JP3773096B2 - Loading equipment - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a load transfer device for transferring articles between a stacker crane and an article storage section in a three-dimensional automatic warehouse, for example.
[0002]
[Prior art]
Conventionally, as a load transfer device for exchanging loads between a storage space of a shelf and a crane in a three-dimensional automatic warehouse, there are a hook type transfer device, a fork type transfer device, a conveyor type transfer device, etc. Many types of transfer equipment are used.
[0003]
As examples of the hook type transfer device, those described in Japanese Patent Publication No. 61-25602 and Japanese Patent No. 2578732 are known. This is because the container for storing the luggage is provided with an engaging portion, the hook provided on the pulling device is engaged with the engaging portion of the container, and the container is pulled onto the loading platform of the crane or the conveying device. is there.
[0004]
As an example of a fork type transfer device, one described in Japanese Utility Model Publication No. 4-47129 is known. In this method, a load is scooped up from below by a fork that expands and contracts in a plurality of stages, and the load is transferred between the loading table of the crane or the transport device and the storage space of the shelf by expanding and contracting the fork.
[0005]
Further, as an example of the conveyor type transfer device, one described in Japanese Patent Publication No. 4-13244 is known. This is because the engaging member provided on the belt conveyor is engaged with the engaging recess of the container, and the belt conveyor is driven to transfer the load between the loading table of the crane or the transport device and the storage space of the shelf. Is. Further, as described in JP-A-53-91275, a pull-in device having an engagement means with a transported object and a conveyor are used in combination, and after the transported object is pulled in by the pull-in device, it is pulled in A device in which the apparatus is retracted and the object to be conveyed is further supported by a conveyor is also known.
[0006]
The conventional load transfer device described above has the following problems. In order to use a fork-type transfer device in a column-type shelf, that is, a shelf of a type in which a hook that receives a baggage is fixed to the opposite surface of a pair of rack columns, the load is scooped from below with a fork and transferred. Since it is necessary, a space for allowing the fork to enter must be secured between the upper and lower containers, resulting in a useless space in the vertical direction, and there is a problem that the space efficiency is poor. Further, in order to use the fork type transfer device in the shelf of the shelf type, a special pallet that secures a space for entering the fork is necessary, and this also has a drawback that the space efficiency is poor. Furthermore, when transferring a load, it is necessary to perform a fork extension / retraction operation and an up / down operation, and work efficiency is not good.
[0007]
According to a conventional conveyor-type transfer device, in order to transfer a load from a storage space of a shelf to the loading table, a part of the conveyor is brought into contact with the lower surface of the front end of the load protruding from the front surface of the storage space of the shelf. Or, it is necessary to drive the conveyor while slightly lifting the front end of the load, so it is necessary to horizontally slide and move the load table, making the movement of the load table complicated and improving work efficiency Absent. Moreover, since it is necessary to secure a relatively large space for allowing the conveyor to enter the upper and lower boundaries of the storage section, there is a problem that pace efficiency is deteriorated.
[0008]
Further, according to the conventional hook type transfer device, the space for fork entry required in the fork type becomes unnecessary, and the space in the vertical direction of the shelf is not wasted, but the load is transferred. It is necessary to move the hook by a distance equal to the movement distance of the load at the time, and it is necessary to make the width dimension of the transfer device sufficiently larger than the dimension of the load. Therefore, it is necessary to increase the width of the passage through which the crane passes, and there is a problem in that the space efficiency is deteriorated as a whole. Furthermore, this conventional hook type transfer device also requires the hook to be engaged with and disengaged from the load by combining the horizontal movement of the hook and the vertical movement of the entire loading table. Is not good.
[0009]
Therefore, the present applicant has a push-pull mechanism for exchanging containers between the crane and an arbitrary storage section of the shelf by pushing and pulling the end face of the container, and the crane loading table in the container push-pull direction. A patent application was previously filed for a load transfer device characterized in that the dimensions were equal to or less than the length of the container in the container push-pull direction.
In the above-mentioned patent application, the push-pull mechanism is composed of a plurality of push-pull mechanisms that share a part of the load transfer process. The container is exchanged with each other, and various other characteristic configurations are added.
[0010]
According to the invention relating to the above application, it is not necessary to change the height position of the crane and lift the container at the time of transferring the container, and it is not necessary to secure an extra space for storing the container. Space can be used efficiently and efficient transfer operation is possible. In addition, since the dimensions of the crane loading platform in the container pushing / pulling direction can be the same as or less than the length of the container in the container pushing / pulling direction, the space in which the crane travels can also carry the container This space is sufficient, and from this point, the storage space can be used efficiently.
[0011]
[Problems to be solved by the invention]
The present invention makes it possible to perform a simpler and more efficient transfer operation while taking advantage of the invention according to the above application, that is, the storage space efficiency is high and an efficient transfer operation is possible. It is an object to provide a load transfer device having a simple configuration.
[0012]
[Means for Solving the Problems]
The invention according to claim 1 is a load transfer device for transferring a container capable of storing a load to a storage section of a shelf and taking out the container stored in the storage section of the shelf, wherein the container Has an engaging part in the front and rear of the transfer direction, and is attached to the string-like member that is hung between the rotating wheels and is driven in the transfer direction of the load. It can be rotated via a connecting member consisting of pins. A claw that is connected and moves as the string-like member is driven to engage with the engaging portion of the container, and the movement of the claw in the vertical direction and the horizontal direction of the claw Having a vertical direction guide member and a horizontal direction guide member for guiding while maintaining Connecting member Is located between the rotating wheels, the claw moves in parallel, and the connecting portion Material Is at the position of the rotating wheel Material When the container moves along the rotating wheel, the claw is raised and lowered to be disengaged from the container, and the claw is raised when the container is transferred and lowered when the transfer is completed.
[0013]
The invention according to claim 2 is the invention according to claim 1, wherein the rotating wheel, the string-like member, and the claw Is Embedded in the first frame, the first frame is Fixed on a mounting table that can be moved up and down with a container The second frame is slidably provided.
According to a third aspect of the present invention, in the first aspect of the present invention, the claw is long in the vertical direction, and the upper part is divided into a fork that is divided into two forks. It is characterized by engaging the joint portion so as to be sandwiched from the front and rear of the transfer direction.
[0014]
According to a fourth aspect of the present invention, in the first aspect of the present invention, the string-like member is a chain, and the rotating wheel is a sprocket.
[0015]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of a load transfer device according to the present invention will be described with reference to the drawings.
First, an outline of the load transfer device will be described with reference to FIG. In the example shown in FIG. 9, a predetermined book or article is automatically received in a predetermined storage section based on a command in a library, a distribution base, a parts center, or the like, and a predetermined book or article is stored in the predetermined storage section. Can be issued automatically. In FIG. 9, a shelf row 63 and another shelf row 64 are constructed so as to be parallel to each other at a predetermined interval. The shelf rows 63 and 64 constitute a three-dimensional automatic warehouse. A three-dimensional automated warehouse is generally built indoors or covered with an outer wall. The shelf rows 63 and 64 are formed with a large number of storage compartments 65 and 66 that are partitioned at predetermined intervals in the vertical and horizontal directions. A container 46 is stored in each of the storage sections 65 and 66. The container 46 stores books and other various articles that are subject to storage management.
[0016]
A crane travel path 67 having an appropriate interval is formed between the shelf rows 63 and 64. More specifically, a crane traveling path 67 is formed that is slightly wider than the dimensions of the containers 46 to be stored in the storage sections 65 and 66 of the shelf rows 63 and 64 in the direction orthogonal to the crane traveling direction. . A crane guide rail 68 is laid on the floor surface of the crane traveling path 67 in parallel with the shelf rows 63 and 64. On the rail 68, a traveling wheel rotatably supported on the bottom of the traveling carriage 71 of the stacker crane 70 is placed, and the crane 70 is moved along the rail 68 by at least one of the traveling wheels being driven to rotate. It is supposed to run. A column 72 rises vertically from the traveling carriage 71 of the crane 70. The column 72 has a height substantially equal to the height of the shelf rows 63 and 64, and the upper end portion is guided by the appropriate guide means for traveling of the crane 70 and is prevented from falling. The crane 70 has a mounting table 56 on which the container 46 can be placed and moved up and down along the column 72. Therefore, by placing the crane 70 along the rail 68 in the horizontal direction and raising and lowering the mounting table 56 along the column 72, the mounting table 56 stops in front of any storage compartment of the shelf rows 63 and 64. Can do. The loading table 56 incorporates a load transfer device described below.
[0017]
1 and 2, a U-shaped frame 4 is fixed to the upper surface of a mounting table 56 such as a stacker crane. Sliders 8 and 8 are fixed to the vertical sides 6 and 6 on both sides of the frame 4 in the horizontal direction on the inner surfaces facing each other. The sliders 8 and 8 are configured such that a channel material having a U-shaped cross section fits inside and outside, and if necessary, a bearing is interposed between the inside and outside channel materials, so that the inside and outside channel materials are in the longitudinal direction. It is possible to move relative to. One of the inner and outer channel members constituting the sliders 8 and 8 is fixed to the vertical sides 6 and 6 of the frame 4, and the other channel member is attached to the vertical sides 12 and 12 of the other frame 10. Therefore, the frame 10 can slide in the horizontal direction with respect to the frame 4. Hereinafter, the frame 10 is referred to as a first frame, and the frame 4 is referred to as a second frame.
[0018]
The first frame 10 is a U-shaped member that is disposed inside the second frame 4 with a relatively small space between the first frame 10 and the vertical sides 12 and 12 on both sides. And the upper ends of the vertical sides 12, 12 are bent outward to form horizontal sides 38, 38, and the ends of the horizontal sides 38, 38 are further bent upward to form the vertical sides 43. , 43 are formed. Receiving members 39, 39 on which the container 46 can be placed are fixed on the upper surfaces of the horizontal sides 38, 38. The receiving members 39, 39 are made of a member having a low frictional resistance so that the resistance when pushing out and retracting the container 46 is minimized. On the inner surfaces of the vertical sides 43 and 43 facing each other, restricting members 41 and 41 for restricting lateral displacement of the container 46 when the container 46 is pushed out and pulled in are fixed.
[0019]
On the upper surface of the mounting table 56, a motor 32 that can rotate forward and backward is fixed on one side outward of the second frame 4. A pinion 34 is fixed to the output shaft of the motor 32 protruding toward the vertical side 12 of the second frame 4. The pinion 34 is located below one horizontal side 38 of the first frame 10 and meshes with a rack 36 fixed to the lower surface of the horizontal side 38. The rack 36 extends in parallel with the sliders 8 and 8. Therefore, when the motor 32 rotates forward or backward, the rack 36 is driven in the longitudinal direction by the pinion 34, so that the first frame 10 can reciprocate. The moving direction of the first frame 10 is a direction in which the first frame 10 can approach and be separated from the storage space of the shelf.
[0020]
Horizontal guide members 14, 14 are fixed to the inner surfaces of the first frame 10 on opposite sides of the vertical sides 12, 12 on both sides, in parallel with the sliders 8, 8, and thus in the horizontal direction. Two horizontal guide members 14 are fixed on the vertical sides 12 and 12 on both sides, one above the other, and thus a total of four. Each horizontal guide member 14 is a member having a square cross section, and a slider 16 straddles each horizontal guide member 14 from the side surface side. A vertical guide member 18 is attached in a vertical direction across the two upper and lower sliders 16, 16 on one side. Similarly, a vertical guide member 18 is attached in the vertical direction across the upper and lower sliders 16, 16 on the other side. Claws 20 are attached to the vertical guide members 18 and 18 on both sides so as to be slidable in the vertical direction along the vertical guide members 18 and 18. The vertical guide member 18 can move in the horizontal direction along the horizontal guide members 14 and 14 together with the sliders 16 and 16, and the claw 20 can also move in the horizontal direction.
[0021]
A motor 22 that can be rotated forward and backward is fixed to an inner central portion of the first frame 10 via an appropriate support frame. The rotating shaft 24 is supported by the support frame. The output shaft of the motor 22 and the rotation shaft 24 are orthogonal to each other, and a rotation transmission means such as a bevel gear or a worm and a worm wheel is interposed between the output shaft of the motor 22 and the rotation shaft 24. Is transmitted to the rotating shaft 24. Sprockets 26 and 26 that are rotating wheels are fixed to both ends of the rotating shaft 24. The sprockets 26 and 26 are disposed at one end of the movable range of the claw 20 along the horizontal guide members 14 and 14. Sprockets 27 and 27 are also arranged at the other end of the movable range of the claw 20 along the horizontal guide members 14 and 14. The sprockets 27 and 27 are connected by a rotating shaft 25.
[0022]
A sprocket 26 and a sprocket 27 arranged on one vertical side 12 side of the first frame 10 make a pair, and a chain 28 which is a string-like member is hung between the sprockets 26 and 27. A sprocket 26 and a sprocket 27 arranged on the other vertical side 12 side of the first frame 10 also form a pair, and a chain 28 which is a string-like member is hung between the sprockets 26 and 27. Pins 30 and 30 are attached to the pair of chains 28 and 28 at the same position as seen from the direction in which the chains 28 and 28 overlap. The pins 30 and 30 are fitted into the claws 20 and 20, and the chains 28 and 28 and the claws 20 and 20 are connected via the pins 30 and 30. That is, the pins 30 and 30 are connecting members between the chains 28 and 28 and the claws 20 and 20.
In addition, another receiving member 45 is fixed above the motor 22 by the support frame so that the upper surface is the same height as the upper surfaces of the receiving members 39 and 39.
[0023]
When the sprockets 26, 26 are rotationally driven by the rotational drive of the motor 22, the chains 28, 28 are driven in the load transfer direction between the two pairs of sprockets 26, 27, and the pins 30, 30 move accordingly. . When the pins 30 and 30 are between the sprockets 26 and 27, the pins 30 and 30 move in the horizontal direction, and the claws 20 and 20 also move in parallel in the horizontal direction. When the pins 30, 30 are on the upper side between the sprockets 26, 27, the claws 20, 20 are in the raised position, and when the pins 30, 30 are on the lower side between the sprockets 26, 27, the claws 20, 20 Is in the lowered position. When the pins 30 and 30 are moving along the arcs of the sprockets 26 and 27 together with the chains 28 and 28, the claws 20 and 20 are also moved along the arcs of the sprockets 26 and 27. However, since the claws 20 and 20 can be moved in the vertical direction while maintaining the posture directed in the vertical direction by the vertical guide members 18 and 18, they are raised or lowered while maintaining the vertical posture. The rotation control of the motor 22 and the motor 32 is performed by a control circuit (not shown).
[0024]
The claws 20, 20 are formed in a fork shape that is long in the vertical direction and has an upper half divided into two forks. When the claws 20, 20 are in the raised position as described above, the fork-shaped upper half protrudes above the upper surface of the receiving members 39, 45, and when the claws 20, 20 are in the lowered position, The entire claws 20 and 20 are retracted from the upper surfaces of the receiving members 39 and 45.
[0025]
In FIG. 1, the diagonally lower right and the diagonally upper left are baggage push-out and pull-in ports, and the baggage push-out and pull-in ports face the storage compartment of the shelf. The luggage is stored in a container 46 shown in FIG. 3, and the container 46 is transferred between the crane mounting table 56 and the storage section of the shelf. The container 46 is formed with engaging portions 48, 48 that can engage the claws 20, 20 at the lower part in the front and rear direction of the transfer. The engaging portions 48, 48 protrude downward from the container 46 main body in a bowl shape, and when the claws 20, 20 rise, That The upper half of the fork is engaged with the engaging portions 48 and 48 so as to sandwich the engaging portions 48 and 48 from the front and rear in the transfer direction.
[0026]
Next, the operation of the above embodiment will be described with reference to FIGS. 3 to 5 show a case where the container 46 is transferred from a mounting table such as a crane onto a shelf plate 44 in a predetermined storage section, and FIGS. 6 to 8 show a container from the shelf plate 44 to a mounting table such as a crane. The case where 46 is taken out is shown. First, the case where the container 46 is transferred on the shelf board 44 from mounting bases, such as a crane, is demonstrated.
[0027]
As shown in FIG. 3 (a), the first frame 10 and the second frame 4 overlap each other, and the receiving members 39, 39 and another receiving member 45 (see FIG. 3) attached to the first frame 10 are overlapped. 2), the container 46 is placed. The pin 30 that connects the chain 28 and the claw 20 is located on the lower part of the upper part and the lower part of the chain 28 that are hung on the sprockets 26 and 27, so that the claw 20 is It sinks below the mounting surface of the container 46. If the container 46 is transferred to the left shelf 44 in FIG. 3 from this state, the motor 32 shown in FIGS. 1 and 2 is rotationally driven, and the rotational force of the pinion 34 integrated with the output shaft of the motor 32 is increased. The first frame 10 is transmitted to the rack 36 integral with the first frame 10 as a linear driving force, and the first frame 10 is moved to the left to approach the shelf plate 44 (see FIG. 3B). At this time, the first frame 10 moves relative to the second frame 4 by the sliders 8 and 8 shown in FIG.
[0028]
Next, the motor 22 shown in FIGS. 1 and 2 is rotationally driven, and the sprocket 26 is rotationally driven counterclockwise as shown in FIG. 3C. Due to the rotational drive of the sprocket, the lower part of the chain 28 moves linearly from left to right, and at the same time, the claw 20 moves in parallel in the horizontal direction from left to right. The movement of the claw 30 is performed by moving the upper and lower sliders 16 and 16 integral with the vertical guide member 18 shown in FIGS. 1 and 2 along the horizontal guide members 14 and 14. Eventually, when the pin 30 reaches the position of the right sprocket 27, the pin 30 rises while drawing an arc along the arc of the sprocket 27. At the same time, the claw 20 rises while drawing a locus of an arc while maintaining a vertical posture, so that the fork-like upper half of the claw 20 sandwiches the engagement portion 48 on the right side of the container 46 so that the claw 20 engages with the engagement portion. 48 is engaged. The movement of the claw 20 rising while drawing a miracle of the arc is that the vertical guide member 18 moves along the horizontal guide members 14 and 14 together with the sliders 16 and 16, and the claw 20 moves along the vertical guide member 18. It is possible to move at the same time.
[0029]
The sprocket 26 and the chain 28 are still driven to rotate by the motor 22. The pin 30 moves to the upper side of the chain 28 between the sprockets 26 and 27, and this time moves horizontally from right to left. Accordingly, as shown in FIG. 4A, the claw 20 also moves in the horizontal direction from the right to the left while maintaining the raised position, and the claw 20 pushes the container 46 from the right to the left. As a result, the containers 46 are sequentially transferred onto the shelf board 44 from the left side. As shown in FIG. 4B, the sprocket 26 and the chain 28 are still driven to rotate, and the container 46 is transferred onto the shelf board 44. Eventually, when the pin 30 reaches the position of the left sprocket 26, the claw 20 descends while drawing an arc along the arc of the sprocket 26, and the claw 20 comes out of the engaging portion 48 of the container 46. Thereby, the transfer of the container 46 is completed. The sprocket 26 and the chain 28 are still driven to rotate, and as shown in FIG. 4 (c), the motor 22 is driven to rotate when it moves to the center between the sprockets 26 and 27 while the claw 20 remains lowered. The nail 20 is stopped.
[0030]
Further, the motor 32 is driven to rotate in the direction opposite to the above-described rotation, and the first frame 10 is moved to the right side as shown in FIG. The motor 32 is stopped at a position where the frame 10 overlaps the second frame 4. Due to the movement of the first frame 10, the sprockets 26 and 27, the chain 28, the claw 20 and other members attached to the first frame 10 also move to the right side, and these are separated from the shelf plate 44. Accordingly, the crane having the load transfer device can travel on the traveling path between the shelves without hitting the shelf plate 44 and the container 46.
[0031]
Next, the operation in the case where the container 46 placed on the left shelf 44 is taken out and transferred to the placing table of the crane as described above will be described.
FIG. 6A is the same as the operation mode shown in FIG. From this aspect, as shown in FIG. 6B, the first frame 10 is moved to the left, and the left end of the chain 28 is brought close to the shelf plate 44. This operation is the same as that described with reference to FIG. 3B, and there is only a difference whether the container 46 is on the shelf board 44 or on the transfer device side.
[0032]
Next, the motor 22 is rotationally driven, and the sprocket 26 is rotationally driven in the clockwise direction as shown in FIG. As a result, the chain 28 is driven in the opposite direction to that described above, and the pawl 20 first translates horizontally from right to left, drawing an arc along the arc of the sprocket 26 at the position of the sprocket 26, However, ascending while maintaining the vertical posture, the fork-like upper half of the claw 20 engages with the engaging portion 48 of the container 46 placed on the shelf plate 44 so as to sandwich it.
[0033]
The sprocket 26 and the chain 28 are further driven, and the claw 20 moves in the horizontal direction from left to right while being engaged with the engaging portion 48. As a result, as shown in FIG. 7A, the container 46 is pulled out while sliding on the shelf plate 44 and placed on the transfer device from the right side of the container 46. As shown in FIG. 7B, the sprocket 26 and the chain 28 are further driven, and the container 46 is taken out from the storage section of the shelf and placed on the transfer device. Eventually, when the claw 20 reaches the position of the right sprocket 27, the claw 20 descends while drawing an arc along the arc of the sprocket 27, and the claw 20 comes out of the engaging portion 48 of the container 46. Thereby, the transfer of the container 46 is completed. The sprocket 26 and the chain 28 are still driven to rotate, and as shown in FIG. 7C, the motor 22 is driven to rotate when it moves to the center between the sprockets 26 and 27 while the claw 20 remains lowered. The nail 20 is stopped.
[0034]
Further, the motor 32 is driven to rotate in the direction opposite to the above-described rotation, and the first frame 10 is moved to the right side as shown in FIG. The motor 32 is stopped at a position where the frame 10 overlaps the second frame 4. This operation mode is the same as the operation mode shown in FIG. 5, and the only difference is whether or not the container 46 is on the transfer device. By the movement of the first frame 10, the sprockets 26 and 27, the chain 28, the claw 20 and other members attached to the first frame 10 also move to the right side, and these are separated from the shelf plate 44. As a result, the crane having the load transfer device can travel on the traveling path between the shelves without hitting the shelf plate 44 and the container 46.
[0035]
Although not shown in FIGS. 3 to 8, a shelf is often installed on the right side of the load transfer device. Even when the container 46 is transferred between the storage section of the right shelf and the transfer device, it is only necessary to perform substantially the same operation as described above. The only difference is that the direction of rotation of the motors 22 and 32 is opposite to that described above.
[0036]
According to the embodiment described above, the chain 28 is hung between the sprockets 26 and 27 as rotating wheels, and the claw 20 that can be engaged with the engaging portion 48 of the container 46 is connected to the chain 28. When the connecting part between the chain 20 and the chain 28 is at the position of the sprocket 26 or the position of the sprocket 27, the connecting part moves along the sprockets 26, 27, whereby the claw 20 is moved up and down to engage the engaging part 48. When the connecting portion is between the sprockets 26 and 27, the claw 20 moves in parallel. Therefore, the sprocket 20 and the chain 28 are simply rotationally driven to engage / disengage the claw 20 with respect to the engaging portion 48 of the container 46, push the container 46 into the storage compartment, and take out the container 46 from the storage compartment. Therefore, the mechanical configuration is simple, the control circuit only needs to control forward / reverse rotation of the motor, and a load transfer device with a simple circuit configuration can be obtained.
[0037]
An appropriate string-like member may be used in place of the chain 28. For example, a toothed belt, a wire, or the like may be used, and a rotating wheel that is suitable for the above-described toothed belt, a wire, or the like instead of a sprocket can be used.
The engaging portion of the container is not limited to the hook-shaped member integrally formed on the outer surface of the container main body as shown in the illustrated example, and a claw may enter and engage with the bottom of the container. A hole that can be formed may be provided.
The horizontal guide member 14 and the vertical guide member 18 may be disposed with respect to the second frame 4 in a positional relationship opposite to that of the illustrated embodiment. That is, two vertical guide members are fixed to the first frame 4 as a pair, a horizontal guide member is fixed across a slider that moves along the vertical guide member, and a claw is moved along the horizontal guide member. May be moved.
In addition, the design can be arbitrarily changed without departing from the technical scope described in each claim.
[0038]
【The invention's effect】
According to the present invention, a string-like member is hung between the rotating wheels, and a claw that can be engaged with the engaging part of the container is connected to the string-like member, and the connecting part between the claw and the string-like member Is in the position of the rotating wheel, the connecting part moves along the rotating wheel so that the claw is raised and lowered to be engaged with and disengaged from the engaging part, and the connecting part is between the rotating wheels. Since the claw is sometimes moved in parallel, the claw is engaged with and disengaged from the container engaging portion, the container is pushed out of the storage compartment, The container can be pulled in. Accordingly, a load transfer device having a simple mechanical configuration, a control circuit only required for forward / reverse rotation control of the motor, and a simple circuit configuration can be obtained.
[Brief description of the drawings]
FIG. 1 is a perspective view schematically showing an embodiment of a load transfer device according to the present invention.
FIG. 2 is a side view showing a main part of the above-described load transfer device.
FIG. 3 is a front view sequentially illustrating a load transfer operation to a storage section by the load transfer device.
4 is a front view sequentially illustrating operations following the operation illustrated in FIG. 3; FIG.
5 is a front view showing an operation following the operation shown in FIG. 4; FIG.
FIGS. 6A and 6B are front views sequentially illustrating an operation of taking out a load from a storage section to the transfer device by the load transfer device.
7 is a front view sequentially illustrating operations following the operation illustrated in FIG. 6; FIG.
FIG. 8 is a front view showing an operation following the operation shown in FIG. 7;
FIG. 9 is a front view showing an example of a three-dimensional automatic warehouse in which the load transfer device according to the present invention can be used.
[Explanation of symbols]
4 Second frame
10 First frame
14 Horizontal guide member
18 Vertical guide member
20 nails
26 Sprocket as a rotating wheel
27 Sprocket as a rotating wheel
28 Chains that are string-like members
46 containers
48 engaging part
65 storage compartment

Claims (4)

A load transfer device for transferring a container capable of storing a load to a storage section of a shelf and taking out the container stored in the storage section of the shelf,
The container has an engagement part in the front and rear direction of transfer,
A string-like member that is hung between the rotating wheels and driven in the load transfer direction;
Be engaged with the engaging portion of the moving the container along with the above string-like member via a connecting member comprising a pin for optionally be rotatably coupled to the cord-like member is driven Nails and
A vertical direction guide member and a horizontal direction guide member for guiding the movement of the claw in the vertical direction and the horizontal direction while maintaining the posture of the claw;
When the connecting member is between the rotating wheels above the pawl is moved parallel, when the connecting member is in the position of the rotating wheel has the claw by the connecting member moves along the rotation wheel Ascend and descend, disengage from the container,
The claw is raised when the container is transferred and lowered when the transfer is completed. The rotating wheel, the string-like member, and the claw are incorporated in the first frame, and the first frame is slidable on the second frame fixed on the mounting table on which the container can be moved up and down . The load transfer device according to claim 1 provided.   The claw is long in the vertical direction, and the upper part is divided into a fork that is divided into two forks. The fork-shaped upper part engages with the engaging part of the container so that the engaging part is sandwiched from the front and rear in the transfer direction. The load transfer device according to claim 1.   2. The load transfer device according to claim 1, wherein the string-like member is a chain and the rotating wheel is a sprocket.

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