JP2010013238A - Automatic high-rise warehouse - Google Patents

Abstract

A lower part of a storage shelf unit in which a large number of storage shelves are stacked in a multi-stage is also available, and the space between the lifting table and the horizontal transfer device and the storage shelf unit is narrowed, and high-density and efficient autostereoscopic. Provide a warehouse.
A storage shelf unit (120) has a plurality of shelf columns (123) erected so as to fix a large number of storage shelves in multiple stages, and among the plurality of shelf columns (123), the transfer shelf (130) is the most. The near shelf pillar 123 is erected at a position away from the end surface of the storage shelf on the transfer traveling body 130 side.
[Selection] Figure 1

Description

  The present invention relates to an automatic three-dimensional warehouse in which specified storage items are stored in and stored in a storage shelf unit in which a large number of storage shelves are integrated.

Conventionally, as an automatic three-dimensional warehouse for storing specified storage items in a storage shelf unit in which a large number of storage shelves are integrated, the transfer traveling body can run freely along the unit installation direction on the side of the storage shelf unit. It is configured to stop at a position, and an elevating table that rises and lowers along the elevating struts and holds and stops at a predetermined height position on the transfer traveling body is provided on the elevating table and is individually provided in the horizontal direction. There is known a three-dimensional warehouse having a horizontal transfer device capable of transferring stored items (see Patent Document 1).
Japanese Examined Patent Publication No. 61-25602 (in particular, see page 2, FIG. 2 and FIG. 4)

However, in a conventional three-dimensional warehouse, since the traveling mechanism of the transfer traveling body is located directly under the lifting table, the lowering limit of the lifting table is regulated by the height of the traveling mechanism and stored in the lower part of the storage shelf unit. There was a problem that a dead space in which a shelf could not be provided occurred.
In addition, since the vertical shelf pillars constituting the storage shelf unit are provided on the end surfaces of the transfer traveling bodies on the respective shelves, the vertical movement is performed when the transfer traveling bodies move or when the stored items are loaded and unloaded. There is a problem that it is necessary to avoid interference between the table and the horizontal transfer device and the shelf column, and it is necessary to increase the distance between the lifting table and the horizontal transfer device and the storage shelf unit to some extent.

  Therefore, the technical problem to be solved by the present invention, that is, the object of the present invention is to make it possible to use a lower part of a storage shelf unit in which a large number of storage shelves are stacked in multiple stages, It is to provide a high-density and efficient autostereoscopic warehouse by narrowing the interval with the storage shelf unit.

  First, the invention according to claim 1 is a storage shelf unit in which a large number of storage shelves for storing stored items in a detachable manner are stacked in multiple stages, and the installation shelf surface of the storage shelf unit along the unit installation direction. A transfer traveling body that is freely movable and stops at a predetermined position, an elevating table that moves up and down along an elevating support column installed on the transfer traveling body and holds and stops at a predetermined height position, and A horizontal transfer device provided on a table and capable of transferring stored items in a horizontal direction, wherein the horizontal transfer device is opposed to a specified storage shelf and is configured to receive and store stored items. In the automatic three-dimensional warehouse, the storage shelf unit has a plurality of shelf columns erected so as to fix the plurality of storage shelves in multiple stages, and the transfer traveling body is the most among the plurality of shelf columns. A shelf column close to the storage shelf is at a position away from the end surface of the storage shelf on the transfer body side. Is set, all or part of the running mechanism for running the transfer traveling body, by being provided in the lower portion of the space of the storage rack is a further solve the aforementioned problems.

  The invention according to claim 2 is the automatic three-dimensional warehouse according to claim 1, wherein the traveling mechanism provided in the lower space of the storage shelf includes a traveling rail installed on a floor surface and the traveling body for transfer. The above-described problems are further solved by the traveling wheels installed in the vehicle.

  Furthermore, the invention according to claim 3 is the automatic three-dimensional warehouse according to claim 1 or claim 2, in which the storage shelf unit is disposed so as to face along the traveling path of the transfer traveling body. , Which further solves the aforementioned problems.

  The automatic three-dimensional warehouse according to the present invention has a storage shelf unit in which a large number of storage shelves for storing stored items can be freely stored, and can travel along the unit installation direction on the installation floor of the storage shelf unit. A transfer traveling body that stops at a predetermined position, a lifting table that moves up and down along a lifting column erected on the transfer traveling body, and holds and stops at a predetermined height position. And a horizontal transfer device capable of transferring stored items in a horizontal direction, wherein the horizontal transfer devices are sequentially opposed to specified storage shelves so as to receive and store stored items. As a result, it is possible to store a large number of stored items at a high density in a large number of storage shelves and to store and retrieve stored items at a high speed, and to achieve special effects corresponding to the following unique configurations. Can do.

  That is, in the automatic three-dimensional warehouse according to the first aspect, the storage shelf unit has a plurality of shelf columns erected so as to fix a large number of storage shelves in multiple stages, and the most of the plurality of shelf columns is transferred. The shelf column close to the loading traveling body is erected at a position away from the end surface of the storage shelf on the moving traveling body side, so that the component part of the traveling traveling body is located below the storage shelf of the storage shelf unit. It is possible to project a part of the storage shelf unit so that the lowering limit of the lifting table can be lowered and a storage shelf can be provided in the lower part of the storage shelf unit. The lifting table and the horizontal transfer device and the shelf column do not interfere when the goods are loaded and unloaded, and the interval between the lifting table and the horizontal transfer device and the storage shelf unit can be narrowed. All or part of the traveling mechanism for traveling is the storage shelf. Since it is provided in the lower space, the lowering limit of the lifting table can be lowered without impairing the traveling function, lifting function and horizontal transfer function of the moving body for transfer. A storage shelf can also be provided in the part, and a higher density and efficient autostereoscopic warehouse can be provided.

Further, in the automatic three-dimensional warehouse according to claim 2, the traveling mechanism provided in the space below the storage shelf is a traveling rail installed on the floor and a traveling wheel installed on the transfer traveling body. In addition to the effects exhibited by the automatic three-dimensional warehouse according to claim 1, the traveling rails and traveling wheels, which are components that require height, can be provided at positions that do not affect the lifting operation of the lifting table. Since the lower limit of the table can be further lowered, it is possible to provide an autostereoscopic warehouse with higher density and efficiency.
In addition, since the left and right spans of the traveling wheels can be increased without interfering with the shelf columns, stable traveling can be achieved even at high speeds.

  In addition, the automatic three-dimensional warehouse according to claim 3 is configured such that the storage shelf unit is disposed so as to oppose the traveling path of the transfer traveling body, whereby the automatic three-dimensional warehouse according to claim 1 or 2 is provided. In addition to the effect, the distance between the two storage shelf units arranged opposite to each other, the lifting table and the horizontal transfer device can be reduced, so that a higher-density and efficient autostereoscopic warehouse can be provided.

  The automatic three-dimensional warehouse according to the present invention has a storage shelf unit in which a large number of storage shelves for storing stored items can be freely stored, and can travel along the unit installation direction on the installation floor of the storage shelf unit. A transfer traveling body that stops at a predetermined position, a lifting table that moves up and down along a lifting column erected on the transfer traveling body, and holds and stops at a predetermined height position. And a horizontal transfer device capable of transferring stored items in the horizontal direction, wherein the horizontal transfer devices are sequentially opposed to specified storage shelves so as to load and unload the stored items. In an automatic three-dimensional warehouse, the storage shelf unit has a plurality of shelf columns standing so as to fix a large number of storage shelves in multiple stages, and the shelf column closest to the transfer traveling body among the plurality of shelf columns Is set up at a position away from the end surface of the storage shelf on the transfer body side, Since all or part of the travel mechanism that travels the mounted traveling body is provided in the space below the storage shelf, the lower part of the storage shelf unit in which a large number of storage shelves are stacked can be used. As long as the space between the elevating table and the horizontal transfer device and the storage shelf unit is narrowed to provide a high-density and efficient autostereoscopic warehouse, the specific embodiment is not limited. It doesn't matter.

  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.

  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.

And although the raising / lowering table in the automatic three-dimensional warehouse of this invention is fundamentally provided independently with respect to the transfer traveling body, two or more may be arrange | positioned with respect to the transfer traveling body in the up-down direction. .
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 is a shelf in which a large number of storage shelves 121 for storing storage items 110 as shown in FIG. It has two storage shelf units 120 that are divided into a front row shelf group and a back row shelf group at a position and accumulated in multiple stages, and the installation floor surface of these storage shelf units 120 is arranged along the unit installation direction. And a transfer traveling body 130 that can travel freely 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.
1 and 3 is a running wheel for running the transfer traveling body 130 along the unit installation direction of the storage shelf unit 120, and a drive chain for raising and lowering the lifting table 140, Reference numeral 134 denotes a traveling rail on which the traveling wheel 133 travels, and reference numeral 135 denotes a lifting motor that drives the lifting rope 132.

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, and the transfer chain 152 of the horizontal transfer device 150 is connected to the engaging means 115. The latching means 151 attached so as to protrude horizontally 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.

  In addition, the stored item 110 includes a connecting means 111 that is detachably engaged with each other at the center of the front and rear surfaces. The connecting means 111 is detachably connected to the adjacent stored item 110 by the lifting and lowering operation of the lifting table 140. The L-shaped cross-section hooks 111a provided on the front surface and the reverse L-shaped cross-section hooks 111b provided on the rear surface are combined. The engagement between the inverted L-shaped hook 111b provided in 110A and the L-shaped hook 111a provided in the stored item 110B of the rear shelf group is easily detached.

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, 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 154 wound around drive sprockets 156 provided near the center.

  The storage guides 158 on both sides include an introduction guide portion 158B in which the left and right intervals gradually expand toward the end in a section of about 1/3 of the length of the storage 110 from both ends in the transfer direction, It has a parallel guide portion 158A having a constant left and right interval, and is configured to allow an error in the horizontal position with respect to the storage shelf 121 during transfer.

In addition, each transfer chain 154 is provided with a locking means 151 that detachably engages with an engagement means 115 provided in the storage 110, and drives the transfer chain 154. As a result, the locking means 151 engages with the engaging means 115 of the stored article 110 and is pulled out from the storage shelf 121, and the locking means 151 pushes the end surface of the engaging means 115 portion of the stored article 115 for storage. It is configured to enter the shelf 121.
In this embodiment, the end sprockets 155, the drive sprockets 156, and the transfer chain 154 on both sides have a double-row structure, so that the locking means 151 is held by the double-row transfer chain 154. 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 154 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. The unit 122B and the parallel frame unit 122A having a constant left-right interval are configured to allow an error in the horizontal position with the horizontal transfer device 150 during transfer.

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 154 is positioned below the lower end portion 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 154 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 running direction 154, 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 154 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 154 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 running direction 154, 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 154 rises along the end sprocket 155 and the engagement means 115 at the left end portion of the stored item 110B in the figure. The stored object 110B is pushed out in the traveling direction of the transfer chain 154 in contact with the end surface, and the stored object 110B 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 154 descends 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.

  Then, when the drive sprocket 156 is driven, the locking means 151 provided on the transfer chain 154 rises along the end sprocket 155 and reaches the end surface of the engaging means 115 portion at the left end in the figure of the storage 110A. The stored object 110A is pushed out in the traveling direction of the transfer chain 154, 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 154 descends along the end sprocket 155 and automatically pushes out when the stored item 110A reaches the position of the front row shelf group of the storage shelf 121. Therefore, the stop control of the drive sprocket 156 is not necessary, and the locking means 151 provided on the transfer chain 154 is lowered to a position where it does not engage with the engagement means 115 of the stored article 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 restricts 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 and 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. Explanatory drawing of operation | movement of the stored thing at the time of transfer when a horizontal transfer apparatus stops | moves by shifting. Explanatory drawing of operation | movement of the stored thing at the time of transfer when a horizontal transfer apparatus stops | moves by shifting. Explanatory drawing of operation | movement of the stored thing at the time of transfer when a horizontal transfer apparatus stops | moves by shifting. Explanatory drawing of operation | movement of the stored thing at the time of transfer when a horizontal transfer apparatus stops | moves by shifting. Explanatory drawing of operation | movement of the stored thing at the time of transfer when a horizontal transfer apparatus stops | moves by shifting.

Explanation of symbols

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 (3)

A storage shelf unit in which a large number of storage shelves for storing stored items can be stored in multiple stages, and a transfer that can run on the installation floor of the storage shelf unit along the unit installation direction and stop at a predetermined position. A traveling body, a lifting table that moves up and down along a lifting column that is erected on the transfer traveling body, and holds and stops at a predetermined height position. In an automatic three-dimensional warehouse comprising a horizontal transfer device capable of transfer, and configured to store and receive stored items while facing the horizontal transfer device against a specified storage shelf,
The storage shelf unit has a plurality of shelf columns erected so as to fix the multiple storage shelves in multiple stages;
The shelf column closest to the transfer traveling body among the plurality of shelf columns is erected at a position away from the end surface on the transfer traveling body side of the storage shelf,
An automatic three-dimensional warehouse characterized in that all or part of a traveling mechanism for traveling the transfer traveling body is provided in a space below the storage shelf.   2. The autostereoscopic body according to claim 1, wherein a traveling mechanism provided in a lower space of the storage shelf is a traveling rail installed on a floor surface and a traveling wheel installed on the transfer traveling body. Warehouse.   3. The automatic three-dimensional warehouse according to claim 1, wherein the storage shelf units are arranged to face each other along a traveling path of the transfer traveling body.

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