JPH11227906A - Input and output device to warehouse - Google Patents
Input and output device to warehouseInfo
- Publication number
- JPH11227906A JPH11227906A JP4447498A JP4447498A JPH11227906A JP H11227906 A JPH11227906 A JP H11227906A JP 4447498 A JP4447498 A JP 4447498A JP 4447498 A JP4447498 A JP 4447498A JP H11227906 A JPH11227906 A JP H11227906A
- Authority
- JP
- Japan
- Prior art keywords
- loading
- input
- warehouse
- load
- shelf
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Warehouses Or Storage Devices (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、立体自動倉庫のスタッ
カクレーンとフォークリフトなどの搬送機器との荷の授
受を円滑に行うことを目的とした入出庫装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a loading / unloading apparatus for smoothly transferring a load between a stacker crane of a three-dimensional automatic warehouse and a transport device such as a forklift.
【０００２】[0002]
【従来の技術】従来の技術では例えば立体自動倉庫から
荷を出庫する場合には、スタッカクレーン内に設置した
スライドフォークを用いて、荷を収納している棚から入
出庫装置上部の固定された荷受台に荷を移動させ、フォ
ークリフトなどで荷受台から荷を搬出していた。また、
入庫時には上述と逆の順序でフォークリフトなどにて荷
受台に荷を積載し、所定の棚に荷を搬入していた。2. Description of the Related Art In the prior art, for example, when unloading a load from a three-dimensional automatic warehouse, a slide fork installed in a stacker crane is used to fix a load from a shelf storing the load to an upper part of the loading / unloading device. The load was moved to the receiving tray, and the load was carried out of the receiving tray with a forklift or the like. Also,
At the time of storage, the load is loaded on the receiving table by a forklift or the like in the reverse order to the above, and the load is carried into a predetermined shelf.
【０００３】[0003]
【発明が解決しようとする課題】上述従来の技術では立
体自動倉庫の棚と、入出庫装置が接近しており、入出庫
装置とフォークリフトなどとの間で荷の授受を行う際
に、フォークリフトなどの僅かな操作ミスにより、、高
速で移動するスタッカクレーンあるいは立体自動倉庫の
棚などと接触する事故が発生する。また、作業者が手作
業で入出庫装置との荷の授受を行う場合には、作業者自
信が立体自動倉庫に接近しなければならなく特に危険で
あった。In the above-mentioned prior art, a shelf of a three-dimensional automatic warehouse and an entrance / exit device are close to each other, and when a load is transferred between the entrance / exit device and a forklift, a forklift or the like is used. A slight operation error causes an accident that comes into contact with a high-speed moving stacker crane or a shelf of a three-dimensional automatic warehouse. In addition, when a worker manually transfers a load to and from the loading / unloading device, the worker himself must approach the automatic three-dimensional warehouse, which is particularly dangerous.
【０００４】[0004]
【課題を解決するための手段】本発明では、上述課題を
解決する手段として、立体自動倉庫を構成する多段高層
棚の入出庫位置に配置する入出庫装置で、該入出庫装置
は下部の基台および上部の荷受台からなり、該基台およ
び荷受台は連結棒にて平行リンク結合され、基台に設置
した回転駆動源にて回転するアーム先端のカムフォロア
が連結棒に開した長穴内を摺動してなる入出庫装置とす
る。According to the present invention, as a means for solving the above-mentioned problems, there is provided a loading / unloading device arranged at a loading / unloading position of a multi-stage high-rise shelf constituting a three-dimensional automatic warehouse, wherein the loading / unloading device is a lower base unit. The base and the receiving tray are connected in parallel by a connecting rod, and the cam follower at the tip of the arm that rotates by the rotary drive source installed on the base passes through the elongated hole opened in the connecting rod. A sliding storage / unloading device.
【０００５】また、回転駆動源にて回転する第一チェー
ンスプロケットと任意の位置に配した第二チェーンスプ
ロケットをチェーンにて連結し、アームが第二チェーン
スプロケットと共に回転する入出庫装置として、回転駆
動源の設置場所を自在とする。[0005] Further, a first chain sprocket rotating by a rotary drive source and a second chain sprocket arranged at an arbitrary position are connected by a chain, and a rotary drive is provided as a loading / unloading device in which an arm rotates together with the second chain sprocket. The source can be placed anywhere.
【０００６】[0006]
【実施例】本発明を立体自動倉庫に実施して図面に基づ
き説明すると、図５に示すように立体自動倉庫１は、並
列に多数配列した複数の棚２からなる立体倉庫３、隣り
合う立体倉庫３の間に形成された倉庫間通路４、倉庫間
通路４内を走行するスタッカクレーン５、スタッカクレ
ーン５とフォークリフト６などの他の搬送機器との間で
荷９の受け渡しを行う入出庫装置７、スタッカクレーン
５と入出庫装置７に入出庫作業指令信号を出力する制御
装置８からなり、入庫時はフォークリフト６などで入出
庫装置７に荷９を移動し、制御装置８に立体倉庫３内の
入庫したい棚２を入力すると、スタッカクレーン５が入
出庫装置７の荷９を積載し、入庫したい棚２に入庫する
構成である。出庫時は制御装置８に立体倉庫３内の出庫
したい棚２を入力すると、スタッカクレーン５が出庫し
たい棚２の荷９を積載し、入出庫装置７に出庫し、フォ
ークリフト６などで入出庫装置７の荷９を移動する構成
である。DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention is applied to a three-dimensional automatic warehouse and will be described with reference to the drawings. As shown in FIG. 5, a three-dimensional automatic warehouse 1 comprises a three-dimensional warehouse 3 comprising a plurality of shelves 2 arranged in parallel, An inter-warehouse passage 4 formed between the warehouses 3, a stacker crane 5 running in the inter-warehouse passage 4, and a loading / unloading device for transferring a load 9 between the stacker crane 5 and another transport device such as a forklift 6. 7, a stacker crane 5 and a control device 8 for outputting a loading / unloading operation command signal to the loading / unloading device 7. When loading, the load 9 is moved to the loading / unloading device 7 by a forklift 6 or the like. When the user inputs a shelf 2 to be stored in the stacker, the stacker crane 5 loads the load 9 of the storage / unloading device 7 and stores the load 9 on the shelf 2 to be stored. At the time of unloading, when the shelf 2 to be unloaded from the three-dimensional warehouse 3 is input to the control device 8, the stacker crane 5 loads the load 9 on the shelf 2 to be unloaded, unloads the unloading and unloading device 7, and uses the forklift 6 or the like to unload the unloading device. 7 is configured to move the load 9.
【０００７】本発明の特徴である入出庫装置７は図１の
ように下部の基台７１および上部の荷受台７２からな
り、該基台７１および荷受台７２は４本の連結棒７３Ａ
〜７３Ｄにて平行リンク結合されている。本実施例では
仮に図中に示す前、後、左、右の方向を用いて以下詳述
する。The loading / unloading device 7 which is a feature of the present invention comprises a lower base 71 and an upper receiving tray 72 as shown in FIG. 1, and the base 71 and the receiving tray 72 are provided with four connecting rods 73A.
７３73D are parallel link connected. This embodiment will be described in detail below using directions before, after, left, and right shown in FIG.
【０００８】基台７１には中央上面に回転駆動源である
駆動モータ７４が設置されており、該駆動モータ７４の
出力軸７４Ａには第一チェーンスプロケット７４Ｂが軸
止され、入出庫装置７の略中間高さ位置でかつ駆動モー
タ７４の後方に設置した回転軸７５に軸止された第二チ
ェーンスプロケット７５Ａとチェーン７６にて連結され
ている。さらに回転軸７５の左右両端には先端外側にに
カムフォロア７７Ａを軸支したアーム７７がそれぞれ前
方水平方向を定位置として軸止されている。したがっ
て、第二チェーンスプロケット７５Ａ、２本のアーム７
７は回転軸７５と共に回転する構造である。A drive motor 74, which is a rotary drive source, is provided on the upper surface of the base 71, and a first chain sprocket 74B is fixed to an output shaft 74A of the drive motor 74. It is connected to a second chain sprocket 75 </ b> A fixed to a rotating shaft 75 installed at a substantially intermediate height position behind the drive motor 74 by a chain 76. Further, at both left and right ends of the rotating shaft 75, arms 77 each having a cam follower 77A at the outer end thereof are axially fixed with the front horizontal direction as a fixed position. Therefore, the second chain sprocket 75A, the two arms 7
Reference numeral 7 denotes a structure that rotates together with the rotation shaft 75.
【０００９】さらに、連結棒７３Ａ〜７３Ｄの内、後方
の連結棒７３Ａ、７３Ｂには長さ方向に長穴７８が開口
しており、この長穴７８に２本のアーム７７先端のカム
フォロア７７Ａが摺動可能にはめ込まれている。Further, among the connecting rods 73A to 73D, the rear connecting rods 73A and 73B are provided with an elongated hole 78 in the longitudinal direction, and a cam follower 77A at the tip of two arms 77 is formed in the elongated hole 78. It is slidably fitted.
【００１０】以下、本実施例の入出庫装置７の動作方法
について説明する。入出庫装置７からフォークリフト６
などへの荷の授受の際には、アーム７７は定位置である
前方水平位置にあり、カムフォロア７７Ａは連結棒７３
Ａ、７３Ｂの長穴７８下部に位置している（図２）。こ
の時立体自動倉庫３の棚２は入出庫装置７の後方に位置
している。したがって、荷受台７２は棚２から離れた位
置にて荷９を授受することとなる。次に、荷の授受が完
了すると駆動モータ７４が図中左回転し、出力軸７４
Ａ、第一チェーンスプロケット７４Ｂ、チェーン７６、
第二チェーンスプロケット７５Ａ、回転軸７５、アーム
７７へと回転力が伝達し、カムフォロア７７Ａを長穴７
８内で押し上げる。カムフォロア７７Ａが長穴７８内で
押し上がることで連結棒７３Ａ、７３Ｂが図中左回転
し、連結棒７３Ｃ、７３Ｄも加えた平行リンク機構によ
り荷受台７２が後方に移動する。したがって、荷受台７
２は荷９を積載して図３を経て図４の状態へと移動す
る。図４の状態が荷受台７２が立体自動倉庫３の棚２に
最接近した状態であり、入出庫装置とスタッカクレーン
５内のスライドフォーク（図示せず。）との間で荷９の
授受を行う位置である。Hereinafter, an operation method of the storage and retrieval device 7 of this embodiment will be described. Forklift 6 from loading / unloading device 7
When a load is transferred to, for example, the arm 77, the arm 77 is at the fixed horizontal front position, and the cam follower 77A is connected to the connecting rod 73.
A, 73B are located below the elongated hole 78 (FIG. 2). At this time, the shelf 2 of the automatic three-dimensional warehouse 3 is located behind the loading / unloading device 7. Therefore, the load receiving table 72 transfers the load 9 at a position away from the shelf 2. Next, when the transfer of the load is completed, the drive motor 74 rotates left in the figure,
A, first chain sprocket 74B, chain 76,
The rotational force is transmitted to the second chain sprocket 75A, the rotation shaft 75, and the arm 77, and the cam follower 77A is
Push up in 8. When the cam follower 77A is pushed up in the elongated hole 78, the connecting rods 73A and 73B rotate left in the figure, and the load receiving table 72 is moved rearward by the parallel link mechanism including the connecting rods 73C and 73D. Therefore, the receiving platform 7
2 is loaded with the load 9 and moves to the state of FIG. 4 via FIG. The state shown in FIG. 4 is a state in which the load receiving table 72 is closest to the shelf 2 of the three-dimensional automatic warehouse 3, and the transfer of the load 9 between the loading / unloading device and a slide fork (not shown) in the stacker crane 5 is performed. This is the position to perform.
【００１１】また、入出庫装置７へ荷９を授受した後の
駆動モータ７４の駆動は立体自動倉庫３の作動と連動す
ればよく何ら困難なものではない。たとえば、入庫時に
は、スタッカクレーン５が作動する前に、駆動モータを
左回転させる指令を出力すればよく、出庫時には駆動モ
ータを左回転させ、荷受台７２を後方に位置させてから
スタッカクレーン５を作動させ、スタッカクレーン５の
作動が停止してから駆動モータを右回転させる指令を出
力すればよい。The driving of the drive motor 74 after the transfer of the load 9 to the loading / unloading device 7 is not difficult at all, provided that it is linked with the operation of the automatic three-dimensional warehouse 3. For example, at the time of entry, before the stacker crane 5 operates, it is sufficient to output a command to rotate the drive motor counterclockwise. At the time of retrieval, the drive motor is rotated counterclockwise, and the stacker crane 5 is moved after the loading tray 72 is positioned rearward. It is sufficient to output a command to rotate the drive motor to the right after the operation and the operation of the stacker crane 5 are stopped.
【００１２】[0012]
【発明の効果】上述実施例の構造にて、簡易に入出庫装
置からの荷の授受の際に立体自動倉庫の棚、あるいは高
速で移動するスタッカクレーンから離れて作業をするこ
とが可能となり、立体自動倉庫の入出庫作業を安全に行
うことができる。According to the structure of the above-described embodiment, it is possible to easily work away from the shelf of the three-dimensional automatic warehouse or the stacker crane moving at a high speed when transferring the load from the loading / unloading device. Entry and exit work of the three-dimensional automatic warehouse can be performed safely.
【図１】本発明の入出庫装置の斜視図である。FIG. 1 is a perspective view of a storage and retrieval device of the present invention.
【図２】本発明の入出庫装置の側面図である。FIG. 2 is a side view of the storage and retrieval device of the present invention.
【図３】本発明の入出庫装置の側面図である。FIG. 3 is a side view of the storage and retrieval device of the present invention.
【図４】本発明の入出庫装置の側面図である。FIG. 4 is a side view of the storage and retrieval device of the present invention.
【図５】立体自動倉庫の斜視図である。FIG. 5 is a perspective view of a three-dimensional automatic warehouse.
１ 立体自動倉庫 ２ 棚 ３ 立体倉庫 ４ 倉庫間通路 ５ スタッカクレーン ６ フォークリフト ７ 入出庫装置 ７１ 基台 ７２ 荷受台 ７３Ａ〜７３Ｄ 連結棒 ７４ 駆動モータ ７４Ａ 出力軸 ７４Ｂ 第一チェーンスプロケット ７５ 回転軸 ７５Ａ 第二チェーンスプロケット ７６ チェーン ７７ アーム ７７Ａ カムフォロア ７８ 長穴 ８ 制御装置 ９ 荷 DESCRIPTION OF SYMBOLS 1 3D automatic warehouse 2 shelf 3 3D warehouse 4 Warehouse passage 5 Stacker crane 6 Forklift 7 Warehousing / unloading device 71 Base 72 Load receiving table 73A-73D Connecting rod 74 Drive motor 74A Output shaft 74B First chain sprocket 75 Rotary shaft 75A Second Chain sprocket 76 Chain 77 Arm 77A Cam follower 78 Slot 8 Control device 9 Load
Claims (2)
庫位置に配置する入出庫装置で、該入出庫装置は下部の
基台および上部の荷受台からなり、該基台および荷受台
は連結棒にて平行リンク結合され、基台に設置した回転
駆動源にて回転するアーム先端のカムフォロアが連結棒
に開口した長穴内を摺動してなる入出庫装置。1. A loading / unloading device disposed at a loading / unloading position of a multi-stage high-rise shelf constituting a three-dimensional automatic warehouse, wherein the loading / unloading device comprises a lower base and an upper receiving tray, and the base and the receiving tray are A loading / unloading device in which a cam follower at the tip of an arm, which is connected by a parallel link by a connecting rod and rotates by a rotary drive source installed on a base, slides in an elongated hole opened in the connecting rod.
ロケットと任意の位置に配した第二チェーンスプロケッ
トをチェーンにて連結し、アームが第二チェーンスプロ
ケットと共に回転する請求項１記載の入出庫装置。2. The loading / unloading system according to claim 1, wherein the first chain sprocket rotated by the rotary drive source and the second chain sprocket arranged at an arbitrary position are connected by a chain, and the arm rotates together with the second chain sprocket. apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4447498A JPH11227906A (en) | 1998-02-10 | 1998-02-10 | Input and output device to warehouse |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4447498A JPH11227906A (en) | 1998-02-10 | 1998-02-10 | Input and output device to warehouse |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH11227906A true JPH11227906A (en) | 1999-08-24 |
Family
ID=12692534
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP4447498A Pending JPH11227906A (en) | 1998-02-10 | 1998-02-10 | Input and output device to warehouse |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH11227906A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009084960A (en) * | 2007-10-02 | 2009-04-23 | Kiyoshi Kato | Level difference adaptive movement supporting device |
| JP2009234789A (en) * | 2008-03-27 | 2009-10-15 | Masaharu Miyawaki | Elevator allowing going-out with wheel chair |
| CN104843431A (en) * | 2015-05-21 | 2015-08-19 | 遵义天义利威机电有限责任公司 | Progressive workpiece conveying device |
| CN105000496A (en) * | 2015-06-25 | 2015-10-28 | 北京航天发射技术研究所 | Large-displacement lifting connecting rod type auxiliary supporting mechanism |
| CN105035694A (en) * | 2015-06-29 | 2015-11-11 | 广州大学 | Simple offside-preventing four-rod loading and unloading device for AGV (Automatic Guided Vehicle) |
| CN107228605A (en) * | 2017-06-08 | 2017-10-03 | 北京航天发射技术研究所 | A kind of lodging formula auxiliary support apparatus |
| CN111268586A (en) * | 2020-01-16 | 2020-06-12 | 深圳前海达闼云端智能科技有限公司 | Lifting device and robot |
-
1998
- 1998-02-10 JP JP4447498A patent/JPH11227906A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009084960A (en) * | 2007-10-02 | 2009-04-23 | Kiyoshi Kato | Level difference adaptive movement supporting device |
| JP2009234789A (en) * | 2008-03-27 | 2009-10-15 | Masaharu Miyawaki | Elevator allowing going-out with wheel chair |
| JP4491694B2 (en) * | 2008-03-27 | 2010-06-30 | 政春 宮脇 | Elevator that can go out with wheelchair |
| CN104843431A (en) * | 2015-05-21 | 2015-08-19 | 遵义天义利威机电有限责任公司 | Progressive workpiece conveying device |
| CN105000496A (en) * | 2015-06-25 | 2015-10-28 | 北京航天发射技术研究所 | Large-displacement lifting connecting rod type auxiliary supporting mechanism |
| CN105035694A (en) * | 2015-06-29 | 2015-11-11 | 广州大学 | Simple offside-preventing four-rod loading and unloading device for AGV (Automatic Guided Vehicle) |
| CN107228605A (en) * | 2017-06-08 | 2017-10-03 | 北京航天发射技术研究所 | A kind of lodging formula auxiliary support apparatus |
| CN111268586A (en) * | 2020-01-16 | 2020-06-12 | 深圳前海达闼云端智能科技有限公司 | Lifting device and robot |
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