JP2000118623A - Cargo transfer device and stacker crane - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a load transfer device capable of certainly preventing defective operation. SOLUTION: A support means to support each of lower forks free to move it in an approaching and separating direction is provided on a support member 20 of a base part. This support means is constituted of a pair of support rails 61, 62 and rollers 27a, 27b engaged with groove parts 61e, 62e of each of these support rails 61, 62. Additionally, movement of the roller 27a is regulated in the axial direction by a contact part 63 in the groove part 61e of the one support rail 61. Furthermore, movement of the roller 27b is allowed in the axial direction in the groove part 62e of the other support rail 62. In this constitution, it is possible to absorb an error even when thhere is the dimensional error in machining between a clearance L1 of both of the rollers 27a, 27b and a clearance L2 of both the rails 61, 62 at the time of assembling the rollers 27a, 27b on the support rails 61, 62.

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 Conventionally, this type of load transfer apparatus has a base portion provided on a carriage such as a stacker crane. As shown in FIG. 14, the base unit 101 of the load transfer device includes a pair of support members 102 arranged in a state perpendicular to the load transfer direction. A support rail 103 is fixed to one side of each support member 102 so as to extend along each support member 102 (a direction perpendicular to the plane of FIG. 14). Both support rails 103 are fixed to the support member 102 in a state where the groove 103a is located outside.
An oblique contact surface 104 is formed at the corner of the groove 103 a of the support rail 103.

A support member 10 is provided on the base 101.
2 are provided with a pair of guide members 106 arranged at a predetermined interval in the longitudinal direction. Each guide member 106
Has a movable member 10 movable along its extending direction.
7 are provided, and each reciprocating member 107 reciprocates between a standby position and an advanced position.
At both ends of the transfer member 107 in the transfer direction, there are provided levers 108 which are pivotally disposed between a working position at which the rear end portion of the load in the transfer direction is engageable and a retractable position where the engagement is not possible. I have.

[0004] At both ends of the guide members 106, rollers 109 which engage with the grooves 103a of the support rails 103 are supported via brackets 110. The movement of the roller 109 along the support rail 103 causes the two guide members 106 to approach and separate. The upper and lower ends of each roller 109 are supported by the support rail 10.
3 is in contact with the contact surface 104. With this contact,
Each roller 109 is positioned in a direction orthogonal to the direction in which the guide member 106 approaches and separates.

When the load stored in the frame shelf is taken into the load transfer device, the rollers 109 are rotated along the guide members 106 after the moving member 107 reaches the advanced position. , The guide members 106 are horizontally moved in a direction approaching each other. And the moving member 10
7, the load is sandwiched between the moving members 107. Next, the lever 108 is pivotally disposed at the operation position. This allows the lever 10 to move in the middle of the movement of the moving member 107.
7 is engaged with the rear end in the transfer direction of the load, and the load is moved from the frame shelf toward the base portion 101 with the movement of the moving member 107.

[0006]

However, in the conventional load transfer device, both rollers 109 are supported by both support rails 10.
3 position. Therefore, both rollers 10
If there is a dimensional error in processing between the interval L1 of No. 9 and the interval L2 of both support rails 103, the error cannot be absorbed. Further, even if the error can be absorbed, the permissible range is very small, and the mounting position of each roller 109 with respect to each support rail 103 is shifted. In such an assembling, there is a problem that the roller 109 does not rotate smoothly along the support rail 103, which leads to a malfunction such that a load cannot be sandwiched between the moving members 107.

In order to avoid such a malfunction, if there is a dimensional error, the distance L between the two rollers 109 is reduced.
One or the distance L2 between the two support rails 103 may be adjusted. However, there has been a problem that it takes a long time to perform this adjustment work, which causes a reduction in manufacturing efficiency.

[0008] The present invention has been made to solve the above problems, and a first object of the present invention is to provide a load transfer device capable of reliably preventing a malfunction. A second object is to provide a stacker crane provided with the load transfer device.

[0009]

According to a first aspect of the present invention, there is provided a base on which a load is placed, and a direction in which the load is transferred to the base provided at a predetermined interval on the base. A pair of guide members extending along, support means for movably supporting each guide member in a direction of approaching and separating from the base portion, driving means for moving the guide member, and each of the guide members. A moving member that can move along the moving direction, moving means for moving the moving member back and forth between a standby position and a moving position, and both ends of the moving member in the transfer direction. A lever that is pivotally disposed between a working position at which the load on the base portion can be engaged with the load on the base portion at the rear end in the transfer direction and a retractable position at which the load cannot move. In the load transfer device, the support means includes a guide. A pair of support rails extending along the direction in which the material approaches and separates, and a roller engaged with the groove of each support rail and movable along the support rail, one of the two support rails, Positioning means restricts the movement of the roller in a direction orthogonal to the direction in which the guide member approaches and separates from the direction parallel to the direction in which the guide member approaches and separates from the other support rail. It is configured to allow the movement of the roller in the direction orthogonal to the above.

According to this configuration, when the rollers are engaged with the grooves of both the support rails, the roller corresponding to one of the support rails is positioned, and the roller corresponding to the other support rail is not positioned. Thereby, even if there is a dimensional error in processing at the interval between both rollers and the interval between both support rails, the dimensional error in processing is absorbed. Therefore, when the guide member approaches and separates, each roller can be smoothly rotated along each support rail.

According to a second aspect of the present invention, in the load transfer device according to the first aspect, the positioning means is formed integrally with the groove of one of the support rails and is in contact with the side of the roller. Department.

According to this configuration, the roller is positioned by contacting the side portion of the roller with the contact portion of the support rail. According to a third aspect of the present invention, there is provided a stacker crane comprising the load transfer device according to the first or second aspect on a carriage that can be moved up and down.

According to this configuration, since the load transfer device can be easily assembled, it is possible to prevent a reduction in manufacturing efficiency.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is embodied in a stacker crane for an automatic warehouse will be described below with reference to the drawings.

As shown in FIG. 4A, 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 pair of support rails 61 and 62 are fixed outside each support member 20 so as to extend along the support member 20. As shown in FIGS. 9 and 10, one of the support rails 61 includes a bottom wall 61a, a side wall 61b erected from one end of the bottom wall 61a, and a bottom wall 61a extending in parallel from the upper end of the side wall 61b. And an extending upper wall 61c. Folded portions 61d extending in the up-down direction are formed at the ends of the bottom wall 61a and the upper wall 61c so as to face each other. And each wall 61a-61c and each bent part 61d
The groove 61e is formed by being surrounded by. At the boundary between each of the walls 61a to 61c and each of the bent portions 61d in the groove 61e, a contact portion 63 as a positioning means thicker than the support rail 61 is integrally formed. The surface of the contact portion 63 is formed obliquely.

As shown in FIGS. 9 and 10, the other support rail 62 includes a bottom wall 62a, a side wall 62b erected from one end of the bottom wall 62a, and a bottom wall 62b extending from the upper end of the side wall 62b. An upper wall 62c extending parallel to the wall 62a is provided. A groove 62e is formed by being surrounded by the walls 62a to 62c.

As shown in FIGS. 2, 6 (a) and 6 (b),
Lower forks 24 and 25 as a pair of left and right guide members are provided between the support rails 61 and 62.
2, that is, in a state of extending along the load transfer direction. A pair of rollers 27a, 27b engaging with the grooves 61e, 62e of the support rails 61, 62 are supported at both ends of the lower forks 24, 25 via a bracket 26. Thereby, both lower forks 2
The rollers 4 and 25 can move in the longitudinal direction of the support rails 61 and 62 via the rollers 27a and 27b, that is, in the direction in which the lower forks 24 and 25 approach and separate.
In this embodiment, the support means is constituted by the support rails 61 and 62 and the rollers 27a and 27b. The upper portions of the rollers 27a and 27b and the support rails 6
There is a slight gap between the upper walls 61c and 62c of the first and second 62.

As shown in FIGS. 1 and 3, a support bar 28 is provided outside the lower forks 24 and 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. In this embodiment, driving means is constituted by the motor 39, the driving sprocket 40, the chains 42 and 43, and the like.

The lower connecting portions 31a on the front and rear sides of the support plate 31 are connected to the 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.

Further, as shown in FIG.
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.

An intermediate gear 47 is rotatably supported between the lower fork 25 and the support plate 32 at a position symmetrical to the intermediate gear 45 via a support shaft. 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 support 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 are formed symmetrically with respect to a vertical plane passing through the center of the loading section 21 and parallel to the load transfer direction.

As shown in FIGS. 6 (a) and 6 (b), the middle forks 49, 50 have horizontal portions 49a, 50a and an upper support portion extending substantially perpendicularly upward at the first ends of the horizontal portions 49a, 50a. 49b, 50b and horizontal parts 49a, 50a
A lower support 4 extending substantially perpendicularly downward at a second end of the lower support 4
9c and 50c. The middle forks 49, 50 are provided on the lower supports 24, 25 with respect to the upper support portions 49b, 50.
In FIG. 2B, the lower forks 24, 25 are supported by the lower forks 24, 25 via a linear motion joint 53 located above the horizontal portions 49a, 50a so as to be relatively movable. Upper forks 51, 52
Are horizontal portions 49a, 50 with respect to lower support portions 49c, 50c.
are supported so as to be relatively movable via a linear motion joint 54 located below the position a. Rolling guides (ball sliders) are used as the linear motion joints 53 and 54.
In this embodiment, a slide rail unit in which a support rail and a rail-shaped ball slider as a linear motion joint are unitized is used, and the support rail is used as middle forks 49 and 50.

As shown in FIGS. 1 and 6, the lower forks 24, 25 are connected to a linear motion joint 53 via a block 55 fixed to the upper end thereof. The upper forks 51 and 52 are formed in a substantially inverted L-shaped section, and
1a and 52a are connected to a linear joint 54 via a block 56 in a state where they are located above the support plates 31 and 32. Below the middle forks 49, 50, pinions 46a, 46b and a rack 57 that meshes with the pinions 48a, 48b extend along the middle forks 49, 50 via a bracket 58. The rack 57 always meshes with at least one of the pinions 46a and 46b and the pinions 48a and 48b, and is moved in the rotation direction of the pinion 46a and the like by driving the motor M.

As shown in FIG. 1, middle forks 49,
The sprocket 59,
60 are rotatably supported. At both ends of the sprockets 59, 60, the sprockets 59, 60 are arranged inside the upper support portions 49b, 50b so as to be located in a vertical plane parallel to the middle forks 49, 50. The sprocket 59 is located 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. 2, and the sprocket 60 is located at the right end of the middle forks 49, 50.
That is, they are provided at positions corresponding to the right end of the lower fork 24 in FIG.

As shown in FIG. 2, a support piece 64 is fixed to one block 55 fixed to the center of the lower fork 24 and to the left of the center in FIG. As shown in FIG. 8, the support piece 64 is bent in an L-shape, and the support piece 64 is connected to one end of a chain 67 wound around a sprocket 60 (not shown in FIG. 8). A support piece 66 is fixed to the other block 55 fixed to the center right of the lower fork 24. As shown in FIG. 7, the support piece 66 is bent in an L-shape, and the support piece 66 is connected to one end of a chain 65 wound around a sprocket 59 (not shown in FIG. 7). Similarly, the lower fork 25 is provided with support pieces 64 and 66 to which one ends of the chains 67 and 65 are connected.

As shown in FIG. 8, a bracket 68 is fixed to one block 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 mounted on the bracket 68. Are connected. 7, a bracket 69 is fixed to the other block 56 fixed to the right end in FIG. 2 of the upper fork 51, and the other end of the chain 65 wound around the sprocket 59 is connected to the bracket 69. ing. Brackets 68 and 69 are similarly arranged on the upper fork 52, and the other ends of the chains 67 and 65 are connected to the brackets 68 and 69. Chain 67,
Numeral 65 is fixed to the support pieces 64 and 66 so as not to be position-adjustable, and is fixed to brackets 68 and 69 via adjustment bolts 70.

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 FIG. 2, four windows 72 are formed in each of the lower forks 24, and the middle forks 49 are located at positions corresponding to the respective windows 72 to detect that the middle forks 49 are in the standby position and the advanced position. The sensors S5 to S8 are fixed via the bracket 73. Proximity switches are used for the sensors S5 to S8. Also, middle fork 4
Two detected parts 74 and 75 are fixed near the end of 9. As shown in FIG. 2, the sensor S5 detects the detected portion 74 when the middle fork 49 is located at the standby position, and the sensor S8 is disposed at a position that detects the detected portion 75 in that state. . The sensor S6 is provided at a position where the sensor 75 detects the detected portion 75 when the middle fork 49 moves to the left advance position in FIG. The sensor S7 is provided at a position where the sensor 74 detects the detected portion 74 when the middle fork 49 moves to the rightward advance position in FIG. Then, while the middle fork 49 is moving from the standby position, the sensors S6, S
When the detection signal is output from the motor 7, the driving of the motor M is stopped.

Similarly, the lower fork 25 has a window 72.
Are formed, and sensors S5 to S8 are provided. Two detected parts 74 and 75 are fixed to the middle fork 50 at positions symmetric to the detected parts 74 and 75 of the middle fork 49. And the sensor S5
The position of the middle fork 50 is detected by the detection signals S8 to S8.

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 movement of the members 1 and 52, the load W is rotatably arranged at an operation position where the load W on the load portion 21 can be engaged at the rear end in the transfer direction and a retractable position where the load W cannot be engaged. In this embodiment, as shown in FIG. 1, the position where the levers 80 and 81 extend vertically upward is the retreat position, and the position where the levers 80 and 81 extend diagonally downward toward the loading section 21 is the action position.

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 along the circumferential direction. Is formed. As shown in FIGS. 2 and 11, on the upper forks 51, 52 (only the upper fork 51 is shown), sensors S9 to S12 are mounted on brackets 82, 83 at positions corresponding to the slit forming positions of the rotating portion 79.
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. And lever 80,
When the sensor 81 is located at the retracted position, portions other than the slit 79a face the sensors S9 and S11 and
11 turns on. In a state where the levers 80 and 81 are arranged at the operation position, the slit 79a faces the sensors S9 and S11, and the sensors S9 and S11 are turned off. Further, in a state where the levers 80 and 81 are disposed at the retracted position, the slit 79b faces the sensors S10 and S12 and
0 and S12 are turned off. In a state where the levers 80 and 81 are arranged at the operation positions, the portions other than the slit 79b face the sensors S10 and S12, and the sensors S10 and S12 are turned on.

As shown in FIG. 11 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. 12B, 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. 11, 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, 11 and 12A, one end of the upper forks 51, 52 is connected to the connector 92, and the other end is 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. 1, 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 configured as described above will be described by taking as an example a case where a 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 linear motion joint 54 and connected to the other end of the chain 67 move the middle forks 49, 50 in the moving direction of the sprocket 60. Move twice.

When the upper forks 51, 52 reach the advanced position and the detection signal of the detected member 74 is output from the sensor S7, the driving of the motor M is stopped, and the upper forks 51, 52 are moved to the predetermined advanced position. Stop at In addition,
If there is an obstacle at a position where it interferes with the upper forks 51, 52, the upper forks 51, 52 and the middle fork 4
The detection signal is output from the sensor S14 during the movement of the upper and lower forks 51 and 50.
52 is stopped during the movement.

When the upper forks 51, 52 reach the advanced position, the center of gravity moves to the front end in the transfer direction of the load W. With the movement of the center of gravity, the roller 27b on the rear end side in the transfer direction of the load W
Is in contact with the upper wall 62c of the other support rail 62. As a result, the upper forks 51 and 52 do not incline as far as their tip ends.

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, 43 are driven in the same direction, and the lower forks 24, 25 are moved in a direction approaching each other while the rollers 27a, 27b are respectively rotated along the two support rails 61, 62. At this time, since the movement of the roller 27a on the one support rail 61 is positioned, the lower forks 24 and 25 do not rattle. 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 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 direct-acting joint 53 and connected to the other end of the chain 65 move the middle forks 49, 50 in the moving direction of the sprocket 59. Move twice.

Since the levers 80 and 81 are located 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 signals of the detection target members 74 and 75 are output from the, the driving of the motor M is stopped, and the upper forks 51 and 52 and the middle forks 49 and 50 are stopped at the standby positions. 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 taking out the load W from the storage section 3 of the right frame shelf 2b and storing the load W 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.

The lower forks 24 and 25 are assembled to the support member 20 of the base 19 in the following manner. That is, the groove 61 of both support rails 61, 62
The rollers 27a and 27b are engaged with e and 62e, respectively. Due to this engagement, the upper and lower sides of the roller 27a interfere with the contact portion 63 of the one support rail 61. As a result, the roller 27a corresponding to one support rail 61
Is a direction perpendicular to the direction in which the lower forks 24, 25 approach and separate on the same plane (FIG. 10).
In the left-right direction) is restricted. That is, the roller 27
The movement of the roller 27a in the axial direction is regulated, and the roller 27a is positioned.

On the other hand, the other support rail 62 does not have the contact portion 63 unlike the one support rail 61.
Therefore, there is nothing that interferes with the roller 27b. Therefore, the roller 2 corresponding to the other support rail 62
7b is a direction orthogonal to the direction in which the lower forks 24 and 25 approach and separate on the same plane (the left-right direction in FIG. 10).
Movement to is allowed. That is, the movement of the roller 27b in the axial direction is restricted.

Therefore, even if there is a dimensional error in the processing between the gap between the rollers 27a and 27b (L1 shown in FIG. 10) and the gap between the two support rails 61 and 62 (L2 shown in FIG. 10), the size of the gap can be reduced. The error can be absorbed. As a result, when the lower forks 24 and 25 approach and separate, the rollers 27 rotate smoothly along the support rails 61 and 62.

According to this embodiment, the following effects can be obtained. (1) Each lower fork 2 is attached to the support member 20 of the base 19.
There is provided a support means for movably supporting the members 4, 25 in a direction of approaching and separating. The support means includes a pair of support rails 61 and 62 and a groove 61 of each support rail 61 and 62.
e, 62e and the rollers 27a, 27b engaged with the rollers 62e. The groove 6 of one support rail 61
The contact portion 63 restricts the movement of the roller 27a in the direction 1e on the same plane as the direction in which the lower forks 24 and 25 approach and separate from each other. The lower fork 24, 2 is provided in the groove 62e of the other support rail 62.
The movement of the roller 27b in a direction orthogonal to the direction in which the rollers 5 approach and separate from each other is allowed. For this reason, even if there is a dimensional error in processing between the interval L1 between the rollers 27a and 27b and the interval L2 between the support rails 61 and 62, the error can be absorbed. Therefore, the rollers 27a, 27b can be smoothly rotated along the support rails 61, 62, and the upper forks 51, 5 can be rotated.
It is possible to prevent operation failure such as not being able to sandwich a load between the two.

(2) Unlike the prior art, in order to avoid the malfunction of the upper forks 51, 52, both rollers 27
It is not necessary to adjust the distance L1 between the a and 27b or the distance L2 between the support rails 61 and 62. Accordingly, it is possible to prevent the assembling efficiency of the fork device 14 from decreasing.

(3) The contact portion 63 is formed integrally with the groove 61eb of the support rail 61. For this reason,
The operation of assembling the contact portion 63 to the support rail 61 can be omitted as compared with the case where the contact portion 63 is formed separately from the support rail 61. Therefore, the assembling work can be easily performed.

(4) When the upper forks 51, 52 reach the advanced position, the upper part of the roller 27b corresponding to the other support rail 62 is moved to the upper wall 62c of the other support rail 62.
To come into contact with. For this reason, the upper forks 51 and 52 do not incline greatly downward toward the distal end side. Therefore, the upper forks 51, 52 and the middle forks 49, 50 can be moved to the advanced position in a stable state.

The embodiment of the present invention may be modified as follows. The center of rotation of each roller 27a is shifted vertically, and the upper part of one roller 27a is pressed against the upper wall 61c of the support rail 61 and the lower part of the other roller 27a is pressed against the bottom wall 61a of the support rail 61. Is also good. Also, the roller 27
Similarly to a, the position of the rotation center of the roller 27b may be shifted in the vertical direction. With this configuration, the rollers 27a, 2
When the member 7b moves, the rattling in the vertical direction can be eliminated, and the lower forks 24 and 25 can approach and separate in a more stable state.

The structure shown in FIG. 13 may be used instead of the support rail 61 and the roller 27a. That is, the support member 20
A support rail 98 having a plate shape is fixed to the outside of the support member 97 via a bracket 97 so as to extend along the support member 20. At the upper and lower end edges of the support rail 98, engagement portions 98a and 98b having a mountain shape are formed, respectively. A pair of upper and lower sandwiching rollers 99a, 99b are provided in the engaging portions 98a, 98b. The grooves formed on the outer peripheral surfaces of the upper and lower rollers 99a, 99b are engaged with the engaging portions 98a, 98b of the support rail 98, thereby positioning the upper and lower rollers 99a, 99b.

In FIG. 13, rollers 99a, 99b
May be omitted. 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 2, wherein the contact portion has a slope with which a side portion of the roller contacts. According to this configuration, the roller is easily engaged with one of the support rails, and the assembling is facilitated.

(2) A part of the outer peripheral surface of each roller is pressed against the support rail by shifting the position of the center of rotation of each roller with respect to the longitudinal axis of the support rail in a different direction. Load transfer equipment. According to this configuration, it is possible to eliminate rattling accompanying the movement of the roller.

(3) The roller according to claim 1 or 2, wherein the roller corresponding to the rear end of the load in the transfer direction abuts on a part of the support rail when the moving member reaches the advanced position. Load transfer device. According to this configuration, the moving member can be moved to the advanced position in a stable state.

[0067]

The present invention is configured as described above, and has the following effects. According to the first aspect of the present invention, since the rollers of the two support rails can be smoothly moved, it is possible to reliably prevent a malfunction.

According to the second aspect of the present invention, the positioning of the rollers can be reliably performed despite the simple configuration. According to the third aspect of the present invention, since the load transfer device can be easily assembled, it is possible to prevent a reduction in manufacturing efficiency.

[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 partially omitted cross-sectional view taken along the line VII-VII of FIG. 2;

FIG. 8 is a partially omitted cross-sectional view corresponding to FIG. 7 and showing a supported state of the chain.

FIG. 9 is a partial perspective view showing a support rail and rollers.

FIG. 10 is an enlarged side view showing a support rail.

FIG. 11 is a side view of the upper fork.

FIG. 12A is a plan view showing a support state of a rotary actuator, and FIG. 12B is a partial plan view showing a support state of a bumper.

FIG. 13 is an enlarged side view of a support rail showing another embodiment.

FIG. 14 is an enlarged side view of a support rail showing a conventional technique.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 10 ... Stacker crane, 13 ... Carriage, 14 ... Fork device (load transfer device), 19 ... Base part, 21 ... Loading part, 24, 25 ... Lower fork (guide member), 2
7a, 27b: rollers (support means), 39: motor (drive means), 40: drive sprockets (drive means), 4
2, 43 ... chain (drive means), 46a, 46b, 4
8a, 48b... Pinion (movement driving means), 49, 50
... Middle forks (moving members), 51, 52 ... upper forks (moving members), 61, 62 ... support rails (support means), 61e, 62e ... grooves, 63 ... contact parts (positioning means), Reference numerals 80, 81: lever, A: retreat position, B: action position, M: motor constituting the drive means, W: load.

 ────────────────────────────────────────────────── ─── 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 HH13 JJ09 KK03 KK04 KK12 NN57 PP06 QQ01 QQ12 QQ13

Claims (3)

[Claims] 1. A base on which a load is placed, and a pair of guide members provided at a predetermined interval on the base and extending along a direction in which the load is transferred to the base.
Supporting means for movably supporting each guide member in the direction of approaching and separating from the base portion; driving means for moving the guide member; an egress and retraction member movable along each of the guide members; Retracting drive means for reciprocating the retractable member between a standby position and an advanced position; and a base provided at both ends of the retractable member in the transfer direction on the base portion when the retractable member moves. And a lever rotatably disposed between an operating position at which a rear end portion in the transfer direction of the load can be engaged and a retractable position at which the load cannot be engaged. A pair of support rails extending along the direction in which the member approaches and separates, and a roller engaged with the groove of each support rail and movable along the support rail,
In one of the two support rails, the guide member is configured to restrict the movement of the roller in a direction orthogonal to the same plane as the direction in which the guide member approaches and separates by the positioning means, and to the other support rail. And a load transfer device configured to allow the roller to move in a direction orthogonal to a direction in which the guide member approaches and separates on the same plane. 2. The load transfer device according to claim 1, wherein the positioning means is a contact portion formed integrally with the groove of one of the support rails and in contact with a side portion of the roller. 3. A stacker crane comprising the load transfer device according to claim 1 on a vertically movable carriage.