JP5362272B2 - Auto 3D warehouse - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a highly dense and efficient automatic high-rise warehouse having a simple and compact storage and retrieval mechanism for quickly and easily storing and retrieving designated stored objects in and from a storage shelf unit having a number of storage shelves partitioned into at least front-line shelf groups and corner-line shelf groups and built up in multiple stages. <P>SOLUTION: The stored objects 110 each have connecting means at the longitudinal face center for detachably engaging with each other, and engaging means on both longitudinal face sides for engaging with horizontal transfer devices 150. The horizontal transfer devices 150 each have a locking means for detachably engaging with the engaging means of the storage object 110 and a chain 152 applied thereon in the transferring direction so as to be driven. <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

  The present invention relates to an automatic three-dimensional warehouse in which a specified stored item is loaded into and unloaded from a storage shelf unit in which a large number of storage shelves are accumulated in a front row shelf group and a back row shelf group.

Conventionally, a slide fork is located on the lifting body and can move forward and backward as an automatic three-dimensional warehouse that stores specified storage items in a storage shelf unit in which a large number of storage shelves are accumulated in a front row shelf group and a back row shelf group And a fork body that can move in the same direction on the auxiliary arm is vertically stacked, and the fork body having a locking tool at the end moves forward to a position just below the tray of the front row shelf group. Is moved back to the position on the lifting body, and the fork body locking tool is moved forward with respect to the trays in the rear shelf group until it comes to a position immediately below the locked object of the load. There is a three-dimensional warehouse in which the tray is retracted so as to be pulled out to the position of the front row shelf group after engaging with the locking tool (see Patent Document 1).
Japanese Unexamined Patent Publication No. 2000-191109 (in particular, see page 1 and FIG. 3)

  However, a conventional three-dimensional warehouse has a slide fork on an elevating body and an auxiliary arm that can move forward and backward, and a fork body that can move in the same direction on the auxiliary arm. Therefore, for example, when pulling out the tray of the depth shelf group, it is necessary to pull out the tray of the depth shelf group to the front row shelf group, and a complicated procedure for loading and unloading the tray of the depth shelf group is required. There is a problem that the loading / unloading time according to this cannot be shortened, and a complicated mechanism is also required for the drive form of the fork form of the slide fork itself and the lifting body that supports the slide fork. There was a problem.

  Therefore, the technical problem to be solved by the present invention, that is, the object of the present invention is to designate a storage shelf unit in which a large number of storage shelves are at least divided into a front row shelf group and a back row shelf group and are accumulated in multiple stages. It is possible to provide a high-density and efficient automatic three-dimensional warehouse by providing a simple and compact loading / unloading mechanism.

  First, according to the first aspect of the present invention, a large number of storage shelves for storing stored items so as to freely enter and exit are at least divided into a front row shelf group and a back row shelf group at the same height and stacked in multiple stages. Storage shelf unit, a transfer traveling body that can travel along the unit installation direction on the installation floor surface of the storage shelf unit and stop at a predetermined position, and an elevator for standing upright on the transfer traveling body The horizontal transfer device, comprising: a lift table that moves up and down along a column and holds and stops at a predetermined height position; and a horizontal transfer device that is provided on the lift table and is capable of transferring stored items in a horizontal direction. In an automatic three-dimensional warehouse configured to store and receive stored items facing a specified storage shelf, connecting means for detachably engaging the stored items with each other is provided on the left and right sides of the front and rear surfaces. Engaging means for engaging the horizontal transfer device at the center in the direction The horizontal transfer device is provided on both sides in the left-right direction, and the horizontal transfer device has a latching means that is detachably engaged with the engagement means of the stored article, and is driven by being wound around in the transfer direction. The chain is wound in parallel on both sides in the left-right direction of the horizontal transfer device, and the locking means of the chain on the both sides of the horizontal transfer device However, the problem mentioned above is solved by engaging with the engaging means on the both sides of the front and rear surfaces.

  And the invention which concerns on this 2nd is the storage thing of the state in which the said chain of the said both sides of the said horizontal transfer apparatus was mounted in the said horizontal transfer apparatus in the automatic three-dimensional warehouse which concerns on Claim 1 The engagement means of the both sides of the chain is arranged in the left-right direction, and the locking means of the chain of the both sides protrudes inward in the left-right direction from the chain, thereby further solving the problem described above. It has been solved.

  Further, the invention according to claim 3 is the L-shaped cross-sectional type in which the storage means of the storage structure is an L-shaped cross section in which the opening direction is upside down on the front side and the rear side in the automatic three-dimensional warehouse according to claim 1 or claim 2. It is composed of a hook and a reverse L-shaped cross-section hook, and the above-described problems are further solved by connecting and releasing the adjacent stored items by raising and lowering.

  Furthermore, the invention according to claim 4 is the automatic three-dimensional warehouse according to any one of claims 1 to 3, wherein the storage shelf has a pair of left and right guide frames for guiding stored items. , Which further solves the aforementioned problems.

  The invention according to claim 5 is the automatic three-dimensional warehouse according to any one of claims 1 to 4, wherein the storage shelf unit is disposed so as to face along the traveling path of the transfer traveling body. Thus, the above-described problems are further solved.

  The invention according to claim 6 is the automatic three-dimensional warehouse according to any one of claims 1 to 5, wherein the stored information display unit for recognizing at least the presence of the stored is an outer surface of the stored This is a solution to the above-described problem.

  The automatic three-dimensional warehouse according to the present invention is a storage shelf in which a large number of storage shelves for storing stored items are freely divided into at least a front row shelf group and a depth shelf group at the same height shelf position, and accumulated in multiple stages. Along the unit, a transfer traveling body that can travel along the unit installation direction on the installation floor of the storage shelf unit and stop at a predetermined position, and a lifting column that is erected on the transfer traveling body And a horizontal transfer device that is provided on the lift table and is capable of transferring stored items in the horizontal direction. It is configured to store and store the stored items facing the storage shelf, so that a large number of stored items are divided into a plurality of storage shelves at least divided into a front row shelf group and a back row shelf group. It can be stored at high density, and the stored items can be stored and retrieved at high speed. It is possible to obtain the significant effect that corresponds to the specific configuration.

  That is, the automatic three-dimensional warehouse according to the first aspect of the present invention is a mechanism for engaging the horizontal transfer device with the connecting means in which the stored items are detachably engaged with each other at the center in the left-right direction of the front and rear surfaces. The horizontal transfer device has engaging means that can be detachably engaged with the engaging means of the stored article, respectively. The chain is driven in parallel on both sides in the left-right direction of the horizontal transfer device, and the chain locking means on both sides of the horizontal transfer device are By engaging with the engaging means on both sides of the surface, the storage in the rear shelf group is moved forward and backward in conjunction with the storage in the front shelf group, and the horizontal transfer device is moved to the rear shelf group. Since there is no need to move forward and backward to the storage position for the stored items, a large number of storage shelves It is possible to realize a simple goods movements mechanism with at least partitioned by storing of specified storage shelf unit which is integrated into the multi-stage quickly and conveniently goods movements.

  And, in the automatic three-dimensional warehouse according to claim 2, the chains on both sides of the horizontal transfer device sandwich the engaging means on both sides of the stored item in a state of being placed on the horizontal transfer device in the left-right direction. In addition to the effect of the automatic three-dimensional warehouse according to claim 1, the engagement of the storage items in the front row shelf group is achieved by the arrangement and the locking means of the chains on both sides projecting inward in the left-right direction from the chain. The amount of movement of the horizontal transfer device for engaging the means and the locking means of the horizontal transfer device can be made extremely small, the distance between the transfer traveling body and the storage shelf unit can be reduced, and the lock means The amount of vertical movement is only the amount of the chain trajectory, and there is little interference with the upper and lower stored items, and the vertical interval between the storage shelves can be reduced, so that it is possible to provide a high-density and efficient autostereoscopic warehouse. .

  Further, in the automatic three-dimensional warehouse according to the present invention, the storage means connecting means is composed of an L-shaped cross-section hook and an inverted L-shaped cross-section hook whose opening direction is upside down on the front side and the rear side, In addition to the effect produced by the automatic three-dimensional warehouse according to claim 1 by being connected and released to and from adjacent stored items by ascending / descending, the ascending / descending operation of the elevating table or the front row shelf group of the transfer traveling body is performed. By the movement operation of the lifting / lowering table accompanying a slight movement, the engagement with the mutual connecting means respectively provided in the stored items in the front row shelf group and the stored items in the rear row shelf group can be easily detached.

  In addition, the automatic three-dimensional warehouse according to claim 4 has the automatic three-dimensional warehouse according to claim 1 or claim 2 because the storage shelf has a pair of left and right guide frames for guiding stored items. In addition to the effects, the inadvertent step obstacles that tend to occur when the stored items are transferred between the front row shelf group and the back shelf group in the storage shelf are eliminated. It is possible to smoothly move forward and backward between the front row shelf group and the rear row shelf group.

  Furthermore, the autostereoscopic warehouse according to the fifth aspect of the present invention is the autostereoscopic warehouse according to any one of the first to third aspects, wherein the storage shelf unit is disposed so as to oppose the travel path of the transfer traveling body. In addition to the effects produced by the warehouse, the range of transferable vehicles for loading and unloading stored items to and from the storage shelf unit doubles, so the installation space for storing a large number of stored items is more dense and efficient. Can be used.

  The automatic three-dimensional warehouse according to claim 6 is provided with a stored information display unit that recognizes at least the presence of stored items on the outer surface of the stored items. In addition to the effect produced by the autostereoscopic warehouse according to the above, it is possible to achieve reliable storage management of stored items based on the display information of the stored item information display unit.

  The automatic three-dimensional warehouse according to the present invention is a storage shelf in which a large number of storage shelves for storing stored items are freely divided into at least a front row shelf group and a depth shelf group at the same height shelf position, and accumulated in multiple stages. Along the unit, a transfer traveling body that can travel along the unit installation direction on the installation floor of the storage shelf unit and stop at a predetermined position, and a lifting column that is erected on the transfer traveling body The horizontal transfer device includes a lift table that is lifted and lowered and held and stopped at a predetermined height position, and a horizontal transfer device that is provided on the lift table and is capable of transferring stored items in the horizontal direction. In an automatic three-dimensional warehouse configured to store and receive stored items facing the shelf, the connecting means that the stored items are detachably engaged with each other is provided at the center of the front and rear surfaces in the left-right direction. , Engaging means for engaging the horizontal transfer device on both sides of the front and rear surfaces in the left and right direction The horizontal transfer device includes a chain that has a locking means that is detachably engaged with the engagement means of the stored article and is driven by being driven in the transfer direction. The loading device is hung in parallel on both sides in the left-right direction, and the locking means of the chains on both sides of the horizontal transfer device are respectively engaged with the engaging means on both sides of the front and rear surfaces. To move only the stored items in the front row shelf group forward and backward, move the stored items in the front row shelf group and the rear row shelf group in a connected state, or move the stored items in the front row shelf group separately from the stored items in the front row shelf group. For example, the storage items in the row shelf group can be moved forward and backward, and the specified storage items can be quickly and quickly stored in a storage shelf unit in which multiple storage shelves are at least divided into the front row shelf group and the rear row shelf group and accumulated in multiple stages. A simple and compact loading / unloading mechanism with easy loading / unloading As long as it provides a high density and efficient automated warehouse in Rukoto, manner of its specific implementation, may any be any one.

  For example, if the storage items used in the automatic three-dimensional warehouse of the present invention have the same dimensions other than the thickness, by setting the vertical installation interval of the storage shelves appropriately, small capacity, medium capacity, large capacity for each thickness Etc. can be used.

  And about the display format of the stored information display part which at least recognizes the existence of stored goods, it becomes possible to achieve the reliable storage management of stored goods based on the display information of this stored information display part. Any display may be used, for example, a bar code display, a magnetic pattern, an IC tag, or the like may be adopted. Also, the display position of the stored information display unit can be recognized in the mechanism operation. Any display position can be used as long as it is an outer surface of an object, and further, it can be related to operation control that cooperates with a transfer traveling body, a lifting table, a horizontal transfer device, and the like.

  As for the installation form of the storage shelf unit and the transfer traveling body in the automatic three-dimensional warehouse of the present invention, the storage shelf unit may be provided on both sides along the traveling path of the transfer traveling body, on one side. It may be installed and can be appropriately determined according to the installation layout of the autostereoscopic warehouse.

  The lifting table in the automatic three-dimensional warehouse of the present invention is basically provided independently for the transfer traveling body, but a plurality of lifting tables may be arranged in the vertical direction with respect to the transfer traveling body. Furthermore, as for the raising / lowering operation, not only the raising / lowering table is raised / lowered between the upper and lower storage shelves, but also the engagement between the engagement means of the stored item and the locking means of the horizontal transfer device, and the front row Slightly move up and down in order to make the engagement of the mutual connecting means provided in the storage of the shelf group and the storage of the deep shelf group detachable at the step between the lifting table and the specified storage shelf. Needless to say, it is possible to do this.

  Furthermore, in this lifting table, in order to efficiently store and unload the stored items, not only a plurality of horizontal transfer devices are juxtaposed in the horizontal direction, but also a plurality of horizontal transfer devices are juxtaposed in the vertical direction. It doesn't matter if you do.

Further, the specific form of the locking means of the horizontal transfer device and the engaging means of the stored item may be any form as long as they can be detachably engaged with each other, For example, L is detachably engaged with the locking means of the horizontal transfer device by the lifting operation of the lifting table or the shifting operation of the lifting table accompanying a slight movement along the front row shelf group of the transfer traveling body. More preferably, the cross section hook is composed of a cross section hook and a horizontal pin that is detachably engaged with the L cross section hook.
Further, the locking means may be attached to the link plate of the chain, but it is preferable that the locking means is disposed on the chain pin portion that has a small rotation trajectory and can reliably transmit the moving force from the chain to the stored item. It is.

An embodiment of the present invention will be described with reference to FIGS.
Here, FIG. 1 is an overall explanatory view of an automatic three-dimensional warehouse according to one embodiment of the present invention, and FIG. 2 is a perspective explanatory view of a stored item used in the automatic three-dimensional warehouse shown in FIG. FIG. 4 is a perspective explanatory view of a storage shelf and a transfer traveling body, FIG. 4 is a schematic side view of the horizontal transfer device, FIG. 5 is a schematic plan view of the horizontal transfer device, and FIG. 7 is a schematic front view of the transfer device, FIG. 7 is a perspective view of the storage shelf unit, FIG. 8 is a plan view showing the mounting structure of the shelf column and the guide frame of the storage shelf unit, and FIG. FIG. 10 is a side view showing the mounting structure of the shelf column and the guide frame of the shelf unit, FIG. 10 is a front view showing the mounting structure of the shelf column and the guide frame of the storage shelf unit, and FIG. 11 is the storage of the front row shelf group. FIG. 12 is a schematic diagram illustrating a connected engagement state between an object and a stored item in the depth shelf group, and FIG. 12 is a schematic diagram illustrating an operation procedure when the stored item is taken out. FIG. 13 is a schematic diagram for explaining an operation procedure when storing the stored items, and FIGS. 14 to 19 are views of the stored items at the time of transfer when the horizontal transfer device is stopped after being displaced. It is operation | movement explanatory drawing.

  First, as shown in FIG. 1, an automatic three-dimensional warehouse 100 according to an embodiment of the present invention has a large number of storage shelves 121 (FIGS. 8 and 14) for storing storage items 110 as shown in FIG. ) Is provided with two storage shelf units 120 that are divided into a front row shelf group and a back row shelf group at the same height and stacked in multiple stages, and the floors on which these storage shelf units 120 are installed There is provided a transfer traveling body 130 that can freely travel along the unit installation direction and stops at a predetermined position.

Here, in the storage shelf 121, a pair of guide frames 122 that support the stored items 110 </ b> A and 110 </ b> B on the side surfaces in the traveling direction are fixed to the shelf columns 123 to continuously configure the front row shelf group and the rear row shelf group. It is constructed like this.
Further, the stored items 110 </ b> A of the front row shelf group are stored in a slightly overhanging state from the front row shelf group of the storage shelf 121 so that the stored items 110 </ b> A can be easily taken out from the front row shelf group of the storage shelf 121.

  As shown in FIGS. 1 and 3, the above-described transfer traveling body 130 is lifted and lowered along a lifting column 131 suspended from the traveling carriage frame 136 and held and stopped at a predetermined height position. The lift table 140 further includes two sets of horizontal transfer devices 150A and 150B that are arranged in parallel on the lift table 140 and can be moved forward and backward individually in the horizontal direction. The two sets of horizontal transfer devices 150A and 150B are sequentially opposed to the designated storage shelf 121 so that the stored items 110 are loaded and unloaded.

Further, the two sets of horizontal transfer devices 150A and 150B each have a transfer chain 152 attached with a locking means 151 for detachably engaging with an engaging means 115 of the stored article 110 so as to protrude horizontally. Are provided on both sides of the horizontal transfer device 150.
In FIG. 1 and FIG. 3, reference numeral 132 denotes a traveling wheel for causing the transfer traveling body 130 to travel along the unit installation direction of the storage shelf unit 120, and reference numeral 133 denotes an elevator table 140 that moves up and down. The reference numeral 134 denotes a traveling rail on which the traveling wheel 132 travels, and the reference numeral 135 denotes a lifting motor that drives the lifting rope 133.

As shown in FIG. 2, the container 110 includes engaging means 115 having L-shaped cross-section hooks on both sides of the front and rear surfaces in the left-right direction, and a horizontal transfer device 150 is provided on the engaging means 115. The latching means 151 attached so as to protrude horizontally from the transfer chain 152 is engaged to transfer between the stored item 110 and the horizontal transfer device 150.
A notch portion 116 is provided below the attachment position of the engaging means 115 on the front and rear end faces, and the transfer chain 152 can be provided without causing the engaging means 115 to protrude greatly by the notch portion 116. It is possible to prevent the locking means 151 that rotates and rises at the end of the contact with the container 110.

  Further, the stored item 110 is provided with connecting means 111 that are detachably engaged with each other at the central portion of the front and rear surfaces in the left-right direction. 110 is configured with an L-shaped cross-section hook 111a provided on the front surface so as to be detachably engaged and a reverse L-shaped cross-section hook 111b provided on the rear surface. Engagement between the inverted L-shaped cross-section hook 111b provided in the stored item 110A of the front row shelf group and the L-shaped cross-sectional type hook 111a provided in the stored item 110B of the rear row shelf group is easily detachable.

Then, a stored matter information display unit 112 composed of a bar code display for recognizing the presence of the stored item 110 is provided on the outer surface of the stored item 110 as shown in FIG. Based on the bar code display information 112, the presence of the stored item 110 is recognized, and the reliable storage management is achieved.
In this embodiment, the automatic three-dimensional warehouse 100 receives and stores the stored item 110 that is a safe deposit box, and reference numeral 113 in FIG. 2 indicates an opening and closing for opening and closing the stored item 110 that is a safe deposit box in the direction of the arrow. Reference numeral 114 denotes a lock for the open / close lid.

  As shown in FIGS. 4 to 6, the horizontal transfer device 150 includes a transfer device main body 154 and a base 153, and the transfer device main body 154 is stored on a slide rail 159 provided on the base 153. 110 is configured to be movable in the transfer direction of 110, and the base 153 is fixed to the lifting table 140 of the transfer traveling body 130, and the transfer device main body 154 is vertically moved with respect to the storage shelf unit 120. It is configured to be movable in three directions, left, right, and contact / separation.

  The transfer device main body 154 includes a storage material receiving rail 157 that supports the stored material 110 that is extended and transferred in the transfer direction from below, and a stored material guide 158 that guides the transferred material from both sides. Under the storage guides on both sides, there are end sprockets 155 provided at both ends in the transfer direction and transfer chains 152 wound around drive sprockets 156 provided near the center. As shown in FIG. 6, the transfer chains 152 on both sides of the horizontal transfer device 150 move the engaging means 115 on both sides of the storage 110 in a state of being placed on the horizontal transfer device 150 in the left-right direction. It is arranged between.

  The storage guides 158 on both side portions of the guides 158B (FIG. 14) are such that the distance between the left and right sides gradually increases toward the end in a section that is about 1/3 of the length of the storage 110 from both ends in the transfer direction. And a parallel guide portion 158A (FIG. 14) having a constant left-right distance between the intermediate portions, and configured to allow an error in the horizontal position with respect to the storage shelf 121 during transfer.

In addition, each transfer chain 152 is provided with a locking means 151 that detachably engages with an engagement means 115 provided in the storage object 110 so as to protrude horizontally, and drives the transfer chain 152. As a result, the locking means 151 engages with the engaging means 115 of the stored item 115 and is pulled out from the storage shelf 121, and the locking means 151 stores by pressing the end surface of the engaging means 115 portion of the stored item 110. It is configured to enter the shelf 121.
In this embodiment, the end sprockets 155, the drive sprockets 156, and the transfer chain 152 on both sides have a double-row structure, and the locking means 151 is held by the double-row transfer chain 152. In addition, the driving force with respect to the stored item 110 is strengthened, and the locking means 151 is prevented from rotating in a horizontal plane, so that the position of the transfer chain 152 and the position of the stored item 110 are less likely to occur.

  As shown in FIGS. 7 to 10, the storage shelf 121 is a guide frame formed in a pair of left and right cross-sections that are fixed to the shelf column 123 and guide the stored item 110 and support the lower side of the stored item 110. 122, a plurality of shelf columns 123 combined with a plurality of shelf horizontal frames 126, and storage shelves 121 constituted by a pair of left and right guide frames 122 are provided in multiple rows in the vertical direction and in multiple rows in the left and right directions. 120 is configured.

  Each guide frame 122 is fixed to the shelf column 123 using a rivet 124. The shelf column 123 is previously provided with a fixing hole at the position, and each guide frame 122 is preliminarily provided with the head of the rivet 124 at the position. A concave drawn portion 125 having a depth that does not protrude from the guide surface is provided, and a fixing hole is provided.

  Further, among the plurality of shelf pillars 123, the shelf pillar 123 that is closest to the transfer traveling body 130 is fixed at a position away from the end of the guide frame 122 on the transfer traveling body 130 side, and stored. Each storage shelf 121 is configured to overhang on the transfer traveling body 130 side with respect to the installation portion on the floor surface of the shelf unit 120. As shown in FIGS. The traveling wheels 132 for traveling the vehicle and the traveling rails 134 installed on the floor surface are provided below the overhang portions of the storage shelves 121 and the lifting mechanism is accommodated inside the traveling carriage frame 136 in the traveling body 130 for transfer. Thus, the lowering limit of the elevating table 140 is configured to be lowered, and the lowermost height of the storage shelf 121 is decreased, so that the storage efficiency of the storage shelf unit 120 is improved.

  Furthermore, each pair of left and right guide frames 122 is an introduction frame in which the left and right intervals gradually expand toward the end in a section that is approximately one third of the transfer direction length of the stored item 110 from the end on the transfer device side. Part 122B (FIG. 14) and a parallel frame part 122A (FIG. 14) having a constant left-right spacing, and configured to allow an error in the horizontal position with respect to horizontal transfer device 150 during transfer. Yes.

Next, the procedure for taking out the stored items 110 in the automatic three-dimensional warehouse 100 according to the present embodiment will be described with reference to FIG. 12, and the storage operation procedure will be described with reference to FIG.
First, as shown in FIG. 12 (a), the procedure for taking out the stored item 110 is a designation in which the stored item 110A in the front row shelf group and the stored item 110B in the rear row shelf group are engaged and connected. The transfer traveling body 130 is moved in the horizontal direction with respect to the storage shelf 121, and the lifting table 140 is moved up and down to face the horizontal transfer device 150 </ b> A.
The vertical position of the lifting / lowering table 140 is positioned so that the stored item receiving rail 157 of the horizontal transfer device 150 </ b> A is at the same height as the guide frame 122 of the designated storage shelf 121. At this time, the upper end of the end sprocket 155, that is, the traveling surface of the upper portion of the transfer chain 152 is positioned above the engaging means 115 of the stored item 110A.

  Then, as shown in FIG. 12B, the transfer device main body 154 slides toward the stored object 110A so that the apex of the end sprocket 155 is positioned on the side of the engaging means 115 of the stored object 110A. At this time, the locking means 151 provided on the transfer chain 152 is positioned below the lower end of the engaging means 115 of the stored item 110A.

When the drive sprocket 156 is driven in this state, the locking means 151 provided on the transfer chain 152 rises along the end sprocket 155 and engages with the engagement means 115 of the stored item 110A. The stored item 110A is pulled out in the traveling direction 152, and the stored item 110A is transferred to the horizontal transfer device 150 as shown in FIG.
At this time, since the stored item 110B is also engaged with the stored item 110A by the connecting means 111, the stored item 110B is pulled out in the direction of the horizontal transfer device 150A simultaneously with the stored item 110A and moved to the initial position of the stored item 110A in the front row shelf group. .

And as shown in FIG.12 (d), the raising / lowering table 140 is lowered | hung slightly, the engagement by the connection means 111 of the stored item 110A and the stored item 110B is cancelled | released, as shown in FIG.12 (e), By moving the transfer device main body 154 back to the original position, the transfer of the stored item 110A to the horizontal transfer device 150A is completed.
In the case where the stored item 110A is the intended delivery item, the lifting table 140 and the transfer traveling body 130 are driven as they are to move them to the intended take-out location.

  In the case where the stored item 110B is the intended delivery item, after the stored item 110A has been transferred to the horizontal transfer device 150A, the transfer traveling body 130 is moved in the horizontal direction as shown in FIG. Then, the horizontal transfer device 150B is opposed to the stored item 110B of the storage shelf 121, and as shown in FIG. 12 (g), the lifting table 140 is slightly raised, and the stored item receiving rail 157 of the horizontal transfer device 150B is designated. The storage shelf 121 is positioned so as to have the same height as the guide frame 122.

  Then, as shown in FIG. 12 (h), the transfer device main body 154 slides toward the stored item 110B so that the apex of the end sprocket 155 is positioned on the side of the engaging means 115 of the stored item 110B. At this time, the locking means 151 provided on the transfer chain 152 is positioned below the lower end of the engaging means 115 of the stored item 110B.

  When the drive sprocket 156 is driven in this state, the locking means 151 provided on the transfer chain 152 rises along the end sprocket 155 and engages with the engagement means 115 of the stored item 110B. The stored item 110B is pulled out in the traveling direction 152, and the stored item 110A is transferred to the horizontal transfer device 150 as shown in FIG.

  Then, as shown in FIG. 12 (j), the transfer device main body 154 is slid back to the original position to complete the transfer of the stored item 110B to the horizontal transfer device 150B. The transfer traveling body 130 is driven and moved to a target take-out location.

  As described above, the operation of taking out the stored item 110A of the front row shelf group or the stored item 110B of the rear row shelf group stored in the designated storage shelf 121 is sequentially completed.

Next, the storage operation procedure of the stored item 110 will be described in a state where both the stored items 110A and 110B are transferred to the horizontal transfer devices 150A and 150B.
As shown in FIG. 13A, the transfer traveling body 130 is moved in the horizontal direction with respect to the designated storage shelf 121, and the elevating table 140 is moved up and down to face the horizontal transfer device 150 </ b> B.
The vertical position of the lifting / lowering table 140 is positioned so that the stored item receiving rail 157 of the horizontal transfer device 150B is at the same height as the guide frame 122 of the designated storage shelf 121. At this time, the upper end of the end sprocket 155, that is, the upper running surface of the transfer chain 152 is positioned above the engaging means 115 of the stored item 110B.

  Then, as shown in FIG. 13B, when the stored item 110B reaches the position of the front row shelf group of the storage shelf 121, the apex of the end sprocket 155 is positioned on the side of the engaging means 115 of the stored item 110B. As described above, the transfer device main body 154 slides toward the storage shelf 121 side.

  When the drive sprocket 156 is driven in this state, the locking means 151 provided on the transfer chain 152 rises along the end sprocket 155 and the engagement means 115 at the left end in the figure of the stored item 110B. The stored object 110 </ b> B is pushed out in the traveling direction of the transfer chain 152 in contact with the end surface, and the stored object 110 </ b> B is transferred to the position of the front row shelf group of the storage shelf 121, as shown in FIG.

  At this time, the transfer device main body 154 is arranged such that the apex of the end sprocket 155 is positioned on the side of the engaging means 115 of the stored item 110B when the stored item 110B reaches the position of the front row shelf group of the storage shelf 121. Therefore, the locking means 151 provided on the transfer chain 152 moves downward along the end sprocket 155 and automatically pushes out when the stored item 110B reaches the position of the front row shelf group of the storage shelf 121. To complete, an accurate stop control of the drive sprocket 156 is not necessary.

  Next, as shown in FIG. 13 (d), after the transfer device main body 154 is slid back to the original position, the lifting table is moved to a height where the connecting means 111 of the stored items 110A and 110B do not engage with each other. 140 is slightly lowered, and as shown in FIG. 12F, the transfer traveling body 130 is moved in the horizontal direction so that the horizontal transfer device 150B is opposed to the stored item 110A of the storage shelf 121.

Then, as shown in FIG. 13G, when the stored item 110A reaches the position of the front row shelf group of the storage shelf 121, the apex of the end sprocket 155 is positioned on the side of the engaging means 115 of the stored item 110A. As described above, the transfer device main body 154 slides toward the storage shelf 121 side.
At this position, as shown in FIG. 13 (h), when the elevating table 140 is slightly raised, the connecting means 111 of the stored item 110A and the stored item 110B are engaged.

  When the drive sprocket 156 is driven, the locking means 151 provided on the transfer chain 152 rises along the end sprocket 155 and reaches the end surface of the engagement means 115 portion at the left end of the stored item 110A in the drawing. The stored object 110A is pushed out in the traveling direction of the transfer chain 152, and the stored object 110A is transferred to the position of the front row shelf group of the storage shelf 121 as shown in FIG. 110B is pushed by the stored item 110A and moves to the position of the back shelf group.

  Also at this time, the transfer device main body 154 is arranged such that the apex of the end sprocket 155 is positioned on the side of the engaging means 115 of the stored item 110A when the stored item 110A reaches the position of the front row shelf group of the storage shelf 121. Therefore, the locking means 151 provided on the transfer chain 152 is lowered along the end sprocket 155 and automatically pushed out when the stored item 110A reaches the position of the front row shelf group of the storage shelf 121. Therefore, the driving sprocket 156 need not be accurately stopped and the locking means 151 provided on the transfer chain 152 is lowered to a position where it does not engage with the engaging means 115 of the stored item 110A. As shown in FIG. 13 (j), the storing operation is completed by sliding the transfer device body 154 back to the original position.

  As described above, the storage operation of the stored item 110A in the front row shelf group and the stored item 110B in the rear row shelf group with respect to the designated storage shelf 121 is sequentially completed.

  In this embodiment, as the storage shelf unit 120 for storing the stored items 110 so as to freely enter and exit, the storage shelf 121 is divided into a front row shelf group and a rear row shelf group at the same height shelf position. Is used as an example, but the storage shelf 121 is divided into a plurality of row shelf groups such as a front row shelf group, a middle row shelf group, and a rear row shelf group at the same height shelf position. Needless to say, there is no fundamental difference between the procedure for taking out the stored item 110 and the procedure for storing it.

  Next, with respect to the operation when transferring the stored item 110 from the horizontal transfer device 150 to the storage shelf 121 in a state where a positioning error has occurred in the horizontal direction between the storage shelf 121 and the horizontal transfer device 150, FIG. This will be described below with reference to FIG.

First, as shown in FIG. 14, the horizontal transfer device 150 and the storage shelf 121 are in a state of having a positioning error in the horizontal direction, and the storage item 110 is placed at substantially the center of the storage material guide 158 of the horizontal transfer device 150. Has been.
The interval between the parallel guide portions 158 </ b> A of the left and right stored material guides 158 and the interval between the parallel frame portions 122 </ b> A of the left and right guide frames 122 are slightly wider than the lateral width of the stored items 110.

  When the stored item 110 moves from the horizontal transfer device 150 toward the storage shelf 121, first, the engaging means 115 at the tip of the stored item 110 comes into contact with the introduction frame portion 122 </ b> B of the guide frame 122 as shown in FIG. 15. When the stored article 110 further moves, as shown in FIG. 16, the stored article 110 receives a force in the rotational direction on the horizontal plane along the introduction frame portion 122B, but the parallel guide portions 158A of the left and right stored article guides 158 Due to the presence of the gap between the stored items 110, the displacement is smoothly displaced in the rotational direction, and there is no problem in movement for transfer.

  At this time, even if the gap between the stored matter guide 158 and the stored item 110 is small, the length in the moving direction in which the parallel guide portion 158A regulates the displacement of the stored item 110 in the rotation direction is about 2 times the length of the stored item 110. Therefore, the allowable width of the displacement in the left and right rotational directions is larger than those without the introduction guide portion 158A or those short in the vicinity of the end portion.

  Then, as shown in FIG. 17, when the engaging means 115 at the tip of the stored article 110 reaches the parallel frame portion 122A of the guide frame 122, the stored article 110 is further subjected to a force in the rotational direction on the horizontal plane. As shown in FIG. 18, the stored item tilted with the parallel guide portions 158 </ b> A of the left and right stored item guides 158 until the engaging means 115 at the rear end of the stored item 110 disengages the parallel guide portions 158 </ b> A of the stored item guide 158. The gap 110 is constant, and this gap may be substantially zero at this time.

  Then, as shown in FIG. 19, after the engaging means 115 at the rear end of the stored article 110 has detached from the parallel guide portion 158A of the stored article guide 158, the stored article 110 is inclined by the parallel frame portion 122A of the guide frame 122. Can be freely modified, smoothly move to a predetermined storage position, and transfer can be completed.

  In this embodiment, the introduction guide portion 158B is a section that is approximately 1/3 of the length of the stored item 110 from both ends in the transfer direction. However, as long as the parallel guide portion 158A is not extremely shortened, the stored item It may be set to exceed 1/3 of the length of 110.

BRIEF DESCRIPTION OF THE DRAWINGS Whole explanatory drawing of the autostereoscopic warehouse which is one Example of this invention. The perspective explanatory drawing of the stored thing used in the autostereoscopic warehouse shown in FIG. The perspective explanatory drawing of a storage shelf and the traveling body for transfer. The side schematic diagram of a horizontal transfer apparatus. The plane schematic of a horizontal transfer apparatus. The front schematic of a horizontal transfer apparatus. The perspective view of a storage shelf unit. The top view which shows the attachment structure of the shelf column and guide frame of a storage shelf unit. The side view which shows the attachment structure of the shelf column and guide frame of a storage shelf unit. The front view which shows the attachment structure of the shelf column and guide frame of a storage shelf unit. The schematic diagram which shows the connection engagement state of the storage thing of a front row shelf group, and the storage thing of a back row shelf group. The schematic diagram explaining the operation | movement procedure at the time of taking out the stored thing. The schematic diagram explaining the operation | movement procedure at the time of storing a storage thing. Explanatory drawing of operation | movement of the stored thing at the time of transfer when a horizontal transfer apparatus stops | moves by shifting | deviating. Explanatory drawing of operation | movement of the stored thing at the time of transfer when a horizontal transfer apparatus stops | moves by shifting | deviating. Explanatory drawing of operation | movement of the stored thing at the time of transfer when a horizontal transfer apparatus stops | moves by shifting | deviating. Explanatory drawing of operation | movement of the stored thing at the time of transfer when a horizontal transfer apparatus stops | moves by shifting | deviating. Explanatory drawing of operation | movement of the stored thing at the time of transfer when a horizontal transfer apparatus stops | moves by shifting | deviating. Explanatory drawing of operation | movement of the stored thing at the time of transfer when a horizontal transfer apparatus stops | moves by shifting | deviating.

DESCRIPTION OF SYMBOLS 100 ... Automatic three-dimensional warehouse 110 ... Stored item 111 ... Connection means 112 ... Stored item information display part 113 ... Opening / closing lid 114 ... Locking 115 ... Engagement means 116 ... Notch portion 120 ... storage shelf unit 121 ... storage shelf 122 ... guide frame 122A ... parallel frame portion 122B ... introduction frame portion 123 ... shelf column 124 ... rivet 125 ... Drawing section 126 ・ ・ ・ Shelf horizontal frame 130 ・ ・ ・ Transfer traveling body 131 ・ ・ ・ Elevating strut 132 ・ ・ ・ Travel wheel 133 ・ ・ ・ Elevating ridge body 134 ・ ・ ・ Travel rail 135 .. Lifting motor 136 ... Traveling carriage frame 140 ... Lifting table 150 ... Horizontal transfer device 151 ... Locking means 152 ... Transfer chain 153 ... Base 154 ... Transfer Mounting device main body 155 ... End sprocket 156 ... Drive sprocket 157 ... Containment receiving rail 158 ... Containment guide 158A ... Parallel guide part 158B ... Introduction guide part 159 ... Slide rail

Claims (6)

A plurality of storage shelves for storing stored items freely entering and leaving the storage shelves at least at the same height and divided into a front row shelf group and a back row shelf group and accumulated in multiple stages, and A transfer traveling body that can run on the installation floor along the unit installation direction and stop at a predetermined position, and a vertical position that moves up and down along a lifting column that is erected on the transfer traveling body. And a horizontal transfer device provided on the lift table and capable of transferring stored items in the horizontal direction, with the horizontal transfer device facing a designated storage shelf. In an automatic three-dimensional warehouse that is configured to store and retrieve stored items,
In the left-right direction of the front-rear surface, the connecting means for removably engaging the retentate is connected to the center of the front-rear surface in the left-right direction, and the engaging means to engage the horizontal transfer device. On both sides of the
The horizontal transfer device includes a chain that has a latching unit that is detachably engaged with the engagement unit of the stored article and is driven by being driven in the transfer direction,
The chain is hung in parallel on both sides in the left-right direction of the horizontal transfer device,
An automatic three-dimensional warehouse characterized in that the locking means of the chain on both sides of the horizontal transfer device engage with the engaging means on both sides of the front and rear surfaces, respectively. The chains on both sides of the horizontal transfer device are arranged with the engaging means on both sides of the storage in the state of being placed on the horizontal transfer device sandwiched in the left-right direction;
The automatic three-dimensional warehouse according to claim 1, wherein the locking means of the chain on both side portions protrudes inward in the left-right direction from the chain.   The connecting means of the stored item is composed of an L-shaped cross-section hook and an inverted L-shaped cross-section hook whose opening directions are reversed upside down on the front side and the rear side, and connected to and released from adjacent stored items by raising and lowering. The automatic three-dimensional warehouse according to claim 1 or 2, wherein   The automatic three-dimensional warehouse according to any one of claims 1 to 3, wherein the storage shelf has a pair of left and right guide frames for guiding stored items.   The autostereoscopic warehouse according to any one of claims 1 to 4, wherein the storage shelf units are arranged to face each other along a traveling path of the transfer traveling body.   6. The autostereoscopic warehouse according to claim 1, wherein a stored information display unit for recognizing at least the presence of the stored is provided on an outer surface of the stored.

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