JP2016169062A - Transfer device and carrier device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a transfer device which securely holds luggage and transfers the luggage in a compact manner.SOLUTION: A transfer device includes: a holding part 173 which holds luggage 200; an electromagnet 174 which generates attraction power which attracts the luggage 200 in a transfer direction; a movement mechanism 175 which causes the electromagnet 174 to move into or move out from a transfer area 203; and a moving mechanism 176 which causes the electromagnet 174 to reciprocate in the transfer direction getting over the luggage 200 held by the holding part 173.SELECTED DRAWING: Figure 6

Description

  The present invention relates to a transfer device that can transfer a load to a storage shelf or the like, and a transfer device that can transfer the load transferred by the transfer device along the storage shelf or the like.

  For example, a transfer device provided with a transfer device may be used in an automatic warehouse. This transport device is called a stacker crane or the like, and transports a load along a storage shelf for storing the load, and transfers the load to and from the storage shelf by a transfer device.

  Such a conveying device includes, for example, a mast that extends in the vertical direction, a lifting base that can be moved up and down along the mast, a carriage that moves the mast in the traveling direction, And a transfer device attached to the table.

Japanese Patent Application Laid-Open No. 07-25412

  However, nowadays, there is a demand for a space-efficient automatic warehouse that can store luggage at a high density. However, the transfer device in which the arm passes the side, upper, or lower side of the luggage stored in the storage shelf requires a long time until the luggage is held, which is inefficient. In addition, the transfer device tends to increase in size because the arm passes between the loads, and the storage shelf side must also have a space for passing the arms, which increases the density of storing the loads. It becomes difficult.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a transfer device and a transfer device that can transfer a load at high speed and in a space-saving manner.

  In order to achieve the above object, a transfer device according to the present invention is a transfer device that is attached to a transfer device that transfers a load and transfers the load in a transfer direction that is a predetermined axis, A holding unit for holding, an electromagnet capable of generating an attracting force for adsorbing a load in the transfer direction, and an advance / retreat mechanism capable of moving the electromagnet into and out of a transfer region through which the load passes during transfer And a moving mechanism for reciprocating the electromagnet in the transfer direction over the load held by the holding portion.

  As a result, the surface of the load intersecting the transfer direction can be easily and reliably attracted by the electromagnet to transfer the load. Therefore, the moving distance of the electromagnet in the transfer direction can be substantially kept within the length of the transfer device, and the stroke for moving the load can be shortened to improve the transfer efficiency. In addition, since the arm is not passed to the side or upper and lower sides of the load, the transfer device can be downsized and the storage density of the load can be improved.

  The electromagnet includes a first electromagnet and a second electromagnet arranged side by side in the transfer direction, and the advance / retreat mechanism is arranged between the first electromagnet and the second electromagnet, The moving mechanism may move at least one of the first electromagnet and the second electromagnet to the outside of the load held by the holding portion in the transfer direction.

  According to this, a load can be transferred to any storage shelf arranged so as to sandwich the transfer device 130. Further, since the advance / retreat mechanism can be disposed between the first electromagnet and the second electromagnet, further space saving can be achieved.

  The advancing / retracting mechanism rotates in a direction intersecting the transfer direction with a rotation member having the electromagnet attached to the tip and having a rotation axis along the transfer direction outside the transfer area. You may provide the advancing / retreating motor arrange | positioned so that a shaft body may follow, and the transmission mechanism which has the bevel gear which transmits rotation of the said rotating shaft body to the said rotation member.

  According to this, since the electromagnet can be advanced and retracted with a simple structure, the advance / retreat mechanism can be miniaturized and further space saving can be achieved.

  Further, the holding portion holds one end portion of the load in the up-down direction so as to be slidable in the transfer direction, the advance / retreat mechanism is disposed on the other end portion side in the up-down direction, and the moving mechanism is the transfer portion It may be arranged on the side of the region.

  According to this, the mechanism related to transfer can be concentrated on one side of the transfer area in the vertical direction, and space saving can be achieved.

  The moving mechanism may include a rack that extends in the transfer direction and is disposed in a fixed state, a pinion that engages with the rack, and a moving motor that rotates the pinion.

  According to this, since the electromagnet can be reciprocated in the transfer direction with a simple structure, the advance / retreat mechanism can be miniaturized and further space saving can be achieved.

  Furthermore, when the advancing / retreating mechanism retracts the electromagnet from the transfer area, a control is performed to cancel the remaining magnetic flux by applying a current in the opposite direction to that when the load is attracted to the electromagnet to cancel the remaining magnetic flux. It does not matter if it has a part.

  As a result, when the electromagnet advances and retreats, it is possible to prevent the load from being moved unintentionally or damaged by the remaining magnetic force.

  Moreover, in order to achieve the said objective, you may be a conveying apparatus provided with the said transfer apparatus.

  According to the present invention, the transfer device can be reduced in size, and the time for transferring the load can be shortened. In addition, it is possible to contribute to increasing the density of storage shelves for storing luggage.

FIG. 1 is a perspective view showing an automatic warehouse. FIG. 2 is a perspective view showing a storage unit of the storage shelf. FIG. 3 is a perspective view showing an intermediate portion of the transport apparatus. FIG. 4 is a perspective view showing the vicinity of the transfer device. FIG. 5 is a side view showing a part of the vicinity of the horizontal guide member in cross section. FIG. 6 is a perspective view showing the transfer device. FIG. 7 is a block diagram showing the functional unit of the transfer apparatus together with the mechanism unit. FIG. 8 is a side view of the automatic warehouse with a part cut away. FIG. 9 is a perspective view showing another transfer apparatus.

  Next, an embodiment of a transfer device according to the present invention will be described with reference to the drawings. In addition, the following embodiment is only what showed an example of the conveyance measure which concerns on this invention. Accordingly, the scope of the present invention is defined by the wording of the claims with reference to the following embodiments, and is not limited to the following embodiments. Therefore, among the constituent elements in the following embodiments, constituent elements that are not described in the independent claims indicating the highest concept of the present invention are not necessarily required to achieve the object of the present invention. It will be described as constituting a preferred form.

  Also, the drawings are schematic diagrams in which emphasis, omission, and ratio adjustment are performed as appropriate to show the present invention, and may differ from actual shapes, positional relationships, and ratios.

  FIG. 1 is a perspective view showing an automatic warehouse.

  As shown in the figure, the automatic warehouse 100 is a facility that can automatically store a baggage 200 carried in from the outside, and can automatically take out the stored baggage 200 and carry it out. And a transport device 102.

  The storage shelf 101 is a facility having storage units 111 for storing the luggage 200 arranged in a matrix in the vertical direction and the horizontal direction.

  FIG. 2 is a perspective view showing a storage unit of the storage shelf.

  As shown in the figure, the storage unit 111 is a part of the storage shelf 101 that stores the luggage 200. Here, the storage unit 111 is an abstract concept indicating a portion (area) that holds one piece of luggage 200 in the storage shelf 101.

  In the case of the present embodiment, the luggage 200 includes flange portions 201 that project in both the left and right directions along the storage shelf 101. Further, the luggage 200 is attached to a surface where an attracted member 202 that is electromagnetically attracted by an electromagnet (described later) intersects the transfer direction (X-axis direction in the drawing). The attracted member 202 is not particularly limited as long as it is attracted by an electromagnet. Specifically, the attracted member 202 can be a member made of a magnetic material such as iron. The attracted member 202 is a plate-like member that is detachable from the luggage 200. When the luggage 200 can be attracted by an electromagnet, it is not necessary to attach the attracted member 202 to the luggage 200.

  On the other hand, the storage shelf 101 is provided with a back surface portion 112 on the back of the storage shelf 101, and a holding member 113 (attached to the back surface portion 112 in a protruding state forward (in the positive direction of the X axis in the figure) from the back surface portion 112. Two cantilevers are provided for one baggage 200. As described above, the storage unit 111 is an area including the two holding members 113 and the luggage 200 hanging between the two holding members 113 in a state where the flange portion 201 and the holding member 113 are engaged.

  In addition, when the storage shelf 101 includes a shelf plate extending in the horizontal direction and the luggage 200 is stored in a state of being placed on the shelf plate, the position of the storage unit 111 may not be determined in the horizontal direction.

  FIG. 3 is a perspective view showing an intermediate portion of the transport apparatus.

  FIG. 4 is a perspective view showing the transfer device.

  As shown in these drawings, the conveyance device 102 is a single axis along the up-and-down direction (Z-axis direction in the drawing) that is the vertical direction along the storage shelf 101 and the storage shelf 101 in the horizontal plane. It is a device that conveys in the traveling direction (Y-axis direction in the figure), and includes a horizontal guide member 121, a carriage 123, a mast 128, a lifting platform 125, and a transfer device 130. Further, the transport apparatus 102 includes a lifting rail 133 and a suspension member 134.

  The horizontal guide member 121 is a member that forms a track on which the carriage 123 travels and supports loads of the carriage 123, the mast 128, the lifting platform 125, and the like. The horizontal guide member 121 is a member disposed on the inner horizontal surface of the storage shelf 101, and the storage unit 111 exists above and below the horizontal guide member 121. The horizontal guide member 121 extends in the left-right direction (Y-axis direction in the figure) along the storage shelf 101. That is, in the storage shelf 101, an area corresponding to a plurality of stages (two stages in the present embodiment) continuous in the vertical direction of the storage unit 111 is an area in which the horizontal guide member 121 is disposed, and the horizontal guide member 121 is a storage shelf. 101 is embedded in the area.

  FIG. 5 is a side view showing a part of the vicinity of the horizontal guide member in cross section.

  As shown in the figure, in the case of the present embodiment, the horizontal guide member 121 is a member that guides the carriage 123 in the left-right direction (the Y-axis direction in the drawing) along the storage shelf 101 on the horizontal plane. In the case of the form, the beam member 126, the first rail 141, and the second rail 142 are provided.

  The beam member 126 is a rod-shaped member mainly responsible for the structural strength of the horizontal guide member 121. The material type and shape of the beam member 126 are not particularly limited, but in the case of the present embodiment, a square pipe is used. The beam member 126 is supported so as to be stretched between a plurality of support columns 122 erected at intervals, and the inside of the storage shelf 101 is aligned along the left-right direction (Y-axis direction in the drawing) along the storage shelf 101. It is arranged in the direction.

  The first rail 141 is a rail attached to the first surface portion (the upper surface portion in the case of the present embodiment) of the beam member 126 including the extending direction axis of the beam member 126. In the case of the present embodiment, the first rail 141 is a rail that smoothly guides the traveling of the carriage 123 while supporting the load of the carriage 123 and the mast 128. As the first rail 141, for example, a linear rail constituting a linear guide can be listed.

  The second rail 142 is a rail that includes the extending direction axis of the beam member 126 and is attached to the second surface portion of the beam member 126 that intersects the first surface portion (in the present embodiment, the side surface portion of the conveying device). . In the case of the present embodiment, the second rail 142 is a rail for suppressing shaking about the rotation direction axis of the mast 128. As the second rail 142, for example, a plate-like rail that can be rolled in a contact state with a cam follower that is a bearing with a shaft can be listed.

  As described above, by providing the rails on the mutually intersecting surface portions including the extending direction axis of the beam member 126, different functions can be exhibited.

  In the case of the present embodiment, the beam member 126 is further provided with a drive rail 143 for generating a driving force for the carriage 123 to travel. The drive rail 143 is a rack, for example, and can generate a driving force by engaging with a pinion included in the carriage 123. The normal rack and pinion have a loud operating sound and there is backlash. Therefore, the pinion is a pinion provided with roller pins arranged on the circumference at equal intervals so that the rotation axes are parallel, and the rack is a rack provided with trocolloid teeth, etc. to suppress the generation of sound. The occurrence of backlash can be suppressed. Further, the drive rail 143 may be provided with an electromagnetic coil like a linear motor.

  The column 122 is a member that stands on the mounting base 301 (see FIG. 8) and supports the beam member 126, and the storage shelf 101 is in a state where the storage unit 111 exists on the lateral side along the storage shelf 101. It is a member extended in the up-and-down direction along. Similarly to the horizontal guide member 121, the storage shelf 101 does not use an area corresponding to the storage unit 111 of the storage shelf 101 as the storage unit 111, and is an area where the support column 122 is arranged. The support column 122 is arranged and stored in the area. It is embedded in the shelf 101.

  In the present embodiment, two support columns 122 are provided for one horizontal guide member 121, but a plurality of support columns 122 may be provided.

  Further, the column 122 and the storage shelf 101, and the horizontal guide member 121 and the storage shelf 101 are not mechanically connected except for the connection via the mounting base 301. That is, the transfer device 102 and the storage shelf 101 are installed independently on the mounting base 301. This makes it difficult for the vibration of the transfer device 102 to be transmitted to the storage shelf 101, and it is possible to suppress the occurrence of a shift of the luggage 200 being stored in the storage shelf 101.

  The carriage 123 is a device that travels along the horizontal guide member 121 and moves the attached mast 128 along the horizontal guide member 121. In the case of the present embodiment, the carriage 123 includes guide members 127 that are slidably engaged with the horizontal guide member 121 at both ends in the traveling direction (Y-axis direction in the drawing). The carriage 123 has a mast 128 attached to the center position of the two guide members 127. Thereby, it is possible to suppress the mast 128 from falling down in the traveling direction.

  Further, the guide member 127 includes a first guide 151 slidably engaged with the first rail 141 and a second guide 152 slidably engaged with the second rail 142. In the case of the present embodiment, the first guide 151 is a linear guide that is slidably engaged with the linear rail. The second guide 152 includes two cam followers arranged so as to sandwich the flat second rail 142 in the vertical direction.

  In addition, the carriage 123 includes a horizontal driving device 120 that moves between the storage units 111 arranged in the vertical direction and causes the carriage 123 to travel along the horizontal guide member 121. The horizontal drive device 120 includes a drive body 153 that generates a force in the traveling direction by engaging with a drive rail 143 attached to the beam member 126. In the case of the present embodiment, the driving body 153 is a pinion that engages with the rack that is the driving rail 143 while rotating and moves in the traveling direction.

  In the case where the drive rail 143 is an array of electromagnets constituting a linear motor, the drive body 153 is a magnetic member.

  Further, the horizontal driving device 120 includes a motor 137 having a rotating shaft body (not shown) disposed along the traveling direction of the carriage 123. By disposing the motor 137 in this way, even if the storage shelf 101 is small, the carriage 123 can be run in a state where the entire horizontal driving device 120 is accommodated inside the storage shelf 101.

  The mast 128 is a long structural member for guiding the lifting platform 125 that moves up and down in the vertical direction, and extends in the vertical direction along the storage shelf 101. In the case of the present embodiment, the mast 128 is fixed to the carriage 123 at an intermediate position in the vertical direction of the mast 128. Further, the mast 128 is disposed closer to the storage shelf 101 than the center position in the region through which the lifting platform 125 passes.

  In the case of the present embodiment, the mast 128 has a hollow square shape extending in the vertical direction, but the shape of the mast 128 is not particularly limited, and may be an aggregate of a plurality of structures. . The mast 128 is disposed in the vicinity of the storage shelf 101, and a part of a suspension member 134 that is connected to the lifting platform 125 and transmits a driving force that moves up and down is inserted into the hollow portion of the mast 128 to guide them. A pulley (not shown) or the like is attached to the end or the like.

  In addition, a vertical position in which the lifting platform 125 is moved up and down along the mast 128 at the lower end of the mast 128, below the lowermost storage unit 111 of the storage shelf 101 and on the side of the storage shelf 101. A driving device 129 (see FIG. 1) is attached. The vertical driving device 129 is connected to the suspension member 134 and transmits the driving force to the lifting platform 125.

  The suspension member 134 is a flexible member for suspending the lifting platform 125 from the upper end portion of the mast 128, and examples thereof include a belt, a chain, and a wire. In the case of the present embodiment, the suspension member 134 is a belt-like member, and passes through a vertical drive device 129 and a lifting platform 125 provided at the lower end portion of the mast 128 via a pulley provided at the upper end of the mast 128. Connected. When the vertical driving device 129 winds up the suspension member 134, the lifting platform 125 is raised, and when it is rewound, the lifting platform 125 can be lowered.

  The elevating rail 133 is a long member that is attached over almost the entire length of the mast 128, and is a member that slidably engages with the elevating platform 125 and guides the elevating along the mast 128 of the elevating platform 125. In the case of the present embodiment, only one lifting rail 133 is attached to the mast 128 on the opposite side of the carriage 123. By limiting the number of lifting rails 133 to one, the mast 128 can be downsized and the entire conveying apparatus 102 can be downsized. As the elevating rail 133, for example, a linear rail constituting a linear guide can be listed.

  The lifting platform 125 is a member that is guided by the mast 128 and moves up and down in the up-and-down direction. The lifting table 125 extends to both sides of the mast 128 in the traveling direction and is transferred to each of the transfer devices 130 (the first transfer device 131 and the first transfer device 131). This is a member to which the second transfer device 132) is attached. In the case of the present embodiment, since the mast 128 is disposed in the vicinity of the storage shelf 101, the lifting platform 125 is arranged on one side of the mast 128 (this embodiment) in the transfer direction of the luggage 200 (X-axis direction in the figure). In this case, it is configured so as to project relatively long on the opposite side of the storage shelf 101.

  In addition, the lifting platform 125 includes a connection portion 135 and a lifting guide 136.

  A plurality of lifting guides 136 are members that are attached to the lifting platform 125 and slidably engage with the lifting rail 133. The lifting guide 136 is attached to a position where the lifting platform 125 balances in the traveling direction, for example, the central portion of the lifting platform 125 in the traveling direction. As a result, the lifting platform 125 can be lifted and lowered smoothly. In the case of the present embodiment, one piece is attached above and below the lifting platform 125 (main body). Thereby, the distance of the raising / lowering guide 136 which exists in an upper end and the raising / lowering guide 136 which exists in a lower end can be lengthened, and the raising / lowering of the raising / lowering stand 125 can be stabilized. In addition, by dispersing the lifting guide 136 above and below the lifting platform 125 (main body), it is possible to reduce the dead space at the upper end and lower end of the mast 128. In the case of the present embodiment, the lifting guide 136 is a linear guide that is slidably engaged with the lifting rail 133 that is a linear rail.

  The connection part 135 is a part which connects the suspension member 134 to the center part of the lifting platform 125 in the traveling direction. The connection method of the suspension member 134 by the connection part 135 is not particularly limited. For example, the suspension member 134 is sandwiched and connected, or the shaft is inserted into the hole of the suspension member 134. It can be illustrated.

  As in the present embodiment, since the lifting guide 136 and the connecting portion 135 are present at the center position of the same lifting platform 125 in the transport direction, the lifting platform 125 can be lifted and lowered in a stable state.

  In addition, the connection part 135 exists in the gravity center position by the raising / lowering stand 125, the 1st transfer apparatus 131, and the 2nd transfer apparatus 132 in a horizontal surface, or exists in the side closer to the gravity center position than the raising / lowering guide 136. It has become.

  As a result, the lifting platform 125 and the transfer device 130 can be suspended in a well-balanced manner in the transfer direction.

  FIG. 6 is a perspective view showing the transfer device.

  As shown in the figure, the transfer device 130 moves the load 200 in a transfer direction (X-axis direction in the figure), which is a predetermined axis, and moves the load 200 between the storage shelf 101 and the transfer device 130. It is a device to transfer. The transfer device 130 includes a holding unit 173, an electromagnet 174, an advance / retreat mechanism 175, and a movement mechanism 176.

  The holding unit 173 is a part that temporarily holds the luggage 200. In the case of the present embodiment, the transfer device 130 is attached to the transfer device 102, and the transfer device 102 transfers the load 200 held by the holding unit 173 together with the transfer device 130. In the case of the present embodiment, the holding portion 173 is a portion of a cantilever structure that holds one end portion of the luggage 200 in the vertical direction (Z-axis direction in the drawing) so as to be slidable in the transfer direction. Specifically, the holding part 173 holds the entire luggage 200 in a suspended state by supporting the flange part 201 provided at the upper end of the luggage 200 from below.

  The electromagnet 174 is a component that can generate an attracting force that attracts and holds the load 200 in the transfer direction. Specifically, an electric wire (not shown) wound in a coil shape and an electromagnet driving unit 193 (see FIG. 7) for controlling a current flowing through the electric wire are provided. The electromagnet 174 may include a core for increasing the attractive force, and the winding shape of the electric wire is arbitrary. In the case of the present embodiment, the electromagnet 174 includes a first electromagnet 171 and a second electromagnet 172 that are arranged side by side in the transfer direction. The first electromagnet 171 generates a strong magnetic force on the side opposite to the second electromagnet 172 in the transfer direction, and the second electromagnet 172 applies a strong magnetic force on the side opposite to the first electromagnet 171 in the transfer direction. It is desirable that it be generated. Examples of such an electromagnet include a U-shaped core wound with an electric wire.

  The advance / retreat mechanism 175 is a mechanism that allows the electromagnet 174 to enter and leave the transfer area 203 that is an area through which the luggage 200 passes when the luggage 200 is transferred. In the case of the present embodiment, the advance / retreat mechanism 175 is disposed between the first electromagnet 171 and the second electromagnet 172 in the transfer direction. Thereby, space saving of the advance / retreat mechanism 175 and the electromagnet 174 can be achieved. Further, since the holding portion 173 holds the upper end portion of the luggage 200, the advance / retreat mechanism 175 is disposed on the lower end side of the luggage 200 in the vertical direction (below the lower end portion).

  Specifically, the advance / retreat mechanism 175 of the present embodiment is a mechanism that causes the electromagnet 174 to advance and retreat relative to the transfer area 203 by rotation, and includes a rotation member 177, an advance / retreat motor 178, and a transmission mechanism 179. Yes.

  The rotation member 177 is a member that includes a rotation axis along the transfer direction outside the transfer area 203 and can rotate the electromagnet 174 attached to the tip portion around the rotation axis.

  The advancing / retracting motor 178 is a device that generates a driving force for rotating the rotating member 177, and is a rotating shaft body (not shown) in a direction intersecting the transfer direction (in the present embodiment, the Y-axis direction). ).

  The transmission mechanism 179 is a mechanism for transmitting the rotation of the rotation shaft of the advance / retreat motor 178 to the rotation member 177. By combining the bevel gear, the transmission mechanism 179 rotates the rotation axis of the advance / retreat motor 178 from the rotation axis. A driving force is transmitted to the rotating shaft of the moving member 177.

  The moving mechanism 176 is a mechanism that causes the electromagnet 174 to reciprocate beyond the load 200 held by the holding portion 173 in the transfer direction. In the case of the present embodiment, the moving mechanism 176 moves at least one of the first electromagnet 171 and the second electromagnet 172 outward from the luggage 200 held by the holding portion 173 in the transfer direction. Yes.

  Specifically, the moving mechanism 176 of the present embodiment includes a rack 189 that extends in the transfer direction and is disposed in a fixed state, a pinion 188 that meshes with the rack 189, a moving motor 187 that rotates the pinion 188, and a gear. Box 186. Further, the moving mechanism 176 is disposed on the side of the transfer area 203 to save space.

  FIG. 7 is a block diagram showing the functional unit of the transfer apparatus together with the mechanism unit.

  As shown in the figure, the transfer device 130 further includes a control unit 194. When the advancing / retreating mechanism 175 retracts the electromagnet 174 from the transfer area 203, the control unit 194 applies a current in the direction opposite to that when the luggage 200 is attracted to the electromagnet 174 (the one that has attracted the luggage 200). It is a processing unit that performs control to apply and demagnetize the remaining magnetic flux and release the adsorption of the luggage 200.

  Specifically, the magnetic flux remaining in at least one of the luggage 200 and the electromagnet 174 may be measured by a sensor when releasing the adsorption of the luggage 200, and the residual magnetic flux may be demagnetized using the result. Hysteresis is measured in advance, and a reverse current that can demagnetize the residual magnetic flux may be applied to the electromagnet 174 using the measurement result.

  In the case of the present embodiment, the transfer device 130 includes a first transfer device 131 and a second transfer device 132. The first transfer device 131 and the second transfer device 132 are lifted and lowered so as to be plane-symmetrical with respect to a plane that is virtually formed in the vertical direction and the transfer direction and passes through the mast 128. Each is attached to the base 125, and the moving mechanism 176 is arranged so as to gather on the reference plane side.

  In addition, the first transfer device 131 and the second transfer device 132 move the electromagnet 174 forward and backward independently from each other toward the storage shelf 101, thereby moving the storage shelf 101 and the lifting platform 125. The baggage 200 is transferred between them.

  As a result, two packages 200 can be transported at a time, and the packages 200 can be transferred in a wider range than the movable region of the mast 128. That is, the luggage 200 stored from one end to the other end of the storage shelf 101 in the traveling direction can be transferred, and dead space in the automatic warehouse 100 can be suppressed.

  Further, the balance with respect to the mast 128 is improved, and it is possible to reduce the shaking of the mast 128 with respect to the moving direction when the mast 128 is moved.

  In addition, since it is the structure which has arrange | positioned the 1st transfer apparatus 131 and the 2nd transfer apparatus 132 on the both sides of the one mast 128 in the traveling direction, respectively, the cart 123 is preferably long in the traveling direction. According to this, the horizontal guide member 121 and the guide member 127 can be engaged with each other at positions as far apart as possible and symmetrical with respect to the mast 128, and the mast 128 can be stably driven without shaking. Is possible. On the other hand, if the carriage 123 is too long, the movable region of the mast 128 is narrowed.

  From the above, the length of the carriage 123 is the length from the one end edge to the other end edge in the traveling direction of the carriage 123 of the structural member constituted by the lifting platform 125, the first transfer device 131, and the second transfer device 132. It is preferable that it is equivalent or less.

  FIG. 8 is a side view of the automatic warehouse with a part cut away.

  As shown in the figure, the automatic warehouse 100 includes a facing storage shelf 109 that is disposed to face the storage shelf 101. Similar to the storage shelf 101, the facing storage shelf 109 is a shelf to which the luggage 200 is transferred by a transfer device provided in the transport device 102, and the horizontal guide member 121 and the support column 122 are not disposed. A lot of luggage 200 can be stored.

  The transport apparatus 102 includes a power cable 191 that supplies power to the transport apparatus 102 while changing its form below the facing storage shelf 109 as the carriage 123 travels.

  In the case of the present embodiment, the automatic warehouse 100 is installed on a mounting base 301 provided at a position separated from a base part 300 such as a building by a predetermined height. On the other hand, the mast 128 of the automatic warehouse 100 extends to the lower side of the mounting base 301, and the vertical drive device 129 for raising and lowering the lifting platform 125 is disposed below the transporting device 102 and below the mounting base 301. ing. In addition, since the form of the power cable 191 disposed below the facing storage shelf 109 and below the mounting base 301 changes with the movement of the mast 128, the power cable 191 accompanying the change in the form of the power cable 191 In order to suppress damage, the cable protection chain 192 is held.

  Next, a method for transferring packages will be described.

  First, in order to hold the luggage 200 stored in the storage shelf 101, the electromagnet 174 enters the transfer area 203 by the advance / retreat mechanism 175. In the case of this embodiment, the first electromagnet 171 and the second electromagnet 172 operate simultaneously. Note that these operations may be performed separately.

  Next, the electromagnet 174 is moved by the moving mechanism 176 until the electromagnet 174 is positioned in the vicinity of the attracted member 202 of the luggage 200 or comes into contact therewith.

  The entry and movement of the electromagnet 174 may be performed at the same time.

  Next, the control unit 194 transmits a command to the electromagnet driving unit 193 to drive the electromagnet 174, and the electromagnet driving unit 193 causes a current in one direction to flow through the electromagnet 174 based on the command.

  By controlling in this way, it is possible to prevent the luggage 200 from moving unintentionally due to the attractive force of the electromagnet 174 when the luggage 200 is light.

  As described above, the electromagnet 174 can attract and hold the surface on the side of the transfer device 130 that intersects the transfer direction of the load 200 with the electromagnetic force.

  Next, the electromagnet 174 is moved together with the luggage 200 held by the moving mechanism 176, and the luggage 200 is slid to the holding portion 173.

  As described above, the luggage 200 can be held in the holding unit 173.

  Next, the control unit 194 controls the electromagnet driving unit 193 so that a current (reverse current) in the other direction flows through the electromagnet 174.

  Thereby, the electromagnet 174 can reliably open the attracted member 202 of the luggage 200.

  Finally, the advance / retreat mechanism 175 causes the electromagnet 174 to leave the transfer area 203.

  Note that when the luggage 200 is transferred from the holding unit 173 to the storage shelf 101, the above may be reversed.

  According to the transfer device 130 described above, the luggage 200 can be reliably held with a simple and compact structure, and the luggage 200 can be transferred with a short stroke. Therefore, it becomes possible to transfer the load 200 efficiently. In addition, since it is not necessary to move an arm or the like to the side of the baggage 200 or up and down, the baggage 200 can be tightly stored in the storage shelf 101, and an automatic warehouse with high space efficiency can be obtained.

  Further, according to the automatic warehouse 100, the mast 128 is formed by changing the area corresponding to a plurality of stages (two stages in the present embodiment) of the storage unit 111 of the storage shelf 101 to the area where the horizontal guide member 121 is disposed. It is possible to approach the storage shelf 101 side. Accordingly, even between the storage shelf 101 and the face-to-face storage shelf 109, a person can pass over the mast 128. Therefore, the automatic warehouse 100 can be easily maintained.

  In addition, since the carriage 123 traveling along the horizontal guide member 121 holds the mast 128 at the center of the mast 128 or in the vicinity thereof, the structural strength of the mast 128 is the length from the holding portion to the end. What is necessary is just to ensure the strength degree. That is, the structural strength can be set weaker than holding the end of the mast 128. Therefore, the mast 128 can be made relatively thin or thin, and the proportion of the mast 128 in the space between the storage shelf 101 and the facing storage shelf 109 can be reduced. In this respect as well, a person can easily pass over the mast 128 during maintenance.

  In addition, this invention is not limited to the said embodiment. For example, another embodiment realized by arbitrarily combining the components described in this specification and excluding some of the components may be used as an embodiment of the present invention. In addition, the present invention includes modifications obtained by making various modifications conceivable by those skilled in the art without departing from the gist of the present invention, that is, the meaning described in the claims. It is.

  For example, as shown in FIG. 9, the holding portion 173 may be one that holds the load 200 by placing it, that is, one that holds the lower portion of the load 200 slidably.

  In this case, the advance / retreat mechanism 175 is disposed on the upper side of the luggage 200 held by the holding unit 173, and moves the electromagnet 174 forward and backward from above the transfer area 203.

  With the transfer device 130 having such a structure, it is possible to transfer a load 200 that does not have a special portion such as the flange portion 201.

  Further, the advance / retreat mechanism 175 may be not only a mechanism for moving the electromagnet 174 forward and backward by rotation but also a mechanism for moving the electromagnet 174 forward and backward by direct movement.

  Further, the carriage 123 may be attached to the lower end of the mast 128 or the like. Further, the horizontal guide member 121 may not be arranged inside the storage shelf 101. For example, the horizontal guide member 121 may be present at the upper end portion, the lower end portion, or both of the mast 128.

  The attracted member 202 may be a permanent magnet. In this case, the magnetic pole of the electromagnet 174 is changed so as to repel the attracted member 202 made of a permanent magnet by applying a current in the opposite direction to that when the load 200 is attracted to the electromagnet 174, and the attracted member 202 And the electromagnet 174 may be repelled to release the adsorption.

  The present invention can be used in a warehouse that automatically stores, manages, and loads and unloads many packages.

DESCRIPTION OF SYMBOLS 100 Automatic warehouse 101 Storage shelf 102 Conveying device 109 Face-to-face storage shelf 111 Storage part 112 Back surface part 113 Holding member 120 Horizontal drive device 121 Horizontal guide member 122 Column 123 Car 125 Lifting table 126 Beam member 127 Guide member 128 Mast 129 Vertical drive device 130 Transfer device 131 First transfer device 132 Second transfer device 133 Lifting rail 134 Hanging member 135 Connecting portion 136 Lifting guide 137 Motor 141 First rail 142 Second rail 143 Drive rail 151 First guide 152 Second guide 153 Driver 171 First electromagnet 172 Second electromagnet 173 Holding part 174 Electromagnet 175 Advance / retract mechanism 176 Movement mechanism 177 Rotating member 178 Advance / retract motor 179 Transmission mechanism 186 Gear box 187 Movement motor 188 Pinion 189 Rack 191 Power supply Bull 192 cable protection chain 193 electromagnetic drive unit 194 the control unit 200 loads 201 flange portion 202 the attracted member 203 transfer region 300 underlying portion 301 attached basis

Claims (7)

A transfer device attached to a transfer device for transferring a load and transferring the load in a transfer direction that is a predetermined axis,
A holding unit for holding the luggage;
An electromagnet capable of generating an attracting force for attracting a load in the transfer direction;
An advancing / retracting mechanism capable of allowing the electromagnet to enter and exit the transfer area through which the load passes during transfer;
A transfer device comprising: a moving mechanism that reciprocates the electromagnet in a transfer direction beyond a load held by the holding unit. The electromagnet includes a first electromagnet arranged side by side in the transfer direction, and a second electromagnet,
The advance / retreat mechanism is disposed between the first electromagnet and the second electromagnet,
2. The transfer device according to claim 1, wherein the moving mechanism moves at least one of the first electromagnet and the second electromagnet to an outer side than the load held by the holding unit in the transfer direction. The advance / retreat mechanism is:
A rotating member provided with a rotating shaft along the transfer direction outside the transfer region, the electromagnet being attached to a tip portion;
An advancing / retreating motor arranged so that a rotating shaft body extends along a direction intersecting the transfer direction;
The transfer device according to claim 1, further comprising a transmission mechanism having a bevel gear that transmits the rotation of the rotation shaft body to the rotation member. The holding portion holds one end of the load in the up-down direction so as to be slidable in the transfer direction,
The advance / retreat mechanism is disposed on the other end side in the vertical direction,
The said moving mechanism is a transfer apparatus as described in any one of Claims 1-3 arrange | positioned at the side of the said transfer area | region. The moving mechanism is
A rack extending in the transfer direction and arranged in a fixed state;
A pinion meshing with the rack;
The transfer apparatus as described in any one of Claims 1-4 provided with the movement motor which rotates the said pinion. further,
When the advancing / retreating mechanism retracts the electromagnet from the transfer area, a control unit is provided that cancels the remaining magnetic flux by applying a current in a direction opposite to that when the load is attracted to the electromagnet to cancel the attracting. The transfer apparatus as described in any one of Claims 1-5 provided. A conveyance apparatus provided with the transfer apparatus of any one of Claims 1-6.

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