JP2016147762A - Conveying device of article conveying box - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a conveying device that can be utilized in storage and sorting equipment such as stacked box type pallets of various sizes.SOLUTION: A conveying device is characterized in that vertical 4-gripping columnar members 9a-9d for respectively gripping four angles of a stackable article conveying box B of a right angle parallelogram in a planar shape are liftably provided to a traveling body 3 for conveyance supported in a horizontally traveling on the upper side of a storage area, these gripping columnar members has a cross section shape formed in an angle type and a gripping surface press-contacted in the right angle both surface sides on either side of each angle of the article conveying box is provided in the inside, pins 97 reciprocatively disposed to the gripping surface in the shape of frog in the right angle horizontal direction and slippage preventing means 99 structured by biasing means 98 for biasing this each pin 97 projecting inside from the gripping surface are attached in this gripping surface, and lifting drive means of these gripping columnar members and gripping drive means are provided in the traveling body for conveyance.SELECTED DRAWING: Figure 12

Description

  The present invention relates to a transport device that lifts and transports a stackable article transport box whose plane shape is a right-angled parallelogram.

  As this type of conveying device, as described in Patent Document 1, a lifting body that is suspended in a liftable manner is provided on a traveling traveling body of an overhead traveling crane type, and an article is conveyed under the lifting body. There is known a metal fitting provided on a work box or a hook that is detachable with respect to a recessed space around the lower end.

Japanese Patent Laid-Open No. 06-115608

  In the configuration described in the above-mentioned Patent Document 1, a dedicated metal fitting for suspension is provided at the upper end of an article transport box that is a transported object, or a recess is formed around the lower end. This is an essential requirement, and plastic containers that are generally available cannot be used as they are. In addition, a driving means for engaging and disengaging the hook is required for the lifting body that can be lifted up and down from the transporting traveling body, which not only increases the cost of the structure but also increases the cost, and also lifts and transports the article. Since an elevating body provided with a driving means for engaging and disengaging the hook is located immediately above the transport box, temporarily, a plurality of stacked product transport boxes are placed at the lowermost product. If the hook is engaged with the recessed space around the lower end of the transport box so that the hook can be lifted, the lower side of the lifting body (the lower side of the driving means for engaging and disengaging the hook) It is necessary to secure a space for lifting the article transport boxes stacked up to the maximum number of stages that can be handled by the hook having a longer length to the transport level, and the travel level of the transport traveling body needs to be considerably increased. In reality, in the configuration described in Patent Document 1, it is impossible to handle together a number of articles carrying box which is staked.

The present invention proposes a transport apparatus for an article transport box that can solve the conventional problems as described above, and the transport apparatus for an article transport box according to the present invention is an embodiment described later. In order to make it easier to understand the relationship, the reference numerals used in the description of the embodiment are shown in parentheses, and the traveling body for transportation (3 ) And four vertical columnar grips for gripping the four corners of the stackable article transport box (B) having a right-angled parallelogram shape placed in the storage area. The four gripping columnar members (9a to 9d) are provided with members (9a to 9d), and the cross-sectional shape is an angle shape, and inside each corner of the article transport box (B) A gripping surface is provided in pressure contact with both right-angled side surfaces on both sides, and these four gripping columnar members (9a to 9d) are transported traveling bodies (3) An elevating drive means (26) for moving up and down and a gripping drive means (15) are provided on the transport traveling body (3), and the gripping drive means (15) includes four gripping columnar members ( 9a to 9d), at least three gripping columnar members (9b to 9d) are moved away from each corner of the article carrying box (B), and the four gripping columnar members. (9a-9d) In the article transport box transport apparatus that can be horizontally moved between the gripping positions for gripping the four corners of the article transport box (B) separately by
Among the four gripping columnar members (9a to 9d), at least the gripping surfaces of the two gripping columnar members positioned in the diagonal direction are used for conveying the article when pressed against the article transporting box (B). Consists of anti-slip means (99) that suppresses vertical relative slip between the box and
The anti-slip means (99) includes a pin (97) disposed in a sword mountain shape so as to be movable in and out in a horizontal direction perpendicular to the gripping surface, and the pins (97) project inward from the gripping surface. It is comprised by the urging means (98) which urges | biases in the direction to do.

  In the transport device of the present invention, the planar shape of the right parallelogram of the article transport box to be handled is all the same as the orientation of the planar shape of the right parallelogram formed inside the four gripping columnar members. In this way, the article transport box to be handled is placed in the storage area. In the case of delivering a specific article transport box among the article transport boxes in such a state, the four gripping columnar members up to the ascending limit position higher than the highest level of the article transport boxes stacked in the storage area The transport traveling body in a state where the height is raised is traveled to a position directly above the article transport box to be delivered, and the four gripping columnar members in the retracted position are lowered by the lifting drive means. If the four gripping columnar members are lowered to a position just beside the article transport box to be delivered, the gripping columnar members are then moved horizontally to the gripping position by the gripping drive means. Thus, the four corners of the article transport box to be delivered are individually held by the holding columnar members. Thereafter, the lifting / lowering driving means raises the four gripping columnar members to the ascending limit position, and the predetermined conveyance of the article transporting box to be unloaded, which is gripped by the four gripping columnar members, is performed. What is necessary is just to raise to a level and to make a traveling body for conveyance drive to a predetermined handling place.

  The unloading operation of the article transport box transported to the unloading site is performed by unloading the article transport box to be unloaded in the storage area, that is, lifting operation and gripping of the four gripping columnar members by the lifting drive means. The horizontal movement between the retracted position and the gripping position of each gripping columnar member by the driving means may be performed in the reverse procedure. In addition, the operation of warehousing the article transport box from the cargo handling area to a predetermined position in the storage area can be performed in the reverse procedure to the above warehousing operation.

  As described above, according to the transporting apparatus of the present invention capable of entering and unloading the product transport box, the product can be used by using the corner that is strongest and can secure the length against the external pressure of the product transport box. Since the transport box is gripped by a gripping columnar member having an angle shape in cross section, an extremely ordinary general-purpose product transport box having four corners whose parallel shape is a parallelogram is directly transported as an object transport box. Even if the gripping force is sufficiently large, it can be securely gripped without causing undue deformation on the article transport box side compared to the case where the side surfaces between both corners are clamped. Can be transported.

  Moreover, the lifting drive means and the grip driving means for causing the gripping columnar member to perform the lifting motion and the horizontal motion between the retracted position and the gripping position are both provided to the transport traveling body. Since it is provided, the configuration becomes simple and can be implemented at low cost. Furthermore, the four gripping columnar members that move up and down only project downward on the lower side of the transport traveling body. Compared with the case where the lifting / lowering body is provided with means for lifting the article transport box, the traveling height of the transporting traveling body can be lowered by at least the height of the lifting / lowering body. Further, according to the configuration of the present invention, for gripping the article transport box provided with the reinforcing flange projecting outward, a large number of pins that have entered the lower side of the flange are slipped on the article transport box B. This is especially effective because it will prevent the fall off.

The following is a list of configurations that can be employed in combination with the configuration of the present invention in carrying out the present invention.
1) With four stacked columnar members having a length in the ascending / descending direction capable of integrally gripping a plurality of stacked article transport boxes having the same planar size, the stacked article transport boxes In addition to being able to enter and exit the entire package even if it exists, the entry / exit operation of one or a plurality of article transport boxes at an arbitrary height of the stacked article transport boxes can also be performed in the embodiments described later. As shown, it can be done easily and easily.

  2) Of course, it is conceivable that the four gripping columnar members (9a to 9d) can be moved up and down through the conveyance traveling body (3). The article transport box (B) gripped by the gripping columnar members (9a to 9d) is also provided with the four gripping columnar members (9a to 9d) in the vertical direction through opening provided in the transporting traveling body (B). By configuring the inside of the part (10) so that it can be raised and lowered, it is possible to narrow the space in the vertical direction necessary below the traveling body for transportation, and to reduce the traveling level of the traveling body for transportation. It is possible to increase the stacking height of the article transport boxes that can be handled.

  3) One gripping columnar member (9a) located at one corner sandwiched between two right-angled sides of the right-angled parallelogram space formed inside the four gripping columnar members (9a to 9d) As a reference gripping columnar member, the gripping columnar member (9b-9d) located at the other three corners extends from each corner and is supported at a fixed position of the transporting traveling body (3) so that it can only be raised and lowered. The two right-angled sides are supported by three movable bases (13b to 13d) capable of horizontal movement in a direction parallel to one side and horizontal movement in the direction parallel to the other side. The three movable bases (13b to 13d) are formed into a right-angled parallelogram space formed inside the three gripping columnar members (9b to 9d) after horizontal movement and the reference gripping columnar member (9a). Thus, it is possible to use a gripping drive means (15) that can be moved by an arbitrary distance. According to this configuration, the transport traveling body must be finally positioned at a position where the reference gripping columnar member is fitted to one corner serving as a reference of the article transporting box. Since one gripping columnar member to be a columnar member for use does not need to be moved horizontally, the configuration becomes simple and can be implemented at low cost.

  4) All of the four holding columnar members (9a to 9d) can be configured to be horizontally movable. That is, outside of each of the four corners of the right-angled parallelogram space formed inside the four gripping columnar members (9a to 9d), one of the two right-angled sides extending from each corner A movable base (13b-13e) capable of horizontal movement in a direction parallel to the side and a horizontal movement in a direction parallel to the other side is provided, and each of these four movable bases (13b-13e) The holding columnar members (9a to 9d) are supported so as to be movable up and down, and each of these four movable stands (13b to 13e) is formed inside the four holding columnar members (9a to 9d) after horizontal movement. It is also possible to use gripping drive means (41 to 43) that can be moved by an arbitrary distance so that the space to be obtained is a right-angled parallelogram in plan view.

  5) In the configuration of the present invention, the gripping driving means for horizontally moving the gripping columnar member is provided in the transporting traveling body. Therefore, when the entire stacked article transporting box is gripped collectively, the stacking that can be handled If an attempt is made to increase the overall height of the article transport box, the length of the gripping columnar member that hangs downward from the transporting traveling body will increase, and the gripping columnar member will bend when gripping the article transport box. It is conceivable that the gripping force at the lower end is weakened. In order to solve this problem, the four gripping columnar members (9a to 9d) include at least the lower end portions of the four gripping columnar members (9a to 9d) separately from the gripping drive means. Narrowing means (82, 87, 88, 91) for narrowing down to the inside can be provided.

  6) The above-mentioned narrowing means can be constituted by a pulling cord-like body (84) spanned between adjacent gripping columnar members, and both ends are pivotally supported by adjacent gripping columnar members and The intermediate fulcrum portion can be constituted by a double link (93) that is lifted upward.

FIG. 1 is a schematic perspective view showing an entire storage facility using a transport device for an article transport box according to the present invention. FIG. 2 is a plan view showing a main part of the storage facility. FIG. 3A is a cross-sectional plan view showing gripping drive means for four gripping columnar members in the transporting traveling body, and FIG. 3B is an enlarged view showing part B of FIG. FIG. 4 is a plan view showing the raising / lowering drive means of the four gripping columnar members in the transport traveling body. FIGS. 5A to 5C are side views for explaining the first half of the procedure for unloading the stacked article carrying boxes, and FIGS. 5D and 5E are the steps in FIGS. 5A and 5B. It is a top view which shows the positional relationship of the box for goods conveyance, and the columnar member for holding | grip. FIG. 6A to FIG. 6C are side views for explaining each stage in the latter half of the procedure when shipping the stacked article transport boxes, and FIG. 6D is the article transport in the stage of FIG. 6A. It is a top view which shows the positional relationship of a work box and the columnar member for holding | grip. FIG. 7A is a side view for explaining the final stage when the stacked article transport boxes are delivered, and FIG. 7B is when the article transport box located at the middle stage of the stacked article transport boxes is delivered. It is a side view explaining the first step of the procedure. 8A to 8C are side views for explaining each stage following FIG. 7B. FIG. 9 is a cross-sectional plan view showing a second embodiment of the gripping drive means for the four gripping columnar members. FIG. 10 is a cross-sectional plan view showing the operating state of the grip driving means according to the second embodiment. FIG. 11 is a cross-sectional plan view showing the main part of the third embodiment of the gripping drive means for the four gripping columnar members. FIG. 12 is a longitudinal sectional side view of a main part showing a sword mountain type anti-slip means provided alongside the holding columnar member. 13A and 13B are perspective views showing two types of narrowing means provided alongside four gripping columnar members. FIG. 14A is a cross-sectional plan view showing another narrowing means provided to the four gripping columnar members, and FIG. 14B is an enlarged view showing part B of FIG. 14A. FIG. 15 is a perspective view showing still another narrowing means provided on the four holding columnar members.

  1 and 2, reference numeral 1 denotes an overhead traveling crane type transport device disposed on the upper side of a storage area composed of a flat floor surface whose parallel shape is a parallelogram. And a transporting traveling body 3 supported on the supporting traveling body 2 so as to be able to travel in a direction perpendicular to the traveling direction of the supporting traveling body 2. In the storage area, a rectangular frame structure 4 surrounding the storage area is laid horizontally at a certain height on the floor surface via a pillar member 5, and a set of the rectangular frame structure 4 is parallel to each other. Both ends of the support traveling body 2 are supported on a pair of guide rails 6a and 6b laid on the beam members 4a and 4b via a plurality of wheels including drive wheels that can be driven by a motor. The supporting traveling body 2 includes a pair of side frames 2a and 2b that are perpendicular to the guide rails 6a and 6b, and the guide rails 6c and 6d laid on the both side frames 2a and 2b are used for the transportation. Both sides of the traveling body 3 are supported via a plurality of wheels including drive wheels that can be driven by a motor.

  The storage area is provided with a warehousing conveyor 7 and a warehousing conveyor 8. The transfer end portions 7a and 8a on the storage area side of both the conveyors 7 and 8 enter the storage area, and travel on the guide rails 6a and 6b of the support traveling body 2 of the transfer device 1. And transfer of the loading / unloading conveyors 7 and 8 in the storage area surrounded by the rectangular frame structure 4 by the traveling of the transporting traveling body 3 on the guide rails 6c and 6d. The entire region including the end portions 7a and 8a can be positioned at any position.

  The conveying traveling body 3 is provided with four gripping columnar members 9a to 9d. These gripping columnar members 9a to 9d can be fitted to the four corners of the article transport box B to be handled separately, and each of the gripping columnar members 9a to 9d has an angle-shaped cross section. The inside of the opening part 10 penetrated in the up-down direction by the parallelogram is penetrated in the up-down direction. As shown in FIG. 2, the opening 10 is composed of a side parallel to the traveling direction of the supporting traveling body 2 and a side parallel to the traveling direction of the conveying traveling body 3, and is held at its four corners. In the state in which the columnar members 9a to 9d are positioned, the inside of these four gripping columnar members 9a to 9d is vertically moved with the allowance for the article conveyance box BL having the largest plane size in the article conveyance box B to be handled. It has a space to move to.

  Hereinafter, based on FIGS. 3 and 4, the detailed structure of the four gripping columnar members 9 a to 9 d and the driving means thereof will be described. Each gripping columnar member 9 a to 9 d has an up-down direction with a cross-sectional angle shape. A belt-like elastic material 11a forming a gripping surface is stretched on a right-angle inner surface of a long main body 11 having a long main body, and an elevating guide rail continuous over the entire length is formed on a right-angle outer surface of the long main body 11. 12 is laid. Of these four gripping columnar members 9 a to 9 d, one reference gripping columnar member 9 a is located outside one corner of the opening 10 of the transporting traveling body 3, and the transporting traveling body 3. It is supported on the fixed base 13a fixed on the upper and lower parts via the elevating guide block 14 fitted to the elevating guide rail 12 provided in the reference gripping columnar member 9a, and the other three gripping columnar shapes. The members 9b to 9d are respectively attached to the movable bases 13b to 13d disposed on the transporting traveling body 3 so as to correspond to the remaining three corners of the opening 10 of the transporting traveling body 3, and the holding columnar members 9b to 9d. 9d is supported by a lifting guide block 14 fitted to the lifting guide rail 12 so as to be movable up and down.

  Each of the movable bases 13 b to 13 d is driven by the grip driving means 15. The configuration of the gripping drive means 15 will be described on the assumption that the fixed base 13a and the movable bases 13b to 13d are positioned at four corners of the virtual parallelogram. Driving screw shafts 16 to 19 that are arranged on the outer side of each of the four sides of the virtual parallelogram and are parallel to these sides and supported on the transporting traveling body 3 so as to be capable of rotating only. Motors with speed reducers 20 to 23 that drive the screw shafts 16 to 19 to rotate forward and backward, respectively, out of the four sides of the virtual parallelogram, outside the side between the movable bases 13b and 13c, A slide guide rod 24 arranged in parallel and a slide guide rod 25 arranged in parallel to the side outside the side between the movable bases 13c and 13d are provided. A female screw body 16a that is screwed onto the driving screw shaft 16 and a rod fixing member 24a that fixes one end of the slide guide rod 24 are attached to the outside of the movable base 13b. A slide guide is attached to the outside of the movable base 13c. A slide guide 24b that is slidably fitted to the rod 24 and a slide guide 25b that is slidably fitted to the slide guide rod 25 are attached. The slide guide rod 25 is provided outside the movable base 13d. A rod fixing member 25 a that fixes one end of the screw and a female screw body 19 a that is screwed onto the drive screw shaft 19 are attached. Further, the other end of the slide guide rod 25 is fixed to the female screw body 17 a screwed to the drive screw shaft 17, and the slide guide rod 24 is fitted to the female screw body 18 a screwed to the drive screw shaft 18. The other end is fixed.

  Note that the motor 20 with a speed reducer and the motor 22 with a speed reducer always move the female screw bodies 16a and 18a horizontally in the same direction at the same speed via the drive screw shafts 16 and 18, respectively. 21 and the motor 23 with a speed reducer always move the female screw bodies 17a and 19a horizontally in synchronism at the same speed in the same direction via the drive screw shafts 17 and 19. Therefore, by the operation of the motors 20 and 22 with the speed reducer, the movable base 13b receives a thrust directly from the female screw body 16a and moves parallel to the side between the fixed base 13a and the movable base 13c is movable. The slide guide rod 24 driven to move in parallel by the table 13b and the female screw body 18a moves in the same direction as the movable table 13b at the same speed. Further, by the operation of the motors 21 and 23 with the speed reducer, the movable base 13d receives a thrust directly from the female screw body 19a and moves parallel to the side between the fixed base 13a and the movable base 13c is movable. The slide guide rod 25 driven to move in parallel by the table 13d and the female screw body 17a moves in the same direction as the movable table 13d at the same speed.

  Each of the holding columnar members 9a to 9d is driven up and down by the up-and-down driving means 26 with respect to the fixed base 13a and the movable bases 13b to 13d that support them. The elevating drive means 26 is mounted on rack gears 27a to 27d, a fixed base 13a, and movable bases 13b to 13d attached along the length direction to the outer corners of the gripping columnar members 9a to 9d. The motors 28a to 28d with reduction gears and the pinion gears 29a to 29d that are attached to the output shafts of the motors 28a to 28d with reduction gears and mesh with the rack gears 27a to 27d. Each of the motors 28a to 28d with reduction gears has four holding columnar members 9a to 9d for the fixed base 13a and the movable bases 13b to 13d via pinion gears 29a to 29d and rack gears 27a to 27d, respectively. These are always driven up and down in synchronism with the same speed in the same direction.

  As shown in FIG. 1, the article transport box B placed on the flat floor surface in the storage area is placed on the four holding columnar members 9 a to 9 d in the transport traveling body 3 of the transport device 1. Since the four corners are held and stored, the orientation of the parallelogram upper surfaces of all the article transport boxes B on the horizontal plane is the four gripping columnar members 9a to 9a in the transporting traveling body 3. A space in which the holding columnar members 9a to 9d can move up and down with a margin is secured between the adjacent article transport boxes B that are in the same direction as the virtual parallelogram formed inside 9d. Of course, the parallelogram plane sizes of the article transport boxes B to be stored are not the same, but various different sizes are mixed, but when the article transport boxes B are stacked, at least the planes of the parallelogram planes are stacked. Article transport boxes B having the same size are stacked.

  And the position on the horizontal two-dimensional plane of each article transport box B (including stacked ones) stored in the storage area as described above is the upper surface of the parallelogram of each article transport box B 1, that is, the reference angle Bc gripped by the reference gripping columnar member 9 a that can only be moved up and down, can be managed by replacing it with absolute position information on the horizontal two-dimensional plane in the storage area. . The position information of each article transport box B includes plane size information given at the time of warehousing, or a plane calculated from the moving distance of each gripping columnar member 9a-9d that grips the article transport box B at the time of warehousing. For example, the size information can be provided as relative position information of the remaining three corners with respect to the absolute position information of the reference corner Bc.

  Hereinafter, the delivery operation of the article transport box B with respect to the storage area will be described. As shown in FIGS. 5A and 5D, based on the storage position information of the article transport box B (including the stacked state) to be delivered. In addition, the supporting traveling body 2 is allowed to travel while the gripping columnar members 9a to 9d are raised to the ascending limit position that does not interfere with the maximum allowable stacked article transport box, and the supporting travel is performed. The conveyance traveling body 3 is caused to travel with respect to the body 2, and the reference gripping columnar member 9a is positioned at a position away from the reference angle Bc of the article transportation box B to be delivered by a fixed distance outside in a plan view. . At this time, since each of the gripping columnar members 9a to 9d is in a standby position where the parallelogram formed on the inside thereof is maximized, next, as shown in FIGS. Based on the plane size information of the box B, the positions of the three gripping columnar members 9b to 9d in a plan view are positions separated by a certain distance outside the respective corners of the article transport box B to be delivered. As described above, the holding columnar members 9b to 9d are horizontally moved inward. The horizontal movement of the gripping columnar members 9 b to 9 d to the inside is performed by operating the motors 20 to 23 with speed reducers of the gripping drive means 15.

  That is, with reference to FIG. 3, when the motors 20 and 22 with speed reducers are operated synchronously, the movable bases 13b and 13c are horizontally moved inward along the drive screw shaft 16 and the slide guide rod 25 inward. At the same time, the motors 21 and 23 with speed reducers are operated synchronously, and the movable bases 13c and 13d are horizontally moved inward along the drive screw shaft 19 and the slide guide rod 24, thereby moving the movable bases 13b and 13d. Although it moves linearly in the direction approaching the fixed base 13a, the movable base 13c moves horizontally by the same distance in the same direction as the movable base 13b and simultaneously moves horizontally by the same distance in the same direction as the movable base 13d. The two gripping columnar members 9a to 9d move to a position away from the four corners of the article transport box B to be unloaded by a fixed distance in a plan view. To become. At this time, a parallelogram that is slightly larger than the plane size of the parallelogram of the article transport box B to be delivered is formed inside the gripping columnar members 9a to 9d.

  Next, the motors 28a to 28d with speed reducers of the elevating drive means 26 shown in FIG. 4 are operated synchronously, and the four holding columnar members 9a to 9d are connected via the pinion gears 29a to 29d and the rack gears 27a to 27d. The fixed base 13a and the movable bases 13b to 13d are lowered at the same speed. In the example shown in FIG. 5, since the entire stacked item transport boxes B are delivered together, each of the gripping columnar members 9a to 9d reaches a lower limit level whose lower end is close to the floor surface of the storage area. Can be lowered. Next, the reduction gear motors 20 to 23 of the gripping drive means 15 are operated synchronously as described above, and the gripping columnar members 9b to 9d supported by the movable bases 13b to 13d are moved further inward. As shown in FIGS. 6A and 6D, the four holding columnar members 9a to 9d are used to horizontally hold the four corners of the boxed article transport box B to be delivered. Since the supported reference holding columnar member 9a does not move horizontally, the remaining three holding columnar members 9b to 9d move horizontally to hold the entire stacked article carrying box B to be delivered. It must be pushed and moved toward 9a.

  Since the box for transporting stacked articles B to be unloaded is heavy, as described above, the entire box for transporting stacked articles B to be unloaded is gripped by the horizontal movement of the three gripping columnar members 9b to 9d. If it is impossible to push and move toward the columnar member 9a, after lowering the four gripping columnar members 9a to 9d to the lower limit level, it is used as a reference for the box B for transporting stacked articles to be delivered. The supporting traveling body 2 and the transporting traveling body 3 are moved based on the absolute position information of one corner Bc, and the reference gripping columnar member 9a that does not move horizontally with respect to the transporting traveling body 3 is the stage to be delivered. It is made to contact | abut to one corner | base Bc used as the reference | standard of the box B for stacked articles conveyance. At this time, the remaining three gripping columnar members 9b to 9d are also moved horizontally, but the gripping columnar members 9b and 9d on both sides of the reference gripping columnar member 9a are connected to the stacked article transport box B to be delivered. In order not to leave the corresponding corners, at least the gripping surface (strip elastic member 11a) on the side where the reference gripping columnar member 9a is present of the gripping columnar members 9b, 9d. It is desirable to widen the width.

  Further, as another means, a slide base having an opening overlapping the opening 10 that can slide in any direction on the horizontal two-dimensional plane on the transport traveling body 3 is provided, and is movable on the slide base. A gripping drive means 15 and a fixed base 13a for supporting the bases 13b to 13d via the driving screw shafts 16 to 19 and the slide guide rods 24 and 25 are installed, and the slide base is used as a reference gripping columnar member 9a. Can be provided with an urging means for automatically aligning and holding the home position at a fixed position. According to this configuration, the three gripping columnar members 9b to 9d are driven by the gripping drive means 15 and the four stacked columnar members 9a to 9d are used to move the stacked article transport boxes B to be delivered. When the two corners are gripped, the slide base slides horizontally on the transport traveling body 3 against the biasing force of the biasing means by the reaction force caused by the pressure contact with the stacked article transport box B to be delivered. The four corners of the boxed article transport box B to be unloaded are moved into the four corners without horizontally moving the boxed article transport box B, the support traveling body 2 and the transporting traveling body 3 to be unloaded. The gripping columnar members 9a to 9d can be securely and strongly gripped.

  Furthermore, as another method for obtaining the same function and effect, the three gripping columnar members 9b to 9d are driven by the gripping drive means 15, and the four gripping columnar members 9a to 9d are used as the steps to be delivered. In the final stage of gripping the four corners of the stacked article transport box B, the brakes for the supporting traveling body 2 and the transporting traveling body 3 are released and switched to a freely movable state, and the four gripping columnar members 9a. The support traveling body 2 and the transport traveling body are caused by the reaction force caused by the pressure contact with the stacked article transport box B to be unloaded when the four corners of the stacked article transport box B to be unloaded are held by 9 to 9d. 3 can also be configured to move.

  If the stacked article transport box B to be unloaded is gripped by the four gripping columnar members 9a to 9d by the above-described method, as shown in FIG. The motors 28a to 28d are operated synchronously in the reverse rotation direction, the four holding columnar members 9a to 9d are raised to the ascending limit position, and the lower end of the stacked article carrying box B to be delivered is at its lower end. Then, the level is raised to a conveyance level located above a level not interfering with the maximum allowable height of the stacked article conveyance box. At this time, the boxed article transport box B to be delivered is in a state of penetrating through the opening 10 of the transport traveling body 3 together with the gripping columnar members 9a to 9d for gripping the boxes.

  With the above, the picking up of the stacked article transport box B to be unloaded to the transport device 1 is completed, so that the transport travel body 3 is used for unloading by the movement of the support travel body 2 and the transport travel body 3. The conveyor 8 is moved to the unloading home position directly above the transfer end 8a. Thereafter, as shown in FIGS. 6C and 7A, the lifting drive means 26 and the gripping drive means 15 are operated in the reverse order to the gripping and picking up action of the stacked article transport box B to be delivered from the storage area. And lowering the stacked article transport box B to be unloaded, which is grasped by the four grasping columnar members 9a to 9d, onto the transfer end 8a of the unloading conveyor 8, and holding the four What is necessary is just to raise the columnar members 9a-9d for use to a raise limit position. At this time, the reference gripping columnar member 9a rises in the gripping position with respect to the article transporting box B. However, the reference gripping columnar member 9a is also separated from the reference corner Bc of the article transporting box B. In addition, the support traveling body 2 and the transport traveling body 3 may be moved a little. At the time of grip release operation after lowering the stacked article transport box B to be transferred to the transfer end 8a of the output conveyor 8, at the time of ascending to the ascent limit position after releasing the grip, or at the ascent limit position After reaching, the holding columnar members 9b to 9d are horizontally moved to the standby position shown in FIG.

  When shipping one or a plurality of article transport boxes B instead of all of the stacked article transport boxes B, for example, as shown in FIG. When the one specific article transport box Ba is shipped, the four gripping columnar members 9a to 9d are moved to a level where the lower ends thereof are substantially the same as the lower ends of the specific article transport boxes Ba to be shipped. The above-mentioned delivery work is performed in the lowered state. As a result, the four holding columnar members 9a to 9d hold and pick up the specific article carrying boxes Ba to be delivered and the article carrying boxes B stacked thereon, and the carrying device 1 As shown in FIG. 8A, the specific article carrying box Ba held by the four holding columnar members 9a to 9d and the article carrying boxes B stacked on the specific article carrying box Ba It will be lowered to the transfer end 8a.

  Next, as shown in FIGS. 8B and 8C, the specific article transport boxes Ba and the gripping columnar members 9a to 9d released from gripping the product transport boxes B stacked thereon are transported to the specific goods transport. The height of the article transport box B immediately above the container box Ba and the height of the article transport box B above it are temporarily raised, and then the gripping columnar members 9a to 9d are again gripped and specified. The article carrying box B just above the article carrying box Ba and the article carrying box B above it, that is, the stacked article carrying box B to be re-entrapped, are raised to the ascending limit position. After this, the article transport box B to be re-entrapped is transported to the original position where the specific article transport box Ba is taken up or another empty position by the movement of the support travel body 2 and the transport travel body 3. The article transport box B in the original position where the article transport box B to be re-stocked is taken up in the same procedure as the lowering operation to the transfer end 8a of the delivery conveyor 8 and the specific article transport box Ba is taken up. It is transferred so as to be superimposed on B, or is lowered to a new empty position.

  As described above, according to the transport device 1 configured as described above, not only can the stacked product transport boxes B stored in the storage area be delivered in a stacked state, but also the stacked state. One specific article transport box B located at an intermediate position of the article transport box B in a state can be delivered. Of course, by the same method, one article transport box B at the bottom of the stacked article transport boxes B, one article transport box B at the top, a plurality of article transport boxes B at intermediate positions, It is also possible to take out goods. In addition, by performing the above-described unloading operation in the reverse procedure, the warehousing object stacking box B that is transported to the transfer end 7a by the warehousing conveyor 7 or one article transporting box. It is possible to store the box B so as to overlap the empty position in the storage area or the article transport box B of the same plane size that has been stored and stored first.

  Next, another embodiment of the gripping drive means for causing the gripping columnar members 9a to 9d to perform a gripping operation will be described.

  In another embodiment shown in FIGS. 9 and 10, the reference gripping columnar member 9a is also supported by the movable base 13e so as to be movable up and down like the other gripping columnar members 9b to 9d. Then, in a state where the four gripping columnar members 9a to 9d are at the retracted position where the virtual parallelogram formed on the inside thereof is maximized, they are parallel to the side between the movable bases 13e and 13b of the virtual parallelogram. The first lateral motion table 30, the second lateral motion table 31 parallel to the side between the movable platforms 13c and 13d, the third lateral motion table 32 parallel to the side between the movable platforms 13d and 13e, the first lateral motion A pair of first fixed bases 35, 36 having slide guide means 33, 34 for supporting and guiding both ends of the first lateral movement base 30 so that the base 30 can translate in a direction perpendicular to the longitudinal direction thereof, A second fixed unit is provided with slide guide means 37 that supports and guides one end of the second lateral motion table 31 (the end on the movable platform 13c side) so that the lateral motion table 31 can be translated in a direction perpendicular to the length direction thereof. The base 38 and the third lateral movement base 32 face the length direction. A third fixed base 40 and a first lateral base 30 provided with slide guide means 39 for supporting and guiding one end (the end on the movable base 13d side) of the third lateral base 32 so that it can be translated in a perpendicular direction. A first drive means 41 for translating, a second drive means 42 for translating the second lateral movement base 31, and a third drive means 43 for translating the third lateral movement base 32 are provided.

  The movable table 13e and the movable table 13b are supported by the first lateral table 30 through slide guide means 44 and 45 so as to be movable in the length direction of the first lateral table 30, respectively. The movable table 13d is supported by the second lateral table 31 through the slide guide means 46 so as to be movable in the length direction of the second lateral table 31. The movable table 13d is supported by the third lateral table 32. It is supported through the slide guide means 47 so as to be movable in the longitudinal direction. Each of the slide guide means 33, 34, 37, 39 and 44 to 47 includes slide guide rails 33a, 34a, 37a, 39a and 44a to 47a laid on the side supporting the object to be slid, and the slide guide rails. It is a conventionally well-known thing which consists of slide blocks 33b, 34b, 37b, 39b and 44b-47b provided in the side which slides so that it may fit.

  The first drive means 41 is composed of winding transmissions 50 and 51 such as chains and belts that are stretched on the first fixed bases 35 and 36 and are driven to rotate forward and backward by motors 48 and 49 with speed reducers, respectively. These two winding transmissions 50 and 51 are connected to both ends of the first lateral table 30 via slide blocks 33b and 34b constituting the slide guide means 33 and 34, respectively. The second drive means 42 is composed of a winding transmission 53 such as a chain or a belt that is stretched on the second fixed base 38 and is driven to rotate forward and backward by a motor 52 with a speed reducer. Is connected to one end of the second lateral movement table 31 via a slide block 37 b constituting the slide guide means 37. The third driving means 43 is composed of a winding transmission 55 such as a chain or a belt that is stretched on the third fixed base 40 and is driven to rotate forward and backward by a motor 54 with a speed reducer. Is connected to one end of the third lateral movement table 32 via a slide block 39b constituting the slide guide means 39.

  On the first lateral table 30, the first movable table driving means 56 for moving the movable table 13e with respect to the first lateral table 30 and the movable table 13b with respect to the first lateral table 30 are moved. The second movable table driving means 57 is provided, and the third movable table driving means 58 for moving the movable table 13 c relative to the second horizontal table 32 is provided on the second horizontal table 31. On the three lateral movement base 32, a fourth movable base driving means 59 for moving the movable base 13d relative to the third lateral movement base 32 is provided. The movable table driving means 56 to 59 are wound on the horizontal movement tables 30 to 32 and are driven to rotate forward and backward by motors 60 to 63 with a speed reducer. The movable bases 13b to 13e are connected to the winding transmission tools 64 to 67 via slide blocks 44b to 47b constituting the slide guide means 44 to 47, respectively.

  According to said structure, the pair of motors 48 and 49 with a reduction gear of the 1st drive means 41 are drive | operated synchronously, and the both ends of the 1st lateral movement base 30 are translated inward by the winding transmission tools 50 and 51. Thus, the movable bases 13e and 13b can be synchronously moved inward by the same distance, and the motor 60 with the speed reducer of the first movable base drive means 56 and the motor 54 with the speed reducer of the third drive means 43 are operated synchronously. Thus, the movable base 13e can be synchronously moved directly by the same distance by the winding transmission 64 and the movable base 13d can be synchronously moved inward by the winding transmission 55 through the third lateral movement base 32 by the same distance. The motor 61 with speed reducer of the movable table driving means 57 and the motor 62 with speed reducer of the third movable table driving means 58 are operated synchronously, and the movable tables 13b and 13c are respectively wound by the winding transmissions 65 and 66. Error! Link is incorrect. Further, the motor 52 with a speed reducer of the second drive means 42 and the motor 63 with a speed reducer of the fourth movable base drive means 59 are operated synchronously, and the movable base 13c is secondly driven by the winding transmission 53. The movable table 13 d can be directly moved inward by the same distance by the winding transmission 67 through the lateral movement table 31 by the same distance.

  That is, the first drive unit 41 to the third drive unit 43 and the first movable table drive unit 56 to the fourth movable table drive unit 59 are simultaneously operated as described above to be attached to the four movable tables 13b to 13e. The holding columnar members 9a to 9d are always positioned at four corners of a parallelogram having an arbitrary aspect ratio within the moving range of the movable bases 13b to 13e. Can be moved to.

  In other words, as shown in FIG. 9, the four gripping columnar members 9 a to 9 d are flat in a state where they are at a retracted position away from the four corners of the maximum plane size article transport box BL by a certain distance. When the reference gripping columnar member 9a is at a certain distance from the corner Bc, which is the reference for the article transport box to be stored / extracted, the transport traveling body 3 is located at a position where the article transport box to be stored / extracted is picked up. Is reached, the gripping columnar members 9b and 9d are moved horizontally only in the approaching direction with respect to the reference gripping columnar member 9a, and the gripping columnar member 9c is horizontally moved by the same distance in the same direction as the gripping columnar member 9b. At the same time, by horizontally moving the gripping columnar member 9d by the same distance in the same direction, all the gripping columnar members 9a to 9d are moved by substantially the same distance with respect to each corner of the article transporting box to be loaded / unloaded. The reach to lift start position. In this state, all the gripping columnar members 9a to 9d are lowered to a predetermined level, and thereafter a gripping operation is started.

  In the configuration of this embodiment, the gripping operation by the four gripping columnar members 9a to 9d is performed by the first driving means 41 to the third driving means 43 and the first movable base driving means 56 to the fourth movable base driving means 59. Simultaneously operating as described above, the gripping columnar members 9a to 9d are horizontally moved diagonally and linearly toward the respective corners of the article transporting boxes at the opposite positions, as shown in FIG. At the same time, each of the gripping columnar members 9a to 9d can be gripped by fitting and contacting each corner of the article transport box. Therefore, at the final stage of the gripping operation of the article transport box, as in the previous embodiment, the position of the transport traveling body 3 is adjusted, and the entire four gripping columnar members 9a to 9d are automatically aligned. There is no need to install it on a slide table that is possible.

  In the above-described embodiment, the second lateral movement base 31 and the third lateral movement base 32 that slidably support the movable bases 13c and 13d have one end portions thereof on the second fixed base 38 and the third fixed base 40, respectively. Since the movable table 13c is supported in a cantilever manner via the slide guide means 37 and the slide guide means 39, the movable table 13c moves in the same direction in synchronization with the movable table 13d, and the movable table 13d is connected to the movable table 13e. In view of the fact that they move in the same direction in synchronism, the rod that allows only the relative movement in the length direction of both of the second lateral movement base 31 and the second lateral movement base 31d, It is connected by a slide connecting means 68 comprising a slide member loosely fitted thereto, and the third lateral movement base 32 and the movable base 13e are allowed only relative movement in the length direction of the third lateral movement base 32. , The rod and the slur fit into this By coupling by the sliding connection means 69 comprising a de member can increase the strength.

  FIG. 11 shows another support structure for the movable bases 13b to 13e in the embodiment of FIGS. In the configuration shown in FIG. 11, in the state where the four gripping columnar members 9a to 9d are at the retracted position where the virtual parallelogram formed inside is maximum, each side of the virtual parallelogram is formed. Guide rods 70 to 73 having a length parallel to each side and crossing each other in a cross shape at each corner are disposed on the outside, and both guide rods 70 to 73 are separately supported to support the respective ends. Slide support means 74 to 77 for supporting 70 to 73 so as to enable only horizontal translation in a direction perpendicular to the length direction are provided. These slide support means 74 to 77 are slide rails 74a, 74b to 77a, 77b whose positions are fixed, and slides that are slidably fitted to these slide rails and attached to both ends of each guide rod 70 to 73. The blocks 74c, 74d to 77c, 77d are configured.

  Support members 78a, 78b to 81a, 81b, which are slidable in the length direction of the guide rods 70 to 73, are attached to the respective guide rods 70 to 73 in the vicinity of the four crossing portions. Each of the movable bases 13b to 13e disposed inside the four crossing portions 70 to 73 has a pair of support members 78a, 78b to 81a, 81b that are slidable at right angles. Is attached. The driving means for horizontally translating the guide rods 70 to 73 in a direction perpendicular to the length direction thereof is omitted, but the driving means using the motor-driven driving screw shaft shown in FIG. The drive means using the motor-driven winding transmission shown in FIG. 9 can be used. Also in the configuration shown in FIG. 11, the four gripping columnar members 9 a to 9 d supported by the movable bases 13 b to 13 e so as to be movable up and down are inclined with respect to the four corners of the article transport box to be loaded and unloaded. It can be moved horizontally and linearly, and the four corners of the article transport box can be securely gripped by the four gripping columnar members 9a to 9d, which is similar to the configuration shown in FIGS. The effect can be expected.

  All of the gripping columnar members 9a to 9d or at least two gripping columnar members positioned in the diagonal direction, for example, the gripping surfaces (right-angle inner surfaces) of the gripping columnar members 9a and 9c are pressed against the article transport box. It is sometimes desirable to use anti-slip means that suppresses relative slip in the up-down direction with respect to the article carrying box. As the anti-slip means, a band-like elastic material such as rubber or an air bag affixed to a right-angle inner surface of the long main body 11 can be used. In the present invention, as shown in FIG. Pins 97 that can be withdrawn / retracted in a horizontal direction at right angles to the sword are densely arranged in a sword mountain shape, and a biasing means 98 such as a spring for biasing each pin 97 in a direction protruding inward from the gripping surface is provided. A sword mountain type anti-slip means 99 is used. As shown in the figure, the sword mountain type anti-slip means 99 has a large number of pieces that have entered the lower side of the flange Bf for gripping the article transport box B having reinforcing flanges Bf1 to Bf3 projecting outward. This pin 97 is particularly suitable because it strongly prevents the article transport box B from slipping down. In addition, although the figure illustrated the box B for goods conveyance provided with 3 steps | paragraphs of flanges Bf1-Bf3, the number of steps of this flange for reinforcement is not limited.

  In the transport apparatus of the present invention, the gripping drive means for applying gripping force to the four gripping columnar members 9a to 9d is the transport traveling body 3 on which the four gripping columnar members 9a to 9d are supported. Since it is installed on the upper side of the gripping columnar members 9a to 9d when gripping the article transporting box by the gripping columnar members 9a to 9d lowered from the transporting traveling body 3 to the lower limit position, It is conceivable that a sufficient gripping force cannot be obtained due to the bending of these gripping columnar members. As a method for preventing such a situation, in addition to the sword mountain type anti-slip means 99, the four gripping columnar members 9a to 9d are provided with four gripping members separately from the gripping drive means. A narrowing means for narrowing at least the lower ends of the columnar members 9a to 9d inward can be provided.

  The narrowing means 82 shown in FIG. 13A includes two adjacent gripping columnar members 9a and 9b, between the gripping columnar members 9b and 9c, between the gripping columnar members 9c and 9d, and between the gripping columnar members 9d and 9a. Further, four pulling cords 84 whose end portions 83 are locked to the lower end portion of one gripping columnar member are guided by guide wheels 85 pivotally supported on the outer side surfaces of the respective gripping columnar members 9a to 9d. It is formed in a zigzag manner at an angle close to the horizontal, and the other end of each of the pulling cords 84 is extended upward as a lifting operation end 86. The narrowing means 87 shown in FIG. 13B is a pulling operation end portion of the pulling cord 84 of the narrowing means 82 shown in FIG. 13A, which is stretched by one step between the lower ends of two adjacent gripping columnar members. 86 is extended upward. Further, the narrowing means 88 shown in FIG. 14 supports a guide wheel 89 rotatably around the vertical axis on the outer bottom ends of the gripping columnar members 9a to 9d, and the end 83 is formed as one arbitrary gripping columnar member, For example, one pulling cord 84 locked to the gripping columnar member 9a is stretched by the guide wheels 89 so as to surround the lower ends of the four gripping columnar members 9a to 9d. The free end side of the cord-like body 84 is used as a lifting operation end portion 86 via a guide wheel 90 that is rotatably supported around a horizontal support shaft by a holding columnar member 9a that holds the end portion 83. It is made to extend upward.

  According to each of the narrowing-down means 82, 87, 88, the lifting operation end portion is gripped with the gripping columnar members 9a to 9d being gripped at the four corners of the article transport box to be stored / extracted. 86 is wound up by a winding means mounted on the traveling body 3 for conveyance, and between each of the adjacent holding columnar members 9a and 9b, between the holding columnar members 9b and 9c, and between the holding columnar members 9b and 9c. By narrowing the gap between the members 9c and 9d and between the gripping columnar members 9d and 9a, the pressure contact force (gripping force) of the gripping columnar members 9a to 9d with respect to each corner of the article transport box to be stored / extracted. Can be increased.

  The narrowing means 91 shown in FIG. 15 includes two adjacent gripping columnar members 9a and 9b, between the gripping columnar members 9b and 9c, between the gripping columnar members 9c and 9d, and between the gripping columnar members 9d and 9a. In addition, a double link 93 that is supported at both ends by the horizontal support shafts 92a and 92b outside the lower end portions of both gripping columnar members and can be bent in the vertical direction, and a pair of links 93a of the double link 93. , 93b, the intermediate fulcrum member 95 supported by the intermediate fulcrum shaft 94 is connected to the intermediate fulcrum member 95. The narrowing means 91 can also be constituted by a plurality of upper and lower multi-stage double links 93 that are pulled up by a common pulling rod 96, as indicated by phantom lines. Also in this narrowing-down means 91, the gripping drive means provided on the traveling body 3 for transportation with the gripping columnar members 9a to 9d gripping the four corners of the article transporting box to be stored and retrieved. By pulling up the pulling rod 96 of each narrowing means 91 by a cylinder unit or a motor-driven pulling means, the two link links 93 that bend upwardly, between two adjacent gripping columnar members 9a, 9b, Between the holding columnar members 9b, 9c, between the holding columnar members 9c, 9d, and between the holding columnar members 9d, 9a are narrowed, and each holding columnar member 9a- The pressure contact force (gripping force) of 9d can be increased.

  It should be noted that the winding means 84 of the pulling cords 84 of the narrowing means 82, 87, 88 are always biased in the pulling direction so as not to loosen when the gripping columnar members 9a to 9d move horizontally from the standby position to the gripping position. It must be something that can be kept. Further, the pulling means of the pulling rod 96 of the narrowing means 91 should not allow an operation in which the gripping columnar members 9a to 9d are pushed upward by the double link 93 when moving horizontally from the standby position to the gripping position. Don't be. Further, these hoisting means and pulling means are not affected by the vertical movement of the gripping columnar members 9a to 9d and the horizontal movement from the standby position to the gripping position, and the gripping columnar member 9a in the gripping state of the article transport box. It should be possible to narrow down to 9d as expected.

  The conveyance device for an article conveyance box according to the present invention can be used for storage and sorting equipment for box-type pallets stacked in various sizes.

B, Ba, BL Article transportation box 1 Overhead traveling crane type transportation device 2 Support traveling body 3 Conveying traveling body 4 Rectangular frame structure 6a to 6d Guide rail 7 Warehousing conveyor 7a, 8a Transfer end 8 Unloading conveyor 9a to 9d Gripping columnar member 10 Opening portion 11 Long body 11a Strip elastic material 12 Elevating guide rail 13a Fixed base 13b to 13e Movable base 15 Holding means 16 to 19 Driving screw shafts 20 to 23, 28a to 28d, 48, 49, 52, 54, 60 to 63 Motor with speed reducer 24, 25 Slide guide rod 26 Elevating drive means 27a to 27d Rack gear 30 to 32 Side table 33, 34, 37, 39, 44 to 47 Slide guide means 35, 36, 38, 40 Fixed base 50, 51, 53, 55, 64-67 Wrap transmission tool 56-59 Possible Stand drive means 68, 69 Slide connection means 70-73 Guide rods 74-77 Slide support means 82, 87, 88, 91 Narrowing means 84 Pulling cord 85, 89, 90 Guide wheel 93 Dual link 95 Intermediate fulcrum member 96 Pulling rod 97 Pin 98 Biasing means such as a spring 99, 101 Anti-slip means 100 Receptacle 102 Actuator

Claims (1)

Each of the four corners of the stackable article transport box having a plane shape of right-angled parallelograms placed in the storage area is supported on a transport traveling body that is supported so as to be able to travel horizontally above the storage area. Separately, four gripping columnar members facing in the vertical direction are provided, and the four gripping columnar members have an angle shape in cross section, and inside each corner of the article transport box, A gripping surface that is in pressure contact with both right and left side surfaces on both sides is provided, and a lift driving means for raising and lowering the four gripping columnar members with respect to the transporting traveling body and a gripping driving means are provided on the transporting traveling body. The gripping drive means includes at least three gripping columnar members out of the four gripping columnar members, a retracted position away from each corner of the article transport box, and the four gripping column members. Each of the four corners of the article transport box is gripped by the columnar member In the transport device of the article transport box can be moved horizontally between that gripping position,
Of the four gripping columnar members, at least the gripping surfaces of the two gripping columnar members positioned in the diagonal direction are arranged in the vertical direction between the gripping box and the article transport box. Consists of anti-slip means to suppress relative slip,
The anti-slip means includes a pin disposed in a sword mountain shape so as to be movable in and out in a horizontal direction perpendicular to the gripping surface, and a biasing means for biasing each pin in a direction protruding inward from the gripping surface. An apparatus for transporting an article transport box configured.

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