JPH033804A - picker device - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention can be used to store parts, products, etc. in small and medium-sized warehouses and factories.
The present invention relates to a picker device that carries in/out, transfers, and transfers items such as tools from a predetermined location to a predetermined location.

(Prior Art) Traveling of a traveling body of a conventional picker device and lifting and lowering of a picking device, a loading device, and an unloading device mounted thereon are performed by a motor and its transmission mechanism installed on the traveling body.

There is also a picker device in which the lower part of the traveling body is driven by a screw shaft.

(Problems to be Solved by the Invention) In the conventional picker device, driving parts such as a motor and a transmission mechanism for a lifting platform on which a traveling body and a picking device, a loading device, and an unloading device are mounted are mounted on the traveling body. The weight (inertia) of the entire moving body increases, making it impossible to operate at high speeds or make large accelerations and decelerations, leading to picking.

There was a problem that the loading speed could not be increased. In addition, in a picker device in which the lower part of the traveling body is driven by a screw shaft, the upper part of the picker device vibrates from side to side during acceleration and deceleration, making it unstable and making it difficult to increase the speed.

In addition, since it swings, it is necessary to increase the rigidity of the mast of the lifting platform, which increases the weight and increases the size, which hinders high speed and sudden acceleration and deceleration. In addition, driving a screw shaft generates a lot of noise, and driving with wheels tends to cause slippage, and position control is complicated, which limits the ability to increase speed.

The object of the present invention is to solve the conventional problems and to enable high-speed operation and large acceleration/deceleration, thereby making it possible to obtain high picking speeds and loading speeds.

(Means for Solving the Problems) The gist of the present invention that solves the problems is as follows: 1) In a traveling body equipped with a picking or loading device for taking in/out/grasping an article, the timing belt or chain is The above timing belt or chain is stretched so that the ends thereof are fixed to the upper and lower parts of the traveling body, and the upper and lower parts of the traveling body are stretched in the same direction. A picker device characterized in that a traveling drive unit for feeding and driving is fixedly installed outside the traveling body, and the traveling body is made to travel by operating the traveling drive unit 2) Taking in and out of articles and grasping them In a traveling body equipped with a picking or loading device on a lifting platform, a timing belt or chain whose end is fixed at a fixed place is stretched long in the running direction, and the timing belt or chain is suspended in the middle of the traveling body. - A loop is made between the lower part and the lifting platform and between the lower part and the lifting platform, and a lifting drive unit that sends and drives a timing belt or chain is fixedly installed outside the traveling body, and the lifting drive unit is A picker device characterized by vertically moving the picking or loading device on the traveling body by rotating it in forward and reverse directions. Attach the timing belt or chain to the top and bottom of the running body at the middle or end of the timing belt or chain 7, and pull the two lower ends of the running body in the same direction in the running direction. A timing belt for lifting and lowering, in which a timing belt or chain is stretched, a traveling drive section for feeding and driving the timing belt or chain is fixed outside the traveling body, and the pronged end is fixed at a fixed place. When a chain or wire is stretched long in the direction of the running force, it is looped between the upper part of the running body and the lifting platform, and between the lower part and the lifting platform, and the allotrope is further stretched. An elevating drive unit that sends and drives the vehicle is fixedly installed outside the vehicle, and by operating the travel drive unit disposed outside, the vehicle travels, and by operating the elevation drive unit, the vehicle is moved above the vehicle. A picker device characterized by moving up and down the lifting platform 4) The mast on which the lifting platform moves up and down is a square pipe, and a pair of orthogonal rollers are pressed against the corner surfaces of each corner of the same square pipe. The pinker device according to claim 2 or 3, wherein the elevating platform is movable up and down.

(Function) In the present invention, the traveling body is driven by a timing belt or a chain, and the driving part for driving the driving part is fixedly installed on the outside of the traveling body. The increase in quantity will be extremely small. Moreover, since the upper and lower parts of the traveling body are pulled in the same direction with the same force, vibrations of the traveling body are suppressed to a large level, making stable acceleration/deceleration and high speed possible. Also, since it is stable, the rigidity of the mast of the lifting platform can be lowered, making it lighter and smaller.

In addition, the lifting platform of the traveling body is similarly driven by a timing belt or chain, and the drive unit is fixedly installed outside the traveling body, so that the weight of the traveling body due to the drive unit for raising and lowering the platform is reduced. The increase has also been extremely slight.

J: This keeps the inertia low, making it easy to increase speed and make large accelerations and decelerations.

Moreover, regardless of the traveling time of the traveling body, if the lifting drive unit is not operated, the lifting timing belt or chain will automatically balance itself by pulling the lifting platform from its upper and lower parts. Alternatively, the folded contact point of the loop between the chain and the lifting platform is such that the lifting platform can be held at a constant height even if the chain is moved.

Furthermore, the running of this traveling vehicle is carried out using a timing belt or chain and a drive unit for running in the same way as in Section 2, and the raising and lowering of the platform is also carried out using a timing belt, chain or wire, and a drive unit for lowering that is placed externally. If such a structure is adopted, the strain on the traveling body can be further minimized, and higher speeds and rapid acceleration and deceleration can be made possible.

If the mast on which the lifting platform lowers four times is a square pipe, and the corner surface of each corner of the same square pipe is pressed against a pair of rollers in orthogonal directions, the lifting platform can be moved up and down.
The square pipe acts as a guide surface together with the roller surface, restrains the movement of the rollers from side to side, and allows the device to be raised and lowered with fewer rollers, simplifying the structure and making it lighter and smaller.

The present invention has features in each part of the above-mentioned traveling mechanism, elevating mechanism, and elevating structure, and consists of a combination of these, or a combination of these features and a conventional traveling mechanism, elevating mechanism, and elevating structure. .

(Example〕 Examples will be described below based on the drawings.

In the embodiment shown in Figs. 1 to 9, the running of the traveling body and the lifting and lowering of the platform are both driven by a timing belt, and the mast of the platform is a square pipe, with a total of four rollers perpendicular to each corner of the mast. The elevator platform can be raised and lowered using rollers. The lifting platform has an arm that expands and contracts into the water IL, and at the tip of the arm there are three sets of object grips that can be rotated and selected.
A picking device consisting of / and is installed.

Figure 1 is a city plan showing the example, Figure 2 is a side view of the same, Figure 3 is a side view of the same.
Figure 4 is an explanatory diagram showing the tensioned state of the timing belt of the embodiment, Figure 4 is an explanatory diagram showing the mast of the traveling body and the lifting platform, Figure 5 is a perspective view showing the pinking device, and Figure 6 is FIG. 7 is a vertical cross-sectional view of an article gripping device using dotted chives, FIG. 7 is a perspective view showing the elevating mechanism of the lifting platform, and FIG. 8.9 is a perspective view showing an example of its application.

In the figure, (1) is the running body, (2) is the square pipe mast, and (3
) is the driving timing bell l-, (4) is the motor (4a
) to rotate the timing belt pulley (4b), (5) is the lifting platform, (6) is the picking device attached to the lifting platform, (7) is the /renoder of the picking device, (8) is the same cylinder's Nri/Darlond, (9
) , (lo) , (u) grips the three objects attached to the tip of the printer.../do, (
9) is -=) suppression piece (one is Norinder (+13)
to open and close the item and grip it... (10
) is a suction pad (1.0 that sucks air and grips the article with negative pressure.../do, (11) is an annular dibe (the -L part of the article is placed in the center of the suction pad). The object is gripped by inserting an annular tube (10) into which air is injected to expand and deform the annular tube (centered on the country) in the direction (e).

(20) is the yj lowering timing belt, (2+) is the lifting drive unit that rotates the timing belt pulley (21b) with the motor (21a), (2 is the timing belt l-
(20) is the terminal fixing point, (231 is the point where the running timing belt (3) arrives at 1 at the top of the mast (2), (21
) is the pulley of the running timing belt (3) attached to the article hangar frame, (24a) is the double pulley, (2 is the pulley of the lifting timing bell l-(20) attached to the article hanger frame, ( 25a) is the lifting pulley attached to the traveling body (1), (271 is the traveling wheel of the traveling body (1), (28 is the guide roll of the traveling body (1),
) is the lifting roller of the lifting platform (5), and (29) is the running body (
1) traveling rail, (30) an article storage vehicle, (3I) an article conveyor, (3'4 a storage box conveyor, (
331 is the article, (3 → is the storage box, ((g) is the collection noyute, (the hole is the collection box, (37) is the point where the running timing belt (3) lands on I at the bottom of the running body (1), (3) is a board for gripping objects (9), (10), and (II), and (39) is a floor plan (for gripping objects by rotating one board).
(9), (10), and (11).
Yes.

In this embodiment, the traveling body (1) is driven by a traveling drive unit (
When the timing bell h (3) is rotated, the timing bell h (3) moves the upper part of the mast (2) (23) and the lower part of the traveling body (1) in the same direction (left in Figure 1). direction) to make the traveling body (1) travel in the left direction.If the traveling drive unit (4) is reversed, it will travel in the right direction. When rotated, the lifting timing belt (20) is sent out to the lower belt part of the mast (2), and is moved in the direction of retracting the upper belt part of the mast (2), and the lifting platform (5) is moved. If the drive unit (21) is rotated in the opposite direction, the timing belt (20) moves in the opposite direction to lower the elevator platform (5).

If the lifting drive unit (21) does not rotate, the traveling body (
1) moves, the timing belt (20) does not move and works to brake the vertical movement of the platform (5), so that the platform (5) remains at a constant height regardless of the movement of the traveling body (1). can be held. In this way, the running of the traveling body (1) and the lifting platform (5
), the externally fixed drive unit (4) is independent of the lifting and lowering of (2).
1). .

In this way, the traveling body (1) and lifting platform (5) are moved to a predetermined height and the loader (7) is activated to pick up the object at the tip of the cylinder rod (9), (
1@, Extend H to the position of the article (33), operate the rotating air motor (39), and hold the article (3□□□). is selected, and then the lifting drive unit (21) is activated to lower the entire lifting platform (5) and bring it to the desired gripping position to grip one article. And y7 descent drive part (2
1), operate the glue/goo (7) in the opposite direction to bring the picking device (6) closer, move the traveling body (1) while gripping the article, and lift the lifting platform at a predetermined place. (5) Overall and/or Rinder (7) The picking device (6) is operated to pick up the picked articles directly onto the article transport conveyor (3I) or into the storage box 1 collection box.

Further, the mechanism for lowering the lifting table (5) four times using the rollers (28) of the embodiment is shown in FIG. Figure 89 shows the actual usage condition.

(Effects of the Invention) As described above, according to the present invention, the traveling body is driven by a timing belt or a chain, and the two points at the top and bottom are pulled in the same direction, resulting in a stable and highly accurate system. This makes it possible to drive at high speeds. Moreover, the driving part of the traveling body is external, and it is pulled from two points, so there is less mast shaking and the structural strength is reduced, making it more compact. Traveling and sudden acceleration/deceleration are i1 functions.

Furthermore, if the lifting platform is raised and lowered by a timing belt or a chi/drive, high positional accuracy and high speed can be achieved in the same manner as in the case of running a traveling body.

Timing belts and
These effects will be further enhanced if chain drive is possible.

Furthermore, in the case of the lifting platform that uses a HI3 square pipe mast and two pairs of rollers, the mass 1- and lifting structure can be made lighter and cheaper, and the F2 effect can be further enhanced.

[Brief explanation of the drawing]

Fig. 1 is a front view showing the embodiment, Fig. 2 is a side view of the same, and Fig. 3 is a front view showing the embodiment.
The figure is an explanatory diagram showing the tensioned state of the timing belt, and Fig. 4 is an explanatory diagram showing the mass +, h part and yj of the traveling body, and the descent from the platform.
Fig. 5 is a perspective view showing the picking device, Fig. 6 is a vertical cross-sectional view of the article gripping device using an annular tube, ]χS7
Is the diagram F of the lifting platform? FIG. 8-9 is a sectional view showing the lowering mechanism, and a perspective view showing an example of its application. (I), traveling body (2), mast (3),
Timing belt for running (4) Drive unit for two-way running (5): l Descending device (6) Picking device (7): / Linder (9), (10)
, (n): Hand (20): Ff-lowering timing belt (21): W-lowering drive unit (lol: End fixing point (2), (37): Fastening point (2, (2) →: Pulley (28) Near i, lowering roller (arrogant: Article patent application Person Seibu Electric Co., Ltd. Agent Masami Toshima Department 4

Claims (1)

[Scope of Claims] 1) In a traveling body equipped with a picking or loading device for taking in and out of articles and gripping the article, the intermediate or terminal ends of a timing belt or chain are fixed to the upper and lower parts of the traveling body, and The running timing belt or chain is stretched so as to pull the top and bottom of the running body in the same direction in the running direction, and a running drive unit that feeds and drives the timing belt or chain is fixed to the outside of the running body. A pick car device characterized in that the traveling body is made to travel by operating the traveling drive unit. 2) In a traveling body in which a lifting platform is equipped with a picking or loading device for taking in and out goods and grasping them, a timing belt or chain whose end is fixed at a fixed place is stretched long in the traveling direction, The middle of the timing belt or chain is looped between the upper part of the traveling body and the lifting platform, and the lower part of the traveling body and the lifting platform, and the lifting drive unit that sends and drives the timing belt or chain is fixed to the outside of the traveling body. A picker device characterized in that a picking or loading device on a traveling body is moved up and down by rotating the lifting drive unit forward and backward. 3) In a traveling body in which a lifting platform is equipped with a picking or loading device for taking in and out items and grasping the goods, the middle or end of the timing belt or chain is fixed to the upper and lower parts of the traveling body, and in the traveling direction. and the above-mentioned running timing belt or chain is stretched so as to pull the upper and lower parts of the running body in the same direction, and a running drive unit that sends and drives the timing belt or chain is fixedly installed outside the running body, In addition, a lifting timing belt, chain, or wire rope with the end fixed at a fixed place is stretched long in the traveling direction, and the rope is stretched between the upper part of the traveling body and the lifting platform and the lower part. A loop is made between the cable and the lifting platform, and a lifting drive unit that sends and drives the cable is fixedly installed outside the running body, and the running drive unit placed outside is operated to move the running body. A picker device characterized in that a lifting platform on a traveling body is moved up and down by traveling and activating an lifting drive unit. 4) Claim 2 or 3, wherein the mast on which the lifting platform moves up and down is a square pipe, and a pair of rollers in perpendicular directions are pressed against the corner surfaces of each corner of the square pipe, so that the lifting platform can be raised and lowered freely.
Picker device as described.