JPH0348085B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to article storage equipment using a rotary article storage device.

[Conventional technology]

The frame is divided into a number of upper and lower stages, each of which is connected to an elliptical endless chain that runs through a pair of left and right sprockets, and the product shelf is connected to the endless chain. A technique for automatically loading and unloading articles into and out of a rotary article storage device that is towed and towed is disclosed in, for example, Japanese Patent Laid-Open Publication No. 59-223605. According to the technology of the publication,
An article storage device consisting of a lifting platform that can be raised and lowered freely, a swivel table that can be rotated on the elevator table, and an article insertion/drawing device that can move horizontally forward and backward on the swivel table in the longitudinal direction of the rotary article storage device. It is installed at the end of the

[Problem that the invention seeks to solve]

However, in the above-mentioned apparatus in which articles are loaded and unloaded using a single lifting platform, the work efficiency is extremely low, such as when the loading and unloading operations of the articles are continuously alternated.

Therefore, in order to further improve work efficiency, two teller devices were installed, one at each end of the rotary article storage device in the longitudinal direction, and one teller device was used for warehousing work, while the other was used for unloading work. Techniques have been proposed to do this, but the installation of two teller machines significantly increases the cost.

[Means for solving problems]

In order to solve the above-mentioned problems, the present invention has a large number of article mounting shelves arranged in an oval shape in the horizontal direction, arranged in multiple stages in the vertical direction, and each stage can be freely rotated in the horizontal direction. An article storage facility including a rotary article storage device configured as shown in FIG. An article loading and unloading device is provided, and a device is provided at each stage of the storage device portion corresponding to one side of the lifting path of the article loading and unloading device to push the articles on the article placement shelf to each stage of the movable shelf, A device for pushing the articles on the movable shelf into each stage of the article placement shelf is provided on the other side of the lifting path of the article loading/unloading device.

[Effect]

In the article loading/unloading device in the article storage facility of the present invention, one side of the lifting path acts as a dedicated section for unloading work, and the other side of the lifting path functions as a dedicated section for warehousing work.

〔Example〕

FIG. 1 shows the entire article storage facility to which the present invention is applied, where 100 is a rotary article storage device to be described later, 200 is an article loading/unloading device to be described later for loading and unloading articles into the storage device 100, and 30 and 31 are respectively This is a conveyor device that carries articles into and out of an article loading and unloading device.

First, the rotary article storage device 100 will be explained. FIG. 2 is an overall side view of the storage device, in which the frame 1 is assembled into a rectangular parallelepiped shape with a large number of supports 2 and beams 3, and inside the frame 1 there are multiple elliptical stages in the vertical direction. Outer rails 4 are laid, and inside each outer rail 4, an oblong inner rail 5 (see FIG. 1) is laid so as to be parallel to the entire circumference of each outer rail 4. The inner and outer rails 4, 5 are along the movement locus of an article shelf 25, which will be described later. The frame 1 has a support shaft 11 erected at the center of one semicircular portion of the inner rail 5, and a drive sprocket 12 having a diameter smaller than the interval between the inner rails is supported on the support shaft 11. There is. The drive sprocket 12 is rotatably driven by a motor (not shown) supported by the frame 1. Further, a support shaft 19 is also provided upright at the center of the other semicircular portion of the inner rail 5.
A driven sprocket 21 having the same diameter as the driving sprocket 12 is also supported. An endless traction chain 22 connects one side of an article shelf 25 between the drive sprocket 12 and the driven sprocket 21 of each stage.

Rotating bed article storage device 1 having the above structure
In 00, when the motor (not shown) of an appropriate stage is driven, the drive sprocket 12 of that stage rotates, all the article storage shelves 25 of the relevant stage are pulled by the traction chain 22, and the rails 4 are pulled all at once. ,5. In order to search and bring the designated article shelf 25 to the designated article loading/unloading position, a motor determined by a control device (not shown) is moved in the direction in which the designated article shelf 25 travels the shortest distance. This is done after a predetermined number of rotations.

A pushing device 50 as shown in FIGS. 13 to 15 is provided at each stage of the rotating bed article storage device 100. This pushing device 50 includes a cylinder 52 fixed to a base 51, and a cylinder 52 fixed to a base 51.
piston rods 53 and 54 respectively protruding from both end surfaces of the piston rods 2, a first rack body 57 connected to both ends of the rods 53 and 54 by connecting members 55 and 56, and a gear 58 meshing with the rack body 57.
and a first sprocket 6 coaxial with the gear 58
0, a chain 62 wound around a second sprocket 61 having the same diameter as the first sprocket, and a moving block body 63 fixed to a part of the chain 62. A moving gear 64 is rotatably supported on a shaft 65 at the center of the block body 63.
The upper part of the gear 64 meshes with a stationary rack 66, and the lower part meshes with a movable rack 67. The stationary rack body 66 is inserted into the upper part of the movable block body 63, and both ends are connected to the base plate 5 through brackets 68 and 69.
Similarly, the posture maintaining rod 70 is inserted into the block body 63, and both ends are connected to the brackets 68,
It is supported by 69 people. In addition, the moving block body 6
The movable rack body 67 and the posture maintaining rod 71 are slidably inserted into the lower part of the movable rack body 67 and the posture maintaining rod 71, and a pusher 73 is fixed to the ends of the movable rack body 67 and the posture maintaining rod 71 via a bracket 72. has been done.

As shown in FIG. 1, article loading/unloading devices 200 are arranged side by side of the elliptical straight portion of the rotary article storage device 100. Next, the structure of the article loading/unloading device 200 will be explained based on FIGS. 3 to 9. This article loading/unloading device 200 includes a frame body 2
Endless rails 202, 20 fixed to 01
a plurality of movable shelves 220 that move along the rails 202 and 203, and a pushing device that pushes the articles placed on the movable shelves 220 toward the rotary article storage device 100. 250.

First, the above-mentioned immovable members will be explained. A pair of substantially rectangular endless rails 202 and 203 having V-shaped convex portions along both end surfaces are fixed to the frame pair 201 at opposing positions with a predetermined interval. Hereinafter, the side where one rail 202 is present will be referred to as the front side, and the side where the other rail 203 is present will be referred to as the rear side. Each rail 202,
There are sprockets 20 in the top, bottom, left and right corners of 203.
4 are each rotatably supported on the frame 201,
4 sprockets on the front side or 4 sprockets on the rear side
Endless connection chains 205 and 206 are wound around each of the two sprockets. Each sprocket 204 has a sprocket that is coaxial and fixed to the sprocket 204 .
A small-diameter guide roller 207 that rotates integrally with the guide roller 207 is pivotally supported, and a V-shaped convex portion is formed on the circumference of the guide roller 207. Of the sprockets 404 on the front side and the rear side, a pair of sprockets 204 facing each other are fitted on a coaxial shaft 208, and a driven sprocket 20 is attached to one end of the shaft 208.
9 is fitted. Further, a drive motor 210 is fixed to the frame 201, and a chain 213 is wound around the drive sprocket 212 fitted on the rotating shaft 211 of the motor 210 and the driven sprocket 209. On the outside of the endless rail on the front side, there is a parallel holding guide rail 2 with a concave cross section.
14 is fixed to the frame 201.

Next, the structure of the movable shelf 220 will be explained. A plurality of movable shelves 220 are installed on the connecting chains 205 and 206 at predetermined intervals. Arm members 222 and 223 are fixed to both ends of the support member 221,
Support shafts 224 and 225 are fixed to the arm members 222 and 223, respectively. The support shafts 224, 225
A connecting plate 22 which is a part of the connecting chain 205 is shown in FIG.
6 is fixed as shown in FIG.
It is designed to move along with the movement of 05. Further, a guide plate 227 is inserted into the support shafts 224 and 225, and two V
Small groove roller 228 and one V-groove roller 229
is rotatably installed, and the V-groove roller 229 and the guide plate 227 are loosely fitted to the support shafts 224 and 225. The V-groove small roller 228 and the V-groove roller 229 are installed at positions sandwiching the endless rails 202 and 203 from both sides.
The V grooves 229 fit into V-shaped protrusions on both end surfaces of the rails 202 and 203. Also, the support shaft 2 on the front side
An arm 230 is fixed to the tip of the arm 24, and an auxiliary roller 231 is rotatably installed at the tip of the arm 230, and the roller 231 fits into the recess of the parallel holding guide rail 214. It moves along the guide rail 214. On the support material 221, there are article mounting plates 232, 233, 23.
4 is fixed, and a rail 235 having a V-shaped convex portion along both end surfaces is installed below the support member 221. A V-groove small roller 236 is rotatably installed on a movable plate 237 so as to sandwich the rail 235 from both sides, and an engagement member 238 and a pusher 23 extend in the vertical direction of the movable plate 237.
9 is fixed. Further, a coil spring 240 is installed on the movable plate 237, and when the movable plate 237 moves along the rail 235, it always tries to return to the position shown by the solid line in FIG.

Next, the structure of the pushing devices 250, which are installed in plural pieces at equal intervals in the article loading/unloading device 200, will be explained. A base end of a cylinder 253 is rotatably supported at one end of the support frame 251 via a bracket 252, and a piston lever 25 is attached to the tip of a piston rod 255 of the cylinder 253.
6 is pivoted 257. The piston lever 2
The other end of 56 is fixed to a shaft 258, which is rotatably supported by one end of support frame 251 via a bracket 259. One end of an intermediate lever 260 is also fixed to the shaft 258, and the intermediate lever 260
A shaft 261 is fixed to the other end of 60. The shaft 261 is rotatably inserted into a bracket 263 installed approximately in the middle of the moving lever 262.
The base end of the moving lever 262 is pivotally supported by a guide plate 264, and a pushing member 265, which will be described later, is attached to the distal end.
is provided. Four V-grooved guide rollers 266 are pivotally supported on the guide plate 264.
The guide roller 266 fits into V-shaped convex portions on both end faces of a guide rail 268 installed on the support frame 251 via a pedestal 267, and the guide roller 266
8 and both end surfaces are sandwiched from both sides. One end of a posture holding lever 269 is pivotally supported at one corner of the guide plate 264, and the other end of the lever 269 is pivotally supported by the pushing member 265.

Next, the structure of the pushing member 265 is changed to the seventh
This will be explained based on FIGS. One end of the I-shaped link 271 and the L-shaped link 27 are connected to the first connecting base 270.
One tip of 2 is rotatably supported 27
3,274, and the other end of the I-shaped link 271 and the middle bent portion of the L-shaped link 272 are rotatably supported by a pivot 276,
277, forming a link mechanism as a whole.
A contact roller 27 is provided at the other end of the L-shaped link 272.
8 is pivoted 279. Above stand 1 connection stand 27
Two putling rollers 281 are rotatably supported on the hanging portion 280 of the roller. The second connecting table 275 has two base plates 282 and 283 installed with a predetermined gap between them.
There are two block bodies 28 in the gap between 2 and 283.
4,285 is fixed, and the block body 284,2
A compression spring 286 and a slider 28 are placed in the space surrounded by the base plate 85 and the two base plates 282 and 283.
7 is inserted. In addition, the base plate 282,
A first stopper 288 and a second stopper 289 are fixed in the space between 283. The tip 290 of the I-shaped link 271 is approximately V-shaped in plan view, and the tip 290 is in contact with the slider 287. A bracket 291 is screwed onto the second connection 275, and the tip of the moving lever 262 and the tip of the posture holding lever 269 are pivotally supported on the bracket 291. Furthermore, as shown in FIG. 4, each stage has first and second dogs 294 and 2 at both ends of the bracket 293 for changing the direction.
95 is fixed.

Article loading/unloading device 20 configured as above
0, by driving the drive motor 210, the drive sprocket 212 and the chain 21
3 and the driven sprocket 209 rotate, and the front side and rear side connecting chains 205, 206 rotate in synchronization. The connecting chain 205, 20
6 moves the movable shelf 220 connected to the chain. The movement of the movable shelf 220 is achieved by rotating the V-groove roller 229 and the V-groove small roller 228 along the endless rails 202 and 203 to prevent displacement in the plane direction, and by using the auxiliary roller 231 as a guide for parallel maintenance. Since it moves along the rail 214, the movable shelf 220 moves while the article placement plates 232, 233, 234 always remain parallel to the ground.
When the movable shelf 220 comes to the corner of the endless rails 202, 203, the V-groove roller 229 fits into the V-shaped protrusion of the guide roller 207, making the movable shelf 220 run more smoothly and accurately. I'm making it a thing.

The movable shelf 220 is always moving, and the exchange of articles between the movable shelf 220 and the article shelf 25 of the rotary article storage device 100 is carried out by the movable shelf 220.
This is done by measuring the timing while the vehicle is moving. The movement of articles from the storage device 100 to the movable shelf 220 is carried out by a pushing device 5 installed in the storage device 100.
This is done by 0. That is, the operation of the cylinder 52 causes the piston rods 53, 54 and the first
The rack body 57 is moved in the directions of arrows 74 and 75 in FIG. Due to the movement of the rack 57, the gear 58
and the first sprocket 60 are rotated clockwise about the shaft 59, and this rotation causes the chain 62 and the moving block body 63 to move in the direction of the arrow 76. Due to the movement of the block body 63, the movable gear 64 meshing with the stationary rack body 66 rotates clockwise, and this rotation causes the movable rack body 67 to move in the direction of arrow 77 with respect to the movable block body 63 that is moving. Move to. Bracket 72 and pusher 73 move together with movable rack body 67. Now, the amount of movement of the piston rods 53 and 54 is La, and the gear 58 is
When the radius ratio of the first sprocket 60 and the first sprocket 60 is 1:2, and the amount of movement of the pusher 73 is Lb, the chain 62 and the moving block 63 move by the amount of movement La of the piston rods 53 and 54 (2×La).
Since the moving rack body 67 moves by an amount of (2×La) with respect to the moving block body 63, the moving amount Lb of the pusher is Lb=2×(2×La)=4× It becomes La.

By using the above-mentioned pushing device 50, there is more free space in the limited space inside the rotary article storage device 100.
The movement of the piston rods 53, 54 can be converted into the pushing direction 77, and the amount and speed of movement of the pusher 73 can be four times the amount and speed of movement of the piston rods 53, 54. Furthermore, the two posture maintaining rods 70 and 71 allow the pusher 73 to move smoothly in parallel.

Further, the movement of articles from the movable shelf 220 to the storage device 100 is performed as follows. By retracting the piston rod 255 into the cylinder 253 from the state shown in FIG. 4 (arrow a1),
The piston lever 256 and the intermediate lever 260 rotate counterclockwise around the shaft 258 (as indicated by the arrow a).
2) The movement of the intermediate lever 260 causes the moving lever 262 to move as follows. That is, in the proximal measurement, it moves along the guide rail 268 together with the guide plate 264 (arrow a3), and in the distal measurement, it moves in the direction of the arrow (a4). At that time, the moving lever 262 and the posture holding lever 269
If the lengths of the levers 262 and 269 are the same, and the distances l1 and l2 between the axes at the base and distal ends are the same, then the quadrilateral formed by the levers 262, 269 and the axes at both ends will form a parallelogram. Both levers 2 in the formed state
62, 269 and pushing member 265 move. Since the shafts on the proximal end side are moved in parallel along the guide rail 268, the pushing member 265
The bracket 292 and the second connecting base 275 move in parallel in the arrow direction a4. Also, intermediate lever 2
60 and the length of the moving lever 262, and the positions of the pivot points 257, 258, and 261, the pushing member 265 can move approximately linearly.

After the pushing roller 281 comes into contact with the engaging member 238 due to the movement of the pushing member 265,
The engaging member 238 and pusher 239 are
It is moved in five directions against the biasing force of the coil spring 240. Since the pusher 239 is moved while the rail 235 having a V-shaped protrusion is sandwiched between the V-groove rollers 236, it is stable without wobbling in any direction. As described above, the movable shelf 220 is constantly moving, and even after the pushing roller 281 contacts the engaging member 238, the position of contact between the two is changed in the vertical direction, that is, the pushing roller 281 engages with the engaging member 238. As the member 238 descends, the engaging member 238 is pushed in by the roller 281. Therefore, the engaging member 238 extends vertically for a long time as described above.

Engagement member 2 by the above-mentioned pushing roller 281
38 and the pusher 239, the contact roller 281 of the pushing member 265 contacts the second dog 295, and the dog 295 restricts the movement of the contact roller 281, while the second continuous table 275 continues to move. axis 2
The L-shaped link 272 rotates clockwise around 77. As the L-shaped link 272 turns, the first connecting base 270 and the I-shaped link 271 move by the link mechanism, and the above movement ends when a part of the L-shaped link 272 comes into contact with the second stopper 289. (See Figure 10). It moves in a direction away from the first connecting member 238 (arrow a7) and stops at a position where the pushing roller 281 does not come into contact with the engaging member 238. The time during the direction change of the I-shaped link 271 and L-shaped link 272 is the 11th
As shown in the figure, the slider 287 is pushed in the direction of arrow a8 by the V-shaped protrusion 290 at the tip of the I-shaped link 271 against the force of the spring 286.
The I-shaped link 271 can be tilted to either the left or right, resulting in an unstable state. Furthermore, I-shaped link 2
71 rotates, the slider 287 moves to the first position.
Return to the original state as shown in Figure 0, and connect I-shaped link 2.
71 becomes stable.

The pushing roller 281 and the engaging member 238
When the pusher 239 releases the object, the pusher 239 and the moving plate 237 move in the direction of arrow a6 due to the biasing force of the coil spring 240 and stop at the solid line position in FIG. 4. . On the other hand, as shown in FIG. 10, by retracting the piston rod 255 into the cylinder 253 with the pushing roller 281 retracted to a position where it does not come into contact with the engaging member 238, the pushing member 265 is moved as indicated by the solid line in FIG. Return to the position shown. Although the movable shelf 220 passes continuously while the pushing member 265 is moving, since the pushing roller 281 is stable in the retracted state, the movable shelf 220 and the pushing member 265 do not interfere with each other. do not have.

Immediately before the pushing member 265 returns to the return position, the movement of the abutting roller 278 is regulated by the first dog 294, while the second connecting base 275 continues to move, so the shaft 278
The L-shaped link 272 rotates counterclockwise about 77. As the L-shaped link 272 rotates, the link mechanism connects the second connecting base 270 and the I
The above movement ends when the L-shaped link 271 moves and a part of the L-shaped link 272 comes into contact with the first stopper 288 (see FIG. 12).

Since the mechanism for moving the pushing device 250 is a link mechanism structured as described above, the pushing device 250 can be made very compact relative to the amount of movement of the pushing member 265, and a large number of pushing devices 250 can be installed in the article loading/unloading device 200. be able to. Moreover, since the movable shelf 220 allows articles to be taken in and taken out while it is being moved, very efficient work is possible. In addition, since the guide rail 214 for parallel holding is extended outside the rail 202 and has an endless shape without a notch, manufacturing is simple and the movable shelf 220 can be smoothly moved. Furthermore, each article mounting plate 232, 23 of the movable shelf 220
A gap between 3 and 234 is provided, and a slide fork 296 for transfer can enter into the gap.

〔Effect of the invention〕

As explained above, according to the present invention, it is possible to carry out the work of loading and unloading articles continuously and quickly in each or all stages of the rotary article storage device, and even if one of the loading and unloading operations is uneven, it is possible to carry out multiple movements. Work efficiency can be improved by circulating shelves and performing continuous processing. In other words, one side of the elevating path of the article loading/unloading device is a section dedicated to unloading operations, and the other side is a section dedicated to warehousing operations, so that each loading and unloading operation can be performed simultaneously.
When the operating rate is at its maximum, it is possible to simultaneously handle twice as many items as the number of shelves in the item storage device corresponding to the item loading/unloading device when totaling the loading and unloading operations, which can be expected to significantly improve work efficiency compared to conventional methods. .

[Brief explanation of drawings]

FIG. 1 is a schematic plan view of article storage installation to which the present invention is applied, FIG. 2 is an overall side view of the rotary storage device,
3 is a front view of the article loading/unloading device, FIG. 4 is a plan view of the article loading/unloading device, FIG. 5 is a front view showing the movable shelf and pushing device of the article loading/unloading device, and FIG. 6 is a connecting chain of the movable shelves. FIG. 7 is a partially cross-sectional plan view showing the pushing member, FIG. 8 is a partially longitudinal side view showing the pushing member, and FIG. 9 is a partially longitudinal front view showing the pushing member. FIG. 10 is a plan view illustrating the movement of the pushing member, FIG. 11 is a plan view illustrating the movement of the pushing member, FIG. 12 is a plan view illustrating the movement of the pushing member, and FIG. 13 shows the pushing device. A partially sectional plan view, FIG. 14 is also a side view, and FIG. 15 is a sectional view taken along the line X--X in FIG. 13. 4...Oval shaped outer rail, 5...Oval shaped inner rail, 100...Rotary article storage device, 200...
Article loading/unloading device, 220...Moving shelf, 250...
...Pushing device, 265...Pushing member.

Claims (1)

[Claims] 1 Article storage including a rotary article storage device in which a large number of article storage shelves arranged in an oval shape in the horizontal direction are arranged in multiple stages in the vertical direction, and each of the stages is configured to be freely rotatable in the horizontal direction. The equipment is provided with an article loading/unloading device in which a plurality of movable shelves rotate in a vertical plane parallel to the straight section on the side of the oval linear section of the storage device, and the article loading/unloading device A device is provided at each stage of the storage device portion corresponding to one side of the lifting path, and a device is provided for pushing out the articles on the article placement shelf to each stage of the movable shelf, and a device is provided on the other side of the lifting path of the article loading/unloading device. and a device for pushing the articles on the movable shelf into each stage of the article placement shelf.