JPH0638802Y2 - Sliding device and automated warehouse using it - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION “Industrial field of application” The present invention has a plurality of storage units, and automatically stores the supplied load in a predetermined storage unit and stores the load in a predetermined storage unit. The present invention relates to an automated warehouse that can automatically take out a load.

[Prior Art] Conventionally, as a means for saving labor in loading and unloading work in a warehouse, etc., it has a plurality of storage units and automatically stores the supplied load in a predetermined storage unit and An automated warehouse is used that can automatically take out loads stored in a storage unit.

As such an automatic warehouse, the one shown in FIG. 6 is known. This is a rack 2 having a side surface (front side in the drawing) formed with a three-dimensional lattice shape and provided with a plurality of storage units 1 and formed with an entrance / exit of each storage unit 1, and the side face side of the rack 2. A gantry 3 provided on the front side (in the figure), a stanchion 4 provided on the gantry 3 so as to linearly move in the horizontal direction along the side surface, and a placing surface 5a for placing a load. A mounting table 5 which is provided on the support column 4 and is vertically movable, and a vertical movement driving means (not shown) which is provided on the support column and has a drive source such as a motor for moving the mounting table 5 up and down. , A conveyor device (not shown) that is provided on the mounting surface 5a, has a drive source such as a motor, and moves a mounted load in a direction orthogonal to the side surface (direction orthogonal to the paper surface in the drawing). The driving means for the column 4 and the vertical movement driving means are: The rack and pinion or chain system was adopted.

Then, the above-mentioned automatic warehouse, the operation of which is controlled by a control device (not shown), activates the conveyor device for a load sent from the supply device (not shown) toward the placing surface 5a. The above-mentioned conveyor device and a conveyor device provided in the storage unit after the support 4 and the mounting table 5 are moved to a position before a predetermined entrance / exit of the storage unit 1. Then, the load is stored in a predetermined storage unit, and a predetermined load is taken out by the reverse operation and sent to a carry-out device (not shown).

"Problems to be solved by the invention" However, the above-mentioned conventional automated warehouse had the following points to be improved.

That is, in order to move the load horizontally, the loading table 5,
Since the structure is such that the entire column 4 including the vertical movement driving means and the conveyor device is moved, the load of the motor for driving the column 4 is very large and the power consumption is high.

Further, the pedestal 3 supporting the support columns 4 is large, and a large installation space is required in addition to the rack installation space.

The present invention has been made in view of the above conventional problems, and an object thereof is to provide an automatic warehouse that consumes less power, is small, and requires a small installation space.

[Means for Solving the Problems] A slide device of the present invention is configured such that an intermediate slider provided on a base, a slider provided on the intermediate slider, and a surface of the base. A first screw shaft rotatably provided on the base, and a second screw shaft fixed to the base, arranged so as to be parallel to the first screw shaft, A first nut fixed to the intermediate slider and screwed to the first screw shaft, and a second nut rotatably provided to the intermediate slider and screwed to the second screw shaft. And arranged so as to be parallel to the first screw axis,
A third screw shaft rotatably provided on the intermediate slider, a rotation transmission means provided on the intermediate slider for transmitting the rotation of the second nut to the third screw shaft, and fixed to the slider The third nut is screwed to the third screw shaft, and the drive unit is provided on the base and rotates the first screw shaft.

Further, the automatic warehouse of the present invention is formed in a three-dimensional lattice shape and provided with a plurality of storage units, and a rack having a side surface formed with an entrance of each storage unit, and a pillar provided adjacent to the rack. A support provided on the column so as to be vertically movable, a support drive means for moving the support up and down, and a slide device attached to the support and extending and contracting in the horizontal direction along the side surface of the rack, An automatic warehouse including a conveyor device provided in this slide device, wherein the slide device is a slide device having the above characteristics,
The base is attached to the support, the first screw shaft is oriented in the horizontal direction, and the slider is provided with the conveyor device.

[Operation] In the slide device of the present invention, when the driving means operates and the first screw shaft rotates, the intermediate slider moves with respect to the base together with the first nut. Then, as the intermediate slider moves, the second nut that is screwed onto the second screw shaft fixed to the base and rotatably provided on the intermediate slider rotates, and this rotation is caused by the rotation transmitting means to the third position. This third screw shaft is rotated by being transmitted to the screw shaft of, and at the same time as the movement of the intermediate slider,
The slider moves with the third nut relative to the intermediate slider.

Therefore, the slider is moved in a multistep manner with respect to the base by one driving means.

In the automatic warehouse of the present invention, the load sent from the supply device or the like onto the slider is placed on the slider by operating the conveyor device, and the slide device includes the slider via the support by the vertical movement driving means. By moving the slider up and down, and by moving the slider horizontally by operating the slide device, the load is moved up and down, left and right to move in front of the doorway of the predetermined storage unit, and then the conveyor device is operated. Then, the load is moved inwardly of the rack and stored in a predetermined storage portion, and in the opposite operation, the predetermined load is taken out and sent to a carry-out device or the like.

In the automatic warehouse of the present invention, the horizontal movement of the load is performed by the slide device,
The driving means for moving the load in the horizontal direction need only drive the load and a relatively lightweight object such as a slider.

[Embodiment] An embodiment of the present invention will be described below with reference to FIGS.

FIG. 1 is a front view of an automated warehouse, FIG. 2 is a view taken in the direction of arrow II in FIG. 1, FIG. 3 is a view showing details of a slide device and a conveyor device, and FIG. 4 is a sectional view taken along line IV in FIG. FIG. 5 shows V in FIG.
FIG.

In FIG. 1, reference numerals 10 and 10 denote racks. The rack 10 is formed in a three-dimensional lattice shape as a whole, is provided with a plurality of storage portions 11, and has a side surface 12 (a front surface in FIG. 1) in which an entrance of each storage portion 11 is formed. The side surface 12 is in the vertical direction, and the two side surfaces 12, 12 are fixed on the installation surface G side by side so that they are located in one plane. The bottom surface 11a of each storage portion 11 of the rack 10 is provided with the bottom surface 11 in a direction orthogonal to the side surface 12, respectively.
A rack conveyor device (not shown) for moving the load on a is provided.

A pillar 13 is installed between the racks 10, 10. Prop 1
As shown in FIG. 2, 3 is a base portion 13a, a pillar main body portion 13b provided upright on the base portion 13a, and a pillar pillar 13b which is orthogonal to the longitudinal direction of the pillar main body portion 13b. It is composed of plate portions 13c, 13d formed at the tip of the main body portion 13b and at positions close to and away from the base portion 13a of the column main body portion 13b, respectively. The column 13, the column body 13b is located on the rack 10 side of the plane including the side surfaces 12, 12.
It is installed by fixing the base part 13a on the installation surface G such that the longitudinal direction of the column main body part 13b is the vertical direction.

A support 14 is provided in the column 13. Support 14
Is arranged so that a part thereof projects from the inside of the column 13 toward the side including the side surfaces 12 and 12, and is moved to the column 13 in the longitudinal direction of the column main body 13b by a roller guide or the like not shown. It is attached freely.

Further, a screw shaft 15 is provided in the column 13. The screw shaft 15 includes a screw portion 15a with which a nut 16 of a ball screw described later is screwed, and a small diameter portion 15b formed at both ends of the screw portion 15a,
It consists of 15c. The screw shaft 15 has an axis extending in the longitudinal direction of the strut main body portion 13b and is arranged so as to penetrate the support body 14, and a small diameter portion 15b is provided on the plate portion 13c and a small diameter portion 15c is provided on the plate portion 13d. , And is rotatably attached to the support column 13 by being attached via bearings 17 and 18, respectively. Here, the end portion of the small diameter portion 15c is adapted to project from the plate portion 13d toward the base portion 13a.

Further, a ball screw nut 16 is provided at a portion where the screw shaft 15 penetrates the support 14. The nut 16 is screwed into the threaded portion 15a of the screw shaft 15 and is supported by the support member 14a.
The support body 14 is moved by the rotation of the screw shaft 15.

A motor 19 is provided on the base portion 13a of the column 13. The motor 19 is attached to the base portion 13a so that its axis is in the longitudinal direction of the column main body portion 13a. The output shaft 19a of the motor 19 and the portion of the small-diameter portion 15c formed on the screw shaft 15 that protrudes from the plate portion 13d are located at positions opposite to each other, and the booley 2
0,21 are attached. The pulleys 20 and 21 are connected by a belt 22, and a screw shaft 15 is rotated by a motor 19.

That is, here, the screw shaft 15, the nut 16, the motor 19, the pulleys 20 and 21, and the belt 22 constitute the support body drive means 60 that is the drive means of the support body 14.

A slide device is provided at the end of the support 14 that projects from the column 13.
23 are provided. The slide device 23 has a base 24 and a slider 25 that linearly moves with respect to the base 24, as will be described later.
The width direction of 24 is the width direction of the rack 10 and the slider 25 is arranged so as to move along the side surface 12, and the plate portion 24a of the base 24 is fixed to the support body 14 and attached to the support body 14. .

Hereinafter, the configuration of the slide device 23 will be described in detail with reference to FIGS.

In FIG. 3, reference numeral 23 as a whole is a slide device. Reference numeral 24 indicates the aforementioned base.
The base 24 includes a plate portion 24a and a plate portion 24b orthogonal to the plate portion 24a.
And a plate portion formed in an L shape as a whole,
On the 24b, side by side in the width direction of the base 24 (hereinafter, simply referred to as "base width direction") are arranged so as to face each other,
The support plates 26, 27 are fixed in an upright state. A first screw shaft 28 and a second screw shaft 29 are provided side by side between the support plates 26 and 27 on the plate portion 24b of the base 24. First screw shaft
As shown in FIG. 5, 28 is composed of a screw portion 28a with which a nut 30 of a ball screw described later is screwed, and small diameter portions 28b, 28c formed at both ends of the screw portion 28a. The first screw shaft 28 has an axis extending in the base width direction and is arranged so as to penetrate a plate portion 38d of an intermediate slider 38 described later, and the small diameter portion 28b is a support plate 26 and the small diameter portion 28c is a support plate. 27,
By being attached via bearings 31 and 32, respectively, they are rotatably attached to the base 24. Here, the end portion of the small diameter portion 28c is configured to project from the support plate 27 to the side opposite to the support plate 26. The second screw shaft 29 includes a screw portion 29a to which a nut 33 of a ball screw described later is screwed, and small diameter portions 29b formed at both ends of the screw portion 29a.
29c, the axis is in the base width direction, and is arranged so as to penetrate a plate portion 38d of the base 38 described later, the small diameter portion 29b to the support plate 26, the small diameter portion 29c to the support plate 27,
Each is fixed.

Further, on the plate portion 24b of the base 24, on the side opposite to the support plate 26 of the support plate 27, the motor 34, the axis is in the base width direction, so that the output shaft 34a faces the support plate 27 side. It is installed. Pulleys 35 and 36 are attached to the output shaft 34a of the motor 34 and the small diameter portion 28c at positions facing each other. The pulleys 35 and 36 are connected by a belt 37, and the motor 34
As a result, the first screw shaft 28 rotates.

That is, here, motor 34, pulleys 35 and 36, belt
37 constitutes a drive means 61 for rotating the first screw shaft 28.

Further, an intermediate slider 38 is provided on the plate portion 24b of the base 24. As shown in FIGS. 3 and 4, the intermediate slider 38 includes a plate portion 38a and a plate portion which is provided at both ends of the plate portion 38a and in the middle so as to be orthogonal to the plate portion 38a. It is composed of 38b, 38c and 38d and is formed in an E shape as a whole. In the base 38, the plate portion 38a is the base 2
It is located between the plate portion 24a of 4 and the support plates 26, 27, and the plate portions 38b, 38c, 3
8d are arranged side by side in the base width direction, and as shown in FIG. 2, the guide 39 and the base 2 attached to the plate portion 38a.
It is movably attached to the base 24 in the base width direction via a rail 40 attached on the plate portion 24b of 4.

Here, a part of the plate portion 28d is arranged between the support plates 26, 27, and as described above, the first screw shaft 2
8, The second screw shaft 29 penetrates. Also, the plate portion 28b,
28c is located above the support plates 26 and 27 so that they do not interfere with each other even if the intermediate slider 38 moves.

A first nut 30 and a second nut 33, which are nuts of a ball screw, are provided at the portions where the first screw shaft 28 and the second screw shaft 29 penetrate the plate portion 38d, respectively. The first nut 30 is screwed onto the first screw shaft 28 and is fixed to the plate portion 38d. The second nut 33 is screwed onto the second screw shaft 29 and is rotatably attached to the plate portion 28d via bearings 41 and 42. One end portion of the second nut 33 is the plate portion
Extending from 28d toward the support plate 26, the spur gear 43 is fixed to the outer periphery of the one end so that the axis matches the axis of the second screw shaft 29, and rotates together with the second nut 33. It is like this.

Above the second screw shaft 29, between the plate portions 38c and 38d, the shaft 44
Is provided. As shown in FIG. 4, the shaft 44 has its axis in the width direction of the base, and one end of the shaft 44 on the plate 38d,
The other end is attached to the plate portion 38c via bearings 45 and 46, respectively, so that it is rotatably attached to the intermediate slider 38. Here, the other end of the shaft 44 is a plate portion.
It projects from the plate 38c on the side opposite to the plate 38d.
At a position above the spur gear 43 of the shaft 44, a spur gear 47 is fixed by being meshed with the spur gear 43.
The rotation of the second nut 33 is transmitted to the shaft 44 via 7.

A third screw shaft 48 is provided between the plate portions 38b and 38c of the intermediate slider 38, along with the shaft 44. Third screw shaft 48
Is a nut for a ball screw, which will be described later, as shown in FIG.
It is composed of a screw portion 48a with which 49 is screwed, and small diameter portions 48b, 48c formed at both ends of this screw portion 48a. The axis of the third screw shaft 48 is in the width direction of the base, and the third screw shaft 48 is arranged so as to pass through a supporting portion 25b of the slider 25, which will be described later.
The small diameter portion 48b is the plate portion 38b, and the small diameter portion 48c is the plate portion 38c.
Are rotatably attached to the intermediate slider 38 by being attached via bearings 50 and 51, respectively. Here, the end of the small diameter portion 48c is a plate portion more than the plate portion 38c.
It is designed to project to the side opposite to 38b. The spur gears 52, 53 are attached to the end of the projecting small diameter portion 48c and the end of the shaft 44 projecting from the plate portion 38c, respectively.
The rotation of the shaft 44 is transmitted to the third screw shaft 48 via 2,53.

That is, here, the spur gears 43, 47, the shaft 44 and the spur gears 52, 5
Reference numeral 3 constitutes a rotation transmitting means 62 for transmitting the rotation of the second nut 33 to the third screw shaft 48.

Above the intermediate slider 38, the above-mentioned slider 25 is provided. The slider 25 is composed of a plate portion 25a and an arm 25b formed so as to project from one surface of the plate portion 25. In this slider 25, the plate portion 25a is the base 2
4 is parallel to the plate part 24b, and the arm 25b is the intermediate slider 3
It is arranged so as to project toward 8, and is movably attached to the intermediate slider 38 in the base width direction via a rail 54 attached to the intermediate slider 38 and a guide 55 attached to the plate portion 25a. There is. Where the arm
25b is located between the plate portions 38b and 38c, and the third screw shaft 48 penetrates as described above.

A third nut 49, which is a nut of a ball screw, is provided at a portion where the third screw shaft 48 penetrates the arm 25b. The third nut 49 is screwed onto the screw shaft 48 and is fixed to the arm 25b.

The three sets of ball screws provided in the slide device 23 described above, that is, the first screw shaft 28 and the first nut 30, the second screw shaft 29 and the second nut 33, the third screw axis
The directions of the screws (whether the screws are right-handed screws or left-handed screws) formed on the three sets of ball screws each composed of the 48 and the third nut 49 may be different by one set. For example, only the third screw shaft 48 and the third nut 49 may be left-hand threads, and the others may be right-hand threads.

Next, what is indicated by reference numeral 56 in FIG. 3 is a conveyor device 56. The conveyor device 56 is a belt 57, 57 provided so as to be lined up in the same direction, and this belt 57,
A motor 58 for driving the load 57 is provided, and the belts 57, 57 contact the lower surface of the loaded load to move the load in the circumferential direction. The conveyor device 56 is arranged on the plate portion 25a of the slider 25 such that the belt 57 is arranged so that the winding direction is orthogonal to the base width direction.

The operation of the motors 19, 34, 58 (starting, stopping, rotating direction) is controlled by a controller (not shown).

Next, the operation of the automatic warehouse configured as described above will be described.

First, when the motor 19 operates and its output shaft 19a rotates, the rotation is transmitted by the pulleys 20 and 21, the belt 22, and the screw shaft 15 rotates, which causes the support 14 fixed to the nut 16 and Mounted slider device
23 mag moves up and down.

In addition, the motor 34 of the slide device 23 is activated and its output shaft
When 34a rotates, its rotation is pulleys 35, 36 and belt 37.
Is transmitted to rotate the first screw shaft 28, whereby the intermediate slider 38 fixed to the first nut 30 moves in the width direction of the rack 10. And this intermediate slider
When the second nut 33 is rotated by the movement of 38, the rotation is transmitted by the spur gears 43 and 47, the shaft 44, and the spur gears 53 and 52, and the third screw shaft 48 rotates, which causes the intermediate slider. Simultaneously with the movement of 38, the slider 25 fixed to the third nut 49 moves in the same direction (rack 10
Width direction). That is, for the base 24,
The intermediate slider 38 and the slider 25 slide in the width direction of the rack 10 in multiple stages.

Further, when the motor 58 of the conveyor device 56 operates, the belts 57, 57 circulate.

Then, by a control device (not shown), the motors 19,3
By controlling the start / stop / rotation directions of 4,58 and performing the above operations in a predetermined direction at appropriate times, the load sent from the supply device (not shown) onto the slider 25 is the conveyor device. The belts 57, 57 of 56 place the slider 25 on the slider 25, and the motor 19 moves the slider 25 up and down (moves the rack 10 in the height direction) and the motor 34 slides the slider 25 (the rack 10).
(Movement in the width direction of the storage unit 11) is moved to the front of the doorway of the predetermined storage unit 11 and then moved to the inside of the rack 10 by the conveyor device 56 and the conveyor device provided in the storage unit 11, Is stored in the storage section 11 and a predetermined load is taken out in the reverse operation, and sent out to a carry-out device (not shown).

The automated warehouse of this embodiment has the following effects.

First, since the slider 25 is configured to move the load in the horizontal direction by the slide device 23 that is moved by the one motor 34 so as to extend in multiple steps with respect to the base 24, the load is moved in the horizontal direction. The motor 34 for the horizontal movement of the motor need only drive loads and relatively lightweight objects such as the slider 25. Also, the mechanism for horizontal movement (that is, the slide device 23) can be made smaller and lighter in weight as compared with a mechanism such as a normal chain system in which a supporting member needs to be provided over the entire movement range. Even with such a configuration, the load on the motor 19 for vertical movement does not increase significantly compared to the conventional case. Therefore, the total power consumption of the automated warehouse can be small.

Secondly, since the columns 13 are not moved, the rack
The installation space other than 10 is only the base 13a of the column 13, and the installation space is very small.

Thirdly, in the driving means for each operation, as a means for converting the rotation into a linear movement, since a highly accurate ball screw capable of eliminating backlash by applying a preload is used, the load is moved. In this case, the positioning accuracy is improved, and the margin of the size of the storage unit 11 with respect to the size of the load can be reduced.
Can be made smaller.

Note that the slide device 23 of the present embodiment has one intermediate slider 38 interposed between the base 24 and the slider 25, but a plurality of similar bases are provided and the same mechanism slides in multiple stages. It may be one.

Further, the screw element used in the drive system of the present embodiment can be replaced with another element as long as the rotation can be exchanged for linear movement, and in this case, the object of the invention can be achieved. it can.

[Advantage of device] Since the slider device of the present invention can move the slider in multiple steps by one driving means, compared with a mechanism such as a normal chain system in which a supporting member needs to be provided over the entire moving range. , And has the effect of reducing the size and weight of the whole.

Since the automatic warehouse of the present invention is configured such that the load is moved in the horizontal direction by the slide device in which the slider is moved in a multi-step manner by one driving means, the drive for moving the load in the horizontal direction is performed. The means need only drive relatively light items such as loads and sliders. Therefore, there is an effect that the load of the driving means is small and the power consumption is small.

Further, since the columns are not moved, the installation space other than the rack is limited to the installation space of the columns, and the installation space of the entire automated warehouse becomes very small.

[Brief description of drawings]

1 to 5 are views showing an embodiment of the present invention, wherein FIG. 1 is a front view of an automated warehouse, FIG. 2 is a view taken in the direction of arrow II in FIG.
FIG. 3 is a perspective view of a slide device and a conveyor device, and FIG.
The drawing is a IV sectional view of FIG. 3, and FIG. 5 is a V sectional view of FIG. FIG. 6 is a front view of a conventional automated warehouse. 10 …… Rack, 11 …… Storing part, 12 …… Side, 23 …… Post, 14 …… Support, 23 …… Sliding device, 24 …… Base, 25 …… Slider, 28 …… First screw Shaft, 20 …… second screw shaft, 30 …… first nut, 33 …… second nut, 38 …… intermediate slider, 48 …… third screw shaft, 49 …… third nut, 56 ... Conveyor device, 60 ... Support driving means, 61 ... Driving means, 62 ... Rotation transmitting means.

 ─────────────────────────────────────────────────── --- Continuation of the front page (56) Reference JP-A-58-167390 (JP, A) JP-A-60-123294 (JP, A) JP-A-52-35073 (JP, A) JP-A-57- 33103 (JP, A) JP 52-35073 (JP, A) Actually opened 47-18289 (JP, U) Actually opened 62-89295 (JP, U) Actually opened 48-43387 (JP, U) JP-B 29-23229 (JP, B1) JP-B 53-8108 (JP, B2)

Claims (2)

[Scope of utility model registration request] 1. An intermediate slider (38) provided on the base (24) in an overlapping manner, a slider (25) provided further on the intermediate slider, so as to extend along the surface of the base. A first screw shaft (28) rotatably provided on the base and a second screw shaft (2) fixed to the base so as to be parallel to the first screw shaft (28).
9), a first nut (30) fixed to the intermediate slider and screwed to the first screw shaft, and rotatably provided to the intermediate slider and screwed to the second screw shaft. A combined second nut (33), a third screw shaft (48) arranged so as to be parallel to the first screw shaft and rotatably provided on the intermediate slider, A rotation transmission means (62) provided on the intermediate slider for transmitting the rotation of the second nut to the third screw shaft, and a first screw fixed to the slider and screwed to the third screw shaft. A slide device comprising a third nut (49) and a drive means (61) provided on a base for rotating the first screw shaft. 2. A plurality of storage parts (1) formed in a three-dimensional lattice shape.
1) is provided, and the side surface (1
A rack (10) having 2), a support (13) provided adjacent to the rack, a support (14) provided on the support so as to be vertically movable, and a support for vertically moving the support. A body drive means (60), a slide device attached to the support body and extending and retracting in the horizontal direction along the side surface of the rack;
An automatic warehouse comprising: a conveyor device (56) provided on the slide device, wherein the slide device is the slide device (23) according to claim 1.
The base is attached to the support, the first screw shaft is oriented in the horizontal direction, and the conveyor device is provided on the slider.