JP4297145B2 - Transfer equipment - Google Patents

Description

  The present invention relates to a transfer device for loading and unloading (transferring) workpieces to and from a large number of shelves, and more particularly to a transfer device that can swing a lifting platform that moves up and down a transfer machine.

  This type of transfer device, and the lifting platform that constitutes it, are intended to move and lift the transfer machine for loading and unloading work to and from the shelf according to the position of the shelf. It is a big success in the warehouse. Further, in this type of transfer device, in order to suspend the lifting platform, it is necessary to use two support columns (devices) in the front and rear with respect to the moving direction of the transfer device, as shown in FIGS. is there. There are various transfer machines such as a scalar arm and a slide fork, and the transfer machine is appropriately selected according to the type of workpiece.

  Further, in this type of transfer device, the lifting platform must be guided up and down with respect to the column device, but when the workpiece becomes large and heavy, the lifting platform is also lifted and lowered. Since it is necessary to ensure that the work can be performed and the size of the shelf is increased with the increase in the size of the workpiece, the gravitational load on the lifting platform is increased through the transfer machine.

As a guide device for the lifting platform in such a transfer device, it is also described in detail in Patent Document 1 filed by the applicant.
JP-A-6-199406, abstract

  This Patent Document 1 describes an invention related to an “automatic warehouse stacker crane” for the purpose of “increasing article storage efficiency of an automatic warehouse”. In this “automatic warehouse stacker crane”, FIG. As shown in FIG. 13, “Elevation that can be raised and lowered by sandwiching the guide rail between the guide rails of the traveling carriage and a pair of masts of the traveling carriage by a pair of front and rear clamping rollers provided on the upper and lower portions. A stacker crane of an automatic warehouse having a base and a slide fork provided on the lift so as to be slidable back and forth, and at least one clamping roller group at the top and bottom is adjustable It is what has.

  The “stacker crane for an automatic warehouse” described in Patent Document 1 is “corresponding to the weight of the article placed on the slide fork because the protruding slide fork is cantilevered with respect to the base via the intermediate sliding body. The amount of bending of the base, intermediate sliding body and slide fork changes, and as a result, the amount of downward movement of the protruding slide fork changes, so the vertical spacing of the article storage shelves must be determined with a margin. This is to improve the disadvantage of the prior art that the storage efficiency is lowered because of not having obtained the above. By configuring as described above, “the amount that the cantilevered slide fork 17 is lowered (the amount that is lowered) In response to this, the movable clamping roller 22 group is shifted back and forth so that the slide fork 17 is raised, and the tip of the slide fork 17 is transferred to the article. Since it can be made constant regardless of the weight of 40, even when the slide fork 17 is lowered by the maximum descending amount, the article storage rack 3 can be stored and taken out with sufficient margin so that the article transfer machine 40 can be stored and taken out. This eliminates the need to determine the vertical spacing.

  However, according to the subsequent study by the present inventor, when the connection of the lifting platform to the column (device) can be performed by “guide rollers and guide rails”, that is, when the workpiece is not so large, the above configuration is sufficient. However, it has been found that the above configuration is not sufficient when the workpiece is heavy and large, and the size of the entire transfer device is also large.

  That is, as described above, in a transfer device that transfers heavy and large workpieces, the entire size of the transfer device has to be increased, and a large shelf for storing such workpieces is also required. I have no choice but to become. If this happens, the fork or arm on the transfer machine will also become long and large, but if these forks or arms are extended to support the workpiece, the tips of these forks or arms will sink greatly. .

  If the tip of the fork or arm that supports the workpiece sinks greatly, it must be returned to the horizontal state.To do so, the amount of settlement is detected and the lifting platform is adjusted according to the amount of settlement. It must be made. Such detection and elevation adjustment is achieved by the technique of Patent Document 1 in which a lifting platform on which a workpiece or a transfer machine is placed is connected to the column device side via a “guide roller and guide rail”. The guide roller cannot support it, and the durability of the “guide roller” and “guide rail” must be further improved.

  On the other hand, if the shelf has enough space in consideration of the lowering of the arm or fork in advance, it can be stored even if the tip of the fork or arm sinks, but the stored item is light This means that a dead space can be created, and the housing efficiency must be poor.

  Therefore, the inventors of the present invention are able to return the transfer device to a horizontal position within a short time even when the arm or fork supporting the workpiece is lowered when the workpiece is enlarged as the workpiece is enlarged. The present invention has been completed as a result of various studies on how to achieve this.

  That is, the first object of the present invention is that even if the arm or fork of the transfer machine is lowered from the horizontal position, it can be returned within a short time, and the cycle time can be shortened. An object of the present invention is to provide a transfer apparatus that can avoid the occurrence of dead space.

  A second object of the present invention is to provide a transfer apparatus capable of performing horizontal adjustment more easily.

In order to solve the above problems, first, the means taken by the invention according to claim 1 will be described with reference numerals used in the description of the best mode described below.
“It is a transfer device 100 that moves in a warehouse in which a large number of shelves 50 are arranged and puts workpieces in and out of each shelf 50,
The transfer device 100 includes a base 10 that moves in the warehouse, two left and right support devices 20 that are erected on the base 10, and a lift that is moved up and down with respect to the support devices 20. 30 and a transfer machine 40 installed on the lifting platform 30,
Each standoff device 20, a support frame 32 which bottom is assumed triangular shape extending in the horizontal direction, is attached freely descending temperature over a straight line moving guide 70, of the bottom of the support frame 32 The lifting device 30 is connected to both ends, and an adjustment device 60 that swings in the front-rear direction with respect to one swinging shaft 35 that fixes the vertex portion to the linear movement guide 70 side at the vertex portion of each support frame 32. Install,
The lower center of each support frame 32 is rotatably attached to one tilt shaft 34 fixed to the linear movement guide 70 side, and the vertical position of each tilt shaft 34 is set to the tip of the arm or fork of the transfer machine 40. The transfer device 100 is characterized in that the tip of the arm or fork does not advance or retreat with respect to the shelf 50 side when each support frame 32 is swung so as to be in the same vertical position. "
It is.

In other words, transfer device 100 related to the present invention, by moving a number of shelves 50 in the arranged warehouse, which performs loading and unloading of the workpiece with respect to each shelf 50, as shown in FIG. 1, the warehouse A base 10 that moves inside, two left and right prop devices 20 that are erected on the base 10, an elevator 30 that is moved up and down with respect to each of the post devices 20, and an elevator 30 It is comprised with the transfer machine 40 installed.

  Further, in this transfer device 100, as shown in FIGS. 3 to 5, a support frame 32 is attached to the column device 20 via a linear movement guide 70 so as to be movable up and down, and the lifting platform 30 is attached to the support frame 32. It is what was supported. Each of these support frames 32 is indirectly attached to the column device 20 via a guide unit 31 as shown in FIG.

  Of course, these support frames 32 are supported on the respective strut devices 20 by a rope such as a chain or a linear movement guide 70 described later, and the struts are supported by a driving device (not shown) provided in each strut device 20. The support frames 32 are moved up and down by synchronous driving, and the vertical movement of the support frames 32 is guided by a linear movement guide 70.

  As shown in FIG. 2, the linear movement guide 70 has a large number of balls 71 interposed between the case main body and the rail 21, and each ball 71 rolls in the case main body. The reciprocating motion of the support frame 32 or the guide unit 31 with respect to the rail 21 is made stable. That is, the linear movement guide 70 connects the case body of the linear movement guide 70 and the rail 21 with a large number of balls 71 interposed.

Further, in the transfer device 100 according to the present invention , as shown in FIGS. 5 and 6, the lower center of each support frame 32 is a guide unit 31 to which the upper and lower linear movement guides 70 on the column device 20 side are fixed. It is attached to one tilt shaft 34 fixed to the shaft so as to be rotatable.

  On the other hand, the upper part of each support frame 32 is assembled with the linear movement guide on the adjustment device 60 side on the rail 21 on the support device 20 side via the adjustment device 60 attached to the support frame 32, and the support device on each support frame 32. A slight horizontal movement with respect to 20 is guided. That is, in this transfer device 100, as shown in FIGS. 8 to 11, the upper portion of each support frame 32 is moved to the linear movement guide 70 side (the guide unit to which the upper and lower linear movement guides 70 are fixed) by the adjustment device 60. 31) can swing about one tilt shaft 34 with respect to one swing shaft 35 fixed to 31).

  Now, as shown in FIG. 3 or FIG. 4, the transfer apparatus 100 having the above-described configuration moves on the rail 21 in the warehouse where a large number of shelves 50 are arranged, and the shelves 50 to and from which workpieces are put in and out. As shown in FIG. 4, the lifting platform 30 is moved up and down to the corresponding position on the shelf 50. Thereafter, the transfer machine 40 on the lifting platform 30 is operated, the scalar arm or fork is extended to the shelf 50, the workpiece is moved in and out, and the scalar arm or fork is returned to the original position again to move the workpiece in and out. It is completed.

  Here, when the scalar arm or fork of the transfer machine 40 on the lifting platform 30 receives the workpiece, the center of gravity of the whole moves to the tip side, so that the tip of the scalar arm or fork slightly moves from the horizontal position. Will fall. This amount of subsidence can be easily obtained by, for example, employing optical detection means to detect the position of the end of the scalar arm or fork with respect to a fixed point of the lifting platform 30, for example, and the amount of subsidence thus detected can be reduced to zero. That's fine.

In transfer apparatus 100 according to the present invention, about the tilt axis 34 in the opposite direction to the sinking direction of the distal end of the scalar arm or fork, by actively swung by adjusting device 60 the support frame 32, The position is adjusted so that the amount of settlement is zero. That is, when the adjusting device 60 swings the support frame 32 according to the amount of sinking of the tip of the scalar arm or fork, the lifting platform 30 is tilted in a direction opposite to the direction of sinking of the tip of the scalar arm or fork. As a result, the position is immediately adjusted so that the tip of the scalar arm or fork is in a horizontal state.

  In the best mode to be described later, the adjusting device 60 swings the upper part of each support frame 32 as follows. That is, when the motor 64 is rotationally driven in accordance with a signal from a sensor that detects the amount of drooping at the tip of the fork or arm, the swing shaft pressing plate 62 is moved to the left or right in FIG. Is done. The swing shaft pressing plate 62 is formed with a shaft insertion hole 62a, and the swing shaft 35 is inserted into the shaft insertion hole 62a. Thus, the swing shaft 35 is pushed. Since the swing shaft 35 is fixed to the support device 20 side, the position of the swing shaft 35 is not changed by being pushed, but the reaction force is transmitted to the adjustment device 60 side.

  On the other hand, since the adjusting device 60 is integrated with the upper end of each support frame 32, the support frame 32 swings in the direction of the reaction force due to the reaction force from the swing shaft 35. Is the tilt axis 34 as described above. At the time of the swing, the fixed swing shaft 35 relatively moves in the long hole 61a provided in the base 61, and the swing of the entire support frame 32 is allowed. At this time, since one tilt shaft 34 pivotally supports the lower center of the support frame 32, the support frame 32 is just like “Jaji Robe”. For this reason, it is not necessary to make the adjusting device 60 that swings each support frame 32 so large, and the arm or fork of the transfer machine 40 is moved to the specified position because the adjusting device 60 swings immediately. It can be immediately restored even if it falls down.

  As described above, the adjusting device 60 pushes the swing shaft 35 that protrudes the upper part of each support frame 32 from the linear movement guide 70 provided on the inner surface of the support device 20 to the upper side of the lifting platform 30. Thus, due to the reaction force, the upper part of each support frame 32 swings around the tilt shaft 34.

Further, the transfer device 10 0 according to the present invention, the respective support frame 32, as base 32a is triangular extending horizontally, is attached to the elevation frame 30 at both ends of the base 32a, the top portion Ru Citea to attach the adjustment device 60.

Chi words, the transfer apparatus 100 according to the present invention, and each support frame 32 constituting the other hand, as shown in FIGS. 5 and 6, those triangular base 32a extends in the horizontal direction It is a thing. And in this transfer apparatus 100, as shown to FIGS. 3-6, while attaching the raising / lowering base 30 to the both ends of the base 32a of each support frame 32 which comprises this, each triangle-shaped support frame 32 of each is supported. The adjustment device 60 is attached to the apex portion.

  In this way, by making each support frame 32 to be disposed and attached inside the two strut devices 20 have a triangular shape, it is possible to attach the flat rectangular lift 30 to both ends of the base 32a. Thus, the horizontal state of the lifting platform 30 can be easily ensured. In addition, since the adjustment device 60 that swings the support frame 32 is attached to the apex portion of each triangular support frame 32, only one adjustment device 60 needs to be used for one support frame 32, and the efficiency is improved. It has become a good thing.

In other words, in this transfer device 100, each supporting frame 32 as the bottom 32a of a triangular shape extending in the horizontal direction, is attached to the elevation frame 30 at both ends of the base 32a, adjustment device to the apex portion 60 since it was to attach the swing of the support frame 32, i.e., the oscillation of the elevation frame 30 itself, Ru Nodea that allows to effectively and efficiently by the adjusting device 60 provided addressed one to the left and right.

Further, the transfer device 100 according to the present invention, as shown in FIG. 5, the vertical position of the tilt axis 34, it is so arranged the same as the vertical position of the arm or fork tip of the transfer device 40, The swing of the support frame 32 due to the operation of the adjusting device 60 is made to return completely to the horizontal position when the tip of the arm or fork of the transfer machine 40 is designed, that is, when no workpiece is placed.

  On the contrary, if the vertical position of each tilt shaft 34 is provided above or below the position of the tip of the arm or fork of the transfer machine 40 on which no workpiece is placed, the support frame 32 is swung by the operation of the adjusting device 60. Is performed such that the tip of the arm or fork of the transfer machine 40 advances to the shelf 50 side (when provided at the upper side), or retracts from the shelf 50 side (when provided at the lower side), This makes it impossible to accurately transfer workpieces to the shelf 50.

Therefore, in the transfer apparatus 100 according to the present invention, even if the arm or fork of the transfer machine 40 is lowered from the horizontal position, it can be returned within a short time, the cycle time is shortened, and the shelf 50 is dead. Not only can the generation of space be avoided, but even when the position is adjusted, the tip of the arm or fork does not move forward and backward with respect to the shelf 50 when the support frame 32 is swung. Thus, the work can be accurately transferred to the shelf 50.

As described above, in the present invention,
“It is a transfer device 100 that moves in a warehouse in which a large number of shelves 50 are arranged and puts workpieces in and out of each shelf 50,
The transfer device 100 includes a base 10 that moves in the warehouse, two left and right support devices 20 that are erected on the base 10, and a lift that is moved up and down with respect to the support devices 20. 30 and a transfer machine 40 installed on the lifting platform 30,
Each standoff device 20, a support frame 32 which bottom is assumed triangular shape extending in the horizontal direction, is attached freely descending temperature over a straight line moving guide 70, of the bottom of the support frame 32 The lifting device 30 is connected to both ends, and an adjustment device 60 that swings in the front-rear direction with respect to one swinging shaft 35 that fixes the vertex portion to the linear movement guide 70 side at the vertex portion of each support frame 32. Install,
The lower center of each support frame 32 is rotatably attached to one tilt shaft 34 fixed to the linear movement guide 70 side, and the vertical position of each tilt shaft 34 is set to the tip of the arm or fork of the transfer machine 40. The tip of the arm or fork did not advance or retreat with respect to the shelf 50 side when each support frame 32 was swung so that it would be the same as the vertical position of
To have its configuration on the feature, by which, even arm or fork loader 40 is lowered from a horizontal position, to be able to bring it back within a short period of time, and reduced cycle time, the shelf 50 and be a this avoids the occurrence of dead space, even when the adjustment position, when the support frame 32 is swung, the tip of the arm or fork to block the forward and backward relative to the shelf 50 side We made it, it is possible to provide a transfer device 100 which transfers can be performed accurately to the shelf 50 of the workpiece.

In particular, in the transfer apparatus 100 according to the present invention, even if the arm or fork of the transfer machine 40 is lowered from the horizontal position, it can be returned within a short time, and the cycle time is shortened and the shelf 50 is dead. Not only can the generation of space be avoided, but even when the position is adjusted, the tip of the arm or fork does not move forward and backward with respect to the shelf 50 when the support frame 32 is swung. Therefore, the work can be accurately transferred to the shelf 50.

As a result, according to the transfer apparatus 100 according to the present invention, even if the arm or fork of the transfer machine 40 is lowered from the horizontal position, it can be returned within a short time, and the cycle time can be shortened. Since the first purpose of avoiding the occurrence of dead space on the shelf has been achieved, the second purpose of being able to perform leveling more easily has also been achieved. is there.

Next, the invention according to each claim as constructed above, described transfer device 100 is a best mode shown in the drawings.

  FIG. 1 is a perspective view of the transfer device 100 according to the best mode. As shown in FIG. 3 or FIG. 4, the transfer device 100 is a warehouse in which a large number of shelves 50 are arranged. The work is moved in and out of the shelves 50. Further, the transfer device 100 is moved up and down with respect to the base 10 that moves in the warehouse, two left and right support devices 20 standing on the support 10, and the support devices 20. The lifting / lowering base 30, a transfer machine 40 installed on the lifting / lowering base 30, a support frame 32 that suspends the lifting / lowering base 30, and an adjustment device 60 provided on the upper part of the support frame 32. .

  In this best mode, as shown by the solid line in FIG. 1 or the virtual line in FIG. 4, the base 10 is provided with wheels 12, and the wheels 12 are placed on the rails 21 laid in the warehouse. The transfer device 100 can be moved to a predetermined position in the warehouse by rolling. These wheels 12 are rotationally driven by a motor (not shown) incorporated in the base 10 or in each strut device 20 erected on the base 10, and members for driving or controlling the motor and various devices are provided. Incorporated into each strut device 20.

  As shown in FIG. 4 and FIG. 6, each support device 20 erected on the base 10 has a vertical rail 21 arranged on the inner surface thereof, as shown in FIG. 2 or FIG. 3. In addition, the support frame 32 is mounted on the linear movement guide 70 and the guide unit 31 supporting the guide. In addition, the guide unit 31 is connected to a rope or chain (not shown), and the guide unit 31 is moved up and down by a motor (not shown) so that the guide unit 31 is guided by the linear movement guides 70. It is done while.

  Furthermore, in this transfer apparatus 100, as shown in FIG. 3 or FIG. 4, a support frame 32 is attached to a guide unit 31 that is raised and lowered with respect to each column apparatus 20 so as to be tiltable in the front-rear direction. As shown in FIG. 3 or FIG. 4, one end of these support frames 32 (left side in the drawing) is provided in the left-right direction via a pin 33 in which one end portion of the lifting platform 30 is inserted into the round hole 33a. It is connected so that it can tilt.

  At the lower left end of the support frame 32 shown in the drawing, as shown in FIGS. 3 and 4, an elevator base side block having a round hole 33 a is connected to the upper surface of the end of the elevator base 30. A support frame side block having a round hole 33 a is connected to the lower end of 32. The elevator base side block and the support frame side block are fitted to each other in a state of being attached to each other, and a single pin 33 is inserted into a round hole 33a provided at each center thereof.

  On the other hand, between the lower end of the support frame 32 on the other side (the right side in FIG. 3) and the other end portion (the right end portion in the figure) of the lifting platform 30, a pin inserted through a long hole 33b whose major axis is in the horizontal direction. It can be tilted through 33. That is, at the lower right end of the support frame 32 shown in FIG. 3, as shown in FIG. 3 or FIG. 4, an elevator base block having an elongated hole 33b whose major axis is horizontal is connected to the upper surface of the end of the elevator base 30. A support frame side block having a round hole 33a is connected to the lower end of the support frame 32 on the upper side.

  The support frame 32 that suspends the lifting platform 30 is formed as a substantially isosceles triangle having a base 32a that is the same as the width of the lifting platform 30, as shown in FIGS. Therefore, the tilt shaft 34 is provided at a position located immediately above the center of the base 32a, that is, at the same position as the vertical position of the arm of the transfer machine 40 or the tip of the fork. As shown in FIG. 3 or FIG. 4, the tilt shaft 34 supports the support frame 32 so that the entire support frame 32 can swing around the tilt shaft 34.

  On the other hand, as shown in FIGS. 1 and 3 to 5, an adjustment device 60 is provided on the upper side of the guide unit 31, and the rocker attached to the linear movement guide 70 side by the adjustment device 60. The support frame 32 can be swung around the tilt shaft 34 with respect to the moving shaft 35.

  As shown in FIGS. 8 to 11, the adjusting device 60 includes a base 61 fixed to the upper end of the support frame 32, and a swing shaft pressing plate that is moved by the ball screw 63 relative to the base 61. 62 and a motor 64 that rotationally drives a screw shaft 63 a constituting each ball screw 63. As shown in FIG. 8B, the base 61 is formed with a long hole 61a that is parallel to the lifting platform 30, and through this long hole 61a, a linear movement guide 70 on the column device 20 side is formed. The attached oscillating shaft 35 is inserted as shown by the solid line in FIG.

  As shown in FIG. 8A, the swing shaft pressing plate 62 is positioned at a substantially center on the base 61, and the above-described swing shaft 35 is passed through the center thereof. For this purpose, a shaft insertion hole 62a is formed. Further, as shown in FIG. 8A, a movable table 63b constituting a ball screw 63 is attached to both upper and lower edges of the swing shaft pressing plate 62. The movable table 63b By moving the screw shaft 63 a constituting the ball screw 63 left and right in the figure, the swing shaft pressing plate 62 is moved in the left and right direction with respect to the base 61.

  The ball screw 63 is rotated by a motor 64 as described above and shown in FIGS. 8 to 11, and two screw shafts 63a disposed above and below the elongated hole 61a and the shaft insertion hole 62a, and these A moving base 63b that is screwed onto the screw shaft 63a and supports the upper and lower edges of the swing shaft pressing plate 62 is provided. Of course, each screw shaft 63a is connected to the output shaft of the motor 64 through various gears, and two of them are driven to rotate both forward and reverse by one motor 64.

  Since the adjusting device 60 is configured as described above, the swinging shaft 35 that protrudes upward from the linear movement guide 70 provided on the inner surface of the column device 20 is adjusted as follows. The upper portion of the support frame 32 is swung around the tilt shaft 34 by the reaction force that is pushed by the swing shaft pressing plate 62 of the device 60.

  That is, when the motor 64 is driven to rotate in response to a signal from a sensor (not shown) that detects the amount of drooping at the tip of the fork or arm, the swinging shaft pressing plate 62 is moved by the ball screw 63 to either the left or right of FIG. Moved to. The swing shaft pressing plate 62 is formed with a shaft insertion hole 62a, and the swing shaft 35 is inserted into the shaft insertion hole 62a. Thus, the swing shaft 35 is pushed. Since the swing shaft 35 is fixed to the support device 20 side, the position of the swing shaft 35 is not changed by being pushed, but the reaction force is transmitted to the adjustment device 60 side.

  On the other hand, since the adjusting device 60 is integrated with the upper end of each support frame 32, the support frame 32 swings in the direction of the reaction force due to the reaction force from the swing shaft 35. Is the tilt axis 34 as described above. At the time of the swing, the fixed swing shaft 35 relatively moves in the long hole 61a provided in the base 61, and the swing of the entire support frame 32 is allowed.

  As described above, the adjusting device 60 has the swing shaft in which the upper part of each support frame 32 is protruded above the lifting platform 30 from the linear movement guide 70 (guide unit 31) provided on the inner surface of the column device 20. 35 is pushed, and the reaction force causes the upper part of each support frame 32 to swing around the tilt shaft 34.

  As shown in FIG. 2, the linear movement guide 70 has a large number of balls 71 interposed between the case body and the rail 21, and each ball 71 rolls in the case body. Thus, the reciprocation of the support frame 32 or the guide unit 31 with respect to the rail 21 is made stable. That is, the linear movement guide 70 connects the case body of the linear movement guide 70 and the rail 21 with a large number of balls 71 interposed.

(Other examples)
The shaft insertion hole 62a formed in the rocking shaft pressing plate 62 described above may be implemented as an elliptical shape having a short axis the same as the diameter of the rocking shaft 35 and a long axis larger than this. In this case, since there is a little space above and below the swing shaft 35, the swing around the tilt shaft 34 of the adjusting device 60 and thus the support frame 32 causes the swing shaft 35 to move to the inner surface of the shaft insertion hole 62 a. Therefore, it is possible to achieve stable operation without generating a large amount of friction or without causing deformation of the swing shaft pressing plate 62. This is because a clearance space for the swing shaft 35 exists in the shaft insertion hole 62a.

  Further, the long hole 61a shown in FIG. 8B extends from the center of the base 61 equally to the left and right. However, the long hole 61a extends from the center of the base 61 only to one side. It is good also as what you did.

  The reason why the elongated holes 61a shown in FIG. 8B extend from the center of the base 61 to the left and right is that the transfer machine 40 on the lifting platform 30 is in the state shown in FIG. The direction can be changed to the opposite state as shown in FIG. 7 using a rotary table or the like. In any case, the support frame 32 can be swung. However, in this type of transfer device 100, there is one in which only one side of the workpiece is loaded and unloaded by the transfer machine 40. In such a case, the long hole 61 a of the base 61 is moved from the center of the base 61 to the one side. It is enough to extend only to the side.

It is a perspective view of the transfer equipment which adopted the attachment structure concerning the present invention. The linear movement guide is shown, (a) is a partially broken perspective view showing the positional relationship with the rail, (b) is a partial longitudinal sectional view taken along the longitudinal direction of the rail. It is the schematic front view which looked at the shelf on the other side of the transfer apparatus. It is a front view of the transfer apparatus. It is sectional drawing seen along the 1-1 line | wire shown in FIG. 4 of the transfer apparatus. It is sectional drawing containing the support | pillar apparatus seen along the 1-1 line | wire shown in FIG. 4 of the transfer apparatus. It is a top view of the transfer machine mounted on a lifting platform. The adjustment apparatus provided in the upper end of a support frame is shown, (B) is the partially broken enlarged front view, (B) is a top view of the base employ | adopted in the adjustment apparatus. It is a top view of the adjustment apparatus. It is a side view of the adjustment apparatus. It is the fragmentary sectional view seen along line 2-2 in FIG. It is a partial expanded front view which shows the prior art. It is a top view of what was shown in FIG.

DESCRIPTION OF SYMBOLS 100 Transfer device 10 Base 11 Floor rail 12 Wheel 20 Strut device 21 Rail 30 Lifting table 31 Guide unit 32 Support frame 33 Pin 33a Round hole 33b Long hole 34 Tilt shaft 35 Oscillating shaft 35a Long hole 40 Transfer machine 50 Shelf 60 adjusting device 61 base 61a long hole 62 rocking shaft pressing plate 62a shaft insertion hole 63 ball screw 63a screw shaft 63b moving table 64 motor 70 linear movement guide 71 ball

Claims (1)

It is a transfer device that moves in a warehouse where a large number of shelves are arranged and puts workpieces in and out of the respective shelves,
The transfer device includes a base that moves in the warehouse, two left and right support devices that are erected on the base, a lift that is moved up and down with respect to each support device, and the lift It consists of a transfer machine installed on the top,
Before SL each standoff apparatus, the support frame bottom has assumed a triangular shape extending in the horizontal direction, is attached freely descending temperature over a straight line moving guide, both ends of the base of each support frame An adjustment device that connects the lifting platform and further swings in the front-rear direction with respect to a single swinging shaft that fixes the apex portion to the linear movement guide side is attached to the apex portion of each support frame,
The lower center of each support frame is rotatably attached to one tilt shaft fixed to the linear movement guide side, and the vertical position of each tilt shaft is the vertical position of the tip of the arm or fork of the transfer machine. The transfer device is characterized in that the tip of the arm or fork does not advance or retreat with respect to the shelf side when each of the support frames is swung .

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