JPH07101507A - Transfer device - Google Patents

Abstract

PURPOSE:To prevent a load from being deformed by means of arms by making arrangement so that the arms may boost the vicinity of the bottom of the load (such as a container) and also narrow the lateral width of the moving in and out space of a lateral movement body and the arms necessary for a shelf side. CONSTITUTION:The up and down drive means 12 of load pushout/pullin arms 10a turns up and down the arms 10a in the turning up and down range of more than 90 degrees, and the arms 10a that have fallen into a lying-down posture are made to incline obliquely downward.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is provided on the side of a transfer load supporting portion of a transfer device such as a loading / unloading train that travels along a shelf. The present invention relates to a transfer device having a swingable load pushing / pulling arm.

[0002]

2. Description of the Related Art As a load transfer device of this type, a lateral moving body that can move in and out in a load transferring direction, a pair of load transferring direction arms pivotally supported by the lateral moving body, 2. Description of the Related Art There is known one provided with a moving body moving-out / retracting driving means and a load pushing-out / drawing-arm undulating driving means. In such a transfer device, for example, when transferring a load from the side of the transfer device equipped with the transfer device to the shelf side, the pair of arms or the arms behind the load are moved from the upright posture to the fall posture. After switching to, the arm is moved forward by the lateral moving body, and the load is pushed to the shelf side by the arm in the lying position, which is the rear side of the load, and after loading the load, the arm in the lying position is switched to the standing position. After that, the arm is moved backward by the traversing body toward the transfer device. In addition, when transferring a load from the shelf side to the carrier side, after moving the arms to the shelf side by the lateral moving body in a state where the pair of arms or the arms behind the load are in the upright posture, The arm on the rear side of the load or the arm on the rear side of the load is switched from the standing posture to the lying posture, and then the arm is moved backward to the transport device side by the lateral moving body, so that the arm in the lying posture on the rear side of the load is used. To the carrier side.

In the conventional transfer apparatus as described above, the undulation driving means of the arm oscillates and rotates the load pushing / pulling arm in the undulation rotation range of 90 degrees.
The load pushing-out and pulling-in arm in the lying posture was extended horizontally beside.

[0004]

In the transfer device having the above-mentioned conventional structure, the arm in the laid-down posture is moved from the bottom surface level of the load unless the position of the lateral moving body which pivotally supports the load pushing-out / drawing arm is lowered. It will push the relatively high position. Therefore, the load handled by this type of transfer device is
It ’s like a plastic container,
Since the strength of the side wall decreases as it moves away from the bottom surface, if a relatively heavy article is stored, the side wall part of the container pressed by the arm for pushing out and pulling in is deformed if the position for pushing the load pushing and pulling arm is high. It may be damaged.

On the other hand, the position of the lateral moving member cannot be lowered to a level near the load supporting level due to the presence of the retracting / driving means for moving the lateral moving member in and out. Therefore, it is conceivable to widen the load push-in / pull-out arm so that it can push the vicinity of the bottom face of the load backward when it is in the lying posture.However, in such a method, the arm is raised vertically. In this state, it is necessary to widen the width of the arm moving space between the load supporting portions on the shelf side for advancing to the shelf side in a closed state, which reduces the shelf storage efficiency.

[0006]

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned conventional problems, the features of which will be described with reference numerals of embodiments described later in parentheses. To show, the transfer device of the present invention includes a lateral moving body (9) that can move forward and backward in the load transfer direction on the side of the transfer load support portion (7), and a load push-out / draw-in arm (10a). , A means (11) for driving the lateral moving body (9) and a means (12) for raising and lowering the arm (10a) for pushing and pulling out the load, and
0a) is an upright posture which stands up substantially vertically and the load supporting part for transfer.
(7) It is pivotally supported by the lateral moving body (9) so that it can be raised and lowered freely while tilted to the side, and the raising and lowering drive means (12) is used for pushing out and pulling in the load in the raising and lowering rotation range of 90 degrees or more. The arm (10a) is rotated up and down, and is characterized in that the load pushing-out and drawing-in arm (10a) in the laid-down posture is inclined obliquely downward.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the accompanying drawings. In FIG. 1A, reference numeral 1 is a carrier device using a self-propelled train, and a pair of left and right guide rails 2a, 2
It is supported by b and travels horizontally in a traveling passage between the shelves 3a and 3b. On both shelves 3a, 3b, a load support portion 6 is formed by partitioning the load receiving plate 4 with a partition member 5. The carrier 1 includes a load supporting unit 7 at the same level as the load supporting unit 6 on the shelf side.
And a transfer device 8 for transferring the load W between the load supporting portions 6 and 7 is also provided.

The transfer device 8 is a lateral moving member 9 which is movable in the left and right horizontal directions orthogonal to the traveling direction of the transfer device 1.
And a pair of load pushing / pulling-in arms 10a, 10b supported by the lateral moving body 9 at a distance in the moving direction.
And a moving and driving means 11 for the lateral moving body 9 and a hoisting and driving means 12 for the arm for pushing and pulling the load.

As shown in FIGS. 2 and 3, the lateral moving body 9 is movable in the horizontal and horizontal directions so as to be movable in the horizontal direction, and is movable in the horizontal horizontal direction on the intermediate movable rail 14 supported by the fixed rail 13. It is supported by the base 9a and the cover member 9b.
And the intermediate movable rail 1 with respect to the fixed rail 13.
By the advancing movement of 4 and the advancing movement of the lateral moving body 9 with respect to the intermediate movable rail 14, the position of the side of the load supporting portion 6 on the side of the shelves 3a, 3b from the home position on the side of the load supporting portion 7 on the carrier 1. You can move up to. In the lateral moving body 9, one arm driving rotary shaft 15 is supported in parallel with the moving direction of the lateral moving body 9 via bearings 16a, 16b at both ends of the lateral moving body, and the load is applied to both ends of the rotary shaft 15. The bases of the push-out / pull-in arms 10a and 10b are fixed.

A spring locking member 17 and a wire rope locking member 18 are fixed to the rotating shaft 15 at positions near both ends thereof, and rotate between these members 17 and 18 and bearings 16a and 16b adjacent thereto. Torsion coil springs 19a and 19b are loosely fitted to the shaft 15. Both ends of the springs 19a and 19b have bearings 16a and 16b.
b and the other end is locked to the members 17 and 18, so that the rotary shaft 15 is pushed out to the load pushing and pulling arm 10.
The a and 10b are urged in the standing direction.

Lifting / driving means 12 for the arms 10a and 10b.
Is a driving rotary body 21 attached to a vertical rotary shaft 20a of the motor 20 with a speed reducer, and a winding / unwinding wheel body 22 provided concentrically with the rotary shaft 20a on the drive rotary body 21; A wire rope 23 having one end 23a locked to the driving rotating body 21 and the other end 23b (see FIG. 2) locked on the peripheral surface of the wire rope locking member 18,
It is composed of wire rope turning guide wheels 24a to 24d.

The wire rope 23, whose one end 23a is locked to the driving rotary member 21, has a winding body 22 for winding and unwinding.
After passing through the circumference of the fixed rail 13, it is turned in a direction parallel to the fixed rail 13 by a guide wheel 24a supported by a vertical support shaft in the vicinity of the center position in the longitudinal direction of the fixed rail 13, and then horizontally on the side of the fixed rail 13. After being turned in the opposite direction by the guide wheel 24b supported by the support shaft, it is turned in the opposite direction again by the guide wheel 24c supported by the horizontal support shaft at one end of the intermediate movable rail 14 and along the intermediate moveable rail 14. And a wire rope locking member after being extended upward by a guide wheel 24d supported by a horizontal support shaft on a side surface of an end portion of the lateral moving body 9 (base portion 9a) remote from the guide wheel 24c. The wire 23 extends along the peripheral surface of the wire 18, and the other end 23b is locked to the peripheral surface of the wire rope locking member 18. The winding direction of the wire rope 23 with respect to the wire rope locking member 18 is such that when the wire rope 23 is pulled, the rotating shaft 15 rotates against the urging force of the springs 19a and 19b, so that the load push-out and pull-in arm 10a, 1
0b is the direction to turn to the lying position.

The guide wheels 24a to 24d, as shown in FIG. 3A, are guided by the guide wheels 24b, 24 regardless of whether the lateral moving body 9 moves forward or leftward as the intermediate movable rail 14 moves laterally.
The shaft support position is determined so that the circumference of c is wound into an S shape. Further, for example, the guide wheel 24a can be configured to be position-adjustable in a direction in which the tension of the wire rope 23 can be adjusted, so that the tension of the wire rope 23 can be adjusted. The driving rotating body 21 has a stopper 25.
Although it is driven to rotate in the normal and reverse directions within a fixed angle range regulated by a and 25b, the position of the stopper 25b, which comes into contact when the wire rope 23 is wound by forward rotation in the arrow direction shown in FIG. 3B, is adjusted. It is possible to adjust the angle of the load pushing-out / pulling-in arms 10a and 10b in the lying posture. Of course, a stopper that restricts the undulating swing angle range of the load push-out / draw-in arms 10a and 10b may be, for example, a spring locking member 17
Alternatively, the wire rope locking member 18 or the wire rope locking member 18 may be disposed in the lateral moving body 9 so as to come into contact with the arm attached to the rotating shaft 15 separately.

FIG. 4 shows an example of the advance / retreat drive means 11 for the lateral moving body 9.
Further, referring to FIG. 5, a pair of upper and lower guide toothed wheels 26a, 26b and 27 are provided at both ends of the intermediate movable rail 14, respectively.
a and 27b are pivotally supported, and the middle portions of the two chains 28a and 28b, both ends of which are fixed to the fixed rail 13 and the lateral moving body 9, have the guide teeth 26a, 26b and 27a as shown in FIG. , 27b. On the other hand, a rack gear portion 29 is provided on the side surface of the intermediate movable rail 14 along the length direction, and a pair of pinion gears 30 and 31 of the same diameter which can be engaged with the rack gear portion 29 and both the pinion gears 30 and 31 are simultaneously provided. Idle gear 32 that engages,
A reduction gear motor 34 having a rotation shaft 34a and a drive gear 33 that meshes with the idle gear 32 is provided.

When the drive gear 33 is rotationally driven by operating the motor 34 with a reduction gear, both pinion gears 30 and 31 rotate in the same direction, and the intermediate movable rail 14 is moved to either the left or right direction via the rack gear portion 29. Move forward. By the advancing movement of the intermediate movable rail 14, the guide tooth ring on the moving direction side, that is, the intermediate portion of the chain 28a suspended on the guide tooth rings 26a and 26b in FIG. 4, is pushed out, and the lateral moving body 9 is moved by the chain 28a. Is pulled, and the lateral moving body 9 advances and moves in the same direction with respect to the intermediate movable rail 14. When the intermediate movable rail 14 advances in the opposite direction, the chain 28b pulls the lateral moving body 9 and the lateral movable body 9 advances in the same direction with respect to the intermediate movable rail 14.

The above-mentioned moving-out driving means 11 of the lateral moving body 9 is basically the same as the known moving-out driving means of the conventional load-transfer loading fork, and therefore a detailed description will be given. Omit it. Incidentally, the pinion gears 30, 31
Are arranged side by side so that when the intermediate movable rail 14 moves to the advance limit position as shown, only the pinion gear on the moving direction side of the intermediate movable rail 14 meshes with the rack gear portion 29 of the intermediate movable rail 14. Further, in FIG. 2, reference numeral 35 denotes a grooved roller for supporting the intermediate movable rail 14 with respect to the fixed rail 13 in such a manner that the intermediate movable rail 14 can be moved back and forth, and at positions below the intermediate movable rail 14 at appropriate intervals in the longitudinal direction. Is vertically supported by a vertical support shaft, and is separately fitted to a pair of left and right guiding ridges formed inside the fixed rail 13. Reference numeral 36 denotes a grooved roller that supports the lateral moving body 9 so as to move forward and backward with respect to the intermediate movable rail 14, and has a vertical support shaft at the positions above the intermediate movable rail 14 at appropriate intervals in the longitudinal direction. The pair of left and right guiding ridges that are supported and are formed inside the lateral moving body 9 (base portion 9a) are individually fitted.

When the load W is transferred from the load support 6 on the shelves 3a and 3b to the load support 7 of the transfer device 1, the transfer device 1 is stopped at a predetermined position and a pair of load push-outs are performed. In a state where the retracting arms 10a and 10b are vertically erected, the lateral moving body 9 is advanced and moved to the advanced limit position by the retracting and driving means 11 of the lateral moving body 9. Lateral moving body 9
And, the arms 10a and 10b that stand vertically with a width substantially the same as the width of the lateral moving body 9 move right above the partition member 5 of the shelf 3a or 3b, and the loads on both sides of the partition member 5 are moved. Even if the load W is placed on the support portion 6, the load W does not collide with the load W.

If the lateral moving body 9 stops at the advance limit position,
The arms 10a and 10b are tilted from the standing posture to the lying posture by the raising and lowering drive means 12. That is, the motor 20 with a reducer shown in FIG. 3 is operated to drive the driving rotary body 21 in the forward direction by a predetermined angle from the state of contacting the stopper 25a to the state of contacting the stopper 25b. As a result,
The wire rope 23 is pulled by a predetermined length, and the rotating shaft 15 is pulled through the wire rope locking member 18 in the lateral moving body 9.
Is rotated against the urging force of the pair of springs 19a and 19b, and the arms 1 for pushing out and pulling in both loads are in an upright posture.
0a and 10b will fall and fall by a predetermined angle.

At this time, the arm 10 for pushing out and pulling in the load.
a and 10b are in a horizontal posture as shown in FIG. 1B.
It can be turned over in an angle range larger than 0 degree by a predetermined angle θ (for example, about 10 degrees). Therefore, the arms 10a and 10b in the laid-down posture are inclined obliquely downward, and the tips thereof face the vicinity of the bottom surface of the side wall of the load W. In other words, the stopper 25b causes the wire rope 23 to turn over the arms 10a and 10b within an angle range of 90 degrees or more (about 100 degrees in the illustrated example).
The position of is set. Even if the intermediate movable rail 14 moves forward and the lateral moving body 9 moves forward in the same direction with respect to the intermediate movable rail 14, the hanging path length of the wire rope 23 does not change. The wire rope 23 does not rotate the rotary shaft 15 unless the drive rotary body 21 is driven to rotate.

When the pair of arms 10a and 10b are in the laid posture on both sides of the load W on the load support portion 6 of the shelf 3a or 3b, the lateral moving body 9 is moved by the retractable driving means 11 of the lateral moving body 9.
Is moved backward to the home position on the side of the load supporting portion 7 of the carrier device 1, whereby the load W is pushed backward by the arm 10a or 10b in the rearward lying posture, and the rack 3a.
Or, the carrier device 1 of the same level from above the load supporting unit 6 of 3b
It is transferred onto the load supporting unit 7 of.

When transferring the load W on the load supporting portion 7 of the carrier 1 onto the load supporting portion 6 of the shelf 3a or 3b,
The transfer device 1 is stopped at a predetermined position, and the pair of load pushing / pulling arms 10a and 10b are in a state of lying on both sides of the load W on the load support 7 as in the completion of the transfer of goods. At this time, the lateral moving body 9 is advanced and moved to the advanced limit position by the moving-out driving means 11 of the lateral moving body 9. As a result,
The load W is pushed backward by the arm 10a or 10b on the rear side, and is transferred from the load support 7 of the carrier 1 onto the load support 6 of the shelves 3a or 3b at the same level. After this,
The motor 20 with a reducer shown in FIG. 3 is operated to reversely drive the driving rotary body 21 from a state of contacting the stopper 25b to an original state of contacting the stopper 25a.
As a result, the wire rope 23 is paid out, so that the rotary shaft 15 on the side of the lateral moving body 9 is attached to the pair of springs 1.
The wire rope 23 is pulled through the wire rope locking member 18 while being reversed by the urging force of 9a and 19b, and the rotation of the rotating shaft 15 at this time causes the arms 10a and 10b for pushing and pulling out both loads in the lying posture. Will rotate to a vertical standing posture. That is, the power for switching the pair of arms 10a and 10b from the lying posture to the standing posture is generated by the pair of torsion coil springs 19a and 1b.
It is the urging force of 9b.

The transfer device 8 not only transfers the load W between the load support 7 of the carrier 1 and the load support 6 of the shelf 3a or 3b, but also supports the load of the carrier 1. It is also used for transferring loads between the section 7 and the loading / unloading lifter or conveyor. In addition, the retracting drive means 11 of the lateral moving body 9 and the up-and-down drive means 12 of the load pushing-out / drawing arms 10a and 10b.
Are not limited to those in the above embodiment. For example, the undulation driving means of the arms 10a and 10b is not limited to the one using one wire rope as in the above embodiment, but one using a chain and one using a rotary actuator such as a rotary solenoid. Is also good. Further, the arms 10a and 10b axially supported at both ends of the lateral moving body 9 may be configured so as to move up and down in opposite directions.

Further, the transfer device of the present invention is a stacker crane type transfer device provided with an elevating carriage which can be selectively connected to a plurality of upper and lower load supporting portions on the shelf side by an elevating motion. It can also be used as a transfer device mounted on a carriage, or can be installed and used not on a traveling transfer device but on a transfer device that moves up and down or equipment that does not move. Of course, it is also possible to dispose the transfer device of the present invention on both the left and right sides of the transfer load supporting portion so that the load can be pushed out and pulled in by the pair of left and right lying arms.

[0024]

The transfer apparatus of the present invention can be implemented as described above, and according to the apparatus of the present invention,
The load pushing-out / pulling arm pivotally supported by the lateral moving body so as to be capable of raising and lowering freely between an upright posture in which it stands up substantially vertically and a fallen posture in which it is turned down to the load supporting portion side for transfer is operated by a raising and lowering drive means.
It is prone to layover in an angle range of 0 degrees or more, and takes a laid posture in which it is inclined obliquely downward. Therefore, even if the position of the lateral moving body is relatively high due to the presence of the retracting / driving means, the tip end of the load pushing / pulling arm in the lying posture is sufficiently lower than the position of the lateral moving body. , Can be located near the bottom of the side wall of the load to be pushed.

That is, while the lateral moving body is arranged at a mechanically comfortable height, the tip of the load pushing-out / pulling-in arm in the laid-down posture can push a sufficiently low position of the load backward, and the load can be pushed by the arm. There is no risk of deforming or damaging the side wall of. Moreover, since the arm for pushing out and pulling in the load itself can have a narrow width that fits within the width of the lateral moving body when standing up substantially vertically, the load supporting portion on the shelf side where the arm advances together with the lateral moving body. The width of the space between them can be made sufficiently narrow, and the storage efficiency on the shelf side will not be reduced.

[Brief description of drawings]

FIG. 1 is a plan view showing a carrying device equipped with a transfer device and a part of a shelf, and FIG. 1 is a side view showing a state in which a load is pushed back by a load pushing and pulling arm. .

FIG. 2 is a vertical sectional front view of the transfer device.

FIG. 3 is a partially longitudinal side view of the same device, and FIG. 3B is a plan view of a main part of the same device.

FIG. 4 is a schematic side view showing a chain bridging structure of a retracting / retracting driving means of a lateral moving body.

FIG. 5 is a schematic plan view showing a drive system of an intermediate movable rail of the same means.

[Explanation of symbols]

 1 Transport Device (Self-propelled Train) 6 Shelf-side Load Supporting Unit 7 Load Supporting Unit on Transporting Device 8 Transfer Device 9 Lateral Moving Body 10a Load Pushing / Retracting Arm 10b Load Pushing / Retracting Arm 11 Horizontal Moving Body Retracting / Drive Unit 12 Arm up-and-down drive means 13 Fixed rail 14 Intermediate movable rail 15 Arm drive rotating shaft 17 Spring locking member 18 Wire rope locking member 19a Torsion coil spring 19b Torsion coil spring 20 Motor with speed reducer 21 Drive Rotating body 22 Wire rope winding and unreeling wheel 23 Wire rope 25a Stopper 25b Stopper

Claims (1)

[Claims] Claims: 1. A lateral moving body (9), which can move forward and backward in the load transferring direction on the side of the transfer supporting part (7), a load pushing-out / drawing arm (10a), and a lateral moving body (9). The loading / unloading driving means (11) and the unloading driving means (12) of the load pushing / pulling arm (10a) are provided. The hoisting drive means (12) is rotatably supported by the lateral moving body (9) in a hoisting and tilting range of 90 degrees or more so that the hoisting and tilting can be freely hoisted and pivoted between the hoisting and tilting postures. This is used to raise and lower the push-out / pull-in arm (10a).
a) Transfer device with slanted downwards.