JPS6055403B2 - Automatic loading and unloading device for goods - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic loading and unloading system that automatically takes out articles from shelves and stores them on shelves.

Conventionally, a transport platform was provided so that it could move vertically and horizontally along the front of the shelf of a storage shelf unit, an address code was assigned to each shelf position, and the transport platform was controlled to move according to the specified address code. An article delivery device is installed on the table to transfer articles to or take out articles from the shelf, and when the conveyance table is stopped, the article transfer device is controlled and operated, thereby taking out articles from the shelves and placing them on the shelves. Devices that automatically store items are known.

According to such an automatic warehousing/retrieval device, by performing a predetermined warehousing operation, it is possible to automatically carry out one or more predetermined articles from the shelf to the warehousing section of the shelf unit, and also to carry out the warehousing of the shelf unit. By setting articles in the storage section in a predetermined state and performing a predetermined warehousing operation, the articles set in the storage section can be automatically returned to a predetermined position on the shelf. However, in conventional automatic warehousing and retrieval devices of this type, both the warehousing section and the warehousing section are attached to the shelf unit in a non-removable manner. In order to transport the items at the same time, it is necessary to transfer the items from the delivery section to another container, etc., and vice versa, when the items are to be stored in the warehouse, it is necessary to set the items one by one in the predetermined state in the storage section. It is inconvenient because the work required for loading and unloading the warehouse is a heavy burden.

There is also a device that functions as both a storage section and a storage section, but this also requires work to transfer articles, which is a heavy burden.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide an automatic loading and unloading system that reduces the work involved in loading and unloading articles.

Furthermore, in addition to the shelf unit, the present invention provides a movable carrier for transporting the retrieved articles, and moreover, the carrier can be put in and taken out from the shelf unit, and the carrier is placed in the shelf unit. The purpose of the present invention is to provide an automatic loading and unloading system that allows articles to be loaded and unloaded directly into and out of carriers.

Another object of the invention is external to the shelving unit. Sometimes it is about providing a carrier that maintains a particularly stable posture.

Another object of the present invention is to prevent articles from falling off from carriers, and to use a structure for this purpose to prevent articles from falling off from carriers inserted into shelving units. The purpose is to ensure reliable loading and unloading operations.

Another object of the present invention is to accurately stop the carrier at a predetermined position within the shelving unit. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below, taking as an example a case where a magnetic tape is used as an article, with reference to drawings showing embodiments of the present invention. FIG. 1 shows the overall configuration of an automatic article storage/retrieval system according to the present invention.

Referring to FIG. 1, an article storage 1 has two shelf units 11 and 12 that face each other and are spaced apart from each other. Each of these shelf units 11 and 12 has a plurality of shelves, and a large number of magnetic tapes 2 can be arranged on each shelf at equal intervals in the horizontal direction. Further, between the shelf units 11 and 12, there is provided a conveyance table device 13, which is characterized by an article conveyance table that is controlled to move vertically and horizontally along the front surface of the shelf, and an article delivery device provided on the conveyor table. It is being Then, this conveyance table device 13 is operated by a drive source such as a motor, and its operation is controlled by an appropriate control circuit, and the conveyance table is stopped at a predetermined position on the shelf, and the article is transferred from the shelf by the delivery device. It is possible to take out the magnetic tape 2 and transfer the magnetic tape on the carrier to a shelf.The specific configuration of the shelf, carrier device, and control circuit is described in, for example, Japanese Patent Application Laid-Open No. 53-11.
Since it is possible to use those that have become publicly known in JP-A No. 41, Japanese Patent Laid-Open No. 53-1195n, etc., their details will be omitted here. Further referring to FIG. 1, a small carrier 3 that can be freely moved on the floor is provided separately from the shelf units 11 and 12.

The carrier 3 has a large number of magnetic tapes 2, a shelf unit 11,
Like the 12th shelf, it will be constructed so that it can be placed in and taken out from the front. Although the drawing shows the magnetic tape 2 arranged in two stages, upper and lower, the number of stages is not limited to this. The carrier 3 is further provided with code marks at each position where the magnetic tape is placed. Note that it is desirable to use a large number of such carriers 3. On the other hand, the shelf unit 11,
Each of the carriers 12 is provided with entry/exit ports 111, 121 at a lower position on one side end face thereof to allow the carrier 3 to pass therethrough, and spaces 112, 122 for receiving the carrier 3 in the vicinity of these entry/exit ports.

Furthermore, operation panels 113 and 123 are provided above the entrances and exits 111 and 121, respectively. Further, an emergency exit 124 is provided above the operation panel 123 on one side. Now, in order to store the magnetic tape 2 placed on the carrier 3, move the carrier 3 near the light pen 41 of the input terminal device 4,
The code mark attached to each article delivery section of the carrier 3 and the code mark attached to the end surface of the magnetic tape 2 are alternately and sequentially read by the light pen 41.

Next, the gear rear 3 is opened at the entrance/exit 111 or 121.
The warehousing operation is started by inserting and setting the warehousing device into the empty space 112 or 122 through the holder, and then operating the warehousing switch on the operation panel 113 or 123. Thereafter, the controlled operation of the conveyance table device 13 automatically returns the magnetic tapes 2 on the carrier 3 to the positions assigned to the shelves of the shelf units 11 and 12 in order. The empty carrier 3 can be extracted freely. Also, shelf unit 1
To unload the desired one or more magnetic tapes 2 from 1 or 12, first insert and set the empty carrier 3 into the empty space 112 or 122 through the loading/unloading port 111 or 121. Operate the exit switch.

Next, data corresponding to the desired code of the magnetic tape 2 is sequentially input using the keyboard 42 of the input terminal device 4. The data input at this time is displayed on the display surface 43. Then, the unloading operation is started, and the operation of taking out the requested magnetic tapes 2 from the shelves of the shelf units 11 and 12 and transferring them to the carrier 3 is automatically performed in sequence by the controlled operation of the conveyance table device 13. When all requested magnetic tape removal operations are completed, the carrier 3 is removed.
Note that even if the carrier 3 inserted in one of the spaces (for example, 112) is fully loaded, if an empty carrier 3 is inserted in the other space 122, the empty carrier 3 will be It is preferable to transfer the magnetic tape. After the carrier 3 loaded with the magnetic tape 2 thus requested is extracted from the space 112 or 122,
The magnetic tape 2 can be transported to the site where it is used. Also, when returning the magnetic tape 2, use the carrier 3.
It will be transported while still on board. Therefore, even if the site where the magnetic tape 2 is used is far away from the article storage 1, there is no need to transfer the magnetic tape 2, which reduces the burden on the operator and is extremely convenient. If it suddenly becomes necessary to take out another small number of magnetic tapes during the above-mentioned loading or unloading operation, an emergency retrieval command can be given from the keyboard 42 of the input terminal device 4, and the work will be carried out. and take the required magnetic tape to emergency exit 12.
It is more preferable to take it out at 4.

Furthermore, as shown in FIG. 2, the carrier 3 is provided with caster assemblies 31 at each of the four corners of its lower surface.

These caster assemblies 31 are attached to the carrier 3 so as to be variable in position in the direction in which the magnetic tape 2 is taken in and taken out, and are biased outward. As shown in FIG. 3, this caster assembly 31 includes an elongated channel member 311 and a total of four
The rotatable rollers 312 provided individually and the channel member 3
A block 31 is fitted and fixed inside near the outer end of 11.
3, a shaft rod 314 screwed and fixed to this block, a radial bearing 315 screwed into the middle of this shaft rod, a disc 316 rotatably attached to the outer periphery of this bearing, and a lower end of the shaft rod 314. A wheel holder 318 is attached to the holder so as to be rotatable about a vertical axis via a thrust bearing 317, and a wheel 319 is attached to the holder so as to be rotatable about a horizontal axis. A pair of horizontal groove rails 321 is provided on the lower surface of the bottom frame 32 of the carrier 3, and by fitting rollers 312 into these groove rails, the caster assembly 31 can be positioned in a variable manner with respect to the carrier 3. Incorporated. Further, a long groove 322 is formed in the bottom frame 32, a pin 33 fixed to the upper surface near the other end of the channel member 311 is inserted into the long groove 322, and a tension is applied between the spring receiver 34 attached to the bottom frame 32 and the pin 33. A spring 35 is interposed. In this way, the caster assembly 31 is biased toward the outside of the carrier 3. As a result, the caster assembly 31
When the carrier 3 is outside the shelf units 11, 12, the wheels 319 of the carrier 3 are spaced apart from each other (indicated by symbol 5 in FIG. 2) in the direction of loading and unloading articles from the carrier 3. The posture of the carrier 3 is stable, and even a tall carrier can be easily moved. On the other hand, referring again to FIG. 1, a pair of carrier guides 115 and 125 are provided on the left and right sides of the entrances and exits 111 and 121 of the shelf units 11 and 12, respectively, with the front sides widening.

These carrier guides not only guide the insertion of the carrier 3, but also serve to push the caster assembly 31 into the lower surface of the carrier 3 by pressing the disk 316 of the caster assembly 31 when inserting the carrier. , when the carrier 3 is inserted into the cavities 112, 122, its wheels 319 will automatically narrow their mutual spacing 5. It should be noted that the caster assembly 31 is connected to the carrier guide 11.
5, 125, it is desirable to protect the roller 312 by fixing a slippery resin block or the like 311a to the side surface of the channel member 311. Furthermore, in order to prevent the magnetic tape 2 from falling off when it is moved outside the shelf units 11 and 12, the carrier 3 is provided with an intervening surface on the surface where the magnetic tape 2 is taken in and out, as shown in FIG. A movable guard member 36 that can be moved is provided in one-to-one correspondence with each shelf.

This guard member 36 is coupled to a rotation shaft of a rotatable lever 37 provided in an exposed state on the side surface of the carrier 3. In this way, when the lever 37 is in a position facing diagonally downward as in the lower stage lever, the guard member 36 is interposed in front of the magnetic tape 2 as a baffle, but the lever 37 is rotated upward as in the upper stage lever. When moved, the guard member 36
The guard member 36 and the corresponding lever 37 are interlocked so that the guard member 36 is rotated upward and the guard member 36 is in a position that does not interfere with the magnetic tape 2. Note that the lever 37 is the carrier 3
are provided symmetrically on both end faces of the On the other hand, in the innermost parts of the spaces 112 and 122 of the shelf units 11 and 12, a limit switch (not shown) is installed on the wall that defines the spaces.
Equipped with.

The limit switch is installed at the position where the carrier 3 is inserted into the space 112 or 122 with the guard member 36 in a position where it does not interfere with the insertion and removal of the magnetic tape 2. The position is such that it can be actuated by lever 37 only when That is, when the lever 37 is oriented upward like the one on the upper stage, the limit switch is actuated by that lever, but when it is oriented diagonally downward like the one on the lower stage! The above limit switch is never activated. In addition, when the levers 37 are provided in two stages, upper and lower, as in the illustrated embodiment, two limit switches are also provided in the upper and lower positions so as to face each other. In this way, by engaging the guard member 36 with the magnetic tape 2, the carrier 3 can be moved between the shelf units 11 and 12.
By operating the limit switch using the lever 37 for operating the guard part Z material 36, the carrier 3 can be prevented from falling off when the magnetic tape 2 is moved outside the space 112. , 122, and that the guard member 3
6 is located at a position where it does not interfere with the insertion and removal of the magnetic tape 2, and it is possible to reliably carry out the operation of loading and unloading articles with respect to the carriers inserted into the shelf units 11 and 12.

In addition, as shown in FIG. 4, at the bottom of the wall defining the innermost part of the spaces 112 and 12 no.
A hook 14 is provided for locking the carrier 3 inserted into those spaces from being removed.

This hook 14 is attached so as to be able to move up and down slightly around a shaft pin 15, and is biased by a tension spring 16 so as to rotate upward. Further, in order to rotate the hook 14 downward, it is sufficient to energize the electromagnetic solenoid or the electromagnet 17. Furthermore, a carrier positioning pin 18 is provided at a position slightly higher than the hook 14 and is movable in the longitudinal direction and protrudes inward of the spaces 112 and 122.
In addition, this positioning pin 18 is biased toward the storage entrances 111 and 121 by a compression spring 19. On the other hand, the carrier 3 is provided with engaging portions 38 on the lower surfaces of both ends thereof for engaging with the hooks 14. As a result, carrier 3 is empty space 1
When inserted deeply into 12 or 122, the engaging portion 38
presses the slope 141 at the tip of the hook 14, rotates the hook 14 downward, and is automatically hooked on the claw 142, and the positioning pin 18 pushes the insertion tip surface of the carrier 3 in the removal direction, so that the carrier 3 is empty space 112, 122
It is firmly positioned and stopped at a predetermined position inside.
To release the engagement between the carrier 3 and the hook 14, the electromagnetic solenoid or electromagnet 17 may be driven. It is desirable that the timing of this drive be selected by the operator after confirming that the insertion and removal of the magnetic tape 2 into and out of the carrier 3 has been completely completed. In such an automatic loading/unloading system, a large number of carriers 3 are prepared, and a separate code mark 38 is marked for each carrier on both end surfaces of the carriers 3.
By giving the code mark 38 and reading the code mark 38 when the carrier 3 is inserted into the blank spaces 112 and 122, the destination of the magnetic tape 2, that is, which carrier 3 the magnetic tape 2 is currently mounted on can be determined. You can also manage the number of people.

Further, the code mark indicating the mounting location of the magnetic tape 2 on the carrier 3 may be attached to the front surface of the shelf of the carrier 3.
It can also be attached to the front surface of the guard member 36.

In the embodiments, description has been given of the case where a magnetic tape is used as the article, but it goes without saying that the present invention can be implemented in the same way when dealing with various other articles, and that various design changes of the embodiments are possible.

[Brief explanation of the drawing]

FIG. 1 is a configuration explanatory diagram showing the overall schematic configuration of the present invention,
Fig. 2 is a perspective view showing one embodiment of the carrier, Fig. 3 shows the built-in structure of the caster assembly of the carrier, a is a plan view, b is a sectional view thereof, and Fig. 4 is an empty shelf unit. The structure for stopping the casters is shown in FIG.
is also a side sectional view. 1... Goods hangar, 11, 12... Shelving unit, 111, 121... Entry/exit entrance, 11
2,122... Blank space, 113,123...
...Operation panel, 124...Emergency exit, 115,
125...Career Guide, 13...
Transport platform device, 14... Hook, 18...
・Positioning pin, 2...Magnetic tape, 3...
...Carrier, 31...Caster assembly,
316... Disc, 319... Wheel, 3
6... Guard member, 37... Rubber, 4
...Input terminal device, 41...Light pen.

Claims (1)

[Claims] 1. An article transport platform provided to be controlled to move vertically and horizontally along the front surface of the shelf of an article storage shelf unit; A conveyance table device characterized by an article delivery device for taking out or transferring articles on the conveyance table to a shelf, a drive source for operating the article conveyance device, and controlling a predetermined operation of the conveyance table device. In the automatic loading and unloading device for articles, the shelving unit includes a movable carrier configured so that a plurality of articles can be loaded in and out from the front article loading/unloading port in the same way as the shelves of the shelf unit. On the other hand, in the shelf unit, an opening is formed in the lower end surface to allow the carrier to pass through, and a space is provided near the opening to receive the carrier, and the carrier is placed in the space. The carrier is configured such that the article can be directly put in and taken out from the carrier by the article delivery device, and the carrier further includes:
a guard member for preventing articles from falling off, which is interposed in the article loading/unloading opening and is movable between a position where the article is stopped from falling out and a position where it does not interfere with loading and unloading of the article; A lever interlocked with the guard member is provided, and the shelf unit is provided with a switch on a wall defining the empty space to detect the position of the lever when the carrier is placed in the empty space. An automatic goods loading/unloading device characterized by: