JP3525164B2 - Elevating load discharge device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vertically-rotating multi-stage rotating shelf for moving a large number of trays along an elliptical orbit installed in a warehouse or the like. The present invention relates to an elevating load discharging device that pushes out a load on a tray in an arranged rotary multi-stage storage and discharges the load. 2. Description of the Related Art As disclosed in Japanese Utility Model Publication No. 1-26474, for example, a substantially horizontal rotating shelf for moving a large number of trays along an oblong orbit installed in a warehouse or the like is used. 2. Description of the Related Art Among rotary multistage storages arranged in upper and lower tiers, there is known a type in which a load pushing-out device for unloading is provided on a ceiling portion of each of upper and lower tiers of rotating shelves. However, in the case of a high-rise building having a large number of upper and lower stages, it is not only expensive to provide an extruding device for each rotating shelf of each stage, but also a load discharging device provided on the ceiling reduces the storage volume of the rotating shelf. It will also narrow it. In addition, there is a problem that if the load pushing device installed on the upper rotating shelf breaks down, repair and inspection thereof are difficult. [0004] In order to solve such problems,
As described in Japanese Utility Model Publication No. 61-1127, the present applicant has an extruding rod composed of an air cylinder that rises and descends along a column and faces forward near a rear surface of a storage box. And a lift-type load ejector equipped with a lift-type load ejector that pushes out and pulls out the load on the tray on the rotating shelf.
I am planning . [0005] In order to save the space of the warehouse, it is desirable to set the interval between the linear portions of the elliptical rotary shelf to a minimum.
In the conventional elevating type load discharging device described in Japanese Patent Application Publication No. 7 (1995) -1995, the load extruding device is installed in the track of the rotating shelf, so that the load on the tray is pushed out to the outside of the track of the rotating shelf by this device. The length of the telescopic rod of the air cylinder must be long enough to extend the distance from the inner end to the outer end of the track of the rotating shelf at the shortest. Therefore, the total length of the device installed in the track is extremely small. since the Nagasun, spacing in the track of the rotating shelf also not a name al to be broadly accordingly, it is impossible to save space. Further, a thin elastic rod of an air cylinder, so extending the long distance from the track inside out, when extruding a large load weight, such as extended telescopic rod is broken, inferior in strength point There is also. SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and it is possible to reduce the installation space inside a track of a rotating shelf, and to enhance strength when a telescopic rod is extended to push a load. It is an object of the present invention to provide an elevating type load discharging device which is excellent in quality. Another object of the present invention is to provide a lifting / lowering type load discharging device capable of preventing a risk of malfunction of the device during a load discharging operation and a risk of a drop of the load due to the malfunction. In order to achieve the above-mentioned object, a lifting and discharging apparatus according to the present invention comprises a substantially horizontal rotating shelf for moving a large number of trays along an oblong orbit. the more rotary multistage storage box which is arranged vertically multiple stages, a elevating load discharge device Ru was drained load on any tray vertical mast erected adjacent to the track inside the carousels When,
An elevating table that moves up and down along the mast, and is slidably inserted into each other so as to be slidable in a direction perpendicular to the track of the rotating shelf, so that the whole can expand and contract. A plurality of groove materials, one of which is fixed to the elevator, and the other end is provided with a load pushing plate,
Driving means provided on the elevating table, and driving means for extruding a load on a tray of an arbitrary rotating shelf with the load pushing plate to the outside of a track of the rotating shelf by extending and contracting a plurality of groove materials. Install the device inside the track of the rotating shelf and lift
Off the track on the rotating shelf, facing the mast of the unloader
A vertical mast erected on the side and up and down along the mast
And extruded by the lifting type load extruder.
A lifting platform for receiving a load,
It is installed outside the track of the rotating shelf, and it is
Each lifting platform with the lifting type receiving device is level with each other.
A confrontation confirmation sensor that detects when
At the same time, load on the tray on the rotating shelf
Inventory sensor that detects whether or not
Both the confrontation confirmation sensor and the inventory confirmation sensor operate together.
Make sure that the lifting means
And a control device for operating the controller . When the elevator is raised and lowered to a position which is at the same height as a desired level of the rotary shelf on which the load to be unloaded is located, and the drive means provided on the elevator is operated, the drive means Are moved toward the rotating shelf. Then, each groove material moves by the length of the immediately preceding groove material, and
Twice for lifting table, is moved in the carousels direction by 3 times the movement amount sequentially increases by load extrusion plate fixed to the earliest of the groove member, orbital outer carousels the load on the tray Can be extruded. When the load extrusion is completed, each groove material is
They are telescopically inserted into one another and are accommodated in a range which is significantly smaller than the range of movement of the load pusher. Next, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows a main part of a lifting / lowering type load discharging device.
Is a rotary multi-stage storage that is almost oval when viewed from above
(Hereinafter simply referred to as storage). In addition, let the right side of FIG. 1 be the outside of the storage (A), and let the left side be the inside similarly. [0010] A storage box comprising an outer vertical rod (2), an inner vertical rod (3), and horizontal rods (4) and (4 ') facing front and rear and left and right.
The frame body (A), along the elliptical orbit, substantially horizontal carousels for moving a load (5) a number of trays is placed (6), the upper and lower multiple stages (in FIG. 1 7 Step). The inner and outer horizontal rods (4) located at the upper and lower ends of the frame of the storage (A) are provided with horizontal upper and lower connecting rods (7) inward and outward, respectively. (7 ') are butt set. A tray (6) is provided inside and outside the storage (A).
The proximity to the horizontal once run track and cross-section before the front opening
A pair of masts (8) (8) is erected each vertical countercurrent U-shaped, the ends of the upper and lower are respectively fixed to the connecting rod (7) (7 '). (B) is fixed to an elevator (9),
Along with (9), an elevating type load extruder (hereinafter simply referred to as a load extruder) which moves up and down along the inner mast (8), (C)
Is also adjacent to the outside of the storage box (A), the outside of the mast
An up-and-down type receiving device (hereinafter, simply referred to as a receiving device) that can move up and down along (8). Shafts (10) pivotally supported on the upper and lower ends of each mast (8)
A pulley (11) is firmly fitted to. Upper and lower pulleys (1
Between (1) , a timing belt (or a wire, a chain, etc.) (12) is wound around the timing belt (1).
Both ends of 2) are connected to almost the center of the upper and lower surfaces of the lifting platform 9. A pulley is mounted on the shaft (10) at the lower end of each mast (8).
Another pulley located further outward than the (11) (13) is Katahama, this pulley (13), is Rikai rolling by the motor (14) disposed at the rear of the mast (8) As shown in FIG. 2, a timing belt (or a wire, a chain, or the like) (16) is wound around the pulley (15). Along the mast ( 8 ) in the receiving device (C ) ,
The lifting table to lift I (9), a horizontal base plate which receives the extruded load (5) by loading an extrusion apparatus (B) (17) is provided
ing. Above the base plate (17) , the load (5) is moved inward and outward by a drive device (not shown).
There is provided a push rod (18) for pushing the lock into the storage (A). Therefore, in this embodiment, the receiving device (C)
It also has a function as a load pushing device for pushing the load (5) into the storage (A). Since the lifting mechanism for lifting and lowering the load receiving device (C) is the same as the lifting mechanism for the load pushing device (B) shown in FIG. 2, illustration and detailed description thereof are omitted. Next, with reference to FIGS. 3 to 5, the load pushing device (B) will be described. The load pushing device (B) is a storage
In the space formed in the center of the track of the rotating shelf of many trays (6) in (A), they are arranged so as to be perpendicular to the direction of movement of the trays (6). This load pushing device (B) has a plurality of groove members (2) which are slidable in the axial direction with respect to each other.
2) (23) (24) (25). That is, each groove material (22) (23) (24) (25)
Downward U-shape with progressively smaller dimensions (the innermost groove material (25)
Only upward U-shape).
From the stage to the third stage (the outermost groove material (22) is the first stage, the groove materials (23), (24), (25) are hereinafter referred to as the second stage, the third stage, 1) which is fixed to the lower surface of the horizontal pieces (22a) (23a) (24a) of the groove members (22) (23) (24)
On the pair or one guide rail (26), the next groove material (23) (24)
Sliding body fixed to the upper surface of the horizontal piece (23a) (24a) (25a) of (25)
(7) can be slidably fitted to each other so that they can slide in the axial direction. As shown in FIG. 5, from the storage position where they are nested with each other as shown in FIG. Thus, each stage may be moved to an extended position that advances to the right by the same amount with respect to the preceding stage. The guide rail (26) and the sliding body (2)
7) is preferably configured with a known linear guide. Both side pieces (22b) of each groove material (22) (23) (24) (25)
(23b) At the lower part of (24b) (25b), lower connection pieces (22c) (23c) (24c) (25c) each having an upward U-shape are erected, and each lower connection piece (22c) (23c) (24c) (25c) are each groove material (22) (23) (2
4) When (25) reaches the storage position shown in FIG. 5, the end faces are arranged at the same height so that the end faces come into contact with each other sequentially. The outermost first-stage groove material (22) is fixed to the lower end of the base (28) facing in the vertical direction, and the innermost fourth-stage groove material (25) is fixed. At the right end, an arm (30) fixed in a T-shape is fixed with a bolt (31) at the center of the load pushing plate (29) facing in the front-rear direction. The base (28) has a second-step groove material (23).
There is provided a driving means (32) for moving the shaft in the axial direction with respect to the first-step groove material (22). The driving means (32) includes a motor (33) fixed to a base (28), and a driving sprocket (34) is fixedly fitted on a rotating shaft (33a) of the motor (33). I have. (35) The bracket (36) fixed to both ends of the groove member (22) of the first stage and the proper position of the base (28)
The driven sprocket is pivotally supported with an axis (37) facing in the same direction as the rotation axis (33a) of the motor (33). An endless chain (38) is wound around the driving sprocket (34) and the three driven sprockets (35), and the endless chain that passes horizontally just below the horizontal piece (22a) of the groove material (22). Part of the chain (38) is a horizontal piece (23a) of the second-step groove material (23).
It is fastened to the bracket (39) provided in. [0028] Thus, the motor actuation (33), by causing reciprocating Kaihashi the endless chain (38), a second-stage groove member (23), the first stage of the recessed groove member (22) Can be moved in the axial direction. [0029] (40) pantograph, the length of the two equal arms (41) an intermediate portion intermediate connecting shaft (42) to have been X-shaped link mechanism which is rotatably connected to each other of (43), the base Each end of the corresponding arm (41) of the plurality of link mechanisms (43) is connected to each other by a shaft (44). Each link mechanism (4) in the pantograph (40)
The intermediate connecting shaft (44) of (3) is fixed to the approximate center of the lower connecting piece (22c) (23c) (24c) (25c) of each groove material (22) (23) (24) (25). Have been. The arms (41 ') of the link mechanisms (43) at both ends of the pantograph (40) do not need to be connected to the arms (41) of the other link mechanisms (43).
(41 ') only, about half the length of the other arm (41) long Satoshi, the outer end portions, Oh Ru coupled with a intermediate coupling shaft (24). [0032] Each groove member (22) (23) (24) (25), by Tei Rukoto are linked to each other as described above by pantograph (40), the second stage to the first stage Is moved by a certain amount of movement, the third stage is moved by the same amount of movement as described above with respect to the second stage, and is moved by twice the amount of movement with respect to the first stage, The fourth stage is moved by the same amount of movement as described above with respect to the third stage, and is moved by three times the amount of movement with respect to the first stage. Reference numeral (45) denotes a magnet fixed to the outer end of the first-step groove material (22). Each of the groove materials (23), (24), and (25) corresponds to FIG.
When retracted to the storage position shown in the figure, the second grooved material (2
Adsorbed to the magnetic plate (46) fixed to the outer end of (3), the groove material (2)
3) acts to keep the sneaking move. (47) is an operating piece fixed in place on the second-step groove material (23). As shown in FIGS.
(23) When the (24) and (25) extend to the right most and the load pushing plate (29) moves to the maximum, the extension fixed to the right part of the first-step groove material (22) Activate a limit switch (48) consisting of a magnet switch for stopping, etc., and as shown in FIG.
When the groove members (23), (24), (25) contracted to the storage position and the load pushing plate (29) was retracted most, it was fixed to the left portion of the first-step groove member (22). A limit switch (49) composed of a magnet switch or the like for stopping the reverse movement is operated. As shown in FIG. 1 and FIG.
Each of the lifts (9) of (B) and the receiving device (C) has a confrontation detection sensor (50) for detecting that both lifts (9) are at the same height and confront each other. It is detected whether or not the load (5) is present on the tray (6) of the rotating shelf opposite to the lifting platform (9) (in this embodiment, the lifting platform (9) on the side of the load receiving device (C)). And a loading confirmation sensor (51). In the present embodiment, the confrontation confirmation sensor (50) and the presence confirmation sensor (51) are both a well-known regression reflection type photoelectric sensor provided on the lift (9) on the side of the receiving device (C). (50
a) (51a), and a lift (9) provided on the side of the load extruding device (B). The light emitted from the photoelectric sensors (50a) (51a) is
0a) and reflectors (50b) and (51b) for reflecting light back to (51a). Light rays emitted from the photoelectric sensor (50a) of the confrontation confirmation sensor (50) are arranged so as to face substantially horizontal left and right directions so that the light rays are not blocked by the frame of the storage (A). and also load presence check sensor (51), even if the load (5) is small, as intercepted by it, is placed obliquely to face forward and downward from the rear upper. The load pushing device (B) and the load receiving device
In order to accurately stop each elevator (9) at (C) at the desired height of the rotating shelf, a rotary encoder (not shown) is incorporated in the motor (14), or each elevator (9) is attached to each elevator (9). It is preferable to provide an appropriate sensor which is activated when the sensor faces the rotating shelf. The control device (52) shown in FIG. 7 is electrically connected to the confrontation confirmation sensor (50), the presence confirmation sensor (51), etc., and the motor (33) which is the driving means of the load pushing device (B). The motor (33), which is the driving means of the load pushing device (B), can be operated only when at least the confrontation confirmation sensor (50) and the presence confirmation sensor (51) are both operated. I can do it. Next, the operation of this embodiment will be described with reference to the flowchart shown in FIG. When the main computer (not shown) of the storage (A) issues a command to discharge the load (5) on the Y-th tray (6) of the X-th rotating shelf (S1), In the storage (A), the drive means for the X-th rotating shelf is operated (S2), and in the load pushing device (B) and the load receiving device (C), the motor (14) is operated. Then, each elevator (9) is moved up and down (S3) (S4). In the storage box (A), when the Y-th tray (6) of the X-th rotating shelf reaches the discharge position facing the load ejecting device (B) (S5), the rotating shelf is driven. The operation of the means is stopped (S6), and a standby state is set (S7). In the load extruding device (B) and the load receiving device (C), when each of the elevators (9) reaches the same height as the X-th rotating shelf (S8) (S9), the motor (14) ) Is stopped, and each elevator (9) is stopped at that position (S10) (S1).
1). The load pushing device (B) is used to load the load on the tray (6).
While only the operation of extruding (5) is performed, the load receiving device (C) carries out the operation of transporting the received load (5) to a discharge conveyor or the like. The elevator (9) on the side first reaches the same level as the rotary shelf of the X-th stage,
After being stopped (S10), the system waits until the unloading device (C) reaches the level (S12). Thereafter, the load receiving device (C) is operated by the load pushing device.
(B), the confrontation confirmation sensor (50) is activated (S13) (S13 '), and thereafter, the in-stock confirmation sensor
(51) is the load on the Y-th tray (6) of the X-th rotating shelf.
When it is blocked by (5) and activated (S14) (S14 '),
The motor (33) of the load pushing device (B) is rotated forward (S1
Five). The load receiving device (C) and the load pushing device
After each of the elevators (9) in (B) stops (S10) (S11), the confrontation confirmation sensor (50) is not operated or the confrontation confirmation sensor (50) is not operated within a predetermined appropriate time. Is activated (S13)
(S13 ') If the in-stock confirmation sensor (51) is not operated within a predetermined appropriate time after being operated, it is determined that some abnormality has occurred, the information is sent to the main computer, and the main computer is sent to the main computer. In, abnormal processing such as activation of an alarm device is performed. [0046] When the motor (33) is rotated forward (S15), the drive sprocket (34) and subjected to a driven sprocket (35) wound on an endless chain (38), Kaihashi counterclockwise direction in FIG. 3 The second-step groove material (23) fixed to the endless chain (38) is extended from the storage position shown in FIG. At this time, since the respective groove members (22), (23), (24) and (25) are linked to each other by the pantograph (40), while the groove member (23) moves by a certain distance, In addition, the groove material (2
4) is a distance twice the above distance from the state shown in FIG.
Also, the groove material (25) moves three times each distance,
The load is pushed out from the tray (6) onto the lift (9) of the load receiving device (C) by the load pusher plate (29) provided at the tip of (25). When each of the groove members (22), (23), (24) and (25) is extended most and the limit switch (48) is operated (S16),
The motor (33) is rotated in reverse (S17), and each groove material (22) (23) (2
4) (25) and load pushing plate (29), by operation of the aforementioned reverse, 5
Is returned to the original storage position shown in FIG. When the respective groove members (22), (23), (24), and (25) return to the storage position and the limit switch (49) is operated (S1).
8), the motor (33) is stopped (S19), and waits for the next command. Next, on the side of the load receiving device (C), after it is confirmed by the transfer confirmation sensor (not shown) that the load (5) has been surely transferred onto the elevator (9) ( S20), elevator
(9) is lowered to the lower limit position (S21), where the load (5)
Is transferred again to another conveyor or the like (S22), and then waits for the next command. As described above, according to the present embodiment,
Groove member (22) (23) (24) (25) fitted telescopically, so while they expand and contract with each other are as extruding a load, Figure 5
The overall length during storage shown in the figure is significantly shorter than the conventional one,
The entire size of the load pushing device (B) can be reduced. Therefore, even if the inside of the track of the rotary shelf (A) is narrow, the load pushing device (B) can be installed. According to this embodiment, the receiving device
The load (5) placed on the base plate (17) of (C) can be pushed into a desired place in the storage (A) by operating the push rod (18) and stored. Since its operation is not directly related to the present invention, its detailed description is omitted. The above is a description of one embodiment of the present invention. However, the present invention is not limited to this embodiment only. For example, the groove members (22), (23), (24) ( 25) number 2
Or more than three or five or the innermost fourth-stage groove material (25) is fixed to the base (28), and the outermost first-stage groove material (22) is loaded on the outermost first-stage groove material (22). Many variations and modifications are possible, such as providing an extrusion plate (29). The present invention has the following effects. (A) Each groove material is inserted in a nested manner, and is sequentially moved outward by the driving means to push out the load on the tray, so that all the groove materials are fitted to each other. When inserted, the total length is equal to the length of one concave groove member, and the device can be downsized. Therefore, even if the inside of the track of the rotating shelf is small, the load pushing device can be installed, and as a result, the storage itself and the lifting type loading / unloading device can be reduced in size, which can contribute to space saving. . (B) By increasing the number of grooves, the stroke of the load pushing device can be increased as much as possible, so that the installation location of the load pushing device can be appropriately changed. The function of the device is not impaired. (C) Since the plurality of grooved members inserted in a nesting manner slides a distance from the inside to the outside of the drive to push out the load, a single narrow telescopic rod such as an air cylinder can be used. In comparison, a plurality of groove materials will strongly support each other,
A heavy load can be extruded without each groove material being broken or deformed, and an elevating type extruder excellent in strength can be obtained . (D) The load pushing device and the load receiving device can be lifted and lowered independently of each other, and the load can be erroneously pushed out or received in a state where their heights are different. It is possible to prevent the possibility of malfunction such as dropping of the camera. [0060] a (e) load presence check sensor and confront confirmation sensor, after confirming that at least both of these sensors is activated together, so as to actuate the drive means of the elevating load extrusion apparatus Therefore , malfunction can be prevented more reliably, and safety can be improved .

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a longitudinal sectional front view of a main part of a lifting type loading / unloading apparatus according to an embodiment of the present invention. FIG. 2 is a longitudinal sectional side view taken along line II-II of FIG. FIG. 3 is a vertical sectional front view when the load pushing device is extended. FIG. 4 is a bottom view of the same. FIG. 5 is a bottom view when the load pushing device is contracted. FIG. 6 is a cross-sectional plan view taken along the line VI-VI of FIG. 1; FIG. 7 is a block diagram illustrating an example of a control circuit. FIG. 8 is a flowchart showing an operation mode of the lifting type loading / unloading device which is one embodiment of the present invention. [Description of Signs] (2) Outer vertical rod (3) Inner vertical rod (4) (4 ') Horizontal rod (5) Load (6) Tray (7) (7') Connecting rod (8) Mast ( 9) elevator (10) shaft (11) pulley (12) timing belt (13) pulley (14) motor (15) pulley (16) timing belt (17) base plate (18) push rod (22) (23) (24) (25) Groove material (22a) (23a) (24a) (25a) Horizontal piece (22b) (23b) (24b) (25b) Side piece (22c) (23c) (24c) (25c) Connecting piece (26) Guide rail (27) Sliding body (28) Base (29) Load pushing plate (30) Arm (31) Bolt (32) Driving means (33) Motor (33a) Rotary shaft (34) Drive sprocket ( 35) Driven sprocket (36) Bracket (37) Shaft (38) Endless chain (39) Bracket (40) Pantograph (41) (41 ') Arm (42) Intermediate connecting shaft (43) Link mechanism (44) Shaft (45 ) Magnet (46) Magnetic plate (47) Working piece (48) (49) Limit switch (50) Opposition confirmation sensor (50a) Photoelectric sensor (50b) Reflector (51) Shipment confirmation sensor (51a) Photoelectric sensor (51b ) Reflector (52) Control device (A) Rotary multi-stage storage (B) Elevating load Out apparatus (C) elevating consignee insertion device

Continuation of the front page (58) Field surveyed (Int.Cl. ⁷ , DB name) B65G 1/00-1/20 B65G 47/52 B65G 47/82

Claims (1)

(57) [Claims 1] An arbitrary tray is provided from a rotary multi-stage storage in which substantially horizontal rotating shelves for moving a large number of trays along an elliptical orbit are arranged in upper and lower stages. a elevating load discharge device Ru was drained load above a vertical mast erected adjacent to the track inside the carousel, a lifting table for lifting along the mast, the trajectory of carousels Can be slidable in a direction perpendicular to the nested type and can be expanded and contracted as a whole, and one of the outermost one and the innermost one is fixed to the lift table, and the other one. A plurality of groove materials provided with a load pushing plate at the tip thereof, and a plurality of groove materials provided on the elevating table, and by extending and contracting the plurality of groove materials, a load on a tray of any rotary shelf can be rotated with the load pushing plate. Lifting / lowering type load extruding apparatus having driving means for extruding outside the track of the shelf And provided inside the orbit of the carousel, and the mast facing the elevating load extrusion apparatus, the trajectory of carousels
A vertical mast standing outside and rising along the mast
And lifted by the lifting type load extrusion device.
Lifting type receiving device having a lifting platform for receiving a loaded load
Is provided outside the track of the rotating shelf, and each of the lifting and lowering type loading device and the lifting and lowering type loading device is
A pair that detects that the platform is level with each other and faces each other
A confrontation check sensor is provided, and a tray on a rotating shelf that faces one of the elevators
An inventory check sensor that detects whether a load is
At least the confrontation confirmation sensor and the inventory confirmation sensor work together.
After confirming that it is moving, drive the lifting type
And a control device for activating the means .