JP2013023327A - Transfer device and transfer method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a transfer device and method capable of performing accurate positioning and transfer, even when a transfer object is a heavy object, while simplifying and miniaturizing the transfer device.SOLUTION: The transfer device includes: a fixed fork 2 fixed to a moving truck 11; an intermediate fork 3 slidably supported by the fixed fork 2; a tip end fork 4 slidably supported by the intermediate fork 3; and an engaging means 5 which is arranged at the tip end fork 4 and can be engaged with a pallet P supporting an article A on a mounting base. The tip end fork 4 is moved from the rear end to the front end of the intermediate fork 3 while the intermediate fork 3 is moved from a retracted position at which the pallet P is pulled in on a loading platform 11a to an extension position at which the pallet P is pushed in on the mounting base, and the intermediate fork 3 is turned to the state of being projected from the rear end of the moving truck 11 or the fixed fork 2 when moved to the retracted position.

Description

  The present invention relates to a transfer apparatus and transfer method for loading and unloading articles, and more particularly, to a transfer apparatus and transfer method suitable for loading and unloading heavy objects.

  Generally, when loading and unloading articles between a loading rack of an automatic warehouse for storing articles and a loading platform of a station for delivering articles and a loading platform of a moving carriage for conveying articles, a transport cart, etc. Is performed by a transfer device arranged in Such transfer devices include, for example, a slide fork type that scoops up and transfers an article or pallet from the bottom, a side clamp type that transfers an article by sandwiching the article from both sides, and a pallet that hooks a claw to transfer. There are push-pull type.

  The transfer device described in Patent Document 1 is of a slide fork type. The transfer device includes a lower fork fixed to a base, an intermediate fork slidably supported by the lower fork, and an upper fork slidably supported by the intermediate fork, The chain fixed to the intermediate fork and the sprocket disposed on the lower fork are meshed so that the intermediate fork is slid.

  A pair of turning wheels are arranged at the front end and the rear end of the intermediate fork, and one end of the turning wheel on the front end side is fixed to the rear end of the lower fork and the other end is fixed to the rear end of the upper fork. A cable body having one end fixed to the front end of the lower fork and the other end fixed to the front end of the upper fork is wound around the turning wheel on the rear end side, The upper fork is slid in conjunction with the sliding of the intermediate fork.

  The transfer device described in Patent Document 2 is of a push-pull type. Such a transfer device includes a conveyor and a push-pull device arranged in a stacker crane, and the push-pull device pushes the pallet from the stacker crane to a predetermined position on the shelf and the pallet of the stacker crane from the shelf. A push-pull claw for performing an operation of pulling out to the mounting portion; and a drive device for reciprocating the push-pull claw.

  With this configuration, the push / pull claw is locked to the pallet, the pallet is pulled out from the shelf and moved onto the carriage, and then the pallet is moved to the center loading position by the conveyor, and the pallet on the carriage is moved by the conveyor. After moving to the shelf, the push / pull pawl is brought into contact with the contact end surface of the pallet and the pallet is pushed in so that the pallet is moved to the placement position.

  The transfer device described in Patent Document 3 is also of a push-pull type. Such a transfer device includes an exit / retreat movement member positioned on one side of the transfer path, a load side guide that is movable on the other side of the transfer path, and both front and rear ends of the transfer / removal member. A pair of load drawing push-out arms pivotally supported on the loading and unloading movement member and the load side guide between the retracted position on the load support base side and the advanced position on the load support portion side. The load-drawing push-out arm is driven to swing between a standing and retracting posture and a falling action posture that has fallen substantially horizontally into the transfer path.

  With this configuration, the load pull-in push-out arm is locked to the rear end of the article (load) and the pull-out moving member is advanced to push out the article, and the load pull-out push arm is engaged with the front end of the article (load). The article is pulled in by stopping and retracting the retracting / moving member.

JP-A-8-99701 JP 2006-264894 A Japanese Patent No. 3367529

  By the way, when the article to be transferred is a heavy object (for example, several tons to several tens of tons), it is difficult to sandwich and move the article with the side clamp type transfer device. A transfer device of the type can be selected.

  However, in the slide fork type transfer device described in Patent Document 1, it is necessary to insert the upper fork under the article or the pallet, and the stroke of the slide fork at the time of transfer becomes long. Or the number of stages of slide forks increases, and there is a problem that the transfer device becomes larger.

  Moreover, in the push-pull type transfer device described in Patent Document 2, the push-pull device that pulls in and pushes out the pallet and the conveyor that moves the pallet are configured by separate devices, and the mechanism is There was a problem of becoming complicated. Further, the movement by the conveyor is not suitable for moving heavy objects, and there are problems such as difficulty in positioning and transfer with high accuracy.

  Further, in the push-pull type transfer device described in Patent Document 3, when pulling the article, the load pull-in pushing arm has to be advanced to the back of the article, and as with the slide fork type, the exit / retreat is performed. There has been a problem that the moving member becomes longer. In addition, there is a problem that the mechanism becomes complicated because the position of the load pull-in push-out arm must be changed between push-out and pull-in. Furthermore, when applied to a heavy object, it is necessary to make the load pull-in pushing arm and the swinging means sturdy, and there is a problem that the transfer device becomes large.

  The present invention has been devised in view of the above-described problems, and achieves high-precision positioning and transfer even when the transfer target is a heavy object while simplifying and reducing the size of the transfer apparatus. It is an object to provide a transfer apparatus and a transfer method that can be performed.

  According to the present invention, there is provided a transfer device for loading and unloading an article between a placing table on which the article is placed and a loading platform of a moving carriage that conveys the article, and is fixed to the moving carriage. A fork, an intermediate fork slidably supported by the fixed fork, a tip fork slidably supported by the intermediate fork, and the article disposed on the tip fork and supporting the article on the mounting table Engaging means that can engage with the pallet, and the tip fork extends from the retracted position in which the intermediate fork has pulled the pallet onto the loading platform, and the pallet has been pushed onto the mounting table. The intermediate fork moves from the rear end to the front end of the intermediate fork, and the intermediate fork protrudes from the rear end of the movable carriage or the fixed fork when the intermediate fork moves to the retracted position. And it is configured such that, the transfer device is provided, characterized in that.

  A stopper for stopping the tip fork may be arranged on the mounting table side. The intermediate fork may be shorter than the fixed fork, and the tip fork may be shorter than the intermediate fork.

  The engaging means includes, for example, a locate pin configured to be able to protrude and retract in a vertical direction from the tip fork, a rack formed on the locate pin, a pinion meshed with the rack, and a drive means for rotating the pinion Have. Further, the engaging means may include a position detection sensor that detects a position of the locate pin.

  Further, according to the present invention, there is provided a transfer method for loading and unloading an article between a placing table for placing the article and a loading platform for a moving carriage that conveys the article, and is fixed to the moving carriage. A fixed fork, an intermediate fork slidably supported by the fixed fork, a tip fork slidably supported by the intermediate fork, and the article disposed on the tip fork and on the mounting table And an engaging means that can be engaged with a pallet that supports the pallet, and during loading, the intermediate fork and the tip fork are brought close to the pallet, and the engaging means is engaged with the pallet. The intermediate fork and the tip fork are separated from the mounting table, and the intermediate fork and the tip fork protrude from the rear end of the movable carriage or the fixed fork. The pallet is placed on the loading platform, and when moving, the moving fork is moved while the intermediate fork and the tip fork protrude from the rear end of the moving cart or the fixed fork. Bringing the fork and the tip fork closer to the mounting table, detaching the engagement means from the pallet, placing the pallet on the mounting table, and separating the intermediate fork and the tip fork from the pallet; There is provided a transfer method characterized in that the intermediate fork and the tip fork are retracted onto the loading platform.

  When the intermediate fork and the tip fork are brought close to the mounting table at the time of loading or loading, the tip fork is positioned by stopping the tip fork against the mounting table. May be.

  According to the transfer device and the transfer method according to the present invention described above, when the engaging means that can be engaged with the pallet is arranged on the tip fork that can travel on the intermediate fork, the intermediate fork is moved to the retracted position. By configuring so as to protrude from the rear end of the movable carriage or the fixed fork and enabling the conveyance in that state, the pallet can be transferred onto the loading platform of the movable carriage alone. Therefore, it is not necessary to equip a push-pull mechanism that partially pulls in and pushes out the article and a moving mechanism that moves the pallet on which the article is placed on the movable carriage, and simplification of the structure and Miniaturization can be achieved.

  Further, with this configuration, the intermediate fork can be made shorter than the fixed fork and the tip fork can be made shorter than the intermediate fork, and the transfer device can be downsized.

  In addition, by loading and unloading articles with the engaging means engaged with the pallet, the pallet can be reliably moved by the stroke of the intermediate fork and tip fork, and the object to be transferred is Even in the case of objects, highly accurate positioning and transfer can be performed.

It is a schematic side view which shows the transfer apparatus which concerns on 1st embodiment of this invention. It is a schematic front view which shows the transfer apparatus which concerns on 1st embodiment of this invention. It is a figure which shows the drive mechanism of a front-end fork, (a) is a schematic plan view, (b) is a schematic sectional drawing in the BB arrow in FIG. 3 (a), (c) is C- in FIG. 3 (a). It is C arrow schematic sectional drawing. It is a figure which compares the effect | action of the transfer apparatus which concerns on 1st embodiment, and a slide fork type transfer apparatus, (a) has shown the extended state, (b) has shown the retracted state. It is explanatory drawing of an engaging means, (a) is a schematic sectional drawing which shows a detachment | leave state, (b) is a schematic sectional drawing which shows an engagement state. FIG. 6 is a schematic plan view of the engaging means shown in FIG. It is a figure which shows the unloading process by the transfer method which concerns on embodiment of this invention, (a) is a moving process, (b) is an extending process, (c) is an engaging process, (d) is a retracting process. Show. It is a figure which shows the loading process by the transfer method which concerns on embodiment of this invention, (a) is a conveyance process, (b) is an extending process, (c) is a removal process, (d) shows an evacuation process. ing.

  Hereinafter, a transfer apparatus according to an embodiment of the present invention will be described with reference to FIGS. Here, FIG. 1 is a schematic side view showing the transfer apparatus according to the first embodiment of the present invention. FIG. 2 is a schematic front view showing the transfer apparatus according to the first embodiment of the present invention. 3A and 3B are diagrams showing a driving mechanism of the tip fork, where FIG. 3A is a schematic plan view, FIG. 3B is a schematic cross-sectional view taken along line BB in FIG. 3A, and FIG. Is a schematic cross-sectional view taken along the line CC in FIG.

  As shown in FIGS. 1 to 3, the transfer device 1 according to the first embodiment of the present invention is between the mounting table on which the article A is placed and the loading platform 11 a of the moving carriage 11 that carries the article A. A transfer device for loading and unloading an article A, which includes a fixed fork 2 fixed to a movable carriage 11, an intermediate fork 3 slidably supported on the fixed fork 2, and a slide on the intermediate fork 3. A tip fork 4 that is movably supported; and an engagement means 5 that is disposed on the tip fork 4 and that can engage with a pallet P that supports the article A on the mounting table. While the intermediate fork 3 moves from the retracted position where the pallet P is drawn onto the loading platform 11a to the extended position where the pallet P is pushed onto the mounting table, the intermediate fork 3 moves from the rear end to the front end. Move to the retracted position. And it is configured so as to be in a state of protruding from the rear end of the carriage 11 or fixed forks 2. In FIG. 2, the illustration of the engaging means 5 is omitted.

  The article A is, for example, a heavy object of several tons to several tens of tons, and is supported on the pallet P and transferred. The pallet P has wheels W that travel on the mounting table and the loading platform 11a. In FIG. 1 and FIG. 2, the article A and the pallet P are indicated by a one-dot chain line.

  For example, as shown in FIGS. 1 and 2, the movable carriage 11 drives a loading platform 11 a on which an article A is placed, a wheel 11 b that rolls on a rail R laid on a floor surface F, and a wheel 11 b. A drive motor (not shown). As shown in FIG. 2, a pair of rails 11 c are arranged on the loading platform 11 a along the moving direction of the article A. In FIG. 1, the rail 11c is not shown. Further, guide rollers G are arranged on one side of the rail 11c on both sides of the wheel W of the pallet P, and the guide roller G rolls while holding the rail 11c, thereby guiding the wheel W of the pallet P. Like to do. The mobile carriage 11 is not limited to the configuration shown in the figure, and the same configuration as that of a conventional mobile carriage used in an automatic warehouse or the like can be applied. For example, the rail 11c and the rail of the mounting table Positioning means or the like for positioning may be provided, or a rail groove that receives the protrusion of the wheel W instead of the guide roller G may be formed in the rail 11c.

  For example, as shown in FIG. 1, the fixed fork 2 has the same length as the length L in the front-rear direction of the movable carriage 11. Further, as shown in FIG. 2, a plurality of support rollers 21 that slidably support the intermediate fork 3 are rotatably disposed on the fixed fork 2. Here, the case where the support roller 21 is disposed on the fixed fork 2 is illustrated, but a roller may be disposed on the intermediate fork 3 and a rail may be disposed on the fixed fork 2.

  For example, as shown in FIG. 2, the intermediate fork 3 includes a pair of intermediate fork main bodies 31 arranged on both sides, and a connecting member 32 that connects the pair of intermediate fork main bodies 31. The intermediate fork main body 31 is made of, for example, H-shaped steel, and is connected and integrated by a plurality of connecting members 32. The two openings of the intermediate fork main body 31 are used as rails. For example, as shown in FIG. 2, when the intermediate fork main body 31 is arranged so that the openings are arranged side by side, the support roller 21 of the fixed fork 2 is inserted into one opening (outside in the drawing). The support roller 41 of the tip fork 4 is inserted into the other opening (inside in the figure). Although not shown, when the intermediate fork main body 31 is arranged so that the openings are arranged in parallel vertically, the support roller 21 of the fixed fork 2 is inserted into the lower opening, and the tip fork 4 is supported in the upper opening. What is necessary is just to insert the roller 41. FIG. The intermediate fork main body 31 is not limited to the H-shaped steel, but may be configured by a metal material having an I-shaped steel or other similar shapes.

  As shown in FIG. 2, a rack 33 is disposed on the connecting member 32 of the intermediate fork 3. As shown in FIGS. 1 and 2, the fixed fork 2 includes a drive motor 22 for sliding the intermediate fork 3, a drive gear 23 disposed at the tip of the drive motor 22, a drive gear 23 and a rack 33. And an intermediate gear 24 meshed with each other. Then, by driving the drive motor 22, power is transmitted to the intermediate fork 3 via the drive gear 23, the intermediate gear 24 and the rack 33, and the intermediate fork 3 is extended or retracted. The drive means is not limited to the illustrated one, and a power source other than the drive motor 22 may be used, or a power transmission means other than the gear train may be used.

  For example, as shown in FIG. 2, the tip fork 4 includes a pair of tip fork main bodies 42 disposed inside the intermediate fork main body 31 of the intermediate fork 3, and a connecting member 43 that connects the pair of tip fork main bodies 42. Have. A plurality of support rollers 41 to be inserted into the opening of the intermediate fork main body 31 are arranged on the tip fork main body 42. With this configuration, the support roller 41 rolls along the intermediate fork main body 31, so that the tip fork 4 moves along the longitudinal direction of the intermediate fork 3.

  Here, the drive mechanism of the tip fork 4 will be described with reference to FIG. In FIGS. 1 and 2, the drive mechanism of the tip fork 4 is not shown.

  As shown in FIG. 3 (a), one rack 33 (or its supporting member) in the intermediate fork 3 has a sprocket 34a rotatably disposed at its rear end, and the other rack 33 (or its supporting member). ), A sprocket 34b is rotatably arranged at the front end. Further, as shown in FIG. 3 (b), a chain 35 a having one end fixed to the front end 2 a of the fixed fork 2 and the other end fixed to the front end 4 a of the front fork 4 is wound around the sprocket 34 a. It has been. As shown in FIG. 3C, the sprocket 34b has a chain 35b whose end is fixed to the rear end 2b of the fixed fork 2 and whose other end is fixed to the rear end 4b of the front fork 4. It is wrapped around.

  With this configuration, when the intermediate fork 3 is moved in the longitudinal direction, the tip fork 4 travels on the intermediate fork 3 in conjunction with the slide of the intermediate fork 3. Then, by adjusting the lengths and fixing positions of the chains 35a and 35b, the tip fork 4 moves to the front end position of the intermediate fork 3 when the intermediate fork 3 moves to the extended position, which is the foremost stop position. The front end fork 4 can be moved to the rear end position of the intermediate fork 3 when the intermediate fork 3 moves to the retracted position which is the rearmost stop position.

  The configuration of the fixed fork 2, the intermediate fork 3 and the tip fork 4 described above is merely an example, and is not limited to this. For example, a rail groove is formed in the fixed fork 2 or the tip fork 4, For example, a roller may be disposed on the intermediate fork 3 and the like can be appropriately changed.

  Next, the relationship between the lengths of the fixed fork 2, the intermediate fork 3 and the tip fork 4 will be described in comparison with a slide fork type transfer device which is one of conventional transfer devices. Here, FIG. 4 is a diagram comparing the operation of the transfer device according to the first embodiment and the slide fork type transfer device, where (a) shows an extended state and (b) shows a retracted state. ing. In each figure, the upper part shows a comparative example (slide fork type), the lower part shows this embodiment, and the X-axis shows the longitudinal direction of the transfer device.

  Generally, in a conventional slide fork type transfer device, the pallet length and all the fork lengths (upper fork, intermediate fork, lower fork) have the same length, and the fork stroke is determined by the pallet length, the transfer device, and the loader. It is set by the clearance of the table. Now, it is assumed that the gap between the transfer device and the mounting table is larger than before (for example, when 100 mm is expanded to 1000 to 2000 m). In this case, in the conventional slide fork type transfer device, since the fork stroke is insufficient, the fork length must be increased by the expanded gap, and the transfer device becomes large. In the transfer device 1 according to the present embodiment, the pallet P can be transferred without increasing the size of the transfer device 1 even when the gap between the transfer device 1 and the mounting table 6 becomes large.

  Here, for convenience of explanation, in the conventional slide fork type transfer device 101, the pallet P can be transferred in a state where the gap between the transfer device and the mounting table is larger than the conventional one. L, and the palette length is 3L / 4. In this case, the clearance between the transfer device and the mounting table can be considered as L / 8. In general, between the forks, the upper fork can be moved (overhang) to a position slightly longer than half of the length of the lower fork. The fork is moved to half the position of the lower fork (overhang amount = 0).

  As shown in FIGS. 4A and 4B, the conventional slide fork type transfer device 101 includes a lower fork 102, an intermediate fork 103, and an upper fork 104, and a pallet P on which an article A is mounted. It is configured to scoop up from the bottom and transfer. Further, as shown in FIG. 4B, it is assumed that the lower fork 102, the intermediate fork 103, and the upper fork 104 have the same length L (= 16L / 16). The center position on the X axis is the origin O. Therefore, the front ends of the lower fork 102, the intermediate fork 103, and the upper fork 104 are at a position of L / 2 (= 8L / 16), and the rear ends are at a position of -L / 2 (= -8L / 16). It will be.

  Further, as shown in FIG. 4A, when it is assumed that the overhang amount = 0, the state in which the intermediate fork 103 has moved to the maximum extent is that the rear end of the intermediate fork 103 reaches the position of the origin O. A state in which the upper fork 104 has moved forward as much as possible is a state in which the rear end of the upper fork 104 has moved to the center position of the intermediate fork 103 (position 8L / 16 on the X axis). In this state, it is assumed that the transfer device 101 can support the article A and the pallet P placed on a placement table (not shown). In addition, the pallet P has a length of 3L / 4 (= 12L / 16) with respect to the length L of the upper fork 104 for convenience of explanation. In the state of FIG. 4A, it is assumed that the center position of the upper fork 104 and the center position of the pallet P coincide with each other. At this time, the center position of the pallet P is located at L (= 16L / 16) on the X axis, and the margin on one side of the upper fork 104 in the X axis direction is half L / 4 (= 2L / = 2) 16).

  On the other hand, as shown in FIGS. 4A and 4B, the transfer device 1 according to the present embodiment includes a fixed fork 2, an intermediate fork 3, and a tip fork 4, and includes a pallet P on which an article A is mounted. The side part is hooked and pulled in and transferred. Now, as shown in FIG. 4A, the article A and the pallet P are assumed to be located at L (= 16L / 16) on the X axis, as in the comparative example. At this time, since the width of the pallet P was 3L / 4 (= 12L / 16), the side surface portion of the pallet P on the transfer device 1 side is located at 10L / 16 on the X axis.

  In the transfer device 1, the front end fork 4 must move to a position adjacent to the side surface portion of the pallet P, so that the intermediate fork 3 is moved to a position of 10 L / 16 on the X axis. At this time, in order to prevent the transfer device 1 from becoming larger than the conventional transfer device 101, the rear end of the intermediate fork 3 does not exceed the rear side (negative side) of the position of the origin O. It is preferable to do. Here, it is assumed that the rear end of the intermediate fork 3 is at the position of the origin O. In this case, the length of the intermediate fork 3 is 10L / 16 (= 5L / 8). Further, the center position of the intermediate fork 3 is located at 5L / 16 on the X axis.

  Since the fixed fork 2 must support the intermediate fork 3 in the state of FIG. 4A, when the overhang amount is assumed to be zero, the front end of the fixed fork 2 is at least the intermediate fork 3. Must reach the center position. Therefore, the front end of the fixed fork 2 must be positioned at least at 5L / 16 on the X axis. In order to reduce the size of the transfer device 1, it is necessary to make the length of the fixed fork 2 shorter than the lower fork 102 of the conventional transfer device 101. That is, if the front end position of the fixed fork 2 is X, the front end position X is set so as to satisfy the expression 5L / 16 ≦ X <8L / 16 (= L / 2). Therefore, the length (2X) of the fixed fork 2 is set to 10L / 16 ≦ 2X <16L / 16 (= L).

  Further, as shown in FIG. 4B, the tip fork 4 hooks the pallet P, and the pallet P is moved to the position where the center position of the pallet P coincides with the center position (origin O) of the fixed fork 2 and transferred. Think about the state. At this time, in order to prevent the transfer device 1 from becoming larger than the conventional transfer device 101, the rear end of the intermediate fork 3 has a position of −L / 2 (= −8L / 16) on the X axis. It is necessary to set so that At this time, in order to set the rear end of the tip fork 4 so as not to protrude beyond the rear end of the intermediate fork 3, the tip fork 4 is positioned between −8L / 16 to −6L / 16 on the X axis. Therefore, it is preferable to set the length to 2L / 16.

  By setting the lengths of the fixed fork 2, the intermediate fork 3 and the tip fork 4 of the transfer device 1 in this manner, as shown in FIG. 4A, the transfer device 1 is at the same position as the conventional transfer device 101. As shown in FIG. 4B, the length (2X) of the transfer device 1 is set to be shorter than the length L of the conventional transfer device 101 while enabling the transfer of the article A and the pallet P. Can do. Accordingly, the transfer device 1 can be reduced in size.

  By the way, considering the condition that the length of the intermediate fork 3 and the tip fork 4 should be shorter than the fork length (L) of the conventional transfer device 101, the length of the intermediate fork 3 is 10L / 16 ≦ intermediate. Fork length <16L / 16 can be arbitrarily set, and the length of the tip fork 4 can be arbitrarily set in the range of 2L / 16 ≦ tip fork length <16L / 16. However, considering the stability of the transfer device 1 and the space required for traveling on the moving carriage, the length of the intermediate fork 3 is set to be equal to or less than the length of the fixed fork 2 and the length of the tip fork 4 is set to the intermediate fork 3. It is preferable to set it below the length of.

  Next, the engaging means 5 is demonstrated using FIG.5 and FIG.6. Here, FIG. 5 is an explanatory view of the engaging means, (a) is a schematic sectional view showing a disengaged state, and (b) is a schematic sectional view showing an engaged state. FIG. 6 is a schematic plan view of the engaging means shown in FIG. As shown in FIGS. 5 and 6, the engagement means 5 is disposed on the tip fork 4.

  For example, the engaging means 5 rotates a locating pin 51 configured to be able to protrude and retract in the vertical direction from the tip fork 4, a rack 52 formed on the locating pin 51, a pinion 53 meshed with the rack 52, and the pinion 53. The driving unit 54 includes a link mechanism 55 that transmits the power of the driving unit 54 to the pinion 53, and a position detection sensor 56 that detects the position of the locate pin 51.

  For example, as shown in FIGS. 5A and 5B, the locate pin 51 is a pin formed in a cylindrical shape, and is held by a pin holder 51 a disposed on the tip fork 4 so as to be movable in the vertical direction. ing. Further, a through hole is formed in the connecting member 43 of the tip fork 4, and the pin holder 51a and the locate pin 51 are inserted therethrough. The pin holder 51a may be a cylindrical member having an opening in the rack 52, or may be a plate-like member that supports a side surface portion other than the rack 52 of the pin holder 51a.

  The tip of the locate pin 51 may be formed in a tapered shape so that it can be easily inserted into the engagement hole 57a of the engagement portion 57 disposed on the side surface portion of the pallet P. For example, as shown in FIG. 6, the engagement hole 57 a of the pallet P has a long hole shape that is long in the width direction of the tip fork 4 (direction perpendicular to the moving direction). By forming the engagement hole 57a in such a long hole shape, the locating pin 51 can be used even when the stop position of the movable carriage 11 is slightly deviated or when the tip fork 4 is deviated when the pallet P is transferred. It is possible to prevent an excessive load from being applied.

  As shown in FIGS. 5A and 5B, the rack 52 is disposed on one side surface of the locate pin 51, and converts the rotational motion of the pinion 53 into the linear motion of the locate pin 51. As described above, when the drive mechanism of the locate pin 51 is a rack and pinion mechanism, for example, when the article A and the pallet P are heavy, and the tip of the locate pin 51 cannot be inserted into the engagement hole 57a. Even so, the rack 52 and the pinion 53 can mesh and withstand the impact.

  As shown in FIG. 6, the pinion 53 is connected to a drive shaft supported by a bearing 53a, and the pinion 53 is configured to rotate in conjunction with the rotation of the drive shaft. Such a drive shaft is rotated by a drive means 54 (for example, an electric motor) via a link mechanism 55. The link mechanism 55 includes, for example, a pair of first links 55a whose one ends are connected to the drive shaft of the pinion 53, and a pair of second links 55b that are rotatably connected to the other ends of the pair of first links 55a. And a pair of third links 55c rotatably connected to the other ends of the pair of second links 55b. The other end of each third link 55c is connected to the drive means 54 via a speed reducer or the like. When the drive means 54 is operated, the third link 55c can be rotated.

  For example, as shown in FIG. 5 (a), when the locating pin 51 is disengaged from the engagement hole 57a, the third link 55c rotates toward the mounting table 6 when the driving means 54 is operated, The second link 55b moves toward the mounting table 6 side. By the movement of the second link 55b, the first link 55a is rotated counterclockwise, and the pinion 53 is also rotated counterclockwise. Since the pinion 53 meshes with the rack 52, the locate pin 51 is pushed upward. The drive mechanism of the pinion 53 is not limited to the above-described configuration. For example, a chain belt mechanism may be applied instead of the link mechanism 55, or the pinion 53 is connected to the tip of the conductive motor. It can be changed as appropriate, for example, it may be driven directly.

  Further, a swing arm 56a is connected to one third link 55c, and is configured to swing with the rotation of the third link 55c. The swing arm 56a is configured to protrude above the connecting member 43 from an opening 43a formed in the connecting member 43 of the tip fork 4, and a pair of swing arms 56a are provided near both ends of the swing position of the swing arm 56a. The position detection sensor 56 is arranged. As shown in FIG. 6, a detection plate 56b is disposed at the tip of the swing arm 56a. By detecting the position of the detection plate 56b by the position detection sensor 56, the position of the swing arm 56a can be detected. The position of the swing arm 56a allows the locate pin 51 to be engaged with the engagement hole. It can be grasped whether or not it is engaged with 57a. The position detection sensor 56 may be a capacitive proximity sensor, an optical sensor such as an optical sensor or an infrared sensor, or a contact sensor that detects pressure or the like. Also good.

  A pair of stoppers 56c are arranged on the upper surface of the connecting member 43 of the tip fork 4 so as to face the opening 43a. With the stopper 56c, the rotation of the swing arm 56a and the third link 55c can be restricted, and the amount of movement of the locate pin 51 can be controlled. In FIG. 6, the illustration of the stopper 56c is omitted.

  Further, as shown in FIG. 6, a stopper 61 for stopping the front end fork 4 is disposed on the front side of the mounting table 6 on the front surface of the mounting table 6 approaching the front end fork 4. For example, a portion of the stopper 61 that comes into contact with the tip fork 4 is formed of a material such as a metal material or hard rubber. Also, the stopper 61 is provided with a plurality of adjustment pins 62. By adjusting the tightening degree of the adjustment pins 62, the protrusion amount of the stopper 61, the inclination of the contact surface, and the like can be individually changed. it can.

  Further, a proximity sensor 58 is disposed on the lower surface of the connecting member 43 of the tip fork 4, and a detection plate 63 is disposed at a position accessible to the proximity sensor 58 on the mounting table 6 side. For example, the detection plate 63 may be fixed by the adjustment pin 62 of the stopper 61. Similar to the position detection sensor 56, the proximity sensor 58 may be a capacitive proximity sensor, or may be an optical sensor such as an optical sensor or an infrared sensor, and detects pressure or the like. A contact type sensor may be used. By disposing the proximity sensor 58, it is possible to grasp the approach state between the tip fork 4 and the mounting table 6, and transmit a signal to the drive mechanism of the tip fork 4 and the drive means 54 of the engagement means 5 to obtain a desired state. Can be controlled.

  Next, a transfer method using the transfer device 1 according to the first embodiment described above will be described. Here, FIG. 7 is a figure which shows the loading process by the transfer method which concerns on embodiment of this invention, (a) is a movement process, (b) is an extending process, (c) is an engagement process, ( d) shows a retreat process. Moreover, FIG. 8 is a figure which shows the loading process by the transfer method which concerns on embodiment of this invention, (a) is a conveyance process, (b) is an extending process, (c) is a removal process, (d) Indicates the evacuation process. In addition, about the same component as the transfer apparatus 1 which concerns on 1st embodiment mentioned above, the same code | symbol is attached | subjected and the overlapping description is abbreviate | omitted.

  The transfer method according to the embodiment of the present invention is a transfer method in which the article A is loaded and unloaded between the placing table 6 on which the article A is placed and the loading platform of the movable carriage 11 that carries the article A. A fixed fork 2 fixed to the movable carriage 11, an intermediate fork 3 slidably supported on the fixed fork 2, a tip fork 4 slidably supported on the intermediate fork 3, and a tip fork 4 And the engaging means 5 that can be engaged with the pallet P that supports the article on the mounting table 6 is used. A part indicated by a one-dot chain line on the mounting table 6 indicates a traveling rail SR that supports the pallet P, and a part indicated by a one-dot chain line on the movable carriage 11 indicates a rail 11c that supports the pallet P.

  First, the loading process will be described with reference to FIGS. As shown in FIG. 7A, it is assumed that the article A is arranged on the mounting table 6. Note that “loading” means a process of transferring the article A placed on the placing table 6 onto the loading platform of the moving carriage 11.

  The moving process shown in FIG. 7A is a process of moving the moving carriage 11 to a position facing a predetermined mounting table 6. At this time, the intermediate fork 3 and the tip fork 4 may be disposed at the retracted position as illustrated, or may be brought close to the center of the movable carriage 11. The movable carriage 11 is positioned so as to stop at a predetermined position.

  The stretching process shown in FIG. 7B is a process of bringing the intermediate fork 3 and the tip fork 4 closer to the pallet P. When the intermediate fork 3 and the tip fork 4 are slid to a predetermined extension position, the intermediate fork 3 is extended to a position adjacent to the pallet P, and the tip fork 4 moves to the front end of the intermediate fork 3. At this time, the tip fork 4 comes into contact with the stopper 61 shown in FIGS. 5 and 6 and stops and is positioned with high accuracy.

  The engaging step shown in FIG. 7C is a step of engaging the engaging means 5 with the pallet P. Specifically, the locating pin 51 of the engaging means 5 is raised, and the locating pin 51 is inserted into the engaging hole of the engaging portion 57 of the pallet P.

  The retracting process shown in FIG. 7D is a process of separating the intermediate fork 3 and the tip fork 4 from the mounting table 6. The intermediate fork 3 and the front fork 4 are finally in a state in which the pallet P is placed on the loading platform of the mobile carriage 11 with the intermediate fork 3 and the front fork 4 protruding from the rear end of the mobile carriage 11 or the fixed fork 2. It is evacuated until it becomes.

  Then, the movable carriage 11 is moved in the retracted state shown in FIG. 7D, and the article A is conveyed to a predetermined location. That is, according to the transfer method according to the present invention, at the time of unloading, the intermediate fork 3 and the tip fork 4 are brought close to the pallet P, the engaging means 5 is engaged with the pallet P, and the intermediate fork 3 and the tip fork 4 are engaged. Is moved away from the mounting table 6 and the pallet P is mounted on the loading platform of the movable carriage 11 with the intermediate fork 3 and the tip fork 4 protruding from the rear end of the movable carriage 11 or the fixed fork 2. The movable carriage 11 is moved with the 3 and the tip fork 4 protruding from the rear end of the movable carriage 11 or the fixed fork 2. Further, when the intermediate fork 3 and the tip fork 4 are brought close to the mounting table 6 during the above-described loading, the tip fork 4 is positioned by holding the tip fork 4 against the mounting table 6. Yes.

  Next, the loading process will be described with reference to FIGS. As shown in FIG. 8A, the article A is assumed to be arranged on the loading platform of the mobile carriage 11. “Loading” means a process of transferring the article A placed on the loading platform of the movable carriage 11 onto the placing table 6.

  The transport process shown in FIG. 8A is a process of moving the movable carriage 11 to a position facing the predetermined mounting table 6. At this time, the intermediate fork 3 and the tip fork 4 are arranged at the retracted position as shown, and the pallet P on which the article A is placed is placed on the loading platform of the movable carriage 11. The movable carriage 11 is positioned so as to stop at a predetermined position.

  The extending step shown in FIG. 8B is a step of bringing the intermediate fork 3 and the tip fork 4 closer to the mounting table 6. When the intermediate fork 3 and the tip fork 4 are slid to a predetermined extension position, the intermediate fork 3 is extended to a position adjacent to the mounting table 6, and the tip fork 4 moves to the front end of the intermediate fork 3. At this time, the tip fork 4 comes into contact with the stopper 61 shown in FIGS. 5 and 6 and stops and is positioned with high accuracy. Then, the pallet P moves along the traveling rail SR and is transferred to a predetermined mounting position of the mounting table 6.

  The disengagement step shown in FIG. 8C is a step of disengaging the engaging means 5 from the pallet P. Specifically, the locate pin 51 of the engaging means 5 is lowered to disengage the locate pin 51 from the engaging hole of the engaging portion 57 of the pallet P, and the pallet P is mounted on the mounting table 6.

  The retracting process shown in FIG. 8D is a process of separating the intermediate fork 3 and the tip fork 4 from the mounting table 6. The intermediate fork 3 and the front fork 4 are finally retracted until the intermediate fork 3 and the front fork 4 protrude from the rear end of the movable carriage 11 or the fixed fork 2. The retracted positions of the intermediate fork 3 and the tip fork 4 may be in a protruding state as shown in the figure, or may be brought close to the center of the movable carriage 11.

  And the movable trolley | bogie 11 is moved to a predetermined place with the retracted state shown in FIG.8 (d). That is, according to the transfer method according to the present invention, at the time of loading, the intermediate fork 3 and the tip fork 4 are brought close to the mounting table 6, the engaging means 5 is detached from the pallet P, and the pallet P is placed on the mounting table 6. , The intermediate fork 3 and the tip fork 4 are separated from the pallet P, and the intermediate fork 3 and the tip fork 4 are retracted onto the loading platform of the movable carriage 11. Further, when the intermediate fork 3 and the tip fork 4 are brought close to the mounting table 6 at the time of loading described above, the tip fork 4 is positioned by stopping the tip fork 4 against the mounting table 6. Yes.

  According to the transfer method described above, the engaging means 5 that can be engaged with the pallet P is disposed on the tip fork 4 that can travel on the intermediate fork 3, and the movable carriage 11 is moved when the intermediate fork 3 is moved to the retracted position. Alternatively, the pallet P can be transferred onto the loading platform of the moving carriage 11 by the transfer device 1 alone by being configured so as to protrude from the rear end of the fixed fork 2 and being transportable in that state. it can. Therefore, it is not necessary to equip a push-pull mechanism that partially pulls and pushes out the article A and a moving mechanism that moves the pallet on which the article is placed on the moving carriage, and simplifies the structure. And size reduction can be achieved.

  Further, by loading and placing the article with the engaging means 5 engaged with the pallet P, the pallet P can be reliably moved by the stroke of the intermediate fork 3 and the tip fork 4; Even if the transfer object is a heavy object, highly accurate positioning and transfer can be performed.

  The present invention is not limited to the above-described embodiment, and a plurality of mounting tables 6 may be arranged on the floor surface. A plurality of mounting tables 6 may be arranged three-dimensionally like an automatic warehouse. 11 may be configured as a stacker crane, or a plurality of mobile carriages 11 provided with the transfer device 1 may be arranged on the transport system. Various changes are made without departing from the spirit of the present invention. Of course, it is possible.

DESCRIPTION OF SYMBOLS 1 Transfer apparatus 2 Fixed fork 3 Intermediate fork 4 Tip fork 5 Engagement means 6 Placement table 11 Moving carriage 11a Carriage 51 Locate pin 52 Rack 53 Pinion 54 Drive means 55 Link mechanism 56 Position detection sensor 61 Stopper

Claims (7)

A transfer device for loading and unloading an article between a placing table for placing the article and a loading platform for a moving carriage for conveying the article,
A fixed fork fixed to the movable carriage;
An intermediate fork slidably supported on the fixed fork;
A tip fork slidably supported by the intermediate fork;
Engagement means disposed on the tip fork and engageable with a pallet for supporting the article on the mounting table,
The tip fork moves from the rear end to the front end of the intermediate fork while the intermediate fork moves from the retracted position where the pallet is drawn onto the loading platform to the extended position where the pallet is pushed onto the mounting table. And
The intermediate fork is configured to protrude from the rear end of the movable carriage or the fixed fork when moved to the retracted position.
A transfer device characterized by that.   The transfer device according to claim 1, wherein a stopper for holding the tip fork is disposed on the mounting table side.   The transfer device according to claim 1, wherein the intermediate fork is shorter than the fixed fork and the tip fork is shorter than the intermediate fork.   The engaging means includes a locating pin configured to be able to protrude and retract in a vertical direction from the tip fork, a rack formed on the locating pin, a pinion engaged with the rack, and a driving means for rotating the pinion. The transfer apparatus according to claim 1, further comprising:   The transfer device according to claim 3, wherein the engagement means includes a position detection sensor that detects a position of the locate pin. A loading method for loading and unloading an article between a placing table for placing the article and a loading platform for a moving carriage for conveying the article,
A fixed fork fixed to the movable carriage, an intermediate fork slidably supported on the fixed fork, a tip fork slidably supported on the intermediate fork, and a front fork disposed on the tip fork Using a transfer device having engagement means engageable with a pallet that supports the article on the mounting table,
At the time of unloading, the intermediate fork and the tip fork are brought close to the pallet, the engagement means is engaged with the pallet, the intermediate fork and the tip fork are separated from the mounting table, and the intermediate fork and the The pallet is placed on the cargo bed in a state where a tip fork protrudes from a rear end of the movable carriage or the fixed fork,
During transport, the intermediate fork and the tip fork are moved from the rear end of the movable carriage or the fixed fork to move the movable carriage,
At the time of loading, the intermediate fork and the tip fork are brought close to the mounting table, the engaging means is detached from the pallet, the pallet is placed on the mounting table, and the intermediate fork and the tip fork are Separating from the pallet and retracting the intermediate fork and the tip fork onto the loading platform,
A transfer method characterized by that.   During the loading or loading, when the intermediate fork and the tip fork are brought close to the mounting table, the leading fork is positioned by stopping the tip fork against the mounting table. The transfer method according to claim 6, wherein: