JP3453267B2 - Goods transport equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [0001] BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a large precision machine
Transport equipment for transporting heavy goods such asPlaceGoods provided
Conveying equipment. [0002] 2. Description of the Related Art Heavy objects such as large precision machinery are carried.
An overhead traveling crane as a lifting equipment
Or large handling robot (manipulator)
Have been. In this case, in order to prevent
Secure items with ear ropes, fasten parts such as bolts
The material is fixed by the material. 16 to 18
A conventional article transport device will be described based on FIG. In FIG.
FIG. 17 is a side view of a state in which an article is being conveyed.
FIG. 18 shows an article being transported.
FIG. A heavy article 1 is fixed to a transport jig 2,
Transfer jig 2 is suspended from lifting equipment such as overhead traveling cranes
As a result, the article 1 is conveyed. Provided on article 1
The U-shaped support plate 4 is inserted into the
The poles 5 are fixed to the four corners of the holding plate 4. Paul 5
An X-shaped plate 6 is fixed to the upper end of the
Hanging hardware 7 is provided at four places on the upper surface. Each hanging
The upper end of the hardware 7 is fixed to one suspension ring 8,
So that the hook 9 of the overhead traveling crane can be hooked
Has become. Each hanging hardware 7 is individually turned with a turnbuckle or the like.
The length can be adjusted so that the inclination of the article 1 can be corrected.
It has become. A wire is inserted into the opening of the U-shaped support plate 4.
Rope 10 is fixed by bolts or the like, and the wire rope 1
0 fixes the article 1 to the support plate 4 and prevents the article 1 from falling.
Have been. In a conventional article conveying apparatus, an overhead traveling clay is used.
Hook 9 such as a hook on the suspension ring 8 and secure it to the transfer jig 2.
The specified article 1 is determined by the traveling of the overhead traveling crane.
To the place. At this time, the article 1 is a wire rope 10
Fixed to the support plate 4 to prevent falling during transport.
Has been stopped. [0005] SUMMARY OF THE INVENTION In a conventional article conveying apparatus,
Is used to prevent the article 1 from falling and transport it safely.
The article 1 is fixed to the support plate 4 by the ear rope 10
I have. To take this fall prevention measure, the delivery of the article 1
Installation and removal of wire rope 10 every time
Work is required, and delivery of article 1 is performed by multiple article transport devices.
Each time the operator approaches the transport jig 2
Perform the work of attaching and detaching the wire rope 10
Needed. For this reason, in the conventional article transport device,
It takes time and effort to take precautionary measures and costs
There was a problem of increase in required time and required time. Further, when the article 1 is a large heavy object,
Is closer to where the wire rope 10 is attached and removed
For example, in high places where it is difficult to
Work was very difficult. For this reason, ancillary equipment
Cost increase and the danger associated with working at heights, etc.
There was a problem. In addition, installation of the wire rope 10 and
If you try to remove it remotely,
Factors, such as the need for additional facilities or equipment
Was to occur. The present invention has been made in view of the above situation.
Take measures to prevent articles from falling by remote work
Goods transfer deviceWithProvide goods transport equipment
The purpose is to do. [0008] [MEANS FOR SOLVING THE PROBLEMS] To achieve the above object
Of the present inventionThe article transport device provided in the article transport facility,Self
A movable frame that is movably supported by a movable traveling frame
Telescopically supported by the moving frame
Frame, supported by the telescopic frame via a rotation mechanism
Gripping part for gripping an article, and an object provided on the gripping part
A fitting member fitted to the product side, and the component by the grip portion
And detecting the fitting of the fitting member to the article.
And a detecting means. [0009]UpThe present invention to achieve the above object.
A transport device for storing a plurality of articles;
Articles for transporting the articles between the device and the article transport site
Transfer device, between the storage device and the article transfer device
A delivery device for delivering the article, and
Operation of the feeding device, the storage device, and the delivery device.
And a control device for controlling, wherein the article transport device includes:
A movable frame movably supported by a self-propelled traveling frame
Frame, and an extension
A contraction frame, and supporting the telescopic frame via a rotation mechanism.
A grip portion for gripping an article held by the grip portion;
A fitting member fitted to the article side, and the portion by the grip portion
Detecting the gripping of the article and the fitting of the fitting member to the article.
Detection means, and the storage device includes the article
Holding a plurality of storage gripping parts radially arranged
Device and rotary drive means for indexing and rotating the gripping device
And a guard provided on the storage grip and fitted to the article side.
A pipe fitting member, and the holding and holding of the article by the storage holding portion.
For detecting the fitting of the fitting member to the article
Detection means, and the transfer device has a reciprocating transfer
Moving lower slide frame, and the lower slide frame
A swivel frame that can be swiveled on the
Upper slide frame that can be reciprocated on the
And one end of the upper slide frame via a lifting mechanism
A transfer gripping part that is provided to be able to move up and down and that grips the article
And provided on the delivery grip portion and fitted on the article side.
The transfer fitting member,
Gripping of the article and the delivery fitting member to the article side
And a delivery detecting means for detecting the engagement.
The control device includes the detection unit, the storage detection unit, and the storage unit.
The detection information of the data transfer detection means is input, and the control
Placing the article between the gripper and the storage gripper.
The fitting member on the receiving side when performing delivery or
Until the storage fitting member is fitted to the article side,
The storage fitting member or the fitting member
A function that does not release the fitting to the article side,
The delivery of the article to and from the delivery gripper is performed.
The storage fitting member or the receiving
Deliver until the transfer fitting member is fitted to the article side
Side of the transfer fitting member or the storage fitting member
A function that does not release the fitting to the article side.
And features. [0010] FIG. 1 shows an embodiment of the present invention.
FIG. 2 shows an overall perspective view of the article transporting equipment, and FIG.
FIG. 3 is an overall perspective view of an article conveying apparatus according to an embodiment, and FIG.
FIG. 4 shows a detailed state of the fitting member in the grip portion of FIG.
FIG. 5 shows the overall condition of the storage device and the delivery device of FIG.
FIG. 6 shows the detailed state of the storage holding part in the storage device in the middle.
Details of the transfer gripping part in the transfer device in FIG.
FIG. 7 illustrates the shape of the article, and FIG. 8 illustrates the main parts in FIG.
FIG. 9 shows the grip fitting state. In FIG. 1, reference numeral 11 denotes a holding device for holding a storage device 12.
The article gripped by the device 13 and the article 11 is a delivery device
14 to the gripper 16 of the article transport device 15
After that, the article is transported by the application device 17 by the movement of the gripper 16.
It is conveyed to the mounting part 18 as a sending part. 1 and 2, the article conveying device 15 is
explain. Overhead traveling crane moving in the direction of arrow X in the figure
21 is a direction perpendicular to the running direction (arrow Y direction in the figure)
A garter rail 22 is provided.
A row frame 23 is supported. On the traveling frame 23
Is the drive wheel 2 rotatably supported by the garter rail 22
4 is provided, and a drive wheel 24 is driven by a drive motor 25.
When driven, the traveling frame 23 moves along the garter rail 22.
To be self-propelled. Fig.
A linear guide 26 extending in the middle arrow X direction is provided.
A moving table 27 is movably supported by the near guide 26.
Have been. Further, the moving table 27 has an arrow Y direction in the drawing.
The linear guide 28 is provided to extend
A movable frame 29 is movably supported on the frame 8.
That is, the moving frame 29 is moved through the moving table 27
The moving frame 23 is movably supported.
ing. The moving frame 29 has a vertical direction (Z-axis direction).
Base column 3 on which a guide rail 30 extending in the direction
The guide rail 30 of the base column 31 is
A ram 32 is supported movably in the vertical direction. Toes
And the base pillar 31 on which the guide rail 30 is laid
The ram 32 forms an extendable telescopic frame.
I have. An arc is formed at the lower end of the column 32 via a rotation mechanism 33.
The arm 11 is provided with an article 11.
The holding frame 35 as a holding unit for holding is fixed.
I have. The grip frame 35 is armed by the rotation mechanism 33.
Slide (rotate) in the radial direction in the horizontal plane via 34
It has become so. An object is placed in three places of the gripping frame 35
A fitting member 36 that fits on the product 11 side is provided. The fitting member 36 will be described with reference to FIGS.
I do. FIG. 3A is a plan view of the fitting member 36, and FIG.
(b) shows a side view of the fitting member 36. In the figure
As shown in FIG.
The fitting plate 38 is provided so as to be movable in and out of the center of the arm 34.
The fitting plate 38 is protruded to move the
It fits into the notch of the article 11. Each fit
The plywood 38 has a safety pin 39 and a distance sensor as detecting means.
Sensor 40 is provided, and the safety pin 39
The article 11 with the arm 34 by engaging with the pin hole of
Fall when gripped is prevented. Article 1 of safety pin 39
The engagement and disengagement status of the first pin hole is determined by the distance sensor 40.
(Details will be described later).
The output information is input to the control device 41 (FIG. 1), and each drive mechanism
Is remotely controlled in accordance with a command from the control device 41. The storage device 12 will be described with reference to FIGS.
I do. The holding device 13 of the storage device 12 has
A plurality of storage gripping portions 42 for gripping 11 (shown in FIG.
7 in the example). The gripping device 13 is rotationally driven
The support member 48 is rotatably indexed to the support member 48 through the means 43.
Is held. There are three places in the opening of the storage grip 42
A storage fitting member 44 that fits on the product 11 side is provided.
You. The storage fitting member 44 will be described with reference to FIG.
You. FIG. 5 (a) shows a plan view of the storage gripper 42, and FIG.
(b) shows a cross-sectional state of the storage grip 42. In the figure
As shown in FIG.
A joining member 44 is provided, and the article 11 is
When holding, the storage fitting member 44 is used to cut the article 11 described later.
It fits into the notch. Storage behind the opening
The fitting member 44 has a safety pin 46 and storage detection means.
Is provided, and the safety pin 46 is described later.
The storage grip 42 is engaged with the pin hole of the article 11.
Prevents the article 11 from falling when it is gripped. Safety pin
The engagement and disengagement status of the article 11 of FIG.
Detected by the separation sensor 47 (details will be described later),
The detection information of the sensor 47 is input to the control device 41, and each drive
The mechanism is remotely driven and controlled according to a command from the control device 41.
You. Referring to FIGS. 1 and 4, the transfer device 14
explain. The base frame 51 of the transfer device 14
The lower slide frame 53 moves through the slide mechanism 52.
It is provided so that it can move back and forth, and
The swing frame 54 is provided so as to swing freely.
Upper frame through a slide mechanism 55
A drum 56 is supported so as to be reciprocally movable. Upper slide
One end of the frame 56 has an opening through an elevating mechanism 57.
The delivery gripping portion 58 for gripping the product 11 is supported
Is held. In three places of the opening of the delivery grip part 58
Is provided with a delivery fitting member 59 fitted to the article 11 side.
Have been. The delivery fitting member 59 will be described with reference to FIG.
I will tell. FIG. 6A shows a plan view of the transfer gripping portion 58.
FIG. 6 (b) shows a cross-sectional state of the transfer grip 58.
It is. As shown in the figure, the opening of the transfer grip 58
A delivery fitting member 59 is provided inside the
A transfer fitting member when gripping the article 11 with the grip portion 58
59 is fitted to a notch of the article 11 described later.
Has become. The transfer fitting member 59 at the back of the opening is secure.
All pins 60 and distance sensor 6 as transfer detecting means
1 is provided, and the safety pin 60 is a pin of the article 11 described later.
By engaging the hole, the article 11 is
Is prevented from falling when the user grips the camera. Article of safety pin 60
The state of engagement and disengagement of the pin 11 with the pin hole is determined by the distance sensor 6.
1 (details will be described later).
The detection information is input to the control device 41, and each drive mechanism is controlled.
Drive control is performed remotely according to a command from the device 41. The shape of the article 11 will be described in detail with reference to FIGS.
This will be described in detail. FIG. 7A shows the overall state of the article 11, and FIG.
7 (b) is a view taken along the line bb in FIG. 7 (a), and FIG.
FIG. 8 (a) is a view taken along line VIII in FIG. 7 (a).
FIG. 8 (b) is a view taken along line B-B in FIG. 8 (a).
is there. As shown in FIG. 7, the article 11 has a fitting plate 3
8 and the storage fitting member 44 and the transfer fitting member 59 are inserted.
A notch 71 into which the holding frame 35 is inserted is provided.
And between the storage gripper 42 and the transfer gripper 58
The notch 71 is located on the top
It is provided at a total of 6 places in 3 places in the lower 2 steps respectively
You. It corresponds to the position of the safety pins 39, 46, 60 of each device.
The safety pins 39, 4
A pin hole 72 having a diameter slightly larger than the outer shape of 6, 60 is provided.
Have been. As shown in FIG. 8, a pin hole 72 is provided.
There are two types of notches on the side of the article 11
73 and 74 are provided above and below. Referring to FIG. 9, two types of notches 73 and 7 are provided.
4 and the relationship between the distance sensors 40, 47 and 61,
The state of engagement of all the pins 39, 46, 60 with the pin holes 72 and
The disengagement situation will be described. In FIG. 9A, the fitting plate 38 is in contact.
FIG. 9B shows a state in which the gripping plate 38 is inserted.
7 (c), the safety pin 39 is engaged with the pin hole 72.
2 shows a state in which the holding plate 38 is fixed. In addition, mating
The configuration of the safety pin 39 and the distance sensor 40 of the plate 38 is
The safety pin 46 and the distance sensor 47 of the pipe fitting member 44
A configuration substantially the same as that of the distance sensor 61 of the transfer fitting member 59;
Has become. Therefore, in FIG. 9, two types of notches 73,
74 and the safety pin 39 of the fitting plate 38 and the distance sensor 40
The safety pin 46 of the storage fitting member 44 and the distance
Separation sensor 47, distance sensor 61 of transfer fitting member 59
The relationship with is omitted. In this case, in FIG.
The plywood 38 includes the storage fitting member 44 and the transfer fitting member 59.
The safety pin 39 is connected to the safety pins 46 and 60, and the distance sensor
40 corresponds to each of the distance sensors 47 and 61. The distance sensor 40 has three sensors 40a, 40b, 40
c are arranged side by side. Three sensors 40a, 40b,
For 40c, the same height position is detected by the sensors 40a and 40c on both sides.
From the sensors 40a, 40c on both sides
Are slightly higher, and the three sensors 40a, 40b, 40c
Indicates that the detection interval is c. On the other hand, as shown in FIG.
Is located on the lower side of the notches 73 and 74 described above.
The width of the notch 73 is a, and the notch located on the upper side
The width of 74 is b. And three sensors 40a,
Detection intervals c of 40b, 40c and widths a, b of notches 73, 74
Is set in the following relationship. a> c> b The fitting plate 38 is inserted into the notch 72 of the article 11.
The situation where the safety pin 46 is inserted into the pin hole 72
Will be described. As shown in FIG. 9A, the fitting plate 38 is
When approaching the notch 72 of the eleventh, the distance sensor 40
The distance from the vicinity of the notch 73 located below the side surface of the article 11
Detect separation. At this time, each sensor constituting the distance sensor 40 is
The detection distances of sensors 40a, 40b, and 40c are L1, L2, and L3, respectively.
ing. The position of the safety pin 46 is notched 73 in the width direction.
, The time between the detections of the three sensors 40a, 40b, 40c
Since the interval c is smaller than the width a of the notch 73,
The detection distances L1, L3 of the sensors 40a, 40c become equal. Ma
In addition, the center sensor 40b is larger than the sensors 40a and 40c on both sides.
Detect a position deviating from the notch 73 at a slightly higher position
Therefore, if the fitting plate 38 can be inserted at a position where L2 <L1 =
L3. The fitting plate is set to have such a detection distance.
38, that is, the position of the gripping frame 35
You. As shown in FIG. 9B, the position of the fitting plate 38
When the alignment is completed, the fitting plate 38 is inserted into the notch 72.
I will enter. The safety pin 46 can be fitted into the pin hole 72.
Position is determined by the detection distance L1, L3 of the sensor 40a, 40c.
It can be confirmed by the distance. As shown in FIG. 9C, the position of the safety pin 46 is
When the alignment is completed, raise the fitting plate 38 and
The safety pin 46 is fitted to 72. Further, the fitting plate 38 is
When raised, the upper surface of the fitting plate 38 becomes the lower surface of the notch 72.
Contact Each sensor 40a, 40b, 40c at this time is
The sensor 40b detects the position of the notch 74 located on the upper side
However, the sensors 40a and 40c on both sides are notched due to the relationship c> b.
A position outside the range 74 is detected. Then, the detection distances L1, L
The relationship between 2, L3 is L1 = L3 <L2. Each sensor 40a, 40
The detection distances of b and 40c are in this relation, and the fitting plate 3
8 comes into contact with the lower surface of the notch 72 so that the fitting plate 38
That the article 11 is fixed to the holding frame 35
You can check. Notch of article 11 on fitting plate 38 described above
Operation of inserting the safety pin 46 into the pin hole 72
The joint operation is executed based on a command from the control device 41.
The notches 72 are provided in two upper and lower stages.
To the storage device 12 using the notches 72
Between the device 14 and the transfer device 14 and the article transport device 1
The delivery of the article 11 is performed with respect to the article 5. At this time, the function of the control device 41
Receiving the article 11 between the frame 35 and the storage grip 42
At the time of delivery, the safety pin 3 of the receiving fitting plate 38
9 or the safety pin 46 of the storage fitting member 44 is
Until it is fitted into the pin hole 72 of the
The safety pin 46 of the mating member 44 or the safety pin of the fitting plate 38
The engagement of the pin 39 with the pin hole 72 is not released.
ing. In addition, the storage grip 42 and the transfer grip 58
When the goods 11 are delivered between the
Safety pin 46 of pipe fitting member 44 or delivery fitting part
The safety pin 60 of the material 59 is fitted into the pin hole 72 of the article 11.
Until the safety of the transfer fitting member 59 on the transfer side
Pin 60 or the pin of the safety pin 46 of the storage fitting member 44.
The engagement with the through hole 72 is not released. Article provided with article transport device 15 having the above configuration
Apparatus for transferring article 11 from storage device 12 by transport equipment
FIGS. 10 to 15 show the operation of transporting to the mounting portion 18 of FIG.
It will be described based on the following. [0030] As shown in FIG.
Drives the rotary drive means 43 to deliver the desired article 11
Turn to the device 14 side. As shown in FIG.
The turning frame 54 of the holding device 14 is turned to
The holding unit 58 is turned to the storage device 12 side. At this time, hand over
The grip 58 faces the storage grip 42 of the storage device 12
So that the lower slide frame 53 is
It is moved with respect to the frame 51. In addition, delivery
The joining member 59 of the article 11 mounted on the storage device 12
The storage fitting member 4 of the storage holding part 42 in the notch 71
Fits the height of the notch 71 on the side where 4 is not inserted
As shown in FIG.
Position. In this state, the upper slide frame 56
Is advanced, and the transfer grip portion 58 is pushed toward the storage device 12 side.
Let out. As described above (see FIG. 9), the transfer fitting
The safety pin 60 of the member 59 is engaged with the
The article 11 is received by the
It is confirmed that it was handed over. As shown in FIG. 11 (a), the storage fitting member 4
4 that the engagement of the safety pin 46 with the pin hole 72 is released.
Is detected by the distance sensor 47, and the delivery device 14
When it is confirmed that the article 11 has been delivered to the
The upper slide frame 56 is pulled in by the sliding mechanism 55
No. As shown in FIG. 11B, the turning of the transfer device 14 is performed.
The delivery grip holding the article 11 by rotating the frame 54
The holding unit 58 is directed toward the article transport device 15. At this time, goods
The transport device 15 is used for traveling and traveling of the overhead crane 21.
Movement of the frame 23 and movement frames with respect to the traveling frame 23.
The article 11 of the delivery device 14 is moved by the movement of the arm 29.
The grip frame 35 is positioned at a receivable position. Ma
In addition, the holding mechanism is moved up and down by
Transfer device 14 for transferring height and direction (angle) of frame 35
Is positioned at a position where it can be received. As shown in FIG. 12A, the delivery device 1
The upper slide frame 56 by the slide mechanism 55 of FIG.
Is advanced, and the delivery gripping portion 58 gripping the article 11 is
It is sent out to the grip frame 35 side of the article transport device 15. Rank
The position is confirmed as described above (see FIG. 9). That is,
In the holding frame 35 on the taking side, the three fitting plates 38
The insertion position of the fitting plate 38 and the safety pin 39 in the center one of them
Check the position. Correct the position in the horizontal direction (X direction in FIG. 1).
Direction) is the movement of the article conveying device 15 with respect to the traveling frame 23.
Movement of the moving table 27 is performed, and the insertion direction (Y direction in FIG. 1)
Direction) is moved upward by the slide mechanism 55 of the transfer device 14.
This is performed by moving the slide frame 56 back and forth. this
At this time, the center fitting plate 38 of the gripping frame 35 is
It is projected to a predetermined position by the frame 37, and the remaining 2
After the positioning of the fitting plate 38 is completed,
Of the article 11 while checking the insertion position by the guide mechanism 37.
Insert it into the notch 71. Safety pin 39 of fitting plate 38
Up the column 32 until all are inserted into the notches 71.
The object is raised from the delivery gripping portion 58 of the delivery device 14.
The article 11 is received by the holding frame 35. Confirmation at this time
This is performed by the distance sensor 40. As shown in FIG. 12B, the delivery device 1
The upper slide frame 56 by the slide mechanism 55 of FIG.
Is retracted, and the transfer grip portion 58 is retracted. Also things
The column 32 of the article transport device 15 is raised, and the article 11 is grasped.
The held gripping frame 35 is raised to a predetermined height. [0034] As shown in FIG.
Of the vehicle 21 and the traveling and moving frame of the traveling frame 23.
The base column 31 is moved in a predetermined
The column 32 and the arm 34
Rotation determines the height and direction of the gripping frame 35
Then, the holding frame 35 holding the article 11 is
Move to a position that does not interfere with 7. The state shown in FIG.
Frame 3 that grips article 11 while avoiding interference with
5 shows a state in which 5 is being conveyed to the mounting section 18. FIG.
The state shown in (a) is a holding frame holding the article 11.
Reference numeral 35 indicates a state in which it approaches the mounting unit 18. Also,
The state shown in FIG.
The state where the frame 35 is positioned below the mounting portion 18
The article 11 and the mounting portion 18 are shown by a rotation mechanism 33.
Are adjusted. As shown in FIG. 15A, the article transport device 1
5, the article 32 is mounted from below by raising the column 32
Insert into 18. Insertion height is the column at the specified position
Either by stopping the ascent of 32 or by raising or lowering the column 32
It can be confirmed by measuring the load with a load cell (not shown).
You. As shown in FIG.
After the product 11 is inserted, a clamp mechanism (not shown)
The article 11 is held by the mounting section 18. Confirm the hold completion signal.
When it is confirmed, the column 32 is lowered slightly, and the safety pin 39 is
Confirmed by the distance sensor 40 that the pin hole 72 was removed.
Then, the fitting plate 38 is cut off the article 11 by the slide mechanism 37.
Separate from the notch 71. Next, the overhead traveling crane 21
Traveling and traveling frame 29 of traveling and traveling frame 23
The base column 31 is moved in the X and Y directions by the movement of
The frame 35 is separated from the article 11. Gripping frame
At a position where 35 does not interfere with the application device 17, the column 32 is
The holding frame 35 is moved up
The traveling and traveling frame of the overhead traveling crane 21
23 and the movement of the moving frame 29 move the base column.
31 in the X and Y directions to move the article transport device 15 to its original position.
Return to the original position. The article 11 is removed from the mounting section 18 of the application device 17.
When removing and returning to the storage device 12, the storage device 12
To the mounting unit 18 of the application device 17
The transport is carried out in a generally reverse order to that described above.
You. The above-described article conveying device 15 is a slide machine.
The fitting plate 38 is connected to the notch 71 of the article 11 by the structure 37.
And the safety pin 39 is engaged with the pin hole 72 to
Since the article 11 is gripped by the frame 35, the weight
Object 11 can be securely gripped and transported.
The article 11 does not slip off due to vibrations or other disturbances.
It can be safely transported. Also, the safety pin 39
The engagement and disengagement of the pin hole 72 with three sensors 40
Remotely detected by distance sensor 40 consisting of a, 40b, 40c
So that the worker is close to the article 11 at a high place or the like.
Easily take fall prevention measures even in an environment where direct access is not possible
Can be Further, the article transport provided with the article transport device 15
In the facility, the storage fitting member 44 of the storage device 12
Transfer fitting member 59 of device 14 and article transport device 15
Of the fitting plate 38 to the notch 71 of the article 11 respectively.
To insert and release, and the safety pins 39, 4
6 and 60 are engaged with and disengaged from the pin holes 72.
The goods 11 are delivered and stored, and the storage device 12 and the application device 1
7 so that the article 11 is conveyed.
Is safely transported. Also,
Engagement of the safety pins 39, 46, 60 with the pin holes 72
And disengagement are detected by a distance sensor consisting of three sensors.
Remote detection by the sensors 40, 47, 61,
Release of the safety pin on the transfer side from the pin hole 72 is required.
Starts the operation of the side passed as the case
There is no danger of dropping the article 11 at the time of delivery,
Safe delivery and delivery of goods 11
Can be. In the above embodiment, the gripping of the component 11 is performed.
Detects the state and the fitting state of the safety pin to the pin hole 72
Distance sensors 40, 47 and 61 are used as detecting means
As an example, the camera is used as a detecting means.
Therefore, the safety pins 39, 46, 60, the fitting plate 38,
Photograph the state of the mating member 44 and the transfer fitting member 59
Safety pin 3 by means of visual confirmation and contact switch
9, 46, 60, the fitting plate 38, the storage fitting member 44 and the receiving member.
Using means for directly detecting the transfer fitting member 59
Is possible. Also, as the fitting member, the safety pin 3
Fitting plate 38 with 9, 46, 60, storage fitting 44
And the shape of the article 11 is not limited to the
Various means can be used depending on the state and the like.Up
The above-mentioned article transport device is designed to control the
Preventive measures can be taken, such as large precision equipment
Can be safely transported. [0042] 【The invention's effect】BookThe article transport equipment of the invention can be operated remotely.
The storage device and the article transport section
To safely transport large precision equipment and other goods between
As well as the release of the mating member on the delivery side.
Starts the operation of the side passed as the case
There is no danger of dropping the goods at the time of delivery.
Safe delivery and delivery of certain goods
You.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an overall perspective view of an article transport facility according to an embodiment of the present invention. FIG. 2 is an overall perspective view of an article conveying device according to an embodiment of the present invention. FIG. 3 is an explanatory view showing a detailed situation of a fitting member in a grip portion in FIG. 2; FIG. 4 is an explanatory diagram of an overall situation of a storage device and a delivery device in FIG. 1; 5 is an explanatory diagram showing a detailed situation of a storage holding unit in the storage device in FIG. 4; 6 is an explanatory diagram showing a detailed situation of a delivery grip portion in the delivery device shown in FIG. 4; FIG. 7 is an explanatory diagram of a shape of an article. FIG. 8 is an explanatory diagram of a main part in FIG. 7; FIG. 9 is an explanatory view of a gripping and fitting situation. FIG. 10 is a diagram illustrating the operation of the article transport facility. FIG. 11 is an explanatory diagram of the operation of the article transport facility. FIG. 12 is a diagram illustrating the operation of the article transport facility. FIG. 13 is a diagram illustrating the operation of the article transport facility. FIG. 14 is a diagram illustrating the operation of the article transport facility. FIG. 15 is a diagram illustrating the operation of the article transport facility. FIG. 16 is a side view showing a state in which an article is being conveyed by a conventional article conveying apparatus. FIG. 17 is a front view of a state in which an article is being conveyed by a conventional article conveying apparatus. FIG. 18 is a plan view showing a state where articles are being conveyed by a conventional article conveying apparatus. [Description of Signs] 11 Article 12 Storage device 13 Gripping device 14 Delivery device 15 Article transport device 16 Gripping portion 17 Application device 18 Mounting portion 21 Overhead traveling crane 23 Traveling frame 27 Moving table 31 Base column 32 Column 33 Rotary mechanism 34 Arm 35 Gripping frame 36 Fitting member 38 Fitting plate 39, 46, 60 Safety pin 40, 47, 61 Distance sensor 41 Controller 42 Storage gripping part 44 Storage fitting member 51 Base frame 53 Lower slide frame 54 Revolving frame 56 Upper slide frame 58 Delivery grip part 59 Delivery fitting member 71 Notch part 72 Pin hole 73 Notch

──────────────────────────────────────────────────続 き Continuing from the front page (72) Inventor Noboru Ida 1-1-1, Wadazakicho, Hyogo-ku, Kobe-shi, Hyogo Prefecture Inside Kobe Shipyard, Mitsubishi Heavy Industries, Ltd. (72) Inventor Yoshio Nishimura Marunouchi 2, Chiyoda-ku, Tokyo No. 2-3, Mitsubishi Electric Co., Ltd. (56) References JP-A-5-32390 (JP, A) JP-A 64-43086 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , (DB name) B66C 11/00 B66C 1/28 B66C 17/04

Claims (1)

(57) [Claim 1] A storage device for storing a plurality of articles;
Transporting the article between the storage device and the article transport site
The article transport device, the storage device and the article transport device
A delivery device for delivering the article between the
The operation of the article transport device, the storage device, and the delivery device
It consists of a control device for controlling the work, wherein the article carrying apparatus, mobile self-propelled freely traveling frame
A movable frame that is freely supported, and
Via a telescopic frame that is telescopically supported and a rotating mechanism
Gripping portion for gripping an article supported by the telescopic frame
And a fitting member provided on the grip portion and fitted on the article side
Gripping the component by the gripping portion and the fitting member
Detecting means for detecting the fitting of the article to the article, and the storage device includes a storage gripping section for gripping the article.
A plurality of gripping devices arranged radially; and
A rotation driving means for rotating out and rotating;
A storage fitting member fitted to the article side;
Gripping the article by the holding portion and the storage fitting member
Storage detecting means for detecting fitting to the article; and the transfer device includes a lower slide frame that reciprocates.
And the lower slide frame is rotatably provided on the lower slide frame.
A revolving frame, and a reciprocatingly movable mounting on the revolving frame.
The upper slide frame, the upper slide frame
The object is provided at one end of the
A delivery gripper for gripping an article;
A delivery fitting member provided and fitted to the article side;
Grasping and delivery of the article by the delivery gripping part
Delivery detection for detecting the fitting of the fitting member to the article side
Output means, and the control device includes the detection means and the storage detection means.
And the detection information of the delivery detection means is input, the control device, between the gripper and the storage gripper
The fitting part on the receiving side when delivering the article
The material or the storage fitting member is fitted to the article side
Until the storage mating member on the delivery side or the mating
A function of not releasing the fitting of the member to the article side;
Receiving the article between the tube gripper and the transfer gripper
The storage mating member or the receiving mating member on the receiving side when handing over
Until the delivery fitting member is fitted to the article side
Is the delivery fitting member on the delivery side or the storage
A function of not releasing the fitting of the fitting member to the article side.
Article transport facility, characterized in that Eteiru.