JP3640060B2 - Transfer unit transfer device in automatic warehouse - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a transfer unit transfer device in an automatic warehouse.
[0002]
[Prior art]
Automatic warehouses include stacker crane systems and cart systems, but in any case, transfer units equipped with moving arms that move forward and backward toward the shelves are installed in transfer units such as stacker cranes and mobile carts. The structure is such that the load is transferred between the transport unit and the shelf by the loading device.
[0003]
As an example, for example, in Japanese Utility Model Publication No. 10-120116, a pair of base frames extending in the same direction as the depth direction of the shelf are provided on both sides of the trolley on both sides of the luggage placement portion in a trolley type automatic warehouse. The first moving arm (intermediate moving arm) is movably attached to these base frames, and the second moving arm (tip moving arm) is movably attached to the first moving arm. It is described that the arm is provided with a picker that rotates horizontally toward the front or rear surface of the load.
[0004]
In the prior art, as means for guiding the movement of both moving arms, as shown in FIG. 8 of the publication, the upper and lower portions of the base frame facing the first moving arm, and the second moving arm A plurality of rollers each formed in a Soroban ball shape are arranged on the surface facing the first moving arm, and a pair of these upper and lower roller groups is fitted into a guide groove formed in the first moving arm. Thus, the first moving arm is movably attached to the base frame, and the second moving arm is movably attached to the first moving arm.
[0005]
In this prior art, the chain is wound around sprockets provided at both ends of the second moving arm, and the chain is fixed to the base frame and the second moving arm, respectively, so that the second moving arm is connected to the first moving arm. It is a reciprocating type that moves at twice the speed and distance, so that it is possible to increase the movement stroke of the picker.
[0006]
In addition, if the guide roller is formed into a Soroban ball shape, the vertical and lateral displacement of the moving arm can be prevented at the same time, so there is an advantage that the guide mechanism can be simplified (if a roller with a flat outer peripheral surface is used, And a roller that rotates around a vertical axis, which complicates the guide mechanism).
[0007]
[Problems to be solved by the invention]
By the way, it cannot be denied that the roller or the moving arm is worn while the transfer device is repeatedly used, and there is some play between the roller and the guide groove.
[0008]
Since the center of gravity of the second moving arm is shifted closer to the luggage placement portion than the center of gravity of the first movement arm, the first movement arm and the second movement arm are oriented in the direction of the luggage placement portion due to wear of rollers or the like. Therefore, there is a possibility that the smooth movement of both moving arms is hindered.
[0009]
The present invention aims to improve this situation.
[0010]
[Means for Solving the Problems]
In the present invention, the automatic warehouse is provided with a pair of base frames extending in the same direction as the depth direction of the shelf in the transport unit that moves along the front surface of the shelf, and the space between the two base frames is defined as a load placement unit. formed to have, before SL both the base frame, a first moving arm extending in the same direction as the base frame is mounted via a plurality of first guide row La to advance and retreat toward the inside of the shelf The second moving arm that moves forward and backward toward the inside of the shelf is attached to the first moving arm via a number of second guide rollers.
Pulleys or sprockets are rotatably attached to both front and rear ends of the first moving arm in the moving direction, and the second moving arm is fixed to a loop member wound around the pair of pulleys or sprockets. Thus, the second moving arm is moved at a distance and speed twice that of the first moving arm, and the second moving arm is connected to the front and rear end portions of the second moving arm facing the moving direction. A picker is provided for pushing and pulling the load by moving the moving arm .
[0011]
The first guide roller group is arranged in a pair with the second guide roller group, the first guide roller group is attached to the base frame, and the second guide roller group is the second guide roller group. These guide rollers are attached to the moving arm, and each of these guide rollers is formed into a soroban ball shape having a mountain-shaped cross section that rotates around a horizontal axis, while a first guide groove having a V-shaped cross section into which the first guide roller fits. And a second guide groove having a V-shaped cross section into which the second guide roller is fitted are formed in the first moving arm.
Furthermore, an auxiliary roller for suppressing the first moving arm from falling toward at least the load carrying portion at least at both front and rear ends of the base frame in the moving direction of both moving arms, Is supported so as to be supported from the lower side and the side opposite to the baggage placement unit, and at least the front and rear ends of the first movement arm suppresses the second movement arm from falling toward at least the baggage placement unit. An auxiliary roller for supporting the second moving arm from below is provided.
[0012]
DETAILED DESCRIPTION OF THE INVENTION
Next, embodiments of the present invention will be described with reference to the drawings.
[0013]
This embodiment is applied to a cart type automatic warehouse . FIG. 1 is a partial perspective view showing a framework of an automatic warehouse, and the automatic warehouse includes a pair of shelf units 1 arranged opposite to each other and a lift 2 arranged at the ends of both shelf units 1. . The shelves 3 are arranged in multiple stages in both the shelf units 1, and the rails 4 are arranged along the front surface of each shelf 3.
[0014]
A relay conveyor 5 is arranged at the end of the shelf 3 of each stage, and the load W is transferred to the loading / unloading conveyor 65 and the optional relay conveyor 5 via the lift 2. A carriage 7 shown in FIG. 2 (plan view) is movably disposed on each rail 4.
[0015]
The carriage 7 includes a main body frame 8 made of a member such as a steel plate, and the main body frame 8 has a pair of front and rear wheels 9, a traveling motor 9, and a pair of bases extending in the same direction as the depth direction of the shelf 3. A frame 11 and the like are arranged, and a portion between the base frames 11 is formed with a luggage placing portion 13 on which a plate 12 is stretched.
[0016]
The base frame 11 forms a part of the transfer device 14 and will be described in detail below with reference to FIG. 3A is a partially broken plan view partially showing the transfer device 14, FIG. 3B is a view taken along the line A-A in FIG. 2, and FIG. 4 is an enlarged view of the left end portion of FIG. 5 is a VV view of FIG. 4 (rail 4 is omitted), and FIG. 6 is a cross-sectional view taken along the line VI-VI of FIG.
[0017]
For example, as shown in FIG. 5, the base frame 11 is configured in a substantially U-shape that opens toward the luggage placement unit 13, and includes a first moving arm 15 and a second moving arm 16 inside thereof. Are arranged in parallel. The first moving arm 15 is an extruded product of light metal such as aluminum alloy, and the second moving arm 16 is made of a metal plate.
[0018]
The second moving arm 16 has a U-shaped cross section that opens toward the baggage placement portion 13, and plate-like pickers 17 are disposed at both end portions thereof so as to be horizontally rotatable. Although not shown in the drawing, a drive mechanism for rotating both pickers 17 is provided inside the second moving arm 16.
[0019]
On the surface of the base frame 11 facing the first moving arm 15, a group of first guide rollers 18 arranged in a row at appropriate intervals are provided, while the first moving arm 15 of the second moving arm 16 and the first moving arm 15 are arranged. A pair of upper and lower second guide rollers 19 arranged in a row in a pair with the first guide roller 18 is provided at the opposed portion.
[0020]
Each of the guide rollers 18 and 19 is formed into a abacus ball shape (that is, the outer peripheral surface is formed in a mountain-shaped cross section), while the first guide roller 18 is rotatably fitted to the second moving arm 16. A pair of upper and lower V-shaped first guide grooves 20 and a second guide groove 21 having a V-shaped cross section into which the second guide roller 19 is rotatably fitted are formed. , 21 can move the both moving arms 15, 16 forward and backward toward the inside of the shelf 3.
[0021]
For example, as shown in FIGS. 4 and 5, pulleys (sprockets) 22 are rotatably attached to both ends of the first moving arm 15, and a loop member 23 such as a wire is wound around both pulleys 22. As roughly shown in FIG. 3B, the loop member 23 is fixed to the blocks 24 and 25 provided at the intermediate portion of the base frame 11 and the second moving arm 16 at the oppositely opposite parts. Accordingly, when the first moving arm 15 moves, the second moving arm 16 moves in the same direction as the first moving arm 15 at twice the distance and speed.
[0022]
The lower end of the first moving arm 15 is formed with a lower horizontal portion 15a in which guide grooves 20 and 21 are formed, and a downward vertical portion 15b connected to the lower horizontal portion 15a. A rack 27 extending over the entire length is fixed. Flat teeth are formed on the lower surface of the rack 27, and a pinion 28 meshes with the teeth.
[0023]
The pinion 28 is attached to an interlocking shaft 30 that is rotatably supported by a bearing 29 that is fixed to the lower surface of the base frame 11. As shown in FIG. Power is transmitted through 32 or a belt. A pair of racks 27 is driven by one interlocking shaft 30, and therefore the pair of moving arms 15 and 16 are driven in synchronization.
[0024]
As shown in FIGS. 4 and 5, the first auxiliary roller 33 that abuts the lower horizontal portion 15 a of the second moving arm 16 at both ends of the base frame 11 so as to freely rotate from below, and rotates on the side surface of the rack 27. One horizontal rotation-type second auxiliary roller 34 that freely comes into contact is provided, and further, a third auxiliary roller 35 that comes into contact with the lower surface of the second movement arm 16 at the end of the first movement arm 15 in a rotatable manner. Two each are provided. The first auxiliary roller 33 is located closer to the base frame 11 than the second auxiliary roller 34.
[0025]
These auxiliary rollers 33, 34, and 35 are preferably made of hard rubber such as urethane rubber or hard plastic, but may be made of metal.
[0026]
The second moving arm 16 has a shorter length than the first moving arm 15. Therefore, when the second moving arm 16 is in a standby state, the end surface of the second moving arm 16 and the end surface of the first moving arm 15 are Although there is a space between them, one of the two third auxiliary rollers 35 is disposed at the end of the first moving arm 15 so that it contacts the first time when the second moving arm 16 moves. doing.
[0027]
The auxiliary rollers 33, 34, and 35 need only be provided at least at the ends of the base frame 11 and the first moving arm 16, but may be additionally installed at a portion between both ends, and the number is arbitrarily set. it can. Reference numeral 36 shown in FIGS. 4 and 5 is a roller that processes a cable that supplies power to the drive mechanism built in the second moving arm 16. 5 and 6, reference numeral 37 is a stopper fixed to both ends of the base frame 11, and reference numeral 38 is a stopper fixed to an intermediate portion of the first moving arm 15, and the first moving arm is formed by both stoppers 37, 38. 15 is prevented from coming off the base frame 11.
[0028]
When the guide rollers 18 and 19 and / or the second moving arm 16 are worn and play occurs between the guide rollers 18 and 19 and the guide grooves 20 and 21, as shown by an arrow A in FIGS. The second moving arm 16 tends to fall from the neutral position N toward the luggage placement unit 13. Due to the fall in the direction of arrow A, the upper end of the first moving arm 15 moves away from the base frame 11 and the lower end tends to approach the base frame 11, but the second auxiliary roller 34 comes into contact with the inner surface of the rack 27. As a result, the first moving arm 15 and the second moving arm 16 are prevented or suppressed from falling in the direction of the luggage placing portion 13.
[0029]
In addition, since play is generated between the guide rollers 18 and 19 and the guide grooves 20 and 21, the moving arms 15 and 16 move toward the moving direction only by providing the second auxiliary roller 34. Although there is concern about touching and moving in the left-right direction, since the first moving arm 15 is supported from below by the first auxiliary roller 33, the first moving arm 15 is prevented from falling toward the base frame 11, As a result, it is possible to smoothly move the moving arms 15 and 16 while suppressing the rolling of the first moving arm 15 and the second moving arm 16.
[0030]
When the second moving arm 16 moves forward, the second moving arm 16 protrudes greatly from the second moving arm 16, so that the second moving arm 16 tends to tilt forward in the advanced state due to wear of the guide rollers 18, 19 and / or the guide grooves 20, 21. Then, there are problems such as an increase in the movement resistance of the second moving arm 16 and a picker 17 hitting the load W. In particular, if the length of the second moving arm 16 is increased in order to accommodate a long baggage such as a corrugated cardboard box, for example, the distance that the second moving arm 15 enters the shelf 3 is increased, so that the body falls forward. The trend appears prominently.
[0031]
In this regard, as in the present embodiment, when the third auxiliary roller 35 positioned outside the group of the second guide rollers 19 in the second moving arm 16 is located closer to the shelf 3, the advanced second moving arm 16 is moved forward. Since it is supported from below by the third auxiliary roller 35, it is possible to suppress the second moving arm 16 from being inclined forward.
[0032]
In addition, since the first auxiliary roller 33 can suppress the tendency of the second moving arm 16 to fall forward, it is more preferable. The third auxiliary roller 35 also has a function of suppressing the second moving arm 16 from falling down in the direction of the baggage placement unit 13, and the first and second auxiliary rollers 33 and 34. In addition, it also has a function of maintaining the postures of the movable arms 15 and 16 appropriately.
[0033]
In the present invention, the specific shapes of the base frame and the moving arm are not limited, and can be set as necessary. Further, the shape and number of guide rollers, the shape of the auxiliary roller, the arrangement location, and the like can be arbitrarily set according to the guide structure of the moving arm.
[0034]
Further, it goes without saying that the present invention can be applied not only to a cart type automatic warehouse but also to an automatic warehouse such as a stacker crane type or a lift type.
[0035]
[Operation and effect of the invention]
As can be easily understood from the above description, according to the present invention, even if the moving arm tends to fall in the direction of the load placement portion due to wear of the guide roller or the like, the auxiliary roller prevents the moving arm from falling. Or since it can suppress, a movement arm can be moved smoothly over a long period of time. Since a transfer apparatus using a source Robin ball-shaped guide rollers, while retaining a simple structure in which advantages can be prevented or suppressed from being inclined is moved arm due to wear, such as guide rollers.
[0036]
[Brief description of the drawings]
FIG. 1 is a perspective view of an automatic warehouse.
FIG. 2 is a plan view of a movable carriage.
3 (A) is a plan view of the transfer apparatus, (B) is a BB view of figure 2.
4 is a partially enlarged view of FIG. 3 (B). FIG.
FIG. 5 is a VV view of FIG. 4;
6 is a cross-sectional view taken along the line VI-VI in FIG. 4;
[Explanation of symbols]
3 Shelf 4 Rail 7 Moving Cart 13 Luggage Placement Unit 14 Transfer Device 15 First Moving Arm 16 Second Moving Arm 17 Picker 18, 19 Guide Roller 20, 21 Guide Groove 27 Rack 28 Pinion 33 First Auxiliary Roller 34 Second Auxiliary roller 35 Third auxiliary roller

Claims (1)

A transport unit which moves along the front of the shelf, provided with a pair of base frame extending in the same direction as the depth direction of the shelf, and then formed and luggage placing portion the space between the two base frames, before Symbol both the base frame, a first moving arm extending in the same direction as the base frame is mounted via a first guide row La numerous to advance and retreat toward the inside of the shelf, to the first mobile arm Has a second moving arm that moves forward and backward toward the inside of the shelf via a number of second guide rollers,
Pulleys or sprockets are rotatably attached to both front and rear ends of the first moving arm in the moving direction, and the second moving arm is fixed to a loop member wound around the pair of pulleys or sprockets. Thus, the second moving arm moves at a distance and speed twice that of the first moving arm.
Furthermore, in the automatic warehouse in which the picker for pushing and pulling the luggage by the movement of the second moving arm is provided at both front and rear end portions of the second moving arm facing the moving direction ,
The first guide roller group and the second guide roller group are arranged in pairs above and below, the first guide roller group is attached to the base frame, and the second guide roller group is the second moving arm. Each of these guide rollers is formed in a Soroban ball shape having a mountain-shaped cross section that rotates around a horizontal axis, while a first guide groove having a V-shaped cross section into which the first guide roller fits and a first guide groove. 2 The second guide groove having a V-shaped cross section into which the guide roller is fitted is formed in the first moving arm,
Furthermore, an auxiliary roller for suppressing the first moving arm from falling toward at least the load carrying portion at least at both front and rear ends of the base frame in the moving direction of both moving arms, Is supported so as to be supported from the lower side and the side opposite to the baggage placement unit, and at least the front and rear ends of the first movement arm suppresses the second movement arm from falling toward at least the baggage placement unit. An auxiliary roller for supporting the second moving arm from below,
Transfer unit transfer unit in automatic warehouse.

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