CN101234738B - Elevating conveyance device - Google Patents
Elevating conveyance device Download PDFInfo
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- CN101234738B CN101234738B CN2008100060844A CN200810006084A CN101234738B CN 101234738 B CN101234738 B CN 101234738B CN 2008100060844 A CN2008100060844 A CN 2008100060844A CN 200810006084 A CN200810006084 A CN 200810006084A CN 101234738 B CN101234738 B CN 101234738B
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Abstract
The present invention proposes an elevating conveyance device with improved versatility which can be utilized for transferring an automobile body in an automobile assembly line, etc., and according to a first aspect of the invention, the elevating conveyance device includes a multistage extensible column, a transfer means, and an extending and contracting drive mechanism, where the multistage extensible column includes a fixed column portion, one or more mid-stage elevating column portions, and a final-stage elevating portion, the transfer means is provided on the final-stage elevating portion, and the extending and contracting drive mechanism includes a counter weight supported on the fixed column portion movably vertically in a range of the height of the fixed column portion, a winding transmission tool which applies the gravity of the counter weight upward to the next mid-stage elevating column portion, an elevating drive means which drives and elevates the next mid-stage elevating column portion with respect to the fixed column portion, and winding transmission tools which convert an upward movement of the mid-stage elevating column portion into an upward movement of the next mid-stage elevating column portion or final-stage elevating portion.
Description
Technical field
The present invention relates to apply flexibly in the elevating conveyance device of transfer of the car body of automobile assembly line etc.
Background technology
As the elevating conveyance device of the transfer that can be used for car body etc., but people know that the device that loads the transfer device that the along continuous straight runs advance and retreat move on the bay-lift of platform lifter form is arranged; Open clear 58-92221 document and put down in writing as Japan is real, but can be along the device of the decline lifter formula of loading the mobile travel mechanism of along continuous straight runs advance and retreat on the lifting body of pillar lifting.In addition, people know the elevating conveyance device that the articulated robot form that can be used for transfer device is arranged.
The elevating conveyance device of platform lifter form, the transfer of articulated robot form all need not design arrangement with elevating conveyance device from which aspect, as long as be firm floor, then can freely install and use flexibly, yet, if not the little entry point of lift, then can't use flexibly.But, to use in the elevating conveyance device in the reprinting of articulated robot form, the degree of freedom height of transferring path still, has the shortcoming that equipment cost rises significantly.Relative this situation, in the real elevating conveyance device of opening the described such decline lifter form of clear 58-92221 document of Japan, lift increases, still, the top of pillar must be connected with beam of courtyard side etc. and support, and can't be installed on simply on the floor and uses.That is, has the shortcoming that lacks commonality.
Summary of the invention
The object of the present invention is to provide the elevating conveyance device that can eliminate above-mentioned such problem, if add describing with reference to label of embodiment described later, then the elevating conveyance device of technical scheme 1 described the 1st invention comprises pedestal 2; Multi-joint telescoping Body of pillar 1, its upright being located on this pedestal 2 can be stretched along the vertical direction; Carried object support (transfer device 14); Telescopic drive mechanism, above-mentioned multi-joint telescoping Body of pillar 1 comprises the anchor post portion 3 of being fixed on the pedestal 2; The joint lifting support 4a of portion, 5a at least one of this anchor post portion 3 and lifting relatively; Can should middlely save the lifting support 5a of portion and the minor details lifting unit 6a of lifting relatively, above-mentioned carried object support (transfer device 14) is arranged at the above-mentioned minor details lifting unit 6a in the multi-joint telescoping Body of pillar 1, and above-mentioned telescopic drive mechanism is made of following: be supported in the anchor post portion 3 of multi-joint telescoping Body of pillar 1 and balance block 20 that can lifting in the altitude range of this anchor post portion 3; The gravity of this balance block 20 is upwards acted on the coiling Transmission 21a on the middle joint lifting support 4a of portion of next joint; Relative fixed column sections 3 and lift drive mechanism 24 that the middle joint lifting support 4a of the portion lifting of next joint is driven; Coiling Transmission 22a, 23a, this coiling Transmission 22a, 23a are transformed to the middle joint lifting support 5a of portion of next joint that should middlely save the lifting support 4a of portion relatively or the upward movement of minor details lifting unit 6a with the upward movement of the middle joint lifting support 4a of portion of next joint of relative fixed column sections 3.
The elevating conveyance device of the present invention of said structure passes through following manner, can apply flexibly and make the self-support elevating conveyance device, it can freely be installed and be used for place arbitrarily on the floor, has identical layout freedom with the platform lifter form in past and the elevating conveyance device of articulated robot form, this mode is: even have load supporting station (the running fork 15a that moves along the horizontal cross advance and retreat for the carried object support (transfer device 14) of institute's lifting, under the situation of structure 15b), extend upward according to multi-joint telescoping Body of pillar 1, and can guarantee to support this load supporting station (running fork 15a of carried object, 15b) the mode of the self-support stability of the state that moves along horizontal cross turnover, suitably increase the width of the load supporting station advance and retreat direction of multi-joint telescoping Body of pillar 1 and pedestal 2, pedestal 2 is installed securely and be fixed on the floor.And, use by multi-joint telescoping Body of pillar 1, lifting conveying channel length (lift) is increased, simultaneously, by balance block 20 and coiling Transmission 21a, 22a, 23a, make 1 biasing of multi-joint telescoping Body of pillar along prolonging direction, like this, but the lift drive mechanism 24 that carrying capacity is less, heavy weight carried object is transported in lifting.In addition, balance block 20 can be when equaling multi-joint telescoping Body of pillar 1 substantially and be retracted to minimum altitude the altitude range of anchor post portion 3 of height in lifting, like this, in the time of can reducing balance block 20 arrival rise limitation positions, that is, with device single-piece overall height and the center of gravity of carried object support (transfer device 14) when dropping to the decline restriction site.When stating scheme of the present invention on the implementation, specifically, described as technical scheme 2, multi-joint telescoping Body of pillar 1 forms following scheme, wherein, respectively in the left and right sides of an anchor post portion 3, the joint lifting support 4a of portion in having, 4b (5a, 5b) with minor details lifting unit 6a, 6b, the minor details lifting unit 6a of pair of right and left, 6b links into an integrated entity by horizontal link 13, at these above-mentioned carried object supports of horizontal link 13 upper supports (transfer device 14), this carried object support (transfer device 14) constitutes according to the mode at a side bearing carried object of anchor post portion 3.
According to technical scheme 2 described schemes, can increase the space of the ratio broad that an anchor post portion 3 of left and right sides width occupied, can be used for the lifting space of a large-scale balance block 20 neatly.So, following can be by the joint lifting support 4a of portion, 4b (5a, 5b) in the pair of right and left) and minor details lifting unit 6a, 6b and stably support carried object support (transfer device 14), constitute also easy to handle elevating conveyance device of heavy weight carried object easily more compactly.
In addition, described as technical scheme 3, multi-joint telescoping Body of pillar 51A, 51B according to this minor details lifting unit 6a, the opposed facing mode of 6b about and establish a pair of, minor details lifting unit 6a, the 6b of two multi-joint telescoping Body of pillar 51A, 51B interconnects by horizontal link 13 and is integral, and at the above-mentioned carried object supports of horizontal link 13 upper supports (transfer device 14), above-mentioned carried object support (transfer device 14) constitutes according to the mode at the center support carried object of two multi-joint telescoping Body of pillar 51A, 51B.
In this occasion, described as technical scheme 4, form above-mentioned carried object support (transfer device 14) but have the structure of the load supporting station (running fork 15a, 15b) of along continuous straight runs advance and retreat, can be according to the position that is retracted into of midway location that can relative two multi-joint telescoping Body of pillar 51A, 51B, the mode that any side advance and retreat move in front and back constitutes this load supporting station (running fork 15a, 15b).
According to technique scheme 3 described schemes, between multi-joint telescoping Body of pillar 51A, 51B, support the state of carried object at carried object support (transfer device 14), on multi-joint telescoping Body of pillar 51A, 51B, do not act on the torque that skews fully, thus, apply flexibly the elevating conveyance device of making the self-support mount type that heavy weight carried object also can use easily.In this occasion, if adopt technical scheme 4 described schemes, can apply flexibly work and can see on the plane, the elevating conveyance device of the transversal carried object of a direction the opposing party of the front and back in place is set from elevating conveyance device.
The present invention also provides a kind of elevating conveyance device, and it does not adopt the 2nd invention of balance block for utilizing the 1st invention of balance block relative with technique scheme 1 is described.
That is, during the representing with reference to label of embodiment described later, the elevating conveyance device of technical scheme 5 described the 2nd inventions comprises pedestal 2 at mark; Multi-joint telescoping Body of pillar 1, its upright being located on this pedestal 2 can be stretched along the vertical direction; Carried object support (transfer device 14); Telescopic drive mechanism.Above-mentioned multi-joint telescoping Body of pillar 1 comprises the anchor post portion 3 of being fixed on the said base 2, the joint lifting support 4a of portion at least one of this anchor post portion 3 and lifting relatively, 5a, and can should middlely save the lifting support 4a of portion relatively, 5a and the minor details lifting unit 6a of lifting, above-mentioned carried object support (transfer device 14) is arranged at the minor details lifting unit 6a in the multi-joint telescoping Body of pillar 1, above-mentioned telescopic drive mechanism is made of following: lift drive mechanism 120, this lift drive mechanism 120 is arranged in the anchor post portion 3, and lifting drives the middle joint lifting support 4a of portion of next joint; Bucket type coiling hoist cable 121a, 122a, save on the lifting support 4a of portion, the 5a during this bucket type coiling hoist cable 121a, 122a are arranged at, with go up relatively joint column sections 3,4a should in the upward movement of the joint lifting support 4a of portion, 5a be transformed to, relatively should in the middle joint lifting support 5a of portion of next joint of joint column sections 4a, 5a or the upward movement of minor details lifting unit 6a; Fluid pressure cylinder 137A, this fluid pressure cylinder 137A relative fixed column sections 3 and middle joint lifting support 4a of portion of next joint is setovered along ascent direction; Fluid pressure cylinder 138A, 139A, this fluid pressure cylinder 138A, 139A relatively in the joint lifting support 4a of portion, 5a and the middle joint lifting support 5a of portion or the minor details lifting unit 6a of next joint are setovered along ascent direction.
Because the elevating conveyance device of above-mentioned the 2nd invention is different with the elevating conveyance device of technical scheme 1 described the 1st invention, do not adopt large-scale heavy weight balance block, pass through the bias force of fluid pressure cylinder 137A～139A respectively, the joint lifting support 4a of portion, 5a and minor details lifting unit 6a setover along ascent direction in making, obtain weight balancing, thus can seek the miniaturization of device single-piece, lightweight, simultaneously, heavy weight carried object lifting is transported.
Promptly, according to by being arranged at anchor post portion 3 and the middle joint lifting support 4a of portion, bucket type coiling hoist cable 121a on the 5a, 122a, go up the column sections 3 of joint relatively, 4a, the middle joint lifting support 4a of portion, when 5a carries out upward movement, should middlely save the lifting support 4a of portion relatively, 5a makes in the multi-joint telescoping Body of pillar 1 that the mode of the middle joint lifting support 5a of portion of next joint or minor details lifting unit 6a upward movement constitutes, if according to being arranged at the end suspention balance block of the bucket type coiling hoist cable in the anchor post portion 3, realize the words that the mode of whole lifting parts (except carried object) and weight balancing constitutes by this balance block, then such as, when middle joint lifting support portion is provided with according to two joints, if the overall weight of minor details lifting unit 6a is by W
1The overall weight of expression, the middle joint lifting support 4a of portion, 5a is by W
2, W
3Expression, then the downward weighing load F that acts on balance block along the direction of hanging oneself on the bucket type coiling hoist cable of anchor post portion 3 is F=3W
1+ 2W
2+ W
3, be equivalent to this F=3W
1+ 2W
2+ W
3Large-scale heavy weight balance block be necessary, can't avoid the device single-piece to maximize, big weightization.
According to technical scheme 5 described the 2nd inventions, pass through the bias force of fluid pressure cylinder 137A～139A respectively, make the middle joint lifting support 4a of portion along ascent direction, 5a and minor details lifting unit 6a biasing, obtain weight balancing, thus, the middle joint lifting support 4a of portion, the corresponding deadweight of 5a and minor details lifting unit 6a is risen according to the weight of fluid pressure cylinder 137A～139A, but, do not adopt large-scale heavy weight balance block in formation, attenuative effect makes weighing load on the lift drive mechanism 120 that the middle joint lifting support 4a of the portion lifting of next joint drives in relative fixed column sections 3 significantly, when can carry out elevating conveyance device that the lifting of heavy weight carried object transports, but the elevating conveyance device of the small-sized light weight that the little lift drive mechanism 120 of fulfillment capability can utilize.In addition, each fluid pressure cylinder 137A～139A of the joint lifting support 4a of portion, 5a and minor details lifting unit 6a biasing constitutes the damper of following occasion in making along ascent direction respectively, in this occasion, relative bucket type coiling hoist cable 121a, 122a, or anchor post portion 3 and lift drive mechanism 120 that the middle joint lifting support 4a of the portion lifting of next joint is driven adopts this volume hoist cable 125a disconnection of the occasion of coiling hoist cable 125a, the joint lifting support 4a of portion, 5a in can preventing, or the impact of minor details lifting unit 6a drops, and can improve safety.
When stating described the 2nd invention of technical scheme 5 on the implementation, specifically, can be described as technical scheme 6, in each fluid pressure cylinder 137A～139A, cylinder main body 137a～139a is installed on the column sections 3～5a of joint side, from this cylinder main body 137a～139a piston rod 137b～139b that downwards advance and retreat are outstanding movably towards next joint side of suspention the joint lifting support 4a of portion, 5a or minor details lifting unit 6a towards setting.In addition, can be shown in technical scheme 7, each fluid pressure cylinder 137A～139A can constitute according to the certain upwards mode of bias force that produces the weight basic equalization that saves the lifting support 4a of portion, 5a or minor details lifting unit 6a in that directly setovers with each fluid pressure cylinder 137A～139A.
According to technique scheme 6 described schemes, because the middle joint lifting support 4a of portion, 5a and minor details lifting unit 6a do not get final product the piston rod 137b～139b effect compressive force along each fluid pressure cylinder 137A～139A of ascent direction biasing respectively, so can adopt cylinder flexibly, but implement device single-piece miniaturization and than minor diameter.
In addition, according to technical scheme 7 described schemes, owing to can offset in lifting not by the upwards bias force of each fluid pressure cylinder 137A～139A and transport the weight of whole lifting part of the state of carried object, so occasion at the carried object weigh light, perhaps, in the dissimilar occasion of the weight of handled carried object, be actv..
In addition, shown in technical scheme 8, along ascent direction the fluid pressure cylinder 139A of above-mentioned minor details lifting unit 6a biasing also can be constituted according to the mode that switches to the bias force that makes progress, upwards the weight W of bias force and this minor details lifting unit 6a
1With the weight W that is loaded into the carried object W on this carried object support (transfer device 14)
0Sum (W
0+ W
1) basic equalization.
In addition, shown in technical scheme 9, above-mentioned lift drive mechanism 120 comprises that 3 liftings of relative fixed column sections drive the coiling hoist cable 125a and actuating device 127 formations that drive this coiling hoist cable 125a of the middle joint lifting support 4a of portion of next joint.Described as technical scheme 10, also can make the above-mentioned fluid pressure cylinder 137A dual-purpose of the middle joint lifting support 4a of portion of next joint by relative fixed column sections 3 by lift drive mechanism along the ascent direction biasing.
According to technical scheme 9 described schemes, can simply easily implement 3 liftings of relative fixed column sections and drive the lift drive mechanism 120 of the middle joint lifting support 4a of portion of joint down, in addition, according to technical scheme 10 described schemes, because above-mentioned lift drive mechanism 120 by relative fixed column sections 3, makes the fluid pressure cylinder 137A dual-purpose of the middle joint lifting support 4a of the portion biasing of next joint along ascent direction, so reduce device single-piece number of components, simplified structure is sought further miniaturization and.
In addition, even in the elevating conveyance device of technique scheme 5 described the 2nd inventions, described as technical scheme 11～13, technical scheme 2～4 described schemes that employing is enumerated as the instantiation of the elevating conveyance device of described the 1st invention of technique scheme 1 also can obtain and the identical action effect of occasion that adopts technical scheme 2～4 described schemes.
Description of drawings
Figure 1A is illustrated in the transfer device of the 1st embodiment, transports the lateral plan that transports the state when shifting carried object between the chassis of line on floor, and Figure 1B is the front view of the transfer device of equal state;
Fig. 2 A is illustrated in the transfer device of the 1st embodiment, the lateral plan of the state when between the load supporting station of top plate, shifting carried object, and Fig. 2 B is the front view of the transfer device of equal state;
Fig. 3 is illustrated in the transfer device of the 1st embodiment, the front view of the telescopic drive mechanism of the multi-joint telescoping Body of pillar when being in contraction state;
Fig. 4 is illustrated in the transfer device of the 1st embodiment, the front view of the telescopic drive mechanism of the multi-joint telescoping Body of pillar when being in elongation state;
Fig. 5 A is illustrated in the transfer device of the 2nd embodiment, transports the lateral plan when shifting carried object of transporting between the chassis of line on floor, and Fig. 5 B is the front view of the transfer device of equal state;
Fig. 6 A is illustrated in the transfer device of the 2nd embodiment, the lateral plan of the state when between the load supporting station of top plate, shifting carried object, and Fig. 6 B is the front view of the transfer device of equal state;
Fig. 7 is illustrated in the transfer device of the 2nd embodiment, the front view of the telescopic drive mechanism of the multi-joint telescoping Body of pillar when being in contraction state;
Fig. 8 is illustrated in the transfer device of the 2nd embodiment, the front view of the telescopic drive mechanism of the multi-joint telescoping Body of pillar when being in elongation state;
Fig. 9 is the lateral plan of the transfer device of expression the 3rd embodiment;
Figure 10 A is illustrated in the transfer device of the 4th embodiment, and floor on transport the lateral plan of transporting between the chassis of line when shifting carried object, Figure 10 B is the front view of the transfer device of equal state;
Figure 11 A is illustrated in the transfer device of the 4th embodiment, and the load supporting station of top plate between the lateral plan of state when shifting carried object, Figure 11 B is the front view of the transfer device of equal state;
Figure 12 is illustrated in the transfer device of the 4th embodiment, the front view of the telescopic drive mechanism of the multi-joint telescoping Body of pillar when being in contraction state;
Figure 13 is illustrated in the transfer device of the 4th embodiment, the front view of the telescopic drive mechanism of the multi-joint telescoping Body of pillar when being in elongation state;
Figure 14 is for illustrating in the transfer device of the 4th embodiment the figure of the piping system of the equalizing gear of multi-joint telescoping Body of pillar;
Figure 15 A is illustrated in the transfer device of the 5th embodiment, and floor on transport the lateral plan of the state of transporting between the chassis of line when shifting carried object, Figure 15 B is the front view of the transfer device of equal state;
Figure 16 A is illustrated in the transfer device of the 5th embodiment, and the load supporting station of top plate between the lateral plan of state when shifting carried object, Figure 16 B is the front view of the transfer device of equal state;
Figure 17 is illustrated in the transfer device of the 5th embodiment, the front view of the telescopic drive mechanism of the multi-joint telescoping Body of pillar when being in contraction state;
Figure 18 is illustrated in the transfer device of the 5th embodiment, the front view of the telescopic drive mechanism of the multi-joint telescoping Body of pillar when being in elongation state;
Figure 19 is the lateral plan of the transfer device of expression the 6th embodiment;
Figure 20 is the lateral plan of the transfer device of expression the 7th embodiment.
The specific embodiment
According to Fig. 1～Fig. 3, the 1st embodiment when the present invention is implemented as transfer device describes below, and label 1 expression multi-joint telescoping Body of pillar is located on the floor by the anchor post portion 3 on the fixing pedestal 2 such as anchor by upright; With liftable mode be supported on this anchor post portion 3 about two outsides pair of right and left the 1st in the joint lifting support 4a of portion, 4b; Be supported in the 1st joint lifting support 5a, 5b in the pair of right and left the 2nd in the outside of the joint lifting support 4a of portion, 4b in liftable mode; The pair of right and left minor details lifting unit 6a, the 6b that are supported on the outside of the joint lifting support 5a of portion, 5b in the 2nd in liftable mode constitute.The aspect of anchor post portion 3 is the horizontal flat column of long rectangle about the edge.
Each 4a～5b of lifting support portion and minor details lifting unit 6a, the lifting guiding mechanism of 6b can be arbitrarily, but, in the present embodiment, the joint lifting support 4a of portion in the pair of right and left the 1st, the sliding guide piece 7 of the side of 4b by being fixed in anchor post portion 3, scope internal fixation at overall height saves the 4a of lifting support portion in the 1st, the medial surface of 4b and the slide rail 8 that engages with above-mentioned sliding guide piece 7, be supported in the anchor post portion 3 in liftable mode, the joint lifting support 5a of portion in the pair of right and left the 2nd, 5b is by being fixed in the joint lifting support 4a of portion in the 1st, sliding guide piece 9 on the outside of 4b, scope internal fixation at overall height saves the 5a of lifting support portion in the 2nd, on the medial surface of 5b and the slide rail 10 that engages with above-mentioned sliding guide piece 9, be supported on the joint lifting support 4a of portion in the 1st in liftable mode, on the 4b, in addition, pair of right and left minor details lifting unit 6a, 6b is by being fixed in this minor details lifting unit 6a, sliding guide piece 11 on the medial surface of 6b, scope internal fixation at overall height saves the 5a of lifting support portion in the 2nd, the slide rail 12 in the outside of 5b is supported on the joint lifting support 5a of portion in the 2nd in liftable mode, on the 5b.
In addition, in the 1st among the joint lifting support 4a of portion, the 4b and the 2nd height of the joint lifting support 5a of portion, 5b identical with anchor post portion 3, such shown in the image pattern 1 is when being positioned at the decline restriction site, its bottom is supported on the pedestal 2, and its top is in the state of the basic coplane in top of anchor post portion 3.On the other hand, the height of minor details lifting unit 6a, 6b be anchor post portion 3 and in each the joint lifting support 4a～5b of portion height basic half, when being positioned at the decline restriction site, its bottom is supported on the pedestal 2.
The bottom of pair of right and left minor details lifting unit 6a, 6b connects as one by horizontal link 13 in the face side of multi-joint telescoping Body of pillar 1, vertical midway location at this horizontal link 13, according to the mode of giving prominence to vertical the place ahead, be provided as the transfer device 14 of carried object support from anchor post portion 3.Shown in these transfer device 14 image patterns 2 like that, interlock and running fork 15a, the 15b of the pair of right and left that the level advance and retreat move are provided with as the load supporting station mutually.Each running fork 15a, 15b have turnover driver train (diagram omission) by being fixed in fixed track parts 17 on the base portion 16, being supported on the movable rail spare 18 of middle joint on these fixed track parts 17, being supported in the mobile mode of can advancing and retreat that load supporting on movable rail 18 of joint constitutes with rail spare 19 in this in the mobile mode of advancing and retreat.The advance and retreat driver train of this running fork 15a, 15b is in the past known, movable rail spare 18 relative fixed rail parts 17 of joint in making and advancing and retreat when mobile, can follow the turnover of the movable rail spare 18 of joint in this to move, the load supporting is moved along same direction advance and retreat with the movable rail spare 18 of rail spare 19 joint in being somebody's turn to do.So, shown in image pattern 1A and Fig. 2 A like that, can make the load supporting with rail spare 19 coincide with fixed track parts 17 directly over the turnover position that is retracted into the position and leaves along horizontal side from the zone, top side of fixed track parts 17 between advance and retreat mobile.
Telescopic drive mechanism to multi-joint telescoping Body of pillar 1 describes, shown in the image pattern 3 like that, balance block 20 is made of pair of right and left coiling Transmission 21a, 21b～23a, 23b and lift drive mechanism 24 respectively.Balance block 20 is arranged at the inside of the anchor post portion 3 of flat column in liftable mode, as required, can adopt lifting with guide rail 25 simultaneously.The 1st coiling Transmission 21a, 21b constitute in the following manner, this mode is: top, two ends, the left and right sides buckle of one end and balance block 20, the other end be fixed near pair of right and left the 1st in engaging member 26a, the 26b buckle of position of bottom of the joint lifting support 4a of portion, 4b, centre portion is wound in and is supported on by axle that the corresponding pair of right and left of position turns on track adjusting wheel 27a, 28a and 27b, the 28b near the in-to-in top of anchor post portion 3, in the 1st the joint lifting support 4a of portion, when 4b is positioned at the decline restriction site, balance block 20 is positioned at the rise limitation position.
The end of the 2nd coiling Transmission 22a, 22b and the engaging member 29a, the 29b buckle that are fixed near the position on the top of the left and right sides of anchor post portion 3, the other end with near be fixed in pair of right and left the 2nd in engaging member 30a, the 30b buckle of position of bottom of the joint lifting support 5a of portion, 5b, centre portion is wound near turning on track adjusting wheel 31a, the 31b of the position top of the joint lifting support 4a of portion, 4b among the Zhi Yudi 1.In addition, the end of the 3rd coiling Transmission 23a, 23b and the engaging member 32a, the 32b buckle that are fixed near the position, top of the joint lifting support 5a of portion, 5b in the close the 2nd, and the other end and be fixed in engaging member 33a, the 33b buckle of the medium height position of pair of right and left minor details lifting unit 6a, 6b, centre portion are wound near turning on track adjusting wheel 34a, the 34b of the position top of the joint lifting support 5a of portion, 5b among the Zhi Yudi 2.Each reel Transmission 21a, 21b～23a, 23b can adopt chain or steel rope, respectively turn to track adjusting wheel 27a～28b, 31a, 31b, 34a, 34b can adopt sprocket wheel or pulley.
According to such scheme, image pattern 1 and shown in Figure 3, be in contraction state at multi-joint telescoping Body of pillar 1, joint the lifting support 4a～5b of portion and minor details lifting unit 6a in each, when 6b is positioned at the decline restriction site, transfer device 14 is positioned near the decline restriction site of floor, and balance block 20 is positioned at the in-to-in rise limitation position of anchor post portion 3.The transfer device single-piece height of this state equal the same substantially absolute altitude in top and anchor post portion arranged side by side 3 and in each the top height of the joint lifting support 4a～5b of portion equate.If from this state, make electrical motor 37 runnings of lift drive mechanism 24, by gear row 36a, 36b and chain 35a, 35b etc., be wound with the 1st coiling Transmission 21a, 21b turns to track adjusting wheel 27a, among the 27b, the 1st coiling Transmission 21a, 21b makes the joint lifting support 4a of portion in the 1st along hanging on direction, 4b rotates driving, green phase to anchor post portion 3 the 1st in the joint lifting support 4a of portion, the upward movement of 4b, the joint lifting support 4a of portion in the 1st, the 2nd coiling Transmission 22a that 4b had, 22b is by the engaging member 29a of anchor post portion 3 sides, 29b, drop-down relatively and downwards, relatively risen the 1st in the joint lifting support 4a of portion, 4b, by engaging member 30a, 30b makes the joint lifting support 5a of portion in the 2nd, 5b rises.In addition, in the 2nd, save the upward movement that saves the lifting support 4a of portion, 4b among the lifting support 5a of portion, the 5b the relative the 1st, the 3rd coiling Transmission 23a, the 23b that joint lifting support portion 5a, 5b are had in the 2nd is relatively drop-down downwards by engaging member 32a, the 32b of the joint lifting support 4a of portion, 4b side in the 1st, relatively rise the 1st in the joint lifting support 4a of portion, 4b, by engaging member 33a, 33b, will draw on minor details lifting unit 6a, the 6b.
By above-mentioned effect, image pattern 2 and shown in Figure 4, the joint lifting support 4a of portion in the 1st, 4b rises to the last ceiling seated position of relative fixed column sections 3, promptly, the joint lifting support 4a of portion in the 1st, when half of the overall height of 4b rises to outstanding upward rise limitation position from anchor post portion 3, the joint lifting support 4a of portion in the relative the 1st, 4b, the joint lifting support 5a of portion in the 2nd, 5b according to the 1st in the joint lifting support 4a of portion, the identical height of rise height of 4b relative fixed column sections 3 and rising, in addition, the joint lifting support 5a of portion in the relative the 2nd, 5b, minor details lifting unit 6a, 6b according to the 1st in the joint lifting support 4a of portion, the height that the rise height of 4b relative fixed column sections 3 is identical rises, finally, be positioned at minor details lifting unit 6a, the transfer device 14 of the bottom of 6b rise to relative fixed column sections 3 and rise the 1st in the joint lifting support 4a of portion, near the top of 4b rise limitation position.When making this multi-joint telescoping Body of pillar 1 be elongated to the elongation restriction state from shrinking restriction state, the weight of balance block 20 upwards acts on the joint lifting support 4a～5b of portion and minor details lifting unit 6a, 6b in each by each coiling Transmission 21a, 21b～23a, 23b, thus, fully attenuative effect in the load of the electrical motor 37 of lift drive mechanism 24.
When the transfer device 14 that is positioned at Fig. 2 and rise limitation position shown in Figure 4 being descended return to Fig. 1 and original decline restriction site shown in Figure 3, make electrical motor 37 runnings of lift drive mechanism 24, at the 1st coiling Transmission 21a that reels, 21b turns to track adjusting wheel 27a, among the 27b, the 1st coiling Transmission 21a, 21b drives balance block 20 contrarotations along the suspention direction, thus, pass through gravity, minor details lifting unit 6a, 6b drops to the joint lifting support 5a of portion in the relative the 2nd, the decline restriction site of 5b, the joint lifting support 5a of portion in the 2nd, 5b drops to the joint lifting support 4a of portion in the relative the 1st, the decline restriction site of 4b, in addition, the joint lifting support 4a of portion in the 1st, 4b drops to the decline restriction site of relative fixed column sections 3, finally, the transfer device 14 that is positioned at Fig. 2 and rise limitation position shown in Figure 4 descends and returns to Fig. 1 and original decline restriction site shown in Figure 3.
By as described above, make multi-joint telescoping Body of pillar 1 shrink restriction state and extend between the restriction state flexible, can can be retracted into that the on even keel advance and retreat move between the restriction site of turnover shown in restriction site and Fig. 2 A shown in Figure 1A at the transfer device 14 of lifting moving between decline restriction site and the rise limitation position, thus, such as, shown in image pattern 1A and Fig. 2 A like that, transport line 39 on the floor of transporting chassis 38 that the transfer device of such scheme is to travel on certain lane of ground on the panel, be arranged on this floor, transport line 39 directly over top plate 40 on load supporting station 41 between, can be used as the mechanism that shifts carried object W.
Owing to follow the dipping and heaving of transfer device 14 of the expanding-contracting action of multi-joint telescoping Body of pillar 1, the running fork 15a that this transfer device 14 is had, the branch operation that is retracted into the combination that restriction site and the level advance and retreat of turnover between the restriction site move of 15b produces, lifting and unload action on the carried object W is known in the past, the Therefore, omited explanation, but in the example shown in Figure 1A and Fig. 2 A, by adopting carried object to lift to get action carried object W is lifted along horizontal side and gets from transporting chassis 38, then, the transfer device 14 that loads carried object W is risen to the rise limitation position.This carried object W is loaded into and stops at the transporting on the chassis 38 of the assigned position that transports line 39 on the floor, and this carried object is lifted and got action and be made of following actions: the turnover to the turnover restriction site of running fork 15a, the 15b of the transfer device 14 that is positioned at the decline restriction site is moved; The upward movement of the unit quantity of the transfer device 14 that begins from the decline restriction site; Mobile from the turnover restriction site to being retracted into of the running fork 15a, the 15b that are retracted into restriction site.In addition, by with above-mentioned carried object lift get the action opposite, carry out that advance and retreat with running fork 15a, 15b move and the carried object of the dipping and heaving combination of transfer device 14 unloads action, the carried object W on the transfer device 14 can be dropped on the load supporting station 41 of top plate 40.Obviously, also can be in contrast, from the load supporting station 41 of top plate 40,, shift carried object W stopping at the transporting on the chassis 38 of the assigned position that transports line 39 on the floor.
In above-mentioned the 1st embodiment, the restriction site that is retracted into of running fork 15a, 15b in the transfer device 14 is the position of stretching out in the horizontal side of multi-joint telescoping Body of pillar 1, therefore, transfer device 14 is positioned at when being retracted into restriction site at running fork 15a, 15b, transfer device 14 is the cantilever-shaped minor details lifting unit 6a that is supported on, the last and lifting of 6b.Therefore, be supported on the carried object W that is transported by lifting on the transfer device 14 on the horizontal link 13 of this transfer device 14 of supporting, and then effect there is big rotation (a skewing) torque on multi-joint telescoping Body of pillar 1.In addition, transfer device occupies floor area also increases.
According to Fig. 5～Fig. 8, the 2nd embodiment of eliminating the problems referred to above point is described below, in the present embodiment, and establish two multi-joint telescoping Body of pillar 51A, 51B.Each multi-joint telescoping Body of pillar 51A, 51B are in the upright mutual side of facing of being located at the 3a of anchor post portion, 3b on the common base 52, identical with the scheme of formerly embodiment, be provided with in the 1st and save the lifting support 5a of portion, 5b and minor details lifting unit 6a, 6b among the joint lifting support 4a of portion, the 4b, the 2nd, in mutually between the bottom in the face of minor details lifting unit 6a, the 6b of the pair of right and left of side of two multi-joint telescoping Body of pillar 51A, 51B, set up horizontal link 13, on this horizontal link 13, load transfer device 14.
In the present embodiment, owing to can make in the running that is retracted into restriction site of transfer device 14 and pitch 15a, 15b at (between pair of right and left minor details lifting unit 6a, the 6b) between pair of right and left multi-joint telescoping Body of pillar 51A, the 51B, the spacing of (between minor details lifting unit 6a, the 6b of pair of right and left) is set according to the mode that will be drawn in (between minor details lifting unit 6a, the 6b of pair of right and left) between pair of right and left multi-joint telescoping Body of pillar 51A, the 51B by the carried object W of this running fork 15a, 15b supporting between pair of right and left multi-joint telescoping Body of pillar 51A, the 51B.In addition, the scheme with formerly the 1st embodiment is identical substantially for the scheme of the joint lifting support 4a～5b of portion and the lifting guiding mechanism of minor details lifting unit 6a, 6b in each, thus, adopt same at accompanying drawing with reference to label, omit its explanation, but the telescopic drive mechanism of two multi-joint telescoping Body of pillar 51A, 51B is with formerly the 1st embodiment is different slightly.
That is, in the 2nd embodiment,, balance block 20a, 20b and lift drive mechanism 24a, 24b are set among two multi-joint telescoping Body of pillar 51A, the 51B each.Be located among the 3a of anchor post portion, the 3b of each multi-joint telescoping Body of pillar 51A, 51B suspention respectively in balance block 20a, the 20b by the 1st coiling Transmission 21a, the 21b of each multi-joint telescoping Body of pillar 51A, 51B.In addition, in each lift drive mechanism 24a, 24b, be wound with the 1st coiling Transmission 21a of each multi-joint telescoping Body of pillar 51A, 51B, the electrical motor 37a, the 37b that turn to track adjusting wheel 27a, 27b and be connected respectively of 21b, by each electrical motor 37a, 37b, rotation drives two and turns to track adjusting wheel 27a, 27b respectively, but, according to can make two multi-joint telescoping Body of pillar 51A, 51B the 1st in the joint lifting support 4a of portion, 4b synchronously and the mode that lifting drives, two electrical motor 37a, 37b are by electric mode run-in synchronism.Obviously, also can constitute in the following manner, this mode is: adopt along common base 52 and the universal driving shaft of horizontal supporting etc., mechanically make the above-mentioned of two multi-joint telescoping Body of pillar 51A, 51B turn to the mutual mechanical linkage of track adjusting wheel 27a, 27b to connect, utilize this link gear, make two to turn to track adjusting wheel 27a, 27b to drive by an electrical motor rotation.
In addition, as transfer device, people know to have can make running fork 15a, 15b will be retracted into restriction site as the initial position, the type that any side turnover is moved in front and back.The 3rd embodiment shown in the image pattern 9 is such, constitute above-mentioned the 2nd embodiment according to the transfer device 42 that adopts such type, can make relative two the multi-joint telescoping Body of pillar 51A of carried object W, any side before and after lifting transporting position between the 51B is transferred to, thus, can constitute in the following manner, this mode is: such as, the 3rd embodiment shown in the image pattern 9 is such, transporting line 39 and high rack transfer line 43 on the floor sees from the plane along the occasion of laterally leaving, according to seeing that from the plane being positioned at the floor transports the mode of the midway location of line 39 and high rack transfer line 43 above-mentioned transfer device is set, can transport with between the suspension bracket 44 in the carried object suspention of transporting chassis 38 and stopping at the assigned position on the high rack transfer line 43 that stops at the assigned position that transports on the floor on the line 39, shift carried object W.
Below according to Figure 10～Figure 12, the 4th embodiment when the 2nd the present invention is implemented as transfer device describes, because in the transfer device of the 4th embodiment, scheme beyond the telescopic drive mechanism of multi-joint telescoping Body of pillar 1 is identical with the transfer device of the 1st embodiment that formerly illustrates, so employing is same as label, it illustrates omission.
Telescopic drive mechanism to multi-joint telescoping Body of pillar 1 describes, shown in the image pattern 12 like that, relative fixed column sections 3 is set makes the lift drive mechanism 120 that the joint lifting support 4a of portion, 4b lifting drive in the 1st, in the 1st, save on the lifting support 5a of portion, the 5b among the joint lifting support 4a of portion, the 4b and the 2nd, bucket type coiling hoist cable 121a, 121b, 122a, 122b are set.Lift drive mechanism 120 is by closed coiling hoist cable 125a, 125b, the actuating device 127 that drives two closed coiling hoist cable 125a, 125b with the interlock rotation constitutes, this closed coiling hoist cable 125a, 125b hang the left and right sides portion that is around in anchor post portion 3 along the vertical direction by up and down a pair of track adjusting wheel 123a, 123b, 124a, 124b, and position by engaging member 126a, 126b and with the 1st in the joint lifting support 4a of portion, 4b buckle.Actuating device 127 is by electrical motor 128, and the transmission of torque of the output shaft of this electrical motor 128 is constituted to the top side track adjusting wheel 23a of closed coiling hoist cable 25a, 25b, gear row 129a, 129b and coiling Transmission 130a, the 130b that 24a uses.Closed coiling hoist cable 125a, 125b adopt chain or steel rope, and coiling Transmission 130a, 130b adopt chain or timing belt etc.
As above-mentioned lift drive mechanism 120, can make in the pair of right and left the 1st the joint lifting support 4a of portion, 4b synchronous, its lifting is driven, can replace closed coiling hoist cable 125a, 125b, adopt the variety of way of using outside gear or the electronic spiral shell axle.
Bucket type coiling hoist cable 121a, the 121b that is arranged in the 1st the joint lifting support 4a of portion, 4b saves in axle Zhi Yudi 1 with the bucket type frame on track adjusting wheel 131a, the 131b of top ends of the 4a of lifting support portion, 4b, the one end is by near the position buckle top of engaging member 132a, 132b and anchor post portion 3, and the other end is by the bottom end vicinity position buckle of the joint lifting support 5a of portion, 5b among engaging member 133a, the 133b and the 2nd.In addition, the bucket type coiling hoist cable 122a, the 122b that are arranged at the joint lifting support 5a of portion, 5b in the 2nd save track adjusting wheel 134a, the 134b of the top ends of the 5a of lifting support portion, 5b in axle Zhi Yudi 2 with the bucket type frame, the one end is by near the position buckle top of the joint lifting support 4a of portion, 4b among engaging member 135a, the 135b and the 1st, and the other end passes through engaging member 136a, 136b and minor details lifting unit 5a, 5b buckle.Bucket type coiling hoist cable 121a, 121b, 122a, 122b adopt chain or steel rope.
In addition, in the left and right sides of anchor post portion 3 one, the fluid pressure cylinder 137A, the 137B that make the joint lifting support 4a of portion, 4b biasing in the 1st along ascent direction are set, in the 1st, save among the lifting support 4a of portion, the 4b, the fluid pressure cylinder 138A, the 138B that make the joint lifting support 5a of portion, 5b biasing in the 2nd along ascent direction are set, in the 2nd, on the joint lifting support 5a of portion, the 5b, the fluid pressure cylinder 139A, the 139B that make minor details lifting unit 6a, 6b biasing along ascent direction are set.
In fluid pressure cylinder 137A, 137B, the top ends of this cylinder main body 137a is by bolster 141a, 141b is connected in prominent carriage 140a, the 140b that establishes near the position top of the left and right sides portion of anchor post portion 3, pass through bolster 142a, 142b from the free end of the outstanding piston rod 137b in the bottom of cylinder main body 137a, be connected with the bottom end vicinity position of the joint lifting support 4a of portion, 4b in the 1st.In fluid pressure cylinder 138A, 138B, the top ends of this cylinder main body 138a is by bolster 144a, 144b, be connected in from the 1st near the top of the joint lifting support 4a of portion, 4b on prominent carriage 143a, the 143b that establishes in position, pass through bolster 145a, 145b from the free end of the outstanding piston rod 138b in the bottom of cylinder main body 138a, be connected with the bottom end vicinity position of the joint lifting support 5a of portion, 5b in the 2nd.In addition, in fluid pressure cylinder 139A, 139B, the top ends of this cylinder main body 139a is connected in from the 2nd by bolster 147a, 147b near the top of the joint lifting support 5a of portion, 5b on prominent carriage 146a, the 146b that establishes in position, is connected in the bottom end vicinity position of minor details lifting unit 6a, 6b by bolster 148a, 148b from the free end of the outstanding piston rod 139b in the bottom of cylinder main body 139a.
Shown in the image pattern 14 like that, make the joint lifting support 4a of portion in the 1st along ascent direction, the fluid pressure cylinder 137A of 4b biasing, on the cylinder main body 137a of 137B, in a side that makes its piston rod 137b turnover, by pressure feed/opening transfer valve 151a, 151b and be connected with fluid pressure supplying tubing 150a from pressure regulation device 149,150b, make the joint lifting support 5a of portion in the 2nd along ascent direction, the fluid pressure cylinder 138A of 5b biasing, on the cylinder main body 138a of 138B, in a side that makes its piston rod 138b turnover, by pressure feed/opening transfer valve 154a, 154b and be connected with fluid pressure supplying tubing 153a from pressure regulation device 152,153b.In addition, make fluid pressure cylinder 139A, the 139B of minor details lifting unit 6a, 6b biasing relatively along ascent direction, and be provided with two pressure regulation devices 155,156, fluid pressure supplying tubing 157a, 157b and 158a, 158b from two pressure regulation devices 155,156 pass through transfer valve 159a, 159b, be connected with each fluid pressure supplying tubing 160a, a 160b, this fluid pressure feed pipe 160a, 160b connect by pressure feed/opening transfer valve 161a, 161b in a side of the piston rod 139b turnover that makes cylinder main body 139a.
In addition, each pressure regulation device 149,152,155,156 and pressure fluid (such as, pressurized air) supply source 162 connects, and supplies with fluid pressure (such as, air pressure, the identical below) F of fluid pressure cylinder 137A, 137B from pressure regulation device 149
4Be set at the 1st in the overall weight W of the joint lifting support 4a of portion, 4b
3Value in a basic balance is from the fluid pressure F of pressure regulation device 152 supply fluid pressure cylinder 138A, 138B
3Be set at the 2nd in the overall weight W of the joint lifting support 5a of portion, 5b
2Value in a basic balance is from the fluid pressure F of pressure regulation device 155 supply fluid pressure cylinder 139A, 139B
2Be set at overall weight W with minor details lifting unit 6a, 6b
1Value in a basic balance in addition, is supplied with the fluid pressure F of fluid pressure cylinder 139A, 139B from pressure regulation device 156
1Be set at overall weight W with minor details lifting unit 6a, 6b
1Weight W with the carried object W that is loaded into the basic constant weight on the transfer device 14 (carried object support)
0Sum (W
0+ W
1) value in a basic balance.In the present embodiment, because each fluid pressure cylinder 137A～139B relative Lift Part pair of right and left ground and establishing, so in fact, supply with such shown in the fluid pressure image pattern 14 of each fluid pressure cylinder 137A～139B, be above-mentioned F
1～F
41/2.
In such scheme, image pattern 10 and shown in Figure 12, be positioned at contraction state at multi-joint telescoping Body of pillar 1, joint the lifting support 4a～5b of portion and minor details lifting unit 6a in each, when 6b is positioned at the decline restriction site, transfer device 14 is positioned at the decline restriction site near floor, in each fluid pressure cylinder 137A～139B, piston rod 137b～139b is positioned at the maximum elongation state.Preferably constitute in the following manner, this mode is: in each of this state joint the lifting support 4a～5b of portion and minor details lifting unit 6a, 6b by be arranged at pedestal 2 sides or in each the joint lifting support 4a～5b of portion and minor details lifting unit 6a, 6b under the middle joint lifting support 4a～5b of portion and the receiver member in the anchor post portion 3 support, thus, service load not on closed coiling hoist cable 125a, the 125b of lift drive mechanism 120 and bucket type coiling hoist cable 121a～122b.When constituting like this, when multi-joint telescoping Body of pillar 1 is in contraction state, supply shown in Figure 14/opening transfer valve 151a, 151b, 154a, 154b and 161a, 161b are switched to open sides, but the cut-off pressure fluid is to the supply of each fluid pressure cylinder 137A～139B.
In addition, if at multi-joint telescoping Body of pillar 1 from being in the state of contraction state, make electrical motor 128 runnings of the actuating device 127 of lift drive mechanism 120, along making the joint lifting support 4a of portion in the 1st, the direction that 4b rises makes closed coiling hoist cable 125a, 125b rotates driving, then in the 1st, save the lifting support 4a of portion, the upward movement of 4b relative fixed column sections 3, the joint lifting support 4a of portion in the 1st, the bucket type coiling hoist cable 121a that 4b had, 121b is by the engaging member 132a of anchor post portion 3 sides, 132b and drop-down relatively downwards, relatively risen the 1st in the joint lifting support 4a of portion, 4b is by engaging member 133a, 133b saves the lifting support 5a of portion in the 2nd, draw on the 5b.In addition, in the 2nd, save the upward movement that saves the lifting support 4a of portion, 4b among the lifting support 5a of portion, the 5b the relative the 1st, bucket type coiling hoist cable 122a, the 122b that joint lifting support portion 5a, 5b are had in the 2nd is drop-down relatively downwards by engaging member 135a, the 135b of the joint lifting support 4a of portion, 4b side in the 1st, relatively risen the 1st in the joint lifting support 4a of portion, 4b, will draw on minor details lifting unit 6a, the 6b by engaging member 136a, 136b.
By above-mentioned effect, image pattern 11 and shown in Figure 13, the joint lifting support 4a of portion in the 1st, when 4b rises to the rise limitation position of relative fixed column sections 3, the joint lifting support 4a of portion in the relative the 1st, 4b, the joint lifting support 5a of portion in the 2nd, 5b according to the 1st in the joint lifting support 4a of portion, the height that the rise height of 4b relative fixed column sections 3 is identical rises, in addition, the joint lifting support 5a of portion in the relative the 2nd, 5b, minor details lifting unit 6a, 6b according to the 1st in the joint lifting support 4a of portion, the height that the rise height of 4b relative fixed column sections 3 is identical rises, finally, minor details lifting unit 6a, 6b rises to the rise limitation position.
As described above, when making multi-joint telescoping Body of pillar 1 be elongated to the elongation restriction state from shrinking restriction state, do not have the occasion that makes the fluid pressure cylinder 137A～139B that saves lifting support 4a～5b of portion and minor details lifting unit 6a, 6b biasing in each along ascent direction, in the 1st, save on the lifting support 4a of portion, the 4b,
W
0The weight of=carried object W
W
1The overall weight of=minor details lifting unit 6a, 6b
W
2The overall weight of the joint lifting support 5a of portion, 5b in=the 2
W
3Under the situation of the overall weight of the joint lifting support 4a of portion, 4b, when not loading carried object W on transfer device 14, effect has in=the 1
f
1＝3W
1+2W
2+W
3
Gravity, when loading carried object W on transfer device 14, effect has
f
2＝3W
0+3W
1+2W
2+W
3
Gravity, general thus, relative fixed column sections 3 is by weight f
1Or weight f
2Balance block, make the joint lifting support 4a of portion, 4b biasing in the 1st along ascent direction, but, according to the scheme of the invention described above, when making 1 elongation of multi-joint telescoping Body of pillar, pressure feed/ opening transfer valve 151a, 151b, 154a, 154b and 161a, 161b are switched to the pressure feed side, in addition, when transfer device 14 skies, transfer valve 159a, 159b are switched to pressure regulation device 155 sides, with fluid pressure F
2Supply with fluid pressure cylinder 139A, 139B, when carried object W is loaded on the transfer device 14, transfer valve 159a, 159b are switched to pressure regulation device 156 sides, fluid pressure F
1Supply with fluid pressure cylinder 139A, 139B, thus as described above, owing to exist
F
1＝W
0+W
1
F
2＝W
1
F
3＝W
2
F
4＝W
3
Relation, on transfer device 14, load in any one of occasion of the occasion of carried object W and unloaded, the whole lifting parts that comprise carried object W realize imponderabilityization theoretically, thus, the little propulsive effort of the friction drag degree of circulation coiling hoist cable 125a, the 125b of lift drive mechanism 120 by overcoming each relative lifting unit etc., be rotated driving, can make multi-joint telescoping Body of pillar 1 be elongated to the elongation restriction state from shrinking restriction state.
Has weight W at handled carried object W
0Different multiple the time, can adopt the weight W that can supply with corresponding to each simultaneously
0Fluid pressure F
1=W
0+ W
1A plurality of pressure regulation devices 156 and select a ground to switch and use the transfer valve of these a plurality of pressure regulation devices 156.In addition, also can constitute in the following manner, this mode is: pressure regulation device 155 that transfer device 14 is adopted when empty and the pressure regulation device 156 that is adopted when loading carried object W on transfer device 14 are selected a ground and are switched, but, also can be according to weighing load, the mode that employing can be adjusted a variable pressure setting device of the fluid pressure of being exported constitutes.
When the transfer device 14 that is positioned at Figure 11 and rise limitation position shown in Figure 13 being descended return to Figure 10 and original decline restriction site shown in Figure 12, make electrical motor 128 runnings of the actuating device 127 of lift drive mechanism 120 in opposite direction, along in the 1st, saving the lifting support 4a of portion, the drop-down direction of 4b makes closed coiling hoist cable 125a, the 125b contrarotation drives, thus, with minor details lifting unit 6a, 6b drops to the joint lifting support 5a of portion in the relative the 2nd, the decline restriction site of 5b, in addition, the joint lifting support 5a of portion in the 2nd, 5b drops to the joint lifting support 4a of portion in the relative the 1st, the decline restriction site of 4b, in addition, the joint lifting support 4a of portion in the 1st, 4b drops to the decline restriction site of relative fixed column sections 3, finally, the transfer device 14 that is positioned at Figure 11 and rise limitation position shown in Figure 13 descends and returns to Figure 10 and original decline restriction site shown in Figure 12.
By as described above, by making multi-joint telescoping Body of pillar 1 shrink restriction state and extend between the restriction state flexible, can be between decline restriction site and rise limitation position the transfer device 14 of lifting moving identical with the transfer device 14 of formerly the 1st embodiment, such as, shown in image pattern 10A and Figure 11 A figure like that, can be used as utilization and on the floor of transporting chassis 38 of travelling on the certain lane on the bottom surface, transport line 39, be arranged on this floor, transport line 39 directly over top plate 40 on load supporting station 41 between, shift the mechanism of carried object W.This moment transport carried object W between chassis 38 and the transfer device 14 on lift/decline of carried object W between down maneuver and transfer device 14 and the load supporting station 41/on lift work also with identical the carrying out of transfer device of formerly the 1st embodiment.
Elevating conveyance device (transfer device) based on above-mentioned the 2nd invention also can be implemented according to the mode identical with the 2nd embodiment formerly of Fig. 5～shown in Figure 8.Promptly, because Figure 15～scheme beyond the telescopic drive mechanism of multi-joint telescoping Body of pillar 1 in the transfer device of the 5th embodiment shown in Figure 180 is identical with the transfer device of the 2nd embodiment of description formerly, so employing is same as label, omit description to it.
That is, in this 5th embodiment,, lift drive mechanism 120A, 120B are set among two multi-joint telescoping Body of pillar 51A, the 51B each.These lift drive mechanisms 120A, 120B by lifting drive each multi-joint telescoping Body of pillar 51A, 51B the 1st in closed coiling hoist cable 125a, 125b, actuating device 127a, the 127b that drives closed coiling hoist cable 125a, 125b respectively of the joint lifting support 4a of portion, 4b constitute.As each actuating device 127a, 127b, top side track adjusting wheel 123a, 123b and coiling Transmission 130a, 130b and the two motors 128a, the 128b that respectively are connected of setting by closed coiling hoist cable 125a, 125b, but, for can make two multi-joint telescoping Body of pillar 51A, 51B the 1st in the joint lifting support 4a of portion, 4b synchronously lifting drive, make two electrical motor 128a, 128b run-in synchronism by electric mode.Obviously, also can constitute in the following manner, this mode is: adopt along common base 52 and the universal driving shaft of horizontal supporting etc., the closed coiling hoist cable 125a of two multi-joint telescoping Body of pillar 51A, 51B, top side track adjusting wheel 123a, the 123b of 125b mechanically are connected mutually, adopt this link gear, by an electrical motor, rotation drives closed coiling hoist cable 125a, 125b.
Figure 19 is as the transfer device of above-mentioned the 5th embodiment, and the 6th embodiment of the transfer device 42 with running fork 15a, 15b is adopted in expression, and this running fork 15a, 15b be for being the initial position to be retracted into restriction site, the type that can any forwards, backwards side precession moves.In the 6th embodiment, can relative two multi-joint telescoping Body of pillar 51A, lifting transporting position between the 51B, carried object W is transferred to front and back side arbitrarily, so it is described as the 3rd embodiment formerly, transporting line 39 and high rack transfer line 43 on floor sees from the plane along laterally leaving such occasion, from the plane, on floor, transport the midway location of line 39 and high rack transfer line 43, above-mentioned transfer device is set, thus, can transport chassis 38 what stop at the fixed position of transporting on the floor on the line 39, the carried object suspention that stops at the fixed position on the high rack transfer line 43 is transported with between the suspension bracket 44, reprints carried object W.
In addition, in the above embodiment, constitute in the following manner, this mode is: middle joint lifting support portion and minor details lifting unit pair of right and left are also established, joint lifting support portion and minor details lifting unit synchronously or be integral the ground lifting in this pair of right and left, but, be under the situation of occasion etc. of small, light amount thing at carried object W, also but the 7th embodiment shown in the image pattern 20 is such, as adopting by anchor post portion 3, joint lifting support portion 4 in one the 1st, joint lifting support portion 5 in one the 2nd, and the elevating conveyance device of the multi-joint telescoping Body of pillar 172 that forms of minor details lifting unit 6 and implementing.Label 173 is for being the cantilever-shaped prominent carried object supporting station of establishing from minor details lifting unit 6.In the drawings, label 121,122 expression bucket type coiling hoist cables, label 131,134 expression track adjusting wheels, the end anchors part of label 132,133,135,136 expression bucket type coiling hoist cables 121,122, label 137～139 expression fluid pressure cylinders, be equivalent to bucket type coiling hoist cable 121a～122b, track adjusting wheel 131a, 131b, 134a, 134b, engaging member 132a～133b, 135a～136b and fluid pressure cylinder 137A～139B in above-mentioned the 4th embodiment respectively, thus, omit its explanation.
In addition, the 7th embodiment shown in the image pattern 20 is such, and relative fixed column sections 3 makes the lift drive mechanism 120 that 4 liftings of joint lifting support portion drive in the 1st also can adopt fluid pressure cylinder 174.In graphic fluid pressure cylinder 174, cylinder main body 175a is connected with anchor post portion 3 sides by bolster 176, and the front end of the piston rod 175b that projects upwards is connected by joint lifting support portion 4 sides in the bolster 177 and the 1st, but, also can be as fluid pressure cylinder 137～139,137A～139B, joint lifting support portion 4 sides are connected among the cylinder main body 175a and the 1st, and the front end of the piston rod 175b that gives prominence to is connected with fixed bearing portion 3 sides downwards.Obviously, fluid pressure cylinder 137～139,137A～139B are opposite up and down, and be identical with fluid pressure cylinder 174, and the cylinder main body is connected with the lifting support portion of anchor post portion or last joint side, the front end of the piston rod that projects upwards simultaneously, is with the lifting support portion or the minor details lifting unit of joint side are connected down.Shown in the image pattern 20 like that, adopt the occasion of fluid pressure cylinder 174 at lift drive mechanism 120, can omit relative fixed column sections 3 makes joint lifting support portion 4 biasings in the 1st along ascent direction fluid pressure cylinder 137, dual-purpose makes the fluid pressure cylinder 137 of the balance block of joint lifting support portion 4 biasings in the 1st by the fluid pressure cylinder 174 as lift drive mechanism 120 along ascent direction.In other words, can be by the fluid pressure cylinder that makes the balance block of joint lifting support portion 4 biasings in the 1st along ascent direction, dual-purpose lift drive mechanism 120.
In the 7th embodiment shown in Figure 20, since by lift drive mechanism 120 liftings drive the 1st in joint lifting support 4 be one, needn't make the joint lifting support 4a of portion in the pair of right and left the 1st, the 4b synchronization lifting drives, so constitute lift drive mechanism 120 by fluid cylinder 174 easily, but, even adopt the joint lifting support 4a of portion in the pair of right and left the 1st, the elevating conveyance device of 4b, if and with making the joint lifting support 4a of portion in the pair of right and left the 1st, the link gear that the dipping and heaving of 4b is synchronous, then adopting pair of right and left the 1st joint lifting support 4a of portion, in the above-mentioned embodiment of 4b, lift drive mechanism 120 can adopt fluid pressure cylinder.
In addition, in the above embodiment, be provided as joint lifting support portion the 1st in the joint lifting support 5a of portion, 5b among the joint lifting support 4a of portion, the 4b and the 2nd, but, if the required lift of transfer device 14,42 is little, then can omit in the 2nd the joint lifting support 5a of portion, 5b, otherwise make the best use of the advantages when big in that transfer device 14,42 is necessary, the middle joint lifting support portion of 3 joints or its above joint number can be set.In addition, certainly, the use-case of transfer device is not limited to graphic example.
In addition, in elevating conveyance device of the present invention, carried object support as institute's lifting, transfer device 14 is set, 42, specifically, setting has by running fork 15a, but the transfer device 14 of the load supporting station that the level that 15b forms advance and retreat move, 42, but, even as the respective embodiments described above, on the carried object support of institute's lifting, the transfer device 14 that along continuous straight runs shifts carried object is set, under 42 the situation, the fork mode that is not limited to turn round can adopt the belt conveyor mode or draw in the known various transfer devices of releasing with the propelling unit mode of past.Obviously, also can on the carried object support of institute's lifting, only lay the guide rail of chassis, can and be laid between the guide rail on the floor of opposition side, shift to transport and use chassis at it.According to circumstances, also can only be provided as the carried object areal of support of the carried object support of institute's lifting, can between the floor of itself and opposition side, shift platform truck etc.
Claims (15)
1. elevating conveyance device, it comprises pedestal; The multi-joint telescoping Body of pillar, its upright being located on this pedestal can be stretched along the vertical direction; The carried object support; Telescopic drive mechanism is characterized in that:
Above-mentioned multi-joint telescoping Body of pillar comprise the anchor post portion of being fixed on the said base, this anchor post portion and lifting relatively middle joint lifting support portion, can be relatively should in joint lifting support portion and the minor details lifting unit of lifting;
Above-mentioned carried object support is arranged at the above-mentioned minor details lifting unit in the multi-joint telescoping Body of pillar;
Above-mentioned telescopic drive mechanism is made of following: be supported on the said fixing column sections of multi-joint telescoping Body of pillar and balance block that can lifting in the altitude range of this anchor post portion; With the gravity of this balance block be converted into application force upwards put on above-mentioned in the first volume in the joint lifting support portion around Transmission; Relatively the said fixing column sections and make above-mentioned in the lift drive mechanism that drives of joint lifting support portion lifting; The second coiling Transmission, this second coiling Transmission are transformed to the upward movement of the above-mentioned minor details lifting unit of joint lifting support portion in being somebody's turn to do relatively with the upward movement of joint lifting support portion in above-mentioned.
2. elevating conveyance device according to claim 1, it is characterized in that, a plurality of above-mentioned middle lifting support portions that save are set, the above-mentioned first volume is around adjacent the descending joint lifting support portion in joint above-mentioned most and be provided with of the relative said fixing column sections with above-mentioned lift drive mechanism of Transmission, the above-mentioned second coiling Transmission mutually adjacent two save between lifting support portion and the above-mentioned minor details lifting unit in joint above-mentioned between joint lifting support portion and in above-mentioned and set.
3. elevating conveyance device according to claim 1 and 2, it is characterized in that above-mentioned multi-joint telescoping Body of pillar comprises: in the left and right sides of a said fixing column sections, have above-mentioned middle joint lifting support portion and minor details lifting unit respectively, the above-mentioned minor details lifting unit of pair of right and left links into an integrated entity by horizontal link, above-mentioned carried object support is set on this horizontal link, and this carried object support constitutes according to the mode at a side bearing carried object of said fixing column sections.
4. elevating conveyance device according to claim 1 and 2, it is characterized in that about above-mentioned multi-joint telescoping Body of pillar is according to the opposed facing mode of above-mentioned minor details lifting unit and establish a pair of, the above-mentioned minor details lifting unit of two multi-joint telescoping Body of pillar interconnects by horizontal link and is integral, at the above-mentioned carried object support of this horizontal link upper support, this carried object support constitutes according to the mode of supporting carried object between two multi-joint telescoping Body of pillar.
5. elevating conveyance device according to claim 4, it is characterized in that but above-mentioned carried object support has the load supporting station of along continuous straight runs advance and retreat, this load supporting station is according to the position that is retracted into of the midway location of relative two multi-joint telescoping Body of pillar, can advance and retreat move to before and after arbitrarily the mode of side constitute.
6. elevating conveyance device, it comprises pedestal; The multi-joint telescoping Body of pillar, its upright being located on this pedestal can be stretched along the vertical direction; The carried object support; Telescopic drive mechanism is characterized in that:
Above-mentioned multi-joint telescoping Body of pillar comprise the anchor post portion of being fixed on the said base, relatively in this anchor post portion and lifting above-mentioned joint lifting support portion and can be relatively should in joint lifting support portion and the minor details lifting unit of lifting;
Above-mentioned carried object support is arranged at the above-mentioned minor details lifting unit in the multi-joint telescoping Body of pillar;
Above-mentioned telescopic drive mechanism is made of following: lift drive mechanism, this lift drive mechanism are arranged on the said fixing column sections, relatively the lifting of said fixing column sections drive above-mentioned in joint lifting support portion; Bucket type coiling hoist cable, this bucket type coiling hoist cable are arranged at above-mentioned middle saving in the lifting support portion, the upward movement of joint lifting support portion in above-mentioned are transformed to the upward movement of above-mentioned minor details lifting unit; Relatively the said fixing column sections and make adjacent above-mentioned in joint lifting support portion along the first fluid pressure cylinder of ascent direction biasing; And above-mentioned relatively middle second fluid pressure cylinder that saves lifting support portion and adjacent above-mentioned minor details lifting unit is setovered along ascent direction.
7. elevating conveyance device according to claim 6, it is characterized in that, a plurality of above-mentioned middle lifting support portions that save are set, in above-mentioned in the joint lifting support portion each all is provided with above-mentioned bucket type coiling hoist cable, be arranged at the above-mentioned bucket type coiling hoist cable that descends joint lifting support portion in joint above-mentioned most and will adjacent said fixing column sections the described upward movement of descending joint lifting support portion in joint above-mentioned most be transformed to the above-mentioned middle upward movement that saves lifting support portion to adjacent last a joint side, be arranged at other above-mentioned in the above-mentioned bucket type coiling hoist cable of joint lifting support portion will be adjacent next joint side above-mentioned in joint lifting support portion to other above-mentioned in upward movement of joint lifting support portion be transformed to the above-mentioned middle upward movement that saves lifting support portion or above-mentioned minor details lifting unit of adjacent last a joint side, three fluid pressure cylinder is set between the joint lifting support portion at adjacent two in above-mentioned, the 3rd fluid pressure cylinder relatively in next joint side above-mentioned joint lifting support portion make and save lifting support portion in a joint side above-mentioned and setover to ascent direction.
8. according to claim 6 or 7 described elevating conveyance devices, it is characterized in that, in above-mentioned each fluid pressure cylinder, the cylinder main body be installed on next joint side said fixing column sections or above-mentioned in the joint lifting support portion, from this cylinder main body piston rod that advance and retreat are outstanding movably downwards towards said fixing column sections of next joint side of suspention or above-mentioned save lifting support portion or the setting of above-mentioned minor details lifting unit in adjacent the last joint side of joint lifting support portion above-mentioned.
9. according to claim 6 or 7 described elevating conveyance devices, it is characterized in that above-mentioned each fluid pressure cylinder produces and certain bias force that makes progress of the weight basic equalization of an above-mentioned middle joint lifting support portion of the direct biasing of above-mentioned each fluid pressure cylinder or above-mentioned minor details lifting unit.
10. according to claim 6 or 7 described elevating conveyance devices, it is characterized in that along ascent direction the fluid pressure cylinder of above-mentioned minor details lifting unit biasing being constituted according to the mode that switches to the bias force that makes progress, upwards the bias force equilibrium is in the weight and the weight sum that is loaded into the carried object on this carried object support of this minor details lifting unit.
11., it is characterized in that above-mentioned lift drive mechanism comprises that lifting drives the adjacent above-mentioned middle actuating device that saves the coiling hoist cable of lifting support portion and drive this coiling hoist cable of said fixing column sections according to claim 6 or 7 described elevating conveyance devices.
12., it is characterized in that above-mentioned lift drive mechanism is by the adjacent above-mentioned middle above-mentioned fluid pressure cylinder dual-purpose that saves lifting support portion along the ascent direction biasing of said fixing column sections according to claim 6 or 7 described elevating conveyance devices.
13. according to claim 6 or 7 described elevating conveyance devices, it is characterized in that above-mentioned multi-joint telescoping Body of pillar respectively the left and right sides of a said fixing column sections be provided with respectively above-mentioned in joint lifting support portion and above-mentioned minor details lifting unit, the above-mentioned minor details lifting unit of pair of right and left links into an integrated entity by horizontal link, above-mentioned carried object support is set on this horizontal link, and this carried object support constitutes according to the mode at a side bearing carried object of said fixing column sections.
14. according to claim 6 or 7 described elevating conveyance devices, it is characterized in that about above-mentioned multi-joint telescoping Body of pillar is according to the opposed facing mode of above-mentioned minor details lifting unit and establish a pair of, the above-mentioned minor details lifting unit of two multi-joint telescoping Body of pillar is connected to one by horizontal link, at the above-mentioned carried object support of this horizontal link upper support, this carried object support constitutes according to the mode of supporting carried object between two multi-joint telescoping Body of pillar.
15. elevating conveyance device according to claim 14, it is characterized in that but above-mentioned carried object support comprises the load supporting station of along continuous straight runs advance and retreat, this load supporting station is according to the position that is retracted into of the midway location of relative two multi-joint telescoping Body of pillar, can advance and retreat move to before and after arbitrarily the mode of side constitute.
Applications Claiming Priority (6)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2007-022540 | 2007-02-01 | ||
| JP2007022540A JP4400756B2 (en) | 2007-02-01 | 2007-02-01 | Lifting conveyor |
| JP2007022540 | 2007-02-01 | ||
| JP2007263122A JP5333709B2 (en) | 2007-10-09 | 2007-10-09 | Lifting conveyor |
| JP2007263122 | 2007-10-09 | ||
| JP2007-263122 | 2007-10-09 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101234738A CN101234738A (en) | 2008-08-06 |
| CN101234738B true CN101234738B (en) | 2011-06-08 |
Family
ID=39749880
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008100060844A Active CN101234738B (en) | 2007-02-01 | 2008-02-01 | Elevating conveyance device |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP4400756B2 (en) |
| CN (1) | CN101234738B (en) |
Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102133998B (en) * | 2010-12-27 | 2012-10-24 | 江苏天奇物流系统工程股份有限公司 | Telescopic-cylinder variable-stroke fork type transfer machine |
| WO2012132569A1 (en) * | 2011-03-29 | 2012-10-04 | 村田機械株式会社 | Automated warehouse |
| CN103264698A (en) * | 2012-12-24 | 2013-08-28 | 李方立 | Multifunctional composite rapid railway transport vehicle and system for carrying vehicles |
| CN104554514A (en) * | 2013-10-22 | 2015-04-29 | 株式会社椿本链条 | Conveying device |
| CN106115572A (en) * | 2016-08-18 | 2016-11-16 | 常州博瑞电力自动化设备有限公司 | Valve tower module inspection platform |
| CN106240676A (en) * | 2016-08-25 | 2016-12-21 | 奇瑞商用车（安徽）有限公司 | A kind of car load rolls off the production line lift mechanism |
| CN106185693A (en) * | 2016-09-07 | 2016-12-07 | 沂水县沂龙机械有限责任公司 | A kind of freezer dedicated full-automatic hydraulic elevating platform |
| CN107055370B (en) * | 2017-04-28 | 2019-08-27 | 赛埃孚汽车保修设备（太仓）有限公司 | A kind of stroke compensating mechanism and its working method for twin columns elevator |
| CN107400755B (en) * | 2017-06-21 | 2019-07-05 | 中冶南方工程技术有限公司 | Hoisting formula RH application of vacuum system and its hoisting structure and supporting arrangement |
| CN108163753B (en) * | 2018-02-02 | 2023-03-21 | 临海市红鹏机械有限公司 | Wallboard lifting and layering mechanism |
| EP3762326A1 (en) * | 2018-03-05 | 2021-01-13 | Vehicle Service Group, LLC | Automatic adapter spotting for automotive lift |
| CN109272675A (en) * | 2018-08-29 | 2019-01-25 | 合肥浮点信息科技有限公司 | A kind of combustion gas self-help charger convenient for long-distance transport |
| CN113306655B (en) * | 2021-05-26 | 2022-06-28 | 机械工业第九设计研究院股份有限公司 | Reciprocating type vehicle body side jacking device |
| CN113651270B (en) * | 2021-08-24 | 2022-06-07 | 国网黑龙江省电力有限公司大兴安岭供电公司 | Lifting device for be used for transformer maintenance |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2236480Y (en) * | 1995-10-24 | 1996-10-02 | 南京现代液压机电科技有限公司 | Hydraulic folding vertically lifting frame |
| CN1158319A (en) * | 1995-11-30 | 1997-09-03 | Lg产电株式会社 | Apparatus for lifting/lowering freight |
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- 2007-02-01 JP JP2007022540A patent/JP4400756B2/en not_active Expired - Fee Related
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2236480Y (en) * | 1995-10-24 | 1996-10-02 | 南京现代液压机电科技有限公司 | Hydraulic folding vertically lifting frame |
| CN1158319A (en) * | 1995-11-30 | 1997-09-03 | Lg产电株式会社 | Apparatus for lifting/lowering freight |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2008189396A (en) | 2008-08-21 |
| JP4400756B2 (en) | 2010-01-20 |
| CN101234738A (en) | 2008-08-06 |
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