Shelf position correction device and container loading and unloading system

Abstract

To improve arrangement accuracy of a shelf conveyed by an automatic conveyance device.SOLUTION: A shelf position correction device 10 includes a movable frame 36 on which a shelf 16 can be placed. The movable frame 36 is configured to be movable from a predetermined position when pushed by the shelf 16 transported by an automatic transport device 14, and to return to the predetermined position after the shelf 16 is placed on the movable frame 36 by the automatic transport device 14.SELECTED DRAWING: Figure 8

Description

[Technical field]

[0001] The present invention relates to a shelf position correction device and a container insertion / removal system using the shelf position correction device. [Background technology]

[0002] Conventionally, a technology is known in which shelves carrying containers for storing items are transported and placed in a fixed position by an automatic transport device such as an AGV (Automatic Guided Vehicle) or an AMR (Autonomous Mobile Robot), and the containers are then pulled out of the shelves and placed into them using a container removal and insertion device (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2022-181623 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the above technology, the accuracy of placing the shelves transported by the automatic transport device in a fixed position is important. If this accuracy is low, it becomes difficult to properly load and unload containers between the shelves and the container loading and unloading device. In addition, a large gap must be provided between the shelves and the containers, which reduces the number of containers that can be loaded onto the shelves. In particular, AMRs, which autonomously search for and travel along routes, tend to have lower accuracy than AGVs, which travel along routes determined in advance by magnetic tape or other means.

[0005] The present invention has been made in view of the above circumstances, and has an object to improve the positioning accuracy of shelves transported by an automatic transport device. [Means for solving the problem]

[0006] In order to solve the above problems, a shelf position correction device according to one aspect of the present invention includes a moving frame on which a shelf can be placed. The moving frame is configured to be movable from a predetermined position by being pushed by a shelf transported by an automatic transport device, and to return to the predetermined position after the shelf is placed on the moving frame by the automatic transport device.

[0007] Any combination of the above components, or mutual substitution of the components or expressions of the present invention between methods, devices, systems, etc. are also valid aspects of the present invention. Effect of the Invention

[0008] According to the present invention, it is possible to improve the positioning accuracy of shelves transported by an automatic transport device. [Brief description of the drawings]

[0009] [Figure 1] 1 is a schematic side view showing a container taking-in and taking-out system using a shelf position correction device according to an embodiment of the present invention. [Diagram 2] 1 is a schematic side view showing a container taking-in and taking-out system using a shelf position correction device according to an embodiment of the present invention. [Diagram 3] 1 is a schematic front view showing a shelf placed on the shelf position correction device. FIG. [Figure 4] 4(a) to 4(c) are diagrams for explaining the shelf position correction device according to this embodiment. [Diagram 5] 11A to 11C are diagrams for explaining the operation of the shelf position correction device according to the present embodiment. [Figure 6] 11A to 11C are diagrams for explaining the operation of the shelf position correction device according to the present embodiment. [Figure 7] 11A to 11C are diagrams for explaining the operation of the shelf position correction device according to the present embodiment. [Figure 8] 11A to 11C are diagrams for explaining the operation of the shelf position correction device according to the present embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, the same or equivalent components and members shown in each drawing are given the same reference numerals, and duplicated explanations are omitted as appropriate. Also, the dimensions of the members in each drawing are enlarged or reduced as appropriate for ease of understanding. Also, some of the members that are not important for explaining the embodiment are omitted in each drawing.

[0011] 1 and 2 show a container taking in and out system 12 using a shelf position correction device 10 according to this embodiment. The container taking in and out system 12 includes the shelf position correction device 10 and a container taking in and out device 11. FIG. 1 shows a state in which an automatic transport device 14 transporting a shelf 16 moves toward the container taking in and out device 11. FIG. 2 shows a state in which a container 18 is pulled out from the shelf 16 arranged in front of the container taking in and out device 11. FIG. 3 shows the shelf 16 placed on the shelf position correction device 10.

[0012] The shelf 16 is configured to be able to arrange a plurality of containers 18 in the vertical direction. In this embodiment, the shelf 16 is configured to be able to arrange a total of 12 containers 18, four in the vertical direction and three in the horizontal direction, but the number of containers 18 that can be arranged is not particularly limited. The containers 18 arranged on the shelf 16 are boxes having a rectangular parallelepiped shape, and are configured to be able to store items therein.

[0013] The shelf 16 includes a plurality of shelf plates 20, support members 22, and legs 24. The plurality of shelf plates 20 are supported in the vertical direction by the support members 22 at intervals that allow the containers 18 to be stacked therebetween. In this embodiment, the shelf plates 20 have a rectangular shape. The support members 22 are provided at the corners of the shelf plates 20. The legs 24 extend downward from the corners of the lowest shelf plate 20. The support members 22 and the legs 24 may be configured as an integral member. In this embodiment, four support members and legs 24 are used.

[0014] The shelf 16 is configured to be transportable by the automatic transport device 14. The length of the legs 24 is longer than the height of the automatic transport device 14 so that the automatic transport device 14 can get under the lowest shelf board 20.

[0015] The automatic transport device 14 is configured to be capable of transporting the shelf 16. The automatic transport device 14 may be an AGV or an AMR. The automatic transport device 14 is equipped with a lift mechanism 26 and wheels 28. As shown in FIG. 1, the automatic transport device 14 can transport the shelf 16 by lifting the lowest shelf board 20 with the lift mechanism 26 to raise the legs 24 above the floor surface G.

[0016] The container taking-in and taking-out device 11 is configured to be able to pull out the container 18 from the shelf 16 and to push the container 18 into the shelf 16. The container taking-in and taking-out device 11 includes a housing 30, a transfer device 32, and a container moving device 34. The housing 30 is formed by combining a plurality of columnar members and is configured, for example, in a substantially rectangular parallelepiped shape.

[0017] The transfer device 32 is configured to be able to move the placed container 18 in one direction (the X direction in Figs. 1 and 2). The transfer device 32 may be a roller conveyor device equipped with a plurality of rollers. The transfer device 32 is configured to be able to rise and fall within the housing 30 from a height corresponding to the lowest shelf board 20 of the shelf 16 to a height corresponding to the uppermost shelf board 20.

[0018] The container moving device 34 is configured to be movable in one direction (Y direction in Figs. 1 and 2) on the transfer device 32. The container moving device 34 is configured to be able to perform the operations of pulling out a container 18 from the shelf 16 and loading it onto the transfer device 32, and pushing out the container 18 from the transfer device 32 and loading it onto a shelf board 20 of the shelf 16. Fig. 2 shows a state in which a container 18 stored on the second highest level of the shelf 16 is pulled out by the container moving device 34 and loaded onto the transfer device 32. By raising and lowering the transfer device 32, the containers 18 stored on all levels of the shelf 16 can be taken in and out.

[0019] The shelf position correction device 10 is disposed in front of the container inserting and removing device 11. The shelf position correction device 10 performs position correction so that the shelf 16 transported by the automatic transport device 14 is disposed in a predetermined correct position (predetermined position). By disposing the shelf 16 in a predetermined position relative to the container inserting and removing device 11, it is possible to appropriately insert and remove the container 18 between the shelf 16 and the container inserting and removing device 11.

[0020] Figures 4(a) to 4(c) are diagrams for explaining the shelf position correction device 10 according to this embodiment. Figure 4(a) is a schematic plan view of the shelf position correction device 10. Figure 4(b) is a schematic front sectional view of the shelf position correction device 10. Figure 4(c) is a schematic side sectional view of the shelf position correction device 10.

[0021] The shelf position correction device 10 includes a moving frame 36 on which the shelf 16 can be placed, and a ball bearing 38 that supports the moving frame 36. The moving frame 36 is movable from a predetermined position when pushed by the shelf 16 transported by the automatic transport device 14, and is configured to return to the original predetermined position after the shelf 16 is placed on the moving frame 36 by lowering the lift mechanism 26 of the automatic transport device 14.

[0022] The movable frame 36 is configured as a frame body capable of surrounding the shelf 16 except in the entry direction of the automatic transport device 14. As shown in Fig. 4(a), the movable frame 36 according to this embodiment is configured as a three-sided frame having a U-shape in a plan view, capable of surrounding the shelf 16 having a rectangular shape in a plan view except in the Y direction which is the entry direction of the automatic transport device 14. The movable frame 36 is formed by combining a front frame member 36a, a left frame member 36b, and a right frame member 36c.

[0023] The ball bearings 38 are ball receivers in which small balls are inserted and large balls are supported on the small balls so as to be freely rotatable, and are also called free ball bearings or free bears. In this embodiment, four ball bearings 38 are arranged on the floor surface G. The ball bearings 38 are fixed onto the floor surface G so that the large balls face upward. In this embodiment, the shelf position correction device 10 includes four ball bearings 38, and the ball bearings 38 are arranged at each corner of the moving frame 36 formed on the frame body.

[0024] The moving frame 36 is provided with a ball bearing receiving portion 40 that abuts against the ball bearing 38. In this embodiment, the moving frame 36 is provided with four ball bearing receiving portions 40, and each ball bearing receiving portion 40 is provided on the lower surface of the moving frame 36 so as to face the corresponding ball bearing 38. The ball bearing receiving portion is formed in a mortar shape. The "mortar shape" refers to a concave shape whose diameter gradually increases from the center toward the outside. Figures 4(b) and 4(c) show a schematic cross-sectional shape of the ball bearing receiving portion 40.

[0025] The moving frame 36 is provided with a leg rest 42 on which the legs 24 of the shelf 16 are placed. In this embodiment, four leg rests 42 are provided at each corner of the moving frame 36 corresponding to the four legs 24 of the shelf 16. The leg rests 42 are provided on the inside of the moving frame 36 so that the shelf 16 can be placed on the inside of the moving frame 36. The leg rests 42 are configured so that the bottom surface thereof is raised above the floor surface G. The leg rests 42 are also configured so that the placement surface of the legs 24 is located below the ball bearing receiving portion 40. In order to transport the shelf 16 and place it on the leg rests 42, it is necessary to lift the shelf 16 with the lift mechanism 26 of the automatic transport device 14. By providing the leg rests 42 at a position as low as possible, the lift stroke required by the lift mechanism 26 of the automatic transport device 14 can be reduced. Providing the leg rests 42 at a low position also contributes to improving the stability of the shelf 16.

[0026] The shelf 16 is placed at a determined position relative to the moving frame 36. In other words, the shelf 16 is placed on the leg placement section 42 so that the relative position of the shelf 16 to the moving frame 36 in the XY plane is constant. For this purpose, the moving frame 36 is provided with a guide section 44 and a positioning section 46. The guide section 44 has a slope inclined with respect to the Y direction, which is the entry direction of the automatic transport device 14 that transports the shelf 16, and smoothly guides the leg 24 of the shelf 16 that has entered the moving frame 36 to the positioning section 46. The leg 24 of the shelf 16 is abutted against the positioning section 46 provided on the front frame member 36a, whereby the leg 24 of the shelf 16 is placed at a determined position relative to the moving frame 36.

[0027] In this embodiment, the moving frame 36 is supported on four ball bearings 38 via a cone-shaped ball bearing receiving portion 40. When no external force in the horizontal direction (XY plane direction) is applied to the moving frame 36, the moving frame 36 is stationary with the center (the most recessed part) of the ball bearing receiving portion 40 abutting against the ball bearing 38. The position of the moving frame 36 at this time is called a "predetermined position". When a horizontal external force is applied to the moving frame 36, the moving frame 36 can move in all directions, 360 degrees forward, backward, left and right, within the range in which the cone-shaped ball bearing receiving portion 40 can roll on the ball bearing 38. When the horizontal external force is removed, the moving frame 36 returns to its original predetermined position by the action of gravity.

[0028] 4(a), when the shelf 16 enters the movable frame 36 with the center line of the shelf position correction device 10 and the center line of the shelf 16 aligned, the legs 24 of the shelf 16 reach the positioning section 46 without coming into contact with the movable frame 36 on the way. When the legs 24 of the shelf 16 abut against the positioning section 46 and are slightly pushed in, the lift mechanism 26 of the automatic transport device 14 is lowered and the legs 24 of the shelf 16 are placed on the leg placement section 42. In this case, the position of the shelf 16 is not corrected by the shelf position correction device 10.

[0029] On the other hand, if the shelf 16 enters while being misaligned in the X direction with respect to the shelf position correction device 10, or if the shelf 16 enters while being inclined with respect to the shelf position correction device 10, the legs 24 of the shelf 16 come into contact with the moving frame 36 (including the guide portion 44) before reaching the positioning portion 46, and push the moving frame 36 away from the predetermined position. When the legs 24 butt up against the positioning portion 46 and are slightly pushed in, the lift mechanism 26 of the automatic transport device 14 is lowered, and the legs 24 of the shelf 16 are placed on the leg placement portion 42. Then, the horizontal external force applied to the moving frame 36 is eliminated, so the moving frame 36 returns to its original predetermined position, and at the same time, the position of the shelf 16 is corrected.

[0030] The shelf position correction device 10 may further include a convergence section 50 for shortening the convergence time until the moving frame 36 returns to a predetermined position. The convergence section 50 may be provided between a part of the moving frame 36 (for example, the ball bearing receiving section 40) and the floor surface G. The convergence section 50 may be composed of a spring 48 and a damper 49 arranged in parallel.

[0031] Hereinafter, the operation of the shelf position correction device 10 according to this embodiment will be described with reference to FIGS.

[0032] Fig. 5 shows the state in which the shelf 16, lifted in the Z direction by the automatic transport device 14, is heading toward the shelf position correction device 10. Here, as shown in Fig. 5, a case is considered in which the shelf 16 enters the moving frame 36 of the shelf position correction device 10 while being shifted in the X direction relative to the shelf position correction device 10. If the shelf 16 is placed in front of the container inserting and removing device 11 while being shifted in the X direction in this manner, there is a risk of problems occurring in inserting and removing the containers 18.

[0033] 6 shows the state in which the shelf 16, lifted in the Z direction by the automatic transport device 14, advances within the movable frame 36 of the shelf position correction device 10 and reaches the guide section 44. At this point, the legs 24 are not yet pushing the movable frame 36, and the movable frame 36 remains in a predetermined position.

[0034] 7 shows how the legs 24 of the shelf 16, lifted in the Z direction by the automatic transport device 14, push the moving frame 36 of the shelf position correction device 10 and hit the positioning unit 46. Here, the legs 24 of the shelf 16 move straight in the Y direction, pushing the guide unit 44 of the moving frame 36 and causing the moving frame 36 to move from a predetermined position in the XY plane. At this time, the ball bear 38 is positioned off-center of the cone-shaped ball bear receiving unit 40. With the legs 24 hitting the positioning unit 46 and slightly pushed in, the lift mechanism 26 of the automatic transport device 14 is lowered and the legs 24 of the shelf 16 are placed on the leg placement unit 42.

[0035] 8 shows the moving frame 36 with the shelf 16 placed on it returning to its original position before it was moved. When the legs 24 of the shelf 16 are placed on the leg rests 42, the horizontal external force applied to the moving frame 36 is eliminated, and the moving frame 36 returns to its original position by gravity. Since the legs 24 move together with the moving frame 36, the position of the shelf 16 can be corrected so that there is no deviation in the X direction.

[0036] Figures 5 to 8 explain the case where the shelf 16 enters the moving frame 36 while being shifted in the X direction relative to the shelf position correction device 10. However, the position of the shelf 16 can also be corrected in the same manner when the shelf 16 enters the moving frame 36 while being tilted relative to the shelf position correction device 10.

[0037] As described above, according to the shelf position correction device 10 of this embodiment, even if the shelf 16 is transported by the automatic transport device 14 deviating from the normal trajectory, the position of the shelf 16 is corrected, thereby improving the placement accuracy of the shelf 16. As a result, the containers 18 can be suitably inserted and removed between the shelf 16 and the container inserting and removing device 11. In addition, since the gap between the shelf 16 and the containers 18 can be reduced, the number of containers 18 that can be loaded on the shelf 16 can be increased, improving the transport efficiency.

[0038] Any combination of the above-described embodiments and modifications is also useful as an embodiment of the present invention. A new embodiment resulting from the combination has the combined effects of the respective embodiments and modifications. [Explanation of symbols]

[0039] 10 shelf position correction device, 11 container loading / unloading device, 12 container loading / unloading system, 14 automatic transport device, 16 shelf, 18 container, 20 shelf board, 22 support member, 24 leg portion, 26 lift mechanism, 30 housing, 32 transfer device, 34 container moving device, 36 moving frame, 38 ball bearing, 40 ball bearing receiving portion, 42 leg support portion, 44 guide portion, 46 positioning portion, 50 convergence portion.

Claims

1. A movable frame on which a shelf can be placed is provided, A shelf position correction device configured so that the movable frame can be moved from a predetermined position by being pushed by the shelf transported by an automatic transport device, and so that the movable frame returns to the predetermined position after the shelf is placed on the movable frame by the automatic transport device.

2. The shelf position correction device according to claim 1 , further comprising a ball bear for supporting the moving frame.

3. The shelf position correction device according to claim 2 , wherein the moving frame is provided with a ball bearing receiving portion that abuts against the ball bearing.

4. The moving frame includes a leg support portion on which the leg of the shelf is supported, The shelf position correction device according to claim 3 , wherein the leg placement portion is positioned lower than the ball bearing receiving portion.

5. 2. The shelf position correction device according to claim 1, wherein the moving frame is configured as a frame body capable of surrounding the shelf except in a direction in which the automatic transport device enters.

6. 2. The shelf position correction device according to claim 1, wherein the moving frame includes a positioning portion for placing a leg of the shelf at a determined position relative to the moving frame.

7. The shelf position correction device according to claim 6 , wherein the moving frame includes a guide portion for guiding a leg portion of the shelf to the positioning portion.

8. A shelf position correction device according to any one of claims 1 to 7, a container inserting / removing device that inserts / removes containers between the shelf that is arranged at the predetermined position by the shelf position correction device; A container insertion and removal system comprising:

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