JP2000118620A - Load transfer device and stacker crane - Google Patents

Abstract

PROBLEM TO BE SOLVED: To decrease width of an advance and retreat moving member and to improve storage efficiency of an automatic warehouse. SOLUTION: A support shaft is installed on middle forks 49, 50 by a screw, and sprockets 59, 60 are supported around the support shaft as their center. Chains 65, 67 are wound around the sprockets 59, 60 in a folded back shape, one ends are fixed on lower forks 24, 25, and the other ends are fixed on upper forks 51, 52. Additionally, a rotation preventive plate 126 to prevent the support shaft from co-rotting with the chains 65, 67 is arranged in a second storage space K2 which is a dead space. Consequently, width between the middle forks 49, 50 and the upper forks 51, 52 decreases.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a load transfer device and a stacker crane which are used by being mounted on a stacker crane, an automatic guided vehicle, or the like.

[0002]

2. Description of the Related Art As this type of load transfer device, a load transfer device of a type in which a load is supported on an upper surface of a fork (running fork type) is generally used. However, in the case of the running fork type, it is necessary to secure a space for withdrawal of the fork below the load and a space for lifting the load above the load. Further, in order to bridge a pair of left and right load receiving members supporting the bottom left and right sides of the load on the shelf side, it is necessary to have columns for supporting the load receiving members on both left and right sides of each load storage unit. As a result, there is a disadvantage that the storage efficiency on the shelf side is reduced. Further, it is necessary to change the vertical stop position of the load transfer device between the time of storing the load and the time of taking out the load, and there is a problem that the control of the stop position is complicated.

[0003] In order to solve this drawback, a load support table on which loads are horizontally transferred between a load support portion such as a shelf configured to place loads on a support plate, A loading / unloading member including a loading / unloading moving member located on the side of a loading / unloading path between the table and the load supporting portion, and a pair of front / rear loading / unloading levers pivotally supported at both front and rear ends of the moving / backing member. A loading device (hereinafter referred to as a side picking type load transfer device) has been proposed. In this load transfer device, the transfer member is reciprocated in the load transfer direction with respect to the guide rail by the transfer drive mechanism.

[0004] The retractable drive mechanism includes a sprocket and a chain. The sprocket is supported so as to be rotatable about an axis attached to the inside of the moving member by a screw. A detent plate is provided outside the moving member so as to correspond to the sprocket, and the detent plate prevents the screw from rotating together with the sprocket. The chain is folded around the sprocket with one end fixed to the guide rail and the other end fixed to the retractable moving member.

When the load on the loading section is transferred to the storage section of the frame shelf, when the retracting drive mechanism is rotated, the retracting member moves from the standby position to the advanced position along the guide rail. Moving. At this time, the load pull-in / out lever is engaged with the rear end of the load in the transfer direction, and the load is slid on the support plate and the load supporting portion to transfer the load.

[0006]

A side picking type load transfer device is different from a running fork type load transfer device in that a fork exit space is located below the load and a load lifting space is located above the load. There is no need to secure them, and the storage efficiency of shelves increases. However, in the conventional side picking type loading / unloading device, since the detent plate for the screw for attaching the sprocket shaft in the retracting drive mechanism is provided outside the middle fork, the width of the retractable moving member is large. Become. Therefore, it is necessary to secure a wide space for the reciprocating movement member to reciprocate on the side of the load.
As a result, there is a problem that it is difficult to increase the load accommodation efficiency.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and a first object of the present invention is to reduce the width of a moving member in and out of a conventional device and to improve the storage efficiency of an automatic warehouse. It is an object of the present invention to provide a load transfer device capable of performing the above.
A second object is to provide a stacker crane equipped with the load transfer device.

[0008]

According to a first aspect of the present invention, there is provided a loading section on which a load is placed, and a loading section provided on the loading section along a direction in which the load is transferred to the loading section. A load comprising an extended guide rail, a retractable moving member movable along the guide rail, and retractable driving means for reciprocating the retractable member between a standby position and an advanced position. A transfer device, wherein the retractable moving member includes a first support member supported so as to reciprocate in the load transfer direction with respect to a guide rail, and the load member with respect to the first support member. A second support member supported so as to be reciprocally movable in the transfer direction, wherein the first support member is supported so as to be relatively movable so as to be located inside the guide rail, and the second support member is provided. Is supported so as to be relatively movable so as to be located inside the first support member, The retracting drive means includes a shaft attached to the first support member by screws, a rotating body supported about the shaft, one end fixed to the guide rail, and the other end supported by the second support member. A drive cable wound around the rotator in a state of being fixed to a member, and a detent member for preventing the shaft from rotating together with the rotator; Provided in a dead space between the support member and the support member.

According to this configuration, since the rotation preventing member for preventing the rotating body and the shaft from rotating together is arranged in the dead space, the width of the moving member is reduced. Therefore, it is not necessary to secure a large space for the reciprocating movement member to reciprocate on the side of the load.

According to a second aspect of the present invention, in the load transfer device according to the first aspect, the detent member has a plate shape and is attached to the first support member with a screw. It is.

According to this configuration, the rotation preventing member can be easily attached. According to a third aspect of the present invention, there is provided a stacker crane comprising the load transfer device according to any one of the first to fourth aspects on a carriage that can be moved up and down.

According to this configuration, the width of the moving member of the loading / unloading device mounted on the stacker crane can be reduced, and the storage efficiency of the automatic warehouse can be improved.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention embodied in a stacker crane for an automatic warehouse will be described below with reference to FIGS.

As shown in FIG. 4 (a), the automatic warehouse 1 includes a pair of left and right frame shelves 2a and 2b arranged to face each other. As shown in FIG. 4B, the frame shelves 2a, 2a
In b, a large number of storage portions are provided at predetermined intervals in a continuous direction (left-right direction in FIG. 4B) and a step direction (up-down direction in FIG. 4B). Each storage unit 3 is a column 4
And a shelf plate 5 disposed therebetween. The shelf plate 5 is formed to have a length that allows a plurality of loads W to be placed thereon. Further, the front ends of the frame shelves 2a and 2b (the left ends in FIG. 4A).
Is provided with an entrance 6 and an exit 7. A belt conveyor is used as the entrance 6.

The passage 8 between the frame shelves 2a and 2b of the automatic warehouse 1
, A rail 9 is laid, and a stacker crane 10 is provided on the rail 9 so as to be able to run. The stacker crane 10 includes a pair of masts 1 erected on a traveling platform 11.
A fork device 14 is provided as a load transfer device that suspends the carriage 13 between the two so as to be able to move up and down, and that can move back and forth on the carriage 13 in the left-right direction (vertical direction in FIG. 4A). A traveling motor 15 for traveling the stacker crane 10 and an elevating motor 16 for elevating the carriage 13 are arranged on the traveling platform 11. A crane controller 17 for controlling the driving of both motors 15 and 16 is provided on the lower front surface of the front mast 12. Then, the stacker crane 10 stops at a position corresponding to the end of the entrance 6 (belt conveyor), and transfers the load W onto the fork device 14 from the end of the stopped belt conveyor.

Next, the fork device 14 will be described. 1 is a partially cutaway schematic view of the fork device 14 viewed from the frame shelf 2b side, FIG. 2 is a side view of the fork device 14 viewed from the left side of FIG. 1, and FIG. 3 is a schematic sectional view taken along line III-III of FIG. is there. As shown in FIGS. 2 and 3, the fork device 14 is fixed on the carriage 13 at the base 19. Base part 1
Reference numeral 9 denotes a pair of support members 20 arranged in a state perpendicular to the load transfer direction (the vertical direction in FIG. 3), and a loading section 21 supported by both support members 20. Loading section 2
Numeral 1 is provided so as to connect both support members 20, and a pair of rollers 22 are provided at both ends in the load transfer direction. The roller 22 is disposed so that the highest part of the peripheral surface is slightly higher (for example, about 2 to 5 mm) than the upper surface of the loading section 21. Further, in a state where the loading section 21 is disposed at a position corresponding to the storage section 3, the entrance 6 or the exit 7 at both ends of the loading section 21, the storage section 3, the entrance 6.
Alternatively, sensors S1 and S2 for detecting a load on the outlet 7 are mounted so as to be located between the rollers 22.
For example, a reflection type optical sensor is used as the sensors S1 and S2.

A support rail 23 is provided outside the support members 20.
Are fixed so as to extend along the support member 20.
The support rail 23 is formed to have a substantially U-shaped cross section, and is fixed to the support member 20 on a side surface thereof with the groove positioned outside. Lower forks 24 and 25 as a pair of left and right guide rails are arranged between the two support rails 23 in a state orthogonal to the support rails 23, that is, in a state extending along the load transfer direction. Both lower forks 24 and 25 are formed of a plate material. At both ends of the lower forks 24, 25, rollers 27 that engage with the grooves of the support rail 23 are supported via brackets 26.
5 is movable along the longitudinal direction of the support rail 23 via a roller 27.

As shown in FIGS. 1 and 3, a support bar 28 is disposed outside the lower forks 24, 25 in a state where both ends thereof are fixed to the support member 20 and is orthogonal to the support member 20. Have been. A spline shaft 29 is rotatably supported between the support bars 28 via a bearing 30 fixed to the support bar 28. Support plates 31 and 32 are provided on the outer sides of the lower forks 24 and 25 with spacers 33.
And is fixed at a predetermined interval via. A hole through which a spline shaft 29 penetrates is formed in both support plates 31 and 32, and both support plates 31 and 32 are connected to the spline shaft 29.
And does not interfere.

As shown in FIGS. 1 and 2, both support members 2
In a state where the support shafts 34 and 35 extend below the support bar 28 and extend in parallel with the support bar 28, the support members 2
It is rotatably supported via a bracket 36 fixed to zero. Sprockets 37a, 37b, 38a, 38b are fixed to both ends of both support shafts 34, 35 so as to be integrally rotatable. A motor 39 is mounted on the lower surface of the loading section 21. A motor with a speed reducer is used as the motor 39, and its output shaft 39a extends parallel to the load transfer direction, and a driving sprocket 40 fixed to the output shaft 39a so as to be integrally rotatable is coplanar with the sprockets 37a and 38a. And the output shaft 39a is connected to the support shaft 34,
It is fixed to a position higher than 35. Guide sprockets 41 are supported on both sides of the drive sprocket 40 via brackets (not shown). Then, as shown in FIG. 1 and FIG.
a, 38a, an endless chain 42 between the guide sprocket 41 and the driving sprocket 40.
It is wound so as to run below. An endless chain 4 is provided between the two sprockets 37b and 38b.
3 is wound so as to run below the loading section 21.

The support plate 31 has lower connecting portions 31a on both front and rear sides thereof connected to a lower running portion where the chains 42 and 43 run horizontally. Support plate 3
2 has a lower connecting portion 32a on both front and rear sides thereof,
2, 43 are connected to a traveling portion above a horizontally traveling portion. When both chains 42 and 43 run in the same direction by the drive of the motor 39, both support plates 3
1 and 32 are configured to move together with the lower forks 24 and 25 in opposite directions.

As shown in FIG. 3, the lower fork 2
Sensors S3 and S4 for detecting the load W placed on the loading section 21 are provided at 4, 4 respectively. A beam sensor is used as each of the sensors S3 and S4, and the irradiation beam is attached to the lower forks 24 and 25 via a bracket so that the irradiation beam crosses obliquely above the loading portion 21. At the standby position where the distance between the lower forks 24 and 25 is widest, the sensors S3 and S4 are both set.
4 are arranged so that the beam irradiation unit and the light receiving unit face each other.

A motor M for fork retraction is fixed inside the support plate 31 so that its output shaft extends in a direction perpendicular to the load transfer direction, and a drive gear 44 is fixed to the output shaft so as to be integrally rotatable. Have been. An intermediate gear 45 meshing with the drive gear 44 is rotatably supported above the drive gear 44 between the lower fork 24 and the support plate 31 via a support shaft. Above the intermediate gear 45, a pair of pinions 46a, 46b is disposed in a state of meshing with the intermediate gear 45. One pinion 46a is a spline shaft 2
9 and is supported slidably in the axial direction of the spline shaft 29 together with the lower fork 24. The other pinion 46b is rotatably supported via a support shaft.

Between the lower fork 25 and the support plate 32, an intermediate gear 47 is rotatably supported via a support shaft at a position symmetrical to the intermediate gear 45. Above the intermediate gear 47, the intermediate gear 4 is positioned symmetrically with the pinions 46a and 46b.
A pair of pinions 48a and 48b are arranged in a state of meshing with the pinion. One pinion 48a is a spline shaft 2
9 and is supported slidably in the axial direction of the spline shaft 29 together with the lower fork 25. The other pinion 48b is rotatably supported via a support shaft. Therefore, each pinion 46 is driven by the drive of the motor M.
a, 46b, 48a, 48b are rotated in the same direction.

As shown in FIGS. 1 and 6, inside the lower forks 24, 25, middle forks 49, 50 as first supporting members constituting the retreating members are provided with respect to the lower forks 24, 25. Supported in a reciprocating manner in the load transfer direction. Inside the middle forks 49, 50, upper forks 51, 52 as second support members constituting the retreating member are supported so as to be able to reciprocate in the load transfer direction with respect to the middle forks 49, 50. I have. The lower forks 24, 25, the middle forks 49, 50, and the upper forks 51, 52 pass through the center of the loading portion 21,
They are formed symmetrically with respect to a vertical plane parallel to the load transfer direction.

FIGS. 6A, 6B, 9A,
(B), as shown in FIG.
Numeral 0 is supported by the lower forks 24, 25 so as to be relatively movable with respect to the guide rails 24, 25 via a guide mechanism 100 as guide means. Lower fork 24, 2
5 and the first fork 49, 50 formed between the middle forks 49, 50.
The guide mechanism 100 is disposed in the accommodation space K1. Hereinafter, the guide mechanism 100 will be described in more detail.

On the outer surfaces of the middle forks 49, 50, there are provided rails 101, 102 extending in the direction in which the load is transferred. Each of the rails 101 and 102 is fixed to each of the middle forks 49 and 50 by a bolt 104 via a bracket 103. Each rail 101, 10
2 is formed in a plate shape, and tapered engaging portions 101a and 102a are formed at upper and lower end edges thereof.

Inside the lower forks 24, 25 at positions corresponding to the rails 101, 102, a plurality of sandwiching rollers 105, 106 are provided in two vertical rows along the load transfer direction. Upper and lower sandwiching rollers 105,
The support shaft 107 has its support shaft 107 penetrated through the lower forks 24 and 25 and is fastened and fixed by a nut 108.
The outer peripheral surfaces of the upper and lower sandwiching rollers 105 and 106 have V
Engaging grooves 105a and 106a are formed.
The engaging grooves 105a and 106a are engaged with the engaging portions 101a and 102a of the rails 101 and 102, respectively.
102 is sandwiched between the sandwiching rollers 105 and 106. The loads of the middle forks 49 and 50 are received by the sandwiching rollers 105 and 106 as their radial loads and thrust loads. Therefore, in this embodiment, the guide mechanism 100 includes the rails 101 and 102 and the upper and lower sandwiching rollers 105 and 10.
6 is comprised.

FIGS. 6A, 6B, 9A,
(B), as shown in FIG. 10, upper forks 51, 5
2 is supported so as to be relatively movable with respect to the middle forks 49 and 50 via a guide mechanism 111 as guide means. The guide mechanism 111 is disposed in a second accommodation space (dead space) S2 formed between the middle forks 49, 50 and the upper forks 51, 52. Hereinafter, the guide mechanism 111 will be described in more detail.

On the inner surfaces of the middle forks 49, 50,
Engagement rails 112 and 113 are provided as engagement members extending along the load transfer direction. This engagement rail 1
12, 113 have a bottom wall a, a side wall b erected from one end of the bottom wall a, and an upper wall c extending from the upper end of the side wall b in parallel with the bottom wall a. The grooves 112a and 113a are formed by being surrounded by the walls a to c. The bottom wall a and the upper wall c in the grooves 112a and 113a are formed with substantially V-shaped engaging portions 112b and 113b extending in the longitudinal direction, respectively.

The upper forks 51, 52 have a substantially reverse cross section L.
And the hanging pieces 51a, 52a have bearings 1
Support rollers 115 and 116 are rotatably supported via. A plurality of support rollers 115 and 116 are provided in a row along the load transfer direction, and are accommodated in the grooves 112a and 113a of the engagement rails 112 and 113.

As shown in FIG. 12, the engagement rails 112,
The center of rotation of each of the support rollers 115 and 116 (center axes 115a and 116
The axes (a) L1 and L2 are vertically eccentric. The rotation centers L1 and L2 of the support rollers 115 and 116 are vertically displaced from each other with respect to the center axis L3 of the engagement rails 112 and 113. Thereby, each support roller 1
The lower portions of the outer peripheral surfaces of the first and second support rollers 15 and 116 are pressed against the bottom wall a of the support rollers 115 and 116. Further, each of the support rollers 115, 116 is pressed against the upper wall c of the support rollers 115, 116 at every other upper portion of the outer peripheral surface. The loads of the upper forks 51, 52 are received by the support rollers 115, 116 as their radial loads and thrust loads. Accordingly, in this embodiment, the guide mechanism 111 is
12 and 113 and support rollers 115 and 116.

Further, as shown in FIG.
The rotation centers L1 and L2 of the rollers 5 and 116 are arranged substantially at the center between the arrangement of the upper and lower sandwiching rollers 105 and 106.

Below the middle forks 49, 50 in the second accommodation space K2, pinions 46a, 46b, pinions 48a, 48b and a rack 57, which are part of the retracting drive means, are accommodated. The rack 57 has a pinion 4
6a, 46b and at least one of the pinions 48a, 48b.
It is moved in a rotation direction such as a.

FIGS. 2, 6 (a), 6 (b), 13
As shown in (a) and (b), a support shaft 61 penetrates through upper portions of the middle forks 49 and 50 in the second storage space K2, and a screw 121 is provided at one end thereof via a collar 120.
Is screwed. By tightening this screw 121,
The support shaft 61 is fixed to the lower forks 24 and 25. Sprockets 59, 60 are rotatably supported at the tip of the support shaft 61 via bushes 62a, 62b. The bushes 62a, 62b are sprockets 59, 6
0 protrudes from both ends. In addition, between the sprockets 59 and 60 and the bushes 62a and 62b,
Grease for smoothly rotating the sprockets 59 and 60 is applied.

The sprockets 59, 60 are arranged at intervals in the longitudinal direction of the lower forks 24, 25.
One sprocket 59 is disposed at the left end of the middle forks 49, 50, that is, at a position corresponding to the left end of the lower fork 24 in FIG. The other sprocket 60 is disposed at the right end of the middle forks 49, 50, that is, at a position corresponding to the right end of the lower fork 24 in FIG.

A screw 123 is screwed into the tip of the support shaft 61 via a collar 122. Then, by tightening the screw 123, the bushes 62a, 6b are inserted between the collar 122 and the flange 61a formed on the outer periphery of the support shaft 61.
2b are respectively fixed. This prevents the sprockets 59 and 60 from coming off the support shaft 61.

A detent plate 126 as a detent member is disposed above the middle forks 49 and 50 in the second storage space K2. One end of the detent plate 126 is attached to the middle forks 49,5 by the mounting screw 127.
Fixed to 0. The other end of the detent plate 126
It is inserted into the support shaft 61 and is sandwiched between the lower forks 24 and 25 and the flange portion 61a of the support shaft 61.
Then, by the tightening force of the screw 121, the detent plate 12
6 and the support shaft 61 are integrated. Therefore, the rotation preventing plate 126 prevents the support shaft 61 from rotating together with the rotation of the sprockets 59 and 60.

As shown in FIGS. 2, 6 (a) and 6 (b),
A support piece 64 is fixed near the center of the lower fork 24 and on the left side near the center in FIG. The support piece 64 is bent in an L-shape, and one end of a chain 67 wound around the sprocket 60 is connected to the support piece 64.
A support piece 66 is fixed to the lower fork 24 near the center right. The support piece 66 is bent and formed in an L shape, and the support piece 66 has a chain 6 wound around a sprocket 59.
5 are connected at one end. Similarly, the lower fork 25 has support pieces 64 to which one ends of the chains 67 and 65 are connected.
66 are provided.

A bracket 68 is fixed on one plate member 56 fixed to the left end of the upper fork 51 in FIG. 2, and the other end of a chain 67 wound around a sprocket 60 is connected to the bracket 68. . A bracket 69 is fixed on the other plate member 56 fixed to the right end of the upper fork 51 in FIG. 2, and the bracket 69 is attached to the chain 6 wound around a sprocket 59.
5 is connected to the other end. Brackets 68 and 69 are similarly arranged on the upper fork 52, and the bracket 6
The other ends of the chains 67, 65 are connected to 8, 69, respectively.

The chains 67 and 65 are fixed to the support pieces 64 and 66 so that the positions thereof cannot be adjusted.
9 is fixed via an adjustment bolt 70. As shown in FIG. 7, the brackets 68 and 69 are provided with fixing portions 68 a and 69 a for the plate member 56 and supporting portions 68 b and 69 b through which the adjustment bolt 70 penetrates. 6
The tension of 5,67 can be adjusted.

The motor M, drive gear 44, intermediate gear 45,
47, pinions 46a, 46b, 48a, 48b, rack 57, sprockets 59, 60 and chains 65, 6
7 constitutes a retracting drive means for reciprocating the retracting member between the standby position and the advanced position. When the middle forks 49 and 50 move to the left in FIG.
1, 52 are moved to the left in FIG. Sprocket 6
0 denotes upper forks 51, 52 via the chain 67 when the middle forks 49, 50 move rightward in FIG.
Is moved rightward in FIG.

As shown in FIGS. 2, 8 (a) and 8 (b),
Four windows 72 are formed in each of the lower forks 24, and sensors S <b> 5 to S <b> 8 for detecting that the middle forks 49 are at the standby position and the advance position at positions corresponding to the respective windows 72 via the bracket 73. Fixed.
Proximity switches are used for the sensors S5 to S8.
Further, two detected portions (not shown) are fixed to the middle fork 49 near the end thereof. And
The middle fork 49 is detected by the detection signals of the sensors S5 to S8.
Is detected.

Similarly, the lower fork 25 has a window 72.
Are formed, and sensors S5 to S8 are provided. Two detected portions (not shown) are fixed to the middle fork 50 at positions symmetrical to the detected portions of the middle fork 49. Then, the sensors S5 to S8
, The position of the middle fork 50 is detected.

As shown in FIGS. 1 and 2, the rotary actuators 76 and 77 are provided above the upper forks 51 and 52, respectively.
Are arranged in pairs so as to extend along the longitudinal direction of the upper forks 51 and 52. Rotation actuator 7
6 and 77 are supported on upper forks 51 and 52 via support brackets 78 with their base ends facing each other. Motors are used for the rotation actuators 76 and 77. Lever 80, 81 is supported at the tip of the rotation part 79 of the rotation actuators 76, 77 so as to be integrally rotatable. Lever 80, 81 is upper fork 5
At the time of the movement of the first and second moving parts 52, they are pivotally disposed at an operation position B at which the load W on the load receiver 21 can be engaged at the rear end in the transfer direction and a retractable position A at which the load W cannot be engaged. In this embodiment, as shown in FIG. 1, a position where the levers 80 and 81 extend vertically vertically is a retreat position A, and a position where the levers 80 and 81 extend diagonally downward toward the loading portion 21 is an operation position B. .

As shown in FIG. 2, the rotating portion 79 is formed in a cylindrical shape, and first and second arc-shaped slits 79a and 79b are parallel to the base end thereof so as to extend in the circumferential direction. Is formed. As shown in FIG. 2 and FIG. 14, on the upper forks 51, 52 (only the upper fork 51 is shown), sensors S9 to S12 are provided at positions corresponding to the slit forming positions of the rotating portion 79 with brackets 82, 83.
Attached through. Proximity sensors are used for the sensors S9 to S12. The first slit 79a formed on the base end side of the rotating portion 79 corresponds to the sensors S9 and S11, respectively, and the second slit 79b corresponds to the sensor S1.
0 and S12 respectively.

When the levers 80 and 81 are located at the retracted position A, the portion other than the slit 79a is
The sensors S9 and S11 are turned on in opposition to the sensors 9 and S11. When the levers 80 and 81 are located at the operation position B, the slit 79a faces the sensors S9 and S11, and the sensors S9 and S11 are turned off. Also, levers 80 and 81
Is located at the retreat position A, the slit 79b faces the sensors S10 and S12, and the sensors S10 and S12 are turned off. In a state where the levers 80 and 81 are arranged at the operation position B, the portion other than the slit 79b is the sensor S10,
The sensors S10 and S12 are turned on in opposition to S12.

As shown in FIG. 14 and FIG.
Inside the upper forks 51 and 52 (only the upper fork 51 is shown), there is provided a detecting means for detecting that the upper forks 51 and 52 are at a predetermined distance from the side of the load W by contacting the side of the load W. The constituent bumper 84 is
It is arranged so as to extend along the upper forks 51, 52. The bumper 84 is formed of a plate material,
As shown in FIG. 15B, both ends (only one side is shown)
Is formed in a shape bent inward. Then, the bent portion of the bumper 84 projects outside the upper forks 51, 52 from a window 85 formed in the upper forks 51, 52, and the upper forks 51, 5 are formed.
2 is fixed via a leaf spring 87 to a block 86 fixed outside.

As shown in FIG. 14, the upper fork 5
Two windows 88 are formed near the center of the upper and lower forks 51 and 52 (only the upper fork 51 is shown).
Has been fixed through. Micro switches 89, 90
Is fixed to a position where it is turned on when the bumper 84 moves to the upper forks 51, 52 side by a predetermined amount. Sensors S13 and S14 for fixing the upper forks 51 and 52 so as not to interfere with obstacles when the upper forks 51 and 52 move to the advanced position are fixed to lower portions of both ends of the upper forks 51 and 52. ing. A beam sensor is used as the sensors S13 and S14, and outputs a detection signal when there is an obstacle closer than a predetermined distance. When the detection signal is output, the driving of the motor M is stopped. .

The upper forks 51 and 52 include rotary actuators 76 and 77 as electric devices mounted on the upper forks 51 and 52, micro switches 89 and 90,
A connector 92 to which a connector (each not shown) of each lead wire of the sensors S9 to S14 is connected is attached. Power is supplied to the rotation actuators 76 and 77, the micro switches 89 and 90, and the sensors S9 to S14 via lead wires connected to the connector 92.

As shown in FIGS. 2, 14 and 15A, the upper forks 51 and 52 have one end connected to the connector 92 and the other end mounted on the carriage 13 as a fixed side. A guide member 94 for guiding the wiring 93 connected to a power supply (not shown) is provided. The guide member 94 is formed of a plate material that is bent so as to form a groove whose upper side and both ends are open,
The bottom surface is fixed to the upper surfaces of the upper forks 51, 52. A support plate 95 extending vertically above the upper end of the guide member 94 is vertically fixed above the lower forks 24, 25, and a part of the wiring 93 is attached to a support piece (clamp) 96 fixed above the support plate 95. Is supported. FIG.
As shown in FIG. 4, the support plate 95 includes upper forks 51 and 5.
2 in the standby position, the connector 92
The guide member 94 is located near the end of the guide member 94 on the side closer to. The wiring 93 is moved from the position supported by the support piece (clamp) 96 to the guide member 9 when the upper forks 51 and 52 are arranged at the standby position.
4 is extended to the end opposite to the connector 92, folded back into a U-shape, and guided to the connector 92 through the bottom of the guide member 94.

Next, the operation of the apparatus constructed as described above will be described by taking as an example a case where the load W is stored in the storage section 3 of the right frame shelf 2b from the storage opening 6. Stacker crane 1
In the case of 0, the traveling motor 15 is driven by a command from the crane controller 17, travels along the rail 9, and then stops at a position corresponding to the entrance 6. The lifting motor 16 is driven by a command from the crane controller 17, and the carriage 13 stops at a position corresponding to the entrance 6. The carriage 13 stops at a position where the upper surface of the loading section 21 is at the same height as the upper surface of the shelf 5.

When there is no load W on the loading portion 21, the lower forks 24 and 25 are arranged at the standby position where the interval is the largest. The crane controller 17 has a sensor S
3, the load W is placed on the loading section 21 by the output signal from S4.
The motor M is driven after confirming that there is no load and that the load W exists at the entrance 6 based on the output signal from S2. When the motor M is driven, the drive gear 44 is rotated clockwise in FIG. 2, and the pinions 46 a and 46 b disposed on the lower fork 24 side are rotated via the intermediate gear 45 with the rotation of the drive gear 44 in FIG. Is rotated clockwise. With the rotation of the pinion 46a, the spline shaft 29 rotates integrally with the pinion 46a, and the pinion 48a disposed on the lower fork 25 side rotates integrally with the spline shaft 29. Then, the pinion 48b also rotates in the same direction as the pinion 48a via the intermediate gear 47. As a result, both middle forks 49 and 50 move rightward in FIG.

When the sprocket 60 moves together with the middle forks 49, 50, one end of the chain 67 wound around the sprocket 60 is connected to the lower forks 24, 2.
5, the sprocket 60 moves while rotating counterclockwise in FIG. As a result, the upper forks 51, 52 supported by the middle forks 49, 50 via the guide mechanism 111 and connected to the other end of the chain 67 have a moving distance of 2 for the middle forks 49, 50 in the moving direction of the sprocket 60. Move twice.

When the sprocket 60 rotates,
Even if the support shaft 61 tries to rotate together with the sprocket 60, the rotation of the support shaft 61 is prevented by the rotation preventing plate 126. Thereby, the screw 121 for fixing the support shaft 61 is formed.
Is not loose.

When the upper forks 51, 52 reach the advanced position and the detection signal is output from the sensor S7, the driving of the motor M is stopped, and the upper forks 51, 52 are stopped.
Stops at a predetermined advance position. The upper fork 5
If there is an obstacle at a position that interferes with the first and second forks 51 and 52 and the middle forks 49 and 50, a detection signal is output from the sensor S14, and the drive of the motor M is stopped to stop the upper forks 51 and 52. 52 is stopped during the movement.

After the upper forks 51 and 52 have stopped at the predetermined advance positions, the motor 39 is driven to rotate the driving sprocket 40 in the counterclockwise direction in FIG. Then, the chains 42 and 43 are driven in the same direction, and the lower forks 24 and 25 are moved in a direction approaching each other. Then, after the bumper 84 comes into contact with the load W, it is pressed against the upper forks 51 and 52 against the urging force of the leaf spring 87 and moves to a predetermined position.
0 turns on. When the micro switches 89 and 90 are turned on, the driving of the motor 39 is stopped, and the load W is in a state where the center in the width direction coincides with the center in the width direction of the load portion 21 (the direction orthogonal to the load transfer direction). The state is sandwiched between the bumpers 84 with a predetermined pressing force.

Next, both the rotary actuators 76 and 77 are driven, and the levers 80 and 81 are arranged at the operation positions.
The rotation actuators 76 and 77 are sensors S10 and S12.
Is stopped when an ON signal is output from the controller.
Next, the motor M is driven to rotate in the opposite direction, and the pinions 46a, 46b, 48a, 48b are rotated in the counterclockwise direction in FIG. And middle forks 49,5
When 0 is moved to the left in FIG.
Since one end of the chain 65 wound around the sprocket 59 is fixed to the lower forks 24 and 25,
The sprocket 59 moves while rotating clockwise in FIG. As a result, the upper forks 51, 52 supported by the middle forks 49, 50 via the guide mechanism 111 and connected to the other end of the chain 65
The middle fork 49, 50 moves twice as far as the moving distance of the middle forks 49, 50 in the direction of movement of No. 9.

When the sprocket 59 rotates,
Even if the support shaft 61 tries to rotate together with the sprocket 59, the rotation of the support shaft 61 is prevented by the rotation preventing plate 126. Thereby, the screw 121 for fixing the support shaft 61 is formed.
Is not loose.

Since the levers 80 and 81 are arranged at the operation positions, the lever 80 engages with the rear end of the load W in the transfer direction during the movement of the upper forks 51 and 52, and the upper forks 51 and 52 are moved. Accordingly, the load W is moved toward the loading section 21.

When the upper forks 51, 52 and the middle forks 49, 50 reach the standby position, the sensors S5, S8
When the detection signal is output from the motor, the driving of the motor M is stopped, and the upper forks 51, 52 and the middle fork 4
9, 50 stop at the standby position. Thus, the operation of transferring the load W from the entrance 6 to the loader 21 is completed.

Next, the traveling motor 15 and the elevating motor 16 are driven, the stacker crane 10 travels to a position corresponding to the storage unit 3 in which the load W is to be stored, and the carriage 13 stops at a position corresponding to the storage unit 3. . Then, the crane controller 17 confirms that there is no load W in the storage section 3 based on the output signal of the sensor S2, and then loads the load W to the storage section 3.
Start transfer work. First, the motor M is driven to move the upper forks 51 and 52 and the middle forks 49 and 50 to the predetermined advance positions in the same manner as described above. Since the levers 80 and 81 remain in the operation position, the lever 81 engages with the rear end in the transfer direction of the load W during the movement of the upper forks 51 and 52, and the load is moved with the movement of the upper forks 51 and 52. W is moved toward the storage unit 3. Then, after the upper forks 51, 52 have moved to the advanced position, the motor 39 is driven to move the lower forks 24, 25 to the standby position, and the engagement between the bumper 84 and the load W is released.

Next, the rotation actuators 76 and 77 are driven and stopped when the sensors S9 and S11 output an ON signal, and the levers 80 and 81 are arranged at the retracted positions. Next, the motor M is driven to return the middle forks 49 and 50 and the upper forks 51 and 52 to the standby position. Then, one cycle of the operation of transferring the load W from the load storage unit 21 to the shelf 5 of the storage unit 3 is completed.

The same operation is performed when the load W is taken out from the storage section 3 of the right frame shelf 2b and stored in the other storage section 3 on the right side. On the other hand, the load W is placed on the left frame shelf 2a.
When storing the goods W and when unloading the load W from the outlet 7,
Middle forks 49, 50 and upper forks 51, 5
2 moves toward the left side in FIG. 2 when moving to the advanced position. Therefore, when the crane controller 17
Is different from that described above in that it is rotationally driven in the direction opposite to the above, and the point that the stop position at the advanced position is performed based on the detection signal of the sensor S6 is the same, and the other control is the same.

Therefore, according to this embodiment, the following effects can be obtained. (1) The support shaft 61 is screwed to the middle forks 49 and 50
1 and the sprockets 59 and 60 are supported around its support shaft 61. This sprocket 5
Chains 65 and 67 are wound around 9 and 60 in a folded manner, and one end is fixed to lower forks 24 and 25 and the other end is fixed to upper forks 51 and 52. A detent plate 126 for preventing the support shaft 61 from rotating together with the chains 65 and 67 is arranged in the second accommodation space K2 which is a dead space. For this reason, middle fork 4
9 and 50 and the width between the upper forks 51 and 52 can be reduced. Therefore, the width between the middle forks 49, 50 and the upper forks 51, 52 can be made smaller than that of the conventional device, and the storage efficiency of the automatic warehouse can be increased.

(2) The detent plate 126 has a plate shape and is attached to the middle forks 49 and 50 by screws 121. Therefore, the detent plate 126 can be easily attached, and the detent plate 126
Installation space can be minimized.

The embodiment of the present invention may be modified as follows. In the above embodiment, the chains 65, 67 are engaged with the sprockets 59, 60. Besides this,
The sprockets 59 and 60 may be timing pulleys, and the chain may be a timing belt.

The shape of the rotation preventing plate 126 may be changed to a shape other than the plate shape. The detent plate 126 may be arranged at an arbitrary position in the second accommodation space K2. Next, in addition to the technical ideas described in the claims, technical ideas grasped by the above-described embodiments are listed below together with their effects.

(1) The load transfer device according to claim 1 or 2, wherein the detent member is accommodated in a dead space in a state in which the detent member is in contact with the first support member. According to this configuration,
The installation space for the detent member can be further reduced.

(2) Provided at both ends of the moving member in the transfer direction with the moving member so as to engage with the load on the loading portion at the rear end in the moving direction when the moving member moves. 3. The load transfer device according to claim 1, further comprising a lever rotatably arranged between a possible operation position and an unengageable retreat position. According to this configuration, the load can be sandwiched by moving the retreating member, so that it is possible to flexibly respond to the size of the load.

(3) The guide rail and the retreating member are provided as a pair of left and right members, and the reciprocating drive means drives the pair of left and right reciprocating members in conjunction with each other. Load transfer device. According to this configuration, according to this configuration, the load is moved while being engaged with the pair of left and right levers, and the load can be securely held even if the length of the lever is shorter than the configuration in which the lever is provided on one side. Can be transferred to

[0071]

The present invention is configured as described above, and has the following effects. According to the first aspect of the present invention, the width of the moving member can be narrower than that of the conventional device, and the storage efficiency of the automatic warehouse can be improved.

According to the second aspect of the present invention, the detent member can be easily attached, and the installation space for the detent member can be reduced as much as possible.

According to the third aspect of the present invention, the width of the moving member of the loading / unloading device mounted on the stacker crane can be reduced, and the storage efficiency of the automatic warehouse can be improved.

[Brief description of the drawings]

FIG. 1 is a partially cutaway schematic front view of a load transfer device according to an embodiment.

FIG. 2 is a schematic side view.

FIG. 3 is a partially omitted sectional view taken along the line III-III in FIG. 1;

4A is a schematic plan view of an automatic warehouse, and FIG. 4B is a schematic side view.

FIG. 5 is a schematic perspective view of a drive mechanism for changing the width of the lower fork.

FIG. 6 is a partially enlarged view of FIG. 1;

FIG. 7 is a schematic perspective view of a block supporting a chain.

FIG. 8 is a partially sectional front view showing the mounting structure of the sensor.

FIG. 9 is an enlarged front view showing the guide mechanism and the guide mechanism.

FIG. 10 is a partial perspective view of a middle fork and an upper fork.

FIG. 11 is a partial perspective view of a lower fork and a middle fork.

FIG. 12 is a side view showing a part of the guide mechanism.

FIG. 13 is a schematic plan view showing a detent plate.

FIG. 14 is a side view of the upper fork.

FIG. 15A is a plan view showing a support state of a rotary actuator, and FIG. 15B is a partial plan view showing a support state of a bumper.

[Explanation of symbols]

10: stacker crane, 13: carriage, 21: loading section, 24, 25: lower fork (guide rail),
49, 50: middle fork (first support member forming the moving member), 51, 52 ... upper fork (second supporting member forming the moving member), 59, 60: sprocket (moving) A rotating body that forms part of the driving means),
Reference numeral 61 denotes a support shaft, 65 and 67 a chain (a drive cable constituting a part of the retracting drive means), 121 a screw, 126 a detent plate (a detent member), and W a load.

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Mitsutaka Shibaki 2-1-1 Toyota-cho, Kariya-shi, Aichi F-term in Toyota Industries Corporation (reference) 3F022 FF01 JJ07 KK03 MM01 MM17 3F333 AE03 BE06 BF04

Claims (3)

[Claims] 1. A loading section on which a load is placed, a guide rail provided on the loading section and extending along a direction in which the load is transferred to the loading section, and a guide rail extending along the guide rail. A loading / unloading device comprising: a movable member capable of moving the movable member; and a retracting drive unit configured to reciprocate the movable member between a standby position and an advanced position. A first support member supported reciprocally in the load transfer direction with respect to the guide rail, and a second support member supported reciprocally in the load transfer direction with respect to the first support member. The first support member is relatively movably supported so as to be located inside the guide rail, and the second support member is located inside the first support member. The retractable driving means is supported to be relatively movable, and A shaft attached by a screw, a rotating body supported about the shaft, and a folded back to the rotating body with one end fixed to the guide rail and the other end fixed to the second support member. A transfer cable provided with a drive rope wound around the first support member and a detent member for preventing the shaft from rotating together with the rotating body in a dead space between the first support member and the second support member. Loading device. 2. The load transfer device according to claim 1, wherein the detent member has a plate shape and is attached to the first support member with a screw. 3. A stacker crane comprising the load transfer device according to claim 1 on a vertically movable carriage.