JP2004269267A - Transport device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a transport device, partially performing curving transport, simplifying a pallet structure, light-weighted and inexpensive. <P>SOLUTION: The whole of the pallet P lower surface or at least a part abutting on a wheel 2 and a support wheel 3 is a flat surface, and when being in a designated stop position, and a rotatable disk is journaled to a part corresponding to the wheel 2 to be flush with each other. Two or more guide rollers are projected downward, and parts of guide rails 5 laid in the longitudinal and horizontal directions that correspond to the guide rollers and the upward projected and turned wheel 2 are both turned in the longitudinal and horizontal directions. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

  The present invention relates to a transfer device using a pallet (cart-like one).

  2. Description of the Related Art Conventionally, as a mechanical parking system, a plane-moving parking lot in which an automobile is mounted on a pallet, the pallet is horizontally moved back and forth or left and right, and transported to an empty pallet space is known. Patent Literature 1 and Patent Literature 2 are known as such a planar movable mechanical parking lot. The features of the flat movable mechanical parking lot disclosed in Patent Literature 1 are as follows: (1) A rail is projected in a cross-girder shape on the lower surface of the transport pallet, and is formed in only one direction at the intersection of the rails. (2) The short rail can be connected to either the vertical or horizontal rail of the cross-rail, and (3) The pallet is at a predetermined stop position in the pallet space. At one time, on the pallet space floor at a position corresponding to the short rail, a wheel capable of turning in the vertical or horizontal direction is protruded and provided. (4) By turning the wheel in the vertical or horizontal direction, And (5) arranging a plurality of pallet spaces in the vertical and horizontal directions that enable the pallets to be transported in the vertical and horizontal directions.

  Further, the feature of the planar movable mechanical parking lot disclosed in Patent Document 2 is that, when a plurality of pallets are at predetermined stop positions of the respective pallet spaces, a pallet is provided at an intermediate portion between adjacent pallets. For example, a fixed support wheel is provided at a position having a slight gap.

  An example of a specific structure is as follows. (1) In order to turn the short rail in the vertical or horizontal direction, a total of four guide rollers, two pairs each with the rail, are placed on the upper part of the bearing housing of the wheel that can be turned in the vertical or horizontal direction. Is wearing a shaft. (2) When the pallet moves in the vertical or horizontal direction, the guide roller guides the pallet in contact with the side surface of the rail protruding from the lower surface of the pallet. (3) A pair of guide rollers is mounted on the upper part of the bearing housing of the support wheel in the middle of the adjacent pallet space, and guides the rail on the back of the pallet.

  However, in the proposals of Patent Literature 1 and Patent Literature 2, the pallet is guided by at least two or more guide rollers of the wheel bearing housing in the traveling direction. Usually, the rails of a pallet are constituted by straight lines, so that the pallets can be transported only in a straight line. Therefore, the pallet spaces can be arranged only in a grid pattern. When the pallet spaces are arranged in the section L as in the example of FIG. 1, a wasteful space is created and the section L cannot be effectively utilized. In the case of such a section L, as shown in FIG. 2, if a part can be conveyed in a curved line, wasteful space can be eliminated and the pallet can be effectively used. There must be. However, in this case, there is a problem that the sheet can always be conveyed only in an arc shape and cannot be partially conveyed in a curved manner.

The following problem will be described with reference to FIGS. FIG. 3 is a cross-sectional view of a crossing portion of a cross-shaped rail of a pallet, and FIG. 4 is a view of FIG. Since the guide roller GR guides the side surface of the rail R on the back surface of the pallet, the guide roller GR protrudes higher than the tread surface of the rail R, and a portion through which the guide rollers GR on both sides of the rail R of the entire pallet pass. Since the thickness of the W pallet is small and the rigidity is low, it is necessary to reinforce that portion. Further, the length of the short rail SR at the crossing portion of the girder rail is equal to or greater than the diameter of the circumscribed circle of the four guide rollers GR, two pairs each of which is required to change the direction in the vertical or horizontal direction. When the short rail SR is between the guide roller GR and the next guide roller GR during transportation, the short rail SR rotates due to vibration or the like, changes its direction, and collides with the next guide roller GR. Therefore, a mechanism for holding the disk fixing the short rail SR with a pin DP urged by a spring or the like is required to prevent rotation during pallet conveyance, and the structure is large, heavy, complicated, and expensive. Met. The number of the guide rollers GR, four at each of the four rail intersections and the two of the bearing housings of the peripheral support wheels, was large and required about 24 pallets per space.
Japanese Patent Publication No. 7-29681 Japanese Patent Publication No. 7-17242

  SUMMARY OF THE INVENTION The present invention has been made to solve these problems, and an object of the present invention is to provide a light and inexpensive transfer device which can partially carry a curve and has a simple pallet structure.

  The transfer device of the present invention is a transfer device in which a plurality of transfer pallets can be transferred vertically and horizontally on a floor or a frame, and the transfer device projects from a floor or a frame. A plurality of pallets that can be turned in the vertical or horizontal direction, and a supporting wheel that is provided at a position between the pallets and a pallet at an intermediate portion between adjacent pallets when the pallets are at a predetermined stop position. A pallet mounted on the direction-changeable wheels and the supporting wheels and transported by driving these wheels, and a guide rail laid vertically and horizontally on a floor or a frame, The pallet has a flat surface at least in contact with the support wheel on the lower surface of the pallet and, when in a predetermined stop position, a contact surface of each wheel on a portion corresponding to the direction-changeable wheel. A rotatable disk that is large enough to contain it and is pivotally supported to be flush with the plane; and a plurality of guide rollers protruding downward, the guide rollers being provided with the guides. It is characterized by being guided by rails.

  When the pallet is at the predetermined stop position, the pallet is pivotally supported on the vertical and horizontal guide rails corresponding to the guide rollers so that the pallet can be connected to the vertical or horizontal guide rail, and is supported in only one direction. The short guide rail thus formed is turned in conjunction with the turning of the wheel.

  With this configuration, when the pallet is in the predetermined stop position and the direction-changeable wheel is turned in the vertical or horizontal direction, the disc on the lower surface of the pallet is driven to rotate with the wheel and the direction is changed. When the wheels are driven smoothly, the pallets are transported along straight or curved guide rails via guide rollers.

  ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to reduce the useless space in pallet space arrangement | positioning in the partition of a complicated shape like the prior art, and to utilize the whole partition more effectively. Further, the entire pallet can be formed to have a uniform thickness, the disk portion is small and the structure is simple, and only two or three guide rollers are required for one pallet, so that the entire pallet is inexpensive.

  The configuration of the present invention will be described in detail based on the embodiment shown in FIGS. 1 and 2 and FIGS. FIG. 1 is a plan view of an arrangement example of a pallet space S according to the prior art, and shows a comparison with the embodiment of the present invention in FIG. FIG. 5 is a partially enlarged view of the bent portion in FIG. 2, showing a case where there are at least two empty spaces without a pallet. In general, a flat mobile mechanical parking lot has one or more pallet spaces arranged vertically and horizontally more than the required number of pallets, and transports pallets vertically or horizontally using empty space without pallets. Then, the target pallet is put in and out of a not-shown entry / exit room or a lift connected to the entry / exit room.

  FIG. 6 is an enlarged plan view of one pallet space S in an empty space state without a pallet. In the pallet space S, there are four wheels 2 capable of turning in the vertical or horizontal direction, and supporting wheels 3 between the surrounding pallet spaces, turning devices 4, vertical and horizontal guide rails 5, photoelectric switches. The space frame 1 provided with 7 is fixed on the floor. When the pallet P is at a predetermined stop position, the peripheral support wheels 3 provided at a position having a slight gap from the pallet P and the four wheels 2 are arranged at substantially equal intervals vertically and horizontally, respectively. I have. The upper treads of the wheels 2 and the support wheels 3 on which the pallets P are mounted and conveyed are configured to be on the same horizontal plane. The support wheel 3 is driven to rotate when the pallet P is conveyed. However, when the space between the pallets is wide due to a bent portion or the like, the support wheel 3 is connected to a motor with a speed reducer and driven as necessary.

  The space frame 1 includes a rectangular frame made of long frames 11 and 12, a longer frame 11, and two pairs of frames 13 connecting the frames 11. A bearing housing member that rotatably supports the bearing housing 21 of the wheel 2 is fixed between each pair of frames 13, and between the adjacent pallet spaces S outside the rectangular frame. The mounting seat of the support wheel 3 which can stably convey the pallet P is provided.

  The guide rail 5 is a groove-shaped member, and one row in each of the vertical and horizontal directions is attached to the space frame 1, and the crossing portion G and each one point G1 and G2 on the vertical and horizontal extension lines from the crossing point are provided. A rotatable short guide rail 51 is pivotally connected to be connected. The guide rail 5 is connected to the guide rail 5 of the adjacent pallet space S, and is connected to the guide rail 5 having a smooth curve at the bent portion of the pallet space S. The guide rail 5 and the short guide rail 51 do not necessarily have to be groove-type, and the bottom of the groove may not be provided.

  FIG. 8 is an enlarged plan view of the lower right wheel 2 portion and the short guide rail 51 portion in FIG. As shown in FIG. 8, two arms 22 are formed on the bearing housings 21 of the four wheels 2 and are connected to each other by rods 42 pivotally connected to the distal ends thereof by pins. A rod 41 is pivotally connected to the tip of one arm 22 with a pin, and is connected to the rotating arm of the direction changing device 4. The direction changing device 4 of the present embodiment has a rotation arm fitted on the output shaft of a motor with a reduction gear fixed to the space frame 1. May be connected directly to the tip of the device or by a pin via a rod or the like. Further, an arm 23 is formed in the bearing housing 21, and is connected to a distal end portion of the arm 23 and a distal end portion of an arm 52 integrally formed with the short guide rail 51 by a rod 43 pivotally connected with a pin. .

  FIG. 7 is a plan view of the lower surface in a state where the pallet P is turned upside down. The lower surface is entirely configured to be flat, and when the pallet P is at a predetermined stop position, it is located at four positions corresponding to the wheels 2. Are rotatably supported by circular disks 6 rotatable in the same plane. The lower surface of the pallet P only needs to be flat at the portion where the wheels 2 and the support wheels 3 come into contact with each other when the pallet P is transported, and the entire surface does not need to be flat.

  On the lower surface of the pallet P, when the pallet P is at a predetermined stop position, the guide rail 5 is positioned at positions corresponding to the three short guide rails G, G1 and G2 of the guide rail 5 of the space frame 1. Guide rollers 6 inscribed on both side surfaces of the groove project. In addition, four light shielding plates 72 for detecting the deceleration point of the photoelectric switch 7 for controlling the transfer of the pallet P and two light shielding members 71 for detecting the stop position are protruded.

  Next, the configurations of the wheel 2 portion, the disk 6 portion on the lower surface of the pallet P, and the short guide rail 51 will be described with reference to FIGS. 8 and 9 to 12. FIG. 9 is a view of the wheel 2 portion of FIG. 8 viewed in the direction C, and shows a partial vertical cross-section in a state where the pallet P is mounted on the wheel 2 and at a predetermined stop position. FIG. 10 is a view showing a longitudinal section of a part of FIG. 9 viewed in the direction E. FIG. 11 is a view in which the short guide rail 51 of FIG. 8 is viewed in the direction D, and shows a partial vertical cross section in a state where the pallet P is mounted on the wheel 2 and at a predetermined stop position. FIG. 12 is a view showing a longitudinal section of a part of FIG. 11 viewed in the direction F.

  The wheel 2 is rotatably supported by a bearing housing 21, and a vertical shaft 24 protruding from a lower portion of the bearing housing 21 is rotatably mounted on a bearing housing member 14 of the space frame 1 via a bearing 25. Supported. In this embodiment, the wheels 2 are connected to a motor with a speed reducer. However, if a driving force necessary for transporting a pallet is obtained, the wheels 2 connected to the motor with a speed reducer are connected to one pallet space. The number may be individual, or if necessary, the total number.

  The disk 6 has a diameter large enough to include the contact surface of the wheel 2 when the pallet P is stopped at a predetermined stop position within a certain allowable range, and is rotated through a bearing. It is movably supported by the lower surface of the pallet P, and when the wheel 2 turns in the vertical or horizontal direction, the wheel 2 is turned together with the wheel 2 to reduce the frictional resistance with the pallet P.

  The short guide rail 51 formed in only one direction is rotatably attached to the vertical axis of the member 53 with the vertical shaft fixed to the space frame 1 and can be connected to the vertical or horizontal guide rail 5. A guide roller 8 rotatably mounted on a shaft protruding from the lower surface of the pallet P is inscribed. The length of the short guide rail 51 may be such that the guide roller 8 is within the length range when the pallet P is stopped at a predetermined stop position within a slight allowable range.

  In the present embodiment, there are three guide rollers 8 on one pallet P, and when the pallet P is transported in the vertical direction, two guide rollers 8 corresponding to the G and G1 portions are located at positions off the short guide rail 51. When the guide roller 8 guides the pallet P and is conveyed in the horizontal direction, two guide rollers 8 corresponding to the G and G2 portions guide. In the case where there are only two guide rollers 8 instead of three, the guide rails 5 are arranged in two rows in the vertical and horizontal directions, and guided by the guide rollers 8 corresponding to the diagonal G1 and G2 portions. If not, the direction of the pallet P becomes unstable during the conveyance, causing inconvenience. In this case, the number of the guide rollers 8 is reduced to two, but the number of the guide rails 5 is increased, which is not preferable because it is expensive.

  Control of the pallet P will be described with reference to FIGS. FIG. 13 is a sectional view of FIG. 7 as viewed in the direction B, and also shows the photoelectric switch 7 having opposing light emitting and receiving parts attached to a member (not shown) fixed to the space frame 1. ing. FIG. 14 is a cross-sectional view taken along the line GG in FIG. 13 and also shows the positional relationship between both portions K1 and K2, and FIG. 15 is a position detection operation diagram of the pallet P.

  The light-blocking members 71 protrude at two locations K1 and K2 on the lower surface of the pallet P, and block the optical axes of the two sets of photoelectric switches 7 attached to the space frame 1 respectively. The light projecting and light receiving sections of the photoelectric switch 7 are arranged so that the optical axis is at 45 °, and that there is a sufficient interval so that the light shielding member 71 of the pallet P does not interfere in any of the vertical and horizontal directions. It is attached. When the pallet P stops at a predetermined stop position, the center of the light blocking member 71 and the optical axis are slightly shifted from each other, and are shifted to the opposite sides on the K1 side and the K2 side. Also, four light shielding plates 72 shown in FIG. 7 are protruded from the lower surface of the pallet P, and when the pallet P moves from the vertical or horizontal direction, the light of the photoelectric switch on the K1 or K2 side is changed. The deceleration start position is detected by shielding the shaft.

  When the pallet P is accelerated from the pallet space on the right and moves at a high speed, first, the light axis of the photoelectric switch 7 on the K1 side is shielded by the light shielding plate 72, and the pallet P is decelerated to a low speed. Thereafter, in FIG. 15A, first, the position of the pallet P is detected by the light shielding member 71 on the K1 side blocking the optical axis of the photoelectric switch on the K1 side and the brake is applied, but the pallet P is completely stopped. Coast a little before you do. The range between (b) and (d) of FIG. 15 is the allowable range of the stop position. During this time, the K1 side and the K2 side are shielded from light, and the pallet P is stopped at the predetermined stop position. If the coasting distance becomes longer and stops between (d) and (e) in FIG. 15, the optical axis on the K2 side is shielded, but the light shielding member on the K1 side is displaced from the optical axis, and the pallet P is moved to the K2. It is detected that it has gone too far to the side, and is jogged in the opposite direction. When the brake is applied quickly and stops between (a) and (b) of FIG. 15, the optical axis on the K1 side is shielded, but the light shielding member on the K2 side is displaced from the optical axis, and the pallet P is moved to a predetermined position. It is detected that the vehicle has stopped just before the stop position, and the robot is jogged in the same traveling direction so as to fall within the allowable range.

  A large number of pallet spaces S configured as described above are arranged vertically and horizontally so that the heights of the upper treads of the wheels 2 and the support wheels 3 are on the same horizontal plane, and the respective guide rails 5 are connected to form a bent portion. Connect the guide rails 5 formed in a curved shape as necessary. Further, one or more pallets P less than the number of pallet spaces S are mounted on the respective predetermined stop positions by engaging the guide rollers 8 with the guide rails 5. When transporting the pallet P, first, the direction changing device 4 is driven to change the direction of the wheels 2 and the short guide rails 51 in the vertical or horizontal direction. At this time, the disk 6 of the pallet P is smoothly and smoothly rotated by the wheels 2. Next, when the motor with the speed reducer of the wheel 2 is driven in the direction of conveyance, the pallet P moves along the guide rail 5 via the guide roller 8, and is detected by the photoelectric switch 7 of the pallet space S which stops next. Stop at a predetermined stop position. Such conveyance is performed by repeatedly selecting one of the shortest paths according to a well-known game theory using a computer and simultaneously conveying one or a plurality of pallets P in the vertical or horizontal direction by using an empty space. The target pallet P can be transported to the target pallet space S.

  Although the present embodiment is directed to a planar movable mechanical parking lot, the present invention is not limited to this, and may be applied to a multi-layered mechanical parking lot, and further to a transport device such as a warehouse.

  The transport device of the present invention can use a small empty space, and can effectively store not only a fixed shape but also a large number of pallets in a section having a deformed shape. It is suitable as a transport device for a multi-layered mechanical parking lot or warehouse.

It is a top view of one example of arrangement of the pallet space by a prior art. It is a top view of one example of arrangement of a pallet space by the present invention. It is sectional drawing of the rail crossing part of the pallet by a prior art. It is the figure which looked at FIG. 3 in the A direction. FIG. 3 is a partially enlarged view of a bent portion in FIG. 2. FIG. 4 is a plan view of a pallet space, showing an empty space without a pallet. It is a top view of the lower surface in the state where the pallet was turned upside down. FIG. 7 is an enlarged view of a wheel and a short guide rail portion on the lower right side of FIG. 6. FIG. 9 is a view partially showing a vertical cross section of the wheel portion of FIG. 8 as viewed in the direction C, and also shows a state where a pallet is mounted and at a predetermined stop position. FIG. 10 is a view partially showing a vertical cross section when FIG. 9 is viewed in a direction E. FIG. 9 is a view of the short guide rail of FIG. 8 as viewed in the direction D, and also shows a state where a pallet is mounted and at a predetermined stop position. FIG. 12 is a view partially showing a vertical section when FIG. 11 is viewed in a direction F. FIG. 7 is a cross-sectional view as viewed in the direction B, and also shows a photoelectric switch. FIG. 14 is a cross-sectional view taken along a line GG in FIG. 13, showing a difference between K1 and K2 portions. It is a pallet position detection operation figure.

Explanation of reference numerals

S Pallet space P Pallet 1 Space frame 2 Wheel 3 Support wheel 4 Direction change device 5 Guide rail 6 Disk 7 Photoelectric switch 8 Guide roller G Position of short guide rail and guide roller K Position of photoelectric switch and light blocking member

Claims (2)

A transport device installed on a floor or a frame so that a plurality of transport pallets can be transported vertically and horizontally,
The transfer device includes a vertically or horizontally directional wheel protruding from the floor or a frame, and a pallet at an intermediate portion between adjacent pallets when a plurality of pallets are at a predetermined stop position. A supporting wheel protruding at a position having a slight gap, a pallet mounted on the deflectable wheel and the supporting wheel, and conveyed by driving these wheels, and a vertical and a horizontal on a floor or a frame. With guide rails laid in the direction,
In the pallet, at least a portion of the lower surface of the pallet that contacts the support wheel is a flat surface, and when in a predetermined stop position, a contact surface of each wheel is formed on a portion corresponding to the direction-changeable wheel. A rotatable disk rotatably supported to be coplanar with the plane, and having a plurality of guide rollers projecting downward; A transport device characterized by being guided by a rail.   When the pallet is at a predetermined stop position, the pallets are vertically and horizontally guided on the guide rail portions corresponding to the guide rollers and pivotally supported so as to be connected to the pallet, and can be connected only in one direction. The transport device according to claim 1, wherein the short guide rail is formed to change a direction in conjunction with a change in the direction of the wheel.

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