JP2849498B2 - Coupling device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a coupling device which can couple an unmanned carrier and a moving frame provided in a transfer device, for example.

[0002]

2. Description of the Related Art As shown in FIGS. 4 to 6, according to the specification and drawings of Japanese Patent Application No. 2-298584 , the applicant of the present invention carries out storage and retrieval between an unmanned transport vehicle 2 and a flow rack 3. A cargo handling device C is proposed.

In the cargo handling device C, the flow rack 3 is installed in a warehouse or the like, and the transport vehicle 2 is equipped with a drive source such as a battery and a control device.
A receiver 6 is provided for receiving information of a management device for managing the system via a communication device (both not shown).

[0004] The flow rack 3 traverses a carry-in entrance I and a carry-out exit O formed by the front and rear surfaces thereof, and stores the load W on a shelf 7 having a predetermined height.
A moving frame 4A, which is a loading machine, and a moving frame 4B, which is a unloading machine that takes out the luggage W from the shelves 7, are provided. The transport vehicle 2 moves the flow rack 3 through the moving frames 4A, 4B.
The luggage W in and out.

At this time, the moving frames 4A and 4B are connected to the carrier 2 by the connecting device 1 so that the moving frames 4A and 4B are moved.
A and 4B are supplied with power and information for lifting and lowering the luggage from the carrier 2, and deliver the luggage W. Moving frames 4A, 4B
Are transported along the flow rack 3 by the movement of the transport vehicle 2 to move to the predetermined position, and transfer the load on the shelf 7 at the predetermined height by the load support 9.

For this reason, the cargo handling device C according to the above proposal is
Compared to a conventional unmanned cargo handling device, in which each of an unmanned transport vehicle for transporting loads and a stacker crane for transferring loads was provided with an electric motor for movement, a power supply, a control device, etc. Since the moving frame is moved and controlled by an automatic guided vehicle, the system configuration can be simplified and versatility is enhanced.

On the other hand, in the cargo handling device C of such a proposal, the moving frames 4A and 4B are moved by the carrier 2 and the power and information of the information are transferred between the carrier 2 and the moving frames 4A and 4B. Since transmission and reception are performed, it is necessary that the coupling strength be large, that there be no relative movement or displacement during movement, and that the positioning be highly accurate.

[0008]

For the connection, it is conceivable to use a locking piece such as a pin which can be retracted and retracted. However, in the above-mentioned proposal, a displacement, a play or the like after the connection by pin fitting is considered. In order to prevent this, a coupling device including a suctioned device having a solenoid and a suction device made of a magnetic piece such as a soft iron piece directly adsorbed to the solenoid is used.

However, in such a coupling device, in order to prevent displacement and backlash after coupling, and to prevent slippage even when sudden acceleration or deceleration such as starting or stopping is performed, it is necessary to provide It is necessary to use a large solenoid to increase the attraction force. As a result, a large current for energizing the solenoid is required, the heat generation of the coil, other prone to temperature rise, especially as the cargo apparatus C described above, in the one that excited by battery loaded on the transport vehicle 2 It is desired to reduce the power consumption.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a power-saving coupling device based on the use of a permanent magnet as an attraction tool.

[0011]

According to the present invention, there is provided a coupling device for connecting a carrier and a moving frame so that the moving frame can be moved by the carrier. And a suction tool using a permanent magnet disposed on the other side, and the suction tool and the suction tool can be brought into contact with and separated from each other. A coupling device, wherein the suction device is separated from the device to be suctioned by energizing in one direction, and the device to be suctioned and the suction device are sucked by shutting off the power supply to the solenoid.

[0012]

Since the coupling device 1 is composed of a suctioned tool using a solenoid and a suction tool using a permanent magnet, the coupling can be disengaged by turning on and off the energization of the solenoid, thereby improving operability.

Further, since a permanent magnet is used for the attracting tool, the magnetic force of the permanent magnet attracts the magnetic pole of the solenoid,
It can be combined without consuming power.

Further, at the time of attraction and separation between the to-be-attached device and the attraction device, the solenoid of the to-be-attached device is repelled to the direction of the magnetic force of the permanent magnet of the attraction device and generates a magnetic force to separate the attraction device. Turn on electricity.

As described above, the solenoid needs to be relatively separated from the to-be-attached device and the attraction device in order to avoid abutment of the attraction device, and the coupling is released. It is only necessary to energize for a relatively short time, and power consumption can be reduced.

When the coupling is performed, the solenoid may be energized in the opposite direction to increase the coupling force, that is, in a direction to increase the magnetic force of the permanent magnet. Since it is supplemented, power can be saved as compared with the case where a conventional soft iron piece or the like is used.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings, taking as an example the case where the coupling device 1 of the present invention is used for the above-mentioned proposed cargo handling device C.

The coupling device 1 of the present invention couples the transport vehicle 2 with a moving frame 4A for entry and a moving frame 4B for exit provided at the entrance I and exit O of the flow rack 3.

The movable frames 4A and 4B can traverse the upper and lower horizontal guides 10 and 11 of the frame of the flow rack 3 whose upper end is inclined forward at the entrance I side. Note that the flow rack 3 is provided with a shelf 7 using a roller conveyor that inclines the carry-in entrance I side so that the luggage W can slide and the luggage W carried in from the movable frame 4A by the appearance of the locking claw 12 is moved to the movable frame. 4B automatically carries them out sequentially.

Since the moving frames 4A and 4B basically have the same configuration, the moving frame 4A will be described as the moving frame 4.

The moving frame 4 is mounted on a vertically long machine frame 13 running on the guides 10 and 11, the load support 9, a guide (not shown) for guiding the load support 9 and preventing run-out, and a load support. And a drive unit 17 having a motor 15 for rotating the screw shaft 14. Note that the load support 9 is a roller conveyor having two gaps G, G and capable of transferring the load W in the direction of the carry-in port I and the carry-out port O. The load W is rotated by the screw shaft 14 in a horizontal state. The baggage W can be transferred to and from the shelf 7 by being able to move up and down and tilt.

The machine casing 13 is further provided with a coupling power receiving device 21 having an attraction device 20 of the coupling device 1 of the present invention via an arm 22.

The combined power receiving device 21 is
However, it is coupled with the suctioned member 25 of the coupling power supply device 23 provided on the transport vehicle 2, and the suctioned member 25 constitutes the coupling device 1 according to the present invention together with the suction device 20.

The carrier 2 embeds a guide line in the traveling route, detects the magnetic field generated by the guide line, and detects the magnetic field generated by the guide line. Various well-known guiding methods, such as a magnetic guiding method for causing the light or an optical guiding method using a reflective tape or the like, can be adopted. Further, an autonomous navigation system using a combination of the own traveling distance and a gyro may be used. In this example,
Steering motors (not shown) are arranged on all the wheels 26..., And are formed so as to be able to continuously rotate 360 degrees to form omnidirectional moving vehicles that can move in all directions.

As shown in FIGS. 5 and 6, obstacle detection bumpers 27 are provided around the vehicle body of the transport vehicle 2 and two obstacles are provided on each surface of the vehicle body. A non-contact type obstacle detecting device 29 capable of detecting the distance, a distance measuring device 30 provided on each side surface of the vehicle body for measuring a distance between the vehicle body and the reference wall surface, and a distance measuring device 30 provided on each side surface of the vehicle body; A fork 31 having a conveyor surface with a vertically movable upper surface,
And the receiver 6.

At the center and upper part of the front side of the vehicle body, the coupling power supply 23 is provided, and a control device CT for controlling the running of the battery B, cargo handling and the moving frame 4 is arranged. The fork 31 is provided at the gap G provided on the load support 9.
, The load W can be transferred to and from the load support 9.

In the present embodiment, the distance measuring devices 30... Measure the distance between a reference wall (not shown) provided at several places in the traveling route of the transport vehicle 2 and the vehicle body, and the transport vehicle 2 automatically travels. For example, an optical distance measuring sensor, an ultrasonic sensor, or the like that can measure reference data when performing the measurement is used.

As shown in the lower part of FIG. 1, the coupling power supply 23 includes a bottom piece 40, a standing piece 41 rising at the rear edge thereof,
A mounting bracket 4 having an upper piece 42 projecting forward at its upper end.
The power supply fittings 46 of the power transmitting device 34 are attached to both sides of the power transmitting device 3, and the to-be-adsorbed tool 25 of the coupling device 1 is arranged on a mounting plate 49 at the upper end of a vertical piece 41 which is notched in the center together with the upper piece 42. The transmitter OP1 of the signal transmitting / receiving device 36 is provided at the protruding portion protruding from the upper piece 42 of the bottom piece 40.

The device 25 to be attracted has a central magnetic pole 53 at the center.
And the side magnetic poles 54 around the same height as the central magnetic pole 53
A solenoid S in which a coil 55 is wound inside a cylinder of a rectangular bowl-shaped magnetic container having the following is used. The coil 55 is connected to the battery B via the control device CT. Further, when it is necessary to combine and release the control device CT, the polarity of the positive and negative polarities can be switched appropriately, and the solenoid B can be excited by the battery B and the excitation can be turned off.

As shown in the upper part of FIG. 1, the coupling power receiving device 21 is provided at the center of a horizontal and horizontally long vertical mounting plate 33 of an adjusting device 32 provided at the tip of the arm 22. 20 and the current collector 3 of the power transmission device 34 on both sides.
5 and 35, and a receiver OP2 of the transmitting / receiving device 36 is provided on a protruding piece protruding from the mounting plate 35.

On the other hand, the attracting tool 20 uses a permanent magnet M and is fixed to the lower surface of a horizontal projecting piece 57 of a fixing metal member 56 made of a magnetic material such as soft iron fixed to the mounting plate 33. . The permanent magnet M is, as exemplified in FIG.
A center disk-shaped magnet piece M1 and a gap g
And a ring-shaped magnet piece M2 that surrounds and has. In this example, the lower surface of the magnet piece M1 is magnetized to, for example, the N pole, the lower surface of the magnet piece M2 is magnetized to the S pole, and the magnet pieces M1 and M2 are
Together, they form a part of a magnetic path.

The adjusting tool 32 of the combined power receiving tool 21
Is a linear bearing 65 for horizontal movement attached to a horizontal piece of an L-shaped plate fixed to the arm 22 for adjusting the direction orthogonal to the moving direction of the carrier 2, and the linear bearing 65 fixed to the slide piece. A linear bearing 66 that adjusts in the direction of movement,
It has a linear bearing 67 for vertical movement provided on a vertical piece of a T-shaped plate fixed to the slide piece, and the mounting plate 33 is fixed to the slide piece of the linear bearing 67. The linear bearings 65 and 66 are provided with a biasing means (not shown) for maintaining a neutral position, such as a crossed spring, which keeps each slide piece in an initial state which is an intermediate position as a reference. Further, the mounting plate 33 is in a standby state in an initial state in which the mounting plate 33 is separated from the suction target device 25 by the auxiliary spring 69.

It should be noted that the transport vehicle 2 is moved from the moving frame 4 at the reference position.
When the to-be-adsorbed device 25 approaches the lower side of the attraction device 20, the at least one of the to-be-attached device 25 and the attraction device 20 causes the permanent magnet M to have its central magnetic pole when the solenoid S is not energized by its magnetic force. 53, the side magnetic pole 54 is attracted and descends, so that there is a danger that both will abut upon joining.

Therefore, when the transport vehicle 2 approaches the moving frame 4, the solenoid S of the to-be-adsorbed tool 25 of the coupling device 1 is energized in one direction repelled by the magnetic force of the attraction tool 20 based on information stored in advance. Thus, the suction device 20 is separated. In such a separated state, the transport vehicle 2 stops with the to-be-adsorbed device 25 positioned below the attraction device 20.
Thereby, when entering, the suction target 25 and the suction
To prevent the aforementioned conflict.

After stopping, the power supply to the solenoid S is turned off. As a result, the suction tool 20 is moved to the magnetic pole 5 of the solenoid S.
3, 54 are adsorbed and both are bonded.

At the time of the suction, the positional deviation existing between the suction tool 20 and the suction tool 25 is absorbed by the linear bearings 65 and 66 of the adjustment tool 32, and is coupled at a position where the magnetic path energy is minimized.

As a result, the suction device 20 descends to the lowermost end, and the device 25 and the suction device 20 are aligned and connected.

The solenoid S is energized in the opposite direction to increase the magnetic force of the permanent magnet M, so that the coupling force can be increased. When the connection is released, the solenoid S is energized in one direction as described above.

The power transmitting device 34 can supply power to the current collecting device 35 from the power feeding device 46 by coupling, and can drive the driving unit 17 of the moving frame 4 to move the load supporting device 19 up and down. Further, the transmitter OP1 of the signal transmitting / receiving device 36 can correctly transmit the signal to the receiver OP2, and controls the operation of each part such as the tilting operation of the load support 9 as well as the lifting and lowering thereof, and transfers the package W to and from the predetermined shelf 7. it can.

As shown in FIG. 1, the power supply tool 46 is loosely inserted into a hole provided in the upper piece 42 of the mounting bracket 43 and protrudes from the support 71 on the lower surface of the upper piece 42 and the standing piece 41. A pin-shaped electrode 73 insulated and supported by the support piece 72 is provided. The upper flange 74 of the electrode 73 and the support piece 7
2 and is urged upward by a spring 75 between the upper piece 42 and the upper piece 42.

Each electrode 7 of the two power supply tools 46, 46
The positive electrode and the negative electrode of the battery of the transport vehicle 2 are appropriately connected to 3 and 73, and the insulating plate 7 is provided around the electrode 73 on the upper surface of the upper piece 42.
6 are provided.

On the other hand, the current collector 35 has a flange fixed around the hole on the lower surface of the horizontal projecting piece 77 projecting from the mounting plate 33, and has a small cylindrical portion at the lower part, and an insulating material. It has a support 79 used and an electrode 91 provided with a flat pressing portion 90 at the lower end of a pin portion inserted into the support 79. The pin portion is provided with a lock nut at the upper end and is urged downward by a spring 92 externally inserted into the small cylinder portion of the support 79.

Therefore, together with the coupling of the coupling device 1,
As shown in FIG. 3, the electrodes 73 and 91 can be pressed and contacted to transmit power.

In the present embodiment, the signal transmitting / receiving device 36
A photoelectric transmission device is used. A light emitting device is used as the transmitter OP1 and a light receiving device is used as the receiver OP2. It is possible to perform heavy communication.

As described above, the coupling device 1 of the present invention can couple the transport vehicle 2 and the moving frame 4 firmly without any displacement.

The carrier 2 and the moving frame 4 are not limited to those of the above-described embodiment, but may be manned as the carrier 2,
Further, the movable frame 4 may be a pallet for loading which can be freely moved. Furthermore, the to-be-sucked device 25 and the attraction device 20 can be mounted upside down. In addition, the linear bearings 65 and 66 of the adjusting tool 32 can be omitted, and instead of the linear bearing 67 for vertical movement, for example, a lifting / lowering tool including a shaft not using a linear bearing and a guide cylinder loosely fitted on the shaft. In addition to the above, various modifications can be made, such as an elevating device that moves up and down by bending of a spring piece, and an elevating device that uses a well-known link mechanism.

[0047]

As described above, since the coupling device of the present invention is composed of the attracting device using the solenoid and the attracting device using the permanent magnet, the coupling is disengaged by turning on and off the energization of the solenoid. Power supply to the solenoid only when it is disengaged.This reduces the time required to energize the solenoid, thereby reducing heat generation . You can also plan.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an embodiment of the present invention.

FIG. 2 is a cross-sectional view illustrating a device to be suctioned and a suction device.

FIG. 3 is a cross-sectional view illustrating a combined state.

FIG. 4 is a front view illustrating a cargo handling apparatus to which the coupling device of the present invention is applied;

FIG. 5 is a front view illustrating a transport vehicle.

FIG. 6 is a side view illustrating a transport vehicle.

[Explanation of symbols]

 2 Carrier 4, 4A, 4B Moving frame 20 Suction tool 21 Coupling receiving tool 23 Coupling feeding tool 25 Suction tool 32 Adjustment tool 53 Central magnetic pole M Permanent magnet S Solenoid

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁶ identification symbol FI H01R 13/639 H01R 13/639 A (58) Field surveyed (Int.Cl. ⁶ , DB name) B65G 1/04 531 B61B 13 / 00 B61D 47/00 G05D 1/02 H01R 13/629 H01R 13/639

Claims (1)

(57) [Claims] 1. A coupling device for connecting a carrier and a moving frame to move the moving frame by the carrier, wherein a solenoid provided on one of the carrier and the moving frame is used. And a suction tool using a permanent magnet disposed on the other side. The suction tool and the suction tool can be separated from and separated from each other, and the suction tool is energized in one direction by the solenoid. A coupling device, wherein the suction device is separated from the suction device, and the device to be suctioned and the suction device are sucked by shutting off the power supply to the solenoid.