JP2939953B2 - Article transfer equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a plurality of slide members slidably moved in a direction along an article moving direction with respect to a base frame at intervals in a direction perpendicular to the article moving direction.
The present invention relates to a side-by-side article transfer device.

[0002]

2. Description of the Related Art Conventionally, in this type of article transfer apparatus,
The slide member slid in the direction along the article moving direction is configured to be slid with respect to the base frame by a rack-and-pinion mechanism, a chain transmission mechanism including a sprocket and a roller chain, and the like. .

FIG. 6 shows a configuration diagram of a fork device F for transferring articles as an example of the prior art. The fork device F includes a fixed fork 3 fixed to the base frame 1a, a secondary fork 4 serving as the slide member slidably provided in the longitudinal direction of the fixed fork 3, and a secondary fork. 4
A primary fork 5 serving as the slide member, which is slidably provided in the longitudinal direction of the primary fork.
And a drive mechanism D as a chain transmission mechanism that slides the secondary fork 4 and the primary fork 5 with respect to the base frame 1a.

The driving mechanism D is connected to a driving sprocket 14 rotated by a driving motor 7 as driving means, a roller chain 15 wound around the driving sprocket 14, and a primary fork 5 and a secondary fork 4. Two roller chains 16
a and 16b. Roller chain 1
5 is wound around a pulley 3 d and a drive sprocket 14 provided on the fixed fork 3, and both ends are fixed to the secondary fork 4. The roller chains 16a and 16b are wound around a pulley 4d provided on the secondary fork 4 and a pulley 3c provided on the fixed fork 3 while being crossed with each other in an eight-shape, and one end of the primary fork 5
The other end is fixed to the secondary fork 4.

Accordingly, in the fork device F, by rotating the driving sprocket 14 and pulling the roller chain 15, the secondary fork 4 is slid with respect to the fixed fork 3, and accordingly, the roller chain 16a or the roller chain By extending the 16b, the primary fork 5 is slid with respect to the secondary fork 4, whereby the secondary fork 4 and the primary fork 5 are extended and retracted with respect to the base frame 1a, so that articles can be transferred. Is configured.

[0006]

However, according to the above-mentioned prior art, the slide member is driven by a drive amount (for example, a pinion drive driven by a drive motor) such as a rack-and-pinion mechanism or a chain transmission mechanism. The transmission mechanism has a one-to-one correspondence between the number of rotations of gears and sprockets and the amount of movement on the moving side (for example, the amount of movement of racks and gears and the amount of winding of a roller chain). Since it is combined, the adjustment of the acceleration, deceleration, and stop of the slide member related to the movement of the slide member must all be performed by controlling the drive amount of the drive means,

Therefore, when the slide member is moved at a high speed, the acceleration and the deceleration of the slide member greatly increase and decrease the number of rotations of the drive motor. In addition, there has been a problem that the control of the number of revolutions is complicated and difficult.

Further, in order to accurately stop the slide member at the stop position, the drive motor must be stopped at the moment when the slide member reaches the stop position. The control of the motor becomes complicated and difficult, and there are inconveniences such as a shift in the stop position due to a change in load due to a difference in load of the articles to be transferred.

An object of the present invention is to eliminate the above-mentioned conventional disadvantages.

[0010]

The first characteristic feature of the article transfer apparatus according to the present invention, in order to solve the above-mentioned object, the base frame, the plurality of slide Lee
A cylindrical grooved cam member having a spiral groove formed on an outer peripheral surface of a cylindrical member corresponding to each of the cylindrical members, the cylindrical member being provided in a state where a cylindrical axis direction thereof is along the article moving direction; A plurality of grooved cam members are rotated around the cylindrical axis.
Drive motor for the cylindrical groove cam member
It is arranged with the position shifted in the cylinder axis direction, and its drive
An output shaft driven by a motor and the plurality of cylindrical groove cams
The respective rotating shafts of the members are connected by a gear transmission, and the slide member is engaged with the spiral groove by a cam follower provided on the slide member, and the spiral groove is near the stop position of the slide member. Is that the lead length of the portion corresponding to the above is formed shorter than the lead length of the other portions.

A second characteristic configuration of the article transfer device according to the present invention specifies a preferred specific configuration for implementing the first characteristic configuration, wherein the gear transmission is a worm gear type.
Gear transmission .

[0012]

According to the first characteristic configuration of the present invention, the slide member is engaged with the spiral groove of the cylindrical groove cam member rotated by the drive motor by the cam follower, and the slide member of the spiral groove is rotated. Since the lead length of the portion corresponding to the vicinity of the stop position is formed shorter than the lead length of the other portions, even if the cylindrical groove cam member is rotated at a constant speed, the slide member has the lead length. Since it is possible to move the slide member quickly at a long portion and at a slow speed at a portion where the lead length is short, adjustment of acceleration, deceleration, and stop of the slide member related to the movement of the slide member is performed by controlling the driving amount of a drive motor and controlling the spiral. It can be adjusted both by changing the lead length of the groove.

That is, the spiral groove also functions as a transmission in a transmission mechanism for transmitting the driving force of the driving motor to the slide member. Also,
The slide member is moved by the cylindrical groove cam member
If it is made to be a configuration, a plurality of slide members are provided.
In some cases, simply the cylindrical grooved cam member and its driving module
The installation of the
The structure becomes large and complicated . Therefore, cylindrical groove power
System members should be provided corresponding to each of the slide members.
If the load on the cylindrical groove cam member is excessive due to
The slide member can be moved accurately.
Drive motor to the cylindrical shaft cam member
Circle in the up and down direction with the position shifted in the vertical direction
Reduce the width of the cylinder groove cam member and drive motor
In addition, the output shaft and multiple circles driven by the drive motor
Each rotating shaft of the cylinder groove cam member is connected with a gear transmission
In this way, multiple cylindrical groove cam members
That can move in and out of multiple slide members with good stability
And the drive motor is driven by a plurality of cylindrical groove cam members.
As an alternative, increase the size and complexity of the device configuration
Restrained.

According to the second characteristic configuration, the driving motor
Connection between the output shaft driven by rotation and the rotation shaft of the cylindrical groove cam member
Gear transmission is replaced by a worm gear type gear transmission.
Configuration to reduce the load on the drive motor.
I can do it.

[0015]

According to the first feature of the present invention, the adjustment of acceleration, deceleration, and stop of the slide member related to the movement of the slide member is performed by controlling the drive amount of the drive motor and leading the spiral groove. Since it can be adjusted by changing both the length and the length of the slide member, even when the slide member is moved at a high speed, the drive amount of the drive motor for acceleration and deceleration of the slide member increases and decreases, and the drive motor It is possible to eliminate the disadvantage that the load is remarkably increased and the control of the drive motor is complicated and difficult. And multiple
Movement of the slide member can be performed accurately and with good stability
The presence of the cylindrical grooved cam member and the drive motor.
Width, and drive motors with a plurality of cylindrical grooved cam members.
The device is also used as a large
A multi-Zatsuka can be suppressed.

According to a second characteristic configuration, a worm gear type
The load on the drive motor is reduced by using the gear transmission of
The size of the drive motor can be reduced.
Therefore, the size of the device can be further reduced.

[0017]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows a fork device F as an example of an article transfer device provided with a plurality of secondary forks 4 as a plurality of slide members that are slid with respect to a base frame 1a in a direction along the article movement direction. ing. The fork device F is, for example, as shown in FIG.
The carriage G is provided in the lifting carriage 1 for transporting the vehicle, and is used for transferring the vehicle G between the shelf 2 for storing the vehicle G as an article and the lifting carriage 1. Note that the vehicle G is placed on the pallet P, and the fork device F is configured to transfer the vehicle G by supporting the pallet P.

The fork device F includes a fixed fork 3 fixed to the base frame 1a, and a secondary fork 4 as the slide member provided on the fixed fork 3 so as to be slidable in the longitudinal direction thereof. A primary fork 5 slidably provided in the longitudinal direction with respect to the secondary fork 4, and the secondary fork 4 and the primary fork 5
and a drive mechanism D that slides with respect to a.

FIG. 2 is a longitudinal sectional view of the fork device F. The primary fork 5 has a plurality of rollers 5 a and 5 b provided on the primary fork 5 fitted in a concave groove 4 a having a U-shaped cross section formed on the upper part of the secondary fork 4, and slides in the longitudinal direction. It is freely configured. In addition, the roller 5a
Is mounted in a state where the rotation axis faces in the horizontal direction, and the roller 5b is mounted in a state where the rotation axis faces in the vertical direction.

A plurality of rollers 4b and 4c similar to the rollers 5a and 5b are provided on a lower side surface of the secondary fork 4, and are fitted into concave grooves 3a formed in the fixed fork 3, and 4 is configured to be slidable in the longitudinal direction with respect to the fixed fork 3.

Further, below the secondary fork 4, there are provided two cam followers 6 to be engaged with a spiral groove 12 of a cylindrical groove cam member 8 described later. As shown in FIG. 3A, the two cam followers 6 are provided at both ends of the cylindrical grooved cam member 8 when the fork device F is in the retracted state. At the tip of the cam follower 6, a roller 6 a that is in contact with the groove wall surface of the spiral groove 12 is provided. As is clear from FIG.
The secondary fork 4 as the material
They are arranged side by side at an interval in a direction orthogonal to each other.

The drive mechanism D is connected to the drive motor 7 , the cylindrical groove cam member 8 rotated by the drive motor 7 and engaged with the cam follower 6, the primary fork 5 and the secondary fork 4. And two roller chains 9a and 9b. As is clear from FIG. 2, the cylindrical groove cam member 8 is
Provided for each of the secondary forks 4
You.

The drive motor 7 is fixed to the base frame 1a,
The rotating shaft 8a is driven via the output shaft 10 and the gear box 11 of the worm gear, and the cylindrical groove cam member 8 is rotated around the cylindrical axis. More specifically, FIG. 1 and FIG.
As can be seen, the drive motor 7 is attached to the cylindrical groove cam member 8.
With its position shifted in the direction of its cylindrical axis.
And an output shaft 10 driven by the drive motor 7 and a circle.
The respective rotating shafts 8a of the cylindrical groove cam members 8 are
Gearbox 11, ie, worm gear type gear transmission
11 are connected.

The cylindrical groove cam member 8 is formed of a cylindrical member, and a bearing bracket is provided below the fixed fork 3 in a state where the cylindrical axis thereof is along the longitudinal direction of the fixed fork 3 as the moving direction of the article. It is provided rotatably by 3b. The spiral groove 1 is provided on the outer peripheral surface of the cylindrical groove cam member 8.
2 are formed. The cam follower 6 is engaged with the spiral groove 12.

FIG. 3 shows an operation diagram of the fork device F. As shown in FIG. 3, one end of the roller chains 9a and 9b is fixed to the primary fork 5 and wound around pulleys 4d provided at both ends of the secondary fork 4 while intersecting each other in the shape of an eight. Then, after being wound around pulleys 3 c provided at both ends of the fixed fork 3, the other end is fixed to the secondary fork 4. At the end of the secondary fork 4, a chain adjuster 13 is provided, and the length of the roller chains 9a and 9b,
And it is comprised so that tension can be adjusted.

Therefore, in the fork device F, the cylindrical groove cam member 8 is rotated by the drive motor 7, and the secondary fork 4 is slid with respect to the base frame 1a by the cam transmission mechanism including the spiral groove 12 and the cam follower 6. The pulley 4d of the secondary fork 4 and the pulley 3c of the fixed fork 3
By extending the b, the primary fork 5 is slid with respect to the secondary fork 4, and the forks 4 and 5 are extended and retracted with respect to the base frame 1a, so that the vehicle G can be transferred. It is configured as follows.

The roller chains 9a and 9b are provided between the secondary fork 4 and the fixed fork 3.
Is reciprocated via the pulley 3c, so that when the secondary fork 4 is slid with respect to the fixed fork 3, the roller chain 9a or 9b having a length twice the moving distance of the secondary fork 4 is pulled. As a result, the primary fork 5 is slid with respect to the secondary fork 4 by a distance twice the moving distance of the secondary fork 4. Accordingly, as shown in FIG. 1, when the secondary fork 4 is moved by a distance of approximately one third of the entire length of the fixed fork 3 with respect to the fixed fork 3, the primary fork 5 It is in a state of being completely protruded over its entire length.

FIG. 3A shows the fork device F in a state in which the forks 4 and 5 are retracted with respect to the base frame 1a. In this state, the two cam followers 6 are located at both ends of the cylindrical grooved cam member 8, respectively. Therefore, the fork device F in this embodiment can extend and retract the forks 4 and 5 in both the left and right directions with respect to the base frame 1a by selecting the direction in which the cylindrical groove cam member 8 is rotated. Is configured.

FIG. 4 shows the spiral groove 12 formed on the outer peripheral surface of the cylindrical groove cam member 8. Spiral groove 1
2 is such that its lead length (that is, the distance traveled in the direction of the cylindrical axis when making a round around the cylindrical axis along the spiral groove 12) is long at the center of the cylindrical groove cam member 8,
It is formed in a state where it becomes shorter as approaching the end.
As is clear from FIG. 3, the cam follower 6 is located at the end of the cylindrical grooved cam member 8 in the stopped state in which the extension or retraction of the secondary fork 4 has been completed,
When the secondary fork 4 is being extended or retracted, it is located at the center of the cylindrical grooved cam member 8. Therefore, the spiral groove 12 is formed such that the lead length of the portion corresponding to the vicinity of the stop position of the secondary fork 4 is shorter than the lead length of the other portions.

Further, the spiral groove 12 located at the end of the cylindrical groove cam member 8 is provided with a portion 12a having a zero lead length. This position corresponds to a stopped state in which the extension or retraction of the secondary fork 4 has been completed. Therefore, the cam follower 6 is the part 1 where the lead length is zero.
While in the position 2a, the secondary fork 4 is stopped even if the cylindrical groove cam member 8 is rotated by the drive motor 7.

[Another Embodiment] In the above embodiment, the article transfer device is a fork device F
And the slide member is constituted by the secondary fork 4. However, the article transfer device is not limited to the fork device F, and the slide member may be one that pushes and moves an article or one that moves by pulling. However, it may be one that supports and moves the article, or one that is suspended and moved. The shape is not limited to the fork type.

The position where the portion 12a of the cylindrical groove cam member 8 where the lead length of the spiral groove 12 is zero is provided is not limited to the end of the cylindrical groove cam member 8. Further, the slide member may be stopped at any number of positions. Cam follower 6
May be one. For example, in the fork device F, portions 12a having a zero lead length are provided at both ends and a center portion of the cylindrical grooved cam member 8, one cam follower 6 is provided on the secondary fork 4, and the secondary fork 4 is provided. In the retired state, the one cam follower 6 may be configured so as to be located at a portion 12a where the lead length is provided at the central portion and has a zero lead length.

The lead length of the spiral groove 12 shown in FIG. 4 is merely an example and can be changed as appropriate. Cylindrical groove cam member 8
According to the setting of the lead length of the spiral groove 12 formed in the above, acceleration, deceleration,
And the stop can be variously adjusted.

In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the configuration of the attached drawings.

[Brief description of the drawings]

FIG. 1 is a side view showing the overall structure of an article transfer device.

FIG. 2 is a cross-sectional view showing the entire structure of the article transfer device.

FIG. 3 is an operation diagram showing a drive mechanism of the article transfer device.

FIG. 4 is a side view showing the entire structure of the cylindrical groove cam member.

FIG. 5 is a configuration diagram showing the overall structure of a multistory parking lot.

FIG. 6 is a configuration diagram showing the entire structure of a conventional article transfer device.

[Explanation of symbols]

1a base frame 4 slide member 6 cam follower 7 drive motor 8 the cylindrical grooved cam member 10 the output shaft 12 threadedly 旋溝

Claims (2)

(57) [Claims] 1. A plurality of slide members (4) slidably moved in a direction along an article moving direction with respect to a base frame (1a).
Are arranged at regular intervals in a direction orthogonal to the article moving direction.
An article transfer device provided , wherein the plurality of slide members (4) are mounted on the base frame (1a ).
Corresponding to each, a spiral groove (1
A cylindrical groove cam member (8) in which 2) is formed is provided in a state in which a cylindrical axis direction thereof is along the article moving direction, and a plurality of the cylindrical groove cam members (8) are provided around the cylindrical axis center. To
A drive motor (7) for rotating the cylindrical groove
Position relative to the cylindrical member (8) in the cylindrical axis direction.
And is driven by its drive motor (7)
Output shaft (10) and the plurality of cylindrical grooved cam members (8).
Each rotating shaft (8a) is linked by a gear transmission (11).
The slide member (4) is engaged with the spiral groove (12) by a cam follower (6) provided on the slide member (4), and the slide member (4) of the spiral groove (12) is The article transfer device in which the lead length of the portion corresponding to the vicinity of the stop position of (1) is shorter than the lead length of the other portions. 2. The worm transmission according to claim 1, wherein the gear transmission (11) is a worm.
The article transfer device according to claim 1, wherein the article transfer device is a gear-type gear transmission .