JP2002316704A - Automatic embarkation loading and delivery mechanism - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic embarkation loading and delivery mechanism capable of positively loading and delivering embarkation without fracturing the embarkation even when a stopping position of a carrier is deviated, and automating loading and delivery of the embarkation to the carrier. SOLUTION: The automatic embarkation loading and delivery mechanism for loading and delivering the embarkation B to the carrier W comprises a loading and delivery device 1 holding the embarkation B and a pallet 80 carrying the embarkation B. A hooking shaft 81 is provided on the pallet 80 perpendicularly to its bottom. The loading and delivery device 1 is provided with a hooking means 10 provided so as to freely approach and separate to the carrier W. The hooking means 10 comprises a hooking arm 20 formed with a hooking groove 20h in a side face, and a moving mechanism 30 moving the hooking arm 20 in the direction crossing a moving direction of the hooking means 10. When the hooking arm 20 is moved in the direction perpendicular to the moving direction of the hooking means 10, the hooking shaft 81 is inserted in the hooking groove 20h of the hooking arm 20 or withdrawn from it.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic loading / unloading mechanism for a load. More specifically, the present invention relates to a load automatic loading / unloading mechanism for automatically changing a load such as a battery loaded on a cart such as an AGV or an AGF. The automatic loading / unloading mechanism of the present invention can be applied not only to the exchange of the battery of the trolley, but also to an apparatus for automatically loading or unloading the load on the pallet of the trolley or the like. is there.

[0002]

2. Description of the Related Art Conventionally, bogies such as AGVs and AGFs are driven by electricity, and lead batteries are used as power sources. This battery requires about 1-2 replacements per day. At the time of this battery replacement, the carriage moves to the battery replacement position by self-propelled, and at that position,
A person pulls out the battery from the trolley and places a new battery on the trolley. However, AGVs and other trolleys are unmanned transport trolleys and operate even on holidays and nighttime, so there is a problem that personnel must be allocated for battery replacement even on holidays and nighttime.

To solve the above problem, Japanese Patent Application Laid-Open
There is a technique described in Japanese Patent Application Laid-Open No. 59-108283 (conventional example 1). FIG.
FIG. 2 is a schematic explanatory view of an automatic battery replacement mechanism of Conventional Example 1. In the figure, reference numeral W indicates a bogie such as an AGV, and reference numeral 102 indicates a battery of the bogie. The battery 102 has a horizontal handle 102b on one side. Reference numeral 110 denotes a battery exchange device. The battery exchange device 110 is provided with a hand 120 that can move back and forth toward the carriage W by a cylinder 115. At the tip of the hand 120, a pair of upper and lower
122, 122 are provided. This pair of upper and lower gripping plates 122,
By holding the handle 102b of the battery 102 from above and below by the 122, the handle 102b of the battery 102 can be fixed to the hand 120.

For this reason, when the cart W is stopped in parallel with the battery exchange device 110 at the battery exchange position, and the hand 120 of the battery exchange device 110 is extended toward the cart W by the cylinder 115, a pair of upper and lower grips is provided. Plank 122, 1
22 allows the handle 102b of the battery 102 to be fixed to the hand 120. Therefore, the battery 102 is attached to the hand 120.
If the cylinder 115 is contracted while the handle 102b is fixed, the battery 102 can be pulled out of the cart W (see FIG. 9B). Also, a new battery 1
By fixing the handle 102b of FIG. 02 and extending the cylinder 115, the battery 102 can be carried into the carriage W from the battery exchange device 110.

[0005]

However, since the AGV or the like does not have a forcible guide mechanism on its traveling route, the bogie W stops at the battery replacement position while being inclined with respect to the battery replacement device 110. Could be done. In this case, in the automatic battery exchange mechanism of the first conventional example, the hand 120 of the battery exchange device 110 can move only in a straight line direction, so that the battery 102 is pulled while being inclined with respect to the moving direction of the hand 120. Then, there is a possibility that the battery 102 cannot be pulled out of the cart W, or even if the battery 102 can be pulled out, the battery 102 comes into contact with the side surface of the cart W or the battery exchange device 110 and is damaged. Therefore, when the stop position of the bogie W is shifted,
There is a problem that the position must be corrected manually and cannot be completely automated. Also, the height at which the hand 120 is provided and the height of the handle 102b of the battery 102 may not match due to the height of the floor surface, the weight balance of the cart W, the manufacturing error of the cart W and the transport cart D, and the like. Then, the handle 102b of the battery 102 cannot be reliably gripped by the pair of upper and lower gripping plates 122, 122 of the hand 120, so that the battery 102 cannot be pulled out of the cart W. Therefore, there is a problem that the automatic battery replacement mechanism of the conventional example 1 cannot be used depending on the installation location.

In view of such circumstances, the present invention can reliably load and unload a load without damaging the load even if the stop position of the trolley shifts, and can load and unload the load onto the trolley. It is an object of the present invention to provide an automatic loading / unloading mechanism capable of automating the load.

[0007]

An automatic loading / unloading mechanism according to claim 1 is an automatic loading / unloading mechanism for loading / unloading a load onto / from a truck, wherein the automatic loading / unloading mechanism is loaded onto / from the truck. A loading / unloading device that holds the load to be unloaded, and a pallet on which the load is placed and that is moved between the cart and the loading / unloading device. The loading / unloading device is provided with a hooking means provided so as to be able to approach and separate from the carriage, and the hooking means has a hooking groove formed on the side surface thereof. And a moving mechanism for moving the engaging arm in a direction intersecting with the moving direction of the engaging means. The moving mechanism moves the engaging arm in a direction intersecting with the moving direction of the engaging means. Let , Wherein the engaging shaft is inserted disengaged engaging groove of the engaging arm. According to a second aspect of the present invention, there is provided an automatic loading / unloading mechanism according to the first aspect, further comprising a floating means for movably supporting the engaging means in a direction perpendicular to the moving direction. . According to a second aspect of the present invention, in the automatic loading / unloading mechanism according to the second aspect, the floating means is provided at right angles and horizontally to a slider attached to the engaging means and a moving direction of the engaging means. A sliding shaft, and positioning means provided between both ends of the slider and the sliding shaft. The slider is mounted on the outer peripheral surface of the sliding shaft along the axial direction of the sliding shaft. And is slidably mounted. According to a fourth aspect of the present invention, in the invention of the first, second or third aspect, the pallet is provided with a pair of left and right engaging shafts parallel to each other, and the pallet is close to the engaging means. A pair of left and right engaging arms provided so as to be freely separated are provided, and engaging grooves of the respective engaging arms are respectively formed on the outer side surfaces thereof. The distance between the outer side surfaces of the arm is shorter than the distance between the pair of left and right shafts.

According to the first aspect of the present invention, the load loaded on the pallet while being placed on the pallet is carried out of the trolley as follows. First, the engaging means is moved closer to the carriage, and the engaging arm is moved by the moving mechanism in a direction intersecting the moving direction of the engaging means. Then, the engaging shaft of the pallet can be inserted into the engaging groove provided on the engaging arm, and the engaging groove can be engaged with the engaging shaft. For this reason, if the engaging means is separated from the carriage while the engaging groove is engaged with the engaging shaft provided on the engaging arm, the load together with the pallet can be pulled out from the carriage to the load discharge device. Conversely, in the loaded material unloading device, if the engaging groove of the engaging arm is engaged with the engaging shaft of the pallet on which the load is placed, and the engaging means is brought close to the bogie, the load is placed on the bogie together with the pallet. Can be. Also, even when the stop position of the carriage is shifted left and right with respect to the moving direction of the engaging means, or when the height of the bottom surface of the pallet does not match the height of the engaging arm, the insertion of the engaging shaft into the engaging groove only requires the engaging means. Pallets can be combined. Therefore, even if the stop position of the bogie is shifted, the height of the floor surface and the production error of the bogie and the load carrying device occur, etc., the load can be loaded and unloaded to the bogie by the engaging means.
It is possible to automate the loading and unloading of the load to the cart.
According to the second aspect of the present invention, the hooking means can also be moved in a direction perpendicular to the moving direction by the floating means, so that the load and the pallet can be drawn obliquely from the cart. Therefore, even if the cart stops at an angle with respect to the load carrying-out device, the load can be pulled out from the cart. Moreover, even if the side of the trolley contacts the load,
Since the load can be moved along the side surface of the trolley, when the load is pulled out from the trolley, an excessive force is not applied to the load and the load can be prevented from being damaged. According to the third aspect of the invention, when a force perpendicular to the moving direction is applied to the engaging means, the slider moves along the axial direction of the sliding arm, so that the engaging means is moved with respect to the moving direction. It can be moved at right angles. Moreover, when the force applied to the engaging means is removed, the engaging means is always returned to a fixed position by the positioning means. Therefore,
Even if the load is pulled out of the trolley diagonally, if the load is completely pulled out of the trolley, the engaging means is always returned to a fixed position by the positioning means. Can be placed. According to the fourth aspect of the present invention, if the engaging means is moved closer to the bogie in a state where the pair of left and right engaging arms are approached, the pair of left and right engaging arms can be inserted between the pair of left and right engaging shafts. . From this state, a pair of left and right engaging arms,
If each is moved outward, the engaging groove of each engaging arm can be engaged with the engaging shaft. In addition, since the engaging groove of the engaging arm is formed on the outer side surface of each engaging arm, one of the engaging shafts is securely engaged with the engaging groove of one of the engaging arms. Therefore, 2
Since the hooking means and the pallet are connected by the two hooking arms and the two hooking shafts, the load can be reliably pulled out.

[0009]

Next, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a schematic plan view of a loading / unloading device 1 employing an automatic loading / unloading mechanism of the present embodiment. FIG. 2 is a sectional view taken along the line II-II in FIG. In FIG. 1 and FIG. 2, the code W and the code B are AGV and AG.
A truck such as F and a load such as a battery loaded on the truck W are shown. Reference numeral W1 denotes a bogie roller inside the bogie W that is rotatably mounted. Therefore, the load B moves on the bogie inner rollers W1 when loading and unloading the load B on the trolley W, so that the load B can be easily loaded and unloaded on the trolley W.

The automatic loading / unloading mechanism of the present embodiment comprises:
A mechanism for loading and unloading the load B on the cart W, a loading / unloading device 1 for holding the load B loaded and unloaded on the cart W, and a load B on which the load B is placed.
And a pallet 80 moved between the carriage W and the loading / unloading device 1.

First, the pallet 80 will be described. FIG. 7 is a schematic perspective view of the pallet 80 on which the load B is placed. As shown in the figure, the pallet 80 is for loading a load B on the upper surface thereof. At one end of this pallet 80,
A pair of engaging shafts 81, 81 are provided in the vertical direction. In the present embodiment, each engaging shaft 81 is provided perpendicular to the bottom surface of the pallet 80, but each engaging shaft 81 may be inclined with respect to the bottom surface of the pallet 80.

Next, the loading / unloading device 1 will be described.
1 and 2, reference numeral 2 denotes a frame of the loading / unloading device 1. At the lower end of the frame 2, four wheels 3 are provided, two in front and two in total. The four wheels 3 are mounted on a pair of rails R,
It is mounted on the R so that it can roll freely. The rail R is laid between a warehouse or the like (not shown) in which the load B is stored and a loading / unloading position for loading / unloading the load B on the cart W. For this reason, the loading / unloading device 1 can place the load B on the frame 2 and move between the warehouse or the like and the loading / unloading position.

On the upper surface of the frame 2 of the loading / unloading device 1, a pair of left and right plate-like side plates 2b, 2b are provided. The pair of left and right plate-shaped side plates 2b, 2b are parallel to the direction in which the load B moves in the truck W when the loading / unloading device 1 and the truck W stop parallel to each other at the loading / unloading position. It is provided along the front-back direction of the unloading device 1. A plurality of rollers 4 are rotatably provided on the facing surfaces of the pair of left and right side plates 2b, 2b along the side plates 2b. For this reason, the load B is unloaded from the cart W to the loading / unloading device 1 or the truck W is loaded from the loading / unloading device 1.
By moving the load B on the roller 4 when unloading the load B, the load B can be easily moved on the frame 2.

FIG. 6 is a sectional view taken along line VI-VI of FIG. As shown in the figure, the pair of left and right side plates 2b, 2b
On the inner surface of each of the side plates 2b below the roller 4,
Are provided along the pair of guide rails 5,5.
In addition, a moving table 7 is provided between the pair of left and right side plates 2b, 2b. An engaging means 1 is provided on the upper surface of the moving table 7.
0 is attached, and details will be described later. A pair of left and right rolling rollers 8 are provided at the lower left and right ends of the movable base 7, respectively. Each rolling roller 8 comprises a pair of upper and lower rollers, and the guide rail 5 is sandwiched between the upper and lower rollers. For this reason, if a pair of upper and lower rollers of the rolling roller 8 rolls on both upper and lower surfaces of the guide rail 5, the movable table 7 can move along the guide rail 5. In addition, since the guide rail 5 is sandwiched between a pair of upper and lower rollers, the moving table 7 does not rattle when moving along the guide rail 5.

A pair of left and right guide rollers 9, 9 are provided at both ends of the movable base 7 so as to contact both surfaces of the pair of left and right side plates 2b, 2b and roll on the inner surfaces of the respective side plates 2b. For this reason, the middle of a pair of left and right side plates 2b, 2b can be moved to the movable base 7.

As shown in FIGS. 1 and 2, a pair of front and rear drive shafts 6b and a driven shaft 6b are provided at both front and rear ends of the frame 2 of the loading / unloading device 1 so as to be orthogonal to the pair of left and right side plates 2b, 2b. A shaft 6c is provided. This drive shaft 6
b and the driven shaft 6c are wound around two chains 6d. The moving table 7 is attached to the two chains 6d. Further, a drive motor 6a is provided at a rear end of the frame 2, and a chain 6 is provided between a main shaft of the drive motor 6a and the drive shaft 6b.
e is wrapped around. Therefore, when the drive motor 6a is rotated forward and backward, the drive shaft 6b is rotated forward and backward, and the chain 6d is moved forward and backward, so that the movable table 7 can be moved forward and backward along the side plate 2b. That is, the engaging means 10 provided on the upper surface of the moving table 7 is moved back and forth on the frame 2,
That is, it is possible to approach and separate from the cart W.

Now, the engaging means 10 which is a feature of the present invention will be described in detail. FIG. 3 is a schematic perspective view of the engaging means 10. FIG. 4 is an enlarged plan view of the hooking means 10. FIG. 5 is a sectional view taken along line VV of FIG. As shown in FIGS. 3 to 5, the engaging means 10 basically includes an engaging base 11, a pair of left and right engaging arms 20, 20 and a moving mechanism 30.

The hanging base 11 is provided with a floating means 40 described later.
, And is attached to the moving table 7. A pair of left and right hanging arms 20,
20 are provided. The engaging arm 20 is formed such that its width is shorter than half the distance between the pair of left and right engaging shafts 81 of the pallet 80. A hook groove 20h penetrating the upper and lower surfaces is formed on the side surface of the tip of each hook arm 20. This hook groove 20
h has a width larger than the diameter of the engaging shaft 81 of the pallet 80.

The support members 31 of the moving mechanism 30 are attached to the base ends of the pair of left and right engaging arms 20, 20, respectively. Each support member 31 is formed with a screw hole in the left-right direction, that is, perpendicular to the moving direction of the movable base 7. As for the screw holes formed in each support member 31, a right-hand screw hole is formed in the right support member 31, and a left-hand screw hole is formed in the left support member 31. One screw shaft 32 is screwed into the screw holes of the pair of left and right support members 31, 31. The screw shaft 32 has a right-hand thread formed on its outer periphery from the center in the axial direction to the right end, and a left-handed screw formed on the outer periphery from the center in the axial direction to the left end. ing. That is, the right screw of the screw shaft 32 is screwed with the right screw hole of the support member 31 provided on the right engaging arm 20, and the left screw is
The left screw hole of the support member 31 provided on the left engaging arm 20 is screwed.

The screw shaft 32 has both ends rotatably supported by a pair of left and right bearings 33, 33 provided on the lower surface of the engaging base 11. A well-known motor 34 is provided on the upper surface of the hanging base 11. A chain 3 is provided between the main shaft of the motor 34 and one end of the screw shaft 32.
5 is wound.

For this reason, when the motor 34 is rotated forward and backward, the screw shaft 32 rotates forward and backward, so that the pair of left and right support members 31 move along the screw shaft 32. Therefore, the pair of left and right engaging arms 20 move in the left-right direction along the screw shaft 32, that is, in the direction intersecting the moving direction of the engaging means 10. In addition, the right screw of the screw shaft 32 is screwed with the right screw hole of the support member 31 provided on the right engagement arm 20, and the left screw is fitted with the support member provided on the right engagement arm 20. Since the left screw hole 31 is screwed, if the motor 34 is rotated forward, the pair of left and right engaging arms 20 can be brought close to each other.
Is reversed, the pair of left and right engaging arms 20, 20 can be separated.

In this embodiment, the pair of left and right engaging arms 20, 20 move in a direction orthogonal to the moving direction of the engaging means 10, but the pair of left and right engaging arms 20,
As long as the moving direction of the hook 20 intersects with the moving direction of the hooking means 10, it may be inclined with respect to the moving direction of the hooking means 10.

When the pair of left and right hooking arms 20 and 20 are moved closer to each other, the distance between the outer side surfaces of the pair of right and left hooking arms 20 and 20 is equal to the distance between the pair of right and left hooking shafts 81 and 81 of the pallet 80. Is formed to be shorter than the distance. Therefore, a pair of left and right engaging arms 20, 20
, A pair of left and right hooking arms 20, 20
Can be inserted between a pair of left and right engaging shafts 81, 81.

In addition to the supporting member 31, auxiliary sliders 21 are provided at the base ends of the pair of left and right engaging arms 20, 20, respectively. The auxiliary slider 21 is slidably mounted on an auxiliary shaft 22 provided on the movable table 11 in a direction perpendicular to and horizontal to the moving direction of the engaging means 10. For this reason, the base end of the engaging arm 20 is
Since it is supported by not only 2 but also the auxiliary shaft 22,
It can move left and right in a stable state.

Further, a pair of left and right engaging arms 20,
The moving mechanism for moving 20 is not limited to the above-described method, and is particularly limited as long as it is a structure that can move the pair of right and left engaging arms 20, 20 in a direction intersecting with the moving direction of the engaging means 10 so that they can approach and separate freely. There is no.

Further, the number of the engaging arms 20 may be one, and in this case, the number of the engaging shafts 81 of the pallet 80 may be one.

Next, the floating mechanism 40 will be described. FIG. 3-
As shown in FIG. 5, the floating mechanism 40 includes a sliding shaft 41, a pair of left and right support members 42, 42, a pair of left and right sliders 43,
43 and a pair of left and right springs 44. A pair of left and right support members 42, 42
Is provided. The pair of left and right support members 42, 42
A sliding shaft 41 is provided between them. This sliding shaft 41
Are provided at right angles and horizontally to the moving direction of the engaging means 10, and both ends thereof are provided as a pair of left and right support members 42, 4
2 respectively. A pair of left and right sliders 43, 43 is attached to the sliding shaft 41.
Is slidably mounted in the axial direction. The upper end of each slider 43 is attached to the lower surface of the engaging base 11 of the engaging means 10. Also, a pair of left and right sliders 4
A spring 44 is provided between the outer surface of each of the third and third members 43 and the pair of left and right support members 42 and 42.

Therefore, when a force in a direction perpendicular to the moving direction is applied to the engaging means 10, the pair of left and right sliders 43, 43 move along the axial direction of the sliding shaft 41. Can be moved in a direction perpendicular to the moving direction. Moreover, if the force applied to the engaging means 10 is removed, the engaging means 10 can be returned to a constant position by the spring 44, that is, to the middle of the pair of left and right side plates 2b, 2b. This spring 44 is a positioning means referred to in the claims.

The positioning means is not limited to a spring. When a force in a direction perpendicular to the moving direction is applied to the engaging means 10, the positioning means does not impede the movement of the engaging means 10 in the left-right direction. There is no particular limitation as long as the engaging means 10 can be positioned between the pair of left and right side plates 2b, 2b when the force applied to 10 is removed, for example, an air cylinder or a solenoid.

In the frame 2 of the loading / unloading device 1, above the pair of left and right plate-like side plates 2b, 2b,
A front guide plate 35 is provided at the front end (left side in FIG. 1) of each side plate 2b.
a is provided, and a rear guide plate 35b is provided in the front and rear middle of each side plate 2b. Each guide plate 35 is a plate-shaped member, and the front end portion of each plate is tapered outwardly. For this reason, even when the center line of the load B is displaced from the middle line between the pair of left and right plate-like side plates 2b, 2b when the plate B is moved between the pair of left and right plate-like side plates 2b, 2b. When the load B comes into contact with the inclined surface 35, the load B moves along the inclined surface of the guide plate 35. Then, the load B can be moved to a position where the center axis thereof coincides with the middle line between the pair of left and right side plates 2b, 2b.

Next, the operation and effect of the automatic loading / unloading mechanism of the present embodiment will be described. First, the load unloading device 1
And the carriage W is moved to the loading / unloading position and stopped. At this time, the object is moved in a state where nothing is placed on the load carrying-out device 1.

Next, a pair of left and right engaging arms 20, 20
Are brought close to each other, and the engaging means 10 is made to approach the carriage W. Then, the pair of left and right engaging arms 20, 20 can be inserted between the pair of left and right engaging shafts 81, 81.

From this state, the pair of left and right engaging arms 20, 20 are moved outward by the moving means 30, respectively. Then, each engaging arm 20 moves in a direction intersecting with the moving direction of the engaging means 10, and the engaging groove 20 h of each engaging arm 20 engages with each engaging shaft 81 of the pallet 80. Therefore, the hooking means 10 and the pallet 80 can be connected.

Next, while the engaging groove 20h provided in the engaging arm 20 is engaged with the engaging shaft 81, the engaging means 10
Is separated from the cart W. Then, the load B together with the pallet 80 can be pulled out from the cart W to the load discharge device 1. At this time, when the load B is moving on the frame 2 of the load carrying-out device 1, even if the load B
b, the center axis of the load B is shifted by a pair of left and right side plates 2b,
It is moved to a position corresponding to the middle line of 2b. Therefore, the load B can always be loaded at a fixed position of the load discharge device 1.

Conversely, in the load carrying-out device 1, the engaging shaft 20 of the engaging arm 20 is engaged with the engaging shaft 81 of the pallet 80 on which the load B is placed.
Can be loaded on the carriage W together with the pallet 80.

A roller W inside the carriage mounted on the carriage W
1 and the height of the roller 4 of the load unloading device 1 is shifted, as long as the engaging groove 20h of each engaging arm 20 is engaged somewhere in the axial direction of the pair of left and right engaging arms 20, 20. Since the hooking means 10 and the pallet 80 are connected, the load B can be reliably pulled out from the cart W to the load discharge device 1. That is, since there is no need for a person to correct the stop position of the cart W, the loading and unloading of the load B to the cart W can be automated.

Further, the stop position of the carriage W is determined by the engagement means 10.
Even if it is shifted back and forth along the movement direction of
Since the width of the engaging groove 20h is wider than the diameter of the engaging shaft 81, the engaging shaft 81 is securely engaged with the engaging groove 20h of the engaging arm 20. For this reason, since the hooking means 10 and the pallet 80 are securely connected, the load B can be reliably pulled out from the cart W to the load discharge device 1. In other words, since there is no need for the person to correct the stop position of the cart W,
The loading and unloading of the load B to the cart W can be automated.

Further, as shown in FIG. 8A, the stop position of the carriage W is shifted left and right with respect to the moving direction of the engaging means 10, and the load B in the carriage W and the pair of left and right side plates 2b, 2b. Even if the middle line is shifted, the engaging groove 20h of one of the engaging arms 20 is securely engaged with one of the engaging shafts 81, and the engaging means 10 and the pallet 80 are connected. Can be reliably pulled out from the cart W to the load carrying-out device 1. That is, since there is no need for a person to correct the stop position of the cart W, the loading and unloading of the load B to the cart W can be automated. In addition, the side end of the load B pulled out to the load discharge device 1 is a pair of left and right side plates 2.
Even if it is located outside of the side plates 2b, 2b, the center axis of the load B coincides with the middle line between the pair of left and right side plates 2b, 2b by the front guide plate 35a provided above each side plate 2b. The load B is moved to the position where the load B moves, so that the load B can be reliably loaded from the cart W onto the load discharge device 1.

Further, as shown in FIG. 8 (B), even if the carriage W is stopped at an angle to the moving direction of the engaging means 10, the engaging groove 20h of the engaging arm 20 is engaged with the engaging shaft 81 of the pallet 80.
Can be engaged. When the engaging means 10 is retracted, the load B comes into contact with the side surface of the carriage W. However, since the engaging means 10 can move in a direction perpendicular to the moving direction, The object B can be moved along the side of the truck. Therefore, the load B can be pulled out of the cart W together with the pallet 80 at an angle, and when the load B is pulled out of the cart, no excessive force is applied to the load B and the load B is prevented from being damaged. be able to. That is, since there is no need for a person to correct the stop position of the cart W, the loading and unloading of the load B to the cart W can be automated.

Even if the load B is pulled out of the cart W obliquely, if the load B is completely pulled out of the cart W,
Since the load B is moved to a position that coincides with the middle line between the pair of left and right side plates 2b, 2b, the load B is transferred from the cart W to the load discharge device 1.
Can be securely mounted. In addition, since the engaging means 10 is always returned to a fixed position by the spring 44, that is, in the middle of the pair of left and right side plates 2b, 2b, the load carrying device 1 is
In the above, the load B can always be placed at a fixed position.

When the load B is loaded and unloaded on the truck W, the load W can be moved with respect to the rail R so that the truck W is greatly inclined with respect to the moving direction of the engaging means 10. Even so, the load B can be pulled out of the carriage W along with the pallet 80 obliquely.

As described above, according to the automatic loading / unloading mechanism of the present embodiment, even if the stop position of the bogie shifts, the loading and unloading of the load can be reliably performed without damaging the load. This makes it possible to automate the loading and unloading of the load onto the cart.

[0043]

According to the first aspect of the present invention, if the engaging groove provided on the engaging arm is engaged with the engaging shaft, and the engaging means is moved toward and away from the carriage, the load is loaded onto the carriage together with the pallet. can do. Even if the stop position of the trolley is shifted, the height of the floor surface, or the production error of the trolley and the load unloading device occurs, the load can be loaded and unloaded to the trolley by the hooking means. Loading and unloading can be automated. According to the second aspect of the present invention, the load can be pulled out of the trolley with the pallet, so that the load can be pulled out of the trolley even if the trolley stops at an angle with respect to the load discharge device. In addition, even if the load is in contact with the side surface of the bogie, no excessive force is applied to the load and the load can be prevented from being damaged. According to the third aspect of the invention, since the engaging means is always returned to the fixed position by the positioning means, the load can always be placed at the fixed position in the load carrying-out device. According to the fourth aspect of the present invention, one of the engaging shafts is securely engaged with the engaging groove of one of the engaging arms, so that the engaging means is formed by the two engaging arms and the two engaging shafts. The pallets are connected, and the load can be reliably pulled out.

[Brief description of the drawings]

FIG. 1 is a schematic plan view of a loading / unloading device 1 employing an automatic loading / unloading mechanism according to an embodiment.

FIG. 2 is a sectional view taken along line II-II of FIG.

FIG. 3 is a schematic perspective view of the hooking means 10;

FIG. 4 is an enlarged plan view of the hooking means 10;

FIG. 5 is a sectional view taken along line VV in FIG. 4;

6 is a sectional view taken along line VI-VI of FIG.

FIG. 7 is a schematic perspective view of a pallet 80 on which a load B is placed.

FIG. 8 is a schematic explanatory view of an operation of unloading the load B from the cart W to the load / unload device 1.

FIG. 9 is a schematic explanatory view of an automatic battery replacement mechanism of Conventional Example 1.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Loading / unloading device 10 Engagement means 20 Engagement arm 20h Engagement groove 30 Moving mechanism 40 Floating means 41 Sliding axis 43 Slider 80 Pallet 81 Engagement axis W Wagon B Cargo

 ────────────────────────────────────────────────── ─── Continued on the front page (72) Inventor Kageyuki Kaga 2-75, Otocho, Obu City, Aichi Prefecture F-term in Sumitomo Co-Material Handling Co., Ltd. 3F022 EE02 KK14 LL07 LL12 LL12 MM03 5H030 AA09 AS02 DD20 FF51 5H040 AA00

Claims (4)

[Claims] 1. An automatic loading / unloading mechanism for loading / unloading a load on a trolley, the automatic loading / unloading mechanism comprising: a loading / unloading device for holding a load to be loaded / unloaded on the trolley;
A pallet on which the load is placed and which is moved between the carriage and the loading / unloading device; and a hook shaft is provided at one end of the pallet in a vertical direction. Is provided with engaging means provided so as to be able to approach and separate from the carriage, the engaging means comprises an engaging arm having an engaging groove formed on a side surface penetrating an upper surface and a lower surface, and the engaging arm comprising: A moving mechanism for moving in a direction intersecting the moving direction, and by the moving mechanism,
When the engaging arm is moved in a direction intersecting the moving direction of the engaging means, the engaging shaft is inserted into and detached from an engaging groove of the engaging arm. 2. An automatic loading / unloading mechanism according to claim 1, further comprising a floating means for supporting said engaging means so as to be movable in a direction perpendicular to the moving direction. 3. The slider according to claim 1, wherein said floating means includes a slider attached to said engaging means, a sliding shaft provided at right angles and horizontally to a moving direction of said engaging means, and both ends of said slider and said sliding shaft. Wherein said slider is slidably mounted on the outer peripheral surface of said sliding shaft along the axial direction of said sliding shaft. 2. The automatic loading / unloading mechanism according to item 2. 4. The pallet is provided with a pair of left and right engaging shafts parallel to each other, and the engaging means is provided with a pair of left and right engaging arms provided so as to be able to approach and separate from each other. Engagement grooves of the arms are formed on the outer side surfaces, respectively, and when the pair of left and right engagement arms are approached, the distance between the outer side surfaces of each engagement arm is greater than the distance between the axes of the pair of left and right shafts. 4. The automatic loading / unloading mechanism according to claim 1, wherein the load is short.