JPH0912284A - Lift device - Google Patents

Abstract

PURPOSE: To reduce space to be required for installation of a lift device without projection of driving devices to the outside of raising and lowering link devices by housing the driving devices into housing spaces for respective raising and lowering devices. CONSTITUTION: A lift device is constituted of a pair of raising and lowering devices 10, 11 faced to each other at the specified distance, and respective raising and lowering devices 10, 11 are constituted of a pair of right and left raising and lowering link devices 13a, 13b provided on base frames 12, and able to extend and contract in the vertical direction, raising and lowering frames 14 provided between upper ends of both raising and lowering link devices 13a, 13b, and driving devices 30 for extending and contracting both raising and lowering link devices 13a, 13b. The driving devices 30 are provided on the base frames 12, and housing spaces 42 capable of housing the driving devices 30 are formed between both raising and lowering link devices 13a, 13b.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a lifting device for raising and lowering a load.

[0002]

2. Description of the Related Art Conventionally, a lift device of this type is shown in FIG. 13, for example. That is, the base frame 101 is provided with a pair of left and right elevating frames 103 that are vertically movable via a pair of left and right elevating link devices 102 that are vertically expandable and contractible. Both lifting link devices 102 are an inner link 104 and an outer link that intersect at the center.
It is composed of 105 and scissors. Both lifting link device
The 102 are connected by a connecting rod 106.

A drive device 107 for synchronously driving both the lifting link devices 102 is provided between the two lifting link devices 102. The drive device 107 includes two outer links 10
Moving frame 108 connected between the lower ends (free ends) of 5
And the nut body 109 provided on the moving frame 108.
And a rotatable spiral shaft 110 that is screwed into the nut body 109.
And a speed reducer 111 connected to one end of the spiral shaft 110,
The motor 112 is connected to the speed reducer 111 and drives the spiral shaft 110 to rotate. The speed reducer 111 is attached to the base plate 101.

According to this, since the fork insertion space 113 is formed between the both elevating frames 103, a single type fork 114 is used to load a load on both the elevating frames 103.
The single-type fork 114 can receive the load placed on or in both lift frames 103.

[0005]

However, in the above-mentioned conventional type, since the connecting rod 106 and the set of the drive device 107 are provided between the left and right lifting link devices 102, the fork is present.
Unmanned load carriers or hand lift pallet trucks that run on the floor instead of 114 (hereinafter abbreviated as hand lift)
In the case of using, the unmanned load carrier or the hand lift interferes with the connecting rod 106 and the driving device 107 and cannot enter between the two lifting link devices 102. Therefore, the load cannot be delivered.

The present invention solves the above problems, and an object of the present invention is to provide a lift device that can be applied to an unmanned load carrier or a hand lift.

[0007]

In order to solve the above problems, a lift device according to the first aspect of the present invention comprises a pair of left and right elevating devices facing each other at a predetermined interval, each elevating device including a base frame and A pair of left and right elevating and lowering link devices provided on the base frame and capable of expanding and contracting in the vertical direction, an elevating and lowering frame provided between the upper ends of both elevating and lowering link devices, and a drive device for expanding and contracting both the elevating and lowering link devices. The link device for lifting and lowering is configured in a scissor shape from a first link and a second link intersecting each other at the central portion, the drive device is provided on a base frame, and between the linking devices for lifting and lowering, A storage space in which the drive device can be stored is formed.

In the lift device according to the second aspect of the present invention, the drive device provided in each lifting device has a moving frame connected between the lower ends of the links of the first and second links, and the moving frame. And an actuating device for laterally reciprocating in the length direction of the link.

In the lift device according to the third aspect of the present invention, the actuating device includes a nut body provided on the moving frame, a rotatable spiral shaft screwed into the nut body, and one end of the spiral shaft. It is composed of a speed reducer and an electric motor connected to the speed reducer to drive the spiral shaft to rotate.

In the lift device according to the fourth aspect of the present invention, the left and right elevating devices are provided with detection devices for detecting the height deviation of the both elevating frames, and the drive device is activated when the height deviation of the elevating frames is detected. An emergency stop unit for stopping is provided.

[0011]

According to the structure of the first aspect of the present invention, since the driving devices provided for the respective lifting devices drive the lifting frames up and down in synchronization with each other, it is necessary to interpose an obstacle between the pair of left and right lifting devices. There is no. Therefore, not only the fork, but also an unmanned load carrier or a hand lift that travels on the floor can be inserted between the two lifting devices, so that the lift device and the unmanned load carrier can be mounted between the lift device and the hand lift. Allows delivery of cargo.

Further, since the drive device can be housed in the storage space between the two lifting link devices of each lifting device, the driving device does not protrude to the outside of the two lifting link devices, and therefore the lift device can be installed. The space required can be reduced.

According to the second aspect of the present invention, in each of the left and right lifting devices, the actuating device operates to move the moving frame, so that both lifting link devices expand and contract in the vertical direction, and the lifting frame moves up and down. To do.

According to the third aspect of the present invention, in each of the left and right lifting devices, the electric motor operates to rotate the spiral shaft via the speed reducer and move the moving frame via the nut body. Both lifting link devices expand and contract in the vertical direction, and the lifting frame moves up and down.

According to the fourth aspect of the present invention, after the load is placed on the left and right lifting frames and the right lifting frame, the left and right lifting frames are driven by driving the driving devices of the left and right lifting devices. If the height of the left and right lifting frames deviates due to an unbalanced load on the load, the detection device detects this deviation and the emergency stop unit drives the left and right lifting devices. Emergency stop. Therefore, it is possible to prevent accidents such as the load on the left and right lifting frames falling and falling.

[0016]

DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described below with reference to FIGS. As shown in FIGS. 5 and 6, reference numeral 1 denotes an automatic warehouse, which is composed of a pair of shelves 2 and a stacker crane 4 which can travel along a traveling path 3 formed between the shelves 2. The stacker crane 4 is provided with a single type fork 6 for loading and unloading the load 5 into and from the shelf 2. A cargo handling field 7 is formed outside the end of each shelf 2, and a lifting device 8 is installed in the cargo handling field 7. The lift device 8 is composed of a pair of left and right lifting devices 10 and 11 facing each other at a predetermined interval.

The structure of each of the lifting devices 10 and 11 will be described below. That is, as shown in FIGS. 1 to 4, the base frame 12 is provided with a pair of left and right lifting link devices 13a and 13b which are vertically expandable and contractible, and between the upper ends of these lifting link devices 13a and 13b. An elevating frame 14 is provided in the. Each of the lifting link devices 13a and 13b is composed of a first link 16 and a second link 17 which are rotatably intersecting with each other via a connecting pin 15 in a central portion in a scissor shape. Of these, the upper end portion (base end portion) of the first link 16 located on the outer side is vertically rotatably connected to the lower surface of the elevating frame 14 via a link shaft 18. This first link 16
A lower idler roller 20 is attached to the lower end portion (free end portion) of the lower idler roller 20 so that the lower idler roller 20 can travel on the lower rail 19 provided on the base frame 12 in the front-rear direction. Further, the lower end portion (base end portion) of the second link 17 located inside is connected to the base frame 12 via the link shaft 21 so as to be vertically rotatable. At the upper end (free end) of the second link 17, an elevating frame
An upper idler roller 23 is mounted on the upper rail 22 provided at 14 so as to be able to travel in the front-back direction.

The upper surface of the elevating frame 14 is formed as a first load receiving surface 25 on which the load 5 can be placed. Further, an L-shaped load receiving member that hangs downward on the inner edge of the lifting frame 14.
A pair of front and rear 26 are mounted, and a horizontal plate portion at the lower end of each load receiving member 26.
A second load receiving surface 28 on which the load 5 can be placed is formed on 27. As shown by the phantom line in FIG. 4, the horizontal plate portion 27 is
It is set to land on the floor surface 29 when the elevating frame 14 descends to the lower limit position A.

The base frame 12 is provided with a drive device 30 for expanding and contracting both the lifting link devices 13a and 13b. The drive device 30 includes a moving frame 31 connected between the lower ends of the first links 16 and an operating device 32 that reciprocates the moving frame 31 in the front-rear direction.

The actuating device 32 includes a nut body 33 provided on the moving frame 31, a rotatable spiral shaft 34 screwed to the nut body 33, and a speed reducer connected to one end of the spiral shaft 34. 35 and an electric motor 36 connected to the speed reducer 35 to drive the spiral shaft 34 to rotate.

As shown in FIG. 2, the speed reducer 35 is mounted on a mounting base.
The mounting base 38 is mounted on a horizontal pin 40 between a pair of left and right support plates 39 provided upright on the base frame 12.
It is supported swingably up and down via. Further, the base frame 12 is provided with a control device 41 including a microcomputer for controlling the electric motor 36.
A storage space 42 capable of accommodating the set of the drive device 30 and the control device 41 is formed between the two lifting link devices 13a and 13bb.

The base frame 12 includes a lifting frame.
A lower limit switch 43 for detecting the lower limit position A of 14, and
An upper limit switch 44 for detecting the upper limit position B is attached. Further, the movable frame 31 is provided with an operating body 47 which can come into contact with and separate from the detection protrusion 45 of the lower limit switch 43 and the detection protrusion 46 of the upper limit switch 44.

As shown in FIG. 1 and FIG.
The 10 and 11 are provided with a photoelectric switch 49 (an example of a detection device) that detects a height shift between the two elevating frames 14. That is, the projector 50 is provided at one end of the lifting frame 14 in one lifting device 10, and the other lifting device 11 is provided.
A light receiver 51 for receiving the emitted light emitted from the light projector 50 is provided at one end of the elevating frame 14 in FIG.

Next, the main circuit 52 and the control circuit 53 of the electric motor 36 will be described with reference to FIG. That is, the electric motor 36 is a three-phase induction motor, and the main circuit 52 is a three-phase induction motor.
A forward rotation electromagnetic circuit breaker 54 and a reverse rotation electromagnetic circuit breaker 55 are connected between the phase AC power supply line and the electric motor 36. The control circuit 53 is connected in series between the power supply lines 56 and 57 connected to the three-phase AC power supply line via the transformer 65 and the one power supply line 56 and the other power supply line 57. Circuit breaker controller 58 and a pair of coils 59, 60
And the emergency stop portion 61. The circuit breaker control unit 58 controls the electromagnetic circuit breakers 54 and 55, and the coils 59 and 60 connect and disconnect the electromagnetic circuit breakers 54 and 55.

The circuit breaker control unit 58 is a contact for forward rotation which connects and disconnects between one power supply line 56 and the coil 59 for forward rotation.
62 and a reversing contact 63 for connecting and disconnecting one power supply line 56 and the reversing coil 60. The emergency stop portion 61 is formed by connecting a contact 66 of the photoelectric switch 49 between a common line 64 connecting one ends of the coils 59 and 60 and the other power supply line 57.

Further, the control device 41 outputs a control signal to the circuit breaker control section 58 based on a detection signal from the lower limit switch 43 or the upper limit switch 44 or a command signal from a peripheral device such as the stacker crane 4. However, the contact 62 for forward rotation and the contact 63 for reverse rotation are operated.

The operation of the above configuration will be described below.
The lift drive of the lift device 8 is performed as follows.
That is, as shown in FIG. 7, the forward rotation contact 62 of the circuit breaker control unit 58 is closed based on the control signal of the control device 41, so that the forward rotation coil 59 is excited and the forward rotation electromagnetic breaker 54 is excited.
Is closed, and the electric motor 36 rotates forward. As a result, the speed reducer 35
The spiral shaft 34 rotates through the nut body 33 and is fed in the length direction of the spiral shaft 34, so that the moving frame 31 moves toward the speed reducer 35, and the upper idler roller 23 travels on the upper rail 22. As a result, both the second links 17 rotate upward about the base end and stand up, and the lower idle roller 20 travels on the lower rail 19 so that the first links 16 rotate downward about the base end. Stand up. As a result, as shown by the phantom line in FIG. 2, the lifting link devices 13a and 13b of the lifting devices 10 and 11 synchronously extend upward, and the lifting frames 14 synchronously rise to the upper limit position B. Reach

At this time, the operating body 47 is the upper limit switch.
In order to push the sensing protrusion 46 of 44 to incline by a predetermined angle, the detection signal of the upper limit switch 44 is input to the control device 41, and the control device 41 sends a stop signal to the circuit breaker control unit 58,
The forward rotation contact 62 of the circuit breaker control unit 58 opens, the forward rotation coil 59 becomes non-excited, and the forward rotation electromagnetic breaker 54 opens.
As a result, the electric motor 36 is stopped and both the elevating frames 14 are stopped at the upper limit position B.

Further, since the contact 63 for reverse rotation of the circuit breaker control unit 58 is closed based on the control signal of the control device 41, the coil 60 for reverse rotation is excited, the electromagnetic breaker 55 for reverse rotation is closed, and the motor 36 Rotates in reverse. As a result, the spiral shaft 34 rotates in the reverse direction, and the moving frame 31 moves in the direction away from the speed reducer 35, so that the upper idler roller 23 travels on the upper rail 22 and the second links 17 center around the base ends. The lower idler roller 20 travels on the lower rail 19 and both first links 16 pivot upward about the base end and lie sideways. As a result, the lifting link device for both lifting devices 10, 11
13a and 13b are synchronized and shortened downward, and both lifting frames 14
Are lowered synchronously and reach the lower limit position A.

At this time, the operating body 47 is the lower limit switch.
In order to push the sensing protrusion 45 of 43 to incline by a predetermined angle, the detection signal of the lower limit switch 43 is input to the control device 41, and the control device 41 sends a stop signal to the circuit breaker control unit 58,
The reverse contact 63 of the circuit breaker control unit 58 opens, the reverse coil 60 is de-excited, and the reverse electromagnetic breaker 55 opens.
As a result, the electric motor 36 is stopped and both the elevating frames 14 are stopped at the lower limit position A.

For example, at the time of unloading, the stacker crane 4 takes out the load 5 together with the pallet 69 from the shelf 2 and removes the load 7
Left and right lifting frames 14 of the lifting device 8 when carried out to
Rise to the upper limit position B in synchronism with each other, the fork 6 of the stacker crane 4 projects and is inserted between the both lifting devices 10 and 11 as shown by the phantom line in FIG.
The second load receiving surface 28 of the left lifting device 10 and the right lifting device 11
And the second load receiving surface 28 of. After that, the fork 6 of the stacker crane 4 retracts, both the elevating frames 14 synchronously descend to the lower limit position A, and the load receiving member 26 lands on the floor surface 29 as shown by the phantom line in FIG. Then, as shown in FIG. 8, the worker 70 inserts the fork 72 of the handlift 71 into the fork insertion portion 73 of the pallet 69, lifts the pallet 69 together with the load 5 upward from the second load receiving surface 28, and Transport to a place.

At the time of warehousing, the worker 70 uses the hand lift 71 to convey the load 5 together with the pallet 69 to the loading / unloading area 7, and the hand lift 71 is lifted by both lifting devices 10, 11.
Insert it between. Then the fork of the handlift 71
72 is lowered to put the pallet 69 together with the load 5 on the second load receiving surface 28 of the left lifting device 10 and the second load receiving surface 28 of the right lifting device 11.
And place the fork 72 of the hand lift 71 on the pallet 69.
Remove from the fork insertion portion 73 of. Then, as shown in FIG. 4, both the elevating frames 14 synchronously ascend to the upper limit position B and lift the load 5 via the pallet 69. afterwards,
As shown by the phantom line in FIG. 1, the fork 6 of the stacker crane 4 projects to load the pallet 69 together with the load 5 onto the second load receiving surface.
Lift up from 28 and store in shelf 2.

As described above, since the drive devices 30 provided for the respective lifting devices 10 and 11 drive the respective lifting frames 14 up and down in synchronization with each other, a pair of left and right lifting devices 10 and 11 are provided.
There is no need to intervene between them. Therefore, not only the fork 6 of the stacker crane 4 but also the hand lift 71 can be inserted between the two lifting devices 10 and 11, so that the load 5 can be transferred between the lift device 8 and the hand lift 71. .

In addition, as shown in FIGS. 1, 3 and 4, a set of the driving device 30 is provided to the left and right lifting link devices 13a and 13b.
Since it can be stored in the storage space 42 between b, the drive device 30
Does not stick out to the outside of the lifting link devices 13a and 13b, so that the space required for installing the lift device 8 can be reduced.

Further, the electric motors of the left and right lifting devices 10 and 11 respectively.
When driving 36 and raising and lowering both left and right lifting frames 14,
When the height of the left-side lifting frame 14 and the right-side lifting frame 14 is deviated due to an unbalanced load on the load 5 or an individual difference of the electric motor 36, the photodetector 51 of the photoelectric switch 49 causes the light emitted from the projector 50 to emit light. Since it is no longer detected, the contact 66 opens as shown by the phantom line in FIG.

As a result, if there is a deviation when the elevating frame 14 is lifted, the excited forward rotation coil 59 is de-excited and the forward rotation electromagnetic breaker 54 opens, so that the forwardly rotating motor is rotated. 36 is in an emergency stop. In addition, if there is a deviation when the elevating frame 14 is descending, the coil for reverse rotation that was excited
Since 60 is not excited and the electromagnetic circuit breaker 55 for reverse rotation opens,
The electric motor 36, which was rotating in the reverse direction, comes to an emergency stop. Therefore, it is possible to prevent the load 5 placed on both the left and right second load receiving surfaces 28 from falling and falling.

Further, as shown in FIG. 2, when the electric motor 36 is driven, the speed reducer 35 swings in the vertical direction a with the mounting base 38 about the horizontal pin 40, thereby acting on the spiral shaft 34. Vertical bending moment can be released.

In the above embodiment, as shown in FIG. 1, the projector 50 is provided on the elevating frame 14 of one elevating device 10 and the light receiver 51 is provided on the elevating frame 14 of the other elevating device 11, but a pulse encoder is used. Alternatively, the number of rotations of the spiral shaft 34 of the one lifting device 10 and the number of rotations of the spiral shaft 34 of the other lifting device 11 may be counted, and the synchronization shift may be detected from the difference between the two rotations. Further, the deviation of synchronization may be detected by detecting the position of the lower idler roller 20 between the lifting device 10 on one side and the lifting device 11 on the other side, or by detecting the angle of the first link 16 or the second link 17. .

In the above embodiment, the actuating device 32 is composed of the nut body 33, the spiral shaft 34, the speed reducer 35 and the electric motor 36. A cylinder is provided on the base frame 12 and the tip of the piston rod of this cylinder is moved. It may be connected to the frame 31.

Although the hand lift 71 is used in the first embodiment, as shown in FIG. 9 as the second embodiment, both lifting devices are used.
The unmanned load carrier 80 that travels on the floor surface 29 between 10 and 11 is sunk into the pallet 69 to the left and right first load receiving surfaces 25.
It is also possible to deliver the load 5 via.

As a third embodiment, as shown in FIG. 10, an unmanned load carrier 83 provided with a fork 82 is used to transfer the load 5 to the first load receiving surfaces 25 on both left and right sides through the pallet 69. It is also possible to do so.

Further, as a fourth embodiment, as shown in FIG. 11, a lift device 8 is provided in the lowermost load storage section 85 of the shelf 2 of the automated warehouse 1, and for the lowermost load storage section 85, It is also possible to directly load and unload the load 5 using the hand lift 71 without using the stacker crane 4.

Further, as shown in FIG. 12 as a fifth embodiment, a plurality of loads 5 are taken out from the shelf 2 together with the pallet 69 and supported by the lift device 8 at the optimum height, and then the worker 70 loads the loads 5. You may pick as many as necessary from the lift device 8.

[0044]

As described above, according to the first aspect of the present invention, since the drive devices provided for the respective lifting devices drive the respective lifting frames up and down in synchronization with each other, an obstacle is placed between the pair of left and right lifting devices. Need not intervene. Therefore, it is possible to insert not only a fork but also an unmanned load carrier or a hand lift traveling on the floor between the two lifting devices.
It is possible to transfer a load between the lift device and the unmanned load carrier or between the lift device and the handlift.

Further, since the drive device can be housed in the storage space between the two lifting link devices of each lifting device, the driving device does not protrude to the outside of the two lifting link devices, and therefore the lift device can be installed. The space required can be reduced.

According to the second aspect of the present invention, in each of the left and right elevating devices, the actuating device operates to move the moving frame, so that both elevating link devices expand and contract in the vertical direction to elevate the elevating frame.

According to the third aspect of the present invention, in each of the left and right lifting devices, when the electric motor is operated, the spiral shaft is rotated through the speed reducer and the moving frame is moved through the nut body. The link device expands and contracts in the vertical direction, and the lifting frame moves up and down.

According to the fourth aspect of the present invention, when the left and right elevating frames are moved up and down, and the heights of the left and right elevating frames deviate from each other due to an unbalanced load of the load, etc. Detected by the detection device, the emergency stop unit emergency stops the drive devices of the left and right lifting devices. Therefore, it is possible to prevent accidents such as the load placed on the left and right lifting frames falling and falling.

[Brief description of the drawings]

FIG. 1 is a perspective view of a lift device according to a first embodiment of the present invention.

FIG. 2 is a partially cutaway side view of a lifting device of the lift device.

FIG. 3 is a partially cutaway plan view of a lifting device of the lift device.

FIG. 4 is a partially cutaway front view of a lifting device of the lift device.

FIG. 5 is a schematic plan view of an automatic warehouse facility including the lift device.

FIG. 6 is a partially enlarged perspective view of an automatic warehouse facility including the lift device.

FIG. 7 is a diagram of a main circuit and a control circuit of an electric motor of the lift device.

FIG. 8 is a perspective view showing delivery of a load between the lift device and the hand lift.

FIG. 9 is a perspective view showing delivery of a load between a lift device and an unmanned load carrier as a second embodiment of the present invention.

FIG. 10 is a perspective view showing delivery of a load between a lift device and an unmanned load carrier as a third embodiment of the present invention.

FIG. 11 is a perspective view of an automated warehouse in which a lift device is provided in a load storage unit of a shelf as a fourth embodiment of the present invention.

FIG. 12 is a perspective view of a lift device used for a picking operation as a fifth embodiment of the present invention.

FIG. 13 is a perspective view of a conventional lift device.

[Explanation of symbols]

 8 Lifting device 10, 11 Lifting device 12 Base frames 13a, 13b Lifting link device 14 Lifting frame 16 1st link 17 2nd link 30 Drive device 31 Moving frame 32 Actuating device 33 Nut body 34 Spiral shaft 35 Reducer 36 Electric motor 42 Storage space 49 Photoelectric switch (detection device) 61 Emergency stop

Claims (4)

[Claims] 1. A pair of left and right elevating devices facing each other at a predetermined interval, each elevating device including a base frame and a pair of left and right elevating links provided on the base frame and extendable in the vertical direction. And a lifting device provided between the upper ends of the lifting link devices, and a drive device for expanding and contracting the lifting link devices. The lifting link devices each have a first link intersecting at a central portion. A lift device comprising a scissor-like structure including a second link, the drive device being provided on a base frame, and a storage space for storing the drive device being formed between the two lifting link devices. . 2. A drive device provided in each lifting device includes a moving frame connected between lower ends of either one of the first and second links, and the moving frame extending in the longitudinal direction of the link. The lift device according to claim 1, further comprising an actuating device that reciprocates. 3. The actuating device comprises a nut body provided on a moving frame, a rotatable spiral shaft screwed into the nut body, a speed reducer connected to one end of the spiral shaft, and the speed reducer. The lift device according to claim 2, wherein the lift device is connected to the electric motor for rotating the spiral shaft. 4. The both lifting devices are provided with a detection device for detecting a height shift of the both lifting frames, and an emergency stop portion for stopping the drive device in an emergency when the height shift of the lifting frames is detected. The lift device according to claim 1, wherein: