JP4628776B2 - Support structure for telescopic arm of transfer machine - Google Patents

Description

  The present invention relates to a structure for supporting a telescopic arm of a transfer machine, and more particularly to a structure for supporting a telescopic arm of a transfer machine in which the load applied to the telescopic arm is made uniform and the maximum stress acting on the telescopic arm is reduced. .

  Conventionally, a transfer machine mounted on a stacker crane or the like is provided with an elastic telescopic arm in order to increase the transfer range in the direction crossing the traveling direction of the stacker crane, and the transfer load is mounted on the tip of the telescopic arm. Thus, the telescopic arm is extended and contracted to transfer the transported cargo between the stacker crane and the storage shelf.

  By the way, the telescopic arm that is configured to extend and contract vertically is provided with linear motion bearings on the arm so that each stage arm can expand and contract smoothly, but the telescopic arm slide stroke is long. In order to satisfy the conditions such as reducing the thickness of the lifting / lowering body of the transfer machine and allowing the arm to protrude and retract in both the left and right directions, the number of stages of the telescopic arm is reduced or arranged vertically. Between the telescopic arms, the distance between the linear motion bearings arranged at the front and rear positions of the arms along the direction of expansion and contraction of the arms is shortened.

However, if the load of the load to be loaded becomes large as in recent years and the slide stroke of the telescopic arm becomes long, it becomes easy to apply an uneven load to the linear motion bearing at the front and rear position, and high stress is generated at the linear bearing end, Due to the concentration of stress at the end of the linear bearing, the telescopic arm that has been stretched moves from a horizontal state as shown in FIG. 4A to a position where high stress is generated as shown in FIG. 4B. As a result, there is a problem that the arm is distorted, which hinders the telescopic action of the smooth telescopic arm.
In addition, there is a problem that either the front or rear or both of the linear bearings are likely to be damaged due to the offset load applied to the linear bearing.

  In view of the problems of the above-described conventional telescopic arm support structure for a transfer machine, the present invention is designed to reduce the stress caused by the eccentric load generated in the telescopic arm extended by the transfer machine during the load transfer operation. Dispersion absorption without concentrating on one place of linear motion bearings arranged to support expansion and contraction, so that the load on the linear motion bearings is made uniform, thereby reducing the maximum stress. It is an object of the present invention to provide a telescopic arm support structure for a transfer machine that prevents damage to a linear motion bearing and / or distortion of a telescopic arm.

In order to achieve the above object, a telescopic arm support structure for a transfer machine according to the present invention has a required length of arms arranged vertically and a bearing rail for slidably supporting the arm on the arm, and the arm disposed linear motion bearing comprising a bearing block which slides move fitted in the bearing rail, the telescopic arm arrangement with the transfer device such that the arm is telescopic slide with each other, take some arms by stretching polarization and wherein a swing block which supports the bearing block swingably possible that incorporates the linear motion bearings as to equalize the load is supported by the bearing block of the linear motion bearing.

  In this case, the swing block is used in combination with a linear motion bearing in which at least two swing blocks are arranged at a predetermined interval with respect to one arm, and the swing block is swung vertically with respect to the arm expansion / contraction direction. It can be configured to be movable.

  Further, the swing block can be disposed between the arms of the respective stages that are disposed one above the other.

  Further, the swing block can be divided into an upper swing block piece and a lower swing block piece, and can be arranged and assembled vertically so as to be swingable via a pin.

According to the telescopic arm supporting structure for transfer machine of the present invention, it is possible to dispose the linear motion bearings by reducing the arm spacing be disposed vertically, without reducing the number of arms, of the telescopic arm slides One place of the linear motion bearing that is able to extend the stroke and to support the telescopic arm so that the telescopic arm can be expanded and contracted by the stress caused by the telescopic arm that has been extended by the transfer machine during the load transfer operation. Since it can be distributed by the swing block without concentrating on it, the load on the linear bearing can be made uniform and the maximum stress can be reduced, preventing the linear bearing from being damaged and / or distorting the telescopic arm. can do.

  In addition, a swing block is used in combination with a linear motion bearing that is arranged at a predetermined interval with respect to one arm in the slide direction, and swingable in the vertical direction with respect to the expansion / contraction direction of the arm. By comprising, a support can be stabilized even if arm length becomes long.

  In addition, by arranging a swing block between the arms of each stage that are stacked one above the other, the uneven load generated at each stage of the arm can be absorbed at each stage. The movement can be performed more smoothly.

  In addition, the upper rocking block piece and the lower rocking block piece are divided into upper and lower rocking blocks so that they can be swung up and down to form a rocking block. In that case, it can be reused by replacing only the damaged part, which is economical.

  Embodiments of a telescopic arm support structure for a transfer machine according to the present invention will be described below with reference to the drawings.

1 to 5, an embodiment of a telescopic arm support structure for a transfer machine according to the present invention will be described based on a transfer machine Q mounted on a stacker crane or the like.
For example, as shown in FIG. 5, the transfer machine Q is mounted on a lifting platform P supported so as to be movable up and down with respect to the main mast M of the stacker crane C, and in a direction intersecting with the traveling direction of the stacker crane C. Equipped with a telescopic arm A that can be expanded and contracted, and a desired transfer load W is mounted at the telescopic arm tip position, so that the arm tip on the stacker crane side and the processing machine, storage shelf, etc. T Thus, the transfer load W is transferred.

The telescopic arm A of the transfer machine Q is provided with stretchability, and this is not particularly limited. For example, as shown in FIG. 1, the main body of the transfer machine Q mounted on a lifting platform. Alternatively, a plurality of arms, for example, three arms A1, A2, and A3 as shown in the figure are stacked in the vertical direction on the elevator frame (hereinafter referred to as a main body frame) so as to be slidable with each other. The entire telescopic arm A is configured to be extendable and contractible.
When a plurality of arms, for example, as shown, three arms A1, A2, A3 are slidably overlapped and expanded and contracted, between the upper and lower arms of each stage and along the longitudinal direction of the arms At least two linear motion bearings 4, 4 are arranged at the front and rear positions thereof to slidably support the arms of each stage, and the arms A 1, A 2, A 3 are slid relative to each other via the linear motion bearings 4. To expand and contract.

The configuration of the telescopic arm A of the transfer machine Q is not particularly limited, but is configured as shown in FIGS.
1 and 2, the lowermost arm A1 is arranged on the upper part of the main body frame F of the transfer machine Q via the linear motion bearings 4 and 4, and the middle arm A2 is superimposed on the arm A1. Similarly, linear motion bearings 4 and 4 are arranged between the middle arm A2 and the upper arm A3, so that the lowermost arm A1, the middle arm A2, and the upper arm A3 A drive pinion that is slidably supported with respect to the upper and lower arms, and that the lowermost arm A1 slides is driven by a motor 6 disposed on the main body frame F side of the transfer machine Q. 7 is engaged with the rack 8 disposed on the lowermost arm A1 side and along the longitudinal direction thereof, and the lowermost arm A1 is slid in the protruding and retracting direction via the rack 8 by the rotation of the drive pinion 7. To move.

In this case, bearing rails 41 and 41 of the linear motion bearing 4 are arranged along the longitudinal direction on the upper surface side and the lower surface side of the lowermost arm A1, respectively, and fitted into the bearing rail 41 on the lower surface side. The bearing block 42 to be fitted is arranged on the lowermost arm A1 side, and the bearing block 42 to be fitted on the bearing rail 41 on the upper surface side is arranged on the middle arm A2 side, so that the lowermost arm A1 slides. At this time, the middle arm A2 is also slid at the same time, and the sliding is performed smoothly and stably in synchronization.
In this case, the thickness of the arms A1, A2, and A3 disposed so as to be stacked one above the other is not particularly limited in order to make it as thin as possible. As shown in FIG. 5, each arm is formed so as to be recessed in the place where the linear motion bearing 4 is disposed.

Also, a bearing rail 41 of the linear motion bearing 4 is arranged along the longitudinal direction on the upper surface side of the middle arm A2, and a bearing block 42 that is inserted and slidably moved is arranged on the upper arm A3 side. The rack 9 and 11 disposed between the lowermost arm A1, the middle arm A2 and the upper arm A3, the pinion 10 meshing with the rack 9, and the main body frame F, the lowermost arm A1, and the middle arm A3. at cooperativity between the pinion 10 which meshes with the rack 9 and 11 which is arranged between the arm A2 to this, when the arm A1 of the lowermost slide, at the same time the middle of the arm A2, the upper arm A3 is also smooth, It is configured to slide stably.
In this case, by making the number of teeth of the rack and pinion the same, the movement distance and movement speed of each arm A1, A2 and A3 can be made constant, but by changing the number of teeth of the rack and pinion, The arm can be made to move at a non-uniform speed. This can be arbitrarily selected according to the transfer method.
Note that at least two bearing blocks 42 with respect to one bearing rail 41 are arranged at predetermined intervals along the longitudinal direction of the bearing rail 41, and the arm side facing the arm to which the bearing rail 41 is attached. It is to be fixed to.

Further, in the embodiment shown in FIG. 1, a swing block 5 is incorporated in the linear motion bearing 4 disposed between the main body frame F and the lowermost arm A1.
As shown in FIGS. 1 and 2, the swing block 5 is integrally formed by fixing a lower swing block piece 51 to a mounting position of the linear motion bearing 4 of the main body frame F by bolting or the like. An upper swing block piece 52 is disposed so as to be covered from above the lower swing block piece 51, and a pin 53 is passed between the upper and lower swing block pieces 51 and 52 opposed to each other vertically. The upper and lower swing block pieces 51, 52 are configured to swing through 53.

  The upper swing block piece 52 is fixed to the lower surface of the bearing block 42 of the linear motion bearing 4 by bolting or the like and is integrated with the bearing block 42, and is not particularly limited. A clevis-type mounting piece 52a having a pin insertion hole is provided on the bottom thereof, and the lower swing block piece 51 is fixed to the main body frame F by bolting or the like, and an eye-shaped pin is provided at the center of the upper surface. When a mounting piece 51a having an insertion hole is provided so as to project the upper and lower swing block pieces 51 and 52 so as to face each other vertically, as shown in FIGS. The mounting piece 52a and the eye-shaped mounting piece 51a are combined with each other, and the pins 53 are inserted into both pin insertion holes for assembly.

The lower swing block pieces 51 can be arranged to face each bearing block 42 fixed to the lower surface of the bearing block 42 one by one. As shown, the two lower swing block pieces 51 disposed at the front and rear positions along the guide rail can be integrated.
As shown in FIG. 2, the two-piece lower swing block piece 51 is formed in a mountain shape by recessing the portion facing the upper swing block piece 52, thereby arranging the upper swing block piece 52. The installation position can be easily determined. When this mountain-shaped lower rocking block piece 51 is adopted, the shape of the lower surface of the upper rocking block piece 52 can be combined with this to form an inverted mountain shape.

  Further, when the upper swing block piece 52 swings with respect to the lower swing block piece 51 fixed with the pin 53 as an axis, a maximum allowable swing angle is set for the lower swing block piece 51. The adjustment bolts 54 and 54 are attached so that the forward tilt angle and the backward tilt angle of the upper swing block piece 52 can be individually adjusted.

Next, the operation of the telescopic arm support structure of the transfer machine of the present invention will be described.
As shown in FIG. 4 and FIG. 5, when the transfer load W is mounted at a predetermined position on the upper arm A3 which becomes the leading arm when protruding, and the lowermost arm protrudes by driving the drive pinion, the rack and pinion At the same time, the middle and upper arms A2 and A3 also project.
When the load of the transfer load W mounted on the upper arm due to the protrusion of the arm is transmitted to the lower arm via the linear motion bearing 4 of each stage, the load is offset according to the protrusion amount of the arm. Acting on the linear motion bearing 4.

If this offset load is within the set range, the arm does not distort and the linear motion bearing 4 operates smoothly as shown in FIG. However, when the offset load becomes larger than the set value, the arm is distorted and the offset load is applied to the linear motion bearing 4 in response to the distortion as shown in FIG. it is difficult to perform, depending on when the unexpected accident of linear motion bearings 4 is damage may occur.
However, in the present invention, since the swing block 5 is combined with the linear motion bearing 4, the generated eccentric load is absorbed by the swing of the swing block 5, and the load applied to the linear motion bearing 4 is made uniform. it is possible to reduce the maximum stress Te, without causing distortion of the arms of the damage and / or telescopic arm of the linear motion bearings 4, and those that can also be performed transfer operation of transfer loading W of the large load.

FIG. 3 shows a modified embodiment in which the swing block 5 is disposed between the main body frame F and the lowermost arm A1, and between the lowermost arm A1 and the middle arm A2.
Further, the swing block 5 can be disposed between all the arms.

  As described above, the telescopic arm support structure of the transfer machine of the present invention has been described based on the embodiments. However, the present invention is not limited to the configurations described in the above embodiments, and may be appropriately selected without departing from the spirit of the present invention. The configuration can be changed.

  The telescopic arm support structure of the transfer machine according to the present invention has a characteristic that the support between telescopic arms that expand and contract is absorbed even with an uneven load generated during the transfer operation. In addition to being suitable for use in supporting a telescopic arm of a transfer machine, for example, it can also be used for use in a transfer machine having a mechanism for extending and retracting an arm, an operating bridge, and other delivery devices.

It is a front longitudinal cross-sectional view which shows one Example of the telescopic arm support structure of the transfer machine of this invention. It is a side view which shows the principal part. It is a front longitudinal cross-sectional view which shows the principal part of a modified example. It is explanatory drawing of the telescopic arm distorted by the unbalanced load generate | occur | produced at the time of expansion / contraction, (A) shows the state at the time of low load, (B) shows the state to which the unbalanced load was applied, respectively. It is explanatory drawing of the transfer machine mounted in a stacker crane etc.

A Telescopic arm Q Telescopic transfer machine C Stacker crane F Main frame of transfer machine W Transfer load A1 Lowermost arm A2 Middle arm A3 Upper arm 4 Linear motion bearing 41 Bearing rail 42 Bearing block 5 Oscillating block 51 Lower swing block piece 51a Eye-shaped mounting piece 52 Lower swing block piece 52a Clevis-type mounting piece 53 Pin 54 Adjustment bolt 6 Motor 7 Drive pinion 8 Rack 9 Rack 10 Pinion 11 Rack

Claims (4)

The arm of the required length is placed on top and bottom, and a linear motion bearing comprising a bearing rail that slidably supports the arm on the arm and a bearing block that is slidably moved by being inserted into the bearing rail. and, in the telescopic arm arrangement with the transfer device such that the arm is telescopic slide with each other, stretching the bearing block to the offset load take some to arm homogenized is supported by bearing block of the linear motion bearing telescopic arm supporting structure of the transfer machine, wherein the swing block to be swingably supported that that incorporates the linear motion bearing.   The swing block is used in combination with a linear motion bearing that is arranged with a predetermined interval at least two in the sliding direction for one arm, and can swing up and down with respect to the direction of arm expansion and contraction. The telescopic arm support structure for a transfer machine according to claim 1, wherein:   3. The telescopic arm support structure for a transfer machine according to claim 1, wherein the swing block is disposed between the arms of the respective stages disposed so as to overlap each other.   The swing block is divided into an upper swing block piece and a lower swing block piece, and is arranged and assembled vertically so as to be swingable via a pin. Telescopic arm support structure for transfer machine.

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