JPH0577909A - Carrying-in and carrying-out device for storehouse - Google Patents

Abstract

PURPOSE:To automatically perform a picking operation in an automatic high- rised warehouse by providing an axis drive mechanism for driving an X-axis moving frame and a Z-axis guide frame and a drive mechanism for driving an X-axis guide frame on a track in the direction of a Y-axis. CONSTITUTION:On the carrier 1 of a stacker crane, two types of forks 2 and two pallets are mounted. On the carrier 1, a robot applied (direct type) picking device is provided. This mechanism has a grip hand 7 for gripping articles and a Y-axis guide frame 3, a X-axis guide frame 4, an X-axis moving frame 5 and a Z-axis guide frame 6 are provided so that the grip hand 7 can move in X, Y and Z directions on the carrier 1. To move each frame, an X, Z-axis drive device 9 and a Y-axis drive device 8 are provided. The grip hand 7 can move in the Z-axis direction by the Z-axis guide frame 6 and can move in the X-axis direction by moving the X-axis moving frame 5 on the X-axis guide frame 4.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional automatic warehouse loading / unloading apparatus used in a physical distribution system.

[0002]

2. Description of the Related Art Conventionally, in a distribution system in which picking work is complicated and a work space is reduced when the sorting work for a variety of small quantity products by destination is performed and the work space is unmanned, the picking work is generally performed from an automatic warehouse or the like. Once the goods were unloaded, they were picked into different empty pallets, etc. by people, machines, and both in the picking area, and stowage work was carried out.

[0003]

In a system for handling high-mix low-volume products, picking of products on a pallet stored in a three-dimensional automated warehouse to a plurality of destinations, assorting and stacking work is a work for picking. A large number of workers and machines had to be prepared for complicated picking, sorting, and stowage work that required space, and it also took time. An object of the present invention is to provide a warehouse loading / unloading apparatus that unmanns the picking process of products stored in a warehouse and reduces the space required for a worker for picking, sorting, and packing.

[0004]

DISCLOSURE OF THE INVENTION The present invention relates to a horizontal plate-shaped pallet for loading stored products into and out of a warehouse, and for loading or unloading the pallets on a bed by extending or contracting in the horizontal direction. Fork, a Y-axis guide frame fixed to the bed and having a Y-axis direction rail parallel to the horizontal direction, and an X-axis that is mounted on the Y-axis guide frame parallel to each other at right angles to each other and moves on the Y-axis direction rail. A guide frame, an X-axis direction rail provided on the X-axis guide frame, an X-axis moving frame moving on the X-axis direction rail in the X-axis direction, and a vertical direction attached to the X-axis moving frame. A Z-axis guide frame that moves to the, and a grip hand that is attached to the lower end of the Z-axis guide frame to grasp the stored product,
The XZ axis drive mechanism for driving and operating the X axis moving frame and the Z axis guide frame, the Y axis driving mechanism for driving and operating the X axis guide frame on the Y axis direction rail, and the Y axis driving mechanism and the XZ axis driving mechanism. A warehouse loading / unloading device including a control circuit for controlling.

[0005]

In the loading / unloading apparatus of the warehouse of the present invention, when loading / unloading the stored product to / from the warehouse, the stored product is placed on a horizontal plate-shaped pallet, and horizontally extended or reduced to load the pallet on the loading platform. The X-axis guide frame is moved down onto the Y-axis direction rail provided on the Y-axis guide frame that is fixed to the loading platform and is parallel to the horizontal direction, and is then moved onto the X-axis direction rail provided on the X-axis guide frame. The X-axis moving frame is moved in the X-axis direction, the X-axis guiding frame is attached to the X-axis moving frame and moved in the vertical direction, and the grip hand is attached to the lower end of the Z-axis guiding frame to grasp the stored product,
The X-axis moving frame and the Z-axis guide frame are driven and operated by the XZ-axis drive mechanism, and the X-axis guide frame on the Y-axis direction rail is driven and operated by the Y-axis drive mechanism to control the Y-axis drive mechanism and the XZ-axis drive mechanism. To do.

[0006]

EXAMPLE An example of the present invention will be described below. 1 to 6 show a horizontal plate-shaped pallet 18 on which the stored products 19 are loaded and unloaded when the stored products 19 are carried in and out of the warehouse, and the pallets 18 are loaded and unloaded on the loading platform 1 by extending or contracting in the horizontal direction. Fork 2, a Y-axis guide frame (hereinafter referred to as a Y-axis guide frame) 3 fixed to the bed 1 and having a Y-axis direction rail 3a parallel to the horizontal direction, and a parallel Y-axis guide frame 3
And an X-axis guide frame (to be referred to as an X-axis guide frame hereinafter) 4 mounted on the rails 3a at right angles to each other and moving on the Y-axis direction rail 3a.
And the X-axis direction rail 4 provided on the X-axis guide frame 4.
a, an X-axis moving frame (hereinafter referred to as an X-axis moving frame) 5 that moves on the X-axis direction rail 4a in the X-axis direction, and a Z-axis that is attached to the X-axis moving frame 5 and moves in the vertical direction. A guide frame (hereinafter referred to as the Z-axis guide frame) 6 and this Z
A product to be stored attached to the lower end of the shaft guide frame 6
Gripping hand 7 for grasping, XZ axis drive mechanism 9 for driving and operating X axis moving frame 5 and Z axis guide frame 6, and Y axis driving for driving and operating X axis guide frame 4 on Y axis direction rail 3a. Mechanism 8 and Y-axis drive mechanism 8 and X
Picking controller 14 for controlling the Z-axis drive mechanism 9
It shows a loading and unloading device of a warehouse comprising. That is, by using a stacker crane and a host CPU that controls the picking device, a three-dimensional automatic warehouse, a stacker crane and a control controller, a robot-applied picking device, and a drive device, picking on a shelf of the three-dimensional automatic warehouse is performed. FIG. 1 is a perspective view of a stacker crane unit 11 of a three-dimensional automatic warehouse 15, which is a warehouse loading / unloading device used in a system for automatic picking of articles. In the present embodiment, two sets of forks 2 are provided on the loading platform 1 of the stacker crane 11, two pallets 18 are placed, and a robot application (orthogonal type) picking device 13 is mounted on the loading platform 1. The mechanism is provided with a grip hand 7 for gripping an object, and the grip hand 7 is movable in the X, Y, Z directions on the platform 1 so that the Y-axis guide frame 3, the X-axis guide frame 4, An X-axis moving frame 5 and a Z-axis guide frame 6 are provided, and in order to move each frame, an X- and Z-axis driving device 9 and a Y-axis driving device 8 are provided.
To provide.

The grip hand 7 is a Z-axis guide frame 6
The X-axis movement frame 5 can move in the Z-axis direction, and the X-axis movement frame 5 can move in the X-axis direction by moving on the X-axis guide frame 4. The grip hand 7 is movable in the Y-axis direction by moving the X-axis guide frame 4 in the Y-axis guide frame 3.

FIG. 2 shows a pallet 1 on which picking items are placed.
8 is drawn into the loading platform 1 of the stacker crane 11 by using the fork 2, and the stacker crane 11 is in a state of moving to the location where the stored product 19 of the three-dimensional automated warehouse 15 is stored.

FIG. 3 shows a state in which, after the stacker crane 11 arrives at that location, the pallet 18 loaded with the stored products 19 is taken in from the three-dimensional automatic warehouse 15 by the fork 2.

FIG. 4 shows a storage product 19 loaded in the loading platform 1.
To move to the pallet 18 with the grip hand 7,
The Y-axis guide frame 3, the X-axis guide frame 4, and the Z-axis guide frame 6 are moved.

In FIG. 5, the picked storage product 19 is gripped by the grip hand 7, and the Y-axis guide frame 3, the X-axis guide frame 4, and the Z-axis guide frame 6 are moved respectively in the same manner as in FIG. The state is moving to.

2 to 5 show the operation of FIG. 1, and FIG. 6 shows an example of the system. The system is a part of the stacker crane system with a picking device in the three-dimensional automated warehouse, and the destination instruction to the stacker crane 11,
Upper CPU that manages loading / unloading instructions and picking instructions to the picking device 13 on the stacker crane 11
10, a controller 12 for controlling the stacker crane 11 is provided, a controller 14 for controlling the picking device 13 is provided, an entrance conveyor 16 and an exit conveyor 17 for carrying the pallets 18 are provided, and the pallets 18 loaded with the products 11 are provided. A three-dimensional automatic warehouse 15 for storing is provided.

The stored product 19 to be picked placed on the pallet 18 is placed on the receiving conveyor 16 and the pallet 1
8 moves on the warehousing conveyor 16 and is drawn into the loading platform 1 by the fork device 2 of the stacker crane 11.

The stored product 19 is stored in the three-dimensional automatic warehouse by the stacker crane by outputting the instruction to the rack location allocated by the upper CPU 10 to the stacker crane controller 12, and the picking work instruction is set by the upper CPU 10. After that, the pallet 18 is placed on the warehousing conveyor 16, the pallet 18 flows through the warehousing conveyor 16 and is placed on one side of the loading platform 1 by the fork device 2 of the stacker crane 11, and after the pulling in is completed, a picking instruction is given to the stacker crane controller 12. The output stacker crane 11 moves to the shelf location of the stored product 19.

Next, after the stacker crane 11 arrives at the shelf location of the stored product 19, the stacker crane 1
With the fork 2 of No. 1, the corresponding pallet 18 is pulled into the loading platform 1 of the stacker crane 11 with the fork 2, and after the withdrawal, the upper CPU 10 selects the picking controller 1
4, the required number of picking instructions are output, and the picking controller 14 causes the XZ-axis driving device 9 and the Y-axis driving device 8 to operate.
In order to pick the stored product 19 through, the Y-axis guide frame 3, the X-axis guide frame 4, the X-axis moving frame 5, and the Z-axis guide frame 6 are moved.

The stored products 19 are grasped by the grip hand 7 and moved to the pallet 18 in the required number, and after the required number of stored products 19 have been moved to the pallet 18, the pallets 18 on which the remaining stored products 19 are placed are The stored product 19 picked up again by the fork 2 and returned to the original shelf location is sent from the upper CPU 10 to the delivery conveyor 17 to the stacker crane controller 12, which is then carried by the stacker crane 11 and then by the stacker crane 11. After arriving at the delivery conveyor 17, the fork 2 lowers the delivery conveyor 17.

As an effect of this embodiment, picking can be automatically performed in a three-dimensional automatic warehouse, and an operator and a space for picking, sorting, and stowage can be reduced.

[0018]

According to the present invention, since the picking work can be performed in the three-dimensional automatic warehouse, it is possible to save space and manpower.

[Brief description of drawings]

FIG. 1 is a perspective view of a loading / unloading device according to an embodiment.

FIG. 2 is a perspective view showing the operation of FIG.

FIG. 3 is a perspective view showing the operation of FIG.

FIG. 4 is a perspective view showing the operation of FIG.

5 is a perspective view showing the operation of FIG. 1. FIG.

FIG. 6 is a perspective view illustrating an automatic warehouse.

FIG. 7 is a perspective view of a stacker crane.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Loading platform 2 ... Fork 3 ... Y-axis guide frame 4 ... X-axis guide frame 5 ... X-axis moving frame 6 ... Z-axis guide frame 7 ... Grip hand 8 ... Y-axis drive 9 ... X, Z-axis drive

Claims (1)

[Claims] 1. A horizontal plate-shaped pallet on which the stored products are loaded and unloaded when loading and unloading the stored products to and from a warehouse, and a fork for horizontally loading or unloading the pallets on a loading platform. A Y-axis guide frame fixed to the cargo bed and having a Y-axis direction rail parallel to the horizontal direction, and an X-axis guide mounted on the Y-axis direction rail parallel to the parallel Y-axis guide frame and moving on the Y-axis direction rail. A frame, an X-axis direction rail provided on the X-axis guide frame, an X-axis moving frame moving on the X-axis direction rail in the X-axis direction, and a vertical direction attached to the X-axis moving frame. A moving Z-axis guide frame, a grip hand attached to the lower end of the Z-axis guide frame for grasping the stored product, and an XZ for driving and operating the X-axis moving frame and the Z-axis guide frame.
Warehouse comprising an axis drive mechanism, a Y axis drive mechanism for driving and operating the X axis guide frame on the Y axis direction rail, and a control circuit for controlling the Y axis drive mechanism and the XZ axis drive mechanism. Loading and unloading equipment.