JPH07101506A - Transferring device - Google Patents

Abstract

PURPOSE:To simplify a structure of a drive means to drive up and down arms and also narrow the lateral width of a lateral movement body. CONSTITUTION:The up and down drive means 12 of a pair of load transfer direction load pushout/pullin arms 10a shaft-supported turnably up and down between a standing-up posture to stand up approximately vertically and a laying- down posture brought down to a load support portion side, at a lateral movement body 9, is equipped with a drive rotary body 21 shaft-supported on a side to support the lateral movement body 9; a wire rope engage-stopping member 18 furnished to a rotary shaft 15 to support the arms 10a; and a wire rope 23 provided between those two components. Also, the wire rope 23 is stretched through guide rings 24a-24d so that a route length may not change even if the lateral movement body 9 moves in and out.

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, and moves in and out in the load transfer direction. The present invention relates to a transfer device including a pair of load pushing and pulling arms.

[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 device of this type, the rotational force for driving the arm for pushing and pulling the load up and down is rotatably supported by the rotating body for driving, which is rotatably supported on the frame side supporting the lateral moving body. It is configured to be transmitted to the rotary shaft for driving the arm undulation on the side of the lateral moving body via the chain.

[0004]

In the transfer device having the above-mentioned conventional structure, since the direction of the rotary shaft that pivotally supports the arm is the same as the moving direction of the lateral moving body, the moving direction of the lateral moving body is the same. The axial center direction of the guide tooth ring of the arm up-and-down drive chain suspended in the retracting direction and the axial center direction of the rotary shaft that supports the arm are orthogonal to each other. Therefore, since the axis of the guide tooth wheel on which the drive chain is stretched cannot be used as the rotation axis of the arm, a transverse transmission member requires a right-angle transmission means such as a bevel gear, resulting in a large number of parts. Not only becomes more complicated, but also the lateral width of the lateral moving body becomes larger, and the space for moving in and out of the lateral moving body that must be secured between the load supporting parts on the shelf side becomes wider, and the storage efficiency on the shelf side is increased. It also resulted in lowering it.

[0005]

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 rotatably and rotatably supported by the rotary shaft (15) on the lateral moving body (9) between an upright posture in which it rises substantially vertically and a fallen posture in which it is tilted toward the load support section (7). The ups and downs driving means (12) rotates the rotating shaft (15) forward and backward in a constant angle range.
(9) A drive rotating body (21) axially supported on a side supporting the wire, and a wire rope locking member (18) mounted on the rotating shaft (15).
And a wire rope (23) stretched between the two, and the wire rope (23) is a guide wheel so that the path length does not change even when the lateral moving body (9) moves in and out. It is characterized in that it is stretched through (24a to 24d).

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the accompanying drawings. In FIG. 1, reference numeral 1 denotes a carrier device for use in a self-propelled electric train, which is a pair of left and right guide rails 2a and 2b.
It is supported by and travels horizontally in the traveling passage between the shelves 3a and 3b. For both shelves 3a and 3b, a partition member 5 is provided on the load receiving plate 4.
A load supporting portion 6 partitioned by is formed. The carrier device 1 is provided with 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 units 6 and 7 is also provided. .

The transfer device 8 is a lateral moving member 9 which is movable in the horizontal and 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 that it can move in and out in the horizontal horizontal direction. It can be moved 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.

As shown in FIG. 3A, the guide wheels 24a to 24d are guided by the guide wheels 24b and 24b even when the lateral moving body 9 moves to the left or right side with the lateral movement of the intermediate movable rail 14.
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 driving 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 for the lateral moving body 9 is basically the same as the known moving-out driving means for a conventional load-transfer running fork, so 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 vertically standing arms 10a and 10b move right above the partition member 5 of the shelf 3a or 3b,
Even if the load W is placed on the load support portions 6 on both sides of the partition member 5, the load W does not collide with the load W.

If the lateral moving body 9 is stopped 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.
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 retracting / 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 support 7 of the carrier device 1 onto the load support 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.

In the embodiment shown in FIG. 6, a wire rope 23a that tilts the arms 10a and 10b into a laid-down posture when the drive rotor 21 rotates forward, and an arm 10a and 10b that rises when the drive rotor 21 rotates reversely. The wire rope 23b for rotating the posture is provided, and the springs 19a and 19b for urging the rotating shaft 15 in the arm tilting direction are omitted. Both ends of the two wire ropes 23a and 23b are wound and locked in opposite directions by the winding and unwinding wheel body 22 of the driving rotary body 21 and the wire rope locking member 28 of the rotary shaft 15, The guide wheels 24a to 24d are formed in a double shape so as to individually guide the wire ropes 23a and 23b. The two wire ropes 23
The a and 23b can also be configured by endlessly hanging one wire rope.

The transfer device 8 on the transfer device 1 in the above embodiment transfers the load W between the load support part 7 of the transfer device 1 and the load support part 6 of the shelf 3a or 3b. not only,
It can also be used for transferring a load between the load transfer section 7 of the transfer device 1 and a loading / unloading lifter or conveyor. Further, the transfer device of the present invention is a stacker crane type transfer device provided with an elevating carriage that can be selectively connected to the upper and lower load supporting portions 6 on the shelf side by elevating motion. It can also be used as a transfer device to be mounted. Further, it can be installed and used not on the traveling transporting device but on the transporting device that moves up and down or the equipment that does not move. It is also possible to dispose the transfer device of the present invention on both the left and right sides of the transfer load support portion 7 so that the load can be pushed out and pulled in by the pair of left and right lying arms. Further, the moving-out driving means 11 for the lateral moving body 9 is not limited to that of the above-mentioned embodiment.

[0022]

The transfer device of the present invention can be implemented as described above. In the device of the present invention, the rotary shaft supporting the load pushing / pulling arm is in a constant angle range. The up-and-down drive means for rotating in the forward and reverse directions includes a drive rotating body axially supported on the side supporting the lateral moving body, a wire rope locking member mounted on the rotating shaft, and a wire rope stretched between the two. And the wire rope is stretched through a guide wheel so that the path length does not change even if the lateral moving body that pivotally supports the arm moves back and forth, Since the rotational force of the rotating body is transmitted to the arm supporting rotary shaft via the wire rope that can be turned in any direction by the guide wheel,
It is not necessary to provide the transverse moving body with a right-angle transmission means such as a bevel gear as in the case of using a conventional drive chain and a guide toothed wheel.

Therefore, the number of parts can be reduced to simplify the structure of the entire apparatus, and the lateral moving body that pivotally supports the arm can be made lightweight and compact, and the lateral width can be particularly narrowed. Therefore, it is possible to reduce the load applied to the means for driving the retracting / retracting member of the lateral moving body, and not only the cost can be largely reduced as a whole, but also the lateral moving body which must be secured between the load supporting portions on the shelf side. Since the width of the retreat space can be narrowed, it is also useful for increasing the storage efficiency on the shelf side.

In particular, as shown in the embodiments, when the wire rope is pulled by the rotation of the driving rotating body, the load pushing / pulling arm is turned over from the standing posture to the lying posture, and the arm supporting rotary shaft is rotated. When a spring for urging in the standing direction is installed side by side, the total length of the wire rope becomes shorter and the wire rope becomes shorter than the case where the arm support rotation shaft is configured to rotate forward and backward with the wire rope. Not only can the rope guide system be simplified and costs can be reduced, but the following special effects can be expected.

That is, when the hoisting and driving means is not working, the load pushing and pulling arm is securely held in the standing posture by the urging force of the spring, and the hoisting and driving means fails and the load pushing and pulling arm is put in the lying posture. When the arm cannot be held, the load push-out / pull-in arm is automatically returned to the standing posture by the urging force of the spring. Further, there is no possibility that the erection driving means fails and the load pushing / pulling arm is tilted from the standing posture to the lying posture due to gravity. That is, unless the arm for pushing out and pulling in the load is forcibly switched to the laid posture by the wire rope, the arm never unexpectedly takes the laid posture. Therefore, when the arm for pushing out and pulling in the arm must be moved in and out in a standing posture, the arm is laid down due to a failure of the undulation drive means, and the arm in the laid posture crushes the load, For example, it is possible to prevent an accident in which a load that has been transferred to the shelf side is pulled out again to the transport device side.

[Brief description of drawings]

FIG. 1 is a plan view showing a transfer device equipped with a transfer device and a part of a shelf.

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

FIG. 3 is a side view of a part of the transfer device in vertical section, and FIG.
The drawing is a plan view of the main part of the same apparatus, and FIG. C is an enlarged view of the main part of FIG.

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.

FIG. 6 is a perspective view showing a guide structure of a wire rope according to another embodiment.

[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 (3)

[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 load pushing-out / drawing arm (10a) is provided with a raising / retracting driving means (11) and a hoisting driving means (12) for the load pushing / pulling arm (10a). The swaying drive means (12) supports the rotary shaft (15) by the rotary body (9) pivotally supported by the lateral moving body (9) so as to be able to oscillate and fold freely between the tilted posture (7). It rotates forward and reverse in a fixed angle range, and has a driving rotary body (21) axially supported on the side supporting the lateral moving body (9) and a wire rope locking member (a) attached to the rotary shaft (15). 18) and a wire rope (23) stretched between the two, and the wire rope
(23) is a transfer device stretched via guide wheels (24a to 24d) so that the path length does not change even when the lateral moving body (9) moves in and out. 2. The wire rope (23) is a rotating body (21) for driving.
When the arm is pulled by the rotation of the arm (10a), the arm (10a) is tilted from the standing posture to the lying posture, and the rotating shaft (15) is provided with a spring (19a) for biasing in the standing direction. The transfer device according to item 1. 3. The wire rope comprises a wire rope (23a) for tilting the arm (10a) to a laid posture when the drive rotating body (21) rotates forward, and an arm (for rotating the drive rotating body (21) in the reverse direction. Ten
The transfer device according to claim 1, further comprising a wire rope (23b) for rotating a) to a standing posture.