged in each stage, the unloading time is much shorter than when the picking crane 4b is used. The lower limit of the height of the unit shelf 7 is regulated by the vertical height of the picking dolly 4a. However, the height of each unit shelf 8 of the storage shelf 2 can move the transfer table 9 of the stacker crane 3 to a desired height position. And the number of storage shelves 2 can be set larger than the number of picking shelves 1a. For example, the number of storage shelves 2 can be twice as large as the number of picking shelves 1a. . The increase in the number of stages and the narrow width of each unit shelf 8 are synergistic, so that the storage shelf 2 can store three or more times the article loading containers 10,... However, since the depth width of the storage shelf 2 is substantially equal to the long side of the container 10, it becomes larger than the depth width of the picking shelf 1a and occupies a large space. The storage space efficiency due to the increase in the number of stored containers 10 is better than the decrease.

As shown in FIG. 3, the two-way transfer device 17 of the present invention comprises a pair of combs which can be independently protruded and retracted from the main body 24 of the picking dolly 4a from both sides thereof and can be independently raised and lowered. Toothed forks 25, 26 are provided in the opposite direction, and a pair of forks 25, 26 are arranged singly or in parallel along the picking shelves 1a, 1b, and a unit constituting the paired forks 25, 26 is provided. Member 27,
28 are alternately arranged. Here, the fork 25 corresponds to the picking shelf 1a.
Corresponds to the picking shelf 1b. Here, each unit member 2 constituting one fork 25 or 26
The number of 7 or 28 is required to be at least 2 or more, and is preferably about 5 to 10 respectively.

The bidirectional transfer device 17 of the present invention is shown in FIGS.
This will be described in more detail based on The bidirectional transfer device 17
A plurality of screw shafts 31,... Are rotatably provided at regular intervals between opposed horizontal rails 30, 30 of an elevating frame 29 provided to be vertically movable with respect to the main body 24 (not shown). Axis 31
A single or a plurality of L-shaped unit members 27 are fixed to the moving body 32, and one unit member 27 is fixed to one moving body 32 in the drawing. In this example, a plurality of the unit members 27 are combined to form one comb-shaped fork 25, and two of them are combined. Here, the unit members 27,... Or the moving bodies 32,... That constitute one fork 25 are connected to each other so as to move integrally. Also,
A guide shaft 3 provided in parallel with the screw shaft 31
It is also preferable that the rotation is restricted by inserting the slidable 3. As a driving mechanism of the elevating frame 29, racks 34,... Provided at four corners of the elevating frame 29 are fixed, and a pinion 36 connected to a rotating shaft of a servomotor 35 attached to the main body 24 is engaged. Each of the pinions 36 is configured to rotate in conjunction with a transmission shaft 37,..., A pulley 38,. Therefore, when the servo motor 35 is rotated in a fixed direction, the lifting frame 2
9 rises, and falls when rotated in reverse. Also,
Are rotatable in conjunction with another servo motor (not shown). When the screw shaft 31 rotates in a predetermined direction, the moving body 32 moves in the direction of the picking shelf 1a and becomes integral therewith. The fork 25 protrudes sideways from the main body 24 and is rotated backward, whereby the fork 25 is pulled into the main body 24.

As shown in FIG. 5, the lifting frame 40 having the same structure as the lifting frame 29 is disposed vertically above and below the lifting frame 29 while being slightly displaced from each other. Here, a plurality of screw shafts 42,... Are rotatably provided at predetermined intervals between the horizontal rails 41, 41 facing the lift frame 40, and a moving body 43 is mounted on the screw shafts 42. One or a plurality of unit members 28 each formed by an L-shaped member viewed from the side are fixed to the moving body 43, and the one in which one unit member 28 is fixed to one moving body 43 is shown in the drawing. For example, a plurality of the unit members 28 are combined to form one comb-shaped fork 26. Each of the unit members 28,... Or the moving bodies 43,... Constituting one fork 26 is connected to each other so as to move integrally as described above. It is also preferable that the movable body 43 is slidably guided by a guide shaft 44 arranged in parallel with the screw shaft 42. A vertically long slot 45 is formed in the horizontal rail 30 of the elevating frame 29 so that the screw shaft 42 and the guide shaft 44 provided in the elevating frame 40 can be inserted and displaced vertically. Horizontal rail 41 of lifting frame 40
Are formed with vertically long slots 46 through which the screw shaft 31 and the guide shaft 33 provided in the lifting frame 29 are inserted. Similarly, the drive mechanism of the lifting frame 40 is provided with pinions 49 fixed to racks 47 provided at the four corners of the lifting frame 40 and connected to a rotating shaft of a servomotor 48 attached to the main body 24.
, And the respective pinions 49,... Are configured to rotate in conjunction with each other by appropriately combining the transmission shafts 50,. The substantially horizontal transfer portions 53 and 54 of the forks 25 and 26 are capable of protruding and retracting to the side of the main body 24 by bypassing above the horizontal bars 30 and 41 of the lifting frames 29 and 40. I have. Here, the rotation of the screw shaft 31 or 42 causes the moving body 32 or 43 to rotate.
Move, but pass each other without touching each other.

FIG. 7 shows a pulley 38 directly fixed to a transmission shaft 37 fixed through the pinion 36, and a pulley 3 of the transmission shaft 37 fixed fixed to the pinion 36 disposed on the other side.
8 shows another example of the lifting mechanism for winding the belt 39. In this case, the belt 39 is crossed as shown in FIG. It is set so that you can go up and down. For the reverse rotation transmission between the transmission shafts 37, 37, a gear 55a is used instead of the pulley 38 as shown in FIG. 9 and a reverse gear 55b meshing with the gear 55a is interposed. The belt 39 can be wound around the pulley fixed to the rotating shaft and the pulley 38 on the other side without crossing the belt 39.

The bidirectional transfer device 17 shown here is
The same can be applied to the lift 15 of the picking crane 4b. Further, the two-way transfer device 17 of the present invention is not limited to the automatic warehouse in which the picking shelf 1a is fixed, but can be applied to an electric shelf device in which the shelf rotates, and the structure of the automatic warehouse is limited. Not done.

As shown in FIG. 10, the container 10 has a rectangular plate shape in a plan view, and a plurality of ridges 57 are formed on the upper surface of the substrate 56 along the short side at regular intervals. It is protruded and formed in a comb shape. As shown in FIG. 11, a transfer portion 53 or 5 of the fork 25 or 26 is provided in each groove 58 between the adjacent ridges 57 and 57.
4 are insertable, and the height of the ridge 57 is set higher than the vertical width of the transfer portions 53, 54 of the forks 25, 26. Therefore, as shown in FIG. 12, after the transfer portion 53 of the fork 25 is inserted into the concave grooves 58,. When the lifting frame 29 is raised and the transfer portion 53 of the fork 25 rises upward from the ridges 57,..., The article 16 on the container 10 is lifted by the transfer portion 53 as shown in FIG. By pulling the fork 25 into the main body 24 in this state, the article 16 on the container 10 stored in the unit shelf 7 of the picking shelf 1a is transferred into the main body 24 of the picking dolly 4a. This means that the transfer section 54 of the other fork 26 and the container 10
The same applies to the relationship between the ridge 57, the concave groove 58 and the article 16.

Furthermore, since the long side direction of the container 10 is oriented along the frontage of the unit shelf 7 of the picking shelf 1a, that is, the short side direction is oriented in the depth direction, the fork 25 of the picking dolly 4a is What is necessary is just to make the hammering stroke substantially coincide with the length of the short side of the container 10. Therefore, the depth width of the picking dolly 4a can be set small, and the width of the moving space 5 can also be reduced. Yes, space efficiency can be improved.

Next, a predetermined article is picked by a picking dolly 4.
A transfer method in the case where another article is transferred after the transfer in the main body 24 of FIG. 14A will be described with reference to FIGS. Here, a pair of forks 25, 26 is used, and it is assumed that the already-transferred articles 16a indicated by oblique lines are already placed at the base end of the transfer section 53 of the forks 25, and A case where the other article 16b in the front row on the stored container 10 is subsequently transferred will be described. The forks 25 and 26 are set up and down in three stages. In the highest state (u state), the upper ends of the transfer portions 53 and 54 of the forks 25 and 26 are higher than the upper ends of the ridges 57 of the container 10. In an intermediate state (m state), the transfer portions 53 and 54 can be inserted into the concave grooves 58 between the protrusions 57 and 57, and the upper ends of the transfer portions 53 and 54 have the protrusions 57. In the lowest state (d state), it is located below the m state. In each step S1 to S13 of each figure, the above-mentioned u state, m state and d state are represented by three dashed lines.

First, the above-mentioned situation setting is shown in S1, and the transferred article 16a is placed at the base end of the transfer section 53 of the fork 25, and is located in the main body section 24 (not shown). Operations up to the subsequent steps will be described in order. (S2) With one fork 25 corresponding to the picking shelf 1a kept in the m state, the other fork 26 is lowered to the d state, and the transferred article 16a is placed only on the base end of the fork 25.
(S3) With the fork 25 in the m state, the tip of the transfer section 53 is inserted between the ridges 57, 57 of the container 10 on which the other article 16b stored in the picking shelf 1a is placed, and the transferred article 16a is removed. The other fork 26 is positioned above the base end. (S4) The fork 26 is raised to the u state, and the transferred article 16a is placed on the base end of the transfer section 54. (S
5) Pull the fork 25 into the main body 24 while keeping the m state. (S6) The fork 26 is lowered to the m state.
(S7) The fork 25 is raised to the u state, and the transferred article 16a is placed on the tip of the transfer section 53 of the fork 25. (S8) Container 1 with fork 25 in u-state
The transferred article 16a is moved in the direction of 0 to abut another article 16b on the container. (S9) The fork 25 is lowered to the m state, and a part of the transferred article 16a is mounted on the edges of the ridges 57 of the container 10. (S10) The ridges 57, 5 of the container 10 with the fork 25 in the m state.
7, and the leading end of the transfer section 53 is positioned below the other article 16b. When the fork 25 is inserted, the transferred article 16a slides on the transfer portion 53 of the fork 25 and relatively moves. (S11) The fork 25 is raised to the u state, and the already-transferred article 16a and the other article 16b are placed on the leading end of the transfer section 53. (S12) Move the fork 25 to u
It is pulled into the main body 24 in the state. (S13) The fork 25 is lowered to the m state, and the already transferred article 16a and the other article 16b are also mounted on the transfer section 54 of the other fork 26.

In this way, even if an article is already placed on the transfer sections 53, 54 of the forks 25, 26 drawn into the main body section 24, as long as there is extra space for placing other articles. By moving the pair of forks 25 and 26 in and out of the same position, the other fork can be transferred into the main body 24. Also, the picking shelf 1b on the other side
Can be transferred in exactly the same procedure. Further, in the case where there is an empty space in one of the containers 10 stored in the positions opposite to each other on the picking shelves 1a and 1b, the already-transferred articles are temporarily transferred to this empty space, so that the complexity is further increased. Transfer is also possible.

Finally, the control of one of the forks 25,... When the four pairs of forks 25, 26,. The forks 25 on one side are arranged in order from one end to F1, F2, F3
F4, and as shown in FIG.
1 to 4, A1, B1, B2, C1 and C2 are placed, the upper surface of the container 10 is divided into 16 as shown in FIG. Is stored in the memory of the control device in a bit pattern as shown in FIG. 18 in correspondence with the block number. Then, when there is an article retrieval request, the number of the driving forks and the fork insertion distance are determined from the bit pattern of the block in which the corresponding article is placed by checking the memory, and the servo motor control for driving the forks is performed. It is output to the circuit and taken out as described above. The method of dividing the blocks can be freely set, and the number of forks can be freely set. Also, the other fork 2
The control of 6, 6,... Is completely the same, but when the pair of forks 25, 26 are controlled in cooperation to perform the complicated transfer as described above, a pair of forks 25, 26 are set in advance in accordance with each transfer pattern. It is also preferable that the operations of the forks 25 and 26 are stored in a memory, and the operation information corresponding to each situation is read out and controlled.

[0033]

As described above, the two-way transfer device in the automatic warehouse according to the present invention comprises a pair of comb-tooth-shaped forks, each of which can be independently moved up and down and independently raised and lowered from both sides of the main body. Are provided in the opposite direction, and a single or a plurality of the pairs are arranged in parallel along the picking shelf, and the unit members constituting the paired forks are alternately arranged,
On the picking shelf, a container in which a plurality of ridges that can mesh with the fork is arranged in a comb shape on the upper surface is arranged, and the height of the ridge is set higher than the vertical width of the fork. The fork or a plurality of forks cooperate to lift the article on the container stored in the picking shelf and transfer it into the main body. A corresponding fork or a plurality of forks is projected in the depth direction of the picking shelf, inserted between comb-shaped ridges formed in the container, positioned below the article, and then raised, It is possible to place one or more small articles on a fork or to place a large article on a plurality of cooperating forks, and to move the article from the picking shelf into the main body by pulling the fork into the main body. In addition, articles can be transferred from the other picking shelf by the corresponding one or more forks in the same manner as described above. It is effective.

Further, once the article is transferred to the main body,
Subsequently, it is easy to transfer other goods by controlling the drive by cooperating a pair of forks arranged on both sides, and even if there is no empty space in the container where the other goods are placed, If there is enough room to place another article on the transfer section, the article can be transferred to the main body continuously without having to take out the already-transferred article, and the average waiting time in taking out can be reduced.

[Brief description of the drawings]

FIG. 1 is a partially cutaway perspective view showing an automatic warehouse according to a first embodiment of the present invention.

FIG. 2 is a partially cut-away simplified perspective view showing the second embodiment.

FIG. 3 is a simplified plan view showing the concept of the bidirectional transfer device of the present invention.

FIG. 4 is a perspective view of a lifting frame constituting the bidirectional transfer device of the present invention.

FIG. 5 is a partially omitted perspective view showing a state in which two lifting frames constituting the bidirectional transfer device of the present invention are combined.

FIG. 6 is an abbreviated perspective view showing a state where a fork is incorporated in a lifting frame.

FIG. 7 is a perspective view of a main part showing another example of the interlocking elevating mechanism.

FIG. 8 is an explanatory diagram showing a state in which the belt is wound.

FIG. 9 is an explanatory view showing a mechanism for transmitting reverse rotation using gears.

FIG. 10 is a perspective view of a container.

FIG. 11 is an omitted perspective view illustrating a relationship between a container and a fork of the bidirectional transfer device.

FIG. 12 is a simplified front view showing a state before the article placed on the container is placed on one fork of the bidirectional transfer device.

FIG. 13 is a simplified front view showing a state after the article placed on the container is placed on one fork of the bidirectional transfer device.

FIG. 14 is an explanatory diagram showing a first half of a process of once transferring an article to a main body using the two-way transfer apparatus of the present invention, and subsequently transferring another article.

15 is an explanatory diagram showing a second half following the first half of the transfer process shown in FIG. 14;

FIG. 16 is an explanatory plan view showing a positional relationship between a container, an article, and a fork.

FIG. 17 is an explanatory plan view illustrating an example of a block address set in a container.

FIG. 18 is a memory structure diagram illustrating an example of information stored in a memory of a control device.

[Explanation of symbols]

 1a, 1b Picking shelf 2 Storage shelf 3 Stacker crane 4 Picker 4a Picking dolly 4b Picking crane 5 Moving space 6 Transfer passage 7 Unit shelf 8 Unit shelf 9 Transfer table 9a Collection transfer unit 9b Refill transfer unit 10 Container 11 Rotation Table 12 Rail 13 Rail 14 Support 15 Elevator 16 Article 16a Existing article 16b Other article 17 Two-way transfer device 18 Guide rail 19 Column 20 Article retrieval shelf 21 Reservoir 22 Empty container retrieval line 23 Receiving line 24 Main body 25 , 26 fork 27, 28 unit member 29, 40 lifting frame 30, 41 horizontal rail 31, 42 screw shaft 32, 43 moving body 33, 44 guide shaft 34, 47 rack 35, 48 servo motor 36, 49 pinion 37, 50 transmission Shaft 38,51 Pulley 39,5 Belt 45, 46 elongated holes 53, 54 transfer unit 55a gear 55b reversing gear 56 substrate 57 protrusion 58 recess groove

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int.Cl. ⁷ , DB name) B65G 1/00-1/20

Claims (1)

(57) [Claims] 1. A pair of comb-shaped forks, which are independently movable from both sides thereof and can be raised and lowered independently from each other, are provided on the main body in opposite directions. A container in which a plurality of ridges that can mesh with the forks are arranged side by side in a comb-like shape on the upper surface of the picking shelf while the unit members constituting the paired forks are alternately arranged. The height of the ridge is set higher than the vertical width of the fork, and each fork or a plurality of forks cooperate to lift the article on the container housed in the picking shelf and lift the article in the main body. A bidirectional transfer device in an automatic warehouse, which can be transferred to a warehouse.