JP3910064B2 - Automatic warehouse - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to automatic warehouse that is run self-propelled carriage by using timing belts.
[0002]
[Prior art]
There are various types of automatic warehouses, but when viewed according to the type of transfer device that loads and unloads to / from the shelf, in general, a stacker system that loads and unloads by one stacker crane, A cart system in which self-propelled carts are arranged so as to be able to run horizontally on each shelf is often used.
[0003]
As a method of running such a self-propelled carriage or stacker crane, a timing belt is stretched on a rail and both ends thereof are fixed, a driving pulley (sprocket) provided in the transfer device is meshed with the timing belt, and the driving pulley is rotationally driven. (See, for example, Japanese Patent No. 2906308).
[0004]
In this way to travel by using the timing belt, in comparison with the case for driving a wheel, there is an advantage that allows precisely the row control run to prevent slipping.
[0005]
[Problems to be solved by the invention]
The running method using the timing belt, it is necessary to hold such does not come off engagement between the timing belt and the driving pulley.
[0006]
For this reason, as described in the above publication, the timing belt is arranged in a posture with its teeth facing downward, and a pair of idle pulleys on both sides of the drive pulley and below the drive pulley. By providing the timing belt, the timing belt is held so as to be wound around the driving pulley in an inverted U-shaped posture in a side view.
[0007]
However, when both ends of the timing belt are fixed to a rail or the like, it is actually impossible to completely remove the slack of the timing belt, and it is unavoidable that slight slack is generated.
[0008]
In this case, as the transfer device travels at a higher speed and the length of the timing belt becomes longer, the timing belt dancing phenomenon (jumping phenomenon or lifting phenomenon) is more likely to occur. In particular, the slack in the front side toward the traveling direction across the drive pulley, or the timing belt come off from the drive pulley and cause tooth jumping meshing shifts, uncontrollably or become transfer device incapable travel There is concern about becoming.
[0009]
In an automated warehouse with a self-propelled carriage provided for each shelf, it is a merit that a high loading and unloading efficiency can be ensured by running the self-propelled carriage at a higher speed than a stacker crane. If the traveling speed of the self-propelled carriage is suppressed in order to prevent the meshing from being disengaged, the merit of the self-propelled carriage cannot be fully exhibited.
[0010]
Therefore, it can be said that there is a strong demand for maintaining the engagement between the timing belt and the drive, particularly in the cart type automatic warehouse.
[0011]
An object of the present invention is to improve such a current situation.
[0012]
[Means for Solving the Problems]
In the invention of claim 1, automatic warehouse, a hangar shelf is positioned in multiple stages for accommodating a load, a remarkable disposed for each shelf pair of left and right upper rails in order to perform loading and unloading of cargo into the hangar A self-propelled carriage that travels, and a timing belt that is fixed at both ends so as to extend in the longitudinal direction of one of the left and right rails in order to drive the self-propelled carriage, The self-propelled carriage has a drive pulley around which the timing belt is wound, and idle pulleys arranged on both sides of the drive pulley so that the timing belt assumes a reverse U-shaped posture in side view at the drive pulley. Further, the timing belt is tensioned by slack absorbing means from both ends thereof.
[0013]
The slack absorbing means includes a support pulley that is wound around an end of the timing belt that overlaps the rail, and an end portion positioned between the fixed end of the timing belt and the support pulley. And a spring that urges the pressing roller toward the end portion of the timing belt. When the timing belt is in an unloaded state, the end portion closer to the end is provided. Is set such that the end portion cannot be deformed in a state where the tension is applied to the timing belt and the tension associated with the traveling of the self-propelled carriage is applied to the timing belt.
[0014]
According to a second aspect of the present invention, in the first aspect, both ends of the timing belt are fixed to a pressing member that can be moved and adjusted by an adjuster bolt, and a large slack of the timing belt can be removed by adjusting the adjuster bolt. On the other hand, the pressing roller is attached to a rotating arm, and the arm is biased by the spring.
[0015]
[Operation and effect of the invention]
[0016]
[0017]
In the present invention, since the slack of the timing belt can be removed, the timing belt is held in the engaged state with the drive pulley even when the self-propelled carriage is driven at a high speed.
[0018]
By the way, as a method of removing the slack of the timing belt , a method of pulling one end or both ends of the timing belt with a spring can be considered. However, simply pulling the timing belt with a spring, when the tension is applied to the timing belt due to the rotation of the drive pulley, the spring is greatly deformed until the elastic restoring force and tension of the spring are balanced, so that the timing belt There is a possibility that the travel position may not be accurately controlled due to a phenomenon of a large shift in the longitudinal direction.
[0019]
On the other hand, in the present invention, by setting a slight deformation amount at the end portion of the timing belt , the timing belt can be displaced greatly even if tension is applied to the timing belt due to the rotation of the driving pulley. Therefore, the accuracy of control of the traveling position can be improved. Further, if the spring force of the slack absorbing means is excessively large, the durability of the timing belt is lowered. However, in the present invention, since the spring force is weak, the durability of the timing belt can be prevented from being lowered.
[0020]
DETAILED DESCRIPTION OF THE INVENTION
Next, embodiments of the present invention will be described with reference to the drawings.
[0021]
(1). First embodiment (FIGS. 1 to 9 )
1 to 9 show a first embodiment in which claim 1 is embodied.
[0022]
(1) -1. Outline Of these, FIG. 1 is a partial schematic perspective view of an automatic warehouse. As shown in this figure, the automatic warehouse is composed of two hangars 2 composed of a group of shelves 1 arranged in multiple stages. A conveyor reservoir (temporary storage shelf) 3 having the same height as each shelf 1 is provided at the ends of both hangars 2. Further, a lift device 5 having a lifting platform 4 is arranged outside the group of reservoirs 3.
[0023]
An end of the loading / unloading conveyor 6 extends to a portion opposite to the group of the reservoirs 3 with the lift device 5 interposed therebetween. The load W is transferred to the loading / unloading conveyor 6 and the reservoir 3 at an arbitrary stage via the lift device 5. Then, each stage is moved between an arbitrary position of the shelf 1 and the reservoir 3 by a self-propelled carriage described later.
[0024]
As described above, in the automatic warehouse, only one end portion side of the hangar 2 is a loading / unloading section for loading and unloading the load W.
[0025]
Note that one of the two rows of conveyors 6 may be dedicated to warehousing, and the other may be dedicated to warehousing, or both may be used for warehousing and warehousing. Moreover, as shown with a dashed-dotted line, it is also possible to provide the entrance / exit conveyor 6 in multiple stages. Furthermore, it is also possible to arrange a loading / unloading conveyor for each shelf without using the lift device 5.
[0026]
Next, the self-propelled carriage will be described with reference to FIGS. 2 is a cross-sectional plan view of the hangar, FIG. 3 is a partial perspective view of the self-propelled carriage, FIG. 4 is a schematic perspective view showing a driving method, and FIG. 6 is a side view of the drive mechanism, and FIG. 7 is a sectional view taken along the line VII-VII in FIG.
[0027]
(1) -2. Drive Mechanism As shown in FIG. 2, a self-propelled carriage 7 is disposed between adjacent shelves 1. The self-propelled carriage 7 includes a machine frame 8 having a rectangular shape in plan view, and the machine frame 8 is provided with a pair of front and rear wheels 11 that run on rails 9 and 10. In the case of a large self-propelled carriage, three or more pairs of wheels may be provided.
[0028]
A drive mechanism 13 using a traveling timing belt 12 as an example of a rope is provided near one side of the machine frame 8. As shown in FIG. 3, the drive mechanism 13 includes a drive pulley 15 and an idle pulley 16 that are rotationally driven by a traveling motor 14.
[0029]
The traveling motor 14 is fixed to a main bracket plate 17 erected on the machine frame 8 in a posture extending along the longitudinal side edge of the machine frame 8 in plan view. The main bracket plate 17 is also fixed to a reinforcing stay 18 disposed so as to cross the machine casing 8.
[0030]
The idle pulley 16 is pivotally supported on the racket plate 17 on both the front and rear sides of the drive pulley 15 and at a position below the drive pulley 15. For example, as illustrated in FIG. 4, the traveling timing belt 12 is disposed on a stepped portion 10 b formed on one rail 10 with teeth facing downward.
[0031]
[0032]
A pair of pressing rollers 19 are rotatably mounted on both sides of the main bracket plate 17 with the drive pulley 15 interposed therebetween as a detachment preventing means for preventing the travel timing belt 12 from being detached from the drive pulley 15.
[0033]
Further, a cover body 20 shaped so as to cover the drive pulley 15 from above is fixed to the main bracket plate 17 as an example of another detachment preventing means for preventing the traveling timing belt 12 from coming off the drive pulley 15. ing.
[0034]
A slight gap is provided between the cover body 20 and the travel timing belt 12 to prevent the travel timing belt 12 and the drive pulley 15 from being disengaged without impairing the movement of the drive pulley 15. However, the cover body 20 is made of a synthetic resin having a small friction coefficient so that the driving timing belt 12 can be smoothly driven even if the cover body 20 comes into contact.
[0035]
Further, as shown in FIG. 7, the cover 20 partially enters the groove of the drive pulley 15. For this reason, even if the self-propelled carriage 7 is driven at a high speed, it is possible to reliably prevent the traveling timing belt 12 from coming off the drive pulley 15 or jumping out the teeth, thereby improving the efficiency of loading and unloading. Can do. Reference numeral 21 denotes an auxiliary bracket plate.
[0036]
A notch 23 is formed on one side of the main bracket plate 17, and an outward bracket 24 is fixed to the notch 23. An endless detection timing belt 27 is wound around a detection first pulley 25 pivotally supported on the outward bracket 24 and a detection second pulley 26 fixed to the main shaft of the traveling motor 14.
[0037]
Further, a rotary encoder 28 for detecting the rotation of the first detection pulley 25 is fixed to the inner surface side of the main bracket 17 at the location of the notch 23.
[0038]
Both ends of the traveling timing belt 12 are fixed to a pressing member via slack absorbing means (this point will be described later). Therefore, when the traveling motor 14 is rotated forward and backward, the driving pulley 15 is brought into a state where the traveling timing belt 12 is dragged, and the self-propelled carriage 7 can travel in either the front or rear direction. The traveling position is detected by the rotary encoder 28.
[0039]
Since the travel timing belt 12 is not detached from the drive pulley 15 or skipped, the travel position of the self-propelled carriage 7 can be accurately detected by the rotary encoder 28.
[0040]
The rails 9 and 10 have a shape that opens downward, and are formed with outward flanges 9a and 10a on which the front edge of the shelf plate 29 rests. A step portion 10b on which the traveling timing belt 12 is placed is formed on one rail 10 located on the drive mechanism 13 side.
[0041]
The rails 9 and 10 are divided into a large number, and both ends thereof are fixed to the front column 30. The rear end edge of the shelf plate 29 is supported by a rear frame 31 (see FIG. 1).
[0042]
Reference numeral 32 denotes a control box incorporating control electric / electronic components. In FIG. 3, the reference numeral 33 next to the control box 32 is a support column for mounting a trolley current collector (not shown). The current collector is located inside the rail 10 located in the upper stage. Power is supplied from the provided trolley wire.
[0043]
(1) -3. Transfer of Load As shown in FIG. 2, the self-propelled carriage 7 is provided with guide frames 35, 36 extending in a direction perpendicular to the traveling direction. The part sandwiched between the parts serves as a loading part.
[0044]
As shown in FIG. 3, one guide frame 35 is fixed to the machine frame 8 by a vertically long bracket 37, and the other guide frame 36 is provided with a guide mechanism (not shown) so as to move toward and away from the one guide frame 35. It is attached to the machine casing 8 via A motor 38 for moving the other guide frame 36 is fixed to the machine frame 8.
[0045]
Thin guide plates 39 are fixed to the guide frames 35 and 36, and the support plates 39 are always overlapped even if the distance between the guide frames 35 and 36 changes widely.
[0046]
Moreover, the intermediate arm 40 is mounted on both guide frames 35 and 36 so as to move forward and backward toward the shelf 1, and the tip arm 41 is attached to the intermediate arm 40 so as to be movable forward and backward. It has been. Pickers 42 are mounted on both ends of the tip arm 41 so as to be horizontally rotatable. The arms 40 and 41 are performed in synchronization by a single transfer motor 43.
[0047]
The load W can be transferred between the shelf 1 and the self-propelled carriage 7 by moving the arms 40 and 41 forward and backward against the front or rear surface of the picker 42 load W. Needless to say, the transfer mechanism of the load W may have another structure.
[0048]
When the guide body 20 and the pressing roller 19 are used together as in the present embodiment, the travel timing belt 12 is regulated from above and from the side, so that the travel timing belt 12 can be more reliably prevented from detaching and tooth skipping. There are advantages you can do.
[0049]
As indicated by the alternate long and short dash line in FIG. 6, lower guide means such as a lower pressing roller 16 ′ may be provided in order to keep the traveling timing belt 12 wound around the idle pulley 16.
[0050]
(1) -4. Lack absorbing means ( Figs. 8-9)
8 to 9, the slack absorbing means 46 is shown. 8A is a longitudinal side view of the slack absorbing means 46 in the state of being displayed upside down , FIG. 8B is a sectional view taken along the line BB in FIG. 8, and FIG. 9 is a view taken along the line IX-IX in FIG. It is a rear view. In this embodiment, the slack absorbing means 46 is provided at both ends of the rail 10, but since both are the same structure, only one will be described.
[0051]
(1) -5. Structure The slack absorbing means 46 includes a case 47 fixed inside the end column 30 to which the end of one rail 10 is fixed. An end portion of the traveling timing belt 12 drawn outward from 48 is provided with a first pulley 49 around which the end is wound, and a second pulley 50 positioned below the first pulley 49. The first pulley 49 corresponds to the support pulley described in the claims.
[0052]
The second pulley 50 is disposed near the bottom surface of the case 47, and the first pulley 49 is disposed near the opening of the case 47. For this reason, the end portion of the traveling timing belt 12 is located on both pulleys 49. , 50 is an inclined portion 12a.
[0053]
A pressing member 51 that fixes the end of the traveling timing belt 12 is disposed on the inner surface of the case 47 below the second pulley 50. Pressing member 51 has been fixed to the case 47 by screws 52, pulling this case, a hole 52a which a screw 52 penetrates has a vertical longitudinal elongated hole, and the lower the pressing member 51 in the adjuster dowel belt 53 ing.
[0054]
[0055]
An upper part of a vertically long arm 55 is rotatably attached to an attachment shaft 54 of the first pulley 49, and a pressing roller which hits the inclined part 12 a of the traveling timing belt 12 from the outside on the lower part of the arm 55. 56 is provided. Therefore, when the arm 55 is rotated, the inclined portion 12a of the traveling timing belt 12 is pressed by the pressing roller 56, and the traveling timing belt 12 can be stretched in a state where there is no or almost no slack.
[0056]
The outer portion of the rotation axis of the upper end of the arm 55 is provided with a pin 57, this pin 57, and the eye bolt 58 and the tension spring 59 provided in the lower portion of the case 47 and instrumentation rack. For this reason, the arm 59 is biased by the tension spring 59 so as to rotate in a direction of pressing the inclined portion 12 a of the traveling timing belt 12 via the pressing roller 56 .
[0057]
The arm 55 is set so that its original position is regulated by applying the lower end of the arm 55 to the case 47.
[0058]
(1) -6. In the implementation form of the action this, by a pair of slack absorbing unit 46, travel the timing belt 12 is held in a state without slack.
[0059]
Then, when the self-propelled carriage 7 travels in the direction of the white arrow in FIG. 8, the traveling timing belt 12 is tensioned in the direction of the black arrow (particularly, a large tension acts during acceleration). Since the travel timing belt 12 is pulled in the direction of the black arrow and does not move in the longitudinal direction, the self-propelled carriage 7 can travel accurately.
[0060]
Looking Conversely, (enough to remove other words, the slack of the travel the timing belt 12) tension spring force of the spring 59 is not very strong, driving timing belt 12 during acceleration of the free-running carriage 7 is almost displaced so as not to move The inclined portion 12a is set to be deformed .
[0061]
Further, the opposite side of the pressing action of the pressing roller 56 of the slack absorbing unit 46, travel the timing belt 12 is black vent order to being pulled in the arrow direction, the line timing belt 12 run the drive pulley 15 and the idle pulley 16 There will be no detachment or tooth skipping.
[0062]
When decelerating the autonomous guided vehicle 7 is traveling the white arrow direction, the travel timing belt 12 tension white unplug the arrow direction acts (ie, tension is applied to the rear side in the traveling direction), the In this case, the other slack absorbing means 46 can travel accurately because the traveling timing belt 12 hardly moves in the direction of the white arrow.
[0063]
In addition, when the self-propelled carriage 7 traveling in the direction of the white arrow decelerates, the traveling timing belt 12 becomes slack in the forward portion of the driving pulley 15 in the traveling direction, and is selfish. In this case, since the slack is absorbed by the pressing action of the pressure roller 56 of one slack absorbing means 46, the traveling timing belt 12 jumps and hits the machine frame 8 of the self-propelled carriage 7 or the pulley 15 , 16 can be prevented from coming off.
[0064]
In this way, by attaching both ends of the traveling timing belt to the slack absorbing means 46, it is possible to prevent the traveling timing belt 12 from excessively jumping in any direction of acceleration / deceleration. As a result, the self-propelled carriage 7 can be accurately traveled at high speed or stopped accurately.
[0065]
By the way, when tension is applied to the travel timing belt 12 by the slack absorbing means, the tension acts as a load on the travel timing belt 12, so that if the tension is excessively applied, the travel timing belt 12 Durability will be reduced.
[0066]
In contrast, as in this embodiment, the left over slack Manai about tension to the traveling timing belt 12, since unnecessary load is applied it is not against the travel the timing belt 12 The durability of the traveling timing belt 12 can be improved.
[0067]
(1) -7. Variation way, travel the timing belt 12 is likely to break, this case needs to make an emergency stop traveling motor 14.
[0068]
Therefore, normally, the arm 55 is set so as to deform the inclined portion 12a of the traveling timing belt 12 within a slight range, and when the traveling timing belt 12 breaks and the arm 55 rotates excessively, You may comprise so that rotation may be detected with the sensor (limit switch) 60 provided in case 47. FIG. The sensor 60 may be provided on the arm 55.
[0069]
By appropriately setting the length of the arm 55, the strength of the spring 59, and the like, the tensile force with respect to the traveling timing belt 12 can be adjusted. Is a spring not limited to a coil spring, such as leaf springs may be used.
[0070]
Travel the timing belt 12 is of extended building while using and extends becomes a certain degree or more, it is necessary to re-adjust by operating the adjuster bolt 53.
[0071]
Therefore, for example, a scale is written or engraved on the side surface of the arm 55, while an indicator needle located at the position of the scale is provided on the case 47 and the arm 55 is rotated when the arm 55 rotates more than a predetermined angle. use the timing belt 12 so that re-adjusted slack too der Rutoshite, a member of the slack detection means may be used also in excess slack detecting means of the travel the timing belt 12. By providing sensor means such as a limit switch for detecting the rotation angle of the arm 55, it is possible to automatically detect excessive slack.
[0072]
Further, the slack absorbing means is not necessarily provided on the column or the like, and may be provided on both sides or one side of the self-propelled carriage (transfer device) with the drive pulley and the idle pulley interposed therebetween.
[0073]
(2). In another embodiment Figure 10 shows a second embodiment. In this embodiment, by increasing the distance between the drive pulley 15 and the idle pulley 16, the inclination angle of the traveling timing belt 12 is relaxed, and the inclined portion is sandwiched between the upper and lower guide bodies 20 and 61.
[0074]
In this example, since the curvature of the bending of the traveling timing belt 12 is reduced, the burden on the traveling timing belt 12 can be reduced, and further, the traveling timing belt 12 can be prevented from being greatly jumped, so that the traveling is performed at high speed. be able to.
[Brief description of the drawings]
FIG. 1 is a schematic perspective view of an automatic warehouse according to a first embodiment.
FIG. 2 is a partial plan sectional view of an automatic warehouse.
FIG. 3 is a perspective view of a main part.
FIG. 4 is a schematic perspective view showing a driving method.
FIG. 5 is a partial plan view of an end of an automatic warehouse.
FIG. 6 is a side view of the drive mechanism.
7 is a cross-sectional view taken along the line VII-VII in FIG.
8A and 8B are views showing a second embodiment, in which FIG. 8A is a longitudinal side view of a slack absorbing means in an upside down state, and FIG. 8B is a sectional view taken along line BB of FIG.
FIG. 9 is a rear view taken along the line IX-IX in FIG. 8;
FIG. 10 is a diagram illustrating a third embodiment.
[Brief description of symbols]
DESCRIPTION OF SYMBOLS 1 Shelf 2 Hangar 7 Self-propelled cart 8 Machine frame 9, 10 Rail 10b Step part 12 Traveling timing belt
12a Inclined portion constituting end portion 13 Drive mechanism 14 Traveling motor 15 Drive pulley 16 Idle pulley 19 Pressing roller 20 Guide body
46 Loose absorption means
50 First pulley (support pulley)
55 arms
56 Pressing roller
59 Spring

Claims (2)

A self-propelled carriage shelves for accommodating a load is running and hangar which is located in multiple stages, a remarkable disposed for each shelf pair of left and right upper rails in order to perform loading and unloading of cargo into the hangar, the autonomous guided vehicle And a both-end fixed timing belt disposed horizontally on one of the left and right rails so as to extend in the longitudinal direction thereof.
The self-propelled carriage has a drive pulley around which the timing belt is wound, and idle pulleys arranged on both sides of the drive pulley so that the timing belt assumes a reverse U-shaped posture in a side view at the drive pulley. Further, the timing belt is tensioned by slack absorbing means from both ends thereof.
Is an automated warehouse,
The slack absorbing means hits a support pulley that is wound around an end of a portion of the timing belt that overlaps the rail, and an end portion positioned between the fixed end of the timing belt and the support pulley. A pressure roller, and a spring that urges the pressure roller toward the end of the timing belt. The spring force of the spring is deformed when the timing belt is unloaded. In the state where the tension accompanying the traveling of the self-propelled carriage is acting on the timing belt, the end portion is set to a strength that cannot be deformed,
Automatic warehouse. Both ends of the timing belt are fixed to a pressing member that can be moved and adjusted by an adjuster bolt. By adjusting the adjuster bolt, large slack of the timing belt can be removed, while the pressing roller rotates. Attached to an arm of the type, the arm being biased by the spring,
The automatic warehouse according to claim 1.

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