Conveying equipment and automated warehouses

Abstract

The goal is to reduce the weight of the conveying device while minimizing the constraints on the lifting and lowering range of the item transfer device. [Solution] The transport device 50 comprises a trolley 60 that travels on a roadway, a support frame 70 including columns 72 and 74 erected on the trolley, an article transfer device 52 supported by the columns so as to be able to move up and down, and a lifting drive device 80 that drives the article transfer device up and down. The article transfer device 52 includes a first connecting part 58 and a second connecting part 59, and the lifting drive device includes a first lower rotating body 80L, a first upper rotating body 80U, a circulating rotating body 82 wrapped around the first lower rotating body and the first upper rotating body and connected to the first connecting part, a rotation drive unit 88 that rotates the first lower rotating body or the first upper rotating body, and a bendable elongated body, a suspension member 90 wrapped around at least one of the first lower rotating body and the first upper rotating body, and which can be extended and retracted in conjunction with the circulating rotating body. The suspension member is connected to the second connecting part.

Description

Technical Field

[0001] This disclosure relates to a conveying device and an automated warehouse.

Background Art

[0002] Patent Document 1 discloses a conveying device including a base, at least two column members extending upward from the base, at least two pulleys disposed within an upper end region of the column members, at least two suspension members respectively hung on the pulleys, and a lifting platform connected to the suspension members at respective different connection points and holding a load. The two suspension members are spanned in an endless track state between a lifting device having a motor attached to the base and the pulleys. The lifting device includes a lifting drive source such as a motor, a second pulley on which the suspension member is hung, and a shaft connecting the two second pulleys.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] According to the technique disclosed in Patent Document 1, the two second pulleys are connected by a shaft. Therefore, the lifting amount of the lifting platform may be restricted by the shaft. Also, the lifting platform may become heavier due to the shaft.

[0005] Therefore, an object of the present disclosure is to reduce the restrictions on the lifting amount of the article transfer device and to reduce the weight of the conveying device.

Means for Solving the Problems

[0006] The conveying device travels along a horizontally extending travel path and is used to load and unload items from a plurality of shelves arranged vertically next to the travel path. The conveying device comprises a trolley that travels along the travel path, a support frame including columns erected on the trolley, an item transfer device supported by the columns so as to be able to move up and down, and a lifting drive device that drives the item transfer device up and down. The item transfer device includes a first connecting section and a second connecting section, and the lifting drive device comprises a first lower rotating body, a first upper rotating body located above the first lower rotating body, and the front of the first lower rotating body. The conveying device includes a circulating rotating body wrapped around a first upper rotating body and connected to a first connecting portion between the first lower rotating body and the first upper rotating body, a rotation drive unit for rotating the first lower rotating body or the first upper rotating body, and a bendable elongated suspension member wrapped around at least one of the first lower rotating body and the first upper rotating body, which is extendable and retractable in conjunction with the circulating rotating body, wherein the support frame supports a guide member that guides the suspension member toward the second connecting portion, and the suspension member is connected to the second connecting portion.

[0007] The automated warehouse comprises the above-mentioned conveying device, the horizontally extending travel path, and a group of shelves including a plurality of shelves arranged vertically next to the travel path. [Effects of the Invention]

[0008] This allows for a reduction in the weight of the conveying device while minimizing the constraints on the lifting and lowering range of the item transfer device. [Brief explanation of the drawing]

[0009] [Figure 1] Figure 1 is a schematic side view showing an automated warehouse according to an embodiment. [Figure 2] Figure 2 is a schematic plan view of an automated warehouse. [Figure 3] Figure 3 is a front view showing the conveying device. [Figure 4] Figure 4 is a plan view showing the conveying device. [Figure 5] Figure 5 is a side view showing the conveying device. [Figure 6] Figure 6 is a side view of the conveying device, viewed from a different direction than Figure 5. [Figure 7] Figure 7 is a front view showing a modified transport device. [Modes for carrying out the invention]

[0010] {Embodiment} The following describes the conveying device and automated warehouse according to the embodiment.

[0011] <About automated warehouses> The overall configuration of the automated warehouse will be explained. Figure 1 is a schematic side view of the automated warehouse, and Figure 2 is a schematic top view of the automated warehouse.

[0012] The automated warehouse 10 comprises storage shelves 20, a lifting device 30, and a conveying device 50. In this embodiment, the automated warehouse 10 further comprises an inbound / outbound conveyor 16 and a transfer shelf 40.

[0013] An inbound / outbound conveyor is an example of an external conveying device that transports articles 8 from an external position to a position closer to the storage shelves 20, or vice versa. The inbound / outbound conveyor 16 is, for example, a roller conveyor or a belt conveyor.

[0014] The loading / unloading conveyor belt 16 may be omitted. For example, the goods 8 may be directly loaded into the lifting device 30 by a robot or an operator. Alternatively, the goods 8 may be directly unloaded from the lifting device 30 to the outside by a robot or an operator.

[0015] The storage shelf 20 includes a group of shelves 24, which consists of multiple shelves 22 arranged in a vertical line with spacing between them. The group of shelves 24 is further arranged in multiple vertical lines. In Figure 1, the group of shelves 24 includes four shelves 22 arranged vertically. The storage shelf 20 includes three vertically arranged groups of shelves 24. The number of shelves in a group of shelves 24 is arbitrary. The number of vertical groups of shelves in the storage shelf 20 is arbitrary.

[0016] Each shelf 22 of each tier can support and store the article 8. Also, in the shelf 22 of each tier, a plurality of articles 8 can be supported. Therefore, when looking at the entire storage shelf 20, the plurality of articles 8 are stored in a state of being arranged vertically, horizontally, and in all directions.

[0017] The traveling path 28 extends horizontally along the extending direction of the storage shelf 20. Here, the traveling path 28 is provided between a pair of storage shelves 20 along their extending direction. That is, a pair of storage shelves 20 are provided on both adjacent sides of the traveling path 28. The traveling path 28 extends along the extending direction of the storage shelf 20 and also extends to the transfer shelf 40. Therefore, the transport device 50 traveling on the traveling path 28 can reciprocate between an arbitrary position in front of the storage shelf 20 and the transfer shelf 40.

[0018] A plurality of traveling paths 28 are arranged vertically side by side. Each of the traveling paths 28 is provided corresponding to each shelf group 24. For example, the plurality of traveling paths 28 and the plurality of shelf groups 24 correspond one-to-one. That is, the shelf groups 24 are arranged vertically side by side corresponding to the traveling paths 28. The traveling path 28 is located, for example, adjacent to the lowermost shelf 22 of the corresponding shelf group 24.

[0019] Each traveling path 28 may, for example, have a configuration including a pair of rails 28a. The rail 28a may also serve as the horizontal frame of the storage shelf 20, or may be configured separately from the storage shelf 20.

[0020] The transport device 50 is a device that travels on the traveling path 28 and takes in and out the article 8 with respect to the plurality of shelves 22 of the shelf group 24 corresponding to the traveling path 28. The transport device 50 is provided corresponding to each of the plurality of traveling paths 28 and travels on each of the plurality of traveling paths 28. That is, the plurality of transport devices 50 are provided corresponding to each of the plurality of shelf groups 24. The plurality of transport devices 50 travel at different positions in the vertical direction.

[0021] The conveying device 50 includes an article transfer device 52 for loading and unloading articles 8 to and from the storage shelves 20 and the transfer shelves 40. The article transfer device 52 is a device that transfers articles 8 by loading and unloading articles 8 to and from the storage shelves 20 and the transfer shelves 40. The article transfer device 52 is configured to be able to move up and down to positions corresponding to multiple shelves 22 arranged vertically in the corresponding shelf group 24.

[0022] The transport device 50 moves the item transfer device 52 horizontally or vertically depending on the location or storage location of the item 8 to be transported. The item transfer device 52 can load and unload the item 8 at a position corresponding to the location of the item 8 or the storage location.

[0023] For example, with the item transfer device 52 moved to a position corresponding to the location of item 8 on shelf 22 or transfer shelf 40, the item transfer device 52 retrieves the item from shelf 22 or transfer shelf 40. The retrieved item 8 is taken into the item transfer device 52. After this, the item transfer device 52 moves toward the storage target position on shelf 22 or transfer shelf 40. With the item transfer device 52 moved to a position corresponding to the storage target position, the item 8 is transferred to the storage target position. As a result, the item 8 is placed on shelf 22 or transfer shelf 40.

[0024] The conveying device 50 is a device that moves between the lifting device 30 and the storage rack 20 to convey the articles 8. Here, moving between the lifting device 30 and the storage rack 20 means moving between a position where the articles 8 can be transferred directly or indirectly to the lifting device 30 and a position where the articles 8 can be transferred to the storage rack 20. In this embodiment, an example is described in which the conveying device 50 transfers the articles 8 between the lifting device 30 and the conveying device 50 via a transfer rack 40. In an automated warehouse, the transfer rack may be omitted, and the conveying device 50 may transfer items directly between the lifting device and the conveying device 50.

[0025] A lifting device 30 and a transfer shelf 40 are provided in a portion of the storage shelf 20 in the direction of its extension.

[0026] The transfer shelf 40, also called a temporary storage shelf, is a device that relays items between the lifting device 30 and the conveying device 50. The transfer shelf 40 is equipped with multiple transfer platforms 42, each corresponding to a multiple shelf level. The multiple transfer platforms 42 are located next to the storage shelf 20 and at the same height as the corresponding shelf 22. The transfer platforms 42 are, for example, roller conveyors and can move the items 8 along the conveying direction P. The items 8 on the transfer platforms 42 may be pushed along the conveying direction P by pushers driven by actuators such as cylinders, which are provided separately.

[0027] Each conveying device 50, provided for each shelf group 24, can transfer the items 8 to the transfer platform 42 on the corresponding shelf group 24. The items 8 are transferred from the lifting platform 32, via the transfer platform 42 of the transfer shelf 40, to the conveying device 50.

[0028] The lifting device 30 is a lifting device that directly or indirectly passes or receives articles 8 to or from the conveying device 50 or the inbound / outbound conveyor 16, which is an external conveying device. For example, the lifting device 30 directly receives articles 8 from the inbound / outbound conveyor 16. The lifting device 30 indirectly passes articles 8 to the conveying device 50 via the transfer rack 40. The lifting device 30 also indirectly receives articles 8 from the conveying device 50 via the transfer rack 40. The lifting device 30 directly passes items to or from the inbound / outbound conveyor 16. The lifting device 30 may also directly pass or receive articles 8 to or from the transfer rack 40.

[0029] The above-mentioned lifting device 30 is a device for raising and lowering an article 8, and is also called a reservoir. The lifting device 30 includes a lifting platform 32 on which the article 8 is placed. The lifting platform 32 is raised and lowered while supporting the article 8. The lifting platform 32 can move the article 8 along the transport direction P that connects the loading / unloading conveyor 16 and the transfer platform 42. For example, the lifting platform 32 is a roller conveyor and can move the article 8 along the transport direction P. The article 8 on the lifting platform 32 may be pushed along the transport direction P by a pusher driven by an actuator such as a cylinder that is provided separately.

[0030] The lifting platform 32 is driven up and down by a lifting drive mechanism. The lifting drive mechanism includes, for example, a drive source and a circulating rotating body. The drive source is, for example, an electrically controlled motor. The circulating rotating body is a chain or a circulating belt, which is wound around a sprocket or pulley that is rotatably supported above and below the column 31. The rotational drive of the drive source causes the circulating rotating body to rotate in a circulating manner, thereby causing the lifting platform 32 connected to the circulating rotating body to move up and down. As the lifting platform 32 is driven up and down in conjunction with the operation of the drive source, the lifting platform 32 is moved up and down to a position adjacent to the transfer rack 40, corresponding to each of the multiple transfer platforms 42. When the lifting platform 32 is positioned at a height corresponding to any of the transfer platforms 42, the article 8 can be moved horizontally between the lifting platform 32 and the transfer platform 42 and transferred. Furthermore, the lifting platform 32 is raised and lowered to a position corresponding to the loading / unloading conveyor 16, adjacent to the end of the conveyor 16 closest to the storage shelves 20. By positioning the lifting platform 32 at a height corresponding to the loading / unloading conveyor 16, the items 8 can be transferred by horizontal movement between the lifting platform 32 and the loading / unloading conveyor 16.

[0031] The control unit controls the transport operation of the loading / unloading conveyor 16, the lifting and transfer operations of the lifting device 30, the transfer operations on the transfer rack 40, the travel operation, lifting and transfer operations of the transport device 50, and the loading and unloading operations of the goods 8. In this automated warehouse 10, the loading and unloading of goods 8 are performed under the control of the control unit.

[0032] In this embodiment, a transfer shelf 40, a lifting device 30, and an in / out conveyor 16 are provided on one end of a pair of storage shelves 20. These transfer shelves 40, lifting device 30, and in / out conveyor 16 can be used for both in and out. The embodiment is not limited to this example, and a transfer shelf, lifting device, and in / out conveyor for inbound storage and a transfer shelf, lifting device, and in / out conveyor for outbound storage may be provided at separate locations on the pair of storage shelves 20.

[0033] This section describes the overall operation of automated warehouse 10.

[0034] Focusing on the incoming goods 8, the goods 8 are transferred from the incoming / outgoing conveyor 16 to the lifting platform 32 while the lifting platform 32 is positioned at a height corresponding to the inbound / outbound conveyor 16. Then, the lifting device 30 moves the lifting platform 32 up or down to a position corresponding to one of the shelves in the shelf group 24 to which the shelf 22 at the height where the goods 8 are stored belongs.

[0035] Next, the article 8 supported by the lifting platform 32 is transferred to the transfer platform 42 of the transfer shelf 40. The article 8 supported by the transfer platform 42 is then transferred to the article transfer device 52 of the conveying device 50. The conveying device 50 to which the article 8 is transferred is the conveying device 50 corresponding to the shelf group 24 to which the shelf 22 at the same height as the transfer platform 42 supporting the article 8 belongs. The conveying device 50 travels along the travel path 28 with the article 8 supported, moving horizontally toward the intended storage position of the article 8 on the storage shelf 20. If the height position of the article transfer device 52 supporting the article 8 is the same as the intended storage position, the article transfer device 52 maintains its height position. If the height position of the article transfer device 52 supporting the article 8 is different from the intended storage position, the article transfer device 52 moves up and down according to the intended storage position during or before / after travel. When the conveying device 50 reaches the intended storage position in the horizontal direction, the article 8 is transferred from the conveying device 50 to the shelf 22 of the storage shelf 20 at the intended storage position, and the article 8 is stored in the storage shelf 20.

[0036] Focusing on the item 8 being retrieved, the conveying device 50 of the shelf group 24 to which the shelf 22 corresponding to the storage position of the item 8 belongs moves horizontally to the position corresponding to the storage position of the item 8. If the height position of the item transfer device 52 is the same as the height position of the storage position, the item transfer device 52 maintains its height position. If the height position of the item transfer device 52 is different from the height position of the storage position, the item transfer device 52 moves up and down according to the storage position during or before / after movement. After this, the conveying device 50 takes the item 8 from the shelf 22 of the storage shelf 20. Having taken the item 8, the conveying device 50 moves toward the transfer shelf 40 and transfers the item 8 to the transfer platform 42 of the transfer shelf 40. The lifting device 30 moves the lifting platform 32 up and down to the position corresponding to the transfer platform 42 that supports the item 8. Then, the item 8 on the transfer platform 42 is transferred to the lifting platform 32 at that shelf level. The lifting device 30 moves the lifting platform 32 to the height of the loading / unloading conveyor 16. After this, the goods 8 are transferred from the lifting platform 32 to the loading / unloading conveyor 16. The goods 8 are then loaded out to the outside by the loading / unloading conveyor 16.

[0037] In this automated warehouse 10, when an item 8 is received, a database is generated and updated that associates the item 8's specific information (item identification code or name) with its storage location. When an item 8 is received, the available space on the storage shelf 20 is identified by referring to this database, and one of these available spaces is selected as the planned storage location. When an item 8 is released, the storage location of the item 8 is identified by referring to the database. The database may be stored in the memory unit of the control unit, or it may be stored in another memory unit.

[0038] <About the conveying equipment> The conveying device 50 will be described in more detail. Figure 3 is a front view of the conveying device 50. Figure 4 is a top view of the conveying device 50. Figure 5 is a side view of the conveying device 50. Figure 6 is a side view of the conveying device 50 viewed from a different direction than in Figure 5. Figures 5 and 6 mainly show the configuration for the lifting drive, and other parts may be omitted.

[0039] The transport device 50 comprises a trolley 60, a support frame 70, an item transfer device 52, and a lifting drive device 80.

[0040] The trolley 60 travels on the running track 28. For example, the trolley 60 comprises a trolley frame 62 and a running gear 64.

[0041] The trolley frame 62 is a frame that supports each part of the conveying device 50. For example, the trolley frame 62 has a rectangular frame-shaped frame 62a. The trolley frame 62 may also have a connecting frame 62b that connects two opposing frame parts of the frame 62a. The trolley frame 62 may also have other plate-shaped parts, etc. The trolley frame 62 may have a planar shape that extends between the two rails 28a of the running track 28.

[0042] The traveling device 64 is a device for moving the conveying device 50. For example, the traveling device 64 includes wheels 65 and a motor 66.

[0043] For example, the left and right wheels 65 are positioned at two locations on the bogie frame 62 that are separated in the direction of travel. The left and right wheels 65 are connected by an axle portion 65a. The axle portion 65a is rotatably supported on the bogie frame 62 by, for example, an axle support portion.

[0044] The motor 66 is fixed to the bogie frame 62. The rotation of the motor 66 is transmitted to the wheels 65 via the driving transmission mechanism 67. The driving transmission mechanism 67 may be, for example, a driving belt wrapped around the pulley on the rotating shaft of the motor 66 and the pulley on the axle portion 65a.

[0045] The left and right wheels 65 on one side of the trolley frame 62 in the direction of travel may be rotationally driven by the motor 66. The left and right wheels 65 on the other side of the trolley frame 62 in the direction of travel do not need to be rotationally driven by the motor 66.

[0046] The motor 66 drives the wheels 65, causing them to rotate in both forward and reverse directions, allowing the bogie 60 to travel along the track 28 in both directions.

[0047] The support frame 70 includes columns 72 and 74 erected on the trolley 60.

[0048] For example, two connecting frames 62b are provided at intervals on one side of the frame 62a, closer to the direction of travel. A pair of first columns 72 are erected from these two connecting frames 62b.

[0049] Furthermore, for example, two connecting frames 62b are provided at intervals on the frame 62a, closer to the other side in the direction of travel. A pair of second columns 74 are erected from these two connecting frames 62b. The second columns 74 are positioned apart from the first column 72 in the direction of travel. A gap is provided between the first column 72 and the second column 74, allowing for the placement of an article transfer device 52.

[0050] The upper ends of a pair of first columns 72 may be connected by a connecting frame 73a. The upper ends of a pair of second columns 74 may be connected by a connecting frame 73a. The upper ends of the first columns 72 and the upper ends of the second columns 74 may be connected by a connecting frame 73b.

[0051] The article transfer device 52 is supported by columns 72 and 74 so as to be able to move up and down. The article transfer device 52 is a device that transfers articles 8 by moving articles 8 in and out of the storage shelves 20 and the transfer shelves 40.

[0052] The article transfer device 52 includes, for example, an article placement section 54 and an article loading / unloading mechanism 56.

[0053] The article placement section 54 has a support surface 54f on which an article 8 can be placed. In a plan view, the support surface 54f is a surface that is the same size as or larger than the article 8 to be handled. The article 8 is placed and supported on the support surface.

[0054] The article placement section 54 is supported so as to be able to move up and down by columns 72 and 74. For example, a roller 54r1 is rotatably supported on the side of the first column 72 of the article placement section 54. The roller 54r1 is supported so as to be able to roll, for example, while sandwiching both sides of one side of the first column 72. Also, for example, a roller 54r2 is rotatably supported on the side of the second column 74 of the article placement section 54. The roller 54r2 is supported so as to be able to roll, for example, while sandwiching both sides of one side of the second column 74.

[0055] Guided by rollers 54r1 and 54r2, the article placement section 54 is supported by columns 72 and 74 so as to be able to move up and down. In this embodiment, the article transfer device 52 is supported between the first column 72 and the second column 74 so as to be able to move up and down. Since the article transfer device 52 is supported by columns 72 and 74 at opposing positions, it is supported more stably for vertical movement compared to when it is supported by a single column.

[0056] The guide structure of the article transfer device 52 using columns 72 and 74 is not limited to the above example.

[0057] The loading / unloading mechanism 56 is a device for loading and unloading articles 8 between the storage shelf 20 or transfer shelf 40 and the article placement section 54.

[0058] For example, the loading / unloading mechanism 56 has a pair of arms 53 that can move in and out of the storage shelf 20 and the transfer shelf 40. The pair of arms 53 are positioned on both sides of the article placement section 54 in the direction of travel. A support surface 54f extends between the pair of arms 53. A gap is provided between the pair of arms 53 in which an article 8 can be placed.

[0059] The pair of arms 53 can move forward and backward on both sides of the article placement section 54 by the drive of a motor or the like. That is, a pair of storage shelves 20 and a pair of transfer shelves 40 can be arranged on both sides of the article placement section 54. By moving forward and backward in both directions, the pair of arms 53 can move articles 8 in and out between the adjacent storage shelves 20 and transfer shelves 40 on either side of the travel path 28.

[0060] A pair of claws 53a are provided at each end of a pair of arms 53. Each claw 53a is configured to be able to be raised and lowered relative to the body of the arm 53 by the drive of an actuator or the like.

[0061] Then, with the claws 53a extended, the pair of arms 53 are moved forward to push the article 8 on the article placement section 54 into the storage shelf 20 or transfer shelf 40. Alternatively, the pair of arms 53 are moved forward so that their tips are behind the article 8, the claws 53a are extended, and then the pair of arms 53 are retracted. This allows the article 8 on the storage shelf 20 or transfer shelf 40 to be taken onto the article placement section 54.

[0062] The article transfer device 52 includes a first connecting section 58 and a second connecting section 59. The first connecting section 58 is the part located on the side of the first column 72. The second connecting section 59 is the part located on the side of the second column 74.

[0063] The article transfer device 52 is driven up and down by the lifting drive device 80 via the first connecting portion 58 and the second connecting portion 59. Since the first connecting portion 58 and the second connecting portion 59 are located on opposite sides of the article transfer device 52, the force for lifting and lowering is transmitted to the article transfer device 52 in a balanced manner. As a result, the article transfer device 52 can move up and down stably.

[0064] With the item 8 placed on the item placement section 54, the item 8 is transported between the storage shelf 20 and the transfer shelf 40 by the item transfer device 52 moving up and down or by the trolley 60 traveling horizontally.

[0065] The lifting drive device 80 drives the item transfer device 52 up and down.

[0066] The lifting drive device 80 comprises a first lower rotating body 80L, a first upper rotating body 80U, a circulating rotating body 82, a rotation drive unit 88, and a suspension member 90.

[0067] The first upper rotating body 80U is positioned above the first lower rotating body 80L.

[0068] The circulating rotating body 82 is wrapped around the first lower rotating body 80L and the first upper rotating body 80U. The circulating rotating body 82 is connected to the first connecting section 58 between the first lower rotating body 80L and the first upper rotating body 80U.

[0069] For example, the first lower rotating body 80L is located near the lower end of the first column 72, and more specifically, is rotatably supported at the lower end of the first column 72. For example, the first lower rotating body 80L is rotatably supported between a pair of first columns 72. In the vertical direction, the first lower rotating body 80L may be positioned to overlap with the rectangular frame 62a of the trolley frame 62. The central axis of the first lower rotating body 80L may be located below the upper surface of the rectangular frame 62a. The central axis of the first lower rotating body 80L may be located below the running surface of the wheels 65 or the running surface of the running track 28.

[0070] In this embodiment, the first lower rotating body 80L has a pair of sub-first lower rotating bodies 80La and 80Lb. The pair of sub-first lower rotating bodies 80La and 80Lb are non-rotatably supported on a common shaft 80Lc. The shaft 80Lc is rotatably supported between a pair of first columns 72. The pair of sub-first lower rotating bodies 80La and 80Lb rotate synchronously in the same direction.

[0071] Furthermore, for example, the first upper rotating body 80U is located near the upper end of the first column 72, and more specifically, is rotatably supported on the upper end of the first column 72. For example, the first upper rotating body 80U is rotatably supported between a pair of first columns 72. The first upper rotating body 80U may be positioned as high as possible, as long as it does not interfere with the connecting frames 73a and 73b.

[0072] In this embodiment, the first upper rotating body 80U has a pair of sub-first upper rotating bodies 80Ua and 80Ub. The pair of sub-first upper rotating bodies 80Ua and 80Ub may be non-rotatably supported on a common shaft 80Uc. The shaft 80Lc is rotatably supported between a pair of first columns 72. The pair of sub-first upper rotating bodies 80Ua and 80Ub rotate synchronously in the same direction. The sub-first upper rotating bodies 80Ua and 80Ub may be supported so that they can rotate independently with respect to the shaft 80Uc.

[0073] The circulating rotating body 82 is wound around the sub-first lower rotating body 80La, which is one of a pair of sub-first lower rotating bodies 80La, 80Lb, and the sub-first upper rotating body 80Ua, which is one of a pair of sub-first upper rotating bodies 80Ua, 80Ub, so as to be able to rotate in a circulating manner.

[0074] For example, the sub-first lower rotating body 80La and the sub-first upper rotating body 80Ua may be pulleys, and the circulating rotating body 82 may be an annular belt. For example, the sub-first lower rotating body 80La and the sub-first upper rotating body 80Ua may be gears, and the circulating rotating body 82 may be an annular chain.

[0075] The circulating rotating body 82 moves in a linear circulating rotation between the sub-first lower rotating body 80La and the sub-first upper rotating body 80Ua. The first connecting part 58 is connected to the portion of the circulating rotating body 82 that moves on the side of the article transfer device 52 between the sub-first lower rotating body 80La and the sub-first upper rotating body 80Ua.

[0076] Therefore, as the circulating rotating body 82 rotates in a circular motion, the first connecting part 58 moves up and down, and the part of the article transfer device 52 on the side of the first column 72 is driven to move up and down.

[0077] For example, the sub-first lower rotating body 80La and the sub-first upper rotating body 80Ua may be pulleys, and the circulating rotating body may be an annular belt. For example, the sub-first lower rotating body 80La and the sub-first upper rotating body 80Ua may be gears, and the circulating rotating body may be an annular chain.

[0078] The rotary drive unit 88 rotates the first lower rotating body 80L and the first upper rotating body 80U.

[0079] For example, the rotary drive unit 88 includes a motor 88a. The motor 88a may be positioned to rotate the first lower rotating body 80L. For example, the motor 88a may be supported by the frame 62a. The motor 88a may be supported at the lower end of the first column 72.

[0080] The rotational driving force of the motor 88a is transmitted to the first lower rotating body 80L via the transmission mechanism 88b. For example, the lower shaft 80Lc protrudes outward from a pair of first columns 72. An annular belt, acting as the transmission mechanism 88b, is wrapped around a pulley 88c supported on the rotating shaft of the motor 88a and a pulley 88d supported on the shaft 80Lc. The rotational driving force of the motor 88a is then transmitted to the shaft 80Lc via the transmission mechanism 88b, causing the shaft 80Lc to rotate. The rotation of the shaft 80Lc causes the first lower rotating body 80L to rotate. The rotation of the first lower rotating body 80L causes the circulating rotating body 82 to rotate in a circulating manner, and the first upper rotating body 80U also rotates.

[0081] The rotation direction of the first lower rotating body 80L is controlled according to the rotation direction of the motor 88a, and thereby the circulating rotation direction of the circulating rotating body 82 is also controlled. By controlling the rotation direction of the circulating rotating body 82, the vertical movement of the item transfer device 52 is controlled.

[0082] The suspension member 90 is a bendable, elongated body. The suspension member 90 is wrapped around at least one of the first lower rotating body 80L and the first upper rotating body 80U, and is configured to be extended and retracted in conjunction with the circulating rotating body 82.

[0083] The support frame 70 supports a guide member that guides the suspension member toward the second connecting portion 59. The suspension member is connected to the second connecting portion 59 via the guide member.

[0084] In this embodiment, the suspension member is an additional circulating rotating body 90. The lifting device 30 also includes a second lower rotating body 84L and a second upper rotating body 84U located above the second lower rotating body 84L. The second lower rotating body 84L and the second upper rotating body 84U are examples of guide members.

[0085] The second lower rotating body 84L is located near the lower end of the second column 74, and more specifically, is rotatably supported at the lower end of the second column 74. For example, the second lower rotating body 84L is rotatably supported between a pair of second columns 74 via a shaft. In the vertical direction, the second lower rotating body 84L may be positioned to overlap with the rectangular frame 62a of the trolley frame 62. The central axis of the second lower rotating body 84L may be located below the upper surface of the rectangular frame 62a. The central axis of the second lower rotating body 84L may be located below the running surface of the wheels 65 or the running surface of the running track 28. The second lower rotating body 84L may be located at the same height as the first lower rotating body 80L.

[0086] Furthermore, for example, the second upper rotating body 84U is located near the upper end of the second column 74, and more specifically, is rotatably supported at the upper end of the second column 74. For example, the second upper rotating body 84U is rotatably supported between a pair of second columns 74. The second upper rotating body 84U may be positioned as high as possible without interfering with the connecting frames 73a and 73b. The second upper rotating body 84U may be located at the same height as the first upper rotating body 80U.

[0087] In this embodiment, the second upper rotating body 84U is rotatably supported via a shaft between a pair of second columns 74.

[0088] The additional circulating rotating body 90 is wound around the sub-first lower rotating body 80Lb of the first lower rotating body 80L, the sub-first upper rotating body 80Ub of the first upper rotating body 80U, and the second lower rotating body 84L and the second upper rotating body 84U so as to be able to circulate. The additional circulating rotating body 90 circulates and rotates outside the sub-first lower rotating body 80Lb, the sub-first upper rotating body 80Ub, and the second lower rotating body 84L and the second upper rotating body 84U.

[0089] Furthermore, the sub-first lower rotating body 80Lb, sub-first upper rotating body 80Ub, second lower rotating body 84L, and second upper rotating body 84U are pulleys, and the additional circulating rotating body 90 may be an annular belt. The sub-first lower rotating body 80Lb, sub-first upper rotating body 80Ub, second lower rotating body 84L, and second upper rotating body 84U are gears, and the additional circulating rotating body 90 may be an annular chain.

[0090] The additional circulating rotating body 90 is wound around the sub-first lower rotating body 80Lb and the sub-first upper rotating body 80Ub. As described above, the sub-first lower rotating body 80La is driven by the rotation drive unit 88, and the sub-first upper rotating body 80Ua is also driven synchronously by the circulating rotating body 82. In sync with this, the sub-first lower rotating body 80Lb and the sub-first upper rotating body 80Ub are also driven to rotate. As a result, the additional circulating rotating body 90 also rotates synchronously.

[0091] The second connecting section 59 is connected to the additional circulating rotating body 90 between the second lower rotating body 84L and the second upper rotating body 84U. When the additional circulating rotating body 90 is rotated, the second connecting section 59 is driven to move up and down. As a result, the article transfer device 52 is also driven to move up and down on the second column 74 side.

[0092] As the rotational drive of the first lower rotating body 80L is synchronized, the circulating rotating body 82 and the additional circulating rotating body 90 rotate in a circulating manner, so that the article transfer device 52 is driven up and down while being supported on both sides of the columns 72 and 74.

[0093] The additional circulating rotating body 90 passes outside the circumferential surfaces of the sub-first lower rotating body 80Lb, the sub-first upper rotating body 80Ub, the second lower rotating body 84L, and the second upper rotating body 84U. Therefore, the additional circulating rotating body 90 passes below the central axis of the sub-first lower rotating body 80Lb and the second lower rotating body 84L.

[0094] For example, the additional circulating rotating body 90 can pass between the sub-first lower rotating body 80Lb and the second lower rotating body 84L of the first lower rotating body 80L at a position lower than the running surface of the running path 28.

[0095] Therefore, a space can be easily formed between the sub-first lower rotating body 80Lb and the second lower rotating body 84L for arranging the article transfer device 52. For example, the lifting drive device 80 may move the article transfer device 52 up and down until the lower end of the article transfer device 52 is below the rotation axis of the sub-first lower rotating body 80Lb (see the article transfer device 52 shown by the dashed line in Figure 3).

[0096] This makes it easier to increase the range of motion of the item transfer device 52 in the conveying device 50.

[0097] <Effects, etc.> In the conveying device 50 configured as described above, the circulating rotating body 82 is connected to the first connecting part 58, and an additional circulating rotating body 90, which serves as a suspension member 90, is connected to the second connecting part 59. The circulating rotating body 82 is rotated by the drive of the rotation drive unit 88, and the article transfer device 52 is raised and lowered as the circulating rotating body 82 is extended or retracted. The circulating rotating body 82 is a bendable elongated body, and is guided toward the second connecting part 59 by the second upper rotating body 84U and the second lower rotating body 84L, and is connected to the second connecting part 59.

[0098] Such a circulating rotating body 82 is easier to miniaturize and lighten compared to a rigid metal shaft that transmits the rotation of the pulley. For example, the circulating rotating body 82 can be bendable and have sufficient tensile strength to support the article transfer device 52. Miniaturizing the circulating rotating body 82 makes it easier to restrict the lifting and lowering range of the article transfer device 52. Furthermore, making the circulating rotating body 82 lighter reduces the weight of the conveying device 50.

[0099] If the suspension member is an additional circulating rotating body 90, the portion of the additional circulating rotating body 90 to which the second connecting portion 59 is connected can be stably supported on both the upstream and downstream sides in the direction of movement. As a result, the second connecting portion 59 of the article transfer device 52 is stably driven up and down.

[0100] Specifically, the additional circulating rotating body 90 is wrapped around the sub-first lower rotating body 80Lb, the sub-first upper rotating body 80Ub, the second lower rotating body 84L, and the second upper rotating body 84U, and is connected to the second connecting section 59 between the second lower rotating body 84L and the second upper rotating body 84U. As a result, the second connecting section of the article transfer device is driven to move up and down stably.

[0101] Furthermore, the article transfer device 52 is supported between the first column 72 and the second column 74 so as to be able to move up and down, thereby ensuring that the article transfer device 52 is stably supported for vertical movement. Since the circulating rotating body 82 is connected to the first connecting part 58 on the first column 72 side, and the additional circulating rotating body 90 is connected to the second connecting part 59 on the second column 74 side, the article transfer device 52 is stably driven to move up and down on the support points of each column 72 and 74.

[0102] Furthermore, the circulating rotating body 82 and the additional circulating rotating body 90 are wrapped around sub-first lower rotating bodies 80La, 80Lb at different locations on the first lower rotating body 80L and sub-first upper rotating bodies 80Ua, 80Ub at different locations on the first upper rotating body 80U. This makes it less likely for the circulating rotating body 82 and the additional circulating rotating body 90 to slip relative to the first lower rotating body 80L and the first upper rotating body 80U compared to when they are wrapped around the same location. As a result, the article transfer device 52 is reliably driven to move up and down.

[0103] Furthermore, by positioning the rotary drive unit 88 in a position that rotates the first lower rotating body 80L, the rotary drive unit 88 is more easily positioned lower on the conveying device 50, allowing the conveying device 50 to travel stably.

[0104] The additional circulating rotating body 90 is more easily positioned to pass below the central axes of the first lower rotating body 80L and the second lower rotating body 84L compared to the shaft connecting the central axes of the rotating bodies. This allows the article transfer device 52 to move up and down until its lower end is below the rotation axis of the first lower rotating body 80L, thereby increasing the amount of movement of the article transfer device 52.

[0105] Furthermore, the additional circulating rotating body 90 passes between the first lower rotating body 80L and the second lower rotating body 84L at a position lower than the running surface of the travel path 28, allowing the item transfer device 52 to move to a lower position. For example, the lifting drive device 80 can move up and down until its lower end is below the running surface.

[0106] When the above-described conveying device 50 is applied to the automated warehouse 10, the item transfer device 52 with a large lifting range can transfer items 8 to a wide group of shelves 24 in the vertical direction.

[0107] Furthermore, multiple travel paths 28 are arranged vertically, multiple shelf groups 24 are arranged vertically according to the travel paths 28, and multiple conveying devices 50 travel along each of the multiple travel paths 28. In this case, by reducing the constraints on the vertical movement of the item transfer device 52, the space between the upper and lower shelf groups 24 where items 8 cannot be transferred can be reduced. Therefore, a large number of items can be easily stored in the automated warehouse 10.

[0108] Furthermore, the amount of lifting and lowering of the article transfer device 52 of each conveying device 50 can be reduced. This makes it less likely for the length of the circulating rotating body 82 and the additional circulating rotating body 90 to become excessively long. As a result, the circulating rotating body 82 and the additional circulating rotating body 90 are less likely to stretch excessively, and the article transfer device 52 can move up and down appropriately.

[0109] {Example} As in the above embodiment, it is not essential that the suspension member be an additional circulating rotating body 90. For example, as shown in the modified example in Figure 7, a bendable suspension member 190 may be wrapped around the sub-first lower rotating body 80Lb of the first lower rotating body 80L. The suspension member 190 may be wrapped around the sub-first upper rotating body 80Ub and the second upper rotating body 84U and connected downward from the second upper rotating body 84U to the second connecting portion 59. The portion of the suspension member 90 that extends downward from the second connecting portion 59 may be omitted. In this case, the second lower rotating body 84L may be omitted.

[0110] In this example, the second connecting section 59 is supported while suspended from above. Therefore, when the article transfer device 52 is raised, the second connecting section 59 is lifted by the suspension member 90. When the article transfer device 52 is lowered, the second connecting section 59 descends by gravity, with its descent speed controlled by the suspension member 90.

[0111] Therefore, the item transfer device 52 can move up and down while being supported on both sides of the columns 72 and 74.

[0112] Furthermore, the configurations described in the above embodiments and each of the modified examples can be combined as appropriate, as long as they do not contradict each other.

[0113] This specification and its drawings disclose the following embodiments.

[0114] The first embodiment is a transport device for loading and unloading articles into and out of a plurality of shelves arranged vertically adjacent to a horizontally extending travel path, comprising: a trolley that travels on the travel path; a support frame including columns erected on the trolley; an article transfer device supported by the columns so as to be able to move up and down; and a lifting drive device for driving the article transfer device up and down, wherein the article transfer device includes a first connecting part and a second connecting part, and the lifting drive device comprises: a first lower rotating body, a first upper rotating body located above the first lower rotating body, and the first lower rotating body A conveying device comprising: a circulating rotating body wrapped around the first upper rotating body and connected to the first connecting portion between the first lower rotating body and the first upper rotating body; a rotational drive unit for rotating the first lower rotating body or the first upper rotating body; and a bendable elongated suspension member wrapped around at least one of the first lower rotating body and the first upper rotating body, which is extendable and retractable in conjunction with the circulating rotating body, wherein the support frame supports a guide member that guides the suspension member toward the second connecting portion, and the suspension member is connected to the second connecting portion.

[0115] In this conveying device, a circulating rotating body is connected to a first connecting section, and a lifting member is connected to a second connecting section. The circulating rotating body is rotated by the drive of the rotation drive unit, and the lifting member is extended or retracted, thereby driving the item transfer device up and down. The lifting member is a bendable elongated body, guided toward the second connecting section by a guide member, and connected to the second connecting section. The lifting member is easier to miniaturize and lighten compared to a shaft that transmits the rotation of a pulley. Therefore, it is easier to reduce the weight of the conveying device while minimizing constraints on the amount of lifting and lowering of the item transfer device.

[0116] As in the second embodiment, the conveying device according to the first embodiment may have an additional circulating rotating body as the suspension member.

[0117] If the suspension member is an additional circulating rotating body, the second connecting part of the item transfer device will be driven to move up and down stably.

[0118] As in the third embodiment, a conveying device according to the second embodiment, wherein the lifting drive device further includes, as the guide member, a second lower rotating body and a second upper rotating body located above the second lower rotating body, and the additional circulating rotating body may be wrapped around the first lower rotating body, the first upper rotating body, the second lower rotating body and the second upper rotating body, and connected to the second connecting portion between the second lower rotating body and the second upper rotating body.

[0119] The additional circulating rotating body is connected to the second connecting section between the second lower rotating body and the second upper rotating body. As a result, the second connecting section of the article transfer device is driven to move up and down stably.

[0120] As in the fourth embodiment, the conveying device according to the third embodiment, wherein the column comprises a first column and a second column located apart from the first column, the article transfer device is supported between the first column and the second column so as to be able to move up and down by the first column and the second column, the first connecting portion is located on the first column side, the second connecting portion is located on the second column side, the first lower rotating body is located near the lower end of the first column, the first upper rotating body is located near the upper end of the first column, the second lower rotating body is located near the lower end of the second column, and the second upper rotating body is located near the upper end of the second column.

[0121] In this case, the item transfer device is stably supported by the first and second columns so that it can move up and down. Since the circulating rotating body is connected to the first connecting part on the first column side and the additional circulating rotating body is connected to the second connecting part on the second column side, the item transfer device is stably driven up and down.

[0122] As in the fifth embodiment, a conveying device according to the third or fourth embodiment, wherein the first lower rotating body has a pair of sub-first lower rotating bodies, the first upper rotating body has a pair of sub-first upper rotating bodies, the circulating rotating body is wrapped around one of the pair of sub-first lower rotating bodies and one of the pair of sub-first upper rotating bodies, and the additional circulating rotating body is wrapped around the other of the pair of sub-first lower rotating bodies and the other of the pair of sub-first upper rotating bodies, the second lower rotating body and the second upper rotating body.

[0123] The circulating rotating body and the additional circulating rotating body are wrapped around the first lower rotating body and the first upper rotating body at different points, making it difficult for the circulating rotating body and the additional circulating rotating body to slip relative to the first lower rotating body and the first upper rotating body.

[0124] As in the sixth embodiment, the conveying device according to any one of the first to fifth embodiments, wherein the rotational drive unit may be positioned to rotate the first lower rotating body.

[0125] This makes it easier to position the rotary drive unit lower on the conveying device, allowing the conveying device to move stably.

[0126] As in the seventh embodiment, a conveying device according to any one of the first to sixth embodiments, wherein the lifting drive device may move the article transfer device up and down until the lower end of the article transfer device is positioned below the rotation axis of the first lower rotating body.

[0127] This allows for a greater range of motion in the item transfer device.

[0128] As in the eighth embodiment, a conveying device according to any one of the third to seventh embodiments, wherein the additional circulating rotating body may pass between the first lower rotating body and the second lower rotating body at a position lower than the running surface of the travel path.

[0129] This allows the lifting drive mechanism to move to a lower position.

[0130] The ninth embodiment is an automated warehouse comprising one of the first to eighth conveying devices, a horizontally extending travel path, and a group of shelves including a plurality of shelves arranged vertically next to the travel path.

[0131] The lifting range of the item transfer device in the conveying system can be increased, allowing items to be transferred to a wide range of shelves in the vertical direction.

[0132] As in the tenth embodiment, an automated warehouse according to the ninth embodiment, wherein multiple travel paths are arranged vertically, multiple shelf groups are arranged vertically according to the travel paths, and multiple conveying devices travel along each of the multiple travel paths.

[0133] In each conveying device, the lifting range of the item transfer device is large. Therefore, the space between upper and lower shelf groups where items cannot be transferred can be reduced. As a result, a large number of items can be easily stored in the automated warehouse.

[0134] The above description is illustrative in all respects, and the invention is not limited thereto. It is understood that countless variations not illustrated can be conceivable without falling outside the scope of this invention. [Explanation of Symbols]

[0135] 8 Goods 10 Automated Warehouse 20 storage shelves 22 shelves 24 Shelves 28 Road 50 Conveying device 52 Article transfer device 54r1, 54r2 Laura 58 1st connection part 59 2nd connection part 60 carts 70 Support Frame 72 Pillar 1 74 Pillar 2 80 Lifting drive device 80L First Lower Rotating Body 80La Sub-first lower rotating body 80Lb Sub-first lower rotating body 80U First Upper Rotating Body 80Ua Sub-first upper rotating body 80Ub Sub-first upper rotating body 82 Circulating Rotating Body 84L Second Lower Rotating Body 84U Second Upper Rotating Body 88 Rotary drive unit 90. Suspension member (additional circulating rotating body) 190 Suspension member

Claims

1. A conveying device that travels along a horizontally extending travel path and loads items into and out of a plurality of shelves arranged vertically next to the travel path, A trolley that travels on the aforementioned track, A support frame including columns erected on the aforementioned trolley, An article transfer device supported by the aforementioned column so as to be able to move up and down, A lifting drive device for driving the aforementioned article transfer device up and down, Equipped with, The article transfer device includes a first connecting section and a second connecting section. The aforementioned lifting drive device is The first lower rotating body and A first upper rotating body located above the first lower rotating body, A circulating rotating body is wrapped around the first lower rotating body and the first upper rotating body, and is connected to the first connecting portion between the first lower rotating body and the first upper rotating body, A rotational drive unit for rotating the first lower rotating body or the first upper rotating body, A bendable, elongated body, a suspension member that is wrapped around at least one of the first lower rotating body and the first upper rotating body, and which can be extended and retracted in conjunction with the circulating rotating body, Includes, The support frame supports a guide member that guides the suspension member toward the second connecting portion. A conveying device in which the aforementioned suspension member is connected to the second connecting portion.

2. A conveying device according to claim 1, The aforementioned suspension member is an additional circulating rotating body, which is part of the conveying device.

3. A conveying device according to claim 2, The aforementioned lifting drive device is As the aforementioned guide member, The second lower rotating body and A second upper rotating body located above the second lower rotating body, It further includes, A conveying device in which the additional circulating rotating body is wrapped around the first lower rotating body, the first upper rotating body, the second lower rotating body, and the second upper rotating body, and is connected to the second connecting portion between the second lower rotating body and the second upper rotating body.

4. A conveying device according to claim 3, The column comprises a first column and a second column located separately from the first column. The article transfer device is supported between the first column and the second column so as to be able to move up and down by the first column and the second column. The first connecting portion is located on the side of the first column, The second connecting portion is located on the side of the second column, The first lower rotating body is located near the lower end of the first column, The first upper rotating body is located near the upper end of the first column, The second lower rotating body is located near the lower end of the second column, The second upper rotating body is a conveying device located near the upper end of the second column.

5. A conveying device according to claim 3 or claim 4, The first lower rotating body has a pair of sub-first lower rotating bodies, The first upper rotating body has a pair of sub-first upper rotating bodies, The circulating rotating body is wrapped around one of the pair of sub-first lower rotating bodies and one of the pair of sub-first upper rotating bodies. A conveying device in which the additional circulating rotating body is wrapped around the other of the pair of sub-first lower rotating bodies, the other of the pair of sub-first upper rotating bodies, the second lower rotating body, and the second upper rotating body.

6. A conveying device according to any one of claims 1 to 4, The conveying device is positioned to rotate the first lower rotating body, with the rotational drive unit being located at the same position.

7. A conveying device according to any one of claims 1 to 4, The aforementioned lifting drive device is A conveying device that moves the article transfer device up and down until the lower end of the article transfer device is positioned below the rotation axis of the first lower rotating body.

8. A conveying device according to claim 3 or claim 4, The additional circulating rotating body is a conveying device that passes between the first lower rotating body and the second lower rotating body at a position lower than the running surface of the travel path.

9. A conveying device according to any one of claims 1 to 4, The aforementioned horizontally extending track, Adjacent to the aforementioned travel path, there is a group of shelves including multiple shelves arranged in a vertical direction, An automated warehouse equipped with [unclear / unclear].

10. The automated warehouse according to claim 9, Multiple of the aforementioned travel paths are arranged in a vertical line, The aforementioned shelf groups are arranged in a series, vertically aligned, according to the aforementioned travel path. An automated warehouse in which multiple conveying devices travel along each of the multiple travel paths.

Images